diff --git a/.gitattributes b/.gitattributes
index 66e890077507e661db867672396ac4e08394635e..ba592258a0dc95fabd5ea9acc931d0d693e4a118 100644
--- a/.gitattributes
+++ b/.gitattributes
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 Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6a2ef3def9580cb713cce54fe7fbc33b7054aa2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+34,0.566666667,BASELINE,766,744.743898474,715,679.256101526,658,634.256101526,878,785,810,652,629.743898474,652.743898474,0.400968288821,-0.0153742029136,0.0598386525988,0.999999941628,0.000210005824895,-0.00026924656824,1.21705630832e-05,1793248133296028160
+35,0.583333333,BASELINE,766,744.679591305,715,679.320408695,658.320408695,634,877.679591305,785,810,651.679591305,629.679591305,652.679591305,0.400968426115,-0.0153737206942,0.0598384360675,0.999999941509,0.000210532813324,-0.000269282874212,1.20227460101e-05,1793248133312695040
+36,0.600000000,BASELINE,766,744.104865094,715,679.895134906,658.895134906,634,877.104865094,785,810,651.104865094,629.104865094,652.104865094,0.400967783352,-0.015372458648,0.0598378664122,0.999999940743,0.000213187219773,-0.000270043862508,1.18723065822e-05,1793248133329362176
+37,0.616666667,BASELINE,766,744,715,679.529228715,659,634,877,785,810.470771285,651.470771285,629,652,0.40096903779,-0.0153728924926,0.0598386320278,0.999999941143,0.000213346607849,-0.000268419433844,1.21980335049e-05,1793248133346028800
+38,0.633333333,BASELINE,766,744,715,679.047887374,658.952112626,634.047887374,877,785,810.952112626,652,629,652.047887374,0.40097050859,-0.015373539427,0.0598395966325,0.99999994168,0.000213215620637,-0.000266497071673,1.25851972575e-05,1793248133362695680
+39,0.650000000,BASELINE,766,744,715,679.639498398,658.360501602,634.639498398,877,785,810.360501602,652,629,652.639498398,0.400969628369,-0.015372308324,0.0598394369345,0.999999940863,0.00021611020081,-0.000267236720238,1.24632894732e-05,1793248133379362048
+40,0.666666667,BASELINE,766,744,715,680,658,634.774405802,877,785,810,652,629,652.774405802,0.400968810688,-0.01537235473,0.059839120167,0.999999940745,0.00021565759761,-0.000268049786779,1.2266292943e-05,1793248133396028416
+41,0.683333333,BASELINE,766,744,715,680,658,634.196913091,877,785,810,652,629,652.196913091,0.400968090561,-0.015374393889,0.059838558391,0.999999941708,0.000209983810105,-0.00026897737606,1.1952167442e-05,1793248133412695040
+42,0.700000000,BASELINE,766,744,715,679.623479833,658.376520167,634,877,785,810,652,629,652,0.400967630441,-0.0153741591437,0.0598385494719,0.999999941714,0.000210141568529,-0.000268828220476,1.20156158743e-05,1793248133429361664
+43,0.716666667,BASELINE,766,744,715,679.052146967,658.947853033,634,877,785,810,652,629,652,0.400967304851,-0.0153727478731,0.0598388266027,0.999999941228,0.000213316587044,-0.000268121953738,1.22744222383e-05,1793248133446028288
+44,0.733333333,BASELINE,765.461275583,744,715,679,658.461275583,634,877,785,810,652,629,652.538724417,0.400968521586,-0.015372850967,0.0598394156434,0.999999941446,0.000213403103935,-0.000267237804132,1.22734795798e-05,1793248133462695168
+45,0.750000000,BASELINE,765.128514313,744.128514313,715,679,658.128514313,634,877,784.871485687,810,652,629,652.871485687,0.400969511294,-0.0153731303436,0.0598396917048,0.999999941693,0.000212769032359,-0.000266825032711,1.21816310018e-05,1793248133479362048
+46,0.766666667,BASELINE,765.707631293,744.707631293,715,679,658.707631293,634,877,784.292368707,810,652,629,652.292368707,0.400969161828,-0.0153734945015,0.0598387605394,0.999999941787,0.000210696068886,-0.000268127673341,1.18625189895e-05,1793248133496028672
+47,0.783333333,BASELINE,766,744.713519852,715,679.286480148,658.713519852,634,877,784.286480148,810,652,629,652.286480148,0.400968518797,-0.0153740409335,0.0598382233299,0.999999941924,0.000209017866385,-0.000268929482331,1.18226787538e-05,1793248133512695552
+48,0.800000000,BASELINE,766,744.134944307,715,679.865055693,658.134944307,634,877,784.865055693,810,652,629,652.865055693,0.400967576448,-0.0153747732124,0.0598380877979,0.999999942109,0.000207742162251,-0.000269220643124,1.20675842151e-05,1793248133529361920
+49,0.816666667,BASELINE,766,744.438045914,715,680,658,634,877.438045914,785,810,651.561954086,629,653,0.400966948751,-0.0153742852717,0.0598379898483,0.999999941379,0.000210014590518,-0.000270165659849,1.21016445472e-05,1793248133546028288
+50,0.833333333,BASELINE,766,744.990328981,715,680,658.009671019,634,878,785,810,651.009671019,629,653,0.400966422062,-0.0153734437367,0.0598379034703,0.999999940382,0.000213292781714,-0.000271286611302,1.20703347374e-05,1793248133562694912
+51,0.850000000,BASELINE,766,744.398609995,715,680,658.601390005,634,878,785,810,651.601390005,629,653,0.400966214166,-0.0153736598672,0.0598378255022,0.999999940698,0.000212146656434,-0.000271025966183,1.19646963334e-05,1793248133579361536
+52,0.866666667,BASELINE,766,744.189191576,715.189191576,680,658.810808424,634.189191576,878,785,810,652,629,652.810808424,0.400966606536,-0.0153737534378,0.0598379280423,0.999999941022,0.000211297534297,-0.000270492866375,1.19399068366e-05,1793248133596028160
+53,0.883333333,BASELINE,766,744.7689069,715.7689069,680,658.2310931,634.7689069,878,785,810,652,629,652.2310931,0.400968237961,-0.0153735940237,0.059838403182,0.999999941366,0.00021106147748,-0.000269397373538,1.2082003309e-05,1793248133612695296
+54,0.900000000,BASELINE,766,744.653779856,716,679.653779856,658,634.653779856,878,785,810,652,629,652,0.400968558193,-0.0153735988577,0.0598385308362,0.999999941329,0.000211480195259,-0.000269203126955,1.21345256231e-05,1793248133629361664
+55,0.916666667,BASELINE,766,744.078058915,716,679.078058915,658,634.078058915,878,785,810,652,629,652,0.400968009267,-0.0153737125676,0.0598384281508,0.99999994104,0.000212332946982,-0.000269606294337,1.21276714306e-05,1793248133646028032
+56,0.933333333,BASELINE,766,744,715.493267441,679,658,634,877.493267441,785,810,652,629,652,0.400969087315,-0.0153728684149,0.0598393144701,0.999999941125,0.000213712390609,-0.00026819110342,1.22529480822e-05,1793248133662694656
+57,0.950000000,BASELINE,766,744,715.091789542,679.091789542,658,634,877.091789542,785,810,652,629,652.091789542,0.40097009381,-0.0153720759441,0.0598401375776,0.99999994128,0.000214821313113,-0.000266720449059,1.23608862371e-05,1793248133679361024
+58,0.966666667,BASELINE,766,744,715.670704984,679.670704984,658,634,877.670704984,785,810,652,629,652.670704984,0.40096936626,-0.0153723550804,0.0598398019651,0.999999941512,0.000214056160695,-0.000266469066781,1.22668224478e-05,1793248133696028416
+59,0.983333333,BASELINE,765.751024087,744,716,679.751024087,658,634,877.751024087,785,810,652,629,652.751024087,0.400968246602,-0.0153723871689,0.0598389244928,0.99999994131,0.000213627312936,-0.000267577064408,1.20960974432e-05,1793248133712695296
+60,1.000000000,BASELINE,765.173603309,744,716,679.173603309,658,634,877.173603309,785,810,652,629,652.173603309,0.400966609684,-0.0153720933561,0.0598373322081,0.999999940529,0.000213642112561,-0.000270478333268,1.18242422304e-05,1793248133729361408
+61,1.016666667,BASELINE,765,744,715.598487431,679,658,634,877,785,810,652,629,652,0.400967114088,-0.0153729852699,0.0598379149508,0.99999994086,0.000212786997095,-0.000269916498217,1.20813194561e-05,1793248133746028032
+62,1.033333333,BASELINE,765,744,715.024362477,679,658,634,877,785,810,652,629,652,0.400968539058,-0.0153743869339,0.0598394327495,0.999999941667,0.000211557900508,-0.000267865856233,1.25657875621e-05,1793248133762694912
+63,1.050000000,BASELINE,765,744.565050016,715,679.565050016,658,634,877.565050016,785,810,652,628.434949984,652,0.400967451296,-0.0153726776738,0.0598386601879,0.999999941164,0.000213118468455,-0.000268528832488,1.20317718414e-05,1793248133779362048
+64,1.066666667,BASELINE,765.152282267,745,715,679.847717733,658,634,878,785,810,652,628.152282267,652,0.400966727992,-0.015371910191,0.0598381773093,0.99999994085,0.000213860944078,-0.000269120044083,1.17748245325e-05,1793248133796029184
+65,1.083333333,BASELINE,765.73150264,745,715,679.26849736,658,634,878,785,810,652,628.73150264,652,0.400967338659,-0.0153741695739,0.0598387911398,0.999999941232,0.000211963230125,-0.000269172916144,1.24212019944e-05,1793248133812695808
+66,1.100000000,BASELINE,766,744.690284716,715,679,658,634,878,785,810,651.690284716,629,652,0.400968034731,-0.0153745672384,0.0598393974123,0.999999941623,0.000210915807326,-0.000268542034987,1.2433443993e-05,1793248133829362432
+67,1.116666667,BASELINE,766,744.112942886,715,679,658,634,878,785,810,651.112942886,629,652,0.400968804601,-0.0153733561825,0.0598399971539,0.999999942022,0.00021060312552,-0.000267320319209,1.18977262918e-05,1793248133846028544
+68,1.133333333,BASELINE,766,744,715.4704476,679,658,634,877.5295524,785,809.5295524,651.4704476,629,652,0.400968683293,-0.0153720174758,0.0598402422682,0.999999941637,0.000212510647774,-0.000267251947737,1.19367059183e-05,1793248133862694912
+69,1.150000000,BASELINE,766,744,716,679,658,634,877.054789192,785,809.054789192,652,629,652,0.400968363161,-0.0153710072359,0.0598403857264,0.999999941176,0.000214381346254,-0.000267473151178,1.21136262451e-05,1793248133879361792
+70,1.166666667,BASELINE,766,744,716,679,658,634,877.634152234,785,809.634152234,652,629,652,0.400968214539,-0.0153734391069,0.059840381644,0.999999941868,0.000210729694529,-0.000267781279905,1.2273053964e-05,1793248133896028160
+71,1.183333333,BASELINE,765.787736789,744,715.787736789,679,658,634.212263211,878,785,810,652,629,652.212263211,0.400967978253,-0.0153751417605,0.059840084407,0.999999942223,0.000208596234022,-0.000268119193896,1.23998305483e-05,1793248133912694784
+72,1.200000000,BASELINE,765.211771071,744,715.211771071,679,658,634.788228929,878,785,810,652,629,652.788228929,0.400967591758,-0.0153755949364,0.0598392848638,0.99999994202,0.000209064118449,-0.000268508143521,1.24706610552e-05,1793248133929361664
+73,1.216666667,BASELINE,765,744.363449183,715,679.363449183,658,634.636550817,878,785.363449183,810,652,629,652.636550817,0.400967223968,-0.0153756222886,0.0598388749723,0.999999942213,0.000208299216859,-0.000268393727322,1.22714224369e-05,1793248133946028288
+74,1.233333333,BASELINE,765,744.938235931,715,679.938235931,658,634.061764069,878,785.938235931,810,652,629,652.061764069,0.400966867056,-0.0153754020337,0.0598386916546,0.999999942634,0.000206817477763,-0.00026798661514,1.19151446623e-05,1793248133962694912
+75,1.250000000,BASELINE,765,744.488751916,715,679.488751916,658.511248084,634,877.488751916,785.488751916,810,652,629,652,0.400966514691,-0.015374077856,0.0598381094457,0.999999941838,0.000208685693647,-0.000269511867541,1.17642857157e-05,1793248133979361536
+76,1.266666667,BASELINE,765.087744642,744,715,679,658.912255358,634,877,785,810,651.912255358,628.912255358,652,0.400966380095,-0.0153728895934,0.0598377182315,0.999999941052,0.000210923152534,-0.000270685898486,1.17139012478e-05,1793248133996028160
+77,1.283333333,BASELINE,765.685746293,744,715,679,658.314253707,634,877,785,810,651.314253707,628.314253707,652,0.400967508692,-0.0153732645814,0.0598387169676,0.999999941214,0.000212962507,-0.000268464616718,1.21039847222e-05,1793248134012694784
+78,1.300000000,BASELINE,765.728002938,744,715,679,658.271997062,633.728002938,877,785,810,651.271997062,628.271997062,652,0.400967744947,-0.0153732705116,0.0598388066434,0.999999941115,0.000213992799561,-0.000268009781767,1.21787454159e-05,1793248134029361152
+79,1.316666667,BASELINE,765.154766426,744,715,679,658.845233574,633.154766426,877,785,810,651.845233574,628.845233574,652,0.400966992922,-0.0153728677066,0.0598378895259,0.999999940733,0.000213905545901,-0.000269511304371,1.19042829702e-05,1793248134046027776
+80,1.333333333,BASELINE,765,744,715,679,658.15690975,633.421545125,877,784.578454875,810,652,629,652,0.400966711313,-0.0153740366833,0.0598378503748,0.999999940811,0.000212755750971,-0.000270112220882,1.23433872524e-05,1793248134062694656
+81,1.350000000,BASELINE,765,744,715,679,657.002012017,633.998993992,877,784.001006008,810,652,629,652,0.400966603683,-0.0153757869658,0.0598381359296,0.999999941057,0.000211212987048,-0.000270380058441,1.30463961721e-05,1793248134079361280
+82,1.366666667,BASELINE,765.590143177,744,715,679,657.590143177,634,877,784.590143177,810,651.409856823,629,652,0.400967952845,-0.0153749604394,0.0598387055049,0.999999941264,0.000212106317412,-0.000268920275686,1.28314397501e-05,1793248134096027904
+83,1.383333333,BASELINE,765.822661051,744.177338949,715,679,658,634,877,785,810,651.177338949,629,652,0.400969161174,-0.0153744620667,0.0598393238109,0.999999941655,0.000211943726666,-0.000267604295961,1.25309569286e-05,1793248134112694528
+84,1.400000000,BASELINE,765.244455716,744.755544284,715,679,658,634,877,785,810,651.755544284,629,652,0.400970045409,-0.0153747156355,0.0598400511504,0.999999942463,0.000209384665651,-0.000266620191329,1.20407669682e-05,1793248134129361152
+85,1.416666667,BASELINE,765.332888768,744.667111232,715,679.332888768,658,634,877,785,810,651.667111232,629.332888768,652,0.400969082406,-0.0153749429014,0.0598396458254,0.999999942456,0.000208652472677,-0.000267224897537,1.19962017908e-05,1793248134146027776
+86,1.433333333,BASELINE,765.909602685,744.090397315,715,679.909602685,658,634,877,785,810,651.090397315,629.909602685,652,0.40096676639,-0.0153751509018,0.0598384108777,0.999999941851,0.000209258373587,-0.000268993331987,1.22780355486e-05,1793248134162694400
+87,1.450000000,BASELINE,765.505444051,744,715,679.505444051,658,634,877,785,810,651.494555949,629.505444051,652,0.40096638814,-0.0153748109655,0.0598380705866,0.999999941813,0.000209099046863,-0.000269268395793,1.20833146279e-05,1793248134179361024
+88,1.466666667,BASELINE,765,744,715.080108335,679.080108335,658,634,877.080108335,785,810,652,629,652,0.400966410292,-0.0153743584554,0.0598380256531,0.999999941863,0.000208943630249,-0.000269214086473,1.1856580268e-05,1793248134196027648
+89,1.483333333,BASELINE,765,744,715.659845296,679.659845296,658,634,877.659845296,785,810,652,629,652,0.400966683202,-0.0153738390713,0.0598387856399,0.999999941805,0.000209699749905,-0.00026883681127,1.19826637302e-05,1793248134212694272
+90,1.500000000,BASELINE,765.238948488,744,715.761051512,680,658,634,878,785,810,652,629,652,0.400967186108,-0.0153737598167,0.0598393922395,0.999999941795,0.000210479398713,-0.000268253381976,1.21677623516e-05,1793248134229360896
+91,1.516666667,BASELINE,765.817151816,744,715.182848184,680,658,634,878,785,810,652,629,652,0.400968015556,-0.0153743054503,0.0598397810625,0.999999941855,0.000211292453726,-0.000267377258778,1.24366496425e-05,1793248134246027520
+92,1.533333333,BASELINE,766,744,715,679.607659894,658,634,877.607659894,785,810,652,629,652,0.400968480864,-0.0153738709788,0.0598397683176,0.999999941683,0.000212400976922,-0.000267144422292,1.2375978481e-05,1793248134262694144
+93,1.550000000,BASELINE,766,744,715,679.033865982,658,634,877.033865982,785,810,652,629,652,0.40096877776,-0.0153729832175,0.0598395698513,0.999999941403,0.000213646151593,-0.000267209100106,1.21628894929e-05,1793248134279360768
+94,1.566666667,BASELINE,766,744,715,679.554439283,658,634,877,785,810,651.445560717,629,652,0.400968359044,-0.015374216029,0.0598396914895,0.999999941688,0.000211991038422,-0.000267461550311,1.21768061018e-05,1793248134296027648
+95,1.583333333,BASELINE,766,744,715,679.85886554,658,634,877.14113446,785,810,651,629,652,0.400967857988,-0.0153753587552,0.0598395051486,0.999999941887,0.000210507489975,-0.000267889394194,1.21899392199e-05,1793248134312694528
+96,1.600000000,BASELINE,766,744,715,679.279987156,658,634,877.720012844,785,810,651,629,652,0.400967240764,-0.0153758095306,0.0598383013027,0.999999941717,0.000210120297598,-0.000268824711026,1.21564799815e-05,1793248134329360896
+97,1.616666667,BASELINE,766,744,715,679,658,634,878,785,810,651,629,652,0.400967727759,-0.0153752895161,0.0598383888994,0.999999941902,0.000210023919948,-0.000268212832611,1.21901146932e-05,1793248134346027520
+98,1.633333333,BASELINE,766,744,715,679,658,634,878,785,810,651,629,652,0.400969249134,-0.0153738601116,0.0598396862584,0.999999942414,0.000210199963757,-0.000266151615037,1.22865998359e-05,1793248134362694400
+99,1.650000000,BASELINE,765.547532765,744,715,679,658,634,877.547532765,785,810,651.452467235,629,652,0.400970517099,-0.0153740114367,0.0598403674147,0.99999994276,0.000210137066104,-0.000264900049913,1.2250633646e-05,1793248134379361280
+100,1.666666667,BASELINE,765.025169856,744,715,679,658,634,877,785,810,651.974830144,629,652,0.400971599108,-0.0153745607514,0.059840834776,0.999999943023,0.00021005311643,-0.00026397583442,1.21920624918e-05,1793248134396027904
+101,1.683333333,BASELINE,765.615739516,744,715,679,658,634,877,785,810,651.384260484,629,652,0.400970006578,-0.0153746768963,0.0598401535179,0.999999942408,0.000210913134527,-0.000265603944624,1.24111131291e-05,1793248134412694528
+102,1.700000000,BASELINE,766,744.202185434,715,679,658,634,877.202185434,785,810,651.202185434,629,652,0.400968768833,-0.0153748414869,0.059839616078,0.999999942002,0.000211292228625,-0.000266825250845,1.24597865148e-05,1793248134429360896
+103,1.716666667,BASELINE,766,744.780950622,715,679,658,634,877.780950622,785,810,651.780950622,629,652,0.400968191892,-0.0153750963099,0.059839346506,0.999999941991,0.000210775579355,-0.000267288865584,1.2191124336e-05,1793248134446027520
+104,1.733333333,BASELINE,766,744.643268906,715,679,658,634,877.643268906,785,810,652,629,652,0.400968049361,-0.0153746828696,0.0598392701319,0.999999942112,0.000210152164297,-0.00026733519088,1.19967699638e-05,1793248134462694400
+105,1.750000000,BASELINE,766,744.069305925,715,679,658,634,877.069305925,785,810,652,629,652,0.400968171365,-0.0153738624895,0.0598393114059,0.999999942314,0.000209463734018,-0.000267127407246,1.18476654058e-05,1793248134479361024
+106,1.766666667,BASELINE,766,744,715,679,658,634,877.518031303,785,810,652,629,652,0.400968764789,-0.0153738735074,0.0598395764078,0.999999942451,0.000209636560656,-0.00026648748411,1.1632227955e-05,1793248134496027648
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,810,652,629,652,0.40096717945,-0.0153715796131,0.059839354426,0.999999941106,0.000213911155615,-0.000268150018937,1.12455441601e-05,1793248134538443776
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.42307242,715.42307242,679.57692758,658.42307242,634,877.42307242,785,810,652,629,652.57692758,0.400966771724,-0.0153731084875,0.0598388736123,0.99999994121,0.000212989507382,-0.000268475854347,1.17109311837e-05,1793248134555110400
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744,715,679.846872342,658,634,877.153127658,785,810,651.846872342,629,652.846872342,0.400966659707,-0.0153741465116,0.0598386016981,0.999999941407,0.000212044159423,-0.000268475406071,1.20127063774e-05,1793248134571777024
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744,715,679.272672626,658,634,877.727327374,785,810,651.272672626,629,652.272672626,0.400967360836,-0.0153738347908,0.0598389042173,0.999999941863,0.000211033641503,-0.00026757773953,1.18645801287e-05,1793248134588443392
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.689676647,744,715,679.310323353,657.689676647,634,878,785,810,651.310323353,629,652.310323353,0.400967468884,-0.0153735253056,0.0598386264052,0.99999994198,0.000210292383432,-0.000267734049895,1.16115154502e-05,1793248134605110016
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.098726196,744,715,679.901273804,657.098726196,634,878,785,810,651.901273804,629,652.901273804,0.400967040606,-0.0153732178421,0.0598378237962,0.999999941791,0.000209794618572,-0.00026884347737,1.12635543867e-05,1793248134621776384
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.482360355,744.482360355,715,680,657.482360355,634,878,785,810,651.517639645,629,652.517639645,0.400967924626,-0.0153722132135,0.0598387224725,0.999999941572,0.000211488325415,-0.000268323557188,1.14461728542e-05,1793248134638443264
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.938959533,715,680,658,634,878,785,810,651.061040467,629,652,0.400969300033,-0.0153713574439,0.0598399740301,0.999999941447,0.000213296340421,-0.000267342949919,1.17443752228e-05,1793248134655109632
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.363883862,715,680,658,634,878,785,810,651.636116138,629,652,0.400972596981,-0.0153729327999,0.0598413237101,0.999999942202,0.000212365448199,-0.000265234856986,1.21197557907e-05,1793248134671776512
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,878,785,810,651.7894595,629.2105405,652,0.400981435265,-0.0153746781355,0.059845254364,0.999999944187,0.000210816615818,-0.000258888437062,1.25971228618e-05,1793248134688443392
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,878,785,810,651.216157405,629.783842595,652,0.40099982128,-0.0153767163462,0.0598536320397,0.999999948167,0.0002082030717,-0.000245239373639,1.32502127886e-05,1793248134705109760
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.36964773,715.36964773,680,658,634,877.63035227,785,810,651.36964773,629.63035227,652,0.401037001056,-0.0153796676495,0.0598685315957,0.999999954698,0.000206922454463,-0.000218088348831,1.49863692284e-05,1793248134721776384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.963020231,715.963020231,680,658,634,877.036979769,785,810,651.963020231,629.036979769,652,0.401085555528,-0.015383171591,0.0598873784409,0.999999961837,0.000206448574489,-0.000182765425352,1.7378038491e-05,1793248134738443264
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.458350498,715.458350498,679.458350498,658,634,877,785,810,652,629,652,0.401153038945,-0.0153855836007,0.059906859736,0.99999996604,0.000208236586355,-0.000155572520043,1.88309888705e-05,1793248134755109888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.881425008,744,715,679,658,634,877.118574992,785,810,651.881425008,629,652.118574992,0.401224805136,-0.0153884485344,0.0599250346055,0.999999969468,0.0002094434146,-0.000129585649093,2.01265605963e-05,1793248134771776512
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.307280577,744,715,679,658,634,877.692719423,785,810,651.307280577,629,652.692719423,0.401308192316,-0.0153933324492,0.0599380281361,0.999999972545,0.000207839729971,-0.000106156358534,2.10571847221e-05,1793248134788444160
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273840592,744,715,679,658,634,877.726159408,785,810,651.273840592,629,652.726159408,0.401396319524,-0.015397902993,0.0599467915472,0.999999974576,0.000205438479097,-9.05066445531e-05,2.12692617334e-05,1793248134805111296
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.862995096,744,715,679,658,634,877.137004904,785,810,651.862995096,629,652.137004904,0.401489904635,-0.0154021127053,0.0599506841841,0.999999975848,0.000202118870285,-8.38147301135e-05,2.0653967195e-05,1793248134821777920
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,785,810,651.555778434,629,652,0.401594205707,-0.0154084848634,0.0599478898885,0.999999976334,0.000199136369314,-8.54271957351e-05,1.94775202152e-05,1793248134838444288
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,715.022978024,679.022978024,658,634,877,785,810,651.022978024,629,652,0.401703249648,-0.0154154691353,0.0599432459824,0.999999976596,0.000196245350065,-8.92578893917e-05,1.81122589217e-05,1793248134855110400
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,715.600100689,679.600100689,658,634,877,785,810,651.600100689,629,652,0.401848367956,-0.015421413412,0.0599428606001,0.999999977535,0.000193097138715,-8.5900368413e-05,1.62940766921e-05,1793248134871777280
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,877,784.82347257,810,651.82347257,629,652,0.402003865134,-0.0154283391368,0.0599433885214,0.999999978633,0.000189590905887,-8.10717642624e-05,1.47363879458e-05,1793248134888443904
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,877,784.24861624,810,651.24861624,629,652,0.402182781903,-0.0154374794692,0.0599459772853,0.999999980083,0.000185276808657,-7.29237051079e-05,1.37664952495e-05,1793248134905110272
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,715.665025497,679.665025497,658,634,877,784.334974503,810,651.334974503,629,652.334974503,0.402377048832,-0.0154470127222,0.0599467096497,0.999999981547,0.000179492123504,-6.73779344712e-05,1.21749860093e-05,1793248134921776896
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,715.074778497,679.074778497,658,634,877,784.925221503,810,651.925221503,629,652.925221503,0.402583013608,-0.0154568454076,0.0599460273164,0.99999998302,0.000172586753641,-6.38152771488e-05,1.01097641739e-05,1793248134938443520
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,784.494888524,810,652,629,652.494888524,0.402829530828,-0.0154669693384,0.0599485879847,0.999999984586,0.000166860507036,-5.4035768208e-05,8.06833525825e-06,1793248134955110400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.917152307,744,715,679.082847693,658,634,877,784.082847693,810,652,629,652,0.403086490774,-0.0154770715106,0.0599510215546,0.99999998596,0.00016125932235,-4.51590253279e-05,5.93164871541e-06,1793248134971777536
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.343275869,744,715,679.656724131,658,634,877,784.656724131,810,652,629,652,0.403370476378,-0.0154867943114,0.0599499134729,0.999999986819,0.000155385544379,-4.69781626069e-05,3.20992301176e-06,1793248134988444160
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.230924897,744,715,680,658,634,877,785,810,652,629,652.230924897,0.4036605524,-0.0154919528882,0.0599428389269,0.999999986584,0.000153129066555,-5.81749603928e-05,-1.2189277701e-07,1793248135005111040
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.805608426,744,715,680,658,634,877,785,810,652,629,652.805608426,0.4039596947,-0.0154903170845,0.0599268826031,0.99999998431,0.000156257362049,-8.33314990961e-05,-4.36189862776e-06,1793248135021777664
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,715,679.608994474,658,634,877,785,810,652,629,652.608994474,0.40428086139,-0.0154796050709,0.059913117777,0.999999987386,0.000115905876802,-0.000108186327674,-9.49583854434e-06,1793248135038444032
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744,715,679.018121002,658,634,877,785,810,652,629,652.018121002,0.404613286146,-0.0154642536257,0.0599004731659,0.999999989635,5.33290925884e-05,-0.000132886931741,-1.5086725206e-05,1793248135055110400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.439389009,744,715,679.560610991,658,634,877.560610991,785,810.560610991,652,629,652,0.405018673523,-0.0154683030997,0.0599002537322,0.9999999887,6.30924864704e-05,-0.000135220030346,-1.82788526394e-05,1793248135071777024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.138311678,744,715,680,658.138311678,634,878,785,811,652,629,652.138311678,0.405446167719,-0.0154749743585,0.0599064126466,0.999999989338,6.95401485688e-05,-0.000126696656982,-2.08900346568e-05,1793248135088443648
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.713965905,744,715,680,658.713965905,634,878,785,811,652,629,652.713965905,0.405936264504,-0.0154879948313,0.0599314969171,0.999999994357,5.82664546419e-05,-8.60827067127e-05,-2.19042366721e-05,1793248135105110528
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744,715,679.704780362,658.704780362,634,878,785,810.704780362,652,629,652.704780362,0.406442342616,-0.0154967954214,0.0599585603737,0.999999998024,4.27732459155e-05,-3.99247404567e-05,-2.29766139323e-05,1793248135121777152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,715,679.117996387,658.117996387,634,878,785,810.117996387,652,629,652.117996387,0.406964204237,-0.0155014283794,0.0599875785138,0.999999999374,2.31127654812e-05,1.17086026906e-05,-2.4106446231e-05,1793248135138444032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.464159655,715,679.464159655,658.464159655,634,878,785,810,652,629,652,0.407487576412,-0.0155002615184,0.0599968115165,0.999999999263,1.84000970432e-05,2.00682253566e-05,-2.70772538805e-05,1793248135155110912
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.955109366,715,680,658.955109366,634,878.044890634,784.955109366,810.044890634,651.955109366,629,652,0.408013624617,-0.01549779845,0.0599996088595,0.999999999303,1.52010111025e-05,1.48973917059e-05,-3.06846633492e-05,1793248135171777792
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.377465787,715,680,658.377465787,634,878.622534213,784.377465787,810.622534213,651.377465787,629,652,0.408566919499,-0.0154972774098,0.0599851310478,0.999999998999,-1.46871274687e-05,-2.15833679055e-05,-3.63477950256e-05,1793248135188444416
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.198284803,715.198284803,679.801715197,658.198284803,634,878.801715197,784.198284803,811,651.198284803,629.198284803,652,0.409148783864,-0.0154985396222,0.0599761998925,0.999999997552,-3.40017632891e-05,-4.47858531404e-05,-4.16449880527e-05,1793248135205111040
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.770465838,715.770465838,679.229534162,658.770465838,634,878.229534162,784.770465838,811,651.770465838,629.770465838,652,0.409784520311,-0.0155031644293,0.0599777278046,0.999999997451,-3.33784455344e-05,-4.29501250662e-05,-4.62521477422e-05,1793248135221777664
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.644259469,744.644259469,715.644259469,679.355740531,659,634.355740531,878,785,810.644259469,651.644259469,629.644259469,652,0.410445311663,-0.0155083059465,0.0599843555187,0.999999996844,-5.62582040473e-05,-2.42953294237e-05,-5.05572922421e-05,1793248135238444032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.050213548,744.050213548,715.050213548,679.949786452,659,634.949786452,878,785,810.050213548,651.050213548,629.050213548,652,0.411122886906,-0.0155137936001,0.0599943995155,0.999999993989,-9.48823302273e-05,5.62631407096e-06,-5.46601208937e-05,1793248135255110144
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.527595206,744,715,679.472404794,659,634.472404794,878.527595206,785,810.527595206,651.527595206,629,652,0.411798145515,-0.0155152784334,0.0599863275791,0.999999993629,-9.63943834479e-05,-1.25858247328e-05,-5.73759280064e-05,1793248135271776512
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.895931106,744,715,679.104068894,659,634,879,785,811,651.895931106,629,652.104068894,0.41247277533,-0.0155139485243,0.0599712815803,0.999999994433,-7.73479800058e-05,-4.4857749492e-05,-5.60343842505e-05,1793248135288443136
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.318711246,744,715,679.681288754,659,634,879,785,811,651.318711246,629,652.681288754,0.413145518631,-0.0155015016946,0.0599321328255,0.999999991828,1.95884215404e-05,-0.000120846519673,-3.68282869434e-05,1793248135305109760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.257230783,715.257230783,680,659.257230783,633.742769217,879,785,811,651,629,652.742769217,0.413882182736,-0.0154947288833,0.0599167308672,0.99999998646,6.39269439922e-05,-0.000148880922252,-2.87799257094e-05,1793248135321776384
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.831597471,715.831597471,680,659.831597471,633.168402529,879,785,811,651,629,652.168402529,0.414697653914,-0.0154949514808,0.0599306059665,0.999999991525,4.34183575304e-05,-0.000117793128919,-3.44877648841e-05,1793248135338443008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.418955482,744.581044518,716,680,659.581044518,633.418955482,878.581044518,785,811,651,629,652,0.415541137176,-0.0155034185383,0.0599714713037,0.999999998247,2.15102084627e-05,-4.25877218662e-05,-3.50738123721e-05,1793248135355109888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988616523,744,715.988616523,680,659,634,878.011383477,785,811,651,629.011383477,652.011383477,0.416395571669,-0.0155151263474,0.0600225209161,0.999999998239,-6.32872948111e-07,4.89361777504e-05,-3.3575619906e-05,1793248135371776256
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.412030081,744,715.412030081,680,659,634,878.587969919,785,811,651,629.587969919,652.587969919,0.417216803276,-0.0155179354611,0.0600233312971,0.99999999852,-5.61478930668e-06,4.20304848066e-05,-3.40827316298e-05,1793248135388443136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.163919786,744,715,680,659,634,879,784.836080214,811,651.163919786,630,653,0.41804337833,-0.0155201544135,0.0600171278573,0.999999998933,-9.7271221705e-06,2.78849048611e-05,-3.55115607418e-05,1793248135405109760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.738275712,744,715,680,659,634,879,784.261724288,811,651.738275712,630,653,0.418883332709,-0.0155208956698,0.059993362623,0.999999999152,-1.16621184827e-05,-4.38851232035e-06,-3.92482632776e-05,1793248135421776384
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.321636254,715,680,659,634,879,784.321636254,811,651.678363746,630,653,0.419729309832,-0.0155219831566,0.0599669152957,0.999999998058,-1.52714332438e-05,-4.27757705162e-05,-4.26771509333e-05,1793248135438443008
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.912535117,715,680,659,634,879,784.912535117,811,651.087464883,630,653,0.420580328945,-0.0155233604953,0.0599382226152,0.999999995021,-2.02824286642e-05,-8.62813206341e-05,-4.58483465267e-05,1793248135455109632
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.493321863,634,879,785,811,651,630,653,0.421416522728,-0.0155195843407,0.0599029106747,0.999999986237,-1.53645125147e-05,-0.000157785554194,-4.89199293687e-05,1793248135471776512
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.927938035,715,680,660,634,879,785,811.072061965,651.072061965,630,653,0.42226873286,-0.0155163719437,0.0598768349433,0.999999975896,-1.08038453434e-05,-0.000213205117539,-5.13294033484e-05,1793248135488443136
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.351227675,715,680,660,634,879,785,811.648772325,651.648772325,630,653,0.423251142311,-0.0155233776502,0.0599234936806,0.99999999114,-2.08252308904e-05,-0.00012191879519,-4.92233392675e-05,1793248135505109760
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.22423804,715,680,660,633.77576196,879,785,812,651.77576196,630,652.77576196,0.424230821881,-0.0155290254312,0.0599727203943,0.999999997904,-2.7839638374e-05,-3.55977257407e-05,-4.63560758398e-05,1793248135521776384
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.797765096,715,680,660,633.202234904,879,785,812,651.202234904,630,652.202234904,0.425206249347,-0.0155325580124,0.0600259471766,0.999999997726,-3.0170165996e-05,4.29891280432e-05,-4.23031145084e-05,1793248135538443008
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879,784.617061571,812,651.382938429,630,652,0.426169623703,-0.0155355464069,0.0600419209332,0.999999995683,-3.26996147429e-05,7.60640317813e-05,-4.21780371716e-05,1793248135555109632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879,784.025544795,812,651.974455205,630,652,0.427126432929,-0.0155382383944,0.0600376037628,0.999999994842,-3.53374114881e-05,8.43495481607e-05,-4.41923943136e-05,1793248135571776512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.446922208,744.446922208,715,680,659.446922208,633.553077792,879.553077792,784.553077792,812,651.446922208,630,652.553077792,0.428041420103,-0.0155367683339,0.060009838557,0.999999996949,-4.28753079438e-05,4.44062607907e-05,-4.7880227221e-05,1793248135588442880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.13071162,715,680.13071162,659.13071162,633.86928838,879.86928838,785,812,651,630,653,0.428940080443,-0.0155346964558,0.0599780889382,0.999999997576,-4.67453232427e-05,-5.46319764584e-06,-5.13116648841e-05,1793248135605109760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.706958867,715,680.706958867,659.706958867,633.293041133,879.293041133,785,812,651,630,653,0.429789524087,-0.0155312135584,0.0599363655942,0.999999994524,-3.73593804991e-05,-8.17467633131e-05,-5.36117179638e-05,1793248135621776384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.286874788,744.713125212,715,680.713125212,660,633.286874788,879,784.713125212,812.286874788,651,630,653,0.430706899671,-0.0155302743017,0.0599266370581,0.99999999327,-3.68304849972e-05,-9.5289670851e-05,-5.49796601268e-05,1793248135638443008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.870586752,744.129413248,715,680.129413248,660,633.870586752,879,784.129413248,812.870586752,651,630,653,0.431694566235,-0.0155319670196,0.0599500144255,0.999999996469,-4.5466218753e-05,-4.39131020724e-05,-5.53831216732e-05,1793248135655109888
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.452731359,715,680.452731359,660.452731359,633.547268641,879,784.452731359,813,651,630,653,0.432672136188,-0.015535163161,0.0599866826321,0.999999997149,-5.076778577e-05,1.66550695984e-05,-5.3364534971e-05,1793248135671776512
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.965855203,660.965855203,633,879,784.965855203,813,651,630,653.034144797,0.433642251375,-0.0155385756295,0.0600235106633,0.999999994466,-5.48002996442e-05,7.39436454885e-05,-5.0959227766e-05,1793248135688442880
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.388967642,660.388967642,633,879,784.388967642,813,651,630,653.611032358,0.434539586887,-0.0155386191776,0.0600026981453,0.999999996428,-5.3757911983e-05,3.7482285243e-05,-5.33739193319e-05,1793248135705109760
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.812819142,715,680.187180858,660,633.187180858,879,784.187180858,813,651,630,653.812819142,0.435425657277,-0.0155384857252,0.0599804380534,0.999999996992,-5.36215210154e-05,-3.30230609473e-06,-5.59383206686e-05,1793248135721776640
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.238200288,715,680.761799712,660,633.761799712,879,784.761799712,813,651,630,653.238200288,0.436288410617,-0.0155379859063,0.0599551816841,0.999999995332,-5.53604153599e-05,-5.3035383149e-05,-5.88126006103e-05,1793248135738443264
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.344449508,715,680.655550492,660,633.655550492,879,785,813.344449508,651,630,653,0.437130514444,-0.0155346099691,0.0599291387661,0.99999999129,-5.33797823845e-05,-0.000103944635591,-6.13649507663e-05,1793248135755109888
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.932785557,715,680.067214443,660,633.067214443,879,785,813.932785557,651,630,653,0.437957997386,-0.0155291976041,0.0599025389361,0.999999984664,-4.87655480166e-05,-0.000155686672722,-6.36893591805e-05,1793248135771776768
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.484830333,745,715,680.515169667,660,633,879.515169667,784.484830333,814,651,630,653,0.43883183313,-0.0155319071484,0.0599081910787,0.999999985433,-6.0161328545e-05,-0.000146381375646,-6.39232658033e-05,1793248135788443392
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.095697891,745,715,681,660,633,880,784.095697891,814,651.095697891,630,653,0.439714833048,-0.0155362379241,0.059926029417,0.99999998852,-7.22214205772e-05,-0.000117225481118,-6.32598737262e-05,1793248135805109760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.670774971,745,715,681,660,633,880,784.670774971,814,651.670774971,630,653,0.440613790439,-0.0155434423567,0.0599840740046,0.999999994854,-7.72651611642e-05,-2.80747777431e-05,-5.94523204726e-05,1793248135821776384
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880.245660587,785,814,651.754339413,630.245660587,653,0.441467767058,-0.0155472438669,0.0600173192301,0.999999994891,-7.95789885257e-05,2.44947379314e-05,-5.73241624153e-05,1793248135838443264
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880.820289763,785,814,651.179710237,630.820289763,653,0.442261509032,-0.0155464884607,0.0600173551712,0.999999994895,-7.82371393799e-05,2.80777084365e-05,-5.74449139987e-05,1793248135855109888
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.594808239,715.405191761,680.594808239,660,633,880.594808239,785,814,651,631,653,0.443030187601,-0.0155465482543,0.0599991431758,0.999999994905,-8.2185786187e-05,2.67391025946e-06,-5.855319698e-05,1793248135871776512
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.00523148,715.99476852,680.00523148,660,633,880.00523148,785,814,651,631,653,0.443787460983,-0.0155469790096,0.059972627345,0.999999993628,-8.85419054357e-05,-3.59204946633e-05,-6.01108621221e-05,1793248135888443136
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.575026908,715.424973092,680.575026908,660,633,880,785,814,651,630.424973092,653,0.444522887145,-0.0155461601193,0.0599759885384,0.999999994388,-8.23978112736e-05,-2.84308115593e-05,-6.0218901676e-05,1793248135905109760
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680.846333839,660,633,879.846333839,784.846333839,814.153666161,651,630,653,0.445233822078,-0.0155452219394,0.05997271422,0.999999994137,-8.1442138963e-05,-3.6934215345e-05,-6.10672567422e-05,1793248135921776384
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.271899526,660,633,879.271899526,784.271899526,814.728100474,651,630,653,0.445878230951,-0.0155439877552,0.0599505381522,0.999999989358,-9.4999817906e-05,-9.03595518589e-05,-6.39782776621e-05,1793248135938443008
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680.303417942,660,633.303417942,879.303417942,784,815,651,630.303417942,653,0.446531631204,-0.0155417942431,0.0599368195939,0.999999986656,-9.66322970263e-05,-0.000113548565257,-6.6763912365e-05,1793248135955109632
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680.879529102,660,633.879529102,879.879529102,784,815,651,630.879529102,653,0.447193112312,-0.0155387385466,0.0599307021214,0.999999987755,-8.75471459202e-05,-0.000109563044695,-6.94368576673e-05,1793248135971776512
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.53069084,715,681,660,633.53069084,879.53069084,784,815,651,631,653,0.447868621612,-0.0155425337291,0.0599575354899,0.99999999104,-9.43925278716e-05,-6.53732528477e-05,-6.88179661442e-05,1793248135988443136
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.06066988,715,681,660,633,879.06066988,784,815,651,631,653,0.448535007999,-0.015547589862,0.0599886521857,0.999999991987,-0.000105465446998,-1.76858226861e-05,-6.77459519918e-05,1793248136005109760
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.63482106,715,681,660,633,879.63482106,784,815,651,631,653,0.449092790816,-0.0155479875325,0.0599822852101,0.999999990269,-0.000116669704336,-3.03631303365e-05,-7.02052302053e-05,1793248136021776384
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.209475412,633,880,784,815,651,630.790524588,653,0.44962389406,-0.0155476949178,0.0599637549182,0.999999987967,-0.000122738228739,-6.00603327895e-05,-7.34417799848e-05,1793248136038443008
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.785008996,633,880,784,815,651,630.214991004,653,0.450108374706,-0.01554619603,0.0599239692382,0.999999982635,-0.000119832061116,-0.000119499791038,-7.80366110139e-05,1793248136055109632
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.368778265,660.631221735,633,880,784,815,651,630.368778265,653,0.450575317845,-0.0155469303629,0.0598969919094,0.999999976207,-0.000128932680133,-0.000155936804094,-8.15226653292e-05,1793248136071776512
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.957458516,660.042541484,633,880,784,815,651,630.957458516,653,0.451031803439,-0.015548996362,0.0598776521796,0.999999969943,-0.000145192929775,-0.000178657495653,-8.43475580774e-05,1793248136088443136
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.461245851,660,633,880.538754149,784,815,651,631,653,0.451495184749,-0.0155530514955,0.0598817860758,0.999999969897,-0.000158096250728,-0.000167259576644,-8.50690436016e-05,1793248136105109760
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,744.881615445,715,681,660,633,880.881615445,784,815,651,630.881615445,653,0.451946787518,-0.0155574559522,0.059888865483,0.99999997074,-0.000167085505102,-0.000152737707838,-8.52826486547e-05,1793248136121776640
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,744.306192957,715,681,660,633,880.306192957,784,815,651,630.306192957,653,0.452350844238,-0.0155626108358,0.0599002573326,0.999999974036,-0.000161973540598,-0.000136415703244,-8.41680629809e-05,1793248136138443264
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,744.273855453,715,681,660.273855453,632.726144547,880,783.726144547,815,651,630,653,0.45272475747,-0.0155676444934,0.0599054950492,0.999999980928,-0.000127291785687,-0.000128958502795,-7.28683552829e-05,1793248136155109888
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,744.859164859,715,681,660.859164859,632.140835141,880,783.140835141,815,651,630,653,0.453064388693,-0.015572540281,0.0599037337114,0.999999988354,-5.89805082833e-05,-0.000131583184564,-4.99851771011e-05,1793248136171776512
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.439823028,745,715,681,660.560176972,632.439823028,880,783,815.439823028,651,630,653,0.45336044455,-0.0155692602206,0.0598856987305,0.999999983916,-4.74781460755e-05,-0.000166234305338,-4.77569081587e-05,1793248136188443136
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.981014514,745,715,681,660.018985486,632.981014514,880,783,815.981014514,651,630,653,0.453642527818,-0.015563643911,0.0598629342933,0.99999997511,-5.47544495506e-05,-0.000209941598388,-5.2031130602e-05,1793248136205110016
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.402498108,745,715,681,660.597501892,632.402498108,880,783,815.402498108,651,630,653,0.453919736814,-0.0155655231483,0.0598527534291,0.999999970348,-8.49689432961e-05,-0.000221476198401,-5.50623103831e-05,1793248136221776640
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.652400038,632,880,782.826200019,815,651,630,653,0.45418837521,-0.0155672756733,0.0598487523102,0.999999967401,-0.000108336395684,-0.000223966002958,-5.74446872255e-05,1793248136238443008
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.509949193,632,880,782.254974596,815,651,630,653,0.454437415323,-0.0155687384476,0.0598588823107,0.999999970393,-0.00011604683182,-0.000205773227402,-5.83434571776e-05,1793248136255109632
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.327978517,632,880,782,815,651,630,653,0.454666691058,-0.015571533727,0.0598690134155,0.999999973155,-0.00012062977593,-0.000189018859648,-5.83944029505e-05,1793248136271776512
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.920387048,632,880,782,815,651,630,653,0.454880031951,-0.0155754033279,0.0598791454116,0.999999975767,-0.00012269120585,-0.000173424194533,-5.77617974685e-05,1793248136288443392
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,782,815,651,630,653,0.455058938013,-0.0155772585415,0.05987775086,0.999999975054,-0.000126348600459,-0.000174340431044,-5.94370175248e-05,1793248136305110016
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,744,715,681,659.364818398,634,879,785,811,651,630,652.364818398,0.419884058305,-0.0153683011421,0.0597631663222,0.999999903734,0.000193033174912,-0.000393734694816,1.5624268459e-05,1793248138398134272
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,744,715,681,659.943515187,634,879,785,811,651,630,652.943515187,0.418958377917,-0.0153634611703,0.0597090799983,0.999999866512,0.000193005511685,-0.000479189497817,1.01111683818e-05,1793248138414801664
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744,715,680.481168408,659.481168408,634,879,785,811,651,629.481168408,653,0.418139461234,-0.0153665304491,0.0597238839302,0.999999885677,0.000191013616714,-0.000438229511756,1.06875608944e-05,1793248138431470848
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744,715,680.000666173,658.000666173,634,878.999333827,785,811.000666173,651.000666173,629,652.000666173,0.413433331543,-0.015367042851,0.0598337692168,0.999999937173,0.000211485732968,-0.000283513454838,2.34045140071e-05,1793248138531468288
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744,715.356209168,680,658,634.356209168,878,785,810,652,630,652.356209168,0.408186665603,-0.0153629234924,0.0598519336804,0.999999943973,0.000214070096506,-0.000256220826789,2.40459066895e-05,1793248138664801536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,715,680.22637446,658,634,878,785,810,652,629.77362554,652,0.407624839871,-0.0153617475945,0.0598456051023,0.999999940893,0.000217071543214,-0.000265591244355,2.35677576604e-05,1793248138681468416
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.387939419,715.387939419,680.612060581,658,634,878,785,810,652,629,652.387939419,0.406544345889,-0.0153591578273,0.0598160330791,0.999999927092,0.000227048754963,-0.000306272244552,2.14939641944e-05,1793248138714801664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.966786661,715.966786661,680.033213339,658,634,878,785,810,652,629,652.966786661,0.406062567671,-0.0153587080969,0.0598121866962,0.999999929738,0.000213400352154,-0.000307523184165,2.03272324016e-05,1793248138731468032
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.306225425,715,680,658,634,877.693774575,785,810,652,629,653,0.404805406421,-0.0153627050149,0.059816333703,0.999999927289,0.000238851904073,-0.000296415994564,2.25483976815e-05,1793248138781467904
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.506686542,715,679.493313458,658,634,877.506686542,785,810,652,629,652.506686542,0.402062265862,-0.0153503346815,0.0598299978875,0.999999925478,0.000273389236751,-0.000270589919262,3.29232992916e-05,1793248138948134656
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744,715.758911439,679.241088561,658.758911439,634,878,785,809.482177123,652,629,652.758911439,0.401609003086,-0.0153533234244,0.0598198267698,0.999999922538,0.000256130206918,-0.000297835948655,2.47950541016e-05,1793248138998134784
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,744,715.989832713,680,658,634,877.010167287,785,809.020334574,652,629,652.989832713,0.401315060269,-0.0153834825127,0.0598275151792,0.999999941443,0.000186417288428,-0.000286944551233,5.01522681746e-06,1793248139048134144
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20a735d8c2bdc3d4100b8ab9e3b63cfead3c9104
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90f68b302541117024c0e0d2bb0d02e7a47aed5d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fda312618564045d4d31f1cab94c94fd56d03c85c99187a28b2e85c358b18b
+size 26050722
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d65249f37760e30af45fc62646df94611800d01f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+12,0.200000000,BASELINE,765.03204188,744,715.03204188,679.03204188,657.96795812,634,877,785,810,652,629,652.03204188,0.400970194151,-0.0153772279138,0.0598370089692,0.99999994501,0.00019266687131,-0.000269792093361,8.50598867846e-06,1793248139937700864
+13,0.216666667,BASELINE,765.548117431,744,715,679,658,634,877,785,810,651.451882569,629.548117431,652.548117431,0.400970099745,-0.0153770715243,0.0598369710864,0.999999944702,0.000193887295016,-0.000270052992967,8.64201740693e-06,1793248139954367488
+14,0.233333333,BASELINE,766,744,715,679.125899077,658,634,877,785,810,651.125899077,629.874100923,652.874100923,0.400969692147,-0.0153768714465,0.0598367699485,0.999999944367,0.000194944619581,-0.000270527849527,8.80967449399e-06,1793248139971034112
+15,0.250000000,BASELINE,766,744,715,679.698122933,658,634,877,785,810,651.698122933,629.301877067,652.301877067,0.40096847047,-0.0153765657528,0.0598362360376,0.999999944132,0.000195038858543,-0.000271318059015,9.02521193012e-06,1793248139987700736
+16,0.266666667,BASELINE,765.727200697,744,715,679.727200697,658.272799303,634,877.272799303,785.272799303,810,652,629,652,0.400968358254,-0.0153765659663,0.0598360750186,0.999999944079,0.000195140104932,-0.000271439729572,9.05117104569e-06,1793248140004367360
+17,0.283333333,BASELINE,765.149785815,744,715,679.149785815,658.850214185,634,877.850214185,785.850214185,810,652,629,652,0.400969484896,-0.0153769077647,0.0598363303815,0.999999944229,0.000195249176008,-0.000270814890205,8.86544152044e-06,1793248140021033984
+18,0.300000000,BASELINE,765.437555748,744,715,679,659,634,878,785.562444252,810,652,629,652.437555748,0.400970501953,-0.015377711975,0.0598372565375,0.999999944882,0.000194246304978,-0.000269113106225,9.06650612295e-06,1793248140037700864
+19,0.316666667,BASELINE,766,744,715,679.027796851,658.972203149,634,878,785,810,652,629,653,0.400971407268,-0.0153785570037,0.059838345526,0.999999945629,0.000193039600129,-0.000267187457888,9.37852593041e-06,1793248140054367488
+20,0.333333333,BASELINE,766,744,715,679.606591129,658.393408871,634,878,785,810,652,629,653,0.400970858466,-0.0153770005461,0.059838004805,0.999999944852,0.000195512837099,-0.000268301706447,9.20435768425e-06,1793248140071033856
+21,0.350000000,BASELINE,765.815724983,744,715.184275017,680,658,634,877.815724983,785,810,652,629,653,0.400969982745,-0.0153762301095,0.0598375822365,0.99999994436,0.000196491265883,-0.000269420640442,9.11122556128e-06,1793248140087700736
+22,0.366666667,BASELINE,765.240397541,744,715.759602459,680,658,634,877.240397541,785,810,652,629,653,0.40096841326,-0.0153771276984,0.0598369859784,0.999999944483,0.000194297542342,-0.000270549517325,9.19006127778e-06,1793248140104367360
+23,0.383333333,BASELINE,765,744,715.657943556,679.657943556,658,634,877,785,810,652,629.342056444,653,0.400968960559,-0.0153773544799,0.0598373060349,0.999999944655,0.000194316486577,-0.000269900252612,9.23754796229e-06,1793248140121033984
+24,0.400000000,BASELINE,765,744,715.070374402,679.070374402,658,634,877,785,810,652,629.929625598,653,0.400971027189,-0.0153770997863,0.0598382837806,0.999999944859,0.000195923583867,-0.000267974718055,9.26253373152e-06,1793248140137700608
+25,0.416666667,BASELINE,765.510083371,744.510083371,715.510083371,679.510083371,658,634,877.510083371,785,810,652,629.489916629,652.489916629,0.400970368731,-0.015376688233,0.0598379430083,0.999999944416,0.000197257421689,-0.000268647271399,9.28763739193e-06,1793248140154367488
+26,0.433333333,BASELINE,766,744.911114209,715.911114209,679.911114209,658,634,878,785,810,652,629,652,0.400969571747,-0.0153763263705,0.0598376342665,0.999999943986,0.00019840151837,-0.000269403036147,9.31599443268e-06,1793248140171034112
+27,0.450000000,BASELINE,766,744.336072968,715.336072968,679.336072968,658,634,878,785,810,652,629,652,0.400970045179,-0.0153763530274,0.059838481986,0.999999944119,0.000198711204005,-0.00026868036276,9.36205791279e-06,1793248140187700992
+28,0.466666667,BASELINE,766,744,715,679.239527676,658,634,877.760472324,785,810,652,629,652.239527676,0.40097055061,-0.0153770972837,0.0598387343469,0.999999944447,0.000197634379367,-0.000268250511955,9.43400174162e-06,1793248140204367616
+29,0.483333333,BASELINE,766,744,715,679.815915,658,634,877.184085,785,810,652,629,652.815915,0.400971101043,-0.0153788507355,0.0598381494255,0.999999945044,0.00019460763656,-0.000268232472114,9.54234238539e-06,1793248140221034240
+30,0.500000000,BASELINE,766,744,715,680,658,634,877.401666213,785,810,652,629,652.598333787,0.400970317096,-0.0153780014929,0.0598381342859,0.999999944536,0.00019588697112,-0.000269199155817,9.40714112751e-06,1793248140237700608
+31,0.516666667,BASELINE,766,744,715,680,658,634,877.991811347,785,810,652,629,652.008188653,0.400968907002,-0.015375930955,0.0598383865123,0.999999943501,0.000199186900939,-0.000270627913808,9.15765961809e-06,1793248140254367232
+32,0.533333333,BASELINE,766,744,715,679.42885115,658,634,878,785,810,652,629,652,0.400969840597,-0.0153755779169,0.0598381907786,0.999999944011,0.000198440028908,-0.000269287959034,9.1310604344e-06,1793248140271033856
+33,0.550000000,BASELINE,766,744.148990872,715.148990872,679,658,634,877.851009128,785,810,652,629,652,0.400970791383,-0.0153753934419,0.0598383169052,0.999999944639,0.000197295851369,-0.000267791931722,9.12896788658e-06,1793248140287700736
+34,0.566666667,BASELINE,766,744.723000524,715.723000524,679,658,634,877.276999476,785,810,652,629,652,0.400971697133,-0.0153756208791,0.0598393791676,0.999999945542,0.000195180736529,-0.000265961818714,9.18783783897e-06,1793248140304367616
+35,0.583333333,BASELINE,766,745,715.695748187,679.304251813,658,634,877,785,810,652,629,652,0.400971057631,-0.015375675319,0.0598389802006,0.999999945267,0.000195733594578,-0.000266590230372,9.2136294853e-06,1793248140321034240
+36,0.600000000,BASELINE,766,745,715.107743089,679.892256911,658,634,877,785,810,652,629,652,0.400968976985,-0.0153755684171,0.0598372184526,0.999999943884,0.000198774674443,-0.000269511526928,9.20857143554e-06,1793248140337700864
+37,0.616666667,BASELINE,766,744.527635921,715,680,658,634,877,785,810,652,629,652,0.400968030208,-0.0153774471127,0.0598365740728,0.999999943829,0.000197315830641,-0.00027078249252,9.23984423311e-06,1793248140354367488
+38,0.633333333,BASELINE,766,744.050689978,715,679.949310022,658,634,877,785,810,652,629,652,0.400967466118,-0.0153794404457,0.0598362966222,0.999999944072,0.000195050191162,-0.000271524356815,9.25581261334e-06,1793248140371034112
+39,0.650000000,BASELINE,766,744.62891814,715,679.37108186,658,634,877,785,810,652,629,652,0.400968237397,-0.0153779909282,0.059837229069,0.999999944352,0.000194894366411,-0.00027061291864,9.02768170482e-06,1793248140387700992
+40,0.666666667,BASELINE,766,744.794932243,715,679.205067757,658.205067757,634.205067757,877,785,810.205067757,652,629.205067757,652,0.400969012228,-0.0153771373863,0.0598379538492,0.999999944562,0.000194964365931,-0.000269785177129,8.99401804637e-06,1793248140404367872
+41,0.683333333,BASELINE,766,744.222506168,715,679.777493832,658.777493832,634.777493832,877,785,810.777493832,652,629.777493832,652,0.400969793424,-0.015377351475,0.0598383066154,0.999999944649,0.00019543890699,-0.000269107369857,9.30872297448e-06,1793248140421035008
+42,0.700000000,BASELINE,765.638576421,744,715,679.638576421,658.638576421,634.638576421,877,785,810.638576421,652,629.638576421,652,0.400970288428,-0.0153777495426,0.0598387051114,0.999999945048,0.000194479216067,-0.00026832393488,9.21806454533e-06,1793248140437701632
+43,0.716666667,BASELINE,765.04733177,744,715,679.04733177,658.04733177,634.04733177,877,785,810.04733177,652,629.04733177,652,0.400970601447,-0.0153782645982,0.0598391326859,0.999999945641,0.000192607529478,-0.000267473333665,8.86964472211e-06,1793248140454368000
+44,0.733333333,BASELINE,765.532648258,744.532648258,715,679.532648258,658.532648258,634,877.532648258,785,810,652,629,652,0.400969815064,-0.0153781239115,0.0598387767849,0.999999945306,0.000193022380326,-0.000268416539375,9.08063819478e-06,1793248140471034624
+45,0.750000000,BASELINE,766,745,715,679.889112922,658.889112922,634,877.889112922,785,810,652,629,652.110887078,0.400968932763,-0.0153778008423,0.0598383574296,0.99999994488,0.000193900850535,-0.000269363773557,9.29960077186e-06,1793248140487701504
+46,0.766666667,BASELINE,766,745,715,679.314059558,658.314059558,634,877.314059558,785,810,652,629,652.685940442,0.400968049431,-0.0153769531945,0.0598379578502,0.999999944408,0.000195887098961,-0.000269674451379,9.34814741048e-06,1793248140504368128
+47,0.783333333,BASELINE,766,744.733596332,715,679,658,634,877,785,810,652,629,652.733596332,0.400968030288,-0.0153767528066,0.0598378290123,0.999999944129,0.000197390940387,-0.000269610803272,9.43135460173e-06,1793248140521034752
+48,0.800000000,BASELINE,766,744.146623226,715,679,658,634,877,785,810,652,629,652.146623226,0.400969051043,-0.0153773312808,0.0598380259635,0.999999944084,0.000198314291033,-0.000269096720517,9.55626961077e-06,1793248140537701632
+49,0.816666667,BASELINE,765.565226936,744,715.434773064,679,658,634,877,785,810,652,629,652,0.400969905518,-0.0153767405642,0.0598385946756,0.999999944225,0.000198750047875,-0.00026825669628,9.28864734222e-06,1793248140554368512
+50,0.833333333,BASELINE,765,744,715.985716751,679,658,634,877.014283249,785,810.014283249,652,629,652,0.400970686317,-0.0153758211149,0.0598392741423,0.999999944437,0.000198957289779,-0.000267326552178,8.90848834842e-06,1793248140571035648
+51,0.850000000,BASELINE,765,744,715.407358103,679,658,634,877.592641897,785,810.592641897,652,629,652,0.40097074404,-0.015377293803,0.0598394390081,0.999999944964,0.000196551699536,-0.000267123408427,9.24575542717e-06,1793248140587701760
+52,0.866666667,BASELINE,765,744,715,679,658,634,877.830068706,785,810.830068706,652,629,652,0.400970596217,-0.0153782674685,0.0598392397833,0.999999945206,0.000195055918496,-0.000267305293003,9.45403246186e-06,1793248140604368128
+53,0.883333333,BASELINE,765,744,715,679,658,634,877.255326515,785,810.255326515,652,629,652,0.40096995874,-0.0153780523608,0.059838173221,0.999999944781,0.000195727488114,-0.000268404393354,9.3550289636e-06,1793248140621034240
+54,0.900000000,BASELINE,765.327194192,744,715,679,658,634,877.327194192,785,810,651.672805808,629,652,0.400969633732,-0.0153781430738,0.0598378604917,0.999999944778,0.000195488531682,-0.000268590090904,9.35640005631e-06,1793248140637700864
+55,0.916666667,BASELINE,765.915932669,744,715,679,658,634,877.915932669,785,810,651.084067331,629,652,0.400969558499,-0.015378478246,0.0598381503426,0.999999945112,0.000194521741747,-0.000268045655389,9.43800607586e-06,1793248140654367488
+56,0.933333333,BASELINE,766,744.495477828,715,679,658,634,877.504522172,785,810,651.495477828,629,652,0.4009699807,-0.0153787737701,0.0598385334655,0.999999945524,0.000192812677224,-0.000267737330767,9.60529948893e-06,1793248140671034624
+57,0.950000000,BASELINE,765.926664378,744.926664378,715,679.073335622,658,634,877,785,810.073335622,652,629,652,0.400970560146,-0.0153789678719,0.0598389821245,0.999999945887,0.000191485880755,-0.000267327070399,9.75114537165e-06,1793248140687701760
+58,0.966666667,BASELINE,765.349877518,744.349877518,715,679.650122482,658,634,877,785,810.650122482,652,629,652,0.400971650243,-0.0153785110464,0.0598397740282,0.999999945843,0.000193632206777,-0.000265947009834,9.65176404181e-06,1793248140704368896
+59,0.983333333,BASELINE,765.2286427,744,715,680,658.2286427,634,877,785,810.7713573,651.7713573,629,652,0.400971056257,-0.0153783597191,0.0598393751187,0.999999945476,0.00019479756828,-0.000266480168135,9.48401718016e-06,1793248140721035520
+60,1.000000000,BASELINE,765.809835718,744,715,680,658.809835718,634,877,785,810.190164282,651.190164282,629,652,0.400967865539,-0.0153786794475,0.0598371400625,0.999999944612,0.000194450354585,-0.000269963369755,9.21085565454e-06,1793248140737701632
+61,1.016666667,BASELINE,765.606626717,744,715,679.606626717,658.606626717,634,877.393373283,785,810,651.393373283,629,652,0.400967345166,-0.0153783925572,0.0598368598359,0.999999944233,0.000195642776424,-0.000270503862504,9.23040369604e-06,1793248140754368256
+62,1.033333333,BASELINE,765.02194899,744,715,679.02194899,658.02194899,634,877.97805101,785,810,651.97805101,629,652,0.400968123429,-0.0153778106575,0.059837530278,0.999999944091,0.000197583950501,-0.000269613263239,9.39230163672e-06,1793248140771034624
+63,1.050000000,BASELINE,765.556882873,744,715,679,658,634,878,785,810,652,629,652,0.400968409573,-0.0153793241393,0.0598378572542,0.999999944772,0.000194353737387,-0.000269433611608,9.35926420447e-06,1793248140787701248
+64,1.066666667,BASELINE,765.865022663,744,715,679.134977337,658,634,878,785,810,652,629,652,0.400968725166,-0.0153804120021,0.0598382169568,0.999999945241,0.0001922254158,-0.000269218498627,9.38196772575e-06,1793248140804367616
+65,1.083333333,BASELINE,765.288594193,744,715,679.711405807,658,634,878,785,810,652,629,652,0.400969199849,-0.0153798405528,0.0598387275076,0.99999994494,0.000194360590549,-0.000268796714062,9.61184249503e-06,1793248140821034496
+66,1.100000000,BASELINE,765.292178086,744,715.292178086,680,658.292178086,634,877.707821914,785,810.292178086,652,629,652.292178086,0.400968292728,-0.0153788120375,0.059838304415,0.999999944424,0.000195905602446,-0.000269594601703,9.5666294621e-06,1793248140837701376
+67,1.116666667,BASELINE,765.877305607,744,715.877305607,680,658.877305607,634,877.122694393,785,810.877305607,652,629,652.877305607,0.400966000154,-0.0153773252497,0.0598369452143,0.999999943693,0.000196858893333,-0.000271615381507,9.24560238128e-06,1793248140854367744
+68,1.133333333,BASELINE,766,744.458565002,715.541434998,680,658.541434998,634,877,785,810.541434998,652,629.458565002,652.541434998,0.40096855705,-0.0153783418163,0.0598385157158,0.999999944896,0.000195259088279,-0.000268315279975,9.45209901677e-06,1793248140871034368
+69,1.150000000,BASELINE,766,745,715,680,658,634,877,785,810.038591097,652,629.961408903,652,0.400972141879,-0.0153798361722,0.0598406776057,0.999999946442,0.000193261341531,-0.000263950814373,9.75827108536e-06,1793248140887700992
+70,1.166666667,BASELINE,766,745,715,680,658,634,877,785,810.615727946,652,629.384272054,652,0.400972115856,-0.0153787291473,0.0598402447989,0.999999945948,0.000195163438882,-0.000264434257911,9.50220215549e-06,1793248140904367616
+71,1.183333333,BASELINE,766,744.807570658,715.192429342,679.807570658,658,634,877,785,810.807570658,652,629,652.192429342,0.400972049096,-0.0153781847076,0.0598397851821,0.999999945549,0.000196552891399,-0.000264915517998,9.3760060436e-06,1793248140921034240
+72,1.200000000,BASELINE,766,744.231736775,715.768263225,679.231736775,658,634,877,785,810.231736775,652,629,652.768263225,0.400971901169,-0.0153787611867,0.0598392721477,0.999999945349,0.000196920928522,-0.000265392427776,9.50857410451e-06,1793248140937700864
+73,1.216666667,BASELINE,765.647929294,744,716,679,658,634,877,785,810,652,629,652.647929294,0.400970910414,-0.0153787636501,0.0598386474386,0.999999945287,0.000195593105501,-0.000266611284553,9.3334950678e-06,1793248140954367488
+74,1.233333333,BASELINE,765.058751921,744,716,679,658,634,877,785,810,652,629,652.058751921,0.400969352044,-0.015378379535,0.0598379475207,0.999999945311,0.000193123183053,-0.000268329815302,8.95122702318e-06,1793248140971034112
+75,1.250000000,BASELINE,765,744.521389249,716,679,658,634,877,785.521389249,810,652,629,652,0.400969706474,-0.0153780630948,0.0598380479098,0.999999944792,0.000195981721517,-0.000268188910391,9.06041676909e-06,1793248140987700736
+76,1.266666667,BASELINE,765.099598555,745,715.900401445,679,658,634,877,785.900401445,810,652,629,652,0.400970093068,-0.0153777716509,0.0598383287337,0.999999944385,0.000198488820467,-0.000267859508608,9.1865560575e-06,1793248141004367360
+77,1.283333333,BASELINE,765.673375543,745,715.326624457,679,658,634,877,785.326624457,810,652,629,652,0.400969624106,-0.0153775635245,0.0598390465593,0.999999944841,0.000196512868895,-0.000267613237955,9.13422753764e-06,1793248141021033984
+78,1.300000000,BASELINE,766,745,715,679.505479071,658.252739536,634,877,785,810,652,629,652,0.400969328182,-0.0153776781926,0.0598391877752,0.999999944923,0.000195897916575,-0.000267758924778,9.15106793041e-06,1793248141037700608
+79,1.316666667,BASELINE,766,745,715,680.678973976,658.839486988,634,877,785,810,652,629,652,0.400969260937,-0.0153782194499,0.0598385669725,0.999999944511,0.000197081592889,-0.000268422602996,9.25931849944e-06,1793248141054367232
+80,1.333333333,BASELINE,766,744.578371036,715,680.578371036,658.578371036,634,877,785,810,652,629,652,0.400968979641,-0.0153783621986,0.0598385153424,0.999999944564,0.000196393480853,-0.000268726126478,9.33365100994e-06,1793248141071034112
+81,1.350000000,BASELINE,766,744,715,679.997971294,658,634.002028706,877.002028706,784.997971294,809.997971294,652,629,652,0.400968624642,-0.0153783509534,0.0598386784361,0.999999944791,0.000195007756023,-0.000268889765155,9.39353720565e-06,1793248141087700480
+82,1.366666667,BASELINE,766,744,715,679.419824286,658,634.580175714,877.580175714,784.419824286,809.419824286,652,629,652,0.400970231008,-0.0153772259141,0.0598389501199,0.999999944943,0.000195687328969,-0.000267844670364,8.9782269752e-06,1793248141104367360
+83,1.383333333,BASELINE,766,744,715,679,658,634.842545657,878,784.157454343,809.157454343,652,629,652,0.400971647652,-0.015376857466,0.0598393797068,0.999999945259,0.000195896486089,-0.000266512905277,8.81393105006e-06,1793248141121033984
+84,1.400000000,BASELINE,766,744,715,679,658,634.267569584,878,784.732430416,809.732430416,652,629,652,0.400972561211,-0.0153784952704,0.0598402280052,0.999999946013,0.000194858241557,-0.00026442097624,9.31524974743e-06,1793248141137700608
+85,1.416666667,BASELINE,766,744,715,679,658,634,877.686616946,785,810,652,629,652,0.400971680359,-0.0153785752552,0.059839858674,0.999999945606,0.000196293421163,-0.000264891127685,9.48089965956e-06,1793248141154367488
+86,1.433333333,BASELINE,766,744,715,679,658,634,877.100462283,785,810,652,629,652,0.400969237635,-0.0153772992989,0.0598384295063,0.999999944177,0.00019988149286,-0.000267591338614,9.35438021989e-06,1793248141171034112
+87,1.450000000,BASELINE,766,744,715,679.48122287,658,634,877.48122287,785,810,651.51877713,629,652,0.400969328074,-0.0153767847328,0.0598389084928,0.999999944515,0.000198782156378,-0.00026714959615,9.27859235747e-06,1793248141187700736
+88,1.466666667,BASELINE,765.938266672,744,715,680,658,634,878,785,810.061733328,651.061733328,629,652,0.400970001922,-0.0153766361469,0.059839758839,0.999999945196,0.000196781732225,-0.000266080701569,9.24960034648e-06,1793248141204367360
+89,1.483333333,BASELINE,765.359850312,744,715,680,658,634,878,785,810.640149688,651.640149688,629,652,0.40097117325,-0.0153782325516,0.0598404139258,0.999999945707,0.000195354390658,-0.000265202134312,9.52444440946e-06,1793248141221035008
+90,1.500000000,BASELINE,765.217319342,744.217319342,715,680,658,634,877.782680658,785,810.782680658,652,629,652.217319342,0.400971594908,-0.0153795411107,0.0598404199165,0.999999945909,0.000194317687906,-0.000265191078081,9.83445187197e-06,1793248141237702144
+91,1.516666667,BASELINE,765.792436344,744.792436344,715,680,658,634,877.207563656,785,810.207563656,652,629,652.792436344,0.400970782297,-0.0153803757568,0.0598393572262,0.999999945605,0.000193924138606,-0.000266608304442,1.02023528291e-05,1793248141254368256
+92,1.533333333,BASELINE,766,745,715,679.62456443,658.37543557,634,877,784.62456443,810,652,629,652.62456443,0.400971051164,-0.0153799252764,0.0598396028553,0.99999994576,0.000193839930367,-0.000266099244669,9.85878445824e-06,1793248141271034880
+93,1.550000000,BASELINE,766,745,715,679.037113924,658.962886076,634,877,784.037113924,810,652,629,652.037113924,0.40097193076,-0.0153787490631,0.0598405873148,0.999999946173,0.00019393041232,-0.000264502378048,9.11343712978e-06,1793248141287701760
+94,1.566666667,BASELINE,766,744.456726463,715.543273537,679,658.456726463,634,877,784.543273537,810,652,629,652.543273537,0.400972363345,-0.015378000492,0.0598403105177,0.999999946028,0.000195100123419,-0.00026419996231,8.86119400529e-06,1793248141304368384
+95,1.583333333,BASELINE,766,744,715.877387911,679.122612089,658,634,877.122612089,785,810,652,629,653,0.400972457634,-0.0153771416889,0.059839979878,0.999999945736,0.000196562396877,-0.000264226287487,8.73416076792e-06,1793248141321035008
+96,1.600000000,BASELINE,766,744,715.30017215,679.69982785,658,634,877.69982785,785,810,652,629,653,0.400971409406,-0.0153757672562,0.059839764972,0.99999994504,0.000198839542199,-0.000265147807939,8.9480674973e-06,1793248141337701632
+97,1.616666667,BASELINE,765.724024011,744.275975989,715.275975989,679.724024011,658,634,878,785,810,652,629,652.724024011,0.400971009049,-0.0153759226709,0.0598398609605,0.999999945006,0.00019828487407,-0.000265691009245,8.90995845731e-06,1793248141354368000
+98,1.633333333,BASELINE,765.149032659,744.850967341,715.850967341,679.149032659,658,634,878,785,810,652,629,652.149032659,0.400971310649,-0.0153777356495,0.0598402937979,0.999999945685,0.000194661983333,-0.00026582430803,8.59879453684e-06,1793248141371034368
+99,1.650000000,BASELINE,765.436481622,745,715.563518378,679.436481622,658,634,877.563518378,785,810,652,629,652,0.400970623631,-0.0153780062003,0.0598398640425,0.999999945431,0.000194583692968,-0.000266827649843,8.8695132912e-06,1793248141387700992
+100,1.666666667,BASELINE,765.974778547,744.974778547,715,680,658,634,877,785,810,652,629,652,0.400969727116,-0.0153777836854,0.0598392162631,0.999999944905,0.000195717165702,-0.000267950356724,9.33498704793e-06,1793248141404367616
+101,1.683333333,BASELINE,765.396049486,744.396049486,715,680,658,634,877,785,810,652,629,652,0.400971823961,-0.0153785836838,0.0598404070334,0.999999945586,0.000196227222584,-0.000265012150659,9.60664154584e-06,1793248141421033984
+102,1.700000000,BASELINE,765.181030655,744.181030655,715,680,658.181030655,634,877.181030655,785,810,652,629,652.181030655,0.400972921597,-0.0153790766083,0.0598410880378,0.999999945986,0.000196264190525,-0.000263467428736,9.69180020352e-06,1793248141437700864
+103,1.716666667,BASELINE,765.754535864,744.754535864,715,680,658.754535864,634,877.754535864,785,810,652,629,652.754535864,0.400971852948,-0.0153789037967,0.0598406638692,0.999999945792,0.000195275501332,-0.000264943781543,9.37263574707e-06,1793248141454368256
+104,1.733333333,BASELINE,765.663263979,744.663263979,715.336736021,680,659,634,877.663263979,785,810,652,629,653,0.40097110689,-0.0153784676634,0.0598401520317,0.999999945737,0.000194810428023,-0.000265502502141,9.12903602405e-06,1793248141471034880
+105,1.750000000,BASELINE,765.074557569,744.074557569,715.925442431,680,659,634,877.074557569,785,810,652,629,653,0.400970602219,-0.0153778344938,0.059839574594,0.999999945787,0.000194737162108,-0.000265374583718,8.94197929846e-06,1793248141487701248
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877,785,810,652,629,652,0.40097042888,-0.0153783473955,0.0598394644034,0.999999945375,0.000195846598958,-0.000266099360912,9.25514108291e-06,1793248141518753536
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.58044129,744,715,680,658.41955871,634,877,785,810,652,629,652.58044129,0.400970410068,-0.0153780129508,0.0598394608761,0.999999945091,0.000196310861337,-0.000266825276801,9.20363014448e-06,1793248141535420160
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,877.158964276,785,810.158964276,652,629,653,0.40097039565,-0.0153777643111,0.0598395337258,0.999999944908,0.000196783604956,-0.000267164748721,9.16724727871e-06,1793248141552087296
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,877.73248472,785,810.73248472,652,629,653,0.400970392691,-0.0153777394386,0.0598398057556,0.999999944988,0.00019727846654,-0.000266496430019,9.1703162586e-06,1793248141568754432
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.31489539,715,679.68510461,658.31489539,634,878,785,810.68510461,652,629,653,0.400971124301,-0.0153777021072,0.059839929843,0.999999945077,0.000197948617374,-0.000265659735201,9.35470253774e-06,1793248141585421056
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.90507802,715,679.09492198,658.90507802,634,878,785,810.09492198,652,629,653,0.400972498084,-0.0153776538841,0.0598399245966,0.999999945171,0.000198772009208,-0.000264675842979,9.69759967638e-06,1793248141602087680
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.512777257,744.512777257,715,679.487222743,658.512777257,634,878,785,810,652,629,652.512777257,0.400971641616,-0.0153772183973,0.0598402201082,0.999999945209,0.000197690592858,-0.000265350543971,9.49648907089e-06,1793248141618754048
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.067087202,744,715,679.932912798,658,634,878,785,810,651.932912798,629,652.067087202,0.40097052813,-0.0153769087468,0.0598406405195,0.999999945265,0.00019641389639,-0.000266096077474,9.22247067385e-06,1793248141635420416
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.641359375,744,715,679.358640625,658,634,878,785,810,651.358640625,629,652.641359375,0.400970703131,-0.0153781115642,0.0598415693935,0.999999945562,0.000196420877154,-0.000264973857523,9.18551453292e-06,1793248141652087040
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,715,679.213986602,658,634,878,785,810,651.213986602,629,652.786013398,0.400971970708,-0.0153786675993,0.0598422925146,0.999999945771,0.000197103532219,-0.000263669096615,9.27327000845e-06,1793248141668753408
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715,679.783877879,658,634,878,785,810,651.783877879,629,652.216122121,0.400975055468,-0.0153781478994,0.0598426734254,0.999999945834,0.00019890997559,-0.000262060731853,9.568447106e-06,1793248141685420032
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,877.627311083,785,810,652,629,652,0.40099083042,-0.0153790097983,0.05984875619,0.999999948634,0.000198364349729,-0.000251550473598,1.02836594723e-05,1793248141702086912
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,877.026941661,785,810,652,629,652,0.401014357976,-0.0153807157337,0.0598583222911,0.9999999529,0.000196381814329,-0.000235601932663,1.12554768714e-05,1793248141718754048
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.54918855,715,679.45081145,658,634,877.54918855,785.54918855,809.45081145,651.45081145,629,652,0.40106788758,-0.0153838779523,0.0598785201995,0.999999961101,0.000195165447079,-0.00019883739195,1.31511442091e-05,1793248141735420672
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.875723079,744.875723079,715,679,658,634,877.875723079,785.875723079,809.124276921,651,628.875723079,652,0.401126957118,-0.0153873246597,0.0598991953953,0.99999996767,0.00019426271042,-0.000163382643777,1.50847402685e-05,1793248141752087552
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.300282392,744.300282392,715,679,658,634,877.300282392,785.300282392,809.699717608,651,628.300282392,652,0.401201021058,-0.0153915557607,0.0599197898858,0.999999971686,0.000194367869213,-0.000136233315681,1.69984536706e-05,1793248141768754176
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.282583819,715,679,658,634,877.282583819,784.717416181,810,651.282583819,628.282583819,652,0.401279099109,-0.0153961243853,0.0599351104503,0.999999974833,0.000193170729332,-0.000112638132728,1.8209838585e-05,1793248141785420544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.873553528,715,679,658,634,877.873553528,784.126446472,810,651.873553528,628.873553528,652,0.401361557787,-0.0154010613517,0.0599446755376,0.999999977354,0.000190552380977,-9.29216172974e-05,1.86547669263e-05,1793248141802086912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.454385557,745,715,679.454385557,658,634,877.545614443,784.454385557,810,652,629,652,0.401458024348,-0.0154052192131,0.0599492903965,0.999999978525,0.000188504371477,-8.41493678139e-05,1.82927488826e-05,1793248141818753536
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,810,652,629,652,0.401559241652,-0.0154092655524,0.0599521892429,0.999999979323,0.000186612371136,-7.88559404694e-05,1.76566480214e-05,1793248141835420160
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,810,652,629,652,0.401676221543,-0.0154150022182,0.0599488932297,0.999999979448,0.000184733127844,-8.1962667342e-05,1.61056482164e-05,1793248141852087040
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.814422894,715,679.814422894,658,634,877,785,810,652,629,652,0.401801975118,-0.0154207878678,0.0599465915983,0.999999979705,0.000183226049533,-8.25077042457e-05,1.4504685689e-05,1793248141868753920
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.225976405,715,679.225976405,658,634,877,785,810,652,629,652,0.40194677547,-0.0154266798556,0.059946448671,0.999999980258,0.000182526904506,-7.7491567401e-05,1.27952592777e-05,1793248141885420800
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.754218128,744,715,679.245781872,658.754218128,634,877,785,810.754218128,652,629,652,0.403264421581,-0.0154809140787,0.0599479283368,0.999999986971,0.000153211208479,-5.08364077965e-05,6.81573844797e-07,1793248141985420544
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.165171525,744,715,679.834828475,658.165171525,634,877,785,810.165171525,652,629,652,0.403533426451,-0.0154888403543,0.0599382589407,0.99999998685,0.00014748112898,-6.73725117363e-05,-3.12895503135e-06,1793248142002087424
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.416810854,744.416810854,715,680,658,634,877.416810854,785,810,652,629,652.416810854,0.403837734766,-0.0154889349341,0.0599297221361,0.99999998602,0.00014674922852,-7.98856517794e-05,-6.59998958352e-06,1793248142018754304
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.996040502,744.996040502,715,680,658,634,877.996040502,785,810,652,629,652.996040502,0.404155799779,-0.0154859777347,0.059921626669,0.999999984879,0.000147964969906,-9.08311620502e-05,-9.93873320515e-06,1793248142035420928
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.429667585,715,680,658,634,877.429667585,785,810,651.429667585,629,652.429667585,0.404500044585,-0.01547285939,0.0599082897164,0.999999989077,8.77959448878e-05,-0.000117832775276,-1.59043274892e-05,1793248142052087296
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.8553906,744,715,679.8553906,658,634,877.1446094,785,810,651.1446094,629,652,0.404866518852,-0.0154655636312,0.0598995682903,0.999999989491,4.37179559942e-05,-0.000136625733785,-2.09663610711e-05,1793248142068753920
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.281057084,744,715,679.281057084,658,634,877.718942916,785,810,651.718942916,629,652,0.405298515097,-0.0154757782129,0.0599046696608,0.999999990001,4.87119316117e-05,-0.000130697291319,-2.32896276094e-05,1793248142085420544
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,715,679.302782816,658.302782816,634,877.697217184,785,810,652,629,652.302782816,0.405758127622,-0.0154861413477,0.0599213012653,0.999999993178,4.77061782866e-05,-0.000103765154722,-2.45275175359e-05,1793248142102086912
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,715,679.895733088,658.895733088,634,877.104266912,785,810,652,629,652.895733088,0.406244205853,-0.0154966468473,0.0599489827006,0.999999997248,4.09506735397e-05,-5.67044361123e-05,-2.47252529934e-05,1793248142118753536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.476611049,744,715,679.523388951,659,634,877.476611049,785,810,652,629,652.523388951,0.406768746433,-0.0155001025409,0.0599765342247,0.999999999216,2.77045569746e-05,-1.15981533642e-05,-2.58186270672e-05,1793248142135420416
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744,715,679.054518556,658.945481444,634,878,785,810,652,629.054518556,652,0.407300512625,-0.0155016408937,0.0600010952073,0.999999999168,1.29244016806e-05,2.72954965368e-05,-2.74221696684e-05,1793248142152087040
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744,715,679.628664746,658.371335254,634,878,785,810,652,629.628664746,652,0.407822930685,-0.0154992412058,0.0599974169266,0.999999999421,-3.27765460872e-06,1.09498382684e-05,-3.20668590365e-05,1793248142168754176
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,878.207885681,785,810.207885681,652,630,652.207885681,0.408360651619,-0.0154981894266,0.0599905906124,0.999999999049,-2.07771169117e-05,-9.59768559354e-06,-3.71225425481e-05,1793248142185421056
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,878.796398148,785,810.796398148,652,630,652.796398148,0.408926391206,-0.0154996055916,0.0599780004293,0.999999997536,-4.06520543979e-05,-3.78385839041e-05,-4.29307325353e-05,1793248142202087680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.621292151,744,715,680,658.378707849,634,878.621292151,785,811,651.621292151,630,653,0.40953682527,-0.0155026449986,0.0599743037605,0.999999996683,-4.6789442355e-05,-4.63763853479e-05,-4.78864330907e-05,1793248142218753792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.042263476,744,715,680,658.957736524,634,878.042263476,785,811,651.042263476,630,653,0.410170900851,-0.0155065430336,0.059975311394,0.999999996595,-4.56602328413e-05,-4.44920606651e-05,-5.23912017465e-05,1793248142235420416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.535201406,744,715.535201406,680,659,634,878,784.464798594,810.464798594,651.535201406,629.464798594,653,0.410861905711,-0.0155132529788,0.0599895601562,0.999999995149,-8.04142787589e-05,-1.15633245805e-05,-5.56852947357e-05,1793248142252087040
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.887951924,744.112048076,715.887951924,680,659,634,878.112048076,784,810,651.887951924,629,653,0.411553246736,-0.015518686273,0.0599984619295,0.999999994411,-9.07341330887e-05,9.6059978202e-06,-5.3416990499e-05,1793248142268753664
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.313150075,744.686849925,715.313150075,680,659,634,878.686849925,784,810,651.313150075,629,653,0.412227463546,-0.0155179326687,0.0599809750869,0.999999999137,1.15267778359e-05,-2.78856481088e-05,-2.85699122308e-05,1793248142285420544
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.731706855,715,680,659,634,879,784,810.268293145,651.268293145,629.268293145,653,0.412906062832,-0.0155086131208,0.059954350042,0.999999993858,7.39743833251e-05,-8.05774770048e-05,-1.78835561202e-05,1793248142302087424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.14231503,715,680,659,634,879,784,810.85768497,651.85768497,629.85768497,653,0.413589907244,-0.0154890416778,0.0599167882087,0.999999984298,8.87726307385e-05,-0.000151461198349,-2.41450365054e-05,1793248142318754304
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.439544408,744.439544408,715,680,659,634,879,784.439544408,811,652,630,653,0.414383060791,-0.0154922476044,0.0599274457431,0.999999989272,6.398112175e-05,-0.000128534089836,-2.9007447049e-05,1793248142335420928
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.981104272,744.981104272,715,680,659,634,879,785,811,652,630,653,0.41521193524,-0.0155027336946,0.0599541475356,0.999999996266,2.72200194263e-05,-7.49759209589e-05,-3.32501299364e-05,1793248142352087552
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.405006917,744.405006917,715,680,659,634,879,785,811,652,630,653,0.416068094876,-0.0155140924354,0.060001340817,0.999999999434,9.11767239493e-06,1.25503572539e-06,-3.23509330817e-05,1793248142368753920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.169371113,744,715.169371113,680,659,634,879,785,811,652,629.830628887,653,0.416912875994,-0.0155221181349,0.0600312575944,0.999999998196,-5.58548864338e-06,5.03548424877e-05,-3.22709828847e-05,1793248142385420288
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.739679107,744,715.739679107,680,659,634,879,785,811,652,629.260320893,653,0.417730721728,-0.015522253827,0.0600202772677,0.999999998722,-1.22420636367e-05,3.52295330398e-05,-3.4130361481e-05,1793248142402086912
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.676455792,744,715.676455792,680,659.323544208,634,879,785,811,651.676455792,629.323544208,653,0.418572981853,-0.0155232794551,0.0600034121399,0.99999999918,-1.45385556913e-05,9.55218577303e-06,-3.65588741238e-05,1793248142418753792
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.081205737,744,715.081205737,680,659.918794263,634,879,785,811,651.081205737,629.918794263,653,0.419435744645,-0.0155250524333,0.0599816050763,0.999999998822,-1.31735384159e-05,-2.49865475092e-05,-3.94653338433e-05,1793248142435420672
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.499342349,744,715,680.499342349,659.500657651,634,879,785,811,651,630,652.500657651,0.420275981726,-0.0155236938815,0.0599489591945,0.999999996212,-1.7116973882e-05,-7.31853245685e-05,-4.38959196728e-05,1793248142452087552
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744,715,680.922832843,659,633.922832843,879.077167157,785,811,651.077167157,629.922832843,652,0.421113846424,-0.0155219481544,0.0599155213894,0.999999990827,-2.09289108913e-05,-0.000124814233341,-4.82549877601e-05,1793248142468754688
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744,715,680.347594897,659,633.347594897,879.652405103,785,811,651.652405103,629.347594897,652,0.421959366358,-0.0155208964454,0.0598880238168,0.999999981501,-1.84794129479e-05,-0.00018465444164,-5.05983949857e-05,1793248142485421312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744,715,680.232709868,659.232709868,633.232709868,879.767290132,785,811.232709868,651.767290132,629.232709868,652.232709868,0.422874529859,-0.01552266659,0.059896252579,0.999999983148,-2.0153525396e-05,-0.000175316961193,-5.06168283005e-05,1793248142502087680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744,715,680.820751397,659.820751397,633.820751397,879.179248603,785,811.820751397,651.179248603,629.820751397,652.820751397,0.423896034336,-0.0155287455074,0.0599590329469,0.999999996675,-2.81241014784e-05,-6.03500058885e-05,-4.70851894847e-05,1793248142518753792
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.597812949,744.402187051,715,680.597812949,660,633.597812949,879.402187051,785,812,651,630,653,0.424881453767,-0.0155335347442,0.0600084188784,0.9999999983,-3.2784649644e-05,2.00890939113e-05,-4.38270919355e-05,1793248142535420160
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.019273891,744.980726109,715,680.019273891,660,633.019273891,879.980726109,785,812,651,630,653,0.425851050475,-0.0155377584783,0.0600519315793,0.999999994879,-3.59938078257e-05,8.538832431e-05,-4.06889376865e-05,1793248142552086784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.558501668,744.441498332,715,680,659.441498332,633,879.441498332,784.441498332,812,651.558501668,630,653,0.426802087868,-0.0155398549281,0.0600400760026,0.999999995104,-3.87410349253e-05,8.03361869593e-05,-4.28568565861e-05,1793248142568753664
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744,715,680,659.135523802,633,879,784.135523802,812.135523802,651.864476198,630,653,0.427740743627,-0.0155416655196,0.0600236620541,0.999999995914,-4.3000029395e-05,6.53844064282e-05,-4.52484111628e-05,1793248142585420544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744,715,680,659.710189815,633,879,784.710189815,812.710189815,651.289810185,630,653,0.428641351262,-0.0155427873918,0.0599986605074,0.999999997153,-5.22092373883e-05,2.62107107539e-05,-4.77720839576e-05,1793248142602087168
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744,715,680.292204244,660,633.292204244,879,785,812.707795756,651,630,652.707795756,0.429527020727,-0.015539827576,0.0599632981533,0.999999996753,-5.21083844547e-05,-3.43373354043e-05,-5.09961337917e-05,1793248142618754048
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744,715,680.88169486,660,633.88169486,879,785,812.11830514,651,630,652.11830514,0.430397492157,-0.0155327150819,0.0599173947941,0.999999990785,-4.25355456742e-05,-0.000116631480436,-5.49327415386e-05,1793248142635420928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.536695361,744,715,680.536695361,660,634,879,785,812.463304639,651,630.463304639,652.463304639,0.431380520497,-0.0155351799307,0.0599397360128,0.999999994974,-4.70551296853e-05,-6.9719322722e-05,-5.45534715485e-05,1793248142652087296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.042559667,744,715,680,660,634,879,785,813,651,630.957440333,653,0.432387512128,-0.0155397169705,0.0599784323907,0.99999999708,-5.45772179241e-05,6.69346079303e-06,-5.30703967807e-05,1793248142668753920
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.617113746,744,715,680,660,634,879,785,813,651,630.382886254,653,0.433340784556,-0.0155400979399,0.0600073828368,0.999999996074,-5.5401593844e-05,4.63504797407e-05,-5.13351371414e-05,1793248142685420544
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.190651026,715,680.190651026,660,633.809348974,879,784.809348974,813,651.190651026,630,653,0.434272003586,-0.0155410671603,0.0600184070737,0.999999995345,-5.65765602455e-05,5.93271190248e-05,-5.08838159334e-05,1793248142702087424
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.762157196,715,680.762157196,660,633.237842804,879,784.237842804,813,651.762157196,630,653,0.435159167686,-0.015543211504,0.0599936209187,0.999999996707,-5.84518860218e-05,1.90055478235e-05,-5.29973616673e-05,1793248142718754560
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.652355046,715,680.652355046,660.347644954,633,879.347644954,784.347644954,813,651.652355046,630,653,0.436045939176,-0.0155431250731,0.0599683698169,0.999999996403,-5.87752961246e-05,-2.53352249534e-05,-5.56493985916e-05,1793248142735421440
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.056900931,715,680.056900931,660.943099069,633,879.943099069,784.943099069,813,651.056900931,630,653,0.436932430753,-0.0155414484959,0.059942787292,0.999999993965,-5.79924655828e-05,-7.25409727575e-05,-5.86852839952e-05,1793248142752088576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.477543461,744,715,680.522456539,660.477543461,633,880,784.477543461,813,651,630.522456539,653,0.437757548863,-0.0155363308169,0.0599143620548,0.999999987914,-5.47210343186e-05,-0.000132158386319,-6.09222781767e-05,1793248142768755200
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.099649482,744,715,681,660,633,879.900350518,784.099649482,813.099649482,651,630.900350518,653,0.438592927511,-0.0155331048126,0.0598966609598,0.999999981807,-5.47580175105e-05,-0.00017170455878,-6.24833159237e-05,1793248142785421824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.674629904,744,715,681,660,633,879.325370096,784.674629904,813.674629904,651,630.325370096,653,0.439508180098,-0.0155406363921,0.0599315470021,0.999999989578,-7.18304358999e-05,-0.00010925511404,-6.12226462089e-05,1793248142802088192
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.744224907,744.255775093,715,681,660.255775093,633,879.255775093,784.744224907,814,651,630.255775093,653,0.440399978541,-0.0155477188053,0.0599705684163,0.999999993922,-8.14714223796e-05,-4.53664025318e-05,-5.88320979842e-05,1793248142818754304
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.155043917,744.844956083,715,681,660.844956083,633,879.844956083,784.155043917,814,651,630.844956083,653,0.441261204158,-0.0155542157242,0.0600149803345,0.999999994966,-8.14254470991e-05,2.03984053336e-05,-5.49687397644e-05,1793248142835420672
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.427041141,745,715,681,660.572958859,633.427041141,879.572958859,784.427041141,814.427041141,651.427041141,630.572958859,653,0.442089459802,-0.0155527124122,0.0600154209109,0.999999994896,-8.10686153273e-05,2.33403930383e-05,-5.55909532082e-05,1793248142852087296
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.993460209,715,681,660,633.993460209,879.006539791,784.993460209,814.993460209,651.993460209,630,653,0.442905231187,-0.015548417284,0.0600001435193,0.999999995071,-8.06418857936e-05,3.82243914453e-06,-5.77931980463e-05,1793248142868753920
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.41850518,715,681,660,633.41850518,879.58149482,784.41850518,814.41850518,651.41850518,630,653,0.443659316554,-0.0155497992537,0.0599836122443,0.999999994644,-8.37890543422e-05,-1.7776948126e-05,-5.80913951435e-05,1793248142885420800
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.843434008,744,715,680.843434008,660.156565992,633.156565992,879.843434008,784.156565992,814.156565992,651.156565992,630.156565992,653,0.444406417819,-0.0155505327328,0.0599727395312,0.999999994003,-8.61078918968e-05,-3.37289450081e-05,-5.86653568431e-05,1793248142902087680
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.268052025,744,715,680.268052025,660.731947975,633.731947975,879.268052025,784.731947975,814.731947975,651.731947975,630.731947975,653,0.44513483669,-0.0155495314913,0.0599770035385,0.999999993888,-8.62109344359e-05,-3.45741065287e-05,-5.99769924443e-05,1793248142918754560
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.316009413,744.316009413,715.316009413,680,660.683990587,633.683990587,879.632018826,785,815,651.683990587,630.683990587,653,0.445817523174,-0.0155479337681,0.0599652687741,0.999999992013,-9.09971648034e-05,-6.22060805508e-05,-6.18417759176e-05,1793248142935421440
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.907641004,744.907641004,715.907641004,680,660.092358996,633.092358996,880.815282008,785,815,651.092358996,630.092358996,653,0.446460322004,-0.0155458157958,0.0599395799432,0.999999986546,-9.98680531433e-05,-0.000113201407826,-6.4189012603e-05,1793248142952087808
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+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.937739807,880,785,815,651,631,653,0.447849747519,-0.0155420119251,0.0599498132409,0.999999990991,-8.70570412805e-05,-7.54669089764e-05,-6.88685615018e-05,1793248142985420544
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880,785,815,651,631,653,0.449111937319,-0.0155517481663,0.0599878829525,0.999999989601,-0.000125844750625,-1.8557210369e-05,-6.79445479195e-05,1793248143018753792
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880,784.610053402,815,651,631,653,0.450151658812,-0.0155514711274,0.0599298335381,0.999999984188,-0.000118688254135,-0.000108983195919,-7.52299089445e-05,1793248143052087808
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,880.63360392,782.81680196,815.81680196,651,630,653,0.454165437604,-0.0155672087213,0.0598420415637,0.999999966914,-7.71346354413e-05,-0.000239438046711,-5.37699536725e-05,1793248143218754560
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+250,4.166666667,HOLD_POSE2,766,745,715.337861676,681,659.337861676,631.337861676,880,780,815.337861676,651,629.662138324,653,0.456553613933,-0.0155951183764,0.0597643525279,0.999999927995,-0.000162293888007,-0.000336343874564,-6.73988038336e-05,1793248143941249280
+251,4.183333333,HOLD_POSE2,766,745,715.911641864,681,659.911641864,631.911641864,880,780,815.911641864,651,629.088358136,653,0.456554068893,-0.0155944592606,0.0597645555823,0.999999927899,-0.000163792966729,-0.000335972989926,-6.70523605238e-05,1793248143957915904
+252,4.200000000,HOLD_POSE2,766,745,715.514286741,681,659.514286741,632,880,780,815.514286741,651.485713259,629,653,0.456555458117,-0.0155949705815,0.059765292012,0.999999928336,-0.000163486246278,-0.000334822622475,-6.70359357204e-05,1793248143974582784
+253,4.216666667,HOLD_POSE2,766,745,715,681,659.061988712,631.938011288,880,780.061988712,815.061988712,651.938011288,629.061988712,653,0.456556596706,-0.0155956203734,0.0597658248622,0.999999928705,-0.000162948110832,-0.000333979937954,-6.70448210777e-05,1793248143991249152
+254,4.233333333,HOLD_POSE2,766,745,715,681,659.656751822,631.343248178,880,780.656751822,815.656751822,651.343248178,629.656751822,653,0.456554119571,-0.01559562921,0.0597637735765,0.999999927662,-0.000163246089956,-0.000337001146857,-6.67549468767e-05,1793248144007915776
+255,4.250000000,HOLD_POSE2,766,745,715,681,660,631,880,780.757047694,815.757047694,651.242952306,630,653.242952306,0.456553064476,-0.0155949621068,0.0597627252854,0.999999927313,-0.000162350426213,-0.000338484028068,-6.66731379101e-05,1793248144024582912
+256,4.266666667,HOLD_POSE2,766,745,715,681,660,631,880,780.18253287,815.18253287,651.81746713,630,653.81746713,0.45655395007,-0.0155933725334,0.0597630458039,0.999999927914,-0.000159825770975,-0.000337867518373,-6.68752803079e-05,1793248144041250304
+257,4.283333333,HOLD_POSE2,766,745,715,681,660,631.392619517,879.607380483,780,815.392619517,652,630,653.607380483,0.456553100277,-0.0155942386877,0.059762208666,0.999999927373,-0.000161073129491,-0.000338896480772,-6.67702792639e-05,1793248144057917440
+258,4.300000000,HOLD_POSE2,766,745,715,681,660,631.968068847,879.031931153,780,815.968068847,652,630,653.031931153,0.456551442371,-0.0155962483925,0.0597608324461,0.999999926291,-0.000164076988762,-0.000340691684578,-6.6522251782e-05,1793248144074584064
+259,4.316666667,HOLD_POSE2,766,745,715,681,659.49670827,631.49670827,879,780,815.49670827,651.49670827,629.49670827,652.49670827,0.456552648227,-0.0155954310824,0.0597623149356,0.999999927029,-0.000162899366625,-0.000339061863384,-6.6657783166e-05,1793248144091250432
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+262,4.366666667,HOLD_POSE2,766,745,715,681.297708452,659.297708452,631,880,780.297708452,815.297708452,651,629.297708452,653,0.456553593222,-0.0155933640856,0.0597621438326,0.999999927145,-0.00016045828873,-0.000339858152997,-6.67861715737e-05,1793248144141250048
+263,4.383333333,HOLD_POSE2,766,745,715,681.87284596,659.87284596,631,880,780.87284596,815.87284596,651,629.87284596,653,0.456552593567,-0.0155941506378,0.0597616796841,0.999999926182,-0.0001639350574,-0.000341027208725,-6.67992635507e-05,1793248144157916672
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,780,815,651,630,653,0.456552716995,-0.0155996011413,0.0597620197219,0.999999925709,-0.000167767746746,-0.000340695316149,-6.60535971993e-05,1793248144189776640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.42264233,880,780,815,651,630,653,0.456552303471,-0.0155993377271,0.0597610740995,0.999999925751,-0.000166406811232,-0.00034135602164,-6.54460601405e-05,1793248144206443520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631,880,780,815,651,629.84545023,653,0.456552349167,-0.0155988299338,0.0597606700234,0.999999925898,-0.000165238593414,-0.000341560516558,-6.50926284955e-05,1793248144223110144
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,744.69175929,715,681,659.69175929,631.30824071,880,780,815,651,629,653,0.456553626032,-0.015596150027,0.0597617623948,0.999999926594,-0.000162600109324,-0.000340704638452,-6.55249493713e-05,1793248144256444160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,744.114624194,715,681,659.114624194,631.885375806,880,780,815,651,629,653,0.4565524482,-0.0155943583519,0.0597608563501,0.999999926685,-0.000159421387977,-0.0003419614417,-6.53992340729e-05,1793248144273110528
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.055674839,659.055674839,631.055674839,879.944325161,780.944325161,816,651,629.944325161,653,0.456553637172,-0.0155973152174,0.0597610408849,0.999999926355,-0.000166105597164,-0.000339656392248,-6.58274989008e-05,1793248144306443264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.636630834,659.636630834,631.636630834,879.363369166,780.363369166,816,651,629.363369166,653,0.456548402491,-0.015597078542,0.0597578655216,0.999999924708,-0.000165725068838,-0.000344689662646,-6.56427939859e-05,1793248144323109888
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,744.208007914,715,682,660,631.208007914,879,780,815.208007914,651,629,653,0.456520966432,-0.015594390394,0.059744370435,0.999999917989,-0.000161187823809,-0.00036552270068,-6.65878718082e-05,1793248144356443392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,744.366911982,715,681.633088018,659.633088018,631.366911982,879.366911982,780.366911982,815,651.366911982,629,653,0.456484178237,-0.015592596137,0.0597284552787,0.999999907782,-0.00016112889053,-0.000392286119017,-6.77060481195e-05,1793248144373110016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,744.94111427,715,681.05888573,659.05888573,631.94111427,879.94111427,780.94111427,815,651.94111427,629,653,0.456436537231,-0.015590832234,0.0597082791272,0.999999893243,-0.000162803730832,-0.000426900948549,-6.90200195296e-05,1793248144389776896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.530595434,632,879.469404566,780.469404566,815.530595434,652,629.530595434,653,0.456377455203,-0.0155885956637,0.0596906291232,0.999999882211,-0.000163245458709,-0.00045157517545,-7.07677340719e-05,1793248144406444032
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.119547363,745,715,680.880452637,659.880452637,632,879.119547363,780,816,651.880452637,630,653,0.456314502079,-0.0155859604722,0.0596751388882,0.999999872537,-0.000162918183518,-0.000472411267368,-7.21920358763e-05,1793248144423110400
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.699732828,745,715,680.300267172,659.300267172,632,879.699732828,780,816,651.300267172,630,653,0.45624167045,-0.0155819974377,0.0596668583565,0.999999868003,-0.000160170745926,-0.00048283524208,-7.21791889766e-05,1793248144439776768
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.150775821,745,715,680.849224179,659,632,880,780,815.150775821,651,629.150775821,653,0.456082564206,-0.0155716285552,0.0596652451742,0.999999870373,-0.000154664261199,-0.000479758687527,-7.18590412876e-05,1793248144473109760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.432096059,631.567903941,880,780,815.432096059,651.432096059,629,653,0.455983924327,-0.0155662236491,0.0596688440546,0.999999872925,-0.000152714229355,-0.000475195108468,-7.08314943823e-05,1793248144489776640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.018308675,880,780,815.981691325,652,629.018308675,653,0.455878164513,-0.0155608623723,0.0596730811034,0.999999875212,-0.00015095196079,-0.000471127066464,-6.94965169327e-05,1793248144506443520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.597156003,880,780,815.402843997,652,629.597156003,653,0.455737507377,-0.015554584549,0.0596772105973,0.99999987675,-0.000146131442001,-0.000469644302284,-6.76745915993e-05,1793248144523110656
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.244939876,880,780,815,652,630,653,0.455413453932,-0.0155392302264,0.0596844473466,0.999999880382,-0.000138245658736,-0.000464712200425,-6.45460028026e-05,1793248144556444416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.330648778,880,780.330648778,815,651.669351222,630,653,0.455224539446,-0.0155295239956,0.0596878704991,0.999999882402,-0.000132979753126,-0.000462101242106,-6.30503954586e-05,1793248144573110528
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.903730463,880,780.903730463,815,651.096269537,630,653,0.455024272468,-0.0155188775916,0.0596913505112,0.999999884426,-0.000126400400212,-0.000459768788584,-6.15043407166e-05,1793248144589776384
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.920938799,632,880,781.079061201,815,651.920938799,630,653,0.454556431801,-0.0154981200396,0.0596965155493,0.999999884899,-0.000115886090936,-0.000461981433911,-5.78409303566e-05,1793248144623109632
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.812709906,632,880,782,815,651,630,653,0.453648134408,-0.0154816883971,0.059691966134,0.999999878499,-0.000112636260517,-0.000477017873879,-5.26280802506e-05,1793248144673110528
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.326645302,744,714.326645302,682,660,633,879,784,812.326645302,651,630,653,0.444589950519,-0.0153997102443,0.0597716133795,0.999999932993,0.000103931460071,-0.000350961823578,6.20370736863e-06,1793248144956443392
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,879,784,812,651,630.421657661,653,0.442315311483,-0.0153979916974,0.0597838117151,0.999999935404,0.000158877624946,-0.000321791582885,1.99928941002e-05,1793248145006443776
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.480936872,715,680.519063128,659.519063128,633.519063128,879.480936872,784.480936872,812,651,630,653,0.436268275389,-0.0153842944558,0.0597625639749,0.999999919144,9.19768272424e-05,-0.000391419080666,-6.54480861826e-06,1793248145123109632
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.129710082,744,714.870289918,680.870289918,659,633.129710082,879,784.870289918,811,651,629.870289918,652.129710082,0.42890787021,-0.0153823009682,0.0598207741898,0.999999950204,0.000153893456125,-0.000275058945689,1.58253119565e-05,1793248145256443648
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.00501592,715,680.00501592,659,634,878.99498408,785,811,651.00501592,629.00501592,652.00501592,0.41399129853,-0.0153661749665,0.0598382744881,0.999999940866,0.00020266196711,-0.000276863277913,2.32809432784e-05,1793248145539776768
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.307481927,744.307481927,715,680,658.307481927,634,878.692518073,785,810.692518073,651.692518073,629.692518073,653,0.410948359948,-0.0153571700834,0.059736021919,0.999999879297,0.000213173728048,-0.000442469582622,1.35529961264e-05,1793248145606443520
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,657.403090344,634,877,784,810,652,629.596909656,652,0.403296732491,-0.0153578342462,0.0597697104533,0.999999900256,0.000258420035614,-0.000363604674008,2.23139834302e-05,1793248145873110784
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.249870156,715.249870156,680,657.750129844,634,877.750129844,784.750129844,810,652,629.249870156,652,0.402811516404,-0.0153588818608,0.0598110418705,0.999999921823,0.000261463941151,-0.000295282053723,2.82689763191e-05,1793248145906443520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658,634,877.672910136,784.672910136,810,652,629.327089864,652.327089864,0.402594072085,-0.0153574130384,0.0598263366311,0.999999927466,0.000264506716275,-0.000272338166017,3.06091235728e-05,1793248145923109632
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.08028291,744,715.08028291,680,658.08028291,634.08028291,877,785,810,652,629,652,0.40200970604,-0.0153491453098,0.0598256386515,0.999999925175,0.00026737515392,-0.000277788493947,3.1523209286e-05,1793248145973109760
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.584733526,744,715,680,658,634,877.415266474,785,809.584733526,652,629,652.584733526,0.400968460311,-0.0153779771973,0.0598336602479,0.999999944373,0.000185882871674,-0.000276837964402,7.93792369757e-06,1793248146389776896
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.26191811,744,715,680,658,634,877,785,810.73808189,652,629.73808189,652.26191811,0.400969667301,-0.01537813231,0.0598358824518,0.999999944717,0.000188246973781,-0.000273976007384,8.19160828896e-06,1793248146423109888
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.892217451,744,715,680,658,634,877.892217451,785,810.107782549,652,629.107782549,652,0.400971332541,-0.0153755632757,0.0598372015768,0.999999944756,0.000189804497796,-0.000272760343582,8.00636041274e-06,1793248146456443648
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,744.221832092,715,679,658,634,877.221832092,784.221832092,810,652,629,652,0.40096816767,-0.0153783502213,0.0598353138892,0.99999994468,0.000188070071403,-0.000274239234498,7.86343599561e-06,1793248146523109888
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744.622532493,715,679,658,634.377467507,877.622532493,785,810,651.622532493,629,652,0.400970758304,-0.0153772061149,0.0598375123717,0.99999994572,0.00018761714575,-0.00027073319678,7.97934979936e-06,1793248146556442880
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744.046413347,715,679,658,634.953586653,877.046413347,785,810,651.046413347,629,652,0.400970829061,-0.015377337097,0.0598378659163,0.99999994587,0.00018796962549,-0.000269935524978,7.93856837693e-06,1793248146573109504
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.459670696,744,715,679.540329304,658,634.459670696,877,785,810,651,629,652,0.400969129449,-0.0153780191621,0.059837251251,0.999999945288,0.000188778800431,-0.000271518222471,8.06237865578e-06,1793248146589776128
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c46c4650013145df0571a214c9c49ff8da66a8ad
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.583261969511,-0.0100721898904,1.05004220835,0.553833760467,-0.00139773337694,1.04966559108
+387,6.450000000,pose2_to_pose3_retreat,0.58325632251,-0.0100721311913,1.05004233063,0.553828112318,-0.00139767850211,1.04966571477
+388,6.466666667,pose2_to_pose3_retreat,0.583252762673,-0.0100720693365,1.05004249259,0.553824551478,-0.00139762004402,1.04966587689
+389,6.483333333,pose2_to_pose3_retreat,0.583250665625,-0.0100720591287,1.0500424205,0.553822455231,-0.00139760705263,1.0496658065
+390,6.500000000,pose2_to_pose3_retreat,0.583249525849,-0.0100720535806,1.05004238131,0.55382131589,-0.00139759999161,1.04966576824
+391,6.516666667,pose2_to_pose3_retreat,0.583249121421,-0.0100720516119,1.05004236741,0.553820911616,-0.00139759748614,1.04966575466
+392,6.533333333,pose2_to_pose3_retreat,0.583248758353,-0.0100720494056,1.0500423531,0.553820548692,-0.00139759477295,1.04966574081
+393,6.550000000,pose2_to_pose3_retreat,0.583248264122,-0.0100720430309,1.05004231959,0.553820054697,-0.00139758751704,1.04966570922
+394,6.566666667,pose2_to_pose3_retreat,0.583248040528,-0.0100720401469,1.05004230442,0.553819831209,-0.00139758423441,1.04966569493
+395,6.583333333,pose2_to_pose3_retreat,0.583247994474,-0.0100720395529,1.0500423013,0.553819785177,-0.00139758355829,1.04966569198
+396,6.600000000,pose2_to_pose3_retreat,0.583247885141,-0.0100720381427,1.05004229389,0.553819675896,-0.00139758195314,1.04966568499
+397,6.616666667,pose2_to_pose3_retreat,0.583247703508,-0.0100720358,1.05004228157,0.553819494349,-0.00139757928654,1.04966567338
+398,6.633333333,pose2_to_pose3_retreat,0.583247048437,-0.0100720273507,1.05004223715,0.55381883959,-0.00139756966931,1.0496656315
+399,6.650000000,pose2_to_pose3_retreat,0.583246878237,-0.0100720251555,1.05004222561,0.553818669471,-0.00139756717056,1.04966562062
+400,6.666666667,pose2_to_pose3_retreat,0.583246608868,-0.0100720216811,1.05004220735,0.553818400231,-0.0013975632159,1.0496656034
+401,6.683333333,pose2_to_pose3_retreat,0.583246427295,-0.0100720128406,1.05004227035,0.553818218177,-0.00139755609945,1.04966566421
+402,6.700000000,pose2_to_pose3_retreat,0.583246253412,-0.0100720042608,1.05004233201,0.553818043825,-0.00139754920652,1.04966572372
+403,6.716666667,pose2_to_pose3_retreat,0.583246141429,-0.0100719987353,1.05004237172,0.553817931538,-0.00139754476735,1.04966576204
+404,6.733333333,pose2_to_pose3_retreat,0.583246058691,-0.0100719946528,1.05004240105,0.553817848577,-0.00139754148752,1.04966579035
+405,6.750000000,pose2_to_pose3_retreat,0.583245801191,-0.0100719841831,1.05004249009,0.553817590395,-0.00139753347247,1.04966587611
+406,6.766666667,pose2_to_pose3_retreat,0.583245690543,-0.0100720446772,1.05004246227,0.553817479858,-0.00139759375998,1.04966584445
+407,6.783333333,pose2_to_pose3_retreat,0.583245674394,-0.0100720535066,1.05004245821,0.553817463724,-0.0013976025593,1.04966583983
+408,6.800000000,pose2_to_pose3_retreat,0.583245609877,-0.0100720887794,1.05004244199,0.553817399272,-0.00139763771159,1.04966582137
+409,6.816666667,pose2_to_pose3_retreat,0.583245499921,-0.010072151106,1.05004241655,0.553817289602,-0.00139769922863,1.04966579218
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e878a3c693c81ef501d6a9175b36084f7117871
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8884f4b740bd9539c6b52234cde2d8d1b1986cc897dd39068e30b6b71ac944f4
+size 25777250
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67d2f8a10a2b73f0a97ebaf4ed0dab32870d12f6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+41,0.683333333,BASELINE,766,745,715,679,659,634,878.228259725,786,810.771740275,652,629,652,0.400941448371,-0.015443356599,0.0499337720974,0.999999976821,4.78159632894e-05,-0.000207580974845,-3.13309966189e-05,1793248148549968384
+42,0.700000000,BASELINE,766,745,715,679,658.642965668,634.357034332,877.642965668,786,811,652.357034332,629,652.357034332,0.400939793887,-0.0154441425552,0.0499327470638,0.999999976492,4.62920889682e-05,-0.000209520786168,-3.12044029673e-05,1793248148566635008
+43,0.716666667,BASELINE,766,745,715,679,658.052078914,634.947921086,877.052078914,786,811,652.947921086,629,652.947921086,0.400937814342,-0.0154462129023,0.049930967933,0.999999976175,4.29774503277e-05,-0.000211755351655,-3.1032728207e-05,1793248148583301120
+44,0.733333333,BASELINE,766,745,715,679,658.524228712,634.475771288,877.524228712,786,810.475771288,653,629,652.475771288,0.400939859365,-0.0154463014546,0.0499316595322,0.999999976641,4.16037419503e-05,-0.000209831307396,-3.09546090545e-05,1793248148599967488
+45,0.750000000,BASELINE,766,745,715.099776346,679,659,634,878,786,810,652.900223654,629,652.099776346,0.400941567158,-0.0154462604284,0.0499322394439,0.999999976997,4.07345400897e-05,-0.000208302976291,-3.09411415617e-05,1793248148616634368
+46,0.766666667,BASELINE,766,745,715.678439534,679,659,634,878,786,810,652.321560466,629,652.678439534,0.400939789343,-0.0154465168509,0.0499311371045,0.99999997648,4.13863534676e-05,-0.000210603130775,-3.11945750468e-05,1793248148633301248
+47,0.783333333,BASELINE,766,744.744809942,715.744809942,679,659,634.255190058,878,786,810,652.255190058,629,652.744809942,0.400939075833,-0.0154459486886,0.0499310208658,0.999999976254,4.27500865243e-05,-0.000211380581253,-3.13473263327e-05,1793248148649967872
+48,0.800000000,BASELINE,766,744.170451528,715.170451528,679,659,634.829548472,878,786,810,652.829548472,629,652.170451528,0.400939693458,-0.015444349211,0.0499321379516,0.999999976392,4.50042236148e-05,-0.000210253573299,-3.13741535771e-05,1793248148666634240
+49,0.816666667,BASELINE,766,744.416873176,715.416873176,679.416873176,659,634.583126824,878,785.583126824,810,653,629,652,0.400938515948,-0.0154439130059,0.0499314504084,0.999999976103,4.5550586572e-05,-0.000211501081698,-3.14143879176e-05,1793248148683300864
+50,0.833333333,BASELINE,766,745,715.990585622,679.990585622,659,634,878,785.009414378,810,652.990585622,629,652.009414378,0.400936636999,-0.0154439885892,0.0499300411437,0.999999975645,4.53582315561e-05,-0.000213688166398,-3.14552445809e-05,1793248148699967744
+51,0.850000000,BASELINE,766,745,715.413442018,679.413442018,659,634,878,785.586557982,810,652.413442018,629,652.586557982,0.400938142414,-0.0154453232895,0.049931034677,0.999999976047,4.40788658457e-05,-0.000212107061919,-3.11924342426e-05,1793248148716634112
+52,0.866666667,BASELINE,766.161821027,745,715,679.161821027,658.838178973,634,878,785.838178973,810,652,629,652.838178973,0.400939620712,-0.0154462681525,0.0499319540316,0.999999976448,4.36396099291e-05,-0.000210332929307,-3.096733342e-05,1793248148733300480
+53,0.883333333,BASELINE,766.732334531,745,715,679.732334531,658.267665469,634,878,785.267665469,810,652,629,652.267665469,0.400941030521,-0.0154462284489,0.0499326860418,0.999999976851,4.53221213168e-05,-0.000208071288175,-3.08374711346e-05,1793248148749967104
+54,0.900000000,BASELINE,766.684810599,745,715,679.684810599,658.315189401,634,878.315189401,785.315189401,810,652,629,652.315189401,0.400941352309,-0.015445893519,0.0499326293418,0.999999976912,4.56871681591e-05,-0.00020768887653,-3.08967693867e-05,1793248148766633728
+55,0.916666667,BASELINE,766.091048119,745,715,679.091048119,658.908951881,634,878.908951881,785.908951881,810,652,629,652.908951881,0.400940712474,-0.0154452976601,0.0499318755579,0.999999976675,4.48878034386e-05,-0.000208967379818,-3.11232529419e-05,1793248148783300352
+56,0.933333333,BASELINE,766,745,715,679,659,634,878.511225614,785.511225614,810,652.488774386,629,652.511225614,0.40093972682,-0.0154449867017,0.049931383468,0.999999976387,4.42478946862e-05,-0.000210429039741,-3.14295419774e-05,1793248148799967488
+57,0.950000000,BASELINE,766,745,715,679,659,634.066070271,878,785.066070271,810,652.933929729,629,652,0.400938814041,-0.0154447408251,0.0499309824102,0.999999976125,4.3837734079e-05,-0.000211711863806,-3.17265440849e-05,1793248148816634624
+58,0.966666667,BASELINE,766,745,715,679,659,634.643351069,878,785.643351069,810,652.356648931,629,652,0.400938949719,-0.0154445992681,0.0499309189795,0.999999976146,4.49817696295e-05,-0.00021135430215,-3.18398549849e-05,1793248148833301248
+59,0.983333333,BASELINE,766,745,715.218704219,679,659,634.781295781,878.218704219,786,810,652,629,652,0.400939121404,-0.0154444140578,0.0499309638674,0.999999976109,4.5664960092e-05,-0.000211380628885,-3.18543235824e-05,1793248148849967872
+60,1.000000000,BASELINE,766,745,715.790941435,679,659,634.209058565,878.790941435,786,810,652,629,652,0.400939351292,-0.0154441582824,0.0499311838514,0.99999997598,4.56031996468e-05,-0.000212027506982,-3.17090146874e-05,1793248148866634240
+61,1.016666667,BASELINE,766,745,716,679,659,634,878.242979489,786,810.378510256,652,629,652,0.400939636392,-0.0154440587547,0.0499317361314,0.999999976157,4.55399098613e-05,-0.000211238617902,-3.14566349658e-05,1793248148883300864
+62,1.033333333,BASELINE,766,745,716,679,659,634,877.050191083,786,810.974904459,652,629,652,0.400939953273,-0.0154440491687,0.0499324796928,0.99999997651,4.54757397366e-05,-0.000209623250197,-3.11426214822e-05,1793248148899967744
+63,1.050000000,BASELINE,766,745,715.448292275,679.551707725,659,634,877.551707725,786,810.448292275,652,629,652,0.400939713009,-0.0154471002705,0.0499323087001,0.999999976621,4.15355444401e-05,-0.00020996598542,-3.07902025986e-05,1793248148916634112
+64,1.066666667,BASELINE,766,745,715.127344872,679.872655128,659,634,878,786,810,652.127344872,629,652,0.400939686854,-0.0154490027447,0.0499321841085,0.999999976697,3.89627323516e-05,-0.000210118811101,-3.06142989543e-05,1793248148933300992
+65,1.083333333,BASELINE,766,745,715.701908958,679.298091042,659,634,878,786,810,652.701908958,629,652,0.400940498577,-0.0154463992201,0.0499323635577,0.999999976741,4.1789940579e-05,-0.000209302628096,-3.10642193791e-05,1793248148949968128
+66,1.100000000,BASELINE,766,744.715490769,715.715490769,679,659,634,878,786,810,653,629,652,0.400940885206,-0.0154462447343,0.0499322935753,0.999999976802,4.19115776475e-05,-0.000208986090573,-3.10446013832e-05,1793248148966635008
+67,1.116666667,BASELINE,766,744.124225983,715.124225983,679,659,634,878,786,810,653,629,652,0.400940813501,-0.0154487307826,0.0499319546578,0.999999976885,3.91160895485e-05,-0.000209208266827,-3.05187308231e-05,1793248148983301376
+68,1.133333333,BASELINE,766,744.457116615,715,679.457116615,659,634,878,785.542883385,810,653,629,652.457116615,0.400939543666,-0.0154483655957,0.0499313359594,0.999999976603,3.9489614661e-05,-0.000210437992612,-3.08199100543e-05,1793248148999968256
+69,1.150000000,BASELINE,766,745,715.03563804,679.96436196,659,634,878,785.03563804,810,652.96436196,629,652.96436196,0.400938177465,-0.0154472774079,0.0499307215275,0.99999997627,4.0761692734e-05,-0.000211702513982,-3.13022838676e-05,1793248149016634880
+70,1.166666667,BASELINE,766,745,715.611400349,679.388599651,659,634,878,785.611400349,810,652.388599651,629,652.388599651,0.400940180728,-0.0154467255688,0.0499312996253,0.999999976663,4.28770167582e-05,-0.000209432709218,-3.11967707529e-05,1793248149033301248
+71,1.183333333,BASELINE,766,745,715.809227228,679,658.809227228,634,878,785.809227228,810.190772772,652.190772772,629,652,0.400941704133,-0.0154463815727,0.0499318587417,0.99999997692,4.40609041851e-05,-0.000207965995935,-3.11404114693e-05,1793248149049967616
+72,1.200000000,BASELINE,766,745,715.222359139,679,658.222359139,634,878,785.222359139,810.777640861,652.777640861,629,652,0.400942231228,-0.015446469114,0.0499323784478,0.999999976909,4.33108804103e-05,-0.00020816671503,-3.1186108672e-05,1793248149066634240
+73,1.216666667,BASELINE,766,745,715.358832643,679,658,634,878,785.358832643,810.641167357,653,629,652,0.400942141495,-0.0154467347471,0.0499326508608,0.999999976867,4.32595292133e-05,-0.00020841641043,-3.09522563443e-05,1793248149083301120
+74,1.233333333,BASELINE,766,745,715.936561707,679,658,634,878,785.936561707,810.063438293,653,629,652,0.400941675483,-0.0154471090206,0.0499327724191,0.999999976804,4.36343849004e-05,-0.000208695982527,-3.05478721718e-05,1793248149099968256
+75,1.250000000,BASELINE,766,745,715.484219885,679,658,634,878,786,810,653,629,652,0.40094076707,-0.0154468881592,0.0499326619887,0.999999976756,4.26916779298e-05,-0.000209110366449,-3.06444151573e-05,1793248149116634880
+76,1.266666667,BASELINE,766,744.905355957,715.094644043,679,658,634,878,785.905355957,810,653,629,652,0.400939868601,-0.0154465010076,0.0499322846337,0.999999976651,4.18915769536e-05,-0.000209742566405,-3.08346726221e-05,1793248149133301760
+77,1.283333333,BASELINE,766,744.32922998,715.67077002,679,658,634,878,785.32922998,810,653,629,652,0.400939298332,-0.0154456413502,0.049930694933,0.99999997626,4.26437549422e-05,-0.000211398262743,-3.11873398679e-05,1793248149149968128
+78,1.300000000,BASELINE,766,744.251457183,716,679,658.251457183,634,878,785.251457183,810,653,629,652,0.400939225184,-0.0154452465365,0.0499301672047,0.999999976125,4.31928841525e-05,-0.000211909055572,-3.12971001608e-05,1793248149166634752
+79,1.316666667,BASELINE,766,744.838226532,716,679,658.838226532,634,878,785.838226532,810,653,629,652,0.400939814935,-0.0154454715808,0.0499310555914,0.999999976334,4.34712525918e-05,-0.000210893146702,-3.10829497882e-05,1793248149183301376
+80,1.333333333,BASELINE,766,745,715.580480512,679,659,634,878,786,810,652.580480512,629,652,0.400940770687,-0.0154452663153,0.0499316386046,0.999999976531,4.45964023053e-05,-0.00020972180477,-3.10672125535e-05,1793248149199968000
+81,1.350000000,BASELINE,766,745,715.001272081,679,659,634,878,786,810,652.001272081,629,652,0.400941865757,-0.0154448972537,0.0499321053783,0.999999976721,4.60438770117e-05,-0.000208491297584,-3.11270007178e-05,1793248149216634880
+82,1.366666667,BASELINE,766,745,715,679,658.422720737,634,878,786,810,652.577279263,629,652,0.4009413583,-0.0154454029078,0.0499320121982,0.999999976692,4.53688416301e-05,-0.000208801426526,-3.09913847948e-05,1793248149233301504
+83,1.383333333,BASELINE,765.845471944,745,715.154528056,679,658,634,878,785.845471944,810,652.845471944,629,652,0.400941233849,-0.0154456210391,0.0499319222018,0.99999997672,4.47889324124e-05,-0.000208799077861,-3.09299989653e-05,1793248149249968384
+84,1.400000000,BASELINE,765.271752556,745,715.728247444,679,658,634,878,785.271752556,810,652.271752556,629,652,0.400942157952,-0.0154450539788,0.0499318441857,0.999999976909,4.44797469714e-05,-0.000207939866057,-3.10711452954e-05,1793248149266635264
+85,1.416666667,BASELINE,765.310023151,745,716,679,658.310023151,634,878,785.310023151,810,652,629,652,0.400941914324,-0.0154447335628,0.0499317680636,0.999999976856,4.41012695662e-05,-0.000208242045726,-3.12834837958e-05,1793248149283301888
+86,1.433333333,BASELINE,765.89904904,745,716,679,658.89904904,634,878,785.89904904,810,652,629,652,0.400940619806,-0.0154446351121,0.049931693646,0.999999976585,4.36604334568e-05,-0.000209589409975,-3.15598910845e-05,1793248149299968000
+87,1.450000000,BASELINE,765.51990533,745,716,679,659,634,878,786,810,652.48009467,629,652,0.400940023898,-0.0154454470715,0.0499312962506,0.999999976424,4.33837341493e-05,-0.00021045681249,-3.12738733195e-05,1793248149316634624
+88,1.466666667,BASELINE,765.058993886,745,715.941006114,679,659,634,877.941006114,785.941006114,810.058993886,653,629,652,0.400939635421,-0.0154463109838,0.049930914388,0.999999976324,4.31951190143e-05,-0.000211020967116,-3.09266548816e-05,1793248149333300992
+89,1.483333333,BASELINE,765.633559972,745,715.366440028,679,659,634,877.366440028,785.366440028,810.633559972,653,629,652,0.400939796964,-0.0154459832616,0.0499312520928,0.999999976564,4.34796117402e-05,-0.000209802498897,-3.1061227341e-05,1793248149349967360
+90,1.500000000,BASELINE,766,745,715.208004757,679,659,634.208004757,877.208004757,785.208004757,811,653,629,652,0.400940104207,-0.0154457817077,0.0499316705944,0.999999976691,4.39283438679e-05,-0.000209108488446,-3.10251861187e-05,1793248149366634240
+91,1.516666667,BASELINE,766,745,715.782235909,679,659,634.782235909,877.782235909,785.782235909,811,653,629,652,0.400940667981,-0.0154458022935,0.0499322313521,0.99999997662,4.46662462951e-05,-0.000209337871802,-3.06887515901e-05,1793248149383301376
+92,1.533333333,BASELINE,766,745,715.632933252,679,659,634.632933252,878,786,810.632933252,653,629,652,0.400940092931,-0.0154458036016,0.0499318787903,0.999999976426,4.4416488452e-05,-0.000210313166255,-3.07115893162e-05,1793248149399968256
+93,1.550000000,BASELINE,766,745,715.041627057,679,659,634.041627057,878,786,810.041627057,653,629,652,0.400938822179,-0.0154457931331,0.0499309682859,0.999999976154,4.35633734038e-05,-0.00021174413451,-3.09539048357e-05,1793248149416635136
+94,1.566666667,BASELINE,766,745,715,679,659,634,878.538898375,786,810,653,629,652.538898375,0.400940555634,-0.015446012194,0.0499320243444,0.99999997661,4.35733530839e-05,-0.00020958734151,-3.08932717033e-05,1793248149433301504
+95,1.583333333,BASELINE,765.882568545,745,715.117431455,679.117431455,659,634,878.882568545,786,810,653,629,653,0.400941790627,-0.0154464374851,0.0499326554962,0.999999976922,4.32035516013e-05,-0.00020817688795,-3.08465122344e-05,1793248149449968128
+96,1.600000000,BASELINE,765.30860687,745,715.69139313,679.69139313,659,634,878.30860687,786,810,653,629,653,0.400940203318,-0.0154475969482,0.049931055793,0.999999976474,4.11031978073e-05,-0.000210724196711,-3.09428793367e-05,1793248149466634752
+97,1.616666667,BASELINE,765.272214074,744.727785926,715.727785926,679.727785926,659,634,878,786,810,652.727785926,629,653,0.400939791918,-0.0154482323705,0.0499308334044,0.999999976376,4.04379379917e-05,-0.000211310446955,-3.10030348031e-05,1793248149483301376
+98,1.633333333,BASELINE,765.861012291,744.138987709,715.138987709,679.138987709,659,634,878,786,810,652.138987709,629,653,0.400940748097,-0.0154482583348,0.0499322128285,0.999999976691,4.14416882496e-05,-0.000209615991937,-3.10210762413e-05,1793248149499967744
+99,1.650000000,BASELINE,766,744,715,679,659,634,878,785.557592905,810,652.442407095,629,653,0.400940682973,-0.0154467407114,0.0499318810264,0.999999976612,4.31615608182e-05,-0.000209639909984,-3.10395783304e-05,1793248149516634624
+100,1.666666667,BASELINE,766,744.021439131,715,679,659,634,878,785,810,652.978560869,629,652.978560869,0.400940333122,-0.0154449001019,0.0499310629049,0.999999976425,4.49079100099e-05,-0.000210166269483,-3.10503819781e-05,1793248149533301504
+101,1.683333333,BASELINE,766,744.598523069,715,679,659,634,878,785,810,652.401476931,629,652.401476931,0.400940782779,-0.0154470499727,0.0499313445912,0.999999976618,4.16055863763e-05,-0.000209953427213,-3.08579736661e-05,1793248149549968384
+102,1.700000000,BASELINE,766,745,715,679,659,634,878,785.173826444,810,652.173826444,629,652,0.400941023632,-0.0154480844555,0.0499314577801,0.999999976713,3.99918973933e-05,-0.000209837072818,-3.07151255175e-05,1793248149566635008
+103,1.716666667,BASELINE,766,745,715,679,659,634,878,785.745058973,810,652.745058973,629,652,0.400940787112,-0.0154465689121,0.0499311857462,0.999999976599,4.22388049426e-05,-0.000209941311291,-3.06855830013e-05,1793248149583301120
+104,1.733333333,BASELINE,766,745,715,679,658.671527735,634,878,786,810.328472265,653,629,652,0.400940708991,-0.0154452388909,0.0499312928648,0.999999976529,4.43733293786e-05,-0.000209817844685,-3.08184660751e-05,1793248149599967488
+105,1.750000000,BASELINE,766,745,715,679,658.078296297,634,878,786,810.921703703,653,629,652,0.400940758543,-0.0154440584065,0.0499317055925,0.999999976492,4.64172696667e-05,-0.000209510840497,-3.10822693773e-05,1793248149616633856
+106,1.766666667,BASELINE,766,745,715.502117633,679,658,634.502117633,878,786,810.497882367,653,629,652,0.400940475242,-0.0154447459216,0.0499315736725,0.999999976635,4.41687504053e-05,-0.000209293034314,-3.12334909171e-05,1793248149633300480
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,658,634,877,786,810,653,629,653,0.400940186711,-0.0154471504345,0.049930577928,0.999999976382,4.22859782033e-05,-0.000210889667294,-3.12086899125e-05,1793248149676699904
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.428510389,679.571489611,658.571489611,634,877.571489611,786,810,653,629,652.428510389,0.400941418294,-0.0154473385068,0.0499315477186,0.999999976688,4.33575727035e-05,-0.000209272464863,-3.08223542896e-05,1793248149693366784
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.851228903,658.851228903,634,878,786,810.148771097,653,629,652.148771097,0.400942145722,-0.0154473407427,0.0499321845936,0.999999976928,4.37222823945e-05,-0.00020807253891,-3.06267858756e-05,1793248149710033664
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.256588961,658.256588961,634,878,786,810.743411039,653,629,652.743411039,0.400941362194,-0.0154467860245,0.0499318237167,0.999999976981,4.19684496967e-05,-0.000208123195422,-3.10029490885e-05,1793248149726700288
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,658.328425708,634.328425708,877.671574292,786,810.671574292,652.671574292,629,653,0.400941364343,-0.0154471858273,0.0499317552667,0.999999977029,4.03342505891e-05,-0.000208210331689,-3.10527617709e-05,1793248149743366912
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658.906134526,634.906134526,877.093865474,786,810.093865474,652.093865474,629,653,0.400941962838,-0.0154483101349,0.049931908776,0.999999977072,3.87908563946e-05,-0.000208325156975,-3.08548664315e-05,1793248149760033536
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.464739777,679,659.464739777,635,877.464739777,786,810.464739777,652,629,652.535260223,0.400946177565,-0.0154463672044,0.0499335171797,0.999999977561,4.29338497313e-05,-0.000205114153654,-3.10171138483e-05,1793248149776699904
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659.956370964,634.978185482,878,786,810.978185482,652.021814518,629,652.021814518,0.400951334168,-0.015443980657,0.0499354483385,0.999999978145,4.78878148641e-05,-0.000201104057111,-3.12176033919e-05,1793248149793366528
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,716,679,658.723630308,634.361815154,878,786,810.361815154,652.638184846,629,652.638184846,0.400963040923,-0.0154457212429,0.0499384834907,0.999999979921,4.48782423312e-05,-0.000192899859787,-3.05561392791e-05,1793248149810033408
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.761027549,679.238972451,658,634,878,786,810,652.761027549,629,652.761027549,0.400982378931,-0.0154478424477,0.0499429706581,0.999999982446,4.27885796551e-05,-0.000179942425081,-2.99550898628e-05,1793248149826700032
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.182388689,679.817611311,658,634,878,786,810,652.182388689,629,652.182388689,0.401012563713,-0.0154505046497,0.0499495216648,0.999999985848,4.20064423223e-05,-0.000160228919116,-2.94399116634e-05,1793248149843366656
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.606644025,658.393355975,634.393355975,878.393355975,786,810,652,629,652.393355975,0.401050690697,-0.0154525311057,0.0499551919459,0.999999989087,4.11721539591e-05,-0.000138898464265,-2.89537856349e-05,1793248149860033536
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.032231471,658.967768529,634.967768529,878.967768529,786,810,652,629,652.967768529,0.401092473375,-0.0154542649365,0.0499604568412,0.999999991958,4.03138610822e-05,-0.000116823747349,-2.84810318847e-05,1793248149876700672
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.456449698,878.456449698,786,810,652.543550302,629,653,0.401143155742,-0.0154563481765,0.0499628396054,0.999999993953,3.96526973141e-05,-9.85114949885e-05,-2.8599316723e-05,1793248149893367040
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.877147148,715.122852852,679,658.877147148,634,878,785.877147148,810,652.877147148,629,652.877147148,0.401196937425,-0.0154587107681,0.0499647171769,0.999999995291,3.90856812354e-05,-8.41014251878e-05,-2.85856852282e-05,1793248149910033408
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.284697637,715.715302363,679,658.284697637,634,878,785.284697637,810,652.284697637,629,652.284697637,0.401260543724,-0.0154620617645,0.0499653186058,0.999999995349,3.88337434766e-05,-8.37522130854e-05,-2.79335078638e-05,1793248149926700032
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.300817556,715.699182444,679,658,634,877.699182444,785,810,652,629,652,0.401337060937,-0.0154664981291,0.0499665358604,0.999999995645,3.67781544873e-05,-8.12937656149e-05,-2.73773976223e-05,1793248149943366656
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.87991786,715.12008214,679,658,634,877.12008214,785,810,652,629,652,0.40142552188,-0.0154719385546,0.0499683228081,0.999999996136,3.30540291884e-05,-7.68840895843e-05,-2.69101579732e-05,1793248149960033024
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658.453684198,634,877.453684198,785,810,652.453684198,629,652,0.401531273728,-0.0154797369285,0.0499705640449,0.999999996614,2.86657796011e-05,-7.26519334404e-05,-2.59202507534e-05,1793248149976700160
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785.026851087,810,652.973148913,629,652,0.401642432776,-0.0154880541693,0.0499728035525,0.999999997027,2.43582264164e-05,-6.88366598502e-05,-2.47819035505e-05,1793248149993367552
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785.616707415,810,652.383292585,629,652,0.401772122816,-0.0154943168364,0.0499725149002,0.999999996755,2.53855993894e-05,-7.27887019431e-05,-2.33980926825e-05,1793248150010033920
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.202960027,659,634.202960027,878,786,810,652.202960027,629,652.202960027,0.401911860387,-0.0155016061225,0.0499703718432,0.999999996387,2.32529041133e-05,-7.86025490954e-05,-2.25278314216e-05,1793248150026700288
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.782525645,659,634.782525645,878,786,810,652.782525645,629,652.782525645,0.402070241793,-0.0155108003664,0.0499647878172,0.999999995767,1.52564956165e-05,-8.78710967342e-05,-2.2610495163e-05,1793248150043366912
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.359455545,679.640544455,659,634.640544455,878,786,810,652.640544455,629,652.640544455,0.402258708145,-0.0155207152862,0.0499637302146,0.999999995816,9.93437582019e-06,-8.8371829027e-05,-2.14616032441e-05,1793248150060033536
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.93480247,679.06519753,659,634.06519753,878,786,810,652.06519753,629,652.06519753,0.402465243732,-0.0155310630496,0.0499653912113,0.999999996294,6.21845076316e-06,-8.36065542422e-05,-1.9573030847e-05,1793248150076700160
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.479682345,679,658.479682345,634,878,786,810,652,629,652,0.402699020372,-0.0155420627584,0.0499702880897,0.999999997059,1.12716341922e-06,-7.46758159226e-05,-1.7421370379e-05,1793248150093366528
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.105516404,658.211032809,634,878,786,810,652.105516404,629.105516404,652,0.402944114058,-0.0155526583266,0.0499755520879,0.999999997782,-3.09685323514e-06,-6.47841512871e-05,-1.51545769724e-05,1793248150110033408
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.683479985,659.36695997,634,878,786,810,652.683479985,629.683479985,652,0.4032242916,-0.015561071309,0.0499806082045,0.999999998515,-2.65067079328e-06,-5.29735425119e-05,-1.25228235212e-05,1793248150126700800
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.261606453,680,659.738393547,634,878,785.738393547,810,653,629.738393547,652.261606453,0.403528279698,-0.0155643184086,0.0499874685031,0.999999999213,5.0381335078e-06,-3.81557346585e-05,-9.61246144391e-06,1793248150143367680
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.839930086,680,659.160069914,634,878,785.160069914,810,653,629.160069914,652.839930086,0.403861094335,-0.015561311366,0.0499965130573,0.999999999555,2.14953101001e-05,-1.96972236697e-05,-6.36479844326e-06,1793248150160034048
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.583607741,679.583607741,659.416392259,634,878.416392259,785,810,652.583607741,629,652.583607741,0.404223273948,-0.0155579703305,0.0500021985226,0.999999999473,3.17622961775e-05,-5.50594981722e-06,-3.86000999455e-06,1793248150176700160
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.007857982,679.007857982,659.992142018,634,878.992142018,785,810,652.007857982,629,652.007857982,0.404596691826,-0.0155545014726,0.0500065984306,0.999999999187,3.96602337763e-05,7.0522090885e-06,-1.63952717464e-06,1793248150193366272
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.580095265,679.580095265,659.419904735,634,878.419904735,785.580095265,810,652,629,652,0.404986139829,-0.015560053966,0.0500034775712,0.99999999983,1.80341638165e-05,3.79441075475e-06,5.85806350949e-07,1793248150210032896
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,679.834246135,659,634,878.165753865,786,810.165753865,652,629.165753865,652.165753865,0.405379643302,-0.0155637829714,0.0499953260807,0.99999999991,7.99758862592e-06,-1.04842426526e-05,2.39066418063e-06,1793248150226699264
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,679.254737043,659,634,878.745262957,786,810.745262957,652,629.745262957,652.745262957,0.405782716301,-0.0155626485804,0.0499748768857,0.999999998268,2.79105099471e-05,-5.17268957353e-05,3.14576160055e-06,1793248150243366144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.676510204,679,659,634,878.676510204,785.676510204,811,652.323489796,629.676510204,653,0.406222248713,-0.0155612208316,0.0499572485444,0.999999995397,4.79828087633e-05,-8.2986572344e-05,4.12614471887e-06,1793248150260032768
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.099289045,679,659,634,878.099289045,785.099289045,811,652.900710955,629.099289045,653,0.406690378351,-0.0155595629855,0.0499418327564,0.999999992,6.81801185109e-05,-0.000106416039727,5.28323224742e-06,1793248150276699648
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.474977819,679.474977819,659,634,878,785.474977819,811,653,629,653,0.407224988387,-0.0155609695447,0.0499442035996,0.999999991101,8.82886029878e-05,-9.95838904254e-05,9.28449277003e-06,1793248150293366016
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.949933346,680,659,634,878,786,811,652.949933346,629,653,0.407777303688,-0.0155627001421,0.0499518659151,0.99999999053,0.000108491406106,-8.35217479423e-05,1.38973634045e-05,1793248150310032640
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.359344021,680,659,634,878,786,811,652.359344021,629,653,0.408371660848,-0.0155610560724,0.0499767625264,0.999999990749,0.000129911715406,-3.56843270347e-05,1.87341607753e-05,1793248150326699520
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.22694028,680,659,634,878.22694028,786,811,652.22694028,629,652.77305972,0.408977446328,-0.015559667471,0.0499973280889,0.999999988739,0.000148249813528,4.82660633891e-07,2.33081037839e-05,1793248150343366144
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.806534745,680,659,634,878.806534745,786,811,652.806534745,629,652.193465255,0.409600990826,-0.0155586758552,0.05001116341,0.999999986362,0.000161798304124,1.85143582429e-05,2.74735836337e-05,1793248150360033024
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.615899045,680,659.384100955,634,879.384100955,785.615899045,811,652.615899045,629,652.384100955,0.410219422618,-0.0155516649498,0.0500053710173,0.999999985377,0.000169109201391,1.65143956382e-07,2.54739458028e-05,1793248150376699648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.039349084,680,659.960650916,634,879.960650916,785.039349084,811,652.039349084,629,652.960650916,0.410835292733,-0.0155416381543,0.0499897444024,0.999999984114,0.000173294829529,-3.64122742765e-05,2.0385352289e-05,1793248150393366016
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.534061367,680,659.465938633,634,879.465938633,785,811,652,629,653,0.411497392482,-0.0155333060665,0.0499618733101,0.999999980253,0.000177899066348,-8.70233420527e-05,1.65484640388e-05,1793248150410032896
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.889535715,680,659,634,879,785,811,652,629.110464285,653,0.412181884103,-0.0155282084233,0.0499432574294,0.999999976546,0.000181519315333,-0.000117300002346,1.41442190034e-05,1793248150426699520
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.299132316,680,659,634,879,785,811,652,629.700867684,653,0.412948950128,-0.0155366242855,0.0499687498371,0.999999982014,0.000180731168164,-5.47626950518e-05,1.75660946604e-05,1793248150443366400
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.714677892,659.285322108,634,879,785,811.285322108,652,630,653,0.413706582305,-0.0155441439385,0.0499822704296,0.999999983233,0.000179663569981,-2.91145343574e-05,2.02019384765e-05,1793248150460033024
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.136332931,659.863667069,634,879,785,811.863667069,652,630,653,0.414454526109,-0.0155507431947,0.0499834960949,0.999999983005,0.00017830897893,-4.13511379558e-05,2.20305361963e-05,1793248150476699648
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.440623062,660,634,879.440623062,785.440623062,811.559376938,652,630,653,0.415217573572,-0.0155527463439,0.0499622500158,0.999999981885,0.000173802425923,-7.48603041663e-05,2.04512592447e-05,1793248150493366272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.982503434,745,715,680,660,634,880,785.982503434,811.017496566,652,630,653,0.415987367632,-0.0155533403465,0.0499352216381,0.999999979252,0.000168502147431,-0.00011305481031,1.7948897973e-05,1793248150510032896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.39434638,745,715,680,660,634,880,785.39434638,811.60565362,652,630,653,0.41682526674,-0.015554210398,0.0499456626981,0.999999981467,0.000169022332044,-9.00655696824e-05,1.96223309612e-05,1793248150526699520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.380973565,745,715.190486782,680,660,634,880,785,812,652,630,653,0.417673087035,-0.015554109771,0.0499600885299,0.999999983227,0.000171112374926,-6.17240754648e-05,2.13936973724e-05,1793248150543366144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.537113588,745,715.768556794,680,660,634,880,785,812,652,630,653,0.418541093906,-0.0155520341059,0.0499826221714,0.999999983916,0.000176396606503,-2.24923586268e-05,2.33643286989e-05,1793248150560033024
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.653802539,745,716,680,660,634,880,785.346197461,812,652,630,653,0.419379928417,-0.0155512882403,0.0499785742345,0.999999983199,0.000178351981143,-3.51756208085e-05,2.35712546866e-05,1793248150576699648
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.076448569,745,716,680,660,634,880,785.923551431,812,652,630,653,0.420199284468,-0.0155514302837,0.0499567777411,0.999999980483,0.000178084673138,-8.25225856739e-05,2.2600552149e-05,1793248150593366528
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.501126311,785.501126311,812,652,630,653,0.42112958387,-0.0155521798349,0.0499731451848,0.999999981939,0.000185116696367,-3.55801648895e-05,2.4241026608e-05,1793248150610032896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.924327531,680,660,634,879.075672469,785.075672469,812,652,630,653,0.422071692157,-0.0155529783448,0.0499932281319,0.999999981084,0.000191842635118,1.8560016885e-05,2.61601041724e-05,1793248150626699776
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.3354115,680,660,634,879.6645885,785.6645885,812,652,630,653,0.422979051041,-0.0155534800575,0.0499990061942,0.999999981494,0.000188936743567,2.39157604941e-05,2.72658538383e-05,1793248150643367168
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.249142565,634,880,785.750857435,812,652,630,653,0.423887555772,-0.0155556426719,0.0499969755995,0.999999982067,0.000186345048638,1.89124205721e-05,2.80093206448e-05,1793248150660034304
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+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018810092,744.018810092,715,680.981189908,660.018810092,634,879.018810092,785,812,652,630,653,0.426664066232,-0.0155694771354,0.0500203194157,0.999999982282,0.000181751123264,3.6593822962e-05,3.26110396162e-05,1793248150710033664
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.288665011,715,680,660.288665011,634,879,785,813.422669979,652,630,653,0.42938099695,-0.0155512519437,0.0499568418823,0.999999977124,0.000196892012921,-7.85555195419e-05,2.85347417686e-05,1793248150760033024
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+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.786527455,715.786527455,680.786527455,660,633,880,784.786527455,814,652,630.213472545,653,0.434865872653,-0.0155493673328,0.0499824918911,0.999999976142,0.000214440803196,-2.44840099462e-05,3.36472257198e-05,1793248150860032768
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+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.37031609,715,680,660,633,880,784.37031609,814,652,631,653,0.436566298775,-0.0155414998893,0.0499657187725,0.999999971654,0.000223124686544,-7.6268287764e-05,3.3037044363e-05,1793248150893366272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.949079757,715,680,660,633,880,784.949079757,814,652,631,653,0.437413766179,-0.015542669854,0.0499465496934,0.999999970406,0.000216289451722,-0.00010689393189,3.13075238159e-05,1793248150910032896
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.52129962,880,784.47870038,814.52129962,652,631,653,0.438281381681,-0.0155468195895,0.049966233735,0.999999974551,0.000214112262038,-6.32791590457e-05,3.24103291819e-05,1793248150926699520
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.096178005,680,660.096178005,633.903821995,880.096178005,784,814.903821995,652,631,653,0.439140073456,-0.0155502712128,0.0499837213326,0.999999976468,0.00021297661029,-2.43397406299e-05,3.33575934355e-05,1793248150943366144
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.665584209,715.665584209,681,660.334415791,633,880,784.334415791,815,652,631,653,0.445746791786,-0.0155465504518,0.0499443360615,0.999999973768,0.000216836557449,-6.65264772926e-05,3.19264543118e-05,1793248151093366272
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.061360399,745,715,681.061360399,660,633,880.061360399,784.938639601,815,652,630.938639601,653,0.453370889479,-0.0154704550353,0.0497507803575,0.999999902304,0.000210805446118,-0.000388489359339,5.47232087944e-06,1793248152661979392
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,744.905092536,715.094907464,681,660,632.094907464,880,784,815,652,631,653,0.452933967304,-0.0154481998625,0.049754534463,0.999999900938,0.000218172861623,-0.000387962028607,3.19723824338e-06,1793248152695312640
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,744.250066055,716,681,660.250066055,633,880,784,815,652,631,653,0.452420993018,-0.0154285762289,0.049763187768,0.999999903314,0.000221510674506,-0.000379871002499,1.94633446833e-06,1793248152728645888
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.574668819,745,715.574668819,681,660.574668819,633,880,785,815,652,631,653,0.451093558463,-0.0154151523455,0.0497667459731,0.999999915387,0.000185243960596,-0.00036726009205,-5.59230686922e-06,1793248152795312896
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,745,715,681,660,633,880,784,815,652,631,653,0.44949095128,-0.015390642329,0.0498250708631,0.999999956464,0.000155680998711,-0.000250405160756,-1.15220214062e-05,1793248152861979392
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.322638448,745,715.322638448,680,659.322638448,634,879,785,811.322638448,651.322638448,630.322638448,653,0.416441222046,-0.0153508231365,0.049779672828,0.999999931815,-2.2541516218e-05,-0.000362836174523,-6.48927456624e-05,1793248153545313280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.259991101,745,715,680,659.259991101,634,879,785,811,651.259991101,630,652.740008899,0.415660334468,-0.0153547547307,0.0497961363494,0.999999944183,-2.65303753716e-05,-0.000326805595377,-6.42468232665e-05,1793248153561980160
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.853084941,745,715,680,659.853084941,634,879,785,811,651.853084941,630,652.146915059,0.414881332017,-0.0153573595892,0.0498148823723,0.999999955175,-3.45973544767e-05,-0.000290815925868,-6.22865106907e-05,1793248153578646784
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.565213221,715,680,659.565213221,634,879,785.434786779,811.434786779,652,630,652,0.41408991533,-0.0153585555593,0.0498010732077,0.999999947072,-4.39737678995e-05,-0.0003160556052,-6.34949057248e-05,1793248153595313664
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.987329822,744.012670178,715.012670178,680,659.012670178,634,878.987329822,785.987329822,811.987329822,652,630,652.012670178,0.413295954047,-0.0153591603092,0.0497769139311,0.999999931368,-5.34179393234e-05,-0.000360679488505,-6.57309188295e-05,1793248153611980544
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.412436988,744.587563012,715.587563012,680,659.587563012,634,878.412436988,785.412436988,811.412436988,652,630,652.587563012,0.412570468126,-0.0153541158404,0.0497691492147,0.99999992789,-4.67364714309e-05,-0.000370823680831,-6.72678268952e-05,1793248153628646656
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.265634647,680.734365353,659.265634647,634,878,785,811,652,630,653,0.411196237211,-0.0153541407829,0.0498035275373,0.999999943803,-3.60633308367e-05,-0.000326993388466,-6.45613780866e-05,1793248153661979904
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,879,786,811,652.646459482,629,652.353540518,0.408093054704,-0.015358397137,0.0498090877743,0.999999945888,-5.50203533492e-05,-0.000317831550315,-6.46468644072e-05,1793248153745313280
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.398437758,680,659,634.398437758,878.398437758,786,811,652,629.398437758,653,0.406493790662,-0.0153599676803,0.0498047281649,0.999999938316,-6.12617861584e-05,-0.000339703242751,-6.49292873219e-05,1793248153795313408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.97637308,680,659,634.97637308,878.97637308,786,811,652,629.97637308,653,0.405973591755,-0.0153592996322,0.049779645124,0.999999922154,-6.28149739919e-05,-0.000383713724889,-6.71542102745e-05,1793248153811980288
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.297992597,744.297992597,716,680,659,634,878.297992597,785.702007403,810.702007403,653,629.702007403,652.297992597,0.404696578054,-0.015360197482,0.0497706247941,0.999999918561,-6.51816756915e-05,-0.000392339947677,-6.85480178675e-05,1793248153861980416
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.876947496,716,680,659.876947496,634,878,786,811,653,630,652,0.404016109913,-0.0153648810715,0.0498216932672,0.999999945586,-6.50532185747e-05,-0.000317282310301,-6.26752370316e-05,1793248153895313408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.541171614,634,878,786,811,652.541171614,630,652,0.403709573494,-0.0153683080575,0.0498409940632,0.999999954155,-6.72733748823e-05,-0.000288956892968,-6.05662053519e-05,1793248153911980288
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.811087682,679,659,634,878,785.811087682,810.188912318,652,629,652,0.402837595738,-0.0153728309364,0.0498342918475,0.999999945919,-7.5938680751e-05,-0.000314186296435,-6.06840702608e-05,1793248153961979136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715.222715666,679,659,634,878,785.222715666,810.777284334,652,629,652,0.40258199111,-0.0153731058644,0.04981967166,0.999999937637,-7.67567589388e-05,-0.000339144911323,-6.17694412471e-05,1793248153978646016
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.940779977,679.940779977,659,634.940779977,878,785.940779977,811,652.940779977,629.940779977,652.940779977,0.402126409544,-0.0153726560179,0.0498033314582,0.999999927391,-7.20106522313e-05,-0.000369094682109,-6.16504304453e-05,1793248154011979264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634.482394715,877.482394715,786,810.482394715,652.482394715,630,653,0.401958533579,-0.0153731757426,0.0498033040003,0.999999929306,-6.73280732994e-05,-0.000364956581357,-6.05046367778e-05,1793248154028645888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715.906480076,679.906480076,658.906480076,634,877.093519924,786,810.093519924,652,629.906480076,653,0.401802628236,-0.01537366196,0.0498051459478,0.999999932458,-6.32310315508e-05,-0.000357165162774,-5.93123325613e-05,1793248154045312512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715.333267873,679.333267873,658.333267873,634,877.666732127,786,810.666732127,652,629.333267873,653,0.401676976326,-0.0153734741067,0.0498127070185,0.999999938367,-6.30496040208e-05,-0.00034041966325,-5.83589894612e-05,1793248154061979136
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.247182553,679,658.247182553,634.247182553,878,786,811,652,629,653,0.401561808577,-0.0153740405117,0.0498197424833,0.999999943072,-6.40843905889e-05,-0.000326252863015,-5.75199556976e-05,1793248154078645760
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.419761309,659,634.580238691,877.580238691,786,810.580238691,652,629,653,0.401373801649,-0.0153781968374,0.0498314288214,0.999999948925,-7.13859442463e-05,-0.000306371278518,-5.64939751004e-05,1793248154111979264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.99864108,659,634.00135892,877.00135892,786,810.00135892,652,629,653,0.401291406168,-0.0153810910219,0.0498364592715,0.999999951206,-7.66660647903e-05,-0.000297563347951,-5.62750769581e-05,1793248154128645888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744.425824713,715.425824713,680,659,634.574175287,877.574175287,786,810,652,629,652.425824713,0.40122247137,-0.015383046812,0.0498334968317,0.999999949148,-8.10176182371e-05,-0.000303117973259,-5.70998173036e-05,1793248154145313024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,744.305956202,715,680,659,634.847021899,878,786,810,652.152978101,629,652,0.401159966745,-0.0153847090337,0.0498314814445,0.999999947871,-8.43590004094e-05,-0.000306290718178,-5.76895724407e-05,1793248154161980160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.482201445,715,680,659,634.258899277,878,786,810,652.741100723,629,652,0.401115662592,-0.0153855424843,0.0498322134364,0.999999948962,-8.48331758446e-05,-0.000302592098965,-5.76039293826e-05,1793248154178646784
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.35240262,715,679.67620131,659,634,877.67620131,785.67620131,810,653,629.32379869,652,0.401080843154,-0.0153866688938,0.0498342259387,0.999999950471,-8.58234233665e-05,-0.000297333166665,-5.73108963489e-05,1793248154195313408
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.058390729,745,715.941609271,679,659,634.058390729,878,786,810.058390729,652.941609271,629,652,0.401013975139,-0.0153900895062,0.0498407446764,0.999999954019,-8.69450411239e-05,-0.000285004452497,-5.63404588405e-05,1793248154245313024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.634078818,745,715.365921182,679,659,634.634078818,878,786,810.634078818,652.365921182,629,652,0.401002399401,-0.0153889071632,0.0498413430965,0.999999954358,-8.66243728421e-05,-0.000283882470918,-5.64831730932e-05,1793248154261979392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.785804399,745,715.214195601,679,659,634.785804399,878,786,810.785804399,652,629,652,0.400993198131,-0.0153883483789,0.0498417788138,0.999999954821,-8.56910766397e-05,-0.000282526907443,-5.65063051799e-05,1793248154278645760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.19796216,745,715.80203784,679,659,634.19796216,878,786,810.19796216,652,629,652,0.400988138927,-0.0153888773416,0.0498419307092,0.999999955498,-8.36891013489e-05,-0.000280763879601,-5.63208359878e-05,1793248154295312384
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,716,679,659,634,878,786,810,652.963631456,629.963631456,652.963631456,0.400983656374,-0.0153893624437,0.0498443204647,0.999999956466,-8.37819464006e-05,-0.000277373808685,-5.57848588997e-05,1793248154328645888
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.26990752,659,634,878,786,810.73009248,652.73009248,629,652,0.400984567991,-0.0153941721807,0.0498488520084,0.999999958607,-8.67715714999e-05,-0.000268872512998,-5.44363144854e-05,1793248154395312384
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd1815348a4fa6aa6a5d85a8643ef540d317eab2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.583246797269,-0.0100722101278,1.04004239775,0.553818589186,-0.00139775039475,1.03966577964
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..294e87cdc95d97c087d840d76f4c44668b43d8ca
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d058614a9ea7d667064f2ea022ff0f9e214ba344bf3285df0f80706006dfe648
+size 25752861
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ac9b0b3b3646585fd0d6d145b2d8bdb517b3ec5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+17,0.283333333,BASELINE,766,745,715.853136097,679.146863903,659,634,878,785.853136097,810.853136097,652,629,652.853136097,0.400983004984,-0.0153964780644,0.0498543167115,0.999999961888,-8.06105259503e-05,-0.00025866592671,-5.30867494307e-05,1793248155101312512
+18,0.300000000,BASELINE,766,745,716,679,659,634,878,786,811,652,629,653,0.400982700265,-0.015395839789,0.04985404036,0.999999961894,-7.88055197231e-05,-0.000259207047747,-5.30444655012e-05,1793248155117979136
+19,0.316666667,BASELINE,766,745,715.975821657,679,659,634,878,786,811,652.024178343,629,652.975821657,0.400982391915,-0.0153955536005,0.0498535780789,0.99999996188,-7.70445159138e-05,-0.000259813569143,-5.29298560951e-05,1793248155134646016
+20,0.333333333,BASELINE,766,745,715.395809182,679,659,634,878,786,811,652.604190818,629,652.395809182,0.400982260107,-0.0153965246474,0.0498532103362,0.99999996151,-7.9320428685e-05,-0.000260516702793,-5.31053100888e-05,1793248155151312640
+21,0.350000000,BASELINE,766,745,715,679,659,634,877.817182503,786,810.817182503,653,629,652,0.400982135855,-0.0153968981655,0.0498530951546,0.999999961363,-8.05423736628e-05,-0.000260696943395,-5.31343538611e-05,1793248155167979008
+22,0.366666667,BASELINE,766,745,715,679,659,634,877.241533645,786,810.241533645,653,629,652,0.400982027837,-0.015395987736,0.049853522667,0.999999961707,-7.94995919876e-05,-0.00025975361099,-5.28487968332e-05,1793248155184645376
+23,0.383333333,BASELINE,766,745,715,679,659,634,877.340127277,786,810,653,629.340127277,652,0.400982451883,-0.0153958714795,0.049853750741,0.9999999619,-7.87922633193e-05,-0.000259252474147,-5.27325269346e-05,1793248155201312000
+24,0.400000000,BASELINE,766,745,715,679,659,634,877.926134412,786,810,653,629.926134412,652,0.400983260561,-0.015396329335,0.0498538346399,0.999999961983,-7.8327435345e-05,-0.000259071002783,-5.27386355924e-05,1793248155217978880
+25,0.416666667,BASELINE,766.50513109,745,715,679,659,634,878,785.49486891,810,653,630,652,0.40098406638,-0.0153959692783,0.0498544058773,0.999999962313,-7.75027410046e-05,-0.000258085157624,-5.25392604503e-05,1793248155234645248
+26,0.433333333,BASELINE,766.916348877,744.916348877,715.083651123,679,659,634,878,785.083651123,810,653,629.916348877,652,0.400984571878,-0.0153958734063,0.0498547954653,0.999999962498,-7.74724629652e-05,-0.000257400197204,-5.2412205392e-05,1793248155251311872
+27,0.450000000,BASELINE,766.334646445,744.334646445,715.665353555,679,659,634,878,785.665353555,810,653,629.334646445,652,0.400983291752,-0.0153980528288,0.049853685039,0.999999961608,-8.24810946887e-05,-0.000259197413601,-5.28921917714e-05,1793248155267978752
+28,0.466666667,BASELINE,766,744.243705215,715.756294785,679,659,634.243705215,877.756294785,785.756294785,810.243705215,653,629,652,0.400982241682,-0.0153990824094,0.0498529533882,0.999999961126,-8.47760716284e-05,-0.000260266628815,-5.31259066963e-05,1793248155284645376
+29,0.483333333,BASELINE,766,744.817518097,715.182481903,679,659,634.817518097,877.182481903,785.182481903,810.817518097,653,629,652,0.400981503232,-0.0153985544866,0.0498527348028,0.999999961226,-8.3395303171e-05,-0.00026034973958,-5.30260378614e-05,1793248155301312000
+30,0.500000000,BASELINE,766,745,715.400112968,679,658.599887032,635,877.400112968,785.400112968,810.599887032,652.599887032,629,652,0.400982085994,-0.015398183585,0.0498525481578,0.999999961397,-8.2008566673e-05,-0.000260181330207,-5.27838015482e-05,1793248155317978624
+31,0.516666667,BASELINE,766,745,715.98680296,679,658.01319704,635,877.98680296,785.98680296,810.01319704,652.01319704,629,652,0.400983284851,-0.0153978859041,0.0498523764069,0.999999961601,-8.06190472515e-05,-0.000259895634259,-5.24751777361e-05,1793248155334645504
+32,0.533333333,BASELINE,766,745,715.434039578,679,658,634.434039578,878,785.434039578,810,652.565960422,629,652,0.400983436124,-0.0153971843605,0.0498531536842,0.999999961758,-8.0825536382e-05,-0.000259135315022,-5.29216058478e-05,1793248155351312384
+33,0.550000000,BASELINE,766,744.855260298,715,679,658.144739702,634.144739702,878,785.144739702,810,652.855260298,629,652,0.400983973871,-0.0153966020994,0.0498541622338,0.999999962043,-8.09992885447e-05,-0.000257916498669,-5.32208943859e-05,1793248155367978752
+34,0.566666667,BASELINE,766,744.277094538,715,679,658.722905462,634.722905462,878,785.722905462,810,652.277094538,629,652,0.400985741113,-0.0153964048623,0.0498557979361,0.999999962713,-8.09650298177e-05,-0.000255357409078,-5.30275404601e-05,1793248155384645376
+35,0.583333333,BASELINE,766,744.299852898,715.299852898,678.700147102,659,634.700147102,878,785.700147102,810.299852898,652,629,652,0.400985769175,-0.0153963291337,0.0498559155014,0.999999962867,-7.98287526479e-05,-0.000255132248943,-5.29252783417e-05,1793248155401312000
+36,0.600000000,BASELINE,766,744.875679102,715.875679102,678.124320898,659,634.124320898,878,785.124320898,810.875679102,652,629,652,0.400984196563,-0.0153963652368,0.0498546358308,0.999999962545,-7.7678219237e-05,-0.000257055149215,-5.29068536668e-05,1793248155417978624
+37,0.616666667,BASELINE,766,745,715.550729937,678.898540126,659,634,877.550729937,785.449270063,810.550729937,652,629,652.449270063,0.400983916952,-0.0153964499206,0.049854391388,0.999999962475,-7.68876726993e-05,-0.000257582184406,-5.28112939738e-05,1793248155434645248
+38,0.633333333,BASELINE,766,745,715,679.976900266,659.023099734,634.023099734,877.023099734,786,810,652,629,652.976900266,0.400983899671,-0.0153965354294,0.0498544013675,0.999999962452,-7.6567772867e-05,-0.000257789613275,-5.2705418582e-05,1793248155451312128
+39,0.650000000,BASELINE,766,745,715,679.381922908,659.618077092,634.618077092,877.618077092,786,810,652,629,652.381922908,0.400981562813,-0.0153963102027,0.0498536531597,0.999999961815,-7.86289308274e-05,-0.000259599847266,-5.28699685518e-05,1793248155467978752
+40,0.666666667,BASELINE,766.206248051,745,715.206248051,679,659.793751949,634.793751949,878,786,810.206248051,652,629.206248051,652,0.400980660902,-0.0153967031187,0.0498535973704,0.999999961562,-8.02499927132e-05,-0.000260073520189,-5.28975397155e-05,1793248155484645376
+41,0.683333333,BASELINE,766.782217775,745,715.782217775,679,659.217782225,634.217782225,878,786,810.782217775,652,629.782217775,652,0.400982331286,-0.0153982041216,0.049854782815,0.999999962004,-8.10821352269e-05,-0.000258151264443,-5.26795617202e-05,1793248155501312000
+42,0.700000000,BASELINE,767,745,715.635423435,679,659,634,878,786,810.635423435,652,629.635423435,652,0.400983323337,-0.015398397471,0.049855315405,0.999999962291,-8.094302873e-05,-0.000257107208004,-5.25564227766e-05,1793248155517978624
+43,0.716666667,BASELINE,767,745,715.04918004,679,659,634,878,786,810.04918004,652,629.04918004,652,0.400983902953,-0.0153977957517,0.0498554510518,0.999999962484,-8.02133914037e-05,-0.000256597107125,-5.24909470975e-05,1793248155534645504
+44,0.733333333,BASELINE,766.469252568,745,715.530747432,679,659,634,878,786,810.530747432,652.530747432,629,652.530747432,0.400983161159,-0.0153979663751,0.049854321771,0.999999962054,-8.0686302073e-05,-0.000258090634948,-5.26372021696e-05,1793248155551312128
+45,0.750000000,BASELINE,766,745,716,679,659,634,877.889998396,785.889998396,810.889998396,652.889998396,629,653,0.400982862814,-0.0153980182363,0.0498536004361,0.999999961811,-8.09191126762e-05,-0.000258937995028,-5.27297256336e-05,1793248155567978752
+46,0.766666667,BASELINE,766,745,716,679,659,634,877.311149024,785.311149024,810.311149024,652.311149024,629,653,0.400984970283,-0.0153972624665,0.0498551115429,0.999999962617,-7.96592190112e-05,-0.000256249252722,-5.25105966492e-05,1793248155584645376
+47,0.783333333,BASELINE,766,745,715.73464903,679,659,634,877.26535097,785,810,652,629,652.73464903,0.400985816291,-0.0153974837557,0.0498559267083,0.999999962947,-7.96319865765e-05,-0.000255011837004,-5.22826898481e-05,1793248155601312256
+48,0.800000000,BASELINE,766,745,715.160879652,679,659,634,877.839120348,785,810,652,629,652.160879652,0.400985196099,-0.0153988406841,0.0498559329787,0.999999962732,-8.10374806611e-05,-0.000255461303172,-5.20445805301e-05,1793248155617978880
+49,0.816666667,BASELINE,766,745,715,679,659,634,877.576075459,785,810,652,629,652,0.400983854795,-0.0153990146814,0.0498552453675,0.999999962283,-8.18730225926e-05,-0.000256882060235,-5.23633675974e-05,1793248155634645504
+50,0.833333333,BASELINE,766,745,715.012806243,679,659,634,877.012806243,785.012806243,810,652,629,652,0.400982275654,-0.0153987301179,0.0498543181297,0.999999961761,-8.24210954048e-05,-0.000258627979983,-5.2882090548e-05,1793248155651312128
+51,0.850000000,BASELINE,766,745,715.591867609,679,659,634,877.591867609,785.591867609,810,652,629,652,0.400982603963,-0.0153985499187,0.0498547501091,0.999999962121,-8.00777609974e-05,-0.000258017390944,-5.26466931165e-05,1793248155667978752
+52,0.866666667,BASELINE,766.170368542,745,715.829631458,679.170368542,659,634,877.829631458,785.829631458,810,652,629,652,0.400982856157,-0.0153981298974,0.0498550707647,0.999999962395,-7.84992740991e-05,-0.000257485021767,-5.24378454084e-05,1793248155684645376
+53,0.883333333,BASELINE,766.747531279,745,715.252468721,679.747531279,659,634,877.252468721,785.252468721,810,652,629,652,0.400982926606,-0.0153971372453,0.0498551256091,0.999999962472,-7.87470371965e-05,-0.00025713942059,-5.22923913039e-05,1793248155701312000
+54,0.900000000,BASELINE,766.677173782,745,715.322826218,679.677173782,659,634,877.322826218,785,810,652.322826218,629.322826218,652,0.40098318035,-0.0153972427278,0.049855210897,0.999999962479,-7.90808378852e-05,-0.000257007460477,-5.23083404707e-05,1793248155717978880
+55,0.916666667,BASELINE,766.103331191,745,715.896668809,679.103331191,659,634,877.896668809,785,810,652.896668809,629.896668809,652,0.400983576617,-0.0153982020746,0.0498553198565,0.999999962431,-7.94815378499e-05,-0.000257041618874,-5.24497901814e-05,1793248155734645504
+56,0.933333333,BASELINE,766,745,715.51560434,679,659,634,877.51560434,785.48439566,810,652.51560434,629.51560434,652.48439566,0.400983054341,-0.0153983416676,0.0498550967197,0.999999962225,-8.0726225369e-05,-0.000257439887804,-5.25170148145e-05,1793248155751312128
+57,0.950000000,BASELINE,766,745,715.073705635,679,659,634,877,786,810.073705635,652,629,653,0.400982469358,-0.0153981582111,0.0498548554808,0.999999962049,-8.16631281368e-05,-0.000257810950119,-5.25932470099e-05,1793248155767978752
+58,0.966666667,BASELINE,766,745,715.652959561,679,659,634,877,786,810.652959561,652,629,653,0.400982837902,-0.0153969937816,0.0498549903296,0.999999962327,-7.92175961032e-05,-0.000257446926979,-5.28430704748e-05,1793248155784645376
+59,0.983333333,BASELINE,765.769693759,745,715.769693759,679,658.769693759,634,877.230306241,785.769693759,810.769693759,652,629,653,0.400983287248,-0.0153967759233,0.0498551906123,0.999999962531,-7.8254443433e-05,-0.000256929123006,-5.29302980402e-05,1793248155801312000
+60,1.000000000,BASELINE,765.195197353,745,715.195197353,679,658.195197353,634,877.804802647,785.195197353,810.195197353,652,629,653,0.400983857352,-0.0153979727052,0.0498554886854,0.999999962632,-7.95066901979e-05,-0.000256181495205,-5.27745278437e-05,1793248155817978880
+61,1.016666667,BASELINE,765.379920567,745,715,679,658.379920567,634,878,785.379920567,810,652.379920567,629.379920567,652.620079433,0.400984423992,-0.0153977673417,0.0498555670257,0.999999962797,-7.95556114454e-05,-0.000255520677556,-5.27826345166e-05,1793248155834645504
+62,1.033333333,BASELINE,765.955358299,745,715,679,658.955358299,634,878,785.955358299,810,652.955358299,629.955358299,652.044641701,0.400984988851,-0.015396840397,0.0498555322856,0.999999962995,-7.89852695025e-05,-0.000254904534751,-5.28750765668e-05,1793248155851312128
+63,1.050000000,BASELINE,766,745,715.544958593,679.544958593,659,634,878,786,810,652.455041407,629.455041407,652,0.400984701524,-0.0153986106981,0.0498556822847,0.999999962911,-8.1068145071e-05,-0.000254677317839,-5.24007331591e-05,1793248155867978496
+64,1.066666667,BASELINE,766,745,715.867073459,679.867073459,659,634,878,786,810.132926541,652,629,652,0.400984151476,-0.0153999070432,0.0498555398263,0.999999962727,-8.21458876898e-05,-0.00025513196809,-5.20234867312e-05,1793248155884645120
+65,1.083333333,BASELINE,766,745,715.288569944,679.288569944,659,634,878,786,810.711430056,652,629,652,0.400982961021,-0.0153988542573,0.0498543649527,0.999999962291,-7.91063780511e-05,-0.000257762628514,-5.21315021686e-05,1793248155901312000
+66,1.100000000,BASELINE,766.287655383,745,715,679.287655383,659,634,878,786,810.712344617,652.287655383,629.287655383,652.287655383,0.400982438453,-0.0153983902203,0.0498536844851,0.99999996202,-7.82352324497e-05,-0.00025904618274,-5.22837692774e-05,1793248155917978880
+67,1.116666667,BASELINE,766.861613205,745,715,679.861613205,659,634,878,786,810.138386795,652.861613205,629.861613205,652.861613205,0.400982580629,-0.0153985121633,0.0498534960982,0.999999961923,-7.95222524859e-05,-0.000258988966528,-5.24800799205e-05,1793248155934645504
+68,1.133333333,BASELINE,766.552714665,745,715.447285335,679.552714665,659,634.447285335,878,786,810.447285335,653,629.552714665,653,0.400983720936,-0.0153987820064,0.0498544122327,0.999999962304,-8.01661523367e-05,-0.000257341766916,-5.23576635e-05,1793248155951312128
+69,1.150000000,BASELINE,766,745,716,679,659,635,878,786,810.963938773,653,629,652.963938773,0.40098508155,-0.0153991378031,0.0498556432638,0.999999962798,-8.06507009863e-05,-0.000255305172892,-5.21420899284e-05,1793248155967979008
+70,1.166666667,BASELINE,766,745,716,679,659,635,878,786,810.384476627,653,629,652.384476627,0.400984983313,-0.0154000807383,0.0498563314424,0.999999962783,-8.18129968619e-05,-0.000255013022636,-5.20486758097e-05,1793248155984645632
+71,1.183333333,BASELINE,766,745,715.805849941,679,659,634.805849941,878,786,810,652.805849941,629,652,0.400985250883,-0.015400224583,0.049856664513,0.999999962908,-8.18000706293e-05,-0.000254535553304,-5.20048148516e-05,1793248156001312000
+72,1.200000000,BASELINE,766,745,715.228870533,679,659,634.228870533,878,786,810,652.228870533,629,652,0.400986239758,-0.0153987927639,0.049856297374,0.999999963307,-7.94698158462e-05,-0.000253692667698,-5.20586638868e-05,1793248156017978624
+73,1.216666667,BASELINE,766,745,715,679,659,634,878.346128485,785.653871515,810,652.346128485,629,652,0.4009870857,-0.0153985872382,0.0498569468944,0.999999963553,-7.89414066567e-05,-0.000252889812671,-5.20462278572e-05,1793248156034645248
+74,1.233333333,BASELINE,766,745,715,679,659,634,878.919825425,785.080174575,810,652.919825425,629,652,0.400987837669,-0.0153991879614,0.0498582648358,0.9999999637,-7.95976536943e-05,-0.000252113276529,-5.19902115058e-05,1793248156051312128
+75,1.250000000,BASELINE,766,745,715.508507808,679,659,634,878.491492192,785,810.508507808,652.491492192,629,652,0.400985808869,-0.0153980253093,0.0498562129683,0.999999963042,-7.94606108159e-05,-0.000254678166775,-5.23579253072e-05,1793248156067978752
+76,1.266666667,BASELINE,766,745,716,679.097676663,659,634,878,785.097676663,810.902323337,652,629,652.097676663,0.400983619662,-0.0153968541679,0.0498541660918,0.999999962392,-7.91402564666e-05,-0.00025724149222,-5.27207787525e-05,1793248156084645376
+77,1.283333333,BASELINE,766,745,716,679.677235313,659,634,878,785.677235313,810.322764687,652,629,652.677235313,0.400982867756,-0.0153970544135,0.0498548445925,0.99999996247,-7.85513329176e-05,-0.000257119091401,-5.27200528249e-05,1793248156101312256
+78,1.300000000,BASELINE,766,744.745382462,715.745382462,680,659,634,877.745382462,786,810,652,629,652.745382462,0.400982803028,-0.0153975227939,0.0498553727584,0.999999962639,-7.87126464727e-05,-0.000256439051283,-5.25818238733e-05,1793248156117978880
+79,1.316666667,BASELINE,766,744.170735831,715.170735831,680,659,634,877.170735831,786,810,652,629,652.170735831,0.400983602015,-0.0153983281935,0.0498557119682,0.999999962921,-7.98169339953e-05,-0.000255058113665,-5.22707672045e-05,1793248156134645504
+80,1.333333333,BASELINE,766,744.412862808,715.412862808,679.587137192,659,634,877.412862808,786,810,652,629,652,0.400984574487,-0.0153993570887,0.0498561439049,0.99999996304,-8.12038138522e-05,-0.000254188962079,-5.20926585019e-05,1793248156151311872
+81,1.350000000,BASELINE,766,745,715.999757923,679,659,634,878,785.999757923,810.000242077,652.000242077,629,652,0.400985620176,-0.0154004801381,0.0498566152295,0.999999963089,-8.27089427893e-05,-0.000253535858862,-5.19706201241e-05,1793248156167978496
+82,1.366666667,BASELINE,766,745,715.420736248,679,659,634,878,785.420736248,810.579263752,652.579263752,629,652,0.400986386714,-0.0154008399751,0.0498575450114,0.999999963563,-8.13336684906e-05,-0.000252196580929,-5.15433347136e-05,1793248156184645376
+83,1.383333333,BASELINE,766,745,715,679,659,634.158197396,877.841802604,785.158197396,810.841802604,652.841802604,629,652,0.400986670394,-0.0154011863066,0.0498579474408,0.999999963745,-8.06000940483e-05,-0.000251734182088,-5.14177314783e-05,1793248156201312000
+84,1.400000000,BASELINE,766,745,715,679,659,634.736897173,877.263102827,785.736897173,810.263102827,652.263102827,629,652,0.400985670598,-0.0154014967394,0.0498569481221,0.999999963159,-8.15722131097e-05,-0.000253602603541,-5.20940255042e-05,1793248156217978880
+85,1.416666667,BASELINE,766.312274062,744.687725938,715,679,659,635,877.312274062,785.687725938,810,652,629,652,0.400984765026,-0.0154006678391,0.0498566747069,0.999999962997,-8.13723050575e-05,-0.000254246151849,-5.23854692284e-05,1793248156234645504
+86,1.433333333,BASELINE,766.884880734,744.115119266,715,679,659,635,877.884880734,785.115119266,810,652,629,652,0.400983938005,-0.0153988891145,0.0498570064536,0.999999963189,-8.01953165052e-05,-0.000253868563606,-5.23560758784e-05,1793248156251312128
+87,1.450000000,BASELINE,766.529195678,744.470804322,715.470804322,679,658.529195678,635,878,785.470804322,810,652.470804322,629.470804322,652,0.400983933736,-0.0153995100973,0.0498560338548,0.999999962968,-8.11608657658e-05,-0.000254458745472,-5.22263136895e-05,1793248156267978752
+88,1.466666667,BASELINE,766,745,715.940874426,679,658.059125574,634.940874426,877.940874426,786,810,652.940874426,629.940874426,652,0.400984251302,-0.0154004768096,0.0498549542977,0.999999962715,-8.23984930221e-05,-0.000255078219773,-5.21132844332e-05,1793248156284645376
+89,1.483333333,BASELINE,766,745,715.360950307,679,658.639049693,634.360950307,877.360950307,786,810,652.360950307,629.360950307,652,0.400985580089,-0.0153991699315,0.0498558236664,0.999999963115,-8.12837915259e-05,-0.000253810671721,-5.23701098723e-05,1793248156301312000
+90,1.500000000,BASELINE,766,745,715.217432758,679,659,634,877.217432758,786,810,652.217432758,629,652,0.400985653883,-0.0153985241303,0.0498560365099,0.999999963191,-8.0447021919e-05,-0.000253742186616,-5.25506835033e-05,1793248156317978880
+91,1.516666667,BASELINE,766,745,715.793275534,679,659,634,877.793275534,786,810,652.793275534,629,652,0.40098365898,-0.0153989680295,0.0498551671559,0.999999962732,-8.00683875018e-05,-0.000255650203145,-5.26055657812e-05,1793248156334645504
+92,1.533333333,BASELINE,766,745,715.631207537,679,659,634,877.631207537,786,810,652.631207537,629,652,0.4009831253,-0.0153985966338,0.0498547681943,0.999999962585,-7.95081192242e-05,-0.000256401245297,-5.25988826505e-05,1793248156351311872
+93,1.550000000,BASELINE,766,745,715.055873044,679,659,634,877.055873044,786,810,652.055873044,629,652,0.400983409978,-0.0153977686328,0.0498546326758,0.999999962613,-7.8846126961e-05,-0.000256504324722,-5.25577198495e-05,1793248156367978752
+94,1.566666667,BASELINE,766,745,715.53271878,679,659,634,877.53271878,786,810,652.53271878,629,652,0.400984185465,-0.0153993688273,0.0498549202512,0.999999962611,-8.14345731819e-05,-0.000255735200577,-5.24098985006e-05,1793248156384645376
+95,1.583333333,BASELINE,766,745,715.879632688,679,659,634,877.879632688,785.879632688,810.120367312,652.879632688,629,652,0.400984671428,-0.0154007674112,0.0498552283944,0.999999962617,-8.34834171837e-05,-0.000255090125987,-5.22097349188e-05,1793248156401312000
+96,1.600000000,BASELINE,766,745,715.301004154,679,659,634,877.301004154,785.301004154,810.698995846,652.301004154,629,652,0.400983854133,-0.0154004040801,0.0498554415858,0.999999962699,-8.21468403877e-05,-0.000255274498459,-5.18539711093e-05,1793248156417978624
+97,1.616666667,BASELINE,766,745,715,679,658.724345158,634,877.275654842,785.275654842,810.724345158,652,629,652.275654842,0.400983392579,-0.0153996176544,0.0498555610488,0.999999962761,-8.05124691175e-05,-0.000255551125389,-5.18495694142e-05,1793248156434645504
+98,1.633333333,BASELINE,766,745,715,679,658.149821595,634,877.850178405,785.850178405,810.149821595,652,629,652.850178405,0.400983316726,-0.0153983725036,0.0498555788904,0.999999962801,-7.85552251174e-05,-0.000255927775843,-5.22261193126e-05,1793248156451311872
+99,1.650000000,BASELINE,766,745,715.434813195,679.434813195,658.434813195,634,878,786,810,652.434813195,629.434813195,652.565186805,0.400983352349,-0.0153978290838,0.0498554472863,0.999999962935,-7.71960389552e-05,-0.00025578601849,-5.23875719016e-05,1793248156467978752
+100,1.666666667,BASELINE,766,745,715.977207897,679.977207897,659,634.022792103,878,786,810,652.977207897,629.977207897,652,0.400983468769,-0.0153976070176,0.0498553217073,0.999999963103,-7.61990924253e-05,-0.000255413512173,-5.24531047804e-05,1793248156484645120
+101,1.683333333,BASELINE,766,745,715.39470028,679.39470028,659,634.60529972,878,786,810,652.39470028,629.39470028,652,0.400984603614,-0.0153991974055,0.0498566387488,0.999999963309,-7.89167884648e-05,-0.000253865419926,-5.20265044304e-05,1793248156501312000
+102,1.700000000,BASELINE,766,745,715,679.185029172,659,634.814970828,878,786,810,652,629,652.185029172,0.400984883624,-0.0153999921723,0.049857147315,0.999999963297,-8.06187414656e-05,-0.000253426715895,-5.17883111923e-05,1793248156517978624
+103,1.716666667,BASELINE,766,745,715,679.758919897,659,634.241080103,878,786,810,652,629,652.758919897,0.400983367097,-0.0153991148434,0.0498559567705,0.999999962842,-8.0185985257e-05,-0.000255319527781,-5.1946078717e-05,1793248156534645248
+104,1.733333333,BASELINE,766,744.667606473,715,679.667606473,659,634,878,786,810,652,629,652.667606473,0.400983659228,-0.0153985353349,0.049856164133,0.999999962909,-8.01270986749e-05,-0.000255025466782,-5.21965086999e-05,1793248156551311872
+105,1.750000000,BASELINE,766,744.094434918,715,679.094434918,659,634,878,786,810,652,629,652.094434918,0.400985261507,-0.0153981715603,0.0498573841061,0.999999963352,-8.03390343842e-05,-0.000253147286862,-5.25140611975e-05,1793248156567978752
+106,1.766666667,BASELINE,766,744.492354315,715,679,659,634,878,786,810,652.492354315,629,652.492354315,0.400983704145,-0.0153987381626,0.0498565401618,0.999999962968,-8.10017690451e-05,-0.000254435623526,-5.25924107653e-05,1793248156584645376
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,660,634,878,785,810,652,629,652,0.40098354403,-0.0153991563967,0.0498555982141,0.999999962869,-7.97330457727e-05,-0.000255197425748,-5.2720732407e-05,1793248156627758080
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.422691987,679,659.422691987,634,878,785,810.577308013,652,629,652,0.400983497113,-0.0153997920583,0.049856238114,0.999999963016,-8.00378132507e-05,-0.00025464117301,-5.21589810422e-05,1793248156644424704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.15430534,634,877.84569466,785,810.84569466,652,629,652,0.400983496559,-0.0154003068041,0.0498566369479,0.999999963098,-8.01656515309e-05,-0.00025437680226,-5.16645708313e-05,1793248156661091072
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.730453439,634,877.269546561,785,810.269546561,652,629,652,0.400983622749,-0.0154004909882,0.0498563767508,0.999999963007,-7.98097976066e-05,-0.000254910383703,-5.13542589712e-05,1793248156677757440
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.315180675,659.684819325,634,877.315180675,785.315180675,810,652,629,652.315180675,0.400983581088,-0.015399456455,0.0498560129201,0.999999962944,-7.90145348083e-05,-0.000255360479973,-5.15820562976e-05,1793248156694424064
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.907450165,659.092549835,634,877.907450165,785.907450165,810,652,629,652.907450165,0.400983391862,-0.0153973504952,0.0498555579805,0.999999962904,-7.78329688935e-05,-0.000255737180824,-5.22829284471e-05,1793248156711090688
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.485408993,679.514591007,659,634,877.514591007,786,810,652,629,652.514591007,0.400982084684,-0.0153984437288,0.0498548055314,0.999999962437,-7.83019172873e-05,-0.000257450468415,-5.20950602955e-05,1793248156727757312
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634.060551053,877.060551053,786,810,652,629.060551053,652.060551053,0.400981199856,-0.0153999652021,0.0498543664763,0.99999996205,-7.91270342844e-05,-0.00025876132579,-5.17806972106e-05,1793248156744423936
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634.634283008,877.634283008,786,810,652,629.634283008,652.634283008,0.400985649296,-0.015400094524,0.0498570504714,0.999999963027,-8.03800423076e-05,-0.000254563565818,-5.17892628652e-05,1793248156761090816
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.213576041,745,716,679.213576041,659,634.786423959,877.786423959,786,810.213576041,652,630,652.786423959,0.400995822749,-0.0154006648582,0.0498610143492,0.999999964997,-8.04849081318e-05,-0.00024675688683,-5.13805175808e-05,1793248156777757440
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.8026461,745,716,679.8026461,659,634.1973539,877.1973539,786,810.8026461,652,630,652.1973539,0.40101605975,-0.0154020105483,0.0498672284242,0.999999968599,-7.85711928548e-05,-0.000232605266649,-5.02380862387e-05,1793248156794424064
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.613424047,745,715.613424047,679.613424047,659.386575953,634,877.386575953,786,810.613424047,652,629.613424047,652,0.401059363606,-0.0154039749703,0.0498827475641,0.999999975446,-7.95972241771e-05,-0.000200979715487,-4.87890464982e-05,1793248156811091200
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.032083873,745,715.032083873,679.032083873,659.967916127,634,877.967916127,786,810.032083873,652,629.032083873,652,0.401114288977,-0.0154062511212,0.0499029547708,0.999999982628,-8.2104354731e-05,-0.00016055046842,-4.71855315256e-05,1793248156827758336
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.542763447,679,659.457236553,634,878,786,810,652,629.542763447,652.542763447,0.401182842289,-0.015411198219,0.0499196290762,0.999999987283,-8.2810943915e-05,-0.000128715579907,-4.48168354819e-05,1793248156844424704
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.117205273,745,716,679,659,634,877.882794727,786,810.117205273,652.117205273,629.882794727,653,0.401253883972,-0.0154160352288,0.0499341318292,0.99999999039,-8.33366417292e-05,-0.000102246083181,-4.26601110444e-05,1793248156861091328
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.691544983,745,716,679,659,634,877.308455017,786,810.691544983,652.691544983,629.308455017,653,0.401331526204,-0.0154198343461,0.0499409698018,0.999999991159,-8.35670264473e-05,-9.47451143427e-05,-4.15044668129e-05,1793248156877757952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.450338543,745,715.725169272,679,659,634,877.274830728,785.725169272,810.725169272,653,629,652.725169272,0.401415172823,-0.0154238915368,0.0499446000111,0.999999991506,-8.37767921383e-05,-9.11878958003e-05,-4.06814487487e-05,1793248156894424320
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.263010389,745,715.131505195,679,659,634,877.868494805,785.131505195,810.131505195,653,629,652.131505195,0.401505785175,-0.0154282481202,0.0499445088679,0.999999991414,-8.39626375199e-05,-9.22058543024e-05,-4.02443130608e-05,1793248156911091200
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448506644,745,715,679,659,634,878.448506644,785.448506644,810,652.551493356,629,652.448506644,0.401623231376,-0.0154367231189,0.0499473661086,0.999999991576,-8.71509553934e-05,-8.80668244323e-05,-3.86877360972e-05,1793248156927758080
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.024613392,679.024613392,659,634,879,786,810,652.024613392,629,652.975386608,0.401748965314,-0.015446212709,0.0499507593923,0.999999991725,-9.1072903468e-05,-8.30388682099e-05,-3.68913691471e-05,1793248156944425216
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.600263429,679.600263429,659,634,879,786,810,652.600263429,629,652.399736571,0.401889302485,-0.0154521810627,0.049947371311,0.999999990925,-9.22924454423e-05,-9.09615334747e-05,-3.68578498769e-05,1793248156961091840
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,679.82600439,659,634.17399561,878.652008781,785.82600439,810.17399561,652.82600439,629,652.17399561,0.402040543904,-0.0154596674663,0.0499444942589,0.999999990198,-9.37506856557e-05,-9.74015318232e-05,-3.64299333158e-05,1793248156977758976
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,679.256630324,659,634.743369676,877.513260648,785.256630324,810.743369676,652.256630324,629,652.743369676,0.40221656354,-0.0154706034055,0.0499427784428,0.999999989752,-9.57513310163e-05,-0.000100472394912,-3.51058091376e-05,1793248156994427904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634.670462303,877.329537697,785.329537697,810.670462303,652.329537697,629,653,0.402411369589,-0.0154821773518,0.0499425175897,0.999999989298,-9.90208524347e-05,-0.000102351903635,-3.35013408054e-05,1793248157011094272
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634.070513483,877.929486517,785.929486517,810.070513483,652.929486517,629,653,0.40262159136,-0.0154942748334,0.049943450646,0.999999988829,-0.000103331584839,-0.000103253814456,-3.1666828306e-05,1793248157027758080
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785.491604635,810,652.491604635,629,652.491604635,0.402881196407,-0.015505445943,0.0499496480093,0.999999990072,-0.000102880379487,-9.17482796124e-05,-2.92100059875e-05,1793248157044424704
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785.085285185,810,652,629,652.085285185,0.403151816618,-0.0155154938248,0.0499571404239,0.999999991666,-9.98802081973e-05,-7.73966012391e-05,-2.64840816596e-05,1793248157061091328
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785.666731672,810,652,629,652.666731672,0.403448255721,-0.0155197249241,0.0499680880628,0.999999994494,-8.5740696863e-05,-5.61006935364e-05,-2.26747955279e-05,1793248157077758208
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.751304714,679,659,634.248695286,878,786,810,652,629,653,0.403763396698,-0.0155169472067,0.0499765366326,0.999999996952,-6.4226404545e-05,-3.96459044054e-05,-1.99829441815e-05,1793248157094424832
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.168646708,679,659,634.831353292,878,786,810,652,629,653,0.404103651638,-0.0155047576361,0.0499816293043,0.999999998844,-3.28088215396e-05,-2.96920565429e-05,-1.87916505007e-05,1793248157111091456
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.411815955,745,715,679.411815955,659,634.588184045,878,786,810.411815955,652.411815955,629,653,0.404472921988,-0.0155027705182,0.0499858236927,0.999999999641,-1.10074642222e-05,-1.83856675277e-05,-1.61124144064e-05,1793248157127758080
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.991384334,745,715,679.991384334,659,634.008615666,878,786,810.991384334,652.991384334,629,653,0.404854011699,-0.0155049393497,0.0499896521672,0.999999999873,6.87674158739e-06,-6.5283237605e-06,-1.28270679059e-05,1793248157144424704
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.433657385,745,715,679.433657385,659,634,878,785.433657385,810.433657385,653,629,652.433657385,0.405264792674,-0.0155142920895,0.0499789540565,0.999999999488,1.282183115e-05,-2.73746716432e-05,-1.05276749634e-05,1793248157161091072
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.144184049,679,659,634,878,785.144184049,810.144184049,652.855815951,629.144184049,652,0.405676486062,-0.0155204104729,0.0499653020684,0.999999998218,2.37837106728e-05,-5.40683834547e-05,-8.62499245609e-06,1793248157177757952
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.731091839,679,659,634,878,785.731091839,810.731091839,652.268908161,629.731091839,652,0.406089605245,-0.0155162647518,0.0499432531477,0.999999993959,5.07030657224e-05,-9.72013819279e-05,-7.89474432611e-06,1793248157194424576
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.686641394,679,659,634,878.313358606,785.686641394,811,652,629.686641394,652.313358606,0.406545542331,-0.0155140002821,0.0499300205306,0.99999998977,7.54573511708e-05,-0.000121363984385,-6.09761438508e-06,1793248157211091456
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.108299122,679,659,634,878.891700878,785.108299122,811,652,629.108299122,652.891700878,0.407037687326,-0.015513326644,0.049924243192,0.999999986772,9.83808041009e-05,-0.000129484763082,-3.39830314274e-06,1793248157227758336
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.469510213,659,634,879,785.469510213,811,652,629,652.530489787,0.407596667983,-0.0155165713861,0.0499366114435,0.99999998726,0.00012245089335,-0.000102393512314,1.47358373075e-06,1793248157244424704
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.047052686,715,679.952947314,659.047052686,634,878.952947314,786,811,652,629.047052686,652.047052686,0.408175868273,-0.0155208001332,0.0499539862956,0.999999986987,0.000146778973076,-6.65888271274e-05,6.98048979243e-06,1793248157261090816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.622976211,715,679.377023789,659.622976211,634,878.377023789,786,811,652,629.622976211,652.622976211,0.408809251588,-0.0155259415736,0.0499806432514,0.999999984986,0.000171037413891,-2.40345782149e-05,1.39986398656e-05,1793248157277757440
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.796777621,715.203222379,679,660,634,878.203222379,785.796777621,810.796777621,652.203222379,629.796777621,653,0.409435406329,-0.0155303355603,0.0499994982559,0.999999980877,0.000194485330121,4.87070277078e-06,1.99483401132e-05,1793248157294424064
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.208337711,715.791662289,679,660,634,878.791662289,785.208337711,810.208337711,652.791662289,629.208337711,653,0.410047858932,-0.0155333127132,0.050003564295,0.99999997627,0.00021639685822,7.90372373307e-06,2.3872743348e-05,1793248157311090944
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.62563121,679.37436879,659.62563121,634,879,785.37436879,810.37436879,652.62563121,629.37436879,653,0.410656749367,-0.0155323594622,0.0499855053078,0.999999972575,0.000230048655143,-3.54800697544e-05,2.58800537208e-05,1793248157327757568
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.046067265,679.953932735,659.046067265,634,879,785.953932735,810.953932735,652.046067265,629.953932735,653,0.411263687323,-0.0155292519187,0.0499553193795,0.999999965598,0.000239173211912,-0.000104305368281,2.68365867222e-05,1793248157344424192
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.530484805,680,659.530484805,634,879,785.469515195,811,652,630,652.469515195,0.411966298591,-0.0155294261988,0.0499456879349,0.999999978437,0.000174938787198,-0.000108515764439,2.73374559236e-05,1793248157361090560
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.893328592,745,716,679.893328592,659.893328592,634,879,785,811,652,630,652.106671408,0.412695291862,-0.0155320632462,0.0499448301843,0.999999988943,0.000109362804368,-9.73352273088e-05,2.60878696736e-05,1793248157377757440
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.317605583,745,716,679.317605583,659.317605583,634,879,785,811,652,630,652.682394417,0.413503964364,-0.0155442833961,0.0499747473946,0.999999996764,6.57417319581e-05,-4.30121113956e-05,1.73142578369e-05,1793248157394424832
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.264185187,745,716,679.264185187,659.264185187,634,879.264185187,785.264185187,811.264185187,652,630,653,0.414276896826,-0.0155523308094,0.0499829711959,0.999999997929,5.61728247509e-05,-2.8373339557e-05,1.34764009728e-05,1793248157411091968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.85344223,745,716,679.85344223,659.85344223,634,879.85344223,785.85344223,811.85344223,652,630,653,0.415005852361,-0.0155552437984,0.0499645019198,0.999999994003,8.85040677426e-05,-6.2564941585e-05,1.57118396876e-05,1793248157427758080
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,880,785.564865737,812,652,630,653,0.415778198653,-0.0155536141641,0.0499470318033,0.999999989287,0.000113298733589,-9.12451172604e-05,1.62448173121e-05,1793248157444424448
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.985838977,785,812,652,630,653,0.416566796353,-0.0155505515761,0.0499309740029,0.999999983974,0.000135256447604,-0.000116158652147,1.62888923448e-05,1793248157461091328
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.413154395,785,812,652,630,653,0.417429808491,-0.0155502855,0.0499575730507,0.999999987407,0.000143728153193,-6.44758100942e-05,1.92794207616e-05,1793248157477757696
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.162594052,785.162594052,812,652,630,653,0.418284730124,-0.0155504646022,0.0499775420811,0.999999988378,0.000147835035356,-3.02180116084e-05,2.17898880602e-05,1793248157494424320
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.74627732,785.74627732,812,652,630,653,0.419118698759,-0.0155517966355,0.0499803405627,0.999999989001,0.000140637813794,-4.10879312546e-05,2.30570837324e-05,1793248157511091200
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.669922623,680,660,634,880,786,812,652,630,653,0.419983640528,-0.0155525007538,0.0499735493716,0.999999988599,0.000141515989109,-4.74650606805e-05,2.28352066666e-05,1793248157527758080
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.08603279,680,660,634,880,786,812,652,630,653,0.420872398998,-0.0155527220379,0.0499593842172,0.999999987459,0.000148603727908,-5.03874659567e-05,2.14683095107e-05,1793248157544424704
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506823078,745,715.493176922,680,660,634,879.506823078,785.506823078,812,652,630,653,0.421800159115,-0.0155534199828,0.0499770883392,0.999999988497,0.00014924746612,-1.25745946253e-05,2.39211256749e-05,1793248157561091072
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071299123,745,715.928700877,680,660.071299123,634,879.071299123,785,812,652,630.071299123,653,0.422729563075,-0.0155539636969,0.0499957630495,0.999999988246,0.000149239381291,2.30352996896e-05,2.65421026797e-05,1793248157577757952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.647447242,745,715.352552758,680,660.647447242,634,879.647447242,785,812,652,630.647447242,653,0.423622884055,-0.0155528321087,0.0499823152164,0.999999988019,0.000152500751358,-6.79684994349e-06,2.56800069336e-05,1793248157594424576
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.228072518,680,660.771927482,634,879.771927482,785.228072518,812.228072518,652,630.771927482,653,0.424536033488,-0.0155552256775,0.0499776554512,0.99999998731,0.000156237020042,-1.72956577237e-05,2.59129622742e-05,1793248157611091200
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.815757218,680,660.184242782,634,879.184242782,785.815757218,812.815757218,652,630.184242782,653,0.425480447472,-0.0155631775195,0.0499868522256,0.999999986692,0.000160722083345,2.68927840902e-06,2.78725337399e-05,1793248157627758080
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.602566873,680.397433127,660.397433127,634,879.397433127,785.602566873,813,652,630.397433127,653,0.426411755247,-0.0155662758327,0.0499974382655,0.999999986948,0.000158670424319,5.7690526095e-06,2.99233364893e-05,1793248157644424448
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.023635077,680.976364923,660.976364923,634,879.976364923,785.023635077,813,652,630.976364923,653,0.427337077658,-0.0155671576491,0.0500086587508,0.999999987685,0.000153633592651,1.12862272519e-06,3.20158023752e-05,1793248157661091072
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.553422143,680.446577857,660.446577857,634,880,785.553422143,813.553422143,652,630.446577857,653,0.428206313261,-0.0155566489872,0.0499697680605,0.999999984675,0.000160940813325,-6.24596578811e-05,2.90988955259e-05,1793248157677757952
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.128840733,745,715.871159267,680,660,634,880,785.871159267,813.871159267,652,630,653.128840733,0.429095094768,-0.0155482282016,0.0499405701426,0.999999979634,0.000169772650423,-0.000105781170017,2.68279789765e-05,1793248157694424832
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.698920746,745,715.301079254,680,660,634,880,785.301079254,813.301079254,652,630,653.698920746,0.430058990336,-0.0155486180727,0.0499518713951,0.999999980527,0.000182026495014,-7.11027997798e-05,2.74995686085e-05,1793248157711091200
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.719269498,745,715,680,660.280730502,633.719269498,880,785,813.280730502,652,630,653.719269498,0.430997186708,-0.0155484141989,0.0499518974649,0.999999979507,0.000189232839662,-6.65154951929e-05,2.74506624691e-05,1793248157727757824
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.124331261,745,715,680,660.875668739,633.124331261,880,785,813.875668739,652,630,653.124331261,0.431906619179,-0.0155475457757,0.0499393037809,0.999999976876,0.000190789767092,-9.56076311782e-05,2.65953410962e-05,1793248157744424704
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715.458148393,680.458148393,660.541851607,633.458148393,880,785,814,652,630,653,0.432834156464,-0.0155477830802,0.049942967188,0.99999997872,0.0001864810425,-8.38466276474e-05,2.74722394609e-05,1793248157761091072
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715.962898131,680.962898131,660.037101869,633.962898131,880,785,814,652,630,653,0.433765187475,-0.015548186022,0.0499520450115,0.999999981239,0.000181693814147,-6.05983319678e-05,2.89271133117e-05,1793248157777757696
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.387351429,680.387351429,660.612648571,633.387351429,880,785,814,652,630,653,0.434677504229,-0.0155467532835,0.0499773682392,0.999999980593,0.00019245195797,-2.72759619823e-05,3.21283523303e-05,1793248157794424576
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.191736702,680.191736702,661,633.191736702,879.808263298,785,814,652.191736702,630.191736702,653,0.435562106706,-0.0155445782454,0.0499849612666,0.999999978651,0.000201902625938,-2.8167937485e-05,3.37627137619e-05,1793248157811091200
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715.778114061,680.778114061,661,633.778114061,879.221885939,785,814,652.778114061,630.778114061,653,0.436389666643,-0.015540875374,0.0499560612448,0.999999972764,0.000208662193056,-9.94813316931e-05,3.21720614722e-05,1793248157827758080
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,716,681,660.640369763,634,879.719260474,785,814.359630237,652.640369763,631,653,0.437263814195,-0.0155404772678,0.0499525376903,0.999999972997,0.000208595022845,-9.74700500667e-05,3.15236057722e-05,1793248157844424704
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,716,681,660.061812891,634,880.876374217,785,814.938187109,652.061812891,631,653,0.438166322134,-0.0155420909534,0.049964462184,0.99999997733,0.000204372043157,-5.08220154756e-05,3.14487168811e-05,1793248157861091328
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483639411,745,715.483639411,681,660.516360589,634,881,785,815,652,631,653,0.439015110693,-0.0155461862776,0.0499729838302,0.999999979355,0.000196602221354,-3.99917766443e-05,3.22200817822e-05,1793248157877757952
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.249483227,785,815,652,631,653,0.441425175463,-0.0155558097023,0.049959411218,0.999999979744,0.000189746919389,-5.92436125402e-05,3.16034102595e-05,1793248157927757568
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.838026216,785,815,652,631,653,0.442239853534,-0.0155583640071,0.0499809013437,0.999999981299,0.000189706281653,-1.83086696689e-05,3.28413041797e-05,1793248157944424704
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.42349996,681.42349996,661,633,880,785,815,652,631,653,0.444393525315,-0.015546707654,0.0499636829616,0.999999979064,0.000192343783951,-6.1801830267e-05,3.24906971652e-05,1793248157994425088
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.72509836,880,785,815.72509836,652,631,653,0.445746387596,-0.0155460587961,0.0499435840329,0.999999977017,0.000200792715391,-6.78631970943e-05,3.22807021778e-05,1793248158027757824
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.691524833,715.308475167,681,660.691524833,633.691524833,880,785,815.691524833,651.691524833,631,653,0.446421500538,-0.0155486439742,0.0499562122818,0.999999977109,0.000208253156595,-3.5245545003e-05,3.42184706635e-05,1793248158044424448
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.098961424,715.901038576,681,660.098961424,633.098961424,880,785,815.098961424,651.098961424,631,653,0.447081031741,-0.0155506067669,0.049973019622,0.999999975826,0.00021665409669,-7.63336902978e-06,3.67501388028e-05,1793248158061091072
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.48144606,715.51855394,681,660.48144606,633,880,785,815,651.48144606,631,653,0.44765319469,-0.0155474525371,0.0499535945744,0.999999973074,0.000226508400167,-3.54860773687e-05,3.58732635271e-05,1793248158077757696
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.634049048,745,715,681,661,633.634049048,880.634049048,785,815.634049048,652,631,653,0.448742058392,-0.0155427544859,0.0499236769797,0.99999996569,0.000245518781165,-8.41906258821e-05,3.53880469281e-05,1793248158111091712
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+250,4.166666667,HOLD_POSE2,767,744.481019925,715.518980075,681,660,632,881.518980075,783.518980075,815.481019925,652,630,653,0.455147924746,-0.0155465019982,0.0498155766605,0.999999946869,0.000164765184884,-0.000280724816648,1.75679030857e-05,1793248159025715456
+251,4.183333333,HOLD_POSE2,767,745,715,681,660,632,881,783,815.942253136,652,630,653,0.455148224888,-0.0155442911553,0.0498157578566,0.999999946732,0.000166025964892,-0.000280492160616,1.71658714396e-05,1793248159042382336
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+253,4.216666667,HOLD_POSE2,766.786406585,744.786406585,715.213593415,681,660,632,881.213593415,783,815.213593415,652,630,653,0.455145032426,-0.0155462092395,0.0498134464438,0.999999945741,0.000165740520223,-0.000284137092319,1.77090603668e-05,1793248159075715072
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+256,4.266666667,HOLD_POSE2,766,744,716,681.965437152,660,632,881.034562848,783.965437152,815.034562848,652,630,653,0.455145612265,-0.015542647161,0.0498130669681,0.999999945325,0.000167130931105,-0.000284891928618,1.5955396939e-05,1793248159125715712
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.842358399,744.157641601,715.842358399,681.842358399,660,632,880,783,815.842358399,651.157641601,629.157641601,653,0.455144808432,-0.0155447800505,0.0498122317061,0.999999945091,0.000164066260957,-0.000287414434757,1.71255250212e-05,1793248159246353152
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,744.838662218,715,681,660,633,879.161337782,784.838662218,812.838662218,651.161337782,630.838662218,653,0.442450215392,-0.015369602115,0.0497642608463,0.999999927848,6.65450192494e-05,-0.000370459427884,-5.13315000165e-05,1793248160013019648
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,744.012653626,715,681,660.012653626,633.012653626,879.012653626,785,812,652,631,652.987346374,0.440988536948,-0.0153710167025,0.0497800606746,0.999999945842,6.6831237761e-06,-0.000323992508711,-5.74511220951e-05,1793248160046353152
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,744.594513019,715,681,660.594513019,633.594513019,879.594513019,785,812,652,631,652.405486981,0.440202291459,-0.0153685590686,0.0498125701199,0.999999960943,-8.93575799258e-06,-0.000273319535304,-5.77094754969e-05,1793248160063019776
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.227635556,744,715,681,659.227635556,633.227635556,879.772364444,785,811.772364444,651.772364444,630.772364444,652.772364444,0.433189601292,-0.0153476287754,0.0497727782306,0.999999931841,-1.46770644703e-05,-0.000363724035407,-6.17080183744e-05,1793248160196353024
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744,715,681,660,634,879,785,811,651.975068766,630,652.975068766,0.430569123836,-0.015340341939,0.0498117087499,0.999999952345,7.0170085133e-05,-0.000296766348632,-4.8118191573e-05,1793248160246352640
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.710761886,744.289238114,715,680,660,634,879.289238114,785,812,651,630.289238114,653,0.427644486947,-0.0153471930684,0.0497692830157,0.999999927764,-9.93150747586e-06,-0.000375254801631,-5.96479045528e-05,1793248160296352512
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.677322795,744.322677205,715,680,659.322677205,633,878.322677205,785,811.677322795,651.322677205,630,652,0.416906529789,-0.0153517162635,0.0497736094054,0.999999927507,-2.26334642848e-05,-0.000374739758478,-6.35915712101e-05,1793248160496352768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.748289043,744,715,680,659,633.251710957,878.251710957,785,811.748289043,651.251710957,630,652,0.416123253312,-0.0153550524718,0.0497839577341,0.999999937699,-2.24793865794e-05,-0.000346461025318,-6.37360789043e-05,1793248160513019392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.175296885,744,715,680,659,633.824703115,878.824703115,785,811.175296885,651.824703115,630,652,0.415363002738,-0.0153599017445,0.0498135952436,0.999999955565,-2.76973997131e-05,-0.000290300983098,-6.18754037549e-05,1793248160529686016
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.266888164,715,680,659.733111836,634,878.733111836,785,811,652,630,652.733111836,0.411592455242,-0.0153541431505,0.0497924986929,0.999999938875,-3.22961559016e-05,-0.0003421721449,-6.42284859608e-05,1793248160613019648
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.116707981,744,715,680,659.116707981,634,878.116707981,785,810.116707981,652,629.116707981,652.116707981,0.410243097675,-0.0153576804208,0.049807097818,0.999999945078,-4.47311971329e-05,-0.000322417694713,-6.23628042548e-05,1793248160646353152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.473059523,744,715,680,659,634,878,785,810.473059523,652,629.473059523,652,0.409592892488,-0.0153561843126,0.0497943343863,0.999999937662,-4.57710025648e-05,-0.00034421765249,-6.39871056196e-05,1793248160663020032
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.343001279,659,634,877,785,810,652,629.343001279,652,0.40248060793,-0.0153761265868,0.0498142538793,0.999999936448,-4.92354267883e-05,-0.000346763669065,-6.65937048579e-05,1793248160946352640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.931030048,659,634,877,785,810,652,629.931030048,652,0.402263527836,-0.0153766107352,0.0498086903785,0.999999933477,-5.40415366364e-05,-0.000354549296037,-6.6481024833e-05,1793248160963019008
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715.364172379,679,659,634,878,785.364172379,810,652,629,652,0.401751356769,-0.0153685122045,0.0498092333562,0.999999937571,1.03284799724e-05,-0.000349491186292,-5.10660836944e-05,1793248161013018624
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.198101756,785.801898244,810,652,629,652,0.401519780697,-0.0153697428121,0.0498239314472,0.999999947399,-4.35947404106e-06,-0.000320140047228,-5.18910748923e-05,1793248161046352640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.603037862,715.396962138,679.396962138,659,634.396962138,877,785.603037862,810.396962138,652,629,652,0.401427138831,-0.0153724169268,0.0498292945792,0.999999950595,-1.38322746501e-05,-0.000309670551264,-5.21825307112e-05,1793248161063019264
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.570369937,744.570369937,715.429630063,679.429630063,659,634.429630063,877.570369937,785,810.429630063,652.570369937,629.570369937,652,0.401267299675,-0.0153793379302,0.0498333849688,0.999999952801,-3.18848653664e-05,-0.000300929225127,-5.31227124513e-05,1793248161096352512
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.832897031,744.832897031,716,679,659,634.167102969,877.167102969,785,810.832897031,652,629,652,0.400978093337,-0.0153921784081,0.0498446740657,0.999999960111,-5.11887426096e-05,-0.000272723352273,-5.27298993568e-05,1793248161429685248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.255388132,744.255388132,716,679,659,634.744611868,877.744611868,785,810.255388132,652,629,652,0.400978354984,-0.0153920654216,0.049845125595,0.999999960374,-4.98273957332e-05,-0.000272054730356,-5.24863467753e-05,1793248161446351872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.320325819,715.679674181,679,659,634.679674181,877.679674181,785.320325819,810,652,629,652,0.400978458609,-0.0153931979481,0.0498453878594,0.999999960512,-4.9452401583e-05,-0.000271678873592,-5.21725362739e-05,1793248161463018240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.894616647,715.105383353,679,659,634.105383353,877.105383353,785.894616647,810,652,629,652,0.400978436949,-0.0153953179589,0.0498455000683,0.99999996055,-4.98594208897e-05,-0.000271535130852,-5.18030229583e-05,1793248161479684864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.484693598,679,659,634,877.484693598,785.515306402,810,652,629,652,0.400977504264,-0.0153959734604,0.0498449594764,0.999999960322,-5.18597659539e-05,-0.000271979899518,-5.18975632106e-05,1793248161496351488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.923797992,679,659,634.076202008,878,785.076202008,810.076202008,652,629,652,0.400976683339,-0.0153960321548,0.0498446073468,0.99999996017,-5.37404143394e-05,-0.000272137343046,-5.20803434148e-05,1793248161513018112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.346214688,679,659,634.653785312,878,785.653785312,810.653785312,652,629,652,0.400977944918,-0.0153943296795,0.0498464605405,0.999999960939,-5.24774152473e-05,-0.000269534047308,-5.21575038098e-05,1793248161529684992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.7698258,878,786,810.7698258,652,629,652,0.400978338895,-0.0153936793993,0.0498472374302,0.999999961284,-5.16291719554e-05,-0.000268415918434,-5.21375613642e-05,1793248161546351872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.195224122,878,786,810.195224122,652,629,652,0.400977434611,-0.0153946036,0.0498464037634,0.999999961008,-5.1401559694e-05,-0.000269520159353,-5.19723164312e-05,1793248161563018496
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.388342683,679,659,634,877.611657317,785.611657317,810,652,629,652,0.400977918612,-0.0153951895695,0.0498463148229,0.999999961076,-5.15091755393e-05,-0.000269287735619,-5.17586694742e-05,1793248161579685632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.976522824,679,659,634,877.023477176,785.023477176,810,652,629,652,0.400979117011,-0.0153956014885,0.0498466091115,0.999999961321,-5.17892965992e-05,-0.000268367476879,-5.1520115305e-05,1793248161596352768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.556972352,745,716,679.556972352,659,634,877.556972352,785.556972352,810,652,629,652,0.400978902744,-0.0153946764834,0.0498472033853,0.999999961428,-5.11841017076e-05,-0.00026800946531,-5.1907494826e-05,1793248161613019392
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3e927f601413d61a9a7589705531db3426def93
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.583246651811,-0.0100722219356,1.04004223121,0.553818442917,-0.00139776432688,1.03966562753
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+392,6.533333333,pose2_to_pose3_retreat,0.583246489668,-0.0100721958219,1.04004225388,0.553818280752,-0.0013977383196,1.03966564949
+393,6.550000000,pose2_to_pose3_retreat,0.583246320128,-0.0100721685169,1.0400422776,0.553818111189,-0.00139771112588,1.03966567245
+394,6.566666667,pose2_to_pose3_retreat,0.583245996229,-0.0100721163519,1.04004232289,0.553817787246,-0.00139765917347,1.0396657163
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+396,6.600000000,pose2_to_pose3_retreat,0.583245789902,-0.0100720831221,1.04004235175,0.55381758089,-0.00139762607915,1.03966574424
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+401,6.683333333,pose2_to_pose3_retreat,0.583245547135,-0.0100720737853,1.04004269155,0.553817337667,-0.00139761873798,1.03966607374
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+403,6.716666667,pose2_to_pose3_retreat,0.583245480761,-0.0100720665668,1.04004265569,0.55381727174,-0.00139760997067,1.03966603863
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f27d184bd61c37506242b2b64bf8bbd9b0390cc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b935f49d2f67be4be2a7eb06eabc62b3c832efb1074f1a23a24892a599149d5a
+size 25881949
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3838dd29fd4838a11d8191aae9322d2d45bd79ea
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+48,0.800000000,BASELINE,766,745,715.138193289,679,659,634.138193289,878,786,810.138193289,652.138193289,629,652.138193289,0.400978287973,-0.0153980602069,0.049849836077,0.999999962783,-5.23027382567e-05,-0.000262854034941,-5.10440411517e-05,1793248162569786624
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+50,0.833333333,BASELINE,766,745,716,679,659,634,878,785.984630036,810,652.015369964,629.984630036,652,0.400979020844,-0.0153989421399,0.0498491714709,0.999999962786,-5.17843156716e-05,-0.000263053287453,-5.04910748112e-05,1793248162603119616
+51,0.850000000,BASELINE,766,745,716,679,659,634,878,785.398251151,810,652.601748849,629.398251151,652,0.400979339814,-0.0153985323798,0.049849592128,0.999999962891,-5.21082176322e-05,-0.000262495669854,-5.09784799742e-05,1793248162619786240
+52,0.866666667,BASELINE,766,745,716,679.185574677,659,634.185574677,878,785.185574677,810.185574677,653,629.185574677,652,0.400979678522,-0.0153979990997,0.0498499272527,0.999999963021,-5.17506207406e-05,-0.000262016124002,-5.12610394846e-05,1793248162636452352
+53,0.883333333,BASELINE,766,745,716,679.763995855,659,634.763995855,878,785.763995855,810.763995855,653,629.763995855,652,0.40098005901,-0.0153972043375,0.0498500813127,0.999999963202,-4.99503461801e-05,-0.00026170184972,-5.11099573776e-05,1793248162653119232
+54,0.900000000,BASELINE,766,745,716,679.659717915,659.340282085,634.659717915,878,786,811,652.659717915,629.659717915,652,0.400980218236,-0.0153972918637,0.0498501515,0.999999963271,-4.90474429487e-05,-0.000261653791538,-5.08926014231e-05,1793248162669786112
+55,0.916666667,BASELINE,766,745,716,679.084903181,659.915096819,634.084903181,878,786,811,652.084903181,629.084903181,652,0.400980224961,-0.0153979874897,0.0498501638796,0.999999963263,-4.87630351085e-05,-0.000261789217513,-5.06295675453e-05,1793248162686452992
+56,0.933333333,BASELINE,766.493728308,745,715.506271692,679,659.506271692,634,878,785.506271692,810.506271692,652,629,652,0.400979912563,-0.0153979732715,0.0498503167673,0.999999963234,-4.89495408531e-05,-0.000261831320892,-5.08055938281e-05,1793248162703119616
+57,0.950000000,BASELINE,766.925892334,745,715,679,659,634,878,785.074107666,810.074107666,652,629,652,0.400979401129,-0.0153978063557,0.0498504693216,0.999999963169,-4.93053202855e-05,-0.000261967273315,-5.10349979991e-05,1793248162719785728
+58,0.966666667,BASELINE,766.337980926,745,715,679,659,634,878,785.662019074,810.662019074,652,629,652,0.400977893174,-0.015397433666,0.0498504507379,0.999999962881,-5.02688846541e-05,-0.000262866031906,-5.11069309743e-05,1793248162736452352
+59,0.983333333,BASELINE,766,745,715.246260876,679,659,634.246260876,878,785.753739124,810.753739124,652,629,652,0.40097782605,-0.0153971913381,0.0498502563435,0.999999962859,-5.01029565485e-05,-0.000262976866818,-5.11407935415e-05,1793248162753118976
+60,1.000000000,BASELINE,766,745,715.82554035,679,659,634.82554035,878,785.17445965,810.17445965,652,629,652,0.40097970736,-0.0153971252985,0.0498498242005,0.999999963194,-4.84096158276e-05,-0.000262022192613,-5.11231735035e-05,1793248162769785600
+61,1.016666667,BASELINE,766,745,715.597011381,679.402988619,659,634.597011381,878,785.402988619,810,652.402988619,629.402988619,652,0.400979779922,-0.0153968153768,0.049849911791,0.999999963279,-4.78712750827e-05,-0.000261778097727,-5.1220066431e-05,1793248162786452224
+62,1.033333333,BASELINE,766,745,715.020352317,679.979647683,659,634.020352317,878,785.979647683,810,652.979647683,629.979647683,652,0.400979072991,-0.0153964003528,0.049850223364,0.999999963257,-4.78306888438e-05,-0.000261840231464,-5.13663094327e-05,1793248162803119104
+63,1.050000000,BASELINE,766,744.436925106,715,679.436925106,659,634,878,786,810.563074894,653,629.436925106,652,0.400980581146,-0.0153972355378,0.0498515230594,0.999999963824,-4.86594360049e-05,-0.00025965460079,-5.06405070238e-05,1793248162819785472
+64,1.066666667,BASELINE,766,744,715,679,659,634,878,785.854103437,811,652.854103437,629.145896563,652,0.400981407855,-0.0153978364702,0.0498523115874,0.999999964106,-4.93267332085e-05,-0.000258533095118,-5.0162121432e-05,1793248162836451840
+65,1.083333333,BASELINE,766,744,715,679,659,634,878,785.273821935,811,652.273821935,629.726178065,652,0.400979964383,-0.0153976037714,0.0498514705597,0.999999963488,-4.94186450432e-05,-0.000260824699424,-5.05153699271e-05,1793248162853118464
+66,1.100000000,BASELINE,766,744.306547495,715,679,659,634,878,785,810.693452505,652,629.693452505,652,0.400979241025,-0.0153974540558,0.0498506549566,0.999999963226,-4.94543805546e-05,-0.000261752652169,-5.08690973181e-05,1793248162869785344
+67,1.116666667,BASELINE,766,744.886995456,715,679,659,634,878,785,810.113004544,652,629.113004544,652,0.400979161089,-0.0153973784858,0.0498498620704,0.999999963285,-4.9439922465e-05,-0.000261462180875,-5.12232525841e-05,1793248162886451968
+68,1.133333333,BASELINE,766,745,715.462596292,679,659,634,878,785,810,652.462596292,629.462596292,652,0.400980064061,-0.0153965204609,0.0498503658788,0.999999963424,-4.89420318386e-05,-0.000260998391094,-5.13520731088e-05,1793248162903118592
+69,1.150000000,BASELINE,766,745,716,679.037837654,659,634,878,785.037837654,810,653,629.962162346,652,0.400981083784,-0.0153955688632,0.0498511179977,0.999999963572,-4.82475228998e-05,-0.000260550192162,-5.140134141e-05,1793248162919785216
+70,1.166666667,BASELINE,766,745,716,679.624868772,659,634,878,785.624868772,810,653,629.375131228,652,0.400980349189,-0.0153960046435,0.049850924269,0.999999963575,-4.63955089768e-05,-0.000260936439766,-5.10866229852e-05,1793248162936451840
+71,1.183333333,BASELINE,766,745,715.790699561,679.790699561,659,634,878.209300439,786,810,652.790699561,629,652.209300439,0.400979893902,-0.0153966229923,0.0498509404591,0.999999963536,-4.60169434917e-05,-0.000261200547101,-5.08315082019e-05,1793248162953118464
+72,1.200000000,BASELINE,766,745,715.210869667,679.210869667,659,634,878.789130333,786,810,652.210869667,629,652.789130333,0.40097993308,-0.0153975645465,0.049851328273,0.999999963426,-4.8246857881e-05,-0.000261248426732,-5.06819110847e-05,1793248162969785088
+73,1.216666667,BASELINE,766,745,715,679,659,634,878.63213839,786,810,652,629,653,0.400980650289,-0.0153980897554,0.0498519565641,0.999999963645,-5.02816132104e-05,-0.000260010035267,-5.07575341948e-05,1793248162986452480
+74,1.233333333,BASELINE,766,745,715,679,659,634,878.054035034,786,810,652,629,653,0.400981755008,-0.0153983770131,0.0498527222937,0.999999964047,-5.2204830315e-05,-0.000258036508969,-5.09618760837e-05,1793248163003119872
+75,1.250000000,BASELINE,766,745,715.51960729,679,659,634,878,786,810,652,629,653,0.400981392598,-0.0153993217135,0.0498520318667,0.999999963763,-5.20896779915e-05,-0.000259187194536,-5.08274446743e-05,1793248163019786240
+76,1.266666667,BASELINE,766,744.904509787,715.904509787,679,659,634,878,785.904509787,810,652,629,653,0.400980855691,-0.015400108002,0.0498513398759,0.999999963473,-5.16386937567e-05,-0.000260422423045,-5.06669329983e-05,1793248163036452608
+77,1.283333333,BASELINE,766,744.314645463,715.314645463,679,659,634,878,785.314645463,810,652,629,653,0.400980198535,-0.0153997232086,0.049851417096,0.999999963534,-5.0537129045e-05,-0.000260427622582,-5.05522375798e-05,1793248163053118976
+78,1.300000000,BASELINE,766,744.270049998,715,679.270049998,659,634,878,785,810,652.270049998,629,652.729950002,0.400979065006,-0.0153995702335,0.0498508419334,0.999999963304,-5.01367754141e-05,-0.000261407201937,-5.0446532864e-05,1793248163069785856
+79,1.316666667,BASELINE,766,744.84883609,715,679.84883609,659,634,878,785,810,652.84883609,629,652.15116391,0.400977386861,-0.0153996822859,0.0498495209307,0.999999962739,-5.05380851508e-05,-0.000263500746192,-5.03511068243e-05,1793248163086452736
+80,1.333333333,BASELINE,766,744.573960534,715,679.573960534,659,634,878,785.426039466,810,652.573960534,629.426039466,652,0.400978209344,-0.015399060132,0.0498499172322,0.999999962979,-4.94447892539e-05,-0.000262752078154,-5.05845409314e-05,1793248163103119616
+81,1.350000000,BASELINE,766,744.002663419,715,679,658.997336581,634,877.997336581,786,810,652,629.997336581,652.002663419,0.400979909381,-0.0153981850543,0.0498509166084,0.999999963497,-4.78401239022e-05,-0.000261003520866,-5.09322086368e-05,1793248163119786496
+82,1.366666667,BASELINE,766,744.575013354,715,679,658.424986646,634,877.424986646,786,810,652,629.424986646,652.575013354,0.400980237029,-0.0153987253658,0.0498510625208,0.999999963589,-4.98656311873e-05,-0.000260287940613,-5.0848222445e-05,1793248163136452864
+83,1.383333333,BASELINE,766.152308811,745,715,679.152308811,658.152308811,634,877.152308811,785.847691189,810,652,629,652.847691189,0.400980341263,-0.0153989844429,0.0498510376741,0.999999963574,-5.15227196722e-05,-0.000260024323448,-5.08351048711e-05,1793248163153119488
+84,1.400000000,BASELINE,766.743866982,745,715,679.743866982,658.743866982,634,877.743866982,785.256133018,810,652,629,652.256133018,0.40097980119,-0.0153984324576,0.0498505203684,0.999999963263,-5.2117311182e-05,-0.000261064140219,-5.10263680687e-05,1793248163169786112
+85,1.416666667,BASELINE,767,745,715,680,659,634,878,785.328855807,810,652,629,652,0.400980078072,-0.0153991917014,0.0498508648806,0.999999963303,-5.37461664356e-05,-0.000260602113998,-5.0912097705e-05,1793248163186452480
+86,1.433333333,BASELINE,767,745,715,680,659,634,878,785.908828197,810,652,629,652,0.400980978787,-0.015400952209,0.049851867483,0.999999963606,-5.61647926468e-05,-0.00025899326995,-5.05645197753e-05,1793248163203119104
+87,1.450000000,BASELINE,766.516410672,744.516410672,715,679.516410672,659,634,877.516410672,786,810,652,629,652,0.400980957097,-0.0153992976103,0.0498521627517,0.999999963791,-5.24145150317e-05,-0.000259056846812,-5.06076313223e-05,1793248163219785984
+88,1.466666667,BASELINE,766,744.058823714,715,678.941176286,658.941176286,634,877.058823714,786,810.058823714,652,629,652.058823714,0.400980755069,-0.0153973143537,0.0498522711794,0.999999963891,-4.82918453711e-05,-0.00025944986266,-5.07121410715e-05,1793248163236452864
+89,1.483333333,BASELINE,766,744.647065656,715,678.352934344,658.352934344,634,877.647065656,786,810.647065656,652,629,652.647065656,0.400980478427,-0.0153981061164,0.0498518854284,0.999999963605,-5.11734075262e-05,-0.000260000349268,-5.07133859495e-05,1793248163253119232
+90,1.500000000,BASELINE,766,745,715.232000952,678.232000952,658.464001904,634,878,786,810.767999048,652,629.232000952,652.767999048,0.400979647498,-0.0153988113428,0.0498512418409,0.999999963271,-5.239787303e-05,-0.000261043416739,-5.06789344519e-05,1793248163269785600
+91,1.516666667,BASELINE,766,745,715.811976606,678.811976606,659.623953212,634,878,786,810.188023394,652,629.811976606,652.188023394,0.400977985201,-0.0153993867748,0.0498502115286,0.999999962874,-5.11368841864e-05,-0.000262825298714,-5.05909425029e-05,1793248163286451968
+92,1.533333333,BASELINE,766,745,715.610645827,679,659.221291655,634,878.389354173,785.610645827,810,652,629.610645827,652,0.400978686095,-0.0154006044496,0.0498506377848,0.999999963071,-5.17761343982e-05,-0.000261994073171,-5.0363456349e-05,1793248163303118848
+93,1.550000000,BASELINE,766,745,715.034514538,679,658.069029077,634,878.965485462,785.034514538,810,652,629.034514538,652,0.400980520634,-0.0154021302149,0.0498517627716,0.999999963548,-5.33269483043e-05,-0.000259909313799,-5.00690534128e-05,1793248163319786240
+94,1.566666667,BASELINE,766,744.459009636,715.540990364,679,658.540990364,634,879,785.540990364,810,652,629,652,0.400977733554,-0.0154000577273,0.0498500079189,0.999999962797,-5.17879241422e-05,-0.000263022504107,-5.04235968363e-05,1793248163336452864
+95,1.583333333,BASELINE,766,744,716,679,659,634.119220936,878.880779064,785.880779064,810,652,629.119220936,652,0.400975782209,-0.0153984061733,0.0498488045058,0.999999962241,-5.05967577793e-05,-0.000265302868996,-5.07171277368e-05,1793248163353119744
+96,1.600000000,BASELINE,766,744,716,679,659,634.708352255,878.291647745,785.291647745,810,652,629.708352255,652,0.400978285747,-0.0153993175147,0.0498504979338,0.999999962807,-5.15527586159e-05,-0.00026299506284,-5.0607179719e-05,1793248163369786112
+97,1.616666667,BASELINE,766,744.29256398,716,679,659,634.70743602,878,785,810.29256398,652.29256398,629.70743602,652,0.400979274702,-0.0153994537565,0.0498509186164,0.99999996311,-5.1891332122e-05,-0.000261756725303,-5.06956860857e-05,1793248163386452992
+98,1.633333333,BASELINE,766,744.871952587,716,679,659,634.128047413,878,785,810.871952587,652.871952587,629.128047413,652,0.400978778787,-0.0153988301043,0.0498500915215,0.999999963159,-5.16245905799e-05,-0.000261566876299,-5.09787536781e-05,1793248163403119872
+99,1.650000000,BASELINE,766.448668258,745,715.551331742,679,659,634,878,785,811,652.551331742,629,652,0.400977758985,-0.0153987222958,0.0498493053391,0.999999962868,-5.05575488203e-05,-0.00026287527429,-5.10315474899e-05,1793248163419786496
+100,1.666666667,BASELINE,766.974912548,744.974912548,715,679,659,634,877.974912548,785.025087452,810.974912548,652.025087452,629.025087452,652,0.400976658936,-0.0153987865179,0.0498485963075,0.999999962499,-4.93728379962e-05,-0.000264505239452,-5.10087492795e-05,1793248163436452864
+101,1.683333333,BASELINE,766.388153108,744.388153108,715,679,659,634,877.388153108,785.611846892,810.388153108,652.611846892,629.611846892,652,0.400977089855,-0.0153994257591,0.0498493547054,0.99999996263,-5.06369766265e-05,-0.000263818171163,-5.07561913002e-05,1793248163453119488
+102,1.700000000,BASELINE,766,744.196071946,715,679,659,634.196071946,877.196071946,786,810,652.803928054,629.803928054,652.196071946,0.400978089744,-0.0153992883107,0.0498502640292,0.99999996298,-5.10881181982e-05,-0.000262419109783,-5.0666300896e-05,1793248163469786112
+103,1.716666667,BASELINE,766,744.77534377,715,679,659,634.77534377,877.77534377,786,810,652.22465623,629.22465623,652.77534377,0.400980201623,-0.0153976329121,0.0498514683204,0.999999963754,-4.99503511648e-05,-0.000259628540563,-5.089432543e-05,1793248163486452480
+104,1.733333333,BASELINE,766.352919979,745,715.352919979,679,659,634.647080021,878,786,810,652,629.352919979,652.647080021,0.400980667854,-0.0153981460145,0.0498517990949,0.999999963848,-5.0003114954e-05,-0.000259279550507,-5.07662895822e-05,1793248163503118848
+105,1.750000000,BASELINE,766.929422037,745,715.929422037,679,659,634.070577963,878,786,810,652,629.929422037,652.070577963,0.400980091533,-0.0154000329068,0.0498515764787,0.999999963514,-5.08101044405e-05,-0.00026047735089,-5.04126821678e-05,1793248163519785472
+106,1.766666667,BASELINE,766.496914312,745,715.496914312,679.503085688,659,634.503085688,878,786,810,652,630,652.503085688,0.400979694512,-0.015399262438,0.0498513980353,0.999999963478,-5.01023508339e-05,-0.000260694068573,-5.072185724e-05,1793248163536452352
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,810,652,629,652,0.40097914802,-0.0154006701674,0.0498511665367,0.999999963249,-5.27376947659e-05,-0.000261120490791,-5.0374005975e-05,1793248163579069440
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.420484601,679,658.420484601,634,877.420484601,785.579515399,810,652,629,652,0.40098053766,-0.0153993154716,0.0498523559806,0.999999963833,-5.08306753255e-05,-0.000259209074347,-5.05990594233e-05,1793248163595736064
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.158077183,745,715.158077183,679,658.158077183,634,877.158077183,786,810,652,629.158077183,652,0.400981103153,-0.0153982884354,0.0498528636756,0.999999964155,-4.91739485282e-05,-0.000258251610586,-5.07762293206e-05,1793248163612402688
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.734117691,745,715.734117691,679,658.734117691,634,877.734117691,786,810,652,629.734117691,652,0.400979489563,-0.0153981277461,0.0498515687956,0.999999963795,-4.81790065485e-05,-0.000259816441085,-5.08267929616e-05,1793248163629069312
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.691710548,745,715.691710548,679,659,634,878,786,810.308289452,652,629.691710548,652,0.4009792682,-0.0153983201091,0.0498511992248,0.999999963664,-4.79835900976e-05,-0.000260390723045,-5.0659378405e-05,1793248163645735936
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.119140799,745,715.119140799,679,659,634,878,786,810.880859201,652,629.119140799,652,0.400980240319,-0.0153988151252,0.0498516228728,0.99999996373,-4.84735647974e-05,-0.000260115859863,-5.03051026268e-05,1793248163662402304
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,786,810.531325245,652,629,652,0.400979122913,-0.0153986861735,0.0498507300748,0.999999963429,-4.79549580819e-05,-0.000261339842865,-5.04456485361e-05,1793248163679069440
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.940684662,715.059315338,679,659.059315338,634,878,786,810,652,629,652,0.400978102296,-0.0153984843424,0.0498498861718,0.99999996315,-4.75252601143e-05,-0.000262436899539,-5.06753720991e-05,1793248163695736064
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.360415483,715.639584517,679,659.639584517,634,878,786,810,652,629,652,0.400982753797,-0.0153990823712,0.0498525096954,0.999999963932,-5.02039540183e-05,-0.000258960269395,-5.0546412901e-05,1793248163712402688
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.21824973,715.78175027,679,659.78175027,634,878,786,810.21824973,652,629,652,0.400992779294,-0.0153996777277,0.0498569508708,0.999999965891,-5.11755839039e-05,-0.000251198294336,-4.99943090639e-05,1793248163729069568
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.79428544,715.20571456,679,659.20571456,634,878,786,810.79428544,652,629,652,0.401011614608,-0.0154002687031,0.049864371799,0.999999969649,-4.93487515407e-05,-0.00023641117309,-4.87485263955e-05,1793248163745735936
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.368902404,679,659,634,878.368902404,786,810.631097596,652.368902404,629,652,0.401050834039,-0.0154025663409,0.0498784762675,0.999999976135,-4.91973364299e-05,-0.000207533415629,-4.73284909135e-05,1793248163762402560
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.942731303,679,659,634,878.942731303,786,810.057268697,652.942731303,629,652,0.401101376914,-0.0154058120354,0.0498962934652,0.999999983111,-4.99766208779e-05,-0.000170828261935,-4.58116572572e-05,1793248163779069440
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.467374795,679,658.467374795,634.532625205,878.467374795,786,810,653,629,652.532625205,0.401169728603,-0.0154099106127,0.0499149978008,0.999999988611,-5.14314534932e-05,-0.000135093607091,-4.33941818905e-05,1793248163795735808
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.121225415,745,715.121225415,679.121225415,658.121225415,634.878774585,878,785.878774585,810,652.878774585,629,652.878774585,0.401241865874,-0.0154144407432,0.0499319177701,0.999999992297,-5.28424961728e-05,-0.000104573214339,-4.09536315704e-05,1793248163812402176
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.698264593,745,715.698264593,679.698264593,658.698264593,634.301735407,878,785.301735407,810,652.301735407,629,652.301735407,0.401320813362,-0.0154202380043,0.0499417586244,0.999999993451,-5.38072781441e-05,-9.32541420737e-05,-3.88017590904e-05,1793248163829069312
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.725374202,745,715.725374202,679.725374202,659.274625798,634.274625798,878,785.274625798,810,652.274625798,629.274625798,652.274625798,0.401406281851,-0.0154248563604,0.0499476235032,0.999999994086,-5.48760119124e-05,-8.60555567161e-05,-3.75539892988e-05,1793248163845736192
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.149756094,745,715.149756094,679.149756094,659.850243906,634.850243906,878,785.850243906,810,652.850243906,629.850243906,652.850243906,0.401498897409,-0.0154281826257,0.0499491306769,0.999999994258,-5.60586777196e-05,-8.33730622203e-05,-3.72971242004e-05,1793248163862402560
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.435295174,745,715.435295174,678.564704826,659.564704826,634.564704826,877.564704826,786,810.435295174,652.564704826,629.564704826,653,0.401608182988,-0.0154351573253,0.0499514785528,0.999999994322,-5.80258595503e-05,-8.16624778942e-05,-3.63426333791e-05,1793248163879069440
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.976630069,745,716,678.046739862,659,634,877.023369931,786,810.976630069,652,629.023369931,652.976630069,0.401724594607,-0.0154434705634,0.0499539314004,0.999999994322,-6.0380297434e-05,-8.04645032539e-05,-3.51589608707e-05,1793248163895736320
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.395564316,745,716,679.208871368,659,634,877.604435684,786,810.395564316,652,629.604435684,652.395564316,0.401871169189,-0.015453109485,0.0499518342616,0.999999993799,-6.53926368067e-05,-8.33432692343e-05,-3.43604787736e-05,1793248163912402688
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,679.816592738,659,634.183407262,878,786,810,652.183407262,629.816592738,652.183407262,0.402024237465,-0.0154627728528,0.0499490777137,0.999999993135,-6.90871866776e-05,-8.85097254707e-05,-3.35050788745e-05,1793248163929069056
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,679.242086865,659,634.757913135,878,786,810,652.757913135,629.242086865,652.757913135,0.40219115291,-0.0154724883491,0.0499449150386,0.999999992166,-6.99716746358e-05,-9.85544640831e-05,-3.25283072564e-05,1793248163945735424
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,679.332657471,659,635,878,785.667342529,810,652.667342529,629,653,0.402382376346,-0.0154826128041,0.0499432970955,0.999999991641,-7.10203609382e-05,-0.000103488446291,-3.10591831583e-05,1793248163962402560
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,679.907575531,659,635,878,785.092424469,810,652.092424469,629,653,0.402591302297,-0.0154930350878,0.0499435323741,0.999999991486,-7.21886261545e-05,-0.000104700478406,-2.92314991448e-05,1793248163979069696
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.498571118,745,715.501428882,679.501428882,659,634.501428882,878,785.498571118,810,652,629.498571118,653,0.402839379957,-0.0155039467042,0.0499503233227,0.999999992793,-7.20962116786e-05,-9.21182884604e-05,-2.7022688419e-05,1793248163995736320
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.910316248,745,715.089683752,679,659,634.089683752,878,786,810,652,630,652.910316248,0.403102588101,-0.0155140983853,0.0499584770366,0.999999994295,-7.02387481402e-05,-7.6653825049e-05,-2.45047252538e-05,1793248164012402944
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.335238359,745,715.664761641,679,659,634.664761641,878,786,810,652,630,652.335238359,0.40340709612,-0.0155196297647,0.0499672098061,0.999999996184,-6.013534981e-05,-5.98908967057e-05,-2.07086747891e-05,1793248164029069568
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.759832018,679,659,634.759832018,878,785.759832018,810.240167982,652,629.759832018,652,0.403724980316,-0.015516983154,0.0499743456953,0.999999998013,-4.00943722975e-05,-4.52313996712e-05,-1.79261771337e-05,1793248164045735936
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.183966614,679,659,634.183966614,878,785.183966614,810.816033386,652,629.183966614,652,0.40406156119,-0.0155029056676,0.049979249527,0.999999999282,-6.16303542705e-06,-3.35119977303e-05,-1.6560384218e-05,1793248164062402304
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785,810.601083025,652,629,652,0.404419940853,-0.015499674308,0.0499858725023,0.999999999612,1.5079277374e-05,-1.88196600028e-05,-1.39429938275e-05,1793248164079068928
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785,810.014904949,652,629,652,0.404788553375,-0.0155015343783,0.0499933024842,0.999999999478,3.03650599998e-05,-2.73175595414e-06,-1.07380739005e-05,1793248164095735552
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785,810.567899582,652.567899582,629,652,0.405189962514,-0.0155113237585,0.0499827246969,0.999999999046,3.62837365963e-05,-2.2840951672e-05,-8.37050829145e-06,1793248164112402432
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.851110831,745,715,679.148889169,659.148889169,634,878,785.148889169,810.851110831,652.851110831,629,652,0.40559875958,-0.0155187570367,0.0499682642709,0.999999997644,4.64165507129e-05,-5.01601305211e-05,-6.42286527813e-06,1793248164129069056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.275075699,745,715,679.724924301,659.724924301,634,878,785.724924301,810.275075699,652.275075699,629,652,0.40602629682,-0.0155188374061,0.0499440129083,0.999999993024,6.93403824146e-05,-9.54545176307e-05,-5.61725534731e-06,1793248164145735680
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.299608493,745,715.299608493,680,659.700391507,634.299608493,878,786,810.299608493,652.299608493,629,652.299608493,0.406483803806,-0.0155169454291,0.049928776248,0.999999987903,9.48792407966e-05,-0.000123187025258,-4.089681572e-06,1793248164162402560
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.873057998,745,715.873057998,680,659.126942002,634.873057998,878,786,810.873057998,652.873057998,629,652.873057998,0.406968703073,-0.0155132507351,0.0499217789882,0.999999983363,0.000122808226208,-0.000134868047886,-1.90223553318e-06,1793248164179069184
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,679.538851938,659.461148062,635,878,785.538851938,811,652.538851938,629,653,0.407508218236,-0.0155152872122,0.0499317017256,0.999999982854,0.00014726412445,-0.0001122437531,2.60717123208e-06,1793248164195736064
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.94795138,679,659.94795138,634.94795138,878,785,811,652,629,653,0.408069021654,-0.0155192325878,0.0499476199788,0.999999982333,0.000170528313697,-7.86826980559e-05,7.92342962924e-06,1793248164212402688
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.370691296,679,659.370691296,634.370691296,878,785,811,652,629,653,0.408687958108,-0.0155259986206,0.0499754974741,0.999999980961,0.000191730862287,-3.31765070172e-05,1.47201975856e-05,1793248164229069568
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.205662483,634,878.205662483,785.205662483,811,652,629,652.794337517,0.409313501053,-0.0155311626603,0.0499955147297,0.999999976663,0.000215030504586,-2.47607188964e-06,2.07347772397e-05,1793248164245735936
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.780389849,634,878.780389849,785.780389849,811,652,629,652.219610151,0.409950899425,-0.0155334518953,0.0500014266475,0.999999970373,0.000242093417162,1.6551754105e-06,2.53457061003e-05,1793248164262402048
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.355171003,745,715.355171003,679.355171003,659.644828997,634,878.644828997,786,811,652.355171003,629,652,0.410569298318,-0.0155319966076,0.049986914385,0.999999962235,0.000271306757,-3.37593276952e-05,2.79870463803e-05,1793248164279068672
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.929985401,745,715.929985401,679.929985401,659.070014599,634,878.070014599,786,811,652.929985401,629,652,0.411175947609,-0.0155282256474,0.0499597714845,0.999999949628,0.00030184995334,-9.36295515207e-05,2.94103615099e-05,1793248164295735552
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.47820635,745,715.47820635,679.47820635,659,634,878.52179365,786,811,653,629.52179365,652.52179365,0.41185507492,-0.015526611286,0.0499461920806,0.999999960886,0.000256926453149,-0.000106030732223,3.12287784569e-05,1793248164312401920
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.112381157,679,659.112381157,634,879,786,811.112381157,652.887618843,629.887618843,652.887618843,0.412564116891,-0.0155269167392,0.0499426116452,0.999999973774,0.000203038174107,-0.000100314596663,3.41128278257e-05,1793248164329068544
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.688214105,679,659.688214105,634,879,786,811.688214105,652.311785895,629.311785895,652.311785895,0.413355068622,-0.0155339058401,0.0499725081954,0.99999998598,0.000155345217672,-4.70352754558e-05,4.1165478016e-05,1793248164345735168
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,679,660,634,878.737154538,786,811.737154538,652,629,652.262845462,0.414130748972,-0.0155398045918,0.0499810759659,0.999999994562,9.30366824284e-05,-3.34313203746e-05,3.32031138328e-05,1793248164362401792
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,716,679,660,634,878.163941941,786,811.163941941,652,629,652.836058059,0.414888397024,-0.0155444158634,0.049964458781,0.999999997658,1.34701091913e-05,-6.66759120357e-05,7.51106645901e-06,1793248164379068672
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.5795792,744.5795792,715.5795792,679.4204208,660,634,878.4204208,785.5795792,811,652,629,652.5795792,0.415653498882,-0.0155504546833,0.0499442404649,0.999999995207,1.15638032628e-05,-9.71999593955e-05,2.01427806557e-06,1793248164395735296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.009158172,744.009158172,715,680,660,634,879.009158172,785,811.009158172,652,629.009158172,652,0.416423133753,-0.015556952131,0.0499233651911,0.999999991294,4.09491096242e-05,-0.000125350245453,4.6880743274e-06,1793248164412401920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.592146324,744.592146324,715,680,660,634,879.592146324,785,811.592146324,652,629.592146324,652,0.417289717734,-0.0155563563308,0.0499517106427,0.999999993908,8.18111832009e-05,-7.30487707936e-05,1.24340424453e-05,1793248164429068544
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.828382723,744.828382723,715.171617277,680,660,634,879.828382723,785,811.828382723,652,630,652,0.418148184039,-0.0155547865013,0.049973071405,0.999999992115,0.000118380207071,-3.74691246926e-05,1.87678530456e-05,1793248164445735424
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.257102668,744.257102668,715.742897332,680,660,634,879.257102668,785,811.257102668,652,630,652,0.41898774583,-0.01555094835,0.0499781662025,0.999999988423,0.000144951563423,-4.08313218392e-05,2.18130270447e-05,1793248164462402560
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.324366517,715.675633483,680,660,633.675633483,879,785,811.324366517,652,630,652,0.419844228918,-0.015549930599,0.049970646187,0.999999985933,0.000158392619287,-5.03648656909e-05,2.25764202548e-05,1793248164479069440
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.914173805,715.085826195,680,660,633.085826195,879,785,811.914173805,652,630,652,0.420714559269,-0.0155512208832,0.0499528030166,0.999999984686,0.000161088677394,-6.49486440536e-05,2.14725501465e-05,1793248164495735808
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.495378891,879,785,812,652,630,652.495378891,0.421654595941,-0.015554444579,0.049972626234,0.999999989431,0.000141805965852,-2.16992600177e-05,2.36268629e-05,1793248164512402432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.074798849,745,715.074798849,680,660,634,879.074798849,785,812,652,630,653,0.422597983635,-0.01555723453,0.0499939149633,0.999999991713,0.00012435628624,2.09041265812e-05,2.59420367105e-05,1793248164529069056
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+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.771580607,680,660,633.771580607,879.771580607,785,812,652,630,653,0.424394114538,-0.0155559466838,0.0499779852336,0.999999986983,0.000158435288148,-1.61530071892e-05,2.59180855875e-05,1793248164562402816
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.196619588,680,660,633.196619588,879.196619588,785,812,652,630,653,0.425340229684,-0.0155621273269,0.0499861230757,0.999999986259,0.000163501767127,3.11118149216e-06,2.71953148043e-05,1793248164579069440
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.612103151,660,633,879.387896849,785,812,652,630,653,0.42628016594,-0.0155651932654,0.0499988825283,0.999999986298,0.000162359041904,1.23641855888e-05,2.98415562513e-05,1793248164595736320
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.02262091,660,633,879.97737909,785,812,652,630,653,0.427216891045,-0.0155666405285,0.0500140437766,0.999999986834,0.000157989466624,1.64144946536e-05,3.31992570415e-05,1793248164612403200
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.557010943,679.557010943,660,633,879.442989057,785,812.557010943,652,630,653,0.428095561604,-0.0155571558011,0.0499742533284,0.999999985356,0.000159485666001,-5.48191983879e-05,2.91095173975e-05,1793248164629069824
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.864531255,680.135468745,660,633.135468745,879.135468745,785,813,652,630,653,0.428992993568,-0.0155499549967,0.0499444111664,0.999999980699,0.000164806604599,-0.000103716311702,2.61370940111e-05,1793248164645736448
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.288612641,680.711387359,660,633.711387359,879.711387359,785,813,652,630,653,0.429958956778,-0.0155515982882,0.0499540436021,0.999999980623,0.000181801874689,-7.02227218462e-05,2.77636725602e-05,1793248164662402816
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.287218024,680.425563952,660.287218024,633.712781976,880,785,813.287218024,652,630,653,0.43089659813,-0.0155518068414,0.0499535172146,0.99999997935,0.000190313667321,-6.55287351074e-05,2.80652650012e-05,1793248164679069184
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+175,2.916666667,POSE1_TO_POSE2_PRESS,765.55065815,744.55065815,715.55065815,679.44934185,660.55065815,633.44934185,879.55065815,785,814,652,630,653,0.43273294639,-0.0155483867903,0.0499418544358,0.999999978838,0.000184787258809,-8.62004583509e-05,2.73162180219e-05,1793248164712401920
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+178,2.966666667,POSE1_TO_POSE2_PRESS,766.195834157,744.804165843,715,679.804165843,660.804165843,633.804165843,880,785,814,652,630.195834157,653,0.435499344356,-0.0155439975523,0.0499826581095,0.999999977054,0.000209072426002,-3.25346150302e-05,3.3512237955e-05,1793248164762401792
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.76938768,744.23061232,715,679.23061232,660.23061232,633.23061232,880,785,814,652,630.76938768,653,0.43632134106,-0.015544862112,0.0499571818606,0.999999972091,0.000212623022265,-9.77444848659e-05,3.24845031505e-05,1793248164779068672
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.655016864,744.344983136,715.344983136,679.344983136,660.344983136,633,880,785,814.344983136,652,631,653,0.437197919305,-0.0155467668526,0.0499528639836,0.99999997483,0.000199161684017,-9.81650551382e-05,3.22083071435e-05,1793248164795735296
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.078048336,744.921951664,715.921951664,679.921951664,660.921951664,633,880,785,814.921951664,652,631,653,0.438111201092,-0.0155493710671,0.0499627741463,0.999999982777,0.000174260597149,-5.50177787502e-05,3.24374866916e-05,1793248164812402176
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.489377276,716,680,661,633,880,785,815,652,631,653,0.43897703652,-0.0155481715529,0.0499716529497,0.99999998219,0.000181179840111,-4.19228470708e-05,3.21984836273e-05,1793248164829068544
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+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.67846865,715.32153135,680.67846865,661,633,880.67846865,785,815,652,631,653.67846865,0.440634936679,-0.0155504956963,0.0499617544244,0.999999979142,0.000193173370764,-5.87594514389e-05,3.07692529156e-05,1793248164862401792
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.411843613,744.588156387,715.411843613,680,660,633,880,785,815,652,631,652.588156387,0.443019408639,-0.0155586022642,0.0499930103634,0.999999983705,0.000177144603221,1.17280629902e-07,3.47775793303e-05,1793248164912402176
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.690673869,715.690673869,681,661,633,880,784.690673869,815,652,630.690673869,653,0.446516206475,-0.0155520293919,0.0499497005827,0.999999976563,0.000210024894977,-3.9087476654e-05,3.51432159693e-05,1793248164995735296
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,660.976240472,632,880,783,815.023759528,651.023759528,629.023759528,653,0.454927799678,-0.0155107284177,0.0496898364233,0.999999877271,0.000163316738386,-0.0004677455879,8.31611488926e-07,1793248166509544960
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.750429005,745,715.249570995,681,660,632,880.750429005,783,815.249570995,652,630,653,0.454490131001,-0.015482931611,0.0496978759902,0.999999877898,0.000176265610312,-0.000461662985388,-8.54276429011e-07,1793248166559544320
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,745,715,681,660,632,880.09923201,783.90076799,815.90076799,652,630,653,0.454129494402,-0.015462428294,0.0497146699396,0.999999886434,0.000189771636071,-0.000437169863958,-8.55338626498e-07,1793248166592877824
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.507288186,744.507288186,715,681,660,632,880.492711814,784,815.507288186,651.507288186,630,653,0.453904968184,-0.0154546287598,0.0497230123065,0.999999892346,0.000188258533449,-0.000424104707509,-1.02116610221e-06,1793248166609544704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.084886679,744,715.084886679,681,660,632,880.915113321,784,815,651.084886679,630,652.915113321,0.453666405321,-0.0154469703346,0.0497304039319,0.999999897324,0.000185628292945,-0.000413390780316,-1.45307105605e-06,1793248166626211328
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.715972359,660.715972359,633,880,784,814.284027641,652,631,653,0.450859286018,-0.0154010178535,0.0497610635716,0.99999992219,0.000139146886543,-0.000368767505619,-1.63816990134e-05,1793248166759544064
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.790991291,659,634,878.209008709,785.790991291,811,652.209008709,629,652,0.407554317549,-0.0153682118448,0.0498273382945,0.999999953841,-7.48560332042e-05,-0.00028840475852,-5.94771634632e-05,1793248167692878592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.214643557,659,634,878.785356443,785.214643557,811,652.785356443,629,652,0.407034406493,-0.0153674545145,0.0498303487709,0.999999953182,-7.86163097188e-05,-0.000289818526249,-5.88224797363e-05,1793248167709544960
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c306d4b22f6b8b1283ba4844f36b75dd1e341435
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.583399633181,-0.0100720763232,1.04004237535,0.553971424484,-0.00139761841126,1.03966576302
+377,6.283333333,pose2_to_pose3_retreat,0.583361490009,-0.0100721075658,1.04004228837,0.553933279503,-0.00139765588485,1.03966567393
+378,6.300000000,pose2_to_pose3_retreat,0.583330878289,-0.0100721372764,1.04004253079,0.553902669214,-0.00139768088028,1.03966591319
+379,6.316666667,pose2_to_pose3_retreat,0.583307168728,-0.0100721915218,1.04004259178,0.553878961206,-0.00139773009625,1.03966596863
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+381,6.350000000,pose2_to_pose3_retreat,0.583275067928,-0.0100721914754,1.04004238248,0.553846860529,-0.00139772915362,1.03966577035
+382,6.366666667,pose2_to_pose3_retreat,0.583265391524,-0.0100722037718,1.04004240535,0.553837184533,-0.00139774037374,1.03966578621
+383,6.383333333,pose2_to_pose3_retreat,0.583258704928,-0.0100722934072,1.04004257065,0.553830498162,-0.00139782944879,1.03966594682
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+386,6.433333333,pose2_to_pose3_retreat,0.583250120644,-0.0100720925977,1.04004240329,0.553821910028,-0.0013976414188,1.03966578601
+387,6.450000000,pose2_to_pose3_retreat,0.583249240271,-0.0100721238324,1.04004239266,0.553821030135,-0.00139767099197,1.03966577609
+388,6.466666667,pose2_to_pose3_retreat,0.583248721578,-0.0100721509607,1.0400423907,0.553820511859,-0.00139769669514,1.03966577445
+389,6.483333333,pose2_to_pose3_retreat,0.583248471511,-0.0100721640395,1.04004238975,0.553820261992,-0.00139770908694,1.03966577366
+390,6.500000000,pose2_to_pose3_retreat,0.58324841959,-0.0100721667551,1.04004238955,0.553820210113,-0.0013977116598,1.03966577349
+391,6.516666667,pose2_to_pose3_retreat,0.583248221463,-0.0100721771174,1.0400423888,0.553820012145,-0.00139772147775,1.03966577287
+392,6.533333333,pose2_to_pose3_retreat,0.583248148024,-0.0100721809583,1.04004238852,0.553819938764,-0.00139772511695,1.03966577264
+393,6.550000000,pose2_to_pose3_retreat,0.583248084446,-0.0100721842835,1.04004238828,0.553819875238,-0.00139772826745,1.03966577243
+394,6.566666667,pose2_to_pose3_retreat,0.583247898418,-0.010072194013,1.04004238758,0.553819689359,-0.00139773748584,1.03966577185
+395,6.583333333,pose2_to_pose3_retreat,0.583247612812,-0.0100722089506,1.0400423865,0.553819403982,-0.00139775163874,1.03966577094
+396,6.600000000,pose2_to_pose3_retreat,0.583247324415,-0.0100722240342,1.0400423854,0.553819115816,-0.00139776592989,1.03966577003
+397,6.616666667,pose2_to_pose3_retreat,0.583247303874,-0.0100722251085,1.04004238533,0.553819095291,-0.00139776694779,1.03966576997
+398,6.633333333,pose2_to_pose3_retreat,0.58324712688,-0.0100722049027,1.04004238445,0.553818918153,-0.00139774722741,1.03966576921
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+400,6.666666667,pose2_to_pose3_retreat,0.583246553459,-0.0100721100622,1.04004238141,0.553818343978,-0.00139765492844,1.03966576659
+401,6.683333333,pose2_to_pose3_retreat,0.58324634501,-0.010072075586,1.04004238031,0.553818135255,-0.00139762137621,1.03966576563
+402,6.700000000,pose2_to_pose3_retreat,0.583246013217,-0.0100720207094,1.04004237855,0.553817803025,-0.00139756797013,1.03966576411
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+404,6.733333333,pose2_to_pose3_retreat,0.583245496284,-0.0100720683537,1.04004240024,0.553817287209,-0.00139761183861,1.03966578549
+405,6.750000000,pose2_to_pose3_retreat,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a957bf6a0fa1c77f57768aa9c4deffdcedfb3856
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d62744b8a0f2bd67319ed9c9750a33baea9c2b5c33529934a4971ac541ac90b
+size 26002828
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db422e70a614024be4ff96f5a5331cd8ec91561b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+17,0.283333333,BASELINE,766,745,715,679,658.133445784,634,878,785.866554216,810.866554216,652,629,652,0.400984165095,-0.0153989723987,0.0498508804483,0.999999965576,-2.95455660739e-05,-0.000256484196034,-4.68107688681e-05,1793248169033184256
+18,0.300000000,BASELINE,766,744.556259638,715.443740362,679,658.443740362,634,877.556259638,786,810.556259638,652,629,652,0.400985033309,-0.0153981801528,0.0498518097647,0.999999965826,-2.83230193902e-05,-0.000255632767048,-4.6874485409e-05,1793248169049851136
+19,0.316666667,BASELINE,766.023003029,744.023003029,715.976996971,679,659,634,877.023003029,785.976996971,810,652.023003029,629.023003029,652,0.400986381102,-0.0153973349602,0.0498533818619,0.999999966261,-2.67241405757e-05,-0.000254113190361,-4.68012278378e-05,1793248169066517760
+20,0.333333333,BASELINE,766.614417437,744.614417437,715.385582563,679,659,634,877.614417437,785.385582563,810,652.614417437,629.614417437,652,0.400985483926,-0.015396630054,0.0498524672061,0.99999996608,-2.45892383167e-05,-0.000255061602381,-4.668746017e-05,1793248169083184384
+21,0.350000000,BASELINE,766.798396221,745,715,679,659,634,878,785.201603779,810,652.798396221,629.798396221,652,0.400985140245,-0.0153962591818,0.0498521494028,0.999999966036,-2.42567715338e-05,-0.000255269254588,-4.66530785413e-05,1793248169099850752
+22,0.366666667,BASELINE,766.219130337,745,715,679,659,634,878,785.780869663,810,652.219130337,629.219130337,652,0.400985833422,-0.0153965140518,0.0498529496769,0.999999966253,-2.73007872301e-05,-0.000254089249611,-4.67674099056e-05,1793248169116517376
+23,0.383333333,BASELINE,766,744.643929037,715,679.356070963,659,634,878,785.643929037,810,652,629,652,0.400985158008,-0.0153971017489,0.0498532990393,0.999999966163,-2.98379706978e-05,-0.000254138781488,-4.68801339151e-05,1793248169133184000
+24,0.400000000,BASELINE,766,744.071200846,715,679.928799154,659,634,878,785.071200846,810,652,629,652,0.400983649854,-0.0153978919603,0.0498533740373,0.999999965885,-3.20667640609e-05,-0.000254936445155,-4.69918799141e-05,1793248169149850880
+25,0.416666667,BASELINE,766,744,715,678.986789592,659,634,878,785,810,652,629,652,0.400984819707,-0.0153968365002,0.0498537526395,0.99999996622,-2.95844119998e-05,-0.000253937834426,-4.69161467606e-05,1793248169166517504
+26,0.433333333,BASELINE,765.913169053,744.086830947,715,678.086830947,658.913169053,634,878.086830947,785.086830947,810,652,629,652,0.40098618516,-0.0153959265778,0.0498540664429,0.999999966575,-2.70561761155e-05,-0.00025283841732,-4.68149861924e-05,1793248169183184128
+27,0.450000000,BASELINE,765.323097444,744.676902556,715,678.676902556,658.323097444,634,878.676902556,785.676902556,810,652,629,652,0.400986480795,-0.0153973787476,0.049853754892,0.999999966601,-2.81383205333e-05,-0.000252632728382,-4.67207144528e-05,1793248169199851008
+28,0.466666667,BASELINE,765.521688308,745,715,679,658.260844154,634,878.739155846,785.739155846,810,652,629.260844154,652.260844154,0.400986004964,-0.0153972387312,0.0498533584194,0.999999966462,-2.76742453868e-05,-0.00025321914197,-4.68093660107e-05,1793248169216517376
+29,0.483333333,BASELINE,766.674734113,745,715,679,658.837367057,634,878.162632943,785.162632943,810,652,629.837367057,652.837367057,0.400984595489,-0.0153951718194,0.0498528591729,0.999999966116,-2.53389047113e-05,-0.000254764173695,-4.71193949625e-05,1793248169233183488
+30,0.500000000,BASELINE,766.587685573,744.587685573,715,679,659,633.587685573,877.587685573,785,810,652,629.587685573,652.587685573,0.400984145327,-0.0153955916795,0.0498523082324,0.999999965897,-2.57720783345e-05,-0.000255605223341,-4.69779935939e-05,1793248169249849856
+31,0.516666667,BASELINE,766.013357302,744.013357302,715,679,659,633.013357302,877.013357302,785,810,652,629.013357302,652.013357302,0.400984072115,-0.0153969886858,0.0498517369794,0.999999965728,-2.72931053932e-05,-0.000256169651918,-4.66592082686e-05,1793248169266516480
+32,0.533333333,BASELINE,766,744.559576439,715,679,659.559576439,633.559576439,877,785,810,652,629.559576439,652,0.400984082271,-0.0153979935769,0.0498528723833,0.999999965979,-2.87385031279e-05,-0.000255021538464,-4.6696168249e-05,1793248169283183616
+33,0.550000000,BASELINE,766,745,715,679,659.862320013,634,877,785,810,652,629.862320013,652,0.400984183045,-0.0153985583359,0.0498536673155,0.999999966165,-2.98109051095e-05,-0.000254165358272,-4.67066324531e-05,1793248169299850496
+34,0.566666667,BASELINE,766,745,715,679,659.266919021,634,877,785,810,652,629.266919021,652,0.400984578479,-0.015397690903,0.04985319524,0.999999966111,-2.96492587324e-05,-0.000254415284336,-4.66008497246e-05,1793248169316517120
+35,0.583333333,BASELINE,766.317396373,745,715,679,659,634,877.317396373,785.317396373,810,652,629,652,0.400984707675,-0.015398274375,0.0498533002622,0.99999996611,-3.0772236872e-05,-0.000254317523577,-4.6422376832e-05,1793248169333183744
+36,0.600000000,BASELINE,766.892703856,745,715,679,659,634,877.892703856,785.892703856,810,652,629,652,0.400984620531,-0.0154000368286,0.0498538742243,0.999999966149,-3.29390799027e-05,-0.000253937238209,-4.61848370871e-05,1793248169349850624
+37,0.616666667,BASELINE,766.532070697,744.532070697,715,679,659.467929303,634,878,785.532070697,810,652,629,652,0.400984731791,-0.0153989587322,0.049853577084,0.999999966318,-3.00151978453e-05,-0.000253610726965,-4.63115177731e-05,1793248169366516992
+38,0.633333333,BASELINE,766,744.044266598,715,679,659.955733402,634,878,785.044266598,810,652,629,652,0.400984899262,-0.0153973190136,0.0498531238926,0.99999996649,-2.62611329175e-05,-0.000253307599663,-4.65395044344e-05,1793248169383183616
+39,0.650000000,BASELINE,766,744.634550725,715,679,659.365449275,634,878,785.634550725,810,652,629,652,0.40098519901,-0.0153967845039,0.0498532092082,0.999999966501,-2.666283133e-05,-0.000253140841498,-4.69871103679e-05,1793248169399850240
+40,0.666666667,BASELINE,766,745,715.22070733,679,659,634,878,785.77929267,810.22070733,652,629,652,0.400985483471,-0.0153966691562,0.0498535788021,0.999999966565,-2.74897961085e-05,-0.00025277710788,-4.7088109244e-05,1793248169416517120
+41,0.683333333,BASELINE,766,745,715.800154977,679,659,634,878,785.199845023,810.800154977,652,629,652,0.400985743083,-0.0153972351195,0.0498544104654,0.999999966717,-2.90079938697e-05,-0.000252093208026,-4.66257288612e-05,1793248169433183744
+42,0.700000000,BASELINE,766,745,716,679,659,634,878,785,810.622132773,652,629.377867227,652,0.400985089812,-0.0153968791457,0.0498537174696,0.999999966411,-2.83391593862e-05,-0.000253344602045,-4.6810964729e-05,1793248169449850368
+43,0.716666667,BASELINE,766,745,716,679,659,634,878,785,810.045334156,652,629.954665844,652,0.400983955945,-0.0153960378103,0.0498522218042,0.999999965858,-2.65189432719e-05,-0.000255614847876,-4.73371436517e-05,1793248169466516992
+44,0.733333333,BASELINE,766,745,716,679,659,634,878,785.529307748,810,652,629.470692252,652,0.40098359925,-0.0153978785096,0.0498525617743,0.999999965953,-2.71459887881e-05,-0.000255292379463,-4.67137355389e-05,1793248169483183616
+45,0.750000000,BASELINE,766,745,715.893660119,679,659,634,877.893660119,786,810,652,629,652,0.400983671831,-0.0153993605763,0.0498531539334,0.999999966155,-2.7436280902e-05,-0.000254577713675,-4.61135007212e-05,1793248169499850240
+46,0.766666667,BASELINE,766,745,715.304951318,679,659,634,877.304951318,786,810,652,629,652,0.400985390943,-0.0153981780829,0.0498541797824,0.999999966594,-2.52521004183e-05,-0.000253087203027,-4.60631944306e-05,1793248169516516864
+47,0.783333333,BASELINE,766,745,715.280010883,679.280010883,658.719989117,634,877,785.719989117,810,652,629,652,0.4009861604,-0.0153977861007,0.0498547054073,0.999999966865,-2.57430747694e-05,-0.00025194211961,-4.6188007228e-05,1793248169533183488
+48,0.800000000,BASELINE,766,745,715.860946724,679.860946724,658.139053276,634,877,785.139053276,810,652,629,652,0.400985909274,-0.015398243673,0.0498546934464,0.999999966952,-2.91090115746e-05,-0.00025116826327,-4.65010187892e-05,1793248169549850112
+49,0.816666667,BASELINE,766,744.561575415,716,679.561575415,658.438424585,634,877,785.438424585,810,652,629.438424585,652,0.400984863385,-0.015399704291,0.049853991555,0.999999966622,-3.0965527754e-05,-0.000252272890561,-4.64272477741e-05,1793248169566517248
+50,0.833333333,BASELINE,766,744.01508458,715.98491542,678.98491542,659.01508458,634,877.01508458,785.98491542,810,652,629.98491542,652,0.400983592859,-0.0154013597782,0.0498530921542,0.999999966165,-3.22570622122e-05,-0.000253949256285,-4.62579485958e-05,1793248169583183872
+51,0.850000000,BASELINE,766,744.601992597,715.398007403,678.398007403,659.601992597,634,877.601992597,785.398007403,810,652,629.398007403,652,0.400983287552,-0.0153984370281,0.0498529357584,0.999999965953,-3.01372178965e-05,-0.000254890597327,-4.70813044617e-05,1793248169599850752
+52,0.866666667,BASELINE,766,745,715,678.186919475,659.626161049,634.186919475,878,785,810,652,629.186919475,652,0.400983505702,-0.0153970745083,0.0498529102614,0.999999965937,-2.90017951224e-05,-0.000255017305547,-4.74353448443e-05,1793248169616517632
+53,0.883333333,BASELINE,766,745,715,678.767672124,658.464655752,634.767672124,878,785,810,652,629.767672124,652,0.40098482676,-0.0153989993424,0.049853160564,0.999999966344,-2.99405162158e-05,-0.00025342760921,-4.68005529241e-05,1793248169633184000
+54,0.900000000,BASELINE,766,744.655111865,715,679,658.344888135,634.655111865,877.655111865,785,810,652.344888135,629.655111865,652,0.400986329029,-0.0153992762221,0.0498538979028,0.999999966889,-3.01709234196e-05,-0.000251279313941,-4.65957137534e-05,1793248169649850368
+55,0.916666667,BASELINE,766,744.080254088,715,679,658.919745912,634.080254088,877.080254088,785,810,652.919745912,629.080254088,652,0.400987952129,-0.0153984542542,0.0498549599949,0.999999967522,-2.9929030513e-05,-0.00024875854783,-4.66775648983e-05,1793248169666517248
+56,0.933333333,BASELINE,766,744,715,679,659,634,877,785.495145908,810,652.504854092,629,652,0.400987151666,-0.0153984490681,0.0498546523427,0.999999967263,-2.89232448906e-05,-0.000249939469116,-4.65497729557e-05,1793248169683183872
+57,0.950000000,BASELINE,766,744.072526163,715.072526163,679,659.072526163,634,877.072526163,786,810,652,629,652,0.400986073261,-0.0153984725549,0.0498541378536,0.999999966886,-2.80472247666e-05,-0.000251563269649,-4.64434576795e-05,1793248169699850496
+58,0.966666667,BASELINE,766,744.663431143,715.663431143,679,659.663431143,634,877.663431143,786,810,652,629,652,0.400985818989,-0.0153977537223,0.0498537335577,0.999999966721,-2.89846210868e-05,-0.000252059525001,-4.67337788234e-05,1793248169716517120
+59,0.983333333,BASELINE,766,745,716,679,659.750673848,634.249326152,878,786,810,652,629.249326152,652,0.400985585599,-0.0153975613952,0.0498534378041,0.999999966581,-2.97854093998e-05,-0.000252507253958,-4.67978232555e-05,1793248169733184000
+60,1.000000000,BASELINE,766,745,716,679,659.171408567,634.828591433,878,786,810,652,629.828591433,652,0.400985379843,-0.015398065805,0.049853285687,0.999999966477,-3.04054212727e-05,-0.000252890766872,-4.65624304633e-05,1793248169749851136
+61,1.016666667,BASELINE,766.404083434,745,716,679,659.404083434,634.595916566,878,786,810,652,629.595916566,652.404083434,0.400985033666,-0.0153980902858,0.0498529315791,0.999999966375,-3.07429429201e-05,-0.000253215250699,-4.67633640277e-05,1793248169766517504
+62,1.033333333,BASELINE,766.977989618,745,716,679,659.977989618,634.022010382,878,786,810,652,629.022010382,652.977989618,0.400984628474,-0.0153979130683,0.0498524925812,0.999999966274,-3.0961743339e-05,-0.000253514926552,-4.71476709767e-05,1793248169783183872
+63,1.050000000,BASELINE,767,745,715.450227322,679,659.450227322,634,878,786,810.549772678,652,629,652.450227322,0.400985051394,-0.0153981483794,0.0498533335301,0.999999966322,-3.0851562313e-05,-0.000253379850599,-4.69292313422e-05,1793248169799850752
+64,1.066666667,BASELINE,766.873196976,745,715.126803024,679,659.126803024,634.126803024,878,786,810.873196976,652,629,652.126803024,0.400985574441,-0.0153984722525,0.0498541901359,0.999999966467,-3.03460933118e-05,-0.000252911624345,-4.6694153126e-05,1793248169816517376
+65,1.083333333,BASELINE,766.276403982,745,715.723596018,679,659.723596018,634.723596018,878,786,810.276403982,652,629,652.723596018,0.400986346191,-0.015399063398,0.0498549155733,0.999999966947,-2.84241360034e-05,-0.000251272855251,-4.64865019678e-05,1793248169833183744
+66,1.100000000,BASELINE,766,745,715.691271265,679,659.691271265,634.691271265,878,786,810,652.308728735,629,652.691271265,0.400986811125,-0.0153991243142,0.0498550349898,0.999999967083,-2.89217702837e-05,-0.000250655460539,-4.65750668207e-05,1793248169849850368
+67,1.116666667,BASELINE,766,745,715.116198059,679,659.116198059,634.116198059,878,786,810,652.883801941,629,652.116198059,0.400987011362,-0.0153987277944,0.0498546315837,0.999999966923,-3.15068191821e-05,-0.000250919219461,-4.69191812592e-05,1793248169866517248
+68,1.133333333,BASELINE,766,745,715.456850092,679,659,634.456850092,878,786,810,652.543149908,629,652.456850092,0.400987053219,-0.0153994853783,0.0498548611793,0.999999966904,-3.08572151735e-05,-0.000251150531184,-4.65128824499e-05,1793248169883183616
+69,1.150000000,BASELINE,766,745,715.969648665,679,659,634.969648665,877.969648665,786,810,652,629,653,0.40098697167,-0.0154004165626,0.0498551490759,0.999999966894,-2.94600876831e-05,-0.000251453485448,-4.59869314407e-05,1793248169899850496
+70,1.166666667,BASELINE,766,745,715.37829518,679,659,634.37829518,877.37829518,786,810,652,629,653,0.400985350424,-0.0153991547403,0.0498535518311,0.999999966412,-2.93857835314e-05,-0.000253232520672,-4.67616766243e-05,1793248169916517120
+71,1.183333333,BASELINE,766,745,715,678.791274382,659,634.208725618,877.208725618,786,810,652.208725618,629,652.791274382,0.40098414612,-0.0153983904808,0.0498526344343,0.999999966112,-2.93189501151e-05,-0.000254359028512,-4.70892731561e-05,1793248169933183488
+72,1.200000000,BASELINE,766,745,715,678.21194638,659,634.78805362,877.78805362,786,810,652.78805362,629,652.21194638,0.400983682115,-0.0153985096681,0.0498529241405,0.999999966144,-2.9265381337e-05,-0.000254326942867,-4.66229358583e-05,1793248169949850112
+73,1.216666667,BASELINE,766,745,715.367103189,678.367103189,659,634.632896811,878,786,810,652.632896811,629.367103189,652,0.400983761542,-0.0153992659031,0.0498529535765,0.999999966338,-3.04181582195e-05,-0.000253477842327,-4.63414247068e-05,1793248169966516736
+74,1.233333333,BASELINE,766,745,715.945992094,678.945992094,659,634.054007906,878,786,810,652.054007906,629.945992094,652,0.400984154481,-0.0154003896577,0.0498528328599,0.999999966622,-3.22668886848e-05,-0.000252157397247,-4.61665417431e-05,1793248169983183360
+75,1.250000000,BASELINE,766.520376833,745,715.479623167,679.520376833,659,634.520376833,877.479623167,786,810.520376833,652,630,652,0.400985828077,-0.0153994554993,0.0498543531612,0.999999967076,-3.00634225621e-05,-0.000250573810847,-4.64362941954e-05,1793248169999850240
+76,1.266666667,BASELINE,766.903553571,745,715,679.903553571,659,634.903553571,877.096446429,786,810.903553571,652,629.903553571,652.096446429,0.400987001354,-0.0153983741802,0.0498554137043,0.999999967339,-2.76270856445e-05,-0.000249758926754,-4.66859178028e-05,1793248170016517376
+77,1.283333333,BASELINE,766.316557139,745,715,679.316557139,659,634.316557139,877.683442861,786,810.316557139,652,629.316557139,652.683442861,0.400984959649,-0.0153976213786,0.0498532769753,0.999999966571,-2.61270351368e-05,-0.000252991565114,-4.66004605139e-05,1793248170033184512
+78,1.300000000,BASELINE,766,745,715,679,659,634.268505357,878,785.731494643,810,652,629,653,0.40098526817,-0.0153979777152,0.0498533079942,0.999999966664,-2.67375333715e-05,-0.000252578043983,-4.65011122148e-05,1793248170049851136
+79,1.316666667,BASELINE,766,745,715,679,659,634.851304083,878,785.148695917,810,652,629,653,0.4009883277,-0.0153996323305,0.0498558764254,0.999999967753,-2.98184907098e-05,-0.000247896586353,-4.63855040875e-05,1793248170066517248
+80,1.333333333,BASELINE,766,745,715.42785626,679,658.57214374,635,878,785,810,652,629,652.57214374,0.400986660311,-0.0153992177762,0.049854802411,0.999999967242,-2.95093244372e-05,-0.000249974095234,-4.64583317876e-05,1793248170083183872
+81,1.350000000,BASELINE,766.002267448,745,716,679,658.002267448,634.997732552,878,785.002267448,810,652.002267448,629,652,0.400983389963,-0.0153980973822,0.0498524916684,0.999999966175,-2.80470684178e-05,-0.00025434628935,-4.65968849577e-05,1793248170099850240
+82,1.366666667,BASELINE,766.576333922,745,716,679,658.576333922,634.423666078,878,785.576333922,810,652.576333922,629,652,0.400984200512,-0.0153977148165,0.0498529400672,0.999999966341,-2.86401470627e-05,-0.000253547419365,-4.70328490002e-05,1793248170116517120
+83,1.383333333,BASELINE,766.84528652,745,715.84528652,679,659,634.15471348,878,786,810,653,629.15471348,652,0.400985015291,-0.0153979677208,0.0498534512172,0.999999966522,-2.96046750108e-05,-0.000252684483113,-4.72178026712e-05,1793248170133184000
+84,1.400000000,BASELINE,766.25475721,745,715.25475721,679,659,634.74524279,878,786,810,653,629.74524279,652,0.400985841987,-0.0154000106946,0.0498541391326,0.999999966748,-3.16155468722e-05,-0.000251641076995,-4.66956797605e-05,1793248170149850624
+85,1.416666667,BASELINE,766,745,715,679.329005411,659,634.670994589,878,786,810,653,629.670994589,652,0.400986312018,-0.0153994093806,0.049854477242,0.99999996693,-3.06708716064e-05,-0.000251060306372,-4.65517404009e-05,1793248170166517248
+86,1.433333333,BASELINE,766,745,715,679.907633971,659,634.092366029,878,786,810,653,629.092366029,652,0.400986511442,-0.0153968017913,0.0498545499465,0.999999967074,-2.7483762047e-05,-0.000250830546843,-4.6694736683e-05,1793248170183184640
+87,1.450000000,BASELINE,766,745,715.48303845,679.51696155,659,634,878,786,810.48303845,653,629,652,0.400986630255,-0.0153978164563,0.0498549151191,0.999999967171,-2.63437995676e-05,-0.000250634251019,-4.63207453781e-05,1793248170199851264
+88,1.466666667,BASELINE,766,745,716,679,659,634,878.057857615,786,810.942142385,652.942142385,629,652,0.400986836554,-0.0153993188322,0.0498553644246,0.999999967282,-2.58827235415e-05,-0.000250314749594,-4.59174720397e-05,1793248170216517888
+89,1.483333333,BASELINE,766,745,716,679,659,634,878.63291908,786,810.36708092,652.36708092,629,652,0.400987961789,-0.015399030319,0.0498560691974,0.999999967584,-2.80142893551e-05,-0.000248837060099,-4.61302942191e-05,1793248170233184000
+90,1.500000000,BASELINE,766,745,715.785274603,679,659,634,878.570549206,785.785274603,810.214725397,652,629,652,0.400987989493,-0.0153983438997,0.0498560148185,0.999999967567,-2.90005961176e-05,-0.000248740040636,-4.6400331716e-05,1793248170249850368
+91,1.516666667,BASELINE,766,745,715.191563838,679,659,634,877.383127676,785.191563838,810.808436162,652,629,652,0.400986080081,-0.015396955185,0.0498546205542,0.999999966995,-2.79655468711e-05,-0.000251079872058,-4.67713529051e-05,1793248170266516992
+92,1.533333333,BASELINE,766,745,715.391088457,679,659,634,877,785.391088457,811,652,629.391088457,652,0.400986345559,-0.0153995644198,0.0498548013231,0.999999966945,-3.14996476617e-05,-0.00025090981163,-4.65037141295e-05,1793248170283183616
+93,1.550000000,BASELINE,766,745,715.968473069,679,659,634,877,785.968473069,811,652,629.968473069,652,0.400987647052,-0.0154040780897,0.0498557323635,0.999999967117,-3.72102766365e-05,-0.000249544156918,-4.59318478028e-05,1793248170299850496
+94,1.566666667,BASELINE,766,744.459568762,715.459568762,679,659,634,877.540431238,786,811,652,629.459568762,652,0.400987220923,-0.015401133401,0.0498555314435,0.999999967224,-3.18868377728e-05,-0.000249830838203,-4.60417290968e-05,1793248170316517376
+95,1.583333333,BASELINE,766,744.116514973,715,679.116514973,659,634,878,785.883485027,810.883485027,652,629.116514973,652,0.400986846898,-0.0153985101741,0.0498553455603,0.999999967301,-2.73077430887e-05,-0.000250047458762,-4.61470131096e-05,1793248170333184000
+96,1.600000000,BASELINE,766,744.710800971,715,679.710800971,659,634,878,785.289199029,810.289199029,652,629.710800971,652,0.400987095686,-0.0153989714817,0.0498554894201,0.999999967389,-2.83940587913e-05,-0.000249585468627,-4.607198633e-05,1793248170349850624
+97,1.616666667,BASELINE,766,745,715,679.703577923,659,634,877.703577923,785.296422077,810,652,629.703577923,652.296422077,0.400987229677,-0.0153992914126,0.04985538463,0.999999967419,-2.89182144818e-05,-0.000249391679325,-4.6154115594e-05,1793248170366516992
+98,1.633333333,BASELINE,766,745,715,679.126170502,659,634,877.126170502,785.873829498,810,652,629.126170502,652.873829498,0.400987254849,-0.0153994773292,0.049855044139,0.999999967393,-2.89094856288e-05,-0.000249452123824,-4.63852167113e-05,1793248170383183360
+99,1.650000000,BASELINE,766,745,715,679,659,634,877,785.549722205,810.450277795,652,629,652.549722205,0.400986647103,-0.0153989639532,0.0498549477817,0.999999967326,-2.83046076527e-05,-0.000249796532007,-4.63587948864e-05,1793248170399849984
+100,1.666666667,BASELINE,766,745,715.026933447,679,659.026933447,634,877.053866894,785.026933447,810.973066553,652,629,652,0.400985959199,-0.0153982802636,0.0498549471766,0.999999967259,-2.75365859392e-05,-0.000250167620541,-4.62625148475e-05,1793248170416516864
+101,1.683333333,BASELINE,766,745,715.613469585,679,659.613469585,634,878.226939169,785.613469585,810.386530415,652,629,652,0.400987282812,-0.015398120488,0.0498555177359,0.999999967461,-2.68422341215e-05,-0.000249443357511,-4.62108613794e-05,1793248170433183488
+102,1.700000000,BASELINE,766,745,715.802029136,679,659.802029136,634,878.802029136,785.802029136,810,652.197970864,629,652,0.400987690571,-0.0153978330715,0.0498556931552,0.999999967478,-2.63390342353e-05,-0.000249429197491,-4.62155883876e-05,1793248170449850624
+103,1.716666667,BASELINE,766,745,715.221460485,679,659.221460485,634,878.221460485,785.221460485,810,652.778539515,629,652,0.400986328354,-0.0153972989768,0.0498551049284,0.999999967136,-2.62052539728e-05,-0.000250787380109,-4.632927611e-05,1793248170466517504
+104,1.733333333,BASELINE,766,745,715.356118176,679,659,634,878,785,810,652.643881824,629,652,0.400986293628,-0.0153980273153,0.0498546904617,0.999999967053,-2.67942470341e-05,-0.000251040627349,-4.64284390664e-05,1793248170483184128
+105,1.750000000,BASELINE,766,745,715.931852979,679,659,634,878,785,810,652.068147021,629,652,0.400987077563,-0.0153995341912,0.0498543831522,0.999999967127,-2.78289714442e-05,-0.00025061246558,-4.651864467e-05,1793248170499850496
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,786,810,653,630,652,0.400983298596,-0.0154000982606,0.0498527977021,0.999999966002,-3.1527880492e-05,-0.00025461026907,-4.66430907178e-05,1793248170530896128
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.592419944,744.407580056,715.592419944,679,659,634,877.407580056,786,810.592419944,652.407580056,629.407580056,652,0.400985381293,-0.0153993071328,0.0498544200076,0.99999996672,-2.88538316994e-05,-0.000252130380855,-4.64439102174e-05,1793248170547563008
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.819169292,744.180830708,715.819169292,679,659,634,877.180830708,786,810.819169292,652.180830708,629,652,0.400986631175,-0.0153985967564,0.0498554167709,0.999999967178,-2.75754578394e-05,-0.000250471162268,-4.6342251716e-05,1793248170564229632
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.239598838,744.760401162,715.239598838,679,659,634,877.760401162,786,810.239598838,652.760401162,629,652,0.400986044662,-0.0153980644403,0.0498550341866,0.999999967084,-2.93746087232e-05,-0.000250621556217,-4.64556335192e-05,1793248170580896000
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.663929992,786,810,653,629,652,0.400985845758,-0.0153989846554,0.0498549411151,0.999999967005,-3.11723830948e-05,-0.000250701966571,-4.65432532703e-05,1793248170597562880
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.091010885,786,810,653,629,652,0.400985920026,-0.0154009285581,0.0498550520812,0.999999966937,-3.29691872461e-05,-0.000250733055194,-4.66127169199e-05,1793248170614229760
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.483812304,785.516187696,810,652.516187696,629,652.483812304,0.400985321347,-0.0154010862388,0.0498545746332,0.999999966792,-3.27633987556e-05,-0.000251354924657,-4.65095284909e-05,1793248170630895872
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.939112023,785.060887977,810,652,629,652.939112023,0.400984728748,-0.0154008228561,0.0498541130927,0.999999966666,-3.20051014037e-05,-0.000251974065754,-4.63952590404e-05,1793248170647562496
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.345474166,785.654525834,810,652,629,652.345474166,0.400985301348,-0.0153998268986,0.0498547630443,0.999999966829,-2.97216592281e-05,-0.000251593115662,-4.64693282668e-05,1793248170664229120
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.241161136,877,786,810.241161136,652,629,652,0.400986709721,-0.0153989201773,0.0498554372775,0.999999966998,-2.80649361983e-05,-0.000251094823749,-4.65614371297e-05,1793248170680895744
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.818047978,877,786,810.818047978,652,629,652,0.400989281591,-0.015398137684,0.0498561453136,0.99999996718,-2.72806828257e-05,-0.000250433177753,-4.66786593603e-05,1793248170697562368
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.393027567,679,659,634.606972433,877.393027567,786,810.606972433,652,629,652,0.401009626411,-0.0153999740299,0.0498640199262,0.999999970963,-2.73889355263e-05,-0.000235055046255,-4.55279919418e-05,1793248170714229504
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.967128508,679,659,634.032871492,877.967128508,786,810.032871492,652,629,652,0.401038159482,-0.0154030169122,0.0498751962824,0.999999975989,-2.79083783508e-05,-0.000212896821042,-4.3793189774e-05,1793248170730896896
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.44558867,679,659,634,878,786,810,652,629,652,0.401092310983,-0.0154056210913,0.0498924533404,0.99999998317,-3.08522398469e-05,-0.000175866258654,-4.21709243348e-05,1793248170747563776
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.140684225,679,659,634,877.859315775,786,810,652,629,652,0.401151985057,-0.0154089098479,0.0499097754992,0.999999988643,-3.34590578121e-05,-0.000141303893714,-4.03453664624e-05,1793248170764230144
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.721295652,679,659,634,877.278704348,786,810,652,629,652,0.401224063043,-0.0154144226349,0.0499261463818,0.999999991809,-3.45514747711e-05,-0.000117284279248,-3.78627287591e-05,1793248170780896256
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,877.299405001,786,810,652.299405001,629,652,0.401300794189,-0.0154194740549,0.0499375659817,0.999999993736,-3.51046030109e-05,-0.000100022917757,-3.59327960931e-05,1793248170797562624
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,877.875204533,786,810,652.875204533,629,652,0.401381820879,-0.0154240995654,0.0499444148238,0.999999994826,-3.51598889684e-05,-8.90004119801e-05,-3.45130910348e-05,1793248170814229248
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.549539126,679,659,634,877.549539126,786,810,652.549539126,629,652,0.401475666508,-0.0154286849437,0.0499470198815,0.99999999498,-3.63536421859e-05,-8.70631181926e-05,-3.37300358214e-05,1793248170830895872
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.026265799,786,810,652,629,652,0.401574153111,-0.0154334217304,0.0499484809863,0.999999994905,-3.78527051042e-05,-8.75356489348e-05,-3.30911255528e-05,1793248170847562240
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.617092903,786,810,652,629,652,0.401696152166,-0.0154416516055,0.0499505939471,0.999999995051,-3.91430416454e-05,-8.57704901287e-05,-3.1763976404e-05,1793248170864228864
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.796901778,786,810,652.203098222,629,652,0.401826851831,-0.0154493661926,0.0499500983284,0.999999994781,-4.03365442154e-05,-8.86492484591e-05,-3.08475422745e-05,1793248170880895744
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.219776361,786,810,652.780223639,629,652,0.401973574591,-0.0154561318204,0.0499447987302,0.999999993666,-4.13517164775e-05,-0.00010008027933,-3.06874841248e-05,1793248170897562368
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.356818318,679.356818318,659,634,877,786,810,652.643181682,629,652,0.402141661279,-0.0154669051146,0.0499421942835,0.99999999298,-4.50056056114e-05,-0.000105606631288,-2.9359781501e-05,1793248170914228992
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.93308664,679.93308664,659,634,877,786,810,652.06691336,629,652,0.4023228872,-0.0154801431998,0.0499412474053,0.999999992585,-5.02823555416e-05,-0.000107501495342,-2.73139554648e-05,1793248170930895616
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.492289523,679.492289523,658.492289523,634,877.507710477,785.492289523,810,652,629,652,0.402540972705,-0.0154908220172,0.0499447101621,0.999999993037,-5.27944204263e-05,-0.000102375536792,-2.5638682848e-05,1793248170947562496
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.915161473,715,679,658.084838527,634,878,785,810,652,629,652,0.402769702627,-0.0155008942761,0.0499491257508,0.999999993716,-5.39373701126e-05,-9.53162937353e-05,-2.39307562432e-05,1793248170964229120
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.321725609,715,679,658.678274391,634,878,785,810,652,629,652,0.403033216266,-0.015509345819,0.049955780691,0.999999995183,-4.90499338112e-05,-8.21964138206e-05,-2.1735245938e-05,1793248170980895744
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.736657383,744.263342617,715.263342617,679,659,634,878,785.263342617,810.263342617,652,629,652,0.403319907945,-0.0155156824472,0.0499627613789,0.999999996755,-4.03138930444e-05,-6.72259073031e-05,-1.8574226992e-05,1793248170997562624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.161497109,744.838502891,715.838502891,679,659,634,878,785.838502891,810.838502891,652,629,652,0.403634044168,-0.0155195148555,0.0499701277764,0.99999999828,-2.70208126264e-05,-5.00641191337e-05,-1.42699726264e-05,1793248171014229248
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.414391352,744.585608648,715.585608648,679,659,634,878,785.585608648,811,652,629,652,0.403970711748,-0.0155107457764,0.0499768685703,0.999999999203,-1.86024404611e-07,-3.79621704595e-05,-1.23312340879e-05,1793248171030895872
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.990564088,744.009435912,715.009435912,679,659,634,878,785.009435912,811,652,629,652,0.404316175726,-0.0154970569852,0.0499833651239,0.999999999039,3.19355442912e-05,-2.78356201343e-05,-1.13160101482e-05,1793248171047562496
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.419049741,744.580950259,715,679,659,634,878,785.580950259,810.419049741,652,629,652,0.404695750079,-0.015502828192,0.0499880644629,0.999999998838,4.4724092852e-05,-1.62791928444e-05,-7.61303398322e-06,1793248171064229120
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.168270581,745,715.168270581,679,659,634.168270581,878,786,810.168270581,652,629,652,0.40508155269,-0.0155087257112,0.0499863872329,0.999999998195,5.75374524719e-05,-1.66886137728e-05,-4.65526703086e-06,1793248171080896000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.747524809,745,715.747524809,679,659,634.747524809,878,786,810.747524809,652,629,652,0.405481180035,-0.0155141403972,0.0499692089695,0.999999996383,7.11975823383e-05,-4.63815399243e-05,-3.62689469915e-06,1793248171097562624
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.676393959,715.676393959,679,658.676393959,634.676393959,877.676393959,786,810.676393959,652.323606041,629,652.323606041,0.405905177191,-0.0155163143384,0.0499491246559,0.999999992593,9.0301739431e-05,-8.15629055536e-05,-2.60879917662e-06,1793248171114229248
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.102764178,715.102764178,679,658.102764178,634.102764178,877.102764178,786,810.102764178,652.897235822,629,652.897235822,0.406348002934,-0.0155159844235,0.0499267950748,0.999999986226,0.000113612049414,-0.000120984739476,-1.5986435863e-06,1793248171130895872
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.482994259,715.482994259,679,658.482994259,634,877.482994259,785.517005741,810.482994259,652.517005741,629,652.517005741,0.406824822609,-0.0155137572132,0.0499184107003,0.999999980594,0.000139680302708,-0.00013892929331,7.76310704051e-07,1793248171147562496
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,811,652.070279589,629,652.070279589,0.407321452676,-0.0155123329777,0.0499166161017,0.999999975845,0.000165474393088,-0.000144614319008,3.90452161983e-06,1793248171164229120
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,811,652.649454346,629,652.649454346,0.407907809068,-0.015519721416,0.0499405002982,0.999999978291,0.000184924859076,-9.5468878942e-05,1.03302591607e-05,1793248171180895744
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.771721629,679.228278371,659,634,878,785.228278371,811,652.771721629,629,652.771721629,0.408510426003,-0.0155255746504,0.0499646020993,0.999999977182,0.000207171566801,-4.94368112629e-05,1.65077573588e-05,1793248171197562624
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.193435399,679.806564601,659,634,878,785.806564601,811,652.193435399,629,652.193435399,0.409137974382,-0.0155290740326,0.0499890375412,0.999999972409,0.000233705611882,-8.17832557838e-06,2.23046421629e-05,1793248171214229248
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.382322684,786,811,652,629,652.382322684,0.409767692463,-0.0155316612928,0.0499958540402,0.999999965549,0.000261094409162,-1.26064526033e-06,2.70276370672e-05,1793248171230896128
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.956810041,786,811,652,629,652.956810041,0.410398501069,-0.0155337900982,0.0499938148294,0.99999995771,0.000288912824876,-1.16034895496e-05,3.12108686342e-05,1793248171247562752
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.542926979,634,878.457073021,785.457073021,811,652,629,652.457073021,0.410973380189,-0.0155313920701,0.0499649924341,0.999999946928,0.000315280323213,-7.55543912874e-05,3.21433227426e-05,1793248171264230144
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.871460442,660,634,878.128539558,785,811,652,629,652,0.411585990701,-0.0155289764189,0.0499411533652,0.999999934334,0.000338771418891,-0.000124304554112,3.3391012531e-05,1793248171280897536
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.290945641,660,634,878.709054359,785,811,652,629,652,0.412347260396,-0.0155277927512,0.0499424925525,0.99999993174,0.000352563137093,-0.000104282013451,3.66763473686e-05,1793248171297563136
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.287745483,660,634,879,785.287745483,811,652,629,652,0.413121233102,-0.0155309482593,0.049955140866,0.999999954809,0.000288305722334,-7.48829667221e-05,4.06743798775e-05,1793248171314229504
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.864604332,660,634,879,785.864604332,811,652,629,652,0.413907969299,-0.0155384635707,0.0499791520671,0.999999987716,0.000145628141781,-3.60628362201e-05,4.53884978377e-05,1793248171330896128
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785.561990656,811,652,629.438009344,652,0.414671048763,-0.0155454462661,0.0499641610049,0.99999999626,5.29180946253e-05,-6.30998568334e-05,2.64304451912e-05,1793248171347563008
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.989278275,660,634,879,785,811.010721725,652,629.989278275,652,0.415427620277,-0.0155522116887,0.0499375890096,0.999999993747,-2.2436111418e-05,-0.000109554871924,7.6441361995e-07,1793248171364229888
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.396664979,660,634,879,785,811.603335021,652,629.396664979,652,0.416224763318,-0.0155560507393,0.0499316927262,0.99999999345,1.24320195477e-05,-0.000113665201711,5.06834568368e-06,1793248171380896512
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.191568077,660,634,879.191568077,785,812,652.191568077,629.191568077,652.191568077,0.417036826182,-0.0155570565692,0.049937628605,0.999999993737,5.06588385105e-05,-9.92646074755e-05,1.02919451855e-05,1793248171397563136
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.770934025,660,634,879.770934025,785,812,652.770934025,629.770934025,652.770934025,0.41787909171,-0.0155523270123,0.0499675167386,0.999999994148,9.56847633672e-05,-4.73917103135e-05,1.737725896e-05,1793248171414229504
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,812,652.652595133,630,653,0.418733622179,-0.0155511284912,0.049975239155,0.999999990855,0.000126543171399,-4.27032590379e-05,2.12857786578e-05,1793248171430896128
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,812,652.078017464,630,653,0.419596172827,-0.0155522389629,0.0499684671039,0.999999986389,0.00014813724441,-6.88693655241e-05,2.31169489252e-05,1793248171447562752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.503779729,745,715,680,660,634,880,785,812,652,630,653,0.420509939566,-0.0155521613185,0.0499640612521,0.999999985452,0.000159104515839,-5.73274403356e-05,2.22539336172e-05,1793248171464229376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.072638817,745,715,680,660,634,880,785,812.072638817,652,630,653,0.421431496108,-0.0155521199503,0.0499629942107,0.999999985577,0.000164229541824,-3.75958387789e-05,2.1456241525e-05,1793248171480896256
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.665044021,745,715,680,660,634,880,785,812.665044021,652,630,653,0.422351212826,-0.0155536738846,0.0499831578207,0.999999989977,0.000139497513849,-1.65600024673e-06,2.41548831352e-05,1793248171497563136
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.251580609,679.748419391,660,634,880,785.251580609,812.748419391,652,630,653,0.423261942699,-0.0155545702757,0.0499887518321,0.999999990672,0.000134039989885,6.55188874108e-06,2.54165779128e-05,1793248171514229760
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.830481874,679.169518126,660,634,880,785.830481874,812.169518126,652,630,653,0.424160980304,-0.0155546111662,0.0499753899713,0.999999987659,0.000153659686766,-2.13210582576e-05,2.4808723672e-05,1793248171530896640
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.594680157,679.405319843,660,634,879.594680157,785.594680157,812,652,630,653,0.42510011442,-0.0155593506727,0.0499827658516,0.999999986278,0.00016333972692,-8.27720720185e-06,2.63897499603e-05,1793248171547563008
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.02152476,679.97847524,660,634,879.02152476,785.02152476,812,652,630,653,0.426055851717,-0.0155660357904,0.0499987288531,0.999999985083,0.000168903935261,2.1709545294e-05,2.88771517747e-05,1793248171564229376
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.431965679,715.568034321,680,660.568034321,634,879.568034321,785,812,652,630,653,0.426967098743,-0.0155633279282,0.0499984691072,0.99999998857,0.000147829672114,-8.39738273301e-06,3.05781514637e-05,1793248171580896000
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.155347319,715.844652681,680,660.844652681,633.844652681,879.844652681,785,812.155347319,652,630,653,0.427875451047,-0.0155592733716,0.049988016248,0.999999988897,0.000138517954434,-4.53755523506e-05,3.09930221922e-05,1793248171597562624
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.734781288,715.265218712,680,660.265218712,633.265218712,879.265218712,785,812.734781288,652,630,653,0.428780640134,-0.0155525430015,0.0499514650316,0.99999998165,0.000164154706955,-9.47103790049e-05,2.79806257022e-05,1793248171614229504
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.687888467,715,680,660,633.312111533,879.312111533,785,813,652,630,653,0.429717184391,-0.01555046909,0.0499409773934,0.999999978207,0.000180914949472,-0.000100596682336,2.7124795746e-05,1793248171630896640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.112333934,715,680,660,633.887666066,879.887666066,785,813,652,630,653,0.430680194462,-0.0155523255411,0.0499524891594,0.999999979084,0.000190182823005,-6.98095249275e-05,2.80892523009e-05,1793248171647563520
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.46142692,715.46142692,680.46142692,660,633.53857308,880,785,813,652,630,653,0.431598828554,-0.0155496710108,0.0499433975625,0.999999980462,0.000174716836127,-8.83917649162e-05,2.7160160751e-05,1793248171664230144
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.96432001,716,680.96432001,660,633.03567999,880,785,813,652,630.03567999,653,0.432509467049,-0.0155462072726,0.0499312429839,0.999999980951,0.000155805955268,-0.000114657620186,2.60015197946e-05,1793248171680896768
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.375698638,716,680.375698638,660,633.624301362,880,785,813,652,630.624301362,653,0.433462967693,-0.015547156124,0.0499490517852,0.999999981255,0.000176463029523,-7.44592361489e-05,2.84017914765e-05,1793248171697563136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.790735373,744.209264627,716,680,660.209264627,634,880,785,813.209264627,652,631,653,0.434401513748,-0.0155472319238,0.0499663173822,0.999999979445,0.000195541697786,-4.38579769124e-05,3.08356962513e-05,1793248171714229504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.212226684,744.787773316,716,680,660.787773316,634,880,785,813.787773316,652,631,653,0.43531367283,-0.0155457672384,0.0499826245068,0.999999976552,0.000211835297995,-3.01906833168e-05,3.33289465499e-05,1793248171730896384
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.634063142,680,660.634063142,633.634063142,880,785,814,652,631,653,0.436177317849,-0.0155451050379,0.0499678172145,0.999999974027,0.000214278232832,-7.02846244385e-05,3.30287011081e-05,1793248171747562752
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.056099616,680,660.056099616,633.056099616,880,785,814,652,631,653,0.437012853386,-0.0155449078036,0.0499349819856,0.999999967724,0.000208695982365,-0.000141528244535,3.11098821797e-05,1793248171764229120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.517515572,745,715,680.517515572,660,633,880,785,814,652,631,653,0.437933434078,-0.0155468176242,0.0499555804752,0.999999977146,0.000193034658316,-8.61932026802e-05,3.18901017519e-05,1793248171780896512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.905870419,660.094129581,633.094129581,880,785.094129581,814,652,631,653,0.438850019994,-0.0155486428074,0.0499769686791,0.999999982632,0.000180979731656,-3.02207339215e-05,3.26956399462e-05,1793248171797563648
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.310809973,660.689190027,633.689190027,880,785.689190027,814,652,631,653,0.439696694476,-0.0155488121772,0.0499719913294,0.999999979754,0.000193883034574,-4.326877204e-05,3.20918601681e-05,1793248171814230016
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.72469958,880,785.72469958,814.27530042,652,631,653,0.440526797053,-0.0155503420199,0.0499656456385,0.999999977749,0.000200993124461,-5.58171702773e-05,3.14353112626e-05,1793248171830896640
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.148375543,880,785.148375543,814.851624457,652,631,653,0.441338779244,-0.015553359454,0.0499578037531,0.999999976873,0.000201768701071,-6.78192430205e-05,3.07210626951e-05,1793248171847563008
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.00439901,715.99560099,680.99560099,660.99560099,633.00439901,880,785,815,652,631,652,0.442976941522,-0.0155583676727,0.0500031228995,0.999999987589,0.000152398077542,1.77614303077e-05,3.57954520091e-05,1793248171880896256
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.593251454,715.406748546,680.406748546,660.406748546,633.593251454,880,785,815,652,631,652,0.443698388647,-0.0155497557258,0.0499859707431,0.999999983457,0.000177182269447,-2.1794035723e-05,3.49050855333e-05,1793248171897563136
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680.757368403,660.757368403,633.242631597,880,785,815,651.242631597,631,652.757368403,0.445112711739,-0.0155452611723,0.0499370926113,0.99999997472,0.000201923887236,-9.34420715979e-05,3.24940336479e-05,1793248171930896640
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,744.665493035,715,680.665493035,660.665493035,633,880,785,815,651.334506965,631,653,0.445830921623,-0.0155476085329,0.0499393153032,0.999999975008,0.000208185464675,-7.43286159512e-05,3.34478192733e-05,1793248171947563520
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.089319357,715,680.089319357,660.089319357,633,880,785,815,651.910680643,631,653,0.446562558485,-0.0155508493579,0.0499635774386,0.999999976143,0.000214764878739,-1.69475056225e-05,3.60817398453e-05,1793248171964230144
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+255,4.250000000,HOLD_POSE2,766,744.371548165,715.628451835,681,660.371548165,632,880.628451835,783,816,652,630,653,0.456096568628,-0.0155540858314,0.0497950494668,0.999999936206,0.000150939477769,-0.000323448584437,1.36493348163e-05,1793248173040425984
+256,4.266666667,HOLD_POSE2,766,744.962450086,715.037549914,681,660.962450086,632,880.037549914,783,816,652,630,653,0.456097042028,-0.0155529104671,0.0497949808279,0.999999936119,0.000151125400816,-0.000323652377239,1.31617886952e-05,1793248173057092352
+257,4.283333333,HOLD_POSE2,766.538151564,745,715,681,660.461848436,632,880.538151564,783,816,652,629.461848436,653,0.456096913578,-0.015554840064,0.0497952100095,0.99999993643,0.000150019920094,-0.000323193280011,1.34011114928e-05,1793248173073758976
+258,4.300000000,HOLD_POSE2,767,745,715.113835959,681,660.113835959,632,881,783,816,652,629,653,0.456096914622,-0.0155561931941,0.0497952650519,0.99999993659,0.000149513901382,-0.000322925250064,1.36038887625e-05,1793248173090425856
+259,4.316666667,HOLD_POSE2,767,745,715.693673115,681,660.693673115,632,881,783,816,652,629,653,0.456097612949,-0.0155543239645,0.0497945245037,0.999999936019,0.000151820589907,-0.000323623520416,1.3455146428e-05,1793248173107092480
+260,4.333333333,HOLD_POSE2,767,745,715.729238657,681,661,632,881,783,816,652,629,653,0.456098009287,-0.0155532770939,0.0497946103698,0.999999935875,0.000153361982826,-0.000323341346022,1.34304833321e-05,1793248173123759360
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,744,715,680,660,632,881,783,815,652,629,653,0.456095525833,-0.0155564408692,0.0497919731589,0.999999935096,0.000149365109712,-0.000327587899504,1.35818733352e-05,1793248173173094912
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.420371737,744,715.579628263,680.579628263,660,632,880.420371737,783,815,652,629,653,0.45609557451,-0.0155552218892,0.0497927534055,0.999999935521,0.000147828453508,-0.000327001638141,1.32297000615e-05,1793248173189761536
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,744.732000264,715.267999736,681,660,632,880,783,815,652,629,653,0.456097047093,-0.0155554718585,0.0497949190355,0.999999936135,0.000148502926129,-0.000324793886419,1.36207902521e-05,1793248173223094784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.313093714,745,715.313093714,681,660,632,880.313093714,783,815.313093714,652,629.313093714,653,0.456096891361,-0.0155560492931,0.0497944339569,0.999999935849,0.00014894404745,-0.000325461631255,1.38570547231e-05,1793248173239761664
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.519207911,744.519207911,715.519207911,681,660,632,881,783,816,652,629.519207911,653,0.456095092846,-0.0155552718773,0.0497923568643,0.999999934981,0.000148774705741,-0.000328202350601,1.37149921621e-05,1793248173273095168
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.059668769,744.059668769,715,680.940331231,660,632,880.940331231,783,816,652,629,653,0.456094649165,-0.0155539931521,0.0497925815987,0.999999934979,0.000149186677852,-0.000328027088238,1.35365242752e-05,1793248173289762048
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.78878643,745,715.21121357,680.21121357,660,632,880,783,815.78878643,652,629,653,0.456087377397,-0.0155525993116,0.0497886763456,0.999999933461,0.000150087529587,-0.000332249834646,1.26825409724e-05,1793248173323095296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.211933551,745,715.788066449,680.788066449,660,632,880,783,815.211933551,652,629,653,0.456072559658,-0.0155511510683,0.0497809864174,0.999999929678,0.00014875120619,-0.00034407059084,1.14726550482e-05,1793248173339761664
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.959526585,744.040473415,716,681,660,632,880.959526585,783,815.959526585,652,629.959526585,653,0.455999684273,-0.0155491452941,0.0497461788217,0.999999908236,0.000151454481029,-0.000400628380982,9.27228712841e-06,1793248173373094912
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.696545582,681,660,632,880.303454418,783,816,652.303454418,629,653,0.455801296955,-0.0155363307874,0.0496877129746,0.999999872638,0.000154862613185,-0.000480347159749,2.81535036168e-06,1793248173423095552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,681.269943717,660,632,880.269943717,783,815.730056283,652,629,653,0.455724044233,-0.0155310068211,0.0496787219135,0.99999986728,0.000156838073849,-0.000490753706806,1.29677435515e-06,1793248173439762176
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.087786969,744.912213031,715,681,660.912213031,632.087786969,880,784,815,652.912213031,630,653,0.454185261316,-0.0154489849881,0.0496904406093,0.999999869651,0.000186962984629,-0.000475092525269,-5.49027408934e-06,1793248173606428160
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,744.810853254,715.810853254,681,660.810853254,633,880.810853254,784.810853254,815,652,630.810853254,653,0.453377775197,-0.015431995903,0.0497289156497,0.999999897361,0.000177743310024,-0.00041669554313,-7.02647762786e-06,1793248173656428032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,745,716,681,661,632.604395728,881,784.604395728,815,652,631,653,0.453052292652,-0.0154321748258,0.0497382601653,0.999999903492,0.000166343170388,-0.000406560231996,-7.43136890564e-06,1793248173673094912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,745,716,681,661,632.014526359,881,784.014526359,815,652,631,653,0.452712933977,-0.0154343967736,0.0497469762552,0.999999909493,0.000152253086639,-0.000397206936324,-7.74801395417e-06,1793248173689761536
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,744.43487908,715.43487908,681,660.43487908,632.56512092,880.43487908,784,815,652,631,653.56512092,0.452315674112,-0.0154306175356,0.0497528028004,0.999999911497,0.000143803600359,-0.000395278838169,-9.05838320771e-06,1793248173706428416
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715.236435945,679,659,634.763564055,877.763564055,786,810,652.763564055,629,652,0.401666752119,-0.0153761914997,0.0498244845296,0.999999948819,3.84903864888e-06,-0.000314048647068,-6.09921339301e-05,1793248174989761536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715.809770586,679,659,634.190229414,877.190229414,786,810,652.190229414,629,652,0.401549900633,-0.0153703393877,0.0498280106528,0.999999950192,6.52051258996e-05,-0.000305140821611,-4.74744329244e-05,1793248175006428416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715.604179427,679,659,634,877.395820573,786,810.395820573,652,629,652,0.401449852585,-0.0153689130909,0.0498293695524,0.999999950193,8.16420164345e-05,-0.000301757011776,-4.34851435814e-05,1793248175023095040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.011815701,679,659,634,877.988184299,786,810.988184299,652,629,652,0.401358148221,-0.0153696844154,0.0498296523256,0.999999950816,7.57744543716e-05,-0.00030111613088,-4.42271501219e-05,1793248175039761920
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.567568825,679,659,634,877.432431175,785.432431175,810.432431175,652,629,652,0.401285393777,-0.0153768286778,0.0498329450863,0.999999953728,6.12041824717e-05,-0.000294702366692,-4.4147340678e-05,1793248175056428800
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.105507156,745,715.105507156,679,659,634,878,786,810,652.105507156,629,652,0.400986939057,-0.0153902114729,0.0498455306894,0.999999963476,2.29778680307e-05,-0.000265264714986,-4.64271959659e-05,1793248175273094912
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.163326224,679,659,634,878,786,810.836673776,653,629,652,0.400984743774,-0.0153923344955,0.0498472026167,0.999999964497,2.0692730919e-05,-0.000261592644406,-4.63309188659e-05,1793248175389761536
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.738279254,679,659,634,878,786,810.261720746,653,629,652,0.400984932184,-0.0153914333931,0.0498476404536,0.999999964537,2.25702661708e-05,-0.000261261410088,-4.64672252932e-05,1793248175406428416
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,716,679,659,634,878,786,810,653,629,652,0.400984311604,-0.0153911528379,0.0498475201851,0.999999964456,2.17084849196e-05,-0.0002616110218,-4.66610945654e-05,1793248175423095040
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,679,659,634,878,786,810,653,629,652,0.400983015075,-0.01539139078,0.0498469335927,0.999999964267,1.8557872205e-05,-0.000262529513303,-4.69030603702e-05,1793248175439761408
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,716,679,659,634,878,786,811,652.069782597,629,652.930217403,0.400984394851,-0.0153935285477,0.0498483987117,0.999999964901,1.9618802298e-05,-0.000260127177995,-4.63273592869e-05,1793248175473095168
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,716,679,659,634,878,786,811,652.645964197,629,652.354035803,0.400984986537,-0.0153937293591,0.0498489979229,0.999999965241,1.92547800299e-05,-0.000258909164309,-4.59632011745e-05,1793248175489762048
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.779063116,679,659,634,877.779063116,786,810.779063116,653,629.220936884,652.220936884,0.400985060504,-0.0153945436439,0.0498493854001,0.999999965424,1.76020458852e-05,-0.000258349411849,-4.58026418584e-05,1793248175506428416
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.206016998,679,659,634,877.206016998,786,810.206016998,653,629.793983002,652.793983002,0.40098430938,-0.015396335627,0.049849435435,0.999999965348,1.38954791803e-05,-0.000258838736443,-4.59665598437e-05,1793248175523094784
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.379292958,745,715.379292958,679,659,634,877,786,810,652.620707042,629.620707042,652.620707042,0.400984582281,-0.0153956669565,0.0498499163821,0.999999965516,1.53653482428e-05,-0.00025811467379,-4.59213815168e-05,1793248175539761408
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.971486688,745,715.971486688,679,659,634,877,786,810,652.028513312,629.028513312,652.028513312,0.400985429977,-0.0153936170974,0.0498506392044,0.999999965808,1.97408005412e-05,-0.000256709525212,-4.57588354151e-05,1793248175556428288
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.448483888,745,715.448483888,679,659,634,877.551516112,785.448483888,810,652,629,652,0.400983474901,-0.0153943893875,0.0498492762384,0.999999965296,1.84777361258e-05,-0.000258805095724,-4.5677492213e-05,1793248175573094912
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.130057052,745,715.130057052,679,659,634,878,785.130057052,810.130057052,652,629,652.130057052,0.400981924849,-0.0153950399567,0.0498481081524,0.999999964859,1.73866061707e-05,-0.000260555949704,-4.57284750386e-05,1793248175589761280
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.705607058,745,715.705607058,679,659,634,878,785.705607058,810.705607058,652,629,652.705607058,0.400982247787,-0.0153947845951,0.0498479690049,0.999999964837,1.78613966029e-05,-0.000260519456219,-4.62186529248e-05,1793248175606427904
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1ca256c8879527828930d9b59418b3d39fe5234
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.583246886762,-0.0100721524999,1.04004258386,0.55381867859,-0.00139769312956,1.03966596426
+398,6.633333333,pose2_to_pose3_retreat,0.583246845296,-0.0100721535047,1.0400425794,0.55381863715,-0.00139769403919,1.03966596006
+399,6.650000000,pose2_to_pose3_retreat,0.583246838837,-0.0100721536612,1.04004257871,0.553818630694,-0.00139769418089,1.0396659594
+400,6.666666667,pose2_to_pose3_retreat,0.583246749839,-0.010072155818,1.04004256914,0.55381854175,-0.00139769613326,1.03966595039
+401,6.683333333,pose2_to_pose3_retreat,0.583246596026,-0.0100721595454,1.04004255261,0.553818388029,-0.00139769950748,1.03966593482
+402,6.700000000,pose2_to_pose3_retreat,0.583246474257,-0.0100721624963,1.04004253952,0.553818266332,-0.00139770217877,1.03966592249
+403,6.716666667,pose2_to_pose3_retreat,0.583246351245,-0.0100721654773,1.0400425263,0.553818143393,-0.00139770487732,1.03966591003
+404,6.733333333,pose2_to_pose3_retreat,0.583246171605,-0.0100721698306,1.04004250699,0.553817963861,-0.00139770881812,1.03966589184
+405,6.750000000,pose2_to_pose3_retreat,0.583245881498,-0.0100721360117,1.04004248467,0.553817673667,-0.0013976751574,1.03966587272
+406,6.766666667,pose2_to_pose3_retreat,0.583245703977,-0.0100721069156,1.04004247284,0.553817496038,-0.00139764632759,1.03966586312
+407,6.783333333,pose2_to_pose3_retreat,0.583245520891,-0.0100720759193,1.04004246588,0.553817312827,-0.00139761569134,1.03966585768
+408,6.800000000,pose2_to_pose3_retreat,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a09694da1fef28af071ba44537b115e786702d7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbcae66fb5d0e10665c65c570563ae39a1de4de48dc86089f4e8f40181900109
+size 25959119
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ae5ee0ec8b4183f8395ac3c7c57e6c269e72bc8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+49,0.816666667,BASELINE,766.435740982,744.564259018,715.435740982,679,659,634,877.435740982,786,810.435740982,653,629,652,0.400984629548,-0.0153974813237,0.0498519712115,0.999999966807,1.38801543738e-05,-0.000253185934972,-4.57287451249e-05,1793248176546566144
+50,0.833333333,BASELINE,766.989304559,744.010695441,716,679,659,634.010695441,878,786,810.989304559,652.989304559,629,652.010695441,0.400985497412,-0.0153969409634,0.0498520728113,0.999999967132,1.41379716291e-05,-0.000251865434531,-4.58300517153e-05,1793248176563232512
+51,0.850000000,BASELINE,766.402045002,744.597954998,716,679,659,634.597954998,878,786,810.402045002,652.402045002,629,652.597954998,0.400985489024,-0.0153972315724,0.0498525178761,0.99999996705,1.51520438615e-05,-0.000252130782176,-4.58274410975e-05,1793248176579898880
+52,0.866666667,BASELINE,766,745,716,679,659,634.817285711,878,785.817285711,810.182714289,652,629.182714289,652.817285711,0.400984973836,-0.0153972844393,0.049852274766,0.999999966844,1.59135260527e-05,-0.00025288967832,-4.58852698559e-05,1793248176596565248
+53,0.883333333,BASELINE,766,745,716,679,659,634.237953777,878,785.237953777,810.762046223,652,629.762046223,652.237953777,0.400983358537,-0.0153968212396,0.0498505378356,0.999999966367,1.61267113448e-05,-0.000254719919461,-4.60742942813e-05,1793248176613232128
+54,0.900000000,BASELINE,766,745,716,679,659,634,878,785.339217846,810.660782154,652.339217846,630,652,0.400984415354,-0.0153968843873,0.0498510824269,0.999999966573,1.58226217075e-05,-0.000253962050761,-4.5910720408e-05,1793248176629898752
+55,0.916666667,BASELINE,766,745,716,679,659,634,878,785.914883625,810.085116375,652.914883625,630,652,0.400987334739,-0.0153973144194,0.049853217327,0.999999967249,1.51579714687e-05,-0.000251400169524,-4.55013719026e-05,1793248176646565376
+56,0.933333333,BASELINE,766,745,716,679,659,634,878,786,810.491369145,652.508630855,629.508630855,652.491369145,0.400986411173,-0.0153982030305,0.0498523466856,0.999999966974,1.28098146852e-05,-0.000252563674205,-4.58235294053e-05,1793248176663232512
+57,0.950000000,BASELINE,766,745,716,679,659,634,878,785.930758611,811,652,629,653,0.400985045123,-0.0153989625947,0.0498512468293,0.999999966605,1.07676410469e-05,-0.000254052313179,-4.61707266163e-05,1793248176679899392
+58,0.966666667,BASELINE,766,745,716,679,659,634,878,785.343577633,811,652,629,653,0.400985357002,-0.0153981616693,0.0498523333141,0.999999966827,1.31993201184e-05,-0.000253137815625,-4.57557986359e-05,1793248176696565504
+59,0.983333333,BASELINE,766,745,715.759324677,679,659,634,878,785.240675323,811,652,629,652.759324677,0.40098644061,-0.0153983273951,0.0498535937058,0.99999996731,1.41075008437e-05,-0.000251243079778,-4.53675821944e-05,1793248176713231872
+60,1.000000000,BASELINE,766,745,715.179201311,679,659,634,878,785.820798689,811,652,629,652.179201311,0.400988612664,-0.0153998564839,0.0498550993757,0.99999996816,1.28669425999e-05,-0.000247965817479,-4.50170395989e-05,1793248176729898496
+61,1.016666667,BASELINE,766,745,715,679,659,634,878,786,810.604387245,652,629.395612755,652,0.400988204799,-0.015398965447,0.0498544118428,0.999999967982,1.38073550996e-05,-0.000248599072416,-4.52092289138e-05,1793248176746564864
+62,1.033333333,BASELINE,766,745,715,679,659,634,878,786,810.031946326,652,629.968053674,652,0.40098664378,-0.0153969926794,0.0498527440076,0.999999967339,1.57226023959e-05,-0.000250980222606,-4.56440046814e-05,1793248176763231488
+63,1.050000000,BASELINE,766.544632625,745,715.544632625,679,659,634,878,786,810,652,629.455367375,652,0.40098686891,-0.0153988153692,0.0498528407206,0.999999967539,1.33521910125e-05,-0.000250386672191,-4.5290489749e-05,1793248176779898368
+64,1.066666667,BASELINE,766.874644478,745,715.874644478,679,659,634,878,786,810,652.125355522,629,652,0.400986945061,-0.0154000193761,0.0498528578481,0.999999967639,1.19915167895e-05,-0.000250093303698,-4.507010952e-05,1793248176796565504
+65,1.083333333,BASELINE,766.279301988,745,715.279301988,679,659,634,878,786,810,652.720698012,629,652,0.400986066841,-0.0153980627194,0.0498521855654,0.999999967198,1.53662885085e-05,-0.000251584583917,-4.5523568322e-05,1793248176813232384
+66,1.100000000,BASELINE,766,745,715,679,659,634.305938491,878.305938491,786,810,653,629,652,0.400985094584,-0.0153974980967,0.0498517895243,0.999999966893,1.71803012164e-05,-0.000252636329437,-4.57624101507e-05,1793248176829899008
+67,1.116666667,BASELINE,766,745,715,679,659,634.882251249,878.882251249,786,810,653,629,652,0.400984039221,-0.0153981636892,0.0498516376128,0.999999966715,1.76149872322e-05,-0.000253299634474,-4.58115834164e-05,1793248176846565632
+68,1.133333333,BASELINE,766.45655676,745,715.45655676,679,659,634.54344324,879,786,810,653,629,652,0.400984820679,-0.0153986427121,0.0498523203391,0.999999966994,1.53307674429e-05,-0.000252327321414,-4.59033386237e-05,1793248176863232000
+69,1.150000000,BASELINE,767,744.968716422,715.968716422,679,659,634,878.968716422,786,810.031283578,652.968716422,629,652,0.400985947227,-0.0153989518495,0.0498531439766,0.999999967338,1.26468774119e-05,-0.0002510945102,-4.59882969543e-05,1793248176879898624
+70,1.166666667,BASELINE,767,744.377215838,715.377215838,679,659,634,878.377215838,786,810.622784162,652.377215838,629,652,0.40098480732,-0.0153970766277,0.0498526531036,0.999999966903,1.53081289108e-05,-0.000252717821317,-4.57557346556e-05,1793248176896565248
+71,1.183333333,BASELINE,766.791276728,744.208723272,715,679.208723272,659,634,878,786,810.791276728,652.208723272,629,652.208723272,0.400984647012,-0.0153964778582,0.0498525640387,0.999999966783,1.65465878076e-05,-0.000253155352317,-4.55254922463e-05,1793248176913231872
+72,1.200000000,BASELINE,766.215127653,744.784872347,715,679.784872347,659,634,878,786,810.215127653,652.784872347,629,652.784872347,0.40098621114,-0.01539812609,0.049853182296,0.99999996723,1.5280435625e-05,-0.000251505496753,-4.52993336137e-05,1793248176929898496
+73,1.216666667,BASELINE,766,745,715,679.63985496,659,634,878,786,810.36014504,652.63985496,629,652.63985496,0.400986210314,-0.0153983552766,0.0498529983288,0.999999967288,1.53319676236e-05,-0.000251264290511,-4.53386905926e-05,1793248176946565120
+74,1.233333333,BASELINE,766,745,715,679.065104525,659,634,878,786,810.934895475,652.065104525,629,652.065104525,0.400985276955,-0.0153977388738,0.0498523363272,0.999999967115,1.61686892841e-05,-0.000251862478809,-4.55362646269e-05,1793248176963231744
+75,1.250000000,BASELINE,766,745,715,679,659,634,878,786,810.488441848,652,629,652,0.400984366057,-0.0153977576492,0.0498518869826,0.999999966785,1.47046767601e-05,-0.000253244398781,-4.56199625316e-05,1793248176979898880
+76,1.266666667,BASELINE,766,745,715.090907788,679,659,634,878,785.909092212,810.090907788,652,629,652,0.400983679675,-0.0153979042693,0.0498515719126,0.999999966494,1.33442957191e-05,-0.000254454503719,-4.56785422337e-05,1793248176996565760
+77,1.283333333,BASELINE,766,745,715.683744173,679,659,634,878,785.316255827,810.683744173,652,629,652,0.400984217082,-0.0153983087565,0.0498518482219,0.999999966557,1.41788382451e-05,-0.000254163189197,-4.56787555698e-05,1793248177013232128
+78,1.300000000,BASELINE,766,745,716,679,659,634.269806504,878,785.269806504,810.730193496,652,629,652,0.400984625919,-0.0153981008221,0.0498521886763,0.99999996667,1.44212924315e-05,-0.000253693481528,-4.57414070044e-05,1793248177029898752
+79,1.316666667,BASELINE,766,745,716,679,659,634.848123008,878,785.848123008,810.151876992,652,629,652,0.400984887744,-0.0153971926151,0.0498526024772,0.99999996684,1.39867236912e-05,-0.0002530197904,-4.58754532255e-05,1793248177046565376
+80,1.333333333,BASELINE,766.42528641,745,715.57471359,679.42528641,659,634.57471359,878,786,810,652.42528641,629.42528641,652,0.400984083432,-0.0153962848289,0.0498518694286,0.999999966684,1.45730453444e-05,-0.000253564008294,-4.60950077921e-05,1793248177063232000
+81,1.350000000,BASELINE,766.997931958,745,715.002068042,679.997931958,659,634,878,786,810.002068042,653,630,652.002068042,0.400982910622,-0.0153953833222,0.0498507361289,0.999999966412,1.55239591401e-05,-0.000254532683327,-4.63425928986e-05,1793248177079898624
+82,1.366666667,BASELINE,766.41301564,745,715.58698436,679.41301564,659,634,878,786,810.58698436,653,630,652.58698436,0.400984896969,-0.0153962093581,0.0498519141704,0.999999966832,1.67568816422e-05,-0.000252879486087,-4.59071799515e-05,1793248177096565760
+83,1.383333333,BASELINE,766,745,716,679.170433263,659,634,878,786,810.829566737,652.829566737,629.829566737,652.829566737,0.400986246311,-0.0153969494992,0.0498527085212,0.999999967113,1.69563566453e-05,-0.000251814830602,-4.55646695114e-05,1793248177113232384
+84,1.400000000,BASELINE,766,745,716,679.750356609,659,634,878,786,810.249643391,652.249643391,629.249643391,652.249643391,0.400986065162,-0.0153974832662,0.0498525810008,0.999999967066,1.46728277291e-05,-0.000252164229803,-4.54453704304e-05,1793248177129899008
+85,1.416666667,BASELINE,766,745,716,679.671085467,659,634,878,786,810,652,629,652,0.400985948276,-0.0153973483647,0.0498528887917,0.999999967175,1.52228769322e-05,-0.000251664533813,-4.56515035863e-05,1793248177146565376
+86,1.433333333,BASELINE,766,745,716,679.093559638,659,634,878,786,810,652,629,652,0.400985879962,-0.0153967080476,0.0498535256143,0.999999967396,1.79146970286e-05,-0.000250523045981,-4.61036159381e-05,1793248177163231744
+87,1.450000000,BASELINE,766,745,716,679,659,634,878,786,810,652.479811253,629.479811253,652,0.400984030299,-0.0153969926184,0.0498523606537,0.999999966941,1.72737366194e-05,-0.000252379291283,-4.6083733506e-05,1793248177179898624
+88,1.466666667,BASELINE,766.054120456,745,716,679,659,634,878,786,810.054120456,652.945879544,629.945879544,652,0.400982080198,-0.0153974756926,0.0498510320464,0.999999966411,1.59294652653e-05,-0.00025458333766,-4.59617736401e-05,1793248177196565248
+89,1.483333333,BASELINE,766.645725355,745,716,679,659,634,878,786,810.645725355,652.354274645,629.354274645,652,0.40098255263,-0.0153981544666,0.0498515374591,0.999999966475,1.39990241725e-05,-0.000254486148594,-4.57322374431e-05,1793248177213232128
+90,1.500000000,BASELINE,766.767804784,745,716,679,659.232195216,634,878,786,810.767804784,652.232195216,629,652,0.400983519709,-0.0153982033156,0.0498521283216,0.999999966708,1.25957151713e-05,-0.000253661344524,-4.56174434807e-05,1793248177229899264
+91,1.516666667,BASELINE,766.1890003,745,716,679,659.8109997,634,878,786,810.1890003,652.8109997,629,652,0.400985225169,-0.0153973118442,0.0498528467392,0.999999967196,1.19792824509e-05,-0.000251750393611,-4.56739309398e-05,1793248177246566400
+92,1.533333333,BASELINE,766,745,715.611862371,679,659.611862371,634,878,786,810.388137629,652.611862371,629,652.388137629,0.400984918231,-0.0153974575999,0.0498520827642,0.999999966957,1.24548549649e-05,-0.000252645262441,-4.58426773323e-05,1793248177263232768
+93,1.550000000,BASELINE,766,745,715.035532434,679,659.035532434,634,878,786,810.964467566,652.035532434,629,652.964467566,0.400983635564,-0.0153981062652,0.0498506000368,0.999999966361,1.34598967893e-05,-0.000254900560105,-4.6065853566e-05,1793248177279899136
+94,1.566666667,BASELINE,766,745,715.539481139,679,659,634,878,786,811,652,629,652.460518861,0.40098483407,-0.0153985743666,0.0498519419698,0.999999966893,1.30199680817e-05,-0.0002528365871,-4.60183209379e-05,1793248177296565760
+95,1.583333333,BASELINE,766,745,716,679.117527764,659,634.117527764,877.882472236,785.882472236,811,652,629,652.117527764,0.400985509116,-0.0153989878663,0.0498529217134,0.999999967254,1.27611209601e-05,-0.000251439629844,-4.59000639425e-05,1793248177313232128
+96,1.600000000,BASELINE,766,745,716,679.708131425,659,634.708131425,877.291868575,785.291868575,811,652,629,652.708131425,0.400983420922,-0.0153992293365,0.0498516965178,0.999999966644,1.36133231872e-05,-0.000253869890118,-4.55687203823e-05,1793248177329898752
+97,1.616666667,BASELINE,766,745,716,679.708029247,659,634.708029247,877.291970753,785.291970753,810.708029247,652.291970753,629,652.708029247,0.40098273129,-0.015398846299,0.0498513980438,0.999999966476,1.4706913089e-05,-0.000254477361537,-4.55204836837e-05,1793248177346565120
+98,1.633333333,BASELINE,766,745,716,679.130798807,659,634.130798807,877.869201193,785.869201193,810.130798807,652.869201193,629,652.130798807,0.400983408075,-0.0153978531084,0.0498520049905,0.999999966743,1.60363422211e-05,-0.000253303941499,-4.57488465408e-05,1793248177363231744
+99,1.650000000,BASELINE,766.426854579,745,716,679,659,634,878,786,810,652.573145421,629,652.426854579,0.400984217659,-0.0153980415091,0.0498524313544,0.999999966958,1.51810555226e-05,-0.000252491346543,-4.58377564363e-05,1793248177379898368
+100,1.666666667,BASELINE,766.978772126,745,716,679,659,634,878,786,810,652.021227874,629,652.978772126,0.400985066151,-0.015398576101,0.0498528048099,0.999999967156,1.36856748196e-05,-0.000251784468774,-4.58858083819e-05,1793248177396565248
+101,1.683333333,BASELINE,766.409565074,744.409565074,716,679,659,634.590434926,878,786,810.590434926,652.590434926,629,652.409565074,0.400983808284,-0.0153980333346,0.0498518921435,0.999999966815,1.42709533068e-05,-0.000253163936186,-4.55555674238e-05,1793248177413232384
+102,1.700000000,BASELINE,766,744.193304112,715.806695888,679,659,635,878,786,810.806695888,653,629,652,0.400983513623,-0.0153981162364,0.0498519227088,0.99999996682,1.40868389695e-05,-0.000253200020849,-4.52953345116e-05,1793248177429899264
+103,1.716666667,BASELINE,766,744.773774048,715.226225952,679,659,635,878,786,810.226225952,653,629,652,0.400985316911,-0.0153995385936,0.0498539454982,0.999999967559,1.21950244671e-05,-0.000250378314138,-4.52056271691e-05,1793248177446565632
+104,1.733333333,BASELINE,766,745,715,679,659.353190456,634.646809544,878,786,810,652.646809544,629,652,0.40098537449,-0.0153999199021,0.0498535096347,0.999999967518,1.23178591986e-05,-0.000250511278793,-4.53378208255e-05,1793248177463232000
+105,1.750000000,BASELINE,766,745,715,679,659.931934121,634.068065879,878,786,810,652.068065879,629,652,0.40098431723,-0.01539963638,0.0498515036354,0.99999996698,1.37272817314e-05,-0.000252531144682,-4.56117240841e-05,1793248177479898368
+106,1.766666667,BASELINE,766,745,715.504985678,679,659.495014322,634,878,786,810,652.504985678,629,652,0.400984615623,-0.0153988994313,0.0498517574416,0.99999996688,1.45636628689e-05,-0.000252890632213,-4.55509617563e-05,1793248177496565248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,877,786,810,652,629,652,0.400984868902,-0.0153992984606,0.0498531780114,0.999999967696,1.14819366897e-05,-0.000249849771501,-4.52824957947e-05,1793248177539240448
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.421207818,679.578792182,659,634.578792182,877,785.421207818,810.578792182,652.578792182,629,652,0.40098481386,-0.0153980194972,0.0498528713119,0.999999967393,1.56433379749e-05,-0.000250786991359,-4.55622567697e-05,1793248177555906816
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.156656579,680,659,634.843343421,877.156656579,785.156656579,810.843343421,652.843343421,629,652,0.400984900167,-0.0153974381437,0.0498527976094,0.999999967234,1.78783072376e-05,-0.000251240519615,-4.57192808079e-05,1793248177572572928
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.732041224,680,659,634.267958776,877.732041224,785.732041224,810.267958776,652.267958776,629,652,0.40098536429,-0.0153987214345,0.0498533466857,0.9999999675,1.49641087239e-05,-0.000250401186664,-4.5548240807e-05,1793248177589239552
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.694211316,679.694211316,659,634,878,786,810,652,629.305788684,652.305788684,0.400985020894,-0.0153988191909,0.0498531767242,0.999999967425,1.4220198112e-05,-0.000250744018667,-4.55542239988e-05,1793248177605906176
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.121890896,679.121890896,659,634,878,786,810,652,629.878109104,652.878109104,0.400983973648,-0.015397883611,0.0498523800345,0.999999967055,1.53679554635e-05,-0.00025211725013,-4.57145042742e-05,1793248177622572800
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.468005134,745,715,679,659.468005134,634,878,786,810.468005134,652,629.531994866,652.531994866,0.400984026234,-0.0153976651815,0.0498521526956,0.999999966998,1.55444310853e-05,-0.000252318628697,-4.57978288955e-05,1793248177639239168
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715.060730361,679,659.939269639,634,877.939269639,786,810.939269639,652.060730361,629,652,0.400984472873,-0.0153977102876,0.0498522158373,0.999999967053,1.52863514574e-05,-0.000252111413213,-4.58311850574e-05,1793248177655906048
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715.637094823,679,659.362905177,634,877.362905177,786,810.362905177,652.637094823,629,652,0.400985738217,-0.0153983452083,0.0498534371616,0.999999967335,1.35703057722e-05,-0.000251127494905,-4.56170972348e-05,1793248177672572928
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.786543206,745,715.786543206,679,659,634,877.213456794,786,810,653,629,652,0.400991222035,-0.0153985491215,0.0498556757843,0.999999968274,1.32085010652e-05,-0.000247442465935,-4.52712225762e-05,1793248177689240064
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.210185526,745,715.210185526,679,659,634,877.789814474,786,810,653,629,652,0.401003877741,-0.0153980202726,0.0498596439298,0.999999970286,1.51490605848e-05,-0.000239165240994,-4.47012952919e-05,1793248177705907200
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.364159704,679,659,634.364159704,878,786,810,653,629,652.364159704,0.401036819459,-0.0154001169885,0.0498720841622,0.999999975941,1.49586235256e-05,-0.000214529818767,-4.32506342336e-05,1793248177722573824
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.937349828,679,659,634.937349828,878,786,810,653,629,652.937349828,0.401081405502,-0.0154037207983,0.0498893874368,0.999999982765,1.35449785078e-05,-0.00018050466679,-4.12944252447e-05,1793248177739240192
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.470002241,679,659,635,878,785.470002241,810.529997759,653,629,652.470002241,0.401144132931,-0.0154079344468,0.0499070175417,0.999999988588,1.17949345752e-05,-0.000145386226969,-3.93447532103e-05,1793248177755906816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.87892916,877.87892916,785.12107084,810.87892916,653,629,652.12107084,0.401211044125,-0.0154125710655,0.049923276888,0.99999999262,9.74221671909e-06,-0.000115175645789,-3.74071748715e-05,1793248177772572928
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.302751324,877.302751324,785.697248676,810.302751324,653,629,652.697248676,0.401285313869,-0.0154185163288,0.0499342327777,0.999999993947,6.70691760618e-06,-0.000103918078862,-3.55120411082e-05,1793248177789239552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.726249213,659,634,877.273750787,785.726249213,810.273750787,652.726249213,629,653,0.401365313411,-0.0154238299692,0.0499409645485,0.999999994731,4.11666032965e-06,-9.67367140404e-05,-3.41182452751e-05,1793248177805906432
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.149388083,659,634,877.850611917,785.149388083,810.850611917,652.149388083,629,653,0.401451657263,-0.0154284442453,0.0499430191662,0.99999999502,2.0191754583e-06,-9.40687214712e-05,-3.32795555872e-05,1793248177822573312
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678,659,634,877.564287005,785,811,652,629,653,0.401554717223,-0.0154335126708,0.0499461205243,0.999999995328,2.03690112987e-06,-9.10650035664e-05,-3.23625845262e-05,1793248177839240448
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.023405472,745,715.023405472,678.023405472,659,634.023405472,877,785.023405472,810.976594528,652,629,652.976594528,0.401664751915,-0.0154388794515,0.049949398054,0.99999999561,2.69789728675e-06,-8.82398469816e-05,-3.14051590211e-05,1793248177855907328
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.604234523,745,715.604234523,678.604234523,659,634.604234523,877,785.604234523,810.395765477,652,629,652.395765477,0.401801769844,-0.0154475720022,0.049948159356,0.999999995271,1.07428725152e-06,-9.24615082445e-05,-3.01358007844e-05,1793248177872573696
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.816936282,745,715.816936282,679,658.816936282,635,877,785.816936282,810,652,629,652,0.401946469714,-0.0154565534106,0.0499464127588,0.999999994843,-1.77915008163e-06,-9.72884615793e-05,-2.90813151949e-05,1793248177889239808
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.242383927,745,715.242383927,679,658.242383927,635,877,785.242383927,810,652,629,652,0.402107597685,-0.0154661525509,0.0499435800005,0.999999994221,-7.26261907012e-06,-0.000103409854199,-2.84863429937e-05,1793248177905906688
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658.340362218,634.659637782,877.340362218,785,810.340362218,652,629,652.340362218,0.402289137026,-0.0154764591613,0.0499443134707,0.999999994206,-1.15666046466e-05,-0.000103550279381,-2.70374655562e-05,1793248177922573056
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658.929087447,634.070912553,877.929087447,785,810.929087447,652,629,652.929087447,0.402485570602,-0.0154872820149,0.049947649225,0.999999994643,-1.50099193177e-05,-9.93263809434e-05,-2.49654916476e-05,1793248177939239424
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.490421808,785.509578192,810.490421808,652,629,652.490421808,0.402724253841,-0.0154970680146,0.0499520445106,0.999999995393,-1.46035385412e-05,-9.20509513505e-05,-2.29638285443e-05,1793248177955906560
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.088651333,659,634,877.088651333,785.911348667,810.088651333,652.088651333,629,652,0.40297621233,-0.0155064353823,0.0499567657907,0.999999996237,-1.30346924007e-05,-8.32099009087e-05,-2.08081885959e-05,1793248177972573440
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.666126069,659,634,877.666126069,785.333873931,810.666126069,652.666126069,629,652,0.403269466989,-0.0155142773687,0.0499624845304,0.999999997496,-7.96300246907e-06,-6.80402934279e-05,-1.77504263859e-05,1793248177989240064
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.241935449,745,715,679.758064551,659,634,877.516129101,785,810.758064551,652.758064551,629,652.241935449,0.403574971221,-0.0155152512793,0.0499683268938,0.999999998363,6.2212637108e-06,-5.48886992766e-05,-1.49039436328e-05,1793248178005906944
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.815462294,745,715,679.184537706,659,634,876.369075413,785,810.184537706,652.184537706,629,652.815462294,0.403897264431,-0.0155068119562,0.0499743386929,0.999999998392,3.28950257437e-05,-4.45029506109e-05,-1.2347036026e-05,1793248178022573568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.599734027,745,715.400265973,679,659,634,876.400265973,785,810,652,629,652.599734027,0.404242387609,-0.0155004819487,0.0499801305648,0.999999997753,5.77362781081e-05,-3.2542321493e-05,-1.01103575534e-05,1793248178039240192
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.009580598,745,715.990419402,679,659,634,876.990419402,785,810,652,629,652.009580598,0.404598341389,-0.0154951526075,0.0499858181024,0.999999996433,8.17081812452e-05,-1.98345643407e-05,-8.02559687535e-06,1793248178055906816
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,877.569789738,785,810,652,629,652,0.404997226043,-0.0155070713439,0.0499816500684,0.999999995683,8.91758660051e-05,-2.56843717926e-05,-4.75536746275e-06,1793248178072573184
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.851967993,679.148032007,659,634,878.148032007,785.148032007,810.148032007,652,629,652.148032007,0.405401968351,-0.0155164198395,0.0499737279513,0.999999994237,9.97414587549e-05,-3.96760069773e-05,-1.97103409325e-06,1793248178089239808
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.276469464,679.723530536,659,634,878.723530536,785.723530536,810.723530536,652,629,652.723530536,0.405821579772,-0.0155175244363,0.0499554349483,0.999999989885,0.00012003922508,-7.62941865076e-05,-6.46295346589e-07,1793248178105906688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.695541893,659,634,878.695541893,786,811,652,629,652.695541893,0.406258827,-0.0155155008762,0.0499380017979,0.999999983822,0.000144376720951,-0.000107290089877,4.90366442713e-07,1793248178122573568
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.109594793,659,634,878.109594793,786,811,652,629,652.109594793,0.406712379595,-0.0155105851556,0.0499213636286,0.999999976273,0.000172449180972,-0.000133087880489,1.45314044341e-06,1793248178139240192
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.471133494,679.471133494,659,634,878,786,811,652,629,652,0.407230240432,-0.0155119083392,0.049922683187,0.999999972299,0.000196330697887,-0.00012973283206,5.12539776373e-06,1793248178155907072
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.949444714,679.949444714,659,634,878,785.949444714,811,652,629,652,0.407770095129,-0.0155149370506,0.0499302114802,0.999999969285,0.000219048719839,-0.000115567425895,9.58093199342e-06,1793248178172573696
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.371126986,679.371126986,659,634,878,785.371126986,811,652,629,652,0.408385096594,-0.0155207858153,0.0499594241569,0.999999969437,0.000239686401095,-5.85680669006e-05,1.57057539696e-05,1793248178189240320
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.205764078,659,634,878,785.205764078,811,652,629,652,0.409007893885,-0.0155258471522,0.0499824574803,0.999999965064,0.000262893028415,-1.71416724316e-05,2.1571310714e-05,1793248178205906944
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.780099617,659,634,878,785.780099617,811,652,629,652,0.409644655284,-0.015529498022,0.0499944221388,0.999999957376,0.000290701237309,-3.6100938596e-06,2.69724626565e-05,1793248178222573312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.644798591,659,634,878.355201409,786,811,652,629,652,0.410260889714,-0.0155297362071,0.0499863754586,0.999999948656,0.000317802543537,-2.78492165491e-05,3.02304752962e-05,1793248178239239680
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.069221419,659,634,878.930778581,786,811,652,629,652,0.410864388678,-0.0155278570779,0.0499659132472,0.999999937303,0.000344465268151,-7.55222194469e-05,3.21588309019e-05,1793248178255906304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.521196248,659,634,878.478803752,785.478803752,811,652.521196248,629,652.521196248,0.411507696513,-0.0155270273828,0.0499417290763,0.999999972412,0.000199751606072,-0.000118869139957,3.38441224946e-05,1793248178272573440
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.889220063,715.110779937,679.889220063,659,634,878.110779937,785.110779937,811.110779937,652.889220063,629,652.889220063,0.412183292431,-0.0155270697218,0.0499270351122,0.999999986842,7.11672124016e-05,-0.000141189287746,3.62793068954e-05,1793248178289240064
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.311697982,715.688302018,679.311697982,659,634,878.688302018,785.688302018,811.688302018,652.311697982,629,652.311697982,0.412971996762,-0.0155301817035,0.0499544693875,0.999999990154,0.000109247157239,-7.74103537487e-05,4.20139683657e-05,1793248178305906688
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.264105784,716,679.264105784,659.264105784,634,879,785.735894216,812,652,629,652.264105784,0.413751097094,-0.0155353666566,0.049968793252,0.999999994511,8.66694754801e-05,-4.89387503539e-05,3.27395374685e-05,1793248178322573312
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.837894778,716,679.837894778,659.837894778,634,879,785.162105222,812,652,629,652.837894778,0.414518936143,-0.0155429823196,0.0499677442115,0.999999998044,-7.03367304338e-06,-6.18675474361e-05,5.86585664432e-06,1793248178339239936
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.57668767,634,879.42331233,785,811.57668767,652,629,653,0.415277265639,-0.0155503379155,0.0499484088483,0.999999995631,-1.34427491382e-05,-9.25102533478e-05,-1.79553287335e-07,1793248178355906560
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.986934437,745,715.986934437,680,659.013065563,634,880,785,811,652,629.013065563,653,0.416033859929,-0.0155574447506,0.049922834417,0.999999991625,1.48225502754e-05,-0.0001285544035,2.09261812341e-06,1793248178372572928
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.407717813,745,715.407717813,680,659.592282187,634,880,785,811,652,629.592282187,653,0.416877521852,-0.0155582097525,0.0499389180774,0.999999993732,5.61450238231e-05,-9.6411645356e-05,9.40035552249e-06,1793248178389239296
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.170328398,745,715.170328398,680,660,634,879.829671602,785,811.170328398,652,630,653,0.417729232981,-0.0155570072918,0.0499567639689,0.999999993157,9.66310504593e-05,-6.39776516677e-05,1.59596632814e-05,1793248178405906176
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.745592062,745,715.745592062,680,660,634,879.254407938,785,811.745592062,652,630,653,0.418600080075,-0.0155511274256,0.0499787993517,0.999999990179,0.000135128522953,-3.08512828633e-05,2.07396692483e-05,1793248178422573056
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.672888834,680,660,634,879,785,812,652,630,653,0.419448653525,-0.0155495828096,0.0499726993362,0.999999986342,0.000157354804711,-4.53903291585e-05,2.22302604955e-05,1793248178439239680
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.086409791,680,660,634,879,785,812,652,630,653,0.420279566061,-0.0155514756328,0.0499442906391,0.999999981111,0.000166679586106,-9.77234933969e-05,2.11126601593e-05,1793248178455906560
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,629.506334257,653,0.421221690569,-0.015553672468,0.0499634684796,0.999999985827,0.000159695969243,-4.83917160525e-05,2.2376807518e-05,1793248178472573184
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879.072668888,785,812.072668888,652,629.072668888,653,0.422175998021,-0.0155557218174,0.0499875257326,0.999999988385,0.000150202183158,9.62136092088e-06,2.4026341701e-05,1793248178489240320
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879.651909527,785,812.651909527,652,629.651909527,653,0.423081271284,-0.0155563768504,0.0499882767304,0.999999989455,0.000142854422622,5.69075165701e-06,2.54934539241e-05,1793248178505906432
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.229187423,679.770812577,660,634,879.770812577,785,813,652,630.229187423,653,0.42399553186,-0.0155581573203,0.049986147681,0.999999989179,0.000144728655077,2.30539908351e-07,2.63547175607e-05,1793248178522572800
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.803509697,679.196490303,660,634,879.196490303,785,813,652,630.803509697,653,0.424923326626,-0.0155616325932,0.0499796815499,0.999999986747,0.000160490346492,-7.53311090428e-06,2.63036300311e-05,1793248178539239424
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.61412551,679.38587449,660,634,879.38587449,785,813,652,630.61412551,653,0.425869060556,-0.0155660479202,0.0499915383466,0.999999985948,0.000165114112644,3.54654344559e-06,2.87750484718e-05,1793248178555906304
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.027578268,679.972421732,660,634,879.972421732,785,813,652,630.027578268,653,0.426824123633,-0.0155709521191,0.0500129239216,0.999999985733,0.000163945636574,2.44255968475e-05,3.25582878028e-05,1793248178572573184
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.552733818,680,660,634,880,785,813,652,630,653,0.427705434741,-0.0155597989958,0.0499803389056,0.999999985255,0.000161629861184,-4.9605665264e-05,3.00761754527e-05,1793248178589239808
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.289258137,715.289258137,680.710741863,660,634,880,785,813,652,630,653,0.429569865006,-0.0155516932588,0.049948243774,0.999999979719,0.000178880445963,-8.82969330375e-05,2.7685592115e-05,1793248178622573056
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.27787459,715,680.72212541,660.27787459,633.72212541,879.72212541,785,813,652,630,653,0.430505563306,-0.0155519571877,0.0499458872081,0.999999978724,0.000187622596319,-8.12086515418e-05,2.74741071705e-05,1793248178639239424
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.833758351,715,680.166241649,660.833758351,633.166241649,879.166241649,785,813,652,630,653,0.431410502702,-0.0155515848477,0.0499451737468,0.999999978051,0.000189576967384,-8.49469733451e-05,2.72449235441e-05,1793248178655906304
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+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.701494278,660.649252861,634,880,785,814,652,631,653,0.436948539563,-0.015543713748,0.0499569688016,0.999999973936,0.000205936601775,-9.30322508716e-05,3.25960908089e-05,1793248178755906816
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.48307667,660,633.48307667,879.48307667,785,814.51692333,652,631,653,0.438759196715,-0.0155455161893,0.0499684333428,0.999999980773,0.000185855564412,-5.36689856899e-05,3.21270827354e-05,1793248178789239296
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.903796612,715,680.903796612,660.096203388,633.096203388,879.096203388,785,815,652,631,653,0.439642673583,-0.0155466964148,0.0499793927501,0.99999997957,0.000196575489252,-3.41841475188e-05,3.23944755962e-05,1793248178805905920
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.324892647,715,680.324892647,660.675107353,633.675107353,879.675107353,785,815,652,631,653,0.440469112094,-0.0155508699092,0.0499631856762,0.99999997871,0.000194911058606,-6.04469277856e-05,3.05921947698e-05,1793248178822572800
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.251066148,715,680.251066148,661,634,880,784.748933852,815,652,631,653,0.441296545827,-0.0155546040925,0.0499618862835,0.999999980257,0.000187131921629,-5.93925121526e-05,3.06691972203e-05,1793248178839239680
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,716,681,660.156134281,633,880.156134281,785,815.156134281,652,631,653,0.44512783106,-0.0155449124886,0.0499362447975,0.999999971664,0.000211471306535,-0.000104232158109,3.29713380894e-05,1793248178922573056
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.692271779,715.692271779,681,661,633,880.692271779,785,816,651.692271779,631,653,0.44658636106,-0.0155489651201,0.0499543123421,0.999999974095,0.000222084489022,-3.44631675724e-05,3.6070492596e-05,1793248178955906304
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766.789121399,744,715.210878601,681,661,633,880,784.789121399,815.789121399,652,631,653,0.450270497022,-0.0155437156687,0.0499666618754,0.999999960113,0.000278005156999,-2.43766777266e-05,4.35053424862e-05,1793248179055906816
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+227,3.783333333,POSE1_TO_POSE2_PRESS,767,745,715,681,660.624407265,632,880.624407265,783,816,652,629,653,0.456554862952,-0.0155679150497,0.0498117436004,0.999999944887,0.000150430649855,-0.000295452494538,1.74293551483e-05,1793248179539239424
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,745,715.201982857,681,660.798017143,632,880.798017143,783,816,652,629,653,0.456568271076,-0.0155673675839,0.0498105782129,0.999999944041,0.000151817129205,-0.000297599713623,1.74309806696e-05,1793248179555906048
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,745,715.778814598,681,660.221185402,632,880.221185402,783,816,652,629,653,0.45657830889,-0.0155655447444,0.0498093283141,0.999999943425,0.00015227330251,-0.000299453671009,1.70475624436e-05,1793248179572572672
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766.071322991,745,715.071322991,681,660,632,880.928677009,783,815.071322991,652,629,653,0.456593615889,-0.0155633480265,0.0498088986652,0.999999943057,0.000154112029694,-0.000299756079811,1.67790971481e-05,1793248179605906944
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.518317359,745,715.518317359,681,660,632,880.481682641,783,815.518317359,652,629.518317359,653,0.456592587875,-0.0155634014746,0.0498060134685,0.99999994185,0.000152815187385,-0.00030441481262,1.67164271888e-05,1793248179622573312
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.892324479,744.892324479,715.892324479,681,660,631.892324479,880,783,816,652,629.892324479,653,0.456591426348,-0.015563651363,0.0498034268061,0.999999940779,0.000151526505265,-0.00030854604999,1.67433674334e-05,1793248179639239936
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.313601915,744.313601915,715.313601915,681,660,631.313601915,880,783,816,652,629.313601915,653,0.45659471357,-0.0155641529286,0.0498039543317,0.99999994112,0.000151715958702,-0.000307324003508,1.71546007583e-05,1793248179655906560
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,744,715.263933553,681,660,631.263933553,880.263933553,783,816,652,629,653,0.456596025488,-0.0155636772788,0.0498034160748,0.999999941036,0.000151314631003,-0.000307807607204,1.69490310159e-05,1793248179672573184
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,744,715.840064921,681,660,631.840064921,880.840064921,783,816,652,629,653,0.456595000889,-0.015562045715,0.0498016171409,0.999999940444,0.000150214488873,-0.000310308764989,1.60138664393e-05,1793248179689239808
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.423920893,744.423920893,715.576079107,681,660.423920893,632,881,783,816,652,629,653,0.456594041661,-0.0155613306971,0.0498000953732,0.999999939466,0.000151977994598,-0.000312601420232,1.58269311521e-05,1793248179705906176
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,745,715,681,660.989398037,632,880.989398037,783,816,652,629.010601963,653,0.456593144404,-0.0155609682795,0.0497987250354,0.99999993836,0.000154784766036,-0.00031475101923,1.59208712493e-05,1793248179722572800
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,745,715,681,660.410397504,632,880.410397504,783,816,652,629.589602496,653,0.456594222747,-0.0155606268725,0.0497997630321,0.999999938789,0.000154526453451,-0.000313526608925,1.56581447945e-05,1793248179739240192
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.831542088,745,715,681,660,631.831542088,880,783,816,652,629.831542088,653,0.456594982926,-0.0155605088643,0.0498002275763,0.999999939161,0.000153611152369,-0.00031279310651,1.55400734835e-05,1793248179755907328
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.253039939,745,715,681,660,631.253039939,880,783,816,652,629.253039939,653,0.45659496866,-0.0155609346323,0.0497992962768,0.999999939396,0.000151096672348,-0.000313254525488,1.57741079901e-05,1793248179772573440
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.322786925,745,715.322786925,681,660.322786925,631.322786925,880.322786925,783,816,652,629,653,0.456595167288,-0.0155609487438,0.0497985928941,0.999999939161,0.00015078984063,-0.000314150541169,1.58344192907e-05,1793248179789240064
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.896533786,745,715.896533786,681,660.896533786,631.896533786,880.896533786,783,816,652,629,653,0.456595531436,-0.0155606428012,0.0497980667117,0.99999993856,0.000152199408404,-0.000315384446477,1.57596645004e-05,1793248179805906432
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.51644817,745,716,681,661,632,880.51644817,783,816,652,629,653,0.456595449485,-0.015561595484,0.049797737446,0.999999938509,0.000152010305408,-0.000315628369826,1.5912774116e-05,1793248179822572800
+245,4.083333333,HOLD_POSE2,766,745,715,680,660,632,880,783,816,652,629,653,0.456594394897,-0.0155627479186,0.0497977171713,0.999999938721,0.000148404189316,-0.000316662961602,1.60814764576e-05,1793248179866098176
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+247,4.116666667,HOLD_POSE2,767,745,716,681,660.840206206,632,881,783,816,652,629,653,0.456594171013,-0.0155612138426,0.0497970335773,0.999999937348,0.000154316725836,-0.00031816702949,1.61080531812e-05,1793248179899432960
+248,4.133333333,HOLD_POSE2,767,745,716,681,660.253786078,632,881,783,816,652,629,653,0.456594379161,-0.0155596788081,0.0497972304276,0.999999937284,0.000154056384641,-0.000318510376485,1.58253461512e-05,1793248179916099072
+249,4.150000000,HOLD_POSE2,767,744.671387776,716,681.328612224,660,632,881,783,816,652,629.328612224,653,0.456593963329,-0.0155591652398,0.0497966905965,0.999999937167,0.000152840810514,-0.000319473620261,1.55430790905e-05,1793248179932765440
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+251,4.183333333,HOLD_POSE2,766.515134756,744.484865244,716,681.515134756,660,632,881,783,815.515134756,652,630,653,0.456594520401,-0.0155602291989,0.0497967569139,0.999999937533,0.000150848788318,-0.000319283531708,1.53895852005e-05,1793248179966098176
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+256,4.266666667,HOLD_POSE2,766.38935958,745,715.61064042,681,660.61064042,632,880.38935958,783,816,652,629,653.61064042,0.456595319792,-0.0155597124066,0.0497959803499,0.99999993735,0.000150234087487,-0.000320134969492,1.56221651713e-05,1793248180049431808
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+258,4.300000000,HOLD_POSE2,767,745,715,681,660.542996948,632,881,783,816,652,629,653,0.456593067403,-0.0155589166649,0.0497942491763,0.999999936661,0.00015016897158,-0.000322307409893,1.5655186589e-05,1793248180082765312
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+260,4.333333333,HOLD_POSE2,766.308095924,744.308095924,715.691904076,681,660.308095924,632,881,783,816,651.308095924,629.691904076,653,0.456591301661,-0.0155591804678,0.0497921024195,0.999999935565,0.00014994038677,-0.000325794310913,1.57022993011e-05,1793248180116098304
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+262,4.366666667,HOLD_POSE2,766,744.86899837,716,681,660,632,880.13100163,783,816,651.86899837,629.13100163,653,0.456594764901,-0.0155589817475,0.0497957980597,0.999999937065,0.000151118501983,-0.00032062173594,1.53164098185e-05,1793248180149431296
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,681,660,632,881,783,816,652,629,653,0.456593843994,-0.015556481306,0.0497938495606,0.999999936144,0.000153274116839,-0.000322508568751,1.43767808391e-05,1793248180182039552
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766.423694974,744.423694974,715.576305026,681,660,632,880.423694974,783,816,652,629,653,0.456594087147,-0.0155575484042,0.0497936841777,0.999999936027,0.000152572247641,-0.0003231887903,1.47416174698e-05,1793248180198705920
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.745224292,744.745224292,716,680.254775708,660,632,880.745224292,783,816,652,629,653,0.456594356998,-0.0155584371107,0.0497943776203,0.999999936564,0.000150180889667,-0.000322609385939,1.55168506285e-05,1793248180232038656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,744.671179773,716,680.328820227,660,632,881,783,816,652,629,653,0.456593668687,-0.0155592242782,0.0497939739058,0.999999936562,0.00014849697672,-0.000323393572337,1.55192594106e-05,1793248180248705024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,744.091852994,716,680.908147006,660,632,881,783,816,652,629,653,0.456592401133,-0.0155605483833,0.0497927717084,0.999999936179,0.000146659784244,-0.000325425395282,1.52181159703e-05,1793248180265371392
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,744.483846278,716,681.483846278,660,632,881,783,816,652,629,653,0.456592383874,-0.015559093682,0.0497928693661,0.999999936019,0.000148236939126,-0.00032521451717,1.49740397069e-05,1793248180282038272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,745,715.941194805,681.941194805,660.058805195,632,881,783,815.941194805,652,629,653,0.456592279959,-0.0155575211804,0.0497930078314,0.999999935869,0.000149949274833,-0.000324898787247,1.47835633094e-05,1793248180298704640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,745,715.366734274,681.366734274,660.633265726,632,881,783,815.366734274,652,629,653,0.456589350323,-0.0155595070936,0.0497913563985,0.999999935468,0.000147205507378,-0.000327369214147,1.49688059287e-05,1793248180315371520
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,881,783,816,652,629,653,0.456523375102,-0.0155537962567,0.049759292115,0.99999991672,0.000150763242196,-0.000379066050346,1.18418655385e-05,1793248180365372160
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..762e2be53f2f952f3172d58f143ed7e73fb2a2f9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.583247723046,-0.0100721410912,1.04004245452,0.553819513517,-0.00139768651581,1.03966583056
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee7cf2a366b5f58478b3409f3d9dd10977be5aec
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef99223020243a1e955e687c3318ed06b4bf30259fe1b8f507ecbbc5d00f8409
+size 25736828
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4879d8dca8bff11e2480588981983c1411703794
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,766,744.167837886,716,679.167837886,659,634,878,784.167837886,811,652,629,652,0.40099913158,-0.0154994199076,0.0698360396511,0.999999981441,5.82860277983e-05,-0.000183371605304,9.7984457848e-06,1793248184495871744
+22,0.366666667,BASELINE,766,744.764029986,716,679.764029986,659,634,878,784.764029986,811,652,629,652,0.400998886941,-0.0154982466769,0.0698359354916,0.99999998139,5.80156304873e-05,-0.000183737764766,9.77165058944e-06,1793248184512537856
+23,0.383333333,BASELINE,766,745,716,679.65154001,659.34845999,634,878,785,811,652,629,652,0.400998853671,-0.0154974967742,0.0698356011898,0.999999981276,5.89757297855e-05,-0.000184055840091,9.67590392535e-06,1793248184529204480
+24,0.400000000,BASELINE,766,745,716,679.074814922,659.925185078,634,878,785,811,652,629,652,0.400998958861,-0.0154970241802,0.0698351161289,0.999999981119,6.07418883938e-05,-0.000184342417055,9.53498933632e-06,1793248184545871104
+25,0.416666667,BASELINE,766,744.498654193,716,679,659.498654193,634,878.501345807,785,811,652,629,652.501345807,0.400999208593,-0.0154977375358,0.0698356931486,0.999999981269,6.03007670744e-05,-0.000183656599401,9.75663459649e-06,1793248184562537728
+26,0.433333333,BASELINE,766,744.076946489,716,679.076946489,659,634,878.923053511,785,811,652,629,653,0.400999350192,-0.0154984749467,0.0698362910288,0.999999981431,5.96566172189e-05,-0.000182974559414,9.95909311299e-06,1793248184579204608
+27,0.450000000,BASELINE,766,744.649482147,716,679.649482147,659,634,878.350517853,785,811,652,629,653,0.400998656584,-0.0154982287168,0.0698360036107,0.999999981373,5.98239271904e-05,-0.000183250400296,9.68989902311e-06,1793248184595870976
+28,0.466666667,BASELINE,766,744.770308169,716,679.770308169,659,634,878,785,811,652,629,653,0.400998854907,-0.0154984630246,0.0698361364544,0.999999981457,5.91528065689e-05,-0.000183021883528,9.49643096608e-06,1793248184612537344
+29,0.483333333,BASELINE,766,744.177982899,716,679.177982899,659,634,878,785,811,652,629,653,0.401000461393,-0.0154994559969,0.0698369328001,0.999999981761,5.71579864073e-05,-0.000181997095723,9.42251785898e-06,1793248184629203968
+30,0.500000000,BASELINE,766,744,716,679,659,634,878,785,811,651.595555047,629,652.595555047,0.401001109141,-0.0154994007953,0.0698373228562,0.999999981903,5.65803462025e-05,-0.000181398821536,9.36277113205e-06,1793248184645870848
+31,0.516666667,BASELINE,766,744,716,679,659,634,878,785,811,651.017378697,629,652.017378697,0.401001345059,-0.0154988953454,0.0698375383884,0.999999981977,5.66114629463e-05,-0.000180983758481,9.30910964807e-06,1793248184662537472
+32,0.533333333,BASELINE,766,744,716,679,659,634,878.559522855,785,811,651.559522855,629,652.559522855,0.400999180221,-0.0154966175597,0.0698358063036,0.999999981204,5.99155515296e-05,-0.000184165780876,9.18527442345e-06,1793248184679204352
+33,0.550000000,BASELINE,766,744,716,679,658.861316551,634,878.861316551,785,811,652,629,653,0.400997392336,-0.0154956285038,0.0698345547399,0.999999980659,6.16976749126e-05,-0.000186523254378,9.15202765243e-06,1793248184695870720
+34,0.566666667,BASELINE,766,744,716,679,658.274732548,634,878.274732548,785,811,652,629,653,0.400997062159,-0.0154989789931,0.069835050024,0.999999980988,5.82367910159e-05,-0.000185857700197,9.41837424447e-06,1793248184712537600
+35,0.583333333,BASELINE,766,744,716,679,658.307985843,634,878,785,811,651.692014157,629,652.692014157,0.400997470405,-0.0154992808869,0.0698357115799,0.999999981086,5.83929663735e-05,-0.000185275479256,9.54930706631e-06,1793248184729204224
+36,0.600000000,BASELINE,766,744,716,679,658.887298802,634,878,785,811,651.112701198,629,652.112701198,0.400998529183,-0.0154968970517,0.069836519617,0.999999980979,6.17356717621e-05,-0.000184766672549,9.56094408481e-06,1793248184745870592
+37,0.616666667,BASELINE,766,744.460029122,716,679.460029122,658.539970878,634.460029122,878,785,811,651,629,652,0.400999078674,-0.0154973187031,0.0698366376848,0.999999981076,6.19241432474e-05,-0.000184181773586,9.544937855e-06,1793248184762537472
+38,0.633333333,BASELINE,766,744.968366792,716,679.968366792,658.031633208,634.968366792,878,785,810.968366792,651.031633208,629,652.031633208,0.400999474388,-0.0154982816387,0.0698365818806,0.999999981217,6.14029705978e-05,-0.000183587514667,9.51744959631e-06,1793248184779204352
+39,0.650000000,BASELINE,766,744.388729458,716,679.388729458,658.611270542,634.388729458,878,785,810.388729458,651.611270542,629,652.611270542,0.400999337095,-0.0154968828745,0.0698364009454,0.999999981275,6.17861130578e-05,-0.000183149491993,9.40671526616e-06,1793248184795870976
+40,0.666666667,BASELINE,766,744.194657366,716,679,659,634,878,785,810.194657366,651.805342634,629,652.805342634,0.400998459523,-0.0154960753114,0.069835917481,0.999999981142,6.21751727984e-05,-0.000183745243092,9.35046202605e-06,1793248184812537600
+41,0.683333333,BASELINE,766,744.785678921,716,679,659,634,878,785,810.785678921,651.214321079,629,652.214321079,0.400996074586,-0.0154964715608,0.069834818002,0.999999980617,6.25762813699e-05,-0.000186445979569,9.40514398874e-06,1793248184829204224
+42,0.700000000,BASELINE,766,744.630813801,715.630813801,679,659,634,878,785,811,651.369186199,629,652.369186199,0.400996588248,-0.0154971327393,0.0698353244308,0.999999980689,6.26220125604e-05,-0.000186042228041,9.40814046441e-06,1793248184845870592
+43,0.716666667,BASELINE,766,744.051581738,715.051581738,679,659,634,878,785,811,651.948418262,629,652.948418262,0.400998751047,-0.0154979446473,0.0698367445295,0.999999981101,6.24655543013e-05,-0.000183872200027,9.38173084758e-06,1793248184862536704
+44,0.733333333,BASELINE,766,744,715.522227488,679,659,634,878,785,810.477772512,652,629,652.477772512,0.400999854658,-0.0154981347504,0.0698370341125,0.999999981284,6.09550092172e-05,-0.000183360510772,9.72035840936e-06,1793248184879203840
+45,0.750000000,BASELINE,766,744.095655232,716,679.095655232,659,634,878,785,810.095655232,652,628.904344768,652,0.401000165082,-0.0154979912312,0.0698368838673,0.999999981297,5.99687714613e-05,-0.000183605841636,9.92550448615e-06,1793248184895870720
+46,0.766666667,BASELINE,766,744.669826365,716,679.669826365,659,634,878,785,810.669826365,652,628.330173635,652,0.400997025556,-0.0154964828474,0.0698350862375,0.999999980566,6.2267576931e-05,-0.00018682718957,9.28439355892e-06,1793248184912537344
+47,0.783333333,BASELINE,766,745,716,679.747520424,659,634,878,785,811,652,628.252479576,652.252479576,0.400996468715,-0.0154962976535,0.0698346329562,0.999999980371,6.33602289574e-05,-0.000187506416787,9.19159990721e-06,1793248184929204224
+48,0.800000000,BASELINE,766,745,716,679.15338931,659,634,878,785,811,652,628.84661069,652.84661069,0.400999406724,-0.0154979029799,0.0698359988266,0.999999980913,6.28207327462e-05,-0.000184745685227,9.84078079388e-06,1793248184945870848
+49,0.816666667,BASELINE,766,745,715.572100414,679,659,634.427899586,878,785,811,652,629,652.572100414,0.400999024842,-0.015498014117,0.0698358342936,0.999999980858,6.24849182493e-05,-0.000185158780748,9.76725372684e-06,1793248184962537472
+50,0.833333333,BASELINE,766,745,715.004704974,679,659,634.995295026,878,785,811,652,629,652,0.400997503272,-0.0154976104192,0.0698351467503,0.999999980599,6.22193041121e-05,-0.000186657558851,9.44478122762e-06,1793248184979204096
+51,0.850000000,BASELINE,766,745,715.579806477,679,659,634.420193523,878,785,811,652,629,652,0.400997887141,-0.0154978348181,0.0698356241157,0.999999980768,6.18705181403e-05,-0.000185866308791,9.43450943022e-06,1793248184995870464
+52,0.866666667,BASELINE,766,744.841311069,715.841311069,679,659,634,878,785,811,652,629,652,0.4009984039,-0.015498075341,0.0698363184437,0.999999980997,6.12827773606e-05,-0.000184825891888,9.50005368188e-06,1793248185012537088
+53,0.883333333,BASELINE,766,744.252172684,715.252172684,679,659,634,878,785,811,652,629,652,0.400999281129,-0.0154983596012,0.0698376012907,0.999999981385,6.00468630605e-05,-0.000183109600975,9.77125170341e-06,1793248185029203968
+54,0.900000000,BASELINE,766,744.330909073,715,679,659,634,878.330909073,785,811,652,629,652.330909073,0.400999075288,-0.0154971566009,0.0698375862351,0.999999981392,6.04834901837e-05,-0.000182936033771,9.55720441263e-06,1793248185045870592
+55,0.916666667,BASELINE,766,744.909458248,715,679,659,634,878.909458248,785,811,652,629,652.909458248,0.400998058917,-0.0154948405898,0.0698365998771,0.999999981114,6.21717854486e-05,-0.000183916983959,8.98001748094e-06,1793248185062537984
+56,0.933333333,BASELINE,766,745,715.487211652,679,659,634,878.512788348,785,811,651.512788348,629,652.512788348,0.400996985456,-0.0154959974571,0.0698355207568,0.999999980922,6.09023200415e-05,-0.000185375905825,9.04904977089e-06,1793248185079204608
+57,0.950000000,BASELINE,766,745,716,679,659,634,878,785,811,651,629.064189249,652,0.400996217108,-0.0154975590525,0.0698346983179,0.999999980791,5.94512756175e-05,-0.000186543470488,9.23199510007e-06,1793248185095871232
+58,0.966666667,BASELINE,766,745,716,679,659,634,878,785,811,651,629.636196939,652,0.400997946403,-0.0154972250488,0.0698360427125,0.999999981044,6.09051303915e-05,-0.000184704459281,9.36761265214e-06,1793248185112537600
+59,0.983333333,BASELINE,766,744.784157689,716,679.215842311,659,634,878,785,811,651.215842311,629.784157689,652.215842311,0.400998799896,-0.0154968180746,0.0698366030803,0.999999981086,6.21557949839e-05,-0.000184054208829,9.3747853062e-06,1793248185129203712
+60,1.000000000,BASELINE,766,744.191166637,716,679.808833363,659,634,878,785,811,651.808833363,629.191166637,652.808833363,0.400998123071,-0.0154962835964,0.0698357934915,0.999999980769,6.30514185781e-05,-0.000185481120897,9.15752176582e-06,1793248185145870080
+61,1.016666667,BASELINE,765.625212524,744.374787476,716,679.625212524,659,634,878,785,810.625212524,652,629,653,0.400998115627,-0.015495958135,0.0698358436146,0.999999980776,6.27557096382e-05,-0.000185551719994,8.9840016704e-06,1793248185162537216
+62,1.033333333,BASELINE,765.072121179,744.927878821,716,679.072121179,659,634,878,785,810.072121179,652,629,653,0.40099842664,-0.0154957321127,0.0698363027428,0.999999980937,6.18932282358e-05,-0.000184977057712,8.83129238345e-06,1793248185179203840
+63,1.050000000,BASELINE,765,744.496978901,716,679.503021099,659,634,878,785,810,652,629,653,0.400999187405,-0.0154959351977,0.0698367022116,0.999999981079,6.29980371113e-05,-0.000183820099156,9.14360868479e-06,1793248185195870720
+64,1.066666667,BASELINE,765,744.086205909,716,679.913794091,659,634,878,785,810.086205909,651.913794091,629,653,0.400999826653,-0.0154962469632,0.0698370966721,0.99999998121,6.37707929666e-05,-0.000182821754145,9.4441837983e-06,1793248185212537600
+65,1.083333333,BASELINE,765,744.698281098,716,679.301718902,659,634,878,785,810.698281098,651.301718902,629,653,0.400999313237,-0.0154968291868,0.0698375151528,0.99999998131,6.07184660011e-05,-0.000183323610821,9.24777033629e-06,1793248185229204480
+66,1.100000000,BASELINE,765,745,716,678.704370804,659,634,878,785,811,651.295629196,629,652.704370804,0.4009991782,-0.015496705737,0.0698375952251,0.999999981308,6.07155889912e-05,-0.000183333557457,9.2757214095e-06,1793248185245871104
+67,1.116666667,BASELINE,765,745,716,678.121339967,659,634,878,785,811,651.878660033,629,652.121339967,0.400999411013,-0.0154958962531,0.0698373463071,0.999999981207,6.36772939056e-05,-0.000182865284209,9.52179281596e-06,1793248185262537472
+68,1.133333333,BASELINE,765.455104958,745,716,678.455104958,659,634.455104958,878.455104958,785,811,652,629,652.455104958,0.40099886468,-0.0154975997488,0.069836843703,0.999999981136,6.17387231228e-05,-0.000183916568891,9.48923849255e-06,1793248185279204096
+69,1.150000000,BASELINE,766,744.970150425,715.970150425,679,658.970150425,634.970150425,878.970150425,785,811,652,629,653,0.400998169065,-0.0154997470297,0.0698363244134,0.999999981067,5.87611897236e-05,-0.000185267649615,9.38250951215e-06,1793248185295870720
+70,1.166666667,BASELINE,766,744.394847827,715.394847827,679,658.394847827,634.394847827,878.394847827,785,811,652,629,653,0.400998487447,-0.0154979350652,0.0698367185632,0.999999981062,6.03321016297e-05,-0.000184799268145,9.25847167161e-06,1793248185312537344
+71,1.183333333,BASELINE,766,744,715.184423492,679,658.184423492,634,878,785,810.815576508,652,629.184423492,653,0.400998750409,-0.0154968974379,0.069837113865,0.999999981098,6.13176387474e-05,-0.000184281742965,9.14141501489e-06,1793248185329204224
+72,1.200000000,BASELINE,766,744,715.772378765,679,658.772378765,634,878,785,810.227621235,652,629.772378765,653,0.40099889211,-0.0154975541156,0.0698375116876,0.999999981232,6.10223342904e-05,-0.000183656687745,9.03963366368e-06,1793248185345871104
+73,1.216666667,BASELINE,766,744.354778807,716,679,659,634,878,785,810.354778807,652,629.645221193,652.645221193,0.400999017667,-0.0154971101575,0.0698373292883,0.999999981115,6.22157225613e-05,-0.000183893247626,9.1207213246e-06,1793248185362537728
+74,1.233333333,BASELINE,766,744.933669602,716,679,659,634,878,785,810.933669602,652,629.066330398,652.066330398,0.400999133026,-0.0154959709332,0.0698367803659,0.999999980834,6.43495105595e-05,-0.000184674085472,9.31732642695e-06,1793248185379204352
+75,1.250000000,BASELINE,766,744.488726105,716,679.511273895,659,634,878,785,811,652,629,652.511273895,0.400999280556,-0.0154964198105,0.0698370405356,0.999999981055,6.13350631041e-05,-0.000184511899235,9.1136863091e-06,1793248185395870976
+76,1.266666667,BASELINE,766,744,716,679.911815147,659,634.088184853,878,785,811,652,629,653,0.400999314675,-0.015496997336,0.0698372614468,0.999999981237,5.8817536828e-05,-0.000184353529822,8.950271308e-06,1793248185412537600
+77,1.283333333,BASELINE,766,744,716,679.337806696,659,634.662193304,878,785,811,652,629,653,0.400998701065,-0.0154971513839,0.0698366892443,0.999999980899,6.27080001325e-05,-0.000184888506212,9.29381281366e-06,1793248185429204224
+78,1.300000000,BASELINE,766,744.243187743,716,679.243187743,659,634.756812257,877.756812257,785,811,652,629,653,0.400997764938,-0.0154968717939,0.0698361958909,0.999999980606,6.47933669824e-05,-0.000185749748127,9.35322359631e-06,1793248185445870848
+79,1.316666667,BASELINE,766,744.834173224,716,679.834173224,659,634.165826776,877.165826776,785,811,652,629,653,0.40099636756,-0.0154959720318,0.0698358153046,0.999999980393,6.42971541145e-05,-0.000187077602383,9.0062815393e-06,1793248185462537472
+80,1.333333333,BASELINE,766,744.584246016,716,679.584246016,659,634,877.415753984,785,811,652,629,652.584246016,0.400996909799,-0.0154966487467,0.0698365010278,0.999999980675,6.28963419857e-05,-0.000186032491939,9.24052157826e-06,1793248185479204352
+81,1.350000000,BASELINE,766,744.006333379,716,679.006333379,659,634,877.993666621,785,811,652,629,652.006333379,0.400998208558,-0.015497940343,0.0698376026492,0.999999981144,6.1142704337e-05,-0.000184061842044,9.70144301472e-06,1793248185495871232
+82,1.366666667,BASELINE,765.432838886,744,716,679,659,634,878.567161114,785,811,652,629,652,0.40099809529,-0.0154969011046,0.0698370610588,0.999999980914,6.29847571102e-05,-0.000184701633846,9.52748345062e-06,1793248185512537856
+83,1.383333333,BASELINE,765.14469135,744.14469135,716,679,659,634,878.710617301,785,811,652,629,652.14469135,0.400998169222,-0.0154962478557,0.0698368039007,0.999999980822,6.37211950901e-05,-0.000184953478879,9.33673195195e-06,1793248185529204480
+84,1.400000000,BASELINE,765.734795926,744.734795926,716,679,659,634,877.530408147,785,811,652,629,652.734795926,0.400998867592,-0.015496862329,0.0698374783795,0.999999981188,6.09314958909e-05,-0.000183922039407,9.11594433799e-06,1793248185545871104
+85,1.416666667,BASELINE,766,745,716,679,659,634.319006066,877.319006066,785,811,652,629,653,0.400998864283,-0.0154962893737,0.0698374310985,0.999999981222,6.11343491302e-05,-0.000183678918115,8.99893117757e-06,1793248185562537472
+86,1.433333333,BASELINE,766,745,716,679,659,634.898404764,877.898404764,785,811,652,629,653,0.400998288219,-0.0154947471653,0.0698367946719,0.999999980983,6.37799103314e-05,-0.000184079271309,8.96662520655e-06,1793248185579203840
+87,1.450000000,BASELINE,766,745,715.525375785,679,658.525375785,634.525375785,878,785,811,652,629.474624215,652.525375785,0.400997715044,-0.0154950664107,0.0698364751672,0.999999980772,6.48946830649e-05,-0.000184829358322,9.04785626396e-06,1793248185595870720
+88,1.466666667,BASELINE,766,744.94985786,715.05014214,679,658.05014214,634.05014214,877.94985786,785,811,652,629.94985786,652.05014214,0.400997285011,-0.0154955951192,0.0698362875003,0.999999980596,6.56719261061e-05,-0.000185502092059,9.13053608946e-06,1793248185612537600
+89,1.483333333,BASELINE,766,744.374607202,715.625392798,679,658.625392798,634.625392798,877.374607202,785,811,652,629.374607202,652.625392798,0.400998347574,-0.0154941724288,0.0698367747894,0.999999980724,6.6323097186e-05,-0.000184585983825,8.97557012553e-06,1793248185629204224
+90,1.500000000,BASELINE,766,744.205982173,716,679,659,634.794017827,877.205982173,785,811,652,629,653,0.400998563309,-0.0154938143532,0.0698366787911,0.999999980751,6.60008477442e-05,-0.000184561688743,8.86851733026e-06,1793248185645870848
+91,1.516666667,BASELINE,766,744.79653902,716,679,659,634.20346098,877.79653902,785,811,652,629,653,0.40099719799,-0.0154954439447,0.0698354937782,0.999999980586,6.38611939624e-05,-0.00018620243471,8.85091982394e-06,1793248185662537728
+92,1.533333333,BASELINE,766,744.619874595,716,679,659,634,878,785,811.380125405,652,629,652.619874595,0.40099642745,-0.0154960188183,0.0698352119321,0.999999980478,6.32052182483e-05,-0.00018700582052,8.78682857209e-06,1793248185679204864
+93,1.550000000,BASELINE,766,744.039951895,716,679,659,634,878,785,811.960048105,652,629,652.039951895,0.40099596953,-0.0154960393229,0.0698354047984,0.999999980403,6.3329076737e-05,-0.00018736908253,8.69829979216e-06,1793248185695871744
+94,1.566666667,BASELINE,765.464451206,744,716,679.535548794,659,634,878,785,811.464451206,652,629,652.535548794,0.400997896698,-0.0154964706189,0.0698362243124,0.999999980735,6.39153772723e-05,-0.000185373164948,8.97902162966e-06,1793248185712538112
+95,1.583333333,BASELINE,765,744.112915512,716,679.887084488,659,634.112915512,877.887084488,785,811,651.887084488,629.112915512,652.887084488,0.400999210315,-0.0154965740204,0.0698367574903,0.999999980918,6.46867897416e-05,-0.000184108329062,9.14166871181e-06,1793248185729204480
+96,1.600000000,BASELINE,765,744.699482359,716,679.300517641,659,634.699482359,877.300517641,785,811,651.300517641,629.699482359,652.300517641,0.400997210005,-0.0154951744942,0.0698358950738,0.99999998036,6.60911733704e-05,-0.000186642396875,8.69442052309e-06,1793248185745870848
+97,1.616666667,BASELINE,765.282578654,745,716,679.282578654,659,634.717421346,877.282578654,785,811,651.282578654,629.717421346,652.282578654,0.400996815956,-0.015495482455,0.0698358537738,0.999999980342,6.53144543643e-05,-0.000187014648488,8.74100002855e-06,1793248185762537216
+98,1.633333333,BASELINE,765.862028819,745,716,679.862028819,659,634.137971181,877.862028819,785,811,651.862028819,629.137971181,652.862028819,0.400998109414,-0.0154975842677,0.0698366751225,0.999999980885,6.22463122428e-05,-0.000185115738862,9.30638511065e-06,1793248185779203840
+99,1.650000000,BASELINE,766,745,716,680,659,634,878.440773822,784.559226178,810.559226178,652,629,653,0.400998988696,-0.0154976250429,0.069837140684,0.99999998102,6.29507209992e-05,-0.000184153884404,9.18172461806e-06,1793248185795870976
+100,1.666666667,BASELINE,766,745,716,680,659,634,878.980893709,784.019106291,810.019106291,652,629,653,0.400999698162,-0.0154970100191,0.0698374751868,0.999999981028,6.47062335684e-05,-0.00018351733184,8.8436185278e-06,1793248185812538112
+101,1.683333333,BASELINE,766,745,716,680,659,634,878.408129179,784.591870821,810.591870821,652,629,653,0.40099923757,-0.0154960564552,0.0698372339631,0.999999981099,6.27556250622e-05,-0.000183821196988,8.56948681094e-06,1793248185829204480
+102,1.700000000,BASELINE,765.830251725,745,716,679.830251725,659,634,878,785,811,652,629,653,0.40099875549,-0.0154953144368,0.0698369833702,0.999999981054,6.18336829762e-05,-0.000184381347355,8.48422806252e-06,1793248185845870848
+103,1.716666667,BASELINE,765.239699482,745,716,679.239699482,659,634,878,785,811,652,629,653,0.400998220144,-0.0154950968378,0.0698367095515,0.999999980728,6.34617930973e-05,-0.00018557682571,8.86718321482e-06,1793248185862537472
+104,1.733333333,BASELINE,765.344381177,745,716,679,658.655618823,634,878,785,811,652,629.344381177,653,0.400998219747,-0.0154960357873,0.0698367998053,0.99999998071,6.37342938675e-05,-0.000185567718357,9.05720510222e-06,1793248185879204096
+105,1.750000000,BASELINE,765.924040566,745,716,679,658.075959434,634,878,785,811,652,629.924040566,653,0.400998584821,-0.0154977648806,0.0698371387904,0.999999980905,6.30806543394e-05,-0.000184735648695,9.11541670757e-06,1793248185895870464
+106,1.766666667,BASELINE,766,744.498832958,716,679,658.501167042,634,879.002334085,784.498832958,811,652,629.498832958,653,0.400998789153,-0.0154964718297,0.0698374103237,0.999999980875,6.48018171914e-05,-0.000184297485024,9.23571287787e-06,1793248185912537088
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,811,652,629,652,0.400998904863,-0.0154982605155,0.0698376854887,0.999999981059,6.24884103704e-05,-0.000184110157445,9.03201308936e-06,1793248185956671488
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.396215277,716,679,659,634.603784723,878,785,811,651.396215277,629.603784723,652.603784723,0.40100052397,-0.0154967486716,0.0698387968559,0.999999981542,6.29374154282e-05,-0.000181313126306,8.95247760842e-06,1793248185973338112
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.199308025,716,679,659,634.800691975,878,785,811,651.199308025,629.800691975,653,0.40100120236,-0.0154958425888,0.0698392272269,0.999999981729,6.35335207049e-05,-0.000180070368623,8.98608992962e-06,1793248185990004736
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.779061758,716,679,659,634.220938242,878,785,811,651.779061758,629.220938242,653,0.401000085081,-0.0154960928023,0.0698383576904,0.999999981358,6.44104157939e-05,-0.000181794458721,9.23568248138e-06,1793248186006670848
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.643178576,716,679,659,634,878,785,811,652,629,652.643178576,0.400999320219,-0.0154961102227,0.0698380631523,0.999999981121,6.50736057591e-05,-0.000182860989767,9.27960399456e-06,1793248186023336960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.066646779,716,679,659,634,878,785,811,652,629,652.066646779,0.400998772355,-0.0154959843024,0.0698381226657,0.999999980965,6.56052081907e-05,-0.00018352263318,9.19688494504e-06,1793248186040003328
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,716,679.519095373,659,634,878,784.480904627,811,652,629,652,0.400998714385,-0.0154957744568,0.0698373660433,0.999999980941,6.40339477548e-05,-0.00018422072304,8.95871666206e-06,1793248186056669696
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.895346161,634,878,784.104653839,811,652,629,652.104653839,0.40099879293,-0.0154957202281,0.0698368745022,0.999999980898,6.25451944498e-05,-0.000184972024591,8.80788116688e-06,1793248186073336576
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658.316080412,634,878,784.683919588,811,652,629,652.683919588,0.400999200184,-0.0154964214807,0.0698380689074,0.999999980707,6.26771423316e-05,-0.00018594304001,9.14525203182e-06,1793248186090003200
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658.262107465,634,878,785,811,651.737892535,629,653,0.401002120047,-0.015497290925,0.0698400704898,0.999999980265,6.25691893903e-05,-0.00018831847721,9.51827340558e-06,1793248186106669824
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.839000797,634,878,785,811,651.160999203,629,653,0.401008057504,-0.0154983623641,0.0698430414758,0.999999979513,6.21731203082e-05,-0.000192380597044,9.93411030893e-06,1793248186123336448
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.58584579,744,715.58584579,679.58584579,659,634,877.58584579,785,811,651.41415421,629,653,0.401031243449,-0.0154995203598,0.0698525405395,0.999999980699,6.19422932641e-05,-0.000186150543353,1.06699744225e-05,1793248186140003840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.011365878,744,715.011365878,679.011365878,659,634,877.011365878,785,811,651.988634122,629,653,0.40106110656,-0.0155007118631,0.0698645667264,0.999999982549,6.17754340104e-05,-0.000175936225439,1.15297262078e-05,1793248186156671232
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.578529305,744,715.578529305,679.578529305,659,634,877.578529305,785,811,652,629,652.421470695,0.401114697787,-0.0155018828135,0.0698815236731,0.999999986026,6.24668057613e-05,-0.000154569499032,1.23765571401e-05,1793248186173337600
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.165639156,716,680,659,634,878,785,811,652,629,652.165639156,0.401173325445,-0.0155036357328,0.0698968894064,0.999999988811,6.2995716332e-05,-0.00013505864281,1.30094086637e-05,1793248186190003968
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.745014705,716,680,659,634,878,785,811,652,629,652.745014705,0.401243336926,-0.0155068433401,0.0699080319943,0.999999990635,6.30755602424e-05,-0.000120745665846,1.31084302644e-05,1793248186206670336
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,679.679190577,659,634,878,785,811,652,629,652.679190577,0.401324289796,-0.0155097699341,0.0699152163767,0.999999991764,6.33596933497e-05,-0.000110924679558,1.24106820357e-05,1793248186223336960
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,716,679.106210589,659,634,878,785,811,652,629,652.106210589,0.401413843082,-0.0155124756386,0.0699192894315,0.999999992429,6.380440691e-05,-0.000104634599872,1.10866370526e-05,1793248186240003584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.520247812,745,716,679,659,634,878.479752188,785,810.520247812,652,629,652.479752188,0.401512235479,-0.0155150181696,0.0699195802033,0.999999992125,6.30780034412e-05,-0.000108140669479,8.77522611741e-06,1793248186256670720
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.067582292,744.932417708,716,679,659,634,878.932417708,785,810.067582292,652,629,653,0.401616489604,-0.015517413977,0.0699189674294,0.999999991578,6.25523848515e-05,-0.000113545757613,6.18161111287e-06,1793248186273337600
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.64717843,744.35282157,716,679,659,634,878.35282157,785,810.64717843,652,629,653,0.401749915268,-0.0155189794792,0.0699180295657,0.999999991065,6.55668420712e-05,-0.000116450436952,3.15210316017e-06,1793248186290004224
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.225872101,716,679,659,634.225872101,877.774127899,785,810.774127899,652,629,653,0.401899601034,-0.0155205908791,0.069919292622,0.999999991027,6.74725009584e-05,-0.00011573048133,3.93129667689e-08,1793248186306670592
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.803161637,716,679,659,634.803161637,877.196838363,785,810.196838363,652,629,653,0.40207458466,-0.0155222736873,0.0699239799247,0.999999991725,6.76530635218e-05,-0.000109371228149,-3.20304952664e-06,1793248186323337216
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.621165785,715.621165785,679,658.621165785,634.621165785,877.378834215,785,810.378834215,652,629,652.621165785,0.402262895235,-0.0155243937104,0.0699254982219,0.999999991879,6.67796934913e-05,-0.000108312513302,-7.07294394868e-06,1793248186340003584
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.046329738,715.046329738,679,658.046329738,634.046329738,877.953670262,785,810.953670262,652,629,652.046329738,0.402458100943,-0.0155267399405,0.0699253769346,0.999999991751,6.53610382039e-05,-0.000109996198586,-1.12675121043e-05,1793248186356670208
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.541894711,715.541894711,679,658.541894711,634,878.541894711,785,811,652,629,652,0.402686465631,-0.015525587436,0.0699274547675,0.999999993069,4.69520296634e-05,-0.000106754794201,-1.61720753963e-05,1793248186373336832
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.870998412,679,659,634,879,785,811,652,629,652.129001588,0.402930062429,-0.0155231586522,0.0699311518089,0.999999994298,2.95550099272e-05,-0.000100446196953,-2.10192331229e-05,1793248186390003712
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.29188588,679,659,634,879,785,811,652,629,652.70811412,0.403216664735,-0.0155173468389,0.0699398259347,0.99999999585,2.08858123432e-05,-8.49420104947e-05,-2.54489284634e-05,1793248186406670848
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.714597238,715,679,659,634,878.714597238,784.714597238,811,652,629,653,0.403521886858,-0.0155147239372,0.0699476031117,0.999999996781,1.70295422885e-05,-7.27059787273e-05,-2.93432748183e-05,1793248186423337984
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.139162109,715,679,659,634,878.139162109,784.139162109,811,652,629,653,0.403846030819,-0.0155153416759,0.0699544687897,0.999999997268,1.80642722648e-05,-6.37911163394e-05,-3.26935878661e-05,1793248186440004864
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,715,679,659.431471561,634,878,784.431471561,811,652,629,652.568528439,0.404187612303,-0.0155196194212,0.0699562317394,0.999999997391,1.19523457699e-05,-6.36922778305e-05,-3.19118496726e-05,1793248186456670976
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.000602616,715.000602616,679,660,634,878,785,811,652,629,652.000602616,0.404534805533,-0.0155250591524,0.0699563725512,0.999999997345,3.56376052558e-06,-6.6393204155e-05,-2.98167970792e-05,1793248186473337344
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.598435946,715.598435946,679,660,634,878,785,811,652,629,652.598435946,0.404931097325,-0.0155250672033,0.0699619912622,0.999999997858,-1.87409453552e-06,-5.68394481611e-05,-3.24043389918e-05,1793248186490004224
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659.81695579,634,878.18304421,785,811,651.81695579,629,652.81695579,0.405338651418,-0.0155241152302,0.0699651313614,0.999999998092,-4.38514630504e-06,-5.0893159581e-05,-3.47298247632e-05,1793248186506671360
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659.259405886,634,878.740594114,785,811,651.259405886,629,652.259405886,0.405769247962,-0.0155211990622,0.0699632002573,0.999999997964,-9.08001982754e-07,-5.23276961465e-05,-3.65191473083e-05,1793248186523339520
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.681825254,715.681825254,679,659.318174746,634,879,785,811,651.318174746,629,652.318174746,0.40621742793,-0.0155180527129,0.0699531316298,0.999999996776,5.63996713454e-06,-7.04574279855e-05,-3.80950958633e-05,1793248186540006144
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.086816438,715.086816438,679,659.913183562,634,879,785,811,651.913183562,629,652.913183562,0.406680906744,-0.0155147060897,0.069935982793,0.999999993794,1.48597669338e-05,-0.000103113136336,-3.94853944334e-05,1793248186556671744
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.503850358,715.503850358,679,659.496149642,634,878.496149642,785,811,652,629,653,0.407191004061,-0.0155152498227,0.0699278471269,0.999999993153,1.34535394211e-05,-0.000108606293477,-4.14355912909e-05,1793248186573338368
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.907994631,715.907994631,679,659.092005369,634,878.092005369,785,811,652,629,652.907994631,0.407721339809,-0.0155168612212,0.0699248025585,0.999999993569,9.14399530552e-06,-0.000104400774625,-4.33481054362e-05,1793248186590004992
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.329204278,715.329204278,679,659.670795722,634,878.670795722,785,811,652,629,652.329204278,0.408316617617,-0.0155206051491,0.0699405475502,0.999999996311,-9.22144570915e-07,-7.3432141214e-05,-4.45551816363e-05,1793248186606672384
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.751278026,744.248721974,715,679.248721974,659.751278026,634,879,785,811.248721974,652,629,652.248721974,0.408920083827,-0.0155233542658,0.0699512706071,0.999999997653,-8.12811966055e-06,-5.08488186586e-05,-4.52031500299e-05,1793248186623339520
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.17449156,744.82550844,715,679.82550844,659.17449156,634,879,785,811.82550844,652,629,652.82550844,0.409534350512,-0.0155247912254,0.0699553697268,0.999999998142,-1.15615343895e-05,-3.93257301002e-05,-4.51136547288e-05,1793248186640006400
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.400752026,744.599247974,715.400752026,679.599247974,659.400752026,634,879,785,811.599247974,652,629,653,0.410168838223,-0.0155250681396,0.069951704528,0.99999999796,-5.8804816103e-06,-4.50833098509e-05,-4.48684192248e-05,1793248186656672512
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.975326387,744.024673613,715.975326387,679.024673613,659.975326387,634,879,785,811.024673613,652,629,653,0.410812096593,-0.0155248418951,0.0699446716305,0.999999997299,3.75388384111e-06,-5.83362134964e-05,-4.45556329006e-05,1793248186673337856
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.566276435,716,679.566276435,659.433723565,634,879,785,811.566276435,651.433723565,629,653,0.411505233088,-0.0155334260427,0.0699574341846,0.999999998208,-1.70490141811e-05,-3.73706173248e-05,-4.35517569084e-05,1793248186690004992
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.846395889,716,680,659,634,879,785,811.846395889,651.153604111,629,652.846395889,0.412217917296,-0.0155425426819,0.06997732112,0.999999998446,-3.65993968839e-05,-5.52879313549e-06,-4.16834178905e-05,1793248186706671616
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.271031962,716,680,659,634,879,785,811.271031962,651.728968038,629,652.271031962,0.412978129697,-0.0155520359725,0.0700143310846,0.999999996747,-4.89607992965e-05,5.19608043427e-05,-3.75266144822e-05,1793248186723338240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.694164727,744.305835273,715.694164727,679.694164727,659,634,879,784.694164727,811,651.694164727,629,652.305835273,0.413731912877,-0.0155573697007,0.0700293381091,0.999999995147,-5.48357288505e-05,7.35169284613e-05,-3.5965233273e-05,1793248186740005120
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.11595861,744.88404139,715.11595861,679.11595861,659,634,879,784.11595861,811,651.11595861,629,652.88404139,0.414479970406,-0.015558999006,0.0700247497545,0.999999995828,-5.49339355308e-05,6.30714188351e-05,-3.67152833311e-05,1793248186756672000
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.529696547,715.470303453,679.470303453,659.470303453,634,879,784.470303453,811.470303453,651.470303453,629,653,0.415206369585,-0.015553376608,0.069975426962,0.999999997783,-4.67649167424e-05,-2.15868401824e-05,-4.22124028921e-05,1793248186773338368
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.057664738,715.942335262,679.942335262,660,634,879,785,812,651.942335262,629,653,0.415939757334,-0.01554689344,0.0699212840069,0.999999991594,-3.86263515407e-05,-0.00011394083711,-4.83515742363e-05,1793248186790004992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.636693212,715.363306788,679.363306788,660,634,879,785,812,651.363306788,629,653,0.416785454148,-0.0155490752592,0.0699250219291,0.999999991764,-4.95138762907e-05,-0.000107553645945,-4.95289837309e-05,1793248186806671872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.78687131,715.21312869,679.21312869,660,634,879,785,812,651.21312869,629,653,0.417632560859,-0.0155518920136,0.0699365831911,0.999999993276,-5.77750232579e-05,-8.74399669105e-05,-4.96405518544e-05,1793248186823338496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.214802849,715.785197151,679.785197151,660,634,879,785,812,651.785197151,629,653,0.418482041991,-0.0155557780913,0.0699613200971,0.999999995975,-6.16129666164e-05,-4.42088823919e-05,-4.79570876727e-05,1793248186840005120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,716,680.361844512,660,634,879.361844512,784.638155488,812,652,629,653,0.419370916516,-0.0155588552736,0.0699885470562,0.99999999706,-6.18568117778e-05,-1.89175464407e-06,-4.52850077082e-05,1793248186856672000
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,716,680.941244876,660,634,879.941244876,784.058755124,812,652,629,653,0.420283475941,-0.0155614461145,0.070017271137,0.999999996526,-5.99397366218e-05,3.9875863008e-05,-4.20185311743e-05,1793248186873338880
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.529216207,744,716,680.470783793,660,634,879.470783793,784.529216207,812,652,629,653,0.421190764975,-0.0155623337597,0.0700311992509,0.999999994875,-7.14358557619e-05,5.78365459073e-05,-4.2449439743e-05,1793248186890005760
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.883583323,744,716,680,660,634,879,785,812,652,629.116416677,653,0.422079962388,-0.015561982886,0.0700275777558,0.999999994627,-8.03923640634e-05,4.80131513554e-05,-4.44651430153e-05,1793248186906672640
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.303308413,744,716,680,660,634,879,785,812,652,629.696691587,653,0.422899443947,-0.0155574630173,0.0699606834414,0.999999994103,-7.31986431802e-05,-6.18101749898e-05,-5.11328790399e-05,1793248186923339008
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.274178997,715.725821003,680,660,634,879.274178997,784.725821003,812,652,629.725821003,653,0.423736656251,-0.0155535219526,0.0698977819492,0.999999983368,-7.49901870477e-05,-0.000155557713637,-5.86770265563e-05,1793248186940005888
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.848613863,715.151386137,680,660,634,879.848613863,784.151386137,812,652,629.151386137,653,0.424593285757,-0.0155502147407,0.069839253024,0.999999967149,-8.66215741285e-05,-0.000231700527598,-6.71809412478e-05,1793248186956672512
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.423684285,680,660,633.576315715,880,784.423684285,812,651.576315715,629.423684285,653,0.425544868047,-0.0155526229456,0.0698688703662,0.999999977439,-8.46859852681e-05,-0.000184305355425,-6.309407997e-05,1793248186973338112
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.998982103,680,660,633.001017897,880,784.998982103,812,651.001017897,629.998982103,653,0.426530428717,-0.0155570763872,0.0699300304609,0.999999991184,-7.78955133467e-05,-9.2702660049e-05,-5.45016647582e-05,1793248186990003200
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.40895103,680,660,633.59104897,879.40895103,785,812,651.59104897,630,653,0.42751886918,-0.0155561950929,0.0699844461806,0.999999995518,-7.6367627091e-05,-2.20813629293e-05,-5.14286460385e-05,1793248187006669824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.178551794,660,634,879,785,812.178551794,651.821448206,630,653,0.428502975282,-0.0155560152694,0.0700299893567,0.999999994883,-7.6942420472e-05,4.33562611336e-05,-4.93337880467e-05,1793248187023336704
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.755797029,660,634,879,785,812.755797029,651.244202971,630,653,0.429477391607,-0.0155574228938,0.0700557474645,0.999999990668,-8.21915200578e-05,9.73021484422e-05,-4.94012491253e-05,1793248187040004096
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.332468577,744.667531423,715,680.667531423,660.332468577,633.667531423,879.332468577,784.667531423,813,651,630,653,0.430367717919,-0.0155559829032,0.0700312876848,0.999999993589,-8.16251853287e-05,5.93226300962e-05,-5.13850158244e-05,1793248187056670464
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.908719444,744.091280556,715,680.091280556,660.908719444,633.091280556,879.908719444,784.091280556,813,651,630,653,0.43119638526,-0.0155524549015,0.0699700056822,0.99999999449,-7.67946876897e-05,-4.60611137551e-05,-5.47739115562e-05,1793248187073336576
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.516504786,744.483495214,715.483495214,680,661,633,880,784.483495214,813,651,630,653,0.432036626672,-0.0155499459408,0.0699132912329,0.99999998518,-7.84753534163e-05,-0.000140747851603,-6.06003896513e-05,1793248187090002944
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715.940134705,680.119730591,660.940134705,633.059865295,879.940134705,785,813.059865295,651.059865295,630.059865295,653,0.432894102388,-0.0155484960942,0.069869366636,0.999999971892,-8.21475683579e-05,-0.000212452047586,-6.581925525e-05,1793248187106669568
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.347092864,681.305814271,660.347092864,633.652907136,879.347092864,785,813.652907136,651.652907136,630.652907136,653,0.433885669014,-0.0155547707597,0.0699316952487,0.999999989072,-9.26422161871e-05,-9.73991361552e-05,-6.15403703711e-05,1793248187123336448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.238799262,744.761200738,715,681.761200738,660.238799262,634,879.238799262,784.761200738,814,652,630.761200738,653,0.434848254206,-0.0155597316114,0.0699857559429,0.999999993415,-9.95286367534e-05,-3.27347791142e-06,-5.70330743774e-05,1793248187140003072
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.814601513,744.185398487,715,681.185398487,660.814601513,634,879.814601513,784.185398487,814,652,630.185398487,653,0.435769939794,-0.0155628383579,0.0700281486316,0.999999991624,-0.000101322986509,6.13188259774e-05,-5.22034356792e-05,1793248187156669696
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.610055665,744.389944335,715,680.610055665,660.610055665,633.610055665,879.610055665,784.389944335,814,651.610055665,630,653.389944335,0.436653953796,-0.0155663894755,0.0700379548346,0.99999998952,-0.000106486647378,8.32518186162e-05,-5.18644836832e-05,1793248187173336576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.034931057,744.965068943,715,680.034931057,660.034931057,633.034931057,879.034931057,784.965068943,814,651.034931057,630,653.965068943,0.437520077921,-0.0155701516198,0.0700322860718,0.999999988541,-0.00011325035704,8.49263699955e-05,-5.3658109741e-05,1793248187190003456
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.554683991,680,660,633,879.554683991,785,814,651,630,653.445316009,0.438322545436,-0.0155645785696,0.0699862863505,0.999999992183,-0.000109065041114,2.20844052051e-05,-5.70240353174e-05,1793248187206670080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.8575533,715.8575533,680,660,633.1424467,880.1424467,784.8575533,814,651,630,653,0.439101452815,-0.0155585139343,0.0699341599941,0.999999991172,-0.000104318892014,-5.55062471771e-05,-6.07691272274e-05,1793248187223336448
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.278343193,715.278343193,680,660,633.721656807,880.721656807,784.278343193,814,651,630,653,0.439820742343,-0.0155527929101,0.0698712448422,0.999999979162,-0.000100024002387,-0.000165526966523,-6.53650620355e-05,1793248187240003072
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744,715,680,660.29884601,633.70115399,880.70115399,784,814.29884601,651,630,653,0.440605797627,-0.0155525391854,0.0698628421844,0.999999976745,-0.00010054398409,-0.000178956464554,-6.61510165852e-05,1793248187256669952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744,715,680,660.874165568,633.125834432,880.125834432,784,814.874165568,651,630,653,0.441451695216,-0.0155573434627,0.069904871064,0.999999987115,-0.000105518382779,-0.000103025829584,-6.34122168439e-05,1793248187273336832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.449363713,744.449363713,715.449363713,680.449363713,661,633,880,784.449363713,814.550636287,651,630,653,0.442262010556,-0.0155635266798,0.0699633168491,0.999999992043,-0.000110377047523,-1.56195983598e-05,-5.9041848697e-05,1793248187290003200
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.974794369,681,661,633,880,784.974794369,814.025205631,651,630,653,0.443059307445,-0.0155699592079,0.0700239373791,0.999999989327,-0.000115434745658,7.11375642409e-05,-5.440745115e-05,1793248187306669824
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.38373807,681,661,633,880,784.38373807,814.61626193,651,630,653,0.443787972606,-0.0155733223048,0.0700302032192,0.999999988103,-0.000125687985804,7.12020604581e-05,-5.4099784483e-05,1793248187323336448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.797619126,745,715,681,661,633,880.202380874,784.202380874,814.797619126,651.202380874,630,653.202380874,0.444488640454,-0.0155741783177,0.0700224174677,0.999999988577,-0.00013084519335,5.23632320915e-05,-5.46142147337e-05,1793248187340003328
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.220638939,745,715,681,661,633,880.779361061,784.779361061,814.220638939,651.779361061,630,653.779361061,0.445137486463,-0.015570393814,0.0699886227545,0.999999990384,-0.000126569839569,-1.46493241536e-06,-5.66503150129e-05,1793248187356669952
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.355943459,745,715,681,660.644056541,633,880.644056541,785,814.355943459,652,630,653.644056541,0.445768700146,-0.0155678546833,0.0699651772165,0.999999990431,-0.000121497526034,-3.21302957585e-05,-5.78348920684e-05,1793248187373336576
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.932279519,745,715,681,660.067720481,633,880.067720481,785,814.932279519,652,630,653.067720481,0.44638899623,-0.0155660866612,0.0699481396691,0.999999990395,-0.000115931752394,-4.84537432403e-05,-5.84922240337e-05,1793248187390003200
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.519295187,633,880,785,815,651.480704813,630,653,0.446945005902,-0.015567559547,0.0699336297875,0.999999987048,-0.000124672075111,-8.22553240981e-05,-5.99540708807e-05,1793248187406669824
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.893947318,633,880,784.893947318,815,651,630,653,0.447494974922,-0.0155692691202,0.069920429793,0.999999982865,-0.000132520900683,-0.000113781199504,-6.13335497185e-05,1793248187423336448
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.314686582,633,880,784.314686582,815,651,630,653,0.448056183153,-0.0155701093656,0.0699115728364,0.999999982124,-0.000127892580848,-0.000124769065478,-6.1867538288e-05,1793248187440003328
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.737348481,745,715,681,660.262651519,633,880,784,815,651,630,653,0.448603360072,-0.015572895761,0.0699165838865,0.999999983514,-0.000125707505325,-0.000116134910362,-6.06829118572e-05,1793248187456669952
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.16229722,745,715,681,660.83770278,633,880,784,815,651,630,653,0.449133848001,-0.0155779969222,0.0699380896516,0.999999986816,-0.000126428443688,-8.41621711019e-05,-5.74541514079e-05,1793248187473336576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880.397143485,784,815,651,630,653,0.449621554541,-0.0155842066134,0.0699501906832,0.999999987328,-0.000133030145351,-6.73382090186e-05,-5.57915429591e-05,1793248187490003456
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880.950446077,784,815,651,630,653,0.450092439236,-0.0155908521853,0.0699585937213,0.999999986833,-0.000141944197116,-5.64708307839e-05,-5.47447542404e-05,1793248187506670080
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,744.442520399,715,681,660.442520399,633,880.442520399,784,815,651,630,653,0.450464891801,-0.0155918868366,0.0699342235377,0.999999982512,-0.000148748605386,-9.81931722137e-05,-5.66405294363e-05,1793248187523336704
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,744.16138519,715,681,660,633,880,783.83861481,815,651,630,653,0.450823708185,-0.0155927241549,0.0699031306745,0.999999975618,-0.000153320952286,-0.000147687208696,-5.87022882033e-05,1793248187540003328
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,744.743364174,715,681,660,633,880,783.256635826,815,651,630,653,0.45117222155,-0.0155944856531,0.0698629194988,0.999999965729,-0.000152617061751,-0.000203953142425,-6.04422471018e-05,1793248187556669952
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.898519086,745,715,681,660,632.101480914,880,783.898519086,815,651,630,653,0.451833580413,-0.0155987828314,0.0698308231744,0.999999955176,-0.00015706323844,-0.000247171788505,-6.23283473669e-05,1793248187590003200
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.47230123,880,783.52769877,815.47230123,651,630,653,0.452140864691,-0.0156011725323,0.0698290928526,0.9999999557,-0.000158171259542,-0.000244126838797,-6.31169013715e-05,1793248187606669824
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.359716904,880,782.359716904,815.359716904,651,630,653,0.452688669696,-0.0156071828059,0.0698253578777,0.999999953181,-0.000169570048474,-0.000246443393557,-6.44178685335e-05,1793248187640003072
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.772940548,745,715,681.227059452,660.227059452,632,880,782,815,651,629.772940548,653,0.452924783874,-0.0156100671319,0.0698199136007,0.999999949062,-0.000176956835777,-0.000257534224206,-6.50972451499e-05,1793248187656669952
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.620819279,632,880,782,815,651,629.379180721,653,0.453340281945,-0.0156141491506,0.0698086933353,0.99999994257,-0.000181564596314,-0.000278444256016,-6.60554614521e-05,1793248187690003200
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.046536286,632,880,782,815,651,629.953463714,653,0.453530073056,-0.0156164227374,0.0698092998467,0.999999943202,-0.000181628729427,-0.000276224534916,-6.56293140267e-05,1793248187706669824
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681.897841498,660,632,880,782,815.102158502,651,629.102158502,653,0.453837267123,-0.0156165119761,0.0698121638378,0.999999945363,-0.000177370623679,-0.000271383235578,-6.45370319789e-05,1793248187740003072
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681.299418412,660,632,880,782,815.700581588,651,629.700581588,653,0.453960903599,-0.0156205697315,0.0698122064851,0.999999943387,-0.000183078259423,-0.000275103698937,-6.34608677378e-05,1793248187756669696
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.287221299,744.712778701,715,681,660,632,880,781.712778701,815.712778701,651,629.712778701,653,0.454068655784,-0.0156228223684,0.0698090469093,0.999999940392,-0.00018722157032,-0.000283201747229,-6.29347051128e-05,1793248187773336320
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681.656430961,660,632,880,781,815.656430961,651,629.656430961,653,0.454475096376,-0.0156272747292,0.0697801434617,0.999999923673,-0.000198919492952,-0.000330447240156,-6.23709079841e-05,1793248187890002944
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681.080801427,660,632,880,781,815.080801427,651,629.080801427,653,0.454498896876,-0.015625961382,0.0697757145888,0.9999999219,-0.000194372992908,-0.000338488738238,-6.2004005919e-05,1793248187906669568
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681.910897719,659.089102281,632,880.089102281,781,815,651,629,653,0.454532926149,-0.0156246767983,0.0697745479322,0.999999921498,-0.000194301563127,-0.00033975866641,-6.17703187962e-05,1793248187940003072
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681.331347156,659.668652844,632,880.668652844,781,815,651,629,653,0.454542705019,-0.0156238380136,0.0697735263434,0.999999920993,-0.000194303676415,-0.000341300272092,-6.144206918e-05,1793248187956669696
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.752576094,745,715,681.247423906,660,632,881,781,815.247423906,651,629.247423906,653,0.454550056455,-0.0156239829217,0.0697726231352,0.999999920459,-0.000194454668396,-0.000342843171353,-6.10628869873e-05,1793248187973336320
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.174845689,745,715,681.825154311,660,632,881,781,815.825154311,651,629.825154311,653,0.454554167307,-0.0156254410421,0.0697718779631,0.999999919887,-0.000194804410781,-0.000344387797428,-6.06157107336e-05,1793248187990002944
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880.562802236,781,815.437197764,651.437197764,629,653,0.45455890564,-0.0156219581543,0.0697681374176,0.999999918466,-0.000193000059142,-0.000349442211136,-6.09103258477e-05,1793248188040003072
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681.848804271,660,632,880.848804271,781,815,651,629.151195729,653,0.454559971813,-0.0156223096258,0.0697678866318,0.999999918481,-0.000192764161679,-0.000349624461532,-6.03520214831e-05,1793248188056669952
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.885014235,781,815,651,630,653,0.454560107401,-0.0156232842128,0.0697661638789,0.999999917412,-0.000191412972314,-0.000353495223578,-5.98108380287e-05,1793248188106669568
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.03640466,744.03640466,715.03640466,681.03640466,660,632,880,781,815,651.03640466,630,653,0.454559955695,-0.0156201320162,0.0697643787241,0.999999917363,-0.000187712535002,-0.000355520577241,-6.03542216202e-05,1793248188140003072
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.625940461,744.625940461,715.625940461,681.625940461,660,632,880,781,815,651.625940461,630,653,0.454560145071,-0.0156222443709,0.0697637507568,0.999999916847,-0.000189920218712,-0.000355928896249,-5.95822323258e-05,1793248188156669696
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+256,4.266666667,HOLD_POSE2,766,744.614728393,715,682,660,632,880,781,815,651,629.614728393,653,0.454559521998,-0.0156187978543,0.0697588167839,0.999999914507,-0.000187728923996,-0.000363688713383,-5.89457289296e-05,1793248188465471488
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+258,4.300000000,HOLD_POSE2,765.456974941,744.543025059,715,682,660,632,880,781,815,651.543025059,629.543025059,653,0.45455800492,-0.0156179948766,0.0697579928393,0.999999914054,-0.000186821525807,-0.000365352980876,-5.92107876143e-05,1793248188498804992
+259,4.316666667,HOLD_POSE2,765,745,715,681.879134644,659.879134644,632,880,780.879134644,815,651.879134644,629.879134644,653,0.45455829475,-0.0156181953345,0.0697577943333,0.999999914073,-0.000186131464109,-0.000365650120294,-5.92367433174e-05,1793248188515471360
+260,4.333333333,HOLD_POSE2,765,745,715,681.305426591,659.305426591,632,880,780.305426591,815,651.305426591,629.305426591,653,0.454559905061,-0.0156190762996,0.0697584591192,0.999999914329,-0.000188086553153,-0.000364031758327,-5.87021666586e-05,1793248188532137984
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,632,880,781,815,651,629,653,0.454560430007,-0.0156201136609,0.0697602848513,0.99999991447,-0.000190232265713,-0.000362517429125,-5.87522498616e-05,1793248188569318144
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.420687161,745,715,681,659.579312839,632,880.579312839,781,815,651,629,653,0.454558659873,-0.0156177535025,0.0697579090849,0.999999913936,-0.000187678545569,-0.000365264684566,-5.90458615379e-05,1793248188585984768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.842564971,780.842564971,815,651,629,653,0.454557792954,-0.0156167581447,0.0697566787271,0.999999913776,-0.000185909287811,-0.000366605141545,-5.90518805931e-05,1793248188602651392
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.267600343,780.267600343,815,651,629,653,0.454559321431,-0.0156193823406,0.0697584860789,0.999999914636,-0.000186220483048,-0.000364214663258,-5.82951823412e-05,1793248188619318016
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.307227934,660,632,880,780.307227934,815,651,629.307227934,653,0.45455944998,-0.0156195006599,0.0697584069653,0.999999914748,-0.000185599485258,-0.000364226280857,-5.82727956018e-05,1793248188635984896
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.881937463,660,632,880,780.881937463,815,651,629.881937463,653,0.454558359712,-0.01561743729,0.06975668544,0.999999914209,-0.000184166893022,-0.000366329233306,-5.88897219178e-05,1793248188652651520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.470991499,745,715,682,660,631.529008501,880,781,815,651.470991499,630,653,0.454558022954,-0.0156180056455,0.0697564594651,0.999999913814,-0.000185094390261,-0.000366935704737,-5.89049581678e-05,1793248188669318144
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.937797204,745,715,682,660,631.062202796,880,781,815,651.937797204,629.937797204,653,0.454557735054,-0.0156191041967,0.0697565289127,0.999999913423,-0.000186567591313,-0.000367273625669,-5.87942498662e-05,1793248188685984768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.3594588,745,715,682,660,631.6405412,880,781,815,651.3594588,629.3594588,653,0.454556236054,-0.0156189563066,0.0697558412813,0.999999912754,-0.000187505769659,-0.000368593596158,-5.89292985794e-05,1793248188702651648
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.783024028,659.783024028,632,880,781,815,651,629.216975972,653,0.454551436723,-0.0156189782581,0.0697536893598,0.999999911437,-0.000188423898962,-0.0003716745072,-5.89874170373e-05,1793248188719318528
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.209715583,659.209715583,632,880,781,815,651,629.790284417,653,0.454541217368,-0.0156192791346,0.0697491326831,0.999999909037,-0.000189309102288,-0.000377647352611,-5.89191954633e-05,1793248188735985152
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.372223432,745,715,681.372223432,659.372223432,632,880,781,815,651,630,653,0.454514315218,-0.0156175543361,0.0697375236776,0.999999901947,-0.000188161680688,-0.000396422861632,-5.95886238318e-05,1793248188752651776
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.959140501,745,715,681.959140501,659.959140501,632,880,781,815,651,630,653,0.454477790647,-0.0156146611544,0.06972184698,0.999999891602,-0.00018584186743,-0.000422582780969,-6.06835190604e-05,1793248188769318400
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.457881076,660,632,880,781,815,651.542118924,630,653,0.454423128002,-0.0156123552506,0.0697069654378,0.999999882902,-0.000185296481899,-0.000442796599491,-6.15780463621e-05,1793248188785984768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.876776741,745,715,681,660,632,880.123223259,781,815,651.876776741,630,653,0.454364031031,-0.0156099195125,0.0696926554273,0.999999874572,-0.000184815699238,-0.000461316541187,-6.23424405233e-05,1793248188802651136
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.301466716,745,715,681,660,632,880.698533284,781,815,651.301466716,630,653,0.454293644576,-0.0156068462089,0.0696802239811,0.999999868158,-0.000184084807626,-0.000475254281157,-6.26844031897e-05,1793248188819318016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.273923832,745,715,681.273923832,660,632,880.726076168,781,815,651,630,653,0.454219045696,-0.015603260041,0.0696748355597,0.999999865973,-0.000181601327912,-0.000480872792733,-6.1933783493e-05,1793248188835984896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.849402991,745,715,681.849402991,660,632,880.150597009,781,815,651,630,653,0.454139809474,-0.0155991092748,0.0696772006141,0.99999986858,-0.000177188471499,-0.000477332890346,-5.9980369456e-05,1793248188852652288
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,815,651,629,653,0.453944779018,-0.0155895236529,0.0696840992839,0.999999871975,-0.000175845636117,-0.000471096030601,-5.65470046694e-05,1793248188885985792
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,815,651,629,653,0.453811453395,-0.015582655562,0.0696860311255,0.999999875132,-0.000171019665894,-0.00046640550946,-5.43531741732e-05,1793248188902652672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.183096425,745,715,681.816903575,660,632,880,781.183096425,815,651,629.183096425,653,0.453667357877,-0.0155755534999,0.0696860639775,0.999999876299,-0.000166258274671,-0.00046588211976,-5.20985520257e-05,1793248188919319296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.756886583,745,715,681.243113417,660,632,880,781.756886583,815,651,629.756886583,653,0.453500281424,-0.0155679521876,0.0696820447384,0.999999873245,-0.000161634683653,-0.000474250614538,-4.97142120772e-05,1793248188935985664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.669305839,745,715,681,659.669305839,632,880,781.669305839,814.669305839,651.330694161,630,653,0.453310728921,-0.0155583849366,0.0696745636957,0.999999868761,-0.000154791510169,-0.000486059238806,-4.75776350485e-05,1793248188952652544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.095485395,745,715,681,659.095485395,632,880,781.095485395,814.095485395,651.904514605,630,653,0.453104652012,-0.015547372327,0.0696645375353,0.999999863056,-0.000146316499583,-0.000500397046389,-4.56232130133e-05,1793248188969319168
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.493159098,659.493159098,632,879.506840902,781,814,651.506840902,630,653,0.452874949818,-0.0155395321357,0.0696616616874,0.999999861154,-0.000138371813045,-0.000506770258055,-4.15810121135e-05,1793248188985985792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.082603337,745,715,681.917396663,659.917396663,632,879.082603337,781.082603337,814.082603337,651,630,653,0.452633567505,-0.0155314802816,0.0696597552087,0.999999859652,-0.00012994828637,-0.000512275051396,-3.7209710038e-05,1793248189002652416
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.659135428,745,715,681.340864572,659.340864572,632,879.659135428,781.659135428,814.659135428,651,630,653,0.452350543484,-0.0155183760727,0.0696551102357,0.999999856187,-0.000118028506436,-0.000522093936057,-3.33625827219e-05,1793248189019318784
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.235507869,659.235507869,632,880,782,815,651,630,653,0.45205632181,-0.0155071882461,0.069651991378,0.999999854197,-0.000103214377729,-0.000529243826753,-2.92025403486e-05,1793248189035985664
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.81164936,659.81164936,632,880,782,815,651,630,653,0.451745904103,-0.0154987722351,0.0696510798616,0.999999854356,-8.42139246187e-05,-0.000532533340193,-2.45899044574e-05,1793248189052652288
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.603140484,745,715,682,660,632,880,782.396859516,814.603140484,651,630,653,0.451412329793,-0.0154937342754,0.0696525342884,0.999999856582,-4.63842880976e-05,-0.000533218225063,-1.9066743503e-05,1793248189069319168
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.013525681,745,715,682,660,632,880,782.986474319,814.013525681,651,630,653,0.451067508293,-0.0154903370406,0.0696551378577,0.999999858062,5.90711778205e-07,-0.000532638036735,-1.31013392028e-05,1793248189085986048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,744.433773243,715,682,660,632,880,783,814,651,630,653,0.450686002338,-0.0154932708575,0.0696634858787,0.999999863852,-6.26961154956e-06,-0.000521724911593,-7.7447820102e-06,1793248189102652416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,744.144618333,715,682,660,632.144618333,880,783,814,651,630,653,0.450289181522,-0.0154958553009,0.0696730186285,0.999999869637,-9.4241438247e-06,-0.000510522166673,-1.93967475489e-06,1793248189119318784
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,744.719648762,715,682,660,632.719648762,880,783,814,651,630,653,0.449849344169,-0.0154969575493,0.0696856759565,0.999999875394,2.21229447574e-06,-0.000499179488051,5.24294720818e-06,1793248189135985664
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.704995029,660,633,879.704995029,783.295004971,814,651,630,653,0.449407238074,-0.0154914814446,0.0697033713894,0.999999888037,1.84630389391e-05,-0.000472733256193,1.04150169894e-05,1793248189152652288
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.129328813,660,633,879.129328813,783.870671187,814,651,630,653,0.448962973496,-0.0154797468392,0.0697258599661,0.999999905865,3.91037342148e-05,-0.000431917833749,1.36742924398e-05,1793248189169318656
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.458303506,745,715,681.458303506,660,633,879.458303506,784,814,651.458303506,630,653,0.448492534436,-0.0154677376795,0.0697572846546,0.999999926157,3.3463272163e-05,-0.000382738746108,8.82253285826e-06,1793248189185985536
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.951750505,660,633,880,784,813.951750505,651.951750505,630,653,0.448006658246,-0.0154553415456,0.0697888377225,0.999999943626,2.44108550771e-05,-0.000334879739499,2.60010452327e-06,1793248189202652160
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.374452891,660,633,880,784,813.374452891,651.374452891,630,653,0.447434675632,-0.0154395745857,0.0697934073217,0.999999944273,6.14454225049e-05,-0.000328067601824,7.11828274753e-06,1793248189219319040
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.798119452,744.798119452,715,681,660,633,880,784,813,651,630.201880548,653,0.446831601753,-0.0154207936828,0.0697846115715,0.999999937197,9.37652312804e-05,-0.000341684703753,8.14882897822e-06,1793248189235985920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.223565923,744.223565923,715,681,660,633,880,784,813,651,630.776434077,653,0.446171133203,-0.0153964490201,0.0697511432877,0.999999915877,0.000117381558557,-0.000393014333039,2.74118055715e-06,1793248189252652544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.928258039,715,681,660,633,880,784,812.071741961,651,630.071741961,653,0.444907036596,-0.0153813585322,0.0697472230004,0.999999917337,0.000120651577902,-0.000388290054125,-5.59453119354e-08,1793248189285984768
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.896736496,744.103263504,715,682,660,633,880,784,812.896736496,651.103263504,630,653,0.44358875818,-0.0153908483586,0.0697954813421,0.99999994503,0.000119680289183,-0.000309137034409,7.08812200137e-06,1793248189319318272
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.104032811,715,681.895967189,660,633,879.895967189,785,812,651,630,653,0.435457766516,-0.0153855053773,0.069757585618,0.999999924684,0.000140362351036,-0.000361712276827,9.71696210833e-06,1793248189485984768
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.481693551,744,715,681.518306449,659.518306449,633,879.518306449,784.518306449,812,651.481693551,630,652.518306449,0.434626085239,-0.0153877835127,0.0698043744166,0.999999944345,0.000145873646339,-0.000299694067829,1.4673010393e-05,1793248189502651136
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.93142726,744.06857274,715,681,659.06857274,633,879,784,812,651.93142726,629.93142726,652.06857274,0.433791755488,-0.0153891512663,0.0698472614209,0.999999958176,0.000153490499767,-0.000244375160393,1.92230233791e-05,1793248189519318016
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.351681149,744.648318851,715,681,659.648318851,633,879,784,812,651.351681149,629.351681149,652.648318851,0.432906509339,-0.0153902391152,0.0698549525496,0.999999960245,0.000159022605244,-0.000231936200514,2.06570037186e-05,1793248189535984640
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.774086757,715,681.225913243,659.774086757,633,879,784,812,651,629.225913243,653,0.431996487253,-0.0153891478505,0.0698506248944,0.999999958014,0.000164731930171,-0.000237480936148,2.09453611887e-05,1793248189552651264
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.199810275,715,681.800189725,659.199810275,633,879,784,812,651,629.800189725,653,0.431048259984,-0.0153846963447,0.0698277640087,0.999999948584,0.000170714532182,-0.000270756927826,1.94671429459e-05,1793248189569317888
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744,715,681.625486601,659.374513399,633.374513399,879.374513399,784,812,651.374513399,629.625486601,653,0.430050051913,-0.0153783551952,0.0697714306825,0.999999920148,0.000174468673032,-0.000359254403336,1.41551650102e-05,1793248189585985024
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744,715,681.051137781,659.948862219,633.948862219,879.948862219,784,812,651.948862219,629.051137781,653,0.4290251748,-0.015371005757,0.069697236904,0.999999870438,0.000177033734032,-0.000477217330076,6.79754327473e-06,1793248189602651648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,681.542060097,660,633.457939903,879.457939903,784,811.457939903,651.457939903,629.542060097,653,0.428149508484,-0.0153746094446,0.06972894868,0.99999989427,0.000176989538115,-0.000424300145988,1.01786304838e-05,1793248189619319040
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.132658888,744,715,682,659.867341112,633.132658888,879,784.132658888,811.132658888,651,629.867341112,652.867341112,0.427290348576,-0.015379246166,0.0697777070156,0.999999924121,0.000176675064895,-0.000346854570413,1.53602299562e-05,1793248189635985920
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.708422695,744,715,682,659.291577305,633.708422695,879,784.708422695,811.708422695,651,629.291577305,652.291577305,0.426437611177,-0.0153837576081,0.0698488296286,0.999999954603,0.000176309645185,-0.000243265883171,2.30500680783e-05,1793248189652652800
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.715951205,744,715,681.715951205,659,633.715951205,879,785,811.715951205,651,629.284048795,652.284048795,0.425543468488,-0.015384743565,0.0698741671272,0.999999962612,0.000176222013346,-0.000207523557307,2.56039732052e-05,1793248189669319424
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.140466428,744,715,681.140466428,659,633.140466428,879,785,811.140466428,651,629.859533572,652.859533572,0.424606843742,-0.0153821123502,0.0698525287847,0.999999955041,0.000176419395079,-0.000241392064496,2.28883761012e-05,1793248189685985792
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.444063467,744,715,681,659,633.444063467,879,784.555936533,811,651,630,653,0.423658118603,-0.0153814300249,0.0698180980219,0.99999993972,0.000177187198534,-0.000297928970158,2.00959268221e-05,1793248189702652416
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.968916651,744,715,681,659.031083349,634,878.968916651,784,811,651,629.968916651,653,0.422703277554,-0.0153810872907,0.0697781417417,0.999999917539,0.000178599717603,-0.0003643171631,1.72159664239e-05,1793248189719318784
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.389494835,744,715,681,659.610505165,634,878.389494835,784,811,651,629.389494835,653,0.421709474032,-0.0153756339678,0.0697135786707,0.999999869228,0.000188136371406,-0.00047536700153,1.32300014952e-05,1793248189735985152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.18976329,744,715,681,659.81023671,634,878.18976329,784.18976329,811,651,629,653,0.42077782459,-0.0153733236269,0.0696870728314,0.99999984689,0.000190524987677,-0.000519425932658,1.08518348533e-05,1793248189752651776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.76868583,744,715,681,659.23131417,634,878.76868583,784.76868583,811,651,629,653,0.419973638164,-0.0153774587914,0.0697386132859,0.999999893262,0.000178254688415,-0.000426102517722,1.17708785196e-05,1793248189769318400
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.655357288,744,715,681,659,633.655357288,879,784.655357288,811,651,629.344642712,653,0.419184043869,-0.0153797375703,0.0698027423097,0.999999932021,0.00018062949069,-0.000320970264238,1.75591974779e-05,1793248189785985536
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.081373923,744,715,681,659,633.081373923,879,784.081373923,811,651,629.918626077,653,0.418404159879,-0.0153807810271,0.0698752483267,0.999999959442,0.000192749797221,-0.000207979885888,2.65877495184e-05,1793248189802652672
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.505014887,715,680.494985113,659,633.505014887,879,784.505014887,811,651.505014887,629.494985113,652.494985113,0.417561744636,-0.0153781044375,0.0698745195478,0.999999955112,0.000203732055271,-0.000217989214631,2.73720206923e-05,1793248189819319296
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.907970062,715,680,659,634,878.907970062,785,811,651.907970062,629,652,0.416711083956,-0.0153751613133,0.069857146128,0.999999945981,0.000212368318031,-0.000249510400182,2.61351270547e-05,1793248189835985664
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.328492155,715,680,659,634,878.328492155,785,811,651.328492155,629,652,0.415871461823,-0.0153740612987,0.0698156888577,0.999999936524,0.000209574457385,-0.000287353596986,2.14061908544e-05,1793248189852652288
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.249087531,744.249087531,715.249087531,680,659,634,878.249087531,785,811,651,629,652.249087531,0.415037180522,-0.0153724636364,0.0697831486228,0.999999923215,0.00020748244665,-0.000331956774541,1.80317199357e-05,1793248189869318656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.824182763,744.824182763,715.824182763,680,659,634,878.824182763,785,811,651,629,652.824182763,0.414209889412,-0.0153702146489,0.0697622790765,0.999999904314,0.000206309022651,-0.0003854074644,1.64299840964e-05,1793248189885985024
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744.603231395,715.603231395,680,659,634,879,785,811,651,629,653,0.41344166532,-0.0153676272109,0.0697546853731,0.999999896579,0.000210392850122,-0.000402888518911,1.60689932766e-05,1793248189902651648
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.031750484,715.031750484,680,659,634,879,785,811,651,629,653,0.412699450612,-0.0153648907399,0.0697529375263,0.999999894546,0.000216791645414,-0.000404530779951,1.62543495499e-05,1793248189919318528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744,715.562216266,680.562216266,659,634,879,785,811,651,629,653,0.412066310494,-0.0153668707848,0.0698119981706,0.999999933892,0.000214082009817,-0.000293221688941,2.01674298704e-05,1793248189935985408
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744,715.847147848,680.847147848,659.152852152,634,878.847147848,785,811,651,629,652.847147848,0.411431779657,-0.0153698523903,0.0698635232298,0.999999957422,0.000211971048413,-0.000199126057218,2.39322295862e-05,1793248189952652544
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744,715.269446485,680.269446485,659.730553515,634,878.269446485,785,811,651,629,652.269446485,0.410775548729,-0.0153748466281,0.0698841606875,0.999999962278,0.000213013388403,-0.000171343193682,2.66753787036e-05,1793248189969319424
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.692870483,744,715,680,659.692870483,634,878,784.692870483,811,651,629,652,0.410108537274,-0.0153752091344,0.069873461822,0.999999957748,0.000214108048335,-0.000194922487507,2.58253876938e-05,1793248189985986048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.117278199,744,715,680,659.117278199,634,878,784.117278199,811,651,629,652,0.40943210257,-0.015371523031,0.0698353717876,0.999999941907,0.000215248440545,-0.000263397587581,2.18346226199e-05,1793248190002652160
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.468885354,811,651,629,652.468885354,0.408784009825,-0.015367592011,0.0697950914227,0.999999920566,0.000221210621348,-0.00033111923083,1.71582325021e-05,1793248190019318784
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,811,651.056738742,629,653,0.408153470999,-0.0153640749642,0.0697592667195,0.999999898189,0.000227012031255,-0.000389773844146,1.28346576741e-05,1793248190035985408
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.212522007,744,715,680,658.787477993,634,878.212522007,785,811,652,629,652.787477993,0.407098186172,-0.0153654404024,0.0697830342226,0.999999917138,0.000218480076294,-0.000343199593172,1.43201659558e-05,1793248190069318912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.787654052,744,715,680,658.212345948,634,878.787654052,785,811,652,629,652.212345948,0.406606560094,-0.0153653132875,0.0698018860961,0.999999923545,0.00022638253749,-0.000318443214068,1.59823244915e-05,1793248190085985536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.370680031,634,878.629319969,785,810.629319969,651.629319969,629,652,0.406129694497,-0.0153637335985,0.0698073720493,0.9999999237,0.00022812600859,-0.00031667554133,1.66086041789e-05,1793248190102652416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.958326543,634,878.041673457,785,810.041673457,651.041673457,629,652,0.405661468458,-0.0153613036886,0.069805034662,0.999999920353,0.000226264499656,-0.00032836361865,1.66285632955e-05,1793248190119319296
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.116954521,744.116954521,715,680,658.116954521,634,878,785,810.883045479,651,629.883045479,652.116954521,0.404823589299,-0.0153630935752,0.0698085222756,0.999999924222,0.000223890817993,-0.000318097493039,1.56156596932e-05,1793248190152652288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.695711711,744.695711711,715,680,658.695711711,634,878,785,810.304288289,651,629.304288289,652.695711711,0.404472336799,-0.0153640124432,0.0698252670465,0.999999933749,0.000225068697194,-0.000285573911592,1.71545470895e-05,1793248190169318656
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.151378611,715,680,658.151378611,634,878,785,810,651.848621389,629,652.151378611,0.403807616783,-0.0153626798254,0.0698460943784,0.999999943613,0.00022611632279,-0.000247576829402,1.87312390055e-05,1793248190202651904
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,715.019148464,679.019148464,659,634,878,785,810.019148464,651,629,653,0.403201272702,-0.0153587223547,0.069832224227,0.999999936007,0.00023643411214,-0.000268033682527,1.56116685757e-05,1793248190235985152
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,715.598652625,679.598652625,659,634,878,785,810.598652625,651,629,653,0.402928804777,-0.0153564661479,0.0698196641182,0.999999929774,0.000237907959168,-0.000289248723836,1.36479135195e-05,1793248190252652032
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,716,679,658,634,878,785,810,651.326218812,629,652,0.402220567426,-0.0153525247425,0.0698039330997,0.999999919262,0.00024384586166,-0.000319187656258,1.15956095083e-05,1793248190302651648
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.166081107,715.833918893,679.833918893,659.667837785,634,878,784.166081107,810,651,629,652.166081107,0.400951889332,-0.0153547101768,0.0698080562545,0.99999992401,0.000243322276705,-0.000304504217704,7.19358086453e-06,1793248190785984768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.744279848,715.255720152,679.255720152,658.511440304,634,878,784.744279848,810,651,629,652.744279848,0.400952560162,-0.0153576251245,0.0698094250941,0.999999925433,0.000239812637445,-0.000302597957416,7.5744583981e-06,1793248190802651392
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.320313603,658.320313603,634,878,785,810,651,629,652.679686397,0.400952893874,-0.0153585070413,0.0698101105841,0.999999925846,0.000239256073387,-0.000301669045228,7.81944176194e-06,1793248190819318272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.894630534,658.894630534,634,878,785,810,651,629,652.105369466,0.400952960257,-0.0153577767985,0.0698102541891,0.999999925462,0.00024104124872,-0.000301515153822,7.95666330497e-06,1793248190835984896
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.068399359,784.931600641,810,651,629,653,0.400954994441,-0.0153578703206,0.0698119079889,0.999999927124,0.000237396588206,-0.000298894814984,7.50841975661e-06,1793248190869317888
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.645800354,784.354199646,810,651,629,653,0.400955308,-0.0153567692835,0.0698120283439,0.999999926473,0.000240907608708,-0.000298259040565,7.68923361379e-06,1793248190885984768
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,716,679,658.375610408,634,878,785,810,652,628.624389592,652.375610408,0.400955031309,-0.0153576399794,0.0698119797453,0.99999992634,0.000240173982256,-0.000299300133589,7.52112871295e-06,1793248190935984896
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,716,679,658.952885933,634,878,785,810,652,628.047114067,652.952885933,0.400955433095,-0.015357732785,0.0698129403664,0.999999926154,0.000242259537337,-0.000298226253813,8.02050205297e-06,1793248190952651520
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744,715.45825574,679,658.45825574,634,878,784.45825574,810,651.45825574,628.54174426,652.45825574,0.400956379722,-0.0153575775017,0.0698139372025,0.999999926956,0.000241391497816,-0.000296238359062,7.82777582244e-06,1793248190969318400
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea2b5bb42a5a71651ca7285e1434817b5dc0112b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+405,6.750000000,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894205,1.05966576102
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14a4ce7b1b673f582e06dcdb517d7eb1bd47bad4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a0e18fd7b6869766bd5d04df01ee6378b43d81a5eb63b6efadb88880452888
+size 25745416
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85313bf1a7e19d3820f79301d8a6e7e55ba5bf4c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+57,0.950000000,BASELINE,765.925233921,744,715,679.074766079,658,634,877.925233921,785,810,651,629,652.925233921,0.40095435078,-0.0153608378561,0.0698141750582,0.9999999286,0.000237397090291,-0.000293920660099,7.23619811667e-06,1793248192047194368
+58,0.966666667,BASELINE,765.352269775,744,715,679.647730225,658,634,877.352269775,785,810,651,629,652.352269775,0.400952968534,-0.0153613181062,0.0698133075175,0.999999928266,0.000236794593041,-0.000295548588504,6.8945632537e-06,1793248192063861248
+59,0.983333333,BASELINE,765.222113155,744,715.222113155,679.777886845,658,634,877.222113155,785,810.222113155,651.222113155,629,652.222113155,0.400952181349,-0.0153617191542,0.0698132060404,0.999999928263,0.000236109043587,-0.000296108299425,6.78607133815e-06,1793248192080527616
+60,1.000000000,BASELINE,765.798760821,744,715.798760821,679.201239179,658,634,877.798760821,785,810.798760821,651.798760821,629,652.798760821,0.400952343991,-0.0153619937808,0.069814327345,0.999999928793,0.000235290927049,-0.000294962933911,7.04971951038e-06,1793248192097193984
+61,1.016666667,BASELINE,766,744,716,679,658,634,878,785,810.614509486,652,629,653,0.400954023205,-0.0153623158114,0.0698149820615,0.999999929259,0.000235114623774,-0.000293513296087,7.23657921338e-06,1793248192113860608
+62,1.033333333,BASELINE,766,744,716,679,658,634,878,785,810.022375318,652,629,653,0.400956515382,-0.015362663253,0.0698153866616,0.999999929691,0.000235282366984,-0.000291900552005,7.38227615018e-06,1793248192130527232
+63,1.050000000,BASELINE,765.44486593,744.55513407,715.44486593,679,658,634,877.44486593,785,810,651.44486593,629,653,0.400955156833,-0.0153624401545,0.0698148793193,0.999999929448,0.000234221307913,-0.000293590829366,7.04726821501e-06,1793248192147194368
+64,1.066666667,BASELINE,765.131187319,745,715,679,658,634,877.131187319,785.131187319,810,651,628.868812681,653,0.400953978774,-0.0153621733356,0.0698144176726,0.999999929184,0.000233675388679,-0.000294926765691,6.81515058422e-06,1793248192163861248
+65,1.083333333,BASELINE,765.70427025,745,715,679,658,634,877.70427025,785.70427025,810,651,628.29572975,653,0.400953918074,-0.0153618347204,0.0698142305834,0.999999928953,0.000235027233597,-0.000294632192571,6.99320137085e-06,1793248192180527872
+66,1.100000000,BASELINE,766,744.715382029,715,679,658,634,878,785.715382029,810,651.284617971,628.284617971,652.715382029,0.400953989098,-0.0153606279217,0.0698142444232,0.999999928722,0.000236287042963,-0.000294410832764,6.89793954851e-06,1793248192197194496
+67,1.116666667,BASELINE,766,744.127288211,715,679,658,634,878,785.127288211,810,651.872711789,628.872711789,652.127288211,0.400954200573,-0.0153584954163,0.069814472505,0.999999928491,0.000237448718711,-0.000294267537169,6.51125628814e-06,1793248192213860864
+68,1.133333333,BASELINE,765.543351759,744,715,679,658,634,877.543351759,784.543351759,810,651.543351759,629,652,0.400955333361,-0.0153590409094,0.069815254401,0.999999928938,0.000237458996888,-0.00029273313584,6.67550654243e-06,1793248192230527744
+69,1.150000000,BASELINE,765,744.038832461,715,679,658,634,877.038832461,784,810,651,629,652,0.400956518422,-0.0153602400617,0.0698160563088,0.999999929471,0.000237256178469,-0.00029106575079,6.97989193663e-06,1793248192247194112
+70,1.166666667,BASELINE,765,744.612696332,715,679,658,634,877.612696332,784,810,651,629,652,0.400954917286,-0.0153602531577,0.0698150261889,0.99999992865,0.00023849940574,-0.00029286050364,7.11826546882e-06,1793248192263860736
+71,1.183333333,BASELINE,765,744.813280802,715,679,658,634,877.813280802,784.186719198,810,651,629,652,0.400954165791,-0.0153603822427,0.0698146786629,0.999999928469,0.000238297186582,-0.000293641563959,7.08719371421e-06,1793248192280527360
+72,1.200000000,BASELINE,765,744.238927751,715,679,658,634,877.238927751,784.761072249,810,651,629,652,0.400955178173,-0.0153607521237,0.0698157482191,0.999999929618,0.000235094183725,-0.000292318172864,6.70434921566e-06,1793248192297194240
+73,1.216666667,BASELINE,765,744,715,679,658,634,877.346592263,785,810,651,629,652.346592263,0.400956016618,-0.0153613938918,0.0698163836309,0.999999930247,0.000234314756803,-0.000290786934379,6.77901215141e-06,1793248192313860864
+74,1.233333333,BASELINE,765,744,715,679,658,634,877.940066613,785,810,651,629,652.940066613,0.400956731164,-0.0153622293286,0.0698167097961,0.999999930509,0.00023526167411,-0.000289107643629,7.17956348806e-06,1793248192330527232
+75,1.250000000,BASELINE,765.516645212,744,715,679.516645212,658,634,878,785,810,651.516645212,629,652.483354788,0.400954833112,-0.0153630859304,0.0698153177629,0.999999929825,0.00023512008742,-0.000291574613235,7.22452661967e-06,1793248192347194112
+76,1.266666667,BASELINE,766,744.091507366,715,680,658,634,878,785,810,652,629,652,0.400953272206,-0.0153636530982,0.0698141560541,0.99999992923,0.000234984497645,-0.000293716654289,7.23478925564e-06,1793248192363860480
+77,1.283333333,BASELINE,766,744.667330014,715,680,658,634,878,785,810,652,629,652,0.400955048957,-0.0153626758138,0.0698152348885,0.9999999297,0.000235527794756,-0.000291673893668,7.2728023206e-06,1793248192380527104
+78,1.300000000,BASELINE,765.757251974,744.757251974,715,679.757251974,658,634,878,785,810,651.757251974,629,652,0.400955873167,-0.0153615401291,0.0698156474781,0.999999929689,0.000236501502051,-0.000290922746384,7.23142425266e-06,1793248192397193728
+79,1.316666667,BASELINE,765.182387614,744.182387614,715,679.182387614,658,634,878,785,810,651.182387614,629,652,0.400955394154,-0.0153601877289,0.0698151485431,0.999999929024,0.000238064076099,-0.000291938723366,7.08142699961e-06,1793248192413860352
+80,1.333333333,BASELINE,765,744.405708294,715,679,658,634,878,785,810,651,629,652,0.400955522628,-0.0153604172735,0.0698155099055,0.999999929332,0.000237055595407,-0.000291706231567,6.92953836265e-06,1793248192430527232
+81,1.350000000,BASELINE,765,744.999953078,715,679,658,634,878,785,810,651,629,652,0.400955933409,-0.0153613819627,0.0698162710561,0.99999993009,0.000234852321337,-0.000290893564577,6.77677076846e-06,1793248192447194112
+82,1.366666667,BASELINE,765.575490962,744.424509038,715.575490962,679.575490962,658,634,878,784.424509038,810,651,629,652,0.40095544881,-0.015361031205,0.0698163712606,0.999999929749,0.000235693334894,-0.000291386658533,6.66476637511e-06,1793248192463860992
+83,1.383333333,BASELINE,766,744.151435221,715.848564779,679.848564779,658,634,878,784.151435221,810,651,628.848564779,652,0.400955184949,-0.0153606406588,0.0698164137365,0.999999929517,0.00023629641416,-0.000291697820033,6.55518787212e-06,1793248192480527616
+84,1.400000000,BASELINE,766,744.728526008,715.271473992,679.271473992,658,634,878,784.728526008,810,651,628.271473992,652,0.400955541739,-0.0153601385667,0.0698162940948,0.999999929592,0.000236230029939,-0.000291497314338,6.45241901153e-06,1793248192497194240
+85,1.416666667,BASELINE,766,744.687404678,715,679,658.312595322,634,878,785,810.312595322,651.312595322,628.312595322,652,0.400955656191,-0.015359905149,0.0698162162501,0.999999929457,0.000236747616669,-0.000291538209198,6.48872127383e-06,1793248192513860864
+86,1.433333333,BASELINE,766,744.097136496,715,679,658.902863504,634,878,785,810.902863504,651.902863504,628.902863504,652,0.400955555378,-0.0153599103899,0.0698161755328,0.999999929136,0.000237783934401,-0.000291793535883,6.64855794477e-06,1793248192530527488
+87,1.450000000,BASELINE,765.517784703,744,715,679,659,634,878,784.517784703,810.517784703,651.517784703,629,652.482215297,0.400954741489,-0.0153613418605,0.0698153146369,0.999999928838,0.00023786940498,-0.00029274072859,6.72643910443e-06,1793248192547194112
+88,1.466666667,BASELINE,765,744,715,679,659,634,878,784.058997665,810,651.058997665,629.058997665,652.941002335,0.400954006926,-0.0153626538575,0.069814528332,0.999999928596,0.000237867489014,-0.000293566315389,6.80445380238e-06,1793248192563860736
+89,1.483333333,BASELINE,765,744,715,679,659,634,878,784.632127597,810,651.632127597,629.632127597,652.367872403,0.400955187692,-0.015360476496,0.0698157999347,0.999999928804,0.000238736235613,-0.000292144542421,7.02431395317e-06,1793248192580527360
+90,1.500000000,BASELINE,765.211629125,744,715,679.211629125,659,634,878,785,810.211629125,652,629.788370875,652.211629125,0.400956005406,-0.0153597002548,0.0698163362155,0.99999992911,0.000238544584501,-0.00029124858129,7.07583754465e-06,1793248192597193984
+91,1.516666667,BASELINE,765.80255007,744,715,679.80255007,659,634,878,785,810.80255007,652,629.19744993,652.80255007,0.400956172441,-0.0153614351687,0.0698155546172,0.999999929595,0.00023645243791,-0.00029129500538,6.8256602968e-06,1793248192613860352
+92,1.533333333,BASELINE,765.614602878,744.385397122,715,679.614602878,658.614602878,634,878,785,810.614602878,652,629,653,0.40095575114,-0.015362163199,0.0698155360658,0.999999929986,0.000234717691468,-0.00029135828911,6.70774673914e-06,1793248192630526976
+93,1.550000000,BASELINE,765.03580738,744.96419262,715,679.03580738,658.03580738,634,878,785,810.03580738,652,629,653,0.400955034603,-0.0153623859594,0.0698159004234,0.99999993033,0.000233162293892,-0.00029143003328,6.65620517244e-06,1793248192647193856
+94,1.566666667,BASELINE,765,745,715,679.539379194,658,634,878,785.539379194,810.539379194,652,629,652.460620806,0.400956287525,-0.0153619367226,0.0698162460676,0.999999930081,0.000234897339326,-0.000290884009731,6.9304590367e-06,1793248192663860480
+95,1.583333333,BASELINE,765.113945306,744.886054694,715.113945306,679.886054694,658,634,878,785.886054694,810.886054694,652,629,652.113945306,0.400957106802,-0.0153615372006,0.0698163804302,0.99999992989,0.000236101229025,-0.000290562083142,7.0738448475e-06,1793248192680527104
+96,1.600000000,BASELINE,765.686970638,744.313029362,715.686970638,679.313029362,658,634,878,785.313029362,810.313029362,652,629,652.686970638,0.400955655683,-0.0153615165187,0.0698156685219,0.999999930102,0.000234290883298,-0.000291307166307,6.60340942194e-06,1793248192697193728
+97,1.616666667,BASELINE,766,744,715.730319674,679.269680326,658,634,878,785,810,651.730319674,629,653,0.400955235235,-0.0153618133019,0.0698156094145,0.999999930211,0.000233862049848,-0.000291278075765,6.56056591527e-06,1793248192713860352
+98,1.633333333,BASELINE,766,744,715.135950273,679.864049727,658,634,878,785,810,651.135950273,629,653,0.400956055691,-0.0153624923059,0.0698163362648,0.999999930198,0.000235096526355,-0.000290316897372,7.03253353198e-06,1793248192730526976
+99,1.650000000,BASELINE,765.555489946,744,715.444510054,679.555489946,658,634,877.555489946,785,810,651.444510054,628.555489946,653,0.400956342306,-0.0153614412864,0.0698167895889,0.99999993013,0.000235611686582,-0.000290135408495,6.89771154632e-06,1793248192747193856
+100,1.666666667,BASELINE,765,744,715.979203321,679,658,634,877.020796679,784.979203321,810,651.979203321,628.020796679,652.979203321,0.400956510338,-0.0153600186226,0.0698171597786,0.999999930071,0.000235838912626,-0.00029016329893,6.60354542941e-06,1793248192763860480
+101,1.683333333,BASELINE,765,744,715.404216411,679,658,634,877.595783589,784.404216411,810,651.404216411,628.595783589,652.404216411,0.400957737214,-0.0153623644483,0.069817476229,0.999999930644,0.000234077893137,-0.000289608984678,6.85852480148e-06,1793248192780527104
+102,1.700000000,BASELINE,765,744,715,679,658,634,878,784.170892632,810,651.170892632,629,652,0.400958394243,-0.0153636093562,0.0698176939592,0.999999930993,0.000232987107918,-0.000289277770408,7.01605031221e-06,1793248192797193984
+103,1.716666667,BASELINE,765,744,715,679,658,634,878,784.746290685,810,651.746290685,629,652,0.400957702433,-0.0153622483749,0.0698176780173,0.999999930821,0.000233482777521,-0.000289474637219,6.94290103534e-06,1793248192813860352
+104,1.733333333,BASELINE,765,744,715.332360255,679,658,634,878,785,810,651.667639745,629,652,0.400956638445,-0.0153621255071,0.0698169376145,0.999999930357,0.000234155396497,-0.00029053234955,6.98774641558e-06,1793248192830526976
+105,1.750000000,BASELINE,765,744,715.926846295,679,658,634,878,785,810,651.073153705,629,652,0.400955280929,-0.0153629791141,0.069815625844,0.999999929659,0.000234967571902,-0.000292268993287,7.12565177834e-06,1793248192847193600
+106,1.766666667,BASELINE,765,744,715.495365253,679.504634747,658,634,878,785,810,651.504634747,628.495365253,652.504634747,0.40095571231,-0.0153623198377,0.0698160045641,0.999999929736,0.000236330416031,-0.000290906922633,6.96019949637e-06,1793248192863860224
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,785,810,652,629,652,0.400956840937,-0.015360667693,0.0698159311638,0.999999930095,0.000235696597312,-0.000290199210691,6.48591271061e-06,1793248192907165184
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715.590133996,680,658.409866004,634,878,784.409866004,810,652,629,652,0.400955299515,-0.0153630471977,0.0698151455513,0.999999929868,0.000233994446007,-0.000292346692239,6.60285580643e-06,1793248192923831808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.17700245,715.82299755,679.82299755,658,634,878.17700245,784.17700245,810.17700245,651.82299755,629,652.17700245,0.400954873045,-0.0153641711809,0.0698151567596,0.999999929912,0.000233146154693,-0.000292873497537,6.69477042205e-06,1793248192940498688
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.666056685,715,679,658,634,878.666056685,785,811,651.333943315,629,653,0.400956685661,-0.0153625887982,0.0698167035053,0.999999930531,0.000234046063406,-0.000290023820687,6.77402550897e-06,1793248192973831936
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.089971412,715,679,658,634,878.089971412,785,811,651.910028588,629,653,0.400954646259,-0.015364099421,0.0698149053314,0.999999929971,0.000232920217423,-0.000292845676841,6.82497022313e-06,1793248192990498560
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658.486670429,634,878,785,810.513329571,652,629,652.513329571,0.400954173314,-0.015362502886,0.0698149290875,0.999999929424,0.00023465915508,-0.000293329998054,6.61446600189e-06,1793248193007165184
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,878,785,810,651.238122632,629,652.761877368,0.40096173059,-0.0153628581285,0.0698188940914,0.999999930885,0.000234779035224,-0.000288204133528,6.93692976411e-06,1793248193057165056
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,878,785,810,651.817486802,629,652.182513198,0.400977026662,-0.0153638099988,0.0698260843605,0.99999993413,0.000234817649611,-0.000276660137277,7.78804755724e-06,1793248193073831936
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.606065111,744,715,679,658,634,877.606065111,785,810,652,629,652,0.401010228389,-0.0153664119098,0.0698401834819,0.999999940825,0.000232654423103,-0.000253262134978,8.95573498557e-06,1793248193090498560
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.030958091,744,715,679,658,634,877.030958091,785,810,652,629,652,0.401051664994,-0.0153697726807,0.0698574600109,0.999999948437,0.000229478561572,-0.00022441242973,1.02690140431e-05,1793248193107165184
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,877.555159394,785,810,652,629,652,0.401109512259,-0.0153708914728,0.0698755617922,0.999999952706,0.000233218690347,-0.000200162698174,1.14703045659e-05,1793248193123831808
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715,679.140100227,658,634,878,784.859899773,810,651.859899773,629,652,0.401171440414,-0.0153727777765,0.0698913909423,0.999999956159,0.000235572245437,-0.00017898325409,1.23190503313e-05,1793248193140498432
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715,679.719388923,658,634,878,784.280611077,810,651.280611077,629,652,0.40124323461,-0.0153774699413,0.0698999486339,0.999999959056,0.000232345694425,-0.000166608194872,1.20826063127e-05,1793248193157165056
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715,679.702913822,658.297086178,634,878,784.297086178,810,651.297086178,629,652.297086178,0.401326845244,-0.015381661302,0.0699075474476,0.999999961214,0.00023099247156,-0.000155197496553,1.12847563976e-05,1793248193173831680
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,679.126711778,658.873288222,634,878,784.873288222,810,651.873288222,629,652.873288222,0.401421557551,-0.0153853821511,0.0699142453839,0.99999996271,0.000231399262131,-0.000144692827086,9.95945923145e-06,1793248193190498304
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447949232,744,715.447949232,679,658.552050768,634,878,785,810,651.552050768,629,652.552050768,0.401528136158,-0.0153898016206,0.069916813445,0.999999963691,0.000229472692073,-0.000141056153666,7.93395312387e-06,1793248193207165440
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.977196466,744,715.977196466,679.022803534,658,634,878,785,810,651.022803534,629,652,0.401638853888,-0.0153944163722,0.0699180870615,0.999999964525,0.0002267736779,-0.000139610979725,5.65456913836e-06,1793248193223832064
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.386715583,744,715.386715583,679.613284417,658,634,878,785,810,651.613284417,629,652,0.401769337718,-0.0153989898081,0.0699161187363,0.999999965085,0.000221220103925,-0.000144523905722,1.96895078396e-06,1793248193240498688
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,878,784.799940024,810.200059976,652,628.799940024,652.200059976,0.401913888686,-0.0154049838849,0.0699158965438,0.999999966286,0.000215047548267,-0.000145531083096,-1.53887737727e-06,1793248193257165056
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,878,784.220196676,810.779803324,652,628.220196676,652.779803324,0.402085136928,-0.0154136741211,0.0699189882457,0.999999968741,0.000207700260265,-0.000139125743723,-4.7092864024e-06,1793248193273831936
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.35669373,744,715,679.64330627,658.35669373,634,878,784.35669373,810.64330627,652,628.35669373,653,0.402279816791,-0.0154218670128,0.0699208339882,0.999999971145,0.000199366859183,-0.000133733089195,-8.8485041047e-06,1793248193290498816
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.931836969,744,715,679.068163031,658.931836969,634,878,784.931836969,810.068163031,652,628.931836969,653,0.402488846869,-0.015429755317,0.0699219166697,0.999999973461,0.00019042953334,-0.000128960631391,-1.3581048437e-05,1793248193307165440
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744,715.506011501,679,658.493988499,634,877.493988499,785,810,651.493988499,629,652.493988499,0.402729279935,-0.0154386670289,0.06992647532,0.999999976963,0.00017771013426,-0.000119007087833,-1.81752366824e-05,1793248193323831808
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.917401443,744,715.917401443,679,658,634,877.082598557,785,810,651.082598557,629,652.082598557,0.402979568874,-0.0154477267402,0.0699320102429,0.999999981864,0.000155782570083,-0.0001071618728,-2.27972404548e-05,1793248193340498432
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.325123857,744,715.325123857,679,658,634,877.674876143,785,810,651.674876143,629,652.674876143,0.403264621404,-0.0154568506478,0.0699406855596,0.999999992535,8.01732054483e-05,-8.79423498152e-05,-2.77056671898e-05,1793248193357165312
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,878.261148258,785,810,651.738851742,629,653,0.403563255491,-0.0154660894509,0.0699462972121,0.999999995711,3.84132822972e-05,-7.77578313098e-05,-3.24848336592e-05,1793248193373831936
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,878.840111728,785,810,651.159888272,629,653,0.403878418198,-0.0154754680802,0.0699481804107,0.999999995509,3.78478470328e-05,-7.85688382034e-05,-3.71066913512e-05,1793248193390498560
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,679.414274358,658,634,878.585725642,785,810,651,629,652.585725642,0.404233544803,-0.0154829001319,0.069952808242,0.999999995598,4.54314833439e-05,-7.42568032805e-05,-3.50239709027e-05,1793248193407165440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715,679.986605327,658,634,878.013394673,785,810,651,629,652.013394673,0.404603918682,-0.0154895895127,0.069958483223,0.999999995652,5.61242057414e-05,-6.79901925399e-05,-3.03832766677e-05,1793248193423832064
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.576253563,744,715,680,658,634,878.576253563,784.423746437,810,651.576253563,628.423746437,652.576253563,0.4049941626,-0.0154790522192,0.0699598756456,0.99999999583,5.63248115419e-05,-6.46872677414e-05,-3.13522634689e-05,1793248193440498688
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.836769962,744.163230038,715,679.836769962,658.163230038,634,878.836769962,784,810,652,628.163230038,653,0.405397352659,-0.0154691451686,0.0699606101111,0.999999995723,6.03267400283e-05,-6.18895018619e-05,-3.291824905e-05,1793248193457165312
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.257658114,744.742341886,715,679.257658114,658.742341886,634,878.257658114,784,810,652,628.742341886,653,0.405832313962,-0.0154618956882,0.0699599296985,0.999999994766,7.46544024541e-05,-6.01978382253e-05,-3.56627701407e-05,1793248193473831936
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.319814163,658.680185837,634,878,784.319814163,810.319814163,651.680185837,629,653,0.406281878258,-0.0154644532154,0.0699501812682,0.999999993841,7.13868537905e-05,-7.6012608261e-05,-3.80118877835e-05,1793248193490498816
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.895972319,658.104027681,634,878,784.895972319,810.895972319,651.104027681,629,653,0.406743147489,-0.0154748714554,0.0699331644549,0.999999992136,5.40160328777e-05,-0.000105859493102,-4.00440738278e-05,1793248193507166208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.528827612,715,680,658.471172388,634,878,785,810.528827612,651.471172388,629,653,0.407271719702,-0.0154813096216,0.0699254428824,0.999999991709,4.54972286349e-05,-0.000112729974082,-4.24718679419e-05,1793248193523833088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,785,810,652,629,652.952613541,0.407819283694,-0.0154863235454,0.069921747176,0.999999991999,3.93356147402e-05,-0.000111567086033,-4.48034399189e-05,1793248193540499456
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,785,810,652,629,652.362364158,0.408414533552,-0.0154850677234,0.0699407091023,0.999999995354,3.78339387442e-05,-7.63702157308e-05,-4.50340937906e-05,1793248193557166080
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878.22351137,785,810.22351137,651.77648863,629,652.22351137,0.409012891072,-0.0154844711375,0.0699512416515,0.999999996901,3.55590447192e-05,-5.33951726649e-05,-4.56388324765e-05,1793248193573832704
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878.802431925,785,810.802431925,651.197568075,629,652.802431925,0.409616190099,-0.015484922814,0.0699483705054,0.999999997147,3.20546438672e-05,-4.98542646146e-05,-4.68384097662e-05,1793248193590499072
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.379697862,744.379697862,715,679.620302138,659,634,879,785,810.620302138,651,629,653,0.410241719674,-0.0154876322584,0.0699427449679,0.999999996615,3.36911903929e-05,-5.86536168883e-05,-4.68564200197e-05,1793248193607165952
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.95610657,744.95610657,715,679.04389343,659,634,879,785,810.04389343,651,629,653,0.410878766254,-0.0154915113891,0.0699356924573,0.999999995482,3.79911181166e-05,-7.38461131014e-05,-4.62622933818e-05,1793248193623833088
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468446931,744.468446931,715.531553069,679.531553069,659,634,879,784.468446931,810.531553069,651,629,653,0.411604680309,-0.015510840328,0.0699527724336,0.999999997979,9.5133644659e-06,-4.62949452192e-05,-4.25198739353e-05,1793248193640499200
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,715.890432382,680,659.109567618,634,879,784.109567618,811,651,629,653,0.412342075653,-0.0155299039343,0.0699749424724,0.999999999005,-1.94377567308e-05,-1.07693695973e-05,-3.86894462586e-05,1793248193657165568
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,715.300819185,680,659.699180815,634,879,784.699180815,811,651,629,653,0.413097680425,-0.0155422255981,0.0700106984076,0.999999997641,-3.8625704353e-05,4.42580830528e-05,-3.56103857307e-05,1793248193673831936
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.284284575,744,715,679.715715425,659.715715425,634,879,785,811,651.284284575,629,653,0.413843471382,-0.0155456256819,0.0700234661301,0.999999996521,-4.48297400951e-05,6.09906494432e-05,-3.5050210574e-05,1793248193690498560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.864691199,744,715,679.135308801,659.135308801,634,879,785,811,651.864691199,629,653,0.414579039973,-0.0155397326969,0.0700122884258,0.999999997892,-3.75092225018e-05,3.78337556314e-05,-3.7113805675e-05,1793248193707165440
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.559408483,744,715,679.440591517,659,634,879,785,811.440591517,651.559408483,629,653,0.415307852002,-0.0155321419648,0.0699618202606,0.999999997566,-2.9146387435e-05,-4.62422200761e-05,-4.3359075726e-05,1793248193723832320
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.015139373,634,879,785,812,651,629,653,0.416038413548,-0.0155244721343,0.0699013797077,0.999999987893,-2.09041074967e-05,-0.000145643938526,-5.06354400982e-05,1793248193740498944
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659.590333923,634,879,785,812,651,629,653,0.416909680667,-0.0155329688362,0.0699138834777,0.999999990329,-2.88433265111e-05,-0.000126906743398,-4.9028784401e-05,1793248193757165312
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.170663161,715,680,659.829336839,634,879.170663161,785,812,651.170663161,629,652.829336839,0.417777411775,-0.0155395806312,0.0699317253591,0.999999993241,-3.70333587592e-05,-9.94406942852e-05,-4.75224054476e-05,1793248193773832192
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.763700197,715,680,659.236299803,634,879.763700197,785,812,651.763700197,629,652.236299803,0.418636391566,-0.0155415274735,0.06996277852,0.99999999661,-4.58441276117e-05,-5.03716250872e-05,-4.62642012448e-05,1793248193790498816
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.339968283,745,715,680,659.339968283,634,879.660031717,785.339968283,812,651.660031717,629.339968283,652.339968283,0.41950888849,-0.0155436461523,0.0699901002991,0.99999999767,-5.07796401523e-05,-8.82460931357e-06,-4.47517167339e-05,1793248193807165696
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.905128733,745,715,680,659.905128733,634,879.094871267,785.905128733,812,651.094871267,629.905128733,652.905128733,0.420390339018,-0.0155458786541,0.0700149504405,0.999999997275,-5.31482147529e-05,2.77398587779e-05,-4.30707991132e-05,1793248193823832320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.511978965,745,715,680,660,634,879,785.511978965,811.511978965,651.488021035,630,653,0.421302507112,-0.0155485287537,0.0700246167179,0.999999996208,-6.35145349954e-05,4.02424662468e-05,-4.39260053432e-05,1793248193840498688
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679.925442972,660,634,879,785,811.074557028,651.925442972,630,653,0.422207840741,-0.0155503181248,0.0700213359961,0.999999995757,-7.31389274849e-05,3.20050914349e-05,-4.5955295729e-05,1793248193857165568
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.338449172,660,634,879,785,811.661550828,651.338449172,630,653,0.423023609994,-0.0155456126325,0.0699501219506,0.999999992756,-6.65750674594e-05,-8.54180563369e-05,-5.25378168625e-05,1793248193873832192
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.753637431,715,679.246362569,660,633.753637431,879,785,812,651,629.753637431,653,0.423873590024,-0.0155421323326,0.0698896975126,0.999999980452,-6.84266068975e-05,-0.000175637265599,-5.97186010731e-05,1793248193890498560
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.171796969,715,679.828203031,660,633.171796969,879,785,812,651,629.171796969,653,0.424770155816,-0.0155403204062,0.0698439655349,0.999999968189,-8.17376000328e-05,-0.000228812229022,-6.77140562444e-05,1793248193907165440
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.403074718,744,715,680,660,633.403074718,879.403074718,785,812,651.403074718,629.403074718,653,0.425721008871,-0.0155437505119,0.0698763618253,0.999999979408,-7.79320300228e-05,-0.000176434917793,-6.30903424516e-05,1793248193923832064
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.975026645,744,715,680,660,633.975026645,879.975026645,785,812,651.975026645,629.975026645,653,0.426694606739,-0.0155493768848,0.0699414917116,0.999999993158,-6.69550899331e-05,-7.98341050314e-05,-5.31795433481e-05,1793248193940498688
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.448516161,744.551483839,715,680.551483839,659.448516161,634,880,785,812,651.448516161,630,653,0.427681913468,-0.0155491487604,0.0699940592414,0.999999996167,-7.03036591187e-05,-1.24555070408e-05,-5.06724787537e-05,1793248193957165312
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.736148195,659.263851805,634,879.868074097,785,812.131925903,651,630,653,0.42866753266,-0.0155496835082,0.0700384103371,0.99999999482,-7.4870635473e-05,4.86163994237e-05,-4.88889915216e-05,1793248193973832192
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.548809763,660.451190237,634,879.274404882,785,812.725595118,651,630,653,0.429645054708,-0.0155538238732,0.0700560112119,0.999999991254,-8.14128438047e-05,9.22844688404e-05,-4.84549225748e-05,1793248193990498816
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.308732279,744.691267721,715,679.308732279,660.691267721,633.691267721,879.308732279,785,813,651,630,653,0.430538760612,-0.0155531126067,0.0700268249751,0.999999994327,-8.19676948462e-05,4.51105691934e-05,-5.0909824507e-05,1793248194007165696
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.882817202,744.117182798,715,679.882817202,660.117182798,633.117182798,879.882817202,785,813,651,630,653,0.431360427236,-0.015548231406,0.0699574256316,0.999999992236,-7.73764643967e-05,-8.01411965811e-05,-5.58477706513e-05,1793248194023833088
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.542533839,744.457466161,715,680.457466161,660,633.457466161,879.542533839,785,813.457466161,651,630,653,0.432212472299,-0.0155442268874,0.0699081400795,0.999999983207,-7.18314384466e-05,-0.000157280094805,-6.07427064142e-05,1793248194040499456
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,879,785,813.966950519,651.033049481,630,653,0.433079983241,-0.0155409529408,0.0698702221157,0.999999973225,-6.70019079079e-05,-0.0002117128711,-6.5100657204e-05,1793248194057165824
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,879,785,813.378087006,651.621912994,630,653,0.434076562499,-0.0155461841359,0.0699367241381,0.999999990882,-7.83192917301e-05,-9.18056128836e-05,-6.06133015944e-05,1793248194073832192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.208520847,745,715.208520847,681,660.208520847,634,879,785,813,651.791479153,630,653,0.435050542702,-0.0155512199393,0.0699926314328,0.999999994558,-8.78042936937e-05,4.67108841478e-06,-5.61410022584e-05,1793248194090498560
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.791082638,745,715.791082638,681,660.791082638,634,879,785,813,651.208917362,630,653,0.435983985294,-0.0155559052538,0.0700295341067,0.999999992498,-9.40024054478e-05,5.91184964549e-05,-5.16957110161e-05,1793248194107165184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.630193372,680.630193372,660.630193372,633.630193372,879.369806628,785,813.369806628,651,630,653,0.436879270481,-0.015558868193,0.0700363163674,0.999999990799,-9.86003390762e-05,7.7608405161e-05,-5.15513183375e-05,1793248194123831808
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715.053615263,680.053615263,660.053615263,633.053615263,879.946384737,785,813.946384737,651,630,653,0.437753220508,-0.0155608680931,0.070026257277,0.999999990432,-0.000102303558351,7.59932481208e-05,-5.38117048554e-05,1793248194140498432
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.480633458,744.480633458,715,680.519366542,660.519366542,633,879.480633458,785,814,651.519366542,630,653,0.438522773436,-0.0155556937701,0.0699723212795,0.999999993058,-0.000102112049718,-4.86438268021e-06,-5.86000223974e-05,1793248194157165568
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.095017875,744,715.095017875,681,661,633.095017875,879.095017875,785,814,651.904982125,630,653,0.439281608075,-0.0155499116202,0.0699149614176,0.99999998855,-0.000100561545976,-9.36484315358e-05,-6.33799824977e-05,1793248194173832704
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.686545253,744,715.686545253,681,661,633.686545253,879.686545253,785,814,651.313454747,630,653,0.44004036287,-0.0155447967045,0.0698632162291,0.999999976901,-9.39962013008e-05,-0.000181399468529,-6.67620036287e-05,1793248194190499072
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.272203144,715.727796856,681,660.727796856,633.727796856,879.727796856,785,814,651,630,653,0.440855971501,-0.0155461880027,0.0698674302941,0.999999978046,-9.41330456684e-05,-0.000175127377907,-6.61593714898e-05,1793248194207165696
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744.851244674,715.148755326,681,660.148755326,633.148755326,879.148755326,785,814,651,630,653,0.441735668024,-0.0155549133683,0.0699347238948,0.999999990975,-0.0001018248686,-6.28686113745e-05,-6.10650767375e-05,1793248194223832576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.573265578,745,715,681,660,633,879.426734422,785,814,651,630,653,0.442553322532,-0.0155618563726,0.0699918996205,0.999999992335,-0.000108525933975,1.93145157909e-05,-5.6379071489e-05,1793248194240499456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.001019874,880,785,814,651,630,653,0.443349353086,-0.0155681779238,0.0700454667832,0.999999987922,-0.00011488651663,9.09320526942e-05,-5.18426804259e-05,1793248194257165824
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.588857277,880,785,814,651,630,653,0.44404450938,-0.0155714677565,0.0700353440567,0.999999988978,-0.000122417573475,6.58445325045e-05,-5.21762406072e-05,1793248194273832448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.174050858,745,715,681,660.174050858,633.825949142,880,785,814,651,630,653,0.444735713134,-0.0155729348156,0.0700187282071,0.999999989879,-0.000127198894736,3.51461024176e-05,-5.31674476474e-05,1793248194290498816
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.75309277,745,715,681,660.75309277,633.24690723,880,785,814,651,630,653,0.445417720042,-0.0155701605466,0.0699870038018,0.999999990527,-0.000125581982386,-8.6081046257e-06,-5.56889034334e-05,1793248194307165440
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.669930957,715,681,661,633.330069043,880,785,814.330069043,651,630.330069043,653,0.446059687978,-0.0155693106826,0.0699621302834,0.9999999898,-0.000123874115362,-4.21567773569e-05,-5.72558162655e-05,1793248194323832320
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.094490305,715,681,661,633.905509695,880,785,814.905509695,651,630.905509695,653,0.446671891111,-0.0155698914116,0.0699423496805,0.999999988537,-0.000122098633266,-6.81187063273e-05,-5.81131267053e-05,1793248194340498944
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.518025756,744,715,681,661,633.518025756,880,785,815,651.481974244,630.518025756,653,0.447241826125,-0.0155663993607,0.0699242600912,0.999999984854,-0.000122567140042,-0.000107908486242,-6.02057712494e-05,1793248194357165568
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059864377,744.059864377,715,681,660.940135623,633,880,784.940135623,815,651.940135623,630.059864377,653.059864377,0.447803259355,-0.0155630512719,0.0699088539639,0.999999980017,-0.0001230192933,-0.000144853522247,-6.20462012902e-05,1793248194373831680
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.648571105,744.648571105,715,681,660.351428895,633,880,784.351428895,815,651.351428895,630.648571105,653.648571105,0.448362947502,-0.0155680435821,0.0699142186698,0.999999982296,-0.000119432357711,-0.000132668723715,-5.95145456006e-05,1793248194390498560
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.766310298,745,715,681.233689702,660.233689702,633,880,784,815,651,630.766310298,653.766310298,0.448922731059,-0.0155741755934,0.0699276160907,0.999999985174,-0.000119597350866,-0.000110008908121,-5.69775721927e-05,1793248194407165440
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.186506082,745,715,681.813493918,660.813493918,633,880,784,815,651,630.186506082,653.186506082,0.44948265588,-0.0155819955991,0.0699529106517,0.999999988086,-0.000125319272865,-7.18346938083e-05,-5.44327229635e-05,1793248194423831808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.608823131,633,880.391176869,784,815,651.391176869,630,653,0.449974906358,-0.0155872496971,0.0699594243787,0.999999987693,-0.000133761363846,-6.13507116316e-05,-5.43887363448e-05,1793248194440498944
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.032146056,633,880.967853944,784,815,651.967853944,630,653,0.450435064998,-0.0155912870152,0.0699570320379,0.999999986115,-0.000143493388274,-6.39977269613e-05,-5.55306850141e-05,1793248194457166080
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.863429224,745,715.136570776,681,660,633,880,783.863429224,815,651,630.136570776,653,0.451161618741,-0.0155932536017,0.0698828256743,0.999999971485,-0.000143397775851,-0.000181866204087,-5.82360819125e-05,1793248194490499328
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.29451202,715.70548798,681,660.29451202,632.70548798,879.70548798,783,815,651,630.70548798,653,0.451873359546,-0.0155962072065,0.0698327057002,0.999999954966,-0.000160166379086,-0.000246005711605,-6.24140964836e-05,1793248194523832576
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.873222332,715.126777668,681,660.873222332,632.126777668,879.126777668,783,815,651,630.126777668,653,0.452230515482,-0.0156026228917,0.0698289698381,0.999999955379,-0.000161706776398,-0.000243121334682,-6.31209728163e-05,1793248194540499200
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448328743,745.551671257,715,681,660.551671257,632.448328743,879.448328743,783,815,651.448328743,630,653,0.452541282116,-0.0156063480427,0.0698268428944,0.999999953778,-0.000167428543638,-0.000245398803943,-6.47380361507e-05,1793248194557165568
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,744.976996305,715,681,660.023003695,632.976996305,880,782.976996305,815,651.976996305,630,653,0.45283748375,-0.0156092528061,0.0698252931649,0.999999951619,-0.000174164208963,-0.000248996463139,-6.65551188177e-05,1793248194573832192
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,744.388064036,715,681,660.611935964,632.388064036,880,782.388064036,815,651.388064036,630,653,0.453095510728,-0.0156105429647,0.0698268401629,0.99999995098,-0.000176986398626,-0.000249449332367,-6.70115006284e-05,1793248194590498816
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.802582441,744.197417559,715.197417559,681.197417559,660.802582441,632,880,782,815,651,630.197417559,653,0.453344929539,-0.0156117250858,0.0698280984939,0.999999951256,-0.000175509192927,-0.000249570165465,-6.63277618707e-05,1793248194607165440
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.223767384,744.776232616,715.776232616,681.776232616,660.223767384,632,880,782,815,651,630.776232616,653,0.45357771792,-0.0156126984858,0.0698287991391,0.999999953242,-0.000165725843083,-0.000249049526936,-6.34413864981e-05,1793248194623832320
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.354123628,745,715.645876372,682,660,632.354123628,880,782,815,651.354123628,630.645876372,653.354123628,0.453785394722,-0.0156108549535,0.06982670512,0.999999954381,-0.000154836246903,-0.000252452470225,-5.94201608065e-05,1793248194640498944
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.494277877,660,632.494277877,880,782,815,652,630,653.494277877,0.454132796794,-0.015611555789,0.0698199857655,0.999999949486,-0.0001648094453,-0.000266100413957,-5.52790032405e-05,1793248194673832448
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659.716376719,631.283623281,880,781,815.283623281,651.283623281,629.283623281,653,0.455040668727,-0.0156217734597,0.0697662818966,0.999999915732,-0.000180739699325,-0.000364110209356,-5.73892405933e-05,1793248195040498944
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659.137773837,631.862226163,880,781,815.862226163,651.862226163,629.862226163,653,0.455040814313,-0.0156206682964,0.069765654441,0.999999915521,-0.000179028861638,-0.000365585399271,-5.70416447394e-05,1793248195057165568
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659.438427398,632,880.438427398,780.561572602,815.561572602,651.561572602,630,653,0.455040614319,-0.0156211741277,0.0697653372952,0.99999991513,-0.000180246518349,-0.00036609162178,-5.68208863979e-05,1793248195073832704
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.985848655,660,632,880.985848655,780,815,651.014151345,629.985848655,653,0.45504030784,-0.0156221542767,0.0697650981045,0.999999914678,-0.000182328514744,-0.000366321445733,-5.66495448121e-05,1793248195090499584
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.399063956,660,632,880.399063956,780,815,651.600936044,629.399063956,653,0.455040062891,-0.0156219539804,0.0697640889786,0.999999914184,-0.000182350330129,-0.000367621009656,-5.68737793816e-05,1793248195107166208
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.185328359,660,632,880,780,815,651.814671641,629.185328359,653,0.45503988031,-0.0156215235176,0.0697633429122,0.999999913846,-0.000181848455253,-0.000368779090025,-5.69361491941e-05,1793248195123832832
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.76463482,660,632,880,780,815,651.23536518,629.76463482,653,0.455039830314,-0.0156206037582,0.069763156068,0.999999913838,-0.000180233299623,-0.000369636399177,-5.66544207117e-05,1793248195140499200
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,880,780.342022142,815,651,630,653.342022142,0.455040561799,-0.0156198877313,0.0697632274288,0.999999914291,-0.000178551305348,-0.000369276737873,-5.63166476654e-05,1793248195157165824
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,880,780.91809614,815,651,630,653.91809614,0.455041828064,-0.0156193111221,0.069763475484,0.999999915059,-0.000176823572261,-0.000368084281933,-5.59405223353e-05,1793248195173832192
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.504855953,745,715,681.504855953,660,632,880.495144047,781,815.495144047,651,629.504855953,654,0.455041383027,-0.0156215493866,0.0697627847851,0.999999913821,-0.000180013630096,-0.000369835775451,-5.63421407928e-05,1793248195190498816
+245,4.083333333,HOLD_POSE2,765,745,715,681,660,632,880,781,815,651,630,653,0.455040217183,-0.0156217889852,0.0697614523825,0.999999913232,-0.000179590678433,-0.000371721426664,-5.57313989881e-05,1793248195233418240
+246,4.100000000,HOLD_POSE2,765,745,715,681.579284508,660,632,880,781,815,651,630,653,0.455040729089,-0.015621635448,0.069762206483,0.999999913669,-0.000179252260366,-0.000370712958177,-5.56948243823e-05,1793248195250083584
+247,4.116666667,HOLD_POSE2,765.157524271,745,715,682,660,631.842475729,880,781,815,651,630,653,0.455040803178,-0.0156216261945,0.0697623081555,0.999999913748,-0.000179111883391,-0.000370562986701,-5.57343840296e-05,1793248195266749184
+248,4.133333333,HOLD_POSE2,765.732992237,745,715,682,660,631.267007763,880,781,815,651,630,653,0.455039715649,-0.0156219997547,0.0697606788046,0.999999912875,-0.000179496949343,-0.000372690780912,-5.59759432147e-05,1793248195283415552
+249,4.150000000,HOLD_POSE2,766,745,715,681.685468517,660,631.314531483,880,780.685468517,815,651,630,653,0.455039727197,-0.0156222462391,0.0697601035304,0.999999912373,-0.000179967654779,-0.00037380186805,-5.60193200912e-05,1793248195300081920
+250,4.166666667,HOLD_POSE2,766,745,715,681.098673917,660,631.901326083,880,780.098673917,815,651,630,653,0.455040690122,-0.0156223827247,0.0697604406807,0.999999912195,-0.000180512490997,-0.00037403287834,-5.58911474073e-05,1793248195316748288
+251,4.183333333,HOLD_POSE2,765.518522051,745,715,681,660,632,880,780.481477949,815,651,630,653,0.455040716998,-0.0156206259156,0.0697603927308,0.999999912516,-0.00017809066338,-0.000374328457654,-5.59506381398e-05,1793248195333414912
+252,4.200000000,HOLD_POSE2,765.060316779,745,715,681,660,632,880,780.939683221,815,651,629.939683221,653,0.45504069308,-0.0156188160479,0.0697603713895,0.99999991295,-0.000175421884439,-0.000374420198384,-5.6012079113e-05,1793248195350081536
+253,4.216666667,HOLD_POSE2,765.639411912,745,715,681,660,632,880,780.360588088,815,651,629.360588088,653,0.455041859779,-0.0156198416564,0.0697612484701,0.999999913562,-0.0001757871723,-0.000372646480019,-5.57640078843e-05,1793248195366748416
+254,4.233333333,HOLD_POSE2,765.783199503,745,715,681.216800497,660,632,880,780.216800497,815.216800497,651,629.216800497,653,0.455042070945,-0.0156201154711,0.0697614999107,0.999999913625,-0.000176273056247,-0.000372270423608,-5.56181558234e-05,1793248195383415296
+255,4.250000000,HOLD_POSE2,765.208627183,745,715,681.791372817,660,632,880,780.791372817,815.791372817,651,629.791372817,653,0.455040705257,-0.0156191486489,0.0697607188978,0.999999912782,-0.00017695795207,-0.000374200838416,-5.56409894623e-05,1793248195400082176
+256,4.266666667,HOLD_POSE2,765.374321826,745,715,681.625678174,660,632,880,780.625678174,816,651,629.625678174,653,0.455039985047,-0.0156189218624,0.0697598706966,0.999999912529,-0.000176048780239,-0.000375279774598,-5.57991209698e-05,1793248195416748800
+257,4.283333333,HOLD_POSE2,765.962046482,745,715,681.037953518,660,632,880,780.037953518,816,651,629.037953518,653,0.455039632828,-0.0156191169739,0.0697589841909,0.999999912612,-0.000174230822164,-0.000375873278547,-5.60343865017e-05,1793248195433415168
+258,4.300000000,HOLD_POSE2,766,745,715,681,660,632,880,780.542035733,815.457964267,651,629.542035733,653,0.455039875248,-0.0156188968206,0.0697590658368,0.999999912411,-0.00017565342377,-0.000375762138009,-5.59092992573e-05,1793248195450081792
+259,4.316666667,HOLD_POSE2,766,745,715,681.120707562,660,632,880,781,815,651.120707562,630,653,0.455040217032,-0.0156188844874,0.0697592329562,0.999999912191,-0.000177134363926,-0.000375674210785,-5.57710398299e-05,1793248195466748160
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,780,815,652,630,654,0.455037772059,-0.0156199471206,0.0697565331964,0.999999910313,-0.000177427080272,-0.000380507669446,-5.57367511237e-05,1793248195521532416
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.597452843,745,715,681.402547157,660,632,880,780,815,651.402547157,629.402547157,653.402547157,0.455038502314,-0.0156188856624,0.0697565221672,0.999999910813,-0.000175614984471,-0.000380006107959,-5.59337924267e-05,1793248195538199552
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,780,815,651,629,653,0.455039491146,-0.0156177972959,0.0697571013066,0.999999911525,-0.000173672986209,-0.000379020292427,-5.59570418934e-05,1793248195554866432
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745.34274996,715,681.34274996,660,632,880.34274996,780,815,651,629.34274996,653,0.45504112774,-0.0156178690492,0.0697585299761,0.999999912458,-0.000173130857525,-0.000376852447055,-5.56024854008e-05,1793248195588198912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.91871222,715,681.91871222,660,632,880.91871222,780,815,651,629.91871222,653,0.455040282633,-0.0156206902776,0.0697566858659,0.999999911298,-0.000177437980769,-0.000377898097629,-5.57991914232e-05,1793248195604865280
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.494959825,745.494959825,715,682,660,632,880.494959825,780.505040175,814.494959825,651.505040175,630,653,0.455039147168,-0.0156197055061,0.0697567106221,0.999999911159,-0.000175868711536,-0.000379024508908,-5.56141789751e-05,1793248195621531904
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.091677075,745,715,682,659.908322925,632,880.091677075,781,814.091677075,651.908322925,629.908322925,653,0.455038223603,-0.0156184261567,0.0697569937504,0.999999911204,-0.000173855809949,-0.000379854718005,-5.54605426157e-05,1793248195638198272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.670898435,745,715,682,659.329101565,632,880.670898435,781,814.670898435,651.329101565,629.329101565,653,0.455038680677,-0.0156189062672,0.0697570177242,0.999999911362,-0.000174618992358,-0.000379039129466,-5.5807347942e-05,1793248195654865152
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.250575518,682,659.250575518,632,880.749424482,780.749424482,815,651,629.250575518,653,0.455035103487,-0.0156195674562,0.0697550573897,0.999999910145,-0.000175875174279,-0.000381642276099,-5.59183835877e-05,1793248195671532032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.830852186,682,659.830852186,632,880.169147814,780.169147814,815,651,629.830852186,653,0.455026218109,-0.015620466904,0.069750486151,0.999999907084,-0.000177780032855,-0.000388743711058,-5.57191992139e-05,1793248195688199168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.593715556,681.593715556,660,632,880,780,815,651.406284444,630,653.406284444,0.45500422577,-0.0156186424014,0.0697407498953,0.999999901207,-0.000176768506916,-0.000403899121593,-5.66141963052e-05,1793248195704866048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.020276351,681.020276351,660,632,880,780,815,651.979723649,630,653.979723649,0.454976840925,-0.0156156972031,0.0697288886325,0.999999893888,-0.00017455711345,-0.000422368123331,-5.79593647737e-05,1793248195721532928
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,780,815,651.433085865,630,653.433085865,0.454925155758,-0.0156128554947,0.0697101647269,0.999999881442,-0.000173995287637,-0.000450960561404,-5.89580642828e-05,1793248195738199296
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,780,815,651,630,653.152475279,0.454869058222,-0.0156102034854,0.0696922312423,0.999999869856,-0.000173416065235,-0.000476063945801,-5.98164653064e-05,1793248195754865408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,780,815,651,630,653.732060527,0.454803095965,-0.0156080722298,0.0696772165031,0.999999863059,-0.00017261873797,-0.000490354433605,-6.03174407382e-05,1793248195771532032
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.310531698,660,632,880,780.310531698,815,651,630,653.689468302,0.454730959928,-0.0156046859662,0.0696678822042,0.999999858358,-0.000171371978489,-0.000500290012334,-6.02183326541e-05,1793248195788198656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.888044999,660,632,880,780.888044999,815,651,630,653.111955001,0.454653515948,-0.0156002207017,0.0696634317009,0.999999855556,-0.000169738816868,-0.000506481429468,-5.96032989253e-05,1793248195804865536
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.54250124,745,715,682,660,632,880.45749876,781,815,651,629.54250124,653,0.454565151804,-0.0155960765265,0.0696637536676,0.999999857158,-0.000167794552522,-0.000504164666065,-5.78450801434e-05,1793248195821532416
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.973692449,659.973692449,632,880.973692449,780.973692449,815,651.026307551,629,653,0.454472727944,-0.0155919274177,0.0696651207949,0.99999985966,-0.000165730028323,-0.000500093785639,-5.58461314761e-05,1793248195838199296
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.376838352,659.376838352,632,880.376838352,780.376838352,815,651.623161648,629,653,0.454349210755,-0.0155859967316,0.0696642649932,0.999999859098,-0.000162679858102,-0.000502353183423,-5.45884026871e-05,1793248195854865664
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.21352965,745,715,681.21352965,659.21352965,632,880,780.21352965,815,651.78647035,629.21352965,653,0.45421428831,-0.0155798874097,0.0696635557907,0.999999859052,-0.00015918857279,-0.000503767341057,-5.26683536369e-05,1793248195871532288
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.630827534,660,632,880.369172466,781,815,651,630,653,0.453890219313,-0.0155648255224,0.0696655393864,0.999999862372,-0.000148041474976,-0.000501153853919,-4.67288159121e-05,1793248195904865280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.056044359,660,632,880.943955641,781,815,651,630,653,0.453712166958,-0.0155549361862,0.069669596146,0.9999998657,-0.000139663347499,-0.000497155709862,-4.39380690421e-05,1793248195921532160
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,880.757438111,783.514876222,814,651,630,653.757438111,0.450585983824,-0.0155043118144,0.0696562779083,0.999999858591,-3.86639093479e-06,-0.000531791136305,1.29552967734e-06,1793248196088198656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.664880673,745,715,682,660,633,880.664880673,783.664880673,814,651,630,653.664880673,0.450144870115,-0.015502760391,0.0696690730221,0.999999865245,-3.88137888372e-07,-0.000519099296146,6.71282486208e-06,1793248196104865280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.088325865,745,715,682,660,633,880.088325865,783.088325865,814,651,630,653.088325865,0.449684736437,-0.0154963679446,0.0696841406531,0.999999872437,1.34337761904e-05,-0.000504787539618,1.1618306061e-05,1793248196121531904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,783.495966368,814,651,630.495966368,653,0.449230029638,-0.0154871905178,0.0697091592792,0.999999893121,1.78242968065e-05,-0.000461851461883,1.15903514411e-05,1793248196138198528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.919170282,784,813.919170282,651,631,653,0.448767904738,-0.0154776726061,0.0697370440464,0.999999914508,2.10143861288e-05,-0.000412833815343,1.04944768088e-05,1793248196154865152
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.239969696,745,715,681.760030304,660,633,879.239969696,784,813,651,631,653.239969696,0.447701566336,-0.015458910813,0.0697904912393,0.999999945265,3.88968822702e-05,-0.000328450586005,8.83452027562e-06,1793248196188198400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.818856248,745,715,681.181143752,660,633,879.818856248,784,813,651,631,653.818856248,0.447094978608,-0.0154461977116,0.0697876103599,0.999999942564,5.78934222532e-05,-0.000333686858321,1.31624828606e-05,1793248196204865024
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.032980748,745,715,681.967019252,660,633,880,784.967019252,813,651.967019252,630.032980748,653.032980748,0.445760883448,-0.0154123674171,0.0697340099023,0.999999910074,9.56832964466e-05,-0.000413153258342,1.14331732305e-06,1793248196238198528
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.974632719,745,715,682,660.974632719,633,879.974632719,784,812.025367281,651,630,653,0.440725236796,-0.0153959714984,0.0698144547321,0.999999951907,0.000133831351873,-0.000279408993761,1.43635212171e-05,1793248196354864896
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.195470432,715,681,659,633.804529568,878.195470432,784,811,651,630,652.195470432,0.420834218863,-0.0153711914346,0.0696773797957,0.999999839024,0.000198864446938,-0.000531313798562,1.04766469353e-05,1793248196721531648
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.829276926,745,715,680.170723074,659,634,878,785,811,652,629,653,0.407123576432,-0.0153621785052,0.0697829968122,0.999999915507,0.000224986140294,-0.000343746901713,1.43356509874e-05,1793248197038199552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.595918555,659,634,878,785,811,651.595918555,629,652.595918555,0.40662847424,-0.015360978413,0.0697966896519,0.999999919822,0.000229723993539,-0.000327624774569,1.56796114758e-05,1793248197054866176
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.022794639,659,634,878,785,811,651.022794639,629,652.022794639,0.406142297844,-0.0153586153624,0.0698083054963,0.999999921124,0.000237321925419,-0.000318030973449,1.6958449397e-05,1793248197071532800
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.433609342,715,679.566390658,658.433609342,634,878,784.433609342,810.433609342,651,629,652.566390658,0.405685203468,-0.0153587267329,0.0698016306841,0.999999916075,0.000235846874941,-0.000334594864456,1.65291582449e-05,1793248197088199424
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.846515566,658,634,877.846515566,784,810,651,629.153484434,652.846515566,0.405246269489,-0.0153594161291,0.069798898217,0.999999914191,0.000233641507338,-0.000341715326185,1.6134099316e-05,1793248197104865792
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.267072437,658,634,877.267072437,784,810,651,629.732927563,652.267072437,0.404854392164,-0.0153614252574,0.0698092092993,0.999999922239,0.000230452271563,-0.000319620995928,1.60303948584e-05,1793248197121532672
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744,714.689379171,679.310620829,658,634,877.310620829,784.310620829,810,651,629.689379171,652.310620829,0.404491672463,-0.0153624659747,0.0698221836135,0.999999930433,0.000229040882121,-0.000293930812031,1.66806396829e-05,1793248197138199552
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744,714.113182048,679.886817952,658,634,877.886817952,784.886817952,810,651,629.113182048,652.886817952,0.40415388213,-0.0153626787144,0.0698374349517,0.999999938427,0.00022914952557,-0.000265166226764,1.79755001869e-05,1793248197154865920
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744,714.468191075,679.531808925,658,634,878,785,810.468191075,651,629,652.531808925,0.403836671789,-0.0153609303298,0.0698425827688,0.999999940794,0.000229037992108,-0.000256158394124,1.83455500444e-05,1793248197171532800
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.949233256,744,715.050766744,679.050766744,658.050766744,634,878,785,810.949233256,651,629,652.050766744,0.403525647307,-0.0153585507102,0.0698440079693,0.999999941117,0.000230292588093,-0.000253766225605,1.82808767271e-05,1793248197188199424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.36731358,744,715.63268642,679.63268642,658.63268642,634,878,785,810.36731358,651,629,652.63268642,0.403226708885,-0.0153545823771,0.0698323250376,0.999999933047,0.000246403582578,-0.000270062492507,1.6033103522e-05,1793248197204865792
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634.213118815,878,785,810,651,629,653,0.402939785878,-0.0153513596172,0.0698221963924,0.999999926663,0.000253996191839,-0.000286295506211,1.39539799377e-05,1793248197221532416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634.791005563,878,785,810,651,629,653,0.402673428137,-0.0153494129589,0.0698147280196,0.99999992369,0.000247008980451,-0.000302420256058,1.21635123534e-05,1793248197238198784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.367446923,744.367446923,716,680,658.632553077,634.632553077,878,785,810,651,629,653,0.402440106519,-0.015347197742,0.0698071210089,0.999999919441,0.000249436408504,-0.00031426063408,1.18362752538e-05,1793248197254865408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.943069459,744.943069459,716,680,658.056930541,634.056930541,878,785,810,651,629,653,0.402225501361,-0.015344830374,0.0697994354527,0.999999914466,0.000257197662943,-0.000323673719564,1.23380254767e-05,1793248197271532032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.470614511,715.470614511,680,658,634,878,785,810,651.529385489,629,653,0.402047228613,-0.0153479574278,0.0697976067866,0.999999914414,0.000252676786162,-0.000327340622682,1.32037053878e-05,1793248197288198912
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.115244769,715,679.884755231,658.115244769,634,878,785,810,651.884755231,629,653,0.401878026495,-0.015351901782,0.0697965264549,0.999999915101,0.00024615455917,-0.000330167352332,1.40056986505e-05,1793248197304866048
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.694539003,715,679.305460997,658.694539003,634,878,785,810,651.305460997,629,653,0.40172929119,-0.0153567088222,0.0697958709112,0.99999991665,0.000237001767899,-0.000332150563407,1.43904080043e-05,1793248197321532672
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.726461679,745,715,679,658.726461679,634,877.726461679,785,810,651,629,653,0.401596221249,-0.0153586340427,0.0697960380457,0.999999919964,0.000224515407686,-0.000330967250952,1.11880373322e-05,1793248197338199040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.147791372,745,715,679,658.147791372,634,877.147791372,785,810,651,629,653,0.401480626029,-0.0153573445933,0.069797122878,0.999999925075,0.000208310451978,-0.000326251681465,3.98427902493e-06,1793248197354865664
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.572256758,715.427743242,679,658.427743242,634,877.427743242,784.572256758,810,651.427743242,629,652.572256758,0.40138533034,-0.0153585082722,0.0697985121092,0.999999923519,0.00021988750702,-0.000323422867199,2.95136639549e-06,1793248197371532288
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.002254871,744,715.997745129,679.002254871,658.997745129,634,878,784.002254871,810,652,629,652.002254871,0.401297074957,-0.0153604892047,0.0697999975152,0.99999991937,0.000240923127672,-0.000321248727804,4.03291262766e-06,1793248197388198912
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.5904259,744,715.4095741,679.5904259,658.4095741,634,878,784.5904259,810,652,629,652.5904259,0.401228975597,-0.0153561899731,0.0697993433432,0.99999991879,0.000243598913566,-0.000321028187617,4.55846486125e-06,1793248197404865536
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.824185842,658,634,878,784.824185842,810.175814158,651.824185842,629,653,0.401164682446,-0.0153532229544,0.0697980746754,0.999999918047,0.000244588135339,-0.000322579470714,5.05107071279e-06,1793248197421532160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.245179354,658,634,878,784.245179354,810.754820646,651.245179354,629,653,0.401109118032,-0.0153533110829,0.0697953967922,0.999999916918,0.000241709581116,-0.000328194053194,5.46812098138e-06,1793248197438199040
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.668084868,744,715,679,658.331915132,634,878,784,810.336169736,651.331915132,629,652.668084868,0.40106698887,-0.0153534478605,0.0697953417715,0.999999916744,0.000241986106221,-0.000328509799544,5.9544967133e-06,1793248197454865920
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.092394592,744,715,679,658.907605408,634,878,784,809.184789183,651.907605408,629,652.092394592,0.401034727226,-0.0153536203685,0.0697972131125,0.999999917278,0.000244579879761,-0.000324933815071,6.49178859107e-06,1793248197471532544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.482642076,744,715.482642076,679.482642076,659,634,878,784.482642076,809.482642076,651.517357924,629,652,0.401011885563,-0.0153535985251,0.0697985823592,0.99999991827,0.000244166151355,-0.000322175102859,6.82300320478e-06,1793248197488199168
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.940848864,744,716,679.940848864,659,634,878,785,810,651.059151136,629,652,0.40099179648,-0.0153534057863,0.0697999272365,0.999999919234,0.000243670888759,-0.000319540713817,7.09532818993e-06,1793248197504865280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.349980712,744,716,679.349980712,659,634,878,785,810,651.650019288,629,652,0.400980262372,-0.0153520108409,0.0698019159058,0.999999919195,0.000247611115187,-0.000316619392402,7.19243211196e-06,1793248197521531904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,715.763643237,679.236356763,658.763643237,634,877.763643237,785,810,652,629,652.236356763,0.400969907533,-0.0153513739505,0.0698027822832,0.999999919184,0.000249112059382,-0.000315472481627,7.19928654107e-06,1793248197538198528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,715.183888328,679.816111672,658.183888328,634,877.183888328,785,810,652,629,652.816111672,0.400961266032,-0.0153518384235,0.0698020181044,0.999999919239,0.000247069017619,-0.000316903577751,7.07501923118e-06,1793248197554865152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,658,634,877.391424618,785,810,651.608575382,629,652.608575382,0.400957375725,-0.0153522974201,0.0698029323116,0.999999919792,0.00024732272375,-0.000314954761385,7.13244098323e-06,1793248197571532288
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,658,634,877.964674163,785,810,651.035325837,629,652.035325837,0.400955692446,-0.0153527538727,0.0698046261643,0.999999920566,0.000248643317394,-0.000311435904894,7.27426111011e-06,1793248197588198912
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,715.55185073,680,658,634,878.55185073,785,810.55185073,651.55185073,629,652,0.400953916732,-0.0153536392186,0.0698050029595,0.999999920905,0.000247549386275,-0.000311220056297,7.14375311228e-06,1793248197604865792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.138638358,715.861361642,680,658,634,878.861361642,784.861361642,811,652,629,652.138638358,0.400952700456,-0.015353702108,0.0698054763798,0.999999921105,0.00024756984098,-0.000310563082155,7.02610307856e-06,1793248197621532416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.721251428,715.278748572,680,658,634,878.278748572,784.278748572,811,652,629,652.721251428,0.400953295155,-0.0153510409693,0.0698065362141,0.999999920937,0.000251666782059,-0.000307798815722,7.00690092006e-06,1793248197638198784
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.29893368,744.70106632,715,680,658,634,878.29893368,784,810.70106632,651.70106632,628.70106632,652.70106632,0.400954171149,-0.0153513069292,0.0698077688065,0.999999921895,0.000250613517367,-0.000305535870693,7.18240070316e-06,1793248197654865152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.872092738,744.127907262,715,680,658,634,878.872092738,784,810.127907262,651.127907262,628.127907262,652.127907262,0.400955305189,-0.0153542580484,0.0698091598779,0.999999923873,0.00024483573657,-0.000303732810127,7.53650937659e-06,1793248197671531776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.552013041,744,715.447986959,679.552013041,658,634,878.104026083,784.447986959,810,651,628.447986959,652.447986959,0.400954415963,-0.0153553652162,0.0698091631736,0.999999924143,0.000243204876303,-0.000304151842975,7.50725039426e-06,1793248197688198400
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,715.974716372,679.025283628,658,634,877.025283628,785,810.025283628,651,629,652.974716372,0.400952939592,-0.015355892048,0.0698087445243,0.999999923918,0.000242786221209,-0.00030522935235,7.3548695792e-06,1793248197704865280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,715.383617477,679.616382523,658,634,877.616382523,785,810.616382523,651,629,652.383617477,0.400951330707,-0.0153552859599,0.069807804914,0.999999923441,0.000242835759171,-0.000306757500361,6.91174428628e-06,1793248197721532416
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.203127282,744,715.203127282,679.796872718,658.203127282,634,878,785,810.796872718,651,628.796872718,652.203127282,0.40095039369,-0.0153546669397,0.0698075768693,0.999999923104,0.000243516185363,-0.000307321944038,6.67776819053e-06,1793248197738199552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.781821539,744,715.781821539,679.218178461,658.781821539,634,878,785,810.218178461,651,628.218178461,652.781821539,0.400950698907,-0.0153540240093,0.0698086644556,0.999999923025,0.000245363076149,-0.00030610457124,6.83049316036e-06,1793248197754866176
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.641455262,744,716,679,658.641455262,634,878,785,810,651,628,652.641455262,0.400953118457,-0.0153542739522,0.0698104646321,0.99999992368,0.00024682974593,-0.000302759617196,7.20944709483e-06,1793248197771532544
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.065924937,744,716,679,658.065924937,634,878,785,810,651,628,652.065924937,0.400956817566,-0.0153550642479,0.0698126960567,0.999999924762,0.00024806631192,-0.000298127084774,7.72531120383e-06,1793248197788198656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.497083949,744.497083949,715.502916051,679.497083949,658.497083949,634,878,785,810,651,628.497083949,652,0.40095573304,-0.0153565670511,0.0698124409391,0.999999925153,0.000245121952492,-0.000299250767847,7.59424941414e-06,1793248197804865280
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.670007414,679.329992586,658.329992586,634,877.329992586,785,810,651,629,652.670007414,0.400953759795,-0.0153562807041,0.0698108599209,0.999999925264,0.000242111217923,-0.000301341546639,6.95215613906e-06,1793248197838198528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.737666828,744.737666828,715.737666828,679.262333172,658.262333172,634,877.262333172,785,810,651.262333172,629,653,0.400953543065,-0.0153560908008,0.0698106083082,0.99999992536,0.000241752713611,-0.000301314226053,6.70138576306e-06,1793248197854865408
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.162600864,744.162600864,715.162600864,679.837399136,658.837399136,634,877.837399136,785,810,651.837399136,629,653,0.400953550906,-0.0153575263452,0.0698112058379,0.999999925733,0.000240846472157,-0.000300804065876,6.6372031185e-06,1793248197871532544
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.414090404,744,715.414090404,679.585909596,658.585909596,634,877.585909596,785,810,651.585909596,629,653,0.400953831881,-0.0153571777576,0.0698117049659,0.999999925668,0.000241944688075,-0.000300133914268,6.85814986833e-06,1793248197888199424
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.991422359,744,715.991422359,679.008577641,658.008577641,634,877.008577641,785,810,651.008577641,629,653,0.400954220531,-0.0153561258346,0.0698121653023,0.999999925426,0.000243833095585,-0.00029940069132,7.19149952861e-06,1793248197904866304
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744,715.423293479,679.576706521,658.576706521,634,877.576706521,785,810,651.576706521,629,652.423293479,0.400953261432,-0.0153565827467,0.0698121418309,0.999999925594,0.000242486512326,-0.000299939478874,6.95491304033e-06,1793248197921532672
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..340621b77f66f10e95cabf11e99b072923182236
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/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,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
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+366,6.100000000,pose2_to_pose3_retreat,0.584278817889,-0.0100720953548,1.06004251387,0.554850608507,-0.00139764024582,1.05966589019
+367,6.116666667,pose2_to_pose3_retreat,0.584127234522,-0.0100721314226,1.06004240689,0.554699025761,-0.00139767386893,1.0596657911
+368,6.133333333,pose2_to_pose3_retreat,0.583991877437,-0.0100721304475,1.0600424511,0.55456366886,-0.00139767216284,1.05966583765
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+370,6.166666667,pose2_to_pose3_retreat,0.583766738965,-0.0100721088016,1.06004250609,0.554338530991,-0.00139764882178,1.05966588468
+371,6.183333333,pose2_to_pose3_retreat,0.583674109625,-0.0100722265108,1.06004252178,0.554245902996,-0.0013977621019,1.05966589765
+372,6.200000000,pose2_to_pose3_retreat,0.583594407199,-0.0100720839857,1.06004233838,0.554166198491,-0.00139762633084,1.0596657212
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+374,6.233333333,pose2_to_pose3_retreat,0.583466854874,-0.0100721014799,1.0600425671,0.554038646198,-0.00139764355897,1.05966595342
+375,6.250000000,pose2_to_pose3_retreat,0.583416610424,-0.0100721032371,1.06004268514,0.553988402239,-0.0013976437824,1.05966606844
+376,6.266666667,pose2_to_pose3_retreat,0.583375494616,-0.0100719619476,1.06004249649,0.553947283129,-0.00139751376356,1.05966587823
+377,6.283333333,pose2_to_pose3_retreat,0.583341639664,-0.0100722546657,1.06004237227,0.553913431422,-0.00139779532995,1.05966575724
+378,6.300000000,pose2_to_pose3_retreat,0.583314926899,-0.0100722354062,1.06004261559,0.553886718866,-0.00139777595912,1.05966598683
+379,6.316666667,pose2_to_pose3_retreat,0.583295180225,-0.0100720963444,1.06004253941,0.553866969563,-0.00139764526827,1.05966592325
+380,6.333333333,pose2_to_pose3_retreat,0.583280444757,-0.0100720307362,1.0600424619,0.553852233386,-0.00139758175688,1.05966585288
+381,6.350000000,pose2_to_pose3_retreat,0.583269431217,-0.0100720638374,1.06004250128,0.553841221606,-0.00139760918326,1.0596658855
+382,6.366666667,pose2_to_pose3_retreat,0.583261537923,-0.0100720810493,1.06004262746,0.5538333285,-0.00139762606819,1.05966600446
+383,6.383333333,pose2_to_pose3_retreat,0.583256366058,-0.0100720624091,1.06004251938,0.553828156061,-0.00139760914105,1.05966590187
+384,6.400000000,pose2_to_pose3_retreat,0.583252619246,-0.0100720342766,1.06004234781,0.553824408491,-0.00139758319195,1.05966573927
+385,6.416666667,pose2_to_pose3_retreat,0.583250365319,-0.0100720034314,1.06004235841,0.553822153707,-0.00139755541834,1.05966574607
+386,6.433333333,pose2_to_pose3_retreat,0.58324932786,-0.0100719887147,1.06004236754,0.553821115839,-0.00139754218102,1.0596657531
+387,6.450000000,pose2_to_pose3_retreat,0.583248910765,-0.0100719827981,1.06004237121,0.553820698579,-0.00139753685915,1.05966575592
+388,6.466666667,pose2_to_pose3_retreat,0.583248860361,-0.0100719820831,1.06004237165,0.553820648156,-0.00139753621603,1.05966575626
+389,6.483333333,pose2_to_pose3_retreat,0.583248795383,-0.0100719811614,1.06004237222,0.553820583152,-0.00139753538695,1.0596657567
+390,6.500000000,pose2_to_pose3_retreat,0.583248764258,-0.0100719807198,1.0600423725,0.553820552015,-0.00139753498981,1.05966575691
+391,6.516666667,pose2_to_pose3_retreat,0.583248508573,-0.0100719770929,1.06004237475,0.553820296229,-0.00139753172743,1.05966575865
+392,6.533333333,pose2_to_pose3_retreat,0.583248062267,-0.0100719702483,1.06004240317,0.553819850366,-0.00139752339307,1.05966578673
+393,6.550000000,pose2_to_pose3_retreat,0.583247520256,-0.0100719619083,1.06004243901,0.553819308927,-0.00139751312909,1.05966582219
+394,6.566666667,pose2_to_pose3_retreat,0.583247367582,-0.0100719595591,1.0600424491,0.553819156414,-0.00139751023792,1.05966583217
+395,6.583333333,pose2_to_pose3_retreat,0.58324691127,-0.0100719525378,1.06004247928,0.553818700583,-0.0013975015968,1.05966586202
+396,6.600000000,pose2_to_pose3_retreat,0.583246407878,-0.0100719516185,1.06004250543,0.553818197567,-0.00139749939061,1.05966588845
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+398,6.633333333,pose2_to_pose3_retreat,0.583245778741,-0.0100720235448,1.06004246182,0.553817567238,-0.00139757506048,1.05966585186
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+404,6.733333333,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894195,1.05966576102
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fea720967cbb73decad977857f2bec595e8ba6cc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0997c7adab9f3e3c9cd84a9057aa600ce5ae4deaf432b30a63d43ce73cf1edd4
+size 25744603
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1be7a4a923d4821776c30fac35dcbcd20e2317b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+34,0.566666667,BASELINE,765.714753427,744,715.714753427,680,658.714753427,634,878,785,810,651.285246573,629,652.285246573,0.400952317786,-0.0153559497477,0.0698135874097,0.999999926605,0.000242334109508,-0.000296696630355,5.92370911044e-06,1793248198643857920
+35,0.583333333,BASELINE,766,744.298462031,715.701537969,680,659,634,878,784.701537969,810,651.298462031,629,652,0.400952530367,-0.0153562471289,0.0698132525299,0.999999926658,0.000241433479067,-0.000297252845393,5.87076657189e-06,1793248198660524544
+36,0.600000000,BASELINE,766,744.890024444,715.109975556,680,659,634,878,784.109975556,810,651.890024444,629,652,0.400953692248,-0.0153582007757,0.0698134968024,0.999999927212,0.000239532233231,-0.000296922809979,6.0166936889e-06,1793248198677191424
+37,0.616666667,BASELINE,765.530102873,744.530102873,715.469897127,679.530102873,658.530102873,634,878,784.469897127,810,652,629,652.469897127,0.400954720314,-0.0153589963441,0.0698142814231,0.999999927511,0.000239720317998,-0.000295752062262,6.49384067715e-06,1793248198693858048
+38,0.633333333,BASELINE,765.046942419,744,716,679.046942419,658,634.046942419,878,785,810.046942419,652,629,652.953057581,0.400955624647,-0.0153593940396,0.0698151211422,0.999999927727,0.000240369326289,-0.000294482409502,6.96899336236e-06,1793248198710524672
+39,0.650000000,BASELINE,765.622210823,744,716,679.622210823,658,634.622210823,878,785,810.622210823,652,629,652.377789177,0.40095548031,-0.0153582901996,0.0698151922058,0.999999927683,0.000240836034109,-0.000294260357142,6.57041711101e-06,1793248198727191296
+40,0.666666667,BASELINE,766,744,716,679.800474242,658,634.800474242,878,785,810.800474242,652,629,652,0.400955121024,-0.0153583219407,0.0698151219015,0.999999927821,0.000240233397086,-0.000294289214804,6.33264663539e-06,1793248198743857920
+41,0.683333333,BASELINE,766,744,716,679.219244209,658,634.219244209,878,785,810.219244209,652,629,652,0.400954350528,-0.0153605261142,0.0698147811522,0.999999928303,0.000237585041715,-0.000294798077807,6.40250690081e-06,1793248198760524544
+42,0.700000000,BASELINE,765.634476977,744,716,679,658,634,878,785,810,651.634476977,629,652.365523023,0.400954252284,-0.0153606916509,0.0698146358139,0.9999999284,0.000237487968199,-0.000294551192577,6.28947237291e-06,1793248198777191424
+43,0.716666667,BASELINE,765.04756739,744,716,679,658,634,878,785,810,651.04756739,629,652.95243261,0.400954561203,-0.0153596224452,0.0698146088304,0.999999928263,0.000238936131303,-0.00029384657281,6.06566383519e-06,1793248198793858048
+44,0.733333333,BASELINE,765,744,716,679,658,634,878,784.471944994,810,651.528055006,629,652.471944994,0.400954866462,-0.0153592405836,0.0698151783661,0.99999992821,0.000239758807812,-0.00029335442555,6.27527154632e-06,1793248198810524416
+45,0.750000000,BASELINE,765.103206819,744,715.896793181,679.103206819,658,634,878,784.103206819,810,651.896793181,629,652,0.400954968896,-0.0153590518488,0.0698155793411,0.999999928176,0.000240159791462,-0.000293138180742,6.48029916832e-06,1793248198827191296
+46,0.766666667,BASELINE,765.680770968,744,715.319229032,679.680770968,658,634,878,784.680770968,810,651.319229032,629,652,0.400954140599,-0.0153594721382,0.0698149637746,0.999999928199,0.000238876145701,-0.000294103905881,6.48858567549e-06,1793248198843858176
+47,0.783333333,BASELINE,766,744,715,679.73634937,658,634,877.73634937,785,810,651.26365063,629,652.26365063,0.400953888842,-0.0153595083649,0.0698147577095,0.999999928007,0.000239108298011,-0.000294571480041,6.45702644945e-06,1793248198860524800
+48,0.800000000,BASELINE,766,744,715,679.14690116,658,634,877.14690116,785,810,651.85309884,629,652.85309884,0.400954349529,-0.0153590699989,0.0698150576724,0.999999927545,0.000241213547675,-0.000294423480668,6.37622917244e-06,1793248198877191168
+49,0.816666667,BASELINE,765.565688591,744,715,679.434311409,658,634,877.434311409,784.565688591,810,652,629,653,0.400954731374,-0.0153582742242,0.0698151477937,0.999999927345,0.000241929085051,-0.0002945178055,6.35719677279e-06,1793248198893857792
+50,0.833333333,BASELINE,765,744.012700383,715,679.987299617,658,634,877.987299617,784.012700383,810,652,629,653,0.400955100165,-0.0153574139923,0.069815185851,0.99999992725,0.000242146153887,-0.000294660088708,6.36304051962e-06,1793248198910524416
+51,0.850000000,BASELINE,765,744.587118421,715,679.412881579,658,634,877.412881579,784.587118421,810,652,629,653,0.400956049063,-0.0153589501752,0.0698160019687,0.999999927974,0.000240719657252,-0.000293365839688,6.56232255194e-06,1793248198927191040
+52,0.866666667,BASELINE,765.160490542,745,715.160490542,679.160490542,658,634,877.160490542,785,810,652,629,653,0.400956508489,-0.0153598689629,0.0698165044062,0.999999928399,0.000240031461882,-0.000292475275709,6.66013486489e-06,1793248198943857664
+53,0.883333333,BASELINE,765.7311893,745,715.7311893,679.7311893,658,634,877.7311893,785,810,652,629,653,0.40095571684,-0.0153592097103,0.069816205088,0.999999928071,0.000241230338838,-0.000292616516665,6.49859410847e-06,1793248198960524544
+54,0.900000000,BASELINE,766,744.683559244,715.683559244,680,658.316440756,634.316440756,878,785.316440756,810.316440756,652,629,653,0.400955204168,-0.0153586628147,0.0698160054474,0.999999927881,0.000241545870741,-0.000293004916225,6.45026950816e-06,1793248198977191168
+55,0.916666667,BASELINE,766,744.085349638,715.085349638,680,658.914650362,634.914650362,878,785.914650362,810.914650362,652,629,653,0.400954939905,-0.0153582159654,0.069815894563,0.999999927816,0.000241074844224,-0.000293613393608,6.50275616032e-06,1793248198993857792
+56,0.933333333,BASELINE,765.505033101,744,715.494966899,679.505033101,658.505033101,634.505033101,878,785.505033101,810.505033101,652,629,653,0.400956464125,-0.0153594395332,0.0698167322283,0.999999928882,0.000239218286122,-0.000291489342528,6.64687855414e-06,1793248199010524416
+57,0.950000000,BASELINE,765.071731176,744.071731176,715.928268824,679,658,634,878,784.928268824,810,651.928268824,629,653,0.400957789693,-0.0153607976202,0.0698174239891,0.999999929901,0.000237228455437,-0.00028961279554,6.75440843687e-06,1793248199027191296
+58,0.966666667,BASELINE,765.644482375,744.644482375,715.355517625,679,658,634,878,784.355517625,810,651.355517625,629,653,0.400955648837,-0.0153611536136,0.0698159940716,0.999999929331,0.000235918279318,-0.000292641239434,6.4998348799e-06,1793248199043857664
+59,0.983333333,BASELINE,765.775584875,744.775584875,715,679.224415125,658,634,878.224415125,784,810.224415125,651,629,652.775584875,0.400954877972,-0.0153608141913,0.0698154810306,0.999999928925,0.000236342492205,-0.000293688683196,6.30440058057e-06,1793248199060524544
+60,1.000000000,BASELINE,765.183898934,744.183898934,715,679.816101066,658,634,878.816101066,784,810.816101066,651,629,652.183898934,0.400956349193,-0.0153593366731,0.0698164685212,0.999999928791,0.000239605152019,-0.000291494084199,6.20575171171e-06,1793248199077191168
+61,1.016666667,BASELINE,765.39852215,744,715.39852215,680,658.39852215,634,878.60147785,784.39852215,810.60147785,651.39852215,629,652.39852215,0.400956349783,-0.0153589759635,0.0698167521579,0.999999928668,0.000240365026406,-0.000291288338259,6.29339325773e-06,1793248199093857792
+62,1.033333333,BASELINE,765.976765043,744,715.976765043,680,658.976765043,634,878.023234957,784.976765043,810.023234957,651.976765043,629,652.976765043,0.400955687166,-0.0153591188988,0.069816718379,0.999999928554,0.000239996224418,-0.000291979501569,6.46504582852e-06,1793248199110524416
+63,1.050000000,BASELINE,765.448470671,744,715.448470671,679.448470671,659,634.551529329,877.448470671,785,810,652,629,653,0.400955250275,-0.0153601329522,0.0698157301773,0.999999928368,0.000238954663073,-0.00029346986684,6.40906763026e-06,1793248199127191040
+64,1.066666667,BASELINE,765.126565762,744,715.126565762,679,658.873434238,635,877.126565762,784.873434238,810,652,629,653,0.400955033802,-0.0153607998205,0.0698151015243,0.999999928261,0.00023819181917,-0.00029444995442,6.39470627013e-06,1793248199143857920
+65,1.083333333,BASELINE,765.703087408,744,715.703087408,679,658.296912592,635,877.703087408,784.296912592,810,652,629,653,0.400955567351,-0.015360102755,0.0698158931572,0.999999928462,0.000238519976115,-0.000293496999031,6.56217632041e-06,1793248199160524544
+66,1.100000000,BASELINE,765.713104415,744,716,679.286895585,658.286895585,634.713104415,878,784.286895585,810,652,629,653,0.400955484118,-0.0153598161242,0.0698160247487,0.999999928567,0.000238222471974,-0.000293382638665,6.53092757182e-06,1793248199177191168
+67,1.116666667,BASELINE,765.12155882,744,716,679.87844118,658.87844118,634.12155882,878,784.87844118,810,652,629,653,0.400954745936,-0.0153599653275,0.0698154554523,0.999999928569,0.000237260587929,-0.000294158769517,6.28866237628e-06,1793248199193857792
+68,1.133333333,BASELINE,765.458100155,744.458100155,715.541899845,679.541899845,658.541899845,634,878,785,810,652,629,652.541899845,0.4009544875,-0.0153605903975,0.0698150288613,0.999999928253,0.000237847800191,-0.000294753087956,6.49847317775e-06,1793248199210524416
+69,1.150000000,BASELINE,765.965331944,744.965331944,715,679,658,634,877.965331944,785,810,651.965331944,628.965331944,652,0.400954418818,-0.0153613149061,0.0698147049621,0.999999927931,0.000238690742663,-0.000295160001193,6.80098969713e-06,1793248199227191040
+70,1.166666667,BASELINE,765.389025364,744.389025364,715,679,658,634,877.389025364,785,810,651.389025364,628.389025364,652,0.400955376167,-0.0153616700565,0.0698154088119,0.999999928795,0.000237269317299,-0.000293373667479,6.72509373435e-06,1793248199243857664
+71,1.183333333,BASELINE,765.187070544,744,715,679,658,634,877.374141089,785,810,651.187070544,628.187070544,652.187070544,0.40095618778,-0.0153617144008,0.0698159912844,0.999999929432,0.000236468693229,-0.00029184734022,6.6288056396e-06,1793248199260524288
+72,1.200000000,BASELINE,765.762728947,744,715,679,658,634,878.525457894,785,810,651.762728947,628.762728947,652.762728947,0.400956696669,-0.0153611131304,0.069816321629,0.999999929604,0.000236957613689,-0.000290861104883,6.49015845771e-06,1793248199277190912
+73,1.216666667,BASELINE,766,744,715.348312373,679.348312373,658.348312373,634,878.651687627,785,810,651.651687627,629,652.651687627,0.400956084071,-0.0153603571431,0.0698161787409,0.999999929134,0.000237868213507,-0.0002917367533,6.42869966401e-06,1793248199293857792
+74,1.233333333,BASELINE,766,744,715.940855011,679.940855011,658.940855011,634,878.059144989,785,810,651.059144989,629,652.059144989,0.400954685106,-0.0153594926714,0.0698157040305,0.999999928207,0.000239074487147,-0.000293917920601,6.42136396427e-06,1793248199310524416
+75,1.250000000,BASELINE,765.481081532,744,716,679.481081532,658.481081532,634.518918468,878.518918468,785,810,651.518918468,629,652.518918468,0.400954401726,-0.0153597224759,0.0698153222094,0.999999928265,0.00023912311762,-0.000293680553988,6.41375052329e-06,1793248199327191040
+76,1.266666667,BASELINE,765.094639959,744.094639959,716,679,658.094639959,634.905360041,878.905360041,785,810,652,629,653,0.400954562483,-0.0153601571428,0.0698151533739,0.999999928521,0.000238903948225,-0.000292988364329,6.42606158933e-06,1793248199343857664
+77,1.283333333,BASELINE,765.666646692,744.666646692,716,679,658.666646692,634.333353308,878.333353308,785,810,652,629,653,0.400956339534,-0.0153610131129,0.0698160068921,0.999999929217,0.000237981457684,-0.000291354718713,6.53902780301e-06,1793248199360525312
+78,1.300000000,BASELINE,766,744.752696868,716,679,658.752696868,634,878,785,810.247303132,652,629,653,0.400956632533,-0.0153608907012,0.0698162940014,0.99999992923,0.000238189761006,-0.000291141841583,6.53101054432e-06,1793248199377192448
+79,1.316666667,BASELINE,766,744.159958487,716,679,658.159958487,634,878,785,810.840041513,652,629,653,0.400954852595,-0.015359401677,0.0698157899457,0.999999928286,0.00023997756749,-0.000292913506847,6.35400246918e-06,1793248199393858560
+80,1.333333333,BASELINE,766,744.421955658,715.578044342,679,658,634,878,785,810.578044342,651.578044342,629,653,0.400954817496,-0.0153595970577,0.0698160994358,0.99999992838,0.000239731720867,-0.000292784979132,6.68533185419e-06,1793248199410525440
+81,1.350000000,BASELINE,766,744.999869137,715.000130863,679,658,634,878,785,810.000130863,651.000130863,629,653,0.400955427302,-0.0153604150064,0.0698167096182,0.999999928858,0.000238734221699,-0.000291954126687,7.20454637484e-06,1793248199427192320
+82,1.366666667,BASELINE,765.424614701,745,715.575385299,679,658.575385299,634,878,785,810,651,629,652.424614701,0.400954562273,-0.0153599577097,0.0698157916867,0.999999928495,0.000239147017987,-0.000292871055936,6.69226570388e-06,1793248199443858432
+83,1.383333333,BASELINE,765.150265973,744.849734027,716,679.150265973,659,634,878,785,810.150265973,651.150265973,629,652,0.400954014855,-0.0153596433454,0.0698152733039,0.999999928277,0.000239429579453,-0.000293392888337,6.36562066833e-06,1793248199460525056
+84,1.400000000,BASELINE,765.723360131,744.276639869,716,679.723360131,659,634,878,785,810.723360131,651.723360131,629,652,0.400954362092,-0.0153597319866,0.0698158801707,0.999999928469,0.000239344778984,-0.000292801857814,6.56198654967e-06,1793248199477191936
+85,1.416666667,BASELINE,766,744,715.692513415,680,658.692513415,634.307486585,878,785,810.692513415,651.692513415,629,652,0.400954553445,-0.0153601349055,0.0698159382737,0.999999928623,0.000238701658865,-0.000292799720187,6.57293303006e-06,1793248199493858816
+86,1.433333333,BASELINE,766,744,715.098092079,680,658.098092079,634.901907921,878,785,810.098092079,651.098092079,629,652,0.400954599335,-0.0153608310965,0.0698154842913,0.999999928741,0.000237537536153,-0.000293347114983,6.41085318667e-06,1793248199510525440
+87,1.450000000,BASELINE,766,744,715,680,658,634.518521454,878,785,810,651,629,652.481478546,0.400954649173,-0.015360395812,0.0698156829822,0.999999928458,0.000239093021223,-0.000293048986944,6.46565202931e-06,1793248199527192064
+88,1.466666667,BASELINE,765.942097671,744.057902329,715.057902329,679.942097671,658.057902329,634,878,785,810.057902329,651,629,652.942097671,0.400954774871,-0.0153598694756,0.0698159733656,0.999999928173,0.000240824678809,-0.000292600814803,6.54739945735e-06,1793248199543858432
+89,1.483333333,BASELINE,765.367563809,744.632436191,715.632436191,679.367563809,658.632436191,634,878,785,810.632436191,651,629,652.367563809,0.400955570455,-0.0153605259679,0.0698159309518,0.999999928618,0.000239332494303,-0.000292304867769,6.4871525115e-06,1793248199560525056
+90,1.500000000,BASELINE,765.20623253,744.79376747,715.79376747,679,658.79376747,634.20623253,878,785,810.79376747,651.20623253,629,652,0.400955616541,-0.0153607886463,0.0698155797337,0.999999928838,0.000238153079618,-0.000292520098898,6.32815161662e-06,1793248199577191424
+91,1.516666667,BASELINE,765.778719022,744.221280978,715.221280978,679,658.221280978,634.778719022,878,785,810.221280978,651.778719022,629,652,0.40095433157,-0.0153603519398,0.0698146801018,0.999999928659,0.000237529121527,-0.000293643145269,5.99377090249e-06,1793248199593858304
+92,1.533333333,BASELINE,765.633379645,744.366620355,715.366620355,679,658,634.633379645,878,785,810,652,629,652,0.400954173473,-0.0153608876441,0.0698145908624,0.999999928883,0.000236434927681,-0.00029376311711,6.00219460064e-06,1793248199610524928
+93,1.550000000,BASELINE,765.035765959,744.964234041,715.964234041,679,658,634.035765959,878,785,810,652,629,652,0.400954725375,-0.0153620360268,0.0698150122201,0.99999992936,0.000235044456377,-0.000293251090526,6.22660609039e-06,1793248199627191552
+94,1.566666667,BASELINE,765.53799104,744.46200896,716,679.53799104,658.53799104,634,878.53799104,785,810,652,629,652,0.40095402394,-0.0153605820712,0.0698151119496,0.999999928804,0.000237195421635,-0.000293414118614,6.25188003803e-06,1793248199643857920
+95,1.583333333,BASELINE,766,744.111024038,715.888975962,679.888975962,658.888975962,634,878.888975962,784.888975962,810,652,629,652,0.40095370911,-0.0153591324323,0.0698152630015,0.999999928238,0.000239578512821,-0.000293405269891,6.25999754718e-06,1793248199660524800
+96,1.600000000,BASELINE,766,744.687387916,715.312612084,679.312612084,658.312612084,634,878.312612084,784.312612084,810,652,629,652,0.400955349074,-0.0153583952194,0.0698157149766,0.999999927924,0.000241989628332,-0.000292495914224,6.24933871637e-06,1793248199677191424
+97,1.616666667,BASELINE,766,744.728694874,715,679.271305126,658,634,877.728694874,784.271305126,810,651.728694874,629,652.271305126,0.400956131231,-0.015358323867,0.0698163539471,0.999999928006,0.000242365724996,-0.000291902151417,6.3225578646e-06,1793248199693857792
+98,1.633333333,BASELINE,766,744.135825106,715,679.864174894,658,634,877.135825106,784.864174894,810,651.135825106,629,652.864174894,0.400955896671,-0.0153590417267,0.0698172145538,0.99999992856,0.00024032981361,-0.000291682445384,6.49519346306e-06,1793248199710524672
+99,1.650000000,BASELINE,765.554848751,744,715.445151249,680,658.890302497,634,877.445151249,785,810,651,629,653,0.400955125623,-0.0153594572363,0.0698166886978,0.999999928449,0.000240053562455,-0.000292290567278,6.4490756207e-06,1793248199727191296
+100,1.666666667,BASELINE,765.022453516,744.022453516,715.977546484,679.977546484,659.977546484,634,878,785,810,651.022453516,629,652.977546484,0.400954257416,-0.0153597555324,0.0698157886081,0.999999928151,0.000240317529903,-0.000293097001768,6.34653051848e-06,1793248199743857920
+101,1.683333333,BASELINE,765.596327963,744.596327963,715.403672037,679.403672037,659.403672037,634,878,785,810,651.596327963,629,652.403672037,0.400954918583,-0.0153593818966,0.069815816751,0.999999928091,0.00024100587944,-0.000292731946464,6.45474896857e-06,1793248199760524544
+102,1.700000000,BASELINE,765.824975255,744.824975255,715,678.824975255,659,634,878,785,810,652,629,652.175024745,0.400955698287,-0.0153592230382,0.0698160714777,0.999999928177,0.000241504321883,-0.000292025241185,6.58758951614e-06,1793248199777191168
+103,1.716666667,BASELINE,765.234841343,744.234841343,715,678.234841343,659,634,878,785,810,652,629,652.765158657,0.400956759125,-0.0153595735711,0.069816863597,0.999999928606,0.000241552358342,-0.000290508238897,6.77882669616e-06,1793248199793857792
+104,1.733333333,BASELINE,765.348610856,744,715,678.697221712,658.651389144,634,878,785,810,652,629,653,0.400956741333,-0.0153604759553,0.0698171553014,0.999999928938,0.000240548961647,-0.000290195955634,6.80272226906e-06,1793248199810524416
+105,1.750000000,BASELINE,765.927646632,744,715,679.855293265,658.072353368,634,878,785,810,652,629,653,0.400956010587,-0.0153617431023,0.0698171162412,0.999999929205,0.000238850588319,-0.000290679967803,6.71600834964e-06,1793248199827191296
+106,1.766666667,BASELINE,766,744,715.506758765,680,658,634,878,785,810,651.493241235,629,653,0.400955330716,-0.0153604441604,0.0698165604562,0.999999928668,0.000239911006423,-0.000291661992468,6.30803713718e-06,1793248199843857920
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,680,658,634,878,784,810,652,629,653,0.40095466356,-0.0153609938348,0.0698151834079,0.999999929336,0.000236440268657,-0.00029219875951,6.56401111913e-06,1793248199886627584
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420639374,744,715,679.420639374,658.579360626,634.579360626,878,784,810,651.420639374,629,652.420639374,0.400954563929,-0.0153607611628,0.0698154822883,0.999999929398,0.000235995104884,-0.000292357308288,6.13817909013e-06,1793248199903293952
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.158781777,744,715,679,658.841218223,634.841218223,878.158781777,784.158781777,810.158781777,651.158781777,629,652,0.400954719139,-0.0153606602028,0.069815838198,0.999999929522,0.000235610468774,-0.000292248224208,5.87556482903e-06,1793248199919960320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.738363458,744,715,679,658.261636542,634.261636542,878.738363458,784.738363458,810.738363458,651.738363458,629,652,0.400955549722,-0.0153609083031,0.0698163452457,0.999999929813,0.000235386241623,-0.000291429865569,6.0455065428e-06,1793248199936626944
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744,715.314716047,679.314716047,658,634.314716047,878.685283953,785,810.685283953,652,629,652.314716047,0.400956375235,-0.0153601869392,0.0698167051882,0.999999929665,0.000236927431585,-0.000290683768013,6.20783783732e-06,1793248199953293568
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,715.888411387,679.888411387,658,634.888411387,878.111588613,785,810.111588613,652,629,652.888411387,0.400957196577,-0.0153586678048,0.069816944078,0.999999929149,0.000239921380264,-0.000289997134024,6.36390652068e-06,1793248199969960192
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,715.526207545,679.526207545,658,634.526207545,878,785,810,651.526207545,629,652.526207545,0.400957512056,-0.0153578252372,0.0698176561337,0.999999928892,0.000241155649437,-0.000289865569186,6.09328798699e-06,1793248199986627072
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,715.061061366,679,658,634,878,785,810,651.061061366,629,652,0.400957811754,-0.0153574118899,0.0698183589308,0.99999992879,0.000241582954343,-0.000289868422405,5.78976831621e-06,1793248200003293696
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,715.640402624,679,658,634,878,785,810,651.640402624,629,652,0.40095901433,-0.0153592549894,0.0698180133274,0.999999929463,0.000238767556905,-0.000289874510024,6.08153945789e-06,1793248200019960320
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.781456813,744,715.781456813,679.218543187,658,634,878,785,810,651.781456813,629,652,0.400968862953,-0.0153606423883,0.069821993466,0.999999931394,0.000238086955812,-0.000283691756077,6.72880842576e-06,1793248200036626944
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.205281168,744,715.205281168,679.794718832,658,634,878,785,810,651.205281168,629,652,0.400992860298,-0.0153612840612,0.0698330524148,0.999999935206,0.000240899817609,-0.00026738134426,7.95782764789e-06,1793248200053293824
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.370477285,744,715,679.629522715,658.370477285,634,877.629522715,785,810,651.370477285,629,652,0.401036585935,-0.0153634034681,0.0698506462343,0.999999942695,0.000240964748892,-0.000237609135751,9.42248065648e-06,1793248200069960448
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.946004888,744,715,679.053995112,658.946004888,634,877.053995112,785,810,651.946004888,629,652,0.401091230714,-0.0153663407655,0.0698718569493,0.99999995118,0.00023950876637,-0.000200386142973,1.1017551435e-05,1793248200086626816
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744,715,679.534628887,658.465371113,634,877.534628887,784.465371113,810,652,629,652,0.401152279306,-0.0153691358961,0.0698866392417,0.999999954623,0.000237776061845,-0.000184624342849,1.14450478396e-05,1793248200103293696
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.877588257,744.122411743,715.122411743,679.877588257,658,634,878,784.122411743,810.122411743,651.877588257,629,652.122411743,0.401217769878,-0.0153721451792,0.0698992312324,0.999999957248,0.000236852763146,-0.000171085086984,1.15656464051e-05,1793248200119960064
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.298010405,744.701989595,715.701989595,679.298010405,658,634,878,784.701989595,810.701989595,651.298010405,629,652.701989595,0.40129737368,-0.0153760092194,0.0699061287811,0.999999958954,0.000239059314723,-0.00015754818709,1.0991535185e-05,1793248200136626688
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.279359398,744.720640602,715.720640602,679.279359398,658,634,878,784.720640602,810.720640602,651,629,652.720640602,0.401384934211,-0.0153797633891,0.0699098675228,0.999999960084,0.000238275304399,-0.000151548028141,9.53627040009e-06,1793248200153293568
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.854392173,744.145607827,715.145607827,679.854392173,658,634,878,784.145607827,810.145607827,651,629,652.145607827,0.401480916122,-0.0153834012719,0.0699102629896,0.999999960735,0.000234326089786,-0.0001535247402,7.14839464e-06,1793248200169960192
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.570840415,744,715,680,658,634.429159585,878,784.429159585,810,651.429159585,629,652.429159585,0.401595670089,-0.0153883456741,0.0699114178006,0.999999961973,0.000230029007932,-0.000152049253319,4.62220731622e-06,1793248200186626816
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.003950552,715.003950552,680,658,634.996049448,878,785,810,652,629,652.996049448,0.40171695799,-0.0153937350218,0.069912827155,0.999999963386,0.000225617408858,-0.000149402718254,2.04462481164e-06,1793248200203293440
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.595633937,715.595633937,680,658,634.404366063,878,785,810,652,629,652.404366063,0.401863355098,-0.0153994123613,0.0699138002665,0.999999964662,0.000221717026834,-0.000146683380863,-1.20199543011e-06,1793248200219960064
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.182960505,744.817039495,715.817039495,679.817039495,658,634,878,785,810,651.817039495,628.817039495,652.182960505,0.402022498499,-0.0154059829875,0.0699159223121,0.99999996638,0.000216718619482,-0.000142314636621,-4.53467127795e-06,1793248200236626688
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.76088184,744.23911816,715.23911816,679.23911816,658,634,878,785,810,651.23911816,628.23911816,652.76088184,0.402209157583,-0.0154144819702,0.0699205245867,0.999999969024,0.000209349881433,-0.000134385282221,-8.05311681684e-06,1793248200253293312
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.66325261,744,715.33674739,679,658.33674739,634,878,785,810,651,628.33674739,652.66325261,0.40241717834,-0.0154241445382,0.0699233211559,0.999999971862,0.000199178882525,-0.000128246036365,-1.24843351698e-05,1793248200269960704
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.088837918,744,715.911162082,679,658.911162082,634,878,785,810,651,628.911162082,652.088837918,0.402640275613,-0.0154346283346,0.0699248433071,0.999999974746,0.000187030122068,-0.000123370200426,-1.75597645243e-05,1793248200286627840
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.488804972,744,716,679,658.511195028,634,878,784.511195028,810.488804972,651,629,652,0.402891106554,-0.015443321556,0.0699287859614,0.999999978325,0.000172021246433,-0.00011513766063,-2.242751731e-05,1793248200303294464
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.068396513,715.931603487,679,658,634,878.068396513,784,810.931603487,651.068396513,629,652.068396513,0.403151648127,-0.0154518200599,0.0699336356597,0.99999998297,0.000148948219886,-0.000105502854441,-2.72512966177e-05,1793248200319960832
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.658343971,715.341656029,679,658,634,878.658343971,784,810.341656029,651.658343971,629,652.658343971,0.403447546252,-0.0154613317871,0.0699420251083,0.999999993112,6.83729152497e-05,-8.98581126463e-05,-3.20294910874e-05,1793248200336627456
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.75744011,715.24255989,679,658,634,878.75744011,784.24255989,810,652,629,652.75744011,0.40375881009,-0.0154710768612,0.0699477833891,0.999999995856,1.98027642707e-05,-8.08059590284e-05,-3.69693150573e-05,1793248200353294336
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.181110985,715.818889015,679,658,634,878.181110985,784.818889015,810,652,629,652.181110985,0.404091217564,-0.0154811430267,0.0699499211085,0.999999995729,1.52726105246e-05,-8.08253938206e-05,-4.21315457186e-05,1793248200369961216
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.606197077,744.393802923,715.606197077,679,658,634,878,784.606197077,810,651.606197077,629,652.393802923,0.404461479772,-0.0154833277414,0.0699543697084,0.999999996216,1.59213301249e-05,-7.33490830255e-05,-4.39886703636e-05,1793248200386628096
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.031931715,744.968068285,715.031931715,679,658,634,878,784.031931715,810,651.031931715,629,652.968068285,0.404849089119,-0.015481900736,0.0699598772824,0.999999996889,1.89432981324e-05,-6.2437804004e-05,-4.43312111572e-05,1793248200403294464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.442513065,715,679,658.557486935,634,878.557486935,784.557486935,810,651.557486935,629,652.442513065,0.405255601567,-0.015467642972,0.0699619412319,0.99999999626,5.18808739839e-05,-5.82732604079e-05,-3.73084563187e-05,1793248200419961088
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145159364,744,715,679.145159364,659,634,878.854840636,785,810,651.854840636,629,652,0.405670879642,-0.0154571230794,0.0699613474251,0.999999994623,7.88318624832e-05,-5.89287072419e-05,-3.26571372186e-05,1793248200436627456
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.724932136,744,715,679.724932136,659,634,878.275067864,785,810,651.275067864,629,652,0.406109069983,-0.0154600563998,0.0699534032375,0.999999993275,8.25850899352e-05,-7.28260707089e-05,-3.64043870476e-05,1793248200453294080
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744,715,679.697835756,659,634,878,785,810,651,629,652.302164244,0.406570306251,-0.0154653959687,0.0699404956635,0.999999992287,7.24209771357e-05,-9.26365637875e-05,-3.99855741231e-05,1793248200469960704
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,715,679.12289713,659,634,878,785,810,651,629,652.87710287,0.407052346946,-0.015472907744,0.0699231074636,0.999999990886,4.96931879431e-05,-0.000117785050257,-4.34168508583e-05,1793248200486627328
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.451450579,715,679,659,634,878,785,810,651,629,653,0.407611265641,-0.0154784687873,0.0699257161422,0.999999992424,4.3230373836e-05,-0.000106315762434,-4.44965618595e-05,1793248200503293952
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.973571584,715,679.026428416,659,634,878,784.973571584,810.026428416,651,629,653,0.408192273627,-0.0154835788522,0.0699341473442,0.9999999946,4.09536158789e-05,-8.4351139868e-05,-4.48061653169e-05,1793248200519960832
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.3816732,715,679.6183268,659,634,878,784.3816732,810.6183268,651,629,653,0.408798709019,-0.0154903871443,0.0699508363487,0.999999997247,3.36289463049e-05,-5.08322562866e-05,-4.23174733189e-05,1793248200536627712
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.794368075,744.205631925,715.205631925,680,659,634,878,784.205631925,811,651,629,653,0.409402596221,-0.0154998303888,0.0699575280362,0.999999998313,2.1856460009e-05,-3.54913408464e-05,-4.04468849537e-05,1793248200553294848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.215402252,744.784597748,715.784597748,680,659,634,878,784.784597748,811,651,629,653,0.410001857036,-0.0155140575062,0.0699460691496,0.999999997797,2.00876527229e-06,-5.31533365038e-05,-3.96984914073e-05,1793248200569961472
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.36074168,745,716,680,659,634,878.36074168,784.63925832,811,651,629,653,0.410636857465,-0.0155240938854,0.0699394490482,0.99999999685,-1.18284586164e-05,-6.73015258463e-05,-4.03832262426e-05,1793248200586627840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.93521369,745,716,680,659,634,878.93521369,784.06478631,811,651,629,653,0.41129303269,-0.0155316473576,0.0699356958051,0.999999995728,-2.21046296738e-05,-7.93678730982e-05,-4.19170534664e-05,1793248200603294208
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.47865436,745,715.47865436,680,659,634,879,784.52134564,811,651,629,653,0.412038076219,-0.0155332797256,0.0699655014995,0.999999998635,-2.15795486552e-05,-2.64131653343e-05,-3.95723258986e-05,1793248200619960832
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.107417756,744.892582244,715,679.892582244,659,634,879,785,811,651,629,653,0.412796399761,-0.0155333453095,0.0699974923731,0.999999998678,-2.0572530355e-05,2.90527110099e-05,-3.71063329679e-05,1793248200636627200
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.686716077,744.313283923,715,679.313283923,659,634,879,785,811,651,629,653,0.413563438404,-0.0155298343722,0.0700203436745,0.999999997312,-2.34796873985e-05,5.92429627331e-05,-3.62733711282e-05,1793248200653294080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.734862421,744.265137579,715,679.265137579,659,634,879,785,811,651,629,653,0.414304570911,-0.0155268011312,0.0700150750009,0.999999998081,-2.27501093744e-05,4.37490380327e-05,-3.75119824334e-05,1793248200669960960
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.157473468,744.842526532,715,679.842526532,659,634,879,785,811,651,629,653,0.415015193976,-0.0155243304708,0.0699766895579,0.999999998668,-1.77375645971e-05,-2.554693872e-05,-4.11902762121e-05,1793248200686627840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.417706539,744.582293461,715,680,659,634,879,785,811,651.417706539,629,653,0.415776774466,-0.0155238008367,0.0699373467049,0.999999994957,-2.10924330842e-05,-8.63561518585e-05,-4.67223575279e-05,1793248200703294464
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.99205813,744.00794187,715,680,659,634,879,785,811,651.99205813,629,653,0.41655746457,-0.0155239991112,0.0698976448139,0.999999987852,-2.75851839693e-05,-0.000143982720674,-5.29496314969e-05,1793248200719960832
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.581221041,715,680,659.581221041,634,879,785,811,651.418778959,629,653,0.417421030943,-0.0155295567178,0.0699214798914,0.999999992083,-3.11885417316e-05,-0.000111166761685,-5.00385991465e-05,1793248200736627200
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.832313777,745,715,680,660.167686223,634,879,785,811.167686223,651.167686223,629.167686223,653,0.418292971746,-0.0155338503892,0.06994757383,0.999999995488,-3.54955359381e-05,-7.41967601029e-05,-4.75267297501e-05,1793248200753293824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.252980997,745,715,680,660.747019003,634,879,785,811.747019003,651.747019003,629.747019003,653,0.419182617916,-0.0155348568019,0.0699770259757,0.999999997607,-4.16293152392e-05,-3.01422502048e-05,-4.63092971262e-05,1793248200769960704
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.675241883,634,879,785,811.675241883,652,629.675241883,653,0.420085306288,-0.0155365779549,0.0700035294972,0.999999997814,-4.67831857833e-05,1.22365279775e-05,-4.51006036009e-05,1793248200786627328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.098738169,634,879,785,811.098738169,652,629.098738169,653,0.420998104656,-0.0155388531595,0.0700277473065,0.999999996306,-5.11774515712e-05,5.33163124473e-05,-4.38986844857e-05,1793248200803294208
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.52525652,715,680,660,634,879.47474348,785,811,651.52525652,629,653,0.421876933745,-0.0155402348333,0.0700174089188,0.999999996938,-5.47374437952e-05,3.13602074204e-05,-4.63139388735e-05,1793248200819961344
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.049121412,744.049121412,715,680,660,634,879.950878588,785,811,651,629.049121412,653,0.422744085951,-0.0155409542772,0.0699938996603,0.999999996991,-5.80445006105e-05,-1.22659420016e-05,-4.99875947063e-05,1793248200836628224
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.640280857,744.640280857,715,680,660,634,879.359719143,785,811,651,629.640280857,653,0.423559853831,-0.0155364039328,0.0699038595889,0.999999984974,-6.04630555272e-05,-0.000151260571679,-5.92983320626e-05,1793248200853294592
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.772802655,745,715,680,660,634,879,785,811.227197345,651,630,653,0.424434798428,-0.0155345307848,0.0698549450576,0.999999971208,-6.48463491395e-05,-0.000221697796587,-6.50344851022e-05,1793248200869960960
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.192480748,745,715,680,660,634,879,785,811.807519252,651,630,653,0.425401719368,-0.015536818705,0.069869950442,0.999999978041,-7.22833663578e-05,-0.000185578768331,-6.5214794705e-05,1793248200886627584
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.384168763,660,633.615831237,879,785,812,651,630,653,0.426373820888,-0.0155380246849,0.0699186536088,0.999999989304,-6.95335867841e-05,-0.000113681218127,-6.02835411493e-05,1793248200903294208
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.958995675,660,633.041004325,879,785,812,651,630,653,0.427348493408,-0.0155386937113,0.0699840805623,0.999999996411,-6.17282265492e-05,-2.40272366352e-05,-5.28154823683e-05,1793248200919960832
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.54427357,744.45572643,715,681,660,633.54427357,879,785,812.54427357,651,630,653,0.42834159288,-0.015542997103,0.0700253358906,0.999999995794,-6.60210375873e-05,3.86167581298e-05,-5.06205633172e-05,1793248200936627456
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.870317997,744.129682003,715,681,660,634,879.129682003,785,813,651.129682003,630,653,0.429323120805,-0.0155467583222,0.0700539953359,0.999999992753,-7.11813284889e-05,8.35191857395e-05,-4.95250883135e-05,1793248200953294080
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.287259742,744.712740258,715,681,660,634,879.712740258,785,813,651.712740258,630,653,0.430259245436,-0.0155476480943,0.0700451098882,0.999999993097,-7.61255188927e-05,7.36493106176e-05,-5.0857279776e-05,1793248200969961216
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.292032709,634,880,785,813,651.707967291,630,653,0.431127575395,-0.0155435764587,0.0699947791985,0.999999995745,-7.31436121323e-05,-1.06903171052e-05,-5.51820924062e-05,1793248200986627584
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.867668028,634,880,785,813,651.132331972,630,653,0.431930067656,-0.0155346866361,0.0699041996658,0.999999982098,-6.24644089019e-05,-0.000167349981447,-6.24131372385e-05,1793248201003294208
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.441958594,745,715,681,660.558041406,634,880,785,813,651,630,653,0.432841179535,-0.0155366235714,0.0698960465647,0.999999981182,-6.72494459854e-05,-0.000170390701145,-6.38722132693e-05,1793248201019960832
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.016245788,633.983754212,880,785.016245788,813,651.016245788,630,653,0.433785577085,-0.0155417638977,0.0699137880987,0.999999987112,-7.66003946268e-05,-0.000126020259412,-6.34543357997e-05,1793248201036627968
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.604547959,633.395452041,880,785.604547959,813,651.604547959,630,653,0.43476029936,-0.0155458992154,0.0699769272205,0.999999994435,-8.41776256697e-05,-2.69346689638e-05,-5.76156945033e-05,1793248201053294336
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809651144,745,715,681,660.809651144,633.190348856,880,785.809651144,813.190348856,651.809651144,630.190348856,653,0.43571707302,-0.0155493041973,0.0700242419584,0.999999993422,-8.89720747849e-05,4.87064083185e-05,-5.35431407661e-05,1793248201069960960
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.228979173,745,715,681,660.228979173,633.771020827,880,785.228979173,813.771020827,651.228979173,630.771020827,653,0.436637042018,-0.0155512115772,0.0700391077456,0.999999991805,-8.80602453948e-05,7.62729541355e-05,-5.3092068089e-05,1793248201086627584
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.34842298,745,715,681,660.34842298,633.65157702,880.34842298,785,814.34842298,651.34842298,631,653,0.437510695435,-0.015552386899,0.070025566968,0.999999991724,-9.33957263061e-05,6.94183291136e-05,-5.48590978539e-05,1793248201103294208
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.923696195,745,715,681,660.923696195,633.076303805,880.923696195,785,814.923696195,651.923696195,631,653,0.43835419378,-0.0155530855943,0.0699935313249,0.999999992224,-0.000102798688091,4.01528652985e-05,-5.80702833937e-05,1793248201119960832
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.497240603,880.502759397,785,814.502759397,651.502759397,630.502759397,653,0.439095714599,-0.0155474062552,0.0699291421158,0.999999991024,-9.45219910511e-05,-7.17919183012e-05,-6.21553517341e-05,1793248201136627456
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.926761183,715,681,661,634,880.073238817,784.926761183,814,651,630.073238817,653,0.439835555991,-0.0155417877135,0.0698677297618,0.999999977817,-8.56364929208e-05,-0.000180766240107,-6.60037267848e-05,1793248201153294080
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.331384367,715,681,661,634,880.668615633,784.331384367,814,651,630.668615633,653,0.440674602806,-0.0155435561061,0.069862812833,0.999999977621,-9.16855185278e-05,-0.000178424312999,-6.72119325921e-05,1793248201169960704
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744,715,681,660.743875305,633.743875305,880.743875305,784.256124695,814,651,631,653,0.441529282629,-0.0155473858435,0.0698961828256,0.999999985914,-9.51977488337e-05,-0.00012195328104,-6.50830593927e-05,1793248201186627584
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744,715,681,660.166242517,633.166242517,880.166242517,784.833757483,814,651,631,653,0.442403586183,-0.015553803145,0.0699776136081,0.999999993708,-9.55255903516e-05,2.46491103972e-06,-5.87652183123e-05,1793248201203294208
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.404907332,715.404907332,681,660,633.404907332,880,785,814,651.404907332,631,653,0.443194466632,-0.0155594604349,0.0700186474367,0.999999991323,-0.000105271164174,5.64340924203e-05,-5.55542264384e-05,1793248201219960832
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.973437476,715.973437476,681,660,633.973437476,880,785,814,651.973437476,631,653,0.443951635926,-0.015564810605,0.0700433568869,0.999999988148,-0.00011882243839,8.1934880919e-05,-5.3598710145e-05,1793248201236627456
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.435341637,681.564658363,660.564658363,633.435341637,880.564658363,785,814.564658363,651.435341637,631,653,0.444643991889,-0.0155648422946,0.0700199179437,0.999999990295,-0.000121678818593,3.94133009087e-05,-5.52372364807e-05,1793248201253294080
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,880.845901143,785,815,651,630.845901143,653,0.445329829151,-0.0155636625147,0.0699930444829,0.999999991023,-0.000121247045859,-2.76532545358e-06,-5.69646803396e-05,1793248201269960704
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,880.264481492,785,815,651,630.264481492,653,0.446006398774,-0.0155598461268,0.0699631908316,0.999999991287,-0.000113150666867,-3.47480382294e-05,-5.84502303971e-05,1793248201286627584
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.686458825,661,633,880,785,815,651.313541175,630,653,0.446636353641,-0.0155587396713,0.0699395640291,0.999999989109,-0.000113600876892,-7.24929297677e-05,-6.01755687627e-05,1793248201303294208
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.11127094,661,633,880,785,815,651.88872906,630,653,0.447227408959,-0.0155598946251,0.0699211334662,0.999999984111,-0.000121183123149,-0.000115046294999,-6.21010077336e-05,1793248201319960832
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715.458029639,681.458029639,660.541970361,633,880,785,815,651.541970361,630,653,0.447807004495,-0.0155611964054,0.0699095244056,0.999999981837,-0.000119729339925,-0.000134296236047,-6.28955202359e-05,1793248201336627456
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,716,681.972746476,660.027253524,633,880.027253524,784.972746476,815,651,630,653,0.448384060019,-0.015562831311,0.0699012415507,0.999999980661,-0.000116251019569,-0.000145504667784,-6.31809735954e-05,1793248201353294080
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,716,681.375598512,660.624401488,633,880.624401488,784.375598512,815,651,630,653,0.448965478276,-0.0155706957426,0.0699282993261,0.999999986031,-0.000115758005225,-0.000105436347222,-5.84937150219e-05,1793248201369960704
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633,880.569650934,784,815.215174533,651,630,653,0.449531740628,-0.015577156542,0.0699511258152,0.999999988691,-0.000119821556638,-7.18505297854e-05,-5.56544060031e-05,1793248201386627584
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633,879.40972009,784,815.795139955,651,630,653,0.45007230873,-0.0155812377271,0.0699667788938,0.999999988561,-0.000131609970784,-4.92546699811e-05,-5.59479737139e-05,1793248201403294464
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.627230726,681,660.627230726,633,879.372769274,784,815.254461452,651.372769274,630.372769274,653,0.450527307813,-0.0155834888888,0.0699490905605,0.999999986807,-0.000129600193991,-7.96658877193e-05,-5.6955030122e-05,1793248201419961088
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.050877192,681,660.050877192,633,879.949122808,784,814.101754384,651.949122808,630.949122808,653,0.45093557427,-0.0155847406018,0.0699131931457,0.999999981427,-0.000120054672154,-0.000139026395331,-5.83517512111e-05,1793248201436627456
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880,783.466470973,814.533529027,651.466470973,630.466470973,653,0.451308711845,-0.0155885574355,0.0698761879118,0.999999969963,-0.000143101791619,-0.000189924392043,-5.93765805332e-05,1793248201453293824
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880.117555492,783,815,651.117555492,630,653,0.451679685049,-0.0155921308834,0.0698435820934,0.999999957761,-0.000162941842153,-0.000232893541481,-6.07272508626e-05,1793248201469960192
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880.697026362,783,815,651.697026362,630,653,0.452055518349,-0.015593772105,0.0698286845206,0.999999954803,-0.000157780602263,-0.000247927080757,-6.3499745427e-05,1793248201486627072
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.7346696,880.7346696,782.7346696,815,651.7346696,630,653.2653304,0.452415350877,-0.0155964923554,0.0698213040097,0.999999953081,-0.000158330244117,-0.000253810374547,-6.59508689545e-05,1793248201503293696
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.178601724,880.178601724,782.178601724,815,651.178601724,630,653.821398276,0.452757650435,-0.0156003949586,0.0698221603681,0.999999952883,-0.000165137621354,-0.000249667227702,-6.80498479654e-05,1793248201519960320
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.75381653,660.24618347,633,880,784,813,651,630.75381653,653,0.447875524013,-0.015461094794,0.0697843572597,0.999999942386,5.0173418303e-05,-0.000335574825067,1.00265563341e-05,1793248203168409344
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.178181385,660.821818615,633,880,784,813,651,630.178181385,653,0.447270173848,-0.0154494033987,0.0697944898335,0.999999946202,5.61140909059e-05,-0.000322799929908,1.57133256838e-05,1793248203185075968
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.750901096,744.750901096,715,681.501802192,659.750901096,633.750901096,879.750901096,785,811.249098904,651,630,653,0.42732217724,-0.0153827117065,0.0697793576713,0.99999992693,0.000168863003195,-0.000342549755811,1.68678924334e-05,1793248203585075712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,744.672859157,715,681.672859157,660.327140843,634,880,785,811.327140843,651,630,653,0.426447578148,-0.0153857500807,0.0698303443618,0.999999949514,0.000171584106707,-0.000266514665475,2.24001374874e-05,1793248203601742336
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744.097204453,715,681.097204453,660.902795547,634,880,785,811.902795547,651,630,653,0.425561928701,-0.0153855082333,0.0698641805816,0.999999959801,0.000180500816199,-0.000217068890908,2.64285443869e-05,1793248203618408960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.522796732,744,715,681,660.522796732,634,880,784.522796732,812,651,630,653,0.424633550746,-0.0153848914407,0.0698515270207,0.999999955115,0.000180391125559,-0.000237949375898,2.46923816576e-05,1793248203635075584
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.05317721,744,715,681,660,634,879.94682279,784.05317721,811.94682279,651,629.94682279,653,0.423690002914,-0.0153838116431,0.0698258967113,0.999999944597,0.000179082965962,-0.00027976050595,2.16561495615e-05,1793248203651742208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.647673025,744,715,681,660,634,879.352326975,784.647673025,811.352326975,651,629.352326975,653,0.422680401559,-0.0153787941106,0.0697643159912,0.999999907142,0.000184242689908,-0.000389192089835,1.73076846587e-05,1793248203668408832
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.765010029,744.234989971,715,681,659.765010029,634,879.234989971,785,811.234989971,651,629.234989971,653,0.421702712869,-0.015375470852,0.0697140459109,0.999999869361,0.000189007305009,-0.000474727590232,1.36748407301e-05,1793248203685075456
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.188137404,744.811862596,715,681,659.188137404,634,879.811862596,785,811.811862596,651,629.811862596,653,0.420771453188,-0.015374612561,0.0696802314663,0.999999843202,0.000193197086389,-0.000525497132156,1.10831403713e-05,1793248203701742080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.784107319,744.607946341,715,681,659.392053659,634,879.607946341,785,812,651,630,653,0.419961128672,-0.0153765814792,0.0697217940222,0.999999879807,0.000186968622358,-0.000453062013253,1.27574280094e-05,1793248203718408960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.947701445,744.026149277,715,681,659.973850723,634,879.026149277,785,812,651,630,653,0.419209333573,-0.0153799186904,0.0697998370166,0.999999932909,0.000175698005515,-0.00032099915003,1.6496338831e-05,1793248203735075840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.446811809,744.553188191,715,681,659.446811809,634,879,785,811.446811809,651,630,653,0.418386925791,-0.0153790412202,0.0698530232134,0.999999952022,0.000192790181844,-0.00024128007218,2.38971001825e-05,1793248203751742464
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,744.867059295,715,681,659.132940705,634,879,785,811,651,630,653,0.41755189203,-0.0153777577319,0.0698847782385,0.99999995887,0.000207955447951,-0.000195379974727,2.8995674219e-05,1793248203768409088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.285515662,715,681,659.714484338,634,879,785,811,651,630,653,0.416685466116,-0.0153757734645,0.0698481620396,0.999999944586,0.00021211428298,-0.000255288183677,2.5744091823e-05,1793248203785075712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.706583257,744,715,681.293416743,659.706583257,634,879,784.706583257,811,651,629.706583257,653,0.415838764779,-0.0153738625691,0.0698147888448,0.999999931355,0.000215840736067,-0.000300325646634,2.25050800173e-05,1793248203801742080
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.130169386,744,715,681.869830614,659.130169386,634,879,784.130169386,811,651,629.130169386,653,0.415011087622,-0.0153720224402,0.0697845434929,0.999999921014,0.000219150161822,-0.00033102044036,1.92781926395e-05,1793248203818408960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.444392335,744,715,681.11121533,659,634,878.555607665,784,810.555607665,651.444392335,629.444392335,653,0.414187173167,-0.0153683401498,0.0697558389202,0.999999899293,0.00022135940056,-0.000390025812731,1.71659037681e-05,1793248203835075584
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.981114173,744,715,680.018885827,659,634,878,784.018885827,810,651.981114173,629.981114173,653,0.413369020631,-0.0153642853085,0.0697296362803,0.999999872472,0.000223082992093,-0.000452823433263,1.54947240186e-05,1793248203851742208
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.3923789,744,715,680.6076211,659,634,878,784.6076211,810,651.3923789,629.3923789,653,0.412691608998,-0.0153652032659,0.0697653642292,0.999999903156,0.000219836352974,-0.000380868400357,1.73230924427e-05,1793248203868409088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,634,878,785,810.193217467,651,629,653,0.412031976911,-0.0153669462893,0.0698081021818,0.999999930915,0.000216633439473,-0.000301393157921,2.00727917849e-05,1793248203885075712
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,634,878,785,810.772541461,651,629,653,0.411407873574,-0.0153703380425,0.0698648482334,0.999999955499,0.000213517902904,-0.000206890266652,2.46635873686e-05,1793248203901742336
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.348102883,744.348102883,715.348102883,680.651897117,658.651897117,634,878.348102883,785,811,651.348102883,629.348102883,653,0.410753789527,-0.0153709784665,0.0698803049109,0.999999959356,0.000216501543771,-0.000183730488053,2.56717408748e-05,1793248203918408960
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.921232007,744.921232007,715.921232007,680.078767993,658.078767993,634,878.921232007,785,811,651.921232007,629.921232007,653,0.410080324906,-0.0153698403321,0.0698690706465,0.999999953383,0.000223427913554,-0.00020668947337,2.43639453228e-05,1793248203935075584
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.926368883,715,680.926368883,659.926368883,634,878.852737767,785,811,651,629,653,0.408755942129,-0.0153622181991,0.0697823735617,0.999999911081,0.000228591081994,-0.000354035049579,1.55774821261e-05,1793248203968408832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744.33010895,715,680.33010895,659.33010895,634,877.660217901,785,811,651,629,653,0.408152717642,-0.0153622220784,0.0697641029176,0.99999990238,0.000225585127078,-0.000379694060812,1.35387461572e-05,1793248203985076224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.256824992,715,680,659,634,877.256824992,785,810.743175008,651.256824992,629,653,0.407592901666,-0.0153625264269,0.069763624902,0.999999903717,0.000224465363641,-0.000376842959161,1.30873259581e-05,1793248204001743360
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.8321918,715,680,659,634,877.8321918,785,810.1678082,651.8321918,629,653,0.407086925613,-0.0153632034496,0.0697852152078,0.999999917091,0.000225685056681,-0.000338630565133,1.46046646402e-05,1793248204018409728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.592502312,744.592502312,715.407497688,680.407497688,659,634,878,785,810,652,629,653,0.40659435321,-0.0153626787709,0.0697997654788,0.999999921797,0.000228776410138,-0.000322193781849,1.60648639676e-05,1793248204035075840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.017221458,744.017221458,715.982778542,680.982778542,659,634,878,785,810,652,629,653,0.406107299587,-0.0153616593034,0.0698114170864,0.999999923261,0.000232638401545,-0.000314722889028,1.75015368611e-05,1793248204051742208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,716,680.429063101,659,634,878.570936899,785,810.570936899,651.429063101,629,653,0.40565253658,-0.0153584841508,0.0698026613348,0.999999916868,0.000235330214567,-0.000332581069705,1.65188326869e-05,1793248204068409088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.157462284,744,716,680,659,634,878.685075431,785,810.842537716,651,629,652.842537716,0.405215332554,-0.01535654105,0.0697984486306,0.999999913889,0.000236558175622,-0.00034061223752,1.56651171944e-05,1793248204085075712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.738525763,744,716,680,659,634,877.522948474,785,810.261474237,651,629,652.261474237,0.404822684485,-0.015358091344,0.0698081516892,0.999999921283,0.000233945263938,-0.000320104260875,1.53592545302e-05,1793248204101742336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.316635975,715.683364025,680,658.683364025,634,877.316635975,785,810.316635975,651.316635975,629.316635975,652,0.404465124659,-0.0153589869641,0.069823065394,0.999999930399,0.000233320751842,-0.000290677885466,1.64540412934e-05,1793248204118408960
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.892329915,715.107670085,680,658.107670085,634,877.892329915,785,810.892329915,651.892329915,629.892329915,652,0.404136272553,-0.0153593469579,0.0698422422251,0.999999940125,0.000234323062927,-0.000253954859925,1.86947793142e-05,1793248204135075328
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.934691368,744.065308632,715.934691368,679,658.065308632,634,878,785,810.065308632,651.934691368,629,652.934691368,0.403502209983,-0.0153577694762,0.0698445267641,0.999999937893,0.000246166304791,-0.000251516306431,1.88774425518e-05,1793248204168408576
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.355433772,744.644566228,715.355433772,679,658.644566228,634,878,785,810.644566228,651.355433772,629,652.355433772,0.403201170905,-0.0153510828883,0.0698301632159,0.999999930968,0.000250974369105,-0.000273603963416,1.47075999329e-05,1793248204185075456
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.776727284,715.223272716,679,659,634,878,785,810.776727284,651.223272716,629,652,0.402915577177,-0.015347235378,0.0698196092421,0.999999925791,0.000252185581411,-0.000290985868934,1.2184359303e-05,1793248204201742336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.198896014,715.801103986,679,659,634,878,785,810.198896014,651.801103986,629,652,0.402654510794,-0.0153478963425,0.0698151048992,0.999999923982,0.000247684968536,-0.000300895007939,1.22759339699e-05,1793248204218408960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.376009817,744,715.623990183,679,658.623990183,634,878,785,810,652,629,652.376009817,0.402424780228,-0.0153461081518,0.0698082741418,0.999999919581,0.000251510190631,-0.000312119271144,1.2713609678e-05,1793248204235075328
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.477280057,744,715,679.522719943,658.522719943,634,878,785,810,651.477280057,629,652.477280057,0.402026722202,-0.0153464377835,0.0697949355406,0.999999911615,0.000254746585346,-0.000334155967391,1.46608976388e-05,1793248204268408832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715.100039667,680,659,634,877.899960333,785,810,651,629,652.100039667,0.401851867658,-0.0153507027287,0.0697911181928,0.999999910487,0.000248817794276,-0.000341843598298,1.60608887408e-05,1793248204285075712
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,715.697149757,680,659,634,877.302850243,785,810,651,629,652.697149757,0.401712588925,-0.0153561324029,0.0697932715201,0.999999912759,0.000244398899974,-0.000338297163018,1.7477890152e-05,1793248204301742336
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.283916702,715.716083298,680,659,634,877.283916702,785,810,651.283916702,629,652.716083298,0.401585581899,-0.0153584548664,0.0697954000982,0.999999916624,0.000234560455876,-0.000333943590877,1.46705252493e-05,1793248204318408960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.860038516,715.139961484,680,659,634,877.860038516,785,810,651.860038516,629,652.139961484,0.401471204835,-0.0153575794097,0.0697975032043,0.999999921918,0.000219144248684,-0.000328759319183,7.51547155546e-06,1793248204335075328
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.566084951,715.433915049,680,658.566084951,634.433915049,878,785,810.433915049,652,628.566084951,652.433915049,0.401377450088,-0.0153588059079,0.0697980907927,0.99999992125,0.000225606200119,-0.000326476923386,3.78632729806e-06,1793248204351742208
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.813168762,679,658,634,878.813168762,785,810,651,629,653,0.401157596825,-0.0153561282145,0.0697959758571,0.999999917154,0.000241622397478,-0.000327565986028,3.24041158622e-06,1793248204401742080
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.235860089,679,658,634,878.235860089,785,810,651,629,653,0.40110517928,-0.0153540429652,0.0697950861615,0.999999916302,0.000242077654655,-0.000329816653689,4.00325056758e-06,1793248204418408704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.340217081,658,634,878,785,810.340217081,651,629,652.659782919,0.401065287343,-0.0153531951457,0.0697954651837,0.999999916691,0.000242467333928,-0.00032833827162,4.57027862462e-06,1793248204435075584
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c975e24fe4f817866759aa585a6971c5c15ca6ca
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5845f3861bd6c189fdf7bbd197665de4ee4e378f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ef0b8efdef11e8231153a1c2c74168c01c9704678f485f894219b6dfd1f990
+size 25881121
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5bbe8e36632b992dc9ea42cd951cf3cf3027ff37
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+4,0.066666667,BASELINE,765,744.309669778,716,679.309669778,658.309669778,634,878,784.309669778,810,652,629,653,0.400952811477,-0.0153579809007,0.06981214559,0.999999926991,0.000237641607692,-0.000299181293196,5.85191209988e-06,1793248205123930880
+5,0.083333333,BASELINE,765,744.905008972,716,679.905008972,658.905008972,634,878,784.905008972,810,652,629,653,0.400951765664,-0.0153572974865,0.0698109266887,0.999999924919,0.000243333927314,-0.000301514574559,6.2235766536e-06,1793248205140597248
+6,0.100000000,BASELINE,765,745,716,679.516830511,659,634,878,785,810,651.516830511,629,653,0.400951181254,-0.0153563599324,0.0698107845044,0.999999924959,0.000242411422499,-0.000302135374835,5.8101589527e-06,1793248205157263872
+7,0.116666667,BASELINE,765,744.941933496,716,679.058066504,658.941933496,634,877.941933496,785,810,651,629,653,0.400950829376,-0.0153555987147,0.069810931457,0.999999925418,0.00024038274033,-0.000302245690496,5.34162180073e-06,1793248205173930752
+8,0.133333333,BASELINE,765,744.367055429,716,679.632944571,658.367055429,634,877.367055429,785,810,651,629,653,0.400951767476,-0.0153568363786,0.0698118324662,0.999999926047,0.000239685959256,-0.000300706147453,5.70907834441e-06,1793248205190597376
+9,0.150000000,BASELINE,765.212700949,744.212700949,715.787299051,680,658,634,877.212700949,785,810,651.212700949,629,652.787299051,0.400952443789,-0.0153577191832,0.0698123918378,0.999999926272,0.000239824549834,-0.000299841472679,5.97830457989e-06,1793248205207264000
+10,0.166666667,BASELINE,765.801073318,744.801073318,715.198926682,680,658,634,877.801073318,785,810,651.801073318,629,652.198926682,0.400952657737,-0.0153579752369,0.0698123478106,0.999999925785,0.000241438569987,-0.000300168747244,6.07403686655e-06,1793248205223930880
+11,0.183333333,BASELINE,765.615149206,744.615149206,715.384850794,679.615149206,658,634,878,785,810,651.615149206,629,652.384850794,0.400953052807,-0.0153576652156,0.0698125669347,0.99999992613,0.000241142918941,-0.00029925505103,6.08808607936e-06,1793248205240597760
+12,0.200000000,BASELINE,765.033718723,744.033718723,715.966281277,679.033718723,658,634,878,785,810,651.033718723,629,652.966281277,0.400953540394,-0.0153570660463,0.069812920475,0.999999926898,0.000239871818397,-0.000297707473735,6.06041203178e-06,1793248205257264384
+13,0.216666667,BASELINE,765,744,716,679,658,634,878,785,810,651.537295458,629,653,0.400952946948,-0.0153571480396,0.0698124620604,0.999999926256,0.00024094094604,-0.000298991956577,6.19889506036e-06,1793248205273930752
+14,0.233333333,BASELINE,765.109542751,744,716,679,658,634,878,785,810,651.890457249,629,653,0.400952225403,-0.0153570861987,0.069811947088,0.999999925552,0.000242262734043,-0.000300274513679,6.28591293476e-06,1793248205290597376
+15,0.250000000,BASELINE,765.68984532,744,716,679,658,634,878,785,810,651.31015468,629,653,0.400951239361,-0.0153562260175,0.0698114038743,0.999999924961,0.000244051184077,-0.000300799527236,6.10779983711e-06,1793248205307264000
+16,0.266666667,BASELINE,766,744,716,679,658.274346122,634,878,785,810,651,629,653,0.400951663871,-0.0153562824753,0.0698115113838,0.999999925458,0.000242892170967,-0.000300087613165,5.88938565495e-06,1793248205323930624
+17,0.283333333,BASELINE,766,744,716,679,658.863666845,634,878,785,810,651,629,653,0.400953707823,-0.0153573913189,0.0698123659834,0.99999992719,0.000238349198742,-0.00029795559228,5.62470212868e-06,1793248205340597248
+18,0.300000000,BASELINE,765.554463751,744,716,679,659,634,878,785,810,651.445536249,629,653,0.400953676843,-0.0153584677782,0.0698124414349,0.999999927507,0.000237099460538,-0.000297890286604,5.6134376511e-06,1793248205357263872
+19,0.316666667,BASELINE,765.024941288,744,715.975058712,679.024941288,658.975058712,634,878,785,810,651.975058712,629,653,0.40095306315,-0.0153594958052,0.0698123401644,0.999999927437,0.000236799451137,-0.000298361832094,5.67591525573e-06,1793248205373930752
+20,0.333333333,BASELINE,765.599459583,744,715.400540417,679.599459583,658.400540417,634,878,785,810,651.400540417,629,653,0.4009533698,-0.0153596713975,0.0698135119285,0.999999928142,0.000235586812582,-0.000296956965703,5.68268789053e-06,1793248205390597632
+21,0.350000000,BASELINE,766,744,715,680,658.177958799,634,878,785,810,651,629,652.822041201,0.400953663295,-0.0153595034231,0.0698142201849,0.99999992839,0.000235610364708,-0.000296097679797,5.74513649177e-06,1793248205407264256
+22,0.366666667,BASELINE,766,744,715,680,658.765623006,634,878,785,810,651,629,652.234376994,0.400953926505,-0.0153585444727,0.0698138613313,0.999999927592,0.000238479935354,-0.000296494456034,5.93576501189e-06,1793248205423930624
+23,0.383333333,BASELINE,765.650930696,744.349069304,715,679.650930696,659,634,878.349069304,785,810,651,629,652.349069304,0.400954217947,-0.0153578605508,0.0698136137026,0.999999926985,0.000240791312605,-0.000296673695659,5.93706842612e-06,1793248205440597248
+24,0.400000000,BASELINE,765.070282576,744.929717424,715,679.070282576,659,634,878.929717424,785,810,651,629,652.929717424,0.400954528118,-0.0153573590878,0.0698134398625,0.999999926506,0.000242732374666,-0.000296708617646,5.81277019928e-06,1793248205457263616
+25,0.416666667,BASELINE,765.506211999,745,715,679.506211999,659,634,877.987576002,785,810,651,629,653,0.400953433706,-0.0153580014193,0.0698131769783,0.999999926782,0.000241186412676,-0.000297037409771,5.83022448769e-06,1793248205473930240
+26,0.433333333,BASELINE,766,744.91793968,715,679.91793968,658.91793968,634,877,784.91793968,810,651.08206032,629,652.91793968,0.400952375833,-0.0153585954645,0.0698129668867,0.999999927138,0.000239434504262,-0.000297255927966,5.82692641903e-06,1793248205490597120
+27,0.450000000,BASELINE,766,744.342537614,715,679.342537614,658.342537614,634,877,784.342537614,810,651.657462386,629,652.342537614,0.4009527005,-0.015357952261,0.0698131479007,0.999999927368,0.000239331385229,-0.000296568189209,5.58150868654e-06,1793248205507264256
+28,0.466666667,BASELINE,766,744,715,679,658,634,877.238329561,784.238329561,810,651.761670439,629,652,0.40095221653,-0.0153577439702,0.0698127949096,0.999999927107,0.000239519358619,-0.000297295942228,5.6455215666e-06,1793248205523930880
+29,0.483333333,BASELINE,766,744,715,679,658,634,877.827235734,784.827235734,810,651.172764266,629,652,0.400950543077,-0.0153581754249,0.0698116564108,0.999999926117,0.00024013552143,-0.000300105847038,6.16469888077e-06,1793248205540597504
+30,0.500000000,BASELINE,765.589514554,744.410485446,715,679.410485446,658,634,878,784.589514554,810,651.410485446,629,652,0.40095080414,-0.0153580525517,0.0698115456888,0.999999926011,0.000240476567369,-0.000300186645375,6.01010919827e-06,1793248205557264128
+31,0.516666667,BASELINE,765.008613176,744.991386824,715,679.991386824,658,634,878,784.008613176,810,651.991386824,629,652,0.400951868332,-0.0153576995455,0.0698118616556,0.999999926275,0.000240703396581,-0.000299134435816,5.57580037601e-06,1793248205573930496
+32,0.533333333,BASELINE,765.56549627,744.43450373,715,680,658,634,878,784.56549627,810,651.43450373,629,652.56549627,0.400952313831,-0.0153562949768,0.0698130126082,0.999999926425,0.000241371670435,-0.000298095047352,5.40975749489e-06,1793248205590597376
+33,0.550000000,BASELINE,765.860727479,744.139272521,715.139272521,679.860727479,658,634,878,785,810,651.139272521,629.139272521,652.860727479,0.400952884932,-0.0153557215045,0.0698140112276,0.999999926837,0.000241121607717,-0.000296914000626,5.30347174131e-06,1793248205607264000
+34,0.566666667,BASELINE,765.287670741,744.712329259,715.712329259,679.287670741,658,634,878,785,810,651.712329259,629.712329259,652.287670741,0.400953876236,-0.0153577858953,0.069814496242,0.999999928067,0.000237990560606,-0.000295291138138,5.37073273691e-06,1793248205623930624
+35,0.583333333,BASELINE,765.296664017,745,716,679,658,634,878,785,810,652,629.406671966,652.296664017,0.400954039231,-0.0153585029487,0.0698141371474,0.999999928308,0.000236883057911,-0.000295366788833,5.36811485987e-06,1793248205640597760
+36,0.600000000,BASELINE,765.892367156,745,716,679,658,634,878,785,810,652,628.215265688,652.892367156,0.400953367284,-0.0153578618783,0.069812927186,0.999999927558,0.000237815299834,-0.000297154550887,5.29505866526e-06,1793248205657264640
+37,0.616666667,BASELINE,766,744.527552985,716,679,658,634,878,784.527552985,810,652,628.472447015,652.527552985,0.400952911295,-0.0153572035199,0.069812550073,0.999999927094,0.000238846744195,-0.0002978849264,5.31961827364e-06,1793248205673931520
+38,0.633333333,BASELINE,766,744.04877989,715.95122011,679.04877989,658,634,878,784.04877989,810,651.95122011,629,652.04877989,0.400952614014,-0.0153566442107,0.0698124560624,0.99999992676,0.000239868638323,-0.000298183228687,5.3790956412e-06,1793248205690598144
+39,0.650000000,BASELINE,766,744.621871171,715.378128829,679.621871171,658,634,878,784.621871171,810,651.378128829,629,652.621871171,0.400953510723,-0.0153571905121,0.069813430846,0.999999927142,0.000240552738698,-0.000296343752847,5.58250432115e-06,1793248205707264512
+40,0.666666667,BASELINE,765.799732966,744.799732966,715.200267034,680,658,634,878,784.799732966,809.799732966,651,629,652.799732966,0.400954266716,-0.0153579074029,0.0698140651822,0.999999927461,0.00024052039953,-0.000295290606321,5.65939093328e-06,1793248205723930880
+41,0.683333333,BASELINE,765.211048924,744.211048924,715.788951076,680,658,634,878,784.211048924,809.211048924,651,629,652.211048924,0.400954749793,-0.0153589551508,0.069814039222,0.999999927663,0.000239098529068,-0.000295762542059,5.4908885546e-06,1793248205740598016
+42,0.700000000,BASELINE,765,744,715.626314753,679.626314753,658,634,878,784.373685247,809.373685247,651,628.626314753,652.373685247,0.400954184974,-0.0153582626703,0.0698140429617,0.999999927392,0.000239733614999,-0.000296166245879,5.45829448527e-06,1793248205757264384
+43,0.716666667,BASELINE,765,744,715.043788064,679.043788064,658,634,878,784.956211936,809.956211936,651,628.043788064,652.956211936,0.400953034518,-0.0153565976283,0.0698140632998,0.999999926854,0.000241518272013,-0.000296531816916,5.50165548625e-06,1793248205773930752
+44,0.733333333,BASELINE,765,744,715,679.530470782,658,634,878,785,810,651,628.530470782,653,0.400952967338,-0.0153565719932,0.0698140619287,0.999999927336,0.000240011627871,-0.000296132295766,5.30932620165e-06,1793248205790597632
+45,0.750000000,BASELINE,765,744,715,679.893710918,658,634,878,785,810,651.106289082,629,653,0.400953164273,-0.0153568682797,0.0698141498772,0.999999927744,0.000238878956169,-0.00029567161612,5.27170547229e-06,1793248205807264512
+46,0.766666667,BASELINE,765,744,715,679.307824005,658,634,878,785,810,651.692175995,629,653,0.400954155659,-0.0153580158949,0.0698146488147,0.999999927452,0.000240640798011,-0.000295215572128,6.01859971646e-06,1793248205823930880
+47,0.783333333,BASELINE,765.275034122,744.275034122,715,679,658,634,878,785,810,651.724965878,629,652.724965878,0.400954013356,-0.0153585803416,0.0698144713628,0.999999927545,0.000239859983364,-0.000295534478492,6.08460720537e-06,1793248205840597248
+48,0.800000000,BASELINE,765.854539365,744.854539365,715,679,658,634,878,785,810,651.145460635,629,652.145460635,0.400952616025,-0.0153584992032,0.0698135451274,0.999999928056,0.000236264371021,-0.000296711278363,5.3968524821e-06,1793248205857263616
+49,0.816666667,BASELINE,765.567079548,744.567079548,715,679,658,634,877.567079548,785,810,651,629,652.432920452,0.400952285306,-0.0153579440483,0.0698130512651,0.999999927549,0.000238184241463,-0.000296892424271,5.09662470102e-06,1793248205873930240
+50,0.833333333,BASELINE,765.010916935,744,715.010916935,679,658,634,877,784.989083065,809.989083065,651.010916935,628.989083065,653,0.400952318075,-0.0153572387236,0.0698127137399,0.999999926707,0.000241874687862,-0.000296747341274,4.93420354511e-06,1793248205890597120
+51,0.850000000,BASELINE,765.588506864,744,715.588506864,679,658,634,877,784.411493136,809.411493136,651.588506864,628.411493136,653,0.400952664143,-0.0153569843016,0.0698129698621,0.999999926718,0.000241525769435,-0.000296988602911,5.18368905507e-06,1793248205907263744
+52,0.866666667,BASELINE,765.831427068,744,715.831427068,679,658,634,877.168572932,784.168572932,809.168572932,651.831427068,628.168572932,653,0.400953248204,-0.0153568182902,0.069813293427,0.999999926767,0.000241328363386,-0.000296983019496,5.34970834207e-06,1793248205923930112
+53,0.883333333,BASELINE,765.245226575,744,715.245226575,679,658,634,877.754773425,784.754773425,809.754773425,651.245226575,628.754773425,653,0.400954421874,-0.0153568713097,0.0698137840766,0.999999926907,0.000241506318599,-0.000296365894845,5.30894592824e-06,1793248205940596736
+54,0.900000000,BASELINE,765.336972467,744,715.336972467,679.336972467,658,634,877.663027533,785,809.663027533,651,629,652.663027533,0.400953806417,-0.0153576684052,0.0698135693536,0.9999999271,0.000240107636447,-0.000296848130476,5.35743964853e-06,1793248205957263616
+55,0.916666667,BASELINE,765.916293662,744,715.916293662,679.916293662,658,634,877.083706338,785,809.083706338,651,629,652.083706338,0.40095190423,-0.0153590006359,0.0698128473305,0.999999927326,0.00023757504544,-0.000298121019947,5.47012588697e-06,1793248205973930240
+56,0.933333333,BASELINE,765.506140986,744,716,679.506140986,658.493859014,634,877.493859014,785,809.493859014,651,629,652,0.400952908038,-0.0153588627766,0.0698134535214,0.999999927604,0.000237532279438,-0.000297219680114,5.55221550958e-06,1793248205990596608
+57,0.950000000,BASELINE,765,744,715.929238003,679,658.929238003,634,878,785,810,651,629,652,0.400954226334,-0.0153585124584,0.0698141480931,0.999999927828,0.000238002105656,-0.000296086999481,5.63215858819e-06,1793248206007263488
+58,0.966666667,BASELINE,765,744,715.354938448,679,658.354938448,634,878,785,810,651,629,652,0.400954289967,-0.0153584171075,0.0698138752798,0.999999927608,0.000239127137563,-0.000295921184787,5.73359913312e-06,1793248206023930112
+59,0.983333333,BASELINE,765,744,715.225496774,678.774503226,658,634,878,785,810,651.225496774,629,652.225496774,0.400954162834,-0.0153581908828,0.0698136199271,0.999999927544,0.000239517132163,-0.000295824316369,5.69735829294e-06,1793248206040596736
+60,1.000000000,BASELINE,765,744,715.815859936,678.184140064,658,634,878,785,810,651.815859936,629,652.815859936,0.40095372703,-0.015357752897,0.0698133928269,0.999999927732,0.000238717795476,-0.000295839006853,5.43834128919e-06,1793248206057263360
+61,1.016666667,BASELINE,765,744,716,678.39854128,658,634,878,785,810.39854128,651.60145872,629,653,0.400953071887,-0.0153583731414,0.0698129166687,0.99999992758,0.000238308007881,-0.000296681902942,5.35681674192e-06,1793248206073929984
+62,1.033333333,BASELINE,765,744,716,678.977740437,658,634,878,785,810.977740437,651.022259563,629,653,0.40095231732,-0.0153594730791,0.0698123276131,0.999999927274,0.000238074802071,-0.000297900222792,5.35574914665e-06,1793248206090596608
+63,1.050000000,BASELINE,765,744,716,679,658,634,877.447269254,785,810.447269254,651.552730746,629,653,0.400952514612,-0.015357559454,0.0698128784578,0.999999926752,0.000241351988945,-0.000297007414983,5.6311689143e-06,1793248206107263744
+64,1.066666667,BASELINE,765.130442222,744,715.869557778,679,658,634,877,785,810,651.869557778,629,653,0.400952844968,-0.015356396502,0.0698134957101,0.999999926562,0.000243158616682,-0.00029616970163,5.78218380238e-06,1793248206123930624
+65,1.083333333,BASELINE,765.718285415,744,715.281714585,679,658,634,877,785,810,651.281714585,629,653,0.400953508514,-0.0153582881615,0.0698141860684,0.999999927594,0.000239316693536,-0.000295821049971,5.45821869281e-06,1793248206140596992
+66,1.100000000,BASELINE,765.698252472,744.301747528,715,679.301747528,658,634,877,785,810,651,628.698252472,653,0.400952734206,-0.0153585569324,0.0698138832204,0.999999927412,0.000238919868143,-0.000296756697261,5.32459097511e-06,1793248206157263616
+67,1.116666667,BASELINE,765.118822074,744.881177926,715,679.881177926,658,634,877,785,810,651,628.118822074,653,0.400950636716,-0.0153573322416,0.0698126663753,0.999999926115,0.000241693390814,-0.000298874219424,5.36612107471e-06,1793248206173930496
+68,1.133333333,BASELINE,765.444011953,744.555988047,715.444011953,679.555988047,658,634,877.444011953,785,810,651.444011953,628.444011953,653,0.400950874423,-0.0153576278852,0.0698123411984,0.999999926195,0.000241663475302,-0.000298631214003,5.35859648561e-06,1793248206190596864
+69,1.150000000,BASELINE,765.997271553,744,716,679,658,634,877.997271553,785,810,651.997271553,629,652.997271553,0.400951721311,-0.0153583135444,0.0698122571129,0.999999926633,0.00024091208597,-0.000297771175366,5.34022098456e-06,1793248206207263744
+70,1.166666667,BASELINE,765.403056218,744,716,679,658,634,877.403056218,785,810,651.403056218,629,652.403056218,0.400954036734,-0.0153585262483,0.0698145728041,0.999999927497,0.000240534166479,-0.000295156638079,5.71284260486e-06,1793248206223930368
+71,1.183333333,BASELINE,765,744,715.810202017,679,658.189797983,634,877.379595966,785,810,651.189797983,629,652.189797983,0.400954618855,-0.0153584686488,0.0698153282624,0.999999927614,0.000240712488261,-0.000294612023694,5.82969689251e-06,1793248206240596992
+72,1.200000000,BASELINE,765,744,715.220217636,679,658.779782364,634,878.559564727,785,810,651.779782364,629,652.779782364,0.400951546333,-0.0153578411184,0.0698127939919,0.999999926157,0.00024206363693,-0.00029843181235,5.40726940022e-06,1793248206257263616
+73,1.216666667,BASELINE,765,744,715,679.3632783,659,634,879,785,810,652,629,653,0.400951672476,-0.0153575294287,0.0698124540426,0.999999926024,0.00024220367545,-0.000298764748938,5.34564806108e-06,1793248206273930240
+74,1.233333333,BASELINE,765,744,715,679.942909955,659,634,879,785,810,652,629,653,0.40095370361,-0.0153574058407,0.0698134209395,0.999999926683,0.000241622427361,-0.000297021062104,5.49890779503e-06,1793248206290596864
+75,1.250000000,BASELINE,765,744,715,679.482483276,658.482483276,634,878.482483276,785,810,651.482483276,629,652.482483276,0.400952569122,-0.0153587614713,0.0698128982571,0.99999992703,0.000239093814888,-0.000297897166224,5.53421531587e-06,1793248206307263488
+76,1.266666667,BASELINE,765,744,715,679,658,634,878,785,810,651,629,652.093769832,0.400951498328,-0.0153599021408,0.069812408344,0.999999927279,0.00023711126272,-0.000298646155116,5.57198978256e-06,1793248206323930368
+77,1.283333333,BASELINE,765,744,715,679,658,634,878,785,810,651,629,652.681589577,0.400952585365,-0.0153590587437,0.0698129485385,0.999999927224,0.000239126737602,-0.000297217362114,5.69065939566e-06,1793248206340597760
+78,1.300000000,BASELINE,765,744,715,679.265570431,658,634,878,785,810,651,629,652.734429569,0.400952898691,-0.0153588299778,0.0698134348913,0.999999927478,0.000238692440946,-0.000296711326802,5.63074037691e-06,1793248206357264640
+79,1.316666667,BASELINE,765,744,715,679.845014124,658,634,878,785,810,651,629,652.154985876,0.400952297581,-0.0153593276345,0.0698138576094,0.999999928095,0.000235362800034,-0.000297295883509,5.35975042517e-06,1793248206373931520
+80,1.333333333,BASELINE,765.421646248,744,715,679.578353752,658,634,878,784.578353752,810,651.421646248,629,652,0.400952916485,-0.0153591919994,0.0698143259929,0.999999928018,0.000236240829051,-0.0002968596199,5.39281552483e-06,1793248206390598144
+81,1.350000000,BASELINE,765.997251806,744,715,679.002748194,658,634,878,784.002748194,810,651.997251806,629,652,0.400953980863,-0.0153588251251,0.0698148110506,0.999999927684,0.000238655240405,-0.00029605061546,5.53690283106e-06,1793248206407264768
+82,1.366666667,BASELINE,765.426174277,744,715,679,658,634,877.426174277,784.573825723,810,651.426174277,629,652,0.400952935198,-0.0153590147339,0.0698143255296,0.999999927445,0.000239714731991,-0.000295998630561,5.6427673866e-06,1793248206423931136
+83,1.383333333,BASELINE,765.153770198,744,715.153770198,679.153770198,658,634,877,785,810,651,629,652,0.400952055585,-0.0153589010404,0.0698138946182,0.99999992729,0.000240098266285,-0.000296211415851,5.6504662848e-06,1793248206440597504
+84,1.400000000,BASELINE,765.743252203,744,715.743252203,679.743252203,658,634,877,785,810,651,629,652,0.400951675173,-0.0153579203673,0.0698136316376,0.999999927371,0.000238584876432,-0.000297164143802,5.38052987148e-06,1793248206457264384
+85,1.416666667,BASELINE,765.673483773,744.326516227,715.673483773,679.673483773,658,634,877.326516227,785,810.326516227,651,629,652,0.400952453906,-0.0153572215303,0.0698141330825,0.999999927356,0.000239485554142,-0.000296488916084,5.31026971313e-06,1793248206473931008
+86,1.433333333,BASELINE,765.095017766,744.904982234,715.095017766,679.095017766,658,634,877.904982234,785,810.904982234,651,629,652,0.400954127071,-0.0153567401666,0.0698152243813,0.999999927261,0.000242248999371,-0.000294557508555,5.39408579894e-06,1793248206490597376
+87,1.450000000,BASELINE,765.482689274,744.517310726,715,679,658,634,878,785,810.517310726,651.482689274,629,652,0.400953356768,-0.0153571511889,0.0698145320688,0.999999927038,0.00024181799775,-0.000295667189976,5.29554817591e-06,1793248206507264256
+88,1.466666667,BASELINE,766,744,715.059776354,679.059776354,658,634,878,785,810,651.940223646,629,652.059776354,0.400952348902,-0.0153577331786,0.0698136788849,0.999999926866,0.000240848907246,-0.000297039719861,5.18379469939e-06,1793248206523931136
+89,1.483333333,BASELINE,766,744,715.63282102,679.63282102,658,634,878,785,810,651.36717898,629,652.63282102,0.400953424803,-0.0153582771847,0.0698144544073,0.999999927359,0.000240650481431,-0.000295537046481,5.26630395102e-06,1793248206540597760
+90,1.500000000,BASELINE,765.787434135,744,715.787434135,679.787434135,658,634,878,784.787434135,810,651,628.787434135,653,0.400953353662,-0.0153588105815,0.0698144915022,0.999999927488,0.000240436841387,-0.000295272007576,5.38595692473e-06,1793248206557264384
+91,1.516666667,BASELINE,765.195739014,744,715.195739014,679.195739014,658,634,878,784.195739014,810,651,628.195739014,653,0.400951236678,-0.0153593250555,0.0698132115489,0.999999926969,0.000240196065496,-0.00029721439494,5.57185886982e-06,1793248206573931008
+92,1.533333333,BASELINE,765,744,715,679,658,634.387251846,878.387251846,784.387251846,810.387251846,651,628.387251846,652.612748154,0.40095264062,-0.0153589670325,0.0698139503966,0.999999927521,0.000239986234089,-0.000295522034052,5.68154752431e-06,1793248206590597632
+93,1.550000000,BASELINE,765,744,715,679,658,634.965939848,878.965939848,784.965939848,810.965939848,651,628.965939848,652.034060152,0.400955785116,-0.0153581776947,0.0698156872289,0.999999928592,0.00023979169992,-0.000292032852374,5.75356050829e-06,1793248206607264512
+94,1.566666667,BASELINE,765,744,715,679,658,634.462438797,877.924877593,784.462438797,810.462438797,651.537561203,629,652,0.400955134959,-0.0153589066723,0.069815732029,0.999999928503,0.000238961187851,-0.000293023400844,5.38441862897e-06,1793248206623931136
+95,1.583333333,BASELINE,765,744,715,679.110097566,658,634,877.110097566,784.110097566,810,652,628.889902434,652.110097566,0.400954453319,-0.0153592740348,0.0698156965343,0.999999928265,0.000238694290121,-0.000294056014456,5.10427965506e-06,1793248206640597504
+96,1.600000000,BASELINE,765,744,715,679.688404759,658,634,877.688404759,784.688404759,810,652,628.311595241,652.688404759,0.400954647008,-0.0153576997598,0.0698157695771,0.999999927707,0.00024099340506,-0.00029407610813,5.31996902265e-06,1793248206657264128
+97,1.616666667,BASELINE,765,744,715,679.726923441,658,634.273076559,878,785,810,651.726923441,628.273076559,652.726923441,0.400954676425,-0.0153573751106,0.0698156179925,0.999999927491,0.000241989254052,-0.00029398953147,5.45499018925e-06,1793248206673930752
+98,1.633333333,BASELINE,765,744,715,679.134816011,658,634.865183989,878,785,810,651.134816011,628.865183989,652.134816011,0.400954513928,-0.0153585103788,0.0698152039792,0.99999992768,0.00024146251865,-0.000293778333607,5.49576800501e-06,1793248206690597888
+99,1.650000000,BASELINE,765,744,715,679.446293558,658,634.553706442,877.553706442,785,810,651.446293558,628.553706442,652,0.400953623441,-0.0153576343773,0.0698149507738,0.999999927276,0.000241928786215,-0.000294772111097,5.35960037529e-06,1793248206707264512
+100,1.666666667,BASELINE,765,744,715,680,658,634,877,784.97599372,810,651.97599372,628.02400628,652.02400628,0.400952598261,-0.015356271589,0.06981476915,0.999999926747,0.000242613022338,-0.000296003593308,5.19415253161e-06,1793248206723931136
+101,1.683333333,BASELINE,765,744,715,680,658,634,877,784.401822028,810,651.401822028,628.598177972,652.598177972,0.400953404864,-0.0153573418222,0.0698151415185,0.999999927426,0.000241583418557,-0.000294541365446,5.55319178669e-06,1793248206740597760
+102,1.700000000,BASELINE,765.177019229,744,715,680,658.177019229,634,877,784.177019229,810,651,628.822980771,653,0.400953661153,-0.0153581236318,0.0698150802595,0.999999927821,0.000240406864188,-0.000294159739579,5.66876990003e-06,1793248206757264640
+103,1.716666667,BASELINE,765.766747192,744,715,680,658.766747192,634,877,784.766747192,810,651,628.233252808,653,0.400952634423,-0.0153582330005,0.0698140080262,0.999999927557,0.000238887704298,-0.000296297466669,5.21673426223e-06,1793248206773931264
+104,1.733333333,BASELINE,765.649707158,744,715,679.649707158,658.649707158,634,877,785,810,651,628.350292842,652.649707158,0.40095298978,-0.0153584681882,0.0698143106462,0.999999927651,0.00023876827528,-0.000296072384019,5.33096750729e-06,1793248206790597632
+105,1.750000000,BASELINE,765.07020673,744,715,679.07020673,658.07020673,634,877,785,810,651,628.92979327,652.07020673,0.400954249479,-0.0153587857032,0.0698155128757,0.999999927981,0.000239564733895,-0.000294301241109,5.81572818653e-06,1793248206807263744
+106,1.766666667,BASELINE,765,744.500478013,715.500478013,679.500478013,658,634,877.500478013,785,809.499521987,651.500478013,629,652,0.400954370468,-0.0153591433171,0.0698153616679,0.999999928381,0.000238214169398,-0.000294040058355,5.69408214297e-06,1793248206823930624
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,878,784,810,652,629,653,0.400952373899,-0.0153598929484,0.0698147018556,0.999999927867,0.000238370822824,-0.000295658809767,5.63699551279e-06,1793248206866666240
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579069534,744,715,679,658,634,878,784.579069534,810,652,629,653,0.400953074463,-0.0153596069887,0.0698154920712,0.99999992831,0.000238824355369,-0.000293780578959,5.9414853156e-06,1793248206883332608
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.841744393,744,715,679,658,634,878,785,810,651.841744393,629,653,0.40095388667,-0.015359201853,0.0698161516991,0.999999928572,0.000239511025666,-0.000292323290008,6.1033936289e-06,1793248206899998976
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.262247995,744,715,679,658,634,878,785,810,651.262247995,629,653,0.400954996048,-0.0153584794975,0.0698164637316,0.999999928358,0.000240818256263,-0.000291986453081,5.88578218929e-06,1793248206916665856
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,715.314102345,679.314102345,658,634,878,785,810.314102345,651.314102345,629,653,0.40095500495,-0.0153583646132,0.0698159858387,0.999999928324,0.000239921075871,-0.00029284244777,5.70293997353e-06,1793248206933332480
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,715.887852016,679.887852016,658,634,878,785,810.887852016,651.887852016,629,653,0.400954104162,-0.0153587518845,0.0698148549674,0.999999928433,0.000237201656797,-0.000294684476306,5.54883915435e-06,1793248206949999104
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715.526716856,680,658,634,878,785,810.526716856,651.526716856,629,653,0.40095423499,-0.0153584090072,0.0698150219233,0.9999999286,0.000237123142999,-0.000294181705232,5.41826854447e-06,1793248206966665984
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.060630893,715,679.939369107,658,634,878,784.939369107,810,651.060630893,629,652.939369107,0.400955114237,-0.0153580672602,0.069815762613,0.999999928854,0.000237711394317,-0.000292844271417,5.33237856289e-06,1793248206983332608
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.640093751,715,679.359906249,658,634,878,784.359906249,810,651.640093751,629,652.359906249,0.400960253122,-0.0153592531719,0.0698187146718,0.99999992971,0.000238514830458,-0.000289239308641,5.57991102238e-06,1793248206999999232
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.781598289,715.218401711,679,658,634,878,784.218401711,810,651.781598289,628.781598289,652,0.400971844374,-0.0153605563754,0.0698239394151,0.999999931952,0.000238429886833,-0.000281442471432,6.07233113671e-06,1793248207016666112
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.205183541,715.794816459,679,658,634,878,784.794816459,810,651.205183541,628.205183541,652,0.400994012611,-0.0153620518483,0.069832889636,0.999999936333,0.000236888674573,-0.000266774142126,6.96618110879e-06,1793248207033332736
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,715.63121048,679.36878952,658.36878952,634,878,784.63121048,809.63121048,651,628.36878952,652,0.401036895774,-0.0153634447966,0.0698497999902,0.999999943303,0.000238192433258,-0.00023788514513,8.31742098432e-06,1793248207049999616
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,715.058586914,679.941413086,658.941413086,634,878,784.058586914,809.058586914,651,628.941413086,652,0.401091228309,-0.0153647810786,0.0698711099991,0.999999950666,0.000241068638463,-0.000201136226186,9.92146539361e-06,1793248207066667008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658.468097053,634,878.531902947,784.531902947,809.531902947,651,629,652,0.40115119628,-0.0153679886398,0.0698844777342,0.99999995395,0.000238839290833,-0.000186954411422,1.02336673698e-05,1793248207083333376
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715.121541485,679.878458515,658.121541485,634,878.878458515,785,810,651.121541485,629,652.121541485,0.40121482849,-0.0153711773505,0.0698954073173,0.999999956439,0.000236671649533,-0.000176083004005,1.02116497477e-05,1793248207100000256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715.700317085,679.299682915,658.700317085,634,878.299682915,785,810,651.700317085,629,652.700317085,0.401289829152,-0.0153734928052,0.069900570054,0.999999957778,0.000236925233063,-0.000167989197561,9.48621013172e-06,1793248207116667136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715.722876847,679,658.722876847,634,878,785,810,651.722876847,629,652.722876847,0.401376088141,-0.0153772634289,0.0699048348049,0.99999995897,0.000236528896611,-0.000161391918478,8.14117822258e-06,1793248207133333760
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715.148185649,679,658.148185649,634,878,785,810,651.148185649,629,652.148185649,0.401474436042,-0.0153825965773,0.0699081353204,0.999999960036,0.000235434692015,-0.000156401574266,6.1308433465e-06,1793248207150000640
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715,679.436366713,658,634,878,785,810,651.436366713,629,652,0.401588341278,-0.0153882619714,0.0699107857555,0.999999961752,0.00023130640571,-0.000151583399162,3.98668682445e-06,1793248207166666752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715.024004891,679.975995109,658,634,878,785,810,652,629,652,0.401708835102,-0.0153939911231,0.069913188493,0.999999963627,0.000226202224799,-0.000146885024386,1.76042608429e-06,1793248207183333120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,715.60376341,679.39623659,658,634,878,785,810,652,629,652,0.401856724988,-0.0153985238358,0.069915085768,0.999999964848,0.000222910141028,-0.000143575324245,-1.29024501405e-06,1793248207199999488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.182837275,744,715.817162725,679,658.182837275,634,878,785,810,652,629,652.182837275,0.402016225137,-0.0154041448993,0.0699176177288,0.999999966438,0.000218462379071,-0.000139198409347,-4.60197440682e-06,1793248207216666112
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.760432849,744,715.239567151,679,658.760432849,634,878,785,810,652,629,652.760432849,0.40220079263,-0.0154121157868,0.0699215200196,0.999999968813,0.000211519428546,-0.000132517304533,-8.47734628604e-06,1793248207233332736
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.662929314,744,715,679,659,634,877.662929314,784.662929314,810,651.662929314,629,652.662929314,0.402407395945,-0.0154213070117,0.0699233631557,0.999999971552,0.000200966430786,-0.000127817821173,-1.30814164581e-05,1793248207249999616
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.086970184,744,715,679,659,634,877.086970184,784.086970184,810,651.086970184,629,652.086970184,0.402629616488,-0.0154313631139,0.0699237469298,0.999999974437,0.000187854922748,-0.000124522750149,-1.82019294478e-05,1793248207266666496
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,715,679.498567806,658.501432194,634,877.498567806,784,810,651,628.501432194,652.498567806,0.402871817078,-0.0154408765434,0.0699264250427,0.999999977087,0.000176600390036,-0.000118810063119,-2.28563033346e-05,1793248207283333376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084471977,744,715,679.915528023,658,634,878,784.084471977,810,651,628.084471977,653,0.403126177714,-0.0154503139821,0.069930741884,0.999999981697,0.00015393491938,-0.000110249029609,-2.74743081538e-05,1793248207300000256
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.662560711,744,715,679.337439289,658,634,878,784.662560711,810,651,628.662560711,653,0.403430830743,-0.0154598713786,0.0699422501807,0.99999999368,6.26589964705e-05,-8.75561925854e-05,-3.23642569553e-05,1793248207316666624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.759598165,744,715,679.240401835,658,634,877.759598165,785,809.759598165,651,629,652.759598165,0.403745041049,-0.0154690544637,0.0699493285978,0.999999996399,9.78660787966e-06,-7.54454394459e-05,-3.76174946617e-05,1793248207333332992
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.182104274,744,715,679.817895726,658,634,877.182104274,785,809.182104274,651,629,652.182104274,0.404072652576,-0.0154777126877,0.0699501954258,0.999999995946,1.07637575532e-05,-7.8172913103e-05,-4.33801370144e-05,1793248207349999360
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,680,658.393379961,634,877.393379961,785,809.393379961,651,629,652.393379961,0.404442165671,-0.0154817242688,0.069954894621,0.999999996401,2.90950318457e-06,-6.98875288305e-05,-4.80204434699e-05,1793248207366665984
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658.967938595,634,877.967938595,785,809.967938595,651,629,652.967938595,0.404830977327,-0.0154835957491,0.0699613588864,0.999999997002,-9.01222343812e-06,-5.65299618809e-05,-5.21438364664e-05,1793248207383332864
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.557649784,744,715,680,658.442350216,634,878,784.442350216,810,651.557649784,629,652.442350216,0.40523231076,-0.0154710654989,0.0699629503682,0.999999996465,5.0335190358e-05,-5.65761714229e-05,-3.65346515136e-05,1793248207399999744
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.854634321,744,715,679.854634321,658,634,878,784,810,651.854634321,629,652.145365679,0.405643750202,-0.0154607992028,0.0699619689988,0.999999993292,9.58710717523e-05,-5.96117313393e-05,-2.59245694461e-05,1793248207416667136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.275543782,744,715,679.275543782,658,634,878,784,810,651.275543782,629,652.724456218,0.406083134655,-0.0154598273496,0.0699541703009,0.999999993198,8.76305169453e-05,-6.9203011413e-05,-3.37097565686e-05,1793248207433333504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.300746035,744,715,679,658.300746035,634,878,784.300746035,810,651,629,652.699253965,0.406543081475,-0.0154647916884,0.0699416817828,0.999999992785,7.23133677975e-05,-8.77216598171e-05,-3.88159402429e-05,1793248207449999872
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.874493567,744,715,679,658.874493567,634,878,784.874493567,810,651,629,652.125506433,0.407021693787,-0.0154751445911,0.0699249360909,0.999999991323,5.05724559614e-05,-0.000114344106631,-4.14902657685e-05,1793248207466666752
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.549303455,744,715,679,659,634,878,785,810,651,629,652.450696545,0.407576926355,-0.0154869350962,0.0699258824151,0.999999992863,3.67087052389e-05,-0.000106042315646,-4.10150810979e-05,1793248207483333120
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878.028284444,785,810.028284444,651,629,652.971715556,0.408154882832,-0.0154992642641,0.0699321940797,0.999999995091,2.46856009369e-05,-8.73872733445e-05,-3.96519096027e-05,1793248207499999488
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878.619759524,785,810.619759524,651,629,652.380240476,0.40875813624,-0.0155143041725,0.0699467017625,0.999999997616,5.39591990381e-06,-5.729198568e-05,-3.81666475849e-05,1793248207516666368
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205948204,744.205948204,715,679.205948204,659,634,878.794051796,785,810.794051796,651,629,652.205948204,0.409359487209,-0.0155240267287,0.069952778089,0.999999998341,-7.96635568298e-06,-4.26539434234e-05,-3.78954692693e-05,1793248207533332992
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.782620875,744.782620875,715,679.782620875,659,634,878.217379125,785,810.217379125,651,629,652.782620875,0.409957413588,-0.0155241775929,0.0699436772488,0.999999997592,-1.06587908308e-05,-5.58402733801e-05,-3.98097461266e-05,1793248207549999616
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,744.641978188,715,679.641978188,659,634,878,784.641978188,810.358021812,651,629,653,0.410592244032,-0.0155217245944,0.0699389289323,0.999999996912,-6.63935126973e-06,-6.67755000319e-05,-4.08906420915e-05,1793248207566665984
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.067346695,715,679.067346695,659,634,878,784.067346695,810.932653305,651,629,653,0.411249402082,-0.0155176962116,0.0699368139719,0.999999996225,1.44089417166e-06,-7.63487679236e-05,-4.14673274483e-05,1793248207583332608
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.520846076,715,679,659,634,878.520846076,784.520846076,810.479153924,651,629,653,0.411990079449,-0.0155208953312,0.0699634348903,0.999999998769,-4.13542002002e-06,-2.86550880484e-05,-4.02971370559e-05,1793248207599999232
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.891097204,744.891097204,715,679,659,634,879,784.891097204,810.108902796,651,629,653,0.412744755959,-0.0155247857872,0.0699925134092,0.999999998935,-1.17495013584e-05,2.19704981795e-05,-3.88587272425e-05,1793248207616665600
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.311411788,744.311411788,715,679,659,634,879,784.311411788,810.688588212,651,629,653,0.413512017207,-0.0155275169079,0.0700157241458,0.999999997726,-2.03350970708e-05,5.24043585573e-05,-3.72633701451e-05,1793248207633332224
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,715.266717625,679.266717625,659,634,879,784.266717625,811,651,629,653,0.414254419519,-0.015526279438,0.0700121350582,0.999999998256,-2.15456938116e-05,3.9729307807e-05,-3.80233632069e-05,1793248207649999104
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,715.843040905,679.843040905,659,634,879,784.843040905,811,651,629,653,0.414967965694,-0.0155204352307,0.0699774367539,0.999999998773,-1.41953973575e-05,-2.29865365682e-05,-4.15174449994e-05,1793248207666665728
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,715.582697583,680,659,634,879,785,811,651.417302417,629.417302417,653,0.415726421799,-0.015518689992,0.069937406368,0.999999995201,-1.61854031082e-05,-8.42571149549e-05,-4.72976632683e-05,1793248207683332864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715.009207781,680,659,634,879,785,811,651.990792219,629.990792219,653,0.41650168669,-0.0155184789102,0.0698953802998,0.9999999878,-2.16712849387e-05,-0.000144986757158,-5.3933533285e-05,1793248207700000000
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.581931757,715,679.418068243,659.581931757,634,879,784.418068243,811,651.418068243,629.418068243,653,0.417372851361,-0.0155257530592,0.0699204930453,0.999999992375,-2.67309624439e-05,-0.000109117256774,-5.12715615052e-05,1793248207716666880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.830815204,715,679.338369592,659.830815204,634,879.169184796,784.169184796,811,651,629,653.169184796,0.418249241467,-0.0155308666634,0.0699475943584,0.999999995827,-3.14309836505e-05,-7.04558975345e-05,-4.89378334017e-05,1793248207733333504
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.253629302,715,680.492741396,659.253629302,634,879.746370698,784.746370698,811,651,629,653.746370698,0.419134459253,-0.0155304754071,0.0699768492438,0.999999997821,-3.52804396799e-05,-2.88630744632e-05,-4.77615702853e-05,1793248207750000128
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,715,680.676370493,659.323629507,634,880,785,811.323629507,651.323629507,629.323629507,654,0.420035664925,-0.0155326842918,0.070002807349,0.999999997988,-4.19840733785e-05,1.01612840805e-05,-4.64626761997e-05,1793248207766666496
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,715,680.099054561,659.900945439,634,880,785,811.900945439,651.900945439,629.900945439,654,0.420949403124,-0.0155369313729,0.0700261811756,0.999999996575,-5.09250372677e-05,4.71722748419e-05,-4.50676543024e-05,1793248207783332608
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.513655374,634,880,785,811.513655374,651.513655374,630,653.513655374,0.421844699122,-0.0155387168761,0.0700189873248,0.999999996797,-5.58007602463e-05,3.3101895123e-05,-4.68617629923e-05,1793248207799999488
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.07243805,715,680,659.07243805,634,879.92756195,785,811.07243805,651,630,653,0.422725921026,-0.0155388683439,0.0699958139291,0.999999996962,-5.92783779306e-05,-5.99259157352e-06,-5.02523534756e-05,1793248207816666368
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.651675368,715,680,659.651675368,634,879.348324632,785,811.651675368,651,630,653,0.423535399072,-0.0155311544963,0.0699051362296,0.999999985777,-5.88650808163e-05,-0.00014614493696,-6.01912717615e-05,1793248207833332992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.770624268,715,680.229375732,660,634,879.229375732,785,812,651,630,653,0.424403437174,-0.0155279737858,0.0698550202174,0.999999971952,-6.13045066371e-05,-0.000218940483095,-6.63466416284e-05,1793248207849999616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.195242265,715,680.804757735,660,634,879.804757735,785,812,651,630,653,0.425359811449,-0.015531631173,0.0698660902552,0.999999977379,-6.80471790027e-05,-0.000190130383855,-6.679464742e-05,1793248207866666752
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,715,680.620880744,659.620880744,634,880,785,811.620880744,651,630,653,0.426331812736,-0.0155355887844,0.0699152925834,0.999999989002,-6.71266146362e-05,-0.000117175270058,-6.13255469385e-05,1793248207883333376
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,715,680.047043384,659.047043384,634,880,785,811.047043384,651,630,653,0.427311840099,-0.0155397005928,0.0699840799021,0.999999996434,-6.22701613624e-05,-2.15469917645e-05,-5.28173818787e-05,1793248207899999744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.543834812,744,715,680,659.543834812,634,879.456165188,785,811.543834812,651.543834812,630,653,0.42831968756,-0.0155416601302,0.0700285764812,0.999999995645,-6.38160553295e-05,4.58560959972e-05,-5.03549430318e-05,1793248207916666368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866736614,744,715,680.133263386,660,633.866736614,879,785,812.133263386,651.866736614,630,653,0.429313016312,-0.0155430205647,0.0700590309121,0.999999992265,-6.66629081283e-05,9.272056018e-05,-4.92789179255e-05,1793248207933332992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.287257398,744,715,680.712742602,660,633.287257398,879,785,812.712742602,651.287257398,630,653,0.430249412332,-0.0155430185373,0.0700497302359,0.999999992969,-7.19514668946e-05,7.925373594e-05,-5.10373686933e-05,1793248207949999616
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,715,681,660,633.287315933,879,785,812.712684067,651,630,653,0.43111668532,-0.0155398380857,0.0700002300061,0.999999995959,-7.05605802198e-05,-4.31295292675e-06,-5.55376381815e-05,1793248207966666240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,715,681,660,633.857066688,879,785,812.142933312,651,630,653,0.431916009529,-0.0155335332071,0.0699112131598,0.999999983781,-6.26037213304e-05,-0.000156788603715,-6.27331455345e-05,1793248207983333120
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.431728231,744.431728231,715,680.568271769,660,633.568271769,879,784.568271769,812.431728231,651,630,653,0.432827059162,-0.0155351708269,0.0698984051985,0.999999981732,-6.55756782823e-05,-0.000167579610706,-6.44389017505e-05,1793248208000000000
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.991698287,715,680.008301713,660,633.008301713,879.008301713,784.008301713,813,651,630.008301713,653,0.433776162097,-0.0155394658521,0.0699118220274,0.999999986874,-7.22150521094e-05,-0.000130045345486,-6.42325538802e-05,1793248208016667136
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.396214308,715,680.603785692,660,633.603785692,879.603785692,784.603785692,813,651,630.603785692,653,0.434770421797,-0.0155435917158,0.0699750212959,0.999999994656,-7.93889130029e-05,-3.04319368239e-05,-5.88142612775e-05,1793248208033333504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.612984052,744,715,681,660,634,879.806492026,785,813,651,630.806492026,653,0.435741457844,-0.0155468865028,0.070022146085,0.999999993912,-8.42654063863e-05,4.5410155858e-05,-5.48983705329e-05,1793248208050000128
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.45645161,744,715,681,660,634,879.228225805,785,813,651,630.228225805,653,0.436666317718,-0.0155485288333,0.0700373094715,0.99999999223,-8.45739712167e-05,7.39869793018e-05,-5.39697546107e-05,1793248208066666496
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.694647181,744,715,681,660.347323591,634,879.347323591,785,813,651,630.347323591,653,0.437546027814,-0.0155495312341,0.0700250723218,0.999999992207,-8.89240516509e-05,6.81737394108e-05,-5.50564033633e-05,1793248208083332864
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.842203173,744,715,681,660.921101586,634,879.921101586,785,813,651,630.921101586,653,0.438396300275,-0.0155501164017,0.069994970067,0.999999992953,-9.59091935089e-05,3.99382335276e-05,-5.74570013798e-05,1793248208099999232
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.508697865,715,681,660.491302135,633.491302135,880,785,813,651,630.491302135,653,0.439137770061,-0.0155441587364,0.0699272664286,0.999999990963,-9.08262714035e-05,-7.69835191013e-05,-6.24429819505e-05,1793248208116666112
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.903294868,745,715,681,660,633,880,785,813.096705132,651,630,653,0.439884901768,-0.0155383212016,0.0698658944965,0.999999977101,-8.53594603253e-05,-0.000184421888746,-6.70860827018e-05,1793248208133332736
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.253689817,745,715,681,659,632,880.746310183,779.253689817,815,651,630,653.253689817,0.456024416288,-0.0156166531501,0.0697620659266,0.999999913141,-0.000173979915438,-0.00037416272368,-5.87528818233e-05,1793248209099999488
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.646956459,745,715,681.32347823,659,631.67652177,880.67652177,779,815,651,630,653.32347823,0.456024356425,-0.0156169533941,0.0697619610572,0.999999912756,-0.000175007642524,-0.00037471003014,-5.87583471922e-05,1793248209116665856
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.80081074,745,715,681.90040537,659,631.09959463,880.09959463,779,815,651,630,653.90040537,0.456024228838,-0.0156164610982,0.069761982956,0.999999912831,-0.00017429185463,-0.000374845130759,-5.87546792842e-05,1793248209133332480
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880,779,815,651,630,653.525768604,0.45602466541,-0.0156170564861,0.0697618026369,0.999999912859,-0.000173855564842,-0.000375022776645,-5.84390347811e-05,1793248209149999104
+245,4.083333333,HOLD_POSE2,766,745,715,682,659,632,880,779,815,651,629,653,0.45602292836,-0.0156150211152,0.0697587040131,0.99999991113,-0.000172765062114,-0.000380075942545,-5.85962432811e-05,1793248209193403392
+246,4.100000000,HOLD_POSE2,766,745,715,682,659,632,880,779.577518599,815.577518599,651,629,653,0.456023935603,-0.0156168277953,0.0697595699724,0.999999911377,-0.000174430993534,-0.000378700803934,-5.83653364776e-05,1793248209210070016
+247,4.116666667,HOLD_POSE2,766,745,715,681.845593659,659.154406341,632,880,779.845593659,815.845593659,651,629.154406341,653,0.456024399444,-0.0156180728688,0.0697597663827,0.999999911423,-0.000175349126539,-0.000378179521165,-5.81978381453e-05,1793248209226736384
+248,4.133333333,HOLD_POSE2,766,745,715,681.270424895,659.729575105,632,880,779.270424895,815.270424895,651,629.729575105,653,0.456023382495,-0.0156177875456,0.0697581382504,0.999999910934,-0.000174229484324,-0.000379985023712,-5.82031299589e-05,1793248209243403264
+249,4.150000000,HOLD_POSE2,766,745,715,681.31204402,659.68795598,631.68795598,880,779,815,651,629.68795598,653,0.456023921182,-0.0156170137945,0.0697582566345,0.999999911113,-0.000173800648739,-0.000379692524025,-5.83242821919e-05,1793248209260069888
+250,4.166666667,HOLD_POSE2,766,745,715,681.90099094,659.09900906,631.09900906,880,779,815,651,629.09900906,653,0.456025840316,-0.0156158066203,0.0697599248497,0.999999911883,-0.000173984824034,-0.000377538290426,-5.85482471174e-05,1793248209276736768
+251,4.183333333,HOLD_POSE2,765.517892631,745,715,681.517892631,659,631,880,779,815,651,629,653,0.45602448012,-0.0156147172865,0.0697591862793,0.999999911634,-0.000172321736672,-0.000378967880666,-5.84885834624e-05,1793248209293403136
+252,4.200000000,HOLD_POSE2,765,745,715,681,659,631.060923592,880,779,815.060923592,651,629,653,0.456022744841,-0.0156140364039,0.0697580754718,0.999999911185,-0.000170737921457,-0.000380882507047,-5.83702962362e-05,1793248209310069760
+253,4.216666667,HOLD_POSE2,765,745,715,681,659,631.633709243,880,779,815.633709243,651,629,653,0.456023426074,-0.0156165871305,0.0697579236182,0.999999910847,-0.000172956517134,-0.000380787440064,-5.82410321134e-05,1793248209326736384
+254,4.233333333,HOLD_POSE2,765.207868505,745,715,681.207868505,659,631.792131495,880,779,815.792131495,651,629.207868505,653,0.45602368417,-0.0156177904719,0.0697576202975,0.99999991038,-0.000174953874819,-0.000381087747769,-5.83317058088e-05,1793248209343403520
+255,4.250000000,HOLD_POSE2,765.784464282,745,715,681.784464282,659,631.215535718,880,779,815.215535718,651,629.784464282,653,0.456023191685,-0.0156166037557,0.0697570482973,0.999999909688,-0.000176558789546,-0.000382089390354,-5.88125159261e-05,1793248209360071168
+256,4.266666667,HOLD_POSE2,766,745,715,681.631462402,659,631,880.368537598,779,815,651,629.631462402,653,0.456023350424,-0.0156163779158,0.0697571986336,0.999999910018,-0.000175723377895,-0.000381617545745,-5.87569752489e-05,1793248209376737536
+257,4.283333333,HOLD_POSE2,766,745,715,681.042925294,659,631,880.957074706,779,815,651,629.042925294,653,0.456023897913,-0.0156167256735,0.0697577801704,0.999999910955,-0.000173431207005,-0.000380266099087,-5.83812585687e-05,1793248209393403648
+258,4.300000000,HOLD_POSE2,765.462104652,745,715,681.537895348,659,631.537895348,880.462104652,779,815.537895348,651,629,653,0.45602405383,-0.0156152490539,0.069757618768,0.999999910889,-0.00017159701449,-0.00038129730897,-5.82085682999e-05,1793248209410070272
+259,4.316666667,HOLD_POSE2,765.117140069,745,715,682,659.117140069,631.882859931,880,779.117140069,815.882859931,651,629,653,0.456024090217,-0.0156141052948,0.0697574628144,0.999999910696,-0.00017057002174,-0.000382281141375,-5.80940338672e-05,1793248209426736640
+260,4.333333333,HOLD_POSE2,765.692594346,745,715,682,659.692594346,631.307405654,880,779.692594346,815.307405654,651,629,653,0.456023779466,-0.0156148254297,0.0697575568654,0.999999910327,-0.000172560251129,-0.000382346194922,-5.81445417014e-05,1793248209443403264
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631,880,779,815,651,629,653,0.456022100822,-0.0156158370285,0.0697553188532,0.999999909782,-0.000171649777914,-0.000384177240129,-5.81407158652e-05,1793248209481338624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.590651215,745,715,681.409348785,659.409348785,631.590651215,880,779,815.590651215,651,629,653,0.45602352701,-0.015615992152,0.069756141754,0.999999909826,-0.000172767272487,-0.000383574046527,-5.80620658337e-05,1793248209498006016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.821906383,745,715,681,659.178093617,631.821906383,880,779,815.821906383,651,629,653.178093617,0.45602426212,-0.0156159546684,0.0697564636158,0.999999909767,-0.000173304529867,-0.000383484020674,-5.80610493121e-05,1793248209514672640
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.2417088,745,715,681,659.7582912,631.2417088,880,779,815.2417088,651,629,653.7582912,0.456023436898,-0.0156154823118,0.0697556542202,0.99999990948,-0.000172531714254,-0.000384552636944,-5.82353155431e-05,1793248209531339008
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.335390636,745,715,681,659.664609364,631,880,779,815,651,629.335390636,653.664609364,0.456023660946,-0.0156164533851,0.0697556436048,0.99999990926,-0.000173770567721,-0.000384583195983,-5.81300973635e-05,1793248209548005120
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.910277705,745,715,681,659.089722295,631,880,779,815,651,629.910277705,653.089722295,0.456024634259,-0.015618455186,0.069756203384,0.999999909082,-0.000176445918016,-0.000383872496919,-5.78253043718e-05,1793248209564671744
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,879.504457589,779,815,651,630,653,0.456022962463,-0.0156174268069,0.0697547332264,0.999999908912,-0.000173899116826,-0.000385494295434,-5.77010922959e-05,1793248209581338368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.081587707,631.081587707,879.081587707,779,815,651,629.918412293,653,0.456021371969,-0.0156158851647,0.0697535030629,0.999999908872,-0.000170952950566,-0.000386914543763,-5.76917621577e-05,1793248209598004736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.660690144,631.660690144,879.660690144,779,815,651,629.339309856,653,0.45602326013,-0.0156146308136,0.0697560255162,0.999999909698,-0.00017146049414,-0.00038447540673,-5.81793315577e-05,1793248209614671616
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.760634539,745,715,681,660,631.760634539,880,779.239365461,815,651,629,653,0.456020902328,-0.015614460961,0.0697552670615,0.999999908939,-0.000172858692098,-0.000385786781594,-5.84032622144e-05,1793248209631338240
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.18256365,745,715,681,660,631.18256365,880,779.81743635,815,651,629,653,0.456012536433,-0.0156158256889,0.0697498660766,0.999999905909,-0.00017551717824,-0.000392405182682,-5.82541403721e-05,1793248209648005120
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.390706886,745,715,681,660,631.390706886,880,780,815,651,629,653,0.455990862939,-0.0156155112829,0.0697388824135,0.999999899354,-0.000176195300671,-0.000408363877102,-5.90425131051e-05,1793248209664672000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.961761659,745,715,681,660,631.961761659,880,780,815,651,629,653,0.455963046739,-0.0156144217992,0.0697253218201,0.99999989084,-0.000175959299606,-0.00042863399375,-6.02636275182e-05,1793248209681338624
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.553363537,681.553363537,659.446636463,632,880,780,815,651,629.553363537,653.553363537,0.455913946648,-0.0156115874693,0.0697064225009,0.999999877835,-0.000174264494705,-0.000458465838973,-6.14052520798e-05,1793248209698004992
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.857005953,682,659,632,880.142994047,780,815,651.142994047,629.857005953,653.857005953,0.455859348712,-0.0156082778238,0.0696877028064,0.999999865225,-0.000172135011069,-0.000485820862486,-6.24259139998e-05,1793248209714671872
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.277885351,682,659,632,880.722114649,780,815,651.722114649,629.277885351,653.277885351,0.455792641265,-0.0156039004032,0.0696706995233,0.999999856959,-0.000168999083581,-0.000503528760818,-6.30950438813e-05,1793248209731338752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.700018886,659.299981114,632,881,779.700018886,815,651.700018886,629,653,0.45571858216,-0.0155996495602,0.0696582507727,0.999999849399,-0.000167664507964,-0.000518711466615,-6.34729215844e-05,1793248209748005376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.123309379,659.876690621,632,881,779.123309379,815,651.123309379,629,653,0.455637741258,-0.0155955154834,0.0696500035159,0.999999842588,-0.000167991654525,-0.000531564716503,-6.35821231817e-05,1793248209764671744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.539219138,745,715,681.460780862,660,632,880.539219138,779,815,651,629,653,0.455547049981,-0.0155922312422,0.0696477139505,0.999999840344,-0.000166417248943,-0.000536436519528,-6.20725377578e-05,1793248209781338368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.04630941,745,715,682,659.95369059,631.95369059,880.04630941,779.04630941,815,651,629.04630941,653,0.455451559762,-0.0155888485637,0.0696471684695,0.999999839509,-0.00016421822577,-0.00053888044138,-6.01823376054e-05,1793248209798004992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.625293093,745,715,682,659.374706907,631.374706907,880.625293093,779.625293093,815,651,629.625293093,653,0.4553316845,-0.0155816750768,0.069648046945,0.999999840416,-0.000160783140341,-0.000538365922226,-5.89781484842e-05,1793248209814671616
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.796130049,745,715,681.796130049,659,631,880.796130049,779.796130049,815,651,630,653,0.455198894444,-0.0155749174601,0.0696475783856,0.999999840577,-0.000157429007006,-0.000539260440253,-5.70916495957e-05,1793248209831338240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.2182995,745,715,681.2182995,659,631,880.2182995,779.2182995,815,651,630,653,0.455042414673,-0.0155689226788,0.069644638947,0.999999839369,-0.000154223365251,-0.000542739568702,-5.39535835145e-05,1793248209848004864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.357407586,745,715,681,659.357407586,631.357407586,880.357407586,779.357407586,815,651,630,653,0.454871392076,-0.0155608447721,0.0696417475017,0.999999837972,-0.000147910351265,-0.000547316319359,-5.12128693705e-05,1793248209864671232
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.893521301,632,880,780.106478699,814.893521301,651,630,653,0.45428049272,-0.0155344128796,0.0696387276298,0.999999841136,-0.0001217693165,-0.000548776908797,-4.17698045369e-05,1793248209914672128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.314225457,632,880,780.685774543,814.314225457,651,630,653,0.454036710787,-0.015525659575,0.0696408124063,0.999999844636,-0.000113942378077,-0.000544357627141,-3.76724008458e-05,1793248209931338752
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.412102368,632,880,780.412102368,814,651,630,653,0.453190656078,-0.0155079890087,0.0696657365772,0.999999868898,-7.89920917246e-05,-0.000505443365363,-2.21526824666e-05,1793248209981338624
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.227777628,660,633,880,783.227777628,813.544444744,651,630,653,0.448791567254,-0.0154695995971,0.0697330629182,0.999999911332,-5.82416578966e-06,-0.000421065810012,-2.26251361261e-06,1793248210148005376
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.047806815,660,633,880,784,812.952193185,651,630,653,0.446993196136,-0.0154446419402,0.0697943169568,0.999999945259,6.05465323668e-05,-0.000324716132557,1.93707070127e-05,1793248210198004992
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744.722063658,716,680,658.277936342,634,878.277936342,785,810.277936342,651,629,652.722063658,0.405328655959,-0.015355861715,0.0698033109253,0.99999991701,0.000235552479645,-0.000332055632376,1.53250121649e-05,1793248211081339136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.700696832,744.700696832,716,680,658.299303168,634,878,784.700696832,810,651,629,653,0.404923533285,-0.0153575452128,0.0698075516594,0.999999920604,0.000233842043288,-0.000322298382766,1.52701914221e-05,1793248211098005504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.127155975,744.127155975,716,680,658.872844025,634,878,784.127155975,810,651,629,653,0.40456173617,-0.0153600673423,0.0698206160116,0.999999928657,0.000234354885861,-0.000295792810997,1.64378566216e-05,1793248211114672640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.446459124,744,716,680,659,634,878,784.446459124,810,651,629,652.553540876,0.40422497072,-0.0153614438251,0.0698333288977,0.999999934682,0.000236595821298,-0.000272629631149,1.82169077939e-05,1793248211131339520
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744,715.979235721,680,659,634,878,785,810,651.020764279,629,652.020764279,0.403896169739,-0.0153622364586,0.0698454497941,0.999999939607,0.000239299470236,-0.000251238199577,2.00215018884e-05,1793248211148006656
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715.386504753,680,659,634,878,785,810,651.613495247,629,652.613495247,0.403590342184,-0.0153559359758,0.0698440217347,0.999999938898,0.000241189248815,-0.000252424422865,1.77323974082e-05,1793248211164672512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.798296661,634,878,785,810,651.798296661,629,652.798296661,0.403286771635,-0.015350240775,0.0698379790727,0.999999935426,0.000245435507756,-0.00026204693546,1.54946110231e-05,1793248211181338624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.218565312,634,878,785,810,651.218565312,629,652.218565312,0.402987431155,-0.0153456799813,0.0698232878231,0.999999926305,0.000254098230612,-0.000287480557739,1.33530041451e-05,1793248211198005248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658,634,878,785,810,651,629,652,0.402724689752,-0.015342937295,0.0698141377232,0.999999920361,0.000258792231125,-0.000303551266609,1.2735092604e-05,1793248211214671872
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744,715,680,658,634,878,785,810,651,629,652,0.402484096834,-0.0153412948647,0.0698083409367,0.999999916548,0.000261084497126,-0.00031395586214,1.30392693077e-05,1793248211231338240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.482488106,744.517511894,715,680,658,634,878,784.482488106,810,651.517511894,629,652,0.402283223985,-0.0153400847572,0.069805518898,0.999999913916,0.000265429189789,-0.000318604091764,1.43737618871e-05,1793248211248005376
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.103781528,744.896218472,715.103781528,679.896218472,658.103781528,634,878,784.103781528,810,651.896218472,629,652.103781528,0.402090975821,-0.0153398658951,0.0698026768691,0.999999911588,0.000268076871598,-0.000323583662722,1.58921110263e-05,1793248211264672000
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.686744578,744.313255422,715.686744578,679.313255422,658.686744578,634,878,784.686744578,810,651.313255422,629,652.686744578,0.401913929416,-0.0153439558521,0.0697978986642,0.999999909958,0.000261616911049,-0.000333661150333,1.76207319363e-05,1793248211281338624
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.733766009,744.266233991,715.733766009,679.266233991,659,634,878,785,810.266233991,651.266233991,629,653,0.401757133847,-0.0153484948548,0.0697964467088,0.999999910485,0.000256568856749,-0.000335921551895,1.89274619273e-05,1793248211298005504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.158311131,744.841688869,715.158311131,679.841688869,659,634,878,785,810.841688869,651.841688869,629,653,0.401623858883,-0.0153535554071,0.0697988580686,0.999999913606,0.000253160679499,-0.000329102697945,1.97441811926e-05,1793248211314671872
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.415219478,745,715,680,658.584780522,634,878.415219478,785,810.584780522,651.584780522,629,653.415219478,0.401508643686,-0.0153532818901,0.0697980167387,0.999999911034,0.000263236626437,-0.000329097959828,1.82420336047e-05,1793248211331338496
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.98801979,745,715,680,658.01198021,634,878.98801979,785,810.01198021,651.01198021,629,653.98801979,0.401400282392,-0.0153509840288,0.0697959409734,0.999999906107,0.000278429962264,-0.000331679261503,1.58598478664e-05,1793248211348005120
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.419001133,744.419001133,715.580998867,680,658,634.580998867,878.419001133,785,810,651,629,653.419001133,0.401315726769,-0.015356802644,0.0697938877141,0.999999912981,0.000250491050074,-0.00033356506602,5.10228011446e-06,1793248211364671744
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.169813173,744,715.830186827,680,658,634.830186827,877.830186827,785,810,651,629,653,0.401237585311,-0.0153601317678,0.0697927850068,0.999999917568,0.00023047318624,-0.000334276061607,-2.18177984541e-06,1793248211381338368
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.747586353,744,715.252413647,680,658,634.252413647,877.252413647,785,810,651,629,653,0.401173631579,-0.0153570635863,0.0697939647557,0.999999917979,0.000231698441969,-0.000332200383728,-6.91240876734e-07,1793248211398005504
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.3234306,715,679.6765694,658,634,877.3234306,784.6765694,810,651,629,653,0.401120803326,-0.0153538852784,0.0697947228723,0.999999917939,0.000234860831671,-0.000330095242719,5.50551498462e-07,1793248211414672384
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,744.897778446,715,679.102221554,658,634,877.897778446,784.102221554,810,651,629,653,0.401076606205,-0.0153506215342,0.0697951538872,0.999999917531,0.000239526048751,-0.000327967244009,1.59936659038e-06,1793248211431339264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.526811619,715.473188381,679,658,634,878,784.473188381,810.473188381,651,629,653,0.401044762984,-0.0153525766547,0.069795640613,0.999999918551,0.000237183762303,-0.000326550969924,2.67535677391e-06,1793248211448005632
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.050326523,715.949673477,679.050326523,658,634,878,784.949673477,810.949673477,651,629,652.949673477,0.401016477995,-0.015355251212,0.0697962597905,0.999999919753,0.000234021074812,-0.000325136412741,3.69641492705e-06,1793248211464671744
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.643629804,715.356370196,679.643629804,658,634,878,784.356370196,810.356370196,651,629,652.356370196,0.400997724592,-0.01535349668,0.0697981778599,0.999999919713,0.000238376383028,-0.000322077805934,4.0613275105e-06,1793248211481338368
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.770028559,715.229971441,680,658,634,877.770028559,784,810.229971441,651.229971441,629,652.229971441,0.40098177282,-0.0153515690843,0.0697995082466,0.999999919416,0.000242425214688,-0.000319969112536,4.3006180837e-06,1793248211498004992
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.194157942,715.805842058,680,658,634,877.194157942,784,810.805842058,651.805842058,629,652.805842058,0.400970034972,-0.0153493811841,0.0697999547021,0.999999918757,0.000246013075861,-0.000319289180506,4.35096104366e-06,1793248211514671872
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.61914007,744.38085993,715.61914007,680,658.38085993,634,877.38085993,784.38085993,810.61914007,652,629,652.61914007,0.400962975697,-0.0153497812316,0.0698006062495,0.999999919233,0.000245562509313,-0.000318144080072,4.26051387753e-06,1793248211531338496
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.044555963,744.955444037,715.044555963,680,658.955444037,634,877.955444037,784.955444037,810.044555963,652,629,652.044555963,0.400958296177,-0.0153514976371,0.0698013621167,0.999999920284,0.000243057798804,-0.000316762372026,4.09845389619e-06,1793248211548005376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.458105639,634,878,785,810,651.458105639,629,652.541894361,0.400955549967,-0.01535232357,0.0698020524373,0.999999921207,0.000241210897433,-0.00031525570385,4.09517924401e-06,1793248211564672256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.128055281,745,715.128055281,679.871944719,658.128055281,634,878,785,810,651,628.871944719,652.871944719,0.400953275917,-0.0153526746835,0.0698027251741,0.999999921809,0.000240486343875,-0.0003138951297,4.14531946953e-06,1793248211581338880
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.709658044,745,715.709658044,679.290341956,658.709658044,634,878,785,810,651,628.290341956,652.290341956,0.400952098551,-0.015351609203,0.0698033551478,0.999999921322,0.00024354107965,-0.000313089198388,4.33736884523e-06,1793248211598005504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.712315006,745,716,679.287684994,658.712315006,634,878,784.712315006,810,651,628.287684994,652.287684994,0.400950648632,-0.0153512917774,0.0698034747982,0.999999920791,0.000245471081029,-0.000313276412838,4.34394005174e-06,1793248211614672128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.137852519,745,716,679.862147481,658.137852519,634,878,784.137852519,810,651,628.862147481,652.862147481,0.400948927021,-0.0153517200468,0.0698030857351,0.999999920224,0.000246279896351,-0.000314453640081,4.16561820236e-06,1793248211631338752
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.554893894,715.554893894,679.554893894,658.445106106,634,878,784.445106106,810,651.445106106,629,653,0.400950462861,-0.0153524989805,0.0698050090483,0.99999992163,0.000244684346607,-0.000311205484684,4.51757208909e-06,1793248211648005120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.969572455,634,878.030427545,785,810,651.969572455,629,652.969572455,0.400952862817,-0.0153533105659,0.0698075492651,0.999999923527,0.000242481837983,-0.000306797359995,4.97819083329e-06,1793248211664671488
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.390020038,634,878.609979962,785,810,651.390020038,629,652.390020038,0.400952296353,-0.0153527133172,0.0698080467185,0.999999923436,0.000243025721565,-0.000306671297623,4.37835039684e-06,1793248211681338624
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.189515931,744.189515931,715.189515931,679,658,634.189515931,878.810484069,785,810,651,629,652,0.400951911595,-0.0153523794989,0.0698080859954,0.999999923277,0.000243783179497,-0.000306594254869,4.08302098662e-06,1793248211698005504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.769018016,744.769018016,715.769018016,679,658,634.769018016,878.230981984,785,810,651,629,652,0.400951900754,-0.0153525877683,0.0698071824361,0.999999922975,0.000244980131001,-0.00030661808476,4.41431484052e-06,1793248211714672384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.65436944,715.65436944,679,658,634.65436944,878,784.65436944,810,651,629,652.34563056,0.400952215599,-0.0153521900221,0.0698079447101,0.999999923194,0.000245697658328,-0.000305325229118,4.536619043e-06,1793248211731339008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.079671965,715.079671965,679,658,634.079671965,878,784.079671965,810,651,629,652.920328035,0.400952746292,-0.0153513906385,0.0698098110165,0.999999923755,0.00024609744687,-0.000303159739141,4.52041518288e-06,1793248211748005632
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744,715,679,658.506306651,634,878,784.506306651,809.493693349,651,629,652.493693349,0.400952571722,-0.0153531142472,0.0698092352636,0.999999923829,0.000244604875011,-0.000304117222953,4.72601130288e-06,1793248211764672000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.089150022,658.910849978,634,877.910849978,784.910849978,809.089150022,651,629,652.089150022,0.400952193136,-0.0153547489333,0.0698084740648,0.999999923823,0.000243110378814,-0.000305331833791,4.91320337774e-06,1793248211781338624
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.646018722,658.353981278,634,877.353981278,784.353981278,809.646018722,651,629,652.646018722,0.40095133971,-0.0153537867127,0.0698088019814,0.999999923823,0.000243203670693,-0.000305258444671,4.8165550917e-06,1793248211798004992
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.780841897,744,715,679.780841897,658,634,877,784.219158103,810,651,629,652.780841897,0.400951072913,-0.0153532255792,0.0698090305624,0.999999923856,0.00024351123977,-0.000304907359796,4.75860035338e-06,1793248211814671616
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.179314673,744,715,679.179314673,658,634,877,784.820685327,810,651,629,652.179314673,0.400951829617,-0.0153533642296,0.0698090858307,0.999999923944,0.000244192662183,-0.000304071774084,4.76815493458e-06,1793248211831338496
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.404313772,744,715,679,658,634,877,785,810,651,629,652,0.400951962571,-0.0153544594927,0.0698092984466,0.999999924061,0.000244104048472,-0.000303754542522,4.85022927913e-06,1793248211848005376
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.980340529,744,715,679,658,634,877,785,810,651,629,652,0.400951830618,-0.0153559610315,0.0698095778884,0.999999924192,0.000243688398619,-0.000303657457204,4.96310293247e-06,1793248211864672000
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.432347829,744,715.567652171,679,658,634,877.567652171,785,810,651,629,652.567652171,0.400952948024,-0.0153554327258,0.0698100876642,0.99999992471,0.000242493906244,-0.000302912819562,4.58384416419e-06,1793248211881338880
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.153284651,744,715.846715349,679,658,634,878,785,810,651,629,652.846715349,0.400953408674,-0.0153548887651,0.0698104148948,0.999999924975,0.000241856301801,-0.000302549969812,4.29994610809e-06,1793248211898005504
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.733134603,744,715.266865397,679,658,634,878,785,810,651,629,652.266865397,0.40095191883,-0.0153545008387,0.069810211484,0.999999924504,0.000242845008038,-0.000303313246779,4.32981344656e-06,1793248211914671872
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78c1c36f431e134390b6bb0ccbf447bc2b69cf9c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+1,0.016666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+2,0.033333333,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+3,0.050000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+4,0.066666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+5,0.083333333,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+6,0.100000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
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+368,6.133333333,pose2_to_pose3_retreat,0.584185445525,-0.010072128177,1.06004241897,0.5547572362,-0.00139767255268,1.05966580265
+369,6.150000000,pose2_to_pose3_retreat,0.584043578802,-0.0100721925406,1.06004222563,0.554615371225,-0.0013977305144,1.05966562024
+370,6.166666667,pose2_to_pose3_retreat,0.583916141889,-0.0100721392749,1.06004235843,0.554487933968,-0.00139767869858,1.05966574655
+371,6.183333333,pose2_to_pose3_retreat,0.583802620755,-0.0100720727681,1.06004240009,0.554374412642,-0.00139761326252,1.05966577855
+372,6.200000000,pose2_to_pose3_retreat,0.583704445827,-0.0100721266744,1.06004226041,0.554276237356,-0.0013976679825,1.05966564864
+373,6.216666667,pose2_to_pose3_retreat,0.583619380258,-0.010072176901,1.06004240599,0.554191171922,-0.00139771781272,1.05966579274
+374,6.233333333,pose2_to_pose3_retreat,0.583545954367,-0.0100721470859,1.06004258008,0.554117746068,-0.00139768817925,1.05966595977
+375,6.250000000,pose2_to_pose3_retreat,0.583482786943,-0.010072105176,1.06004251172,0.554054578207,-0.00139764765795,1.05966589349
+376,6.266666667,pose2_to_pose3_retreat,0.583430178777,-0.0100720749613,1.06004242076,0.554001969387,-0.00139761936277,1.05966580936
+377,6.283333333,pose2_to_pose3_retreat,0.583386445199,-0.0100720573313,1.06004256672,0.553958235575,-0.00139760267106,1.05966595195
+378,6.300000000,pose2_to_pose3_retreat,0.583350888719,-0.0100721948466,1.06004240339,0.553922679747,-0.0013977383569,1.05966577988
+379,6.316666667,pose2_to_pose3_retreat,0.583322827982,-0.0100720700923,1.06004234588,0.553894617223,-0.001397619015,1.05966573732
+380,6.333333333,pose2_to_pose3_retreat,0.583300913684,-0.0100721881483,1.06004255417,0.553872705971,-0.00139772713535,1.05966593641
+381,6.350000000,pose2_to_pose3_retreat,0.583284240516,-0.0100722021568,1.06004249195,0.553856032922,-0.00139774073411,1.0596658744
+382,6.366666667,pose2_to_pose3_retreat,0.583271566318,-0.0100721469508,1.06004235628,0.553843357216,-0.00139769043885,1.05966574348
+383,6.383333333,pose2_to_pose3_retreat,0.583262684677,-0.0100721136564,1.06004235655,0.553834474775,-0.00139765983392,1.05966574434
+384,6.400000000,pose2_to_pose3_retreat,0.583256637129,-0.0100722015813,1.06004237239,0.553828428263,-0.00139774443169,1.05966575587
+385,6.416666667,pose2_to_pose3_retreat,0.583252609614,-0.0100722277683,1.0600423714,0.553824402038,-0.00139776624343,1.05966575488
+386,6.433333333,pose2_to_pose3_retreat,0.583250101382,-0.0100722291205,1.06004236546,0.553821894888,-0.00139776387288,1.05966575025
+387,6.450000000,pose2_to_pose3_retreat,0.583248493431,-0.0100721360601,1.06004237697,0.553820285497,-0.00139767579932,1.05966575942
+388,6.466666667,pose2_to_pose3_retreat,0.583247282202,-0.0100720564956,1.06004238719,0.553819072969,-0.00139760073419,1.05966576754
+389,6.483333333,pose2_to_pose3_retreat,0.583246681023,-0.0100720659766,1.06004241582,0.553818472113,-0.00139760893725,1.05966580029
+390,6.500000000,pose2_to_pose3_retreat,0.583246633103,-0.010072067585,1.06004241851,0.553818424236,-0.00139761038269,1.0596658034
+391,6.516666667,pose2_to_pose3_retreat,0.583246610158,-0.0100720683552,1.0600424198,0.553818401311,-0.0013976110748,1.05966580488
+392,6.533333333,pose2_to_pose3_retreat,0.583246463653,-0.0100720732726,1.06004242803,0.553818254937,-0.0013976154939,1.05966581439
+393,6.550000000,pose2_to_pose3_retreat,0.583246118696,-0.0100720848511,1.06004244741,0.553817910287,-0.00139762589899,1.05966583678
+394,6.566666667,pose2_to_pose3_retreat,0.583245915377,-0.0100720916755,1.06004245884,0.553817707149,-0.00139763203181,1.05966584997
+395,6.583333333,pose2_to_pose3_retreat,0.58324590186,-0.0100720921292,1.0600424596,0.553817693644,-0.00139763243953,1.05966585085
+396,6.600000000,pose2_to_pose3_retreat,0.583245869917,-0.0100720932014,1.06004246139,0.553817661729,-0.00139763340305,1.05966585292
+397,6.616666667,pose2_to_pose3_retreat,0.58324584942,-0.0100720983173,1.06004245909,0.553817641172,-0.00139763873943,1.05966585028
+398,6.633333333,pose2_to_pose3_retreat,0.58324581831,-0.0100721117298,1.06004245118,0.55381760987,-0.00139765285661,1.05966584119
+399,6.650000000,pose2_to_pose3_retreat,0.583245754949,-0.0100721390472,1.06004243508,0.553817546116,-0.00139768160925,1.05966582267
+400,6.666666667,pose2_to_pose3_retreat,0.583245704119,-0.0100721609615,1.06004242216,0.553817494972,-0.00139770467494,1.05966580782
+401,6.683333333,pose2_to_pose3_retreat,0.583245670342,-0.010072175524,1.06004241358,0.553817460985,-0.0013977200026,1.05966579795
+402,6.700000000,pose2_to_pose3_retreat,0.58324565024,-0.0100721841905,1.06004240847,0.553817440759,-0.0013977291244,1.05966579208
+403,6.716666667,pose2_to_pose3_retreat,0.583245558291,-0.010072216471,1.06004238675,0.553817348279,-0.0013977633457,1.05966576718
+404,6.733333333,pose2_to_pose3_retreat,0.583245387273,-0.0100721169946,1.06004237984,0.553817177043,-0.00139766457848,1.05966576102
+405,6.750000000,pose2_to_pose3_retreat,0.583245387273,-0.010072114721,1.06004237984,0.553817177043,-0.00139766230486,1.05966576102
+406,6.766666667,pose2_to_pose3_retreat,0.583245387273,-0.0100721136062,1.06004237984,0.553817177043,-0.00139766119011,1.05966576102
+407,6.783333333,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.001397658942,1.05966576102
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6f808a5a5658c1796c18954ebb25012f9e7809e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b14ed2aedaf290e0486b15969c4d441794bcbd8c95a597914d419d470e179db7
+size 25999012
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5aa89ea7ce134a082d0dac2fee9be460992cbb4a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+33,0.550000000,BASELINE,765.143213229,744,715,679,658.856786771,634,877.856786771,784.856786771,810.856786771,651.856786771,629,653,0.400953480608,-0.0153578553007,0.0698130224072,0.999999927281,0.000238506998082,-0.000297539120759,4.71796552715e-06,1793248212587429376
+34,0.566666667,BASELINE,765.733451846,744,715,679,658.266548154,634,877.266548154,784.266548154,810.266548154,651.266548154,629,653,0.400953071316,-0.0153575776019,0.0698131278035,0.999999927292,0.000238355615456,-0.000297623318847,4.68745092914e-06,1793248212604096256
+35,0.583333333,BASELINE,765.682278309,744,715,679,658,634,877,784.317721691,810,651.317721691,629,653,0.400952518443,-0.0153570786468,0.0698129223817,0.999999927039,0.000238851887045,-0.000298078871114,4.59725613058e-06,1793248212620762880
+36,0.600000000,BASELINE,765.102923483,744,715,679,658,634,877,784.897076517,810,651.897076517,629,653,0.400951847334,-0.0153563974945,0.0698124610117,0.999999926566,0.000239881480099,-0.000298840221078,4.45791668922e-06,1793248212637429248
+37,0.616666667,BASELINE,765,744,715.473756399,679,658,634.473756399,877.473756399,785,810,651.526243601,629,653,0.400951814431,-0.0153560817135,0.069812622687,0.99999992663,0.000239658231051,-0.000298806938295,4.28070231639e-06,1793248212654095616
+38,0.633333333,BASELINE,765,744.05073606,716,679.05073606,658,634.94926394,877.94926394,785,810,651,629,653,0.400952195282,-0.0153559061104,0.0698130469847,0.999999926903,0.000239174006954,-0.000298282039122,4.12743574267e-06,1793248212670761984
+39,0.650000000,BASELINE,765,744.636979477,716,679.636979477,658,634.363020523,877.363020523,785,810,651,629,653,0.400955488016,-0.0153563769515,0.0698148225653,0.99999992815,0.000238791915565,-0.000294380122271,4.31329292207e-06,1793248212687428864
+40,0.666666667,BASELINE,765,745,715.779478407,680,658,634,877.220521593,785,810,651.220521593,629,652.779478407,0.40095640392,-0.0153566811989,0.0698151458981,0.999999928297,0.000239346479252,-0.000293427897621,4.4194939452e-06,1793248212704095744
+41,0.683333333,BASELINE,765,745,715.200329364,680,658,634,877.799670636,785,810,651.799670636,629,652.200329364,0.40095345446,-0.0153567145201,0.0698131074849,0.999999926662,0.000241424296155,-0.000297272666428,4.39615261333e-06,1793248212720762624
+42,0.700000000,BASELINE,765.37826081,744.62173919,715,679.62173919,658,634,878,785,810,651.62173919,629,652,0.400953203386,-0.0153566577664,0.0698130648934,0.999999926792,0.00024051903785,-0.000297570435525,4.24600390496e-06,1793248212737429504
+43,0.716666667,BASELINE,765.956555422,744.043444578,715,679.043444578,658,634,878,785,810,651.043444578,629,652,0.400954379287,-0.0153565533789,0.0698140777426,0.999999927855,0.000238036254498,-0.000295992462099,4.02879627642e-06,1793248212754096384
+44,0.733333333,BASELINE,766,744.530523125,715,679.530523125,658,634,878.530523125,785,810.530523125,651,629,652.530523125,0.400954500302,-0.0153569871997,0.0698140962231,0.999999927658,0.000239177739677,-0.000295732940336,4.38193825201e-06,1793248212770763008
+45,0.750000000,BASELINE,765.892987267,744.892987267,715.107012733,679.892987267,658,634,878.785974533,785,810.892987267,651,629,653,0.400954418009,-0.0153574443588,0.0698139249318,0.999999927436,0.000240009196116,-0.000295807472671,4.66887672789e-06,1793248212787429120
+46,0.766666667,BASELINE,765.303544227,744.303544227,715.696455773,679.303544227,658,634,877.607088453,785,810.303544227,651,629,653,0.40095380546,-0.0153578096451,0.0698132622432,0.999999927564,0.000238115834303,-0.000296905174101,4.44850475552e-06,1793248212804095744
+47,0.783333333,BASELINE,765,744,715.719258913,679.280741087,658.280741087,634,877.280741087,785,810,651,629,653,0.400952977544,-0.0153578974531,0.0698127584564,0.999999927343,0.000237802319492,-0.000297900135569,4.40056017036e-06,1793248212820762368
+48,0.800000000,BASELINE,765,744,715.140449586,679.859550414,658.859550414,634,877.859550414,785,810,651,629,653,0.40095192097,-0.0153576906569,0.0698124233787,0.999999926753,0.000239166158563,-0.000298786016167,4.53568504976e-06,1793248212837428992
+49,0.816666667,BASELINE,765,744,715.437097272,680,659,634,878,784.562902728,810,651,629,653,0.400952756275,-0.0153564036687,0.0698130941403,0.999999926574,0.000241186022883,-0.000297760585086,4.53793793383e-06,1793248212854095872
+50,0.833333333,BASELINE,765,744.014136197,715.985863803,679.985863803,658.985863803,634,878,784.014136197,810.014136197,651.014136197,629,653,0.400954161595,-0.0153548495334,0.0698140666495,0.999999926547,0.000243269792883,-0.000296150478067,4.49996257e-06,1793248212870762752
+51,0.850000000,BASELINE,765,744.587087462,715.412912538,679.412912538,658.412912538,634,878,784.587087462,810.587087462,651.587087462,629,653,0.400954138309,-0.0153564161229,0.0698142279349,0.999999927592,0.000239570865776,-0.000295635548216,4.55463439438e-06,1793248212887429376
+52,0.866666667,BASELINE,765,744.834591622,715.165408378,679.165408378,658,634,877.834591622,784.834591622,810.834591622,651.834591622,629,653,0.400954545877,-0.0153575626136,0.0698144639055,0.999999928354,0.000237266680426,-0.000294915453287,4.5823691721e-06,1793248212904095488
+53,0.883333333,BASELINE,765,744.242416618,715.757583382,679.757583382,658,634,877.242416618,784.242416618,810.242416618,651.242416618,629,653,0.400956065083,-0.0153576252165,0.0698148925698,0.999999928414,0.000238561038756,-0.000293666016356,4.54060424722e-06,1793248212920761856
+54,0.900000000,BASELINE,765.34214144,744.34214144,715.65785856,679.65785856,658,634.34214144,877.684282881,784.34214144,810,651.34214144,629,653,0.400955176923,-0.0153570021264,0.0698140538789,0.999999927824,0.000239215462701,-0.000295142177529,4.27833076935e-06,1793248212937428736
+55,0.916666667,BASELINE,765.92142019,744.92142019,715.07857981,679.07857981,658,634.92142019,878.842840381,784.92142019,810,651.92142019,629,653,0.400952620224,-0.0153559037842,0.0698123367874,0.999999926777,0.000239426349795,-0.000298507443448,3.86322340972e-06,1793248212954095360
+56,0.933333333,BASELINE,765.503639712,744.503639712,715,679,658.496360288,634.503639712,878.007279425,785,810,651.503639712,629,653,0.400952580396,-0.0153564996685,0.0698128006818,0.99999992693,0.000238901439635,-0.000298413878127,4.01200282927e-06,1793248212970762496
+57,0.950000000,BASELINE,765,744,715,679,658.927721061,634,877.072278939,784.927721061,810,651,629,652.927721061,0.400952982934,-0.0153571640142,0.0698135303609,0.999999927244,0.000238401306995,-0.00029775806227,4.21452864822e-06,1793248212987429632
+58,0.966666667,BASELINE,765,744,715,679,658.339967844,634,877.660032156,784.339967844,810,651,629,652.339967844,0.400953723284,-0.0153564203357,0.0698137144641,0.999999927361,0.000238901427065,-0.000296963743094,4.16922565e-06,1793248213004096256
+59,0.983333333,BASELINE,765,744,715.244207065,679,658,634,877.755792935,784.244207065,810,651,629,652.244207065,0.400954135842,-0.0153561328238,0.0698140199701,0.999999927352,0.000239501989229,-0.000296509819082,4.16113553572e-06,1793248213020763136
+60,1.000000000,BASELINE,765,744,715.823472527,679,658,634,877.176527473,784.823472527,810,651,629,652.823472527,0.400954098664,-0.0153564711843,0.0698144920441,0.999999927171,0.000240240360608,-0.00029652292591,4.20410245254e-06,1793248213037429760
+61,1.016666667,BASELINE,765,744,716,679,658,634.402479536,877.402479536,785,810,651.402479536,628.597520464,653,0.400954177184,-0.0153575817901,0.0698144483911,0.99999992759,0.000238719127115,-0.000296337420697,4.27127431547e-06,1793248213054096384
+62,1.033333333,BASELINE,765,744,716,679,658,634.981373226,877.981373226,785,810,651.981373226,628.018626774,653,0.400954306417,-0.0153590308852,0.0698141786856,0.999999928266,0.000236207467366,-0.000296064860188,4.34905564715e-06,1793248213070763008
+63,1.050000000,BASELINE,765.555396416,744,715.444603584,679.555396416,658,634.444603584,878,785,810,651.444603584,628.555396416,653,0.40095520422,-0.0153584532907,0.0698149147426,0.999999928798,0.000235342641646,-0.000294960734471,3.94553892044e-06,1793248213087429120
+64,1.066666667,BASELINE,765.867352592,744,715,679.867352592,658,634,877.867352592,784.867352592,810,651.132647408,629,653,0.400955554677,-0.0153581138455,0.0698152653396,0.999999929072,0.000234785780324,-0.000294477151925,3.73600880885e-06,1793248213104095744
+65,1.083333333,BASELINE,765.27844209,744,715,679.27844209,658,634,877.27844209,784.27844209,810,651.72155791,629,653,0.400953934557,-0.0153588253195,0.0698141750668,0.999999928481,0.000235099888971,-0.00029622312668,4.24876769863e-06,1793248213120762880
+66,1.100000000,BASELINE,765,744,715.305319214,679,658,634,877.305319214,784.305319214,810,651.694680786,629,653,0.400953162306,-0.0153586617956,0.0698134892903,0.999999927874,0.000236080590689,-0.000297485673069,4.41308680376e-06,1793248213137429504
+67,1.116666667,BASELINE,765,744,715.884462455,679,658,634,877.884462455,784.884462455,810,651.115537545,629,653,0.40095315046,-0.0153577135343,0.0698131662844,0.999999927254,0.000237659123089,-0.000298314659029,4.26490938394e-06,1793248213154095872
+68,1.133333333,BASELINE,765.458373967,744.458373967,715.541626033,679.458373967,658.458373967,634.458373967,877.541626033,785,810,651,629,653,0.400953181269,-0.0153574322553,0.0698131520156,0.999999927107,0.000238352830608,-0.000298258056209,4.10899150803e-06,1793248213170762496
+69,1.150000000,BASELINE,765.968110411,744.968110411,715,680,659,634.968110411,877,784.968110411,810,651,629,652.968110411,0.400953167211,-0.0153573129902,0.0698131544956,0.999999927066,0.000238774627677,-0.000298059883985,3.95907010541e-06,1793248213187429120
+70,1.166666667,BASELINE,765.378722901,744.378722901,715,680,659,634.378722901,877,784.378722901,810,651,629,652.378722901,0.40095218294,-0.015357120158,0.0698121046679,0.999999926825,0.000238297865064,-0.000299245120268,3.94770373633e-06,1793248213204095744
+71,1.183333333,BASELINE,765.207137752,744,715,679.792862248,658.792862248,634,877.414275505,784.207137752,810,651,628.792862248,652,0.4009521644,-0.0153569381864,0.0698122522306,0.999999926931,0.000238309205382,-0.000298881894383,4.03392646096e-06,1793248213220762368
+72,1.200000000,BASELINE,765.786658088,744,715,679.213341912,658.213341912,634,878.573316177,784.786658088,810,651,628.213341912,652,0.400953882007,-0.0153567757397,0.0698145524056,0.999999927653,0.000239198034288,-0.000295734915682,4.29559030141e-06,1793248213237428992
+73,1.216666667,BASELINE,765.633907538,744.366092462,715.366092462,679,658,634,878.267815076,785,810,651,628.366092462,652,0.400954327703,-0.0153566219721,0.0698147203329,0.999999927496,0.000240379792948,-0.000295308074312,4.34014840532e-06,1793248213254095616
+74,1.233333333,BASELINE,765.054523282,744.945476718,715.945476718,679,658,634,877.109046564,785,810,651,628.945476718,652,0.400954032362,-0.0153564732611,0.0698136459758,0.999999926828,0.000241732217492,-0.000296466032137,4.25821694024e-06,1793248213270762240
+75,1.250000000,BASELINE,765,744.48054815,716,679,658.51945185,634,877.51945185,785,810,651,629.51945185,652.51945185,0.400954468801,-0.015356989694,0.0698140225061,0.999999927675,0.000238743899414,-0.000296033774718,4.02362030915e-06,1793248213287429120
+76,1.266666667,BASELINE,765.093299365,744,716,679,658.906700635,634,878,785,810,651,629.906700635,652.906700635,0.400954794539,-0.0153573974843,0.0698143703465,0.999999928333,0.000236401696426,-0.00029569268317,3.85931090511e-06,1793248213304095744
+77,1.283333333,BASELINE,765.669394176,744,716,679,658.330605824,634,878,785,810,651,629.330605824,652.330605824,0.400954154056,-0.0153568855323,0.069813789795,0.999999927246,0.000239736323949,-0.000296678173667,4.14078202363e-06,1793248213320763136
+78,1.300000000,BASELINE,766,744,715.747825756,679,658,634,877.747825756,784.747825756,810,651,629.252174244,652,0.400954295758,-0.0153568792093,0.0698139574327,0.999999927043,0.000240822780542,-0.000296477385913,4.35016482422e-06,1793248213337429760
+79,1.316666667,BASELINE,766,744,715.156042543,679,658,634,877.156042543,784.156042543,810,651,629.843957457,652,0.400955490846,-0.0153575538288,0.0698151326743,0.99999992804,0.000238881572343,-0.000294679009338,4.46246457345e-06,1793248213354095872
+80,1.333333333,BASELINE,765.577687402,744,715,679.422312598,658,634,877.422312598,784,810,651,629.577687402,652.422312598,0.400955680482,-0.0153583191682,0.0698159160184,0.999999928344,0.00023856390871,-0.000293900958234,4.53588566182e-06,1793248213370762496
+81,1.350000000,BASELINE,765.004140925,744,715,679.995859075,658,634,877.995859075,784,810,651,629.004140925,652.995859075,0.400955510056,-0.0153591169952,0.0698165590208,0.999999928402,0.000238827650597,-0.000293488294568,4.59538396678e-06,1793248213387429376
+82,1.366666667,BASELINE,765.57541305,744,715,679.42458695,658,634,878,784.57541305,810,651,629,652.42458695,0.400952773708,-0.0153590749433,0.069814387013,0.999999928013,0.00023659007646,-0.000296614906705,4.21565918326e-06,1793248213404095744
+83,1.383333333,BASELINE,766,744,715,679,658.157356411,634,878.157356411,785,810,651.157356411,629,652,0.400951403092,-0.0153588501693,0.0698132891301,0.999999927859,0.000235369138704,-0.000298106691071,4.00739307464e-06,1793248213420762368
+84,1.400000000,BASELINE,766,744,715,679,658.745724958,634,878.745724958,785,810,651.745724958,629,652,0.400953824436,-0.0153581416346,0.0698151894369,0.999999928383,0.000236982676232,-0.000295050047626,4.27751542563e-06,1793248213437428992
+85,1.416666667,BASELINE,766,744,715,679,658.671456583,634,878.342913166,784.671456583,810,651.671456583,629,652,0.400955179155,-0.0153579839192,0.0698155716976,0.999999928745,0.000237064762238,-0.000293752229603,4.37225004412e-06,1793248213454095872
+86,1.433333333,BASELINE,766,744,715,679,658.092862273,634,877.185724546,784.092862273,810,651.092862273,629,652,0.400955722079,-0.0153582454265,0.0698147985895,0.99999992899,0.000235981276718,-0.000293793035048,4.33349891246e-06,1793248213470762752
+87,1.450000000,BASELINE,765.518445692,744.481554308,715.481554308,679,658,634,877,784.481554308,810,651.481554308,629,652,0.400955527286,-0.0153579504881,0.0698151450802,0.999999928757,0.000236536684294,-0.000294139812501,4.36872579198e-06,1793248213487429632
+88,1.466666667,BASELINE,765,744.944489955,715.944489955,679,658.055510045,634,877.055510045,784.944489955,810,652,629,652,0.400955016477,-0.0153575585239,0.0698154947917,0.999999928312,0.000237705773478,-0.000294706052544,4.42667828579e-06,1793248213504096256
+89,1.483333333,BASELINE,765,744.367359416,715.367359416,679,658.632640584,634,877.632640584,784.367359416,810,652,629,652,0.4009528614,-0.0153572544733,0.0698138634174,0.99999992674,0.000241697286341,-0.00029678487662,4.56527934133e-06,1793248213520762880
+90,1.500000000,BASELINE,765,744,715,679,658.784724649,634,878,784,810,651.784724649,629,652,0.40095198273,-0.0153570437493,0.0698132128447,0.999999926016,0.000243371043796,-0.000297853568785,4.58400659229e-06,1793248213537429248
+91,1.516666667,BASELINE,765,744,715,679,658.192450725,634,878,784,810,651.192450725,629,652,0.400953339357,-0.0153569964625,0.06981427989,0.999999926803,0.000240985857349,-0.000297153278416,4.39280615621e-06,1793248213554095616
+92,1.533333333,BASELINE,765.390582855,744.390582855,715,679,658,634,877.609417145,784.390582855,810,651.390582855,629,652.390582855,0.400954027701,-0.0153569743919,0.0698148900149,0.999999927513,0.000239359637246,-0.000296077425144,4.39194641383e-06,1793248213570762240
+93,1.550000000,BASELINE,765.969168744,744.969168744,715,679,658,634,877.030831256,784.969168744,810,651.969168744,629,652.969168744,0.400954394373,-0.0153569644587,0.0698152802058,0.999999928185,0.000238098737561,-0.000294820798473,4.48270518637e-06,1793248213587428864
+94,1.566666667,BASELINE,765.45522455,744.45522455,715,679,658,634,877.54477545,785,810,651.45522455,629,653,0.400953606668,-0.0153577149518,0.0698143387746,0.99999992772,0.000238533208074,-0.000296046371314,4.39743987814e-06,1793248213604096000
+95,1.583333333,BASELINE,765,744,715,678.877357578,658,634,878,785,810,651,629,652.877357578,0.400953175123,-0.015358236221,0.069813645938,0.999999927397,0.000238914388095,-0.000296829664261,4.30922687615e-06,1793248213620763136
+96,1.600000000,BASELINE,765,744,715,678.290296332,658,634,878,785,810,651,629,652.290296332,0.400954338329,-0.0153577273914,0.0698141783001,0.999999927861,0.000238732410418,-0.0002954090774,4.24737017961e-06,1793248213637430016
+97,1.616666667,BASELINE,765.292911593,744,715.292911593,678.292911593,658,634,878,784.707088407,810,651,629,652,0.40095466058,-0.0153577502387,0.0698143450712,0.999999928048,0.000238072367784,-0.000295308130146,4.2249059943e-06,1793248213654096640
+98,1.633333333,BASELINE,765.872350155,744,715.872350155,678.872350155,658,634,878,784.127649845,810,651,629,652,0.400954160205,-0.0153582931738,0.0698141542199,0.999999927964,0.000236944680637,-0.000296498058257,4.2409756812e-06,1793248213670763008
+99,1.650000000,BASELINE,766,744,715.549293253,679,658.450706747,634,878,784.450706747,810,651,629,652,0.400953791929,-0.0153579030617,0.069814301202,0.999999927644,0.000238910534121,-0.000295998722299,4.33721751063e-06,1793248213687429120
+100,1.666666667,BASELINE,766,744,715.028454609,679,659,634,878,785,810,651,628.971545391,652.028454609,0.400953511489,-0.0153572910004,0.0698145451588,0.999999927295,0.000241502135173,-0.000295071647897,4.43691944239e-06,1793248213704095744
+101,1.683333333,BASELINE,766,744,715.600414563,679,659,634,878,785,810,651,628.399585437,652.600414563,0.40095419585,-0.015357475003,0.0698148181907,0.999999927808,0.000239350794331,-0.000295091049388,4.17003926153e-06,1793248213720762368
+102,1.700000000,BASELINE,766,744,715.821956063,679,659,634,878,785,810,651,628.178043937,653,0.40095449519,-0.0153576012631,0.0698149485157,0.999999928067,0.000238077573151,-0.000295242234983,4.0638739248e-06,1793248213737428992
+103,1.716666667,BASELINE,766,744,715.231184359,679,659,634,878,785,810,651,628.768815641,653,0.400953902003,-0.0153575936693,0.0698147480283,0.999999927749,0.000238839941765,-0.000295698912354,4.33026542171e-06,1793248213754096128
+104,1.733333333,BASELINE,765.64753187,744,715.35246813,679,658.64753187,634,878,785,810,651,629,652.64753187,0.400953545137,-0.0153569490865,0.0698148014225,0.999999927537,0.000239485655644,-0.000295896918674,4.13211271803e-06,1793248213770763008
+105,1.750000000,BASELINE,765.068456381,744,715.931543619,679,658.068456381,634,878,785,810,651,629,652.068456381,0.400953340204,-0.0153558949733,0.0698150180412,0.999999927393,0.000240056370415,-0.000295928621311,3.63529719409e-06,1793248213787429632
+106,1.766666667,BASELINE,765.506207107,744,715.493792893,679.506207107,658,634,878,784.493792893,810,651,629,652.506207107,0.400952925515,-0.0153566247567,0.0698139813786,0.999999927023,0.000240289458508,-0.000296986545885,3.8396834012e-06,1793248213804096256
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877,785,810,651,629,652,0.400951047112,-0.0153569458527,0.0698122269637,0.999999927206,0.000237191691379,-0.000298853879775,3.80122158058e-06,1793248213847397376
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.592438897,744,715,679.407561103,658.407561103,634,877,785,810,651.592438897,629,652.592438897,0.400952352888,-0.0153567074745,0.0698134186401,0.999999927434,0.000238953942115,-0.000296679751929,3.67504696151e-06,1793248213864064256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877.18071069,785,810,651.81928931,629,653,0.40095324714,-0.0153571103696,0.0698141664521,0.999999927592,0.000239808343138,-0.000295455855979,3.75507869271e-06,1793248213880731136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877.75979626,785,810,651.24020374,629,653,0.40095323419,-0.0153589269447,0.06981393577,0.999999927606,0.000238661399036,-0.000296326736171,4.28969020299e-06,1793248213897397504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.663797,744,715,679,658,634,878.336203,785,810,651.336203,629,652.663797,0.400953289892,-0.0153592053106,0.0698141551541,0.999999927686,0.000238354582765,-0.000296300486122,4.49205583488e-06,1793248213914064128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.089289082,744,715,679,658,634,878.910710918,785,810,651.910710918,629,652.089289082,0.400953394254,-0.0153583933741,0.0698146935507,0.999999927814,0.000238643259739,-0.000295638338818,4.45892137557e-06,1793248213930730752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715.496762235,679,658,634,878.00647553,784.503237765,810.496762235,651.503237765,629,652,0.400953995069,-0.0153566968692,0.0698150366234,0.99999992734,0.000241122604801,-0.000295227967806,4.41743672823e-06,1793248213947397632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715.916417056,679,658,634,877,784.083582944,810.916417056,651.083582944,629,652,0.400954509646,-0.0153552441169,0.0698153150498,0.999999926889,0.00024332933329,-0.000294946061516,4.39698936493e-06,1793248213964064512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715.337623261,679,658,634,877,784.662376739,810.337623261,651.662376739,629,652,0.400953972012,-0.0153561999621,0.0698154234166,0.999999927264,0.000241532452678,-0.000295150777311,4.51028729723e-06,1793248213980730880
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715,679.240318292,658,634,877.240318292,785,810,651.759681708,629,652,0.400957794894,-0.0153573096051,0.0698173376921,0.999999928387,0.000240325849361,-0.000292313064236,4.73910300695e-06,1793248213997397248
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715,679.81706671,658,634,877.81706671,785,810,651.18293329,629,652,0.400967722216,-0.015358634555,0.0698217801235,0.999999930526,0.000239945596375,-0.000285216146721,5.12963615327e-06,1793248214014064128
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.39273001,744,715,679.60726999,658,634,878,784.60726999,810,651,629,652,0.400995568598,-0.0153591152466,0.069833742621,0.999999935872,0.000240702312388,-0.000265111329608,5.7975641943e-06,1793248214030731008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967889306,744,715,679.032110694,658,634,878,784.032110694,810,651,629,652,0.401031738667,-0.0153592037671,0.0698491983084,0.999999942147,0.000241987168272,-0.000238964137103,6.59434657207e-06,1793248214047397632
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744,715,679,658.556623088,634,877.443376912,784.556623088,810,651,628.443376912,652,0.401087041415,-0.0153626696182,0.0698683829664,0.99999994958,0.000239498956999,-0.000208364108333,8.01049225952e-06,1793248214064064256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.856495796,744,715,679.143504204,659,634,877,785,810,651,628.143504204,652.143504204,0.40114567387,-0.0153660044467,0.0698856866703,0.999999954975,0.00023792901732,-0.00018263302583,9.17525061929e-06,1793248214080730880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.277669522,744,715,679.722330478,659,634,877,785,810,651,628.722330478,652.722330478,0.401210975167,-0.0153683360153,0.0698966156005,0.999999956325,0.000239821453994,-0.00017247067348,9.46632522296e-06,1793248214097397504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715.299934966,679.700065034,658.700065034,634,877.299934966,784.700065034,810,651,629,653,0.401285975416,-0.0153725183143,0.069903476896,0.999999957868,0.000238965687937,-0.000164563515037,8.83779497594e-06,1793248214114064128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715.876412922,679.123587078,658.123587078,634,877.876412922,784.123587078,810,651,629,653,0.401369918191,-0.015378407005,0.0699065877917,0.999999959626,0.00023557605183,-0.000158735668172,7.36137999515e-06,1793248214130730496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715.540454877,679,658.459545123,634,877.540454877,784.459545123,810,651,628.540454877,653,0.401467729188,-0.0153828269536,0.0699088828138,0.999999960664,0.000233188482893,-0.000155777720324,5.31815076514e-06,1793248214147397120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.044169466,744,715,679,658.955830534,634,877,784.955830534,810,651.044169466,628.044169466,652.955830534,0.401571242578,-0.0153868509772,0.0699108283495,0.999999961514,0.000230905891651,-0.000153768703801,3.06918352251e-06,1793248214164063744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.624861897,744,715,679,658.375138103,634,877,784.375138103,810,651.624861897,628.624861897,652.375138103,0.401698053332,-0.0153909341865,0.0699112330853,0.999999962508,0.000226576892774,-0.000153773394142,1.99958200911e-07,1793248214180730368
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,784.204718964,810,651.795281036,629,652.204718964,0.401838490724,-0.0153967124441,0.069912829315,0.999999964259,0.000220525903409,-0.000151136404818,-2.72294663087e-06,1793248214197396992
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,784.783051422,810,651.216948578,629,652.783051422,0.402003796807,-0.0154055841756,0.0699166000292,0.999999967331,0.00021133227021,-0.000143678332216,-5.74381661767e-06,1793248214214063616
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.359233095,715,679.359233095,658,634,877.359233095,784.640766905,810,651,629,652.640766905,0.402189778616,-0.0154119418809,0.069920141503,0.999999969359,0.000206269796339,-0.000136530873073,-9.7450977769e-06,1793248214230730496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.934123649,715,679.934123649,658,634,877.934123649,784.065876351,810,651,629,652.065876351,0.402388172646,-0.0154167903483,0.0699235453578,0.999999970759,0.000203687369595,-0.000129569882975,-1.4334946886e-05,1793248214247397632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.479455966,744.479455966,715,680,658,634,877.479455966,784.520544034,810,651,629,652.520544034,0.402607880233,-0.0154259852249,0.069924840169,0.99999997317,0.000194571922716,-0.000124259965603,-1.89996083573e-05,1793248214264064512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.106919492,744.106919492,715,679.893080508,658,634,877.106919492,785,810,651,629,652.893080508,0.402839929631,-0.0154362005059,0.0699271665722,0.999999976988,0.000178255985369,-0.000117000394094,-2.36652867026e-05,1793248214280730880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.686500004,744.686500004,715,679.313499996,658,634,877.686500004,785,810,651,629,652.313499996,0.403114344716,-0.0154484400122,0.0699352599952,0.999999985625,0.000133846418309,-0.000100177324453,-2.82926596836e-05,1793248214297397760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.735724902,745,715.264275098,679,658.264275098,634.264275098,877.735724902,784.735724902,810,651.264275098,629,652.264275098,0.403403990862,-0.0154593388369,0.0699425699868,0.999999992299,8.21532899218e-05,-8.69296609472e-05,-3.31048864621e-05,1793248214314064384
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160077012,745,715.839922988,679,658.839922988,634.839922988,877.160077012,784.160077012,810,651.839922988,629,652.839922988,0.403711582454,-0.0154686580502,0.0699489569277,0.999999996,2.18785655546e-05,-7.78945942848e-05,-3.81349103883e-05,1793248214330731008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.416040236,744.583959764,715.583959764,679.416040236,658.583959764,634.583959764,877,784.416040236,810,651.583959764,629,653,0.404051874788,-0.0154770805335,0.0699507437408,0.999999996209,1.41719897505e-06,-7.53152370396e-05,-4.36683783947e-05,1793248214347397376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992338268,744.007661732,715.007661732,679.992338268,658.007661732,634.007661732,877,784.992338268,810,651.007661732,629,653,0.40440476337,-0.015485157598,0.0699507585946,0.999999995944,-3.70814734357e-06,-7.52226053013e-05,-4.93957718851e-05,1793248214364063744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.418313461,744,715,680,658,634,877.581686539,785,810,651,629,653,0.404789289492,-0.0154784308752,0.0699585249179,0.999999996522,-1.04015580256e-05,-6.24661526012e-05,-5.4275338093e-05,1793248214380730112
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,878,784.831708299,810.168291701,651,629,653,0.405185487321,-0.0154706513008,0.0699641468913,0.999999997248,6.26630841726e-06,-5.23604039876e-05,-5.21778604068e-05,1793248214397396992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,878,784.252234991,810.747765009,651,629,653,0.40560916068,-0.0154607866746,0.0699642744627,0.999999995041,8.00636411436e-05,-4.91479320875e-05,-3.30615094184e-05,1793248214414063616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.323239116,715,680,658,634.323239116,878,784.323239116,810.676760884,651,629,653,0.406041934714,-0.0154585704415,0.0699558919854,0.999999992474,9.96048280493e-05,-6.532138222e-05,-2.93914217092e-05,1793248214430730240
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.895630704,715,680,658,634.895630704,878,784.895630704,810.104369296,651,629,653,0.406481723588,-0.015462249583,0.069940949969,0.999999991652,7.73254260186e-05,-9.64374864272e-05,-3.76273003096e-05,1793248214447397632
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.517767092,715,680,658.964465815,634.517767092,878,784.517767092,810,651,629,652.517767092,0.40698018548,-0.0154704401395,0.0699293785549,0.99999999142,5.95765006305e-05,-0.000109136029309,-4.12367064335e-05,1793248214464064000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.929365,634,878,784.070635,810,651,629.070635,652,0.407500798702,-0.0154808194519,0.0699214250787,0.999999991739,4.21619342576e-05,-0.000113512691162,-4.31251001838e-05,1793248214480730624
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659.350807471,634,878,784.649192529,810,651,629.649192529,652,0.408086612695,-0.0154997033857,0.0699340825399,0.999999995165,1.9886803679e-05,-8.75818958e-05,-4.00568314242e-05,1793248214497397504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,679.772356347,659,634,878,785,810.227643653,651,629.772356347,652,0.408681488569,-0.0155154152326,0.0699446237292,0.99999999723,1.19052674101e-06,-6.39151159615e-05,-3.81272552925e-05,1793248214514064640
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,679.194069153,659,634,878,785,810.805930847,651,629.194069153,652,0.409290322582,-0.0155262410568,0.0699519051869,0.999999998252,-1.19931773628e-05,-4.37356408721e-05,-3.7951627755e-05,1793248214530731520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.381425075,744,715,679.381425075,659,634,878.381425075,784.618574925,811,651,629,652.381425075,0.409906424047,-0.0155277940269,0.0699493223042,0.999999998083,-1.20693814539e-05,-4.67828489509e-05,-3.87181853347e-05,1793248214547398144
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.955508554,744,715,679.955508554,659,634,878.955508554,784.044491446,811,651,629,652.955508554,0.410526196294,-0.0155246632635,0.0699417569275,0.999999997291,-5.5249662874e-06,-6.1561891814e-05,-3.99606421023e-05,1793248214564064256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.455915264,744,715,679.455915264,659,634,879,784.544084736,811,651.544084736,629,653,0.411206516898,-0.0155222098596,0.0699449552713,0.999999997353,-1.00468515811e-05,-5.91395723784e-05,-4.11782810436e-05,1793248214580731136
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.131479272,744,715,679.131479272,659,634,879,784.868520728,811,651.868520728,629,653,0.411910407207,-0.0155211869379,0.0699567310782,0.999999998152,-1.42751435659e-05,-4.21061394681e-05,-4.14583169435e-05,1793248214597397760
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.710703384,744,715,679.710703384,659,634,879,784.289296616,811,651.289296616,629,653,0.412677240084,-0.0155248416506,0.0699946374913,0.999999998959,-1.43376203271e-05,1.9763368396e-05,-3.85525013096e-05,1793248214614064128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.711758545,744,715.288241455,679.711758545,659,634,878.711758545,784.288241455,811,651,629,652.711758545,0.413435208389,-0.015526575739,0.070017653158,0.999999997592,-1.67689854371e-05,5.59491138087e-05,-3.74637916885e-05,1793248214630730752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.135902776,744,715.864097224,679.135902776,659,634,878.135902776,784.864097224,811,651,629,652.135902776,0.414184331502,-0.0155263933826,0.0700258104814,0.999999996827,-2.15640848329e-05,6.65069857351e-05,-3.81882342677e-05,1793248214647397376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,715.563347051,679.436652949,659,634,878.436652949,785,811,651,629,652.436652949,0.41490490642,-0.0155230116791,0.0699857102553,0.999999998924,-1.80037253893e-05,-4.47739906679e-06,-4.25297339394e-05,1793248214664064256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,879,785,811,651.008515926,629,653,0.415618325511,-0.0155187414316,0.0699312307848,0.999999993813,-1.21387187994e-05,-9.96322788761e-05,-4.79674021848e-05,1793248214680731136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,879,785,811,651.602851556,629,653,0.416446133032,-0.0155213326439,0.0699130490324,0.99999999055,-2.52860859676e-05,-0.000124748034141,-5.19501152208e-05,1793248214697397504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.191728514,744.191728514,715,680,659,634,879.191728514,785,811,652,629,653,0.41728967992,-0.0155242867751,0.069912526562,0.999999990283,-3.44853648716e-05,-0.000124080001949,-5.3382519157e-05,1793248214714063872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.7696113,744.7696113,715,680,659,634,879.7696113,785,811,652,629,653,0.418164926915,-0.0155279718493,0.0699475710884,0.999999995573,-3.57329245564e-05,-7.14816658136e-05,-4.96784267675e-05,1793248214730730496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.653938151,745,715,679.653938151,659,633.653938151,879.653938151,785,811,651.653938151,629.346061849,653,0.419052307374,-0.015530371235,0.0699778401384,0.999999997818,-3.83762483747e-05,-2.56355408862e-05,-4.72683756678e-05,1793248214747397376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.078437199,745,715,679.078437199,659,633.078437199,879.078437199,785,811,651.078437199,629.921562801,653,0.419947732289,-0.0155319182088,0.0700049430448,0.999999997952,-4.19449641538e-05,1.57338639792e-05,-4.57162744538e-05,1793248214764064000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.492287534,715,679.507712466,659.507712466,633.507712466,879,784.492287534,811,651,629.492287534,652.492287534,0.420869473681,-0.0155358110877,0.0700239364297,0.999999996875,-4.84559257756e-05,4.30247215078e-05,-4.52782183135e-05,1793248214780730880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.094116259,744,715,680.094116259,660,634,879,784.094116259,811.094116259,651.094116259,629.094116259,652.094116259,0.421781851777,-0.015538771699,0.0700310590931,0.999999996217,-5.36154244069e-05,5.0968865618e-05,-4.57600610093e-05,1793248214797397760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.673171027,744,715,680.673171027,660,634,879,784.673171027,811.673171027,651.673171027,629.673171027,652.673171027,0.422624587381,-0.0155350213527,0.0699836109631,0.999999997095,-4.94191688598e-05,-2.93249102258e-05,-5.00759212019e-05,1793248214814064384
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.748542934,744,715,680.748542934,659.748542934,634,879,785,812,651.748542934,630,653,0.423471069655,-0.0155314460332,0.0699241842625,0.999999989674,-5.12286595839e-05,-0.000121554646651,-5.70307209409e-05,1793248214830731008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.171252918,744,715,680.171252918,659.171252918,634,879,785,812,651.171252918,630,653,0.424322406904,-0.0155280975093,0.0698492359673,0.999999969601,-6.08202734968e-05,-0.000229250768589,-6.74050053372e-05,1793248214847397376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.403294092,715,680,659.403294092,633.596705908,879,784.596705908,812,651,630,653,0.425262779792,-0.0155298520701,0.0698612339924,0.999999974968,-6.09825257822e-05,-0.000204755194496,-6.64895338085e-05,1793248214864064256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.976684159,715,680,659.976684159,633.023315841,879,784.023315841,812,651,630,653,0.426240704887,-0.0155337589418,0.0699099030753,0.999999988766,-5.71677876324e-05,-0.000124505572372,-6.0812419624e-05,1793248214880730880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.567288618,744.432711382,715,680,660,633,879,784.567288618,812,651,630,653,0.427245413034,-0.015535545914,0.0699684031668,0.99999999539,-5.91211933794e-05,-5.10321996873e-05,-5.58537923723e-05,1793248214897397248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.844633343,744.155366657,715,680.155366657,660,633.155366657,879,785,812,651,630,653,0.428250522047,-0.0155374639236,0.070021252627,0.999999996589,-6.07399986892e-05,2.11222666473e-05,-5.18408081879e-05,1793248214914063872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.265437688,744.734562312,715,680.734562312,660,633.734562312,879,785,812,651,630,653,0.429253627673,-0.0155399845133,0.0700575508317,0.999999992795,-6.077908026e-05,9.04623709538e-05,-5.03243934908e-05,1793248214930730496
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.688782041,715,680.688782041,660,634,879,785,812.311217959,651,630,653,0.430186927555,-0.0155404082687,0.0700494829255,0.999999993642,-6.22310066682e-05,7.88229104939e-05,-5.12855846197e-05,1793248214947397632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.114275257,715,680.114275257,660,634,879,785,812.885724743,651,630,653,0.431061172079,-0.0155390581129,0.0700038815113,0.999999996418,-6.48781925561e-05,-1.32485705379e-06,-5.43428177568e-05,1793248214964064768
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.471097424,715,680,660,633.528902576,879.471097424,785,813,651,630,652.528902576,0.431891469655,-0.015535335932,0.069932408417,0.999999988769,-6.34922459074e-05,-0.000121433040498,-6.07000451033e-05,1793248214980730880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715.058251707,680,660.058251707,633,880,785,813,651,630,652.058251707,0.432731774872,-0.015531870145,0.069867607536,0.999999969888,-6.22451722401e-05,-0.000227781975054,-6.68266912451e-05,1793248214997396992
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.637213966,680,660.637213966,633,880,785,813,651,630,652.637213966,0.433759079742,-0.0155359610707,0.06991987276,0.999999987949,-7.11912005319e-05,-0.000122443395179,-6.35677009328e-05,1793248215014063872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.78367842,715.78367842,680.21632158,660.78367842,633,879.78367842,784.78367842,813,651,630,653,0.434759819551,-0.0155400099048,0.0699690658487,0.999999994672,-7.78278523402e-05,-3.19945815809e-05,-5.97912760292e-05,1793248215030730496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.204326776,715.204326776,680.795673224,660.204326776,633,879.204326776,784.204326776,813,651,630,653,0.435715978139,-0.0155439881013,0.0700131032998,0.999999994672,-8.05889195097e-05,3.34662975057e-05,-5.51464945962e-05,1793248215047397376
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,715,681,660,633.370571027,879,784.370571027,813,651,630,653,0.43664561635,-0.0155486908422,0.0700318797747,0.999999992328,-8.74520667092e-05,6.89968566666e-05,-5.41827274941e-05,1793248215064064256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,715,681,660,633.943042186,879,784.943042186,813,651,630,653,0.437560805269,-0.0155537883401,0.0700368931785,0.999999989923,-9.65501713589e-05,8.82203206723e-05,-5.52245068472e-05,1793248215080730624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,715,681,660,633.469112094,879.530887906,785,813.530887906,651,630,653,0.438375423671,-0.0155513607675,0.0699940766074,0.999999993067,-9.77221522721e-05,2.94874973845e-05,-5.87085539503e-05,1793248215097397760
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.118292335,715,681,660,633,879.881707665,785,813.881707665,651,630,653,0.439173439475,-0.0155465801423,0.0699419449976,0.999999992332,-9.51720694412e-05,-4.842767308e-05,-6.27133116733e-05,1793248215114064384
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.697360989,715,681,660,633,879.302639011,785,813.302639011,651,630,653,0.439950067277,-0.0155358724288,0.0698741139559,0.999999980355,-8.15348829013e-05,-0.000167512140575,-6.76952685383e-05,1793248215130731008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.274734064,745,715,681,660.274734064,633,879,785,813.274734064,651,630.274734064,653,0.440783480768,-0.0155340721285,0.0698632321618,0.9999999772,-7.83972093231e-05,-0.000186341568898,-6.87841362273e-05,1793248215147397632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.850250755,745,715,681,660.850250755,633,879,785,813.850250755,651,630.850250755,653,0.441679063962,-0.0155420237872,0.0699146991909,0.999999989533,-8.67545481676e-05,-9.54103960283e-05,-6.56107964636e-05,1793248215164064256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.574666242,745,715,681,661,633,879,784.574666242,814,651,631,653,0.442534468953,-0.0155498035499,0.069973469428,0.999999993598,-9.49482685302e-05,-9.50774774071e-06,-6.08144246377e-05,1793248215180730624
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.999728257,715,681,661,633,879.000271743,784,814,651,631,653,0.443375700807,-0.0155575207264,0.0700347795746,0.999999990368,-0.000103084001612,7.45815639083e-05,-5.54492816909e-05,1793248215197397248
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.408545012,715,681,661,633,879.591454988,784,814,651,631,653,0.444125850479,-0.0155606099363,0.0700335699985,0.999999990545,-0.000110262358741,6.14031893744e-05,-5.45984454447e-05,1793248215214063872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.178895629,715,681,661,633,880.178895629,784.178895629,814,651,631,653,0.444868897457,-0.0155621731735,0.0700231236973,0.999999991089,-0.000114885458043,4.02657059483e-05,-5.47875048945e-05,1793248215230730752
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.757964519,715,681,661,633,880.757964519,784.757964519,814,651,631,653,0.445596056501,-0.015560322949,0.0699920156815,0.999999991883,-0.000113792679147,1.32441670941e-06,-5.73027163098e-05,1793248215247397632
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880.665881823,784.665881823,814,651,631,653.334118177,0.44627312624,-0.0155573353792,0.0699636841186,0.999999991371,-0.000110352438523,-3.85721799334e-05,-5.99421379203e-05,1793248215264064256
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880.091821731,784.091821731,814,651,631,653.908178269,0.446914225059,-0.0155535310423,0.0699373464253,0.999999989367,-0.000105226403765,-7.915481377e-05,-6.26707590191e-05,1793248215280730624
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.494347185,745,715,681,661,633,880,784,814.494347185,651,630.505652815,653.505652815,0.447512274341,-0.0155542454202,0.0699150060988,0.999999983915,-0.000110814141703,-0.000125386616119,-6.45653278562e-05,1793248215297397504
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784,815,651,630.081569767,652.918430233,0.448108970875,-0.0155566922658,0.0698989222854,0.999999978034,-0.000116503745327,-0.00016147815999,-6.54550551338e-05,1793248215314064128
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784,815,651,630.661148853,652.338851147,0.448747453441,-0.0155644633827,0.0699163895423,0.999999983706,-0.000110360540237,-0.000129093065332,-6.11794899248e-05,1793248215330730496
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784,815,651,630.760635636,652.239364364,0.449371719912,-0.015571526407,0.0699377395523,0.999999987394,-0.000113985689956,-9.38422122304e-05,-5.84249384171e-05,1793248215347397120
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784,815,651,630.184339558,652.815660442,0.449975975612,-0.0155775927123,0.0699645549637,0.999999988213,-0.000131360875822,-5.45574911318e-05,-5.78113816329e-05,1793248215364064000
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,744.608941735,715,681.391058265,660.608941735,633,880,784,815,651,630.391058265,653,0.450487382521,-0.0155816551264,0.0699539117025,0.999999986994,-0.00013085541647,-7.31562748062e-05,-5.94742974723e-05,1793248215380730880
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,744.033966316,715,681.966033684,660.033966316,633,880,784,815,651,630.966033684,653,0.450955122116,-0.0155847750986,0.069925651395,0.999999983552,-0.000121940578957,-0.000118978030051,-6.22078525269e-05,1793248215397398016
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.444892829,744.555107171,715,681.444892829,660,632.444892829,880,783.444892829,815,651,630.444892829,653,0.451377497512,-0.0155848700429,0.0698857997877,0.999999972391,-0.000144317162995,-0.000174921445406,-6.1583718163e-05,1793248215414064640
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.142417108,745,715,681,660,632.142417108,880,783,815,651,630,653,0.451797460457,-0.0155851184591,0.069850007633,0.999999960315,-0.000160253525637,-0.000223329608568,-6.1745911339e-05,1793248215430731264
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.721604143,745,715,681,660,632.721604143,880,783,815,651,630,653,0.452218759608,-0.0155864200057,0.0698288970027,0.999999956152,-0.000150413755003,-0.000246679518894,-6.49661521273e-05,1793248215447397632
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.298896317,660.298896317,632.701103683,880,782.701103683,815,651,630,653,0.452624843087,-0.015590177432,0.0698170068301,0.999999952281,-0.000150549657197,-0.000261106301926,-6.77886908356e-05,1793248215464064000
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.874434676,660.874434676,632.125565324,880,782.125565324,815,651,630,653,0.453016843748,-0.015596207886,0.0698136506092,0.999999949028,-0.000159918495865,-0.000267274326248,-7.02431381331e-05,1793248215480730368
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.55050622,660.55050622,632,880,782,815.44949378,651.44949378,630.44949378,653,0.453382869958,-0.0156005222156,0.0698210656014,0.999999951122,-0.000164466248375,-0.000256178492728,-7.12675852027e-05,1793248215497397248
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.974900938,745,715,681.025099062,660.025099062,631.974900938,880,782,815.974900938,651.974900938,630.974900938,653,0.453738867561,-0.0156042517702,0.0698310743126,0.999999954322,-0.000167518795171,-0.000241132701299,-7.1759731381e-05,1793248215514063872
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.383967437,745,715,681.616032563,660.616032563,631.383967437,880,782,815.383967437,651.383967437,630.383967437,653,0.454032183409,-0.015605594154,0.0698317949589,0.999999953455,-0.000167192489603,-0.000245644655523,-6.92476985195e-05,1793248215530730752
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.202845061,745,715,681.797154939,660.797154939,631.202845061,880,781.797154939,815,651,630,653,0.45431305848,-0.0156074748855,0.0698296847517,0.999999951722,-0.000166746794297,-0.000253805231703,-6.58297632263e-05,1793248215547397376
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.78201213,745,715,681.21798787,660.21798787,631.78201213,880,781.21798787,815,651,630,653,0.454570853151,-0.0156103543696,0.0698223226912,0.999999948255,-0.000166079604901,-0.000268734800075,-6.07311808131e-05,1793248215564064000
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.641922947,632,880,781,815,651,629.641922947,653,0.454801745649,-0.0156113169469,0.0698111948442,0.999999944011,-0.000157913984948,-0.000289562986159,-5.65245307197e-05,1793248215580730624
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.067730253,632,880,781,815,651,629.067730253,653,0.455016401498,-0.0156111225848,0.0697977941746,0.999999938776,-0.000145222724036,-0.000313951255184,-5.28562014628e-05,1793248215597397248
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.481311755,745,715,681,659.518688245,632,880,780.481311755,814.481311755,651,629,653,0.455199375395,-0.0156116767349,0.0697889003805,0.999999932756,-0.000147466488876,-0.000331262132679,-5.4837123624e-05,1793248215614063872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744.894881408,715,681,659.894881408,632,880,780,814.105118592,651,629.105118592,653,0.455375764686,-0.0156125110455,0.0697823779641,0.99999992754,-0.000151956912047,-0.000344326227584,-5.71783089546e-05,1793248215630730496
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,744.315769781,715,681,659.315769781,632,880,780,814.684230219,651,629.684230219,653,0.455541567893,-0.0156141572716,0.0697838306756,0.999999927263,-0.000157571763846,-0.000342508818845,-5.77373859648e-05,1793248215647397120
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.262605821,744.262605821,715,681,659.262605821,631.737394179,880,780,815,651,630,653,0.455700011419,-0.0156162927433,0.0697879146622,0.999999928966,-0.000162930764446,-0.000334867448561,-5.818208242e-05,1793248215664064000
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.840098832,744.840098832,715,681,659.840098832,631.159901168,880,780,815,651,630,653,0.45584963004,-0.0156190148631,0.069795153776,0.999999932903,-0.000167982976875,-0.000320242642575,-5.8489626613e-05,1793248215680730880
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.585450013,745,715,681,660,631,880,780,815,651,630,653,0.455969024403,-0.0156220359119,0.0697963074676,0.999999932497,-0.000172269308365,-0.000319136763476,-5.90045048428e-05,1793248215697397248
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.834080309,745,715,681.165919691,660,631,880,779.834080309,815,651,629.165919691,653,0.456220758831,-0.015624838666,0.0697845772452,0.99999992344,-0.000180037676207,-0.000342034914056,-6.09821695407e-05,1793248215747397120
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.255038618,745,715,681.744961382,660,631,880,779.255038618,815,651,629.744961382,653,0.456283992751,-0.015623087143,0.0697833083305,0.999999922785,-0.000179944097225,-0.000343916587343,-6.1419721681e-05,1793248215764063744
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681.678232651,659.678232651,631,879.678232651,779,815,651,629.678232651,653,0.456336826595,-0.0156228499756,0.069781398434,0.999999921792,-0.000180718503628,-0.000346343664557,-6.16614232954e-05,1793248215780730624
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.93150968,745,715,682,660,631.93150968,880,779,815,651,629,653,0.456446511908,-0.0156261225211,0.0697780966484,0.999999918754,-0.00018772530218,-0.000351359693338,-6.16307487045e-05,1793248215830730496
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.458636672,745,715,682,659,631.541363328,879.541363328,779,815,651,630,653,0.456505603821,-0.0156227876142,0.0697647560709,0.999999911424,-0.000188718313853,-0.000371171429106,-6.13910963747e-05,1793248215930731008
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.129206462,745,715,682,659.129206462,631.870793538,880,779,815,651,629.870793538,653,0.456506799911,-0.0156212123969,0.0697627244417,0.999999910683,-0.000186345049599,-0.000374364149716,-6.13242548304e-05,1793248215947397632
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.768540606,745,714.231459394,682,659.768540606,632,880,778.768540606,815.231459394,651,629,653.231459394,0.45650808725,-0.0156217357249,0.0697569301081,0.999999907441,-0.000186737420883,-0.000382851591868,-6.06032967248e-05,1793248216080730624
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.344627981,682,659.655372019,632,880,779,815,651,629,653,0.456508700459,-0.0156210285441,0.0697570218304,0.999999907448,-0.0001868323177,-0.000382772564075,-6.06946273336e-05,1793248216097397504
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.505720438,745,715,681.505720438,659,631.505720438,880,779,815,651,629,653,0.456509939056,-0.0156197893731,0.0697572336647,0.999999907982,-0.000186439638089,-0.000381619505289,-6.03562557384e-05,1793248216130731008
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+247,4.116666667,HOLD_POSE2,766,745,715,682,659,631,880,779,815,651,630,653,0.456509574319,-0.0156192481303,0.069755197244,0.999999906543,-0.000186465562277,-0.000385235568426,-6.11426082094e-05,1793248216202408960
+248,4.133333333,HOLD_POSE2,766,745,715,682,659,631,880,779,815,651,629.425035867,653,0.456509377178,-0.0156198189758,0.0697546731234,0.99999990607,-0.000186891559438,-0.000386305675159,-6.08215480286e-05,1793248216219075840
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+251,4.183333333,HOLD_POSE2,766,745,715,682,659,631.30675471,880,779,815.69324529,651,629.30675471,653,0.456508088231,-0.0156173579843,0.069754166585,0.999999905955,-0.000184416351907,-0.000387847341838,-6.04620632407e-05,1793248216269076224
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+253,4.216666667,HOLD_POSE2,766,745,715,682,659.4821062,631.5178938,880,779,814.5178938,651,630,653,0.456507524603,-0.0156183647524,0.0697515761036,0.999999905216,-0.000182951639502,-0.000390450877735,-6.03760942884e-05,1793248216302409472
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+256,4.266666667,HOLD_POSE2,766,744.22955717,715,681.77044283,659.22955717,631,880,779,815,651,629.77044283,653.22955717,0.456510172957,-0.0156181570408,0.0697532917291,0.999999905465,-0.000185269674921,-0.000388684864598,-6.05718117798e-05,1793248216352408576
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.516329864,745,715,681.516329864,659.516329864,631,880,778.516329864,815.483670136,651,629.516329864,653,0.456509231284,-0.0156182283967,0.0697514926077,0.999999904678,-0.000185170976303,-0.000390822222471,-6.0121684748e-05,1793248216618388736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.06025903,631,879.93974097,778,815.87948194,651,629,653,0.456507233111,-0.0156176777175,0.069751351094,0.999999903964,-0.000185421498504,-0.000392501803636,-6.02792741633e-05,1793248216635055360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.647127684,631,879.352872316,778,814.705744632,651,629,653,0.456502524515,-0.015617313455,0.0697479439672,0.999999902394,-0.000184814417157,-0.000396768559814,-6.02598224778e-05,1793248216651721984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.230917557,659.769082443,631,879.230917557,778.230917557,814.230917557,651.230917557,629,653,0.456490530924,-0.0156175845505,0.0697413292427,0.999999898485,-0.00018572738601,-0.000406026069126,-6.06465897479e-05,1793248216668388608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.810064501,659.189935499,631,879.810064501,778.810064501,814.810064501,651.810064501,629,653,0.456467551382,-0.0156188137813,0.0697298773817,0.999999890868,-0.000188932628171,-0.000422809757107,-6.16459452379e-05,1793248216685055488
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.387657303,745,715,682,659.387657303,631,880,779,815.387657303,651.612342697,629.387657303,653.387657303,0.456427093411,-0.0156162296524,0.0697133798734,0.999999879749,-0.000187076209682,-0.000448962982687,-6.27511896628e-05,1793248216701726976
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.533507589,715,682,660,631.533507589,880,778.466492411,815.466492411,651,629.466492411,653.466492411,0.456319184199,-0.01560839033,0.0696772633944,0.999999857862,-0.000181888083643,-0.000496962178924,-6.49775411993e-05,1793248216735061504
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.316208187,715,682,659.316208187,632,880,778.683791813,815,651,629,653,0.456176699925,-0.0156020828046,0.0696513676273,0.999999840785,-0.000180544288675,-0.000530604485424,-6.55106578296e-05,1793248216768388864
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.728624695,745,715,682,659,632,880,779,815,651,629,653.271375305,0.456092517857,-0.015598145649,0.0696457071708,0.99999983656,-0.000178943198977,-0.000539148926958,-6.46316834389e-05,1793248216785055488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.131656054,745,715,682,659,632,880,779,815,651,629,653.868343946,0.456002550771,-0.0155931253635,0.0696453756375,0.999999838078,-0.000176258630317,-0.000537404199051,-6.30436982599e-05,1793248216801722112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.448464462,745,715,682,659.448464462,632,880,779,815,651.448464462,629.448464462,653.551535538,0.455889874357,-0.0155877618046,0.0696442121778,0.999999837487,-0.00017354681246,-0.000539559495387,-6.15035646904e-05,1793248216818388736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.97616731,745,715,681.97616731,659.97616731,632,880,779,815,651.97616731,629.97616731,653,0.455769694008,-0.0155822766592,0.0696427845956,0.999999836255,-0.000170816644966,-0.000542880408518,-5.99393314471e-05,1793248216835055616
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.178714961,745,715,681,659.178714961,631.821285039,880,779,815,651,629,653,0.455471602357,-0.0155695388759,0.0696395334523,0.999999832973,-0.00016385328622,-0.000551543180548,-5.48256304926e-05,1793248216868388864
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.765800298,745,715,681,659.765800298,631.234199702,880,779,815,651,629,653,0.455300885765,-0.0155614024072,0.0696405115478,0.999999833082,-0.000157557970264,-0.000553488050228,-5.15945793406e-05,1793248216885055488
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.349689584,659.650310416,631.349689584,880,779.349689584,814.650310416,651,629.349689584,653,0.455101770971,-0.0155511395075,0.0696367202849,0.999999830225,-0.000149558567068,-0.000561066496318,-4.88437432328e-05,1793248216901722112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.931457803,659.068542197,631.931457803,880,779.931457803,814.068542197,651,629.931457803,653,0.454883809113,-0.0155394653575,0.06962976374,0.999999825251,-0.000140428210909,-0.000572383780597,-4.64116113201e-05,1793248216918388736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.494749943,745,715,682,659.505250057,632,880,780,814.505250057,651,630,653,0.454641566217,-0.0155300746677,0.069625921859,0.999999824415,-0.00013286718607,-0.000575903486081,-4.30183216873e-05,1793248216935055360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.921835979,631.921835979,880,780,815,651,630,653,0.454393535161,-0.0155216526153,0.0696240093783,0.999999825473,-0.000125813487157,-0.000575915926926,-3.9307803078e-05,1793248216951721984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.347735829,631.347735829,880,780,815,651,630,653,0.454129353994,-0.0155174414691,0.0696316993376,0.999999835172,-0.000120648884032,-0.000560282789297,-3.43989713219e-05,1793248216968388864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.233444056,745,715,682,659.466888112,631.233444056,880,780.233444056,814.766555944,651,629.766555944,653,0.453852839018,-0.0155130144254,0.0696419342881,0.999999846353,-0.000108504571043,-0.000542844140721,-2.89883478278e-05,1793248216985055744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.825499638,745,715,682,660.650999277,631.825499638,880,780.825499638,814.174500362,651,629.174500362,653,0.453557377138,-0.0155082557252,0.0696560787968,0.999999859501,-8.56381844837e-05,-0.000522631907468,-2.28068833995e-05,1793248217001722368
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.011429907,632,879.011429907,781,814,651,629.988570093,653,0.452858230738,-0.0155074219007,0.0696609085298,0.999999870378,-2.89700091292e-05,-0.000508197517363,-1.1812911234e-05,1793248217035055616
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.436137841,745,715,681.436137841,660,632,879.563862159,781.563862159,814,651,629.436137841,653,0.452433579214,-0.0155091948396,0.069652670072,0.999999862253,-3.09659877143e-05,-0.000523921099167,-6.41814459382e-06,1793248217051721984
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.72996446,745,715,681.72996446,660,632,879.27003554,782,814,651,629.72996446,653,0.451554267051,-0.015505528041,0.0696334373867,0.999999845392,8.87999769861e-06,-0.000555991458115,3.22650448745e-06,1793248217085054976
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.108477862,745,715,682,660,632.891522138,879.891522138,782.891522138,813.108477862,651,630,653,0.450596368849,-0.0154892087094,0.0696381432702,0.999999844029,4.61222122992e-05,-0.000556456705066,1.30624357475e-05,1793248217118388992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.379071782,783,813,651,630,653,0.449032550113,-0.0154737698097,0.0697167796987,0.999999902941,-2.06073704095e-05,-0.000440104877126,-1.41751932519e-06,1793248217168389632
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.202162245,745,715,682,660,633,879,783.202162245,813,651,630.202162245,653,0.448482430649,-0.0154692686854,0.0697550569076,0.999999929168,-5.12124560201e-07,-0.000376349118964,4.96598088056e-06,1793248217185056000
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.791099279,745,715,682,660,633,879,783.791099279,813,651,630.791099279,653,0.447907863857,-0.0154596620911,0.0697907655249,0.99999994582,5.18511550516e-05,-0.000324789049116,1.35368214103e-05,1793248217201722368
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,879,784,812.626003665,651,631,653,0.447262486314,-0.0154488898071,0.0697944685002,0.999999945468,6.97764416344e-05,-0.00032228683236,1.80495460305e-05,1793248217218388992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,879,784,812.04642672,651,631,653,0.446578185099,-0.0154374767597,0.0697805784158,0.99999993731,6.87716384288e-05,-0.000346751040685,2.0331580239e-05,1793248217235055360
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.894927476,744,715,682,660,633,879.105072524,784,812.105072524,651,630,653,0.445140083853,-0.0154256776741,0.0697288816475,0.999999910665,7.39950598392e-05,-0.000416139701108,4.73767885025e-06,1793248217268388608
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744.434022723,715,681.565977277,660,633,880,784,812.434022723,651,630.565977277,653,0.442138829482,-0.0153798808409,0.0698080328491,0.999999948701,0.000138454210627,-0.00028863177225,1.09328409588e-05,1793248217335054848
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.585884305,660,633,879.414115695,784,812.414115695,651,630,653,0.440525214179,-0.0153855755285,0.0698231731094,0.999999955992,0.000142538690365,-0.000259795012468,1.4305255414e-05,1793248217368388864
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.022840905,715,682,660,633,878.022840905,784,811.977159095,651,630,653,0.43056163832,-0.0153795596559,0.0698061768744,0.999999936534,0.000186391803462,-0.000302977713935,1.98774614281e-05,1793248217551721984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.549829971,744,715,681.450170029,660,633,878.549829971,784,811.450170029,651,629.450170029,653,0.42955614992,-0.0153726910633,0.0697377163177,0.999999897644,0.000186464603629,-0.000412031714889,1.31145634524e-05,1793248217568389120
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744,715,681.126201691,659.873798309,633.126201691,879,784.126201691,811.126201691,651,629.126201691,653,0.428574119053,-0.015368685714,0.0696943474858,0.999999867015,0.000184977463925,-0.000481327891657,8.81916212633e-06,1793248217585056000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744,715,681.717042681,659.282957319,633.717042681,879,784.717042681,811.717042681,651,629.717042681,653,0.427682043877,-0.0153755552725,0.0697498607784,0.999999906192,0.000179622391206,-0.000393883496659,1.43966616942e-05,1793248217601722368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.698091345,744.301908655,715,681.698091345,659,634,878.698091345,784.698091345,812,651,630.301908655,653,0.4267940768,-0.0153795974299,0.0698049807175,0.999999936067,0.000179343526837,-0.000308707076262,2.00428866739e-05,1793248217618388736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.118716682,744.881283318,715,681.118716682,659,634,878.118716682,784.118716682,812,651,630.881283318,653,0.425909885277,-0.0153810410934,0.0698597391462,0.999999957339,0.000183729899231,-0.000225615019391,2.57522727025e-05,1793248217635055360
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.541677381,715,681,659.458322619,633.541677381,878.916645238,784.458322619,812,651,630.541677381,652.541677381,0.424979035296,-0.0153797259073,0.0698540438064,0.999999954858,0.000184988068323,-0.000235477841824,2.47645838468e-05,1793248217651721984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,659.965349427,633,879.965349427,784.965349427,811.965349427,651,630,652.034650573,0.424034565228,-0.0153777177549,0.0698312559138,0.999999945517,0.000185642458129,-0.000272061562931,2.20398612945e-05,1793248217668388864
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,715,681,659.390728494,633,879.390728494,784.390728494,811.390728494,651,630,652.609271506,0.423065230248,-0.0153759904159,0.0697848913686,0.999999920011,0.00018945080533,-0.000351739202126,1.9141807703e-05,1793248217685055488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.183633922,744,715,681,659,633.183633922,879,784.183633922,811,651,630,653,0.422092974227,-0.0153731966278,0.069735230279,0.999999885501,0.000194049808718,-0.000437139402189,1.58428405821e-05,1793248217701722112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.757447155,744,715,681,659,633.757447155,879,784.757447155,811,651,630,653,0.421114511493,-0.0153681368833,0.0696785647918,0.999999836914,0.000200328774,-0.000534698727645,1.16920251568e-05,1793248217718388480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.344498135,715,681,659,634,878.655501865,784.655501865,811,651,630,653,0.420237523755,-0.0153705265755,0.0696949457556,0.999999854147,0.000193159922456,-0.000504244999166,1.15129124444e-05,1793248217735055360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.941241919,715,681,659,634,878.058758081,784.058758081,811,651,630,653,0.41943483728,-0.0153783708346,0.0697648122066,0.999999912163,0.00017614441707,-0.000380058574574,1.42419280455e-05,1793248217751722752
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,634,878.517620467,784,811,651,630,652.482379533,0.418649256149,-0.0153760839256,0.0698331458788,0.999999943512,0.000193116776631,-0.000274218103337,2.20416249554e-05,1793248217768389376
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.908237322,744.908237322,715,681,659,633.908237322,879,784,811,651,630,652,0.417854390015,-0.015372925459,0.0698860139977,0.999999958074,0.000212149556027,-0.000194980288412,2.8759727748e-05,1793248217785055488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.334158583,744.334158583,715,681,659,633.334158583,879,784,811,651,630,652,0.417000901152,-0.0153710019458,0.069858473159,0.999999944864,0.000222500858489,-0.000245037557367,2.68819276861e-05,1793248217801722368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.246727885,744,715,680.753272115,659,633.246727885,879,784,810.753272115,651,629.753272115,652,0.416153076368,-0.0153697755258,0.0698282921595,0.999999933194,0.000226417038349,-0.000285948804573,2.40895622346e-05,1793248217818388992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.837096045,744,715,680.162903955,659,633.837096045,879,784,810.162903955,651,629.162903955,652,0.415313140531,-0.0153695200108,0.0697944339711,0.999999925961,0.000221370439654,-0.000314121555141,2.00233989341e-05,1793248217835055360
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744,715,680.419609566,659,634,878.580390434,784.419609566,810,651,629.419609566,652,0.414471321219,-0.0153662001371,0.0697648268355,0.999999906805,0.00022082668089,-0.000370561145126,1.75971486951e-05,1793248217851721984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744,715,680.999129781,659,634,878.000870219,784.999129781,810,651,629.999129781,652,0.413628784056,-0.0153617124551,0.0697368397473,0.999999879411,0.000221998925755,-0.000437773056354,1.5795858931e-05,1793248217868388608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.426117634,744,715,681,658.426117634,634,878,784.426117634,810.573882366,651,629.426117634,652,0.412929676653,-0.0153598735087,0.0697562274357,0.99999989517,0.00022661303031,-0.000397527911516,1.67028472396e-05,1793248217885055488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680.851186286,658.148813714,634,878,784,811,651,629,652.148813714,0.412252296469,-0.015360083751,0.0697861714652,0.999999915516,0.000228903570226,-0.000340919065811,1.85624414221e-05,1793248217901722368
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.275721737,658.724278263,634,878,784,811,651,629,652.724278263,0.411636589923,-0.0153661576225,0.0698461764021,0.99999994624,0.000224517580772,-0.000237858584422,2.31414919775e-05,1793248217918388992
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.308097661,744.308097661,715,680,659,634,878,784,811,651,629.308097661,652.691902339,0.410987734297,-0.0153686798331,0.0698751805691,0.999999956367,0.00022447681709,-0.000190337728466,2.54488815991e-05,1793248217935055872
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.899602324,744.899602324,715,680,659,634,878,784,811,651,629.899602324,652.100397676,0.410308386164,-0.0153679350093,0.0698756683353,0.99999995478,0.000228433058713,-0.0001939056118,2.56666589794e-05,1793248217951722496
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.52003283,744.52003283,715,680,658.52003283,634,878,784,811,651,629.52003283,652.47996717,0.409635895848,-0.0153651318956,0.0698417352694,0.999999941345,0.000229343730799,-0.00025341126217,2.22495309801e-05,1793248217968388608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.057724375,744,715,680,658.057724375,634,878,784.057724375,811,651,629,653,0.408971175926,-0.0153619256749,0.069801987683,0.999999921625,0.000229891408675,-0.000321824946386,1.813537469e-05,1793248217985055232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.6325228,744,715,680,658.6325228,634,878,784.6325228,811,651,629,653,0.408363502168,-0.0153588777532,0.0697731879178,0.999999905242,0.000232764639161,-0.000367599103877,1.44338114805e-05,1793248218001722368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878,784.78796395,810.78796395,651,629,653,0.407791043877,-0.0153580470831,0.0697607595669,0.999999898377,0.000233265952237,-0.000385587343436,1.24892584149e-05,1793248218018389248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878,784.200093725,810.200093725,651,629,653,0.407281005114,-0.0153611464945,0.0697773495724,0.999999910784,0.000229563038871,-0.000354325003316,1.36590085444e-05,1793248218035055872
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.61672294,744,715,679.61672294,659,634,878,784,810,651,629,652.61672294,0.406776070289,-0.015360412246,0.0697944082532,0.999999918159,0.000232149257546,-0.000330996424693,1.518598438e-05,1793248218051722496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.035673824,744,715,679.035673824,659,634,878,784,810,651,629,652.035673824,0.406273769064,-0.0153576998182,0.0698117087733,0.999999922942,0.000237980685943,-0.000311761686775,1.68972898042e-05,1793248218068389120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.537181351,659,634,878,784.537181351,810,651,629,652,0.405803650153,-0.0153559863221,0.0698045649573,0.99999991705,0.000239444815845,-0.000329086335906,1.63514661077e-05,1793248218085055488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.110234864,744.110234864,715.110234864,679.889765136,659,634,878,784.889765136,810.110234864,651,629,652.110234864,0.4053506033,-0.0153549292172,0.0697985636676,0.999999912591,0.000239050255968,-0.000342673414878,1.57282734995e-05,1793248218101721856
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.686392244,744.686392244,715.686392244,679.313607756,659,634,878,784.313607756,810.686392244,651,629,652.686392244,0.404960816188,-0.0153563702624,0.0698041495568,0.9999999184,0.000232007123373,-0.000330355561209,1.54021003614e-05,1793248218118388480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.730174381,744.730174381,715.730174381,679.269825619,659,634,878,784.269825619,810.730174381,651,629,653,0.404596134051,-0.0153572605817,0.0698149932611,0.99999992466,0.000234574469491,-0.000308856874365,1.62014765718e-05,1793248218135055360
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.13805008,744.13805008,715.13805008,679.86194992,659,634,878,784.86194992,810.13805008,651,629,653,0.404261439084,-0.0153574930754,0.0698321172689,0.999999930729,0.000248621247032,-0.000276391955685,1.83452880327e-05,1793248218151722240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.55568385,784.55568385,810,651.44431615,629,652.55568385,0.40393128385,-0.0153565612218,0.0698431666811,0.999999937715,0.000243077102523,-0.00025524914077,1.82107779319e-05,1793248218168388864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,715.023474446,679.976525554,659,634,877.023474446,784,810,651.976525554,629,652,0.403603644869,-0.0153551425228,0.0698513961393,0.999999944187,0.00023254083882,-0.000239271219156,1.72998771279e-05,1793248218185055744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715.596980627,679.403019373,659,634,877.596980627,784,810,651.403019373,629,652,0.403302624834,-0.0153506108999,0.0698368242764,0.999999935225,0.000244592558327,-0.00026365770728,1.44272514996e-05,1793248218201722368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715.824850285,679,658.824850285,634,878,784,810.175149715,651,629,652.175149715,0.403014362245,-0.0153468589029,0.0698240172336,0.999999926712,0.000254346122892,-0.000285876521366,1.26025938288e-05,1793248218218388992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715.235658486,679,658.235658486,634,878,784,810.764341514,651,629,652.764341514,0.402756257436,-0.0153449498893,0.0698153821083,0.999999920562,0.000258667003135,-0.000302971097438,1.32552619954e-05,1793248218235055360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.347535703,744,715.347535703,679,658,634,878,784.347535703,810.652464297,651.347535703,629,652.652464297,0.402518381084,-0.0153428327363,0.0698077459792,0.999999915561,0.00026206509561,-0.000316243507835,1.38173342623e-05,1793248218251722240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.926732057,744,715.926732057,679,658,634,878,784.926732057,810.073267943,651.926732057,629,652.073267943,0.402293988608,-0.0153405768413,0.069800775761,0.999999911371,0.000264848075857,-0.000326968137431,1.43190171012e-05,1793248218268388864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.495479331,744,715.495479331,679.504520669,658,634,878,784.495479331,810.504520669,651.495479331,629,652,0.402100316804,-0.01534046849,0.0697983910413,0.999999909615,0.000265510564491,-0.000331684167441,1.61349884732e-05,1793248218285055488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.081740141,744,715,680,658.081740141,634,878.081740141,784.081740141,811,651,628.918259859,652,0.401916891646,-0.0153414184659,0.0697968692944,0.999999908522,0.000265401148613,-0.000334949066976,1.81079459326e-05,1793248218301722112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.656755552,744,715,680,658.656755552,634,878.656755552,784.656755552,811,651,628.343244448,652,0.401768453745,-0.0153468782903,0.0697965478822,0.999999909338,0.000262486710046,-0.00033470798845,1.98796623009e-05,1793248218318389248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.762569388,744,715.237430612,679.762569388,658.762569388,634,878.762569388,784.762569388,810.762569388,651,628.237430612,652,0.401632769089,-0.015351095671,0.069795819052,0.999999909756,0.000260732878544,-0.000334756083377,2.10916590067e-05,1793248218335056128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.173512626,744,715.826487374,679.173512626,658.173512626,634,878.173512626,784.173512626,810.173512626,651,628.826487374,652,0.401515971538,-0.0153534730369,0.0697944868504,0.999999909597,0.000260697864307,-0.000335232433754,2.14747310277e-05,1793248218351722752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,715.591600597,679.408399403,658,634,878,784.408399403,810,651,628.591600597,652,0.40141558747,-0.015352683885,0.069794051762,0.999999903231,0.000285774083903,-0.000333876563142,1.99403579421e-05,1793248218368389376
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,715.012671904,679.987328096,658,634,878,784.987328096,810,651,628.012671904,652,0.40132205694,-0.015350572537,0.0697939912681,0.999999893186,0.00032133562921,-0.000331755638772,1.7605345669e-05,1793248218385055744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.562745636,744,715,679.437254364,658.562745636,634,878,784.437254364,810,651,628.562745636,652.562745636,0.401248402337,-0.0153539049849,0.0697946853863,0.999999909885,0.000267880653971,-0.000329299593402,5.62502815001e-06,1793248218401722112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.859065381,744,715,679,658.859065381,634,878,784,810,651,629,652.859065381,0.40118009281,-0.0153565208757,0.0697954910844,0.999999920978,0.000225398834679,-0.000327458248991,-3.29825126969e-06,1793248218418388736
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.271851737,744,715,679,658.271851737,634,878,784,810,651,629,652.271851737,0.401127300385,-0.0153564819777,0.0697965966336,0.99999992126,0.000223972214947,-0.000327587147782,-1.85771824394e-06,1793248218435055360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.311209755,744,715,679.311209755,658,634,877.688790245,784.311209755,810,651,629,652,0.401085425193,-0.0153553073368,0.0697974999308,0.99999992134,0.000225670139135,-0.000326178743155,-6.06089245301e-07,1793248218451722240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.890692029,744,715,679.890692029,658,634,877.109307971,784.890692029,810,651,629,652,0.401052960991,-0.0153531536499,0.0697982288806,0.999999921227,0.000230061517506,-0.000323445135026,4.82698749165e-07,1793248218468389120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658,634,877.467942711,785,810,651,629,652,0.40102601449,-0.0153533541357,0.0697983725621,0.999999921416,0.000231504116814,-0.00032182690918,1.28944461157e-06,1793248218485056000
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19a13184f68f7714a481a9ec91d17f83fb7290e7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a860f503e8af1d51ada20515902ed1305cc0fe9a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152b5f827bd183521df06930b738284d963d51bcf05437fb0441506aed321c0e
+size 25771854
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e721c38dd5d617f49551d244f96c40ff7a82d21
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+4,0.066666667,BASELINE,765,744,716,679,658.37416375,634,877.37416375,785,810.37416375,651,629,652.62583625,0.40103572031,-0.0154894985603,0.07986674081,0.999999980218,0.000130515372553,-0.00014412214611,4.19444895465e-05,1793248220263262208
+5,0.083333333,BASELINE,765,744,716,679,658.947484368,634,877.947484368,785,810.947484368,651,629,652.052515632,0.401036957499,-0.0154885897929,0.0798675264553,0.999999980255,0.000131317811317,-0.000143190011393,4.17352099211e-05,1793248220279929344
+6,0.100000000,BASELINE,764.464679188,744,715.464679188,679,659,634,878,785,810.464679188,651,629,652.535320812,0.401036308786,-0.0154881223244,0.0798674899154,0.999999979877,0.000133108361788,-0.000144089873001,4.20183041231e-05,1793248220296595712
+7,0.116666667,BASELINE,764.12249935,744,715.12249935,679,658.87750065,634,877.87750065,784.87750065,809.87750065,651.12249935,629,653,0.401035519923,-0.0154882492794,0.0798672870225,0.999999979594,0.000133969275866,-0.000145173362239,4.22983452275e-05,1793248220313262336
+8,0.133333333,BASELINE,764.701766911,744,715.701766911,679,658.298233089,634,877.298233089,784.298233089,809.298233089,651.701766911,629,653,0.401034917556,-0.0154904267616,0.0798667729753,0.999999979827,0.000130992298097,-0.000146252739986,4.23818747952e-05,1793248220329928960
+9,0.150000000,BASELINE,765,744,715.720790054,679,658.279209946,634,877,784.279209946,809.279209946,651.720790054,629,652.720790054,0.401034481239,-0.0154906859454,0.0798665851968,0.999999979822,0.000130620781783,-0.000146629190577,4.23496270686e-05,1793248220346595840
+10,0.166666667,BASELINE,765,744,715.145283239,679,658.854716761,634,877,784.854716761,809.854716761,651.145283239,629,652.145283239,0.401034221133,-0.0154889094357,0.0798667436539,0.999999979567,0.000133014174592,-0.000146259696626,4.21945167729e-05,1793248220363262720
+11,0.183333333,BASELINE,765,744,715.42991761,679.42991761,658.57008239,634,877,785,810,651,629,652.42991761,0.401033724458,-0.0154884532981,0.079866312779,0.999999979319,0.000134402386821,-0.000146700471136,4.21569112656e-05,1793248220379929344
+12,0.200000000,BASELINE,765,744,715.994842332,679.994842332,658.005157668,634,877.005157668,785,810,651,629,653,0.401033167342,-0.0154884490912,0.0798656975519,0.999999979079,0.000135433346091,-0.000147388090724,4.21601752837e-05,1793248220396595968
+13,0.216666667,BASELINE,765,744,715.403405957,679.403405957,658.596594043,634,877.596594043,785,810,651,629,653,0.4010348208,-0.0154891327124,0.0798667488339,0.999999979551,0.000134439685403,-0.000145031991972,4.22986000279e-05,1793248220413262336
+14,0.233333333,BASELINE,765,744,715.184132688,679,658.815867312,634,878,785,810,651,629,653,0.401036183444,-0.015490223151,0.0798676311008,0.999999980053,0.000132621210624,-0.000143209576607,4.23878934327e-05,1793248220429928704
+15,0.250000000,BASELINE,765,744,715.763309136,679,658.236690864,634,878,785,810,651,629,653,0.40103692217,-0.0154921863879,0.0798681507581,0.99999998062,0.00012903315491,-0.000142532141053,4.23717790226e-05,1793248220446595584
+16,0.266666667,BASELINE,765,744,715.65956814,679.34043186,658.34043186,634,877.65956814,785,810,651.34043186,629,653,0.401036641412,-0.0154915281292,0.079867919752,0.999999980442,0.000129718686452,-0.000143216947684,4.2163738622e-05,1793248220463262208
+17,0.283333333,BASELINE,765,744,715.083864774,679.916135226,658.916135226,634,877.083864774,785,810,651.916135226,629,653,0.401035656093,-0.0154890581621,0.0798671699646,0.999999979744,0.000133357682416,-0.00014484319612,4.18230587063e-05,1793248220479928576
+18,0.300000000,BASELINE,765,744.491161759,715,680,658.508838241,634,877.491161759,785,810,651.508838241,629,652.508838241,0.401034604884,-0.0154879691741,0.0798667437756,0.999999979435,0.000134727772651,-0.00014576944365,4.15920010965e-05,1793248220496595456
+19,0.316666667,BASELINE,765,745,715,679.932098075,658,634,877.932098075,785,810,651,629,652.067901925,0.401033854754,-0.0154873343633,0.0798665319952,0.999999979258,0.000135513509059,-0.000146290753796,4.14709452798e-05,1793248220513262336
+20,0.333333333,BASELINE,765,745,715,679.341272144,658,634,877.341272144,785,810,651,629,652.658727856,0.401035509791,-0.0154883838172,0.0798675464782,0.999999979577,0.000134778447172,-0.000144612778248,4.20530812973e-05,1793248220529929216
+21,0.350000000,BASELINE,765,744.756732048,715.243267952,679,658,634,877.243267952,784.756732048,810,651,628.756732048,652.756732048,0.401036459266,-0.0154886295544,0.079868017217,0.999999979789,0.000133960465797,-0.000143871142994,4.21511623142e-05,1793248220546595840
+22,0.366666667,BASELINE,765,744.180788064,715.819211936,679,658,634,877.819211936,784.180788064,810,651,628.180788064,652.180788064,0.401036443864,-0.0154877761855,0.0798677443695,0.99999997986,0.000133029089661,-0.000144409980583,4.15872839292e-05,1793248220563262464
+23,0.383333333,BASELINE,765,744.395430656,716,679,658,634,877.604569344,784,810,651,628.395430656,652.395430656,0.401035909098,-0.0154873388767,0.0798677976416,0.999999979644,0.000134344543558,-0.000144717293278,4.1487775859e-05,1793248220579928576
+24,0.400000000,BASELINE,765,744.971775121,716,679,658,634,877.028224879,784,810,651,628.971775121,652.971775121,0.401035136719,-0.0154870919199,0.0798680001171,0.999999979292,0.000136687946455,-0.000144918680874,4.16007221893e-05,1793248220596595200
+25,0.416666667,BASELINE,765,745,716,679.546675762,658.546675762,634,877.546675762,784,810,651,629,652.453324238,0.401034246264,-0.0154871526714,0.0798670139336,0.999999979388,0.000134951570914,-0.000145929311144,4.14334536737e-05,1793248220613261824
+26,0.433333333,BASELINE,765,744.874462682,716,680,658.874462682,634,877.874462682,784,810,651,629,652.125537318,0.401033864041,-0.0154875451864,0.0798664284094,0.99999997953,0.000133409006888,-0.000146386787964,4.13923192338e-05,1793248220629928448
+27,0.450000000,BASELINE,765,744.280545383,716,680,658.280545383,634,877.280545383,784,810,651,629,652.719454617,0.401035400718,-0.0154891163933,0.0798675661163,0.999999979771,0.000133373377932,-0.000144624973328,4.18756272996e-05,1793248220646595328
+28,0.466666667,BASELINE,765,744,716,679.696918698,658,634,877.303081302,784.303081302,810,651,629,653,0.401035348048,-0.0154891483954,0.0798676951545,0.999999979791,0.000133275863318,-0.000144555041954,4.19348568323e-05,1793248220663262208
+29,0.483333333,BASELINE,765,744,716,679.122504694,658,634,877.877495306,784.877495306,810,651,629,653,0.401033872518,-0.0154878024284,0.0798669211848,0.999999979615,0.000133122945743,-0.000145999764529,4.16144311936e-05,1793248220679929600
+30,0.500000000,BASELINE,765,744,715.545710491,679,658,634,878,785,810,651,628.545710491,652.545710491,0.40103397752,-0.0154864432851,0.0798666971717,0.999999979298,0.000135273993974,-0.000146203527538,4.15988407868e-05,1793248220696595968
+31,0.516666667,BASELINE,765,744.032414664,715.032414664,679,658,634,877.967585336,785,810.032414664,651,628.032414664,652.032414664,0.401034505192,-0.0154852713237,0.0798666827152,0.999999978983,0.000137763941927,-0.000146007687233,4.16646178597e-05,1793248220713262080
+32,0.533333333,BASELINE,765,744.622333772,715.622333772,679,658,634,877.377666228,785,810.622333772,651,628.622333772,652.622333772,0.401034933372,-0.0154873801621,0.0798677083436,0.999999979499,0.000135340696846,-0.000144724845126,4.17085862827e-05,1793248220729928704
+33,0.550000000,BASELINE,764.792016738,745,716,679.207983262,658.207983262,634,877.207983262,785,810.792016738,651,629,653,0.401034685329,-0.0154886442917,0.0798679545944,0.999999979627,0.000134394321177,-0.000144737421535,4.16471274759e-05,1793248220746595072
+34,0.566666667,BASELINE,764.213964335,745,716,679.786035665,658.786035665,634,877.786035665,785,810.213964335,651,629,653,0.401033234067,-0.0154884054128,0.0798668140815,0.999999979072,0.000136075771628,-0.000147054964414,4.1398079702e-05,1793248220763261952
+35,0.583333333,BASELINE,764.360313337,744.639686663,716,679.639686663,658.639686663,634,878,785,810,651,629,653,0.401032972937,-0.0154881893304,0.0798665141018,0.999999979188,0.000135043133244,-0.000147269429652,4.1213435113e-05,1793248220779928832
+36,0.600000000,BASELINE,764.932372761,744.067627239,716,679.067627239,658.067627239,634,878,785,810,651,629,653,0.401033411215,-0.0154879866448,0.0798667080797,0.999999979696,0.0001324155008,-0.000146247975106,4.10666384535e-05,1793248220796595712
+37,0.616666667,BASELINE,765,744,715.478583485,679.521416515,658,634,878,784.478583485,810,651,629,653,0.401034149369,-0.0154875661625,0.079867093053,0.999999979346,0.000135403424612,-0.000145723158391,4.16925622472e-05,1793248220813262080
+38,0.633333333,BASELINE,765,744,715,679.889554839,658.110445161,634,877.889554839,784.110445161,810,651,629,652.889554839,0.401034504021,-0.0154872874572,0.0798672908531,0.999999978965,0.000137993417964,-0.000145744236186,4.22618538126e-05,1793248220829928704
+39,0.650000000,BASELINE,765,744,715,679.310256377,658.689743623,634,877.310256377,784.689743623,810,651,629,652.310256377,0.401033059986,-0.0154877345667,0.0798665853796,0.999999978982,0.000135698184305,-0.000147800053234,4.21509587952e-05,1793248220846595584
+40,0.666666667,BASELINE,765.26740112,744,715.26740112,679.26740112,658.73259888,634,877.26740112,785,810,651,629,652.26740112,0.40103307907,-0.0154883208854,0.079866587653,0.999999979187,0.000134250527348,-0.000147762361592,4.20529688603e-05,1793248220863262464
+41,0.683333333,BASELINE,765.843166239,744,715.843166239,679.843166239,658.156833761,634,877.843166239,785,810,651,629,652.843166239,0.401034785407,-0.0154890677386,0.0798674060923,0.999999979613,0.000133780286561,-0.00014531045887,4.19698609301e-05,1793248220879929344
+42,0.700000000,BASELINE,766,744,716,679.583830463,658.416169537,634,878.416169537,785,810,651.416169537,629,653,0.401034773839,-0.0154887463311,0.0798678223484,0.999999979762,0.000133491956777,-0.000144658989738,4.1600129266e-05,1793248220896595712
+43,0.716666667,BASELINE,766,744,716,679.011861111,658.988138889,634,878.988138889,785,810,651.988138889,629,653,0.401034119145,-0.015488025003,0.0798680880408,0.999999979807,0.000133271728339,-0.000144681542176,4.11230953605e-05,1793248220913262080
+44,0.733333333,BASELINE,765.418262937,744.581737063,715.418262937,679.581737063,659,634,877.836525875,784.418262937,810,651.418262937,629,653,0.401034579661,-0.0154884057626,0.0798679228814,0.999999979452,0.000135248186113,-0.000145213005278,4.14319687563e-05,1793248220929928960
+45,0.750000000,BASELINE,765,744.828698388,715.171301612,679.828698388,658.828698388,634.171301612,877,784,810,651,629,652.828698388,0.401034693436,-0.0154886157148,0.0798679523303,0.999999979248,0.000136163775134,-0.000145692688117,4.16708972854e-05,1793248220946595840
+46,0.766666667,BASELINE,765,744.249820849,715.750179151,679.249820849,658.249820849,634.750179151,877,784,810,651,629,652.249820849,0.401033926026,-0.015488363738,0.0798684665166,0.999999979431,0.000134444571364,-0.000146023529283,4.17038088923e-05,1793248220963262464
+47,0.783333333,BASELINE,765,744,716,679,658,634.673994798,877,784.326005202,810,651,629,652,0.401033641599,-0.0154880838027,0.0798684790508,0.999999979461,0.000134228686419,-0.000146022789152,4.16849518594e-05,1793248220979928832
+48,0.800000000,BASELINE,765,744,716,679,658,634.100485385,877,784.899514615,810,651,629,652,0.401033723853,-0.015487782641,0.079868110729,0.999999979376,0.000135154125835,-0.000145770311457,4.162679191e-05,1793248220996595456
+49,0.816666667,BASELINE,765,744,716,679,658.485442047,634,877,784.514557953,810,651,629,652.485442047,0.40103473757,-0.0154869009294,0.0798686880783,0.999999979344,0.000136944249992,-0.000144278171858,4.17344960267e-05,1793248221013262336
+50,0.833333333,BASELINE,765.072893737,744,715.927106263,679.072893737,658.927106263,634,877.072893737,784.072893737,810,651,629,653,0.401035528825,-0.0154862100605,0.0798692110809,0.999999979294,0.000138488823816,-0.000143118842249,4.18356489991e-05,1793248221029928960
+51,0.850000000,BASELINE,765.65260222,744,715.34739778,679.65260222,658.34739778,634,877.65260222,784.65260222,810,651,629,653,0.401033397578,-0.0154877035486,0.079867959473,0.999999979068,0.000137049004882,-0.000146104442468,4.16462730941e-05,1793248221046595584
+52,0.866666667,BASELINE,766,744.231555087,715.231555087,680,658.231555087,634,878,785,810,651.231555087,629,653,0.401032362817,-0.0154881461293,0.0798671353491,0.999999978896,0.000136687982171,-0.000147637264713,4.15569094012e-05,1793248221063262208
+53,0.883333333,BASELINE,766,744.809377969,715.809377969,680,658.809377969,634,878,785,810,651.809377969,629,653,0.401032967741,-0.0154870171816,0.0798669504855,0.999999978816,0.000137940192901,-0.000146997600604,4.16171041195e-05,1793248221079929088
+54,0.900000000,BASELINE,765.613616719,744.613616719,715.613616719,679.613616719,658.613616719,634,877.613616719,784.613616719,810,651.613616719,629,652.613616719,0.401032601151,-0.0154859992065,0.0798667898129,0.999999978681,0.0001383246994,-0.000147608101409,4.14301770484e-05,1793248221096595968
+55,0.916666667,BASELINE,765.03701392,744.03701392,715.03701392,679.03701392,658.03701392,634,877.03701392,784.03701392,810,651.03701392,629,652.03701392,0.401031756277,-0.0154850358641,0.0798666410497,0.999999978518,0.000138282028267,-0.000148834068221,4.11215899811e-05,1793248221113262592
+56,0.933333333,BASELINE,765,744.549400313,715,679,658.549400313,634,877.549400313,784.549400313,810.549400313,651,629,652,0.401031699535,-0.015486031344,0.0798666649661,0.999999978952,0.000135990426056,-0.000148020746704,4.11455664844e-05,1793248221129928960
+57,0.950000000,BASELINE,765,744.865284357,715.134715643,679,658.865284357,634,877.865284357,785,810.865284357,651,629,652.134715643,0.401031723031,-0.0154870926612,0.0798667825064,0.999999979317,0.000133886055515,-0.000147461072283,4.11902238212e-05,1793248221146595328
+58,0.966666667,BASELINE,765,744.285819007,715.714180993,679,658.285819007,634,877.285819007,785,810.285819007,651,629,652.714180993,0.40103183294,-0.0154879277297,0.0798671700305,0.999999979336,0.000132909113994,-0.000148200613609,4.12278429988e-05,1793248221163261952
+59,0.983333333,BASELINE,765,744.291925528,716,679,658,634,877,785,810,651,629,653,0.401032255982,-0.0154876954547,0.0798675382992,0.999999979248,0.000133617164938,-0.000148176343855,4.11586039974e-05,1793248221179929856
+60,1.000000000,BASELINE,765,744.867995185,716,679,658,634,877,785,810,651,629,653,0.401032983811,-0.0154864242866,0.0798678878256,0.999999979052,0.000135965294039,-0.000147408622819,4.09853551711e-05,1793248221196599040
+61,1.016666667,BASELINE,765,745,715.556524427,679,658,634,877.443475573,785,810,651,629,652.556524427,0.401031926983,-0.0154859853845,0.079866864466,0.99999997864,0.000137618040529,-0.000148662741593,4.10031970246e-05,1793248221213264384
+62,1.033333333,BASELINE,764.980743203,744.980743203,715,679,658.019256797,634,878,785,810,651,629,652.019256797,0.401030420645,-0.0154858516554,0.0798655165168,0.999999978196,0.000138905482016,-0.000150415512779,4.10820247463e-05,1793248221229928704
+63,1.050000000,BASELINE,764.390855629,744.390855629,715,679,658.609144371,634,878,785,810,651,629,652.609144371,0.401031314719,-0.015487429801,0.0798666435168,0.999999978848,0.000135493409671,-0.000149134810495,4.12847572391e-05,1793248221246595840
+64,1.066666667,BASELINE,764.195350876,744,715.195350876,679.195350876,659,634,878.195350876,785,810,651,628.804649124,653,0.4010322791,-0.0154887422163,0.0798673733801,0.999999979238,0.000133767184212,-0.000148006480159,4.15304571494e-05,1793248221263262464
+65,1.083333333,BASELINE,764.774328526,744,715.774328526,679.774328526,659,634,878.774328526,785,810,651,628.225671474,653,0.401033381548,-0.015489532795,0.0798673233528,0.999999979133,0.000135351596792,-0.00014717737538,4.18605357415e-05,1793248221279929088
+66,1.100000000,BASELINE,765,744,715.649250683,679.649250683,659,634,878.298501367,784.649250683,810,651,628.350749317,653,0.401033202874,-0.0154893010402,0.0798673638903,0.999999979037,0.000136012286334,-0.000147298904553,4.15889289322e-05,1793248221296595456
+67,1.116666667,BASELINE,765,744,715.074463088,679.074463088,659,634,877.148926176,784.074463088,810,651,628.925536912,653,0.401032205892,-0.0154884162782,0.0798674622752,0.999999978947,0.000136082955223,-0.000148027643481,4.09330004437e-05,1793248221313261824
+68,1.133333333,BASELINE,765,744,715,679.50173408,659,634,877.50173408,784,810,651,629,652.49826592,0.401031956122,-0.0154878509535,0.0798671640232,0.999999979088,0.000134677436862,-0.000148362749537,4.09122119811e-05,1793248221329928448
+69,1.150000000,BASELINE,765,744,715,680,659,634,877.919910464,784.080089536,810,651,629,652.080089536,0.401031966856,-0.0154873186942,0.0798669556444,0.999999979214,0.000133633623072,-0.000148431191066,4.10140334786e-05,1793248221346595072
+70,1.166666667,BASELINE,765,744,715,680,659,634,877.329130656,784.670869344,810,651,629,652.670869344,0.401032929573,-0.015486694127,0.0798676967537,0.999999979029,0.000136297133627,-0.000147172810065,4.1294921726e-05,1793248221363261696
+71,1.183333333,BASELINE,765,744,715.256397919,679.743602081,658.743602081,634,877.256397919,784.743602081,810,651,629,653,0.401033142662,-0.0154862986038,0.0798678235897,0.999999978837,0.000138000063213,-0.000146824974791,4.15232601251e-05,1793248221379928576
+72,1.200000000,BASELINE,765,744,715.835321002,679.164678998,658.164678998,634,877.835321002,784.164678998,810,651,629,653,0.401032412788,-0.0154861911972,0.0798671777261,0.999999978645,0.000138494670034,-0.000147622522709,4.1685495653e-05,1793248221396595456
+73,1.216666667,BASELINE,765,744.409603172,715.590396828,679,658,634,877.590396828,784,810,651,629,652.590396828,0.401032409243,-0.0154873831307,0.0798671211841,0.999999978961,0.000136028244219,-0.000147822981122,4.15060009675e-05,1793248221413262336
+74,1.233333333,BASELINE,765,744.982040355,715.017959645,679,658,634,877.017959645,784,810,651,629,652.017959645,0.401032694444,-0.015489091605,0.0798672989215,0.999999979468,0.000132384686815,-0.000147786071991,4.11906545377e-05,1793248221429928960
+75,1.250000000,BASELINE,765,744.442192878,715,679,658.557807122,634,877.557807122,784.557807122,810,651,629,652,0.401033160884,-0.0154877888117,0.0798674849315,0.999999979302,0.000134681305388,-0.000146856289967,4.11030598437e-05,1793248221446595328
+76,1.266666667,BASELINE,765,744,715.137322373,679.137322373,659,634,877.862677627,785,810,651,629,652.137322373,0.401033454832,-0.0154866932026,0.079867599569,0.999999979132,0.000136582635951,-0.000146284304043,4.10062386981e-05,1793248221463261696
+77,1.283333333,BASELINE,765,744,715.72888011,679.72888011,659,634,877.27111989,785,810,651,629,652.72888011,0.401033158791,-0.0154866055467,0.0798674772344,0.999999979041,0.000136539998427,-0.0001469915,4.08544968517e-05,1793248221479928320
+78,1.300000000,BASELINE,765,744.313259614,716,679.686740386,659,634,877.313259614,785,810,651,629,653,0.40103342102,-0.0154869395522,0.0798674613569,0.999999978997,0.000136514193735,-0.000147268014443,4.10065725782e-05,1793248221496594944
+79,1.316666667,BASELINE,765,744.891565644,716,679.108434356,659,634,877.891565644,785,810,651,629,653,0.401034155598,-0.015487630322,0.0798675355518,0.999999978995,0.000136502631168,-0.000147180132721,4.14157058931e-05,1793248221513261568
+80,1.333333333,BASELINE,765,745,716,679.465594954,658.534405046,634,878,785,810,651,628.534405046,652.534405046,0.401034217399,-0.0154877182502,0.0798677524243,0.999999979096,0.000136143025808,-0.000146765496443,4.16246895061e-05,1793248221529928448
+81,1.350000000,BASELINE,765,744.960255547,715.960255547,679.960255547,658,634,878,784.960255547,810,651,628.039744453,652.039744453,0.401034083317,-0.015487670615,0.0798679624834,0.999999979214,0.000135674198391,-0.00014635990483,4.17544548008e-05,1793248221546595840
+82,1.366666667,BASELINE,765,744.370793349,715.370793349,679.370793349,658,634,878,784.370793349,810,651,628.629206651,652.629206651,0.401033387357,-0.0154876721764,0.0798676228884,0.999999979233,0.000134805609467,-0.000147122384968,4.14273871957e-05,1793248221563262464
+83,1.383333333,BASELINE,765,744,715,679.215994826,658,634,878,784,810,651,629,653,0.401032300247,-0.0154879575342,0.0798669731497,0.999999979151,0.000134203010417,-0.000148292880001,4.12021645832e-05,1793248221579929088
+84,1.400000000,BASELINE,765,744,715,679.798248794,658,634,878,784,810,651,629,653,0.401030549873,-0.0154887241214,0.0798657975049,0.999999978895,0.000134051446213,-0.000150155239812,4.11496389238e-05,1793248221596595456
+85,1.416666667,BASELINE,765,744,715,679.62433693,658,634,878,784.37566307,810,651.37566307,629,653,0.401030763671,-0.0154880112872,0.0798660872944,0.999999978727,0.000135650470138,-0.000149789657644,4.13159875372e-05,1793248221613261824
+86,1.433333333,BASELINE,765,744,715,679.049488804,658,634,878,784.950511196,810,651.950511196,629,653,0.401032018918,-0.0154865140302,0.0798671540904,0.9999999786,0.000138177695492,-0.000148242770138,4.15983882434e-05,1793248221629928448
+87,1.450000000,BASELINE,765,744,715.522878884,679.522878884,658,634,878,785,810,651.477121116,629,652.477121116,0.401033628353,-0.0154865955875,0.0798678604176,0.9999999788,0.000138161263889,-0.000146894841537,4.16400781507e-05,1793248221646595072
+88,1.466666667,BASELINE,765,744,715.901104073,679.901104073,658.098895927,634,877.901104073,785,810,651,629,652,0.401034760487,-0.0154868442075,0.0798683474981,0.999999978943,0.000138169313095,-0.000145905625419,4.16488261982e-05,1793248221663261696
+89,1.483333333,BASELINE,765,744,715.305587938,679.305587938,658.694412062,634,877.305587938,785,810,651,629,652,0.401033328243,-0.0154871849176,0.079867904115,0.999999978655,0.000139503543913,-0.00014662362076,4.16060174062e-05,1793248221679929088
+90,1.500000000,BASELINE,765,744,715.280369392,679,659,634,877.280369392,785,810,651,629,652,0.401033135317,-0.0154876836731,0.0798679548464,0.999999978646,0.000139615368944,-0.000146564212455,4.16526082506e-05,1793248221696595968
+91,1.516666667,BASELINE,765,744,715.856251584,679,659,634,877.856251584,785,810,651,629,652,0.401034248646,-0.0154883490105,0.0798685263808,0.999999978932,0.000138438763099,-0.000145685411061,4.1793427419e-05,1793248221713262592
+92,1.533333333,BASELINE,765,744,715.569011075,679,659,634,877.569011075,785,810.430988925,651,629,652.430988925,0.401033109754,-0.0154887054531,0.0798675335536,0.999999978954,0.000136586359694,-0.000147285085348,4.17474712533e-05,1793248221729929216
+93,1.550000000,BASELINE,765,744.005469899,715.005469899,679,659.005469899,634,877,784.994530101,810.994530101,651,628.994530101,653,0.401031256004,-0.0154889409876,0.0798660491279,0.999999978882,0.000134546333741,-0.00014966395808,4.16404829528e-05,1793248221746595328
+94,1.566666667,BASELINE,765,744.593195011,715.593195011,679,659.593195011,634,877,784.406804989,810.406804989,651,628.406804989,653,0.401033057596,-0.0154872439752,0.0798676285978,0.999999978984,0.000136464044658,-0.000147224861087,4.16504062945e-05,1793248221763261952
+95,1.583333333,BASELINE,765,745,715.820763036,679,659.641526072,634,877.179236964,784,810,651.179236964,628.179236964,653,0.401033792348,-0.0154862971679,0.079868446862,0.99999997899,0.000137467741766,-0.000146244389212,4.16452152405e-05,1793248221779928832
+96,1.600000000,BASELINE,765,745,715.23850561,679,658.47701122,634,877.76149439,784,810,651.76149439,628.76149439,653,0.401032128271,-0.0154870372224,0.0798675535296,0.999999978797,0.000136416247837,-0.000148543685487,4.16060389508e-05,1793248221796595456
+97,1.616666667,BASELINE,765,745,715.339051482,679.339051482,658,634,877.660948518,784.339051482,810,651.660948518,629,653,0.401032063054,-0.0154873735674,0.0798674756611,0.999999978842,0.000136038337445,-0.000148595882347,4.15805223118e-05,1793248221813261824
+98,1.633333333,BASELINE,765,745,715.913347303,679.913347303,658,634,877.086652697,784.913347303,810,651.086652697,629,653,0.401033107174,-0.0154874298063,0.0798679635865,0.999999979053,0.000136127780075,-0.000147088972436,4.15644831607e-05,1793248221829928704
+99,1.650000000,BASELINE,765.488567649,744.511432351,715.511432351,679.511432351,658.488567649,634,877.488567649,784.511432351,810,651,629,653,0.401034082666,-0.0154881686065,0.079868634321,0.999999979502,0.000134240261002,-0.000145804067279,4.14277059647e-05,1793248221846595840
+100,1.666666667,BASELINE,765.9341451,744.0658549,715.0658549,679,659,634,878,784.0658549,810,651,629,653,0.401034710441,-0.0154888271663,0.0798690516547,0.999999979871,0.000132404627493,-0.000144996857502,4.12781791581e-05,1793248221863262464
+101,1.683333333,BASELINE,765.341642402,744.658357598,715.658357598,679,659,634,878,784.658357598,810,651,629,653,0.401032655026,-0.0154878740763,0.0798671827364,0.999999979294,0.00013379330719,-0.000147694340461,4.11982684257e-05,1793248221879928832
+102,1.700000000,BASELINE,765,744.756485194,716,679,658.756485194,634,878,785,810,651,629,653,0.401031573442,-0.0154873452635,0.0798663108244,0.999999978917,0.000135105806298,-0.000149063970513,4.1134439412e-05,1793248221896595456
+103,1.716666667,BASELINE,765,744.181331734,716,679,658.181331734,634,878,785,810,651,629,653,0.401031818102,-0.0154873942665,0.0798667967187,0.99999997882,0.000136314556249,-0.000148625220143,4.10925118234e-05,1793248221913262080
+104,1.733333333,BASELINE,765,744.393638361,716,679.393638361,658.393638361,634,878,784.606361639,810,651,629,653,0.401032030576,-0.015487713588,0.0798671828408,0.999999978791,0.000136952062964,-0.000148199259499,4.12283026507e-05,1793248221929928704
+105,1.750000000,BASELINE,765,744.968524076,716,679.968524076,658.968524076,634,878,784.031475924,810,651,629,653,0.40103222823,-0.0154881573753,0.0798675230237,0.999999978792,0.000137326545812,-0.000147779187734,4.14459223711e-05,1793248221946595072
+106,1.766666667,BASELINE,765,745,716,680,659,634,878,784.540439592,810,651,629,653,0.401032578782,-0.015487242779,0.0798674406705,0.999999978835,0.000137120546597,-0.000147726852997,4.12942964875e-05,1793248221963261952
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,878,785,810,651,629,653,0.401035638796,-0.0154893046992,0.0798704792904,0.999999979837,0.00013447971215,-0.000143209942898,4.16281528121e-05,1793248222004752128
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,878,785,810,651,629,653,0.401034873402,-0.0154887481433,0.0798694498123,0.999999979647,0.000134215028515,-0.000144785942452,4.15935440655e-05,1793248222021418752
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,877.840343319,785,810.159656681,651,629,653,0.401034347701,-0.0154880954691,0.0798689537005,0.999999979537,0.000134110423362,-0.000145668536781,4.14828665349e-05,1793248222038085632
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,877.266107319,785,810.733892681,651,629,653,0.401034444408,-0.015487193205,0.0798698425769,0.999999979641,0.000134421492759,-0.000144750571253,4.11746617496e-05,1793248222054752000
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.684129218,679,659,634,877,785,810.684129218,651,629,653,0.401033403522,-0.0154873857028,0.0798690830916,0.999999979391,0.000134738658655,-0.000146227148174,4.10078052082e-05,1793248222071418368
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.095464887,679,659,634,877,785,810.095464887,651,629,653,0.401031380184,-0.0154885236633,0.0798669000418,0.999999978824,0.000135061089612,-0.000149771709181,4.09630204031e-05,1793248222088084480
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.486998889,679,658.513001111,634,877.486998889,785,810,651,629,653,0.401030294252,-0.0154889692553,0.0798661624969,0.999999978651,0.00013500994513,-0.000150888578485,4.12676593271e-05,1793248222104751360
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.932602016,679.067397984,658,634,878,785,810,651,629,653,0.401029608521,-0.0154890745409,0.079865903938,0.999999978535,0.00013518235954,-0.000151409672622,4.1592489653e-05,1793248222121418240
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.358699647,679.641300353,658,634,878,785,810,651,629,653,0.401030566766,-0.0154876295316,0.0798671423209,0.999999978274,0.000137578267456,-0.000150984873559,4.15607730122e-05,1793248222138085120
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.219651648,680,658.219651648,634,877.780348352,785,810,651,629,652.780348352,0.401032821829,-0.015487382776,0.0798687897117,0.999999978162,0.00013762841358,-0.000151681229394,4.15505582372e-05,1793248222154751744
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.805418347,680,658.805418347,634,877.194581653,785,810,651,629,652.194581653,0.401037238425,-0.0154891332682,0.0798711188361,0.999999978293,0.000133768647068,-0.000154246324646,4.15761827441e-05,1793248222171418112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.610776378,716,679.610776378,658.610776378,634,877.389223622,785,810,651,629,652.389223622,0.401053806183,-0.015489539153,0.0798772572122,0.999999978593,0.000134075210163,-0.000151961481319,4.17791136062e-05,1793248222188084480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.027946694,716,679.027946694,658.027946694,634,877.972053306,785,810,651,629,652.972053306,0.401076418125,-0.0154892762087,0.0798852903713,0.999999978962,0.000136454171974,-0.000147264201103,4.20702394906e-05,1793248222204751104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.549200452,715.450799548,679.549200452,658,634,878,785,810,651,628.450799548,653,0.401129670879,-0.0154908506283,0.0799018675516,0.999999981813,0.00013720395298,-0.000125490961136,4.2448740831e-05,1793248222221417728
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.125052214,679.874947786,658,634,878,785,810,651.125052214,628.125052214,653,0.401188452407,-0.0154929861658,0.0799181144832,0.999999984284,0.00013724665336,-0.000103814540471,4.264283075e-05,1793248222238084608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715.697295266,679.302704734,658,634,878,785,810,651.697295266,628.697295266,653,0.401261486402,-0.0154967973579,0.0799316416013,0.999999986331,0.000135054237333,-8.55598423338e-05,4.21617225861e-05,1793248222254751744
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.721028135,716,679.278971865,658,634,877.721028135,785,810,651.721028135,629,653,0.401341558514,-0.0155000450385,0.0799422466848,0.999999987686,0.000134208164405,-7.01854493868e-05,4.11090445649e-05,1793248222271418624
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.128757235,716,679.871242765,658,634,877.128757235,785,810,651.128757235,629,653,0.401429534772,-0.015502659868,0.0799495701799,0.999999988443,0.000134874100716,-5.80457810097e-05,3.94144657037e-05,1793248222288085504
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715.546466281,679.546466281,658.453533719,634,877,785,810,651,629,653,0.401532219733,-0.0155058262735,0.079954124955,0.999999988941,0.000134245084079,-5.24445242335e-05,3.66906154932e-05,1793248222304751872
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.032790935,744.032790935,715,679,659,634,877.032790935,785,810,651,629,653,0.401640615501,-0.0155090411792,0.0799578597342,0.999999989369,0.000133276239798,-4.86832759165e-05,3.36060310502e-05,1793248222321417984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.607725521,744.607725521,715,679,659,634,877.607725521,785,810,651,629,653,0.401775877105,-0.015510524724,0.0799607531904,0.999999989748,0.000132636261891,-4.53144373396e-05,2.92844564609e-05,1793248222338084352
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.818248192,745,715,679,659,634,878,785,810.181751808,651,629,652.818248192,0.401919509951,-0.0155129221839,0.0799637920612,0.999999990353,0.000130292857244,-4.12631307126e-05,2.47876189457e-05,1793248222354750976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.246172608,745,715,679,659,634,878,785,810.753827392,651,629,652.246172608,0.40208112056,-0.0155172823355,0.0799671432185,0.999999991439,0.000124291233448,-3.5746180187e-05,1.99143935039e-05,1793248222371417344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.338483382,679.338483382,659,634.338483382,878,785,810.661516618,651,629,652,0.402253886112,-0.0155182402271,0.0799668890386,0.99999999204,0.000119645978098,-3.75181385383e-05,1.40722170465e-05,1793248222388083968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715.932642115,679.932642115,659,634.932642115,878,785,810.067357885,651,629,652,0.40243507763,-0.0155166282027,0.0799639115469,0.999999992238,0.000116025262745,-4.47958151407e-05,7.49813740705e-06,1793248222404750848
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.487167118,716,679.487167118,659,634.487167118,878,785,810,651,629,652.512832882,0.402644949733,-0.0155170827439,0.0799589453763,0.999999995751,7.27577599083e-05,-5.65992360377e-05,-6.9436841451e-07,1793248222421417984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.090671825,744,716,679.090671825,658.909328175,634,878,785,810,651.090671825,629,653,0.402866272425,-0.0155171608726,0.0799538511345,0.999999997136,3.12175512726e-05,-6.83289838712e-05,-9.2310564142e-06,1793248222438084864
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.665489612,744,716,679.665489612,658.334510388,634,878,785,810,651.665489612,629,653,0.403129155135,-0.0155138182352,0.0799494307714,0.99999999656,2.59681448569e-05,-7.65755170289e-05,-1.85005822662e-05,1793248222454751488
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.753955038,744.246044962,715.753955038,679.753955038,658.246044962,634,878,785,810,651.753955038,628.753955038,652.753955038,0.403409165019,-0.0155091603782,0.0799485128266,0.999999996291,2.16901935472e-05,-7.95103876939e-05,-2.5020002539e-05,1793248222471418112
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.165412978,744.834587022,715.165412978,679.165412978,658.834587022,634,878,785,810,651.165412978,628.165412978,652.165412978,0.403713016089,-0.0155026717221,0.0799524702844,0.999999996624,1.87645179803e-05,-7.50513694706e-05,-2.77112472219e-05,1793248222488084480
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.583917303,634,878,785,810,651,628.416082697,652,0.404052154713,-0.0155007707224,0.0799571441134,0.999999997156,2.24940135161e-05,-6.63220480609e-05,-2.79872951795e-05,1793248222504751104
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.005176271,634,878,785,810,651,628.994823729,652,0.404405088218,-0.0155006631658,0.0799620979917,0.999999997648,2.88252011883e-05,-5.59233460864e-05,-2.73191752842e-05,1793248222521417728
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.428157148,715,679.571842852,658.571842852,634,878,785,810.571842852,651,629,652.571842852,0.404801285517,-0.0155074397129,0.0799599682875,0.999999997821,2.01400954973e-05,-5.4917435e-05,-3.0614301778e-05,1793248222538084352
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.148398595,715,680,659,634,877.851601405,784.851601405,810.851601405,651,629,652.851601405,0.40520796259,-0.0155130513519,0.0799562498167,0.999999997755,8.59247148496e-06,-5.69821928994e-05,-3.41835710571e-05,1793248222554751232
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.723666026,715,680,659,634,877.276333974,784.276333974,810.276333974,651,629,652.276333974,0.405643661572,-0.0155151334201,0.0799481451435,0.999999996916,-1.07993722048e-05,-6.76359022301e-05,-3.84385274028e-05,1793248222571418112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.693828902,659,634,877.306171098,784.306171098,810.306171098,651,629,652,0.406090016392,-0.015518714797,0.0799404990426,0.999999996018,-6.82972207721e-06,-8.10692173042e-05,-3.66825211612e-05,1793248222588084736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.10463329,659,634,877.89536671,784.89536671,810.89536671,651,629,652,0.406546221517,-0.0155236821349,0.079933276845,0.999999994682,1.87352869235e-05,-9.70720006756e-05,-2.93699825525e-05,1793248222604751360
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.476513072,679.476513072,659,634,878,785,810.523486928,651,629,652.476513072,0.407042753377,-0.015534092798,0.0799312578587,0.999999994355,-3.94812041603e-06,-0.000101389924213,-3.15440986176e-05,1793248222621417728
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.944530431,715.944530431,680,659,634,878,785,810.055469569,651,628.944530431,653,0.407551160394,-0.0155445378572,0.0799293089222,0.999999993258,-3.37387884161e-05,-0.000105287529863,-3.54986884231e-05,1793248222638084352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.369802595,715.369802595,680,659,634,878,785,810.630197405,651,628.369802595,653,0.408089216887,-0.0155443018585,0.0799174980412,0.999999990485,-3.25329344756e-05,-0.000128870075213,-3.6944366707e-05,1793248222654750976
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.790578211,744.209421789,715,679.790578211,659,634,878,785,810.790578211,650.790578211,628.209421789,653,0.408660072584,-0.0155438143798,0.0799161501756,0.999999989848,-3.23138581365e-05,-0.00013342061502,-3.81838633759e-05,1793248222671417856
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.203239509,744.796760491,715,679.203239509,659,634,878,785,810.203239509,650.203239509,628.796760491,653,0.409290116808,-0.0155428730871,0.0799336835859,0.999999993294,-3.3875494118e-05,-0.000103626509628,-3.9051290185e-05,1793248222688084480
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.378650383,745,715,679.378650383,659,634,878,784.621349617,810.378650383,650.378650383,629,652.621349617,0.409961593175,-0.0155430962486,0.0799632020155,0.999999997424,-3.07675425459e-05,-5.30124046298e-05,-3.73517499373e-05,1793248222704751360
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.957657111,745,715,679.957657111,659,634,878,784.042342889,810.957657111,650.957657111,629,652.042342889,0.410654992628,-0.015543935561,0.0799990621115,0.999999999058,-2.51887587874e-05,8.61824475972e-06,-3.42939430277e-05,1793248222721418240
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.534004961,810.465995039,651,629,652.534004961,0.411308501952,-0.0155444383642,0.0799895197383,0.999999998742,-3.09119926212e-05,-1.4514172489e-05,-3.67388597088e-05,1793248222738085120
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679.890081698,659,634,878,785,810.109918302,651,629,653,0.41196620949,-0.0155445203437,0.0799720189356,0.999999997401,-3.65750722491e-05,-4.75370919656e-05,-4.0002681615e-05,1793248222754751744
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679.315119271,659,634,878,785,810.684880729,651,629,653,0.41265499454,-0.015542934226,0.0799360033861,0.999999993834,-3.82108965395e-05,-9.41099478102e-05,-4.48942635593e-05,1793248222771418112
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.2670042,679.2670042,659.2670042,634,878.2670042,785,811,651.2670042,629.2670042,653,0.413379630594,-0.0155414376379,0.0799163901408,0.999999991372,-4.01014108908e-05,-0.000115272939346,-4.8580859965e-05,1793248222788084224
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.857812155,679.857812155,659.857812155,634,878.857812155,785,811,651.857812155,629.857812155,653,0.414147744296,-0.0155400496246,0.0799166684422,0.999999992237,-4.23007955766e-05,-0.000105620656186,-5.08061361209e-05,1793248222804750592
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.560488572,715.560488572,679.560488572,659.560488572,634,878.560488572,784.560488572,811,651.560488572,629.560488572,653,0.414948310473,-0.0155409814349,0.0799390516029,0.999999995633,-4.03561957558e-05,-6.88691171262e-05,-4.86126481619e-05,1793248222821417216
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.018305837,715,679.018305837,659,634,878.018305837,784.018305837,811,651,629,653,0.415757976581,-0.0155425028341,0.0799669977811,0.999999997936,-3.73896353995e-05,-2.61541319155e-05,-4.52325360692e-05,1793248222838083840
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.596553379,715,679.596553379,659,634,878.596553379,784.596553379,811,651,629,653,0.416531375388,-0.0155395685478,0.0799508051746,0.999999995858,-4.33381139649e-05,-6.37489961349e-05,-4.8394629365e-05,1793248222854750720
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.172541481,680,659,634,879,784.827458519,811,651,629,653,0.417339362413,-0.0155383653421,0.0799465200291,0.999999994971,-4.70895054193e-05,-7.2944963683e-05,-5.01946533069e-05,1793248222871417856
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.743314684,680,659,634,879,784.256685316,811,651,629,653,0.418227180195,-0.0155411575305,0.0799697177176,0.999999997622,-4.57699433086e-05,-1.65952907364e-05,-4.88509737956e-05,1793248222888084736
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.673777341,680,659.326222659,634,879,784.326222659,811.326222659,651,629,653,0.419109292651,-0.0155433458444,0.0799811124062,0.999999997499,-4.92310729763e-05,1.23642467457e-05,-4.92498734648e-05,1793248222904751360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.08095237,680,659.91904763,634,879,784.91904763,811.91904763,651,629,653,0.419986742439,-0.0155450406475,0.0799828612061,0.999999996915,-5.65991768971e-05,1.89394582335e-05,-5.10728792647e-05,1793248222921417728
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.500164969,680,660.500164969,634,879,785,811.499835031,651,629,653,0.420821919635,-0.0155437534582,0.0799678601453,0.999999997013,-5.62150676443e-05,-7.55787771069e-06,-5.25050598288e-05,1793248222938084096
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715.921372229,680,660.842744459,634,879,785,811.078627771,651,629,653,0.4216687758,-0.0155427809952,0.0799566101212,0.999999996696,-5.42904410529e-05,-2.87348342419e-05,-5.32478804213e-05,1793248222954750720
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715.347962618,680,659.695925236,634,879,785,811.652037382,651,629,653,0.422631193178,-0.0155467566603,0.0799856335683,0.999999997343,-5.03867006116e-05,1.64812619269e-05,-5.00417024261e-05,1793248222971417344
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.23132506,659.23132506,633.76867494,879,785,812,651,629,653,0.423564035082,-0.0155483698593,0.0799984944659,0.999999997404,-4.50257975899e-05,2.8987049204e-05,-4.82019838255e-05,1793248222988084480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.819685237,659.819685237,633.180314763,879,785,812,651,629,653,0.424451229319,-0.0155463367471,0.0799864095287,0.999999998085,-3.74158588115e-05,-8.99338125869e-06,-4.84713056109e-05,1793248223004751872
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.401696393,680.598303607,660,633.401696393,879,784.598303607,812,651,629,653,0.425340433694,-0.0155428803662,0.079952093286,0.999999995795,-3.62308131344e-05,-6.529149469e-05,-5.32402695513e-05,1793248223021418496
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.980901891,680.019098109,660,633.980901891,879,784.019098109,812,651,629,653,0.426230526295,-0.015538795045,0.0799079530596,0.999999989074,-3.7884919556e-05,-0.000129684165482,-5.99976192195e-05,1793248223038084864
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,716,680,660,634,879.559010812,784.559010812,812,651,629.559010812,653,0.427165347391,-0.015540342484,0.0799028565688,0.999999989588,-4.47170066643e-05,-0.000123073768264,-6.06473094491e-05,1793248223054751232
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.863609071,680,660,633.863609071,879.863609071,785,812,651,630,653,0.428097680343,-0.0155425816286,0.0799045885687,0.999999990493,-5.05371361211e-05,-0.000113223562906,-6.03319466547e-05,1793248223071417600
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.288453244,680,660,633.288453244,879.288453244,785,812,651,630,653,0.429017102722,-0.0155464281108,0.0799240048952,0.999999991888,-5.25338618135e-05,-0.000100739305451,-5.75819883643e-05,1793248223088084224
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.29357117,879.29357117,785,812,651,630,653,0.429973482125,-0.0155494857862,0.0799584479355,0.999999995529,-5.21288752787e-05,-5.68519383865e-05,-5.46971055096e-05,1793248223104750592
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.882506075,879.882506075,785,812,651,630,653,0.430967044157,-0.015551749838,0.0800080094426,0.999999997276,-4.93075111661e-05,1.86302872639e-05,-5.16764741685e-05,1793248223121417216
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.536547495,660,634,879.536547495,785,812,651,630,653,0.431885897459,-0.0155494483569,0.0800189873358,0.999999997481,-3.69964336858e-05,3.22840970289e-05,-5.1248063316e-05,1793248223138084352
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.04209833,660,634,879,785,812.04209833,651,629.95790167,653,0.43278121393,-0.0155461193951,0.0800150687489,0.999999998074,-2.44896378422e-05,2.3496576141e-05,-5.19576526374e-05,1793248223154751488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.616825373,660,634,879,785,812.616825373,651,629.383174627,653,0.433614310729,-0.0155441866503,0.0799443404719,0.999999994731,-3.94293309347e-05,-7.42633164259e-05,-5.88915172613e-05,1793248223171418112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.192118702,660.192118702,633.807881298,879,785,813,651,629.192118702,653,0.434469049611,-0.0155444679671,0.0799012940785,0.999999987949,-5.31299199646e-05,-0.000131488347224,-6.31663164669e-05,1793248223188084736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.768544913,660.768544913,633.231455087,879,785,813,651,629.768544913,653,0.435367080703,-0.0155491782148,0.0799136215409,0.999999990208,-6.43518520455e-05,-0.000107628882002,-6.21220167235e-05,1793248223204751616
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.353710381,681,661,633.353710381,879,784.646289619,813,651,629.646289619,653,0.436268497904,-0.015551551202,0.0799409002711,0.999999993322,-6.70071410211e-05,-7.27930270243e-05,-5.97278279679e-05,1793248223221418240
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.944739334,681,661,633.944739334,879,784.055260666,813,651,629.055260666,653,0.437172186928,-0.0155523560265,0.0799782104097,0.999999995897,-6.3914722604e-05,-3.05926704612e-05,-5.64279441835e-05,1793248223238084608
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.475839911,680.475839911,661,633.475839911,879.524160089,784.524160089,813,651,629.524160089,653,0.438067195842,-0.0155561729576,0.0800133127626,0.999999995692,-6.84161970286e-05,3.00669419512e-05,-5.50649416819e-05,1793248223254750976
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.101445153,660.898554847,633,879.898554847,785,813.101445153,651,630,653,0.438943039306,-0.0155593185675,0.0800386602913,0.99999999303,-7.24462830989e-05,7.58308781531e-05,-5.42381842244e-05,1793248223271417344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.674368928,660.325631072,633,879.325631072,785,813.674368928,651,630,653,0.43973396997,-0.0155579002206,0.0800197294369,0.999999995047,-7.06452599334e-05,4.35165634808e-05,-5.49752107748e-05,1793248223288084224
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.254872633,633.254872633,879.254872633,785,814,651,630,653,0.440468807213,-0.0155542487947,0.0799690306717,0.999999995068,-7.068912001e-05,-3.63377810077e-05,-5.95518999944e-05,1793248223304751104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.845357422,633.845357422,879.845357422,785,814,651,630,653,0.441129781485,-0.0155476568866,0.0798765004376,0.999999978947,-7.31622916588e-05,-0.000178792064295,-6.91845940049e-05,1793248223321417984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.572308026,633.572308026,880,785,814,651,630,653,0.441878749941,-0.015548473631,0.0798446395661,0.999999971239,-7.20062481286e-05,-0.000217744264834,-7.01770388545e-05,1793248223338084608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.007087733,660,633,880,785,814,651,630,653.007087733,0.442659085643,-0.0155519532386,0.079835383756,0.99999997138,-6.9712105345e-05,-0.000218509361144,-6.8077340854e-05,1793248223354750720
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.582711303,660,633,880,785,814,651,630,653.582711303,0.443451107095,-0.015558174172,0.0799126604963,0.999999989615,-7.9417513601e-05,-0.000101905384101,-6.38545049114e-05,1793248223371417344
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.158840009,633,880.158840009,785,814,651,630,654,0.444220218857,-0.0155637991881,0.0799774440517,0.999999994442,-8.65880339825e-05,-5.17762980958e-06,-5.9936402528e-05,1793248223388083968
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.73630012,633,880.73630012,785,814,651,630,654,0.444928952695,-0.0155678536757,0.080009302051,0.999999993827,-8.70779056283e-05,3.9166704964e-05,-5.68214211672e-05,1793248223404750592
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880.680477971,785,814,651,630.319522029,653.680477971,0.445596742458,-0.0155693776737,0.0800224884935,0.999999993236,-8.52386681933e-05,5.61499631755e-05,-5.5766581443e-05,1793248223421417472
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880.092413592,785,814,651,630.907586408,653.092413592,0.446230120722,-0.0155687749212,0.0800199824207,0.999999993834,-8.14419306643e-05,5.01375968219e-05,-5.64431883985e-05,1793248223438084352
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.512281868,633,880,784.512281868,814,651,630.512281868,653,0.44683524804,-0.0155694611928,0.0800009179128,0.999999994391,-8.34953277406e-05,2.95767757254e-05,-5.80703585707e-05,1793248223454750976
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681.933757075,660.066242925,633,880,784.066242925,814.066242925,651.066242925,630,653,0.44742449861,-0.015570621295,0.0799770417987,0.99999999429,-8.82788029397e-05,2.68943967959e-06,-6.01666723464e-05,1793248223471417856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681.356219419,660.643780581,633,880,784.643780581,814.643780581,651.643780581,630,653,0.447931860852,-0.0155735836109,0.079939856688,0.999999990974,-0.000105715387391,-5.2092255577e-05,-6.45161037418e-05,1793248223488084480
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.223113656,745,715,681,660.776886344,633,880,784.776886344,814.776886344,651.776886344,630,653,0.448411389814,-0.0155756699287,0.0799009182974,0.999999984578,-0.000115857320915,-0.000113024414923,-6.8169396664e-05,1793248223504751104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.805336463,745,715,681,660.194663537,633,880,784.194663537,814.194663537,651.194663537,630,653,0.448846120103,-0.0155763462967,0.079859157946,0.999999974072,-0.000114258259656,-0.000183855953758,-7.07022302456e-05,1793248223521417984
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.387196601,660.387196601,633,880,784,814,651,630,653,0.449311527205,-0.015581982308,0.0798447868797,0.999999969997,-0.000119353880034,-0.000201935861866,-7.05895357865e-05,1793248223538084352
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.96887463,660.96887463,633,880,784,814,651,630,653,0.449792342722,-0.0155901094531,0.0798441729223,0.999999970716,-0.000127812110647,-0.000193519644205,-6.91480436669e-05,1793248223554750720
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.877266628,632.122733372,880,783,815,651,630,653.877266628,0.450718645692,-0.0156006173854,0.0798977637128,0.999999979273,-0.000149157136323,-0.000122141895337,-6.5482797768e-05,1793248223588085248
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.301391181,632.698608819,880,783,815,651,630,653.301391181,0.45110748768,-0.0156048037615,0.0799063669295,0.999999979529,-0.00015293235824,-0.000115204051089,-6.54397625463e-05,1793248223604751872
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.280840234,745,715,681.719159766,660,632.719159766,880,783,815,651,630,653,0.451449583533,-0.0156096526474,0.0798965513934,0.999999976129,-0.000158367224654,-0.000135242473409,-6.61232359434e-05,1793248223621418240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.870050641,745,715,681.129949359,660,632.129949359,880,783,815,651,630,653,0.451740350843,-0.0156152289866,0.0798665115683,0.999999966905,-0.000165624425099,-0.000184901566173,-6.76044353357e-05,1793248223638084608
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,681.969161419,660,632,880,782.969161419,815,651,630,653,0.452282313978,-0.0156161480186,0.0798025145381,0.999999942202,-0.000171919342103,-0.000284092218484,-7.30105497318e-05,1793248223671417600
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.392882412,660,632,880,782.392882412,815,651,630,653,0.452540504529,-0.015621833807,0.0797897868632,0.999999935892,-0.000177522195616,-0.000302194951677,-7.33555522881e-05,1793248223688084224
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681.186305937,660,632,880,782,815,651,630,653,0.452787811998,-0.0156260678278,0.0797804987119,0.99999993116,-0.000182448689276,-0.000314539793047,-7.3873514854e-05,1793248223704750848
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681.771726767,660,632,880,782,815,651,630,653,0.453011805094,-0.0156271917911,0.0797785789,0.99999993045,-0.000185926246804,-0.000314549757634,-7.47620019316e-05,1793248223721417728
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632.35314786,880,781.64685214,815,651,630,653,0.453217414178,-0.0156291556132,0.0797776739046,0.999999929188,-0.000189718828634,-0.000316300079984,-7.47343278126e-05,1793248223738084864
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632.488581372,880.511418628,781,814.488581372,651,630,653,0.453571010634,-0.0156326313206,0.0797712538728,0.999999923419,-0.000196437891415,-0.000330141418025,-7.47101554682e-05,1793248223771418112
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+215,3.583333333,POSE1_TO_POSE2_PRESS,765.664355875,745,715,681.335644125,660,631.335644125,880.335644125,781,814.664355875,651,629.335644125,653.664355875,0.453841471569,-0.0156348265602,0.0797522328905,0.999999912367,-0.000199237638018,-0.000360298249278,-7.58615867812e-05,1793248223804751104
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681.238307996,659.761692004,631.238307996,880,781,815,651,629.238307996,653.761692004,0.453950825248,-0.0156367330259,0.0797404461339,0.999999905984,-0.000199961834901,-0.000377156178556,-7.61580062438e-05,1793248223821417472
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.600935427,745,715,682,659.399064573,632,880.399064573,781,814.600935427,651,629.600935427,653,0.454126388017,-0.0156411700268,0.079721655091,0.999999895513,-0.000201670433898,-0.000403069259762,-7.6410313918e-05,1793248223854750976
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.169878378,632,880,780.169878378,814.169878378,651,630,653,0.454506702783,-0.0156432088375,0.0797048579307,0.999999882412,-0.000206177252788,-0.000432795483842,-7.3178597918e-05,1793248224221418240
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.744961273,632,880,780.744961273,814.744961273,651,630,653,0.454506632259,-0.0156445648798,0.0797049155167,0.999999881992,-0.000208807989395,-0.000432517185163,-7.3105555321e-05,1793248224238084608
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.672666431,632,880,780.672666431,815,651,629.672666431,653,0.454507357797,-0.0156440943532,0.0797051561583,0.999999882382,-0.000207822200228,-0.00043207268175,-7.32059316822e-05,1793248224254750976
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.084485342,632,880,780.084485342,815,651,629.084485342,653,0.454508717705,-0.0156421682594,0.0797055426742,0.99999988341,-0.000203954452372,-0.000431495732131,-7.34445031773e-05,1793248224271417600
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.497558692,631.502441308,879.502441308,780,814.502441308,651,629,653,0.454509493931,-0.0156419692516,0.0797057542358,0.999999883553,-0.000203828159347,-0.000431275287121,-7.31393969855e-05,1793248224288084480
+245,4.083333333,HOLD_POSE2,766,745,715,681,659,631,880,780,814,651,630,653,0.454510207434,-0.0156424729399,0.0797061049065,0.999999882871,-0.00020497867093,-0.00043230885309,-7.31474208176e-05,1793248224331498240
+246,4.100000000,HOLD_POSE2,765.425313027,745,714.425313027,681,659,631.574686973,880,780,814,651,629.425313027,653,0.454510025992,-0.015642662452,0.0797047086732,0.999999882588,-0.000205430415233,-0.000432697934282,-7.34528638485e-05,1793248224348164608
+247,4.116666667,HOLD_POSE2,765,745,714.153559262,681,659,632,880,780,814,651,629.153559262,653,0.454509716645,-0.0156426141981,0.0797036659956,0.999999882316,-0.000205601186032,-0.000433226080335,-7.35588104433e-05,1793248224364830976
+248,4.133333333,HOLD_POSE2,765,745,714.744348557,681,659,632,880,780,814,651,629.744348557,653,0.454509043113,-0.0156418889526,0.0797036299988,0.999999882078,-0.000204971939708,-0.000434150186528,-7.3096729937e-05,1793248224381497344
+249,4.150000000,HOLD_POSE2,765,745,715,681,659.328471912,632,880,780,814,651,630,653,0.454507843511,-0.0156422090213,0.079702900574,0.99999988135,-0.000204877503576,-0.000435901036182,-7.29062087856e-05,1793248224398163968
+250,4.166666667,HOLD_POSE2,765,745,715,681,659.907510289,632,880,780,814,651,630,653,0.454506242608,-0.0156433264814,0.0797016421853,0.999999880244,-0.000205191033865,-0.000438282546054,-7.2922839826e-05,1793248224414830592
+251,4.183333333,HOLD_POSE2,765,745,715,681.483703417,659.516296583,631.516296583,880,780,814.483703417,651,629.516296583,653,0.454506752798,-0.0156434533698,0.079702186184,0.999999880731,-0.000205060849133,-0.000437219894456,-7.29896033646e-05,1793248224431497216
+252,4.200000000,HOLD_POSE2,765,745,715,682,659.060553067,631,880,780,814.939446933,651,629.060553067,653,0.454507559566,-0.0156433129274,0.0797028546705,0.999999881325,-0.000205035118252,-0.000435860047089,-7.30571739313e-05,1793248224448163840
+253,4.216666667,HOLD_POSE2,765,745,715,682,659.64781801,631,880,780,814.35218199,651,629.64781801,653,0.454507455378,-0.0156424850583,0.0797016257491,0.999999880228,-0.000206651646335,-0.00043761000605,-7.30488702474e-05,1793248224464830976
+254,4.233333333,HOLD_POSE2,765,745,714.767219566,682,659.767219566,631,880,780,814,651,629.767219566,653,0.454507160178,-0.0156415721762,0.0797006111756,0.99999987954,-0.000206928037095,-0.000439028457224,-7.31723771017e-05,1793248224481497600
+255,4.250000000,HOLD_POSE2,765,745,714.185706638,682,659.185706638,631,880,780,814,651,629.185706638,653,0.454506578821,-0.0156405319346,0.0796999177205,0.999999879468,-0.000205196744242,-0.000439950270551,-7.34933516601e-05,1793248224498163968
+256,4.266666667,HOLD_POSE2,765,745,714.392004122,681.607995878,659.392004122,631,880,780,814.392004122,651,629,653,0.45450679429,-0.0156406223053,0.0797003732805,0.999999880043,-0.000203580150835,-0.000439450370941,-7.31595633496e-05,1793248224514830336
+257,4.283333333,HOLD_POSE2,765,745,714.967931009,681.032068991,659.967931009,631,880,780,814.967931009,651,629,653,0.45450738362,-0.0156412431433,0.0797013679419,0.999999880919,-0.000202017372626,-0.000438283423892,-7.25185696289e-05,1793248224531496704
+258,4.300000000,HOLD_POSE2,765,745,715,681,659.462142793,631.537857207,879.462142793,780,814.462142793,651,629,653.537857207,0.4545090757,-0.015640934169,0.079702355613,0.999999881444,-0.000202424375066,-0.000436873507857,-7.26541239526e-05,1793248224548163328
+259,4.316666667,HOLD_POSE2,765,745,715,681,659,631.887959926,879.112040074,780,814,651,629,653.887959926,0.4545102624,-0.0156406140184,0.0797029903668,0.999999881699,-0.000203189783103,-0.000435899724153,-7.28511822688e-05,1793248224564830208
+260,4.333333333,HOLD_POSE2,765,745,715,681,659,631.293943308,879.706056692,780,814,651,629,653.293943308,0.454508995321,-0.0156404816457,0.0797021087066,0.99999988089,-0.000204997333686,-0.000436863735576,-7.31158405704e-05,1793248224581496576
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,746,715,682,659,631,880,780,814,651,630,653,0.454503010414,-0.0156414084885,0.0796976117699,0.999999877633,-0.00020301093835,-0.000445244987506,-7.26415735186e-05,1793248224618829568
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.422671749,715,681.422671749,659,631.577328251,879.422671749,780,814,651,629.422671749,653,0.454505508767,-0.0156417579858,0.0796986957784,0.99999987791,-0.000204484907557,-0.000443920543418,-7.28098060226e-05,1793248224635496448
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631.841541927,879,780,814,651,629,653.158458073,0.454507497149,-0.0156423390821,0.0796996628307,0.999999878272,-0.000205787768462,-0.000442509679077,-7.27446753951e-05,1793248224652163328
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631.250022386,879,780,814,651,629,653.749977614,0.454508091792,-0.0156435531322,0.0797003102453,0.999999878879,-0.000206622995503,-0.000440862630317,-7.20417699164e-05,1793248224668829696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744.665527441,715,681.334472559,659,631,879.334472559,780,814,651,629,653.665527441,0.454508641515,-0.01564348264,0.0797010995546,0.999999879621,-0.000205828100489,-0.000439595196734,-7.17548009691e-05,1793248224685496320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,744.086175489,715,681.913824511,659,631,879.913824511,780,814,651,629,653.086175489,0.45450915835,-0.0156424716881,0.0797019927501,0.999999880462,-0.000203839734431,-0.000438605693177,-7.17723541599e-05,1793248224702162944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,744.979895842,715,681.510052079,659,631,880,780.489947921,814,650.510052079,629,653,0.454507896812,-0.0156412632747,0.0797009170293,0.999999879799,-0.000203345981926,-0.000440274335332,-7.21847631174e-05,1793248224718829568
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.93449071,715,681,659,631,880,780.93449071,814,650.06550929,629,653,0.454506332921,-0.0156402131805,0.0796995720501,0.999999878917,-0.000203093109222,-0.000442319543231,-7.26149142597e-05,1793248224735495936
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.358912976,715,681,659,631,880,780.358912976,814,650.641087024,629,653,0.454504834376,-0.0156406644428,0.0796988093338,0.999999878395,-0.000202682313628,-0.000443680289945,-7.2645997915e-05,1793248224752162816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.222489484,745,715,681.222489484,659,631.222489484,879.777510516,780,814,651,629,653,0.454502791531,-0.0156406096361,0.0796976968486,0.999999877746,-0.000202455632183,-0.000445214084,-7.28287840059e-05,1793248224768829952
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.813540753,745,715,681.813540753,659,631.813540753,879.186459247,780,814,651,629,653,0.45449984703,-0.015639716508,0.0796960049589,0.999999876886,-0.00020253394245,-0.000447034537028,-7.32628706029e-05,1793248224785496320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.603353658,659,631.603353658,879.396646342,780,814,651,629,653,0.454482633798,-0.0156399387011,0.0796869941547,0.999999870526,-0.000204447806742,-0.000460109630457,-7.3805465125e-05,1793248224802162944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.023909845,659,631.023909845,879.976090155,780,814,651,629,653,0.454458844711,-0.0156406748982,0.0796746103733,0.999999861345,-0.000207207599964,-0.000478371510231,-7.43980663634e-05,1793248224818829312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.45199622,745.54800378,715,681,659,631,880,780,814,651,629.54800378,653,0.454405457691,-0.0156377067793,0.0796502929009,0.999999841522,-0.000204993464091,-0.000518813473101,-7.59321244331e-05,1793248224835496192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.879546511,715,681,659,631.120453489,880,780,814,651,629.879546511,653,0.454347878995,-0.0156341534425,0.0796272892772,0.999999821592,-0.00020255311315,-0.000556625090793,-7.71830291658e-05,1793248224852162816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.303845636,715,681,659,631.696154364,880,780,814,651,629.303845636,653,0.454279272627,-0.0156289908678,0.0796111924601,0.999999808291,-0.000200066879445,-0.000580887553058,-7.72106300603e-05,1793248224868829440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,880,780,814,650.719720763,629.280279237,653,0.454204591813,-0.0156256103173,0.0795987797279,0.999999797699,-0.000198756667366,-0.000599355308532,-7.66167138333e-05,1793248224885495808
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,880,780,814,650.12618064,629.87381936,653,0.454123121751,-0.0156242214895,0.0795904846035,0.999999790538,-0.000198760864605,-0.000611346468222,-7.53281439532e-05,1793248224902162688
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.545122216,681,659.454877784,631.545122216,880,780.454877784,814,650,630,653,0.454027155745,-0.0156208665461,0.0795876337258,0.999999787917,-0.000197304205717,-0.000616353470126,-7.31157631403e-05,1793248224918829568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.032343771,681.032343771,659.967656229,631,880,781,814,650.032343771,629.967656229,653,0.453926287528,-0.0156168134273,0.0795864390682,0.999999786794,-0.000195263324626,-0.000619107560947,-7.06405508061e-05,1793248224935496192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.606084653,681.606084653,659.393915347,631,880,781,814,650.606084653,629.393915347,653,0.453808872843,-0.0156099590448,0.0795883636642,0.999999790082,-0.000190045225861,-0.00061571373845,-6.79407821057e-05,1793248224952163072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.825751994,659,631,880,780.825751994,814,651,629.174248006,653,0.453679464896,-0.015603660675,0.0795890459945,0.999999791322,-0.000185020850392,-0.000615565804014,-6.48167011559e-05,1793248224968829696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.269806524,659,631,880,780.269806524,814,651,629.730193476,653,0.453523785225,-0.0155985802748,0.0795870070898,0.999999788107,-0.000180420834508,-0.000622528122091,-6.07631470318e-05,1793248224985496320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.317544519,631,879.682455481,780.317544519,814,650.682455481,629.682455481,653,0.453359066014,-0.0155917256423,0.0795882826191,0.999999789883,-0.000173088347172,-0.000622154885364,-5.65413342193e-05,1793248225002162944
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.93450862,631,879.06549138,780.93450862,814,650.06549138,629.06549138,653,0.453185823207,-0.0155831980474,0.0795926833995,0.999999796296,-0.000163179352965,-0.000614864796415,-5.21608661807e-05,1793248225018829312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.512704045,659.487295955,631.512704045,879.512704045,781.512704045,814,650.512704045,629,653,0.45297327722,-0.0155748704534,0.0795967902403,0.999999800865,-0.000153285668058,-0.000610450713511,-4.60839116504e-05,1793248225035496448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,632,880,781.913554278,814,651,629.086445722,652.913554278,0.452750330115,-0.0155661709607,0.0796002075186,0.999999804327,-0.000142741776506,-0.000607774000457,-3.97633756065e-05,1793248225052163072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,632,880,781.338963575,814,651,629.661036425,652.338963575,0.452495006329,-0.0155552372924,0.0795999280678,0.999999803319,-0.000128516003077,-0.000612979274109,-3.32050405154e-05,1793248225068829440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.242709176,745,714.757290824,681.757290824,659.242709176,632,880,781,814,651,629.757290824,652.485418352,0.452229274565,-0.0155453766089,0.0796020100891,0.999999806141,-0.000104650205071,-0.000613242585934,-2.64355759545e-05,1793248225085496320
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.834569837,745,714.165430163,681.165430163,659.834569837,632,880,781,814,651,629.165430163,653.669139674,0.451948570325,-0.015537059478,0.0796074892275,0.999999813715,-6.69166631079e-05,-0.000606396592999,-1.93623895542e-05,1793248225102162944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.581110299,745,714.418889701,681.418889701,660,632,880,781.418889701,813.581110299,650.581110299,629,653.581110299,0.451633101839,-0.0155265671233,0.0796109753985,0.9999998187,-3.23381184999e-05,-0.000601155957904,-1.28495431415e-05,1793248225118829312
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,782.000278609,813,650.000278609,629.000278609,653,0.451304133608,-0.0155152325908,0.0796136937378,0.999999822055,1.0024703267e-06,-0.000596528502822,-6.55393662533e-06,1793248225135495936
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,782.570310774,813,650.570310774,629.570310774,653,0.45094806314,-0.0155073372239,0.0796272983894,0.999999836243,5.71304501133e-06,-0.000572259023767,2.69026839503e-08,1793248225152162816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,783,813,651,629.857461856,653,0.450582989718,-0.0155013381753,0.0796416815812,0.999999850768,5.9661377343e-06,-0.00054627894533,2.89747809321e-06,1793248225168829696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,783,813,651,629.278513515,653,0.450190351945,-0.0155011451011,0.079658448433,0.999999867313,-7.42827925672e-06,-0.000515061515862,-5.59169293197e-06,1793248225185496064
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,783,812.693103588,651,629.306896412,653,0.449776076696,-0.0155060231557,0.0796748630196,0.999999881425,-1.44858704358e-05,-0.000486737298127,-5.11397733361e-06,1793248225202162944
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,783,812.101703477,651,629.898296523,653,0.449341742708,-0.0155156023238,0.0796909510461,0.999999893566,-1.56690042089e-05,-0.000461095185312,3.67635451111e-06,1793248225218829824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.522288518,783,812,651,630,653,0.448843433521,-0.0155078991924,0.0796901387683,0.999999891396,-1.97846739555e-06,-0.000466015305586,5.87679388657e-06,1793248225235496448
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.05449718,660,632.05449718,879.05449718,783.05449718,812,651,630,653,0.448326451709,-0.0154959573619,0.0796848054901,0.999999885669,1.56839808346e-05,-0.000477884174554,6.57965587263e-06,1793248225252163072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.629943967,660,632.629943967,879.629943967,783.629943967,812,651,630,653,0.447757985349,-0.0154778078213,0.0796698075476,0.999999876348,4.17857616943e-05,-0.000495501759306,6.04991291984e-06,1793248225268829440
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.795099803,660,633,880,784,812,651,630,653,0.447200945213,-0.0154629774178,0.0796721487274,0.999999879259,6.32781664295e-05,-0.000487265490843,7.08862189447e-06,1793248225285496064
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.221027451,660,633,880,784,812,651,630,653,0.44666449193,-0.0154541271611,0.0797057300982,0.999999903511,7.64657785046e-05,-0.000432447895729,1.09532373001e-05,1793248225302162688
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.633202166,784,812,651,630,653,0.446106711123,-0.015447983619,0.07975058944,0.999999929337,8.55270532505e-05,-0.000365763684699,1.51270104044e-05,1793248225318829312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.036766736,784,812,651,630,653,0.445535578018,-0.0154435346439,0.0798025094715,0.999999953048,9.2004990855e-05,-0.000291650256398,1.94943347049e-05,1793248225335495936
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.539294227,784.539294227,812,651,630,653,0.444881553323,-0.0154415646076,0.0798301707978,0.999999961882,9.9157650751e-05,-0.00025662674703,2.33828448928e-05,1793248225352162816
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.11338987,633,880,784.88661013,812,651,630,653,0.444204424349,-0.0154380473121,0.0798463272273,0.999999965152,0.000108287212487,-0.000239367777729,2.59232454091e-05,1793248225368829440
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.684952486,633,880,784.315047514,812,651,630,653,0.44345594182,-0.0154276200017,0.0798224354055,0.999999951702,0.000125225706597,-0.000283513396242,2.31434585972e-05,1793248225385495808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.733690085,633,880,784,812,651,630,653,0.44271166914,-0.0154134889022,0.079802067585,0.999999940458,0.000140007467797,-0.000314751241839,2.03270124045e-05,1793248225402162432
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.140302753,633,880,784,812,651,630,653,0.441972566826,-0.0153948088692,0.0797860278811,0.999999933779,0.000152140367941,-0.000330135981448,1.74655414395e-05,1793248225418829312
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.557583645,715,682,660,633,880,784,812,651,630,653.442416355,0.441196203911,-0.0153868600612,0.0797746850664,0.999999928374,0.000162450107151,-0.000341426656276,1.70143541667e-05,1793248225435495936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.0216614,715,682,660,633,880,784,812,651,630,653.9783386,0.44040481052,-0.0153824954277,0.0797629629319,0.999999922099,0.000172069519736,-0.000354818826716,1.72288976475e-05,1793248225452162560
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.596552153,715,682,660,633,880,784,812,651,630,653.403447847,0.439524222771,-0.0153848000013,0.0797044066745,0.999999880778,0.000178476944256,-0.000454261704986,1.53838862002e-05,1793248225468829184
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.165442087,633,880,784,812,651,630,653,0.438670302698,-0.0153867329284,0.0796733732883,0.999999854714,0.000183107585151,-0.000506781319309,1.46763936024e-05,1793248225485496064
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.720210571,633,880,784,812,651,630,653,0.437879138356,-0.015387791279,0.0797071080697,0.999999882269,0.000183557014856,-0.00044887882031,1.66457662758e-05,1793248225502162944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.695197169,715,681.695197169,660.695197169,633,879.695197169,784,812,651,630,653,0.437088829135,-0.0153890805702,0.0797622758009,0.999999916252,0.00018699284814,-0.000363393066602,2.18190710058e-05,1793248225518829568
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.080259444,715,681.080259444,660.080259444,633,879.080259444,784,812,651,630,653,0.436299390043,-0.0153906048416,0.0798392514168,0.999999949617,0.000193467326242,-0.000249841531926,3.02523554489e-05,1793248225535496448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.500291342,744,715,681.500291342,660,633,880.000582685,784,812,651,630,653,0.435445912577,-0.0153916467789,0.079856427581,0.999999954643,0.000195606177949,-0.000226660619569,3.28133051821e-05,1793248225552163072
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.349855899,744.650144101,715,682,660,633,879.699711799,784,811.349855899,651,630,653,0.433648298385,-0.0153940314956,0.0798222699773,0.999999940606,0.00020713360469,-0.000273419342084,3.35427839821e-05,1793248225585496064
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.231477728,784.231477728,811,651,630,653,0.432687566976,-0.0153913123741,0.0797777376964,0.999999915496,0.000216969435812,-0.000347730299067,3.18875510892e-05,1793248225602162688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.823339685,784.823339685,811,651,630,653,0.431673105939,-0.0153822372675,0.0797206699016,0.999999866909,0.000228035913664,-0.000461908946041,2.86584724245e-05,1793248225618829312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.405862123,659.594137877,633.405862123,879.594137877,784.594137877,811,651,630,653,0.430737696766,-0.0153798663083,0.0797091397562,0.999999857403,0.000222833114673,-0.000484504629951,2.81861872389e-05,1793248225635495936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.984410741,659.015589259,633.984410741,879.015589259,784.015589259,811,651,630,653,0.429835922694,-0.0153803478349,0.0797169850045,0.999999867809,0.000210708052731,-0.00046813352683,2.88868647145e-05,1793248225652162816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.440518542,715,683,659,634,879,784,811,651,630,653,0.429012225824,-0.0153836821706,0.0797935421383,0.999999916087,0.000228067741984,-0.000338399962785,3.60053897088e-05,1793248225668829696
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744,715,682.292721551,659,634,879,784,811,651,630,653,0.427232805155,-0.0153874879624,0.0798470547173,0.999999940291,0.000235265637697,-0.000249340922538,4.35674567256e-05,1793248225702162944
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.291013931,715,681.708986069,659,634,879,784.291013931,811,650.708986069,629.708986069,653,0.426274691361,-0.0153869762502,0.0798172067198,0.999999927644,0.000234687525368,-0.000296481101105,4.16257357527e-05,1793248225718829312
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.885711819,715,681.114288181,659,634,879,784.885711819,811,650.114288181,629.114288181,653,0.425289372526,-0.0153849235398,0.0797617929889,0.999999897769,0.000239196259609,-0.00038203727096,3.59898971531e-05,1793248225735495936
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.532820919,715,681,659,633.532820919,879,785,811,650.467179081,629.467179081,653,0.424319139446,-0.0153806882878,0.0797355865266,0.999999879733,0.000248308741078,-0.000421442376556,3.55475062889e-05,1793248225752162816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,633.044912277,879,784.955087723,811,651,629.955087723,653,0.423360998163,-0.0153760970107,0.0797190765195,0.999999866987,0.000257635643182,-0.00044535018953,3.62315130596e-05,1793248225768829952
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,633.615776246,879,784.384223754,811,651,629.384223754,653,0.422502432566,-0.0153734168655,0.0797347488353,0.999999879758,0.000256647817855,-0.000416348370617,3.56377746291e-05,1793248225785496576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.188786855,715,681,659.188786855,634,878.811213145,784,811,651,629.188786855,652.811213145,0.421660616436,-0.015373640206,0.0797677782019,0.999999903002,0.000252575119671,-0.000358932071753,3.69971666085e-05,1793248225802162944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.766216716,715,681,659.766216716,634,878.233783284,784,811,651,629.766216716,652.233783284,0.420853281166,-0.0153798407596,0.0798365393832,0.999999940254,0.00024215179575,-0.000243020754952,4.23773385451e-05,1793248225818829824
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.646474288,634,878,784.353525712,811,651.353525712,629.646474288,652.353525712,0.419999235919,-0.0153809467576,0.0798624562353,0.999999949385,0.000242951198642,-0.000200486411293,4.48408752658e-05,1793248225835496448
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.052444536,634,878,784.947555464,811,651.947555464,629.052444536,652.947555464,0.419113413859,-0.0153785869218,0.079859226026,0.999999945771,0.000251385440512,-0.00020787053388,4.53202209079e-05,1793248225852163072
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.474856664,659,633.474856664,878,784.474856664,811,651.474856664,629,653,0.418214850296,-0.0153745205376,0.0798201138778,0.999999929479,0.000251143580001,-0.000276305639463,4.02998041569e-05,1793248225868829696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.899005721,715,680,659,633.100994279,878,784,811,651,629,652.899005721,0.417330613823,-0.0153706027375,0.0797875132568,0.999999911647,0.000250781241211,-0.000335426993626,3.61012102125e-05,1793248225885496320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.32383453,715,680,659,633.67616547,878,784,811,651,629,652.32383453,0.416519437234,-0.0153681584354,0.0798017985427,0.999999914877,0.000253797841052,-0.000323062657447,3.8261613142e-05,1793248225902162944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878.258227294,784,810.741772706,651,629,652.258227294,0.415696970427,-0.0153659249142,0.0798009594669,0.999999911083,0.00025782368111,-0.000331375903101,3.93825834191e-05,1793248225918829824
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878.849167305,784,810.150832695,651,629,652.849167305,0.414859956811,-0.0153639629736,0.0797806334203,0.99999989751,0.000263149875364,-0.000366331160505,3.91642974687e-05,1793248225935496192
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878.569478087,784,810,651,629,653,0.414104624804,-0.0153657412636,0.0797796250506,0.99999990125,0.000260097150971,-0.000358319516552,3.8165285654e-05,1793248225952162816
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.008564917,744,715,680.008564917,659,634,878,784.008564917,810,651.008564917,629,653,0.413377577996,-0.0153687691654,0.0797854095168,0.99999991069,0.000254333033321,-0.000335514407321,3.6952808812e-05,1793248225968829696
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.584847366,744,715,680.584847366,659,634,878,784.584847366,810,651.584847366,629,653,0.412669853144,-0.0153696605472,0.0798026160444,0.999999918142,0.000259188514473,-0.000308206407807,3.9326557351e-05,1793248225985496320
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.839019056,744,715,680.839019056,659,634,878,785,810,651.839019056,629,653,0.411958293157,-0.015369631829,0.0798101018345,0.999999920125,0.000262057875375,-0.000299021818614,4.07547750188e-05,1793248226002162688
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.088361876,810,651,629,653,0.409882139015,-0.0153611021433,0.0797794653508,0.999999899453,0.000265013675424,-0.000359677451874,3.86510157275e-05,1793248226052162816
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.50880053,634,878,784.49119947,810.49119947,651,629,652.50880053,0.409293060807,-0.015362776575,0.079801901965,0.999999912826,0.00026593786019,-0.000319306530294,4.08563877035e-05,1793248226068829952
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743.931633407,715,679.931633407,658,634,877.931633407,784.931633407,810.931633407,651,629,652.068366593,0.408718070273,-0.015364786517,0.0798263930283,0.999999925383,0.000266523687378,-0.000276287355684,4.31760046135e-05,1793248226085497088
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743.812826257,715,679,658.812826257,634,877.812826257,784.812826257,810,651,629,653,0.407006156128,-0.0153497051536,0.0797786312702,0.9999998889,0.000285316448692,-0.000373153294326,3.93960931045e-05,1793248226135496704
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.395258445,659.395258445,634,878,785,810,651,629,652.604741555,0.406501888226,-0.0153482213904,0.0797624143198,0.999999879515,0.000287213530125,-0.000396309890822,3.76367442071e-05,1793248226152163328
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634,877.873659618,784,810.126340382,651,629,652.873659618,0.404067085592,-0.0153543571624,0.0798262351755,0.999999917789,0.0002819321973,-0.000288231175791,4.31103641723e-05,1793248226252163328
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,715.544478411,679.544478411,658.544478411,634,878,784.455521589,810,651,629,652.544478411,0.403724784756,-0.0153504356672,0.0798270384496,0.999999912327,0.000295062185584,-0.000293743602474,4.46992391487e-05,1793248226268829952
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.965221884,744.034778116,715,679,658,634,878,784.965221884,809.965221884,651,629,652.034778116,0.403389373633,-0.0153463226725,0.07982672735,0.999999906068,0.000308212989829,-0.000301274438623,4.58504865543e-05,1793248226285496320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.38999918,744.61000082,715,679,658,634,878,784.38999918,809.38999918,651,629,652.61000082,0.403117263513,-0.0153481566941,0.0798276034847,0.999999913097,0.000287150878745,-0.000299459395923,4.09303210094e-05,1793248226302162944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.188173372,744.811826628,715.188173372,679,658,634,878,784.188173372,809.376346744,651,629,652.811826628,0.402857510391,-0.0153484280685,0.0798279017869,0.999999916049,0.000277124568751,-0.000299390685038,3.83221879483e-05,1793248226318829824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.77255693,744.22744307,715.77255693,679,658,634,878,784.77255693,810.54511386,651,629,652.22744307,0.402623775695,-0.0153454091966,0.0798269834284,0.999999911125,0.000290334794809,-0.000302998979723,4.05821769467e-05,1793248226335496448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,716,679,658.35503642,634,877.64496358,785,810.64496358,651.35503642,629,652,0.402409177735,-0.015343746129,0.0798285358484,0.999999908862,0.000299367154518,-0.000301461746664,4.21471066507e-05,1793248226352163072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,716,679,658.936302692,634,877.063697308,785,810.063697308,651.936302692,629,652,0.402206773715,-0.0153429469821,0.0798316626528,0.999999908327,0.000305737371511,-0.00029664577435,4.32691435336e-05,1793248226368829952
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.51456665,744,715.48543335,679.51456665,659,634,878.0291333,784.48543335,810,651.48543335,629,652,0.402038995557,-0.0153441858252,0.0798352588158,0.999999911164,0.000304303615864,-0.000288440690764,4.3292076476e-05,1793248226385496576
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.907899824,744,715.092100176,679.907899824,658.907899824,634,878.907899824,784.092100176,810,651,629,652.092100176,0.401881211064,-0.0153454614963,0.0798394490701,0.999999914375,0.000302102683376,-0.000279478664935,4.331980201e-05,1793248226402163456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.332261045,744,715.667738955,679.332261045,658.332261045,634,878.332261045,784.667738955,810,651,629,652.667738955,0.401753521636,-0.0153456137024,0.079846455118,0.999999917644,0.000300916389072,-0.000268732409777,4.40828592453e-05,1793248226418830336
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,716,679.248414448,658.248414448,634,878,785,810,651,629,652.751585552,0.401633671217,-0.0153454476418,0.0798509499214,0.999999919709,0.000299561445888,-0.00026244973587,4.43235237433e-05,1793248226435496704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,716,679.835966064,658.835966064,634,878,785,810,651,629,652.164033936,0.401524522677,-0.0153448470812,0.0798520163558,0.999999920253,0.000297976262161,-0.000262260775462,4.38510139258e-05,1793248226452163072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715.582477364,680,658.582477364,634,878,784.582477364,810,651,629,652,0.401424343893,-0.0153462235033,0.0798471473634,0.999999918561,0.000298309800325,-0.000268390962584,4.30873716545e-05,1793248226468829696
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,715.003242764,680,658.003242764,634,878,784.003242764,810,651,629,652,0.401327639215,-0.0153483656366,0.0798399795027,0.999999915937,0.000299386484525,-0.00027696863796,4.22109699943e-05,1793248226485496064
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.573193822,715,679.426806178,658,634,878,784.573193822,810,651,629,652,0.401255709875,-0.0153476040669,0.0798370553317,0.999999913835,0.000300423675791,-0.000283608521339,4.0520322646e-05,1793248226502162944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.851205356,784.851205356,810,651,629,652,0.401189678779,-0.0153470794304,0.0798342333518,0.999999912187,0.000300782561659,-0.000289191345288,3.90463138614e-05,1793248226518829824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.277943882,784.277943882,810,651,629,652,0.401140075731,-0.0153472773282,0.0798316347379,0.999999911937,0.000299207078261,-0.000291789813868,3.82033877935e-05,1793248226535496960
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.304849448,679.304849448,658.304849448,634,877,784.304849448,809.695150552,651,629,652.304849448,0.401099811263,-0.0153477951975,0.0798310246772,0.999999911967,0.000299182636941,-0.000291735523726,3.80385868681e-05,1793248226552163584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.89661394,679.89661394,658.89661394,634,877,784.89661394,809.10338606,651,629,652.89661394,0.401068335977,-0.0153486142143,0.0798322861822,0.999999912259,0.000300617989139,-0.000289184537931,3.85120166362e-05,1793248226568830208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.479007028,744.520992972,715.520992972,679.520992972,658.520992972,634,877.479007028,785,809,651,629,652.520992972,0.401041367675,-0.0153476105189,0.0798313416451,0.999999911642,0.000300690723034,-0.000291244063758,3.84348078422e-05,1793248226585496576
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.941240241,744.058759759,715,679.058759759,658,634,878,784.941240241,809,651,629,652,0.401016643028,-0.0153465180865,0.0798299477596,0.999999910924,0.000300314998424,-0.000294108187247,3.82627738904e-05,1793248226602163200
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.367243716,744.632756284,715,679.632756284,658,634,878,784.367243716,809,651,629,652,0.401003225917,-0.015348030936,0.0798287086733,0.999999911054,0.00029853628766,-0.000295469271032,3.82813756335e-05,1793248226618829824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.793786187,715,679.793786187,658.206213813,634,878,784,809.206213813,651,629,652,0.400992611916,-0.0153488111685,0.0798280766734,0.999999911477,0.000296976307271,-0.000295637827803,3.80739557322e-05,1793248226635496704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.221286081,715,679.221286081,658.778713919,634,878,784,809.778713919,651,629,652,0.400986976929,-0.0153482900938,0.0798285230077,0.999999912422,0.000295804845762,-0.000293688164137,3.74650659734e-05,1793248226652163328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.365983842,744,715,679,658.634016158,634,877.634016158,784.365983842,810,651,629,652.365983842,0.400982843748,-0.0153483325022,0.0798289755606,0.999999912847,0.000295398122065,-0.000292694894718,3.70884037733e-05,1793248226668829952
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.962559621,744,715,679,658.037440379,634,877.037440379,784.962559621,810,651,629,652.962559621,0.400979656796,-0.0153487299391,0.0798294320315,0.999999912948,0.000295473229449,-0.000292304211547,3.68580589923e-05,1793248226685496832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.460252355,744,715.539747645,679,658.539747645,634,877.539747645,785,810,651,629,653,0.400978425772,-0.0153480115042,0.0798303794387,0.999999913534,0.00029503717804,-0.000290756566795,3.66819109971e-05,1793248226702163200
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.884588179,744,715.884588179,679,658.884588179,634,878,785,810,651,629,653,0.40097734282,-0.0153473717353,0.0798311034106,0.999999913871,0.000295003887377,-0.000289643611823,3.65745789089e-05,1793248226718829824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.30982215,744,715.30982215,679,658.30982215,634,878,785,810,651,629,653,0.400976327926,-0.0153473424635,0.0798308072387,0.999999913092,0.000296709868693,-0.000290569126605,3.67266989918e-05,1793248226735496192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.272690401,744,715.272690401,679,658,634,877.727309599,785,810,651,629,652.727309599,0.400976132404,-0.0153477954654,0.079831059715,0.999999913241,0.000296769443958,-0.000289986796412,3.67826639188e-05,1793248226752163072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.864261716,744,715.864261716,679,658,634,877.135738284,785,810,651,629,652.135738284,0.400976895045,-0.0153488124324,0.0798319537738,0.999999914473,0.000294903731766,-0.000287641210337,3.67261861686e-05,1793248226768829696
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744,716,679,658.446311031,634,877,785,809.553688969,651,628.553688969,652,0.400976141039,-0.0153492189287,0.079832546098,0.999999914484,0.000295441114602,-0.000287070669191,3.65583868736e-05,1793248226785496576
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,715.97479321,679,658.97479321,634,877,785,809,651,628.02520679,652,0.400974998151,-0.0153494155451,0.0798330155779,0.999999914154,0.000296644407743,-0.000287003503859,3.63713960983e-05,1793248226802162944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,715.402796631,679,658.402796631,634,877,785,809,651,628.597203369,652,0.400975216373,-0.0153490027483,0.0798327693589,0.999999914289,0.000296769926725,-0.000286389732287,3.6487182689e-05,1793248226818830080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,715.169987805,679,658,634,877.169987805,784.830012195,809.169987805,651.169987805,628.830012195,652.169987805,0.400975360255,-0.0153490863992,0.0798328434569,0.999999914425,0.000296669109783,-0.000286017663548,3.6500396756e-05,1793248226835497216
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,715.744647775,679,658,634,877.744647775,784.255352225,809.744647775,651.744647775,628.255352225,652.744647775,0.400975327164,-0.0153503518908,0.0798336801006,0.999999914564,0.000296029478606,-0.000286220991463,3.62694271505e-05,1793248226852163840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,715.669470684,679,658,634,878,784.330529316,809.669470684,651.669470684,628.330529316,652.669470684,0.40097661021,-0.015350865105,0.0798348927071,0.999999915018,0.000296086773452,-0.000284565344722,3.63217431132e-05,1793248226868830208
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,715.074615218,679,658,634,878,784.925384782,809.074615218,651.074615218,628.925384782,652.074615218,0.400978945779,-0.0153507767184,0.0798364059732,0.999999915715,0.000296701403985,-0.000281423065494,3.66006041472e-05,1793248226885496576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.503885207,658.503885207,634,877.496114793,785,809.503885207,651,629,652,0.40097860919,-0.0153513196093,0.0798362776515,0.999999916108,0.000295477640157,-0.000281331369776,3.64503071693e-05,1793248226902163200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,715.079929746,680,658.920070254,634,877.079929746,785,810,651,629,652,0.400977891173,-0.015351856695,0.0798358947331,0.999999916464,0.000293904018139,-0.000281739021729,3.62587454666e-05,1793248226918829568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715.655291151,680,658.344708849,634,877.655291151,785,810,651,629,652,0.400977184469,-0.0153517965955,0.0798353930997,0.999999916861,0.00029179617849,-0.000282529849493,3.61929299626e-05,1793248226935496448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.236140816,715.763859184,680,658,634.236140816,877.763859184,785,810,651,629,652,0.400976810013,-0.0153513633095,0.0798356162128,0.999999916718,0.000292164410972,-0.000282649989049,3.62363399826e-05,1793248226952163072
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.825192742,715.174807258,680,658,634.825192742,877.174807258,785,810,651,629,652,0.400976932099,-0.0153503722984,0.0798369224555,0.999999915762,0.000296233118893,-0.000281767788997,3.64429869186e-05,1793248226968829952
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.407096932,744.592903068,715,679.592903068,658,634.592903068,877,785,810,651,629,652,0.400977328984,-0.0153511956637,0.0798370273109,0.999999916418,0.000294878284818,-0.000280846077155,3.6568355628e-05,1793248226985496576
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.985984811,744.014015189,715,679.014015189,658,634.014015189,877,785,810,651,629,652,0.400977841832,-0.0153527846784,0.0798366251924,0.999999917745,0.000291234768501,-0.000279907691774,3.66594257035e-05,1793248227002163200
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.43798756,744,715.56201244,679,658,634,877.56201244,785,810,651,629,652,0.400976974138,-0.0153529544949,0.0798357928482,0.99999991691,0.000292409460935,-0.000281695624569,3.64027234869e-05,1793248227018829824
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1857a10be523e4346c65f53d3e09f22f080279ff
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_01/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,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+1,0.016666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+5,0.083333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+8,0.133333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+10,0.166666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+11,0.183333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+13,0.216666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+14,0.233333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+17,0.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+19,0.316666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+377,6.283333333,pose2_to_pose3_retreat,0.583345070583,-0.0100721159712,1.07004258446,0.55391686144,-0.00139765965328,1.06966597025
+378,6.300000000,pose2_to_pose3_retreat,0.583318491113,-0.0100721094149,1.07004251676,0.553890281145,-0.00139765615179,1.06966589669
+379,6.316666667,pose2_to_pose3_retreat,0.583297572553,-0.0100720683888,1.07004251411,0.553869362548,-0.00139761536255,1.06966589147
+380,6.333333333,pose2_to_pose3_retreat,0.583281421419,-0.0100721134708,1.07004245665,0.553853211654,-0.00139765969544,1.06966583256
+381,6.350000000,pose2_to_pose3_retreat,0.583269352323,-0.0100721694157,1.07004247861,0.553841143263,-0.00139771326768,1.0696658541
+382,6.366666667,pose2_to_pose3_retreat,0.583260783622,-0.0100721708481,1.07004262076,0.553832575683,-0.00139771085401,1.06966599731
+383,6.383333333,pose2_to_pose3_retreat,0.583255584351,-0.0100722174083,1.07004235208,0.553827376598,-0.0013977565487,1.06966573399
+384,6.400000000,pose2_to_pose3_retreat,0.583252196152,-0.0100721977081,1.07004228231,0.553823988216,-0.00139773736761,1.06966566668
+385,6.416666667,pose2_to_pose3_retreat,0.583250188975,-0.0100721446049,1.07004232817,0.553821980676,-0.00139768546868,1.06966571315
+386,6.433333333,pose2_to_pose3_retreat,0.58324880708,-0.0100721178711,1.07004233194,0.553820598697,-0.00139765895293,1.06966571849
+387,6.450000000,pose2_to_pose3_retreat,0.583247970051,-0.0100721204642,1.07004228107,0.553819761933,-0.00139766050965,1.06966567077
+388,6.466666667,pose2_to_pose3_retreat,0.583247625609,-0.0100721215312,1.07004226014,0.5538194176,-0.00139766115025,1.06966565113
+389,6.483333333,pose2_to_pose3_retreat,0.58324734066,-0.010072122414,1.07004224282,0.553819132742,-0.0013976616802,1.06966563488
+390,6.500000000,pose2_to_pose3_retreat,0.583247048236,-0.0100721233199,1.07004222505,0.553818840411,-0.00139766222405,1.06966561821
+391,6.516666667,pose2_to_pose3_retreat,0.583246909605,-0.0100721237493,1.07004221663,0.553818701823,-0.00139766248188,1.0696656103
+392,6.533333333,pose2_to_pose3_retreat,0.583246813304,-0.0100721240477,1.07004221077,0.553818605552,-0.00139766266099,1.06966560481
+393,6.550000000,pose2_to_pose3_retreat,0.583246636794,-0.0100721225275,1.07004222883,0.553818429024,-0.00139766123033,1.06966562234
+394,6.566666667,pose2_to_pose3_retreat,0.583246592856,-0.0100721210808,1.0700422482,0.553818385041,-0.00139765996515,1.06966564097
+395,6.583333333,pose2_to_pose3_retreat,0.583246223154,-0.0100721089084,1.0700424112,0.553818014969,-0.00139764931985,1.0696657977
+396,6.600000000,pose2_to_pose3_retreat,0.583245905411,-0.0100720984467,1.07004255129,0.553817696909,-0.00139764017068,1.06966593241
+397,6.616666667,pose2_to_pose3_retreat,0.583245685306,-0.0100720839993,1.07004256941,0.553817476743,-0.00139762591462,1.06966595088
+398,6.633333333,pose2_to_pose3_retreat,0.583245550769,-0.0100720628017,1.07004244497,0.553817342442,-0.00139760360114,1.06966583363
+399,6.650000000,pose2_to_pose3_retreat,0.583245536295,-0.0100720605213,1.07004243158,0.553817327994,-0.00139760120073,1.06966582101
+400,6.666666667,pose2_to_pose3_retreat,0.583245430256,-0.0100720445053,1.07004232458,0.553817222147,-0.00139758430879,1.06966571911
+401,6.683333333,pose2_to_pose3_retreat,0.583245500523,-0.0100720584066,1.07004235311,0.553817292318,-0.00139759880768,1.06966574151
+402,6.700000000,pose2_to_pose3_retreat,0.583245503232,-0.0100720589424,1.07004235421,0.553817295022,-0.00139759936649,1.06966574237
+403,6.716666667,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942168,1.06966574246
+404,6.733333333,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942171,1.06966574246
+405,6.750000000,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25e003cc6aadca39f83646710abe63a2b0487547
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674dd112a69a483ce636c9db937fb0f1719a9e72bc5829d8bff7db15427e2be9
+size 25830384
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..296c28cb5adab67a50b4ba01c73df19d2818620c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+40,0.666666667,BASELINE,765.244375104,744,715.755624896,679,658.244375104,634,877.244375104,785,809.755624896,651,629,652.244375104,0.400980238792,-0.0153555292356,0.0798394008451,0.999999920202,0.000288095888539,-0.000274520011767,3.51589888552e-05,1793248227813751040
+41,0.683333333,BASELINE,765.822056229,744,715.177943771,679,658.822056229,634,877.822056229,785,809.177943771,651,629,652.822056229,0.400981065741,-0.0153561793653,0.0798405864369,0.999999921134,0.000285859123078,-0.000273481276023,3.50040818096e-05,1793248227830417920
+42,0.700000000,BASELINE,765.601849199,744,715.398150801,679,658.601849199,634,877.601849199,785,809.398150801,651,629,652.601849199,0.400980536,-0.0153564265368,0.0798406620515,0.999999921005,0.000285906252199,-0.000273871962384,3.52391801347e-05,1793248227847084544
+43,0.716666667,BASELINE,765.026460899,744,715.973539101,679,658.026460899,634,877.026460899,785,809.973539101,651,629,652.026460899,0.400979402325,-0.0153564943308,0.0798402435579,0.999999920404,0.000286970060898,-0.000274898958425,3.56478900109e-05,1793248227863750912
+44,0.733333333,BASELINE,765,744,715.452055138,679,658,634.547944862,877.547944862,785,810,651,629,652,0.400978568389,-0.0153560502421,0.0798397987027,0.999999920157,0.000286999541925,-0.000275778655644,3.5555533991e-05,1793248227880417536
+45,0.750000000,BASELINE,765,744,715,679,658.12622175,634.87377825,878,785,810,651,629,652.12622175,0.400977878054,-0.0153555856031,0.0798393389829,0.999999919957,0.000287049474296,-0.000276475123045,3.53631923825e-05,1793248227897084160
+46,0.766666667,BASELINE,765,744,715,679,658.71898195,634.28101805,878,785,810,651,629,652.71898195,0.40097766509,-0.0153551362109,0.0798388290183,0.999999919872,0.000287359288254,-0.000276520584379,3.48905625825e-05,1793248227913750784
+47,0.783333333,BASELINE,765,744.304244355,715,679.304244355,658.695755645,634,877.695755645,785,810,651,629,653,0.400978204722,-0.0153552795712,0.0798386629209,0.999999919929,0.000287739085389,-0.00027592818364,3.48116821141e-05,1793248227930417408
+48,0.800000000,BASELINE,765,744.882747984,715,679.882747984,658.117252016,634,877.117252016,785,810,651,629,653,0.400979422777,-0.0153559572647,0.0798388068005,0.999999920113,0.000288181968482,-0.00027476078591,3.50877445978e-05,1793248227947084032
+49,0.816666667,BASELINE,765,744.542087276,715,679.542087276,658,634.457912724,877.457912724,785,810,651,628.542087276,652.542087276,0.400979680593,-0.0153560185712,0.0798394493811,0.999999920198,0.000288010992433,-0.000274613230234,3.52271695729e-05,1793248227963750912
+50,0.833333333,BASELINE,765,744.033029031,715,679,658,634.966970969,878,784.966970969,810,651,628.033029031,652.033029031,0.400979583988,-0.0153558997383,0.0798400851465,0.999999920205,0.000287773653992,-0.000274822908387,3.53303294667e-05,1793248227980417536
+51,0.850000000,BASELINE,765,744.621607458,715,679,658,634.378392542,878,784.378392542,810,651,628.621607458,652.621607458,0.400977631702,-0.0153553864565,0.079838473977,0.999999919324,0.00028904478743,-0.000276680712302,3.54077333425e-05,1793248227997084416
+52,0.866666667,BASELINE,765,744.793154017,715.206845983,679,658.206845983,634,877.793154017,784.206845983,809.793154017,651,629,653,0.400977022198,-0.0153552623872,0.0798379799037,0.99999991929,0.000288670690436,-0.000277193250867,3.53879314578e-05,1793248228013751040
+53,0.883333333,BASELINE,765,744.213928269,715.786071731,679,658.786071731,634,877.213928269,784.786071731,809.213928269,651,629,653,0.400978830073,-0.0153558390079,0.0798394969114,0.999999920782,0.000285334725245,-0.000275283941005,3.5193132415e-05,1793248228030417920
+54,0.900000000,BASELINE,765,744,715.63679664,679,658.63679664,634,877,784.63679664,809.36320336,651,628.63679664,653,0.400978853324,-0.0153564986509,0.0798395805648,0.999999920988,0.000284420682052,-0.000275475815038,3.52322030192e-05,1793248228047084800
+55,0.916666667,BASELINE,765,744,715.060891404,679,658.060891404,634,877,784.060891404,809.939108596,651,628.060891404,653,0.400977831449,-0.0153572069141,0.0798388248064,0.999999920446,0.000284924983099,-0.000276898200207,3.54082341266e-05,1793248228063751424
+56,0.933333333,BASELINE,765,744,715,679,658.52435153,634,877.52435153,784.52435153,810,651.52435153,628.52435153,652.47564847,0.400977901567,-0.0153564777068,0.0798390659534,0.999999920207,0.000286127174314,-0.000276539108896,3.52728121451e-05,1793248228080417536
+57,0.950000000,BASELINE,765,744,715,679,659,634,877.890640432,784.890640432,810,651.890640432,628.890640432,652,0.400978077718,-0.0153558714009,0.0798393071742,0.999999920105,0.000286882189546,-0.000276147494991,3.50865990011e-05,1793248228097084160
+58,0.966666667,BASELINE,765,744,715,679,659,634,877.3113856,784.3113856,810,651.3113856,628.3113856,652,0.400978154718,-0.015356523442,0.0798390422632,0.999999920446,0.000285361239824,-0.000276521165292,3.48403714756e-05,1793248228113750784
+59,0.983333333,BASELINE,765,744.267464059,715.267464059,678.732535941,658.732535941,634,877.267464059,784,810,651,628.267464059,652,0.40097846544,-0.0153575363197,0.0798390420732,0.999999921062,0.000283682479149,-0.00027599477254,3.50387292679e-05,1793248228130417408
+60,1.000000000,BASELINE,765,744.845842798,715.845842798,678.154157202,658.154157202,634,877.845842798,784,810,651,628.845842798,652,0.400979047853,-0.0153589686534,0.0798393496092,0.999999921996,0.000281820270296,-0.000274422097889,3.57538970336e-05,1793248228147084032
+61,1.016666667,BASELINE,765,745,715.577091825,678.845816351,658,634,878,784,810,651,629,652,0.400978986147,-0.0153568035041,0.0798393221449,0.999999921185,0.000284390537689,-0.000274783377541,3.53023683728e-05,1793248228163750912
+62,1.033333333,BASELINE,765,745,715.000503742,679.998992516,658,634,878,784,810,651,629,652,0.400978690376,-0.0153533310713,0.0798391729454,0.999999919725,0.000288571515455,-0.000275847433762,3.44268757694e-05,1793248228180417792
+63,1.050000000,BASELINE,765,744.41418675,715.58581325,679.41418675,658.58581325,634,878,784,810,651,628.41418675,652,0.400977935488,-0.0153548219277,0.0798388191769,0.999999919459,0.000288876827762,-0.00027643794881,3.48416631977e-05,1793248228197084160
+64,1.066666667,BASELINE,765,744,715.829915273,679,658.829915273,634,877.829915273,784,809.829915273,651,628,652,0.400977949429,-0.0153557582418,0.0798390941901,0.9999999195,0.000289167165642,-0.000275939037993,3.52231377866e-05,1793248228213750528
+65,1.083333333,BASELINE,765,744,715.250586058,679,658.250586058,634,877.250586058,784,809.250586058,651,628,652,0.400979814232,-0.0153553498171,0.0798408825589,0.999999920269,0.000289429627494,-0.000272819832644,3.55217429063e-05,1793248228230417152
+66,1.100000000,BASELINE,765,744.327698515,715.327698515,679.327698515,658.327698515,634,877.327698515,784.327698515,809.327698515,651,628.327698515,652,0.400979917095,-0.0153553751483,0.0798408099176,0.999999920465,0.000288643325904,-0.000272930037069,3.55443331349e-05,1793248228247084032
+67,1.116666667,BASELINE,765,744.905186778,715.905186778,679.905186778,658.905186778,634,877.905186778,784.905186778,809.905186778,651,628.905186778,652,0.40097867691,-0.0153557311119,0.0798393187126,0.999999920223,0.000287057599389,-0.000275501874561,3.53565296891e-05,1793248228263750656
+68,1.133333333,BASELINE,765,744.520455558,716,679.520455558,659,634,878,785,810,651,629,652.479544442,0.400978099575,-0.0153559756627,0.0798392765939,0.999999920078,0.000286962976382,-0.000276118427705,3.54207584361e-05,1793248228280417024
+69,1.150000000,BASELINE,765,744,715.945235885,679,659,634,877.945235885,785,809.945235885,651,629,652.945235885,0.400977643313,-0.0153561127548,0.0798394543478,0.999999919943,0.000287179210157,-0.000276375777282,3.5482091517e-05,1793248228297083648
+70,1.166666667,BASELINE,765,744,715.355591148,679,659,634,877.355591148,785,809.355591148,651,629,652.355591148,0.400977097846,-0.0153554140519,0.0798389994414,0.999999919708,0.000287570811165,-0.000276876114401,3.50316042772e-05,1793248228313750528
+71,1.183333333,BASELINE,765,744,715,679.230071422,658.769928578,634,877,785,809.230071422,651,629,652,0.400977380959,-0.0153551428601,0.0798390124826,0.999999919892,0.000287394804428,-0.000276413729539,3.48559966941e-05,1793248228330417408
+72,1.200000000,BASELINE,765,744,715,679.809684082,658.190315918,634,877,785,809.809684082,651,629,652,0.400978922911,-0.0153555211741,0.0798397364641,0.999999920712,0.000286356446777,-0.00027448870749,3.50980062113e-05,1793248228347084288
+73,1.216666667,BASELINE,765,744.386785495,715,679.613214505,658.386785495,634,877,785,810,651,629,652.386785495,0.400978992685,-0.0153567589915,0.0798396372272,0.999999921211,0.000285001959535,-0.000274079741877,3.51113662994e-05,1793248228363750656
+74,1.233333333,BASELINE,765,744.962659196,715,679.037340804,658.962659196,634,877,785,810,651,629,652.962659196,0.400978342755,-0.0153584169951,0.0798391355425,0.999999921552,0.000283492925771,-0.000274411932384,3.50129463009e-05,1793248228380417280
+75,1.250000000,BASELINE,765,744.463862978,715,679,658.463862978,634,877.536137022,785,810,651,629,652.463862978,0.400978262917,-0.0153572208142,0.0798392583835,0.999999920902,0.000285461009809,-0.000274708615632,3.52617784198e-05,1793248228397083904
+76,1.266666667,BASELINE,765,744.113092173,715.113092173,679,658.113092173,634,877.886907827,785,810,651,629,652,0.40097834413,-0.0153564367237,0.0798394512051,0.999999920519,0.000286655031082,-0.000274837373014,3.54403155074e-05,1793248228413750528
+77,1.283333333,BASELINE,765,744.705488877,715.705488877,679,658.705488877,634,877.294511123,785,810,651,629,652,0.40097894037,-0.0153582378944,0.0798397570895,0.99999992157,0.000283546628808,-0.000274264865413,3.52188840273e-05,1793248228430417152
+78,1.300000000,BASELINE,765,745,716,679,658.710129435,634,877.289870565,785,810,651,629,652.289870565,0.400978980286,-0.0153582652277,0.0798398256215,0.999999921716,0.000283275417201,-0.000274024954826,3.51314724604e-05,1793248228447084032
+79,1.316666667,BASELINE,765,745,716,679,658.133672002,634,877.866327998,785,810,651,629,652.866327998,0.40097847018,-0.0153565388176,0.0798396594899,0.999999920969,0.000285809256319,-0.000274113873576,3.51765626221e-05,1793248228463750656
+80,1.333333333,BASELINE,765,745,716,679,658.443543458,634,877.556456542,785,810,651,629,653,0.400978504575,-0.0153568934677,0.0798394125331,0.999999920864,0.000286025645459,-0.000274268050643,3.5195055008e-05,1793248228480417536
+81,1.350000000,BASELINE,764.978640625,744.978640625,715.978640625,679,658.978640625,634,877.021359375,784.978640625,810,651,629,653,0.400978714518,-0.015357823235,0.07983916057,0.999999920954,0.000285553857465,-0.000274429068417,3.52020885712e-05,1793248228497084160
+82,1.366666667,BASELINE,764.390973103,744.390973103,715.390973103,679,658.390973103,634,877.609026897,784.390973103,810,651,629,653,0.400979220605,-0.0153573443044,0.0798394228099,0.999999921055,0.000285385257458,-0.000274249123006,3.51182012849e-05,1793248228513750528
+83,1.383333333,BASELINE,764.193937579,744,715.193937579,679,658.193937579,634,878,784.193937579,810,651,629,653,0.400979653901,-0.01535733737,0.0798397406954,0.999999921124,0.000285472972882,-0.000273909592122,3.50857368498e-05,1793248228530417408
+84,1.400000000,BASELINE,764.77336854,744,715.77336854,679,658.77336854,634,878,784.77336854,810,651,629,653,0.400979942507,-0.0153582686312,0.0798401691887,0.99999992113,0.000286070171294,-0.000273252850147,3.51554865714e-05,1793248228547084032
+85,1.416666667,BASELINE,765,744,715.648664489,679,658.648664489,634,878.351335511,785,810,651,629,652.648664489,0.400978922913,-0.0153577314779,0.0798396634551,0.999999920907,0.000285930730391,-0.000274217587817,3.51207294e-05,1793248228563750656
+86,1.433333333,BASELINE,765,744,715.071637992,679,658.071637992,634,878.928362008,785,810,651,629,652.071637992,0.400977062957,-0.0153562510441,0.0798385575925,0.999999920534,0.000285318086918,-0.000276223931992,3.50188390621e-05,1793248228580417024
+87,1.450000000,BASELINE,765.501651662,744,715.501651662,679,658.501651662,634,878.498348338,785,810,651,629,652,0.400977118459,-0.0153561541936,0.0798385855995,0.999999920661,0.000285169952357,-0.00027592342974,3.49675951383e-05,1793248228597084160
+88,1.466666667,BASELINE,765.923118255,744,715.923118255,679,658.923118255,634,878,785,810,651,629,652,0.400977545155,-0.0153562901514,0.0798388177821,0.999999920859,0.000285116879401,-0.00027526961237,3.4890537763e-05,1793248228613751040
+89,1.483333333,BASELINE,765.331345331,744,715.331345331,679,658.331345331,634,878,785,810,651,629,652,0.400978639435,-0.0153566718137,0.0798393409671,0.999999921057,0.000285259486284,-0.000274439502255,3.45925235648e-05,1793248228630417408
+90,1.500000000,BASELINE,765,744,715.254462221,679,658.254462221,634,877.745537779,785,809.745537779,651,629,652.254462221,0.400978963741,-0.0153573063494,0.0798395658909,0.999999921381,0.000284377583451,-0.000274181381188,3.45352612258e-05,1793248228647084032
+91,1.516666667,BASELINE,765,744,715.832679913,679,658.832679913,634,877.167320087,785,809.167320087,651,629,652.832679913,0.400978308397,-0.0153582626191,0.0798394113328,0.999999921862,0.000282192184071,-0.000274651009009,3.47843105136e-05,1793248228663750656
+92,1.533333333,BASELINE,765,744.410112266,715.589887734,679.410112266,659,634.410112266,877,785,809.410112266,651,629,653,0.40097858112,-0.0153578699084,0.0798393854657,0.999999921482,0.00028369221269,-0.000274451139324,3.50757060523e-05,1793248228680417280
+93,1.550000000,BASELINE,765,744.987224874,715.012775126,679.987224874,659,634.987224874,877,785,809.987224874,651,629,653,0.400979231758,-0.0153569278843,0.0798394120023,0.999999920745,0.000286692971009,-0.000273978646005,3.53843452762e-05,1793248228697083904
+94,1.566666667,BASELINE,765,745,715,679.4269107,659,634.4269107,877,785,809.4269107,651,629,653,0.400978698206,-0.0153574679524,0.0798394440457,0.99999992119,0.000284807977957,-0.000274355547381,3.51179135426e-05,1793248228713750528
+95,1.583333333,BASELINE,765,744.842810862,715,679,658.842810862,634,877.157189138,785,809,651,629,653,0.400978522415,-0.0153575327849,0.0798396469489,0.999999921435,0.000283967967196,-0.000274361167005,3.49086850648e-05,1793248228730417152
+96,1.600000000,BASELINE,765,744.263975683,715,679,658.263975683,634,877.736024317,785,809,651,629,653,0.400979378192,-0.015356232843,0.0798403078339,0.999999921077,0.000286227705613,-0.000273319278442,3.48878191487e-05,1793248228747084032
+97,1.616666667,BASELINE,765,744.315066809,715.315066809,679,658.315066809,634,878.315066809,785,809.315066809,651,629,652.684933191,0.400979350627,-0.0153562573419,0.0798402614434,0.999999921001,0.000286510072235,-0.000273301745258,3.48629440754e-05,1793248228763750656
+98,1.633333333,BASELINE,765,744.894283076,715.894283076,679,658.894283076,634,878.894283076,785,809.894283076,651,629,652.105716924,0.400978582475,-0.0153573922413,0.0798396220788,0.999999921165,0.000285134626249,-0.000274143023378,3.48347077587e-05,1793248228780417024
+99,1.650000000,BASELINE,765.469053975,745,715.530946025,679,659,634,878.530946025,785,810,651,629.469053975,652.469053975,0.400978332091,-0.0153582116397,0.0798392341518,0.999999921597,0.000283244067054,-0.000274544910725,3.46846703863e-05,1793248228797083648
+100,1.666666667,BASELINE,765.956078827,745,715,679,659,634,878,784.956078827,810,651,629.956078827,653,0.400978287735,-0.0153589041438,0.0798390082821,0.999999922063,0.000281445064952,-0.000274713912659,3.45554981032e-05,1793248228813750016
+101,1.683333333,BASELINE,765.367714843,745,715,679,659,634,878,784.367714843,810,651,629.367714843,653,0.4009793643,-0.015358896857,0.0798400953812,0.999999922244,0.000282206623722,-0.000273212146874,3.50220642459e-05,1793248228830416640
+102,1.700000000,BASELINE,765,745,715,679,659,634,878,784.217256254,810,651,629,652.782743746,0.400979512458,-0.0153582848133,0.0798403169314,0.999999922035,0.000283194193363,-0.000272946552664,3.50746456918e-05,1793248228847083264
+103,1.716666667,BASELINE,765,745,715,679,659,634,878,784.796572999,810,651,629,652.203427001,0.400978113414,-0.0153566649341,0.0798390960324,0.999999921179,0.000284558413108,-0.000274741055292,3.44373159823e-05,1793248228863749888
+104,1.733333333,BASELINE,765,744.624910235,715,679,659,634,878.375089765,785,810,651,629,652,0.400978873871,-0.0153568223938,0.0798399137389,0.999999921259,0.000285423118763,-0.000273528380806,3.46067307005e-05,1793248228880416768
+105,1.750000000,BASELINE,765,744.046826354,715,679,659,634,878.953173646,785,810,651,629,652,0.400980803025,-0.0153579417278,0.0798418347144,0.999999921841,0.000286017493464,-0.000270688258026,3.5212745841e-05,1793248228897083392
+106,1.766666667,BASELINE,765,744,715,679,658.472536945,634,877.945073889,784.472536945,810,651,629,652,0.400979453042,-0.0153569332437,0.0798408667743,0.999999921011,0.000287352841269,-0.000272328039677,3.52679480952e-05,1793248228913750016
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,878,784,810,651,629,653,0.400977632655,-0.0153572189175,0.079839162929,0.999999920712,0.000284670670885,-0.000276249512367,3.50105928218e-05,1793248228955756032
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.580513163,716,679.419486837,659,634.580513163,878,784.580513163,810,651,629,653,0.400977742385,-0.015356961402,0.0798391862272,0.999999920375,0.000286371841146,-0.00027569002542,3.51511310405e-05,1793248228972422656
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.840693265,716,679,659,634.840693265,877.840693265,785,810,651,629,652.840693265,0.400977930869,-0.0153572379294,0.079839198078,0.999999920289,0.000286928490271,-0.000275415356959,3.52275809297e-05,1793248228989089280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.266379243,716,679,659,634.266379243,877.266379243,785,810,651,629,652.266379243,0.400978324511,-0.0153589056824,0.0798391801076,0.999999920856,0.000284503567067,-0.000275882664207,3.51370754234e-05,1793248229005755904
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.307411979,716,679.307411979,659,634,877.307411979,785,810,651,629,652.307411979,0.400978928823,-0.0153591757058,0.0798394786833,0.999999921612,0.000282851122092,-0.000274865938491,3.49201602291e-05,1793248229022422528
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.880750919,716,679.880750919,659,634,877.880750919,785,810,651,629,652.880750919,0.400979715375,-0.015358236622,0.0798400510874,0.999999922531,0.000281866910126,-0.000272565448933,3.45938942458e-05,1793248229039089152
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.530691151,716,679.530691151,659,634,877.530691151,785,809.530691151,651,629,653,0.400978857882,-0.0153576418241,0.0798397158968,0.999999922077,0.000283259920307,-0.000272815529669,3.43661305412e-05,1793248229055755776
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.060416091,716,679.060416091,659,634,877.060416091,785,809.060416091,651,629,652.939583909,0.400977908867,-0.0153571421569,0.0798393227391,0.999999921353,0.000285109435654,-0.000273561363813,3.42158613418e-05,1793248229072422656
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.639107273,716,679.639107273,659,634,877.639107273,785,809.639107273,651,629,652.360892727,0.400979878417,-0.0153566829581,0.0798404769363,0.99999992143,0.000285519662645,-0.000272814080547,3.4508468097e-05,1793248229089089280
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.784565101,715.784565101,679.784565101,658.784565101,634,878,785,810,651,629,652,0.400984584475,-0.0153564941454,0.079842743049,0.999999922174,0.000285718991107,-0.000269824291411,3.48159592908e-05,1793248229105755904
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.212153953,715.212153953,679.212153953,658.212153953,634,878,785,810,651,629,652,0.400993824935,-0.0153567533634,0.0798468516088,0.999999923992,0.000285568860053,-0.000263118663649,3.51481140124e-05,1793248229122422784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,715,679,658.371553317,634,878,785,810,651,629,652.371553317,0.401017605252,-0.015358433142,0.0798566270017,0.999999928498,0.000284791756516,-0.00024620109711,3.58158347071e-05,1793248229139089152
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658.961912883,634,878,785,810,651,629,652.961912883,0.401049948034,-0.015360949483,0.07986973957,0.999999934175,0.000283645431283,-0.000223269760312,3.66811688654e-05,1793248229155756032
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.544159662,715,679,659,634,878,785,810,651,629,652.455840338,0.401110997201,-0.0153625481058,0.0798897182463,0.999999942111,0.000283253584482,-0.000184723326837,3.77226085686e-05,1793248229172422400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.124328902,679.124328902,658.875671098,634,878,784.875671098,809.875671098,651,629,652.124328902,0.40117686373,-0.0153643338033,0.0799087977371,0.999999948065,0.000282892805035,-0.000149564217814,3.83658331465e-05,1793248229189089024
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715.698999666,679.698999666,658.301000334,634,878,784.301000334,809.301000334,651,629,652.698999666,0.401253008734,-0.0153670263671,0.0799229050562,0.99999995088,0.000282456088594,-0.000130575276647,3.75226592746e-05,1793248229205755904
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,716,679.726990797,658,634,877.726990797,784.273009203,809.273009203,651,629,653,0.401335495798,-0.0153708971212,0.0799340603887,0.999999953449,0.000280894656523,-0.000113508869105,3.62745328576e-05,1793248229222422528
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,716,679.153708556,658,634,877.153708556,784.846291444,809.846291444,651,629,653,0.401424958262,-0.0153760637247,0.0799419689361,0.999999955877,0.000278096190092,-9.85569885657e-05,3.45810137018e-05,1793248229239089152
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658,634,877.432596222,785,810,651,629,653,0.401525948844,-0.0153801750558,0.0799460331212,0.999999957466,0.000275573948228,-9.01140634446e-05,3.17196901117e-05,1793248229255755776
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023102447,744.976897553,715.976897553,679.023102447,658,634,877.976897553,785,810,651,629,653,0.40163217056,-0.0153838542515,0.0799486589582,0.999999958712,0.000273278787641,-8.41817768965e-05,2.84118052579e-05,1793248229272422656
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.599963277,744.400036723,715.400036723,679.599963277,658,634,877.400036723,785,810,651,629,653,0.401762550653,-0.01538644182,0.0799505660273,0.999999958855,0.00027400111919,-8.12724935883e-05,2.46546691329e-05,1793248229289089280
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,715.177033541,679.822966459,658,634,877,785,810,651,629,652.822966459,0.40190477778,-0.0153906542734,0.079953277353,0.999999960102,0.000271131287893,-7.65510888282e-05,2.05656092371e-05,1793248229305755904
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,715.754577536,679.245422464,658,634,877,785,810,651,629,652.245422464,0.402073806933,-0.0153985427722,0.079957808182,0.999999963748,0.000260134754797,-6.773004558e-05,1.57256246876e-05,1793248229322422528
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.66265942,744.33734058,715.66265942,679,658.33734058,634,877.33734058,785,810,651,629,652.33734058,0.402249859476,-0.0154050197066,0.0799589258924,0.999999966614,0.000249581004439,-6.623265788e-05,9.71106149476e-06,1793248229339089152
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.076039679,744.923960321,715.076039679,679,658.923960321,634,877.923960321,785,810,651,629,652.923960321,0.402431101998,-0.0154104535608,0.0799575214659,0.99999996889,0.000239354448995,-7.0147113625e-05,2.8285382419e-06,1793248229355755520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.493946256,715.506053744,679,658.493946256,634,878,785,810,651,629,653,0.402638704456,-0.0154176007684,0.0799514158193,0.999999976422,0.0002012097537,-8.15231550396e-05,-4.90465121989e-06,1793248229372422400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,715.913528768,679,658,634,878,785,810,651,629,653,0.40285764274,-0.0154251299612,0.0799453909291,0.999999983091,0.000158567443479,-9.22416211825e-05,-1.28701090976e-05,1793248229389089024
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715.338768269,679,658,634,878,785,810,651,629,653,0.403118424719,-0.0154333752826,0.0799437756531,0.99999998895,0.000114006199901,-9.29718796107e-05,-2.14317657229e-05,1793248229405756672
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.236765211,715,679,658.236765211,634,878,785,809.763234789,651,629,653,0.40340529424,-0.0154421972121,0.0799461243522,0.999999992164,8.48871443102e-05,-8.7763870308e-05,-2.76525702052e-05,1793248229422423808
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.813408273,715,679,658.813408273,634,878,785,809.186591727,651,629,653,0.403729612562,-0.0154518468652,0.0799541633608,0.999999993757,7.79354432464e-05,-7.40314429328e-05,-3.05130672125e-05,1793248229439089920
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.600520567,715.399479433,679,659,634,878,785,809.399479433,651,629,652.600520567,0.404065467128,-0.0154594980501,0.0799567477524,0.999999994471,7.47523519751e-05,-6.84319020487e-05,-2.80596813026e-05,1793248229455756544
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.009939236,715.990060764,679,659,634,878,785,809.990060764,651,629,652.009939236,0.40440684036,-0.0154661932128,0.0799567227789,0.999999994816,7.33720783336e-05,-6.67229499488e-05,-2.30642542808e-05,1793248229472423680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,716,679,659,634,878,785,810,651,629,652.56799512,0.404800503878,-0.0154730877451,0.0799566932373,0.99999999551,6.51416195946e-05,-6.30833928318e-05,-2.7517917755e-05,1793248229489090560
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.145010694,715.854989306,679.145010694,659,634,878,784.854989306,810,651,629,653,0.405202984761,-0.0154794226818,0.0799551455503,0.99999999606,5.43851772906e-05,-6.27812991895e-05,-3.13321498953e-05,1793248229505756928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.719944024,715.280055976,679.719944024,659,634,878,784.280055976,810,651,629,653,0.405628953264,-0.01548408843,0.0799490971511,0.999999996171,3.64874345508e-05,-7.24719792052e-05,-3.27710776173e-05,1793248229522423552
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.704436526,715.295563474,679.704436526,659,634,878,784,810,651,628.704436526,653,0.406081510614,-0.0154911144796,0.0799416896747,0.999999995325,3.37164109119e-05,-8.49806594341e-05,-3.14820646443e-05,1793248229539089920
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.128165375,715.871834625,679.128165375,659,634,878,784,810,651,628.128165375,653,0.406559320434,-0.0155003821962,0.0799329914312,0.999999993576,4.53117956009e-05,-0.000100165700907,-2.76022246177e-05,1793248229555756544
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,715.539575399,679,659,634,878,784.460424601,810,651,628.460424601,652.539575399,0.407049565383,-0.015506855986,0.0799281606645,0.99999999312,2.84726063994e-05,-0.000109761112993,-3.00414635795e-05,1793248229572423168
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784.948651125,810,651,628.948651125,652,0.4075470032,-0.0155119439035,0.0799236106522,0.999999992293,6.16615036123e-06,-0.000119250557919,-3.39870023256e-05,1793248229589089536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784.369938569,810,651,628.369938569,652,0.408081786129,-0.0155110056273,0.0799105835503,0.999999988952,1.12346459325e-05,-0.000144070922049,-3.48406230804e-05,1793248229605756928
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,810,651,628,652.206910672,0.408651054868,-0.0155093931698,0.0799090898036,0.999999988151,1.42877644921e-05,-0.000149001033979,-3.5938419117e-05,1793248229622423808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,810,651,628,652.78045816,0.409281430949,-0.0155065860921,0.0799280326676,0.99999999216,1.37697213078e-05,-0.000118686472464,-3.74688832173e-05,1793248229639089664
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,715.363187882,679.363187882,659,634,877.636812118,784,810,651,628.363187882,652.636812118,0.409953634434,-0.0155091233057,0.0799596723661,0.999999997146,1.32487217669e-05,-6.51907506357e-05,-3.58230935595e-05,1793248229655755776
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,715.951612079,679.951612079,659,634,877.048387921,784,810,651,628.951612079,652.048387921,0.410651777774,-0.0155149748605,0.0799991861928,0.999999999397,1.27258887728e-05,2.68110835792e-06,-3.22075031644e-05,1793248229672422656
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.468840928,744.531159072,716,680,659,634,877.531159072,784,810,651,629,652,0.411312411549,-0.0155161851618,0.0799883139275,0.999999999137,5.95399971956e-06,-2.16518842134e-05,-3.49660835635e-05,1793248229689089280
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.108895014,744.891104986,715.891104986,680,659,634,878,784.108895014,810,651,629,652.108895014,0.41197325312,-0.015516792156,0.0799688988682,0.999999997616,-1.14051508007e-06,-5.72230007916e-05,-3.86183534299e-05,1793248229705755904
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.682298411,744.317701589,715.317701589,680,659,634,878,784.682298411,810,651,629,652.682298411,0.412649317348,-0.0155165995741,0.0799323011742,0.999999993457,-7.22279919628e-06,-0.000105490632532,-4.36465338542e-05,1793248229722422528
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,785,810.263019631,651,629,653,0.413369075451,-0.0155164357104,0.079912164894,0.999999990716,-9.44953617852e-06,-0.000127528416031,-4.70764183958e-05,1793248229739089152
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,785,810.852833097,651,629,653,0.414143121947,-0.0155163075283,0.0799124814115,0.999999991957,-6.88587476697e-06,-0.000116976423175,-4.85204700295e-05,1793248229755756032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.43485632,715,680,659,634,878,784.56514368,810.56514368,651,629,652.56514368,0.414943929188,-0.0155164951787,0.0799340864774,0.999999995547,-8.7134532054e-06,-8.10292810598e-05,-4.75810361787e-05,1793248229772422656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.985795307,659.014204693,634,878.014204693,784.014204693,810,651,629,652.014204693,0.415752855515,-0.0155167731094,0.0799617112368,0.999999998128,-1.1977985936e-05,-3.8604387407e-05,-4.59325639553e-05,1793248229789089536
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.409800329,659.590199671,634,878.590199671,784.590199671,810,651,629,652.590199671,0.416531011384,-0.0155164686832,0.0799474878223,0.999999996034,-1.43327590261e-05,-7.3909642786e-05,-4.75825344329e-05,1793248229805756672
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.833848089,715,679.166151911,659.833848089,634,879,785,810.166151911,651,629,653,0.417340571837,-0.015517235951,0.0799441292683,0.999999995281,-1.67264003937e-05,-8.2458219807e-05,-4.85638184246e-05,1793248229822423808
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.258001268,715,679.741998732,659.258001268,634,879,785,810.741998732,651,629,653,0.418227569202,-0.0155206457863,0.0799675611264,0.999999998355,-1.92158824447e-05,-2.50305756014e-05,-4.78962651597e-05,1793248229839090176
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.325188889,715,680,659.325188889,634,879,785,811,651,629,653,0.419112620664,-0.0155229499914,0.079979890446,0.999999998574,-2.24033377352e-05,5.31877876231e-06,-4.8189765527e-05,1793248229855756544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.914339742,715,680,659.914339742,634,879,785,811,651,629,653,0.419996092559,-0.0155243567355,0.0799832076241,0.999999998351,-2.6157351007e-05,1.36881708504e-05,-4.9263371407e-05,1793248229872422912
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.504841092,715,680,660,633.504841092,878.504841092,785,811,651,629,653,0.420869783327,-0.0155266894891,0.0799701035993,0.999999998107,-3.30896331315e-05,-9.33929693263e-06,-5.10257669171e-05,1793248229889089792
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.0741479,715,680,660,633.0741479,878.0741479,785,811.0741479,651,629,653,0.421749672003,-0.015529377269,0.0799598740812,0.999999997478,-3.9010737853e-05,-2.8174855809e-05,-5.22244451064e-05,1793248229905756416
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.650342408,715,680,660,633.650342408,878.650342408,785,811.650342408,651,629,653,0.422682792917,-0.0155334021721,0.0799880238996,0.999999998062,-3.4424074076e-05,1.75400921621e-05,-4.88128092575e-05,1793248229922423040
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.225849871,660,634,879.225849871,785,812,651,629,653,0.423590720582,-0.0155355285817,0.0800002222619,0.999999998038,-2.8905405362e-05,2.95226404524e-05,-4.70852737015e-05,1793248229939089920
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.800296973,660,634,879.800296973,785,812,651,629,653,0.424459762839,-0.0155347246846,0.0799877997004,0.999999998553,-2.19481948179e-05,-1.05604578093e-05,-4.7957131255e-05,1793248229955756800
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.614443894,660.385556106,633.614443894,880,785,811.614443894,651,629.385556106,653,0.425353014246,-0.015532775162,0.079953845174,0.999999996117,-2.20012992779e-05,-6.76139382839e-05,-5.20669699037e-05,1793248229972423168
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.02342301,660.97657699,633.02342301,880,785,811.02342301,651,629.97657699,653,0.42625916678,-0.01553021513,0.0799084161565,0.999999989052,-2.57902360245e-05,-0.000133711017713,-5.79023446643e-05,1793248229989089536
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.556198981,660.443801019,633.556198981,880,785.556198981,811,651,629.443801019,653,0.427197805318,-0.0155321138077,0.0799044092274,0.999999989797,-3.11947150926e-05,-0.000126403525942,-5.87741110862e-05,1793248230005756416
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.865621459,660,633.865621459,880,785.865621459,811.134378541,651,629.134378541,653,0.428135845917,-0.0155339871882,0.0799070894889,0.999999990978,-3.57704078493e-05,-0.000115413704726,-5.86837341219e-05,1793248230022423040
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.290629135,660,633.290629135,880,785.290629135,811.709370865,651,629.709370865,653,0.429067530205,-0.0155351743137,0.0799260915543,0.999999992495,-3.74099938307e-05,-0.00010228227151,-5.61102114201e-05,1793248230039089664
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.709557757,715,680,660,633,880,785,812,651,630,653,0.430017265188,-0.0155380065507,0.0799605113225,0.999999996325,-3.61180254239e-05,-5.68770972042e-05,-5.301646089e-05,1793248230055756288
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.122273409,715,680,660,633,880,785,812,651,630,653,0.430985448553,-0.015542520149,0.0800106885195,0.999999998042,-3.18299059077e-05,2.15129657881e-05,-4.93910192905e-05,1793248230072423168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,715,680,660,633,879.541175239,785,812,651,630,653,0.431920725287,-0.0155414983107,0.0800194942717,0.99999999791,-2.74181434328e-05,3.12317837686e-05,-4.95213362111e-05,1793248230089089792
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.038194938,715,680,660,633,879,785,812.038194938,651,630,653,0.432841783002,-0.015539097115,0.0800127798439,0.999999998267,-2.39493413894e-05,1.69750060356e-05,-5.10244135018e-05,1793248230105756672
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.616132224,715,680,660,633,879,785,812.616132224,651,630,653,0.43368418085,-0.0155377723174,0.0799404728489,0.999999994459,-3.42651859189e-05,-8.09200113619e-05,-5.79707556379e-05,1793248230122423296
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.193011667,785,813,651,630,653,0.43454959487,-0.0155384407208,0.079898431132,0.999999987838,-4.42093396903e-05,-0.00013595663957,-6.23294270078e-05,1793248230139089664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.767798806,785,813,651,630,653,0.435460534837,-0.015543051659,0.0799162538707,0.999999991037,-5.34182946087e-05,-0.000106219748957,-6.15697092458e-05,1793248230155756032
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.64911776,784.64911776,813,651,630,653,0.436355995314,-0.0155451235091,0.0799475107598,0.999999994505,-5.5909371019e-05,-6.667094925e-05,-5.84768030933e-05,1793248230172422912
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.060411219,784.060411219,813,651,630,653,0.4372409639,-0.0155454743917,0.079987873174,0.999999996893,-5.38471392536e-05,-2.04717422348e-05,-5.38024863077e-05,1793248230189089536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.518744377,784.518744377,813,651,630,653,0.43815752894,-0.0155499277184,0.0800202510747,0.999999996085,-6.02319483396e-05,3.7116397559e-05,-5.31534818354e-05,1793248230205756672
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.096630809,660.096630809,633,880,785,813,651,630,653,0.439056500039,-0.0155535140586,0.08004198291,0.999999993352,-6.52408396726e-05,7.87963258086e-05,-5.32085304381e-05,1793248230222423552
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.673637309,660.673637309,633,880,785,813,651,630,653,0.439850045691,-0.0155504582846,0.0800153294584,0.999999996189,-5.86078287896e-05,3.49183454478e-05,-5.44753396169e-05,1793248230239089920
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.745301816,661,633,880,785,813,651,630,653,0.440586940724,-0.0155464102438,0.0799605850351,0.999999995147,-5.93415826189e-05,-5.1260718624e-05,-5.96470789819e-05,1793248230255756544
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.158961795,661,633,880,785,813,651,630,653,0.441250071071,-0.0155410701752,0.0798692634335,0.999999976598,-6.96675812349e-05,-0.00019251990895,-6.9903416868e-05,1793248230272423168
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.843862961,661,633.42193148,880,785,813.42193148,651,630,653,0.442002148875,-0.0155442212185,0.079843795274,0.999999970158,-7.45299273266e-05,-0.000221697038522,-7.05604185773e-05,1793248230289089792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633.999200831,880,785,814,651,630,653,0.44278736176,-0.0155505248711,0.0798429279112,0.99999997287,-7.73490232183e-05,-0.00020904882145,-6.76447007206e-05,1793248230305756416
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633.420143368,880,785,814,651,630,653,0.443609714568,-0.0155527549991,0.0799193712742,0.999999990664,-7.21618752367e-05,-9.73960828679e-05,-6.30784614271e-05,1793248230322423040
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.842432417,785,813.842432417,651,630,653,0.444402213529,-0.0155554530089,0.0799829327328,0.999999995787,-7.00112276904e-05,-5.00500978209e-06,-5.91579011948e-05,1793248230339089664
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.268281301,785,813.268281301,651,630,653,0.445115783867,-0.0155593880244,0.0800124365097,0.999999994834,-7.58886033354e-05,3.64613167233e-05,-5.69444140458e-05,1793248230355756032
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.686246642,661,633,879.313753358,784.686246642,813.313753358,651,630,653,0.445791544018,-0.0155619365198,0.0800246492738,0.999999993997,-7.73509736842e-05,5.40577316722e-05,-5.56888669292e-05,1793248230372422656
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.097297288,661,633,879.902702712,784.097297288,813.902702712,651,630,653,0.446434140459,-0.0155632688854,0.0800216959274,0.999999994378,-7.49409014448e-05,5.0717622135e-05,-5.52735381452e-05,1793248230389089280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,784,814,651,630,653,0.447035102866,-0.0155674003865,0.0799978694007,0.999999994925,-7.91325760527e-05,2.47451504045e-05,-5.7230396786e-05,1793248230405755904
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.0629226,745,715,681,661,633,880,784,814,651,630,653,0.447619416885,-0.0155717625001,0.079967889153,0.999999994472,-8.57455527268e-05,-1.07142065243e-05,-5.99145462419e-05,1793248230422422528
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.639347481,745,715,681,661,633,880,784,814,651,630,653,0.448135105738,-0.0155734859417,0.0799213999292,0.999999988972,-0.000101456457647,-8.70428942741e-05,-6.47028755151e-05,1793248230439089152
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.218038991,661.218038991,633,880,784,814,651,630,653,0.448631912104,-0.0155751295041,0.0798808129819,0.999999979829,-0.000111746455046,-0.000152231980893,-6.84112933649e-05,1793248230455755776
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.800518997,661.800518997,633,880,784,814,651,630,653,0.449097157307,-0.0155766395525,0.0798500913921,0.999999971385,-0.000112975682043,-0.000198801787197,-7.03146944912e-05,1793248230472422656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.619088113,745,715,681.619088113,661.619088113,633,879.619088113,783.619088113,814.380911887,651,630,653,0.449582778314,-0.0155814275087,0.0798467271791,0.999999970522,-0.000118484075823,-0.000200034401343,-7.00217005963e-05,1793248230489089280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.039782221,745,715,681.039782221,661.039782221,633,879.039782221,783.039782221,814.960217779,651,630,653,0.45007901189,-0.0155879227293,0.0798576117691,0.999999973902,-0.000126221229366,-0.000177653613697,-6.85847373395e-05,1793248230505755904
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.542825161,745,715,681,660.457174839,632.457174839,879.542825161,783,814.457174839,651,630,653,0.450562523836,-0.0155953315518,0.0798869558966,0.999999979155,-0.000136823792181,-0.000136339287657,-6.61875976582e-05,1793248230522422784
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.876161739,745,715,681,660.123838261,632,880,783,814,651,630,653,0.451024803493,-0.0156027399861,0.0799099863293,0.999999981399,-0.000147325314757,-0.000106493504653,-6.44629793858e-05,1793248230539089408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.301833607,745,715,681,660.698166393,632,880,783,814,651,630,653,0.451413258336,-0.0156099019539,0.0799050978505,0.999999977963,-0.000156690693122,-0.000123445706243,-6.54423595016e-05,1793248230555756032
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.272597207,745,715,681,660.727402793,632,880,782.727402793,814,651,630,653.272597207,0.451758802057,-0.0156148981976,0.0798838828735,0.999999971322,-0.000162871103828,-0.000162417821534,-6.67102880418e-05,1793248230572422656
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.847141724,745,715,681,660.152858276,632,880,782.152858276,814,651,630,653.847141724,0.452056814463,-0.0156174955367,0.079844583551,0.99999995848,-0.000165523625543,-0.000225780697757,-6.82978323156e-05,1793248230589089280
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.567602297,745.432397703,715,681,660,632,880,782,814,651,630,653.567602297,0.452341126222,-0.0156195579686,0.0798129671898,0.999999945979,-0.000172774950173,-0.000270464947677,-7.09932164097e-05,1793248230605755904
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.978752414,715,681,660,632,880,782,814,651,629.978752414,653.021247586,0.452620412293,-0.0156213104054,0.0797850980124,0.999999933682,-0.000181251456067,-0.000307092243661,-7.40200955556e-05,1793248230622422528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.397516969,715,681,660,632,880,782,814,651,629.397516969,653.602483031,0.452898135656,-0.0156200031199,0.0797825870172,0.99999993332,-0.000178082792173,-0.000309824344681,-7.51997549425e-05,1793248230639089152
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.181685509,781.818314491,814.181685509,651,629.181685509,653.818314491,0.453165716386,-0.0156183301284,0.0797808120586,0.999999932909,-0.000175902384031,-0.000312089817653,-7.64175352473e-05,1793248230655755776
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.756489122,781.243510878,814.756489122,651,629.756489122,653.243510878,0.453411351179,-0.0156158658486,0.0797806296834,0.999999932424,-0.00017586029339,-0.000313345633899,-7.77177987152e-05,1793248230672422400
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.330375115,745,715,681,660,632,880.669624885,781,815,651,629.669624885,653,0.453627384146,-0.0156189232485,0.0797785669958,0.999999930258,-0.000180508361174,-0.000317819275369,-7.67611393684e-05,1793248230689089024
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.903586687,745,715,681,660,632,880.096413313,781,815,651,629.096413313,653,0.453821658835,-0.0156260392625,0.0797751222174,0.999999926764,-0.000188603847968,-0.000324658123165,-7.41455684544e-05,1793248230705755904
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.508180827,745,715,681,660,632,880,781,815,651,629.491819173,653,0.453980611887,-0.0156314237761,0.0797634613735,0.999999920208,-0.000191570075386,-0.000343178153836,-7.15158997146e-05,1793248230722422528
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.918535146,632,880.081464854,781,814.918535146,651,630,653,0.454129289973,-0.0156359310316,0.0797503999618,0.999999912769,-0.000193388471456,-0.000363622749674,-6.95765621027e-05,1793248230739089408
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.338822872,632,880.661177128,781,814.338822872,651,630,653,0.454258808921,-0.015637214298,0.0797389336348,0.999999905766,-0.000194530155706,-0.000381391650159,-7.18767949319e-05,1793248230755756032
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.238552048,745,715,681,659.238552048,632,880.761447952,780.761447952,814,651,629.761447952,653.238552048,0.454381786861,-0.0156388501711,0.0797318611126,0.999999900931,-0.000196094259327,-0.000392752225866,-7.3692966006e-05,1793248230772422656
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.812639329,745,715,681,659.812639329,632,880.187360671,780.187360671,814,651,629.187360671,653.812639329,0.454495564542,-0.0156409820026,0.0797309686943,0.999999899497,-0.000198252516647,-0.000395099175422,-7.48282802075e-05,1793248230789089280
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.606594859,745,715,681,660,632,880,780,814,650.606594859,629.393405141,653.606594859,0.454592631381,-0.0156427545278,0.0797337619059,0.999999901179,-0.000198670492557,-0.000390645110117,-7.46166382556e-05,1793248230805756160
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.02259346,745,715,681,660,632,880,780,814,650.02259346,629.97740654,653.02259346,0.454681602177,-0.0156443529767,0.0797383407252,0.999999904325,-0.000198245339801,-0.00038289610054,-7.37524252262e-05,1793248230822422784
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.436969495,880,780,814,650.563030505,630,653,0.454749652303,-0.0156463358771,0.0797385535214,0.999999903403,-0.000201290433233,-0.000383756846976,-7.35333141468e-05,1793248230839089408
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.146233954,880,780,814,651,630,653,0.454811627029,-0.0156479598752,0.0797377269149,0.999999901976,-0.000204642757509,-0.000385713972755,-7.34407444602e-05,1793248230855756032
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.722133459,880,780,814,651,630,653,0.454858224749,-0.0156484838841,0.0797343625933,0.999999899554,-0.000208487446073,-0.000389874417869,-7.36436988144e-05,1793248230872422656
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,780,814,651,629.703425552,653,0.454896326388,-0.0156485003897,0.0797310103425,0.999999897126,-0.000210775745969,-0.000394800773236,-7.38548873822e-05,1793248230889089280
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,780,814,651,629.13034432,653,0.454926506838,-0.015648043732,0.0797276693456,0.99999989469,-0.000211612970446,-0.000400441214137,-7.40737530202e-05,1793248230905755904
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,780,814,651.457980364,629,653,0.454947729484,-0.015647449873,0.0797245059227,0.999999892792,-0.000210923338345,-0.000405626503014,-7.34405541452e-05,1793248230922422528
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.049534484,715,681.049534484,660,632,880,780,814.049534484,651.950465516,629,653,0.454965722528,-0.0156469394685,0.0797214692162,0.999999891041,-0.000210004625297,-0.000410535701689,-7.26345911506e-05,1793248230939089408
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.627661176,715,681.627661176,660,632,880,780,814.627661176,651.372338824,629,653,0.454977394252,-0.0156477506626,0.0797192268438,0.999999889339,-0.000211438211434,-0.000413928625147,-7.26619266301e-05,1793248230955756032
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.795672326,715,681.795672326,659.795672326,631.795672326,880,780,814.795672326,651,629,653,0.454986662658,-0.0156475893706,0.0797173930313,0.999999887899,-0.000211672360627,-0.000417237579014,-7.28687404238e-05,1793248230972422656
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.221647842,715,681.221647842,659.221647842,631.221647842,880,780,814.221647842,651,629,653,0.454991582657,-0.015645668527,0.0797162984396,0.999999886946,-0.000209736328856,-0.000420394603724,-7.34002902593e-05,1793248230989089280
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681.353078827,659,631,880.353078827,780.353078827,814,651,629.353078827,653,0.454995802311,-0.0156447211258,0.0797158482886,0.999999886762,-0.000208723920957,-0.000421342770867,-7.33533721009e-05,1793248231005755904
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681.928247154,659,631,880.928247154,780.928247154,814,651,629.928247154,653,0.45499958144,-0.0156443860281,0.0797158034963,0.999999887068,-0.00020829248018,-0.000420901548228,-7.29425927742e-05,1793248231022422528
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,744.481121385,715,681.481121385,659,631,880.481121385,780.481121385,814,651,629.481121385,653,0.454999134996,-0.0156443105333,0.0797136167288,0.999999885376,-0.000209263183467,-0.000424428645073,-7.29239856412e-05,1793248231039089152
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.108691674,744.108691674,715,681,659,631,880,779.891308326,814,651,629,653,0.45499868838,-0.0156443384241,0.079711578748,0.999999883809,-0.000210088261896,-0.000427709229478,-7.2872248927e-05,1793248231055755776
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.685487956,744.685487956,715,681,659,631,880,779.314512044,814,651,629,653,0.455000834878,-0.0156446522115,0.0797114963926,0.999999884072,-0.000209425474434,-0.000427492216881,-7.2437099171e-05,1793248231072422656
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.739104917,745.260895083,715,681,659,631,880,779.260895083,814,651,629,653,0.455001696611,-0.0156450982619,0.0797110431928,0.999999883766,-0.000209537368359,-0.000428204518067,-7.21326072789e-05,1793248231089089536
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.165363488,745.834636512,715,681,659,631,880,779.834636512,814,651,629,653,0.455001017749,-0.0156457029124,0.0797101453036,0.999999882774,-0.000210578203589,-0.000430031184501,-7.19847907066e-05,1793248231105756160
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.579142959,714.579142959,681,659.420857041,631.420857041,880,780,814,651,629.420857041,653.420857041,0.454999950085,-0.0156449932146,0.0797088101384,0.999999881894,-0.000209639882828,-0.000432524013588,-7.20178287228e-05,1793248231122422784
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.988112185,632,880,780,814,651,629.988112185,653.988112185,0.454998801752,-0.01564378838,0.0797073587379,0.999999881093,-0.000207938582322,-0.000435172196339,-7.21110353054e-05,1793248231139089408
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.408675523,632,880,780,814,651,629.408675523,653.408675523,0.455001318457,-0.0156443537727,0.0797088114756,0.999999882324,-0.000208072247034,-0.000432358983429,-7.15805187592e-05,1793248231155756032
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.169251441,681,659,631.830748559,880,780,814,651,629,653.169251441,0.45500275277,-0.0156442962765,0.0797092693371,0.999999882875,-0.000207994536625,-0.000431144062435,-7.14364730746e-05,1793248231172422656
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.74356527,681,659,631.25643473,880,780,814,651,629,653.74356527,0.45500159664,-0.0156427480461,0.0797073462031,0.999999881811,-0.000207410950984,-0.000433754266751,-7.22173519582e-05,1793248231189089280
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.318949014,659,631.318949014,880,780,814,651,629,653.681050986,0.45500118587,-0.0156421151785,0.0797065531205,0.99999988127,-0.000207537035526,-0.00043489705575,-7.24733155799e-05,1793248231205756160
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.895195837,659,631.895195837,880,780,814,651,629,653.104804163,0.455001376388,-0.0156422207387,0.0797066716564,0.999999881155,-0.000208235614681,-0.000434856073148,-7.23058273254e-05,1793248231222422784
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659,631.516923041,880.483076959,780,814,651,629,653,0.455002399441,-0.0156419478785,0.0797068538029,0.999999881741,-0.000206894251442,-0.000434172337907,-7.21654264142e-05,1793248231239089408
+245,4.083333333,HOLD_POSE2,765,745,715,682,660,632,880,780,814,651,629,653,0.455000171658,-0.0156426673437,0.0797044643684,0.999999880314,-0.000207238499866,-0.000437288992963,-7.21296452376e-05,1793248231282554112
+246,4.100000000,HOLD_POSE2,765,745,715,682,659.425311145,631.425311145,880,780,814.574688855,651,629,653,0.455000052381,-0.015643040773,0.0797037721682,0.999999879669,-0.000207481349247,-0.000438690451845,-7.18660604784e-05,1793248231299220736
+247,4.116666667,HOLD_POSE2,765,745,714.850334633,681.850334633,659,631,880,780,814.850334633,651,629,653,0.455000075775,-0.0156431800845,0.0797032693128,0.999999879164,-0.000207896967068,-0.000439669937119,-7.17027654623e-05,1793248231315887360
+248,4.133333333,HOLD_POSE2,765,745,714.274538966,681.274538966,659,631,880,780,814.274538966,651,629,653,0.455000505385,-0.0156426528107,0.0797033055634,0.999999879064,-0.000208804494786,-0.000439447970814,-7.18250173981e-05,1793248231332553984
+249,4.150000000,HOLD_POSE2,765,745,714.310097673,681,659,631.310097673,880,780,814,651,629,653,0.455000692673,-0.0156421856408,0.0797034826751,0.999999879131,-0.000208459927011,-0.000439451549679,-7.18618126999e-05,1793248231349220608
+250,4.166666667,HOLD_POSE2,765,745,714.902791163,681,659,631.902791163,880,780,814,651,629,653,0.455000659131,-0.0156417732444,0.0797037881553,0.999999879351,-0.000206974309185,-0.000439660670637,-7.18207303145e-05,1793248231365887232
+251,4.183333333,HOLD_POSE2,765,745,714.517305955,680.517305955,659,631.517305955,880,780,814,651,629,653,0.455000610952,-0.0156420846916,0.0797035606474,0.99999987912,-0.000207957862586,-0.000439697781078,-7.19688798432e-05,1793248231382553856
+252,4.200000000,HOLD_POSE2,765.05971166,745,714,680.05971166,659,631,879.94028834,780,814,650.94028834,629,653,0.455000420914,-0.0156422875151,0.0797031306147,0.999999878764,-0.000208968600904,-0.00044000150876,-7.21347890813e-05,1793248231399220480
+253,4.216666667,HOLD_POSE2,765.633493231,745,714,680.633493231,659,631,879.366506769,780,814,650.366506769,629,653,0.454999034297,-0.0156403325785,0.0797018572391,0.999999878095,-0.000206042863868,-0.000442891130607,-7.21339760273e-05,1793248231415887104
+254,4.233333333,HOLD_POSE2,765.792985721,745,714,681,659,631,879.207014279,780,814,650.207014279,629,653.207014279,0.454998911245,-0.0156393812015,0.0797016372042,0.999999878195,-0.000204111119539,-0.000443582503247,-7.19959280995e-05,1793248231432553728
+255,4.250000000,HOLD_POSE2,765.219925396,745,714,681,659,631,879.780074604,780,814,650.780074604,629,653.780074604,0.455001022449,-0.0156402043351,0.0797032797036,0.99999987967,-0.000203936969747,-0.000440386895255,-7.16152192164e-05,1793248231449220608
+256,4.266666667,HOLD_POSE2,765,745,714.367931913,681,659,631,880,780,814,651,629,653.632068087,0.455000647907,-0.0156409198099,0.0797029623256,0.999999879089,-0.000205465180492,-0.000440998085454,-7.16050067176e-05,1793248231465887232
+257,4.283333333,HOLD_POSE2,765,745,714.965004547,681,659,631,880,780,814,651,629,653.034995453,0.454998725293,-0.015641568237,0.079701424375,0.999999877218,-0.000208053587707,-0.000443980073996,-7.18255320051e-05,1793248231482553856
+258,4.300000000,HOLD_POSE2,765,745,715,681,659,631,880,779.45929575,814,651,629,653,0.45500027937,-0.0156397094782,0.0797015857547,0.99999987809,-0.000205684615896,-0.000443152299662,-7.16256792135e-05,1793248231499220480
+259,4.316666667,HOLD_POSE2,765,745,715,681,659,631.114856848,879.885143152,779.114856848,814,651,629,653,0.455001528118,-0.0156382145513,0.0797018417975,0.999999878882,-0.000203680729302,-0.000442310546441,-7.14917713259e-05,1793248231515886848
+260,4.333333333,HOLD_POSE2,765,745,715,681,659,631.688145868,879.311854132,779.688145868,814,651,629,653,0.455000694222,-0.0156387948455,0.0797020533813,0.999999878704,-0.000204365949258,-0.000442359740859,-7.17255373351e-05,1793248231532553728
+261,4.350000000,HOLD_POSE2,765,745,715,681,659.270917944,632,879.270917944,779.729082056,814,651,629,653,0.455000284907,-0.0156390948636,0.0797021277869,0.999999878612,-0.000204563691265,-0.000442471435728,-7.17560067808e-05,1793248231549220352
+262,4.366666667,HOLD_POSE2,765,745,715,681,659.865001901,632,879.865001901,779.134998099,814,651,629,653,0.455000382057,-0.0156390605529,0.0797020385588,0.999999878623,-0.000204179942378,-0.000442657684617,-7.15439727475e-05,1793248231565887232
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880,780,814,651,629,653,0.455001261413,-0.0156422334839,0.0797022689349,0.99999987871,-0.000205894408683,-0.000441822292948,-7.05749410543e-05,1793248231598561024
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.425206081,681,659.574793919,631,880,780,814.574793919,651,629,653,0.45500188226,-0.015641714448,0.0797021600463,0.999999878864,-0.00020623739701,-0.000441252425404,-7.09538864648e-05,1793248231615227392
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.153367113,681,659.846632887,631,880,779.846632887,814.846632887,651,629,653.153367113,0.455001598371,-0.0156410222436,0.0797016129997,0.999999878631,-0.000206232611587,-0.00044172368118,-7.13246261043e-05,1793248231631893760
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.7426831,681,659.2573169,631,880,779.2573169,814.2573169,651,629,653.7426831,0.454998742754,-0.0156398378047,0.0796998204812,0.999999877289,-0.000205239272885,-0.000445154349228,-7.16720407743e-05,1793248231648560640
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.32601803,779.32601803,814,651,629,654,0.454998784087,-0.0156393746399,0.0796997815313,0.99999987721,-0.000204878533442,-0.000445481550145,-7.17654119846e-05,1793248231665227264
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.90471729,779.90471729,814,651,629,654,0.45500107071,-0.0156394705007,0.07970110169,0.999999878115,-0.000205008091968,-0.000443403399563,-7.16618860464e-05,1793248231681893888
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.481347741,715,681,659,631,880.518652259,780,814,651,629,653.518652259,0.455000154352,-0.0156399414149,0.0797009553257,0.999999877934,-0.000204884778667,-0.000443868463372,-7.16654154757e-05,1793248231698560512
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631.057444919,879.942555081,780,814,651,629.057444919,653,0.454998531455,-0.0156403954176,0.0797004123208,0.99999987751,-0.000204820385831,-0.000444844247076,-7.17075662291e-05,1793248231715227136
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631.632411437,879.367588563,780,814,651,629.632411437,653,0.454996230868,-0.0156400310828,0.0796989000831,0.999999876835,-0.000205735832138,-0.000445905124998,-7.19075585607e-05,1793248231731894528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.787099759,715,681,659,631.787099759,879.212900241,779.787099759,814,651,629.787099759,653,0.454987826663,-0.0156393173482,0.0796943409935,0.999999873872,-0.000206023156833,-0.000452329425467,-7.21726314397e-05,1793248231748561408
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.196822469,715,681,659,631.196822469,879.803177531,779.196822469,814,651,629.196822469,653,0.454968603469,-0.0156379842837,0.0796843811962,0.999999866681,-0.000205197102284,-0.000468260678716,-7.25530630319e-05,1793248231765227776
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880,779.385946553,814,651,629,653,0.454929841732,-0.0156368772289,0.0796680024533,0.999999853195,-0.00020493399833,-0.000496259277689,-7.30642015672e-05,1793248231781894400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880,779.964959678,814,651,629,653,0.454881305999,-0.0156358832334,0.0796484126851,0.99999983568,-0.000204952505502,-0.000530294467607,-7.36407251404e-05,1793248231798561024
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.554391607,659,631,880,780,814,650.554391607,629.445608393,653.445608393,0.454380036529,-0.0156133824461,0.0795980034512,0.99999979524,-0.000194652835873,-0.000605838331284,-6.77456170905e-05,1793248231898561024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.023920991,631,879.976079009,780,814,650.023920991,629.976079009,653.976079009,0.45425717366,-0.0156086115541,0.0795975904937,0.999999794082,-0.000192028382819,-0.000608930048068,-6.45374178827e-05,1793248231915227392
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.599076957,631,879.400923043,780,814,650.599076957,629.400923043,653.400923043,0.454108341675,-0.0156030285594,0.0795937161664,0.999999791724,-0.000188417211194,-0.000614263944296,-6.10784849137e-05,1793248231931894016
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.17799846,659.82200154,631.17799846,879.17799846,780.17799846,814,651,629.17799846,653,0.453950034201,-0.0155973373229,0.0795890419,0.999999788336,-0.000183610515149,-0.00062153885276,-5.74883968224e-05,1793248231948560896
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.765584663,659.234415337,631.765584663,879.765584663,780.765584663,814,651,629.765584663,653,0.453769922941,-0.0155913970149,0.0795825269144,0.999999782544,-0.000176052828679,-0.000633280174499,-5.35965114816e-05,1793248231965227776
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.651809832,659.348190168,632,880,780.651809832,813.651809832,651,630,653.348190168,0.453572162395,-0.0155819459914,0.0795797570159,0.999999780323,-0.000166952443117,-0.000639573873706,-4.92645668712e-05,1793248231981894656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.072510183,659.927489817,632,880,780.072510183,813.072510183,651,630,653.927489817,0.453362687207,-0.0155701647476,0.0795794728995,0.999999780462,-0.000156828097995,-0.000642251741876,-4.46405347336e-05,1793248231998561280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.503776548,660,632,880,780.503776548,813.503776548,651,630,653.496223452,0.45311941265,-0.0155618616739,0.0795852304473,0.999999787031,-0.00014247419883,-0.000635806667823,-3.72611293369e-05,1793248232015227648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.452866891535,-0.0155533535655,0.0795913093163,0.999999794361,-0.000123387421907,-0.00062862503059,-2.97172328382e-05,1793248232031894272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.452586885727,-0.0155404667259,0.0795940038568,0.999999801329,-7.85789533194e-05,-0.000624987368134,-2.3604950815e-05,1793248232048560896
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.233290701,715,681.766709299,660,632,880,781.233290701,813.766709299,651,630,653,0.452294544781,-0.0155306250771,0.0795982353969,0.999999807463,-4.35661594297e-05,-0.000618778126343,-1.70322205977e-05,1793248232065227520
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.825933126,715,681.174066874,660,632,880,781.825933126,813.174066874,651,630,653,0.451983203296,-0.0155254741201,0.0796048344698,0.999999814471,-2.36422363649e-05,-0.000608607727517,-9.75023470034e-06,1793248232081894144
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.591986788,715,681,660,632,879.591986788,782,813,651,630,653,0.451636573817,-0.0155189577224,0.0796106597038,0.999999819328,-1.06114021187e-05,-0.000601014712513,-3.56744173696e-06,1793248232098561024
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.014299121,715,681,660,632,879.014299121,782,813,651,630,653,0.451275269648,-0.0155118734991,0.0796161631327,0.999999823286,-4.47095865653e-07,-0.000594493516475,2.15824584064e-06,1793248232115228160
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,879,782,812.436389938,651,630,653,0.450886811532,-0.0155074493297,0.0796337185226,0.999999842394,-2.19255704468e-05,-0.000560961496815,-7.34007568289e-06,1793248232131895040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.856629359,715,681,660,632,879.143370641,782.143370641,812.143370641,651,629.856629359,653,0.450490857309,-0.0155061679036,0.0796511984508,0.99999986,-3.72183509995e-05,-0.000527682233082,-1.28559489819e-05,1793248232148561408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,744.271177477,715,681,660,632,879.728822523,782.728822523,812.728822523,651,629.271177477,653,0.450073914109,-0.0155143689035,0.079667502497,0.999999875857,-3.09612486645e-05,-0.000497296230644,-4.90056037331e-06,1793248232165227776
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744.310847333,715,681.310847333,660,632,880,783,812.689152667,651,629.310847333,653,0.449622232866,-0.0155167668968,0.0796812036752,0.999999887582,-2.21368857665e-05,-0.000473648956718,1.70978823875e-06,1793248232181894400
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744.889915097,715,681.889915097,660,632,880,783,812.110084903,651,629.889915097,653,0.449140577207,-0.0155141576583,0.079692658922,0.999999896029,-1.10973134273e-05,-0.000455816317367,7.1595448417e-06,1793248232198561280
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.466125818,880,783.466125818,812,651,630,653,0.44860041761,-0.0154983812885,0.0796856627208,0.999999889785,8.84709539685e-06,-0.000469365151765,6.96856462721e-06,1793248232215228416
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784,812,651,630,653,0.448043846291,-0.0154799130219,0.079674945289,0.999999880066,3.10647664717e-05,-0.000488744005192,5.67384327104e-06,1793248232231895296
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784,812,651,630,653,0.447452947585,-0.0154665551622,0.0796720426289,0.99999987914,5.56275254653e-05,-0.00048843930967,7.20207577676e-06,1793248232248561152
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784.789194804,812,651,630,653,0.446329200173,-0.0154508486542,0.079735422325,0.999999920503,8.17885004774e-05,-0.000389984531504,1.47086917845e-05,1793248232281893888
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,744.62706557,715,682.37293443,660,633,880,784.62706557,812,651,630,653,0.445731367356,-0.0154485723456,0.0797826667285,0.999999944261,9.16162808526e-05,-0.000320477118199,1.94776170254e-05,1793248232298560512
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,744.045636873,715,682.954363127,660,633,880,784.045636873,812,651,630,653,0.445105483118,-0.0154479065679,0.0798291345758,0.999999962415,0.000102769806774,-0.000253028489953,2.42050395565e-05,1793248232315227136
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.987648702,660,633,879.012351298,784,811,651,630,652.012351298,0.439686490419,-0.0153801676154,0.0797104379024,0.999999883994,0.000186254085498,-0.00044394955835,1.51416589414e-05,1793248232431895040
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.164320659,633,879.835679341,784,811,651,630,653,0.4380029576,-0.0153889156918,0.0796900241817,0.999999871094,0.000182561531568,-0.000473481219918,1.72712054776e-05,1793248232465227520
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.752011251,633,879.247988749,784,811,651,630,653,0.437216585324,-0.0153913418785,0.0797615400602,0.999999916322,0.000174578555247,-0.000369383875768,2.08425735148e-05,1793248232481894144
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.664116565,633,879.335883435,784,811.335883435,650.664116565,630,653,0.436403451807,-0.015392485417,0.0798198082497,0.9999999441,0.000181259404261,-0.000279671999603,2.69741723545e-05,1793248232498560512
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.083031916,633,879.916968084,784,811.916968084,650.083031916,630,653,0.435570782115,-0.0153926925982,0.0798684053744,0.999999959566,0.000198645121496,-0.000200461790139,3.49747875843e-05,1793248232515227136
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.506944233,715.493055767,682,660,633,880,784,811.506944233,650,630,652.506944233,0.43467455449,-0.0153928299257,0.0798561717142,0.999999954632,0.000200942929113,-0.000221620317879,3.52597750923e-05,1793248232531894272
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744,715.931878213,682,660,633.068121787,879.931878213,784,811,650,630,652.068121787,0.433760962268,-0.0153924441536,0.0798315093487,0.99999994456,0.00020123536463,-0.000263116034723,3.39762723493e-05,1793248232548561152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744,715.358212162,682,660,633.641787838,879.358212162,784,811,650,630,652.641787838,0.432797139078,-0.0153882627872,0.079789871659,0.999999923555,0.000205312456516,-0.000331360687189,3.05985566237e-05,1793248232565227520
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.223030307,715,682,660,633.776969693,879,784,811,650.223030307,629.776969693,652.776969693,0.431828819041,-0.0153832825384,0.0797443699224,0.999999892361,0.000210904938929,-0.000412337600185,2.78468651437e-05,1793248232581893888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.816869371,715,682,660,633.183130629,879,784,811,650.816869371,629.183130629,652.183130629,0.430853022418,-0.015376974072,0.0796924438396,0.999999843328,0.000219016900366,-0.000514483098235,2.61359970084e-05,1793248232598560768
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,633.904826855,877.904826855,784,810,651,629,652.095173145,0.416542836991,-0.0153710906956,0.0797949596201,0.999999914033,0.000248724276623,-0.00032969463229,3.70267808861e-05,1793248232865227520
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,633.317924577,877.317924577,784,810,651,629,652.682075423,0.41573180431,-0.0153647249892,0.0797959176813,0.999999909114,0.000254779951507,-0.000339787727554,3.74681655189e-05,1793248232881894144
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.734473927,744,715,680.734473927,659,633.265526073,877.265526073,784,810,651,628.734473927,653,0.41492663912,-0.0153616469817,0.0797891561644,0.999999903278,0.000258905379715,-0.000353583366488,3.7292713109e-05,1793248232898560768
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.15510305,744,715,680.15510305,659,633.84489695,877.84489695,784,810,651,628.15510305,653,0.414128409208,-0.015362454948,0.0797732703103,0.999999896242,0.000260749306882,-0.000371755313467,3.63881755743e-05,1793248232915227392
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.422400772,744,715,680,659,634,878,784,810,651,628.422400772,653,0.413402035708,-0.0153668239055,0.0797853502815,0.999999907936,0.000254364725161,-0.000343616459083,3.67924974027e-05,1793248232931894016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.999222087,744,715,680,659,634,878,784,810,651,628.999222087,653,0.412701931285,-0.0153724946841,0.0798076539494,0.999999924719,0.000244971979117,-0.000298547383033,3.76753096313e-05,1793248232948560640
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.575371233,810,651,629,652.424628767,0.411974134315,-0.0153719300441,0.0798024801503,0.999999918359,0.000247266018004,-0.000317322442966,3.80438811404e-05,1793248232965227520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.845330863,810,651,629,652.154669137,0.411259363631,-0.015369557719,0.0797946420022,0.999999910593,0.000251367026537,-0.000337913317062,3.79897097667e-05,1793248232981894144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.257205979,810,651,629,652.742794021,0.410581203371,-0.0153621430073,0.0797794410829,0.999999899386,0.000260487785973,-0.000363351339104,3.67527600687e-05,1793248232998560768
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,633.674553926,878,784,810,651,629,652.674553926,0.409934907764,-0.0153575004863,0.0797825933314,0.999999899171,0.000270880432161,-0.000356204036272,3.74194139164e-05,1793248233015227904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,633.096155651,878,784,810,651,629,652.096155651,0.409313378924,-0.0153550126444,0.0798000105376,0.999999906981,0.000282261648661,-0.000323729864208,3.95656392208e-05,1793248233031894784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.518744081,744,715,680,658.518744081,633.481255919,877.518744081,784,810,651,629,652.481255919,0.408740214746,-0.0153585726289,0.079822433258,0.999999919648,0.000277276624832,-0.000286532572141,4.1483254567e-05,1793248233048561664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.059352766,744.059352766,715,680.059352766,658,634,877.059352766,784,809.940647234,651,629,653,0.408176570684,-0.0153624010945,0.0798411324811,0.999999929553,0.00027047522319,-0.000256677280096,4.30687408212e-05,1793248233065228288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.645274782,744.645274782,715,680.645274782,658,634,877.645274782,784,809.354725218,651,629,653,0.407611831409,-0.0153579129823,0.0798179426978,0.99999991579,0.000276510786798,-0.000300314283931,4.21120329675e-05,1793248233081894400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.771473562,715,680.771473562,658.228526438,634,878,784,809.457052876,651,629,653,0.407058973481,-0.0153542686325,0.0797936247481,0.999999901141,0.000280010675683,-0.000343088269629,4.00347675814e-05,1793248233098560768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.192319091,715,680.192319091,658.807680909,634,878,784,810.615361817,651,629,653,0.40652434515,-0.0153519188676,0.0797675758551,0.999999886315,0.000279620079515,-0.000384538123221,3.62382313136e-05,1793248233115227648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.613540311,659,634,878,784,810.613540311,651,629,652.613540311,0.406050955533,-0.0153507116132,0.079768883346,0.999999889544,0.000280361000882,-0.000375588398541,3.52569002558e-05,1793248233131894528
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.034948255,659,634,878,784,810.034948255,651,629,652.034948255,0.405608011316,-0.0153500723693,0.079783791339,0.999999901357,0.000281664467556,-0.000341582014465,3.56751767486e-05,1793248233148561664
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,715.538838085,679.538838085,659,634,878,784.538838085,810,651,629,652,0.405211313895,-0.0153542424626,0.0798021799128,0.999999912135,0.000279193152025,-0.000310403419243,3.7814397543e-05,1793248233165228032
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,715.884554946,679.884554946,659,634,878,785,810,651,629,652,0.40482248091,-0.0153573617952,0.0798182973777,0.999999920304,0.000276818657112,-0.00028493244216,3.97036894023e-05,1793248233181894400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715.295097959,679.295097959,659,634,878,785,810,651,629,652,0.404453731869,-0.0153548973204,0.0798241710765,0.999999921348,0.000275838064588,-0.000282150266133,4.01125389492e-05,1793248233198560768
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878.289350428,785,810,651,629,652,0.404095384414,-0.0153503773475,0.0798285593043,0.999999918226,0.000286076710045,-0.000282810586542,4.1541047301e-05,1793248233215227136
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878.868777608,785,810,651,629,652,0.403747464675,-0.015343796717,0.079831458332,0.999999910573,0.00030756275582,-0.000286922044759,4.39917739523e-05,1793248233231893760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.553052762,744,715,679.446947238,659,634,878.553052762,785,810,651,629,652.446947238,0.403428332848,-0.0153401724222,0.0798294671169,0.999999909693,0.000302891642389,-0.000295208255286,4.15099148682e-05,1793248233248560640
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.049043503,744,715,679.975478248,658.975478248,634,878,784.975478248,810,651,629,653,0.403120393724,-0.0153375732979,0.0798263820106,0.99999991069,0.000291210403512,-0.000303950088112,3.78201473239e-05,1793248233265227264
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.194050242,744,715,679.402974879,658.402974879,634,878,784.402974879,810,651,629,653,0.40287422925,-0.0153385414822,0.0798308465578,0.999999912325,0.000294009685661,-0.000295560148521,3.94091498508e-05,1793248233281894656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.824983303,744,715,679,658,634,878,784,809.824983303,651,629,653,0.40263689388,-0.0153395704792,0.0798341956003,0.999999912703,0.000297619297019,-0.000290425656081,4.08527445968e-05,1793248233298561792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.233946161,744,715,679,658,634,878,784,809.233946161,651,629,653,0.402420545619,-0.0153407440297,0.0798348930507,0.999999910235,0.000303155087196,-0.000293029469798,4.19507000456e-05,1793248233315228416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.65000847,784,809,651,629,652.65000847,0.402225637285,-0.0153447360485,0.0798353155559,0.999999910779,0.000301095309232,-0.000293216837072,4.25253633147e-05,1793248233331895040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.070721888,784,809,651,629,652.070721888,0.402044775181,-0.0153505745715,0.0798355579322,0.999999913271,0.000294059336539,-0.000291821082815,4.27571946584e-05,1793248233348561152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,715.505516766,679,658.505516766,634,877,784,809.505516766,651,629,652,0.401893672629,-0.0153541721524,0.0798378620272,0.999999916432,0.000289586131916,-0.000285271076376,4.35425138729e-05,1793248233365227776
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,715.918901458,679.081098542,658.918901458,634,877.081098542,784.081098542,810,651,629,652.081098542,0.401750899067,-0.0153566050172,0.0798408219726,0.999999919269,0.000286511398239,-0.000278203186361,4.44582248933e-05,1793248233381894144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,715.34473622,679.65526378,658.34473622,634,877.65526378,784.65526378,810,651,629,652.65526378,0.401633603494,-0.0153538512466,0.0798460262598,0.999999919886,0.000289772397983,-0.000272344426914,4.56987388644e-05,1793248233398560768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.763901409,658,634,878,784.763901409,809.763901409,651,629,652.763901409,0.40152359455,-0.0153518780063,0.0798478279657,0.999999920559,0.000289594966626,-0.00027018295898,4.49150090608e-05,1793248233415227648
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.173045044,658,634,878,784.173045044,809.173045044,651,629,652.173045044,0.401424534376,-0.0153510775779,0.0798445170102,0.999999921334,0.0002842510063,-0.000273576979481,4.1089684512e-05,1793248233431894272
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,878,784.408767522,809.408767522,651,629,652.408767522,0.401337101434,-0.0153497678327,0.0798396307283,0.999999917591,0.000290629733974,-0.000281025783264,3.7111632991e-05,1793248233448561152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,878,784.9868344,809.9868344,651,629,652.9868344,0.401254484149,-0.0153482471438,0.0798340919931,0.999999911798,0.000301863650634,-0.000290153957619,3.30703265863e-05,1793248233465228032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,715.561964022,679.561964022,658,634,878,784.438035978,809.438035978,651,629,652.438035978,0.401192701732,-0.0153495820723,0.0798305022094,0.99999991099,0.000298497345561,-0.000296269352686,3.38247570194e-05,1793248233481894400
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,715.859888125,680,658,634,878,784,809,651,629,652,0.401137162119,-0.0153502890879,0.079828312855,0.999999910837,0.000295367632356,-0.000299802807458,3.46658575073e-05,1793248233498561024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744,715.271873007,680,658,634,878,784,809,651,629,652,0.401100026956,-0.0153487760657,0.0798304551259,0.999999912527,0.000294082015334,-0.000295306895205,3.54267209575e-05,1793248233515227392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.688578857,658,634,878,784.311421143,809.311421143,651,629,652.311421143,0.401067216202,-0.0153474860647,0.0798306112235,0.999999912773,0.000294314287305,-0.000294214771686,3.56400080842e-05,1793248233531894016
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.109344539,658,634,878,784.890655461,809.890655461,651,629,652.890655461,0.401038124312,-0.0153463878553,0.0798290592697,0.999999911787,0.000295851899766,-0.000296049807527,3.53823954964e-05,1793248233548560640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.532134376,784.532134376,810,651,629,653,0.401019116669,-0.0153459310692,0.0798290866557,0.999999911816,0.000295785125192,-0.000296020387264,3.53764549891e-05,1793248233565227520
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.044502185,784.044502185,809.955497815,651,629,653,0.401003004897,-0.0153457829057,0.0798293890835,0.999999912101,0.000295204221481,-0.000295630310718,3.54271040728e-05,1793248233581894400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.619915456,784.619915456,809.380084544,651,629,653,0.40099344558,-0.0153475359279,0.0798285882911,0.999999912622,0.000292943761663,-0.000296113597726,3.54541897985e-05,1793248233598561280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.199820828,658.199820828,634,878,785,809.199820828,651,629,652.800179172,0.400986538981,-0.015349595987,0.0798289725472,0.999999913498,0.000291215601192,-0.000294833626439,3.56560858868e-05,1793248233615228160
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.788467216,658.788467216,634,878,785,809.788467216,651,629,652.211532784,0.400984794229,-0.0153522535001,0.0798316627548,0.999999915057,0.000290523226737,-0.000290122581886,3.61981403944e-05,1793248233631894528
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.3717751,744,715.3717751,679.6282249,659,634,878,784.6282249,810,651,629,652,0.400980913478,-0.0153511911596,0.0798317405131,0.999999914771,0.00029143228487,-0.000290250974554,3.5762821175e-05,1793248233648560640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.95208846,744,715.95208846,679.04791154,659,634,878,784.04791154,810,651,629,652,0.400975834589,-0.0153480422572,0.079830352881,0.999999913448,0.000293239627943,-0.000293093932757,3.47792677608e-05,1793248233665227264
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.473369237,744,715.473369237,679,659,634,878,784.526630763,809.473369237,651,629,652,0.400976250556,-0.0153492117023,0.0798323284814,0.999999914778,0.000291660112041,-0.000290079125884,3.50982610716e-05,1793248233681893888
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.899112163,634,878,784.899112163,809.100887837,651,629,652.100887837,0.400977082993,-0.0153503797033,0.0798341890864,0.999999916046,0.000290232179659,-0.000287088101014,3.54131549303e-05,1793248233698560768
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.323754234,634,878,784.323754234,809.676245766,651,629,652.676245766,0.400977548513,-0.0153497132825,0.0798340854719,0.999999915961,0.000290950538195,-0.000286688071488,3.51574996782e-05,1793248233715227648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.259486392,715,679,658.259486392,634,878,784.259486392,809.740513608,651,629,652.740513608,0.400977871272,-0.0153500004836,0.0798345284193,0.99999991641,0.000290453402429,-0.000285646470386,3.4956738135e-05,1793248233731894272
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.852870259,715,679,658.852870259,634,878,784.852870259,809.147129741,651,629,652.147129741,0.400978010334,-0.0153515147697,0.0798356746625,0.999999917543,0.000288392213728,-0.000283779318695,3.48266117471e-05,1793248233748560896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.566681783,715,679.433318217,659,634,878,785,809,651,629,652,0.400977241108,-0.0153506340708,0.0798354733395,0.99999991728,0.000288927271692,-0.000284152805545,3.48917305457e-05,1793248233765227776
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.990494297,785,809,651,629,652.009505703,0.400976215866,-0.015349001309,0.0798348637682,0.99999991658,0.000290298325071,-0.0002852039875,3.50168309412e-05,1793248233781894144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.414036784,785,809,651,629,652.585963216,0.400977781926,-0.0153496088853,0.0798364039417,0.999999917268,0.000290477370622,-0.000282614413925,3.48800597808e-05,1793248233798560768
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,715.165919854,679.834080146,658.834080146,634,877,785,809.165919854,651,629,652.834080146,0.400978855388,-0.0153506168873,0.0798375442295,0.999999917834,0.000290268070908,-0.00028082381025,3.48551516966e-05,1793248233815227136
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,715.754796293,679.245203707,658.245203707,634,877,785,809.754796293,651,629,652.245203707,0.400978673137,-0.0153526456391,0.079837665144,0.999999918103,0.000289068816191,-0.000281069910445,3.51154007247e-05,1793248233831893760
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..171f463573c52b5f4811d7f8d7306e050294c253
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff3c927362a52277a750fe3141a21fba23d8519d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3511abc29c87dc9cf1d9b262b57e4761acc03fb3420ac59325c2da10c10af94f
+size 25894233
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53d66e63ffb946a0e6d052b21c05c41b8160169a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,765,744,715,679.794568759,658.794568759,634,878,784.205431241,809.794568759,651,628.794568759,652.205431241,0.400978777706,-0.0153537499936,0.0798388832107,0.999999919196,0.000288181736416,-0.000278171242061,3.43387463813e-05,1793248234476795392
+22,0.366666667,BASELINE,765,744,715,679.213699531,658.213699531,634,878,784.786300469,809.213699531,651,628.213699531,652.786300469,0.400976862682,-0.0153549474654,0.0798382572516,0.999999919359,0.000286381647319,-0.000279469499368,3.41307108135e-05,1793248234493462272
+23,0.383333333,BASELINE,765,744,715,679,658,634,878,785,809.36312493,651,628,652.63687507,0.400976676594,-0.015355611718,0.079838741057,0.999999919935,0.000285210298985,-0.000278595476061,3.41983770606e-05,1793248234510128896
+24,0.400000000,BASELINE,765,744,715,679,658,634,878,785,809.937595318,651,628,652.062404682,0.40097749678,-0.0153559656272,0.0798398707657,0.99999992075,0.000284404889288,-0.000276457145199,3.44265068669e-05,1793248234526795008
+25,0.416666667,BASELINE,765,744,715.512930849,679.512930849,658,634,878,784.487069151,810,650.487069151,628.512930849,652.512930849,0.400977581325,-0.0153548620428,0.0798393391815,0.999999920374,0.000285296324103,-0.000276890850024,3.4484819617e-05,1793248234543461632
+26,0.433333333,BASELINE,765,744,715.909037743,679.909037743,658,634,878,784.090962257,809.909037743,650.090962257,629,653,0.400977539954,-0.0153535778965,0.0798386893849,0.999999919814,0.00028662492075,-0.000277538446992,3.45043076759e-05,1793248234560128000
+27,0.450000000,BASELINE,765,744,715.316728647,679.316728647,658,634,878,784.683271353,809.316728647,650.683271353,629,653,0.4009772987,-0.0153522775496,0.0798385039222,0.999999919041,0.000289223222862,-0.000277637321158,3.44238742255e-05,1793248234576794880
+28,0.466666667,BASELINE,765,744,715,679,658.268460839,634,877.731539161,784.731539161,809.268460839,651,629,653,0.400977558042,-0.0153521683061,0.0798388823741,0.999999919206,0.000289019645199,-0.000277269777577,3.42959436642e-05,1793248234593461760
+29,0.483333333,BASELINE,765,744,715,679,658.845467619,634,877.154532381,784.154532381,809.845467619,651,629,653,0.400978392724,-0.015353428015,0.079839908941,0.999999920447,0.000285595826273,-0.000276366173297,3.41134239882e-05,1793248234610128384
+30,0.500000000,BASELINE,765,744,715,679.421237148,659,634,877,784.421237148,810,651,629,652.578762852,0.400978598001,-0.0153543538833,0.0798402675449,0.999999920887,0.00028470186034,-0.000275693478865,3.41312183888e-05,1793248234626795008
+31,0.516666667,BASELINE,765,744,715,679.996554105,659,634,877,784.996554105,810,651,629,652.003445895,0.400978573055,-0.0153551576396,0.0798403818217,0.999999921036,0.000284733262211,-0.000275105246483,3.42222835261e-05,1793248234643461376
+32,0.533333333,BASELINE,765,744,715.58656239,680,659,634,877.58656239,785,809.41343761,651,629,652.58656239,0.400978297486,-0.0153543546178,0.0798398475166,0.999999920518,0.000285920792565,-0.000275752751732,3.42636642581e-05,1793248234660128256
+33,0.550000000,BASELINE,765,744,715.826547648,680,659,634,878,785,809.173452352,651,629,653,0.400978024873,-0.0153539314308,0.0798394844358,0.999999920259,0.000286322179028,-0.00027627657812,3.42526153637e-05,1793248234676794880
+34,0.566666667,BASELINE,765,744,715.247162793,680,659,634,878,785,809.752837207,651,629,653,0.400977762712,-0.015354419834,0.0798395312196,0.999999920619,0.000284867440273,-0.000276493531131,3.411956546e-05,1793248234693461504
+35,0.583333333,BASELINE,765,744,715.330793616,680,659,634,878.330793616,785,810,651,629,653,0.400977775519,-0.015354412961,0.0798396029161,0.999999920708,0.000284752040928,-0.000276308203076,3.3970813125e-05,1793248234710128128
+36,0.600000000,BASELINE,765,744,715.907687368,680,659,634,878.907687368,785,810,651,629,653,0.400977992896,-0.0153540376179,0.0798396931469,0.999999920596,0.000285633068186,-0.000275823590475,3.38103786567e-05,1793248234726794752
+37,0.616666667,BASELINE,765,744.481330305,716,679.518669695,658.518669695,634,878.03733939,785,810,651,629,652.518669695,0.400977598318,-0.0153538416433,0.0798397315465,0.999999919678,0.000288456326236,-0.000276164772169,3.41909496065e-05,1793248234743461376
+38,0.633333333,BASELINE,765.056099446,744.943900554,715.943900554,679,658,634,877.056099446,785,810,651,629,652,0.400977208694,-0.0153537039187,0.0798398045224,0.9999999188,0.000291094705825,-0.000276523503366,3.4632043811e-05,1793248234760128000
+39,0.650000000,BASELINE,765.647525139,744.352474861,715.352474861,679,658,634,877.647525139,785,810,651,629,652,0.400977978797,-0.0153537959801,0.0798403016612,0.999999919837,0.000288438237377,-0.000275548541918,3.46672196254e-05,1793248234776794624
+40,0.666666667,BASELINE,765.766450596,744.233549404,715.233549404,679,658.233549404,634,878,785,810,651,629,652,0.400978345321,-0.0153536622133,0.0798403825304,0.999999920167,0.00028768223455,-0.000275160060717,3.45267138216e-05,1793248234793461248
+41,0.683333333,BASELINE,765.188393978,744.811606022,715.811606022,679,658.811606022,634,878,785,810,651,629,652,0.400978116531,-0.0153531953287,0.079839849363,0.999999919458,0.000289729596426,-0.000275636692795,3.41270611975e-05,1793248234810127872
+42,0.700000000,BASELINE,765,744.612348345,715.612348345,679.387651655,658.612348345,634,877.612348345,785,809.612348345,651,629,652.387651655,0.400977280415,-0.0153537020233,0.0798393087731,0.999999919595,0.000288638132188,-0.000276318626422,3.38452425154e-05,1793248234826794752
+43,0.716666667,BASELINE,765,744.037275,715.037275,679.962725,658.037275,634,877.037275,785,809.037275,651,629,652.962725,0.40097615067,-0.0153546794236,0.0798387645946,0.999999920136,0.000286029109309,-0.000277099819159,3.36203941588e-05,1793248234843461376
+44,0.733333333,BASELINE,765,744,715.550156196,680,658,634.550156196,878.100312391,784.449843804,809.550156196,651,629,653,0.400977075334,-0.0153540642589,0.0798394676243,0.999999920027,0.000287491521202,-0.000275941857274,3.39341258266e-05,1793248234860128000
+45,0.750000000,BASELINE,765,744,715.863947649,679.863947649,658.136052351,634.863947649,878.863947649,784.136052351,810,651,628.863947649,652.863947649,0.400978231284,-0.0153537049028,0.0798402490183,0.999999920095,0.000288365592493,-0.000274738802188,3.42515838264e-05,1793248234876794624
+46,0.766666667,BASELINE,765,744,715.285822501,679.285822501,658.714177499,634.285822501,878.285822501,784.714177499,810,651,628.285822501,652.285822501,0.400979676077,-0.0153545354019,0.0798410041576,0.9999999209,0.000286411053256,-0.000273825941986,3.44598565445e-05,1793248234893461248
+47,0.783333333,BASELINE,765,744,715,678.707948786,659,634,878,785,810,651,628.292051214,652,0.400979750366,-0.0153556314911,0.0798407764773,0.999999921441,0.000284143761709,-0.000274219398959,3.44221794517e-05,1793248234910127872
+48,0.800000000,BASELINE,765,744,715,678.130320863,659,634,878,785,810,651,628.869679137,652,0.400978484535,-0.0153569872826,0.079839587766,0.999999921718,0.000281570651047,-0.000275890213158,3.41440050514e-05,1793248234926794496
+49,0.816666667,BASELINE,765,744,715,678.886120871,659.443060436,634,878,785,810,651,629,652.443060436,0.400978096659,-0.0153568308071,0.0798399053237,0.999999921741,0.000281858515715,-0.000275518959021,3.409834339e-05,1793248234943461376
+50,0.833333333,BASELINE,765,744,715.015743329,679.984256671,659.968513342,634,878,785,809.984256671,651,629,653,0.400977976959,-0.0153561789385,0.0798406454309,0.999999921657,0.00028306466368,-0.000274582732023,3.4118499537e-05,1793248234960128256
+51,0.850000000,BASELINE,765,744,715.608164853,679.391835147,658.783670294,634,878,785,809.391835147,651,629,653,0.400978311045,-0.0153535197038,0.0798407886458,0.999999920385,0.000287375252377,-0.000274744464962,3.40681901323e-05,1793248234976794880
+52,0.866666667,BASELINE,765,744.196021853,715.803978147,679.196021853,658.196021853,634,878,785,809.196021853,651,629,653,0.400978509225,-0.0153522326708,0.0798407862914,0.999999919723,0.000289545452107,-0.000274878360485,3.40501840427e-05,1793248234993461504
+53,0.883333333,BASELINE,765,744.774962255,715.225037745,679.774962255,658.774962255,634,878,785,809.774962255,651,629,653,0.400978441921,-0.0153536261632,0.079840499575,0.99999992028,0.000287534512446,-0.000274957877056,3.40952808125e-05,1793248235010129152
+54,0.900000000,BASELINE,765,744.648530968,715,679.648530968,659,634,877.648530968,785,810,651,629,653,0.40097801615,-0.0153543531371,0.0798397475226,0.999999920414,0.000286317239348,-0.00027575523674,3.39544690717e-05,1793248235026795776
+55,0.916666667,BASELINE,765,744.073571695,715,679.073571695,659,634,877.073571695,785,810,651,629,653,0.40097736244,-0.0153546562887,0.0798386995747,0.99999992028,0.000285604638763,-0.000277009054648,3.36954428235e-05,1793248235043462144
+56,0.933333333,BASELINE,765,744,715,679,659,634,877.500496984,785,810,651,629,653,0.400978355198,-0.0153567889005,0.0798397594128,0.99999992143,0.00028302083125,-0.000275469689312,3.39857982633e-05,1793248235060128768
+57,0.950000000,BASELINE,765,744,715,679,659,634,878,785,810,651,629,653,0.400979253347,-0.0153584513116,0.0798408590542,0.999999922437,0.000280858610179,-0.000273990580387,3.42585390334e-05,1793248235076795392
+58,0.966666667,BASELINE,765,744,715,679,659,634,878,785,810,651,629,653,0.400977895363,-0.0153551569515,0.0798401502899,0.999999921282,0.000283368037032,-0.000275666238405,3.38721060438e-05,1793248235093461760
+59,0.983333333,BASELINE,765,744,715,679,659,634,878,785,809.744346013,651,629,653,0.400977509708,-0.0153536417489,0.0798397803962,0.999999920903,0.000284382199985,-0.000276018204822,3.36896120287e-05,1793248235110128128
+60,1.000000000,BASELINE,765,744,715,679,659,634,878,785,809.166466258,651,629,653,0.400978349576,-0.0153543689922,0.0798398376144,0.99999992151,0.000283511735682,-0.00027470179325,3.37641622322e-05,1793248235126794752
+61,1.016666667,BASELINE,765,744,715.409589259,679,658.590410741,634,878,785,809.409589259,651,629,653,0.400978008724,-0.0153543236054,0.0798398165127,0.999999921123,0.000284461508258,-0.000275128873457,3.37501586061e-05,1793248235143461632
+62,1.033333333,BASELINE,765,744,715.984906618,679,658.015093382,634,878,785,809.984906618,651,629,653,0.400977190129,-0.0153539655969,0.0798397637213,0.999999920332,0.000286147785546,-0.000276261405782,3.37003243046e-05,1793248235160128512
+63,1.050000000,BASELINE,765,744,715.427890629,679.572109371,658,634,878,785,810,651,629,652.427890629,0.400977338072,-0.0153532396642,0.0798399001977,0.999999920064,0.00028721476741,-0.000276100984901,3.38904166024e-05,1793248235176795392
+64,1.066666667,BASELINE,765,744,715,679.842701155,658,634,877.842701155,785,810,651,629,652.157298845,0.400977765438,-0.0153532305494,0.0798401440422,0.999999920156,0.000287277560913,-0.000275687602876,3.39958414945e-05,1793248235193462016
+65,1.083333333,BASELINE,765,744,715,679.263766584,658,634,877.263766584,785,810,651,629,652.736233416,0.400978871991,-0.0153551694175,0.079840662016,0.999999921175,0.000284693375275,-0.000274689537292,3.38569907829e-05,1793248235210128640
+66,1.100000000,BASELINE,765,744,715.314414534,679,658.314414534,634,877.314414534,785,810,651,629,653,0.400978500774,-0.0153549986152,0.0798402908744,0.999999920959,0.000285041858676,-0.000275115883645,3.38248331136e-05,1793248235226795264
+67,1.116666667,BASELINE,765,744,715.891965054,679,658.891965054,634,877.891965054,785,810,651,629,653,0.400976892801,-0.0153530622131,0.0798391756252,0.999999919708,0.00028784471588,-0.000276734331547,3.38819676934e-05,1793248235243461888
+68,1.133333333,BASELINE,765,744,715.533918083,679.466081917,659.466081917,634.466081917,878,785,810,651,629,653,0.400977731758,-0.0153533345419,0.0798399794143,0.999999920068,0.000287813783119,-0.00027546376522,3.38672596399e-05,1793248235260128512
+69,1.150000000,BASELINE,765,744.040601791,715,679.959398209,659.918796418,634.959398209,878.040601791,785,810,651,629,652.959398209,0.400978819876,-0.0153540122292,0.0798410120263,0.999999920667,0.000287231965155,-0.000273897049644,3.38296057124e-05,1793248235276795136
+70,1.166666667,BASELINE,765,744.631285348,715,679.368714652,658.737429303,634.368714652,878.631285348,785,810,651,629,652.368714652,0.400975655544,-0.0153532962425,0.0798391623174,0.9999999195,0.000288020770924,-0.00027732433395,3.37050403791e-05,1793248235293461760
+71,1.183333333,BASELINE,765,744.782165689,715.217834311,679.217834311,658.217834311,634,878.782165689,785,810,651,629,652.217834311,0.400974588795,-0.0153533588851,0.0798385675108,0.99999991931,0.000287554782088,-0.000278481787327,3.37585437562e-05,1793248235310128640
+72,1.200000000,BASELINE,765,744.202484647,715.797515353,679.797515353,658.797515353,634,878.202484647,785,810,651,629,652.797515353,0.400977006361,-0.0153547149165,0.0798400572345,0.999999920753,0.000285004441644,-0.000275868802632,3.41078388102e-05,1793248235326796032
+73,1.216666667,BASELINE,764.626154768,744,715.626154768,679.626154768,658.626154768,634.373845232,878,785,809.626154768,651,629,652.626154768,0.400977932036,-0.0153543404413,0.0798402539258,0.99999992073,0.000285693626655,-0.000275244255918,3.40477139936e-05,1793248235343462912
+74,1.233333333,BASELINE,764.051623878,744,715.051623878,679.051623878,658.051623878,634.948376122,878,785,809.051623878,651,629,652.051623878,0.40097805684,-0.0153530370044,0.0798397564981,0.999999919921,0.000288121837077,-0.000275687132328,3.37678065036e-05,1793248235360129536
+75,1.250000000,BASELINE,764.523135441,744,715.523135441,679,658.523135441,634.476864559,878,785,809.523135441,651,629,652.523135441,0.400977010104,-0.0153534028196,0.0798394423346,0.999999919746,0.000287890152287,-0.000276540846644,3.39397382642e-05,1793248235376795648
+76,1.266666667,BASELINE,765,744,715.898623828,679.101376172,658.898623828,634,878,785,810,651,629,653,0.400976232714,-0.0153537428409,0.0798393346743,0.999999919754,0.000287358329584,-0.000277048860918,3.40667006756e-05,1793248235393462016
+77,1.283333333,BASELINE,765,744,715.303538204,679.696461796,658.303538204,634,878,785,810,651,629,653,0.40097733033,-0.0153531546724,0.0798401445873,0.999999920349,0.000286643682594,-0.0002756757608,3.37574160909e-05,1793248235410128640
+78,1.300000000,BASELINE,765.281090698,744,715.281090698,679.718909302,658,634,878,784.718909302,810,651,629,652.718909302,0.400977685812,-0.0153529726428,0.0798403224278,0.999999920308,0.000287252175772,-0.000275194433739,3.37263450346e-05,1793248235426795264
+79,1.316666667,BASELINE,765.85483278,744,715.85483278,679.14516722,658,634,878,784.14516722,810,651,629,652.14516722,0.40097726864,-0.0153532134559,0.0798398422,0.999999919604,0.000289238227209,-0.00027564155662,3.39849298789e-05,1793248235443461888
+80,1.333333333,BASELINE,765.568032475,744,716,679.431967525,658,634,878,784.431967525,810,651,629,652.431967525,0.400977774028,-0.0153533858483,0.0798402463391,0.999999920001,0.000288138010757,-0.000275348324887,3.40228517537e-05,1793248235460128512
+81,1.350000000,BASELINE,765.010435231,744,716,679.989564769,658.010435231,634,877.989564769,785,810,651,629,653,0.400978581375,-0.0153535276327,0.0798409340019,0.999999920757,0.00028603675923,-0.000274797167681,3.39818709176e-05,1793248235476795136
+82,1.366666667,BASELINE,765.599084399,744,716,679.400915601,658.599084399,634,877.400915601,785,810,651,629,653,0.400978805175,-0.0153532575901,0.0798407334489,0.999999920925,0.000286392833708,-0.00027384972415,3.37104091769e-05,1793248235493462272
+83,1.383333333,BASELINE,765.815355863,744,715.815355863,679,659,634,877.184644137,785,810,651,629,653,0.400979045297,-0.0153532049057,0.0798407436958,0.999999920979,0.000286698389825,-0.000273339206441,3.36419804012e-05,1793248235510128896
+84,1.400000000,BASELINE,765.236393665,744,715.236393665,679,659,634,877.763606335,785,810,651,629,653,0.400979320275,-0.0153536164019,0.0798412041178,0.999999920794,0.000286896061172,-0.000273761768506,3.40071400223e-05,1793248235526795520
+85,1.416666667,BASELINE,765,744.340323769,715,679.340323769,659,634,878,785,810,651,629,652.659676231,0.400977551021,-0.0153545455774,0.0798399399841,0.999999920391,0.000286260819954,-0.000275896369896,3.39837116616e-05,1793248235543461888
+86,1.433333333,BASELINE,765,744.915492141,715,679.915492141,659,634,878,785,810,651,629,652.084507859,0.400974371118,-0.0153558319839,0.0798374857995,0.999999919826,0.000285050817157,-0.000279212385054,3.36921333617e-05,1793248235560128512
+87,1.450000000,BASELINE,765,745,715.500754731,678.998490538,658.499245269,634,878,784.499245269,810,651,628.499245269,652,0.400976365789,-0.0153549865193,0.0798388462088,0.999999920339,0.000285558879221,-0.00027682923952,3.38136162965e-05,1793248235576794880
+88,1.466666667,BASELINE,765,744.913460367,715.913460367,678.086539633,658,634,878,784.086539633,810,651,628.086539633,652,0.40097885246,-0.0153539821591,0.0798405838136,0.999999920935,0.000286225094655,-0.000273953841509,3.39691356536e-05,1793248235593461504
+89,1.483333333,BASELINE,765,744.334594705,715.334594705,678.665405295,658,634,878,784.665405295,810,651,628.665405295,652,0.400979067895,-0.0153541627243,0.079840729613,0.999999920996,0.00028610762524,-0.000273862254754,3.39135564365e-05,1793248235610128640
+90,1.500000000,BASELINE,765,744,715.243727438,679.243727438,658.243727438,634,878,785,810,651,629,652.243727438,0.400979274402,-0.0153540463607,0.0798409575094,0.999999920844,0.000286805071283,-0.000273689932688,3.38858885809e-05,1793248235626795776
+91,1.516666667,BASELINE,765,744,715.821305037,679.821305037,658.821305037,634,878,785,810,651,629,652.821305037,0.400979468681,-0.0153535232732,0.0798412978596,0.999999920399,0.000288618762837,-0.000273407021947,3.3896452833e-05,1793248235643462656
+92,1.533333333,BASELINE,765,744,716,679.60378662,658.60378662,634,878,785,810,651,629,652.60378662,0.400978365315,-0.0153546831442,0.079840470494,0.99999992084,0.000285729432267,-0.000274851529052,3.3693268879e-05,1793248235660129024
+93,1.550000000,BASELINE,765,744,716,679.030074025,658.030074025,634,878,785,810,651,629,652.030074025,0.400976680618,-0.015356596962,0.0798391200047,0.999999921653,0.000280733199914,-0.000277069900228,3.33943280913e-05,1793248235676795392
+94,1.566666667,BASELINE,765,744.559124504,715.440875496,679,658,634,878,784.440875496,810,651,629,652.559124504,0.400978330611,-0.0153556462102,0.0798408470705,0.999999921508,0.000283766504159,-0.000274428339438,3.39136639492e-05,1793248235693462016
+95,1.583333333,BASELINE,765,744.853726964,715,679.146273036,658,634,878,784.146273036,810,651,629,652.853726964,0.400979435501,-0.0153547274955,0.0798420398962,0.999999921212,0.000286492506541,-0.000272620647098,3.42930479765e-05,1793248235710128640
+96,1.600000000,BASELINE,765,744.275168491,715,679.724831509,658,634,878,784.724831509,810,651,629,652.275168491,0.400978384244,-0.0153543717855,0.0798411507204,0.999999920676,0.000286997592465,-0.000274071856231,3.41250490169e-05,1793248235726795264
+97,1.616666667,BASELINE,765,744,715,679.697929963,658.302070037,634,878,785,810,651,628.697929963,652.302070037,0.400978615368,-0.0153552162777,0.0798409353689,0.999999920838,0.000286382760457,-0.000274118588256,3.41601152236e-05,1793248235743461888
+98,1.633333333,BASELINE,765,744,715,679.121888634,658.878111366,634,878,785,810,651,628.121888634,652.878111366,0.400980009585,-0.0153571493286,0.0798413311623,0.999999921632,0.000284752185951,-0.000272891488426,3.43793573575e-05,1793248235760128768
+99,1.650000000,BASELINE,765,744,715.445479229,679,658.554520771,634,877.554520771,785,809.554520771,651,628.445479229,652.554520771,0.40097877347,-0.0153570626368,0.0798406310815,0.999999921473,0.000283997764875,-0.000274310392603,3.39671400997e-05,1793248235776795392
+100,1.666666667,BASELINE,765,744.011190496,715.988809504,679,658.011190496,634,877.011190496,784.988809504,809.011190496,651,628.988809504,652.011190496,0.400976874817,-0.0153564210239,0.0798396672265,0.999999921055,0.000283542330599,-0.000276366826683,3.34022931292e-05,1793248235793462016
+101,1.683333333,BASELINE,765,744.612287091,715.387712909,679,658.612287091,634,877.612287091,784.387712909,809.612287091,651,628.387712909,652.612287091,0.400977264446,-0.015355102102,0.0798403029519,0.999999920703,0.000286452148038,-0.000274594951616,3.37254662664e-05,1793248235810128640
+102,1.700000000,BASELINE,765,744.794063249,715,679,659,634,878,784.205936751,810,651,628.205936751,653,0.400977188439,-0.0153539856547,0.079840247366,0.999999920301,0.000288253238564,-0.000274155129918,3.38548941892e-05,1793248235826795264
+103,1.716666667,BASELINE,765,744.213944547,715,679,659,634,878,784.786055453,810,651,628.786055453,653,0.400976266382,-0.0153532370984,0.0798389356848,0.999999919826,0.00028803979958,-0.000276135616227,3.36322918462e-05,1793248235843461888
+104,1.733333333,BASELINE,765,744,715,679,659,634,878,784.636631419,810,651,629,652.636631419,0.400976547436,-0.0153535368105,0.0798392408288,0.999999920212,0.000286833730536,-0.000275997632256,3.35749522957e-05,1793248235860128256
+105,1.750000000,BASELINE,765,744,715,679,659,634,878,784.060957448,810,651,629,652.060957448,0.400977531431,-0.0153544489942,0.0798404906353,0.9999999211,0.000285047697425,-0.000274621889674,3.36141708289e-05,1793248235876794880
+106,1.766666667,BASELINE,765,744,715,679.511867442,658.488132558,634,878,784.511867442,810,651,629,652,0.400978367959,-0.0153550526082,0.0798412857256,0.999999921648,0.000284552005987,-0.000273113094871,3.3827853205e-05,1793248235893461760
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,810,651,629,652,0.400976892004,-0.0153575105542,0.0798391772665,0.999999921681,0.000282045002008,-0.000275648894575,3.32748832308e-05,1793248235935846912
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.577754713,715,679.577754713,659,634,878,784.577754713,810,651,629,652,0.400977721121,-0.0153564405558,0.0798399726799,0.999999921555,0.000283121183385,-0.000274980430046,3.34369498655e-05,1793248235952513280
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.844970943,658.844970943,634,878,784.844970943,809.844970943,651,629,652.155029057,0.400977784666,-0.0153556402314,0.0798402847652,0.999999921318,0.000284049230479,-0.000274863638375,3.36231383124e-05,1793248235969179392
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.269000786,658.269000786,634,878,784.269000786,809.269000786,651,629,652.730999214,0.400975769499,-0.0153555721366,0.0798392844987,0.999999920779,0.000284575057682,-0.00027624477078,3.38748233052e-05,1793248235985845760
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.684559705,715,678.684559705,658.315440295,634,877.684559705,784,809.315440295,651,629,653,0.400976368098,-0.0153552103349,0.0798396327895,0.999999921013,0.000284738041711,-0.000275228321653,3.3890796496e-05,1793248236002512384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.092695492,715,678.092695492,658.907304508,634,877.092695492,784,809.907304508,651,629,653,0.400979257171,-0.0153545911544,0.0798411628367,0.999999921916,0.000284583062108,-0.000272110844479,3.37002127389e-05,1793248236019178752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715,678.487364997,659,634,877.487364997,784,809.512635003,651,628.512635003,653,0.400978864327,-0.0153542966425,0.0798417846002,0.999999921387,0.000286069978135,-0.0002724880897,3.377270577e-05,1793248236035845376
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715.06478313,679,659,634,878,784.06478313,809.06478313,651,628.06478313,652.93521687,0.400978259289,-0.0153540821973,0.0798422329381,0.999999920714,0.000287710656255,-0.00027321536969,3.38735009509e-05,1793248236052512256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715.638661767,679,659,634,878,784.638661767,809.638661767,651,628.638661767,652.361338233,0.400980776078,-0.0153540231594,0.0798426438888,0.999999921028,0.000288163626995,-0.000271593487826,3.38127958931e-05,1793248236069179136
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715.781809684,679,659,634,878.218190316,785,809.781809684,651,629,652.218190316,0.4009890541,-0.0153542360652,0.0798457331368,0.999999922526,0.000288410722842,-0.000265722867361,3.40356159736e-05,1793248236085846016
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715.192675824,679,659,634,878.807324176,785,809.192675824,651,629,652.807324176,0.401007126746,-0.0153549113001,0.0798533757357,0.999999925925,0.000288307812412,-0.000252629001819,3.47404547892e-05,1793248236102512640
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,715.389834967,679,658.610165033,634,878.610165033,784.610165033,809.389834967,651,629,653,0.401043252111,-0.0153564664165,0.0798681591147,0.999999932349,0.000287831206584,-0.000226233647076,3.56793639973e-05,1793248236119179008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,715.969127046,679,658.030872954,634,878.030872954,784.030872954,809.969127046,651,629,653,0.401088150974,-0.0153584491492,0.0798864128643,0.999999939394,0.000287172987111,-0.00019337385876,3.67320298379e-05,1793248236135845632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715.453129919,679,658,634,877.453129919,784.546870081,810,651,629,652.453129919,0.401153948196,-0.0153604336485,0.0799039442328,0.999999945941,0.000285815736152,-0.000158308589086,3.69482100005e-05,1793248236152512256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715,678.876366167,658,634,877.123633833,785,809.876366167,651,629,652.123633833,0.401222983367,-0.0153628744791,0.0799196445793,0.999999950493,0.000284712640389,-0.000128817134167,3.68579140348e-05,1793248236169178624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715,678.302848386,658,634,877.697151614,785,809.302848386,651,629,652.697151614,0.401299519982,-0.0153669754653,0.0799288301094,0.999999951631,0.000284677570057,-0.00012005968489,3.58237513854e-05,1793248236185845248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715,678.278601158,658,634,877.721398842,785,809.278601158,651,628.721398842,653,0.4013826655,-0.0153714039623,0.0799355608864,0.999999953222,0.000283069222586,-0.00011072819444,3.41720012213e-05,1793248236202512128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,678.868925413,658,634,877.131074587,785,809.868925413,651,628.131074587,653,0.401473205624,-0.0153761989063,0.0799395450728,0.999999955302,0.000279700556436,-0.000100754417551,3.18292407381e-05,1793248236219179008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.450757621,715,679,658,634.450757621,877.450757621,785,810,651,628.450757621,652.549242379,0.401582723669,-0.0153785208317,0.0799422898988,0.999999956679,0.000277329932258,-9.44852580186e-05,2.83385163061e-05,1793248236235845888
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.969978887,715,679,658.030021113,634.969978887,878,785,810,651,629,652,0.401699183399,-0.015380414941,0.0799448141964,0.999999957921,0.000274973574776,-8.91419027404e-05,2.45021389359e-05,1793248236252512512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.393355296,715,679,658.606644704,634.393355296,878,785,810,651,629,652,0.401843412729,-0.0153873708367,0.0799497636624,0.999999960651,0.000267690607173,-8.14037128827e-05,2.03378076722e-05,1793248236269178880
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715.182382499,679,658.817617501,634,878,785,810,651,629,652.182382499,0.401997411843,-0.0153937896933,0.0799544588329,0.999999963103,0.000261023069582,-7.35509971638e-05,1.5868655176e-05,1793248236285845248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715.756219005,679,658.243780995,634,878,785,810,651,629,652.756219005,0.402172380168,-0.0153990558833,0.0799586081993,0.999999965115,0.000255676452166,-6.54524715484e-05,1.07452546293e-05,1793248236302512128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,715.660164398,679,658.339835602,634,877.660164398,784.660164398,810,651,629,652.660164398,0.402353703989,-0.015404992802,0.07995736555,0.999999967223,0.000246691778675,-6.83999599002e-05,4.38740373028e-06,1793248236319178752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,715.069324106,679,658.930675894,634,877.069324106,784.069324106,810,651,629,652.069324106,0.402539722036,-0.0154114251255,0.0799521403246,0.999999969218,0.00023502001371,-7.95061020928e-05,-2.88222042103e-06,1793248236335845376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.510102574,715.510102574,679,658.489897426,634,877.510102574,784.510102574,810,651,629,652.510102574,0.4027601674,-0.0154191051564,0.0799479954,0.999999982993,0.000161799893078,-8.78601404497e-05,-1.07075668496e-05,1793248236352512256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.912310794,715.912310794,679,658.087689206,634,877.912310794,784.912310794,810,651,629,653,0.402993622534,-0.0154270873758,0.0799447871205,0.999999991306,9.06232523952e-05,-9.39422110438e-05,-1.87017864165e-05,1793248236369179648
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.336521055,715.336521055,679,658.663478945,634,877.336521055,784.336521055,810,651,629,653,0.403274020297,-0.0154358284645,0.0799459931195,0.999999992716,7.63614371382e-05,-8.94142468658e-05,-2.72248153329e-05,1793248236385846272
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,679.238644301,659,634,877,784,810,651,629,653,0.403575081169,-0.015445323344,0.0799491893264,0.999999993567,7.05757877038e-05,-8.31800770885e-05,-3.10907559631e-05,1793248236402512896
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,715,679.812931454,659,634,877,784,810,651,629,653,0.403905203789,-0.0154558783972,0.0799551846746,0.999999993876,7.67114985102e-05,-7.45462034779e-05,-2.84067035302e-05,1793248236419179520
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715.399580396,680,659,634,877.799160792,784,810,651,628.600419604,653,0.404253964192,-0.0154622574542,0.0799570450079,0.99999999419,7.84264777547e-05,-6.91470693805e-05,-2.62431010138e-05,1793248236435845888
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715.992201404,680,659,634,878.984402808,784,810,651,628.007798596,653,0.404611728654,-0.0154666190525,0.0799569076809,0.999999994529,7.80057646421e-05,-6.53106650945e-05,-2.43309322588e-05,1793248236452512256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715.430062451,680,659,634,878.430062451,784,810,651,628.569937549,652.430062451,0.405016070031,-0.0154746712538,0.0799538886645,0.999999995645,6.23923995743e-05,-6.31843025903e-05,-2.87196245533e-05,1793248236469179136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.853331337,744,715,679.853331337,658.853331337,634,878,784,810,651,629,652,0.405428474816,-0.0154833426542,0.0799490339166,0.999999996154,4.72910274568e-05,-6.67710823956e-05,-3.15711721166e-05,1793248236485845760
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.278952337,744,715,679.278952337,658.278952337,634,878,784,810,651,629,652,0.405862582537,-0.0154936762245,0.0799389379299,0.999999995191,3.42735123809e-05,-8.69518421229e-05,-2.9695126107e-05,1793248236502512384
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.301808917,744,715.301808917,679,658.301808917,634,878,784.301808917,809.698191083,651,629,652.301808917,0.406317861578,-0.0155002932434,0.0799307683099,0.999999993777,2.95748964132e-05,-0.000103446827691,-2.94855667853e-05,1793248236519179008
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.88859659,744,715.88859659,679,658.88859659,634,878,784.88859659,809.11140341,651,629,652.88859659,0.406793131387,-0.0155034009628,0.0799244176329,0.999999992207,3.27312804982e-05,-0.000116461576076,-3.08495634849e-05,1793248236535845888
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.528173056,744,715.528173056,679,659,634,878,785,809,651,628.528173056,653,0.40731009537,-0.015506701491,0.0799235607726,0.999999991972,2.74538111505e-05,-0.000119526066368,-3.186798746e-05,1793248236552512512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.053536201,744,715,679.053536201,659,634,878,784.946463799,809.053536201,651,628.053536201,653,0.407839340496,-0.0155099658276,0.079923170392,0.999999991873,2.01445433289e-05,-0.000121518014666,-3.28958158306e-05,1793248236569178880
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.628549528,744,715,679.628549528,659,634,878,784.371450472,809.628549528,651,628.628549528,653,0.408393038547,-0.0155124375195,0.0799147833053,0.999999990101,1.22958705477e-05,-0.000135775777619,-3.48040750277e-05,1793248236585845504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,784,810.203028025,651,629,652.796971975,0.408982626392,-0.0155128799778,0.0799191574371,0.999999990975,9.18186553618e-06,-0.000129169382507,-3.57808244234e-05,1793248236602512128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,784,810.776530555,651,629,652.223469445,0.409637703951,-0.0155096196004,0.0799468175472,0.999999995708,1.47074254278e-05,-8.44912046408e-05,-3.50578052074e-05,1793248236619178752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.361908848,715,680,659,634,878,784,810.638091152,651,629,652,0.410316965758,-0.0155108561645,0.0799756414382,0.999999998571,1.42037912988e-05,-3.9011111038e-05,-3.36821106568e-05,1793248236635845632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.954868887,715,680,659,634,878,784,810.045131113,651,629,652,0.411011667336,-0.0155149636828,0.0800052083134,0.999999999419,9.85097649821e-06,6.98094288886e-06,-3.18897326944e-05,1793248236652513024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,651,629,652.533920513,0.411672529892,-0.0155151105409,0.079979880965,0.99999999873,8.56907514119e-06,-3.52184584431e-05,-3.50310971792e-05,1793248236669179648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679.888805018,659,634,878,784.111194982,810,651,629,653,0.412338700702,-0.0155145891889,0.0799498730984,0.999999995852,6.59647409195e-06,-8.20153897332e-05,-3.90704691986e-05,1793248236685846016
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679.314162132,659,634,878,784.685837868,810,651,629,653,0.41303861442,-0.015512642738,0.0799192057327,0.999999992054,6.90694636558e-07,-0.000117693067497,-4.5158594158e-05,1793248236702512128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.732567716,715,679,659,634,878,784.732567716,810,651,629,653,0.413784480583,-0.0155123040447,0.0799111413878,0.999999991527,-1.38832064835e-06,-0.000121006051031,-4.79710764499e-05,1793248236719178752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.142589078,715,679,659,634,878,784.142589078,810,651,629,653,0.414585769443,-0.0155139044454,0.0799303382271,0.999999995266,1.14807024821e-06,-8.52844324287e-05,-4.68328525668e-05,1793248236735845376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,715,679.439458094,659.439458094,634,878.439458094,784.439458094,810,651,629,653,0.415384380783,-0.0155168355699,0.0799478746866,0.99999999697,-4.22062118422e-06,-6.31875018508e-05,-4.52620630582e-05,1793248236752512000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715.018724687,680,659.981275313,634,879,785,810.037449373,651,629,653,0.41618220273,-0.0155199883896,0.0799638941838,0.999999997885,-1.19007854417e-05,-4.66692502587e-05,-4.37070843159e-05,1793248236769178624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,715.590527771,680,659.409472229,634,879,785,811.181055542,651,629,653,0.416981915643,-0.0155171621261,0.0799507373603,0.999999996597,-1.34376773694e-05,-6.66682617676e-05,-4.66912687785e-05,1793248236785845504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,715.835557338,679.835557338,659.164442662,634,879,785,811.835557338,651,629,653.164442662,0.417812455003,-0.015516166889,0.0799502014,0.99999999677,-1.52578725611e-05,-6.21410364031e-05,-4.86298755627e-05,1793248236802512384
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,715.256315546,679.256315546,659.743684454,634,879,785,811.256315546,651,629,653.743684454,0.418720752627,-0.0155197903328,0.0799815009932,0.999999998684,-1.77926872211e-05,4.25250658242e-06,-4.79310599665e-05,1793248236819179008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.327551349,715,679.327551349,660,634,879,785,811,651.327551349,629,653.672448651,0.419601540157,-0.0155218113679,0.0799859627436,0.999999998498,-1.90897600037e-05,1.77022700252e-05,-4.82321376723e-05,1793248236835845888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.915089289,715,679.915089289,660,634,879,785,811,651.915089289,629,653.084910711,0.42046049212,-0.0155225605265,0.0799691225523,0.999999998536,-1.94044026418e-05,-1.08709159227e-05,-4.93268585483e-05,1793248236852512256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651.501886319,629,653,0.42135649105,-0.0155248422376,0.0799658177922,0.999999998263,-2.55694603657e-05,-1.65246005631e-05,-5.0477462054e-05,1793248236869178624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,629.079207765,653,0.42226324902,-0.0155274653202,0.0799692806209,0.999999998132,-3.13234881582e-05,-1.19295414927e-05,-5.11087836336e-05,1793248236885845504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,629.653009441,653,0.42319810924,-0.0155306033757,0.0800007239655,0.999999997898,-2.83395284129e-05,3.24843301971e-05,-4.84386243735e-05,1793248236902511872
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.772551317,715,680,660,634,879,784.772551317,811,651,629.772551317,653,0.424098311519,-0.0155306923065,0.080003585124,0.999999998316,-2.26046628729e-05,2.37691513109e-05,-4.78722609576e-05,1793248236919178752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.197136596,715,680,660,634,879,784.197136596,811,651,629.197136596,653,0.424945491928,-0.0155261164851,0.0799627193687,0.999999996451,-1.26612791927e-05,-6.62263561337e-05,-5.05244229944e-05,1793248236935845632
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612629919,744,715,680.387370081,660,634,879,784.387370081,811,651,629.387370081,653,0.42585987737,-0.0155265343619,0.0799314747571,0.999999993108,-1.21328236517e-05,-0.000103566085526,-5.39531004702e-05,1793248236952512768
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.023385078,744,715,680.976614922,660,634,879,784.976614922,811,651,629.976614922,653,0.426809286117,-0.0155295546642,0.0799052441286,0.999999991757,-1.65108817936e-05,-0.000113464680242,-5.77864526209e-05,1793248236969179904
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.556356235,744.556356235,715,680.443643765,660,633.443643765,879,785,811,651,630,653,0.427734556741,-0.015530113068,0.0799042140086,0.999999990512,-2.38822158941e-05,-0.000122394746723,-5.85174251521e-05,1793248236985846016
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.13472426,744.86527574,715,680.13472426,660.13472426,633.13472426,879.13472426,785,811.13472426,651,630,653,0.428666427246,-0.0155314251477,0.0799112371767,0.999999990535,-3.1101411033e-05,-0.00012067694037,-5.83131151736e-05,1793248237002512640
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.709886698,744.290113302,715,680.709886698,660.709886698,633.709886698,879.709886698,785,811.709886698,651,630,653,0.429623135084,-0.0155355337439,0.0799411833154,0.99999999421,-3.7418831314e-05,-8.42801476001e-05,-5.54703408534e-05,1793248237019179008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.708658088,744.291341912,715.291341912,681,661,633.708658088,880,785,812,651,630,653,0.430584952168,-0.015538892179,0.0799802930816,0.999999997506,-3.88628820778e-05,-2.70014887303e-05,-5.24345069201e-05,1793248237035845376
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.120798334,744.879201666,715.879201666,681,661,633.120798334,880,785,812,651,630,653,0.431551969209,-0.0155414871256,0.080028729273,0.999999996837,-3.53469833794e-05,5.15300176612e-05,-4.92021834962e-05,1793248237052512000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.540631475,681,660.540631475,633,879.540631475,785,812,651,630,653,0.432450848977,-0.0155374991894,0.0800042967072,0.99999999785,-4.02946796272e-05,8.52164136324e-06,-5.10352021829e-05,1793248237069178880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715.037495447,681,660,633,879,785,812.037495447,651,630,653.037495447,0.433332161014,-0.0155323811843,0.079960877098,0.999999995334,-4.67807181974e-05,-6.47080724923e-05,-5.43673648346e-05,1793248237085846016
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.614897641,681,660,633,879,785,812.614897641,651,630,653.614897641,0.434214263181,-0.0155355066708,0.0799154323171,0.999999989955,-4.38980471362e-05,-0.000120469889244,-6.04219988512e-05,1793248237102512640
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.80916361,680.80916361,660.19083639,633.19083639,879.19083639,785,813,651,630,653.80916361,0.43510667644,-0.0155394232731,0.0798966537881,0.999999986914,-4.56025175622e-05,-0.000141545176034,-6.36933531732e-05,1793248237119179264
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.236155476,680.236155476,660.763844524,633.763844524,879.763844524,785,813,651,630,653.236155476,0.436019739002,-0.0155449241761,0.0799312774766,0.999999992181,-5.64932642229e-05,-9.31567213498e-05,-6.13908722015e-05,1793248237135845888
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.651715474,634,880,785,813,651,630,653.348284526,0.436927691198,-0.0155470166029,0.0799688954414,0.99999999589,-5.74640261695e-05,-3.96853432686e-05,-5.78252964164e-05,1793248237152512000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.059261028,634,880,785,813,651,630,653.940738972,0.437832060643,-0.0155467194677,0.0800086125851,0.9999999971,-5.14802382023e-05,1.73494891145e-05,-5.3374209749e-05,1793248237169178624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.520946897,660.520946897,634,880,785,813,651,630,653.479053103,0.43873807724,-0.0155497768112,0.0800304026297,0.999999995413,-5.89959527358e-05,5.3691990266e-05,-5.30169591678e-05,1793248237185845248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.900753711,661,633.900753711,879.900753711,785,813,651,630.099246289,653,0.439615722995,-0.0155515712426,0.080035496596,0.99999999438,-6.46178268694e-05,6.44803838933e-05,-5.39165198036e-05,1793248237202512128
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.32508214,661,633.32508214,879.32508214,785,813,651,630.67491786,653,0.440356297548,-0.0155455134077,0.0799700069157,0.999999996163,-5.39459539277e-05,-3.6361901491e-05,-5.86651049408e-05,1793248237219179008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.255335796,633,879.255335796,785,813,651,630.744664204,653,0.441077762894,-0.0155423023296,0.0799007118903,0.999999986557,-5.20947115785e-05,-0.00014148050535,-6.44681695077e-05,1793248237235845632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.841911004,633,879.841911004,785,813,651,630.158088996,653,0.441774438387,-0.0155427842635,0.0798264803109,0.999999963742,-6.1686207692e-05,-0.000252146639666,-7.1639178071e-05,1793248237252512256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.846868596,661.576565702,633,880,785,813.423434298,651,630.423434298,653,0.442572147715,-0.0155451806682,0.0798446890806,0.999999971557,-7.36380878028e-05,-0.000215519811916,-7.08072141191e-05,1793248237269178880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.996941404,661,633,880,785,813.996941404,651,630.996941404,653,0.443406920274,-0.0155482943739,0.0798970818877,0.999999986269,-8.63626236641e-05,-0.000124553327113,-6.70104188346e-05,1793248237285845248
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.423867936,661,633,880,785,813.423867936,651,630.423867936,653,0.444201990275,-0.0155534508945,0.0799640820346,0.999999994292,-8.07855392247e-05,-3.42853982292e-05,-6.09488151689e-05,1793248237302511872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,785,813,651,630,653,0.44497509362,-0.0155585288305,0.0800163419846,0.999999994802,-7.659560272e-05,3.66841141466e-05,-5.64161709642e-05,1793248237319178752
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,785,813,651,630,653,0.445685793539,-0.0155633835216,0.0800267275051,0.999999994109,-7.63463228551e-05,5.28300588629e-05,-5.62270458203e-05,1793248237335845632
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.31560196,633,880,785,813.31560196,651,630,653,0.446352526719,-0.0155652553973,0.0800244866245,0.99999999391,-7.74734109052e-05,5.4726040174e-05,-5.64236478778e-05,1793248237352512512
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.903727099,633,880,785,813.903727099,651,630,653,0.446981294455,-0.0155645516033,0.0800113428104,0.999999994213,-7.97889965399e-05,4.43171370571e-05,-5.69533264738e-05,1793248237369179136
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.515761521,633.484238479,880,784.515761521,813.515761521,651,630,653,0.447559078182,-0.0155682181115,0.0799771703189,0.999999994244,-8.87101796046e-05,-2.09703524971e-06,-6.03206866521e-05,1793248237385845760
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.936998057,880,784.063001943,813.063001943,651,630,653,0.448119787391,-0.0155724469295,0.0799372824828,0.999999991308,-9.86509681879e-05,-5.93729536993e-05,-6.42450410956e-05,1793248237402512640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.360335082,880,784.639664918,813.639664918,651,630,653,0.448622649232,-0.0155742859676,0.0798843554951,0.999999981104,-0.000106363159479,-0.000147746746266,-6.81821113029e-05,1793248237419179008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.215079381,745,715,681,661,632.784920619,880,784.784920619,814,651,630,653,0.449129381458,-0.0155767558568,0.0798489974377,0.999999970591,-0.00011201708704,-0.000203249541351,-7.04236791418e-05,1793248237435845376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.788414154,745,715,681,661,632.211585846,880,784.211585846,814,651,630,653,0.449642560495,-0.0155802765477,0.0798429037623,0.999999970228,-0.000114242587397,-0.000203999465149,-6.98410674062e-05,1793248237452511744
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.626405903,745,715,681,661,632,880,784,814.373594097,651,630,653,0.450150352524,-0.015584973858,0.0798601633722,0.99999997439,-0.000121594942637,-0.000178278467377,-6.82028076443e-05,1793248237469178624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.034297701,745,715,681,661,632,880,784,814.965702299,651,630,653,0.450654993756,-0.01559035937,0.0798910822503,0.999999979726,-0.000131945980481,-0.000137074704049,-6.59471022534e-05,1793248237485845248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.455348702,632,880.544651298,783.455348702,815,651,630,653,0.451113695573,-0.0155983586199,0.0799080153837,0.999999981108,-0.000143065344954,-0.000114132055033,-6.54929252148e-05,1793248237502511872
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.122242841,715,681.122242841,660,632,881,782.877757159,814.877757159,650.877757159,630,653.122242841,0.451546277535,-0.0156061953024,0.0799128274957,0.999999980012,-0.00015321707175,-0.000110492490261,-6.55178416123e-05,1793248237519178752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.697801111,715,681.697801111,660,632,881,782.302198889,814.302198889,650.302198889,630,653.697801111,0.451892473558,-0.0156128331745,0.0798758799015,0.999999969839,-0.000159605305817,-0.000174271178683,-6.69086211689e-05,1793248237535845888
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.866429993,745.133570007,715,680.267140014,660,632,880.133570007,782.866429993,814,650.866429993,629.133570007,653.133570007,0.452532229165,-0.0156209723433,0.0798078004668,0.999999944807,-0.000168002956451,-0.00027775618894,-7.07956477731e-05,1793248237569179136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.552853203,745,715,680.447146797,659.552853203,632,880,782.552853203,814,651,629.447146797,653.447146797,0.452834196096,-0.0156205242959,0.0797899493202,0.999999937201,-0.000171885380839,-0.000301175998182,-7.31195397102e-05,1793248237585845504
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,681.025851169,659.025851169,632,879.974148831,782,814,651,630,653.974148831,0.453132670913,-0.0156190823767,0.0797771354292,0.999999931457,-0.000175880139296,-0.000316951175617,-7.54611622168e-05,1793248237602511872
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.603779904,659.603779904,632,879.396220096,782,814,651,630,653.396220096,0.453410255162,-0.0156190625226,0.0797766578593,0.999999929573,-0.000179364024473,-0.000320546763956,-7.70274138252e-05,1793248237619178496
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681.819331499,660,632,879.180668501,781.819331499,814,651,630,653,0.453674361368,-0.0156192507114,0.0797749553871,0.999999927428,-0.000182542195312,-0.000325063526073,-7.84586231018e-05,1793248237635845376
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681.927741665,660,632,880,781,814,651,629.072258335,653.927741665,0.454296807648,-0.0156292489405,0.0797494084317,0.999999915999,-0.000168419386504,-0.000367269376929,-6.89265461454e-05,1793248237685845504
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880,781,814,651,629,654,0.454465475655,-0.0156333030135,0.0797425587149,0.999999910644,-0.000179446572339,-0.000376445774392,-6.92726618846e-05,1793248237702512384
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880,780.912758174,814.087241826,651,629,653.912758174,0.45462787307,-0.0156372823005,0.0797376510823,0.999999905788,-0.00019270276324,-0.000382518337004,-7.04867324075e-05,1793248237719179264
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880,780.338518533,814.661481467,651,629,653.338518533,0.454766300167,-0.0156421827415,0.0797393582716,0.999999904935,-0.000201027349792,-0.000380410552723,-7.07493127704e-05,1793248237735845376
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.60339362,681.60339362,659.60339362,631,880,780,814,651,629,653,0.455096509386,-0.0156482687085,0.0797384169766,0.999999902216,-0.000205861606774,-0.000384559623248,-7.28269313107e-05,1793248237785845504
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.568925723,681.568925723,659.568925723,631,880,780,814,651,629,653,0.455235012247,-0.0156498438028,0.0797263296807,0.999999894163,-0.000210336324265,-0.000402323547441,-7.4620844616e-05,1793248237819179520
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715.146206107,681.853793893,659.853793893,631,880,780,814,651,629,653,0.455288384028,-0.0156504980374,0.079719400803,0.999999888916,-0.000213754833073,-0.000413243936746,-7.55460970285e-05,1793248237835846144
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715.697713525,681,659,631,880,780,814.302286475,651,629.302286475,653,0.455369903916,-0.0156490276658,0.0797175652063,0.999999887323,-0.000210068251816,-0.000419080919117,-7.48136702359e-05,1793248237869178880
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715.108128819,681,659,631,880,780,814.891871181,651,629.891871181,653,0.455398988496,-0.0156481876785,0.0797171360086,0.999999885941,-0.000209984381535,-0.000422457675095,-7.45236238495e-05,1793248237885845504
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681.052736175,660,631.947263825,880,780,814.947263825,651,630,653.052736175,0.455445342461,-0.015652538315,0.0797161888136,0.999999883895,-0.000216287491157,-0.000424237747236,-7.38427832602e-05,1793248237919178496
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.11211397,715,681.88788603,659,631.88788603,880,780,814,651.88788603,629.88788603,654,0.455475185995,-0.0156488000538,0.079703201463,0.999999875905,-0.000213075524374,-0.00044439591267,-7.28134314266e-05,1793248238035845376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.683665218,715,681.316334782,659,631.316334782,880,780,814,651.316334782,629.316334782,654,0.455476155193,-0.0156486083114,0.0797023355928,0.999999875407,-0.000213423150648,-0.000445289468808,-7.31745099332e-05,1793248238052511744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.743488539,715,681.256511461,659,631,880,779.743488539,814,651,629.256511461,653.743488539,0.45547592234,-0.0156484436161,0.0797009782945,0.999999874461,-0.000213573458566,-0.00044729769436,-7.34048668315e-05,1793248238069178368
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.1690371,715,681.8309629,659,631,880,779.1690371,814,651,629.8309629,653.1690371,0.455474199572,-0.0156483124448,0.0796990118824,0.999999872955,-0.000213479195029,-0.000450687526784,-7.34731973918e-05,1793248238085845248
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.419547711,745,715,682,659.419547711,631.419547711,880,779,814,651,629.580452289,653,0.455475690031,-0.0156474680611,0.0796996120406,0.999999873506,-0.000212699650424,-0.00044986952707,-7.3242946329e-05,1793248238102512384
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.98633139,745,715,682,660,631.98633139,880,779,814,651,629,653,0.455478427028,-0.0156463449578,0.0797012215128,0.999999874856,-0.00021165466597,-0.000447411020539,-7.28964223517e-05,1793248238119179264
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.406975739,745,715,682,660,631.406975739,880,779,814,651,629,653,0.455477306328,-0.0156459938492,0.0797003141115,0.999999873887,-0.000211449290174,-0.000449668199943,-7.28901054156e-05,1793248238135845376
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.829510996,660,631.170489004,880,779.170489004,814,651,629,653,0.455476739122,-0.015645775237,0.0796996596717,0.999999873296,-0.000211662813438,-0.00045089068539,-7.28350505242e-05,1793248238152511744
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.25651058,660,631.74348942,880,779.74348942,814,651,629,653,0.455477478674,-0.015645869439,0.0796996024544,0.999999873602,-0.000212865325145,-0.000449670337933,-7.2664929074e-05,1793248238169178880
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.326351845,660,631.673648155,880,780,814,651,629,653,0.455477062321,-0.0156466980194,0.0796987397876,0.999999873147,-0.000212489188959,-0.000450913942691,-7.23236217809e-05,1793248238185845760
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+248,4.133333333,HOLD_POSE2,765.745433906,745,715,681.745433906,660,631,879.254566094,779.745433906,814,651,629,653,0.455474103226,-0.0156427519353,0.0796945339964,0.9999998708,-0.000208754174235,-0.000457746604391,-7.27289219555e-05,1793248238312644352
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+262,4.366666667,HOLD_POSE2,765,745,714.871968314,682,659.871968314,631,880,779,814,650.871968314,629,653.128031686,0.455475889876,-0.015643938658,0.0796939319283,0.999999869589,-0.000211187592028,-0.000459293625245,-7.2601067057e-05,1793248238545977856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631,881,779,814,651,629,654,0.455474617665,-0.015643537862,0.079692010926,0.999999868231,-0.000211684685384,-0.000462073244281,-7.22241933134e-05,1793248238578779392
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.573690102,660,631.573690102,880.426309898,779,814,651,629,654,0.455474430651,-0.0156423595771,0.0796921257418,0.999999868777,-0.00020949470596,-0.000461884662018,-7.22556797502e-05,1793248238595444992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.846999854,660,632,880,779.153000146,814,650.846999854,629,653.846999854,0.455474269084,-0.0156418483654,0.0796921355173,0.999999868987,-0.000208345221799,-0.000461960545525,-7.21785948826e-05,1793248238612110848
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.251433504,660,632,880,779.748566496,814,650.251433504,629,653.251433504,0.455474181124,-0.0156432667204,0.0796918414546,0.999999868238,-0.000210205459987,-0.000462801419188,-7.17874581021e-05,1793248238628776960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.334450366,659.665549634,631.665549634,880,780,814.334450366,650.334450366,629,653,0.455474489414,-0.0156431327243,0.079691924207,0.999999868193,-0.000210439408934,-0.000462780309737,-7.18546988119e-05,1793248238645443840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.913259901,659.086740099,631.086740099,880,780,814.913259901,650.913259901,629,653,0.455475087216,-0.0156418645352,0.0796922822715,0.999999868666,-0.000209485143534,-0.000462129410295,-7.22568434752e-05,1793248238662110464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,631,880,779.511554947,814.511554947,651,629,653,0.45547294805,-0.0156421186108,0.0796907105969,0.999999867851,-0.000209443372513,-0.000463901606874,-7.22903244151e-05,1793248238678777344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.064434201,745,715,682,659,631,880,779,814,651,629,653,0.455470685126,-0.0156425278388,0.0796890587283,0.999999867003,-0.000209457885418,-0.000465722951287,-7.22765731412e-05,1793248238695443968
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.652141102,745,715,682,659,631,880,779,814,651,629,653,0.455471335255,-0.015642017874,0.0796895181098,0.999999867748,-0.000208623205133,-0.000464474655086,-7.24070060824e-05,1793248238712110592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.763974323,745,715,681.763974323,659.236025677,631,880,779,814,651,629,653,0.455464697236,-0.0156420226021,0.0796862626701,0.999999865388,-0.000208815572929,-0.00046942217031,-7.25498054511e-05,1793248238728777472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.185633437,745,715,681.185633437,659.814366563,631,880,779,814,651,629,653,0.455447488992,-0.015642773805,0.0796776195121,0.999999858386,-0.000210497499805,-0.000483355659136,-7.2710540204e-05,1793248238745444096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.392312558,660,631,880,779.392312558,814,651,629,653,0.455412674455,-0.0156402327812,0.0796632654605,0.999999846338,-0.000209060925967,-0.0005081756871,-7.33206667316e-05,1793248238762110464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.970071938,660,631,880,779.970071938,814,651,629,653,0.455369537391,-0.0156361355161,0.0796462118588,0.999999831204,-0.000206150231474,-0.000538141801732,-7.41432214875e-05,1793248238778777088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.545367424,880,779.454632576,814,651,629,653,0.455309870636,-0.0156361277769,0.0796301919368,0.999999815904,-0.000208579398918,-0.000564966537027,-7.41625789925e-05,1793248238795443968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.880199824,660,631.880199824,880,779,814,651,629.119800176,653,0.455247160117,-0.0156353037236,0.0796156561481,0.999999802383,-0.000209980439203,-0.000587917692075,-7.41280457699e-05,1793248238812110592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.30851342,660,631.30851342,880,779,814,651,629.69148658,653,0.455176374691,-0.0156305578273,0.0796065055001,0.999999797809,-0.000206403028896,-0.000596905039607,-7.40557474171e-05,1793248238828777216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.275803647,745,714.724196353,681.275803647,660,631,880,779,814,651,629.724196353,653,0.455098500005,-0.0156262399143,0.0796010684963,0.999999795167,-0.000202877216416,-0.000602651987074,-7.29153051985e-05,1793248238845443584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.8749274,745,714.1250726,681.8749274,660,631,880,779,814,651,629.1250726,653,0.455012314702,-0.0156224237193,0.0795999849374,0.99999979486,-0.000199411891452,-0.000604600266027,-7.05226954001e-05,1793248238862110464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.546066404,745,714.453933596,681.546066404,660,631.453933596,879.546066404,779,814,651,629,653,0.454903375367,-0.0156177717262,0.0795990387346,0.99999979352,-0.000198253191037,-0.000607463698419,-6.81433055035e-05,1793248238878777088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.972244961,681,660,631.972244961,879.055510078,779.027755039,813.972244961,651,629,653,0.45478719397,-0.0156128689975,0.0795981294618,0.999999791984,-0.000197597369714,-0.000610464298722,-6.57279634373e-05,1793248238895443968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.395992275,681,660,631.395992275,880.208015449,779.604007725,813.395992275,651,629,653,0.454646533443,-0.015607369049,0.079597233833,0.999999792154,-0.00019485278217,-0.000611404027172,-6.2533202286e-05,1793248238912110592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.185297126,681.185297126,660,631,881,780,813.185297126,651,629,653,0.45449760512,-0.0156010109502,0.0795961177853,0.999999792228,-0.000189855965997,-0.000613193385199,-5.91020874034e-05,1793248238928776960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.777650998,681.777650998,660,631,881,780,813.777650998,651,629,653,0.454330514295,-0.0155927676863,0.0795945175261,0.999999792044,-0.00017991150268,-0.000616849191087,-5.51517561367e-05,1793248238945443584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.360637723,880.278724554,780,814,651,629.360637723,653,0.454135275417,-0.0155848158451,0.0795904720326,0.999999789849,-0.000170476624795,-0.000623445303485,-5.05629035825e-05,1793248238962110208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.937995453,879.124009094,780,814,651,629.937995453,653,0.453923121359,-0.0155770391295,0.079584957111,0.999999786353,-0.000161347973909,-0.000631808350711,-4.55903405412e-05,1793248238978777088
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.512618279,780,814,651,629.487381721,653.512618279,0.453676224981,-0.0155651607107,0.0795802410758,0.999999781731,-0.000149362828762,-0.000642364668325,-3.99428471271e-05,1793248238995443968
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715.089200502,682,660,632,880,780,813.910799498,651,629,653.910799498,0.453422336291,-0.015553613383,0.0795765015632,0.99999977827,-0.000136300725334,-0.000650938718244,-3.40828384901e-05,1793248239012110848
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715.678616005,682,660,632,880,780,813.321383995,651,629,653.321383995,0.453152676796,-0.0155466901309,0.0795776991481,0.999999783276,-0.000119126558299,-0.000646916901593,-2.74864659456e-05,1793248239028777216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.262835979,745,715.737164021,682,660,632,880,780.262835979,813,651,629,653,0.452864183504,-0.0155393384613,0.07958030745,0.999999790811,-8.36652744185e-05,-0.000641054538891,-2.06705433107e-05,1793248239045443584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.840826202,745,715.159173798,682,660,632,880,780.840826202,813,651,629,653,0.45255310751,-0.0155314730969,0.0795846072764,0.999999799227,-2.62767706583e-05,-0.000632985262948,-1.35913688492e-05,1793248239062110208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.583951669,745,715,681.583951669,660,632,880,781,812.583951669,651,629.416048331,653,0.452213916502,-0.0155248826192,0.0795921883374,0.999999805724,-6.99402903351e-06,-0.000623267836412,-6.29244625019e-06,1793248239078776832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.009781584,745,715,681.009781584,660,632,880,781,812.009781584,651,629.990218416,653,0.451864040216,-0.0155187766703,0.0796010164519,0.999999812159,-2.19362032501e-06,-0.000612924020611,1.08999282455e-06,1793248239095443712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.562072473,745,715,681.562072473,660,632,880,781.562072473,812,651,630,653,0.451471773335,-0.015513159479,0.0796140745954,0.999999822707,-1.45049799962e-05,-0.000595288072355,-2.72730851122e-06,1793248239112110336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.860463878,745,715,682,660,632,880,782.139536122,812,651,630,653,0.451075281168,-0.0155098533028,0.0796275448202,0.99999983479,-2.53361828268e-05,-0.000574230871204,-6.03014402226e-06,1793248239128777216
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.264520706,745,715,682,660,632,880,782.735479294,812,651,630,653,0.450667371711,-0.0155140784931,0.0796421231195,0.999999852418,-3.03559111991e-05,-0.000542396520183,-7.01531947198e-06,1793248239145444352
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.320408372,880,783,812.320408372,651,630,653,0.450229781361,-0.0155180876883,0.0796593139531,0.999999869501,-3.11936333035e-05,-0.000509914851505,-3.5362011583e-06,1793248239162111232
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.896546751,880,783,812.896546751,651,630,653,0.449768501526,-0.0155219244901,0.0796785899506,0.999999885857,-2.86935389959e-05,-0.000476916530614,3.50603829093e-06,1793248239178777600
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.472279644,633,880,783,812.527720356,651,630,653,0.449255881673,-0.0155135375772,0.0796890160353,0.99999989212,-1.10045572704e-05,-0.000464319581843,6.86688405493e-06,1793248239195443968
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.950933239,632.950933239,880,783,812,651,630,653,0.448725716487,-0.0155017697037,0.0796952808229,0.999999894339,9.76371708103e-06,-0.000459504603192,9.03481669621e-06,1793248239212110592
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.361559693,632.361559693,880,783,812,651,630,653,0.448126079339,-0.0154822315209,0.0796770514948,0.999999878943,2.78342402317e-05,-0.000491213842534,6.93911624829e-06,1793248239228777216
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.223718053,632,880,783.223718053,812,651,630,653,0.447531098792,-0.0154652289369,0.079669574295,0.99999987383,4.9455452019e-05,-0.000499850948257,6.56666403348e-06,1793248239245443840
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.802495387,632,880,783.802495387,812,651,630,653,0.446943508694,-0.0154522505617,0.0796791616244,0.999999885687,7.67119028781e-05,-0.000471870644609,8.92915117519e-06,1793248239262110208
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.619631145,632.380368855,879.619631145,784,812.380368855,651,630,653,0.44635106795,-0.0154471955356,0.0797181462715,0.999999912553,8.53818539708e-05,-0.000409172976518,1.34775010178e-05,1793248239278777088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.04222591,632.95777409,879.04222591,784,812.95777409,651,630,653,0.445756114522,-0.0154462449154,0.0797723591395,0.9999999423,8.44237373078e-05,-0.000328491227583,1.91581581321e-05,1793248239295443968
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.534205092,745,715,682,660.534205092,633,879,784,811.931589816,651,630,653,0.445094744067,-0.0154401668414,0.0798177219554,0.99999995839,0.000101985956391,-0.000268923371467,2.23531704311e-05,1793248239312110592
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.887203535,745,715,682,660.887203535,633,879.112796465,784.112796465,811.112796465,650.887203535,630,653,0.444411262377,-0.0154318696274,0.0798509475179,0.999999966331,0.000120768651403,-0.000228371081578,2.44830950932e-05,1793248239328776960
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784.715588166,811.715588166,650,630,653,0.442887695551,-0.0154029904357,0.0798168387841,0.99999994604,0.000151077574831,-0.00029090497147,2.16689149475e-05,1793248239362110464
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744,714.501445916,682,660,633,879,784,811,650.501445916,630,653,0.435396263833,-0.0153900968516,0.0798437684615,0.999999951268,0.00019482964691,-0.000241718337414,3.28332493365e-05,1793248239512110336
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.074321117,744,714.074321117,682.074321117,660,633,879,784.074321117,811,650,630,653.074321117,0.434509260414,-0.0153885586789,0.0798465063631,0.999999950546,0.00020221696064,-0.000238470158519,3.38978786458e-05,1793248239528777216
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.649829859,744,714.649829859,682.649829859,660,633,879,784.649829859,811,650,630,653.649829859,0.43358181621,-0.0153898533861,0.0798179344665,0.999999939011,0.000210459421928,-0.000276691597855,3.35550984005e-05,1793248239545443840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.767866895,744,715,682.767866895,660,633,879,784.767866895,811,650.232133105,630,653.767866895,0.43261115422,-0.0153883722186,0.0797763727319,0.9999999152,0.000217257626106,-0.000348423921935,3.16081204248e-05,1793248239562110464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.175005084,744,715,682.175005084,660,633,879,784.175005084,811,650.824994916,630,653.175005084,0.431573332791,-0.0153825774154,0.0797146251279,0.99999986353,0.000221811492288,-0.000472231277812,2.71682612566e-05,1793248239578777088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633,879,784,811,651,630,653,0.430631236779,-0.0153800502543,0.0797055670431,0.999999853194,0.000226769377519,-0.000491378051421,2.7119728513e-05,1793248239595443712
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633,879,784,811,651,630,653,0.429729232157,-0.015378891634,0.0797185761712,0.999999863794,0.000231896472894,-0.000466691301717,2.89103535324e-05,1793248239612110592
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.444104208,744,715,681.444104208,660,633,879,784,811,651,629.444104208,652.444104208,0.428896190303,-0.0153843064978,0.0797946694481,0.999999915452,0.000234067958129,-0.000336107849042,3.65939684036e-05,1793248239628777472
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.135058765,744,715,681.135058765,660,633.135058765,879,784.135058765,811,651,629,652.135058765,0.428035671587,-0.0153880650988,0.0798526705306,0.999999943262,0.000236100158655,-0.000236453501987,4.26827952922e-05,1793248239645444096
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.726666667,744,715,681.726666667,660,633.726666667,879,784.726666667,811,651,629,652.726666667,0.427074057424,-0.0153854420137,0.0798419999455,0.999999938515,0.00023801354825,-0.000253963350611,4.26787927299e-05,1793248239662110464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,681.689132806,660,634,879,784.689132806,811,651,629,653,0.426105291427,-0.0153841681528,0.079809947207,0.99999992447,0.000238313402982,-0.000304412145591,4.00084319674e-05,1793248239678777344
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,681.111293743,660,634,879,784.111293743,811,651,629,653,0.425130383506,-0.015384053002,0.079759531536,0.999999897846,0.000237227557326,-0.00038314881262,3.5048210111e-05,1793248239695443712
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.464395802,715,681,659.535604198,633.535604198,879,784,811,651,629,653,0.424154491906,-0.0153784972864,0.0797283539997,0.999999875914,0.000246243560732,-0.000431702448204,3.41903679451e-05,1793248239712110336
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.960531078,715,681,659,633.039468922,879,784,810.960531078,651,629,653,0.42318670429,-0.0153720939005,0.0797051874087,0.99999985729,0.000256954363908,-0.000467136795894,3.43204172711e-05,1793248239728777216
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.386861552,715,681,659,633.613138448,879,784,810.386861552,651,629,653,0.422331778751,-0.0153717834302,0.0797283327806,0.999999876888,0.000257988074852,-0.000422456862431,3.45759941383e-05,1793248239745443840
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.19348056,715,681,659,634,878.80651944,784.19348056,810.19348056,651,629.19348056,653,0.421491409147,-0.0153736106937,0.0797688099172,0.999999905513,0.000254653011187,-0.000350401294647,3.66777385745e-05,1793248239762110464
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.787641072,715,681,659,634,878.212358928,784.787641072,810.787641072,651,629.787641072,653,0.420681183352,-0.0153798650017,0.0798451795046,0.99999994518,0.000242270626424,-0.000221653364362,4.2602721341e-05,1793248239778777344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.629700765,715,680.629700765,659.370299235,634,878,784.629700765,811,651,629.629700765,653,0.419822961088,-0.0153801637517,0.079863571322,0.999999951628,0.000240205007122,-0.000192635022929,4.40157421375e-05,1793248239795443968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.053440268,715,680.053440268,659.946559732,634,878,784.053440268,811,651,629.053440268,653,0.418938043128,-0.0153771500065,0.0798497157699,0.999999945341,0.000243877597889,-0.000219086509989,4.29191995244e-05,1793248239812110848
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.521121354,744.521121354,715,680,659.478878646,634,878.521121354,784,810.478878646,651,629,653,0.418040401473,-0.0153757648159,0.079809571881,0.999999927855,0.000242345470147,-0.00028996344757,3.84584740149e-05,1793248239828777216
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.901814295,715,680.098185705,659.098185705,634,878.901814295,784.098185705,810.098185705,651,629,653,0.417157498886,-0.0153744003347,0.0797771004897,0.9999999091,0.000241256535564,-0.000349821512804,3.49452871931e-05,1793248239845443840
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.311330734,715,680.688669266,659.688669266,634,878.311330734,784.688669266,810.688669266,651,629,653,0.416355018147,-0.0153723050505,0.0797965714266,0.999999914255,0.000245057184597,-0.000331663396807,3.79071615087e-05,1793248239862110464
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.726332452,744.273667548,715,681,659.726332452,634,878,785,811,651,629.273667548,653,0.41553312101,-0.0153679229279,0.079795505907,0.999999909829,0.000252242391312,-0.000339416510805,3.88895776469e-05,1793248239878777088
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.147451777,744.852548223,715,681,659.147451777,634,878,785,811,651,629.852548223,653,0.414689569405,-0.0153609903637,0.0797715366983,0.99999989394,0.000263202292265,-0.000376067635908,3.76643637941e-05,1793248239895443968
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.429018222,744.570981778,715,681,659,634,878,785,811,651,629.570981778,653,0.41394250444,-0.0153634597258,0.0797758589912,0.999999901843,0.000256561002662,-0.000359425452746,3.61216686971e-05,1793248239912110592
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.995323743,744,715,681,659.004676257,634,878.004676257,784.995323743,811,651,629,653,0.413228410314,-0.0153691029913,0.0797898242476,0.999999916902,0.000244045751631,-0.000324727230102,3.45045113288e-05,1793248239928777216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.418208957,744,715,681,659.581791043,634,878.581791043,784.418208957,811,651,629,653,0.412513598519,-0.0153699177588,0.0798005606703,0.999999920477,0.000248875735075,-0.00030940765316,3.70549530397e-05,1793248239945443584
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.837949215,659.837949215,634,878.837949215,784.162050785,810.837949215,651,629,653,0.411801071543,-0.0153691309537,0.07980411897,0.999999919688,0.00025379798421,-0.000307739504576,3.88080298781e-05,1793248239962110208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,680.24941244,659.24941244,634,878.24941244,784.75058756,810.24941244,651,629,653,0.411094557609,-0.0153641291228,0.0797887858554,0.999999907248,0.000258963059615,-0.000341999243743,3.84625987729e-05,1793248239978776832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.679115856,810,651,629,652.679115856,0.410422463429,-0.0153606801044,0.0797813980095,0.999999900447,0.000265735455719,-0.000356433501051,3.80283949148e-05,1793248239995443712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.122234239,810,651,629,652.122234239,0.409775683647,-0.0153583731178,0.0797798535924,0.999999898373,0.000273689971847,-0.000356286906362,3.75289022848e-05,1793248240012110592
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,715.467628491,680.467628491,659,634,878,784.467628491,810,651,629,652.467628491,0.409179791495,-0.0153601816392,0.0798038755061,0.999999912629,0.000272615825376,-0.000314307909533,4.04108724861e-05,1793248240028777472
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.063858364,744,715.936141636,681,659,634,878.063858364,784.936141636,810,651,629,653,0.408599923603,-0.0153627098819,0.0798316029733,0.999999926959,0.000269679078237,-0.000267274189648,4.3821479892e-05,1793248240045444096
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.636900823,744,715.363099177,681,659,634,878.636900823,784.363099177,810,651,629,653,0.408033717114,-0.0153617483182,0.0798315473118,0.999999924542,0.000272136476685,-0.000273740818782,4.38646670326e-05,1793248240062110720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.783064449,744,715,680.783064449,659,634,878.783064449,784.216935551,810,651,629,653,0.407466221039,-0.0153588114588,0.0798162362548,0.999999914778,0.000275526285011,-0.000304516279243,4.24052763959e-05,1793248240078777600
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.190936578,744,715,680.190936578,659,634,878.190936578,784.809063422,810,651,629,653,0.406896494669,-0.0153524583045,0.0797745408306,0.999999888726,0.000280528704803,-0.000377334117871,3.83471615045e-05,1793248240095443968
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.028266811,810,651,629,653,0.4059166911,-0.0153511345382,0.0797662980499,0.999999888869,0.000281328141093,-0.000376690536435,3.49521479634e-05,1793248240128776960
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.545569246,810,651,629,653,0.405509376274,-0.0153526954736,0.0797834548812,0.999999902943,0.000277466443902,-0.000340323616512,3.61539443902e-05,1793248240145443584
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,810,651,629.118853179,653,0.405109481046,-0.0153544166605,0.0798007326311,0.999999914311,0.000274267526226,-0.000307801068689,3.76008707006e-05,1793248240162110208
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,810,651,629.691092615,653,0.40472472968,-0.0153565282432,0.0798157209671,0.999999918321,0.000274257709145,-0.000294246207373,3.95042983897e-05,1793248240178777088
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.273496042,744,715,680,659,634,878,785,810,651,629.726503958,652.726503958,0.404353815106,-0.0153554620174,0.0798250447832,0.999999918864,0.000278878982015,-0.000287743012917,4.12623789001e-05,1793248240195443712
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.867822522,744,715,680,659,634,878,785,810,651,629.132177478,652.132177478,0.403999132105,-0.0153506679948,0.0798277237108,0.999999915432,0.000288932855007,-0.000289511929427,4.28499566523e-05,1793248240212110336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878,785,810,651,629,652.44911499,0.403665722758,-0.0153446210869,0.0798281306791,0.999999911555,0.000297821687875,-0.000293862774537,4.28696597971e-05,1793248240228777216
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.973489262,744,715,679.973489262,659,634,878,784.973489262,809.973489262,651,629,652.973489262,0.403341100094,-0.01533857768,0.0798279336236,0.999999907876,0.000305416968133,-0.000298619185831,4.23707199029e-05,1793248240245444096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.399581063,744,715,679.399581063,659,634,878,784.399581063,809.399581063,651,629,652.399581063,0.40307227451,-0.0153400054676,0.0798286816489,0.999999912248,0.000293182934191,-0.000296502216996,4.04218428883e-05,1793248240262110720
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.179272925,715,679,659,634,878.179272925,784.179272925,809.179272925,651,629,652.179272925,0.402814476401,-0.0153402699566,0.0798289699642,0.999999913802,0.000288207163072,-0.000296282952284,3.93661832559e-05,1793248240278777088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.76946324,715,679,659,634,878.76946324,784.76946324,809.76946324,651,629,652.76946324,0.402581954766,-0.0153378680107,0.0798282045629,0.999999909101,0.000299868297536,-0.000300413478196,4.03578969504e-05,1793248240295443456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.646258298,715,679,659,634,879,784.646258298,810,651,629,653,0.402372529522,-0.0153406924663,0.0798311401592,0.999999909603,0.000301069478056,-0.000297321392596,4.18431861901e-05,1793248240312110336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.065769256,715,679,659,634,879,784.065769256,810,651,629,653,0.40217790897,-0.015346867029,0.0798364480835,0.999999913434,0.000295565861529,-0.000289599635716,4.36448559282e-05,1793248240328776960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,715.509915117,679.509915117,659,634,878.490084883,784,809.490084883,651,629,652.490084883,0.402013036614,-0.0153518240281,0.079837491412,0.999999915897,0.00029069136232,-0.000285908829448,4.42787646862e-05,1793248240345443840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,715.912942662,679.912942662,659,634,878,784.087057338,809.087057338,651,629,652.087057338,0.401856913807,-0.0153558278934,0.0798385064949,0.999999917967,0.000286874005454,-0.00028241013307,4.48749834612e-05,1793248240362110976
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.260935463,659,634,878,785,809.739064537,651,629,652.739064537,0.401610537295,-0.0153542823578,0.0798454600961,0.999999920172,0.000288397829932,-0.000272678320643,4.6144670042e-05,1793248240395443712
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.005204025,744,715,680,659,634,878,785,809.994795975,651,628.005204025,652,0.401312452742,-0.0153535342903,0.0798367249703,0.999999915975,0.000292887957598,-0.000285114972769,3.12378290779e-05,1793248240445443840
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.1408826,744,715,680,658.4295587,634,878,785,809.4295587,651,628.5704413,652.5704413,0.401242814473,-0.0153512626036,0.0798334096337,0.999999913869,0.000294080332177,-0.000291129576866,3.19888892348e-05,1793248240462110720
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.950415969,716,679.950415969,658,634,877.950415969,784,810,651,629,652,0.401014385784,-0.0153473515128,0.0798284093758,0.999999913164,0.000291502029925,-0.000295819615529,3.44911700196e-05,1793248240562110208
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.530269835,744,715,679.469730165,659,634,878,785,809.469730165,651,629,652,0.400976567896,-0.0153493952632,0.0798296573464,0.999999914365,0.0002913017914,-0.000291913590353,3.4646650075e-05,1793248240662110208
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.301069207,744,715.698930793,679.698930793,659,634,878.698930793,784.301069207,809,651,628.301069207,652.698930793,0.400977041298,-0.0153516129766,0.0798314695546,0.999999915517,0.000289522875292,-0.000289714806231,3.47427616489e-05,1793248240695443456
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.014283964,744,715.985716036,680,658.985716036,633.985716036,878,785,809.985716036,651,629,652.985716036,0.400978748808,-0.0153505694251,0.0798349283585,0.99999991641,0.000292644443334,-0.000283415051726,3.48518231612e-05,1793248240762110208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.589081193,744,715.410918807,680,658.410918807,633.410918807,878,785,809.410918807,651,629,652.410918807,0.400979136054,-0.015350860706,0.079834983988,0.999999917198,0.000290956710469,-0.00028240870907,3.45516582341e-05,1793248240778777088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.168795292,715.168795292,679.831204708,658.168795292,633.168795292,878.168795292,784.831204708,809.168795292,651,629,652.168795292,0.40097971,-0.0153516084349,0.0798355452936,0.999999918082,0.000289211000229,-0.000281075002214,3.44897684978e-05,1793248240795443968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.760838213,715.760838213,679.239161787,658.760838213,633.760838213,878.760838213,784.239161787,809.760838213,651,629,652.760838213,0.400980752089,-0.0153535006889,0.0798373745621,0.999999919212,0.000287319914076,-0.000278920442423,3.50253445538e-05,1793248240812110592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.655612772,715.655612772,679,659,634,878.655612772,784,809.655612772,651,629,652.655612772,0.400980325038,-0.0153539281136,0.0798379202564,0.999999919145,0.000287642210897,-0.000278798221037,3.52521551008e-05,1793248240828776960
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.077820444,715.077820444,679,659,634,878.077820444,784,809.077820444,651,629,652.077820444,0.400978902291,-0.0153533627642,0.0798375960208,0.999999918268,0.000289464606611,-0.000280053397359,3.52697028005e-05,1793248240845443584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.497529704,659,634,877.502470296,784,809,651,629,652.497529704,0.400978259579,-0.0153522881781,0.0798368069208,0.999999917718,0.000290298698519,-0.000281186867356,3.49821641977e-05,1793248240862110208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.074031288,784,809,651,629,653,0.400977744266,-0.0153515044613,0.0798360130166,0.999999917389,0.000290413241913,-0.000282276380047,3.46782293668e-05,1793248240878776832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.661147295,784,809,651,629,653,0.400977270451,-0.0153532859974,0.0798356872913,0.999999918231,0.000286606983637,-0.000283192530659,3.45897709009e-05,1793248240895443712
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.755143642,744,715,680,659,634,878,784.244856358,809.244856358,651,629,652.755143642,0.400977612015,-0.01535386922,0.079836049307,0.999999918718,0.00028547635902,-0.000282616900753,3.45621860599e-05,1793248240912110848
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.17608461,744,715,680,659,634,878,784.82391539,809.82391539,651,629,652.17608461,0.400979066483,-0.0153528168734,0.0798373500155,0.999999918728,0.000287997686927,-0.000280005150523,3.46176871777e-05,1793248240928777472
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.402618851,744,715,680,659,634,878,784.597381149,810,651,629,652,0.400979404759,-0.0153525617676,0.0798379323491,0.999999918774,0.000288834358891,-0.00027895773176,3.47686457888e-05,1793248240945444352
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.981166906,744,715,680,659,634,878,784.018833094,810,651,629,652,0.4009792553,-0.015352655026,0.07983820078,0.99999991884,0.000288934899799,-0.000278593866818,3.49613157097e-05,1793248240962111232
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744,715.554420721,679.445579279,659,634,878,784,810,651,629,652,0.400978785793,-0.0153532334693,0.0798379934355,0.999999918745,0.000288905974957,-0.000278971651825,3.49021476712e-05,1793248240978777600
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bcdb687d6f1cbc715ff8bbb32d3a6d5a7a863d63
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+17,0.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+407,6.783333333,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..328a772e439d6ebad9b3908dfd391742fdacc806
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036679e78668efa4c4300bfc1eb5e6fdc86ff171954a4215c01391a4beb5c4d0
+size 26017842
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5dfad5683b35073525f979b25cdff54931594c8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+55,0.916666667,BASELINE,765,744,715.994919968,679,658,634,877.005080032,785,809.005080032,651,629,652.005080032,0.400981074696,-0.0153526930213,0.0798420530011,0.999999921458,0.000287545076488,-0.00027066911594,3.37752968034e-05,1793248242025753856
+56,0.933333333,BASELINE,765,744,715.407573256,679,658,634,877.592426744,785,809.592426744,651,629,652.592426744,0.400979524056,-0.0153528014393,0.0798407391667,0.99999992089,0.000287500565959,-0.0002728044745,3.37812246524e-05,1793248242042420224
+57,0.950000000,BASELINE,765.177581808,744,715,679,658.177581808,634,878,785,810,651,629,652.822418192,0.400978168768,-0.0153534114564,0.0798397929043,0.999999920705,0.000286412338048,-0.000274633479538,3.3677118445e-05,1793248242059086848
+58,0.966666667,BASELINE,765.757768,744,715,679,658.757768,634,878,785,810,651,629,652.242232,0.400977256371,-0.0153551586734,0.0798396799824,0.999999921388,0.000282957847525,-0.000275767935264,3.33235486574e-05,1793248242075753984
+59,0.983333333,BASELINE,765.665226496,744,715,679.334773504,659,634,877.665226496,785,810,651,629,652.334773504,0.400978414406,-0.0153554291542,0.0798402000614,0.999999921597,0.000283538637965,-0.000274384261661,3.35340236041e-05,1793248242092420864
+60,1.000000000,BASELINE,765.090500721,744,715,679.909499279,659,634,877.090500721,785,810,651,629,652.909499279,0.400981056445,-0.0153546411698,0.0798411738502,0.999999921456,0.000287011756199,-0.00027119569369,3.41487832411e-05,1793248242109087488
+61,1.016666667,BASELINE,765.483949346,744,715,679.516050654,659,634,877.483949346,785,810,651,629,653,0.400980178129,-0.0153553000673,0.079840949724,0.999999921374,0.000286358337513,-0.000272159001253,3.43474343747e-05,1793248242125753856
+62,1.033333333,BASELINE,766,744,715.060123538,679,659,634,878,784.939876462,810,651,629,653,0.400978681907,-0.0153561481787,0.0798404633921,0.999999921286,0.000285000748113,-0.00027389391008,3.44202629747e-05,1793248242142420224
+63,1.050000000,BASELINE,766,744,715.652002626,679,659,634,878,784.347997374,810,651,629,653,0.400977539833,-0.0153562780783,0.0798396381635,0.99999992105,0.000284236359542,-0.000275590115142,3.4068095527e-05,1793248242159086848
+64,1.066666667,BASELINE,765.761542508,744,716,679,659,634,878,784,810,651,629,652.761542508,0.400976998956,-0.0153560760484,0.0798391894932,0.99999992073,0.000284446777135,-0.000276556259793,3.3856407731e-05,1793248242175753472
+65,1.083333333,BASELINE,765.182827554,744,716,679,659,634,878,784,810,651,629,652.182827554,0.400977315936,-0.0153554003848,0.0798392781377,0.999999920295,0.000286048155768,-0.000276480673593,3.38451718239e-05,1793248242192420096
+66,1.100000000,BASELINE,765,744.392651392,716,679.392651392,658.607348608,634,878,784.392651392,809.607348608,651,629,652,0.400978429503,-0.0153547940159,0.0798401160305,0.999999920761,0.00028602857757,-0.000274813242813,3.38107907333e-05,1793248242209087232
+67,1.116666667,BASELINE,765,744.966635878,716,679.966635878,658.033364122,634,878,784.966635878,809.033364122,651,629,652,0.400979910949,-0.0153542196485,0.0798412999389,0.999999921639,0.000285260413873,-0.000272410671117,3.37657208033e-05,1793248242225754368
+68,1.133333333,BASELINE,765,744.445734978,715.445734978,680,658.554265022,633.445734978,878,785,809.554265022,651,629,652.554265022,0.400980960669,-0.0153561367298,0.079841976746,0.999999922469,0.000283660006255,-0.000270969256819,3.42763512864e-05,1793248242242421248
+69,1.150000000,BASELINE,765,744.140272351,715,680,659,633.140272351,878,785,810,651,629,653,0.400981441633,-0.0153572915105,0.0798423143901,0.999999922762,0.000283287165134,-0.00027023089513,3.46220953997e-05,1793248242259087872
+70,1.166666667,BASELINE,765,744.718585364,715,680,659,633.718585364,878,785,810,651,629,653,0.400980229698,-0.0153555856331,0.0798416906299,0.999999921395,0.000286908144025,-0.00027150278172,3.43458391205e-05,1793248242275754240
+71,1.183333333,BASELINE,765.296874392,744.703125608,715,680,658.703125608,634,878,784.703125608,809.703125608,651,629,653,0.400979953456,-0.0153539059235,0.0798418404013,0.999999920797,0.000288873143427,-0.000271659813508,3.40380670527e-05,1793248242292420352
+72,1.200000000,BASELINE,765.875140753,744.124859247,715,680,658.124859247,634,878,784.124859247,809.124859247,651,629,653,0.40098056411,-0.0153522510169,0.0798427233634,0.999999920938,0.000289268525455,-0.000270760131909,3.37004227576e-05,1793248242309086976
+73,1.216666667,BASELINE,766,744,715,680,658.450695011,634,877.549304989,784,809.450695011,651,629,653,0.400978784031,-0.015353797129,0.0798411050908,0.999999921175,0.000286282704829,-0.00027307066981,3.35207616856e-05,1793248242325753344
+74,1.233333333,BASELINE,766,744,715,680,659,634,877.026158974,784,809.973841026,651,628.973841026,652.973841026,0.400976461008,-0.0153560966848,0.0798389156684,0.999999921413,0.000282545889217,-0.000276091837138,3.34075547541e-05,1793248242342419968
+75,1.250000000,BASELINE,766,744,715,680,659,634,877.615765685,784,809.384234315,651,628.384234315,652.384234315,0.40097662396,-0.0153556380705,0.0798392601385,0.999999921556,0.000282688751453,-0.000275378065723,3.37886485938e-05,1793248242359086592
+76,1.266666667,BASELINE,765.798355269,744,715,679.798355269,659,634,878,784,809,651,628.201644731,652,0.40097704435,-0.0153553228537,0.079839638498,0.999999921644,0.000283072637715,-0.000274635040524,3.40212137665e-05,1793248242375752960
+77,1.283333333,BASELINE,765.219450399,744,715,679.219450399,659,634,878,784,809,651,628.780549601,652,0.400977946381,-0.0153552759216,0.0798400802617,0.999999921628,0.000283907459422,-0.000273837284026,3.39758944156e-05,1793248242392419584
+78,1.300000000,BASELINE,765,744,715,679,659,634,878,784.355557953,809,651,629,652,0.400978400528,-0.0153551794887,0.0798402034922,0.999999921743,0.000283818623565,-0.000273531960736,3.37874255355e-05,1793248242409086464
+79,1.316666667,BASELINE,765,744,715,679,659,634,878,784.928187422,809,651,629,652,0.400978581237,-0.015355052835,0.0798401322552,0.999999921938,0.000283165885943,-0.000273527272639,3.35115625065e-05,1793248242425753088
+80,1.333333333,BASELINE,765,744,715.506330149,679,658.493669851,634,878,785,809.506330149,651,629,652,0.400978566792,-0.0153556818228,0.0798400303188,0.99999992195,0.000282739419073,-0.000273898167287,3.37336106977e-05,1793248242442419712
+81,1.350000000,BASELINE,765,744,715.913037351,679.086962649,658.086962649,634,877.913037351,785,810,651,629,652,0.400978695438,-0.0153562296214,0.0798400603729,0.999999921877,0.000282839928862,-0.000274026505327,3.40203549423e-05,1793248242459086336
+82,1.366666667,BASELINE,765,744,715.322566704,679.677433296,658.677433296,634,877.322566704,785,810,651,629,652,0.400979814592,-0.0153556799873,0.07984088013,0.99999992146,0.000285803743509,-0.000272438638727,3.42683072178e-05,1793248242475752960
+83,1.383333333,BASELINE,765.262182027,744,715.262182027,679.737817973,659,634,877.262182027,785,810,651,628.737817973,652.262182027,0.400979735417,-0.0153560383262,0.0798411380304,0.999999921422,0.000286167257967,-0.000272179067439,3.43957816109e-05,1793248242492419840
+84,1.400000000,BASELINE,765.840041426,744,715.840041426,679.159958574,659,634,877.840041426,785,810,651,628.159958574,652.840041426,0.400978213406,-0.0153574898996,0.0798407194335,0.999999921845,0.000283399910123,-0.000273518815232,3.43781959747e-05,1793248242509086464
+85,1.416666667,BASELINE,765.583244737,744,716,679,659,634,878,785,809.583244737,651,628.416755263,653,0.400977755076,-0.0153577837983,0.0798404165158,0.999999922102,0.000281832431419,-0.00027423142497,3.41004120781e-05,1793248242525753088
+86,1.433333333,BASELINE,765.006969416,744,716,679,659,634,878,785,809.006969416,651,628.993030584,653,0.400977703889,-0.0153576345776,0.0798401578763,0.999999922297,0.00028072422289,-0.000274703987032,3.37230329404e-05,1793248242542419712
+87,1.450000000,BASELINE,765,744.579783448,716,679.579783448,659,634,878,785,809,651,629,652.420216552,0.400979119385,-0.0153563416454,0.0798414753146,0.999999921988,0.000284075373944,-0.000272339652664,3.39937260872e-05,1793248242559086592
+88,1.466666667,BASELINE,765,744.8345632,715.8345632,680,659,634,878,785,809.1654368,651,629,652,0.40097999919,-0.0153555429508,0.0798422572364,0.999999921908,0.000285905656114,-0.000270700528021,3.41010257616e-05,1793248242575753216
+89,1.483333333,BASELINE,765,744.252005516,715.252005516,680,659,634,878,785,809.747994484,651,629,652,0.400979483071,-0.0153560256943,0.0798416402969,0.999999922454,0.000283763682029,-0.000270977460764,3.37763530336e-05,1793248242592419840
+90,1.500000000,BASELINE,765,744.326588908,715.326588908,679.673411092,658.673411092,634,878,784.673411092,810,651,629,652,0.400979269467,-0.0153554131729,0.0798413593744,0.999999922116,0.00028437520087,-0.000271591630747,3.37121704755e-05,1793248242609086464
+91,1.516666667,BASELINE,765,744.902161807,715.902161807,679.097838193,658.097838193,634,878,784.097838193,810,651,629,652,0.400979286494,-0.0153539656463,0.0798413346237,0.9999999211,0.000287085920482,-0.000272462902753,3.38465797407e-05,1793248242625753088
+92,1.533333333,BASELINE,765,745,715.524847774,679,658.475152226,634,878,784,810,651,629,652.475152226,0.400978916723,-0.015354605577,0.0798407881371,0.999999921521,0.000284973507971,-0.000273153900931,3.37018984927e-05,1793248242642419968
+93,1.550000000,BASELINE,765,744.95061665,715,679,659,634,878,784,810,651,629,653,0.400978671682,-0.0153556799134,0.0798403462414,0.999999922244,0.000282067685386,-0.000273542706467,3.35335016967e-05,1793248242659086592
+94,1.566666667,BASELINE,765,744.356879785,715,679,659,634,878,784,810,651,629,653,0.400980674727,-0.0153568303374,0.0798422350561,0.999999923142,0.000281304171688,-0.000271007399729,3.37337268132e-05,1793248242675753216
+95,1.583333333,BASELINE,765,744,715.229202075,679,659,634,878,784,810,651,628.770797925,653,0.400980922551,-0.0153570554055,0.0798424957824,0.999999922994,0.000282180013988,-0.000270623103946,3.38977161536e-05,1793248242692420352
+96,1.600000000,BASELINE,765,744,715.803749994,679,659,634,878,784,810,651,628.196250006,653,0.40097852573,-0.0153558862117,0.079840303418,0.999999921264,0.000285525924463,-0.000273479802395,3.40071079615e-05,1793248242709087488
+97,1.616666667,BASELINE,765,744,716,679,659,634,878,784.379822002,810,651,628.379822002,653,0.400978773505,-0.0153552358544,0.0798407396555,0.999999921015,0.000286605452152,-0.000273250126218,3.40710901542e-05,1793248242725753856
+98,1.633333333,BASELINE,765,744,716,679,659,634,878,784.95668463,810,651,628.95668463,653,0.40098039322,-0.0153548546545,0.0798425395354,0.99999992154,0.000286509246063,-0.000271419328337,3.4111515151e-05,1793248242742420224
+99,1.650000000,BASELINE,765.545388941,744.545388941,716,679,659,634,877.454611059,785,810,651,629,652.454611059,0.400978566922,-0.0153559213455,0.0798410719286,0.999999921826,0.000284081228628,-0.000272936590898,3.39201765181e-05,1793248242759086592
+100,1.666666667,BASELINE,765.867652397,744.867652397,716,679.132347603,659,634,877.132347603,785,810,651,629,652.132347603,0.400977228094,-0.0153568764911,0.0798400306213,0.999999922021,0.000282386786292,-0.00027399016552,3.38354354819e-05,1793248242775753216
+101,1.683333333,BASELINE,765.289805875,744.289805875,716,679.710194125,659,634,877.710194125,785,810,651,629,652.710194125,0.40097847186,-0.0153570604886,0.0798413172148,0.999999921999,0.000283798876927,-0.000272567966498,3.41728507441e-05,1793248242792420096
+102,1.700000000,BASELINE,765,744,716,679.712793464,659,634,878,785,810,651,629,652.712793464,0.400979270683,-0.0153565017088,0.0798419244421,0.999999921931,0.000284776511704,-0.000271790523199,3.41944646948e-05,1793248242809087232
+103,1.716666667,BASELINE,765,744,716,679.136620309,659,634,878,785,810,651,629,652.136620309,0.400979621836,-0.0153551955999,0.0798418481396,0.999999921822,0.000285317028076,-0.000271661786953,3.38983419944e-05,1793248242825754368
+104,1.733333333,BASELINE,765,744,716,679,659,634,878,785,810,651,629,652.438875605,0.400978208095,-0.0153546622626,0.0798410503604,0.99999992134,0.000285784845903,-0.000272938404687,3.39419280231e-05,1793248242842420992
+105,1.750000000,BASELINE,765.014134348,744,715.985865652,679.014134348,659,634,878,785,809.985865652,651,628.985865652,653,0.400976318959,-0.0153543771268,0.0798400561839,0.99999992075,0.000286238330304,-0.000274599605028,3.40872883766e-05,1793248242859087616
+106,1.766666667,BASELINE,765.588334421,744,715.411665579,679.588334421,659,634,878,785,809.411665579,651,628.411665579,653,0.400977328879,-0.0153544094321,0.0798401655403,0.999999920639,0.000287019209741,-0.000274191425215,3.40815690604e-05,1793248242875753984
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,809,651,629,652,0.400980786419,-0.015355482904,0.0798423451011,0.999999921403,0.000288085729904,-0.000270205836354,3.44812182392e-05,1793248242915630592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715.573761379,679.573761379,658.426238621,634,878,784.573761379,809.573761379,651,629,652,0.400979132656,-0.0153553285786,0.0798412700832,0.999999921386,0.000286284830378,-0.000272222052953,3.41165908315e-05,1793248242932297728
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715.851683843,679.851683843,658.148316157,634,878,784.851683843,809.851683843,651,629,652,0.400977898501,-0.0153553606846,0.0798404713849,0.999999921463,0.000284614135,-0.000273720103847,3.38503750606e-05,1793248242948964608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715.274836555,679.274836555,658.725163445,634,878,784.274836555,809.274836555,651,629,652,0.400977876724,-0.0153559314478,0.0798404710586,0.99999992183,0.000283319639157,-0.000273721014643,3.38685007837e-05,1793248242965630464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,715.30938852,679,659,634,878,784.30938852,809.30938852,651,628.69061148,652.30938852,0.400978291159,-0.0153557260758,0.0798408847818,0.999999922066,0.000283060852307,-0.000273143557027,3.37217227443e-05,1793248242982296832
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,715.90032751,679,659,634,878,784.90032751,809.90032751,651,628.09967249,652.90032751,0.400979102557,-0.0153548144032,0.0798416752992,0.999999922183,0.000283744583872,-0.000272039771223,3.34248785931e-05,1793248242998963456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715.519610142,679,659,634,878,784.519610142,809.519610142,651,628,653,0.400978816153,-0.0153554579357,0.079841562319,0.999999922655,0.000282207062037,-0.0002719014891,3.34405107119e-05,1793248243015630080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715.055483734,679,659,634,878,784,809.055483734,651,628.055483734,652.944516266,0.400978501201,-0.0153563264988,0.0798413777351,0.999999923088,0.000280681931707,-0.000271874628539,3.35601924274e-05,1793248243032296704
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715.605940187,679,659,634,878,784,809.605940187,651,628.605940187,652.394059813,0.400979918562,-0.0153563876792,0.0798421896826,0.999999922549,0.000283287770325,-0.000271094222226,3.40425292167e-05,1793248243048963328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.175124676,744,715.824875324,679.175124676,659,634,878,784.175124676,809.824875324,651,629,652.175124676,0.400982795306,-0.0153564024642,0.079843521446,0.999999922617,0.000284526662673,-0.000269507061113,3.43056057136e-05,1793248243065629952
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.791496568,744,715.208503432,679.791496568,659,634,878,784.791496568,809.208503432,651,629,652.791496568,0.400989349138,-0.0153563003502,0.0798461629465,0.999999924221,0.000282321372737,-0.00026588718652,3.40162300441e-05,1793248243082296576
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.61732777,744.38267223,715.38267223,679.61732777,658.61732777,634,877.61732777,785,809.38267223,651,628.61732777,652.61732777,0.401012500068,-0.0153578393319,0.0798564368938,0.999999928821,0.000281943648059,-0.000248299990872,3.48170803456e-05,1793248243098963200
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.039032436,744.960967564,715.960967564,679.039032436,658.039032436,634,877.039032436,785,809.960967564,651,628.039032436,652.039032436,0.40104413548,-0.0153602172462,0.0798706125694,0.99999993445,0.000282500179466,-0.000223572661521,3.61752571426e-05,1793248243115630080
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.539916279,744.460083721,716,679.539916279,658.539916279,634,877,785,809.460083721,651,628.539916279,652,0.401099788938,-0.0153618928043,0.0798891643887,0.999999941391,0.000283955632409,-0.000187644933204,3.71126695624e-05,1793248243132296704
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.882431099,744,715.882431099,680,658.882431099,634,877.235137801,785,809.117568901,651,629,652,0.401160093319,-0.0153638871504,0.0799070705323,0.999999946871,0.000284742732821,-0.000154132707166,3.77278400083e-05,1793248243148963328
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.30997601,744,715.30997601,680,658.30997601,634,878.38004798,785,809.69002399,651,629,652,0.401231666368,-0.0153673116154,0.0799212529574,0.999999950492,0.000282692167168,-0.000133102968895,3.72140584945e-05,1793248243165629952
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.270873417,744,715,679.729126583,658,634,878.729126583,784.729126583,810,651,629,652,0.401307437779,-0.0153707595709,0.0799316302739,0.999999953043,0.000280611876613,-0.000117798231163,3.59836171045e-05,1793248243182296832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.861636145,744,715,679.138363855,658,634,878.138363855,784.138363855,810,651,629,652,0.401388167261,-0.0153742352673,0.0799375139278,0.999999954677,0.000278496482508,-0.000109254462613,3.39068327114e-05,1793248243198963456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.556433628,744,715,679.443566372,658.443566372,634,878,784.443566372,809.556433628,651,629,652.443566372,0.40148498957,-0.0153772673656,0.0799400258045,0.999999956144,0.00027608238877,-0.00010258791122,3.10881767243e-05,1793248243215630080
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715,679.977321701,659,634,877.977321701,784.977321701,809,651,628.977321701,653,0.401587817221,-0.0153801761281,0.0799415849313,0.999999957507,0.000273660302712,-9.64966199035e-05,2.80124650678e-05,1793248243232296704
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,715,679.401063735,659,634,877.401063735,784.401063735,809,651,628.401063735,653,0.401717091616,-0.0153833860265,0.0799450600274,0.999999958279,0.000273273125687,-9.04327367826e-05,2.42005903609e-05,1793248243248963328
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,809.178055686,651,628.178055686,652.821944314,0.401855376128,-0.0153882810174,0.0799495723466,0.999999960092,0.000269454229236,-8.24662690892e-05,2.02357514529e-05,1793248243265630208
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,809.76372562,651,628.76372562,652.23627438,0.402014287043,-0.0153970336083,0.0799564591302,0.999999964188,0.000257779263936,-7.01443076169e-05,1.59207395383e-05,1793248243282296832
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,715,679.345493507,658.654506493,634,877,784,810,651,628.654506493,652,0.4021870555,-0.0154027890816,0.0799590346211,0.999999966443,0.000250431310703,-6.54995184841e-05,1.03699075124e-05,1793248243298963456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,715,679.924622741,658.075377259,634,877,784,810,651,628.075377259,652,0.402369194966,-0.0154065177919,0.0799586946543,0.999999967551,0.000246009444931,-6.60463213453e-05,3.98336692659e-06,1793248243315630080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502335604,744.502335604,715,679.497664396,658.502335604,634,877.502335604,784,809.497664396,651,628.502335604,652.502335604,0.402570008193,-0.0154125493354,0.0799542247013,0.999999969414,0.000235089668399,-7.67562081948e-05,-3.66087970989e-06,1793248243332296704
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.920467848,744.920467848,715,679,659.079532152,634,878,784.079532152,809.079532152,651,629,653,0.402780156478,-0.0154193175297,0.0799496251963,0.999999973759,0.000211463781318,-8.73603675808e-05,-1.15427784925e-05,1793248243348963328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.345168427,744.345168427,715,679,659.654831573,634,878,784.654831573,809.654831573,651,629,653,0.403031077666,-0.0154285297385,0.0799480703074,0.999999989371,0.000114694607371,-8.78260016444e-05,-1.97329884632e-05,1793248243365630208
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,679.235391565,659.764608435,634,878,785,809.764608435,651,629,653,0.403302636122,-0.0154378392875,0.0799484578226,0.99999999448,5.59694944617e-05,-8.46154278626e-05,-2.73579802445e-05,1793248243382296832
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,715,679.823841738,659.176158262,634,878,785,809.176158262,651,629,653,0.403605147944,-0.0154472948343,0.079951758707,0.999999995063,5.4305835105e-05,-7.58909921152e-05,-3.41352134945e-05,1793248243398963456
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,679.592962652,659,634,878,785,809.407037348,651,628.592962652,653,0.40393720061,-0.0154556202932,0.0799546515835,0.999999993861,8.3091180555e-05,-6.85841688443e-05,-2.58746933665e-05,1793248243415630080
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715,679.012012151,659,634,878,785,809.987987849,651,628.012012151,653,0.404281875062,-0.0154634629039,0.079957370132,0.999999990224,0.000124886345377,-6.18830430609e-05,-1.11890547658e-05,1793248243432296704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715.562339709,679,659,634,878,784.437660291,810,651,628.562339709,653,0.40466132334,-0.0154744626055,0.0799587100573,0.999999994153,8.74123478511e-05,-6.07299360294e-05,-1.91226287965e-05,1793248243448963584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.136946857,715.863053143,679.136946857,659,634,878,784.136946857,810,651,629,653,0.405051128024,-0.0154866517885,0.0799582350229,0.999999996521,5.04747228327e-05,-6.11523775894e-05,-2.58837090114e-05,1793248243465629952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.712818643,715.287181357,679.712818643,659,634,878,784.712818643,810,651,629,653,0.405471772558,-0.0155024397071,0.0799520361981,0.999999997219,2.0620333954e-05,-6.62491384371e-05,-2.73562236849e-05,1793248243482296832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.704473682,715,680,659,634,878,784.704473682,810,651,629,652.704473682,0.405911484109,-0.0155080308612,0.0799444725256,0.999999996443,1.55251168391e-05,-7.80537156906e-05,-2.79505252278e-05,1793248243498963456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.114965781,715,680,659,634,878,784.114965781,810,651,629,652.114965781,0.406370163062,-0.0155034785519,0.0799355511388,0.999999994343,3.50596501672e-05,-9.65310477868e-05,-2.76712042957e-05,1793248243515630336
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,715,679.533473388,659,634,878.466526612,784,810,651,629,652.466526612,0.406865727963,-0.015500618004,0.079934551631,0.999999994097,3.37800346827e-05,-9.8947718769e-05,-2.9576859651e-05,1793248243532296704
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,679.045653556,659,634,878.954346444,784,810,651,629,653,0.407371670804,-0.0154989242805,0.0799347148653,0.999999994197,2.74733760642e-05,-9.91598226196e-05,-3.19103412857e-05,1793248243548963328
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,679.619877032,659,634,878.380122968,784,810,651,629,653,0.407894305829,-0.0155059946011,0.0799261198543,0.999999992157,2.13465541517e-05,-0.000118896775031,-3.30684318567e-05,1793248243565629952
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,784,810,651,628.806398971,652.806398971,0.408444000579,-0.0155105722631,0.0799225457931,0.999999991091,1.61519669492e-05,-0.000128011952616,-3.41986298031e-05,1793248243582296832
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,784,810,651,628.233653179,652.233653179,0.409046688572,-0.0155102683473,0.0799288046699,0.99999999253,1.27830517602e-05,-0.000116325636945,-3.52742032869e-05,1793248243598963200
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659.352327164,634,878,784.352327164,810,651,628.352327164,652.352327164,0.409702599631,-0.0155112367163,0.0799531573532,0.999999996447,1.30029148243e-05,-7.58226936818e-05,-3.44693287555e-05,1793248243615630080
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659.947426804,634,878,784.947426804,810,651,628.947426804,652.947426804,0.410395184237,-0.0155130817585,0.0799899776477,0.999999999233,1.56956403559e-05,-1.54635353207e-05,-3.23687236692e-05,1793248243632296704
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715,679.474027941,660,634,878,785,810,651,629,653,0.411063843958,-0.015514677164,0.0799918188466,0.999999999307,6.37158419152e-06,-1.31384521823e-05,-3.42365215921e-05,1793248243648963072
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.104304751,715,679.104304751,659.895695249,634.104304751,878,785,810,651,629,653,0.411727856382,-0.0155154979668,0.0799842319209,0.99999999899,-1.96516413646e-06,-2.55702889242e-05,-3.69183918374e-05,1793248243665629696
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.689047253,715,679.689047253,659.310952747,634.689047253,878,785,810,651,629,653,0.412381141605,-0.0155128622996,0.0799488310981,0.99999999593,-3.90571766017e-07,-8.00703549292e-05,-4.15786564034e-05,1793248243682296576
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.271263447,744.728736553,715,680,659,634.728736553,878,784.728736553,810,651,629,653,0.413089780913,-0.015512540773,0.0799245395095,0.999999992857,-1.46142295326e-06,-0.000110597527855,-4.52959923679e-05,1793248243698963200
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.850610499,744.149389501,715,680,659,634.149389501,878,784.149389501,810,651,629,653,0.413861287922,-0.0155148474986,0.0799128650711,0.999999992349,-5.53679886339e-06,-0.000113897835379,-4.79424112803e-05,1793248243715629824
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.569871672,744.430128328,715.430128328,680,659.430128328,634,878.430128328,784.430128328,810,651,629,652.569871672,0.414660300653,-0.0155176515355,0.0799332553631,0.999999995725,-9.29878498729e-06,-7.93067121366e-05,-4.66346402344e-05,1793248243732296704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.99037576,716,680,660,634,879,784.99037576,810.00962424,651,629,652.00962424,0.415468333285,-0.0155205336056,0.0799641222844,0.999999998409,-1.28789751106e-05,-3.28445342829e-05,-4.40207197594e-05,1793248243748963328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.415648776,716,680,660,634,879,784.415648776,810.584351224,651,629,652.584351224,0.416244837381,-0.0155178517826,0.079955982863,0.99999999695,-1.21782586416e-05,-6.23843335211e-05,-4.53843032865e-05,1793248243765629952
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.162648464,715.837351536,679.837351536,660,634,879,784.162648464,811,651,629,653,0.41704136299,-0.0155156298693,0.0799522095171,0.999999996075,-1.01104053635e-05,-7.47963335038e-05,-4.6409762303e-05,1793248243782296576
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.750274242,715.249725758,679.249725758,660,634,879,784.750274242,811,651,629,653,0.417890201919,-0.0155146096344,0.0799598441058,0.999999998005,-4.47041800775e-06,-4.24558271481e-05,-4.65517500158e-05,1793248243798963200
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.332323958,660,634,879,785,811,651.332323958,629.332323958,653,0.418777064287,-0.0155158132174,0.0799730581649,0.999999998788,-7.15565306182e-06,-9.70181215865e-06,-4.77328377872e-05,1793248243815630080
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.910252647,660,634,879,785,811,651.910252647,629.910252647,653,0.419692027921,-0.0155186603178,0.0799903957433,0.999999998365,-1.5993661772e-05,2.33578058307e-05,-4.96818746533e-05,1793248243832296704
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.512800089,879,785,811,651.512800089,630,653,0.420558980761,-0.0155216593146,0.0799751115016,0.999999998451,-2.25548752141e-05,-2.00251511769e-06,-5.08438257864e-05,1793248243848963328
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.064204024,745,715,680,660,633,879,785,811,651,629.935795976,653,0.421426225469,-0.0155248668828,0.0799591162646,0.99999999786,-2.7584017821e-05,-2.96550449374e-05,-5.13823382983e-05,1793248243865629696
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.643109954,745,715,680,660,633,879,785,811,651,629.356890046,653,0.42236656706,-0.0155295226332,0.0799854987659,0.999999998509,-2.36865700743e-05,1.04149889152e-05,-4.80829492329e-05,1793248243882296576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.774960667,744.774960667,715,680,660.225039333,633.225039333,879,784.774960667,811,651,629.225039333,653,0.42328604536,-0.0155320835877,0.0800033411959,0.999999998185,-1.9133373669e-05,3.39883823322e-05,-4.59229388161e-05,1793248243898963456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.188171011,744.188171011,715,680,660.811828989,633.811828989,879,784.188171011,811,651,629.811828989,653,0.424171986102,-0.0155312771621,0.0800074554807,0.999999998387,-1.35260619108e-05,3.10434621579e-05,-4.55944771152e-05,1793248243915630080
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.606841747,744.393158253,715,680,661,634,879,784.393158253,811.393158253,651,629.606841747,653,0.425064183278,-0.0155278820644,0.0799717265292,0.999999998028,-1.0585485206e-05,-3.71354226545e-05,-4.95237403959e-05,1793248243932296704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.028090139,744.971909861,715,680,661,634,879,784.971909861,811.971909861,651,629.028090139,653,0.425959333799,-0.0155232649644,0.0799171892735,0.99999998916,-8.90376139572e-06,-0.00013610849818,-5.54628948812e-05,1793248243948963328
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.54897388,745,715,680.54897388,661,634,879,785,812,651,629.54897388,653,0.426909685041,-0.0155258393315,0.0799097305187,0.999999990541,-1.42424501154e-05,-0.000124210265124,-5.73367795068e-05,1793248243965629952
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.874785713,879.125214287,785,812,651,630,653.125214287,0.427857427548,-0.0155289797717,0.0799087048592,0.999999992055,-2.07324992789e-05,-0.00010989650775,-5.81598920999e-05,1793248243982296576
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.30118637,879.69881363,785,812,651,630,653.69881363,0.428785744787,-0.015532833624,0.079922115925,0.999999992238,-3.00630863291e-05,-0.000107185724688,-5.59628527558e-05,1793248243998963456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.719384049,660.719384049,633.280615951,879.719384049,785,812,651,629.719384049,653.719384049,0.429738299033,-0.0155365233148,0.0799523209622,0.999999995316,-3.56766539088e-05,-7.22894510914e-05,-5.35585253009e-05,1793248244015630080
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.128512357,660.128512357,633.871487643,879.128512357,785,812,651,629.128512357,653.128512357,0.430717650234,-0.0155400315046,0.0800010938168,0.99999999801,-3.71805946684e-05,-1.80812537026e-06,-5.09250150797e-05,1793248244032296704
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.453405514,633.546594486,879,785,812,651,629,653.453405514,0.431683671653,-0.0155393361175,0.0800220064926,0.999999997733,-3.21933339515e-05,3.15197369398e-05,-5.00368521382e-05,1793248244048963328
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.032736067,661,633,879.032736067,785.032736067,812.032736067,651,629.032736067,653.967263933,0.432639035948,-0.0155373075791,0.0800299938799,0.999999997315,-2.60616809332e-05,4.67291096038e-05,-5.0071948215e-05,1793248244065629952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.610424315,661,633,879.610424315,785.610424315,812.610424315,651,629.610424315,653.389575685,0.433478668122,-0.0155325361249,0.0799517243481,0.999999995578,-3.09141435457e-05,-6.77690607444e-05,-5.74007142273e-05,1793248244082296576
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.81313445,715,681,661,633,879.81313445,785.81313445,812.81313445,651.18686555,630,653,0.434344413795,-0.0155321061613,0.0799007699045,0.999999987478,-3.82778315718e-05,-0.000140374233095,-6.22334712664e-05,1793248244098963200
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.239275638,715,681,661,633,879.239275638,785.239275638,812.239275638,651.760724362,630,653,0.435264239938,-0.0155406673006,0.0799063842208,0.999999988826,-5.08421979355e-05,-0.000126220215352,-6.18970670417e-05,1793248244115629824
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.344335418,715.344335418,681,661,633,879,785,812.344335418,651.655664582,630,653.344335418,0.436178740571,-0.0155453226891,0.0799352629226,0.999999992854,-5.54022913619e-05,-8.81178985431e-05,-5.88107194476e-05,1793248244132296448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.934920711,715.934920711,681,661,633,879,785,812.934920711,651.065079289,630,653.934920711,0.437089432634,-0.0155471848976,0.0799807790413,0.999999996543,-5.4238165298e-05,-3.28890675394e-05,-5.3757762513e-05,1793248244148963328
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.486222302,681,661,633,879,784.486222302,813,651,630,653.486222302,0.438032684219,-0.0155484561529,0.0800185435099,0.999999996529,-5.63239953977e-05,3.10560002139e-05,-5.29551870123e-05,1793248244165629952
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.909205339,661,633,879.090794661,784.090794661,813,651,630,653,0.438960131587,-0.0155493306633,0.0800465342177,0.99999999364,-5.81854194783e-05,8.08320814784e-05,-5.29178902536e-05,1793248244182296576
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.334255105,661,633,879.665744895,784.665744895,813,651,630,653,0.439781802712,-0.0155484798118,0.0800275260803,0.999999995711,-5.67040311793e-05,4.92971542315e-05,-5.41545447596e-05,1793248244198963200
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,880,785,813,651,630,653,0.440550441069,-0.0155467017663,0.079975239139,0.999999995996,-5.89246102078e-05,-3.29550647421e-05,-5.87413978217e-05,1793248244215629824
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,880,785,813,651,630,653,0.441245432371,-0.01554363612,0.0798767376846,0.999999978262,-6.62861371488e-05,-0.000185638749303,-6.79806947562e-05,1793248244232296448
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.400263706,661,633,880,785,813.400263706,651,630,653,0.442006206478,-0.0155442694473,0.0798417008804,0.999999968643,-6.89987454602e-05,-0.000229966389665,-7.11890700835e-05,1793248244248963584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.996969261,661,633,880,785,813.996969261,651,630,653,0.442799265604,-0.0155467181605,0.0798378113162,0.999999970592,-6.94297536981e-05,-0.000221114950301,-7.14375846246e-05,1793248244265630208
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,785,813.426953344,651,630,653,0.443650728323,-0.0155500684068,0.0799198902219,0.999999990759,-6.52321663656e-05,-0.000100442605833,-6.43291324155e-05,1793248244282296576
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.14905097,661,633,880,785,813.14905097,651,630,653,0.444474916879,-0.0155535677424,0.0799889775239,0.999999996265,-6.36404917135e-05,5.82886074809e-07,-5.84780056204e-05,1793248244298963456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.725147747,661,633,880,785,813.725147747,651,630,653,0.445220108214,-0.0155574810482,0.080019585197,0.999999995038,-6.95827166401e-05,4.36826765055e-05,-5.63368479044e-05,1793248244315630080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715.307835221,681.692164779,661,633,880,785,814,651,630,653,0.445924998278,-0.0155615770322,0.080030706339,0.999999993781,-7.56892156549e-05,6.01145815923e-05,-5.56326334099e-05,1793248244332296448
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715.896535939,681.103464061,661,633,880,785,814,651,630,653,0.446593117858,-0.0155658396897,0.0800240481805,0.999999993698,-8.19455962841e-05,5.22149964653e-05,-5.62394704318e-05,1793248244348963328
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.478169725,745,715.521830275,681,661,633,880,784.521830275,814,651,630,653.478169725,0.447218666411,-0.0155676294898,0.079997191218,0.999999994615,-8.32040166363e-05,2.04922822348e-05,-5.85403039932e-05,1793248244365629952
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784.057674602,814,651,630,653.942325398,0.447826550865,-0.0155689210532,0.0799635948323,0.999999994281,-8.47642459075e-05,-2.18534356745e-05,-6.14412940377e-05,1793248244382296576
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,784.631611181,814,651,630,653.368388819,0.448357571204,-0.0155704725229,0.079908223944,0.999999986455,-9.85653047273e-05,-0.000113819213267,-6.64812476827e-05,1793248244398963456
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.789465995,745,715,681,661,633,880,784.57893199,814,651,630,653,0.448884864895,-0.0155722099789,0.0798651561344,0.999999975405,-0.000106980191941,-0.000181253483887,-6.9948094481e-05,1793248244415630080
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.201606739,745,715,681,661,633,880,783.403213478,814,651,630,653,0.449405479521,-0.0155742807652,0.0798441382712,0.999999970962,-0.000105741823358,-0.000204721656079,-7.05955730963e-05,1793248244432296704
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,783.380613436,814,651,630,653,0.449938133549,-0.0155812364071,0.0798533660404,0.99999997269,-0.000115406093288,-0.000191069439842,-6.92320191785e-05,1793248244448963584
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,783.959890314,814,651,630,653,0.450477071663,-0.0155907417285,0.079878380695,0.99999997673,-0.000130761059863,-0.000158042018572,-6.68187948933e-05,1793248244465630208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.885928039,660.885928039,632.885928039,880,783,814,651,630,653.114071961,0.451461773726,-0.0156044833609,0.0799173669462,0.99999998163,-0.000148784097383,-0.000101398369456,-6.57326517706e-05,1793248244498963456
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.308951686,660.308951686,632.308951686,880,783,814,651,630,653.691048314,0.451849141313,-0.015610397615,0.0798883536318,0.999999972794,-0.000159924942319,-0.000155730253322,-6.77073205974e-05,1793248244515630080
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.727107626,745,715,681,660,632,880.272892374,782.727107626,814,651,630,653.727107626,0.452210770227,-0.0156156196063,0.0798540544802,0.999999961054,-0.000167488435383,-0.000212127796784,-6.95847656075e-05,1793248244532296704
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.139652599,745,715,681,660,632,880.860347401,782.139652599,814,651,630,653.139652599,0.452542730186,-0.0156200436269,0.0798136623534,0.999999946151,-0.000170928319372,-0.00027090641982,-7.13501407533e-05,1793248244548963584
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.558322218,782,814,651,630,653,0.45287586869,-0.0156210922474,0.07979294355,0.999999937386,-0.000174819733569,-0.00029878222372,-7.34514499715e-05,1793248244565629952
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.020925867,745,715,681.020925867,660,632,880,781.979074133,814,651,629.979074133,653.020925867,0.45320827642,-0.0156211044224,0.0797788325788,0.99999993101,-0.000179023838612,-0.000316557589895,-7.56483311023e-05,1793248244582296832
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.595615896,745,715,681.595615896,660,632,880,781.404384104,814,651,629.404384104,653.595615896,0.453511619319,-0.0156215456688,0.0797772245979,0.999999927491,-0.000187776314412,-0.000322079995267,-7.76019318875e-05,1793248244598963456
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.825826329,745,715,682,660,632,880,781,814.174173671,651,629.174173671,654,0.453801653867,-0.0156224211369,0.0797740756591,0.999999924083,-0.000193136500616,-0.000329034589565,-7.91786725796e-05,1793248244615630080
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.238084843,745,715,682,660,632,880,781,814.761915157,651,629.761915157,654,0.454060088272,-0.0156243276456,0.079767267783,0.999999921084,-0.000190441841346,-0.000339389853499,-7.9860575088e-05,1793248244632296704
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880,781,814.655487223,651,629.655487223,653.655487223,0.454296407679,-0.0156268752244,0.0797598283547,0.999999918417,-0.000182420736804,-0.00035205979118,-7.7092935584e-05,1793248244648963328
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,880,781,814.076392056,651,629.076392056,653.076392056,0.454517668775,-0.015629859315,0.0797519588952,0.999999915738,-0.00017077279907,-0.000366305815635,-7.19764665194e-05,1793248244665629952
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631.498698034,880.501301966,781,814,651,629,653,0.454716394126,-0.0156345661236,0.0797498483787,0.999999914551,-0.000177906184108,-0.00036666621429,-6.9312017809e-05,1793248244682296832
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659.921559365,631.078440635,881,780.921559365,814,650.921559365,629.078440635,653.078440635,0.454906350848,-0.0156391543368,0.0797482839115,0.999999912986,-0.00018814212648,-0.000366130395265,-6.76704404164e-05,1793248244698963456
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659.346588032,631.653411968,881,780.346588032,814,650.346588032,629.653411968,653.653411968,0.455062479785,-0.015641334714,0.0797446362698,0.999999907881,-0.000199951078583,-0.000373278444093,-7.01449948301e-05,1793248244715630080
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681.765844636,659.234155364,631.765844636,880.765844636,780,814,650.234155364,630,653.765844636,0.455205966253,-0.0156438240682,0.0797402036265,0.999999903034,-0.000208088331208,-0.000381375311161,-7.20015741458e-05,1793248244732296704
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,681.176341753,659.823658247,631.176341753,880.176341753,780,814,650.823658247,630,653.176341753,0.455330266863,-0.015646782317,0.0797345796874,0.999999898748,-0.000210653516519,-0.000390912077422,-7.29203319023e-05,1793248244748963584
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.405095085,745,715.405095085,681.405095085,660,631,880,780,814,651,630,653,0.455434508285,-0.015648600267,0.0797287377646,0.999999894032,-0.00021218941424,-0.000401792145192,-7.39879648249e-05,1793248244765630208
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.439562176,745,715.439562176,682,660,631,880,780,814,651,629.439562176,653,0.455608753919,-0.0156520833946,0.0797211020315,0.999999886865,-0.000214608769097,-0.000417785187869,-7.52852495695e-05,1793248244798963456
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.136337889,745,715,682,660.136337889,631,880,780,814,650.863662111,629,653,0.455681636108,-0.0156537745067,0.0797190447946,0.999999884747,-0.000215630296982,-0.000422270288367,-7.54813989469e-05,1793248244815630080
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.707678217,745,715,682,660.707678217,631,880,780,814,650.292321783,629,653,0.455738030134,-0.0156539166025,0.0797154430404,0.999999882596,-0.000215668929524,-0.000427246228533,-7.58661957547e-05,1793248244832297216
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.710337571,745,715,682,660.710337571,631.289662429,880,779.710337571,814,650.289662429,629,653,0.45578764195,-0.0156547928763,0.0797130164806,0.999999880519,-0.000217203566902,-0.000431309429907,-7.58757243615e-05,1793248244848964352
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681.95688332,660,631.95688332,880,779,814,651,630,653.95688332,0.455888010073,-0.0156571866617,0.0797060739734,0.999999873256,-0.000222494319817,-0.000445301841158,-7.54351897599e-05,1793248244898964480
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+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,631.675932293,880,779.324067707,814,651,629,653,0.455946436419,-0.0156519653175,0.0796929088927,0.999999864258,-0.00022140282879,-0.000465604271863,-7.53436397907e-05,1793248245032297728
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,631.742758842,880,779,814.257241158,651,629,653,0.455947227568,-0.0156520452017,0.0796919993908,0.999999863844,-0.000221141826673,-0.000466637929348,-7.52193573677e-05,1793248245048964608
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,631.152379305,880,779,814.847620695,651,629,653,0.455948050413,-0.0156511065346,0.0796918402966,0.999999864154,-0.000220141524103,-0.000466418118292,-7.53949011951e-05,1793248245065630976
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.570044087,745,715,682,660,631,880,779,814.570044087,650.570044087,629,653,0.455947840796,-0.015648998732,0.0796908652191,0.99999986386,-0.000217750748077,-0.000468136439344,-7.55786019653e-05,1793248245082297344
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631,880,779,814.009423583,650.009423583,629,653,0.455947277551,-0.0156465601373,0.0796896058203,0.99999986333,-0.000214981231746,-0.000470513170703,-7.57605986059e-05,1793248245098963712
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631,880,779,814.584752872,650.584752872,629,653,0.455947048445,-0.0156486823338,0.0796883198448,0.9999998619,-0.000218517311821,-0.0004719373928,-7.56698447489e-05,1793248245115630592
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.839607972,660,631,880,779,814.839607972,651,629,653.160392028,0.455947080411,-0.0156503982153,0.0796878314087,0.999999861103,-0.000221119659758,-0.000472446887067,-7.54527879561e-05,1793248245132296960
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.263165069,660,631,880,779,814.263165069,651,629,653.736834931,0.45594778959,-0.0156510601307,0.0796894117602,0.999999861983,-0.000221299941509,-0.000470583611741,-7.49081061146e-05,1793248245148963584
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.320127783,745,715,681,660,631,880.320127783,779,814,651,629,654,0.455948541226,-0.0156506906986,0.0796899586196,0.999999862597,-0.000220382775632,-0.000469762429272,-7.45760216235e-05,1793248245165630720
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.909174816,745,715,681,660,631,880.909174816,779,814,651,629,654,0.455949328527,-0.0156494548963,0.0796896373072,0.999999862986,-0.000218543712898,-0.000469816643679,-7.44225268457e-05,1793248245182297600
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.512086347,745,715,681,659.512086347,631,880.512086347,779,814,651,629,653.512086347,0.455948630681,-0.0156486174137,0.0796882064032,0.999999862321,-0.000217999368235,-0.000471434552946,-7.47270931605e-05,1793248245198964480
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.064537368,659.064537368,631,880,779,814,651,629,653,0.455947752981,-0.0156478664338,0.0796866605368,0.999999861515,-0.000217546073658,-0.00047329764899,-7.50468758444e-05,1793248245215631104
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.639295369,659.639295369,631,880,779,814,651,629,653,0.455947593813,-0.0156472252632,0.0796858049644,0.999999861145,-0.000215946630986,-0.000474845517491,-7.48267893261e-05,1793248245232297728
+247,4.116666667,HOLD_POSE2,766,745,715,682,660,631,881,779,814,651,630,654,0.455944657618,-0.0156476296388,0.0796837981445,0.999999858744,-0.000217191968431,-0.000479253896562,-7.5198666184e-05,1793248245271672320
+248,4.133333333,HOLD_POSE2,766,745.592339641,715,682,660,631,880.407660359,779.592339641,814,651,629.407660359,653.407660359,0.455946265615,-0.0156478806878,0.0796857438778,0.999999859954,-0.000217411281093,-0.000476730269762,-7.45150495367e-05,1793248245288338688
+249,4.150000000,HOLD_POSE2,765.820048412,745.820048412,715,681.820048412,660,631,880,779.820048412,814,651,629,653,0.455947035029,-0.0156475546619,0.0796866155717,0.999999860548,-0.000216971159791,-0.00047574184908,-7.41478331636e-05,1793248245305005056
+250,4.166666667,HOLD_POSE2,765.24287225,745.24287225,715,681.24287225,660,631,880,779.24287225,814,651,629,653,0.455945953355,-0.0156459548028,0.0796851164343,0.999999859788,-0.000215075406058,-0.000478142237126,-7.44790376395e-05,1793248245321671936
+251,4.183333333,HOLD_POSE2,765.33267846,745,715,681.33267846,660,631,880.33267846,779,814,651,629,653.33267846,0.455945754252,-0.015646080126,0.0796842319349,0.999999859168,-0.000215637643191,-0.000479154808392,-7.46713063499e-05,1793248245338338304
+252,4.200000000,HOLD_POSE2,765.907048241,745,715,681.907048241,660,631,880.907048241,779,814,651,629,653.907048241,0.455946196337,-0.0156474587965,0.079683793971,0.99999985865,-0.000217985613909,-0.000479159128871,-7.47626380311e-05,1793248245355004416
+253,4.216666667,HOLD_POSE2,766,745,715,682,660.491561822,631,880.508438178,779,814,651,629,654,0.455947392552,-0.0156474817605,0.0796846351288,0.999999859315,-0.000217398231884,-0.000478094528408,-7.43857216544e-05,1793248245371671040
+254,4.233333333,HOLD_POSE2,765.922308917,745,715,682,660.844617833,631,880,779,814.077691083,650.922308917,629,653.922308917,0.455948190201,-0.0156471011891,0.0796853314227,0.999999859884,-0.000216449062875,-0.000477389479348,-7.40330227792e-05,1793248245388337664
+255,4.250000000,HOLD_POSE2,765.338413678,745,715,682,659.676827355,631,880,779,814.661586322,650.338413678,629,653.338413678,0.455945442243,-0.0156457968556,0.0796834746724,0.999999858343,-0.000216835385558,-0.000480371854884,-7.44271839658e-05,1793248245405004288
+256,4.266666667,HOLD_POSE2,765.24231531,745,715,682,659.24231531,631,880,779,814.75768469,650.24231531,629,653,0.455944296592,-0.0156456836108,0.0796826349871,0.999999857685,-0.00021677676414,-0.000481760213794,-7.44610696757e-05,1793248245421670912
+257,4.283333333,HOLD_POSE2,765.818679347,745,715,682,659.818679347,631,880,779,814.181320653,650.818679347,629,653,0.455945359835,-0.0156472123658,0.0796831973981,0.999999858254,-0.000216104755896,-0.000480951108226,-7.39982902243e-05,1793248245438337536
+258,4.300000000,HOLD_POSE2,766,745,715,682,660,631,880,779,814,651,629,653,0.455944895913,-0.0156469283096,0.0796826216707,0.999999857615,-0.000216094724927,-0.000482252339557,-7.42036744103e-05,1793248245455004160
+259,4.316666667,HOLD_POSE2,766,745,715,682,660,631,880,779,814,651,629,653,0.455943731038,-0.0156458121926,0.0796815235501,0.999999856416,-0.000216388534413,-0.000484522192962,-7.47157385439e-05,1793248245471671040
+260,4.333333333,HOLD_POSE2,766,745,715,682,660,631,880.554503317,779,814,651,629.554503317,653,0.455944641096,-0.0156444292452,0.0796819548114,0.999999856747,-0.000215796600681,-0.000484112370719,-7.46495420002e-05,1793248245488337664
+261,4.350000000,HOLD_POSE2,765.855242075,745,715,682,659.855242075,631,880.855242075,779,814,651,629.855242075,653,0.455945445933,-0.0156439159084,0.0796822629733,0.99999985715,-0.000215484653933,-0.000483451351588,-7.44447105075e-05,1793248245505004288
+262,4.366666667,HOLD_POSE2,765.281231989,745,715,682,659.281231989,631,880.281231989,779,814,651,629.281231989,653,0.45594548127,-0.0156460400684,0.0796818689047,0.999999857425,-0.00021619824628,-0.000482636277473,-7.395627977e-05,1793248245521670912
+263,4.383333333,HOLD_POSE2,765,745,715,682,659.292962903,631,880,779,814,651,629,653.292962903,0.455944861727,-0.0156464243806,0.0796811750565,0.999999856853,-0.000216930150517,-0.000483482740036,-7.40313699893e-05,1793248245538337792
+264,4.400000000,HOLD_POSE2,765,745,715,682,659.867335277,631,880,779,814,651,629,653.867335277,0.455943613128,-0.0156451374583,0.0796801932509,0.99999985546,-0.000217679644441,-0.000485925214128,-7.46477578996e-05,1793248245555004416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,631,880,779,814,651,629,653,0.45594287791,-0.0156466554728,0.0796799194133,0.999999856427,-0.000215051874589,-0.000485265783343,-7.35853132675e-05,1793248245587797248
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.403494062,660.403494062,631,880,779,814,651,629,653,0.455944463359,-0.0156460506058,0.0796805161694,0.999999856388,-0.000216213556747,-0.0004847607953,-7.40392963287e-05,1793248245604463872
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.186107692,745,715,681.186107692,660,631,880,779,814,651,629,653,0.455945825438,-0.0156456817042,0.079681383229,0.999999856699,-0.000216849291578,-0.000483805629314,-7.42278214955e-05,1793248245621130752
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.761276257,745,715,681.761276257,660,631,880,779,814,651,629,653,0.455946720555,-0.0156458060912,0.0796828153619,0.999999857743,-0.000216385525978,-0.000481909359606,-7.38614031039e-05,1793248245637797376
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.663801852,745,715,682,660,631,880,779,814,651,629,653,0.455946052826,-0.0156462389558,0.0796823115299,0.999999857452,-0.00021587436098,-0.000482771382267,-7.36635003858e-05,1793248245654464256
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.089055024,745,715,682,660,631,880,779,814,651,629,653,0.455944276182,-0.0156468907,0.0796804340379,0.99999985621,-0.000215329563865,-0.000485590545521,-7.35851676274e-05,1793248245671131648
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.503030429,631,880,779,814,651,629,653,0.455942703072,-0.0156455110474,0.0796787224531,0.999999855342,-0.000214590865668,-0.000487592999499,-7.43013444499e-05,1793248245687798016
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.084310581,745,715,681.915689419,659,631,880,779,814,651,629,653,0.455941304499,-0.0156439790434,0.0796773516,0.999999854717,-0.00021412293888,-0.000488971475307,-7.49925633363e-05,1793248245704464128
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.667207782,745,715,681.332792218,659,631,880,779,814,651,629,653,0.45594071739,-0.0156437487579,0.0796778158331,0.999999855149,-0.000215466520419,-0.000487545509418,-7.46746886431e-05,1793248245721130752
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.754074548,745,715,681.245925452,659.245925452,631.245925452,880,779,814,651,629,653,0.455931999566,-0.0156431373647,0.0796741027961,0.999999852449,-0.000215114793016,-0.000493191517927,-7.47686720135e-05,1793248245737797632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.180918249,745,715,681.819081751,659.819081751,631.819081751,880,779,814,651,629,653,0.455912462933,-0.0156420188656,0.0796648314421,0.999999845419,-0.000212507270569,-0.000508247565779,-7.54106778231e-05,1793248245754464512
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.606091255,632,880,779,814,651,629,653,0.455874213991,-0.0156402914571,0.079650129585,0.999999831837,-0.000212364680818,-0.000534216845035,-7.64140775245e-05,1793248245771131136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.030493609,632,880,779,814,651,629,653,0.455827334068,-0.0156382831913,0.0796329229284,0.999999814493,-0.000213359031457,-0.000565219811449,-7.75841687757e-05,1793248245787798016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.558546205,631.441453795,880,779,814,651,629.558546205,653,0.455763917919,-0.015636107221,0.0796169255798,0.99999979946,-0.00021351774497,-0.000591182539996,-7.74195635404e-05,1793248245804464384
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631,880,779,814,651,629.273804814,653,0.455619493667,-0.0156261020342,0.0795929529724,0.99999978205,-0.000206632172558,-0.000622337356382,-7.68096900684e-05,1793248245837797632
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.303187002,745,715,681.696812998,660,631,880,779,814,651,629,653.303187002,0.455536164303,-0.0156230146898,0.0795904532669,0.999999781224,-0.000205184385496,-0.000624348610233,-7.51064327729e-05,1793248245854464000
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.877262636,745,715,681.122737364,660,631,880,779,814,651,629,653.877262636,0.455447107919,-0.0156231439816,0.0795943223711,0.999999783908,-0.000207418584566,-0.00061963772383,-7.21889072952e-05,1793248245871130624
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.447757592,660,631.447757592,880,779,814,651,629,653.552242408,0.455340397165,-0.0156175002385,0.0795970205534,0.999999786511,-0.000204021726647,-0.000616891243169,-6.92630745287e-05,1793248245887797760
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.01809148,715,682,660,631.98190852,880,779,814,651,629.01809148,653,0.455228011972,-0.0156103586698,0.0795992912034,0.999999789029,-0.000199155061172,-0.000614719873395,-6.63241968033e-05,1793248245904464384
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.794679604,715,682,660,631.205320396,880,779,814,651,629.794679604,653,0.454932721744,-0.0155999574726,0.0795954909032,0.999999789557,-0.000192155868604,-0.00061679167303,-5.94151008877e-05,1793248245937797632
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.213614829,715,682,660,631.786385171,880,779,814,651,629.213614829,653,0.454750860158,-0.015593063582,0.0795904053696,0.999999784841,-0.000185866048851,-0.000626680821082,-5.51639346834e-05,1793248245954464256
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.987737483,715,682,660.012262517,632,880,781.012262517,812.012262517,650.012262517,629.987737483,653,0.452210188703,-0.0155215763909,0.0795910757188,0.999999802534,-1.36813067817e-05,-0.000628286478545,-1.07499458773e-06,1793248246104464128
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,744.409860989,715,682,660.590139011,632,880,781.590139011,812.590139011,650.590139011,629.409860989,653,0.451809509214,-0.015520931007,0.0796004645909,0.999999809882,-2.22385046416e-05,-0.000616228388977,-1.86159537617e-06,1793248246121130752
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744.168071181,715,682,660.831928819,632,880,782,812.831928819,651,629,653,0.451402510476,-0.0155209376625,0.079611716109,0.999999819706,-3.07513002845e-05,-0.000599692502287,-3.43368485835e-06,1793248246137797376
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744.746139082,715,682,660.253860918,632,880,782,812.253860918,651,629,653,0.450980096475,-0.0155225349182,0.0796275114073,0.999999835484,-3.91557788767e-05,-0.000572233375606,-6.92191348419e-06,1793248246154464256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.323946794,745,715,681.676053206,660,632,880,782,812,651,629.323946794,653,0.450534108359,-0.0155229196294,0.0796462369531,0.999999854916,-3.74524715279e-05,-0.000537348956882,-4.64493452668e-06,1793248246171130880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.901550836,745,715,681.098449164,660,632,880,782,812,651,629.901550836,653,0.450069661162,-0.0155223548927,0.079667256947,0.99999987628,-2.78345531285e-05,-0.000496650372727,2.14632452809e-06,1793248246187797248
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.513152979,744.513152979,715,681.486847021,660,632,880,782,812,651,630,653.486847021,0.449559800784,-0.0155133566966,0.0796878275885,0.99999989207,-1.3223489403e-05,-0.000464377047537,6.32561236686e-06,1793248246204463616
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,744.07320927,715,682,660,632.07320927,880,782.146418539,812,651,630,654,0.449030431753,-0.0155020293031,0.0797044272102,0.999999903023,3.12477486667e-06,-0.000440289491478,9.47877221503e-06,1793248246221130240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.655991346,715,682,660,632.655991346,880,783.311982693,812,651,630,654,0.448430219453,-0.0154865505,0.0796940292085,0.999999893339,2.44239638339e-05,-0.000461129697078,9.22503940768e-06,1793248246237796864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784,812,651,630,653.764943765,0.447823811611,-0.0154720126127,0.0796843584305,0.999999885567,4.61700243972e-05,-0.000476075093762,9.35914464854e-06,1793248246254463744
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,784,812,651,630,653.191234384,0.447208477686,-0.0154588303341,0.0796757353879,0.999999881183,6.85599061038e-05,-0.000482527647008,1.00520207712e-05,1793248246271130368
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.38295921,633,879.61704079,784,812,651,630,653,0.446601881426,-0.0154499599801,0.0797059829579,0.999999902345,8.12091518806e-05,-0.00043422280187,1.2875332683e-05,1793248246287797760
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.957394888,633,879.042605112,784,812,651,630,653,0.445999653945,-0.0154432455536,0.0797556655163,0.999999931625,8.89881584203e-05,-0.000358539703769,1.67638449616e-05,1793248246304465152
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,880.09229874,784,812,651,630,653,0.445340007099,-0.015431297808,0.079808053138,0.999999953081,0.000111183381304,-0.000284832595193,1.86208826181e-05,1793248246321131776
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,880.866668635,784,812,651,630,653,0.444655537883,-0.0154182899603,0.0798482434685,0.999999964079,0.000133557804591,-0.000231491448947,2.04101761407e-05,1793248246337798144
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,880.288558947,784,812,651,630,653,0.443903608884,-0.0154031442815,0.0798470221082,0.999999957941,0.000152677442758,-0.000245560803617,2.25163719158e-05,1793248246354465024
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.288526637,661,633,880,784.288526637,812,651,630,653,0.443130459012,-0.0153949757166,0.0798313954107,0.999999949154,0.000162775354587,-0.000273233226698,2.32405625253e-05,1793248246371131904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.864591694,661,633,880,784.864591694,812,651,630,653,0.442336160858,-0.0153937603671,0.0798014127147,0.999999936873,0.000163882442041,-0.000314462128531,2.25874816304e-05,1793248246387798784
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.036060354,745,715,682.036060354,661,633,880,784.036060354,812,651,630,653,0.440696273002,-0.01539949075,0.0797707883017,0.999999929493,0.00015135746989,-0.000343085687832,1.99439877304e-05,1793248246421131776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.615531386,745,715,682.615531386,661,633,880,784.615531386,812,651,630,653,0.439782921387,-0.0153948907189,0.0797104516494,0.99999988494,0.000173264231076,-0.000446983904432,1.74490664064e-05,1793248246437798144
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.805683753,745,715,683,660.805683753,633,879.805683753,784.805683753,812,651,630,653,0.438895925499,-0.0153916903826,0.0796743905032,0.999999854435,0.000187415343393,-0.000505712241608,1.6132757669e-05,1793248246454464512
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.228251786,745,715,683,660.228251786,633,879.228251786,784.228251786,812,651,630,653,0.438060892861,-0.0153912496979,0.0796861911739,0.999999869509,0.000186275348049,-0.000475383226132,1.71402129319e-05,1793248246471131136
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.65322515,660,633.34677485,879.34677485,784.34677485,812,651,630,653,0.437245186673,-0.0153927522681,0.0797362848926,0.99999990292,0.000184500441601,-0.000399551284969,2.18834279568e-05,1793248246487797760
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.079770852,660,633.920229148,879.920229148,784.920229148,812,651,630,653,0.436442113814,-0.0153955251035,0.0798114099735,0.999999939748,0.000182310505535,-0.00029397503289,2.90686306002e-05,1793248246504464384
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.508369734,744.491630266,715,682,660.508369734,633.491630266,880,784.491630266,812,651,630,653,0.435573810485,-0.0153952859385,0.0798482248499,0.999999952831,0.000190205442794,-0.000238795685937,3.37224086114e-05,1793248246521131264
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.097061096,715,682.097061096,660.902938904,633,880,784.097061096,811.902938904,651,629.902938904,653,0.434685505487,-0.0153949108312,0.0798685644374,0.999999958218,0.000199351453407,-0.00020600894486,3.71821847048e-05,1793248246537798144
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.568506153,744.568506153,715,682,660.431493847,633.568506153,880,785,812,651,629.431493847,653,0.429024312943,-0.0153864008424,0.0797912570671,0.999999914239,0.000228599346393,-0.000343381107527,3.6787093953e-05,1793248246637797888
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.843762063,744.843762063,715,682.156237937,660,633.843762063,879.843762063,785,811.843762063,651,629.156237937,653,0.428149998856,-0.0153894921859,0.0798512971878,0.999999943897,0.000230477478602,-0.000239408440926,4.20564843256e-05,1793248246654465024
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.312464427,715.312464427,682.687535573,660,633.312464427,879.312464427,785,811,651,630,653,0.426252408969,-0.0153855129002,0.0798213067378,0.999999931348,0.000233900735435,-0.000284466352565,4.09092870922e-05,1793248246687798016
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715.526564529,681.526564529,660,634,879.526564529,785,811,651,630,653,0.424315081916,-0.0153799764604,0.0797437173969,0.999999885943,0.000245907715385,-0.000407941859639,3.5020272869e-05,1793248246721131008
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.060511703,745,715,681,660,634,879,785,811,651,629.939488297,653,0.423364384509,-0.0153744908021,0.0797254317188,0.999999872681,0.000253143549043,-0.000435173855956,3.43596890087e-05,1793248246737797632
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.639546031,745,715,681,660,634,879,785,811,651,629.360453969,653,0.422454766694,-0.0153746127921,0.0797377070813,0.999999883797,0.000253627156721,-0.000408470777978,3.50780337449e-05,1793248246754464256
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.781770468,745,715,681.218229532,660,634,878.781770468,784.781770468,811,651,629,653,0.421583998532,-0.0153768458722,0.0797712847684,0.999999907549,0.000249741800026,-0.000348048229493,3.73410376274e-05,1793248246771130880
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.203665413,745,715,681.796334587,660,634,878.203665413,784.203665413,811,651,629,653,0.420777295977,-0.0153825602853,0.0798399914574,0.999999943718,0.000238651718219,-0.000232019945066,4.21512906051e-05,1793248246787797760
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.628886612,660,634,878.371113388,784,810.628886612,651,629,652.628886612,0.419925148998,-0.0153823495213,0.0798612319475,0.99999995102,0.000238149693604,-0.000198272596434,4.39558373343e-05,1793248246804464896
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.533017847,744.466982153,715,681,659.466982153,634,879.533017847,784.533017847,810.533017847,651,629,652.533017847,0.41815982265,-0.0153763087286,0.0798168325996,0.999999930268,0.00024357645104,-0.000280316627421,3.94651740994e-05,1793248246837797888
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.278663089,744.278663089,715,680.721336911,659,634,878.721336911,784,810.278663089,651,629,653,0.415599564904,-0.0153695775873,0.0797999823095,0.999999912838,0.000248837051143,-0.000333002856369,3.8894887918e-05,1793248246887797760
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878.915447566,785,811,651,628.915447566,652,0.408691926662,-0.0153631308223,0.0798324291913,0.999999926566,0.000271442790087,-0.00026706535696,4.31557652276e-05,1793248247054464512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878.33728164,785,811,651,628.33728164,652,0.408120543958,-0.0153630615599,0.0798371590162,0.99999992869,0.000267348547903,-0.000263192098869,4.32921773226e-05,1793248247071131136
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.761719018,715,680,659,634,878.238280982,784.761719018,810.761719018,651,628.238280982,652.238280982,0.407542627098,-0.0153602332509,0.0798234275941,0.999999920833,0.000267878084789,-0.000291241142132,4.18759504233e-05,1793248247087797504
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.18980154,715,680,659,634,878.81019846,784.18980154,810.18980154,651,628.81019846,652.81019846,0.406955561286,-0.0153535417774,0.079783847085,0.999999895244,0.000274881748459,-0.000363987183399,3.82857477868e-05,1793248247104464128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,715.385877227,680,659,634,879,784,810.385877227,651,629,653,0.406443154673,-0.0153514194576,0.0797672233087,0.999999885231,0.000278373822682,-0.000388263853324,3.6023734789e-05,1793248247121130752
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,715.963424324,680,659,634,879,784,810.963424324,651,629,653,0.405967832131,-0.015351566691,0.0797620024147,0.999999884721,0.000280121649221,-0.000388465209533,3.44214493359e-05,1793248247137797120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634,879,784.555536762,810.444463238,651,629,653,0.405571723099,-0.0153536223689,0.0797852803515,0.99999990329,0.00027759991051,-0.000339160091698,3.64515192496e-05,1793248247154463744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,715.855447148,680,659,634,878.855447148,784.855447148,810,651,629,653,0.405179579155,-0.0153555757934,0.0798071228609,0.999999917165,0.00027491781105,-0.000297673777762,3.84668879469e-05,1793248247171130368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,715.278634796,680,659,634,878.278634796,784.278634796,810,651,629,653,0.404783276702,-0.0153568376007,0.0798189111239,0.999999920124,0.000272619398838,-0.00028957735726,3.97039103216e-05,1793248247187797248
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.297520907,744,715.297520907,680,659,634,878,784,810,651,629,653,0.404401896821,-0.0153543714254,0.079826641459,0.999999920195,0.000276593714669,-0.000285414329878,4.0558059427e-05,1793248247204463616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.873062963,744,715.873062963,680,659,634,878,784,810,651,629,653,0.4040344615,-0.0153484216023,0.0798305798253,0.999999917545,0.000286429639084,-0.000284926898378,4.10544290069e-05,1793248247221130240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.540582694,744.459417306,715.540582694,680,658.540582694,634,878,784.459417306,810,651,629,652.540582694,0.40370106264,-0.0153431989253,0.0798277878686,0.999999911343,0.000297644144636,-0.000294949227851,4.15548624487e-05,1793248247237796864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.95199032,715.04800968,679.95199032,658.04800968,634,878,784.95199032,810,651,629,652,0.403381795506,-0.0153385975778,0.0798239135565,0.999999905083,0.000307151003709,-0.000306178674967,4.18022601752e-05,1793248247254463744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.372491257,715.627508743,679.372491257,658.627508743,634,878,784.372491257,810,651,629,652,0.403112354106,-0.0153385968541,0.0798291397531,0.999999911821,0.000293435033013,-0.000297849730188,3.92357055249e-05,1793248247271130368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,716,679.206368875,659,634,878.206368875,784,810,651,629,652.206368875,0.402854220472,-0.015338954189,0.0798335564042,0.999999915034,0.000288807834261,-0.000291627237178,3.84179166415e-05,1793248247287796992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,716,679.78407925,659,634,878.78407925,784,810,651,629,652.78407925,0.402616434132,-0.0153399558171,0.0798365163535,0.999999912192,0.00030053503252,-0.000289195108192,4.07468685603e-05,1793248247304463616
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.35974554,744,716,680,658.64025446,634,878.28050892,784,810,651,629,653,0.402398915368,-0.0153415161115,0.0798367649476,0.999999910777,0.000304418735827,-0.000289772744786,4.24988627553e-05,1793248247321130240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.934191949,744,716,680,658.065808051,634,877.131616102,784,810,651,629,653,0.402193492535,-0.0153434098253,0.0798353953695,0.999999910268,0.00030362133934,-0.000292146648839,4.39065212187e-05,1793248247337797120
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744,715.478150708,680,658.521849292,634,877.521849292,784.521849292,810,651,629,653,0.402032642226,-0.0153484891279,0.0798370601864,0.99999991383,0.000296614606795,-0.000287013721412,4.45284174637e-05,1793248247354463744
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.890674075,744,715,680,659,634,878,784.890674075,810,651,629,653,0.401882130984,-0.0153532350908,0.0798395476357,0.999999917632,0.000289619856638,-0.000280746329927,4.51520717681e-05,1793248247371130368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.311322733,744,715,680,659,634,878,784.311322733,810,651,629,653,0.401751277136,-0.0153547759503,0.079843883958,0.99999992052,0.000286130547921,-0.000273777186935,4.62203629836e-05,1793248247387797248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715.266373135,679.733626865,659,634,878,784,810,651,629,653,0.401629383664,-0.0153553095947,0.0798471010389,0.999999923391,0.000280449453497,-0.000269236389192,4.55933145113e-05,1793248247404463872
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715.842146092,679.157853908,659,634,878,784,810,651,629,653,0.401517897926,-0.0153546733306,0.0798490180893,0.999999926241,0.000272222539096,-0.000267516182555,4.29970816755e-05,1793248247421130752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,716,679,659,634,878,784,809.58246374,651,629,653,0.401419196487,-0.0153545657713,0.0798456020151,0.999999922581,0.000281434809856,-0.000272436645477,3.75546391523e-05,1793248247437797120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,716,679,659,634,878,784,809.00721817,651,629,653,0.40132532386,-0.0153546579113,0.0798401715448,0.999999916182,0.000297234105951,-0.000279865382545,3.10371432936e-05,1793248247454463744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.581754977,715.418245023,679.581754977,659,634,878,784,809.581754977,651,629,653,0.401254252467,-0.0153544483105,0.079836029316,0.999999914469,0.000295235655522,-0.000287877276109,3.20065752002e-05,1793248247471130368
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.168020068,745,715,679.831979932,659,634,878,784.168020068,809.831979932,651,629,652.831979932,0.401190267964,-0.0153535402232,0.0798331033059,0.999999913451,0.000293604465025,-0.000292931298623,3.29496094263e-05,1793248247487796992
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.674663835,715,679.325336165,659,634,878,785,809,651,629,652.325336165,0.401101960971,-0.0153498274464,0.0798323899113,0.999999914298,0.000292789237664,-0.000290727373831,3.40145256668e-05,1793248247521130496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.097414347,715,679.902585653,659,634,878,785,809,651,629,652.902585653,0.40106595427,-0.0153498868682,0.0798310977565,0.999999914082,0.000291798771676,-0.000292431111314,3.42586283654e-05,1793248247537797120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744,715.487537192,679.512462808,659,634,878.487537192,785,809.487537192,651,629,653,0.401038945329,-0.015349701757,0.0798302407825,0.99999991362,0.000291575138279,-0.000294212650449,3.43915556011e-05,1793248247554463488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.926979105,744.073020895,716,679.073020895,659,634,878.926979105,785,810,651,629.073020895,653,0.401015544116,-0.0153495224242,0.0798295404295,0.999999913157,0.000291715064017,-0.00029562861109,3.45253689953e-05,1793248247571130368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.348633242,744.651366758,716,679.651366758,659,634,878.348633242,785,810,651,629.651366758,653,0.401004468153,-0.0153497266312,0.0798293125394,0.999999913046,0.000293293574792,-0.000294405361571,3.48215085758e-05,1793248247587796992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.771346255,715.771346255,679.771346255,659,634,878.228653745,784.771346255,810,651,629.771346255,653,0.400994977738,-0.0153499932321,0.0798295431245,0.999999913311,0.000293307317007,-0.000293471118706,3.49859352438e-05,1793248247604463872
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.195666353,715.195666353,679.195666353,659,634,878.804333647,784.195666353,810,651,629.195666353,653,0.400987893697,-0.015350354528,0.0798304695339,0.999999914147,0.000290946221054,-0.00029297549925,3.49504621473e-05,1793248247621131008
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.381583689,659,634,878.618416311,784.381583689,809.618416311,651,629,653,0.400982975669,-0.0153495417763,0.0798310395074,0.999999914122,0.000291500062843,-0.000292516454029,3.48986351731e-05,1793248247637798144
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.959642166,659,634,878.040357834,784.959642166,809.040357834,651,629,653,0.400979172906,-0.0153481245158,0.0798314259546,0.999999913652,0.000293554785886,-0.000292076240645,3.48383877019e-05,1793248247654464768
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.546472652,744,715,680,659,634,878.546472652,784.453527348,809.546472652,651,628.453527348,653,0.400979386368,-0.0153505272632,0.0798331397917,0.999999915532,0.000290063541417,-0.000289080015682,3.51123648545e-05,1793248247671131648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.867716203,744.132283797,715,679.867716203,659,634,878.867716203,784,810,651,628.132283797,652.867716203,0.40097965213,-0.0153526542942,0.0798343972281,0.999999917037,0.000287324673958,-0.000286579736009,3.52592477378e-05,1793248247687798272
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.287585164,744.712414836,715,679.287585164,659,634,878.287585164,784,810,651,628.712414836,652.287585164,0.400979074415,-0.0153528772087,0.0798337722239,0.999999916748,0.000288542231695,-0.000286407972828,3.48909248547e-05,1793248247704464896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.709745039,715,679,659,634,878.290254961,784.290254961,810,651,629,652.290254961,0.400979108546,-0.0153521169198,0.0798343331406,0.999999916452,0.000290614681495,-0.000285354171203,3.48028856833e-05,1793248247721131264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.134156915,715,679,659,634,878.865843085,784.865843085,810,651,629,652.865843085,0.400979744146,-0.0153503900995,0.0798360598688,0.999999916141,0.000293527527263,-0.000283433287663,3.49903774637e-05,1793248247737797888
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.450223649,744,715.450223649,679.450223649,659,634,878.549776351,784.549776351,810,651,629,653,0.400979799082,-0.01535142606,0.0798365494109,0.999999916612,0.000292416624453,-0.000282910654209,3.50738678137e-05,1793248247754464512
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.963244851,744,715.963244851,680,659,634,877.963244851,784.036755149,809.963244851,651,629,653,0.40097975671,-0.0153530738418,0.0798367408837,0.999999917286,0.000290336314598,-0.000282665660304,3.51207730719e-05,1793248247771131392
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.384399902,744,715.384399902,680,659,634,877.384399902,784.615600098,809.384399902,651,629,653,0.400980881905,-0.0153513615036,0.0798380816952,0.999999917484,0.000291994269486,-0.000280248074719,3.5094264621e-05,1793248247787797760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.19389013,744.19389013,715,680,659,634,877.19389013,785,809.19389013,651,629,653,0.400981446301,-0.0153508323943,0.0798388863063,0.999999917735,0.000292620955912,-0.000278691541526,3.51310885914e-05,1793248247804464128
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.771083109,744.771083109,715,680,659,634,877.771083109,785,809.771083109,651,629,653,0.400980902048,-0.0153526424194,0.0798386308988,0.999999918101,0.000291208919915,-0.000278837229394,3.5293114901e-05,1793248247821131008
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.654309312,744.654309312,715,679.654309312,659,634,878,785,810,651,629,653,0.400980256714,-0.0153530996371,0.0798386165211,0.999999918147,0.000290705690302,-0.000279199617377,3.52605022388e-05,1793248247837798144
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.0814011,744.0814011,715,679.0814011,659,634,878,785,810,651,629,653,0.400979544941,-0.0153526676741,0.0798387605689,0.999999917984,0.000290799806126,-0.00027970443923,3.509995617e-05,1793248247854465024
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.507461371,715,679,659,634,878,785,810,651,629,652.492538629,0.400980252646,-0.0153526050532,0.0798388758755,0.999999918578,0.00028994582278,-0.000278479427814,3.4980684606e-05,1793248247871131392
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.09696603,744.90303397,715,679,659,634,878,785,810,651,629,652,0.400980893636,-0.0153527617039,0.0798389583868,0.999999919151,0.000289009124779,-0.000277404216286,3.48956863685e-05,1793248247887797760
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.676516391,744.323483609,715,679,659,634,878,785,810,651,629,652,0.400980032609,-0.0153537052072,0.0798389013709,0.999999919009,0.000288442231547,-0.000278500334271,3.49472408759e-05,1793248247904464128
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.255229725,658.744770275,634,878,784.744770275,810,651,629,652,0.400979754633,-0.0153530233609,0.0798391543357,0.999999918905,0.000288893952144,-0.000278426183717,3.47684587869e-05,1793248247921130752
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.832885737,658.167114263,634,878,784.167114263,810,651,629,652,0.400980213213,-0.0153502882452,0.0798397988928,0.999999918849,0.000290632465858,-0.000276873657939,3.42986973781e-05,1793248247937797632
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.595316686,744,715.404683314,680,658,634,878,784.404683314,810,651,628.595316686,652.404683314,0.400980081971,-0.0153500968658,0.0798398329135,0.999999918478,0.000291794730097,-0.000276981301019,3.43804549602e-05,1793248247954464768
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.025903866,744,715.974096134,680,658,634,878,784.974096134,810,651,628.025903866,652.974096134,0.400979710636,-0.0153509409344,0.0798396184107,0.999999917979,0.000292722427374,-0.000277764728907,3.46867126883e-05,1793248247971131648
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744,716,679.434160489,658,634,878,785,810,651.565839511,628.565839511,653,0.400981520302,-0.0153509876196,0.0798402565415,0.999999918597,0.000292293275066,-0.000275983234804,3.47002746679e-05,1793248247987798528
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b4eddb586c7da369b83a667b87f70ae011d7339
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+1,0.016666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+5,0.083333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+8,0.133333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+10,0.166666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+11,0.183333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+13,0.216666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+14,0.233333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+17,0.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+19,0.316666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+20,0.333333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+21,0.350000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+22,0.366666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+24,0.400000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+25,0.416666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+27,0.450000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+28,0.466666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+29,0.483333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+30,0.500000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+31,0.516666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+32,0.533333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+33,0.550000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+34,0.566666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+36,0.600000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+37,0.616666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+40,0.666666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+41,0.683333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+42,0.700000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+64,1.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+65,1.083333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+66,1.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+67,1.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+68,1.133333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+69,1.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+70,1.166666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+71,1.183333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+72,1.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+73,1.216666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+74,1.233333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+75,1.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+76,1.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+77,1.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+78,1.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+79,1.316666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+80,1.333333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+81,1.350000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+82,1.366666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+83,1.383333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+84,1.400000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+85,1.416666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+86,1.433333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+87,1.450000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+88,1.466666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+100,1.666666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+363,6.050000000,pose2_to_pose3_retreat,0.585803012515,-0.0100721500703,1.07004233777,0.556374802812,-0.00139769563425,1.06966572349
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+365,6.083333333,pose2_to_pose3_retreat,0.585264869463,-0.0100721702141,1.07004243969,0.555836661962,-0.0013977083632,1.06966582413
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+376,6.266666667,pose2_to_pose3_retreat,0.583609820498,-0.010072140625,1.07004224591,0.554181612442,-0.00139768048861,1.06966563501
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+378,6.300000000,pose2_to_pose3_retreat,0.583475805284,-0.0100720693064,1.07004258032,0.554047594661,-0.00139761808765,1.06966596445
+379,6.316666667,pose2_to_pose3_retreat,0.583423884958,-0.0100721506528,1.07004250129,0.553995675754,-0.00139769466727,1.06966588423
+380,6.333333333,pose2_to_pose3_retreat,0.583381644257,-0.0100720228186,1.07004257285,0.553953434978,-0.00139756713929,1.06966595463
+381,6.350000000,pose2_to_pose3_retreat,0.58334679505,-0.0100720029058,1.07004245997,0.553918584991,-0.00139754964668,1.06966584694
+382,6.366666667,pose2_to_pose3_retreat,0.583318735861,-0.0100721213623,1.07004235955,0.55389052654,-0.00139766567051,1.06966574487
+383,6.383333333,pose2_to_pose3_retreat,0.583296661972,-0.0100721464709,1.07004245571,0.553868453302,-0.00139768881895,1.06966583532
+384,6.400000000,pose2_to_pose3_retreat,0.583279740213,-0.0100719876773,1.0700425677,0.553851529729,-0.00139753595826,1.0696659525
+385,6.416666667,pose2_to_pose3_retreat,0.583267758326,-0.0100721574755,1.07004237857,0.553839550079,-0.00139769830536,1.06966576019
+386,6.433333333,pose2_to_pose3_retreat,0.583259334924,-0.0100720854825,1.07004234886,0.553831125322,-0.00139763063186,1.06966573685
+387,6.450000000,pose2_to_pose3_retreat,0.583253977711,-0.0100720630971,1.07004242585,0.553825767889,-0.00139760906214,1.06966581234
+388,6.466666667,pose2_to_pose3_retreat,0.583250375386,-0.0100720369422,1.07004251097,0.553822165529,-0.00139758303528,1.06966589727
+389,6.483333333,pose2_to_pose3_retreat,0.58324824939,-0.0100719987609,1.07004257051,0.553820039424,-0.00139754510201,1.06966595965
+390,6.500000000,pose2_to_pose3_retreat,0.583247192963,-0.0100720158669,1.07004257971,0.553818983408,-0.00139756077976,1.06966596958
+391,6.516666667,pose2_to_pose3_retreat,0.583246760217,-0.0100720305004,1.07004257917,0.55381855093,-0.00139757450034,1.0696659692
+392,6.533333333,pose2_to_pose3_retreat,0.583246696293,-0.010072032662,1.07004257909,0.553818487046,-0.0013975765271,1.06966596914
+393,6.550000000,pose2_to_pose3_retreat,0.583246650109,-0.0100720342237,1.07004257903,0.55381844089,-0.00139757799141,1.0696659691
+394,6.566666667,pose2_to_pose3_retreat,0.583246638406,-0.0100720346195,1.07004257902,0.553818429194,-0.00139757836246,1.06966596909
+395,6.583333333,pose2_to_pose3_retreat,0.583246436142,-0.0100720414592,1.07004257876,0.553818227054,-0.00139758477545,1.06966596891
+396,6.600000000,pose2_to_pose3_retreat,0.583246183838,-0.0100720565856,1.07004255568,0.553817974834,-0.00139759960936,1.06966594611
+397,6.616666667,pose2_to_pose3_retreat,0.583246070397,-0.0100720718606,1.07004251606,0.553817861336,-0.00139761506085,1.06966590684
+398,6.633333333,pose2_to_pose3_retreat,0.583246025562,-0.0100720778976,1.07004250039,0.553817816478,-0.00139762116766,1.06966589133
+399,6.650000000,pose2_to_pose3_retreat,0.583246004815,-0.0100720806912,1.07004249315,0.553817795721,-0.00139762399359,1.06966588415
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+402,6.700000000,pose2_to_pose3_retreat,0.583245803839,-0.0100721077526,1.07004242294,0.553817594645,-0.00139765136776,1.06966581459
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+404,6.733333333,pose2_to_pose3_retreat,0.583245689178,-0.0100721231918,1.07004238289,0.553817479926,-0.00139766698539,1.0696657749
+405,6.750000000,pose2_to_pose3_retreat,0.583245672457,-0.0100721254433,1.07004237705,0.553817463196,-0.00139766926294,1.06966576911
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca43ed1070504ab7112d4655ee42b3a0cfeb519d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15a963c8a8e9a00d4b4f45486c548ac247035ccee65cac5bea2b63edf3afe01
+size 26079207
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0524ad52660667e1b0faae191552d2791132260f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+28,0.466666667,BASELINE,765,744.761752382,715.238247618,679.761752382,659,634,878,784.238247618,810,651.238247618,629,653,0.400981709365,-0.0153521189582,0.0798423461737,0.999999920547,0.000289656322816,-0.000271735695382,3.41386647344e-05,1793248248610462720
+29,0.483333333,BASELINE,765,744.169176416,715.830823584,679.169176416,659,634,878,784.830823584,810,651.830823584,629,653,0.400981764213,-0.015353057152,0.0798429588711,0.99999992037,0.000290657371414,-0.000271251486925,3.46639021697e-05,1793248248627128832
+30,0.500000000,BASELINE,765.41479488,744.41479488,715.58520512,679.41479488,659,634.41479488,878,784.58520512,810,651.58520512,629,653,0.400982572967,-0.0153546481394,0.0798436430527,0.999999920853,0.000290075525509,-0.000270064403863,3.48719931276e-05,1793248248643795200
+31,0.516666667,BASELINE,765.99532802,744.99532802,715.00467198,679.99532802,659,634.99532802,878,784.00467198,810,651.00467198,629,653,0.400983682958,-0.0153564999615,0.079844355797,0.999999921597,0.000288861207498,-0.00026859647546,3.49533628714e-05,1793248248660461824
+32,0.533333333,BASELINE,765.433072862,745,715,679.433072862,658.433072862,634.433072862,878,784,810,651,629,653,0.400981199844,-0.0153549648023,0.0798428000027,0.999999921,0.000288359531813,-0.000271377511736,3.46819511025e-05,1793248248677128704
+33,0.550000000,BASELINE,765,744.857275397,715,679.142724603,658,634,877.857275397,784.142724603,810,651,629,653,0.400979634582,-0.0153538531462,0.0798417789302,0.999999920731,0.000287754826878,-0.000273034193986,3.44566360612e-05,1793248248693795584
+34,0.566666667,BASELINE,765,744.268119212,715,679.731880788,658,634,877.268119212,784.731880788,810,651,629,653,0.400981031472,-0.0153541521263,0.0798424879951,0.99999992154,0.000286809769792,-0.000271066157069,3.4384460606e-05,1793248248710462208
+35,0.583333333,BASELINE,765.315953016,744.315953016,715,680,658,634,877.315953016,785,810,651,629,653,0.400980987018,-0.0153552311871,0.0798423652445,0.999999921868,0.000285382409543,-0.000271370280404,3.43302213309e-05,1793248248727128832
+36,0.600000000,BASELINE,765.895779359,744.895779359,715,680,658,634,877.895779359,785,810,651,629,653,0.400979738802,-0.015356961745,0.0798415477896,0.99999992179,0.000283552245814,-0.000273572035312,3.42909617416e-05,1793248248743795456
+37,0.616666667,BASELINE,765.52830975,744.52830975,715.47169025,680,658,634,878,785,810,651,629,653,0.400979147655,-0.0153551031891,0.079841618594,0.999999921097,0.000285812333013,-0.000273794479433,3.39646273964e-05,1793248248760462080
+38,0.633333333,BASELINE,765,744,715.953570866,679.953570866,658.046429134,634,878,784.953570866,810,651,629,653,0.400978733392,-0.0153527535883,0.0798418419,0.999999920301,0.000288755612097,-0.000273652416545,3.36611987703e-05,1793248248777128448
+39,0.650000000,BASELINE,765,744,715.382380564,679.382380564,658.617619436,634,878,784.382380564,810,651,629,653,0.400978690971,-0.0153537432419,0.0798415888694,0.999999919948,0.000289290182416,-0.00027429275391,3.43276649422e-05,1793248248793795072
+40,0.666666667,BASELINE,765.196396527,744,715,679.196396527,659,634,878,784.196396527,810,651,629,653,0.400978763372,-0.015354332504,0.0798415568528,0.999999919828,0.000289484808386,-0.000274474624882,3.47350884851e-05,1793248248810461952
+41,0.683333333,BASELINE,765.79053847,744,715,679.79053847,659,634,878,784.79053847,810,651,629,653,0.400979068313,-0.0153541108866,0.0798419724377,0.999999920179,0.000288990973539,-0.000273728002279,3.46178946736e-05,1793248248827128576
+42,0.700000000,BASELINE,765.626789721,744.373210279,715,679.626789721,659.373210279,634,877.626789721,785,809.626789721,651,629,653,0.40098006326,-0.0153542663728,0.0798427704045,0.999999920789,0.000288101816272,-0.000272448837207,3.45082925434e-05,1793248248843795200
+43,0.716666667,BASELINE,765.05036351,744.94963649,715,679.05036351,659.94963649,634,877.05036351,785,809.05036351,651,629,653,0.400981433921,-0.0153546271947,0.0798437765811,0.999999921537,0.000286997402852,-0.000270879698593,3.44028241469e-05,1793248248860461824
+44,0.733333333,BASELINE,765,744.474181131,715.525818869,679.525818869,659.474181131,634,877.525818869,785,809.525818869,651,629,653,0.400980539321,-0.0153539949258,0.0798430874354,0.999999920976,0.000288129095736,-0.000271779676103,3.413773654e-05,1793248248877128448
+45,0.750000000,BASELINE,765,744,715.895603747,680,659,634,878,785,810,651,629,652.895603747,0.400979510724,-0.0153533327512,0.0798422248965,0.999999920317,0.000289328327902,-0.00027295223813,3.39344973263e-05,1793248248893795328
+46,0.766666667,BASELINE,765,744,715.305781597,680,659,634,878,785,810,651,629,652.305781597,0.400978867471,-0.0153529736046,0.0798413107974,0.999999919795,0.000289846180595,-0.00027429312158,3.40898994921e-05,1793248248910461952
+47,0.783333333,BASELINE,765,744.278822538,715,679.721177462,659,634,878,784.721177462,810,651,629,652,0.400979044755,-0.0153534443817,0.0798412250111,0.999999919973,0.000289263997208,-0.000274240985483,3.4244119807e-05,1793248248927128320
+48,0.800000000,BASELINE,765,744.857809334,715,679.142190666,659,634,878,784.142190666,810,651,629,652,0.400980105382,-0.0153548086066,0.0798420309382,0.999999920901,0.000287497578508,-0.000272689205083,3.43970678284e-05,1793248248943794944
+49,0.816666667,BASELINE,765,744.56677176,715.43322824,679.43322824,659,634,878,784.43322824,810,651,629,652.43322824,0.400980497213,-0.0153544601106,0.0798424777918,0.999999920673,0.000289098256261,-0.000271819407583,3.45067629001e-05,1793248248960461568
+50,0.833333333,BASELINE,765,744,715.992490306,680,659,634,877.992490306,785,810,651,629,653,0.400980669503,-0.0153535819448,0.0798428041747,0.999999920083,0.000291713485585,-0.000271182975654,3.45975244409e-05,1793248248977128448
+51,0.850000000,BASELINE,765,744,715.41638849,680,659,634,877.41638849,785,810,651,629,653,0.400980703403,-0.0153548142313,0.0798428594119,0.999999921064,0.000288154777848,-0.00027140658232,3.43208174169e-05,1793248248993795072
+52,0.866666667,BASELINE,765,744.163978211,715,679.836021789,659,634,877,784.836021789,810,651,629,652.836021789,0.40098046956,-0.0153552998693,0.0798426868829,0.99999992153,0.000286100165468,-0.00027189548668,3.40611614073e-05,1793248249010461952
+53,0.883333333,BASELINE,765,744.755463855,715,679.244536145,659,634,877,784.244536145,810,651,629,652.244536145,0.400979537688,-0.0153538389204,0.0798419205448,0.999999920679,0.000287966878858,-0.000273076048396,3.38459590986e-05,1793248249027128832
+54,0.900000000,BASELINE,765,745,715,679,659,634,877.339947795,784.339947795,810,651,629,652,0.400979407223,-0.0153538269567,0.0798414084633,0.999999920608,0.000287915672981,-0.000273396968378,3.37929650592e-05,1793248249043795200
+55,0.916666667,BASELINE,765,745,715,679,659,634,877.919496787,784.919496787,810,651,629,652,0.400979841604,-0.0153548362634,0.0798410755865,0.999999921087,0.000286512683733,-0.00027311199767,3.38542982751e-05,1793248249060461568
+56,0.933333333,BASELINE,765,744.505703239,715.494296761,679,659,634.494296761,878,785,810,651,629,652,0.40098050064,-0.0153541897819,0.0798414086597,0.999999921121,0.000286968130824,-0.000272508643239,3.38522242349e-05,1793248249077128448
+57,0.950000000,BASELINE,765.068362891,744,715.931637109,679.068362891,659,634.931637109,878,785,809.931637109,651.068362891,629,652.068362891,0.400980959405,-0.0153534954062,0.0798417426823,0.999999921069,0.0002875647072,-0.000272073232151,3.38404306003e-05,1793248249093795328
+58,0.966666667,BASELINE,765.642667334,744,715.357332666,679.642667334,659,634.357332666,878,785,809.357332666,651.642667334,629,652.642667334,0.400979667795,-0.0153544233505,0.0798412886808,0.999999920911,0.000286987046324,-0.00027326084513,3.38324032644e-05,1793248249110461696
+59,0.983333333,BASELINE,765.775819411,744.224180589,715,680,659,634.224180589,878,785,809.224180589,651.775819411,629,653,0.400979567847,-0.0153552025473,0.0798416408995,0.999999920988,0.000287110128311,-0.000272830030393,3.39998060023e-05,1793248249127128064
+60,1.000000000,BASELINE,765.182433812,744.817566188,715,680,659,634.817566188,878,785,809.817566188,651.182433812,629,653,0.400981430457,-0.0153557367704,0.0798433208897,0.999999921445,0.000288387269878,-0.0002697338128,3.44561260926e-05,1793248249143794688
+61,1.016666667,BASELINE,765,745,715.397874548,680.397874548,659.397874548,634.602125452,878,785,809.602125452,651,629,653,0.400981218169,-0.0153549702621,0.0798430988015,0.999999921189,0.00028913174903,-0.000269883891455,3.44642685398e-05,1793248249160461312
+62,1.033333333,BASELINE,765,745,715.972377495,680.972377495,659.972377495,634.027622505,878,785,809.027622505,651,629,653,0.400980084771,-0.0153536263203,0.0798420323238,0.999999920618,0.000289639763347,-0.000271475098186,3.42734515141e-05,1793248249177128192
+63,1.050000000,BASELINE,765.54893285,744.45106715,716,680.45106715,659.45106715,634,878,785,809.54893285,651,629,653,0.400980713674,-0.0153537299772,0.0798423296099,0.999999921134,0.00028843839036,-0.000270848953279,3.4302080044e-05,1793248249193794816
+64,1.066666667,BASELINE,766,744.128646263,715.871353737,680,658.871353737,634,878,785,810,651,629,652.871353737,0.400981042242,-0.0153541615462,0.0798425135897,0.999999921579,0.000287208315368,-0.000270508506317,3.43412741877e-05,1793248249210461696
+65,1.083333333,BASELINE,766,744.719329597,715.280670403,680,658.280670403,634,878,785,810,651,629,652.280670403,0.400979972459,-0.0153555082195,0.0798420432326,0.999999921576,0.000286185248453,-0.000271596392138,3.43786064434e-05,1793248249227128320
+66,1.100000000,BASELINE,765.696876688,744.696876688,715.303123312,679.696876688,658.303123312,634,878,785,810,651,629,652.303123312,0.400979939739,-0.0153559148452,0.0798420935576,0.999999921529,0.000286266320927,-0.000271682783475,3.43675099307e-05,1793248249243794944
+67,1.116666667,BASELINE,765.119320525,744.119320525,715.880679475,679.119320525,658.880679475,634,878,785,810,651,629,652.880679475,0.400980845925,-0.0153554703983,0.0798426152826,0.999999921444,0.000287347026643,-0.000270862471188,3.43125684047e-05,1793248249260461568
+68,1.133333333,BASELINE,765,744.45599949,715.54400051,679.45599949,659,634,878,785,810,651,629,653,0.40098033043,-0.0153548398712,0.0798424221889,0.999999921134,0.00028764943822,-0.000271684645704,3.42968754564e-05,1793248249277128192
+69,1.150000000,BASELINE,765,744.969211782,715.030788218,679.969211782,659,634,878,785,810,651,629,653,0.400979474699,-0.0153541807149,0.0798420449177,0.999999920777,0.000287782272489,-0.000272860313672,3.42819802939e-05,1793248249293794816
+70,1.166666667,BASELINE,765,744.393521446,715.606478554,679.393521446,659,634,878,785,810,651,629,653,0.400979149164,-0.0153538724219,0.0798417022471,0.999999920613,0.000288500633888,-0.00027272283593,3.41003273297e-05,1793248249310461952
+71,1.183333333,BASELINE,765,744,715.812619672,679,659,634,878,784.812619672,810,651,629,653,0.400979402519,-0.0153542822107,0.0798416364101,0.999999920961,0.000287719249227,-0.000272292070315,3.3957052018e-05,1793248249327128832
+72,1.200000000,BASELINE,765,744,715.220460034,679,659,634,878,784.220460034,810,651,629,653,0.400980906394,-0.0153562432009,0.0798421685893,0.999999922401,0.000283698110639,-0.000271227743699,3.38966801431e-05,1793248249343795456
+73,1.216666667,BASELINE,765,744,715.36241721,679,659,634,878,784.36241721,810,651,629,653,0.400981429736,-0.0153555229606,0.079842485537,0.999999922196,0.000285027762619,-0.00027058376542,3.39494797214e-05,1793248249360462080
+74,1.233333333,BASELINE,765,744,715.939788906,679,659,634,878,784.939788906,810,651,629,653,0.400981371513,-0.0153532124465,0.0798426748279,0.999999921004,0.000289531040174,-0.000270189101416,3.4069402803e-05,1793248249377128704
+75,1.250000000,BASELINE,765.514708028,744.514708028,715.485291972,679,659,634,878,785,810,651,629,653,0.400980861606,-0.0153533330785,0.0798428211213,0.999999921134,0.000288724393653,-0.000270557131862,3.4196361462e-05,1793248249393795328
+76,1.266666667,BASELINE,766,744.908195841,715.091804159,679.091804159,659,634,878.091804159,785,810,651,629,653,0.400980298068,-0.015353814479,0.0798428819784,0.999999921376,0.000287365404521,-0.000271102195332,3.42551330893e-05,1793248249410461952
+77,1.283333333,BASELINE,766,744.317723451,715.682276549,679.682276549,659,634,878.682276549,785,810,651,629,653,0.40097972886,-0.0153547180392,0.0798425059494,0.999999921395,0.000286364224583,-0.000272126541617,3.39390722562e-05,1793248249427128832
+78,1.300000000,BASELINE,765.732707587,744,715.732707587,680,659,634,878.465415174,785,810,651,629,652.732707587,0.400980290972,-0.0153553173036,0.0798426462464,0.999999921786,0.00028559833221,-0.000271519197162,3.37620015574e-05,1793248249443795456
+79,1.316666667,BASELINE,765.154048035,744,715.154048035,680,659,634,877.30809607,785,810,651,629,652.154048035,0.40098217095,-0.0153555620957,0.0798433880079,0.999999922604,0.00028510652481,-0.000269011107036,3.3746839556e-05,1793248249460462080
+80,1.333333333,BASELINE,765,744,715,679.576184494,659,634,877.423815506,785,810,651,629,652.423815506,0.400982673806,-0.0153564992458,0.0798438661548,0.99999992289,0.00028466432459,-0.000268357731642,3.42032384631e-05,1793248249477128704
+81,1.350000000,BASELINE,765,744,715,679,659,634,878,785,810,651.001386739,629,653,0.400982672647,-0.0153576785493,0.0798442450603,0.999999922981,0.000284246122662,-0.000268381599077,3.48277135333e-05,1793248249493795584
+82,1.366666667,BASELINE,765,744,715,679,659,634,878,785,810,651.577480788,629,653,0.400980848482,-0.0153551144381,0.0798431309433,0.99999992192,0.000286314903714,-0.000270211055948,3.42068039568e-05,1793248249510461952
+83,1.383333333,BASELINE,765,744,715,679.156780166,659,634,878,785,810,651.843219834,629,653,0.400979852882,-0.015353649549,0.0798424533553,0.999999921328,0.000287496234309,-0.000271188809136,3.38584747711e-05,1793248249527128320
+84,1.400000000,BASELINE,765,744,715,679.744898264,659,634,878,785,810,651.255101736,629,653,0.400981136854,-0.0153552088697,0.0798429767575,0.999999922045,0.000286235987128,-0.000269823332009,3.42600761585e-05,1793248249543794944
+85,1.416666667,BASELINE,765.327979074,744.327979074,715.327979074,679.672020926,659,634,878,785,810,651,629,653,0.400982001499,-0.0153555022174,0.0798436686567,0.999999922574,0.000285470193949,-0.000268650847604,3.44186085682e-05,1793248249560461568
+86,1.433333333,BASELINE,765.907201118,744.907201118,715.907201118,679.092798882,659,634,878,785,810,651,629,653,0.400982544926,-0.0153548257872,0.0798444896301,0.999999922961,0.000285083169194,-0.000267626202177,3.43909419652e-05,1793248249577128192
+87,1.450000000,BASELINE,765.516814777,745,716,679.483185223,659,634,878,785,810,651.483185223,629,653,0.400980569655,-0.0153551727442,0.0798433959632,0.999999922433,0.000284841023023,-0.000269877970205,3.41309993467e-05,1793248249593795328
+88,1.466666667,BASELINE,765,744.941621008,716,680,659,634,878.058378992,785,810,651.941621008,629,653,0.400978472415,-0.0153555836039,0.0798421369521,0.999999921755,0.000284906793547,-0.000272345931385,3.38520020293e-05,1793248249610462464
+89,1.483333333,BASELINE,765,744.367950766,716,680,659,634,878.632049234,785,810,651.367950766,629,653,0.400979539909,-0.0153548351966,0.07984264263,0.99999992134,0.000287446472889,-0.000271204896157,3.37959525617e-05,1793248249627129344
+90,1.500000000,BASELINE,765,744,716,679.787964151,659,634,878.787964151,785,810,651,629,653,0.400980092499,-0.015354497202,0.0798427976227,0.99999992124,0.000288349794359,-0.000270608755718,3.38421735662e-05,1793248249643795968
+91,1.516666667,BASELINE,765,744,716,679.196680108,659,634,878.196680108,785,810,651,629,653,0.40097972413,-0.0153548932734,0.0798423253785,0.999999921711,0.000286326319123,-0.00027098721647,3.4071315965e-05,1793248249660461824
+92,1.533333333,BASELINE,765.384735459,744.384735459,715.615264541,679.384735459,659,634,877.615264541,785,810,651,629,653,0.400980048801,-0.0153555033975,0.0798421878758,0.999999921949,0.00028536003563,-0.000271131316672,3.40536402968e-05,1793248249677128192
+93,1.550000000,BASELINE,765.961232392,744.961232392,715.038767608,679.961232392,659,634,877.038767608,785,810,651,629,653,0.400980718901,-0.0153562202108,0.0798422172164,0.999999922072,0.000284920681932,-0.000271158605934,3.39129445448e-05,1793248249693795072
+94,1.566666667,BASELINE,766,745,715.529506386,680,659,634,877.529506386,785,810,651,629,653,0.400979341193,-0.0153560147691,0.0798418141946,0.999999921496,0.000285995582067,-0.000272117338431,3.41602629746e-05,1793248249710461952
+95,1.583333333,BASELINE,765.897363613,745,716,680,659,634,878,784.897363613,810,651,629,652.897363613,0.400978428313,-0.0153556360927,0.0798416133491,0.999999920984,0.000287263931222,-0.000272635934199,3.43765802249e-05,1793248249727128576
+96,1.600000000,BASELINE,765.297855078,745,716,680,659,634,878,784.297855078,810,651,629,652.297855078,0.400980480428,-0.0153547406558,0.0798425421605,0.999999921029,0.000288940282457,-0.000270698697097,3.4307393854e-05,1793248249743795200
+97,1.616666667,BASELINE,765,745,715.709013015,679.709013015,659,634,878,784.290986985,809.709013015,651,629,652.290986985,0.400981469337,-0.0153547688172,0.0798430336248,0.999999921038,0.000289748333375,-0.000269798002136,3.43445673087e-05,1793248249760461824
+98,1.633333333,BASELINE,765,745,715.130703148,679.130703148,659,634,878,784.869296852,809.130703148,651,629,652.869296852,0.400981408426,-0.0153557089472,0.079843093249,0.999999921014,0.000289699017495,-0.000269920797316,3.44867613127e-05,1793248249777128448
+99,1.650000000,BASELINE,765,745,715.445103255,679.445103255,659,634,878,785.445103255,809.445103255,651,629,653,0.400980373784,-0.0153570641619,0.0798430436091,0.999999921583,0.000287143176784,-0.000270529730769,3.45940226735e-05,1793248249793795072
+100,1.666666667,BASELINE,765.020170263,744.979829737,716,679.979829737,659,634,877.979829737,785.979829737,809.979829737,651,629,653,0.400979194942,-0.0153584556896,0.0798430216157,0.999999922309,0.000283999603594,-0.000271150051621,3.46860941019e-05,1793248249810461440
+101,1.683333333,BASELINE,765.595007326,744.404992674,716,679.404992674,659,634,877.404992674,785.404992674,809.404992674,651,629,653,0.400981869656,-0.0153575127078,0.0798446372624,0.999999922878,0.000284820975718,-0.000268179876636,3.46409596426e-05,1793248249827128320
+102,1.700000000,BASELINE,766,744.174953726,715.825046274,679,659,634,877.174953726,785,809,651,629,652.825046274,0.400983049008,-0.0153567697276,0.0798454200272,0.999999923135,0.000285346790638,-0.000266681586338,3.44680803036e-05,1793248249843795200
+103,1.716666667,BASELINE,766,744.767083217,715.232916783,679,659,634,877.767083217,785,809,651,629,652.232916783,0.400980662681,-0.0153565036494,0.0798442167912,0.999999922664,0.000285167851651,-0.000268692993769,3.39905943243e-05,1793248249860461824
+104,1.733333333,BASELINE,765.650226262,744.650226262,715,679,659,634,878.349773738,784.650226262,809.349773738,651,629,652.349773738,0.400980590059,-0.0153558544039,0.0798438117762,0.99999992239,0.000285811383365,-0.000269066864661,3.36921036235e-05,1793248249877128448
+105,1.750000000,BASELINE,765.073655997,744.073655997,715,679,659,634,878.926344003,784.073655997,809.926344003,651,629,652.926344003,0.400982017665,-0.0153549567089,0.0798439243349,0.999999922244,0.000286988212672,-0.000268378941916,3.35096750694e-05,1793248249893795328
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,878,784,810,651,629,653,0.400983012424,-0.0153535916052,0.0798448032198,0.999999921983,0.000288734475513,-0.000267387955302,3.42116785527e-05,1793248249925954304
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658.598188737,634,878,784.598188737,810,651,629.598188737,653,0.40098179364,-0.0153553362084,0.0798439339921,0.999999922262,0.000286699862359,-0.000268514969794,3.43416720157e-05,1793248249942621184
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.194797095,744.194797095,715,679.194797095,659,634,878,785,809.805202905,651,629.805202905,653,0.400981228586,-0.0153564644787,0.0798434763093,0.999999922452,0.000285505355268,-0.000269064362339,3.44654771449e-05,1793248249959287808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.78817192,744.78817192,715,679.78817192,659,634,878,785,809.21182808,651,629.21182808,653,0.400982001141,-0.01535633166,0.0798438606957,0.999999922468,0.00028602980346,-0.00026843187276,3.45766202405e-05,1793248249975954176
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.628324811,715,679.628324811,659,634,878,785,809.371675189,651,629,653,0.400981954701,-0.0153552611147,0.0798436321058,0.999999921639,0.000288485295016,-0.000268908881146,3.4430000242e-05,1793248249992620800
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.050302094,715,679.050302094,659,634,878,785,809.949697906,651,629,653,0.400981453571,-0.0153536699599,0.0798430632023,0.999999920331,0.000292012867856,-0.000270001863329,3.41402746991e-05,1793248250009287424
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.473904632,744,715,679,659,634,878,785,810,651,629,653,0.400982125667,-0.0153549898491,0.079844196004,0.999999921414,0.000289814233662,-0.000268335881639,3.42766379052e-05,1793248250025954048
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658.895606049,634,878,785,810,651,629,653,0.400982588082,-0.015356220526,0.0798449424003,0.99999992239,0.00028746396533,-0.000267210886297,3.43881457572e-05,1793248250042620416
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658.307786409,634,878,785,810,651,629,653,0.400981561644,-0.0153557531337,0.0798431482976,0.99999992185,0.000286939083768,-0.000269808899227,3.4196476532e-05,1793248250059287040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715,679.276023938,658.276023938,634,878,784.723976062,809.723976062,651,629,653,0.400982520551,-0.015355617055,0.0798433835196,0.999999922113,0.00028612185242,-0.000269707482586,3.41524968478e-05,1793248250075953408
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715,679.855427605,658.855427605,634,878,784.144572395,809.144572395,651,629,653,0.400985661564,-0.0153558451254,0.0798458491858,0.999999923257,0.000284983297531,-0.000266639104952,3.42708437236e-05,1793248250092620288
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.432169938,744.432169938,715.432169938,680,659,634.432169938,878,784.432169938,809.432169938,651,629,653,0.401001742829,-0.0153569101136,0.0798528547125,0.999999925957,0.000286340852003,-0.000254707150692,3.49285049058e-05,1793248250109286656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.99197745,744.99197745,715.99197745,680,658.99197745,634.99197745,878,784.99197745,810,651,629,653,0.401022551733,-0.0153582519268,0.0798614989237,0.999999929054,0.000288484334895,-0.000239561633007,3.57624667445e-05,1793248250125953536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.416473317,744.416473317,715.416473317,680,658.416473317,634.416473317,878,784.416473317,810,651,629,653,0.401073442623,-0.0153594923767,0.0798792874486,0.999999936878,0.000287517113093,-0.00020555749033,3.63834965775e-05,1793248250142620160
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658.16324078,634,878,784.16324078,810,651,629,653,0.401129039975,-0.0153609041505,0.079896535219,0.999999943296,0.000286775769283,-0.000172652468574,3.68676204574e-05,1793248250159287040
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715,680,658.753980154,634,878,784.753980154,810,651,629,653,0.401196962728,-0.0153627645917,0.0799123668534,0.999999948067,0.000286625960165,-0.000142625842233,3.69932121844e-05,1793248250175953664
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.33806997,715.33806997,680,659,634,878.33806997,785,810,651,629,653,0.401270439292,-0.0153662042029,0.0799245604933,0.999999950727,0.000285629178421,-0.000125085459264,3.62712142199e-05,1793248250192620288
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.917414087,715.917414087,680,659,634,878.917414087,785,810,651,629,653,0.401347879501,-0.0153707708377,0.0799341577642,0.999999952272,0.000284027928443,-0.000116456274031,3.49443075209e-05,1793248250209286912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.492137581,745,715.507862419,680,659,634.492137581,878.015724837,785,810,651,629,653,0.401439915691,-0.0153731338477,0.0799373616052,0.999999953677,0.000282397031722,-0.000108857453732,3.23747625831e-05,1793248250225953536
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.932228151,877.067771849,784.932228151,810,651,629,652.932228151,0.401537574183,-0.0153755173077,0.0799397033813,0.999999955097,0.000280452236745,-0.000101403334546,2.94922463128e-05,1793248250242620160
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.343692699,877.656307301,784.343692699,810,651,629,652.343692699,0.401659788858,-0.0153808729822,0.0799435884348,0.999999957149,0.000276133298755,-9.37448438639e-05,2.57922750804e-05,1793248250259286784
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.759089149,744.759089149,715.240910851,679.759089149,658.759089149,634,878,784.240910851,810,651,629,652.240910851,0.40179236259,-0.0153862832887,0.0799476986045,0.999999959204,0.000271378709621,-8.64340047315e-05,2.17835448092e-05,1793248250275953664
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180004967,744.180004967,715.819995033,679.180004967,658.180004967,634,878,784.819995033,810,651,629,652.819995033,0.401939477614,-0.0153917702832,0.0799521247759,0.999999961299,0.000266012585111,-7.96111744959e-05,1.7341401113e-05,1793248250292620288
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,716,679.397199687,658,634,878,785,810,651,629,653,0.402105949404,-0.0153984499863,0.0799557094241,0.999999964021,0.000258174289728,-7.17744068719e-05,1.23574807077e-05,1793248250309286912
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,716,679.973556629,658,634,878,785,810,651,629,653,0.402281152094,-0.0154056676621,0.0799589145029,0.999999966904,0.000249220919082,-6.3480301328e-05,7.12919107079e-06,1793248250325953536
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,715.450892509,680,658.549107491,634,878,785,810,651,629,653,0.402472687571,-0.0154105051565,0.0799539895861,0.999999967946,0.000241694985144,-7.54482589015e-05,1.48675897075e-07,1793248250342620160
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659.126982392,634,878,785,810,651,629,653,0.402674385156,-0.0154155984156,0.0799491320951,0.99999997305,0.000215308620089,-8.65419480503e-05,-7.2467527424e-06,1793248250359286784
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.71340642,634,878,785,810,651,629,653,0.402910009203,-0.0154220311849,0.0799459330483,0.999999988487,0.000120433987816,-9.09471298953e-05,-1.58385442934e-05,1793248250375953408
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659.70213845,634,878,784.70213845,810,651,629,653,0.403174375828,-0.0154306596043,0.0799460386421,0.99999999336,6.90818254618e-05,-8.90617561622e-05,-2.39952383731e-05,1793248250392620288
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659.119565331,634,878,784.119565331,810,651,629,653,0.40346621609,-0.0154413867401,0.0799493029834,0.999999994443,5.93307109471e-05,-8.11635423834e-05,-3.17360432442e-05,1793248250409286912
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,715.455197188,680,659,634,878,784,810,651,629,653,0.403781638737,-0.0154507700143,0.0799528724263,0.999999994729,6.05720250209e-05,-7.60158603797e-05,-3.30970274018e-05,1793248250425953792
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.028109493,744.028109493,716,680,659,634,878,784.028109493,810,651,629,653,0.404105461996,-0.0154595362676,0.0799562192112,0.999999994783,6.50190925887e-05,-7.17326166417e-05,-3.25845023342e-05,1793248250442620928
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.604273371,744.604273371,716,680,659,634,878,784.604273371,810,651,629,653,0.40447433908,-0.0154630385451,0.0799536886588,0.9999999942,7.66237806783e-05,-7.04548860229e-05,-2.7665448191e-05,1793248250459287040
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.814747797,745,715.814747797,680,659.185252203,634,878,785,810,651,629,653,0.40485849683,-0.0154673918978,0.0799524046452,0.999999994214,7.96794851701e-05,-6.74424946024e-05,-2.59784455664e-05,1793248250475953664
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.22320911,745,715.22320911,680,659.77679089,634,878,785,810,651,629,653,0.405276167374,-0.015473611788,0.0799538544823,0.999999995623,6.3985956293e-05,-6.0625726242e-05,-3.13798281434e-05,1793248250492620288
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.639223482,634,878,785,810,651,629,653,0.405709806714,-0.0154768071491,0.0799477320219,0.999999995189,5.85769490935e-05,-7.21837260519e-05,-3.12974541518e-05,1793248250509286912
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.05981498,634,878,785,810,651,629,653,0.406153123247,-0.0154781696342,0.0799370207196,0.999999993346,5.94004007864e-05,-9.48769066691e-05,-2.78919027109e-05,1793248250525953536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.514456037,745,715,680,659.514456037,634,878.514456037,785,810,651,629,653,0.406622520238,-0.0154894401288,0.0799297818726,0.999999992759,4.62105686642e-05,-0.000107040936581,-2.98057125905e-05,1793248250542620928
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.910082398,744.910082398,715.089917602,680,660,634,878.910082398,785,810,651,629,653,0.407102939515,-0.0155013734548,0.0799235352557,0.999999992069,3.20644370682e-05,-0.000117499192044,-3.20721860961e-05,1793248250559288064
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.324803645,744.324803645,715.675196355,680,660,634,878.324803645,785,810,651,629,653,0.407627541247,-0.0155106747423,0.079920552671,0.999999991384,2.15371597814e-05,-0.000125237788863,-3.2907987057e-05,1793248250575954432
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.259176235,744,715.740823765,680,659.740823765,634,878,785,810,651,629,653,0.408177265877,-0.0155151920123,0.079917534651,0.999999990711,1.24863970479e-05,-0.000131314652006,-3.43217815682e-05,1793248250592621056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.84153643,744,715.15846357,680,659.15846357,634,878,785,810,651,629,653,0.408758317877,-0.0155137437743,0.0799144724446,0.999999990166,5.27679842855e-06,-0.000135319389263,-3.64563143514e-05,1793248250609287680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.581533531,744.418466469,715.418466469,680,659.418466469,634,878,785,810.418466469,651,629,653,0.409397978672,-0.01550998543,0.079936616026,0.99999999433,1.0078256315e-05,-9.97666006698e-05,-3.58511340797e-05,1793248250625954304
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.006633439,744.993366561,715.993366561,680,659.993366561,634,878,785,810.993366561,651,629,653,0.410059548942,-0.015505363508,0.0799681821849,0.999999998005,1.93697588959e-05,-4.94261822569e-05,-3.42217778563e-05,1793248250642621184
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.430327107,715.430327107,680,660,634.569672893,878,785,811,651,629,653,0.410735419489,-0.0155086526075,0.0799880691927,0.99999999912,1.85013540149e-05,-1.78343931281e-05,-3.31607934632e-05,1793248250659288064
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.149016677,744.149016677,715.149016677,680,660,634.850983323,878.149016677,785,810.850983323,651,628.850983323,653,0.411409795109,-0.015512332146,0.0799947709406,0.999999999296,1.52133112199e-05,-7.64536376399e-06,-3.34462815209e-05,1793248250675954688
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.737264966,744.737264966,715.737264966,680,660,634.262735034,878.737264966,785,810.262735034,651,628.262735034,653,0.412079272232,-0.0155168903222,0.0799630105355,0.999999997483,5.14287607547e-06,-5.98966045138e-05,-3.76809862226e-05,1793248250692620800
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.678472355,680,660,634,879,785,810.321527645,651,628.64305529,653,0.412777830551,-0.0155179254272,0.0799335341255,0.99999999417,-3.23519178485e-06,-9.92038236153e-05,-4.25206011096e-05,1793248250709287424
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.097426561,680,660,634,879,785,810.902573439,651,629.805146878,653,0.413499861569,-0.0155161169173,0.0799059012182,0.999999990603,-1.02472816898e-05,-0.00012806339771,-4.78484643098e-05,1793248250725954048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.521487408,745,715.478512592,680.478512592,660,634,879,785,810.521487408,651,629.521487408,653,0.414279776946,-0.0155161144379,0.0799185685358,0.999999993623,-8.2453966846e-06,-0.000102128337523,-4.74859116974e-05,1793248250742620928
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.946523754,715.946523754,680.946523754,660,634,879,785,810.053476246,651,629,653,0.415070397328,-0.0155161546833,0.0799381852526,0.999999996553,-4.55017050983e-06,-6.89384500126e-05,-4.60607489501e-05,1793248250759287552
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.37103993,715.37103993,680.37103993,660,634,879,785,810.62896007,651,629,653,0.415851686483,-0.0155130604631,0.0799463888208,0.999999996323,-2.05122571175e-06,-7.26832454737e-05,-4.54530260229e-05,1793248250775954432
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.210468319,744.210468319,715,680,660,634,879,785,811,651,629.210468319,653,0.41665700265,-0.0155117111567,0.0799497141941,0.999999996269,-2.37182822203e-06,-7.31335630455e-05,-4.59219196769e-05,1793248250792621056
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.802910107,744.802910107,715,680,660,634,879,785,811,651,629.802910107,653,0.417505924771,-0.0155135286494,0.0799441862581,0.999999996516,-7.80955384915e-06,-6.7604818284e-05,-4.83447367566e-05,1793248250809287680
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.384772844,660,633.615227156,879,785,811,651,629.615227156,653,0.418394010926,-0.0155171663049,0.0799634252418,0.999999998386,-1.44631899686e-05,-2.55705587216e-05,-4.86347002035e-05,1793248250825954304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.961361719,660,633.038638281,879,785,811,651,629.038638281,653,0.419301621016,-0.0155217113436,0.0799950109709,0.999999998018,-2.17229786529e-05,3.46623420797e-05,-4.78613983737e-05,1793248250842621184
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.46368122,744.46368122,715,680.46368122,660,633,879,785,811,651,629,653,0.420156493293,-0.0155210914706,0.0799779915757,0.99999999866,-1.57356319592e-05,4.85487970126e-06,-4.90763497006e-05,1793248250859287808
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.111259793,715,680,660,633,879,785,811,651,629.111259793,653,0.421017954607,-0.0155212161444,0.0799629064645,0.999999998428,-1.22560100849e-05,-2.20924841667e-05,-5.00594518602e-05,1793248250875954176
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.686622608,715,680,660,633,879,785,811,651,629.686622608,653,0.421922701448,-0.0155259940225,0.0799704523471,0.999999998455,-2.32059072973e-05,-1.0132681566e-05,-4.9479736898e-05,1793248250892621056
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.27015439,633.27015439,879,785,811,651,629.72984561,653.27015439,0.422851662507,-0.0155297627073,0.0799867820797,0.999999998394,-2.7002196466e-05,1.2603015339e-05,-4.82101385945e-05,1793248250909287936
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.863457672,633.863457672,879,785,811,651,629.136542328,653.863457672,0.423809587856,-0.0155323242322,0.0800136187364,0.999999997526,-2.22416003711e-05,4.82284480493e-05,-4.61153267296e-05,1793248250925954816
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.443448674,745,715,680.443448674,661,634,879.443448674,785,811.443448674,651.443448674,629,653.556551326,0.424686563636,-0.0155283704611,0.0799827022163,0.999999998557,-1.19250022004e-05,-2.02357258761e-05,-4.83249822986e-05,1793248250942621184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.980548608,715.019451392,680.980548608,660.980548608,634,879.980548608,784.980548608,812,651.980548608,629.019451392,653.019451392,0.425542841789,-0.0155227427362,0.0799356001442,0.999999991897,-6.76946487179e-07,-0.00011626477979,-5.1851524127e-05,1793248250959288064
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.404795507,715.595204493,680.404795507,660.404795507,634,879.404795507,784.404795507,812,651.404795507,629.595204493,653.595204493,0.426499251995,-0.0155249427979,0.0799193556812,0.999999992235,-1.02903215331e-05,-0.000110729494996,-5.62396649062e-05,1793248250975954688
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.824908594,744.175091406,715.824908594,680.175091406,660.175091406,634,879,784.175091406,812.175091406,651,630,653.824908594,0.427441206367,-0.0155269000462,0.0799081375736,0.999999992035,-1.78596282616e-05,-0.000110079876411,-5.9106061568e-05,1793248250992621312
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.235233621,744.764766379,715.235233621,680.764766379,660.764766379,634,879,784.764766379,812.764766379,651,630,653.235233621,0.428348931983,-0.0155282823579,0.0799088209327,0.999999990764,-2.05889645404e-05,-0.000120998598174,-5.83692537101e-05,1793248251009287936
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.348334475,745,715,680.651665525,661,634,879.348334475,785,812.303331049,651,629.651665525,653,0.429318023764,-0.0155320005519,0.0799322170814,0.999999993653,-2.89119398667e-05,-9.31859257111e-05,-5.63396889744e-05,1793248251025954048
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.927849572,745,715,680.072150428,661,634,879.927849572,785,811.144300856,651,629.072150428,653,0.430327842652,-0.0155372690109,0.0799706871237,0.999999996946,-4.09472692139e-05,-3.96682235998e-05,-5.34521546844e-05,1793248251042620416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.497689062,744.497689062,715,680.502310938,661,634,880,785,811.502310938,651,629.502310938,653.502310938,0.431306986367,-0.0155385823373,0.0800117985166,0.999999997721,-3.84989698433e-05,2.27078554387e-05,-5.06078869132e-05,1793248251059287552
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.076447988,715,680.923552012,661,633.923552012,879.923552012,785,812,651,630,653.923552012,0.432265152138,-0.0155385249398,0.0800390669286,0.999999996155,-3.46083907379e-05,6.41143580817e-05,-4.88097664992e-05,1793248251075954176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.653165412,715,680.346834588,661,633.346834588,879.346834588,785,812,651,630,653.346834588,0.4331145854,-0.0155331782284,0.0799732899718,0.99999999715,-3.47579173825e-05,-3.99458598226e-05,-5.38172884712e-05,1793248251092621056
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.235578533,661,633,879.235578533,785,812.235578533,651,630,653,0.433984734546,-0.0155325371679,0.0799240433593,0.999999991244,-3.86218822677e-05,-0.000112344676222,-5.83013872628e-05,1793248251109287680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.826585096,661,633,879.826585096,785,812.826585096,651,630,653,0.434886138815,-0.0155389957359,0.0798997368181,0.999999987541,-4.80899892635e-05,-0.000136974514711,-6.19957751726e-05,1793248251125954048
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.408196213,745,715.408196213,681,661,633,880,785,813,651,630,653,0.435823855167,-0.0155425767185,0.0799217509634,0.999999991013,-5.23642728452e-05,-0.000107437056502,-6.07457931335e-05,1793248251142620672
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.985905612,745,715.985905612,681,661,633,880,785,813,651,630,653,0.436776650921,-0.0155449627148,0.0799630008768,0.999999995331,-5.44816970525e-05,-5.54053384049e-05,-5.7442543533e-05,1793248251159287552
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.440784314,715.440784314,680.440784314,661,633,880.559215686,785,813,650.440784314,630,653,0.43770373299,-0.0155484873143,0.0800011778559,0.999999997011,-5.48605998863e-05,6.57818609953e-06,-5.40795064252e-05,1793248251175953920
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.136134689,715,680.136134689,661,633,880.863865311,785,813,650.136134689,630,653,0.438612850907,-0.0155514218856,0.0800310607383,0.999999995538,-5.65432983248e-05,5.50793933655e-05,-5.18944926889e-05,1793248251192620544
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.725433241,715,680.725433241,661,633,880.274566759,785,813,650.725433241,630,653,0.439464310372,-0.0155522975947,0.0800335901102,0.999999994921,-6.27107803561e-05,5.78723645277e-05,-5.3635849699e-05,1793248251209287936
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,785.309718149,813,651,630,653,0.440255135312,-0.0155488978384,0.0799875789235,0.999999996313,-6.18089596872e-05,-1.28734706254e-05,-5.82098286731e-05,1793248251225954560
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,880,785.889629207,813,651,630,653,0.440993063666,-0.0155417682378,0.0798992217691,0.999999985454,-5.47399969373e-05,-0.000147773324894,-6.52549385581e-05,1793248251242621184
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.466945841,880,785.533054159,813,651,630,653,0.441776733881,-0.0155405699553,0.0798485028042,0.999999973021,-4.88430935306e-05,-0.000216010516777,-7.00833520753e-05,1793248251259287808
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.956741941,745,715,681,661,633.956741941,880,785,813,651,630,653,0.442575130609,-0.0155412726073,0.0798156872325,0.999999963616,-4.50509506569e-05,-0.000255583955386,-7.3586113109e-05,1793248251275954176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.38524841,745,715,681,661,633.38524841,880,785,813,651,630,653,0.443422058662,-0.015548162836,0.0798934581975,0.999999986401,-6.35963190816e-05,-0.000136485011683,-6.72637773219e-05,1793248251292620544
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.806747912,715,681.193252088,661.193252088,633,880,785,813,651,630,653,0.44424294582,-0.0155539821339,0.0799606374801,0.99999999459,-7.6058213919e-05,-3.52291960261e-05,-6.15935485563e-05,1793248251309286912
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.213753379,715,681.786246621,661.786246621,633,880,785,813,651,630,653,0.445009967476,-0.0155575862101,0.0800059078547,0.999999995053,-7.59364326634e-05,2.91180817329e-05,-5.72722052075e-05,1793248251325953536
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.369260215,744.369260215,715,681.26147957,661.630739785,633.369260215,880,784.630739785,813.369260215,651,630,653,0.44574968974,-0.0155602675971,0.0800256980745,0.999999994108,-7.45795286379e-05,5.60554784191e-05,-5.54920752452e-05,1793248251342620672
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.946648173,744.946648173,715,680.106703655,661.053351827,633.946648173,880,784.053351827,813.946648173,651,630,653,0.446474025084,-0.0155624289246,0.0800311268009,0.999999993933,-7.25264671136e-05,6.19073771625e-05,-5.51442607956e-05,1793248251359287808
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.478028079,745,715,680.521971921,661,634,880,784.521971921,814,651,630,653.521971921,0.447133879851,-0.0155640929986,0.0800047819663,0.999999994848,-7.60665215839e-05,3.30839524564e-05,-5.85054022814e-05,1793248251375954432
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.900552534,880,784.900552534,814,651,630,653.900552534,0.447766932374,-0.0155663134046,0.0799712564868,0.999999994603,-8.27249400467e-05,-8.72664144104e-06,-6.22527548944e-05,1793248251392621056
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.311447259,880,784.311447259,814,651,630,653.311447259,0.448300339739,-0.0155715223363,0.0799183027609,0.99999998791,-0.000101933747898,-9.71009333398e-05,-6.60424735015e-05,1793248251409287936
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.272323724,745,715,681.272323724,661,633,880,784,814,651,630,653,0.448835090037,-0.0155746087893,0.0798746831852,0.999999977775,-0.000111204101542,-0.000165134123837,-6.93821365196e-05,1793248251425954304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.850111225,745,715,681.850111225,661,633,880,784,814,651,630,653,0.449371346658,-0.015575314471,0.0798415336694,0.999999969292,-0.000109326554033,-0.00021035082578,-7.22169751753e-05,1793248251442620672
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.571709643,745,715,682,661,633,880,783.571709643,814,651,630,653,0.449932728315,-0.0155807347441,0.0798493950925,0.999999971322,-0.000117491934584,-0.000196141699803,-7.12789082479e-05,1793248251459287808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880,783,814,651,630,653,0.450502535164,-0.015587806,0.0798717058873,0.999999976309,-0.000129137134458,-0.000161061575189,-6.90235953464e-05,1793248251475955456
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880,783,814,651,630,653,0.451039812693,-0.0155948345711,0.0799012540482,0.999999980944,-0.000137483474878,-0.000121247642661,-6.71461363806e-05,1793248251492621824
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.160658129,745,715,682,661.160658129,632.839341871,880,783,814,651,630,653.160658129,0.451538417933,-0.0156016694621,0.0799153123262,0.999999981412,-0.000146806703545,-0.000105981831611,-6.62664718366e-05,1793248251509287936
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.749151784,745,715,682,661.749151784,632.250848216,880,783,814,651,630,653.749151784,0.451934038281,-0.0156079885808,0.07988812077,0.999999972905,-0.000158731405538,-0.000156088107074,-6.80439517569e-05,1793248251525954816
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.333224447,715,681.666775553,661.333551106,632,880,782.666775553,814,651,630,653.666775553,0.45231222953,-0.0156140251197,0.0798533813236,0.999999960964,-0.000167125959019,-0.000212700440688,-6.9993326426e-05,1793248251542621440
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.914012572,715,681.085987428,660.171974855,632,880,782.085987428,814,651,630,653.085987428,0.45267747209,-0.0156198517202,0.0798130342967,0.999999944878,-0.000172897845151,-0.000274146340904,-7.20704072807e-05,1793248251559287808
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.510378872,715,681.489621128,660,632,880,782,814,651,629.510378872,653,0.453029618014,-0.0156204390626,0.0797881105713,0.999999933669,-0.000176706246967,-0.00030951898637,-7.50645690059e-05,1793248251575954944
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.935893551,660,632,880.064106449,781.935893551,814,651,629,653,0.453377948131,-0.0156201992871,0.0797684976362,0.999999923978,-0.00018086498777,-0.000336496598456,-7.81136640119e-05,1793248251592621824
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.363178403,660,632,880.636821597,781.363178403,814,651,629,653,0.453714061399,-0.0156206209579,0.0797697545927,0.999999923242,-0.000190510415399,-0.000332818170166,-8.03341611266e-05,1793248251609287680
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.216910138,715,681.216910138,660,632,881,781,814,651,629,653.216910138,0.454027477935,-0.0156228906035,0.0797677195749,0.999999921047,-0.000196568190621,-0.000335631212711,-8.13588188887e-05,1793248251625954048
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.809778507,715,681.809778507,660,632,881,781,814,651,629,653.809778507,0.454301555457,-0.0156283632404,0.079759978762,0.999999916344,-0.000196407687213,-0.000349695559656,-8.03107948298e-05,1793248251642620928
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.025581706,715,682,660,632,880.025581706,780.025581706,814,651,629,653.025581706,0.454803304271,-0.0156331906305,0.079749199582,0.999999915149,-0.000178062069599,-0.000364270317374,-7.28239350294e-05,1793248251675954432
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631.712145121,880,780.287854879,814,651,629,653,0.455398301221,-0.0156445751483,0.0797441842094,0.999999905743,-0.000205670686559,-0.000375816025532,-7.05341587334e-05,1793248251725954048
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.618313969,745,715,681.763372061,660,631,880,778,814,651,629,653.618313969,0.4564265429,-0.0156462425188,0.079680781957,0.999999851257,-0.000223397521775,-0.000491528553645,-7.73197192402e-05,1793248252175953664
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+248,4.133333333,HOLD_POSE2,766,745,715,682,660,631,880,778,815,651,629,653,0.456424092294,-0.0156431934368,0.079675153193,0.999999847962,-0.000220210604919,-0.000499578237209,-7.74890729922e-05,1793248252308724480
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.482681183,745,715,682,660,631,880.482681183,778.517318817,814.517318817,651,629,653,0.456424007756,-0.0156433795297,0.0796718681982,0.999999846055,-0.000217359004825,-0.000504795629549,-7.63302110461e-05,1793248252695966976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,880.937771895,778.062228105,814,651,629,653,0.456423240123,-0.0156423574424,0.0796714471932,0.999999845999,-0.000215295593564,-0.000505809969913,-7.619637346e-05,1793248252712633344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,880.359486909,778.640513091,814,651,629,653,0.456423746063,-0.0156415578023,0.0796725071417,0.999999846255,-0.000216826326228,-0.00050460443085,-7.6492756056e-05,1793248252729299712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.22019917,715,682,659.77980083,631.22019917,880,778.77980083,814,651,629,653,0.456418839836,-0.0156411535239,0.0796702042969,0.999999844191,-0.000218465180857,-0.000507916664979,-7.68884735774e-05,1793248252745966336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.802187197,715,682,659.197812803,631.802187197,880,778.197812803,814,651,629,653,0.456405041379,-0.0156413988277,0.079662376358,0.999999838239,-0.000220281680504,-0.000518651633812,-7.74473990776e-05,1793248252762632960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.616107929,715,682,659.383892071,631.616107929,880,778,814,651,629,653,0.456376051836,-0.0156397434845,0.0796490597282,0.999999827097,-0.000218625848676,-0.000540276245365,-7.81672858452e-05,1793248252779299584
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.034548799,715,682,659.965451201,631.034548799,880,778,814,651,629,653,0.456339240361,-0.0156371094929,0.0796329169561,0.999999812698,-0.000215182104076,-0.000567507963889,-7.89700520073e-05,1793248252795965952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.545006488,715,682,660,631,880,778,814,651,629,653.545006488,0.456279372039,-0.0156355637369,0.0796112210204,0.999999791128,-0.000215520568708,-0.000604145314097,-7.93896425492e-05,1793248252812632832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.876766067,745.876766067,715,682,660,631,880,778,814,651,629.123233933,653.876766067,0.456216307528,-0.0156338436749,0.0795914314228,0.99999977156,-0.000215651134125,-0.000635634777769,-7.96449964674e-05,1793248252829299712
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.302930904,745.302930904,715,682,660,631,880,778,814,651,629.697069096,653.302930904,0.456146880984,-0.0156312349509,0.0795798947365,0.999999765178,-0.000214148059224,-0.000646129021476,-7.93883151221e-05,1793248252845966336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.722413581,682,659.722413581,631,880,778,814.277586419,651,629.722413581,653,0.456072500009,-0.015627479069,0.079573013208,0.999999760522,-0.000212709463423,-0.00065385162601,-7.86675728919e-05,1793248252862632960
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.13442416,682,659.13442416,631,880,778,814.86557584,651,629.13442416,653,0.455992578887,-0.0156224404109,0.0795713371762,0.999999757875,-0.000211342969617,-0.000658474924432,-7.7427907988e-05,1793248252879299840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.449293965,714.449293965,682,659,631,880,778,814.550706035,651,629,653,0.455897925778,-0.0156194681557,0.0795748030242,0.999999761053,-0.000211001764219,-0.000654080282407,-7.45073158049e-05,1793248252895966464
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.968702558,715,682,659.031297442,631,879.968702558,778.031297442,814,651,629,653.031297442,0.45579752932,-0.0156169922419,0.0795797485369,0.999999765904,-0.000210757124832,-0.000647088674414,-7.1058692015e-05,1793248252912632832
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.394483528,715,682,659.605516472,631,879.394483528,778.605516472,814,651,629,653.605516472,0.455673242385,-0.0156125026159,0.0795839265112,0.999999770639,-0.000206916402527,-0.000641410268772,-6.70922305903e-05,1793248252929299456
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.180436352,745,715,682.180436352,660,631,879.180436352,779,813.819563648,651,629,653.819563648,0.455538398993,-0.0156070448907,0.0795874598086,0.999999775049,-0.00020213440091,-0.00063644107213,-6.31340456814e-05,1793248252945965824
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.756894383,745,715,682.756894383,660,631,879.756894383,779,813.243105617,651,629,653.243105617,0.455380386307,-0.0155994623822,0.0795895781689,0.999999778817,-0.000195286480119,-0.000633028448084,-5.91940265948e-05,1793248252962632960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.658521571,745,715,682.658521571,660,631,880,779,813.341478429,651,629,653,0.455206967068,-0.0155916668143,0.0795896900366,0.999999781014,-0.000188018037393,-0.000632124818111,-5.51290538322e-05,1793248252979299840
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.068011362,745,715,682.068011362,660,631,880,779,813.931988638,651,629,653,0.455022312193,-0.0155837158666,0.079588338619,0.999999782044,-0.0001804429177,-0.000633050935136,-5.0972955032e-05,1793248252995966720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.51268564,745,715,682,660,631.51268564,880,779,813.48731436,651,629.51268564,653,0.454798928772,-0.0155751207221,0.0795869147015,0.999999781298,-0.000170182206969,-0.000637468959289,-4.55543050884e-05,1793248253012633344
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.909021871,745,715,682,659.909021871,631.909021871,880,779.090978129,813,651,629.909021871,653,0.45456516784,-0.0155658528086,0.0795856804465,0.999999780813,-0.000158620635506,-0.00064157553337,-3.99198539171e-05,1793248253029299712
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.336692847,745,715,682,659.336692847,631.336692847,880,779.663307153,813,651,629.336692847,653,0.45430317284,-0.015553469026,0.0795854995947,0.999999783492,-0.000142025939267,-0.000641629450871,-3.40131311235e-05,1793248253045966080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.235694232,745,715,682,659.235694232,631.235694232,880,780,813,651,629,653,0.454018668979,-0.0155441997711,0.0795832747768,0.999999786092,-0.000110399529823,-0.000644107363319,-2.7446266077e-05,1793248253062632704
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.808164231,745,715,682,659.808164231,631.808164231,880,780,813,651,629,653,0.453702002961,-0.0155393807637,0.0795781294028,0.999999786878,-5.72947985457e-05,-0.000650048841647,-1.99361456935e-05,1793248253079299328
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.603648159,745,715,682,660,632,880,780,813,651,629,653,0.453369576938,-0.0155360194184,0.0795764118842,0.999999787694,-3.83492474815e-05,-0.000650353923836,-1.34896505515e-05,1793248253095965952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.007539051,745,715,682,660,632,880,780,813,651,629,653,0.453029208044,-0.0155333927199,0.0795764219699,0.999999789466,-3.66195748838e-05,-0.000647818320558,-7.57921187642e-06,1793248253112632576
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.430039511,682,660,632,880,780.569960489,813,651,629,653.569960489,0.452645493543,-0.0155319689416,0.0795797887602,0.999999792606,-2.82447229524e-05,-0.000643414561427,-2.93057423788e-06,1793248253129299456
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.146069954,745,714.146069954,682,660,632,880,781,813,651,629.146069954,653.853930046,0.452253708903,-0.0155296151141,0.0795859329777,0.999999798142,-2.57733942435e-05,-0.000634862181893,-1.09331084505e-06,1793248253145966336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.71881515,745,714.71881515,682,660,632,880,781,813,651,629.71881515,653.28118485,0.451839972995,-0.0155244995739,0.079600064559,0.999999810482,-4.07950914609e-05,-0.000614261442002,-7.42095560924e-06,1793248253162633472
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.700244544,745,715,682,660,632,880,781.299755456,812.700244544,651,630,653,0.451404668236,-0.015520995966,0.0796137289864,0.999999822388,-4.3363005693e-05,-0.000594364104982,-8.60056670071e-06,1793248253179300096
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.111400693,745,715,682,660,632,880,781.888599307,812.111400693,651,630,653,0.450948562123,-0.0155190469279,0.0796269428854,0.999999834017,-3.39203174433e-05,-0.000575145137292,-4.81534213357e-06,1793248253195966208
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.472190318,880.472190318,782,812,651,630,653,0.450468377726,-0.0155163749774,0.0796463100179,0.999999855171,-2.87170647592e-05,-0.000537430712511,-1.14963332179e-06,1793248253212632832
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.053687517,745,715,682,660,632.946312483,880.946312483,782.053687517,812,651,630,652.946312483,0.449978885252,-0.0155133335569,0.0796675000088,0.999999876839,-2.34401421266e-05,-0.000495747077004,2.67491314099e-06,1793248253229299456
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.626785715,745,715,682,660,632.373214285,880.373214285,782.626785715,812,651,630,652.373214285,0.449453693326,-0.0155083495068,0.0796924354664,0.999999895321,-7.88048523138e-06,-0.00045741368273,8.30596063034e-06,1793248253245966080
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.799221161,745,715,682,660.200778839,632.200778839,880,783.200778839,812,651,630,652.200778839,0.448895634575,-0.0155000809641,0.0797053802135,0.999999903005,8.35343475629e-06,-0.000440206556289,1.17765248041e-05,1793248253262632960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.223557107,745,715,682,660.776442893,632.776442893,880,783.776442893,812,651,630,652.776442893,0.4482762084,-0.0154856797648,0.0796959364441,0.999999892675,2.58463075047e-05,-0.00046244545,1.12131314059e-05,1793248253279300096
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,744.640198235,715,682,660.640198235,633,880,784,812,651.359801765,630,653,0.447647765091,-0.0154701746321,0.0796896665772,0.999999889063,4.93433298788e-05,-0.000468298080323,1.16406702425e-05,1793248253295966720
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,744.051953849,715,682,660.051953849,633,880,784,812,651.948046151,630,653,0.447013596715,-0.0154539685988,0.0796854118611,0.999999889451,7.66524609144e-05,-0.00046374686705,1.26973643094e-05,1793248253312633088
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.529638544,715,682.529638544,660.529638544,633,880,784,812,651.470361456,630,653.529638544,0.446383081068,-0.0154454505311,0.079728565294,0.999999916718,8.86102251914e-05,-0.000398076685916,1.56957572026e-05,1793248253329299712
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.890268248,660.890268248,633,880,784,812,651,630,653.890268248,0.445743691579,-0.0154360754322,0.0797766747152,0.999999941224,0.000102467045526,-0.000326652645177,1.87105806473e-05,1793248253345966336
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.313810795,660.313810795,633,880,784,812,651,630,653.313810795,0.445065053769,-0.0154198872917,0.0798263291961,0.999999958482,0.000130726670529,-0.000255939450181,2.09952164304e-05,1793248253362633472
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.266650153,745,715,682.266650153,660.266650153,633,880,784,812,651,630,653,0.444344313918,-0.015405791951,0.0798527343864,0.999999962891,0.00015310776581,-0.000224151226035,2.30788411099e-05,1793248253379299840
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.851894564,745,715,682.851894564,660.851894564,633,880,784,812,651,630,653,0.443573270353,-0.0153941970904,0.079851361274,0.99999995697,0.000168465183756,-0.00023887064447,2.49222976378e-05,1793248253395965952
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.567910057,745,715,683,660.567910057,633,879.567910057,784,812,651,630,653,0.4427696453,-0.0153937212944,0.0798287785707,0.999999948891,0.000165665633839,-0.000272368329534,2.42651349327e-05,1793248253412632832
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744.989408049,715,682.989408049,660,633,879.021183902,784.010591951,812,651,630,653.010591951,0.441954514704,-0.0153970197744,0.0797992754834,0.999999938865,0.000156694154388,-0.000311767188345,2.27688442224e-05,1793248253429299968
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.409976483,715,682.409976483,660,633,880.180047033,784.590023517,812,651,630,653.590023517,0.441114315821,-0.0154006977926,0.0797840341047,0.999999935743,0.000146635962526,-0.000326407104598,2.17074271847e-05,1793248253445966592
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.167770964,715,682,660,633,880.664458072,784.832229036,812,651,630,653.832229036,0.440250226497,-0.0154010304074,0.0797531199045,0.999999920398,0.000146930849196,-0.000370431835161,1.98959194233e-05,1793248253462633216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.741443852,715,682,660,633,879.517112296,784.258556148,812,651,630,653.258556148,0.439328337136,-0.0153932692154,0.0796842871752,0.999999867149,0.000172273779374,-0.000485549630826,1.62696561181e-05,1793248253479300096
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.32354438,745,715,682.32354438,660,633,879.32354438,784,812,651,630,653,0.438452487484,-0.0153891634406,0.0796718844126,0.999999855076,0.000186480383316,-0.000504784122495,1.62949553988e-05,1793248253495966976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.912559833,745,715,682.912559833,660,633,879.912559833,784,812,651,630,653,0.437614413871,-0.015388056969,0.0797057829487,0.999999882302,0.00019154953114,-0.000445345498008,1.93163948864e-05,1793248253512633344
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.506633321,744.506633321,715,683,660.493366679,633.493366679,880,784,811.506633321,651,630,653,0.436794800407,-0.0153918385322,0.0797792775307,0.99999992543,0.000190933272264,-0.000334591695204,2.70785968921e-05,1793248253529299712
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744,715,682.350585602,660.350585602,633.350585602,880,784,811.649414398,651,630,653,0.435068189145,-0.0153952112145,0.0798604041442,0.999999956261,0.000195018758979,-0.000219358588978,3.64235699558e-05,1793248253562633472
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.224756566,744,715,682,660,633,879.775243434,784,811.775243434,651,630,653,0.434152940071,-0.0153958002509,0.0798527105384,0.999999952566,0.00019974071423,-0.000231543040812,3.68770893274e-05,1793248253579300608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.797572569,744,715,682,660,633,879.202427431,784,811.202427431,651,630,653,0.433213689537,-0.015398236015,0.0798182111099,0.999999940117,0.000204220155074,-0.000277128466906,3.55087149119e-05,1793248253595966720
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.02045108,744.97954892,715,682,660,633,879.97954892,784,811,651,630,653,0.43112301974,-0.0153823211183,0.0796935708045,0.999999844604,0.000219228678589,-0.000511880568553,2.66309466735e-05,1793248253629299712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.443625882,715,682,660,633.556374118,879.443625882,784,811,651,630,653,0.430224763101,-0.0153809405178,0.0797146064265,0.99999986337,0.000228481323143,-0.000469285209232,2.87678715244e-05,1793248253645966336
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.132391381,715,682,660,633.867608619,879.264782763,784,811,651,630,653,0.429340790122,-0.0153811977778,0.079750582724,0.999999890496,0.000234265222852,-0.000403838467543,3.227086622e-05,1793248253662632960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.70785689,715,682,660,633.29214311,880.415713779,784,811,651,630,653,0.428484383358,-0.015385887071,0.079825917795,0.999999933167,0.000228309306379,-0.00028281124195,3.94836673256e-05,1793248253679299584
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.709764019,660,633.290235981,880.419528038,784,811,651,630,653,0.427584633903,-0.015388528775,0.0798534346328,0.999999943839,0.000230684122994,-0.000239243371331,4.32340125229e-05,1793248253695966208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.120256139,660,633.879743861,879.240512278,784,811,651,630,653,0.42664019242,-0.0153890591417,0.0798316445074,0.999999931898,0.000241649036157,-0.000275546408171,4.34141051409e-05,1793248253712633088
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.46107881,660,634,879,784,811,651,629.53892119,653,0.425647359745,-0.0153860209568,0.079792058642,0.999999913812,0.000242183082809,-0.000334867051699,3.98514279927e-05,1793248253729299712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.960114109,660,633.960114109,879,784,811,651,629.039885891,653,0.424644681513,-0.0153818648919,0.0797493844594,0.999999891,0.000240921030291,-0.000398359126654,3.56003464584e-05,1793248253745966592
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.387100222,660,633.387100222,879,784,811,651,629.612899778,653,0.423676165369,-0.0153749906594,0.0797263886976,0.999999871536,0.000251381812011,-0.000438762961733,3.496838107e-05,1793248253762632960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.186188387,744.813811613,715,681,660,633,878.813811613,784,811,651,630,653,0.422748391069,-0.0153716262452,0.0797217024857,0.99999986762,0.000256713714474,-0.000444566620324,3.4915558734e-05,1793248253779299584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.760049116,744.239950884,715,681,660,633,878.239950884,784,811,651,630,653,0.421905447261,-0.0153755698018,0.0797551395178,0.999999896191,0.000251366517624,-0.000378327493037,3.60685995926e-05,1793248253795966208
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.654212692,744.345787308,715,681,660,633.345787308,878.345787308,784,810.654212692,651,629.654212692,653,0.421086626965,-0.0153797039098,0.0798075540866,0.999999928527,0.000244809460549,-0.000285361475782,3.97926704788e-05,1793248253812632832
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.059939275,744.940060725,715,681,660,633.940060725,878.940060725,784,810.059939275,651,629.059939275,653,0.420285142108,-0.0153839749497,0.0798736060952,0.999999955798,0.000237382984616,-0.000173189258287,4.53643080691e-05,1793248253829299456
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.479225517,715,681,659.479225517,634,878.479225517,784.520774483,810.520774483,651,629,652.479225517,0.419366928473,-0.0153780076651,0.0798574870642,0.999999947201,0.000246179916529,-0.000207479744571,4.41162264761e-05,1793248253845966336
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.900912946,659.099087054,634,878,784.900912946,810.900912946,651,629,652.099087054,0.41844545642,-0.0153722055437,0.079831203822,0.999999933621,0.000253536584985,-0.000258336376619,4.17146763683e-05,1793248253862633216
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,680.326819555,659.673180445,634,878,784.326819555,810.326819555,651,629,652.673180445,0.417571135081,-0.0153727008528,0.0798003826367,0.999999921218,0.000245264728407,-0.000309847836454,3.74509056779e-05,1793248253879299840
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.746550537,634,878,784,810,651,629,653,0.416728054663,-0.0153719555514,0.0797889843977,0.999999913403,0.000243141705311,-0.000335826712019,3.60199215185e-05,1793248253895966976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.158119297,634,878,784,810,651,629,653,0.415926265146,-0.0153695705466,0.0798032572869,0.999999914417,0.000249145539036,-0.00032805940744,3.83330051641e-05,1793248253912633344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.423539675,744,715,680,659,634,878,784,810,651,629,653,0.415112985803,-0.0153647501268,0.0797908502046,0.999999905067,0.000257647364636,-0.000349306828933,3.83194827606e-05,1793248253929299712
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.997301288,744,715,680,659,634,878,784,810.002698712,651,629.002698712,652.997301288,0.414295902429,-0.0153590968348,0.0797688272074,0.999999891134,0.000266960346578,-0.000380868753073,3.74516500973e-05,1793248253945966336
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.420586837,744,715,680,659,634,878,784,810.579413163,651,629.579413163,652.420586837,0.413567728629,-0.0153666369026,0.0797867311909,0.999999909847,0.000253570143634,-0.00033861533648,3.6713050897e-05,1793248253962632704
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.153630992,715,680,659,634,878.153630992,784.153630992,811,651,629.846369008,652.153630992,0.412846539596,-0.0153720100587,0.0798019877192,0.999999922488,0.000245130724443,-0.000305920893,3.66974848807e-05,1793248253979299328
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.721123383,715,680,659,634,878.721123383,784.721123383,811,651,629.278876617,652.721123383,0.412144166429,-0.0153715458455,0.0798101123605,0.999999923303,0.000250028054434,-0.000298977040096,3.86296738126e-05,1793248253995965696
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.695793604,715,680,659,634,879,784.695793604,810.695793604,651,629,653,0.411440599659,-0.0153692693119,0.0798058436966,0.999999917984,0.00025568501662,-0.00031166723712,3.89872235192e-05,1793248254012632064
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.0976461,715,680,659,634,879,784.0976461,810.0976461,651,629,653,0.410735879605,-0.0153652416138,0.0797895999328,0.999999906005,0.000262075977122,-0.000343328943353,3.78232692462e-05,1793248254029298688
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.936528199,634,878.936528199,784.063471801,810,651.063471801,628.936528199,652.936528199,0.40944885943,-0.015358842087,0.0797946568374,0.999999907185,0.000270716431145,-0.000332828522803,3.95838968869e-05,1793248254062632192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.360926472,634,878.360926472,784.639073528,810,651.639073528,628.360926472,652.360926472,0.408869252645,-0.0153627161878,0.0798231240568,0.99999992329,0.000267425289842,-0.000283054385784,4.22445684117e-05,1793248254079298816
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.218946519,744.218946519,715,680,658.218946519,633.781053481,878.218946519,784.781053481,810,651.781053481,628.218946519,652.218946519,0.408296947277,-0.0153642815826,0.0798375582678,0.999999929994,0.000266231777182,-0.000259275721857,4.36959842818e-05,1793248254095965440
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.806000589,744.806000589,715,680,658.806000589,633.193999411,878.806000589,784.193999411,810,651.193999411,628.806000589,652.806000589,0.407736917596,-0.0153619654257,0.0798283992426,0.99999992403,0.000268564939447,-0.000279202394094,4.31143184273e-05,1793248254112632064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.612981899,744.612981899,715.387018101,679.612981899,659,633.387018101,878.612981899,784,810,651,629,653,0.407177473213,-0.0153565903774,0.0798013249712,0.999999908,0.000272234818281,-0.000329062953339,4.00817720614e-05,1793248254129298944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.03494379,744.03494379,715.96505621,679.03494379,659,633.96505621,878.03494379,784,810,651,629,653,0.406618317666,-0.0153497055561,0.0797654082947,0.999999883615,0.000276564457815,-0.000393697941869,3.58395476884e-05,1793248254145965568
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.457416065,744.542583935,715.457416065,679.542583935,659,634,878,784,810,651,629,653,0.406154141358,-0.0153500352598,0.0797665786547,0.999999886781,0.000279834962011,-0.000383253647102,3.5324429914e-05,1793248254162631936
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.119845795,744.880154205,715,680,659,634,878,784.119845795,810,651,629,652.880154205,0.405706810707,-0.0153513729856,0.0797742324814,0.999999894309,0.000281501479944,-0.000361767256373,3.55444656787e-05,1793248254179298816
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.278065939,715,680,659,634,878.278065939,785,810,651,629,652.278065939,0.404907677948,-0.0153568026233,0.0798144525307,0.999999919892,0.000273100137327,-0.000290027462825,3.89383917932e-05,1793248254212632064
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.866009043,715,680,659,634,878.866009043,785,810,651,629,652.866009043,0.4045303047,-0.0153572750399,0.0798243875917,0.999999922728,0.000268845489748,-0.000284112357185,3.93115900045e-05,1793248254229298688
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.552287276,715,680,659,634,878.552287276,784.552287276,810,651,629,653,0.4041713819,-0.0153518760788,0.0798266299245,0.999999917984,0.000281974208086,-0.00028792644129,4.02584433091e-05,1793248254245965312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,715.027307984,680,659,634,878,784.027307984,809.972692016,651,629,653,0.40381972497,-0.0153449529876,0.0798266362076,0.999999910968,0.000299360692221,-0.000294515686078,4.13169991806e-05,1793248254262631936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,715.601560529,680,659,634,878,784.601560529,809.398439471,651,629,653,0.403504518978,-0.0153422138451,0.079827335031,0.999999909621,0.000299258046408,-0.000299170973643,4.1221488395e-05,1793248254279298560
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715.823628582,679.823628582,659,634,878,785,809.176371418,651,629,653,0.40320501365,-0.0153399901133,0.0798294995807,0.999999910325,0.000297094885654,-0.000299030682587,4.0797637202e-05,1793248254295965696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715.247552414,679.247552414,659,634,878,785,809.752447586,651,629,653,0.402941090265,-0.0153389344406,0.0798349858579,0.99999991561,0.0002902620476,-0.000288022328647,3.96296789441e-05,1793248254312633344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715.336990711,679.336990711,658.663009289,634,878.336990711,784.663009289,810,651,629,652.663009289,0.402699648134,-0.0153388213866,0.0798381505106,0.999999915298,0.000294733727306,-0.000284429099305,4.04500008958e-05,1793248254329299968
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,715.927914002,679.927914002,658.072085998,634,878.927914002,784.072085998,810,651,629,652.072085998,0.402475146273,-0.0153394186239,0.0798395657503,0.999999910719,0.000307723698511,-0.000286423386949,4.27685513263e-05,1793248254345966336
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,715.912855531,680,659,634,878,784,810,651,629,652,0.402089787514,-0.0153475308866,0.0798344753647,0.999999912363,0.000296368271866,-0.000292503127685,4.33858671774e-05,1793248254379299840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715.338895397,680,659,634,878,784,810,651,629,652,0.401937334733,-0.0153527013025,0.079835546044,0.999999916437,0.000286650549647,-0.000288117646221,4.41123667247e-05,1793248254395966208
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.240886822,715,680,659,634,878,784.240886822,809.759113178,651,629,652,0.401794751182,-0.0153549934263,0.0798371884862,0.999999918895,0.000281944558931,-0.000284097146536,4.47921979992e-05,1793248254412632576
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.82906277,715,680,659,634,878,784.82906277,809.17093723,651,629,652,0.401666396215,-0.0153531358852,0.0798396552452,0.99999991914,0.000284464036117,-0.000280602845309,4.54047470839e-05,1793248254429299456
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.590532494,634,878,785,809.409467506,651,629,652,0.401555284617,-0.0153524288674,0.0798432725113,0.999999923219,0.000275763780366,-0.000275131463501,4.26573018019e-05,1793248254445966336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.013311535,634,878,785,809.986688465,651,629,652,0.401451237402,-0.0153521932039,0.0798473611249,0.999999928673,0.000262466947466,-0.00026885009781,3.85333109914e-05,1793248254462633216
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,715.110920296,680,659,634,877.110920296,784.889079704,809.889079704,651,629,653,0.401118884602,-0.0153483221501,0.0798355552232,0.999999913568,0.00029856384583,-0.000287389485845,3.36343557103e-05,1793248254545966592
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877,785,810,651,629,653,0.401081897159,-0.0153489073308,0.0798341870753,0.999999913826,0.000295926670631,-0.000289139902381,3.4245816421e-05,1793248254562632960
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.266126793,744,715,680,659,634,878,784.733873207,810,651,629,653,0.400981585067,-0.0153524513614,0.0798362479355,0.999999917681,0.000288928188771,-0.000282716277193,3.50670952215e-05,1793248254729299456
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.591917945,658,634,877.408082055,785,809.408082055,651,628.591917945,653,0.400982331123,-0.0153491680676,0.079838744118,0.999999917257,0.000294157760437,-0.000278828031597,3.48084838477e-05,1793248254795966208
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.742259787,634,877.742259787,785,809,651,629,653,0.400982013147,-0.01535087797,0.0798386948551,0.999999917484,0.000293236885638,-0.000278940649124,3.51521717648e-05,1793248254829299456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.324693456,744,715,679.675306544,658.675306544,634,877.675306544,784.675306544,809.324693456,651,629,652.675306544,0.400981595478,-0.0153507889296,0.0798387942201,0.999999917549,0.00029298658538,-0.000278996176045,3.49544834146e-05,1793248254845966080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.914443768,744,715,679.085556232,658.085556232,634,877.085556232,784.085556232,809.914443768,651,629,652.085556232,0.40098086523,-0.0153498678147,0.0798390920801,0.999999917803,0.000292054945218,-0.000279137457774,3.43397852963e-05,1793248254862632704
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.504831411,744,715,679,658,634,877.495168589,784.495168589,809.504831411,651,629,652.495168589,0.400980778472,-0.0153503853668,0.0798391953949,0.999999917689,0.000292760176004,-0.000278798976473,3.44260966739e-05,1793248254879299840
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.074021543,744,715.074021543,679,658.074021543,634,878,785,809.074021543,651,629,653,0.40098078184,-0.0153509603141,0.0798392590459,0.9999999175,0.000293754710801,-0.000278405735048,3.46069721378e-05,1793248254895966976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.650563706,744,715.650563706,679,658.650563706,634,878,785,809.650563706,651,629,653,0.40098065576,-0.0153502675743,0.0798392775399,0.999999917243,0.000294827621499,-0.000278193419376,3.46222705254e-05,1793248254912633344
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.769173097,744,715.769173097,679,659,634,878,785,810,651,629,652.769173097,0.400981071739,-0.0153509331923,0.0798395537776,0.999999917883,0.000293473017057,-0.000277341760943,3.44729402191e-05,1793248254929299712
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878,784.602742666,810,651,629,652,0.400982928678,-0.0153533849801,0.0798408281401,0.99999991971,0.000289788673488,-0.000274636707337,3.4298100138e-05,1793248254962632960
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878,784.02482349,810,651,629,652,0.400983243141,-0.0153516897257,0.0798413972768,0.999999918538,0.000294147804979,-0.000274206216659,3.4812599767e-05,1793248254979299584
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.554026355,744,715.554026355,679,659,634,878,784,810,651,629,652.554026355,0.400981173341,-0.0153528422428,0.0798403432802,0.999999919008,0.000290738113683,-0.000276153684458,3.45583214938e-05,1793248254995965952
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.867636753,744,716,679,659,634,878,784.132363247,810,651,629,652.867636753,0.400979850405,-0.0153536616366,0.0798396874521,0.999999919571,0.000287868615361,-0.000277154471627,3.42884598092e-05,1793248255012632576
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.291161131,744,716,679,659,634,878,784.708838869,810,651,629,652.291161131,0.40098139243,-0.0153529344785,0.0798406120039,0.999999920244,0.000287981487352,-0.000274620814197,3.40820799378e-05,1793248255029299712
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ce4d029b5f9c6dbab05be0007b7ff94f93c9135
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee72ec776147120d26b3410bc22c72e61ee5a070
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,680,662,634,879,785,809,653,629,652,0.400919999011,0.00440094486637,0.0599318822556,0.999999969466,-0.000128103419626,-0.000208848440581,-3.22458228004e-05,1793248256760834304
+1,0.016666667,BASELINE,765,745,715,679.424442228,662,634.575557772,879,785.575557772,809.575557772,653,628.424442228,652,0.400918278057,0.00440162453606,0.059930489566,0.999999968968,-0.000127737274652,-0.000211403191842,-3.24793040718e-05,1793248256777500928
+2,0.033333333,BASELINE,765.15414568,745,715,679,662,634.84585432,878.84585432,785.69170864,810,653,628,652,0.400917278066,0.00440231594586,0.0599296781014,0.999999968704,-0.000127483495771,-0.000212782297945,-3.2622748923e-05,1793248256794167808
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+4,0.066666667,BASELINE,765.675939762,745,715,679.324060238,662,634,878,784.324060238,810,653,628.324060238,652,0.400918475649,0.00440360185921,0.0599305259324,0.999999969234,-0.000127145898492,-0.000210483203773,-3.26048260322e-05,1793248256827501056
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+6,0.100000000,BASELINE,765.482647249,745,715,679.517352751,662,634,878,785,809.517352751,653,628.517352751,652.482647249,0.400917595211,0.00440505683535,0.0599293328807,0.999999968918,-0.000125770635464,-0.000212773863193,-3.27587938313e-05,1793248256860834560
+7,0.116666667,BASELINE,765.939231129,745,715,679.060768871,662,634,878,785,809,653,628,652.939231129,0.400917343029,0.00440590945516,0.0599288410106,0.999999968704,-0.000125393902835,-0.000214024610177,-3.25961485024e-05,1793248256877501184
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+9,0.150000000,BASELINE,765,745,715,680,662,634,878,785,809,653,628,652,0.400918597441,0.00440361716847,0.0599294950354,0.999999968981,-0.000127434721672,-0.000211539755242,-3.23797741009e-05,1793248256910834432
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+19,0.316666667,BASELINE,765.979499144,745.979499144,715,680,662,634,879,785.979499144,809,653,628.979499144,652.979499144,0.400920188783,0.00440483812687,0.0599300218954,0.999999969658,-0.000124034857531,-0.00021042415755,-3.19608755278e-05,1793248257077501184
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+22,0.366666667,BASELINE,765,745,715,680,662,634,879,785,809.749770818,653,628.749770818,652,0.400920260057,0.00440622688548,0.0599303716414,0.999999969689,-0.000123982454926,-0.000210231226272,-3.245003388e-05,1793248257127500800
+23,0.383333333,BASELINE,765,745,715,680,662,634,879,785,809.66429146,653,629,652,0.400921106789,0.00440589926751,0.0599307529153,0.999999969801,-0.00012481447434,-0.000209218563042,-3.23588338268e-05,1793248257144167424
+24,0.400000000,BASELINE,765,745,715,680,662,634,879,785,809.072342622,653,629,652,0.400922731074,0.00440626009136,0.0599320759553,0.999999970559,-0.000123185499885,-0.00020663812109,-3.17628733516e-05,1793248257160834048
+25,0.416666667,BASELINE,765.507233401,745.507233401,715,680,662,634,878.492766599,785,809.507233401,653,628.492766599,652.507233401,0.400920479669,0.00440690779185,0.0599305675166,0.999999970077,-0.000122642205321,-0.000209256736503,-3.18853640724e-05,1793248257177500928
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+27,0.450000000,BASELINE,765.341020633,746,715,680,662.658979367,634,878.658979367,785,810,653,628.658979367,653,0.400917869043,0.00440576523894,0.0599283781305,0.999999969201,-0.000124011240273,-0.000212594087281,-3.19807644461e-05,1793248257210834432
+28,0.466666667,BASELINE,765,745.760822752,715,680,662.760822752,634,879,785,810,653,628.760822752,652.760822752,0.400918145902,0.0044047967846,0.059928562747,0.999999969213,-0.00012479646839,-0.000212089256379,-3.19183012001e-05,1793248257227500800
+29,0.483333333,BASELINE,765,745.172154305,715,680,662.172154305,634,879,785,810,653,628.172154305,652.172154305,0.400919121012,0.00440461531797,0.0599297391663,0.999999969637,-0.0001245594632,-0.000210226401257,-3.18847398613e-05,1793248257244167424
+30,0.500000000,BASELINE,765,745,715,680,662,634,879,785,809.589692101,653,628.410307899,652,0.400918727856,0.00440607844659,0.0599297877822,0.999999969741,-0.000123276581239,-0.000210482505945,-3.18966048051e-05,1793248257260834304
+31,0.516666667,BASELINE,765,745,715,680,662,634,879,785,809.009795087,653,628.990204913,652,0.400917769167,0.00440822132195,0.0599293702526,0.999999969711,-0.000121561415827,-0.000211614422529,-3.19272454134e-05,1793248257277501184
+32,0.533333333,BASELINE,765,745,715,680,662,634,879,785,809.563721704,653,628.436278296,652.563721704,0.400920139155,0.00440591398721,0.0599298370826,0.999999969818,-0.000124311733414,-0.000209506877406,-3.1901530268e-05,1793248257294167808
+33,0.550000000,BASELINE,765,745,715,680,662,634,879,785,809.862073319,653,628.137926681,653,0.400921271055,0.0044042225842,0.05992988407,0.999999969704,-0.000126638223963,-0.000208664415714,-3.18455734447e-05,1793248257310834176
+34,0.566666667,BASELINE,765,745,715,680,662,634,879,785,809.285330209,653,628.714669791,653,0.400918282002,0.00440473404056,0.059928546978,0.999999968909,-0.000127372205018,-0.000212023919495,-3.16964826917e-05,1793248257327501056
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+36,0.600000000,BASELINE,765,745,715,680,662,634.890882747,878.109117253,785,809.890882747,653,629,652.109117253,0.400919800121,0.00440656396631,0.0599287089463,0.99999996975,-0.000121636589041,-0.000211334680035,-3.22759313849e-05,1793248257360834048
+37,0.616666667,BASELINE,765,745.471437909,715,680,662,634.528562091,878,785,810,653,628.528562091,652.471437909,0.40092026337,0.00440626868105,0.0599292136261,0.999999969723,-0.000122953501024,-0.000210735528617,-3.20424163383e-05,1793248257377500928
+38,0.633333333,BASELINE,765,746,715,680,662,634,878,785,810,653,628.049167925,652.950832075,0.400920460545,0.00440574909456,0.0599297346699,0.999999969569,-0.000125155829829,-0.000210219516146,-3.16992588592e-05,1793248257394167552
+39,0.650000000,BASELINE,765,746,715,680,662,634,878,785,810,653,628.623969199,652.376030801,0.400921504931,0.00440607669911,0.0599305330486,0.999999970138,-0.000123850549241,-0.000208265473416,-3.17969137626e-05,1793248257410834176
+40,0.666666667,BASELINE,765.198781325,745.801218675,715,680,662,634,878,785,809.801218675,653,628.801218675,652.198781325,0.400921307745,0.00440626905994,0.0599305457264,0.999999970183,-0.000123603832405,-0.000208172065313,-3.19333446617e-05,1793248257427500800
+41,0.683333333,BASELINE,765.773613947,745.226386053,715,680,662,634,878,785,809.226386053,653,628.226386053,652.773613947,0.400918761775,0.00440620556891,0.0599290720278,0.999999969239,-0.000125359689443,-0.000211598575844,-3.21431313567e-05,1793248257444167424
+42,0.700000000,BASELINE,765.640186552,745,715,680,662,634,878.359813448,785,809,653,628,652.640186552,0.400918025476,0.00440548028678,0.0599287109907,0.999999969031,-0.000125724571224,-0.000212403858743,-3.18880500029e-05,1793248257460834048
+43,0.716666667,BASELINE,765.046602002,745,715,680,662,634,878.953397998,785,809,653,628,652.046602002,0.400918464922,0.00440432503842,0.0599290728507,0.999999969306,-0.000125185735137,-0.000211506127697,-3.13309434765e-05,1793248257477500672
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+45,0.750000000,BASELINE,765,745,715,680,662,634,879,785.895123801,809,653,628.895123801,652,0.400919037725,0.0044060437721,0.0599281206347,0.999999969457,-0.000123152285873,-0.000211898873425,-3.19174368373e-05,1793248257510834176
+46,0.766666667,BASELINE,765,745,715,680,662,634,879,785.31861955,809,653,628.31861955,652,0.40091981242,0.00440674563064,0.0599285827144,0.99999996975,-0.000121797938373,-0.000211281337759,-3.20203207544e-05,1793248257527500800
+47,0.783333333,BASELINE,765,745,715,680,662,634,879,785.256737611,809,653,628.256737611,652,0.400920386779,0.0044069841069,0.059929102394,0.999999969951,-0.000121199976836,-0.000210690506662,-3.19165038244e-05,1793248257544167680
+48,0.800000000,BASELINE,765,745,715,680,662,634,879,785.830677604,809,653,628.830677604,652,0.400920713621,0.00440665006891,0.0599296932389,0.999999970039,-0.000121536539004,-0.000210132669295,-3.15573055438e-05,1793248257560834304
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+51,0.850000000,BASELINE,765.588480969,745,715,680,662,634,878.588480969,785,809,653,629,652,0.400919799907,0.00440685296653,0.0599286122443,0.999999969328,-0.000125071993773,-0.000211376167965,-3.19488818212e-05,1793248257610833920
+52,0.866666667,BASELINE,766,745.166639637,715,680,662,634,878.833360363,785,809,653,629,652,0.400919785094,0.00440640106521,0.059928322559,0.999999969277,-0.000125389603844,-0.000211454649264,-3.17803763805e-05,1793248257627500800
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+54,0.900000000,BASELINE,766,745.668353207,715,680,662,634,878,785,809,653,628.668353207,652.331646793,0.400919112795,0.00440828438011,0.0599280559152,0.999999969989,-0.000120421274189,-0.000210951608117,-3.19497912444e-05,1793248257660834048
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+57,0.950000000,BASELINE,765.06965714,745,715,680,662,634,878,785,809.06965714,653,628.06965714,652,0.400919270344,0.00440791583105,0.0599292003434,0.999999969993,-0.000121257683313,-0.000210411869029,-3.22238616202e-05,1793248257710834176
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+60,1.000000000,BASELINE,765.188940544,745,715,680,662,634,878,785,809.188940544,653,629,652,0.400919688863,0.0044090269234,0.0599286114355,0.9999999701,-0.000120816329832,-0.000210190472359,-3.19864314745e-05,1793248257760835840
+61,1.016666667,BASELINE,765.393770914,745,715,680,662,634,878,785,809.393770914,653,629,652,0.400919223871,0.00440814308651,0.0599282890229,0.999999969902,-0.000121417434155,-0.000210812899207,-3.18033483284e-05,1793248257777502208
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+63,1.050000000,BASELINE,765.449232698,745,715,680,662,634,878.550767302,785,809.449232698,653,629,652,0.400917836767,0.00440717127513,0.0599279843955,0.99999996944,-0.000122545718752,-0.000212398255523,-3.14622619673e-05,1793248257810835200
+64,1.066666667,BASELINE,765.1275208,745.1275208,715,680,662,634,878.8724792,785,809,653,629,652,0.400917053046,0.0044078554636,0.0599274359533,0.999999969199,-0.000122310633232,-0.000213651572161,-3.15493821354e-05,1793248257827502080
+65,1.083333333,BASELINE,765.703202651,745.703202651,715,680,662,634,878.296797349,785,809,653,629,652,0.400916507872,0.0044080114743,0.0599261884771,0.999999968946,-0.000121519214652,-0.000215222236885,-3.19392072454e-05,1793248257844168704
+66,1.100000000,BASELINE,765.714780307,745.714780307,715,680,662,634,878.285219693,785,809.285219693,653,628.714780307,652.285219693,0.400916939487,0.00440857904358,0.0599262154421,0.999999969041,-0.000121043866063,-0.000215024179026,-3.21116345594e-05,1793248257860835328
+67,1.116666667,BASELINE,765.1260212,745.1260212,715,680,662,634,878.8739788,785,809.8739788,653,628.1260212,652.8739788,0.40091841063,0.00440958460592,0.0599275987063,0.999999969505,-0.000120904888759,-0.000212943793051,-3.20527005454e-05,1793248257877501696
+68,1.133333333,BASELINE,765,745,715.454289266,679.545710734,662,634,879,785,809.545710734,653,628.454289266,652.545710734,0.400919370614,0.00440904881188,0.0599283995668,0.999999969834,-0.000121403750186,-0.00021112579924,-3.19230241716e-05,1793248257894168576
+69,1.150000000,BASELINE,765.032192055,745.032192055,716,679.032192055,662,634,878.967807945,785,809,653,629,652,0.400920162864,0.00440811145901,0.0599290152213,0.999999970108,-0.000122001511411,-0.000209500297793,-3.17668404902e-05,1793248257910835200
+70,1.166666667,BASELINE,765.608289828,745.608289828,716,679.608289828,662,634,878.391710172,785,809,653,629,652,0.400920473166,0.00440748180003,0.0599291815291,0.99999997011,-0.000121335341257,-0.000209919729257,-3.14883077875e-05,1793248257927502080
+71,1.183333333,BASELINE,765.811858464,745.811858464,715.811858464,680,662,634,878.188141536,785.188141536,809.188141536,653,628.811858464,652,0.400919926411,0.00440679857015,0.0599287111508,0.999999969868,-0.000121239040616,-0.000211155985893,-3.12844946494e-05,1793248257944168448
+72,1.200000000,BASELINE,765.224031843,745.224031843,715.224031843,680,662,634,878.775968157,785.775968157,809.775968157,653,628.224031843,652,0.400917558934,0.00440600153494,0.0599268882058,0.999999969102,-0.000122353362173,-0.000214127493868,-3.12394145919e-05,1793248257960834560
+73,1.216666667,BASELINE,765,745,715,679.641378981,662,634,878.641378981,785.641378981,809.641378981,652.641378981,628,652.358621019,0.400917654785,0.00440637110537,0.059927276984,0.999999969264,-0.000122382377803,-0.000213345213462,-3.12647826683e-05,1793248257977500928
+74,1.233333333,BASELINE,765,745,715,679.061912256,662,634,878.061912256,785.061912256,809.061912256,652.061912256,628,652.938087744,0.400919267601,0.00440745909398,0.059929027784,0.999999969996,-0.000121743041145,-0.000210251277943,-3.13335340602e-05,1793248257994167552
+75,1.250000000,BASELINE,765.517543151,745,715,679.517543151,662,634,878.517543151,785,809,652.517543151,628.517543151,653,0.400920161629,0.00440815837521,0.0599292055159,0.999999970081,-0.000121953047506,-0.000209678337431,-3.16181040039e-05,1793248258010834176
+76,1.266666667,BASELINE,765.904167322,745,715,680,662,634,879,785,809.095832678,653,629,652.904167322,0.400920397597,0.00440864822848,0.0599289557663,0.999999970005,-0.000122170984391,-0.000209874067015,-3.18792223732e-05,1793248258027500800
+77,1.283333333,BASELINE,765.331670068,745,715,680,662,634,879,785,809.668329932,653,629,652.331670068,0.4009177881,0.00440832768516,0.0599275157369,0.999999969503,-0.000121923004699,-0.000212393102324,-3.18952814756e-05,1793248258044167424
+78,1.300000000,BASELINE,765.248195524,745,715,680,662,634,878.751804476,785,809.751804476,653,628.751804476,652.248195524,0.400917078564,0.00440829651273,0.0599269279679,0.999999969314,-0.000121663840563,-0.000213430275863,-3.19103837654e-05,1793248258060834304
+79,1.316666667,BASELINE,765.838208832,745,715,680,662,634,878.161791168,785,809.161791168,653,628.161791168,652.838208832,0.400918985675,0.00440866386531,0.059927513942,0.99999996956,-0.0001213892731,-0.000212426611806,-3.19241683208e-05,1793248258077500928
+80,1.333333333,BASELINE,765.579600952,745,715,680,662,634,878.420399048,785,809.420399048,653,628,652.579600952,0.400919411988,0.00440932766582,0.0599280973213,0.999999969924,-0.00012051433821,-0.000211240559969,-3.17080806362e-05,1793248258094167808
+81,1.350000000,BASELINE,765.000366412,745,715,680,662,634,878.999633588,785,809.999633588,653,628,652.000366412,0.400919278824,0.00441010347054,0.0599286797203,0.99999997033,-0.000119412572012,-0.000209985598158,-3.14051424465e-05,1793248258110834432
+82,1.366666667,BASELINE,765,745,715,679.42515175,662.57484825,634,878.42515175,785,809.42515175,653,628,652,0.400920820065,0.00440940460254,0.0599288915452,0.99999997039,-0.000120645479525,-0.000208958137661,-3.16496427519e-05,1793248258127500800
+83,1.383333333,BASELINE,765,745,715.153135714,679.153135714,662.846864286,634,878.153135714,785,809.153135714,653,628,652.153135714,0.400921312517,0.00440888473547,0.0599286652062,0.999999970283,-0.000121520958988,-0.000208928028322,-3.1856103838e-05,1793248258144167424
+84,1.400000000,BASELINE,765,745,715.740136399,679.740136399,662.259863601,634,878.740136399,785,809.740136399,653,628,652.740136399,0.400918830529,0.00440887465931,0.0599271981238,0.99999996971,-0.000121379584646,-0.00021172321169,-3.19538102932e-05,1793248258160834048
+85,1.416666667,BASELINE,765,745,715.677221142,679.677221142,662,634,879,785,810,653,628,652.677221142,0.400918142694,0.00440840219865,0.0599268177751,0.999999969475,-0.000121917189003,-0.000212532242938,-3.18760622625e-05,1793248258177500928
+86,1.433333333,BASELINE,765,745,715.098040703,679.098040703,662,634,879,785,810,653,628,652.098040703,0.400918880056,0.00440756243973,0.0599273006808,0.999999969513,-0.000122994144714,-0.000211763560582,-3.16589407623e-05,1793248258194167552
+87,1.450000000,BASELINE,765,745,715,679,662,634,879,785,809.518981302,653,628.481018698,652,0.400920223136,0.00440725165385,0.0599280980849,0.999999969821,-0.000122672335709,-0.000210502801777,-3.15790915949e-05,1793248258210834176
+88,1.466666667,BASELINE,765.05942216,745,715,679.05942216,662,634,879,785,809,653,629,652,0.400921548424,0.00440730460074,0.0599289052073,0.999999970199,-0.000121820735685,-0.000209201076728,-3.15760148499e-05,1793248258227500800
+89,1.483333333,BASELINE,765.63237018,745,715,679.63237018,662,634,879,785,809,653,629,652,0.400921653308,0.00440956942393,0.0599292424951,0.999999970707,-0.000118853852032,-0.000208411847773,-3.19946739401e-05,1793248258244168448
+90,1.500000000,BASELINE,765.794237913,745,715,680,662,634,879,785,809,653,629,652.205762087,0.400920965353,0.00441028292381,0.0599292189869,0.999999970807,-0.000117607523706,-0.000208630713861,-3.20697597669e-05,1793248258260835584
+91,1.516666667,BASELINE,765.220051272,745,715,680,662,634,879,785,809,653,629,652.779948728,0.400918857788,0.00440821872226,0.0599285494604,0.999999970182,-0.000119441913042,-0.000210654611134,-3.15296650351e-05,1793248258277502464
+92,1.533333333,BASELINE,765,745,715,679.633212776,662,634,879,785,809.366787224,653,628.633212776,652.633212776,0.40091925868,0.00440736996207,0.0599284505862,0.999999969951,-0.000121309080005,-0.000210709370528,-3.13719082011e-05,1793248258294168832
+93,1.550000000,BASELINE,765,745,715,679.03851266,662,634,879,785,809.96148734,653,628.03851266,652.03851266,0.400921218268,0.00440727644815,0.0599287063018,0.999999969963,-0.000123196614385,-0.000209540554493,-3.14517270263e-05,1793248258310834944
+94,1.566666667,BASELINE,765.538941549,745,715,679.538941549,662,634,878.461058451,785,809.461058451,653,628.538941549,652.538941549,0.40092039227,0.00440726545568,0.0599292790328,0.999999970292,-0.00012128761454,-0.00020913301774,-3.11197311085e-05,1793248258327501568
+95,1.583333333,BASELINE,765.885193332,745,715,680,661.885193332,634,878.114806668,785,809.114806668,653,629,652.885193332,0.400919600648,0.00440736986768,0.0599296137931,0.999999970512,-0.000119747364051,-0.000208999629473,-3.09131458385e-05,1793248258344168192
+96,1.600000000,BASELINE,765.310908559,745,715,680,661.310908559,634,878.689091441,785,809.689091441,653,629,652.310908559,0.400919718568,0.0044079132813,0.0599289082958,0.999999970223,-0.000120735042944,-0.00020975246382,-3.13226030063e-05,1793248258360835328
+97,1.616666667,BASELINE,765,745,715,680,661.270864043,634,878.729135957,785,810,652.729135957,629,652,0.400919802553,0.0044087204602,0.0599284015754,0.999999970088,-0.000120988877432,-0.000210200678864,-3.16491560718e-05,1793248258377501952
+98,1.633333333,BASELINE,765,745,715,680,661.861475789,634,878.138524211,785,810,652.138524211,629,652,0.400919846477,0.00440983900689,0.0599281295057,0.999999970136,-0.000120376428316,-0.000210289298987,-3.1877843054e-05,1793248258394168320
+99,1.650000000,BASELINE,765.443772195,745.443772195,715,679.556227805,662,634,878,785.443772195,809.556227805,652.443772195,628.556227805,652.443772195,0.400920952413,0.00440986439049,0.0599285607039,0.99999997032,-0.000120158270735,-0.000209554507273,-3.17685085674e-05,1793248258410835200
+100,1.666666667,BASELINE,765.976685841,745.976685841,715,679.023314159,662,634,878,785.976685841,809.023314159,652.976685841,628.023314159,652.976685841,0.400922263273,0.00440955303831,0.0599291543017,0.999999970527,-0.000120055151115,-0.00020865042567,-3.15740000441e-05,1793248258427501824
+101,1.683333333,BASELINE,765.402027952,745.402027952,715,679.597972048,662,634,878,785.402027952,809.597972048,652.402027952,628.597972048,652.402027952,0.400920724795,0.00440919960347,0.0599284924265,0.999999970327,-0.000119815415089,-0.000209709445538,-3.18146033744e-05,1793248258444168448
+102,1.700000000,BASELINE,765.173113288,745,715,680,662,634,878,785,809.826886712,652.173113288,628.826886712,652,0.400919601556,0.00440891931169,0.0599280034932,0.999999970205,-0.000119377773883,-0.000210532655866,-3.18589749002e-05,1793248258460835072
+103,1.716666667,BASELINE,765.749380095,745,715,680,662,634,878,785,809.250619905,652.749380095,628.250619905,652,0.400919445342,0.00440880935865,0.0599279173145,0.999999970267,-0.000118479242791,-0.000210806702856,-3.14463534993e-05,1793248258477501696
+104,1.733333333,BASELINE,765.666296704,745,715,680,662,634,878,785,809,652.666296704,628.333703296,652.333703296,0.400919452546,0.00440827877741,0.0599275513179,0.999999970166,-0.000118812490815,-0.000211125797953,-3.12556879171e-05,1793248258494168320
+105,1.750000000,BASELINE,765.075773189,745,715,680,662,634,878,785,809,652.075773189,628.924226811,652.924226811,0.400919585519,0.00440742447798,0.0599269699715,0.999999969939,-0.000120093723933,-0.000211479562397,-3.12358409271e-05,1793248258510834944
+106,1.766666667,BASELINE,765,745.502409307,715,680,662,634,878.502409307,785,809,652.502409307,628.497590693,653,0.400919675101,0.00440826211412,0.0599276961344,0.999999969958,-0.000120944481184,-0.000210865092678,-3.15143314238e-05,1793248258527501568
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,879,785,809,653,628,652,0.400919999356,0.00440736631087,0.059928576335,0.999999969918,-0.000123302277089,-0.000209657498701,-3.17044115681e-05,1793248258570892032
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878.409422624,785,809.590577376,653,628,652,0.400920542959,0.00440829549734,0.0599288354555,0.999999970203,-0.000121527350315,-0.000209365849847,-3.14675944991e-05,1793248258587558656
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.177606627,745,715,680,662,634,878,785,809.822393373,653,628.177606627,652.177606627,0.400920778472,0.00440883720622,0.0599287701937,0.999999970289,-0.000120570409606,-0.000209520913045,-3.14012617577e-05,1793248258604225280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.756616976,745,715,680,662,634,878,785,809.243383024,653,628.756616976,652.756616976,0.400920317678,0.00440850318816,0.0599279718047,0.999999969926,-0.000121462175753,-0.000210685577481,-3.17202357853e-05,1793248258620891648
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.666084792,745,715,679.666084792,662,634,878.333915208,785,809,653,629,652.666084792,0.400920333096,0.00440825074544,0.0599278657007,0.999999969919,-0.000121527311998,-0.000210682223931,-3.17238857834e-05,1793248258637558272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.090028152,745,715,679.090028152,662,634,878.909971848,785,809,653,629,652.090028152,0.400920693841,0.0044080574578,0.059928261613,0.99999997017,-0.000120993010539,-0.000209831872209,-3.14988758802e-05,1793248258654224896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.485083483,679.485083483,662,634,879,785,809,653,629,652,0.400927428286,0.00440852114692,0.0599310813168,0.999999971339,-0.000121079472237,-0.000204079630726,-3.18337643726e-05,1793248258670891520
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.938315807,679.938315807,662,634,878.938315807,785,809.061684193,653,629,652,0.400936055903,0.00440902212214,0.0599342394519,0.999999972673,-0.000121257228315,-0.000197259934257,-3.22315414522e-05,1793248258687558144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.347438474,679.347438474,662,634,878.347438474,785,809.652561526,653,629,652,0.400950796604,0.00440879896195,0.0599364493169,0.999999974256,-0.000121231737836,-0.000189072159511,-3.2279098064e-05,1793248258704225024
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.238692877,662,634,878,785,809.761307123,653,629,652,0.400973115534,0.00440869489592,0.0599404261045,0.999999976496,-0.000121838194691,-0.000176357522816,-3.25721253307e-05,1793248258720891904
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.818050663,662,634,878,785,809.181949337,653,629,652,0.401006250189,0.00440876080233,0.0599469246621,0.999999979488,-0.000123346573205,-0.000157182103238,-3.32154908104e-05,1793248258737558784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,809,653,629,652,0.401046637786,0.00440876890368,0.0599523801155,0.999999982269,-0.000123741260054,-0.000137836776478,-3.39152371127e-05,1793248258754225152
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,809,653,629,652,0.401090346071,0.00440875053958,0.0599573579948,0.999999984747,-0.00012362605469,-0.000118413657748,-3.46407968462e-05,1793248258770891264
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542569775,745.542569775,715,680,662,634,878,785,809,653,629,652,0.401140638776,0.00440906464283,0.059957323663,0.99999998493,-0.000125702017676,-0.000114404260442,-3.53681829446e-05,1793248258787557888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.878845809,746,715,680,662,634,878,785,809.121154191,653,628.878845809,652,0.4011952523,0.00440920368139,0.0599571438413,0.999999984993,-0.000127626358733,-0.000111445009738,-3.61298588368e-05,1793248258804224768
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.285728119,746,715,680,662,634,878,785,809.714271881,653,628.285728119,652,0.401265171625,0.00440858368119,0.0599575590521,0.999999985124,-0.000128452149565,-0.000109003868402,-3.70246895752e-05,1793248258820891392
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.700915569,715,680,662,634,878.299084431,785,809.700915569,653,628.299084431,652,0.40134697951,0.0044082794596,0.0599576623974,0.999999985236,-0.000129418455369,-0.000106502139611,-3.79082143587e-05,1793248258837558016
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.123822939,715,680,662,634,878.876177061,785,809.123822939,653,628.876177061,652,0.401439838174,0.004408268764,0.0599574758542,0.999999985329,-0.000130515374122,-0.000103944093058,-3.87812298551e-05,1793248258854225152
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.55271515,662,634,878.55271515,785,809,653,629,652,0.401556852556,0.0044081792425,0.0599628002159,0.999999986424,-0.000131037683072,-9.1780727474e-05,-3.94571469256e-05,1793248258870891776
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.017494027,745,715,679.017494027,662,634,878,785,809.017494027,653,629,652.017494027,0.401681261766,0.00440812658841,0.0599695020698,0.999999987584,-0.000131398745882,-7.71837062905e-05,-4.01086264668e-05,1793248258887558656
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.611989044,745,715,679.611989044,662,634,878,785,809.611989044,653,629,652.611989044,0.401831926524,0.0044100001542,0.0599719834125,0.999999988096,-0.000131618780405,-6.88632423484e-05,-4.17299727955e-05,1793248258904225024
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878,785.201475333,810,653,629,653,0.401989434221,0.00441085337329,0.0599723785642,0.999999988394,-0.000131649294615,-6.35454894604e-05,-4.29233872049e-05,1793248258920891392
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878,785.781549493,810,653,629,653,0.402159800686,0.00440978922559,0.0599688534866,0.999999988399,-0.000131323675051,-6.38702291822e-05,-4.33126606962e-05,1793248258937558016
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.642205653,745,715,680,662,634,878.357794347,785.642205653,809.642205653,653,629,652.642205653,0.402356437653,0.00441067253366,0.0599676254313,0.999999988957,-0.000128900975967,-5.92784835756e-05,-4.42299185931e-05,1793248258954224640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.06827396,745,715,680,662,634,878.93172604,785.06827396,809.06827396,653,629,652.06827396,0.40256894419,0.0044127322658,0.059967784967,0.99999998979,-0.000125211467563,-5.17167746842e-05,-4.54661227249e-05,1793248258970891264
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.5167809,715.5167809,680,662,634,878.4832191,785,809.5167809,653,629,652.5167809,0.402814846741,0.00441471870703,0.0599717067174,0.999999990588,-0.000122996016388,-3.91413132139e-05,-4.65233188352e-05,1793248258987558144
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.102352156,746,715.897647844,680,662,634,878.102352156,785,810,653.102352156,629,653,0.403072683999,0.00441647519526,0.0599754445657,0.999999991168,-0.000121062312871,-2.73714211685e-05,-4.75358926424e-05,1793248259004225024
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.683315495,746,715.316684505,680,662,634,878.683315495,785,810,653.683315495,629,653,0.403365244236,0.00441720266951,0.0599759471152,0.99999999143,-0.000119515418953,-2.25340011961e-05,-4.84528278768e-05,1793248259020891904
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.73641747,746,715,680,662,634,878.73641747,785.26358253,810,653.73641747,629,652.73641747,0.403663998056,0.00441777191646,0.0599697601479,0.999999991426,-0.000117526360892,-3.02642142485e-05,-4.91958065428e-05,1793248259037558528
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.156984851,746,715,680,662,634,878.156984851,785.843015149,810,653.156984851,629,652.156984851,0.403970173609,0.0044181515601,0.0599555571544,0.999999990743,-0.000115007459025,-5.30541814016e-05,-4.97303335451e-05,1793248259054224896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.582156862,715,679.582156862,662,634,878.417843138,785.582156862,810,653,629,652.417843138,0.40430220709,0.00441906393488,0.0599416385791,0.99999998966,-0.000112064894835,-7.46969586089e-05,-5.0414802778e-05,1793248259070891008
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.009040001,715,679.009040001,662,634,878.990959999,785.009040001,810,653,629,652.990959999,0.404643849569,0.00442017427664,0.0599278256962,0.999999988155,-0.000108964894493,-9.59134306825e-05,-5.11549916709e-05,1793248259087557632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.580098974,745,715,679.580098974,662,634,878.419901026,785,810,653,628.419901026,652.419901026,0.405025987284,0.00441962495151,0.0599176812696,0.999999986665,-0.000105825736349,-0.000113369108278,-5.11739992687e-05,1793248259104224256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.833567997,745,715,680,662,634,878.166432003,785,810,653,628,652.166432003,0.405437824936,0.00441965776699,0.0599151507262,0.999999986428,-0.000102201999241,-0.000118637943394,-5.121552205e-05,1793248259120891136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.254822544,745,715,680,662,634,878.745177456,785,810,653,628,652.745177456,0.405921632452,0.00442119865293,0.0599313369335,0.999999989535,-9.73793364982e-05,-9.38647865809e-05,-5.13414561545e-05,1793248259137558016
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,879,785.322251488,810,653,628.322251488,653,0.406432444691,0.00442221302766,0.0599556711099,0.999999993018,-9.26894733112e-05,-5.23503054758e-05,-5.12949647352e-05,1793248259154224896
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,879,785.898010715,810,653,628.898010715,653,0.40696450097,0.00442281320845,0.0599864151054,0.99999999481,-8.81040797386e-05,2.33418818112e-06,-5.11128300852e-05,1793248259170891776
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.479528953,745.479528953,715,680,662.479528953,634,879,785.520471047,810,653,629,653,0.407493293663,0.00442286053998,0.0600045223788,0.999999994446,-8.80665948539e-05,2.69759049664e-05,-5.1235111553e-05,1793248259187558400
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.937637085,746,715,680,662.937637085,634,879,785,810,653,629,653,0.408024276682,0.00442298498242,0.0600168608771,0.999999993935,-8.91599817488e-05,3.92853325353e-05,-5.13510655373e-05,1793248259204224768
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.354167987,746,715,680,662.354167987,634,879,785,810,653,629,653,0.40857943302,0.00442474824001,0.0600037264884,0.999999994515,-9.15221106499e-05,2.58727468679e-06,-5.08665581864e-05,1793248259220891392
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.216748172,745.783251828,715.216748172,680.216748172,662.216748172,634,879,785,810,653,629,653,0.409154257039,0.00442653147278,0.0599929838527,0.99999999302,-0.000103656472214,-2.53868849003e-05,-5.06968371733e-05,1793248259237558016
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.768275607,745.231724393,715.768275607,680.768275607,662.768275607,634,879,785,810,653,629,653,0.409759458822,0.00442834555818,0.0599859354096,0.999999989338,-0.000130884575004,-3.98865101179e-05,-5.10133207451e-05,1793248259254224640
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.650267009,745,715.650267009,680.650267009,663,634,879,785,810,653,629,653,0.41042362126,0.00442892876895,0.0599885218514,0.999999988262,-0.000141203668392,-2.80847175122e-05,-5.24335849198e-05,1793248259270891264
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.047122867,745,715.047122867,680.047122867,663,634,879,785,810,653,629,653,0.411130505656,0.00442862010679,0.0599980895831,0.999999988804,-0.000139270752184,2.77467890379e-06,-5.46536315291e-05,1793248259287558400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.543359725,745,715,680,663,634,879,785,810.543359725,653,629,653,0.41180843904,0.00442943850132,0.0599958558202,0.999999990182,-0.000128989479119,-3.00323676627e-07,-5.47497210249e-05,1793248259304225280
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.869563228,745,715.130436772,680,663,634,879,785,811,653,629,653,0.412484407472,0.00443088498116,0.0599856490108,0.999999991477,-0.00011687051997,-2.08999779705e-05,-5.43174401528e-05,1793248259320891904
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.290508521,745,715.709491479,680,663,634,879,785,811,653,629,653,0.413162056391,0.00443416314646,0.0599514600548,0.999999989304,-0.000100864538709,-9.18816881944e-05,-5.26870102072e-05,1793248259337558272
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.287139333,745,716,680,663,634,879,785.287139333,810.712860667,653,629,653,0.413893066053,0.00443596763436,0.0599309451266,0.999999985612,-9.38952862531e-05,-0.000131090673998,-5.26831442017e-05,1793248259354224640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863370835,745,716,680,663,634,879,785.863370835,810.136629165,653,629,653,0.414677799449,0.00443628842276,0.0599241972193,0.99999998435,-9.60242199299e-05,-0.00013831085779,-5.4316904422e-05,1793248259370891008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.5615957,745,715.5615957,680,663.4384043,634,879,785.5615957,810.4384043,653,629,653,0.415529558048,0.00443708249977,0.0599661550221,0.999999992144,-9.50026206397e-05,-6.01431533338e-05,-5.53982616599e-05,1793248259387557888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663.986592571,634,879.013407429,785,811,652.986592571,629,653,0.416400557633,0.00443799529725,0.060022080673,0.999999993211,-9.2926596059e-05,4.21745844829e-05,-5.62571254558e-05,1793248259404224512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.396886935,634,879.603113065,785,811,652.396886935,629,653,0.417203191542,0.00443768829263,0.0600277170332,0.999999993778,-8.76167758592e-05,4.18191911627e-05,-5.49322101523e-05,1793248259420891392
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.810362075,634,879.810362075,785,811,652,629,653,0.418020372072,0.00443719471353,0.0600238347516,0.999999994342,-8.53976579237e-05,3.18216498624e-05,-5.48626791117e-05,1793248259437558016
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.230384376,634,879.230384376,785,811,652,629,653,0.418867494477,0.00443631710027,0.0600003598465,0.999999994343,-8.95402636148e-05,1.97726704768e-06,-5.73771587117e-05,1793248259454224896
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.692910866,634,879.346455433,785,811.346455433,652,629,653,0.419721727058,0.00443702036831,0.059972823906,0.999999993319,-9.12632285605e-05,-3.92501219579e-05,-5.90932346017e-05,1793248259470891520
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663.842454659,634,879.921227329,785,811.921227329,652,629,653,0.420580645259,0.0044387654478,0.059942611717,0.999999990137,-9.13916336615e-05,-8.7978987459e-05,-6.02831568831e-05,1793248259487557888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506796681,745,715,680.506796681,663.493203319,634,880,785,812,652,629,653,0.4213926139,0.00443970004088,0.0599090192917,0.999999982414,-8.8596416092e-05,-0.000154445579564,-5.89002647002e-05,1793248259504224768
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.907105104,745,715,681,663,633.907105104,879.907105104,784.907105104,811.907105104,652,629,653,0.422220059817,0.00444004044127,0.0598843018255,0.999999973738,-8.66887111945e-05,-0.000204176258974,-5.76219590088e-05,1793248259520891392
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.32722423,745,715,681,663,633.32722423,879.32722423,784.32722423,811.32722423,652,629,653,0.423167731132,0.00443794066969,0.0599089241352,0.999999982576,-9.18677577511e-05,-0.000151403843671,-5.90339726172e-05,1793248259537558272
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.252333,745,715,681,663.252333,633.252333,879.252333,784.252333,811.252333,652,629,653,0.424135581517,0.00443715044799,0.0599506431755,0.999999990761,-9.31990894442e-05,-7.9335524331e-05,-5.9139276826e-05,1793248259554224640
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.831471149,745,715,681,663.831471149,633.831471149,879.831471149,784.831471149,811.831471149,652,629,653,0.42512956664,0.00443805626911,0.0600145047829,0.999999994177,-8.95471135862e-05,1.77235917434e-05,-5.7552216697e-05,1793248259570891264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.5944,745,715,680.5944,663.5944,634,880,785,812,652,629,653,0.426093584068,0.00443805163877,0.060034145869,0.999999992736,-8.99132336006e-05,5.4921341884e-05,-5.85430292508e-05,1793248259587558144
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022327179,745,715,680.022327179,663.022327179,634,880,785,812,652,629,653,0.427045301618,0.00443767332636,0.0600356372597,0.999999991657,-9.19285250207e-05,6.7549830003e-05,-6.05918936462e-05,1793248259604224768
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.567210851,663,633.432789149,879.432789149,785,812,652,629.567210851,653,0.427943369726,0.00443576087953,0.0600137503958,0.999999992525,-9.80224712221e-05,3.80836667004e-05,-6.23737649064e-05,1793248259620891392
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,879.15461344,784.84538656,812,652,630,653,0.42882763978,0.0044347286184,0.0599875867886,0.999999992912,-0.000100645792236,-5.44814552702e-07,-6.36076208085e-05,1793248259637558016
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,879.73419688,784.26580312,812,652,630,653,0.429679973418,0.00443628688924,0.0599522778675,0.999999991863,-9.32744612934e-05,-5.96577620496e-05,-6.33650079798e-05,1793248259654224640
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,880,784,812.311745131,652,630,653,0.430572365389,0.00443585764958,0.0599341154046,0.999999989985,-9.15217436191e-05,-8.72334784548e-05,-6.35998663765e-05,1793248259670891264
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,880,784,812.887569346,652,630,653,0.431498690703,0.0044337447911,0.0599304776964,0.999999989589,-9.45285498988e-05,-8.80940255636e-05,-6.42391904659e-05,1793248259687557888
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.462323046,633,880,784,813,652,630,653,0.432478815181,0.00443098221562,0.0599695094358,0.99999999278,-9.93848305135e-05,-2.15748862312e-05,-6.40103007422e-05,1793248259704224256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,813,652,630,652.962148809,0.433464287354,0.00442818909519,0.060015413769,0.999999991013,-0.000104394029479,5.50891145457e-05,-6.35746758056e-05,1793248259720891136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,813,652,630,652.371518148,0.434337230047,0.00442725203657,0.0600104951631,0.999999991635,-0.00010508322372,4.11627712436e-05,-6.31962283776e-05,1793248259737558272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.214607581,745,715.214607581,681,663.785392419,633,880,784,813,652,630,652.214607581,0.435201803528,0.00442585442584,0.0599955365423,0.999999992166,-0.000107431783852,1.14570627592e-05,-6.320798133e-05,1793248259754224896
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.793095026,745,715.793095026,681,663.206904974,633,880,784,813,652,630,652.793095026,0.436052186655,0.00442367592161,0.0599635544808,0.999999990608,-0.000112593897047,-4.50034963683e-05,-6.38813419573e-05,1793248259770891520
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.630271435,681,663,633,880.369728565,784,813,652,630,653,0.436883396284,0.00442331731442,0.0599408780249,0.999999987994,-0.000113671703412,-8.32729453276e-05,-6.44737868662e-05,1793248259787558144
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715.054670225,681,663,633,880.945329775,784,813,652,630,653,0.437703929655,0.00442397206433,0.059923383128,0.999999985354,-0.000112475281541,-0.000111413197981,-6.50211761958e-05,1793248259804224768
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.47903888,745,715,681,663,633.52096112,879.95807776,784,813,652,630,653,0.438524321073,0.00442256904435,0.0599088746309,0.999999981486,-0.00010989847757,-0.00014461380345,-6.35434321005e-05,1793248259820891136
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633.904128618,879.095871382,784,813.095871382,652,630,653,0.439353886088,0.00442055458638,0.0599063867876,0.999999979768,-0.000108990347843,-0.000157227775449,-6.21645456432e-05,1793248259837557760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633.332810063,879.667189937,784,813.667189937,652,630,653,0.440229018834,0.00441657885207,0.059961957709,0.999999989084,-0.000117075967107,-6.51144333513e-05,-6.23299085728e-05,1793248259854224128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.249400178,633,880,784,814,652,630,653,0.44106398558,0.00441475979371,0.0600030086776,0.999999990598,-0.000121987720449,-3.97666201193e-07,-6.26402741577e-05,1793248259870891008
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.426771289,745,715,681,663.146457422,633,880,784,814,652,630,653,0.442577158308,0.00441373345807,0.0600083518956,0.999999990422,-0.000123002077777,6.16149070002e-06,-6.3161816459e-05,1793248259904225280
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681.591061293,662.591061293,633,880.591061293,784,814,652,630,653,0.443998663606,0.00440990893328,0.0599702595344,0.999999989207,-0.000125288571905,-4.30299233375e-05,-6.35393653265e-05,1793248259937557760
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.821908557,663,633,880.821908557,784,814,652,630,652.821908557,0.444689338058,0.0044093875621,0.0599645268814,0.999999988621,-0.00012630248946,-5.21974929195e-05,-6.38761209842e-05,1793248259954224128
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.242301641,663,633,880.242301641,784,814,652,630,652.242301641,0.445352953874,0.00440867515023,0.0599688008844,0.999999988713,-0.000125686228972,-5.20855303996e-05,-6.37510863047e-05,1793248259970890752
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,880,784,814.334413757,652.334413757,630.334413757,652.334413757,0.445970279371,0.00440844254233,0.0599579488131,0.999999987417,-0.000123937676013,-7.63780173075e-05,-6.30215050134e-05,1793248259987557632
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.816978378,745,715,681.816978378,663,633,881,784,814.183021622,652,630,653,0.449368341563,0.00439829800294,0.0599760477375,0.999999987475,-0.00013769921384,-4.6508187864e-05,-6.26521569821e-05,1793248260087558144
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.385156721,715,681,660.385156721,632,880.385156721,783,815,652,630,653,0.452868720599,0.00440316492188,0.0598880519137,0.999999976665,-0.00012626296277,-0.000163626425526,-6.28737721371e-05,1793248260254225408
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880.201145794,783,815,652,630,653,0.453089635976,0.00440300169491,0.0598763658816,0.999999973534,-0.000125286149021,-0.000182660099445,-6.22181063706e-05,1793248260270891776
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+244,4.066666667,HOLD_POSE2,765,745,715,681,658,631,880,783,815,652,630,653,0.45463058853,0.00446828390761,0.0598252632831,0.999999959968,-4.82566994785e-05,-0.000270028029745,-6.9426511305e-05,1793248260868877056
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+246,4.100000000,HOLD_POSE2,765,745,715,681,658,631,880.82050281,783.17949719,815,652,630.82050281,653,0.454630216246,0.0044656412616,0.0598255427034,0.999999959957,-4.96348710352e-05,-0.000269985959315,-6.87773679002e-05,1793248260902210816
+247,4.116666667,HOLD_POSE2,765,745,715,681,658,631,880.241433577,783.758566423,815,652,630.241433577,653,0.454630351494,0.00446543555281,0.0598246093382,0.999999959794,-4.97461531695e-05,-0.000270489640221,-6.90775474877e-05,1793248260918877184
+248,4.133333333,HOLD_POSE2,765,745,715,681,657.665370483,631,880,783.665370483,815,652,630,653,0.454631085338,0.00446656080836,0.059824791735,0.99999995983,-4.90021115705e-05,-0.000270454098085,-6.92406263113e-05,1793248260935543808
+249,4.150000000,HOLD_POSE2,765,745,715,681,657.091457027,631,880,783.091457027,815,652,630,653,0.454632247222,0.00446863779824,0.0598257719813,0.999999960004,-4.76464525734e-05,-0.000270032973034,-6.93056683051e-05,1793248260952210432
+250,4.166666667,HOLD_POSE2,765.49544998,745,715,681,657.49544998,631,880.49544998,783.49544998,814.50455002,652,630,653,0.454630942569,0.00446889264461,0.0598245268011,0.999999959815,-4.64883265487e-05,-0.000270956687845,-6.92169372768e-05,1793248260968876800
+251,4.183333333,HOLD_POSE2,766,745,715,681,658,631,881,783.916642427,814.083357573,652,630,653,0.454629775601,0.00446871037844,0.0598232949227,0.999999959664,-4.56771868576e-05,-0.000271680842377,-6.90979479079e-05,1793248260985543424
+252,4.200000000,HOLD_POSE2,766,745,715,681,658,631,881,783.337434715,814.662565285,652,630,653,0.454632208987,0.00446798265385,0.0598246516141,0.999999960161,-4.67073424901e-05,-0.000269701444443,-6.8972365834e-05,1793248261002210048
+253,4.216666667,HOLD_POSE2,766,745.240426507,715,681,658,631,880.759573493,783,815,652,630.240426507,653,0.454633135273,0.00446700638271,0.0598252861467,0.999999960205,-4.87123806149e-05,-0.000269185380684,-6.8962296557e-05,1793248261018876928
+254,4.233333333,HOLD_POSE2,766,745.816408427,715,681,658,631,880.183591573,783,815,652,630.816408427,653,0.454631958151,0.00446568322334,0.0598249127856,0.999999959613,-5.20780302706e-05,-0.000270711644748,-6.91134447239e-05,1793248261035543552
+255,4.250000000,HOLD_POSE2,765.607890027,745.607890027,715,681,658,631,880,783,815,652,631,653,0.454631103465,0.00446668945626,0.0598241677895,0.999999959306,-5.08794177977e-05,-0.000272109488746,-6.89606753457e-05,1793248261052210432
+256,4.266666667,HOLD_POSE2,765.032319613,745.032319613,715,681,658,631,880,783,815,652,631,653,0.454630399642,0.00446878556528,0.0598232489127,0.999999959126,-4.75452783408e-05,-0.000273447247688,-6.86657090184e-05,1793248261068877056
+257,4.283333333,HOLD_POSE2,765.555636638,745,715,681.555636638,657.444363362,631,880.555636638,783.555636638,815,652,631,653,0.454629786113,0.00446745911235,0.0598229797288,0.999999958813,-4.86676130605e-05,-0.000274448917136,-6.84315329702e-05,1793248261085543424
+258,4.300000000,HOLD_POSE2,766,745,715,681.857621664,657,631,881,783.857621664,815,652.142378336,631,653,0.454629608296,0.00446632999283,0.0598229405041,0.99999995869,-4.95924340336e-05,-0.00027479093728,-6.8188915985e-05,1793248261102210048
+259,4.316666667,HOLD_POSE2,766,745,715,681.276887881,657,631,881,783.276887881,815,652.723112119,631,653,0.454630755413,0.00446643532642,0.0598234902762,0.99999995918,-4.90928676332e-05,-0.000273163585289,-6.79091761258e-05,1793248261118876672
+260,4.333333333,HOLD_POSE2,766,745,715,681,657,631,880.699715803,783,815,652.699715803,631,653,0.454631020765,0.00446770482667,0.0598234217863,0.99999995919,-4.73066027821e-05,-0.000273368167156,-6.82120164557e-05,1793248261135543808
+261,4.350000000,HOLD_POSE2,766,745,715,681,657,631,880.125789462,783,815,652.125789462,631,653,0.454630482586,0.00447003520544,0.0598227898883,0.999999958754,-4.4347798988e-05,-0.000275242148692,-6.90457488506e-05,1793248261152211456
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880,783,814,652,630,653,0.454630073527,0.00446651477839,0.0598208609386,0.999999958571,-4.72047327161e-05,-0.00027568450683,-6.80271031504e-05,1793248261185266176
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.40313595,745,715,681,657,631,880,783,814,652,630.59686405,653,0.454629823827,0.00446751737325,0.0598214205859,0.999999958459,-4.81266008479e-05,-0.000275854656979,-6.83346566119e-05,1793248261201931776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.174709019,745,715,681.174709019,657.174709019,631,880,783,814.174709019,652,630.825290981,653,0.454629463097,0.00446743567787,0.059821579209,0.999999958297,-4.89281101599e-05,-0.000276299155076,-6.83392281885e-05,1793248261218597632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.71297658,745,715,681.71297658,657.71297658,631,880,783,814.71297658,652,630.28702342,653,0.454628871321,0.0044650976425,0.059820903326,0.999999958032,-4.94791604653e-05,-0.000277314554126,-6.77133134685e-05,1793248261235264256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.291131133,715,681.708868867,657.708868867,631,880.291131133,783,815,652,630,653,0.454629156212,0.00446490350771,0.0598208431285,0.999999958198,-4.94611797518e-05,-0.000276692236079,-6.78177954642e-05,1793248261251930880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.914852884,715,681.085147116,657.085147116,631,880.914852884,783,815,652,630,653,0.454630442614,0.00446715858283,0.0598214862952,0.999999958853,-4.87931332552e-05,-0.000274198976394,-6.87566887554e-05,1793248261268597504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.490642626,715,681,657,631,880.490642626,783,815,652,630,653,0.454630821278,0.00446773411838,0.0598218370327,0.999999958967,-4.76543589684e-05,-0.000274019661093,-6.86163700568e-05,1793248261285264128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880.097474225,783,814.902525775,652,630,653,0.454630522769,0.00446790304227,0.059821870916,0.999999958895,-4.69267258914e-05,-0.000274463871692,-6.83901475331e-05,1793248261301930496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880.676847967,783,814.323152033,652,630,653,0.454627585909,0.00446737447948,0.0598205668803,0.999999958329,-4.8599646023e-05,-0.000276182106127,-6.85827521359e-05,1793248261318597376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.254441932,657,631,881,783,814.254441932,652,630,653,0.454616170619,0.00446760819994,0.059815147876,0.999999955906,-4.83701292587e-05,-0.000284808335704,-6.87908377725e-05,1793248261335264000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.829791161,657,631,881,783,814.829791161,652,630,653,0.454594062163,0.00446880332745,0.0598045389902,0.999999950926,-4.57412205639e-05,-0.000302147067927,-6.90184483717e-05,1793248261351930368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.595375748,657,631,881,783,815,652,630.404624252,653,0.454551968297,0.00446934035725,0.0597861063265,0.999999941278,-4.53896875111e-05,-0.000332567800392,-6.91502878454e-05,1793248261368597248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.02075945,657,631,881,783,815,652,630.97924055,653,0.454501478094,0.00446960090501,0.059764386711,0.999999928655,-4.59949325878e-05,-0.000368484586132,-6.92418915942e-05,1793248261385263616
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,657.570690598,631,880.429309402,783.570690598,815,652,630.429309402,653,0.454438056198,0.00447028761817,0.0597456493919,0.999999919743,-4.57167421105e-05,-0.000391943068653,-6.93168886736e-05,1793248261401930240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.159193947,657.840806053,631,880,783.840806053,815,652,630.159193947,653,0.454371526596,0.00447052634849,0.0597294695681,0.99999991167,-4.57129923005e-05,-0.000412024316164,-6.93217217951e-05,1793248261418597120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.738261368,657.261738632,631,880,783.261738632,815,652,630.738261368,653,0.454298078807,0.0044695413961,0.0597197403025,0.999999906457,-4.65204131123e-05,-0.000424429721944,-6.91431395061e-05,1793248261435263744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.685638604,745,715,681.685638604,657.314361396,631,880,783,815,652,630.685638604,653,0.45421397896,0.00446978965546,0.0597154147721,0.999999904178,-4.39898133833e-05,-0.00043010670652,-6.86829563369e-05,1793248261451930368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.111986172,745,715,681.111986172,657.888013828,631,880,783,815,652,630.111986172,653,0.454121093106,0.00447105509051,0.0597155463419,0.999999904389,-3.87059531447e-05,-0.000430233965369,-6.79905036207e-05,1793248261468596992
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.461890868,658,631,880.461890868,783,815,652,630,653,0.45400811839,0.00447167023451,0.059714251424,0.999999902724,-3.73235944168e-05,-0.000434342913981,-6.7113614862e-05,1793248261485263872
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744.962895346,715,681.962895346,658,631,881,783.037104654,815,652,630,653,0.453888492269,0.0044722200881,0.0597125869357,0.999999900659,-3.65665164389e-05,-0.000439276123603,-6.61933022182e-05,1793248261501930496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,744.368419838,715,681.368419838,658,631,881,783.631580162,815,652,630,653,0.453742150857,0.00447415869324,0.0597105687211,0.99999989967,-3.09859360283e-05,-0.000442082643042,-6.52927380364e-05,1793248261518597120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.218818978,744.218818978,715,681,658,631,881,783.781181022,815,652,630,653,0.453583906607,0.00447572566774,0.0597076488198,0.999999898031,-2.56931045822e-05,-0.000446244772464,-6.43738522161e-05,1793248261535263744
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.794263559,744.794263559,715,681,658,631,881,783.205736441,815,652,630,653,0.453406263427,0.00447668696789,0.0597032593727,0.99999989534,-2.08692396241e-05,-0.000452616240273,-6.3425106344e-05,1793248261551930624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880.630029418,783.369970582,814.630029418,652,630,653,0.453218352346,0.00447801368672,0.0597064181078,0.999999897523,-1.6943783973e-05,-0.000448110627437,-6.21524354572e-05,1793248261568597248
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880.054176295,783.945823705,814.054176295,652,630,653,0.453024727331,0.00447954375511,0.0597137772817,0.99999990234,-1.35182778629e-05,-0.000437552098804,-6.06995055379e-05,1793248261585263616
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.46503881,745,715,681,658.53496119,631.53496119,880,783.46503881,814.53496119,652,630,653,0.452793605622,0.00448060767962,0.0597193872316,0.999999906694,-6.80700416334e-06,-0.000427965205895,-5.8412237203e-05,1793248261601930240
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.122523138,745,715,681.122523138,659,632,880.122523138,783.122523138,814.877476862,652,630,653,0.452550063538,0.00448186064085,0.0597239442925,0.999999910158,3.52365066163e-07,-0.000420160420044,-5.61201564951e-05,1793248261618597120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.699133179,745,715,681.699133179,659,632,880.699133179,783.699133179,814.300866821,652,630,653,0.452274921676,0.00448399360819,0.0597252724555,0.999999910896,7.90780161809e-06,-0.00041858638937,-5.41313624426e-05,1793248261635263744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.724508221,744.724508221,715,682,659,632,880.724508221,783.724508221,814,651.724508221,630,653,0.451978660032,0.00448588686015,0.0597272257475,0.999999912103,1.43871348056e-05,-0.000415793927423,-5.19823997906e-05,1793248261651930368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.148424003,744.148424003,715,682,659,632,880.148424003,783.148424003,814,651.148424003,630,653,0.451659354353,0.00448751855561,0.0597298611251,0.999999913836,1.9692318044e-05,-0.000411672020363,-4.96586753478e-05,1793248261668596992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.427853036,744.427853036,715,681.572146964,659.427853036,632,880,783,814,651.427853036,630,653,0.451304480177,0.00448874955942,0.0597283448056,0.999999912166,2.78895771722e-05,-0.000415539457798,-4.70937867486e-05,1793248261685263616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.004283354,660,632,880,783.004283354,814,652,630.004283354,652.995716646,0.450936956794,0.00448984632151,0.059725379257,0.999999909224,3.70753144658e-05,-0.000422140672721,-4.44445215567e-05,1793248261701930496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.592488093,660,632,880,783.592488093,814,652,630.592488093,652.407511907,0.450527883481,0.00449160051421,0.0597212769569,0.99999990851,4.41825038036e-05,-0.000423424065048,-4.17028196717e-05,1793248261718597120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.178541739,632.178541739,880.178541739,784,813.821458261,652,630.821458261,652.178541739,0.450103019454,0.00449404018857,0.0597161219447,0.999999907031,5.29299562244e-05,-0.000426167554862,-3.89668154215e-05,1793248261735263744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.759743998,632.759743998,880.759743998,784,813.240256002,652,630.240256002,652.759743998,0.449642543101,0.00449802581157,0.0597085927785,0.999999903806,6.53766501793e-05,-0.000432203964226,-3.62436612687e-05,1793248261751930368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.663876281,661,633,880.663876281,783.663876281,813,652,630,653,0.44917458975,0.00450152699221,0.0597148783683,0.999999908173,7.79496589569e-05,-0.000420105389434,-3.30103569379e-05,1793248261768596992
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.484821816,661.484821816,632.515178184,880,783.484821816,813,652,630,653,0.448207337549,0.00450550267729,0.0597567114326,0.999999931968,0.000101556638542,-0.000353740734916,-2.48624792069e-05,1793248261801930496
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.761715389,633,880,784,812,652,630.238284611,652.761715389,0.446545519702,0.00451593609704,0.0598271319791,0.999999956934,0.000144057182989,-0.000255480521418,-1.04804732615e-05,1793248261851930368
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.183744106,633,880,784,812,652,630.816255894,652.183744106,0.44589809697,0.00451964925263,0.0598152331583,0.999999947484,0.000159078293102,-0.000282296372301,-5.95822816427e-06,1793248261868597248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.392695282,745,715,681.392695282,662,633,880,784,812,652,630.607304718,652.392695282,0.445207628655,0.00452549286299,0.0597812684303,0.999999929112,0.000175824427158,-0.000332951784095,-2.3098837807e-06,1793248261885264128
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.968420658,745,715,681.968420658,662,633,880,784,812,652,630.031579342,652.968420658,0.44449709738,0.00453232945014,0.0597370190742,0.999999903401,0.000193374571154,-0.000394718499159,9.31146881294e-07,1793248261901930752
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.445603239,745,715,682,662,632.445603239,880,784,812.554396761,652,630,653,0.443835810896,0.00453532089438,0.0597455232867,0.999999906989,0.00020824488482,-0.000377658059504,5.58972971493e-06,1793248261918597120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.139068691,745,715,682,662.139068691,632.139068691,879.860931309,784,812.860931309,652,630,653,0.443161343147,0.00453816706755,0.0597618392124,0.999999913569,0.000223551777895,-0.00035038756187,1.07004698279e-05,1793248261935263744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.717737485,745,715,682,662.717737485,632.717737485,879.282262515,784,812.282262515,652,630,653,0.442436175249,0.00454125942288,0.05979317058,0.999999924275,0.00024073032096,-0.000305303569187,1.69804421227e-05,1793248261951930368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.70540832,633,879.29459168,784,812,652,630,653,0.441676214638,0.00454493886981,0.0598023813123,0.999999921688,0.000256627417367,-0.000300412737501,2.27548036455e-05,1793248261968597248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.13028207,633,879.86971793,784,812,652,630,653,0.440883121441,0.00454917739428,0.0597905269492,0.999999907093,0.000271304216405,-0.000333797154042,2.80476815034e-05,1793248261985263872
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.555694675,745,715,681.555694675,662,633,880,784,812,652,630,653,0.440076287754,0.00455357737491,0.0597826338264,0.999999896648,0.000286091646895,-0.000351873450437,3.22513746313e-05,1793248262001930496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.019355651,662.019355651,633,880,784,812,652,630.019355651,653,0.439266039727,0.00455791052515,0.0597769382736,0.999999888273,0.000299956402963,-0.000363580889095,3.59064066898e-05,1793248262018596864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.612818942,662.612818942,633,880,784,812,652,630.612818942,653,0.438473879149,0.00455885888335,0.0598020140995,0.999999907715,0.000285492717005,-0.000319361100433,3.27492024961e-05,1793248262035263488
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.799737188,633,880,784,812,652,630.799737188,653,0.437633866967,0.00455959644937,0.0598045390355,0.999999913912,0.000267398914217,-0.000315999653665,2.8601544519e-05,1793248262051930368
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.223591494,633,880,784,812,652,630.223591494,653,0.436704039863,0.00455993836939,0.0597647371227,0.999999894556,0.000242491571673,-0.000389327191798,2.25948564861e-05,1793248262068596992
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.646572627,661.646572627,633.353427373,879.646572627,784,812,652,629.646572627,653,0.435816758974,0.0045613495436,0.0597419786559,0.999999886249,0.00023823000491,-0.00041267309069,2.11837911558e-05,1793248262085263616
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.069000011,661.069000011,633.930999989,879.069000011,784,812,652,629.069000011,653,0.434956461124,0.00456343884366,0.0597300292213,0.999999887485,0.0002470620843,-0.000404320405604,2.26872908619e-05,1793248262101930752
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.517498889,745,715,681.517498889,662.034997777,633.482501111,879.517498889,784,811.482501111,652,629.517498889,653,0.434111296837,0.00456778015902,0.0597506172004,0.999999902384,0.000250334861338,-0.000363290440198,2.41648812648e-05,1793248262118597120
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.896144118,662.896144118,633,880,784.103855882,811.103855882,652,630,653,0.43325406486,0.00457162685584,0.0597726167922,0.999999914692,0.000252187802461,-0.000326115952708,2.58149487858e-05,1793248262135264000
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.315992198,662.315992198,633,880,784.684007802,811.684007802,652,630,653,0.43233207285,0.00457180392606,0.0597808448676,0.999999914653,0.000250988294105,-0.000326955553833,2.82721388461e-05,1793248262151930624
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,633,879.738272878,785,811.738272878,652,630,653,0.431420095853,0.00457209076335,0.0597954756012,0.999999922243,0.000245803384727,-0.000307007833382,2.90148290734e-05,1793248262168597504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,633,879.163463397,785,811.163463397,652,630,653,0.430520098859,0.00457250890586,0.0598177653028,0.99999993743,0.000235851071479,-0.00026219397096,2.77066062163e-05,1793248262185263872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.588551534,745,715,681,662.411448466,633,879.411448466,785,811.411448466,652,630,653,0.429569905185,0.00457467359754,0.0598097735636,0.999999929619,0.000236358314156,-0.000289899185705,2.92529377035e-05,1793248262201930496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.013599019,745,715,681,662.986400981,633,879.986400981,785,811.986400981,652,630,653,0.428599764084,0.00457753234418,0.0597897483885,0.99999991044,0.000241022042772,-0.000346422501598,3.19336304397e-05,1793248262218597120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.845004717,633,879.422502359,784.422502359,811.422502359,652,630,653,0.427678364337,0.00457729585462,0.0597548660718,0.99999989851,0.000232070218001,-0.000384997229271,3.00253476923e-05,1793248262235264000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.164810766,745.164810766,715,681,661.329621531,633,879,784.164810766,811,652,630,652.835189234,0.426766061436,0.00457684731395,0.059738598673,0.999999895211,0.000224383067292,-0.000397983984358,2.89482907543e-05,1793248262251930880
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.741686312,745.741686312,715,681,662.483372623,633,879,784.741686312,811,652,630,652.258313688,0.425873550573,0.00457605607244,0.0597697727313,0.999999914612,0.000220682574902,-0.000348082057102,3.02274395603e-05,1793248262268597504
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.682051362,745.682051362,715,681,662.682051362,633.317948638,879.317948638,784.682051362,811,652,630,652.317948638,0.424960197125,0.00457718506829,0.0597980499062,0.999999926742,0.000218369450613,-0.000312743636336,3.19703366314e-05,1793248262285264128
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.106286308,745.106286308,715,681,662.106286308,633.893713692,879.893713692,784.106286308,811,652,630,652.893713692,0.424029943002,0.00457987113553,0.0598239780709,0.999999934013,0.000217181308032,-0.000289214393182,3.40892752754e-05,1793248262301930496
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,634,879.530639864,784.469360136,811,652,630,652.530639864,0.423143402291,0.00457731389655,0.0598377619432,0.999999943192,0.000206954724299,-0.000263791007227,3.46385735622e-05,1793248262318597120
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.046426967,745,715,681,662.046426967,634,879,784.953573033,811,652,629.953573033,652.046426967,0.422263633315,0.00457411391489,0.0598460907273,0.999999950655,0.000195705645516,-0.000243261109546,3.48252438303e-05,1793248262335263744
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.640566828,745,715,681,662.640566828,634,879,784.359433172,811,652,629.359433172,652.640566828,0.421347002793,0.00457733521592,0.0598224993589,0.999999939316,0.000196533913959,-0.000285520096542,3.49261035624e-05,1793248262351930368
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.773004832,745,715,680.773004832,662.546009665,634,879,784.453990335,811,652,629.226995168,652.773004832,0.420421591332,0.00457903170393,0.0597848782391,0.99999991918,0.000194655195227,-0.000350053715662,3.48013387024e-05,1793248262368597248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.198385939,745,715,680.198385939,661.396771878,634,879,785.603228122,811,652,629.801614061,652.198385939,0.419482732472,0.00457839307139,0.0597257717491,0.999999880954,0.000188630955884,-0.000448699037698,3.43310488897e-05,1793248262385263872
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.622778979,715,680,661,634,879,785.622778979,810.622778979,652,630,652,0.418613026409,0.00457706679742,0.0597212142405,0.999999883915,0.000179042655838,-0.000446092196279,3.33946597044e-05,1793248262401930496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.046651051,715,680,661,634,879,785.046651051,810.046651051,652,630,652,0.417779784352,0.00457537793331,0.0597454201623,0.999999909353,0.000167575043509,-0.000390095549707,3.22124985213e-05,1793248262418597376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.085819996,715,680.542909998,661.542909998,633.457090002,879,785,810,652,629.457090002,652.542909998,0.417001418705,0.00457523242305,0.0597908000015,0.999999932315,0.00016437717445,-0.000327385351871,3.41831530598e-05,1793248262435264000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.868958998,715,681,661.737917995,633.131041002,879,785,810.131041002,652,629,653,0.416223140631,0.00457444745065,0.0598286097256,0.999999944974,0.000174536539692,-0.000279777398465,3.6247081302e-05,1793248262451930624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.289766382,715,681,660.579532764,633.710233618,879,785,810.710233618,652,629,653,0.41542862656,0.00457101051189,0.0598341499646,0.999999932472,0.000227884906471,-0.000285841080897,3.7679984021e-05,1793248262468597248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.286276054,745,715,681,660.572552107,634,878.713723946,785,810.713723946,652,629,653,0.414654764716,0.00457018863178,0.0598384831998,0.999999925493,0.000261644425883,-0.000281259674099,3.80783905125e-05,1793248262485263872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.859164573,745,715,681,661.718329145,634,878.140835427,785,810.140835427,652,629,653,0.413901579413,0.00457198488356,0.0598416080125,0.999999925885,0.000275792075718,-0.000266020668872,3.74410850928e-05,1793248262501930496
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.560895636,745,715,681,661.560895636,634,878,785,810.439104364,652.439104364,628.560895636,652.560895636,0.41312289199,0.00457118175456,0.0598196892406,0.999999915168,0.000272274784917,-0.000306709416151,3.81966051782e-05,1793248262518596864
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.021504174,745,715,681,660.978495826,634,877.978495826,784.978495826,810.978495826,652.978495826,628.021504174,652,0.412337603574,0.00456954009003,0.0597893124345,0.999999897953,0.000262739654327,-0.000365405850402,3.92548715946e-05,1793248262535264000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.608147825,745,715,681,660.391852175,634,877.391852175,784.391852175,810.391852175,652.391852175,628.608147825,652,0.411597305751,0.00456812914786,0.0597511926738,0.999999881524,0.000246381194406,-0.00041824260027,3.63376928965e-05,1793248262551930880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.808174718,745,715,680.808174718,660.383650563,633.808174718,877.191825282,784.191825282,810,652.191825282,629,652,0.41089998394,0.00456639886367,0.0597370317375,0.999999878862,0.000230847397475,-0.000433360505914,3.43998689589e-05,1793248262568597504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.230464104,745,715,680.230464104,661.539071793,633.230464104,877.769535896,784.769535896,810,652.769535896,629,652,0.410289114689,0.00456402617484,0.0597710675642,0.999999906453,0.000216972531567,-0.000372601308129,3.44321636213e-05,1793248262585264128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.654222117,633.345777883,878.345777883,785,810,653,629,652,0.409689633932,0.00456232230015,0.0598084085167,0.999999927595,0.000209323502771,-0.000315790358904,3.56261864591e-05,1793248262601930752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.078954879,633.921045121,878.921045121,785,810,653,629,652,0.409097711641,0.00456106231093,0.0598479430465,0.999999943898,0.0002058065011,-0.000261599826648,3.75912367532e-05,1793248262618597120
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715.495894156,680,661,634,878.504105844,785,810,652.504105844,629,652,0.40850247087,0.00456127452565,0.0598515812925,0.999999947247,0.000200759998875,-0.000252668153589,3.68701850069e-05,1793248262635263744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.072991738,745,715.927008262,679.927008262,661.072991738,634,878,785,810,652,628.927008262,652,0.40791225298,0.00456106063158,0.0598476732385,0.999999947879,0.000195203670525,-0.000254657010379,3.58735520832e-05,1793248262651930368
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.666601749,745,715.333398251,679.333398251,661.666601749,634,878,785,810,652,628.333398251,652,0.407361626478,0.00455613702343,0.0598306711505,0.999999941633,0.00018774645246,-0.000283183377672,3.59591580645e-05,1793248262668597248
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.252738471,661.747261529,634,877.747261529,785,809.747261529,652,628.252738471,652,0.406840719722,0.00455278422562,0.059821075546,0.999999938819,0.000182657150386,-0.000296168818825,3.58114860279e-05,1793248262685264128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.82929994,661.17070006,634,877.17070006,785,809.17070006,652,628.82929994,652,0.406357891648,0.00455144404033,0.0598209695538,0.999999941236,0.000180601758575,-0.000289242333734,3.53649248632e-05,1793248262701930752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.595612937,745,715,680,661.404387063,634,877.404387063,784.595612937,809.404387063,652.404387063,628.595612937,652,0.405898676434,0.00455000070636,0.0598225589954,0.999999943537,0.000177285367804,-0.000283352455349,3.4736273072e-05,1793248262718597376
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.543093434,745,715,680,661.456906566,634,878,784.543093434,810,652.456906566,628,652,0.405014966265,0.00454711560905,0.0598079414957,0.999999938773,0.000173512957072,-0.000302087170708,3.30259731762e-05,1793248262751930624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.884877771,745,715,680,661,634,878,784.884877771,810,652,628,652,0.404588119948,0.00454583521297,0.0597892987541,0.999999929739,0.000174549502168,-0.000330189741925,3.20903595056e-05,1793248262768597248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.27789834,745,715,680,661,634,878,784.27789834,810,652,628,652,0.404191232348,0.00454504447771,0.0597664343303,0.999999914959,0.000179056818672,-0.000370174660833,3.15004216952e-05,1793248262785263616
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.312255977,745,715,679.687744023,661,634,878,784.312255977,810,652,628,652,0.403841196703,0.00454354107533,0.0597582702225,0.999999909739,0.000182780392228,-0.000382311041658,3.0847358589e-05,1793248262801930496
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.888201996,745,715,679.111798004,661,634,878,784.888201996,810,652,628,652,0.403530726036,0.00454143584876,0.0597625200558,0.999999913482,0.000185842120182,-0.00037093023357,3.01409882822e-05,1793248262818596864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.536421245,745,715,679,661,633.536421245,878,785,810,652.463578755,628.463578755,652,0.403267801698,0.00454027355973,0.0597825066751,0.999999926782,0.000182135505296,-0.000335209693116,2.99651739365e-05,1793248262835263744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.039898476,661,633.039898476,878,785,810,653,629,652,0.40301793396,0.00453928302278,0.0598059613603,0.9999999405,0.000176975170922,-0.000294589531754,2.99583777281e-05,1793248262851930880
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.631143594,661,633.631143594,878,785,810,653,629,652,0.402790234942,0.00453752733404,0.0598249607654,0.999999948633,0.000174254563874,-0.000267277104174,3.0521254715e-05,1793248262868597760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.216487445,745,715,679.783512555,661,634,877.783512555,785,809.783512555,652.783512555,628.783512555,652,0.40256592557,0.0045355263336,0.0598356183914,0.999999952887,0.000171168100482,-0.00025292729863,3.08958660488e-05,1793248262885264640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.792043329,745,715,679.207956671,661,634,877.207956671,785,809.207956671,652.207956671,628.207956671,652,0.402347238323,0.00453311845665,0.0598324402499,0.999999951677,0.000167474824201,-0.000260077442477,3.09582178886e-05,1793248262901931008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,877.369177049,785,809,652.369177049,628,652,0.402147145111,0.00453132658925,0.0598274645284,0.999999948842,0.000163949302418,-0.000272916167641,3.08761974071e-05,1793248262918597632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,877.94720343,785,809,652.94720343,628,652,0.401957570819,0.00452988320805,0.059821471887,0.999999944893,0.000160518681644,-0.000288973014401,3.07125032057e-05,1793248262935264000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.46648827,745,715,679.53351173,661,634,877.46648827,785,809,653,628,652,0.401806126746,0.00452996347787,0.0598225183559,0.999999944742,0.000159825022832,-0.000289873363528,3.07345174539e-05,1793248262951930624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715.119092199,680,661,633.880907801,877.119092199,785,809.119092199,652.880907801,628,652,0.401664297701,0.00453005704821,0.0598238794313,0.999999945036,0.000158667190604,-0.00028951003635,3.06051894753e-05,1793248262968597504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715.698639981,680,661,633.301360019,877.698639981,785,809.698639981,652.301360019,628,652,0.401544824571,0.00452960987368,0.0598237211319,0.999999945503,0.000154650962448,-0.00029015145867,2.98185391515e-05,1793248262985264128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715.724349818,679.724349818,661.275650182,633,877.724349818,785,809.724349818,652,628,652,0.401440591817,0.00452824822682,0.0598259659407,0.999999947091,0.000151020208506,-0.000286608186661,2.9425533973e-05,1793248263001930752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715.150088606,679.150088606,661.849911394,633,877.150088606,785,809.150088606,652,628,652,0.401352868924,0.00452589593484,0.0598308140296,0.999999949853,0.000147807037879,-0.000278531647567,2.94589634661e-05,1793248263018597632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.432123603,662,633.432123603,877,785,809,652,628.432123603,652,0.401277115158,0.00452497781098,0.0598315268192,0.999999949832,0.000145715002796,-0.000279690963413,2.95889699098e-05,1793248263035264512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.982940451,661.982940451,634,877.017059549,784.982940451,809,652.017059549,628.982940451,652,0.40120600943,0.00452457379035,0.0598307089329,0.999999948838,0.000144033897854,-0.000284066452767,2.97301904768e-05,1793248263051931136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.400972252,661.400972252,634,877.599027748,784.400972252,809,652.599027748,628.400972252,652,0.401148576367,0.00452438962305,0.0598276575838,0.999999948271,0.000142823976693,-0.000286725725737,2.91111643384e-05,1793248263068597504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.819855887,784.180144113,809,652.819855887,628,652,0.401097242244,0.00452394177951,0.0598254110851,0.999999947797,0.000141305351683,-0.000289158016433,2.87537738706e-05,1793248263085264128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.240626723,784.759373277,809,652.240626723,628,652,0.401059419513,0.00452290979674,0.0598249476248,0.999999947539,0.000139102834984,-0.000291087458079,2.89760021234e-05,1793248263101930752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.335164562,661,633.664835438,877.335164562,785,809,652.335164562,628.335164562,652,0.401029448874,0.00452251927293,0.0598252055192,0.999999947658,0.000137665705738,-0.000291383674672,2.87614156593e-05,1793248263118597120
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.908512786,661,633.091487214,877.908512786,785,809,652.908512786,628.908512786,652,0.401005058295,0.00452258459986,0.0598259760421,0.999999948047,0.000136772496499,-0.00029051924511,2.8236408185e-05,1793248263135263744
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.518773759,661.481226241,633.481226241,878,785,809.481226241,653,628.518773759,652,0.400992476874,0.00452210291722,0.0598286282026,0.999999949135,0.000136967987814,-0.000286677835381,2.80138193433e-05,1793248263151930624
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.944011557,634,878,785,810,653,628,652,0.400982215011,0.00452158464396,0.0598313144199,0.999999950213,0.000137297002335,-0.000282750426788,2.78584294732e-05,1793248263168597504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.348338992,634,878,785,810,653,628,652,0.400972699651,0.00452171475968,0.059830885294,0.99999995007,0.000136920620774,-0.000283442289375,2.77973214524e-05,1793248263185264128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.761007395,785,809.761007395,653,628.238992605,652,0.400965588078,0.00452173620798,0.0598305524033,0.999999950068,0.000136324847631,-0.000283739082981,2.77800521448e-05,1793248263201930496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.185423061,785,809.185423061,653,628.814576939,652,0.400961861942,0.00452160461158,0.0598303550478,0.999999950263,0.00013542008842,-0.000283479470415,2.78245242835e-05,1793248263218597120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.389017459,634,877.389017459,785,809.389017459,653,628.610982541,652,0.400961555285,0.00452194260883,0.0598319047146,0.999999950934,0.000136121315222,-0.000280744219382,2.80185557889e-05,1793248263235263744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.962914369,634,877.962914369,785,809.962914369,653,628.037085631,652,0.400962873727,0.00452250377914,0.0598342846488,0.999999951817,0.000137585782375,-0.000276832428148,2.82836649599e-05,1793248263251930368
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.44691024,634,878,785,810,653,628,652,0.400961479842,0.00452220471658,0.0598339939767,0.999999951866,0.000136162550727,-0.00027743289201,2.75527896212e-05,1793248263268597504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.85922688,785,809.85922688,653,628,652,0.400960382849,0.00452172267235,0.0598340914301,0.999999952062,0.00013480548564,-0.000277435591665,2.70795469837e-05,1793248263285264640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.282737704,785,809.282737704,653,628,652,0.400960784768,0.00452085821296,0.059835961251,0.999999952895,0.000134270692854,-0.00027462325839,2.76166912576e-05,1793248263301931008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.293826574,785,809.293826574,652.706173426,628.293826574,652,0.400960665814,0.00452107281335,0.0598363836795,0.999999953117,0.000134204496289,-0.000273841164172,2.76762596873e-05,1793248263318597376
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.870463208,785,809.870463208,652.129536792,628.870463208,652,0.400960045518,0.00452232601595,0.0598354129833,0.999999952755,0.000134589326685,-0.000275013188404,2.72761582108e-05,1793248263335263744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.550880951,661,634,878,785,810,652,629,652,0.400959303315,0.00452120645577,0.0598353704867,0.999999952816,0.000133780495091,-0.000275179894616,2.73446861984e-05,1793248263351930368
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.057660957,661.028830479,634,878,785,810,652.028830479,629,652,0.400958623613,0.00451956720611,0.0598356378587,0.999999953009,0.00013276950509,-0.000274945671301,2.75429085712e-05,1793248263368597248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.235366511,661.617683256,634,878,785,810,652.617683256,629,652,0.400959844047,0.00452118670146,0.0598367005591,0.999999953416,0.000134549399074,-0.000272581300888,2.76230270041e-05,1793248263385263872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.798809165,715,679.798809165,662,633.798809165,878,785,810,652.798809165,629,652,0.400960313874,0.00452213682497,0.0598371547281,0.999999953519,0.000135394005734,-0.000271792527666,2.75518004683e-05,1793248263401930496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.225196062,715,679.225196062,662,633.225196062,878,785,810,652.225196062,629,652,0.400959394259,0.00452184788112,0.059836482451,0.999999953068,0.00013450731162,-0.000273920326217,2.72004208252e-05,1793248263418597120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.350933345,715,679.350933345,661.649066655,633.350933345,878,785,810,652.350933345,628.649066655,652.350933345,0.400959070792,0.00452146012264,0.059837008782,0.999999953131,0.00013415046851,-0.000273880800584,2.7026617911e-05,1793248263435263744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.92868912,715,679.92868912,661.07131088,633.92868912,878,785,810,652.92868912,628.07131088,652.92868912,0.400959132641,0.00452100849627,0.0598383098222,0.999999953528,0.000134136089591,-0.0002724404455,2.69675900398e-05,1793248263451930368
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.517529129,633.482470871,878,785,810,653,628,652.482470871,0.400958914805,0.00452190226769,0.059837512986,0.999999953377,0.00013406266504,-0.000273059944768,2.66710152432e-05,1793248263468596992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.1058913,745,715,679.8941087,662,633.1058913,878,785,809.8941087,653,628,652,0.400958866109,0.00452254335009,0.059836794141,0.999999953297,0.000133823867762,-0.000273492384487,2.64424981959e-05,1793248263485263872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.685140415,745,715,679.314859585,662,633.685140415,878,785,809.314859585,653,628,652,0.400959749557,0.00452120801133,0.0598377444175,0.99999995388,0.000132882982962,-0.000271792075536,2.66677356518e-05,1793248263501930496
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,877.737475791,785,809.262524209,653,628,652,0.40096048857,0.0045205236674,0.0598384928433,0.999999954303,0.000132079265241,-0.000270612606437,2.67765533129e-05,1793248263518597120
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,877.16231332,785,809.83768668,653,628,652,0.400961055574,0.00452061458854,0.0598390008865,0.99999995454,0.000131438898722,-0.000270053401689,2.67467274755e-05,1793248263535264000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.412081356,715,679.412081356,662,634,877.412081356,785.412081356,809.587918644,652.587918644,628,652,0.400961639054,0.00452052730917,0.059839502515,0.999999954758,0.000131918254342,-0.000269012129993,2.67297416981e-05,1793248263551930624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.986174135,715,679.986174135,662,634,877.986174135,785.986174135,809.013825865,652.013825865,628,652,0.400962229012,0.00452036996956,0.0598400016214,0.999999954967,0.000132837833208,-0.000267781331796,2.67178040427e-05,1793248263568597248
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfc06b157ddf1dcb916d82f6de206b83c63b5f1f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_01/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,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+9,0.150000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+10,0.166666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+17,0.283333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+18,0.300000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+19,0.316666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+20,0.333333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+21,0.350000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+22,0.366666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+23,0.383333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+24,0.400000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+25,0.416666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+380,6.333333333,pose2_to_pose3_retreat,0.583274579756,0.00992799573492,1.0500425094,0.553846370188,0.018602450479,1.04966589225
+381,6.350000000,pose2_to_pose3_retreat,0.583264556911,0.00992796336107,1.050042498,0.553836346699,0.0186024157423,1.0496658768
+382,6.366666667,pose2_to_pose3_retreat,0.583258016824,0.0099278520714,1.05004241041,0.553829808423,0.0186023106796,1.04966579113
+383,6.383333333,pose2_to_pose3_retreat,0.583253373832,0.00992784517616,1.05004239295,0.553825164531,0.0186023008152,1.0496657757
+384,6.400000000,pose2_to_pose3_retreat,0.583250553587,0.00992787536237,1.05004246084,0.553822343913,0.0186023298187,1.04966584551
+385,6.416666667,pose2_to_pose3_retreat,0.583249037063,0.00992793434609,1.05004261121,0.55382082775,0.0186023901172,1.0496659979
+386,6.433333333,pose2_to_pose3_retreat,0.583248333498,0.00992796171052,1.05004268098,0.553820124353,0.0186024180916,1.0496660686
+387,6.450000000,pose2_to_pose3_retreat,0.583248187902,0.00992796737334,1.05004269542,0.553819978792,0.0186024238806,1.04966608323
+388,6.466666667,pose2_to_pose3_retreat,0.583248067677,0.00992797204938,1.05004270734,0.553819858595,0.0186024286609,1.04966609531
+389,6.483333333,pose2_to_pose3_retreat,0.583247699755,0.0099279680445,1.05004269377,0.553819490784,0.0186024250187,1.04966608149
+390,6.500000000,pose2_to_pose3_retreat,0.583247423692,0.00992795565202,1.05004265793,0.553819214815,0.0186024129207,1.04966604508
+391,6.516666667,pose2_to_pose3_retreat,0.583247200556,0.00992794563547,1.05004262896,0.553818991755,0.0186024031422,1.04966601565
+392,6.533333333,pose2_to_pose3_retreat,0.583247081238,0.0099279402793,1.05004261347,0.553818872478,0.0186023979134,1.04966599991
+393,6.550000000,pose2_to_pose3_retreat,0.583247036599,0.00992793827546,1.05004260768,0.553818827854,0.0186023959571,1.04966599402
+394,6.566666667,pose2_to_pose3_retreat,0.583246953995,0.00992793456739,1.05004259696,0.553818745278,0.0186023923372,1.04966598313
+395,6.583333333,pose2_to_pose3_retreat,0.583246924503,0.00992793324348,1.05004259313,0.553818715796,0.0186023910448,1.04966597924
+396,6.600000000,pose2_to_pose3_retreat,0.583246859939,0.00992793034523,1.05004258475,0.553818651255,0.0186023882154,1.04966597072
+397,6.616666667,pose2_to_pose3_retreat,0.583246742077,0.00992792505441,1.05004256945,0.553818533433,0.0186023830503,1.04966595518
+398,6.633333333,pose2_to_pose3_retreat,0.583246558447,0.00992791681128,1.05004254561,0.553818349866,0.0186023750031,1.04966593096
+399,6.650000000,pose2_to_pose3_retreat,0.583246513382,0.00992791478832,1.05004253976,0.553818304816,0.0186023730282,1.04966592502
+400,6.666666667,pose2_to_pose3_retreat,0.583246333556,0.00992790671593,1.05004251641,0.553818125051,0.0186023651477,1.0496659013
+401,6.683333333,pose2_to_pose3_retreat,0.583246107004,0.00992790740026,1.05004248505,0.553817898427,0.0186023655738,1.04966586957
+402,6.700000000,pose2_to_pose3_retreat,0.583245847468,0.00992794956296,1.05004244167,0.553817638243,0.0186024055351,1.04966582617
+403,6.716666667,pose2_to_pose3_retreat,0.583245527089,0.00992800160999,1.05004238812,0.553817317063,0.0186024548647,1.0496657726
+404,6.733333333,pose2_to_pose3_retreat,0.583245459941,0.0099279974783,1.05004239272,0.553817249604,0.0186024495722,1.04966577483
+405,6.750000000,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a1c30aee1e5555c331d5c5a26c87ce9081fc868
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02552ffd75baa7008b20c317be46309e2972ba7597d2730e82d9eb5f6f5b031a
+size 25787307
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aa789a38177fb64d5a96749062c1626383efd02
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,765,745,715,679,661,634,878,785,809.577490624,653,628.422509376,652,0.400958560321,0.00452014395855,0.0598380950762,0.999999953984,0.000133431460705,-0.000271144207494,2.66266358896e-05,1793248263728747008
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+21,0.350000000,BASELINE,765,745,715,679.177872143,661.822127857,634,878,785,809.822127857,652.177872143,628.177872143,652,0.400959950667,0.0045202615363,0.0598405568389,0.999999955389,0.000131857150008,-0.000266722686291,2.6344635244e-05,1793248264062079744
+22,0.366666667,BASELINE,765,745,715,679.753179051,661.246820949,634,878,785,809.246820949,652.753179051,628.753179051,652,0.400960695237,0.00451907900447,0.0598402563327,0.99999995585,0.000128732387797,-0.000266545362672,2.61182864133e-05,1793248264078746112
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+28,0.466666667,BASELINE,765,745,715,679,661.23595875,634,878,785,810,652.23595875,628.23595875,652.76404125,0.40096105833,0.00452143452598,0.0598408882331,0.999999955581,0.000132141509591,-0.000265890174661,2.60451030171e-05,1793248264178746368
+29,0.483333333,BASELINE,765,745,715,679,661.80873267,634,878,785,810,652.80873267,628.80873267,652.19126733,0.400960054144,0.00452205667979,0.0598406799005,0.999999955114,0.000134416509371,-0.00026651789374,2.59149195418e-05,1793248264195412992
+30,0.500000000,BASELINE,765,745,715,679.394806446,662,634,878,785,810,653,629,652,0.400959796213,0.00452191457169,0.0598406636563,0.999999955248,0.000133342221953,-0.000266574131299,2.57400322044e-05,1793248264212079616
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+43,0.716666667,BASELINE,765,745,715,679.05149545,661.94850455,634,877.05149545,785,809.94850455,652.05149545,628.94850455,652.05149545,0.400960220318,0.00452048290132,0.0598407210322,0.999999955729,0.000130388640228,-0.000266218085856,2.58512125645e-05,1793248264428745728
+44,0.733333333,BASELINE,765,745,715,679.526615667,661.473384333,634,877,785,810,652,628.473384333,652,0.400960255817,0.00452080054227,0.0598406719321,0.999999955519,0.000131401515217,-0.00026649877428,2.59612190866e-05,1793248264445412608
+45,0.750000000,BASELINE,765,745,715,680,661,634,877.104009631,785,810,652.104009631,628,652.104009631,0.400960544487,0.00452106491455,0.0598408171885,0.999999955426,0.000132266664632,-0.000266408450004,2.60686128936e-05,1793248264462079488
+46,0.766666667,BASELINE,765,745,715,680,661,634,877.683094839,785,810,652.683094839,628,652.683094839,0.400961424785,0.00452108622429,0.05984122695,0.999999955837,0.000131315860071,-0.000265351116805,2.59117796609e-05,1793248264478746368
+47,0.783333333,BASELINE,765.259664228,745,715,679.740335772,661.259664228,634,877.740335772,785,810,653,628.259664228,652.740335772,0.400961570791,0.00452086998085,0.0598413050671,0.999999956011,0.000130462466129,-0.000265128678063,2.57624777205e-05,1793248264495412992
+48,0.800000000,BASELINE,765.833192744,745,715,679.166807256,661.833192744,634,877.166807256,785,810,653,628.833192744,652.166807256,0.400960829233,0.00452036659945,0.0598409823152,0.999999955902,0.000129726815332,-0.00026591540227,2.56222790681e-05,1793248264512079360
+49,0.816666667,BASELINE,765.580099977,745,715,679,662.419900023,634,877.419900023,785,810,653,629,652.419900023,0.40096016248,0.00452173818841,0.0598406928691,0.999999955419,0.000132203619491,-0.000266521480166,2.5501265402e-05,1793248264528745984
+50,0.833333333,BASELINE,765.011731673,745,715,679,662.988268327,634,878,785.011731673,810,653,629,652.988268327,0.400959554781,0.00452380575956,0.0598404415724,0.999999954796,0.000135874600522,-0.000267023938915,2.53999050986e-05,1793248264545412864
+51,0.850000000,BASELINE,765.590014667,745,715,679,662.409985333,634,878,785.590014667,810,653,629,652.409985333,0.400960317413,0.00452234831394,0.0598413729498,0.999999955338,0.000133589358892,-0.000266100261891,2.58676752881e-05,1793248264562079232
+52,0.866666667,BASELINE,766,745,714.832538005,679,662,634,878,785.832538005,810,653,628.832538005,652,0.400960543748,0.00452091219603,0.059841792713,0.999999955694,0.000131629333833,-0.000265705387867,2.62010585375e-05,1793248264578745856
+53,0.883333333,BASELINE,766,745,714.257126458,679,662,634,878,785.257126458,810,653,628.257126458,652,0.400959463629,0.00451952803408,0.0598409661465,0.999999955609,0.000130461560041,-0.000266598716326,2.62070654357e-05,1793248264595412736
+54,0.900000000,BASELINE,765.674938942,745,714.325061058,679,661.674938942,634,878,785,809.674938942,653,628.325061058,652,0.400959456924,0.00451886191267,0.0598409940166,0.999999955657,0.000130215397173,-0.000266535680462,2.62363473327e-05,1793248264612079360
+55,0.916666667,BASELINE,765.087277491,745,714.912722509,679,661.087277491,634,878,785,809.087277491,653,628.912722509,652,0.400960317377,0.00451877585999,0.0598417121427,0.999999955813,0.000130713757226,-0.000265700046175,2.62844319237e-05,1793248264628746240
+56,0.933333333,BASELINE,765,745,715,679,661,634.49332337,878,785,809.49332337,652.50667663,629,652,0.400960205198,0.0045183504689,0.0598409536811,0.999999955662,0.00013023991751,-0.000266497793316,2.63300738893e-05,1793248264645413120
+57,0.950000000,BASELINE,765.072264065,745,715,679.072264065,661,634.927735935,878,785,810,652.072264065,629,652.072264065,0.40095990244,0.00451810574368,0.059840110119,0.999999955465,0.000129941863398,-0.000267373753843,2.63796750582e-05,1793248264662079744
+58,0.966666667,BASELINE,765.648216726,745,715,679.648216726,661,634.351783274,878,785,810,652.648216726,629,652.648216726,0.400959453798,0.00451953282523,0.059840468535,0.999999955338,0.000132050991304,-0.000266809112354,2.64598418775e-05,1793248264678746368
+59,0.983333333,BASELINE,765.77644505,745,715.22355495,679.77644505,661.22355495,634,877.77644505,785,810,653,628.77644505,652.77644505,0.40095942256,0.00451970145013,0.0598406801328,0.999999955498,0.000131966368201,-0.00026624999362,2.64442296225e-05,1793248264695412736
+60,1.000000000,BASELINE,765.202070959,745,715.797929041,679.202070959,661.797929041,634,877.202070959,785,810,653,628.202070959,652.202070959,0.400960046343,0.00451789521102,0.0598406613328,0.999999956108,0.000128439147328,-0.000265699541519,2.62783136957e-05,1793248264712079360
+61,1.016666667,BASELINE,765,745,715.615029526,679.384970474,662,634,877.384970474,785,809.615029526,653,628,652,0.400960644932,0.00451815054122,0.0598406319792,0.999999956084,0.000128805614798,-0.000265645381463,2.59681985394e-05,1793248264728745984
+62,1.033333333,BASELINE,765,745,715.021112813,679.978887187,662,634,877.978887187,785,809.021112813,653,628,652,0.400961229848,0.00451952480709,0.0598405968975,0.999999955714,0.000131285417375,-0.00026586058848,2.55798179447e-05,1793248264745412864
+63,1.050000000,BASELINE,765.556336569,745,715,679.443663431,661.443663431,634,878,785,809.556336569,653,628,652,0.400963133157,0.00452011085766,0.0598423521429,0.999999956566,0.000130965291428,-0.000262796425832,2.55946867829e-05,1793248264762079744
+64,1.066666667,BASELINE,765.867224112,745,715,679,661.132775888,634,878,785,810,653,628,652,0.40096400777,0.00452065057247,0.0598432821361,0.999999956988,0.00013087164738,-0.000261223611974,2.56618684186e-05,1793248264778746368
+65,1.083333333,BASELINE,765.292127684,745,715,679,661.707872316,634,878,785,810,653,628,652,0.400961293569,0.00452113271135,0.059841243108,0.999999955852,0.000131876289014,-0.000265021645175,2.5853806908e-05,1793248264795412992
+66,1.100000000,BASELINE,765,745,715,679,661.717745296,634,878,785,810,653,628.282254704,652,0.400960080218,0.00452077040269,0.0598405441284,0.999999955581,0.000131015424178,-0.000266466189533,2.58579835713e-05,1793248264812079616
+67,1.116666667,BASELINE,765,745,715,679,661.144100096,634,878,785,810,653,628.855899904,652,0.400960416296,0.00451953631408,0.0598412285711,0.999999956209,0.0001282286716,-0.000265481068981,2.56683210734e-05,1793248264828746240
+68,1.133333333,BASELINE,765.427384477,745,715,679.427384477,661.427384477,634,878,785,810,653,628.572615523,652,0.400960805703,0.00451935579505,0.0598414878877,0.999999956263,0.000128558978965,-0.000265111461409,2.57374469712e-05,1793248264845412864
+69,1.150000000,BASELINE,765.998144266,745,715,679.998144266,661.998144266,634,878,785,810,653,628.001855734,652,0.400961213,0.0045195287185,0.0598416045869,0.999999956124,0.000129934970894,-0.000264948340823,2.58933889861e-05,1793248264862079488
+70,1.166666667,BASELINE,765.402686467,745,715,679.402686467,661.402686467,634,878,785,810,653,628.597313533,652.597313533,0.400961015064,0.00452112130842,0.0598413726752,0.999999955625,0.000133054659733,-0.000265297473695,2.57642990391e-05,1793248264878746112
+71,1.183333333,BASELINE,765,745,715,679,661.188613834,634,877.622772331,785.188613834,809.811386166,653,629,652.811386166,0.400961028169,0.00452183460788,0.0598414462457,0.999999955427,0.000134573538379,-0.00026528084387,2.57480139638e-05,1793248264895412736
+72,1.200000000,BASELINE,765,745,715,679,661.763604765,634,876.472790469,785.763604765,809.236395235,653,629,652.236395235,0.400961477635,0.00452073718701,0.0598421479286,0.999999955862,0.000132801492256,-0.000264511523073,2.59647152548e-05,1793248264912079616
+73,1.216666667,BASELINE,765.346879001,745,715,679,662,634,876.693758002,785.653120999,809.346879001,653,628.653120999,652,0.400962000429,0.00451964561456,0.0598426437024,0.999999956301,0.000131634157413,-0.000263407902398,2.61892363257e-05,1793248264928746496
+74,1.233333333,BASELINE,765.935936305,745,715,679,662,634,877.871872609,785.064063695,809.935936305,653,628.064063695,652,0.400962574418,0.00451855812533,0.0598429957178,0.999999956744,0.000130889010098,-0.000262070885754,2.64192168694e-05,1793248264945413120
+75,1.250000000,BASELINE,765.483284907,745,715.516715093,679,662,634,878,785,809.483284907,653,628.516715093,652,0.400962173986,0.00451986135457,0.0598428734715,0.999999956322,0.000132186343663,-0.000263061035977,2.61222962713e-05,1793248264962079488
+76,1.266666667,BASELINE,765,745,715.90407637,679,662,634,878,785,809.09592363,653,628.90407637,652,0.400961626804,0.00452093963521,0.0598425962555,0.999999955913,0.00013297833917,-0.000264237303386,2.58693711662e-05,1793248264978745856
+77,1.283333333,BASELINE,765,745,715.327673099,679,662,634,878,785,809.672326901,653,628.327673099,652,0.400960940159,0.00451942986458,0.0598418326834,0.999999956117,0.000129990672559,-0.0002649233852,2.61588784432e-05,1793248264995412480
+78,1.300000000,BASELINE,765.248011953,745,715,679,661.751988047,634,877.751988047,785,810,653,628,652,0.400960383845,0.00451883915506,0.0598413162987,0.999999956107,0.000128854373363,-0.000265494681786,2.63469286178e-05,1793248265012079104
+79,1.316666667,BASELINE,765.822750788,745,715,679,661.177249212,634,877.177249212,785,810,653,628,652,0.400959999226,0.00451945920174,0.0598411255547,0.999999955826,0.000130157035507,-0.000265914762141,2.6401320845e-05,1793248265028745728
+80,1.333333333,BASELINE,765.589686424,745,715,679.410313576,661.410313576,634,877.410313576,785,809.589686424,653,628,652.410313576,0.400959738321,0.00451943038281,0.0598411247556,0.999999955699,0.000131007801128,-0.000265974262808,2.63890750102e-05,1793248265045412864
+81,1.350000000,BASELINE,765.003493479,745,715,679.996506521,662,634,878,785,809,653,628,653,0.400959544437,0.00451911808495,0.0598412092695,0.999999955644,0.000131652619093,-0.000265869150124,2.63446372064e-05,1793248265062079488
+82,1.366666667,BASELINE,765.580038015,745,715,679.419961985,662,634,878,785,809,653,628,653,0.400961294928,0.00451976773322,0.0598413942564,0.999999955861,0.000131569569046,-0.000265136921919,2.58939493838e-05,1793248265078746368
+83,1.383333333,BASELINE,765.844095768,745,715,679,662,634,878,785,809,653,628,652.844095768,0.400962299445,0.00452005047882,0.0598415699656,0.999999955971,0.000131479822468,-0.000264789516622,2.56620522528e-05,1793248265095412736
+84,1.400000000,BASELINE,765.270048711,745,715,679,662,634,878,785,809,653,628,652.270048711,0.400961303224,0.00451934917356,0.0598417207914,0.999999955794,0.000131372115443,-0.000265474225145,2.60169624294e-05,1793248265112079360
+85,1.416666667,BASELINE,765,745,715,679,661.687085978,634,878,785,809.312914022,653,628.312914022,652.312914022,0.400960477816,0.00451944955385,0.059841966787,0.999999955716,0.000131651237595,-0.000265600440399,2.62987583673e-05,1793248265128745984
+86,1.433333333,BASELINE,765,745,715,679,661.096203282,634,878,785,809.903796718,653,628.903796718,652.903796718,0.400959804144,0.00452026208976,0.0598422973242,0.999999955727,0.00013227398895,-0.000265230533284,2.65156052355e-05,1793248265145412608
+87,1.450000000,BASELINE,765.484777078,745,715,679.484777078,661.484777078,634,878,785,809.515222922,653,628.515222922,653,0.400960529434,0.00452169944594,0.0598422506675,0.999999955687,0.000133378264409,-0.000264855760305,2.62146869657e-05,1793248265162079488
+88,1.466666667,BASELINE,765.936656358,745,715,679.936656358,662,634,878,785,809,653,628,653,0.400961378636,0.00452305659145,0.0598421502532,0.999999955661,0.000134418561068,-0.000264466971854,2.58294461316e-05,1793248265178746112
+89,1.483333333,BASELINE,765.362028941,745,715,679.362028941,662,634,878,785,809,653,628,653,0.400961032013,0.00452278551024,0.059842208022,0.999999955829,0.000134186584299,-0.000263972694352,2.55763398991e-05,1793248265195412480
+90,1.500000000,BASELINE,765,745,715,679,662,634,878,785.212901072,809,653,628,652.787098928,0.400960567762,0.00452211685008,0.0598422638205,0.999999955874,0.000133767168355,-0.000264015630686,2.55696383352e-05,1793248265212079104
+91,1.516666667,BASELINE,765,745,715,679,662,634,878,785.788346309,809,653,628,652.211653691,0.400959903207,0.00452077116222,0.0598423162638,0.999999955709,0.000133028566729,-0.000264973375716,2.59825334377e-05,1793248265228745984
+92,1.533333333,BASELINE,765,745,715,679.374054654,662,634,878,785.625945346,809,653,628,652,0.400959294079,0.00452065092397,0.0598417916366,0.999999955557,0.000132191691532,-0.000265966687938,2.5953636353e-05,1793248265245412608
+93,1.550000000,BASELINE,765,745,715,679.965734127,662,634,878,785.034265873,809,653,628,652,0.4009587172,0.00452124365159,0.05984093127,0.999999955412,0.000131297640747,-0.000266980693226,2.56677048261e-05,1793248265262078976
+94,1.566666667,BASELINE,765,745,715,679.457450687,662,634,877.457450687,785,809,653,628,652,0.400959027915,0.0045199170903,0.0598412780861,0.999999955735,0.000130006249118,-0.000266376684925,2.59110569759e-05,1793248265278745856
+95,1.583333333,BASELINE,765,745,715,679,662,634,877.118296198,785,809,653,628,652,0.400959450785,0.00451878937253,0.0598416183935,0.999999955994,0.000129186111763,-0.000265777590587,2.61690353215e-05,1793248265295412480
+96,1.600000000,BASELINE,765,745,715,679,662,634,877.693446383,785,809,653,628,652,0.400960096064,0.00451888522795,0.059841646973,0.999999955899,0.000130280265338,-0.000265581598951,2.63578444964e-05,1793248265312079104
+97,1.616666667,BASELINE,765,745,715.275460062,679,661.724539938,634,878,785,809,653,628.275460062,652,0.400961287658,0.00451951735302,0.0598420365278,0.999999956132,0.000130642844805,-0.000264534029997,2.62724494536e-05,1793248265328745728
+98,1.633333333,BASELINE,765,745,715.865307121,679,661.134692879,634,878,785,809,653,628.865307121,652,0.400963102769,0.00452076153126,0.0598428380695,0.999999956736,0.000130170466917,-0.000262514542174,2.58741007182e-05,1793248265345412864
+99,1.650000000,BASELINE,765,745,715.552721355,679,661.447278645,634,877.552721355,785,809.447278645,653,629,652,0.40096300826,0.00452109152023,0.0598432735887,0.999999956695,0.000130898634443,-0.000262319089845,2.57722348799e-05,1793248265362079488
+100,1.666666667,BASELINE,765,745,715,679,661.973213623,634,877.026786377,785,809.973213623,652.973213623,629,652,0.400962315632,0.00452113103881,0.0598435410723,0.999999956473,0.000131850751771,-0.000262688807065,2.57540746628e-05,1793248265378746112
+101,1.683333333,BASELINE,765,745,715,679,661.39644063,634,877.60355937,785,809.39644063,652.39644063,629,652,0.400960945254,0.00452076122154,0.0598425823805,0.99999995647,0.000130106456968,-0.000263579764615,2.56531285575e-05,1793248265395412736
+102,1.700000000,BASELINE,765,745,715,679,661,634,878,785,809,652.17959457,628.82040543,652,0.400960088963,0.00452078364133,0.059841968084,0.999999956313,0.000129969786925,-0.000264246284117,2.56224106488e-05,1793248265412079616
+103,1.716666667,BASELINE,765,745,715,679,661,634,878,785,809,652.754007738,628.245992262,652,0.400960362838,0.00452166835054,0.0598421109021,0.999999955816,0.00013336730055,-0.000264419401527,2.57460815978e-05,1793248265428745984
+104,1.733333333,BASELINE,765,745,715,679.337613461,661,634,877.662386539,785,809.337613461,653,628,652,0.400960154623,0.00452181951762,0.0598420913691,0.999999955698,0.000133490377756,-0.00026480865749,2.56919123232e-05,1793248265445412352
+105,1.750000000,BASELINE,765,745,715,679.92810461,661,634,877.07189539,785,809.92810461,653,628,652,0.400959585317,0.00452142125043,0.0598419502325,0.999999955865,0.000131160851957,-0.000265359804584,2.5504537992e-05,1793248265462078976
+106,1.766666667,BASELINE,765,745,715,679.493785237,661.506214763,634,877.506214763,785,810,653,628,652,0.400958162537,0.0045199867767,0.0598406964281,0.999999955556,0.000129231133096,-0.000267450545143,2.56289266022e-05,1793248265478745856
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,633,878,785,810,652,628,652,0.400961349271,0.0045220410399,0.05984257952,0.999999955818,0.000133831656171,-0.000264223036658,2.52754479706e-05,1793248265522009856
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.590800478,745,715.590800478,679.590800478,662,633.590800478,878,785,810,652.590800478,628,652,0.4009603805,0.00452114257599,0.0598421235559,0.999999955974,0.00013186010467,-0.000264606642689,2.54722548792e-05,1793248265538676224
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.821971252,745,715.821971252,679.821971252,662,634,878.178028748,785,810,653,628.178028748,652,0.40096001414,0.00452027523917,0.0598419787978,0.999999956204,0.000130304216387,-0.000264486966542,2.56860681793e-05,1793248265555342848
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.242792086,745,715.242792086,679.242792086,662,634,878.757207914,785,810,653,628.757207914,652,0.400961005189,0.0045194780405,0.0598425352767,0.999999956609,0.000129684937528,-0.000263233249721,2.59382018515e-05,1793248265572009472
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.333649404,679,662,634,878.666350596,785,810,653,628.666350596,652,0.400960927062,0.00451925594116,0.0598426564008,0.99999995675,0.000128769136818,-0.000263139063483,2.598977018e-05,1793248265588676096
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.908114906,679,662,634,878.091885094,785,810,653,628.091885094,652,0.400960077243,0.00451944892781,0.0598424633015,0.999999956702,0.000127639317373,-0.00026388178464,2.58965776677e-05,1793248265605342720
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.517843474,679.482156526,661.517843474,634,877.517843474,785,809.517843474,652.517843474,628,652,0.400959165426,0.00451993859315,0.0598414073338,0.999999956147,0.000128284202657,-0.000265686588055,2.56823956574e-05,1793248265622009344
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057992781,745,715,679.942007219,661.057992781,634,877.057992781,785,809.057992781,652.057992781,628.057992781,652.057992781,0.400958540935,0.00452043371564,0.0598405084496,0.999999955575,0.000129385958683,-0.000267316639032,2.55054288695e-05,1793248265638675968
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.651134456,745,715,679.348865544,661.651134456,634,877.651134456,785,809.651134456,652.651134456,628.651134456,652.651134456,0.400960676788,0.00452045792614,0.0598425751842,0.999999955771,0.000131585463896,-0.000265468003106,2.58844593594e-05,1793248265655342848
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.761425415,745,715.238574585,679.238574585,661.761425415,634,877.761425415,785,810,653,628.761425415,652.761425415,0.400967080545,0.00452021358092,0.0598457723264,0.999999956948,0.000132007451357,-0.000260765389058,2.60838801624e-05,1793248265672009472
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.182128061,745,715.817871939,679.817871939,661.182128061,634,877.182128061,785,810,653,628.182128061,652.182128061,0.400979579553,0.00451958569505,0.0598505838714,0.999999959477,0.000129890858198,-0.000251986836687,2.60267894935e-05,1793248265688676352
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.393738658,745,715.606261342,679.606261342,661.393738658,634,877.393738658,784.606261342,809.606261342,653,628,652,0.401012188385,0.00452004670563,0.0598630236497,0.999999964946,0.000130490644965,-0.00022891724424,2.60105329938e-05,1793248265705342976
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.968032258,745,715.031967742,679.031967742,661.968032258,634,877.968032258,784.031967742,809.031967742,653,628,652,0.401054018888,0.00452100704644,0.0598789614726,0.999999971046,0.000132336069406,-0.000199294273804,2.6013001609e-05,1793248265722009600
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.457938196,745,715,679,662,634,877.457938196,784.542061804,809,652.457938196,628,652,0.401115609371,0.00452024194298,0.0598976974638,0.999999976543,0.000131946043674,-0.000169746332076,2.62673053498e-05,1793248265738675968
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.119951155,745,715,679,661.880048845,634,877.359853466,785,809.119951155,652.119951155,628,652,0.401181422397,0.00451938758411,0.059915346714,0.999999981017,0.00013061716826,-0.000142142350548,2.64685279856e-05,1793248265755342336
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.713129662,745,715,679,661.286870338,634,879.139388986,785,809.713129662,652.713129662,628,652,0.401259298885,0.00451858235016,0.0599280578794,0.999999984235,0.000126104228956,-0.000122190160564,2.64017725869e-05,1793248265772009216
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.298499002,679.298499002,661,634,879.403001996,785,810,653,628,652,0.401342991801,0.00451823208061,0.0599357976397,0.999999986051,0.000123368926723,-0.000109588659318,2.58553496594e-05,1793248265788675840
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.876554698,679.876554698,661,634,878.246890604,785,810,653,628,652,0.401432132039,0.00451830790415,0.0599388814723,0.999999986818,0.000122298455631,-0.000103871384138,2.48596982105e-05,1793248265805342720
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.547905498,745,715.547905498,679.547905498,661,634,878,785,809.547905498,653,628,652,0.40154068258,0.00451884413749,0.059942519342,0.999999987585,0.000121530996147,-9.7352315559e-05,2.41282769796e-05,1793248265822009344
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.027583188,715,679,661.027583188,634,878,785,809.027583188,653,628,652,0.401655443337,0.00451945203616,0.0599461588997,0.999999988328,0.00012067421897,-9.07409131913e-05,2.34168912684e-05,1793248265838675968
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.615921335,715,679,661.615921335,634,878,785,809.615921335,653,628,652,0.401789304286,0.00451897525473,0.0599467743162,0.999999989243,0.000116328929862,-8.66785530389e-05,2.16541852729e-05,1793248265855342336
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.798750532,715,679.201249468,661.798750532,634,878,785,810,653,628,652,0.401936245179,0.0045182260969,0.0599467526311,0.999999990111,0.000111994651281,-8.26787352633e-05,2.00091046188e-05,1793248265872008960
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.219082334,715,679.780917666,661.219082334,634,878,785,810,653,628,652,0.402107780882,0.00451696477711,0.0599455329742,0.999999990925,0.000107681076803,-7.87965192875e-05,1.8585200562e-05,1793248265888675840
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.641462511,661,634,877.641462511,785,810,652.641462511,628.358537489,652,0.402297861574,0.0045171085937,0.0599460872163,0.999999991633,0.000105707253042,-7.2675715754e-05,1.66615186855e-05,1793248265905342464
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.065087172,661,634,877.065087172,785,810,652.065087172,628.934912828,652,0.402499209723,0.00451810613369,0.0599477192322,0.999999992242,0.000105154999223,-6.51948055311e-05,1.44341849489e-05,1793248265922009344
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877.510576659,785,810,652.510576659,628.489423341,652.510576659,0.402735593461,0.00451890612408,0.0599475174215,0.999999992989,0.000101607607396,-5.96725733404e-05,1.1734882306e-05,1793248265938676224
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,878,785,810,653,628.088223995,652.911776005,0.402980915104,0.00451929821028,0.0599474676982,0.99999999377,9.71205368209e-05,-5.42828505908e-05,9.01345722397e-06,1793248265955343104
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,878,785,810,653,628.677654548,652.322345452,0.403251675876,0.00451751583353,0.0599496082214,0.999999994814,8.94611755023e-05,-4.82294008502e-05,6.50768085886e-06,1793248265972009472
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.262664477,661,634,878,785,809.737335523,653,628.737335523,652.262664477,0.403541167514,0.00451675321081,0.0599477387757,0.999999995291,8.30363349239e-05,-5.00837680406e-05,3.79195526532e-06,1793248265988676096
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.842339112,661,634,878,785,809.157660888,653,628.157660888,652.842339112,0.403853265445,0.00451722133087,0.0599410296924,0.99999999506,7.81014397723e-05,-6.14820919357e-05,8.22841777441e-07,1793248266005342208
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.417653328,745,715,679.582346672,661.417653328,634,878,785,809,653,628,652.582346672,0.404177876081,0.00451717399514,0.0599284804752,0.999999994003,7.14684317316e-05,-8.29407140946e-05,-2.68272941521e-06,1793248266022009088
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.991338513,745,715,679.008661487,661.991338513,634,878,785,809,653,628,652.008661487,0.404507161353,0.00451693408934,0.059913749432,0.99999999207,6.42010227152e-05,-0.000108157780859,-6.38871673775e-06,1793248266038675968
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.440713883,634,878,785,809.559286117,652.440713883,628,652.559286117,0.404881300623,0.00451653651708,0.059904255614,0.999999990372,5.7235481851e-05,-0.000126026437131,-9.86355222976e-06,1793248266055342592
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.865487115,745,715,679,661.134512885,634,878,784.865487115,810,652.134512885,628,652.865487115,0.405273747121,0.004516021019,0.0598994093013,0.999999989398,4.94691700285e-05,-0.000136298525542,-1.33862402506e-05,1793248266072009984
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.264724502,745,715,679,661.735275498,634,878,784.264724502,810,652.735275498,628,652.264724502,0.405727266893,0.00451510514311,0.0599103939341,0.999999991821,3.89111807347e-05,-0.000120629778594,-1.70870766444e-05,1793248266088678912
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.321870836,662,634,878,784.321870836,810,652.678129164,628,652,0.406226075265,0.00451467240664,0.0599328761086,0.999999995847,3.00032550634e-05,-8.34795765813e-05,-2.08899416501e-05,1793248266105345024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.897305523,662,634,878,784.897305523,810,652.102694477,628,652,0.4067605612,0.0045146202783,0.0599644158337,0.99999999901,2.23952175915e-05,-2.94066823835e-05,-2.47731832499e-05,1793248266122009088
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.529440455,634,878,785,810,652,628.470559545,652.470559545,0.407306928768,0.00451155730118,0.0599889145705,0.999999999507,1.11868977438e-05,9.02174741137e-06,-2.79161646413e-05,1793248266138675712
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.955095934,661.044904066,634,878,785,810,652,629,652.955095934,0.4078539106,0.00450828476574,0.0600090552844,0.999999998783,-1.07676677418e-07,3.84261196126e-05,-3.09346169677e-05,1793248266155342336
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.361642532,661.638357468,634,878,785,810,652,629,652.361642532,0.408376866243,0.00451044219704,0.0599946430736,0.999999999404,-2.90181907387e-06,-8.91644084855e-07,-3.43962622958e-05,1793248266172008960
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.225446235,745,715,679.225446235,662,634,878,784.774553765,810,652,629,652,0.40892880539,0.00451131025639,0.0599821899238,0.999999998704,-7.35002399815e-06,-3.34165234941e-05,-3.76995778196e-05,1793248266188675840
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.802605653,745,715,679.802605653,662,634,878,784.197394347,810,652,629,652,0.409525960966,0.00451016679782,0.0599727930584,0.999999997535,-1.4378691448e-05,-5.53439871068e-05,-4.07558867164e-05,1793248266205342464
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.620929315,745,715,680,662,633.620929315,878.379070685,784.379070685,810.379070685,652,629,652,0.410185824975,0.00450949871401,0.0599763059405,0.999999997954,-1.44293822968e-05,-4.55954265793e-05,-4.24740756181e-05,1793248266222009088
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044825229,745,715,680,662,633.044825229,878.955174771,784.955174771,810.955174771,652,629,652,0.410878283562,0.00450907772058,0.0599865290529,0.999999998807,-1.08530595119e-05,-1.93822982038e-05,-4.34967362564e-05,1793248266238675968
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679.468891122,662,633.531108878,878.468891122,785,810.468891122,652,629,652.531108878,0.411576106193,0.00451155225607,0.0599911984518,0.99999999894,2.6769762892e-05,-7.87254827024e-06,-3.66371121812e-05,1793248266255342848
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110063895,745,715,679.110063895,662,633.889936105,878.110063895,785,810.110063895,652,629,653,0.412267027103,0.00451343787898,0.0599889210628,0.999999997749,5.85123773084e-05,-1.055402704e-05,-3.10837801161e-05,1793248266272009728
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.702316141,745,715,679.702316141,662,633.297683859,878.702316141,785,810.702316141,652,629,653,0.41292572874,0.0045116731978,0.0599582627351,0.999999995621,5.19091316328e-05,-6.9972211735e-05,-3.41668568773e-05,1793248266288676096
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,633.28744952,879,784.71255048,811,652,629,653,0.413620572751,0.00450605939158,0.0599308337955,0.999999991017,4.34390154942e-05,-0.00012165137002,-3.57706319235e-05,1793248266305342720
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,633.865388811,879,784.134611189,811,652,629,653,0.414351941479,0.00449655574931,0.0599066683965,0.999999985112,3.3082282951e-05,-0.000165509656231,-3.58794596278e-05,1793248266322009088
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.559359981,745,715,680,662.440640019,634,879,784.440640019,811,652,629,653,0.415204531277,0.00447890409168,0.059941210081,0.999999994214,1.68276397849e-05,-0.00010079196595,-3.36044096546e-05,1793248266338675712
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,634,879.015071128,785,811.015071128,652,629,653,0.416092330115,0.00445948067404,0.0599926577675,0.999999999516,-3.45108825818e-07,-4.99935687633e-06,-3.07135356327e-05,1793248266355342336
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,634,879.589358988,785,811.589358988,652,629,653,0.416920827112,0.00446611564327,0.0600099803126,0.999999999172,1.48646557848e-05,2.05586765213e-05,-3.183044734e-05,1793248266372009472
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.169305452,680,663,633.830694548,879.830694548,785,811.830694548,652,629,653,0.417747652544,0.00447085522257,0.0600165369924,0.999999998609,2.63868012651e-05,3.14279873405e-05,-3.31338239329e-05,1793248266388676608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.76345108,680,663,633.23654892,879.23654892,785,811.23654892,652,629,653,0.418570283447,0.00447083867703,0.0599960787575,0.999999998965,2.86555594532e-05,5.43871096034e-06,-3.49050990529e-05,1793248266405343232
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.653997632,715.653997632,680,663,633.346002368,879,785,811,652,629,652.653997632,0.41940754617,0.00446886316219,0.0599733229777,0.999999998413,2.87232409482e-05,-3.2356009284e-05,-3.60864185977e-05,1793248266422009600
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.079115982,715.079115982,680,663,633.920884018,879,785,811,652,629,652.079115982,0.420254487756,0.00446559179643,0.0599490473812,0.999999995908,2.73349182482e-05,-7.79599857684e-05,-3.68774845995e-05,1793248266438675968
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.497380194,715,680,662.502619806,633.502619806,879,785,811.497380194,652.497380194,629,652.497380194,0.421101650761,0.00447067096562,0.059914396797,0.999999989626,-9.52392361128e-06,-0.000138572281071,-3.81320791417e-05,1793248266455342336
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633.075893769,879.075893769,784.924106231,811.924106231,652.924106231,629,653,0.421955631479,0.00447568225197,0.0598833190074,0.999999979467,-5.02785196021e-05,-0.000192344160496,-3.92724574754e-05,1793248266472008960
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633.666337955,879.666337955,784.333662045,811.333662045,652.333662045,629,653,0.422855595477,0.00447119838695,0.059887689623,0.999999979272,-7.90682899853e-05,-0.000183500496828,-3.91369471053e-05,1793248266488675584
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.503463105,633.748268447,880,784,811.251731553,652,629,653,0.423798704725,0.0044683497601,0.0599213144295,0.999999986574,-9.34912528052e-05,-0.000128660934107,-3.94763445806e-05,1793248266505342464
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.66112502,633.16943749,880,784,811.83056251,652,629,653,0.424797876936,0.0044676259574,0.0599929520655,0.999999995101,-8.92460218058e-05,-1.40544025021e-05,-4.04328358744e-05,1793248266522009856
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.406166779,745,715,680,663.593833221,633,879.593833221,784,812,652,629.406166779,653,0.425762806256,0.00446733211432,0.0600261429037,0.999999994628,-8.48110910673e-05,4.26849164273e-05,-4.15941321554e-05,1793248266538676224
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980435569,745,715,680,663.019564431,633,879.019564431,784,812,652,629.980435569,653,0.426713563261,0.00446721622056,0.0600434215943,0.99999999301,-8.02976489554e-05,7.5474473561e-05,-4.28401920149e-05,1793248266555342848
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.446328894,745,715,680.553671106,662.446328894,633.553671106,879.553671106,784,812.553671106,652,630,653,0.427652465507,0.00446201196703,0.0600195438437,0.999999994805,-7.81662313954e-05,4.79962862581e-05,-4.44614960297e-05,1793248266572009472
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.86828514,662.13171486,633.86828514,880,784.13171486,812.86828514,652,630,653,0.428572204887,0.00445915243554,0.0599918572513,0.999999996173,-7.33211287344e-05,1.21520214628e-05,-4.61592470474e-05,1793248266588676096
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.273197923,662.726802077,633.273197923,880,784.726802077,812.273197923,652,630,653,0.429426000268,0.00446517298974,0.0599558778515,0.999999996083,-5.86337317145e-05,-4.56460611335e-05,-4.80793780415e-05,1793248266605342720
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.687567805,633,879.687567805,784.687567805,812.312432195,652,630,653,0.43029929447,0.00446628124967,0.0599268778581,0.999999993191,-4.92102323827e-05,-9.39138383395e-05,-4.87585635182e-05,1793248266622009344
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.109964264,633,879.109964264,784.109964264,812.890035736,652,630,653,0.43118913791,0.00446322028569,0.0599038015154,0.99999998886,-4.42543746966e-05,-0.000134092933074,-4.83845181991e-05,1793248266638675968
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.464125303,662.928250607,633,879,784,813,652.464125303,630,653,0.432169122355,0.00445821892844,0.0599470173561,0.999999996039,-4.87507327041e-05,-5.62606734175e-05,-4.87826169627e-05,1793248266655342848
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.962549598,633,879.037450402,784,813.037450402,652.962549598,630,652.962549598,0.433165079008,0.00445310353453,0.0600021193372,0.999999996398,-5.47353467003e-05,4.20950616136e-05,-4.93639535873e-05,1793248266672009728
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.388338862,633,879.611661138,784,813.611661138,652.388338862,630,652.388338862,0.434086157923,0.00445289335539,0.060004157673,0.999999996812,-5.01939802939e-05,3.68747615102e-05,-4.99692318747e-05,1793248266688676352
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.193035875,715,681,662.806964125,633,879.806964125,784,813.806964125,652,630,652.193035875,0.434986684733,0.00445132619161,0.0599959119566,0.999999997449,-4.77482342177e-05,1.68516565829e-05,-5.03882547644e-05,1793248266705342976
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.789378344,715,681,662.210621656,633,879.210621656,784,813.210621656,652,630,652.789378344,0.435844272547,0.00444692390267,0.059966179944,0.999999996914,-4.96808314099e-05,-3.40986996544e-05,-5.04181374248e-05,1793248266722009856
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.630657639,715,681,662.369342361,633,879.369342361,784,813.369342361,652,630,653,0.436676038384,0.00444755561708,0.0599415889311,0.999999994854,-4.57810054792e-05,-7.42195599711e-05,-5.18349121099e-05,1793248266738676224
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.05963706,715,681,662.94036294,633,879.94036294,784,813.94036294,652,630,653,0.437493704162,0.00445093613324,0.0599198051464,0.999999991915,-3.86964033891e-05,-0.000108427005499,-5.40089947563e-05,1793248266755342592
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.485334722,633,880,784.514665278,813.485334722,652,630,653,0.438295730387,0.00444817158288,0.0598996479169,0.999999985439,-3.70004767929e-05,-0.000157946499119,-5.29706573742e-05,1793248266772009472
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.183944642,633,880,784.908027679,813.091972321,652,630,653,0.439106670136,0.00444452145466,0.0598899131359,0.999999980209,-3.69341111709e-05,-0.000188471172566,-5.1921279148e-05,1793248266788676096
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.367043026,633,880,784.316478487,813.683521513,652,630,653,0.439975933428,0.0044399536424,0.0599357608471,0.999999992078,-4.23057489728e-05,-0.000106119978541,-5.28468479577e-05,1793248266805342720
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715.268266224,681,664,633,880,784,814,652,630,653,0.440838268654,0.00443741822408,0.0599771517612,0.999999996915,-4.43438522124e-05,-3.68019210351e-05,-5.33713258645e-05,1793248266822009088
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715.845182101,681,664,633,880,784,814,652,630,653,0.441692632837,0.00443722114624,0.0600134149714,0.999999997514,-4.2546607381e-05,1.75210518834e-05,-5.34343348279e-05,1793248266838675712
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424727056,745,715.575272944,681,663.150545889,633,880,784,814.424727056,652,630,653,0.442457667266,0.00443185864107,0.060001366593,0.999999997414,-4.7814457483e-05,8.73114817006e-07,-5.37164041753e-05,1793248266855342592
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.005173095,633,880,784,814.994826905,652,630,653,0.443189825268,0.00442466589234,0.0599718026659,0.99999999613,-5.56252134556e-05,-4.1485014627e-05,-5.40877150183e-05,1793248266872009472
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.578669207,633,880,784,814.421330793,652,630,653,0.443909684294,0.00442454187191,0.0599646801341,0.999999995593,-5.81138826106e-05,-4.86154021692e-05,-5.54361467989e-05,1793248266888676096
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,880,784,814,652,630.156860262,653,0.444620665219,0.00442413182617,0.0599616146573,0.999999994035,-7.78393835243e-05,-5.22312918158e-05,-5.60673428426e-05,1793248266905342464
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,880,784,814,652,630.748051287,653,0.445307063708,0.00442292980421,0.0599697827685,0.999999986885,-0.000145291990378,-4.6115881124e-05,-5.47125832532e-05,1793248266922009344
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.667968907,633,880,784,814,652,630.667968907,653,0.445949681256,0.00442041606456,0.0599617095596,0.999999981214,-0.000173431505058,-6.77774320749e-05,-5.38552776966e-05,1793248266938675968
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.089344767,633,880,784,814,652,630.089344767,653,0.446559783506,0.00441692813772,0.0599415742371,0.999999977662,-0.000172373945571,-0.000110068393521,-5.33674217292e-05,1793248266955343104
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.517005549,745,715,681,662,632.517005549,880,784,814.482994451,651.517005549,630,653,0.447168287956,0.00441518341538,0.0599380856569,0.999999977354,-0.000174490868221,-0.000108759178993,-5.49145632477e-05,1793248266972009728
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.056110253,745,715,681,662.056110253,632.056110253,880.056110253,784,815,651.056110253,630,653,0.447777290728,0.00441351330484,0.0599406009012,0.999999978133,-0.000177082389397,-9.57082470217e-05,-5.66993748451e-05,1793248266988676096
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.647585864,745,715,681,662.647585864,632.647585864,880.647585864,784,815,651.647585864,630,653,0.448393831987,0.00440951792219,0.0599713970602,0.999999981317,-0.000178671336264,-4.65900569689e-05,-5.72063162812e-05,1793248267005342976
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.765916512,633,880.765916512,784,815,652,630,653,0.448960860349,0.00440708661537,0.059984655343,0.999999981959,-0.000178903909865,-2.73764336191e-05,-5.76732748718e-05,1793248267022009856
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.186757272,633,880.186757272,784,815,652,630,653,0.449454898885,0.00440696100179,0.0599720600447,0.99999998126,-0.000177136976961,-5.22468333046e-05,-5.8081292574e-05,1793248267038676480
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.609043313,745,715,681,662,633,880,784,814.609043313,652,630,653,0.449902358462,0.0044058207083,0.0599390364307,0.999999976909,-0.000178463793611,-0.000103999797882,-5.92966386231e-05,1793248267055343104
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.032017161,745,715,681,662,633,880,784,814.032017161,652,630,653,0.450327649586,0.00440419749443,0.0598962902915,0.999999967514,-0.000181263029206,-0.000168547083055,-6.08962192842e-05,1793248267072009472
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,880,783.458026961,814.541973039,652,630,653,0.450734291101,0.00440331495455,0.0598731208438,0.999999962135,-0.000183016918141,-0.000195625559955,-6.29698255023e-05,1793248267088676352
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.880719237,632.880719237,880,783.119280763,815,652,630,653,0.45113810908,0.0044025961513,0.0598571035498,0.999999958329,-0.000184044393482,-0.000212788783763,-6.47383531928e-05,1793248267105343232
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.289582207,632.289582207,880,783.710417793,815,652,630,653,0.451535091697,0.00440235293892,0.0598648296259,0.999999961345,-0.000182441218353,-0.000199436203101,-6.51898790232e-05,1793248267122010112
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.295534564,745,715,681,661,632,880.295534564,784,815,652,630.295534564,653,0.451916136722,0.00440182013169,0.0598766423571,0.999999965754,-0.000178612005691,-0.000180143931964,-6.43231246434e-05,1793248267138676992
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.874870062,745,715,681,661,632,880.874870062,784,815,652,630.874870062,653,0.452281876902,0.00440100922743,0.0598923794902,0.999999971128,-0.000172645136051,-0.000155147795042,-6.21904297754e-05,1793248267155343616
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.548897941,744.548897941,715,681,660.548897941,632,881,783.548897941,815,652,630.548897941,653,0.452595198743,0.00440250407128,0.0598942758521,0.999999976983,-0.000142556677701,-0.000151162688571,-5.34954959423e-05,1793248267172009728
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027022256,744.027022256,715,681,660,632,880.972977744,783,815,652,630,653,0.452891549881,0.00440459048533,0.0598920047761,0.999999981444,-0.000107672152551,-0.000153689146284,-4.35743963824e-05,1793248267188676096
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.614202681,744.614202681,715,681,660,632,880.385797319,783,815,652,630,653,0.453135457978,0.00440577216773,0.0598823867896,0.999999978125,-0.000111121353108,-0.000171207112028,-4.57111906529e-05,1793248267205342720
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.801407279,745,715,681.198592721,660,631.801407279,880.198592721,783.198592721,815,652,630,652.801407279,0.453368428607,0.00440590450765,0.0598708379632,0.999999973891,-0.000114795655823,-0.000191761928177,-4.76072433235e-05,1793248267222009344
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.222362953,745,715,681.777637047,660,631.222362953,880.777637047,783.777637047,815,652,630,652.222362953,0.453580445889,0.00440402658226,0.0598555901545,0.999999967937,-0.000118901194884,-0.000218134551778,-4.90420979382e-05,1793248267238675968
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,681.644049791,659.644049791,631.355950209,881,783.644049791,815,652,630.355950209,652.355950209,0.453774754776,0.00440398354934,0.0598462345368,0.999999963497,-0.000121518387808,-0.00023607407003,-5.00862421226e-05,1793248267255342848
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681.066192396,659.066192396,631.933807604,881,783.066192396,815,652,630.933807604,652.933807604,0.453958023881,0.00440508442854,0.0598405522391,0.999999960175,-0.000123207713449,-0.000248756207612,-5.08868089832e-05,1793248267272009728
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.508780113,745,715,681,659,631.491219887,880.491219887,783,815,652,630.491219887,653,0.454128170619,0.00440407920138,0.0598438227625,0.999999961497,-0.000124651100264,-0.000242592893462,-5.11477297918e-05,1793248267288676352
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715.08534573,681,659,631,880.08534573,783,815,652,630.08534573,653,0.454292747964,0.00440311627602,0.0598486001873,0.99999996358,-0.000125525420464,-0.000233357900939,-5.12570768634e-05,1793248267305342976
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.679417709,631,880.320582291,783,815,652,630,653,0.455027529757,0.00440596246118,0.0598422224281,0.999999962815,-0.000124192522092,-0.000237080362473,-5.23434110531e-05,1793248267455343104
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657.099977642,631,880.900022358,783,815,652,630,653,0.455059454174,0.00440601935871,0.0598410431538,0.999999963043,-0.000123099483946,-0.000236770194167,-5.1968977595e-05,1793248267472009216
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681.524403145,657,631,880.524403145,783,815,652,630,653,0.455076612429,0.00440714897223,0.0598377824841,0.999999961757,-0.000123078384282,-0.000242076322356,-5.23165319244e-05,1793248267488675840
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,880.051472175,783.051472175,815,652,630.051472175,653.051472175,0.455090260761,0.00440850067553,0.0598340497381,0.999999960193,-0.000122991729923,-0.000248398774133,-5.27700706267e-05,1793248267505342464
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,880.638872639,783.638872639,815,652,630.638872639,653.638872639,0.455099422775,0.00440983579066,0.0598299206757,0.999999959389,-0.000119895220425,-0.000253109576119,-5.27596017501e-05,1793248267522009088
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.223016424,657.223016424,631,880.776983576,783.776983576,815,652,631,653.776983576,0.455107545629,0.0044112728384,0.0598271050221,0.999999958959,-0.000116507810742,-0.000256395063523,-5.2628007256e-05,1793248267538675712
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.801962579,657.801962579,631,880.198037421,783.198037421,815,652,631,653.198037421,0.455114010002,0.00441287256845,0.0598263855425,0.999999959158,-0.000112656130402,-0.000257405777237,-5.23030987133e-05,1793248267555342848
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.619884316,745,715,681.619884316,657.619884316,631,880,783.380115684,815,652,630.619884316,653,0.455117487417,0.00441237444761,0.059826123017,0.999999958923,-0.000113646650776,-0.000257931742363,-5.20498608322e-05,1793248267572009472
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.042143543,745,715,681.042143543,657.042143543,631,880,783.957856457,815,652,630.042143543,653,0.45511941189,0.00441078563779,0.0598260980655,0.999999958459,-0.000117154668954,-0.000258205682906,-5.18338850934e-05,1793248267588676352
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.532697772,745,715,681,657,631,880,784,815,652,630,653,0.455118910023,0.00441216303453,0.0598238633806,0.999999957627,-0.000116911837835,-0.000261493333911,-5.19566564541e-05,1793248267605343232
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,880,784,815,652,630,653,0.455118579371,0.00441323365296,0.0598218488594,0.999999956875,-0.000116638028264,-0.00026445569257,-5.20365110536e-05,1793248267622009856
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,880,784,815,652,630,653,0.455119825678,0.00441195199693,0.0598215502333,0.999999956649,-0.000117514534108,-0.000264968876912,-5.18134074153e-05,1793248267638676224
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.715941193,745,715,681.284058807,657,631,880,783.715941193,815,652,630.284058807,653,0.455119776619,0.00441082950579,0.0598207812708,0.999999956351,-0.000117099722639,-0.000266358838926,-5.13659865471e-05,1793248267655342592
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.138805123,745,715,681.861194877,657,631,880,783.138805123,815,652,630.861194877,653,0.455118391067,0.00440987123265,0.0598195270392,0.999999955975,-0.000115352596515,-0.000268653415093,-5.0687126675e-05,1793248267672008960
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.435808924,745,715,681.564191076,657.435808924,631,880,783.435808924,815,652,630.564191076,653,0.455118365561,0.00441056983876,0.0598193439032,0.999999955843,-0.000115322635162,-0.00026911527983,-5.09013601743e-05,1793248267688676096
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657.990346671,631,880.009653329,784,815,652,630,653,0.455118759844,0.00441177281314,0.0598194838479,0.999999955792,-0.000115798592937,-0.000269008608922,-5.13866718493e-05,1793248267705342720
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657.414800268,631,880.585199732,784,815,652,630,653,0.455118515623,0.00441178510755,0.0598186799681,0.999999955845,-0.000114055669088,-0.000269595097902,-5.11840388813e-05,1793248267722009600
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.166174331,657,631,881,783.833825669,815,652,630.166174331,653,0.455118372859,0.00441207156065,0.0598181113859,0.999999955744,-0.000113181952184,-0.000270360859126,-5.10553616347e-05,1793248267738676480
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.761156178,657,631,881,783.238843822,815,652,630.761156178,653,0.455118491904,0.00441306547145,0.0598181499815,0.999999955252,-0.000114551195947,-0.000271589226575,-5.11175247604e-05,1793248267755342848
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.655246129,745,715,682,657,631,881,783,815,652,631,653,0.455117821385,0.00441223842282,0.0598170599858,0.999999954672,-0.00011611789748,-0.000273075416745,-5.10183298364e-05,1793248267772009216
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.079283237,745,715,682,657,631,881,783,815,652,631,653,0.455116621347,0.00441019014858,0.0598152131009,0.999999954029,-0.000117817023918,-0.000274734515552,-5.08109202095e-05,1793248267788675840
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.49602151,745,715,681.50397849,657,631,881,783,815.49602151,652,630.50397849,653,0.455117130062,0.00440962192868,0.05981587174,0.999999954031,-0.000118783575291,-0.00027431002841,-5.08111012548e-05,1793248267805342464
+245,4.083333333,HOLD_POSE2,766,745,715,682,657,631,880,783,815,652,630,653,0.455116579158,0.00441534087511,0.0598144515112,0.999999954252,-0.000113019461166,-0.00027566455491,-5.22661415961e-05,1793248267849017344
+246,4.100000000,HOLD_POSE2,766,745,715,682,657.595066176,631,880.595066176,783,815,652,630.595066176,653,0.455118844448,0.00441452059389,0.0598157244075,0.999999954746,-0.000113919631336,-0.000273586901887,-5.17775725876e-05,1793248267865683968
+247,4.116666667,HOLD_POSE2,766,745,715,681.816256288,657.816256288,631,880.816256288,783.183743712,815,652,630.816256288,653,0.455120006637,0.00441359999369,0.059816421039,0.999999954855,-0.000115078598801,-0.000272778686133,-5.13606718447e-05,1793248267882350592
+248,4.133333333,HOLD_POSE2,766,745,715,681.241184828,657.241184828,631,880.241184828,783.758815172,815,652,630.241184828,653,0.455118819498,0.00441246573925,0.0598158903721,0.999999954152,-0.000116788739379,-0.000274674051088,-5.1096406334e-05,1793248267899016960
+249,4.150000000,HOLD_POSE2,766,745.334811787,715,681,657,631,880,783.665188213,815,652.334811787,630,653,0.455117453594,0.00441288801266,0.0598143109032,0.999999953528,-0.000116403998806,-0.000277070890085,-5.12413292706e-05,1793248267915683328
+250,4.166666667,HOLD_POSE2,766,745.911476657,715,681,657,631,880,783.088523343,815,652.911476657,630,653,0.455115958558,0.00441443465235,0.0598119738265,0.999999952956,-0.000114506009539,-0.000279829971424,-5.16818316839e-05,1793248267932349696
+251,4.183333333,HOLD_POSE2,766,745.502679234,715,681,657,631,880,783,815,652.502679234,630,653,0.455116825503,0.0044143043872,0.0598126326365,0.999999953434,-0.000113051561437,-0.000278772336024,-5.13534546455e-05,1793248267949016320
+252,4.200000000,HOLD_POSE2,766,745,715,681,657,631,880.083905891,783,815,652,630,653.083905891,0.45511791934,0.00441388721021,0.0598136476597,0.999999953974,-0.000112080050398,-0.000277298050024,-5.09535702404e-05,1793248267965682944
+253,4.216666667,HOLD_POSE2,766,745,715,681,657,631,880.665017878,783,815,652,630,653.665017878,0.455117819438,0.00441357190286,0.059813554068,0.99999995377,-0.000113493668591,-0.000277456323691,-5.09562057803e-05,1793248267982349824
+254,4.233333333,HOLD_POSE2,766,745.242524683,715,681.242524683,657,631,881,783.242524683,815,652,630,653.757475317,0.455117149512,0.00441360725522,0.0598129097859,0.999999953354,-0.000114033023634,-0.000278720704571,-5.10161074203e-05,1793248267999016448
+255,4.250000000,HOLD_POSE2,766,745.815124799,715,681.815124799,657,631,881,783.815124799,815,652,630,653.184875201,0.455115703785,0.00441411985454,0.0598115160155,0.999999952645,-0.000113382508794,-0.000281490494344,-5.11539480667e-05,1793248268015683584
+256,4.266666667,HOLD_POSE2,766,745.613965993,715,682,657,631,881,784,815,652,630,653,0.455115919385,0.00441405324238,0.0598113486709,0.999999952645,-0.000113828900557,-0.000281286013394,-5.12891730086e-05,1793248268032350464
+257,4.283333333,HOLD_POSE2,766,745.043862994,715,682,657,631,881,784,815,652,630,653,0.455116927141,0.00441371045028,0.0598117661113,0.999999952983,-0.000114798319997,-0.000279663338946,-5.1423150741e-05,1793248268049016832
+258,4.300000000,HOLD_POSE2,766,745,715,681.447286667,657,631,880.447286667,783.447286667,815,652,630,653,0.455116119152,0.00441337911801,0.0598113539359,0.999999952746,-0.000114982879366,-0.00028057068886,-5.06681519764e-05,1793248268065683200
+259,4.316666667,HOLD_POSE2,766,745,715,681,657,630.854001352,880.145998648,783,815,652,630,653,0.455114895709,0.0044131534057,0.0598107316329,0.999999952358,-0.000115039650172,-0.000282030143539,-5.00798065524e-05,1793248268082349824
+260,4.333333333,HOLD_POSE2,766,745,715,681,657,630.27694737,880.72305263,783,815,652,630,653,0.455112892494,0.00441323671197,0.0598096930983,0.999999951668,-0.00011491227852,-0.000284497046003,-5.02022690065e-05,1793248268099016448
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,881,783,815,652,631,653,0.455115377092,0.00441337850246,0.0598100255298,0.999999952282,-0.000113190938941,-0.000283051546319,-5.00616734001e-05,1793248268136145408
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,881,783.591890459,814.408109541,652,631,653,0.455116036067,0.00441338144872,0.0598102225688,0.999999952438,-0.000113235663821,-0.000282433625043,-5.03232139009e-05,1793248268152812288
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.820626017,657,631,881.179373983,784,814.179373983,652,630.820626017,653,0.455116264583,0.00441338678684,0.0598102897041,0.999999952405,-0.000113819402348,-0.00028226571407,-5.06021444001e-05,1793248268169479168
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.242928559,657,631,881.757071441,784,814.757071441,652,630.242928559,653,0.455115537208,0.00441339743638,0.0598100683712,0.99999995195,-0.000115600091441,-0.000283097109923,-5.09196917242e-05,1793248268186145536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.666091168,745,715,681,657,631,881.666091168,784,815,652,630,653,0.455115932514,0.00441440206327,0.0598106759063,0.999999952194,-0.000114527939271,-0.000282672938819,-5.09116413916e-05,1793248268202812160
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.089877929,745,715,681,657,631,881.089877929,784,815,652,630,653,0.455117142504,0.00441612798013,0.0598118849181,0.999999952938,-0.000111385593147,-0.000281337652481,-5.06673177234e-05,1793248268219478784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.486018003,745,715,681,657,631,881,784,815,652,630,653,0.455116699852,0.00441576672639,0.0598115044454,0.99999995276,-0.000111543478955,-0.000281939102615,-5.04769552434e-05,1793248268236145408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880.936305431,783.936305431,815,652,630.063694569,653,0.455115980376,0.00441494050049,0.0598107845691,0.999999952422,-0.000112409869351,-0.000282823525426,-5.031767782e-05,1793248268252812032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880.343345533,783.343345533,815,652,630.656654467,653,0.455115498508,0.00441345575708,0.0598096853135,0.999999952156,-0.000114095571342,-0.000283085166551,-5.03338346332e-05,1793248268269478912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.757179979,745,715,681.242820021,657,630.757179979,880,783,815,652,630.757179979,653,0.45511134646,0.00441348889047,0.0598072245942,0.999999951295,-0.000113886779474,-0.000286167446342,-5.04821505134e-05,1793248268286145536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.180360122,745,715,681.819639878,657,630.180360122,880,783,815,652,630.180360122,653,0.455102146066,0.00441560986915,0.0598028911766,0.999999949578,-0.000111072104146,-0.000293129525028,-5.08122516761e-05,1793248268302812160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.379645767,745,715,681.620354233,657,630.379645767,880,783,815,652,630,653,0.455074571331,0.00441681814826,0.0597900960842,0.999999943328,-0.000109954571099,-0.000314088113407,-5.10093452317e-05,1793248268319478784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.93200258,745,715,681.06799742,657,630.93200258,880,783,815,652,630,653,0.455038637614,0.00441761121602,0.0597734515486,0.999999934403,-0.000109609113301,-0.000341414090032,-5.11459300554e-05,1793248268336145408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.476589397,745,715,681.523410603,657,631,880.523410603,783,815,652,630,653,0.454983884298,0.0044161792469,0.0597534955038,0.9999999224,-0.000111108428474,-0.0003745072552,-5.09771829938e-05,1793248268352812032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.120259982,745,715,681.879740018,657,631,880.879740018,783,815,652,630.120259982,653,0.454924701753,0.00441529888934,0.0597346598543,0.999999910888,-0.000111650086656,-0.000403936688597,-5.09342958704e-05,1793248268369478656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.716947507,745,715,681.283052493,657,631,880.283052493,783,815,652,630.716947507,653,0.454858438872,0.00441784129973,0.0597221045408,0.999999906526,-0.000107371856657,-0.00041564423833,-5.15598351057e-05,1793248268386145536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.302851194,715,681.302851194,657.302851194,631,880,783.302851194,814.697148806,652,630.697148806,653,0.454783468523,0.00441844381105,0.0597146309911,0.999999902768,-0.00010527057229,-0.000425154308509,-5.12376472205e-05,1793248268402811904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.879022542,715,681.879022542,657.879022542,631,880,783.879022542,814.120977458,652,630.120977458,653,0.454700639774,0.00441729558283,0.0597117436827,0.999999899614,-0.000105133959697,-0.000432681174842,-5.0060145119e-05,1793248268419478528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.54963856,715,682,657.54963856,631,880,783.54963856,814,652,630.45036144,653,0.45460817184,0.00441954080226,0.0597132007162,0.999999900218,-0.000100412663906,-0.000432468185117,-4.95192440241e-05,1793248268436145152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.979240394,745,715,681.979240394,657.020759606,631,880,783.020759606,814.020759606,652,630.979240394,653,0.454511866204,0.00442253328082,0.0597156521098,0.999999901679,-9.46472073019e-05,-0.000430431549056,-4.91188024384e-05,1793248268452812032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.399591786,745,715,681.399591786,657.600408214,631,880,783.600408214,814.600408214,652,630.399591786,653,0.454381211265,0.00442136304162,0.0597137895027,0.9999999,-9.3574681739e-05,-0.000434678092113,-4.79448730481e-05,1793248268469478656
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.184385178,658,631,880.184385178,784,815,652,630.184385178,653,0.454242270794,0.00442115893158,0.0597129791498,0.999999898744,-9.19009450216e-05,-0.00043804274675,-4.67343186022e-05,1793248268486145536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.777967784,658,631,880.777967784,784,815,652,630.777967784,653,0.454084942647,0.00442309890707,0.0597145040156,0.999999898458,-8.8892968574e-05,-0.000439450266996,-4.54424840362e-05,1793248268502812160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.637555735,681.637555735,658,631,880.637555735,783.637555735,815,652,630.637555735,653,0.453903472551,0.00442428497735,0.0597106739574,0.999999895442,-8.5789136071e-05,-0.000446969657601,-4.44412851834e-05,1793248268519478784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.058520864,681.058520864,658,631,880.058520864,783.058520864,815,652,630.058520864,653,0.453707575616,0.00442502052674,0.0597036438868,0.999999890688,-8.26280213013e-05,-0.000458141399392,-4.36137652241e-05,1793248268536145152
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.516061149,681,658,631,880.516061149,783,815,652,630,653,0.453487182521,0.00442722971554,0.0597002794071,0.999999888607,-7.66291127998e-05,-0.000463837735695,-4.20496371933e-05,1793248268552812032
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.092393729,745,715,681,658,631,880.907606271,783.092393729,814.907606271,652,630,653,0.453259493162,0.00442932484742,0.0596979582933,0.999999887602,-7.03780225282e-05,-0.00046712950221,-4.04209078481e-05,1793248268569478912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.680812296,745,715,681,658,631,880.319187704,783.680812296,814.319187704,652,630,653,0.453007418544,0.00442991818613,0.0596990260906,0.999999890988,-6.44859200751e-05,-0.000460816979619,-3.88899657655e-05,1793248268586145536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.265054615,658.265054615,631.265054615,880.265054615,784,814,652,630.265054615,653,0.452744107191,0.00443142127401,0.0597051867297,0.999999897185,-5.77708522855e-05,-0.000448249199718,-3.69504757992e-05,1793248268602812160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.844345733,658.844345733,631.844345733,880.844345733,784,814,652,630.844345733,653,0.452467474099,0.00443400291845,0.0597173852064,0.999999906444,-5.00801151631e-05,-0.00042826547609,-3.45266304243e-05,1793248268619479040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.578072482,659,632,880.578072482,783.578072482,814,652,630.578072482,653,0.452149241274,0.00443449338436,0.0597244362501,0.999999911034,-4.36256952869e-05,-0.000418345486307,-3.1859487967e-05,1793248268636145664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.001118759,659,632,880.001118759,783.001118759,814,652,630.001118759,653,0.451815723723,0.0044342155015,0.0597295960041,0.999999913946,-3.76255279403e-05,-0.000412123152128,-2.91029524304e-05,1793248268652812032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.584516738,632,880,783.584516738,814,652,630.584516738,653,0.451446949303,0.00443807449457,0.059732927911,0.999999915851,-2.68063193299e-05,-0.000408517005803,-2.6344452789e-05,1793248268669478912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,784,814,652,630.83169292,653,0.451056369496,0.00444215637515,0.0597321590494,0.999999915615,-1.53821132627e-05,-0.000409843341004,-2.37090609921e-05,1793248268686145536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,880,784,814,652,630.252448959,653,0.450612717173,0.00444676283123,0.0597213864629,0.999999910219,-2.50361283326e-06,-0.000423200364035,-2.13742578003e-05,1793248268702812160
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.673611789,745,715,681,660.326388211,632.326388211,880.326388211,784,814,652,630,653,0.450152308745,0.00444936269861,0.0597129499201,0.999999906462,7.95964890755e-06,-0.000432053858962,-1.84991798327e-05,1793248268719478784
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.095088802,745,715,681,660.904911198,632.904911198,880.904911198,784,814,652,630,653,0.449678956183,0.00445041247743,0.059706317969,0.999999904076,1.65571409996e-05,-0.000437428381513,-1.52067395492e-05,1793248268736145408
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.479983664,661.479983664,633,880.520016336,784,813.520016336,652,630,653,0.449189649344,0.0044532605917,0.0597182986231,0.999999912432,2.71256918656e-05,-0.000417452498508,-1.15321196188e-05,1793248268752812544
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,632.944277678,880,784,813.055722322,652,630,653,0.448695062711,0.00445646629537,0.0597346444989,0.99999992258,3.8389080532e-05,-0.000391543091973,-7.72318046374e-06,1793248268769479424
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,632.355677343,880,784,813.644322657,652,630,653,0.448179994698,0.00445970898038,0.0597577249693,0.999999935039,5.25897010578e-05,-0.000356575118491,-3.34861403619e-06,1793248268786146048
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.770584951,662,632,880,784,813.541169901,652,630,653,0.447639671669,0.00446308462701,0.0597853016061,0.999999948201,6.7179026208e-05,-0.00031477542841,1.2349946628e-06,1793248268802812672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.19084928,662,632,880,784,812.38169856,652,630,653,0.447060783839,0.00446666330805,0.0598197439628,0.999999962125,8.23619089412e-05,-0.000262543594742,6.1378141431e-06,1793248268819479552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.385836105,745,715,681.385836105,662,632.385836105,880,784,812.385836105,652,630,653,0.446432380261,0.00447245510644,0.0598277660992,0.999999961885,9.93962709455e-05,-0.00025737281082,1.04586198388e-05,1793248268836145920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.961024521,745,715,681.961024521,662,632.961024521,880,784,812.961024521,652,630,653,0.44577967643,0.00447933301065,0.0598228222895,0.999999955116,0.000117339261541,-0.000275297634064,1.44937972381e-05,1793248268852812544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.510100502,745,715,682,661.510100502,633,880,784,812.510100502,652,630,653,0.445066830415,0.00450465903373,0.0597804018592,0.99999993248,0.000152486766017,-0.000334145416028,1.16421672721e-05,1793248268869478912
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.019176521,745,715,681.980823479,661.019176521,632.980823479,880.019176521,784,812,652,630,653,0.444350549437,0.00453097316238,0.059737068374,0.999999904845,0.000188559506941,-0.000393299087538,8.44620727269e-06,1793248268886145536
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.673209045,745,715,681.326790955,661.673209045,632.326790955,880.673209045,784,812,652,630,653,0.443665275831,0.00454560664743,0.059753689509,0.999999910791,0.000213862823211,-0.000364104288099,1.04229995703e-05,1793248268902812160
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.711517128,745,715,681.288482872,662.288482872,632.288482872,880.423034255,784,812,652,630,653,0.442952146939,0.00454916300009,0.0597764943081,0.999999919777,0.000227544409709,-0.0003292957394,1.53030025104e-05,1793248268919479040
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.134948558,745,715,681.865051442,662.865051442,632.865051442,879.269897116,784,812,652,630,653,0.442211201029,0.00454165747279,0.0598054742599,0.999999931645,0.000229620269884,-0.000288881166763,2.30822192668e-05,1793248268936145664
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.561630561,662.123261122,633,879,784,812,652,630.438369439,653,0.441421672903,0.00454940977064,0.0598038972157,0.999999922068,0.00024821816096,-0.000305758110792,2.76211857066e-05,1793248268952812288
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.010747164,745,715,681.010747164,661,633,879,784,812,652,630.989252836,652.989252836,0.440616991126,0.00456156908587,0.059793076645,0.999999904954,0.000271582869782,-0.00033964870064,3.11931879573e-05,1793248268969478656
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.585911502,745,715,681.585911502,661,633,879,784,812,652,630.414088498,652.414088498,0.439796126943,0.00456031484372,0.0597871908032,0.999999899688,0.000280141784959,-0.000347633598502,3.59825201337e-05,1793248268986145280
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.83295119,745,715,682,661.16704881,633,879.16704881,784.16704881,812,652,630,652.16704881,0.438977574942,0.00456050904184,0.0597896694875,0.999999898603,0.000289845004401,-0.000342225325178,4.0805958749e-05,1793248269002812160
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.236458802,745,715,682,661.763541198,633,879.763541198,784.763541198,812,652,630,652.763541198,0.438164967072,0.00456442684259,0.0598136514206,0.999999907486,0.000302489962826,-0.000302386327623,4.57170767564e-05,1793248269019478784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.349663268,745,715,682,662.349663268,633,880,784.650336732,812,652,630.349663268,652.650336732,0.43726975247,0.00457142495246,0.0597968354378,0.999999898621,0.000299554611247,-0.000333448617196,4.28646883172e-05,1793248269036145664
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.928974416,745,715,682,662.928974416,633,880,784.071025584,812,652,630.928974416,652.071025584,0.436320284389,0.00458044611269,0.0597532246612,0.99999987389,0.000286386598475,-0.00041107665078,3.49134717226e-05,1793248269052812288
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.497866272,661.995732544,633,879.497866272,784,811.497866272,652,630.497866272,652,0.43545988294,0.00457029717478,0.0597451021806,0.999999894501,0.000227241020799,-0.000398580923321,2.2202977863e-05,1793248269069478912
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.923069678,745,715,681,661.153860645,633,879,784,811,652,630,652.076930322,0.434609534851,0.0045598746692,0.0597452259689,0.999999915684,0.000172821988331,-0.000372341580125,1.12423859396e-05,1793248269086145536
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.331572138,745,715,681,662.336855725,633,879,784,811,652,630,652.668427862,0.43374318487,0.00456553978476,0.0597673376044,0.999999923982,0.0001929908293,-0.000338409409996,1.64347315103e-05,1793248269102811904
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.254513148,662.745486852,633,879.254513148,784,811.254513148,652,630,653,0.432851620004,0.00457231020251,0.0597843865958,0.999999926908,0.000212136737554,-0.000317399454706,2.09780289177e-05,1793248269119478528
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.833694407,662.166305593,633,879.833694407,784,811.833694407,652,630,653,0.431927889806,0.00458049059288,0.0597949774595,0.999999924305,0.000229977751083,-0.000312873637986,2.46933728151e-05,1793248269136145152
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,633.410218973,879.589781027,784,811.589781027,652,630,653,0.431014343013,0.00457829143064,0.0598132824368,0.999999935562,0.000223042585226,-0.000280097727325,2.59614106847e-05,1793248269152811520
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,633.985673394,879.014326606,784,811.014326606,652,630,653,0.430104898131,0.00457191140321,0.0598346946442,0.999999950577,0.000206127618383,-0.00023594273052,2.6243677915e-05,1793248269169478144
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.427563519,662,633.427563519,879,784.572436481,811,652,629.427563519,653,0.429135977119,0.00457913520371,0.0598030285641,0.999999928746,0.000214968926979,-0.000309085874977,2.76271545857e-05,1793248269186145024
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.157367199,661.685265601,633,879,784.842632801,811,652,629.157367199,652.842632801,0.428179603402,0.00458378106648,0.0597745505523,0.999999908664,0.000218645774907,-0.000366138565421,2.84255300891e-05,1793248269202811648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.736611548,660.526776903,633,879,784.263388452,811,652,629.736611548,652.263388452,0.427260938047,0.00458058473719,0.0597582523008,0.999999909052,0.000206714568716,-0.000372026549116,2.75799657565e-05,1793248269219478272
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.685213112,660.944360665,633,879,784,811,652,630,652.314786888,0.426347607961,0.00458108868216,0.0597647534239,0.999999916219,0.000202373625515,-0.00035473290036,2.77881267819e-05,1793248269236144896
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.107929234,662.676212298,633,879,784,811,652,630,652.892070766,0.425438726938,0.00458467824136,0.0597902666714,0.999999928105,0.000204362111472,-0.000318108367297,2.88749766896e-05,1793248269252811520
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.532464016,633,879,784,811,652,629.532464016,653,0.42451286256,0.0045860570223,0.0598153198501,0.999999936086,0.000203138208427,-0.000292575937046,3.10091220504e-05,1793248269269478144
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.956371826,633,879.043628174,784,811,652.043628174,629.043628174,652.956371826,0.423588053058,0.00458656710192,0.0598391476544,0.999999943078,0.000200414449598,-0.000269397595317,3.3222164323e-05,1793248269286144768
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.367211122,633,879.632788878,784,811,652.632788878,629.632788878,652.367211122,0.4227252679,0.00458257159716,0.059848976051,0.999999952028,0.000188173056986,-0.000243761371697,3.34103950071e-05,1793248269302811392
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.217849585,633,879.782150415,784.217849585,810.782150415,652.782150415,629.782150415,652,0.421830734473,0.00458248030494,0.0598425277659,0.999999951021,0.00018284563733,-0.000251793706777,3.35588144993e-05,1793248269319478272
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.796127022,633,879.203872978,784.796127022,810.203872978,652.203872978,629.203872978,652,0.42088367402,0.00458884845491,0.0598091500329,0.999999931802,0.000188957247602,-0.000315530005141,3.36413671299e-05,1793248269336144896
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.371759468,681,661.256481065,633.371759468,879.371759468,784.628240532,810.371759468,652,629.371759468,652.371759468,0.419958892355,0.00458877728444,0.0597645518916,0.999999908236,0.00018373202166,-0.000385588599001,3.30308996733e-05,1793248269352811776
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.945951613,681,660.108096774,633.945951613,879.945951613,784.054048387,810.945951613,652,629.945951613,652.945951613,0.419046242126,0.00458519973651,0.0597138439489,0.999999879255,0.000172333593275,-0.000459089841793,3.20430646896e-05,1793248269369478400
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715.476507265,681,660.523492735,634,878.95301453,784.523492735,811,652,629.476507265,653,0.418206036819,0.00458349844695,0.0597380927556,0.999999901978,0.000159997921012,-0.000411661693124,3.12945905985e-05,1793248269386145280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.103437269,715,681,661.103437269,634,878.103437269,785,810.896562731,652.103437269,629,653,0.41738317367,0.00458267156027,0.0597713769434,0.999999925787,0.000150391528222,-0.000353325920744,3.11208184818e-05,1793248269402811904
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.693042505,715,681,661.693042505,634,878.693042505,785,810.306957495,652.693042505,629,653,0.416606439306,0.00458503812567,0.0598105202542,0.99999994173,0.000154070831644,-0.000302783934858,3.35313152129e-05,1793248269419478528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,715,681.275683751,661.724316249,633.724316249,879,784.724316249,810,652.724316249,629,653,0.415825568503,0.004583161567,0.0598330942105,0.999999947952,0.000157334750173,-0.000279470717728,3.51812596953e-05,1793248269436145152
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,746,715,681.850762017,661.149237983,633.149237983,879,784.149237983,810,652.149237983,629,653,0.415040205548,0.00457667694525,0.0598376737272,0.999999945708,0.00016014755784,-0.000285728141099,3.60052389384e-05,1793248269452811520
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.572279965,715,681.572279965,661.427720035,633,878.572279965,784.427720035,810.427720035,652,629,652.572279965,0.414272625614,0.00457707979375,0.0598388398736,0.999999935736,0.0002207830682,-0.000280163315838,3.59433821544e-05,1793248269469478400
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.005439814,745,715,680.994560186,662,633.005439814,878.005439814,785,810.994560186,652,629,652,0.413510904374,0.00457985280477,0.0598384633352,0.999999917334,0.000300851963582,-0.000271208793139,3.55876274212e-05,1793248269486145024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.594198693,745,715,680.405801307,662,633.594198693,878.594198693,785,810.405801307,652,629,652,0.412709143085,0.00457795179634,0.0598009363353,0.999999897893,0.000291823042602,-0.000343050433286,3.70063614082e-05,1793248269502811648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.180155717,661.639688566,634,878.819844283,785,810.180155717,652.180155717,629,652,0.411937286602,0.00457640026145,0.059767145629,0.999999879517,0.000280613570392,-0.000401061752302,3.7036501633e-05,1793248269519478272
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.759898319,660.480203362,634,878.240101681,785,810.759898319,652.759898319,629,652,0.411231759072,0.00457562386146,0.0597416420457,0.999999872662,0.000264567618283,-0.000428397320593,3.39867299146e-05,1793248269536144896
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.337493089,715,681,660.674986178,634,878,785,810.662506911,653,629,652.337493089,0.410585109012,0.00457336025408,0.059754898783,0.999999886671,0.000249595764131,-0.000404036810636,3.33773894423e-05,1793248269552812032
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.913569461,715,681,661.827138922,634,878,785,810.086430539,653,629,652.913569461,0.409980081121,0.00457004529834,0.059795556274,0.999999912833,0.000235383220115,-0.000343130897504,3.44932580236e-05,1793248269569479424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.512624559,715,680.512624559,661.512624559,634,878,784.512624559,810,652.512624559,628.512624559,652.512624559,0.409393633309,0.00456803310764,0.0598305072592,0.999999933333,0.000224369024784,-0.000285930023166,3.5161792411e-05,1793248269586146048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,784.062748679,810,652,628,652,0.408809934267,0.00456640804797,0.0598599962152,0.999999948471,0.000214145303009,-0.000236491836321,3.56506911843e-05,1793248269602812416
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,784.65472023,810,652,628,652,0.408221757435,0.00456610857465,0.0598519138825,0.999999947688,0.000205826932931,-0.00024700837995,3.52905072661e-05,1793248269619479296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.758573063,745,715,680,661,634,878,785,810,652,628,652.241426937,0.40764622316,0.00456442037047,0.0598388783331,0.999999944375,0.000196801773656,-0.000267000968261,3.50772464046e-05,1793248269636146176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.179235295,745,715,680,661,634,878,785,810,652,628,652.820764705,0.407088383963,0.00456078844283,0.0598189100636,0.999999936863,0.000186787364419,-0.000300256608029,3.50696249579e-05,1793248269652813056
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.394563933,745,715,680,661,634,878,785,810,652.394563933,628.394563933,652.605436067,0.40659534493,0.00456022709351,0.0598169804727,0.99999993839,0.000179536324704,-0.000299710721389,3.40712522892e-05,1793248269669479680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.965882091,745,715,680,661,634,878,785,810,652.965882091,628.965882091,652.034117909,0.40613133461,0.00456104128189,0.0598231317318,0.999999944078,0.000173523200734,-0.000284022646203,3.26290492323e-05,1793248269686146304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.541497137,634,878,785,810,652.458502863,628.458502863,652,0.405684576907,0.00455873182757,0.0598268729846,0.999999948019,0.000161815892079,-0.000277005081709,3.23312800996e-05,1793248269702812672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.878597701,634,877.878597701,785,810,652,628,652.121402299,0.405241661559,0.00455644644698,0.0598260717792,0.999999949739,0.000151348629447,-0.000276744888457,3.20448102147e-05,1793248269719478784
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.283001214,634,877.283001214,785,810,652,628,652.716998786,0.404809474343,0.00455502998129,0.0598081257045,0.99999994346,0.00014713751093,-0.000300727907767,3.15185742877e-05,1793248269736145408
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.698406822,745,715,680,661.301593178,634,877.301593178,785,810,652.301593178,628,653,0.404399460369,0.00455404819318,0.0597865422845,0.999999932731,0.000144785318884,-0.000335539302376,3.1450530039e-05,1793248269752812288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.123772966,745,715,680,661.876227034,634,877.876227034,785,810,652.876227034,628,653,0.404009520472,0.00455345993083,0.0597616658759,0.999999916851,0.000144116064678,-0.000380153923982,3.17972994348e-05,1793248269769478912
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.548082559,715,680,662,634,878,784.548082559,810,652.548082559,628,652.548082559,0.403692646776,0.00455144982904,0.0597634597411,0.999999920733,0.000140384608726,-0.000371212002247,3.20745566546e-05,1793248269786145536
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.027953301,744.027953301,715,679.972046699,662,633.972046699,878,784.027953301,809.972046699,652.027953301,628,652,0.403397986535,0.00454917734746,0.0597731427217,0.999999929959,0.000136053500739,-0.00034716395715,3.23753201206e-05,1793248269802811904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.605077744,744.605077744,715,679.394922256,662,633.394922256,878,784.605077744,809.394922256,652.605077744,628,652,0.403145661345,0.00454941861058,0.0597939735652,0.999999940456,0.000136457112107,-0.000315189361605,3.35127908045e-05,1793248269819478528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.812589391,633.187410609,878,785,809.187410609,652.812589391,628,652,0.402902313681,0.0045484397966,0.0598138042511,0.999999947522,0.000151336279262,-0.000284351065252,3.46104191019e-05,1793248269836145408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.218967377,633.781032623,878,785,809.781032623,652.218967377,628,652,0.402678424785,0.00454481647261,0.0598314670987,0.999999947083,0.000197591129198,-0.000255975694948,3.56216891069e-05,1793248269852812032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.364049093,661,634,878,785,810,652.364049093,628,652,0.402460539116,0.0045420126903,0.059836823964,0.999999944608,0.000216755917388,-0.000250455984904,3.27393306867e-05,1793248269869478656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.940867194,661,634,878,785,810,652.940867194,628,652,0.40224616202,0.00453968788994,0.0598349885821,0.999999942042,0.000220087885227,-0.000258294295465,2.75813357509e-05,1793248269886145024
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.48578308,661,634,878,785,810,652.48578308,628.51421692,652,0.402059368857,0.00453774504347,0.0598279228174,0.999999941679,0.000201734750292,-0.00027459288476,2.33035443426e-05,1793248269902811904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.90989248,745,715,679,661.09010752,634,878,785,810,652.09010752,628.90989248,652.09010752,0.401881548683,0.00453598449446,0.0598216367678,0.999999941001,0.000184060261071,-0.000289343536802,1.99887246733e-05,1793248269919478528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.317634067,745,715,679,661.682365933,634,878,785,810,652.682365933,628.317634067,652.682365933,0.401736174394,0.0045349967168,0.0598230253339,0.999999940773,0.000183971477424,-0.000290082425071,2.14800513453e-05,1793248269936145152
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.268305573,745,715,679.268305573,662,634,878,785,809.731694427,653,628.268305573,653,0.401606317519,0.00453409846396,0.0598245971143,0.999999941071,0.000183761772685,-0.000289100686141,2.26100938095e-05,1793248269952811776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.846936804,745,715,679.846936804,662,634,878,785,809.153063196,653,628.846936804,653,0.401494408293,0.00453330375673,0.0598263808023,0.999999941973,0.000183412209069,-0.000286128847729,2.33222702463e-05,1793248269969478400
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.579862779,745,715,680,661.579862779,634,877.579862779,785,809,652.579862779,628.579862779,652.579862779,0.401403035575,0.00453286057211,0.0598302211643,0.999999944095,0.000182588207966,-0.00027910870026,2.38866255386e-05,1793248269986145280
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.008615663,745,715,680,661.008615663,634,877.008615663,785,809,652.008615663,628.008615663,652.008615663,0.401319049183,0.0045325438189,0.0598348012459,0.999999946593,0.0001815935669,-0.000270632505808,2.43978142856e-05,1793248270002811904
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.430100926,661,634,877.569899074,785,809.569899074,652.569899074,628,652,0.401247468661,0.00453400864594,0.0598330962064,0.99999994537,0.0001815215132,-0.000275198908884,2.39797665948e-05,1793248270019478528
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.151827609,745,715,679,661.151827609,634,878,785.151827609,809.848172391,653,628,652,0.401180020943,0.00453428589198,0.05983079234,0.999999944065,0.000180905820512,-0.000280304574742,2.39229007026e-05,1793248270036145152
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.743319481,745,715,679,661.743319481,634,878,785.743319481,809.256680519,653,628,652,0.401123990936,0.00453104512363,0.059827033091,0.999999942716,0.000178674940109,-0.000286393482317,2.49531556829e-05,1793248270052811776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633.674790258,878,785.674790258,809.325209742,653,628,652,0.401078206991,0.0045301613153,0.0598244171331,0.99999994146,0.000177925304461,-0.000291177127107,2.5249841096e-05,1793248270069478656
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633.100260937,878,785.100260937,809.899739063,653,628,652,0.401040278105,0.00453108445212,0.0598226776702,0.99999994029,0.000178311253624,-0.000294960102744,2.49841410797e-05,1793248270086145280
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.526559188,745,715,679.473440812,662,633.473440812,877.526559188,785,810,653,628.473440812,652,0.401017804612,0.00453069033382,0.0598232918925,0.999999941011,0.000176909706092,-0.000293342638825,2.51222473117e-05,1793248270102811904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.048633794,745,715,679.951366206,662,634,877.048633794,785,810,653,629,652,0.400999192207,0.00453014267679,0.0598244402129,0.999999942087,0.00017537154444,-0.000290568888546,2.53112316421e-05,1793248270119478528
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.642506968,745,715,679.357493032,662,634,877.642506968,785,810,653,629,652,0.400987236933,0.00453099563218,0.0598259980315,0.999999942736,0.000176538232222,-0.000287631155748,2.5113577575e-05,1793248270136145152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,878,785,810,653,628.769378486,652.230621514,0.4009781728,0.00453155668323,0.0598278827601,0.999999943617,0.000176681703827,-0.000284477570217,2.49337490449e-05,1793248270152812032
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,878,785,810,653,628.189973121,652.810026879,0.400973481126,0.00453167626838,0.0598302618959,0.999999944852,0.00017527769928,-0.000280997536803,2.47808792403e-05,1793248270169478656
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.385821001,661.614178999,634,878,785,810,653,628,652.614178999,0.400967726122,0.00453036421855,0.0598304135386,0.999999945167,0.000172513515985,-0.000281565283086,2.5038823672e-05,1793248270186145280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.959853467,661.040146533,634,878,785,810,653,628,652.040146533,0.400961452403,0.00452835378755,0.0598294785642,0.999999945021,0.000169085809401,-0.000284107620134,2.54971717902e-05,1793248270202811904
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.53530586,679.46469414,661,634,878,785,810,653,628,652,0.400960969734,0.00452880902052,0.0598300765578,0.999999945405,0.000170080682396,-0.000282180011036,2.52393735756e-05,1793248270219478528
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.886344682,745,715.886344682,679.113655318,661,634,878,785.113655318,810,653,628,652,0.400960970708,0.00452939246951,0.0598308470579,0.999999945818,0.000171271455329,-0.000280011732641,2.49534492502e-05,1793248270236145408
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.296299792,745,715.296299792,679.703700208,661,634,878,785.703700208,810,653,628,652,0.400961173606,0.00452973618757,0.0598318574477,0.99999994621,0.000171889396563,-0.000278243563586,2.47753555617e-05,1793248270252812032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.287480087,679.712519913,661.287480087,634,878,785.712519913,810,653,628,652,0.400960412166,0.00452900622491,0.0598322324171,0.999999946521,0.000170899917492,-0.000277728865949,2.4840274667e-05,1793248270269478656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.864940538,679.135059462,661.864940538,634,878,785.135059462,810,653,628,652,0.400958678001,0.00452719324354,0.0598319664398,0.999999946748,0.000168289038105,-0.000278478541227,2.51503200796e-05,1793248270286145024
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715.557809764,679,661.557809764,634,878,785.442190236,810,652.557809764,628.442190236,652,0.400959352045,0.00452675821562,0.0598332527413,0.999999947406,0.000166789921526,-0.000277017884049,2.51186214619e-05,1793248270302811904
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.019766651,634,878,785.980233349,809.980233349,652.019766651,628.980233349,652,0.400960700833,0.00452677780653,0.0598349475638,0.999999948152,0.000165727004749,-0.000274965731405,2.49773924952e-05,1793248270319478528
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.608602431,634,878,785.391397569,809.391397569,652.608602431,628.391397569,652,0.400960309244,0.00452777470851,0.0598347604231,0.999999947777,0.000167450682087,-0.000275311476436,2.46864531331e-05,1793248270336145152
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.194179532,661.805820468,633.805820468,878,785,809.194179532,653,628.194179532,652,0.400959721005,0.00452816071557,0.0598345315094,0.99999994757,0.000167830707341,-0.000275852130877,2.44637170758e-05,1793248270352812032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.773296658,661.226703342,633.226703342,878,785,809.773296658,653,628.773296658,652,0.400958742932,0.00452733569675,0.0598342197856,0.999999947697,0.000165547103666,-0.000276779169787,2.43761858934e-05,1793248270369478656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.350012755,745,715.350012755,680,661.350012755,633.350012755,877.649987245,785,810,653,628.649987245,652.350012755,0.400958346194,0.00452803119481,0.0598341075147,0.999999947627,0.000166004713429,-0.000276752327166,2.4437578164e-05,1793248270386145024
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.925184278,745,715.925184278,680,661.925184278,633.925184278,877.074815722,785,810,653,628.074815722,652.925184278,0.400958323419,0.00452970482212,0.0598341235493,0.999999947429,0.000168225711134,-0.000276111864612,2.4594771007e-05,1793248270402811648
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69bd53a38bbe9c3df23276eae5407858a37eca60
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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+340,5.666666667,pose2_to_pose3_retreat,0.595459006126,0.00992785825111,1.05004265517,0.566030798859,0.0186023205355,1.0496660308
+341,5.683333333,pose2_to_pose3_retreat,0.594781412737,0.00992779605395,1.05004244345,0.565353206288,0.0186022613723,1.04966582503
+342,5.700000000,pose2_to_pose3_retreat,0.594105442806,0.00992796348271,1.05004256642,0.564677233401,0.0186024187244,1.04966594697
+343,5.716666667,pose2_to_pose3_retreat,0.593443421154,0.0099279585184,1.05004247804,0.564015210884,0.0186024109451,1.04966586127
+344,5.733333333,pose2_to_pose3_retreat,0.592802416037,0.00992787649733,1.05004231924,0.563374206272,0.0186023306354,1.04966570243
+345,5.750000000,pose2_to_pose3_retreat,0.592188638722,0.00992787321484,1.05004232451,0.562760429636,0.018602329533,1.04966570489
+346,5.766666667,pose2_to_pose3_retreat,0.59161239974,0.0099278614328,1.05004235238,0.562184191357,0.0186023202082,1.04966573443
+347,5.783333333,pose2_to_pose3_retreat,0.591069037131,0.00992776955954,1.05004229664,0.561640828931,0.0186022291901,1.04966568401
+348,5.800000000,pose2_to_pose3_retreat,0.590546020682,0.00992783315566,1.05004259977,0.561117813848,0.0186022973226,1.04966598496
+349,5.816666667,pose2_to_pose3_retreat,0.590035371862,0.00992787790997,1.0500423463,0.560607162224,0.018602332224,1.04966572364
+350,5.833333333,pose2_to_pose3_retreat,0.589533043612,0.00992798006538,1.05004237251,0.560104834293,0.018602435579,1.0496657526
+351,5.850000000,pose2_to_pose3_retreat,0.58904693405,0.0099279456574,1.05004260777,0.559618725556,0.0186024041383,1.04966599174
+352,5.866666667,pose2_to_pose3_retreat,0.588581738668,0.00992780628398,1.0500426145,0.559153531493,0.0186022692499,1.04966599861
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+354,5.900000000,pose2_to_pose3_retreat,0.587723824766,0.00992794640351,1.05004246167,0.558295615079,0.0186024007214,1.04966584291
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+356,5.933333333,pose2_to_pose3_retreat,0.586947181722,0.00992803437046,1.05004228669,0.557518970418,0.0186024832719,1.0496656703
+357,5.950000000,pose2_to_pose3_retreat,0.586579158185,0.0099277835902,1.05004258038,0.557150951053,0.0186022469836,1.04966597193
+358,5.966666667,pose2_to_pose3_retreat,0.586233628718,0.00992775756114,1.05004258254,0.556805420983,0.018602218942,1.04966597473
+359,5.983333333,pose2_to_pose3_retreat,0.585913983621,0.00992784693394,1.05004228077,0.556485776018,0.0186023088645,1.04966567491
+360,6.000000000,pose2_to_pose3_retreat,0.585625785274,0.00992780489989,1.05004245727,0.556197576672,0.0186022627838,1.04966583626
+361,6.016666667,pose2_to_pose3_retreat,0.585366413882,0.00992785970491,1.05004259012,0.555938205196,0.0186023173593,1.04966597042
+362,6.033333333,pose2_to_pose3_retreat,0.58513585895,0.00992791292924,1.05004256411,0.555707649843,0.0186023694,1.04966595014
+363,6.050000000,pose2_to_pose3_retreat,0.584922594782,0.00992792376235,1.05004248179,0.555494384827,0.0186023774194,1.04966586924
+364,6.066666667,pose2_to_pose3_retreat,0.584723365783,0.00992796752621,1.05004246558,0.555295156218,0.0186024226,1.04966585518
+365,6.083333333,pose2_to_pose3_retreat,0.584535632428,0.00992785972794,1.05004225782,0.555107423777,0.0186023178913,1.04966564728
+366,6.100000000,pose2_to_pose3_retreat,0.584359392578,0.00992797255433,1.05004247739,0.554931182829,0.0186024265123,1.04966585592
+367,6.116666667,pose2_to_pose3_retreat,0.584196767727,0.00992790515218,1.05004244736,0.554768558841,0.0186023620039,1.04966582511
+368,6.133333333,pose2_to_pose3_retreat,0.584049493093,0.00992789947254,1.05004255797,0.5546212837,0.0186023545635,1.04966593478
+369,6.150000000,pose2_to_pose3_retreat,0.583920056502,0.00992790731663,1.05004258981,0.554491847958,0.0186023653595,1.04966596825
+370,6.166666667,pose2_to_pose3_retreat,0.583807235719,0.00992784543266,1.05004256609,0.554379028137,0.0186023067948,1.04966594583
+371,6.183333333,pose2_to_pose3_retreat,0.583710741796,0.00992780854487,1.05004259055,0.554282533384,0.018602266974,1.04966596775
+372,6.200000000,pose2_to_pose3_retreat,0.583627063127,0.00992791995209,1.05004241611,0.554198855116,0.0186023797951,1.04966579494
+373,6.216666667,pose2_to_pose3_retreat,0.583554157951,0.00992794107604,1.05004245981,0.5541259485,0.0186023966036,1.04966585163
+374,6.233333333,pose2_to_pose3_retreat,0.583491056877,0.00992774823682,1.05004218419,0.554062851185,0.0186022165386,1.04966557654
+375,6.250000000,pose2_to_pose3_retreat,0.583435862882,0.00992780150152,1.05004238891,0.554007656116,0.018602265824,1.0496657734
+376,6.266666667,pose2_to_pose3_retreat,0.58338871607,0.00992786085796,1.05004225569,0.553960509193,0.0186023250055,1.04966564484
+377,6.283333333,pose2_to_pose3_retreat,0.583350064863,0.0099278794517,1.05004226542,0.553921857312,0.0186023412494,1.04966565305
+378,6.300000000,pose2_to_pose3_retreat,0.583319951208,0.00992782827494,1.05004232518,0.553891743327,0.0186022887665,1.0496657086
+379,6.316666667,pose2_to_pose3_retreat,0.583297409593,0.00992779782749,1.05004235293,0.553869201619,0.0186022579985,1.04966573622
+380,6.333333333,pose2_to_pose3_retreat,0.583281028114,0.00992786007556,1.05004253677,0.553852818925,0.0186023160316,1.04966591797
+381,6.350000000,pose2_to_pose3_retreat,0.583270343321,0.00992790237821,1.0500426413,0.553842133651,0.0186023565764,1.04966601958
+382,6.366666667,pose2_to_pose3_retreat,0.583262421349,0.00992785291336,1.05004254669,0.553834213619,0.0186023139965,1.049665932
+383,6.383333333,pose2_to_pose3_retreat,0.583256584556,0.00992787079052,1.05004249211,0.553828376477,0.0186023308195,1.04966588038
+384,6.400000000,pose2_to_pose3_retreat,0.5832526643,0.00992796223926,1.05004250349,0.553824453449,0.018602412761,1.04966588946
+385,6.416666667,pose2_to_pose3_retreat,0.583250200417,0.00992794867268,1.05004237361,0.553821989807,0.0186024000213,1.04966575978
+386,6.433333333,pose2_to_pose3_retreat,0.583248454641,0.00992792685916,1.05004225805,0.553820244543,0.0186023799619,1.04966564464
+387,6.450000000,pose2_to_pose3_retreat,0.583247491308,0.00992790936371,1.050042293,0.553819281379,0.0186023631061,1.04966568104
+388,6.466666667,pose2_to_pose3_retreat,0.583247128483,0.00992790256843,1.05004230989,0.553818918614,0.0186023565394,1.04966569852
+389,6.483333333,pose2_to_pose3_retreat,0.583246916928,0.00992789860626,1.05004231973,0.553818707094,0.0186023527105,1.04966570872
+390,6.500000000,pose2_to_pose3_retreat,0.583246881635,0.00992789794526,1.05004232138,0.553818671807,0.0186023520718,1.04966571042
+391,6.516666667,pose2_to_pose3_retreat,0.583246768597,0.00992789582819,1.05004232664,0.553818558787,0.0186023500259,1.04966571586
+392,6.533333333,pose2_to_pose3_retreat,0.58324667821,0.00992789413535,1.05004233084,0.553818468415,0.01860234839,1.04966572022
+393,6.550000000,pose2_to_pose3_retreat,0.583246669719,0.00992789397631,1.05004233124,0.553818459925,0.0186023482363,1.04966572063
+394,6.566666667,pose2_to_pose3_retreat,0.583246538177,0.0099278915127,1.05004233736,0.553818328406,0.0186023458556,1.04966572696
+395,6.583333333,pose2_to_pose3_retreat,0.583246256727,0.00992790057667,1.05004234892,0.553818046953,0.0186023549012,1.04966573828
+396,6.600000000,pose2_to_pose3_retreat,0.583246166589,0.00992791039301,1.05004235188,0.553817956791,0.0186023646173,1.04966574082
+397,6.616666667,pose2_to_pose3_retreat,0.583246089588,0.00992791877864,1.05004235441,0.553817879769,0.0186023729173,1.04966574299
+398,6.633333333,pose2_to_pose3_retreat,0.583245982746,0.009927930414,1.05004235792,0.553817772899,0.0186023844339,1.04966574601
+399,6.650000000,pose2_to_pose3_retreat,0.583245932281,0.00992793590976,1.05004235958,0.55381772242,0.0186023898735,1.04966574743
+400,6.666666667,pose2_to_pose3_retreat,0.583245854602,0.00992794436923,1.05004236213,0.55381764472,0.0186023982466,1.04966574962
+401,6.683333333,pose2_to_pose3_retreat,0.58324568502,0.00992796283712,1.0500423677,0.553817475094,0.0186024165259,1.0496657544
+402,6.700000000,pose2_to_pose3_retreat,0.583245541732,0.00992797978379,1.05004237629,0.553817331684,0.0186024329932,1.0496657615
+403,6.716666667,pose2_to_pose3_retreat,0.583245530016,0.00992798172518,1.0500423786,0.553817319923,0.0186024347629,1.04966576335
+404,6.733333333,pose2_to_pose3_retreat,0.583245485488,0.00992798910372,1.05004238739,0.553817275226,0.0186024414888,1.04966577037
+405,6.750000000,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b236eb50de700c41bd30efb6fc351c01aeeb5675
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd5e4f5949d1bf75e151a820e58e8f5b59d95916c1305131114e7738e01389e
+size 25911169
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a46e54063ed9abc9780125c9b82242a30e9ef69d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,765.823733178,745,715,680,661,634,878,785,809,652.823733178,628.176266822,652,0.400958931058,0.00453070102411,0.0598371295463,0.999999949457,0.000165961490565,-0.000270148387791,2.37116330303e-05,1793248271042173184
+22,0.366666667,BASELINE,765.24053452,745,715,680,661,634,878,785,809,652.24053452,628.75946548,652,0.400959092525,0.00452834632149,0.0598376083738,0.999999949946,0.000163770857942,-0.000269643620296,2.407400679e-05,1793248271058840064
+23,0.383333333,BASELINE,765,745,715,679.655152613,661.344847387,634,878,785.344847387,809,652.344847387,628.655152613,652.344847387,0.400959938188,0.00452776740783,0.0598381896523,0.999999950203,0.000163735811327,-0.000268719068791,2.39835622127e-05,1793248271075506688
+24,0.400000000,BASELINE,765,745,715,679.068238107,661.931761893,634,878,785.931761893,809,652.931761893,628.068238107,652.931761893,0.400961264125,0.0045284350167,0.0598388428466,0.999999950296,0.000165213887443,-0.000267499848025,2.35752598752e-05,1793248271092173312
+25,0.416666667,BASELINE,765,745,715,679,662,634,877.492454794,785.492454794,809.507545206,652.492454794,628.507545206,652.492454794,0.400961790441,0.00452912796581,0.0598393467189,0.999999950207,0.000167296428209,-0.00026650831004,2.39069628827e-05,1793248271108839936
+26,0.433333333,BASELINE,765,745,715,679.082182729,661.917817271,634,877.082182729,785,809.917817271,652,628.917817271,652,0.400961940202,0.00452972955586,0.0598396289859,0.999999950022,0.000169204286372,-0.000265964279566,2.42560476861e-05,1793248271125506560
+27,0.450000000,BASELINE,765,745,715,679.658737357,661.341262643,634,877.658737357,785,809.341262643,652,628.341262643,652,0.400960457621,0.00452976151935,0.0598386963574,0.999999949436,0.000169582956906,-0.00026793204801,2.41240426718e-05,1793248271142173184
+28,0.466666667,BASELINE,765,745,715.240920678,679.759079322,661.240920678,634,877.759079322,785,809.240920678,652.240920678,628,652.240920678,0.400959817931,0.00452967125666,0.0598383830027,0.99999994946,0.000168313409057,-0.000268668383579,2.38386629803e-05,1793248271158840320
+29,0.483333333,BASELINE,765,745,715.831267703,679.168732297,661.831267703,634,877.168732297,785,809.831267703,652.831267703,628,652.831267703,0.400960400753,0.00452940371965,0.05983896783,0.999999950363,0.000164653319475,-0.000267618674362,2.33308318506e-05,1793248271175507200
+30,0.500000000,BASELINE,765,744.586104987,715.586104987,679,661.586104987,634,877,785,810,653,628,652.586104987,0.400960307677,0.00452912090172,0.0598387148937,0.999999950148,0.00016526852557,-0.000268020702128,2.35467143768e-05,1793248271192173568
+31,0.516666667,BASELINE,765,744.00656716,715.00656716,679,661.00656716,634,877,785,810,653,628,652.00656716,0.400959944105,0.0045288319683,0.0598381266802,0.999999949485,0.000167594726055,-0.000269003722183,2.40522306707e-05,1793248271208839936
+32,0.533333333,BASELINE,765.57016173,744.57016173,715,679,661.57016173,634,877.57016173,785,809.42983827,653,628,652,0.400960257097,0.0045284948209,0.0598385790035,0.999999950145,0.000164542886656,-0.000268451302434,2.3851622626e-05,1793248271225506560
+33,0.550000000,BASELINE,765.854404602,745,715,679.145595398,662,634,878,785,809.145595398,653,628,652,0.400960900714,0.00452809077721,0.0598391711527,0.999999950722,0.0001624634048,-0.000267572408126,2.38011919615e-05,1793248271242173184
+34,0.566666667,BASELINE,765.282667778,745,715,679.717332222,662,634,878,785,809.717332222,653,628,652,0.400962489335,0.00452749255306,0.0598401376495,0.999999951033,0.000163410321272,-0.000265789468571,2.42140019342e-05,1793248271258840064
+35,0.583333333,BASELINE,765,744.699859219,715,680,661.699859219,634,878,785,809.699859219,653,628,652.300140781,0.400962722135,0.004527508065,0.0598403106743,0.999999951082,0.00016377984743,-0.000265376819947,2.42465578347e-05,1793248271275506688
+36,0.600000000,BASELINE,765,744.106224033,715,680,661.106224033,634,878,785,809.106224033,653,628,652.893775967,0.400961629138,0.00452812372228,0.0598397077978,0.999999950875,0.000163584769226,-0.000266304118061,2.39072801313e-05,1793248271292173056
+37,0.616666667,BASELINE,765,744.47419589,715,680,661.47419589,634,877.52580411,785,809.47419589,653,628,652.52580411,0.400962271312,0.00452829188139,0.0598403575291,0.999999951171,0.000163479215796,-0.000265259729056,2.38636807256e-05,1793248271308839936
+38,0.633333333,BASELINE,765,745,715,680,661.948507601,634,877.051492399,785.051492399,810,652.948507601,628.051492399,652,0.400962978406,0.0045284428965,0.0598410846224,0.99999995147,0.000163430561124,-0.000264163946193,2.38496676801e-05,1793248271325506560
+39,0.650000000,BASELINE,765,745,715,680,661.373683866,634,877.626316134,785.626316134,810,652.373683866,628.626316134,652,0.40096050201,0.00452941085164,0.0598398235239,0.999999950694,0.000163761892515,-0.000266912990877,2.34814407776e-05,1793248271342173184
+40,0.666666667,BASELINE,765,745,715,679.799003553,661,634,878,785.799003553,809.799003553,652.200996447,628.799003553,652.200996447,0.400959502143,0.00452937712491,0.0598393711025,0.999999950413,0.000163664770548,-0.000268022492617,2.34923417007e-05,1793248271358839808
+41,0.683333333,BASELINE,765,745,715,679.224589726,661,634,878,785.224589726,809.224589726,652.775410274,628.224589726,652.775410274,0.400961245418,0.00452748244275,0.0598404210667,0.999999951059,0.000162771654742,-0.000266086000905,2.42075979768e-05,1793248271375506688
+42,0.700000000,BASELINE,765,745,715,678.638422777,661,634,877.638422777,785,809,652.638422777,628,653,0.400961341675,0.00452825433701,0.0598402119972,0.999999950757,0.000164338966321,-0.000266265220508,2.41275201762e-05,1793248271392173056
+43,0.716666667,BASELINE,765,745,715,678.044710257,661,634,877.044710257,785,809,652.044710257,628,653,0.400960380534,0.00453073819346,0.0598391946185,0.999999949838,0.000167485890825,-0.000267802742766,2.35368318869e-05,1793248271408839680
+44,0.733333333,BASELINE,765,745,715,678.530688488,661.530688488,634,877,785,809.530688488,652.530688488,628.530688488,652.469311512,0.400960335257,0.00452926422451,0.0598387885453,0.999999949842,0.000166967194509,-0.000268082761466,2.38526263328e-05,1793248271425506304
+45,0.750000000,BASELINE,765,745,715,679,661.895120944,633.895120944,877,785,810,653,629,652,0.400960249008,0.0045279723393,0.0598384502094,0.99999994988,0.000166278165728,-0.000268346893351,2.41172142562e-05,1793248271442172928
+46,0.766666667,BASELINE,765,745,715,679,661.319659495,633.319659495,877,785,810,653,629,652,0.400959644256,0.00452894367447,0.0598381924276,0.999999949731,0.000166164324529,-0.000268999246397,2.38208057671e-05,1793248271458839808
+47,0.783333333,BASELINE,765,745,715,679,661.262214185,633.262214185,877,785,810,653,628.737785815,652,0.400959741398,0.00452899064573,0.0598384461847,0.999999949995,0.000165020935556,-0.000268739665173,2.35875194986e-05,1793248271475506688
+48,0.800000000,BASELINE,765,745,715,679,661.852100903,633.852100903,877,785,810,653,628.147899097,652,0.400960715655,0.00452788249784,0.0598393391796,0.999999950772,0.000162590985635,-0.000267340497281,2.34331130486e-05,1793248271492173056
+49,0.816666667,BASELINE,765,745,715,679,661.563247272,634,877.436752728,785,810,653,628,652.436752728,0.400960453145,0.00452763443652,0.0598392434378,0.999999950693,0.000162823900942,-0.000267496035442,2.3415821442e-05,1793248271508839680
+50,0.833333333,BASELINE,765.019374378,745,715,679,661.019374378,634,878,785,809.980625622,652.980625622,628,652.980625622,0.400959855899,0.00452770188476,0.0598388560475,0.99999995036,0.000163897888999,-0.00026808090015,2.34384182625e-05,1793248271525506304
+51,0.850000000,BASELINE,765.594016411,745,715,679,661.594016411,634,878,785,809.405983589,652.405983589,628,652.405983589,0.400961526058,0.00452856335695,0.0598395922723,0.999999950962,0.000163539387631,-0.000266060197235,2.32892473788e-05,1793248271542172928
+52,0.866666667,BASELINE,765.832691528,745,715,679,661.832691528,634,878,785,809.167308472,652.167308472,628,652,0.400962509123,0.00452894001326,0.0598401365026,0.999999951313,0.000163326921191,-0.000264867386742,2.33135955056e-05,1793248271558839808
+53,0.883333333,BASELINE,765.262649069,745,715,679,661.262649069,634,878,785,809.737350931,652.737350931,628,652,0.400961838261,0.0045281496525,0.0598402185761,0.999999951068,0.000163465980477,-0.000265667424749,2.37556272308e-05,1793248271575506432
+54,0.900000000,BASELINE,765.321933062,745,715,679,661,634,877.678066938,785,809.678066938,653,628.321933062,652,0.400961311961,0.0045286113718,0.059840101626,0.99999995076,0.000164337052226,-0.000266283875225,2.37837549466e-05,1793248271592173312
+55,0.916666667,BASELINE,765.918938433,745,715,679,661,634,877.081061567,785,809.081061567,653,628.918938433,652,0.400960909181,0.00453014291775,0.0598398146223,0.999999950398,0.000165833584295,-0.00026674346123,2.34582267256e-05,1793248271608840192
+56,0.933333333,BASELINE,765.501182814,745,715,679,661,634,877,785,809.498817186,653,628.501182814,652,0.400960654504,0.00452892773041,0.0598397831967,0.999999950633,0.000164039111586,-0.000266972359566,2.34570393902e-05,1793248271625506816
+57,0.950000000,BASELINE,765,745,715,679,661,634,877,785,810,652.924347131,628,652,0.400960652723,0.00452740504363,0.0598398292727,0.999999950973,0.00016189898302,-0.000267001567521,2.35247991228e-05,1793248271642173184
+58,0.966666667,BASELINE,765,745,715,679,661,634,877,785,810,652.349834485,628,652,0.400962165121,0.00452670034134,0.0598401216165,0.999999951411,0.00016088910648,-0.000265953000168,2.37111783947e-05,1793248271658839808
+59,0.983333333,BASELINE,765,745,715,679,661,633.769165872,877.230834128,785,809.769165872,652.230834128,628,652,0.400963473104,0.00452660934738,0.0598407117822,0.999999951776,0.000160977567946,-0.000264514677378,2.38078869909e-05,1793248271675506432
+60,1.000000000,BASELINE,765,745,715,679,661,633.178912037,877.821087963,785,809.178912037,652.821087963,628,652,0.400964462803,0.00452747392635,0.0598417656706,0.999999952024,0.000162776193732,-0.000262469486688,2.3764974112e-05,1793248271692173056
+61,1.016666667,BASELINE,765,745,715,679,661.403585126,633.403585126,878,785,809.403585126,652.596414874,628.403585126,652,0.400962453969,0.00452799997268,0.0598404178971,0.999999951315,0.000163087639783,-0.00026498290673,2.36040180628e-05,1793248271708839680
+62,1.033333333,BASELINE,765,745,715,679,661.98270851,633.98270851,878,785,809.98270851,652.01729149,628.98270851,652,0.40095914093,0.0045283787751,0.0598380255272,0.999999950173,0.000162752240922,-0.000269479082288,2.33917194582e-05,1793248271725506816
+63,1.050000000,BASELINE,765,744.443571641,715,679.556428359,661.443571641,634,878,785,810,652,629,652.556428359,0.400959886668,0.00452688684242,0.0598385685665,0.999999950515,0.000161973771943,-0.000268648597616,2.371359243e-05,1793248271742173440
+64,1.066666667,BASELINE,765,744.130851911,715,680,661.130851911,634,878,785,809.869148089,652.130851911,629,652.869148089,0.400960685229,0.00452596250814,0.0598391961526,0.999999950815,0.000161774226489,-0.000267628082175,2.39578748182e-05,1793248271758839808
+65,1.083333333,BASELINE,765,744.708244389,715,680,661.708244389,634,878,785,809.291755611,652.708244389,629,652.291755611,0.400961237761,0.0045271716204,0.059839803958,0.999999950817,0.000163596829835,-0.000266518525328,2.38812711254e-05,1793248271775506432
+66,1.100000000,BASELINE,765,745,715,679.707517481,661.707517481,634,878,785,809.292482519,652.707517481,628.707517481,652,0.400961662872,0.0045277500642,0.0598403560054,0.999999950837,0.000164770114779,-0.000265721687163,2.38339703375e-05,1793248271792173056
+67,1.116666667,BASELINE,765,745,715,679.116287093,661.116287093,634,878,785,809.883712907,652.116287093,628.116287093,652,0.400961957832,0.00452768432974,0.0598408511005,0.99999995088,0.000165280171977,-0.000265244266586,2.38166001653e-05,1793248271808839424
+68,1.133333333,BASELINE,765,745,715,679,661,634,878,785,810,652.465498576,628,652.465498576,0.400961866453,0.00452776187496,0.0598407445626,0.999999951194,0.000163055604386,-0.000265425808185,2.39694656573e-05,1793248271825506048
+69,1.150000000,BASELINE,765,745,715.04446722,679,661,634,878,785,809.95553278,653,628,652.95553278,0.400961617108,0.00452789568939,0.059840450525,0.999999951497,0.000160493812233,-0.00026583000598,2.41251743939e-05,1793248271842172928
+70,1.166666667,BASELINE,765,745,715.617438753,679,661,634,878,785,809.382561247,653,628,652.382561247,0.400960614558,0.00452828132865,0.05983967878,0.999999950979,0.000161881877871,-0.00026696292606,2.38192837984e-05,1793248271858839552
+71,1.183333333,BASELINE,765,745,715.804933769,679,661.195066231,634,878,785,809,653,628,652.195066231,0.400960146462,0.00452868943638,0.0598392231317,0.999999950639,0.000162965868313,-0.000267585955809,2.36974861148e-05,1793248271875506176
+72,1.200000000,BASELINE,765,745,715.217951732,679,661.782048268,634,878,785,809,653,628,652.782048268,0.400960752161,0.00452914268655,0.0598394025665,0.999999950663,0.000163438928683,-0.000267184543557,2.39455572241e-05,1793248271892173056
+73,1.216666667,BASELINE,765,745,715,679,661.634946252,634,878,785,809.365053748,652.634946252,628,652.634946252,0.400961199441,0.00452915078064,0.0598402234632,0.999999950674,0.000164796569059,-0.000266308362359,2.39408621892e-05,1793248271908840192
+74,1.233333333,BASELINE,765,745,715,679,661.054289387,634,878,785,809.945710613,652.054289387,628,652.054289387,0.400961553158,0.00452889596262,0.0598414232114,0.999999950674,0.000166676648109,-0.000265151779557,2.37868818111e-05,1793248271925506816
+75,1.250000000,BASELINE,765,745,715,679,661,634,878,785,810,652,628,652,0.400962342258,0.00452750024045,0.059841861723,0.999999951378,0.000163590422562,-0.000264418670191,2.37632004181e-05,1793248271942173440
+76,1.266666667,BASELINE,765.1000306,745,715,679.1000306,661.200061199,634,877.8999694,785,810,652,628.1000306,652.1000306,0.400962778909,0.00452648998483,0.0598418892537,0.999999951828,0.00016115352666,-0.000264215328935,2.37279048116e-05,1793248271958839808
+77,1.283333333,BASELINE,765.67655442,745,715,679.67655442,662.353108839,634,877.32344558,785,810,652,628.67655442,652.67655442,0.400961322768,0.00452787641934,0.0598403330857,0.999999950768,0.000164249658329,-0.000266327470719,2.35732688657e-05,1793248271975506432
+78,1.300000000,BASELINE,765.741652267,745,715,680,662.483304534,634,877.258347733,785,809.741652267,652,628.741652267,653,0.400960450702,0.00452852748617,0.0598395754466,0.999999950306,0.000165272620188,-0.000267432489202,2.35326495811e-05,1793248271992173056
+79,1.316666667,BASELINE,765.153124345,745,715,680,661.30624869,634,877.846875655,785,809.153124345,652,628.153124345,653,0.400960325112,0.00452823871944,0.0598398383639,0.999999950619,0.00016364597621,-0.000267250358003,2.36377488036e-05,1793248272008839680
+80,1.333333333,BASELINE,765,745,715,679.572729924,661,634,877.572729924,785,809,652.427270076,628.427270076,652.572729924,0.400961142997,0.00452930865269,0.059840942146,0.999999950696,0.000165797111431,-0.000265630676428,2.36475123645e-05,1793248272025506304
+81,1.350000000,BASELINE,765.004790593,745,715,679,661,634,877.004790593,785,809,653,628.995209407,652,0.40096228097,0.0045308402105,0.0598423256626,0.999999950677,0.00016923276838,-0.000263530568085,2.36219778417e-05,1793248272042172928
+82,1.366666667,BASELINE,765.580697918,745,715,679,661,634,877.580697918,785,809,653,628.419302082,652,0.40096202196,0.00453043948504,0.0598418036014,0.999999950752,0.000167415521998,-0.000264427134881,2.33854206443e-05,1793248272058839552
+83,1.383333333,BASELINE,765.844542646,745,715,679,661,634,878,785,809.155457354,653,628,652.155457354,0.400961807735,0.00453001297802,0.0598412838771,0.999999950798,0.000166018836723,-0.000265139078538,2.33151938089e-05,1793248272075506176
+84,1.400000000,BASELINE,765.272856498,745,715,679,661,634,878,785,809.727143502,653,628,652.727143502,0.400961713418,0.0045295174422,0.0598407704095,0.999999950776,0.000165748181044,-0.000265356703765,2.3690307618e-05,1793248272092172800
+85,1.416666667,BASELINE,765,745,715,679,661.311446205,633.688553795,877.688553795,785,809.688553795,652.688553795,628.311446205,653,0.400961301184,0.00452939075192,0.0598403035247,0.999999950635,0.000165804582142,-0.000265848512292,2.37415046481e-05,1793248272108839424
+86,1.433333333,BASELINE,765,745,715,679,661.907268842,633.092731158,877.092731158,785,809.092731158,652.092731158,628.907268842,653,0.400960598665,0.0045296008485,0.0598398791741,0.999999950384,0.000166159613447,-0.000266590673088,2.34969385461e-05,1793248272125506048
+87,1.450000000,BASELINE,765,745,715,679,661.510962947,633.489037053,877.489037053,785,809.489037053,652.489037053,628.510962947,652.510962947,0.400962118968,0.00453015813377,0.0598408798021,0.999999950821,0.000165991083993,-0.00026505258596,2.35012436456e-05,1793248272142172672
+88,1.466666667,BASELINE,765,745,715,679,661.06768145,634,877.93231855,785,810,652.93231855,628,652,0.400963839238,0.00453054682725,0.0598420337199,0.999999951333,0.000165748495108,-0.000263260037745,2.35552122221e-05,1793248272158839296
+89,1.483333333,BASELINE,765,745,715,679,661.642331434,634,877.357668566,785,810,652.357668566,628,652,0.400963988383,0.00452919332923,0.0598423684306,0.999999951488,0.000165674028285,-0.000262709717542,2.36375763944e-05,1793248272175506176
+90,1.500000000,BASELINE,765.215926876,745,715,679,662,634,877.215926876,785,810,652.215926876,628,652.215926876,0.400963546897,0.00452789737115,0.0598421078681,0.999999951579,0.000164445889069,-0.00026312226855,2.37819590141e-05,1793248272192172800
+91,1.516666667,BASELINE,765.787783973,745,715,679,662,634,877.787783973,785,810,652.787783973,628,652.787783973,0.400962131825,0.00452669626105,0.0598408660671,0.999999951555,0.000161316055751,-0.000265122000271,2.40285717879e-05,1793248272208839424
+92,1.533333333,BASELINE,766,745,715,679,661.625411642,634,878,785,810,652.625411642,628.374588358,652.625411642,0.400961145012,0.00452704957479,0.0598400942653,0.999999951166,0.000161156646986,-0.000266685937194,2.39747321102e-05,1793248272225506048
+93,1.550000000,BASELINE,766,745,715,679,661.029787145,634,878,785,810,652.029787145,628.970212855,652.029787145,0.400960410905,0.00452832011885,0.0598395997993,0.999999950564,0.000162750018439,-0.000267992721631,2.37436022429e-05,1793248272242172672
+94,1.566666667,BASELINE,765.454179468,745,715,679,661,633.454179468,878,785,810,652.545820532,629,652,0.40096181985,0.00452869680293,0.0598406690533,0.999999951147,0.000162994854576,-0.000265674817002,2.35551314609e-05,1793248272258839552
+95,1.583333333,BASELINE,765,745,715,679,661,633.119873504,878,785,809.880126496,653,628.880126496,652,0.400962524224,0.00452910712505,0.0598413043013,0.999999951517,0.000163051499808,-0.000264265018998,2.33293634209e-05,1793248272275506432
+96,1.600000000,BASELINE,765,745,715,679,661,633.692036463,878,785,809.307963537,653,628.307963537,652,0.400960144552,0.00452982190707,0.0598399914294,0.999999950862,0.000162665940996,-0.000267001505751,2.29543975872e-05,1793248272292172800
+97,1.616666667,BASELINE,765,745,715,679,661.265944247,634,878,785,809.265944247,652.734055753,628,652,0.40095904226,0.00452955849588,0.0598392080087,0.99999995055,0.000162743430097,-0.000268122176969,2.29020111519e-05,1793248272308839424
+98,1.633333333,BASELINE,765,745,715,679,661.841885848,634,878,785,809.841885848,652.158114152,628,652,0.400959428944,0.0045281548558,0.059839041742,0.999999950646,0.000163360670048,-0.000267359376036,2.32256387386e-05,1793248272325506304
+99,1.650000000,BASELINE,765.432399842,745,715,679,661.567600158,634,878,785.432399842,809.567600158,652.432399842,628,652,0.400960831553,0.00452831724091,0.0598398144506,0.99999995101,0.000163843232564,-0.000265679766496,2.34234669857e-05,1793248272342172928
+100,1.666666667,BASELINE,765.972757926,745,715,679,661,634,878,785.972757926,809.027242074,653,628.027242074,652,0.400962515676,0.004528999598,0.059840909264,0.999999951446,0.00016425170858,-0.000263766715339,2.35748499767e-05,1793248272358839808
+101,1.683333333,BASELINE,765.401600035,745,715,679,661,634,878,785.401600035,809.598399965,653,628.598399965,652,0.400962144673,0.00452823156651,0.0598413407673,0.999999951358,0.000164198532394,-0.000264119743962,2.37493875587e-05,1793248272375506432
+102,1.700000000,BASELINE,765,745,715,679,661,634,877.827406556,785.172593444,810,653,629,652,0.400961915107,0.00452769955483,0.0598414925775,0.999999951258,0.000164215701524,-0.000264470101248,2.3940457847e-05,1793248272392172800
+103,1.716666667,BASELINE,765,745,715,679,661,634,877.24602333,785.75397667,810,653,629,652,0.40096202054,0.00452772655919,0.059840981931,0.999999951131,0.000164399484445,-0.000264814131385,2.41706860366e-05,1793248272408839680
+104,1.733333333,BASELINE,765,745,715,679.34154147,661,634,877.34154147,785.65845853,810,652.65845853,628.65845853,652.34154147,0.400962773549,0.00452800123102,0.0598414103573,0.999999951443,0.000164028431102,-0.000263888222985,2.39059506676e-05,1793248272425506304
+105,1.750000000,BASELINE,765,745,715,679.933641194,661,634,877.933641194,785.066358806,810,652.066358806,628.066358806,652.933641194,0.400964001627,0.00452845759418,0.0598425276968,0.999999952074,0.000163250344316,-0.000262030674944,2.32781050804e-05,1793248272442172928
+106,1.766666667,BASELINE,765,745,715,679.489657605,661,634,877.489657605,784.489657605,809.489657605,652.510342395,628,652.489657605,0.40096409257,0.0045280234168,0.0598424433634,0.99999995232,0.000162156764462,-0.000261753405792,2.34592839232e-05,1793248272458839552
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,877,785,810,652,628,652,0.400961658116,0.0045278106674,0.0598412919868,0.999999951081,0.000164041940841,-0.000265282803237,2.35290634593e-05,1793248272502051328
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.411583032,745,715,679,661.411583032,634,877.588416968,785,809.411583032,652.588416968,628.588416968,652,0.400962495493,0.00452877383692,0.0598415699998,0.999999951417,0.000163521714795,-0.000264364986923,2.32071287703e-05,1793248272518717952
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.175136795,634,878,785,809.175136795,653,628.824863205,652,0.400962438216,0.0045292608638,0.0598416384315,0.999999951525,0.000163468766597,-0.000263997374726,2.31054723562e-05,1793248272535384320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.757906625,634,878,785,809.757906625,653,628.242093375,652,0.400960298617,0.00452863966303,0.0598412190597,0.999999951104,0.000164503413211,-0.000264910369166,2.35165162608e-05,1793248272552050688
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,785,810,652.663668132,628.336331868,652,0.400959752206,0.00452830649691,0.0598407765861,0.999999951003,0.000163788762851,-0.000265724388422,2.36211772871e-05,1793248272568717568
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,785,810,652.088330298,628.911669702,652,0.400960337953,0.00452817801555,0.0598403176959,0.999999951126,0.000161831017575,-0.000266468073345,2.35081148344e-05,1793248272585384448
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.483795598,679,661.516204402,634,877.516204402,785,809.516204402,652.483795598,628.516204402,652.483795598,0.400961208917,0.00452793718055,0.059840519505,0.999999951386,0.000161420510916,-0.000265737482547,2.3542447824e-05,1793248272602050816
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.942698158,679,661.057301842,634,877,785,809,653,628,652.942698158,0.400962195944,0.00452770009716,0.0598409302433,0.999999951671,0.000161293648445,-0.000264738527813,2.35886217373e-05,1793248272618717440
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.350881779,679,661.649118221,634,877,785,809,653,628,652.350881779,0.400963783058,0.00452768809587,0.0598421720734,0.999999951955,0.000161194919252,-0.000263730531558,2.34958756428e-05,1793248272635383808
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.763812646,634,877.236187354,785,809,653,628,652,0.400971610834,0.00452793955356,0.0598457532682,0.999999953471,0.000160875911774,-0.000258129845694,2.33791050126e-05,1793248272652050432
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.183657152,634,877.816342848,785,809,653,628,652,0.40098852711,0.00452857469604,0.0598527413637,0.999999956674,0.000160236105097,-0.000245840660786,2.32273465924e-05,1793248272668717056
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.392413984,745,715.392413984,679.392413984,661.392413984,634,878,785,809.392413984,653,628,652,0.401025098416,0.00452848864603,0.0598664474364,0.99999996232,0.000160929885647,-0.000221160685899,2.34538692026e-05,1793248272685384192
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.966593306,745,715.966593306,679.966593306,661.966593306,634,878,785,809.966593306,653,628,652,0.401070773892,0.00452806854121,0.0598832652626,0.999999968363,0.000162241380843,-0.000190741321746,2.38556107653e-05,1793248272702050816
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,716,679.457696956,661.457696956,634,878,785,810,653,628.542303044,652.542303044,0.401134364116,0.00452752315652,0.0599011415328,0.999999973228,0.000160756313725,-0.000164661606032,2.42610626796e-05,1793248272718717696
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.878751348,679,661,634,877.878751348,785,810,653,629,652.878751348,0.401202151521,0.00452717250644,0.0599176347354,0.999999977153,0.000159380632152,-0.000140334143755,2.4468669317e-05,1793248272735384320
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.287632096,679,661,634,877.287632096,785,810,653,629,652.287632096,0.401281915379,0.00452760649612,0.0599285148016,0.999999979646,0.000159098339173,-0.000121758217523,2.39086850896e-05,1793248272752050688
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.702968719,745,715,679,661,634,877,785,810,653,628.702968719,652,0.401369710386,0.00452715725778,0.0599360651008,0.999999981422,0.000157797925864,-0.000108200795518,2.34005178549e-05,1793248272768717568
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.124423978,745,715,679,661,634,877,785,810,653,628.124423978,652,0.401465116965,0.00452587093391,0.0599404595896,0.999999982702,0.000155532581984,-9.93996969046e-05,2.29414605728e-05,1793248272785384448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.451929792,745,715,679,661.451929792,634,877.451929792,785,810,653,628,652,0.401577772631,0.00452487642478,0.0599430547361,0.999999983678,0.000152979665116,-9.35631424799e-05,2.20580136596e-05,1793248272802051072
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,877.971752778,784.971752778,810,653,628.028247222,652,0.401696182442,0.00452405550555,0.0599450675075,0.999999984547,0.000150374340917,-8.86121654195e-05,2.10189467822e-05,1793248272818717696
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,877.384269942,784.384269942,810,653,628.615730058,652,0.401834946297,0.0045250883811,0.0599453108332,0.999999985198,0.000148291372272,-8.51128803114e-05,1.92009910934e-05,1793248272835384320
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.799597845,745,715,679.200402155,661.799597845,634,877,784.200402155,810,652.799597845,628.799597845,652,0.401986292447,0.00452547653754,0.0599451922859,0.999999985877,0.000145798701783,-8.17444582663e-05,1.7535042833e-05,1793248272852050688
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.220240844,745,715,679.779759156,661.220240844,634,877,784.779759156,810,652.220240844,628.220240844,652,0.402161431349,0.00452464554812,0.0599443894472,0.999999986621,0.00014253129685,-7.86234949955e-05,1.61565365568e-05,1793248272868717056
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.642085155,877,785,810,652.357914845,628,652.357914845,0.402359696152,0.00452501555602,0.0599463196507,0.999999987638,0.000139693437153,-7.07529320699e-05,1.42475767682e-05,1793248272885383680
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.064666157,877,785,810,652.935333843,628,652.935333843,0.402572143764,0.00452612211864,0.0599499259906,0.999999988729,0.000137119011195,-5.99695059987e-05,1.20132971472e-05,1793248272902050560
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.503711194,745,715,679.496288806,661.503711194,633.503711194,878.007422388,785,810,653,628.503711194,652.496288806,0.4028126211,0.00452569954092,0.0599502019264,0.999999989988,0.000130673960545,-5.35167873574e-05,9.2223542561e-06,1793248272918717184
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.925224791,715,679.074775209,662,634,878.850449583,785,810,652.925224791,628.925224791,652.074775209,0.40306142468,0.00452536258966,0.0599504801322,0.999999991123,0.000124344130123,-4.74445103412e-05,6.40665046902e-06,1793248272935384064
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.327390611,715,679.672609389,662,634,877.654781221,785,810,652.327390611,628.327390611,652.672609389,0.403343743617,0.00452697359439,0.0599537122654,0.999999991713,0.000122234897137,-4.02129465494e-05,3.90882335307e-06,1793248272952050688
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.738098149,744.261901851,715,680,661.738098149,633.738098149,877.261901851,785,809.738098149,652,628.261901851,652.738098149,0.403639413203,0.00452673814178,0.0599503831595,0.99999999217,0.000116621130836,-4.5358076974e-05,1.07948050937e-06,1793248272968717312
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.159146061,744.840853939,715,680,661.159146061,633.159146061,877.840853939,785,809.159146061,652,628.840853939,652.159146061,0.403951244652,0.00452426742524,0.0599391112213,0.999999992154,0.000106764885592,-6.54860489023e-05,-2.15118481431e-06,1793248272985383936
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.58287123,661,633.41712877,878,785,809.41712877,652.41712877,628.58287123,652,0.404282236525,0.00452428118451,0.0599262090972,0.99999999113,0.000100163201083,-8.75888527275e-05,-5.91096387651e-06,1793248273002050304
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.007611344,661,633.992388656,878,785,809.992388656,652.992388656,628.007611344,652,0.404620491998,0.00452523679432,0.0599126889791,0.99999998936,9.47953020064e-05,-0.000110440303467,-9.87132683581e-06,1793248273018716928
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.578816905,745,715,679.578816905,661,634,877.421183095,785,810,652.421183095,628,652,0.404995013677,0.00452637159851,0.0599028253798,0.999999987472,8.95138342475e-05,-0.000129827852902,-1.37417024264e-05,1793248273035383808
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.836574205,745,715,680,661.163425795,634,877,785,810,652,628,652,0.405397467537,0.00452677139337,0.0599000962442,0.999999987124,8.22755794634e-05,-0.000136664587792,-1.74916197372e-05,1793248273052050176
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256979806,745,715,680,661.743020194,634,877,785,810,652,628,652,0.405869813144,0.00452529334651,0.0599154103796,0.999999991093,7.00513584804e-05,-0.000111658576424,-2.09378585363e-05,1793248273068717312
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.32016689,785,810,652,628.32016689,652,0.40638259422,0.00452416584475,0.0599412230919,0.99999999557,6.02370098417e-05,-6.80952650901e-05,-2.44003041758e-05,1793248273085383936
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.89536392,785,810,652,628.89536392,652,0.406927584373,0.00452331757084,0.0599753984867,0.999999998194,5.23422526363e-05,-9.75006375037e-06,-2.78756597522e-05,1793248273102050816
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810,652.47262267,629,652.47262267,0.407473972196,0.00452373986108,0.0599949608783,0.999999998422,4.33196548953e-05,1.70022498194e-05,-3.14853002502e-05,1793248273118717184
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810.051377157,653,629,653,0.408019180449,0.00452421354397,0.0600087446913,0.999999998303,3.39433254034e-05,3.18072980031e-05,-3.50780570116e-05,1793248273135383808
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810.64099899,653,629,653,0.408548775542,0.00452226576983,0.0599960321236,0.999999998983,2.34885549707e-05,-4.95352365117e-06,-3.81811106953e-05,1793248273152050176
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810.773871656,652.773871656,628.773871656,653,0.409107467985,0.00452120463539,0.0599836412362,0.999999998329,1.46563659352e-05,-3.72169317842e-05,-4.1726876292e-05,1793248273168717056
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810.195735652,652.195735652,628.195735652,653,0.409711455429,0.00452152370829,0.0599717511001,0.999999996957,8.35000456635e-06,-6.24793400745e-05,-4.59617989868e-05,1793248273185383680
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.379060261,745,715,680,662.379060261,634,878.379060261,785,810,652.379060261,628.379060261,652.620939739,0.410381950355,0.00452100311939,0.0599775713879,0.99999999771,-2.39894581615e-06,-4.40824633334e-05,-5.13014568739e-05,1793248273202050304
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.952146498,745,715,680,662.952146498,634,878.952146498,785,810,652.952146498,628.952146498,652.047853502,0.411086487817,0.00452005274077,0.0599924569426,0.999999998239,-1.54218818355e-05,-3.33812229284e-06,-5.72065848716e-05,1793248273218716928
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.470717683,745,715,680,662.470717683,634,879,785,810,652.470717683,629,652.529282317,0.411777031042,0.00452182442254,0.0599897705381,0.999999998188,-9.61474445498e-06,-9.16824579981e-06,-5.87133476152e-05,1793248273235383808
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.109551288,745,715.109551288,680,662,634,879,785,810,652.109551288,629,653,0.412460655789,0.00452443556527,0.05997980131,0.999999997909,1.17478330589e-05,-2.99769290467e-05,-5.60802295438e-05,1793248273252050432
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.702004674,745,715.702004674,680,662,634,879,785,810,652.702004674,629,653,0.413119403895,0.0045296538472,0.059944786454,0.999999990075,9.41164627434e-05,-9.8106374702e-05,-3.69649388242e-05,1793248273268716800
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.715046393,680,661.715046393,634,879,785,810.284953607,653,629,653,0.413826792734,0.00453133603622,0.0599214777304,0.999999981375,0.000128671388918,-0.000140567330598,-3.05617353904e-05,1793248273285383680
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.141716017,680,661.141716017,634,879,785,810.858283983,653,629,653,0.414583406709,0.00452943965371,0.0599100157612,0.999999980388,0.000114838234258,-0.000157051449165,-3.70233281074e-05,1793248273302050304
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.56295245,745,715,680,661.874095099,634,879,785,811,652.56295245,629,653,0.415452586801,0.00452462931849,0.0599515813603,0.999999990627,0.000103752081461,-7.98169775931e-05,-4.01306331556e-05,1793248273318717184
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.017297318,745,715,680,663,634,879,784.982702682,811,652,629,653,0.416356032877,0.00451844946446,0.0600089988272,0.999999994444,9.34372479807e-05,2.50003029881e-05,-4.19100213592e-05,1793248273335383552
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.588022396,745,715,680,663,634,879,784.411977604,811,652,629,653,0.417173288988,0.00449906355859,0.0600165306269,0.999999995834,7.89429287136e-05,2.77952887311e-05,-3.64402575668e-05,1793248273352050176
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.165401253,680,662.834598747,634,879,784.165401253,811.165401253,652,629,653,0.417994720641,0.00448129959608,0.0600165595041,0.99999999709,6.46804011732e-05,2.39605634267e-05,-3.25932431727e-05,1793248273368717056
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.7600478,680,662.2399522,634,879,784.7600478,811.7600478,652,629,653,0.41882698851,0.00446774486256,0.0599971169798,0.999999998151,5.10194147485e-05,2.92057367452e-06,-3.29575487425e-05,1793248273385383936
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654810953,745,715.654810953,680,662,634,879.345189047,785,811.654810953,652.345189047,629,653,0.419670645821,0.0044712665937,0.0599726151126,0.99999999708,5.86149917904e-05,-3.41661224897e-05,-3.51740206416e-05,1793248273402050560
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.076100105,745,715.076100105,680,662,634,879.923899895,785,811.076100105,652.923899895,629,653,0.420522008103,0.0044863406236,0.05994469058,0.999999992635,8.05907214165e-05,-8.21084802688e-05,-3.86434905571e-05,1793248273418717184
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.498193426,662.498193426,634,879.501806574,785,811.498193426,652.501806574,629,653,0.421363839278,0.00448164740169,0.059907148771,0.999999987322,-1.48016185721e-05,-0.000154022015211,-3.76003567119e-05,1793248273435383808
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.925864551,662.925864551,633.925864551,879.074135449,785,812,652,629,652.925864551,0.422216726757,0.00447516196158,0.0598759873675,0.99999997014,-0.000112630038322,-0.000213802232223,-3.63852263993e-05,1793248273452050432
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.333731294,662.333731294,633.333731294,879.666268706,785,812,652,629,652.333731294,0.423156949444,0.00447706627106,0.0598995814031,0.999999980556,-0.000103312947961,-0.000163444997604,-3.87423335443e-05,1793248273468717056
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.500195985,633,879.749902008,785,812,652,629,652.250097992,0.424116221312,0.00447712223357,0.0599421109887,0.999999990476,-9.65007761433e-05,-9.02049211025e-05,-3.99898324092e-05,1793248273485383936
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.646405229,633,879.176797385,785,812,652,629,652.823202615,0.425100095713,0.00447479101873,0.0600090962245,0.999999994811,-9.29237556826e-05,1.25888172903e-05,-3.98042497958e-05,1793248273502050304
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663.20048564,633,879,784.60024282,811.60024282,652,629,653,0.426063706676,0.00447233517885,0.0600335789308,0.999999993283,-9.23853352133e-05,5.64862217056e-05,-4.13214104934e-05,1793248273518717184
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.044298458,633,879,784.022149229,811.022149229,652,629,653,0.42701827782,0.0044698237424,0.0600391007514,0.99999999196,-9.32024706504e-05,7.41092681732e-05,-4.35981852659e-05,1793248273535384064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.5528298,633.5528298,879.5528298,784,811.5528298,652,629.5528298,653,0.427958971645,0.00447101999165,0.0600168118077,0.9999999947,-8.13331575382e-05,4.40788520874e-05,-4.51805434995e-05,1793248273552050432
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.132080749,745,715,680.132080749,663,633.867919251,880,784,812,652,630,653,0.428877954434,0.00447160872953,0.0599896970429,0.999999996467,-7.00625982637e-05,4.01814990988e-06,-4.62712512294e-05,1793248273568717056
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.726727105,745,715,680.726727105,663,633.273272895,880,784,812,652,630,653,0.4297228383,0.00446955255027,0.0599495619436,0.999999994909,-6.26590746776e-05,-6.45210538181e-05,-4.57370192589e-05,1793248273585383680
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688513558,745,715,681,662.688513558,633,880,784,812.311486442,652,629.688513558,653,0.430612891755,0.00446800808065,0.0599286921079,0.999999992756,-5.63901888426e-05,-9.5781823069e-05,-4.6185844018e-05,1793248273602050304
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112161459,745,715,681,662.112161459,633,880,784,812.887838541,652,629.112161459,653,0.431541354137,0.00446689873219,0.0599242040683,0.999999993023,-5.10861178598e-05,-9.53436908975e-05,-4.74705896408e-05,1793248273618716928
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.536717727,662.463282273,633,879.536717727,784,813,652,629.463282273,653,0.432518709085,0.0044649388203,0.0599647143902,0.999999997126,-5.09100141201e-05,-2.75731782442e-05,-4.89454303462e-05,1793248273635383296
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.038326888,663,633.038326888,879.038326888,784,813,652,630,653,0.433503191471,0.00446267458183,0.0600121570503,0.999999996151,-5.18095008579e-05,4.97942178761e-05,-5.03455947159e-05,1793248273652050176
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.610867167,663,633.610867167,879.610867167,784,813,652,630,653,0.434422352503,0.00445903314463,0.0600046752413,0.999999996892,-5.04304891799e-05,3.41578400751e-05,-5.00646769354e-05,1793248273668717312
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.808964478,633.808964478,879.808964478,784,813,652,630,653,0.435320196028,0.00445565776732,0.0599888685542,0.999999997521,-4.93437040476e-05,4.22377078605e-06,-5.00451039513e-05,1793248273685384192
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.212611639,633.212611639,879.212611639,784,813,652,630,653,0.436172810679,0.00445284688476,0.0599553990913,0.999999995956,-4.88769314182e-05,-5.60455078052e-05,-5.05800223116e-05,1793248273702050816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.632455569,715,681,662.367544431,633,879.367544431,784,813.367544431,652,630,653,0.437001507253,0.00445367385221,0.0599322782448,0.999999993027,-4.1455121573e-05,-9.81419087124e-05,-5.09377626027e-05,1793248273718717184
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.061273347,715,681,662.938726653,633,879.938726653,784,813.938726653,652,630,653,0.437816951978,0.00445651636863,0.0599148910454,0.999999989762,-3.01798772124e-05,-0.000130169633064,-5.11973374703e-05,1793248273735383552
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.517969977,715,681,662.482030023,633,879.482030023,784,814,652,630,653,0.438653689216,0.00445210565562,0.0599031831663,0.999999986467,-3.12434754544e-05,-0.00015314327975,-5.13438621107e-05,1793248273752050176
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.20017618,633,879.10008809,784,814,652,630,653,0.439506235627,0.00444723488284,0.05990435261,0.999999986147,-3.44284680246e-05,-0.000154433776158,-5.16752831868e-05,1793248273768716800
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.383128828,633,879.691564414,784,814,652,630,653,0.440423836364,0.00444438452391,0.0599653934485,0.999999996275,-4.07491641293e-05,-5.46111265269e-05,-5.29811586651e-05,1793248273785383424
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.276841335,745,715,681,663.723158665,633,880,784,814,652,630,653,0.44128698931,0.00444159543137,0.0600039542237,0.999999997619,-4.32537922387e-05,6.32229055731e-06,-5.33872429049e-05,1793248273802050304
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.855362595,745,715,681,663.144637405,633,880,784,814,652,630,653,0.442090809272,0.0044388731023,0.0600180179891,0.999999997431,-4.15999693425e-05,2.48772721739e-05,-5.28128057256e-05,1793248273818717184
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.570233964,633,880,783.570233964,814,652,630.429766036,652.570233964,0.442839678811,0.00443354677155,0.0600009677304,0.999999997614,-4.41866285531e-05,3.74367010255e-06,-5.29714079532e-05,1793248273835383808
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.002789907,681.002789907,662.002789907,633,880,783.002789907,814,652,631,652.002789907,0.44357018202,0.0044273857307,0.0599736550575,0.999999996952,-4.8136071916e-05,-3.0488277179e-05,-5.33724172597e-05,1793248273852050688
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.574403157,681.574403157,662.574403157,633,880,783.574403157,814,652,631,652.574403157,0.444290820541,0.00442802382377,0.0599686897645,0.999999996991,-4.17275805326e-05,-3.77970341918e-05,-5.33747595724e-05,1793248273868717312
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.847131866,745,715.847131866,682,663.152868134,633,880,784,814,652,630.847131866,653,0.445000638264,0.00442765102303,0.0599646880136,0.999999996743,-3.72499203768e-05,-4.79540460285e-05,-5.31610362137e-05,1793248273885383936
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.248695888,745,715.248695888,682,663.751304112,633,880,784,814,652,630.248695888,653,0.445678916555,0.00442433174977,0.0599634947175,0.999999995689,-3.84000915925e-05,-6.64129255895e-05,-5.23175418694e-05,1793248273902050560
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335653499,745,715.335653499,681.664346501,663.328693002,633,880.335653499,783.664346501,814.335653499,652,630.335653499,653,0.446324464068,0.0044225527558,0.0599504383169,0.999999993569,-3.94001423675e-05,-9.22814433586e-05,-5.28562232013e-05,1793248273918717184
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.90998605,745,715.90998605,681.09001395,662.180027899,633,880.90998605,783.09001395,814.90998605,652,630.90998605,653,0.446946737089,0.0044218690356,0.0599289462094,0.999999990094,-4.0293444261e-05,-0.000123418862058,-5.43777525819e-05,1793248273935383808
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.51485998,745,715.51485998,681,662.48514002,633,880.51485998,783.48514002,814.51485998,652,631,653,0.44758185925,0.00441885362213,0.0599416332617,0.999999992767,-4.55265340318e-05,-9.62842142585e-05,-5.58731837284e-05,1793248273952050176
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.061775779,745,715,681.061775779,663,633,880,784,814.061775779,652,630.938224221,653,0.448215379053,0.00441542480484,0.0599609178711,0.999999995302,-5.14744127718e-05,-5.88896756349e-05,-5.72540211027e-05,1793248273968716800
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.64973249,745,715,681.64973249,663,633,880,784,814.64973249,652,630.35026751,653,0.448814909769,0.00441216597677,0.0599822903532,0.999999996384,-5.66404579259e-05,-2.63533527116e-05,-5.77001108652e-05,1793248273985383680
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.765035856,745,715,682,662.765035856,632.765035856,880.234964144,784,815,652,630,653,0.449364573556,0.00441025457863,0.0599815838229,0.999999995892,-6.21954843399e-05,-2.98425420319e-05,-5.87983766836e-05,1793248274002050560
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.183819997,745,715,682,662.183819997,632.183819997,880.816180003,784,815,652,630,653,0.449840751568,0.00441032880257,0.0599483408543,0.99999999208,-6.83237271782e-05,-8.64202405551e-05,-6.08577127818e-05,1793248274018717440
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.607400616,632,880.607400616,784,815,652,630,653,0.450290472356,0.00440907741709,0.0599132150371,0.999999978522,-0.000140074676322,-0.000139260674281,-6.27768051063e-05,1793248274035383808
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.033199851,632,880.033199851,784,815,652,630,653,0.45072795509,0.00440721285567,0.0598772182835,0.999999950465,-0.000242180165661,-0.000190372396566,-6.46310256063e-05,1793248274052050432
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.542133992,745,715,681.457866008,661,632,880.542133992,784,815,652,630,652.457866008,0.451151854713,0.00440760919474,0.0598695823543,0.99999994697,-0.000250121121695,-0.000197513304907,-6.69906705052e-05,1793248274068717056
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.879431258,745,715,681,661,632,880.879431258,784,815,652,630.120568742,652.120568742,0.451571628492,0.00440740795716,0.0598671195405,0.999999946275,-0.000252431771442,-0.000197380245055,-6.90646482028e-05,1793248274085383936
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.289187645,745,715,681,661,632,880.289187645,784,815,652,630.710812355,652.710812355,0.451978577316,0.00440433838,0.0598780287254,0.999999948866,-0.000255320247034,-0.000179422996148,-6.99049864356e-05,1793248274102050560
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,744.133093598,715,681,660.133093598,632,880,784,815,652,631,653,0.452716861596,0.00440367421774,0.0598969803405,0.999999953402,-0.000258782042541,-0.000145368501153,-7.13804344837e-05,1793248274135383552
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,744.445906536,715,681,660,632,880.445906536,783.554093464,815,652,630.554093464,653,0.453026903168,0.00440549225041,0.0598933250496,0.999999966255,-0.000204803209454,-0.000150042295474,-5.50668388203e-05,1793248274152050176
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.610878844,659.389121156,632,880.389121156,783.610878844,815,652,630.610878844,653,0.453548572608,0.00441048158989,0.0598649583291,0.999999969636,-0.000139051438165,-0.000200025507245,-3.71936372114e-05,1793248274185383680
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.194308084,745,715,681.805691916,659.194308084,631.805691916,880,783.805691916,815,652,630.805691916,653,0.453777798855,0.00441163233843,0.0598484255434,0.999999962571,-0.000142535177884,-0.00023017241756,-3.95242828487e-05,1793248274202050560
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.915093407,745,715,682,658,631,880.084906593,784,815,652,630.084906593,653,0.454779082195,0.00440902350341,0.0598663317641,0.999999965123,-0.000163464171575,-0.000202115336708,-4.67153954758e-05,1793248274285383680
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.986802254,745,715,681,656.013197746,630,880,783.986802254,815,652,630,653,0.455606385362,0.00441472664607,0.0598117775485,0.999999949504,-0.000154293572323,-0.000273229549705,-5.03155173886e-05,1793248274685383680
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+245,4.083333333,HOLD_POSE2,766,745,714,682,656,631,880,784,815,652,630,653,0.455607754669,0.00441520123937,0.0598109550866,0.999999949292,-0.000151178583402,-0.000275855377771,-4.96543651567e-05,1793248274828304384
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+248,4.133333333,HOLD_POSE2,766,745,715,681,657,631,880.265788619,783.734211381,815,652,630.734211381,653,0.455603973489,0.00441460662963,0.0598054169451,0.999999947624,-0.000149813737831,-0.000282575212423,-4.95854832735e-05,1793248274878304256
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+251,4.183333333,HOLD_POSE2,766,745,715,681,656,631,880,784,815,652,631,653,0.455604501671,0.00441598304531,0.0598063301657,0.999999947617,-0.000149001215408,-0.000283020322727,-4.9644410244e-05,1793248274928303616
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+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.236748393,715,681.236748393,656,631,880,784,815,652,630.236748393,653,0.455603072343,0.00441851466162,0.0598028093737,0.999999946448,-0.00014678141219,-0.00028824940498,-4.97218310199e-05,1793248275166247680
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745.338741545,715,681.338741545,656.338741545,631,880,784,815,652.338741545,630,653,0.455603336078,0.00441810323731,0.0598031815335,0.999999946588,-0.000146663482755,-0.000287846183329,-4.95788681387e-05,1793248275182914048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.911835885,715,681.911835885,656.911835885,631,880,784,815,652.911835885,630,653,0.455604953572,0.00441675150513,0.0598046711123,0.999999947172,-0.000147043887876,-0.000285679653066,-4.9209051031e-05,1793248275199579648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.51573122,715,681.51573122,656.51573122,631,880.48426878,783.51573122,815,652.51573122,630.48426878,653,0.455605905104,0.00441712688943,0.0598044413308,0.999999947324,-0.000147249958842,-0.000284988280347,-4.95094915647e-05,1793248275216246528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.058794367,631,880.941205633,783.058794367,815,652,631,653,0.455606433214,0.00441767035424,0.0598039215097,0.999999947349,-0.000147384669938,-0.000284778068603,-4.98157204252e-05,1793248275232912896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.65349067,631,880.34650933,783.65349067,815,652,631,653,0.45560420551,0.00441688375434,0.0598036072602,0.999999946925,-0.000147157844507,-0.000286509008291,-4.90639906095e-05,1793248275249579776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.757714467,631,880.242285533,784,815,652,630.757714467,653,0.455600596967,0.00441714906111,0.0598018882415,0.999999946199,-0.000146504700302,-0.000289384367544,-4.89372959109e-05,1793248275266246144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.177159022,631,880.822840978,784,815,652,630.177159022,653,0.455595060551,0.00441888300032,0.059798207937,0.99999994504,-0.000145256345937,-0.00029385752203,-4.96832517034e-05,1793248275282912768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.396375029,745.396375029,715,681.396375029,656,631,880.603624971,783.603624971,815,652,630,653,0.455575302476,0.00441872991852,0.0597883987565,0.999999940348,-0.000145589075491,-0.000309210875619,-4.99611602383e-05,1793248275299579648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.966825553,745.966825553,715,681.966825553,656,631,880.033174447,783.033174447,815,652,630,653,0.455549298692,0.00441774811634,0.0597758979652,0.999999933767,-0.000146616167412,-0.000329342472093,-5.00335171277e-05,1793248275316246528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.454048643,745.454048643,715,682,656.545951357,631,880.545951357,783,815,652,630,653,0.455498230524,0.00441815623715,0.0597556038314,0.999999921986,-0.000143663555228,-0.000364572706986,-4.9756663342e-05,1793248275332912896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.871608107,657,631,880.871608107,783,815,652,630,653,0.455442972513,0.00441887260669,0.0597361520542,0.999999910287,-0.000141150174797,-0.000396280860055,-4.96365713301e-05,1793248275349579520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.279121992,657,631,880.279121992,783,815,652,630,653,0.455378163713,0.00442039297664,0.0597214845077,0.99999990396,-0.000141112701743,-0.000411887998566,-5.01610617227e-05,1793248275366246144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.300813149,657,630.699186851,880,783,815,652,630.300813149,653,0.455308099791,0.00442086197088,0.0597116999522,0.999999898422,-0.000141141950372,-0.000425119065101,-5.00923901661e-05,1793248275382912768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.86956876,657,630.13043124,880,783,815,652,630.86956876,653,0.455233354992,0.00442039447604,0.0597062648106,0.999999893652,-0.000141230629831,-0.000436233698714,-4.94953730812e-05,1793248275399580160
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,630.448711518,880.448711518,783.448711518,815,652.448711518,631,653,0.455145913119,0.00442087090148,0.0597049659727,0.999999893488,-0.000136963473796,-0.000438039953589,-4.88429270267e-05,1793248275416247040
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,881,784,815,652.968611265,631,653,0.455053204102,0.00442165168656,0.0597048899152,0.9999998946,-0.000131576902386,-0.000437225931648,-4.81683022207e-05,1793248275432913408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,881,784,815,652.378031539,631,653,0.454933970225,0.00442285075629,0.0597046704392,0.999999894118,-0.000129338978112,-0.000439076990389,-4.73924011227e-05,1793248275449580288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.791549029,657,631,881,784,815,652,631,653,0.454804122418,0.00442376138852,0.0597050008476,0.99999989363,-0.000126928325857,-0.000441001172654,-4.63280084185e-05,1793248275466246912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.212353762,657,631,881,784,815,652,631,653,0.454655397026,0.00442415901482,0.0597063092628,0.999999893136,-0.000124210465325,-0.000443055409906,-4.47505137611e-05,1793248275482913280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.365369988,681,657,631,880.634630012,783.634630012,815,652,631,653,0.454486593077,0.00442415509015,0.0597062016651,0.999999891625,-0.000121308065528,-0.000447416366027,-4.30386711041e-05,1793248275499579904
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.942241974,681,657,631,880.057758026,783.057758026,815,652,631,653,0.454306166222,0.00442391871942,0.059705274379,0.999999889496,-0.000118298841088,-0.000453112614408,-4.12490581692e-05,1793248275516246528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.484059158,681.515940842,657.515940842,631,880,783,815,652,631,653,0.454098098969,0.00442491923813,0.059703391392,0.999999886687,-0.00011393373253,-0.000460526834747,-3.95070035053e-05,1793248275532913408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.907783121,658,631.092216879,880,783.092216879,815,652,630.907783121,653,0.453879918507,0.00442606511327,0.0597006970869,0.999999883804,-0.00010917807623,-0.000468017214507,-3.78483151229e-05,1793248275549580032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.315620958,658,631.684379042,880,783.684379042,815,652,630.315620958,653,0.453623582836,0.00442725293295,0.0596941807745,0.999999881255,-0.000103122969709,-0.000474884207089,-3.66129015006e-05,1793248275566246656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.269349006,715,681,658,631.730650994,880,784,815,652,630,653,0.453354798641,0.00442990874176,0.0596897341907,0.999999880119,-9.5521861206e-05,-0.000478958410992,-3.51739821187e-05,1793248275582913280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.846110363,715,681,658,631.153889637,880,784,815,652,630,653,0.45307180676,0.00443423999009,0.0596876498219,0.999999880602,-8.61562761532e-05,-0.000479845159876,-3.35027984169e-05,1793248275599580160
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.578559354,745.578559354,715,681,658,631,880.421440646,783.578559354,814.578559354,652,630,653,0.452776266104,0.00443628036281,0.0596958261904,0.999999889259,-7.95618791201e-05,-0.000462763553155,-3.16402222737e-05,1793248275616247040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.003749873,745.003749873,715,681,658,631,880.996250127,783.003749873,814.003749873,652,630,653,0.452476158758,0.00443748705002,0.0597077366016,0.999999900399,-7.39759608631e-05,-0.00043914298089,-2.97079954521e-05,1793248275632913664
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.585954583,745,715,681,658.585954583,631.585954583,881,783,814,652,630,653,0.452130309677,0.00443884727021,0.0597188430408,0.999999906111,-6.77623294453e-05,-0.000427198849863,-2.62303072611e-05,1793248275649580288
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.172731796,659.172731796,632,880.827268204,783.172731796,814,652,630,653,0.451763604591,0.00444041689554,0.059728722456,0.999999911606,-5.96403725695e-05,-0.000415585325387,-2.28091196078e-05,1793248275666246912
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.752382556,659.752382556,632,880.247617444,783.752382556,814,652,630,653,0.451348474885,0.0044424774591,0.0597357237016,0.999999916865,-4.70325224957e-05,-0.000404570014197,-1.95449427832e-05,1793248275682913536
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.670498612,660,632,879.670498612,784,814,652,630.329501388,653,0.450905797195,0.00444554450663,0.0597302646256,0.999999914417,-3.48832706238e-05,-0.000411908167781,-1.67320309067e-05,1793248275699580672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.095267932,660,632,879.095267932,784,814,652,630.904732068,653,0.450442575249,0.00444936215091,0.0597155131279,0.999999905916,-2.30760220845e-05,-0.000432933618729,-1.42556544919e-05,1793248275716247552
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.477626894,660,632.477626894,879,784,814,652,631,653,0.449951124516,0.0044514209727,0.0597093380211,0.999999903975,-1.33371033043e-05,-0.000437889148139,-1.11971228143e-05,1793248275732914176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.948066854,745,715,681.948066854,660.103866292,633,879.103866292,783.948066854,813.948066854,652,630.948066854,653,0.44945248156,0.00445322128278,0.0597067121528,0.999999904459,-3.69143060151e-06,-0.000437042010501,-7.92293727774e-06,1793248275749580544
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.234025082,745,715,681.234025082,662,633,880.765974918,783.234025082,813.234025082,652,630,653,0.448401945664,0.00445898171518,0.0597444160161,0.999999929842,2.23611513754e-05,-0.000373920008756,7.66157443222e-07,1793248275782913536
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,880,784,813.037590679,652,630.962409321,653,0.446661434478,0.0044706391186,0.0598358282502,0.999999968654,6.48484710977e-05,-0.000241362674575,1.51936739694e-05,1793248275832913408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.465890438,745,715,682,662,633,880,784,813,652,631,653,0.445969633854,0.0044758410839,0.0598160351502,0.999999957396,8.1293044167e-05,-0.00027966844191,1.96378621056e-05,1793248275849580032
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.703700733,745.703700733,715,682,661.296299267,633,880.703700733,784,812.296299267,652,631,653,0.444538540736,0.0044853764482,0.059755701113,0.999999924313,0.000113694180287,-0.000371066201773,2.75054654813e-05,1793248275882913024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.709680919,715,681.709680919,661.290319081,633,880.709680919,784,812,652,630.709680919,653,0.443812425771,0.00448941827395,0.0597498755737,0.999999921845,0.000128466887785,-0.000372613113083,3.10831070627e-05,1793248275899579904
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.83835979,745,715,682,661.83835979,633,879.16164021,784.16164021,811.16164021,652,630,652.83835979,0.432896052794,0.00457901705006,0.0597807999686,0.999999930236,0.000185700746478,-0.000323530895233,1.92579074238e-05,1793248276116246272
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.587263001,745,715,681.587263001,661.587263001,633.412736999,879,784,811,652,630,653,0.431971249739,0.00458084072856,0.0597938835888,0.999999934701,0.000192017521465,-0.000305292802566,2.28774630931e-05,1793248276132912896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.014701022,745,715,681.014701022,661.014701022,633.985298978,879,784,811,652,630,653,0.431042715512,0.00457784097926,0.0598040391694,0.999999940443,0.000188422186788,-0.000287995630869,2.58605080594e-05,1793248276149579776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.574428689,633.425571311,879.574428689,784,811,652,630,653,0.430146038592,0.00458165838579,0.0598228061055,0.999999948031,0.000186289693771,-0.000261920028009,2.51426555128e-05,1793248276166246144
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.160764918,633,879.839235082,784,811,652,630,653,0.429221122611,0.004585123055,0.059822509679,0.999999945848,0.000185600234424,-0.000270601893747,2.51363382274e-05,1793248276182913024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.738718964,633,879.261281036,784,811,652,630,653,0.428220747016,0.00458720616776,0.0597721544406,0.999999913373,0.000188555447112,-0.00037008060826,2.72295605967e-05,1793248276199579648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.315794543,662.368410915,633,879,784.315794543,811,652,630,653,0.427270596392,0.00458587201354,0.059748676681,0.999999902688,0.000181415876311,-0.000401208357878,2.72775850872e-05,1793248276216246272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.892145286,661.215709428,633,879,784.892145286,811,652,630,653,0.426361885509,0.0045817183358,0.0597473750315,0.999999915236,0.000165947288347,-0.000375940995377,2.56381549074e-05,1793248276232913152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.466968386,745,715,681.533031614,661.933936772,633,879.466968386,785,811,652.466968386,629.533031614,653,0.425437479706,0.00458674149124,0.0597778783376,0.999999926668,0.000173312860963,-0.000340378948857,2.77329273716e-05,1793248276249579776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.957274627,745,715,681,662.914549254,633,879.957274627,785,811,652.957274627,629,653,0.424512472145,0.00459304545058,0.0598140718,0.999999936535,0.000184512091197,-0.000303231608311,3.05817307764e-05,1793248276266246144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.364982138,745,715,681,661.729964277,633,879.364982138,785,811,652.364982138,629,653,0.423626201018,0.0045886496429,0.0598292755496,0.999999945612,0.000177406239564,-0.000276177662334,3.20717368466e-05,1793248276282913024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.221806744,633,879,785,811,652,629.221806744,653,0.422738434097,0.00458659073619,0.0598392143313,0.999999951531,0.000172736686286,-0.000256992531518,3.24793540278e-05,1793248276299579648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.799758821,633,879,785,811,652,629.799758821,653,0.42184826531,0.0045882840879,0.059840699388,0.999999953366,0.000171978989181,-0.00025044200713,3.11490272448e-05,1793248276316246272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.372656192,745,715,681,662,633,879,785,811,652.372656192,629.627343808,653,0.42090733247,0.00459109794056,0.0598026633205,0.999999932302,0.000179448651677,-0.000319732959321,3.10772941747e-05,1793248276332912896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.942873807,745,715,681,662,633,879,785,811,652.942873807,629.057126193,653,0.419939487429,0.00459450581991,0.0597436753684,0.999999889085,0.000191279997302,-0.000429230808326,3.16727967086e-05,1793248276349579520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.478968921,745,715,681,660.957937842,633.521031079,878.478968921,784.478968921,811,653,629.521031079,652.478968921,0.419049602013,0.00458987001112,0.0597235043858,0.999999881866,0.000206315635515,-0.000439071367982,3.02911035951e-05,1793248276366246400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.102656767,745.102656767,715,680.897343233,660.3079703,633.897343233,878.102656767,784.102656767,811,652.897343233,629.897343233,652.102656767,0.418185176471,0.00458607972155,0.0597190965338,0.999999883009,0.000226722885543,-0.000426298250749,2.91407828847e-05,1793248276382913024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.696652136,745.696652136,715,680.303347864,662.089956409,633.303347864,878.696652136,784.696652136,811,652.303347864,629.303347864,652.696652136,0.41740106415,0.00459062264326,0.0597694496083,0.999999898565,0.000271132367275,-0.000358396852863,3.01514816299e-05,1793248276399579648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.720729534,715,680.279270466,662.441459068,633.279270466,879,785,811,652.279270466,629,653,0.416617597832,0.00459028040253,0.0598075161206,0.999999910316,0.000287779723257,-0.000309076852009,3.19839566515e-05,1793248276416246272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.14998542,715,680.85001458,661.299970841,633.85001458,879,785,811,652.85001458,629,653,0.415834805794,0.00458483953388,0.059832759186,0.9999999225,0.000275451840174,-0.000279150198699,3.4674116885e-05,1793248276432912896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,634,878.572314902,785,810.572314902,652.572314902,629,653,0.415053685443,0.00458242496186,0.0598395609112,0.999999928159,0.000260896692701,-0.000272776075381,3.47709207997e-05,1793248276449579776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.007685777,634,878,785,810,652,629,652.992314223,0.414273140013,0.00458112412431,0.0598396546764,0.999999931424,0.000245730119067,-0.000274981943988,3.39736386753e-05,1793248276466246400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.577526821,634,878,785,810,652,629,652.422473179,0.413491064935,0.00458238093254,0.0598299267517,0.999999927382,0.00024391312051,-0.000290672139857,3.53964275005e-05,1793248276482913024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.844793274,661.844793274,634,878,785,810.155206726,652,629,652,0.412710020391,0.00458241957566,0.0598096812588,0.999999918128,0.000239759975679,-0.000323960130687,3.6178453878e-05,1793248276499579904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.24464084,661.24464084,634,878,785,810.75535916,652,629,652,0.411931929993,0.00457896599066,0.0597592840625,0.999999890075,0.000228909579421,-0.000407697376643,3.51235465177e-05,1793248276516246528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.659870389,745,715,680,661,634,878,785,810.659870389,652,629,652.340129611,0.411230938752,0.00457868368738,0.0597407817326,0.999999882686,0.000219869638455,-0.000430325853394,3.3242461474e-05,1793248276532913152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.08568489,745,715,680,661,634,878,785,810.08568489,652,629,652.91431511,0.410583002367,0.00458058366169,0.0597442274545,0.999999892617,0.000212075540739,-0.000410903100338,3.07928528855e-05,1793248276549580032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.491124446,745,715,680,661.982248892,634,878,785,810,652,629,652.508875554,0.409979473593,0.00457568645827,0.0597861664351,0.999999917727,0.000203745120248,-0.000349222547368,3.28324310936e-05,1793248276566246656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.860851068,634,878,785,810.069574466,652.069574466,629,652.069574466,0.409384450684,0.00457029017763,0.0598310729729,0.999999939499,0.000195762062452,-0.000285364076479,3.52997476972e-05,1793248276582913024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.686385036,634,878,785,810.656807482,652.656807482,629,652.656807482,0.408794759502,0.0045700513555,0.0598478229213,0.999999947214,0.000191063448508,-0.000260450377296,3.50909024561e-05,1793248276599579648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,785.241605452,810.758394548,653,629,652.758394548,0.40821164693,0.00456934309911,0.0598517268327,0.999999950014,0.000186657000134,-0.000252839599228,3.46937540974e-05,1793248276616246528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,785.822978984,810.177021016,653,629,652.177021016,0.407637785859,0.00456797468059,0.0598375654495,0.999999946407,0.000182661422681,-0.000269561801988,3.40317963988e-05,1793248276632913408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,785.602138119,810,652.602138119,629,652,0.407104997716,0.00456624977144,0.0598241463741,0.999999942873,0.00017537194848,-0.000287089406509,3.28264367952e-05,1793248276649580032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,785.0300967,810,652.0300967,629,652,0.406590190797,0.00456436879452,0.0598110522717,0.99999993912,0.000166640442266,-0.000304969608399,3.13831817727e-05,1793248276666246656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.453934066,745,715,680,661,634,878,785,810,652,628.453934066,652,0.406128314502,0.00456389051496,0.0598171616493,0.999999943124,0.00016462308674,-0.00029267098362,3.15558683152e-05,1793248276682913280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.126343072,745,715,680,661.126343072,634,878,785,810,652.126343072,628.126343072,652,0.405673082793,0.00456315650641,0.0598221438782,0.999999946405,0.000162652648092,-0.000282348512565,3.18465193251e-05,1793248276699580160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.721023921,745,715,680,661.721023921,634,878,785,810,652.721023921,628.721023921,652,0.405231585303,0.00456118578366,0.0598189946856,0.999999945991,0.000159473949956,-0.000285563998206,3.22417922898e-05,1793248276716246528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.694838648,745,715,680,662,634,878,785,810,653,628.694838648,652.305161352,0.404803709514,0.00456011577869,0.0598051463928,0.999999939602,0.000156632688356,-0.000308586185866,3.21877690917e-05,1793248276732912896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.12001806,745,715,680,662,634,878,785,810,653,628.12001806,652.87998194,0.404387870722,0.00455984170314,0.0597818437209,0.999999926685,0.00015408960631,-0.000349110786318,3.17367202598e-05,1793248276749579520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.455960763,745.455960763,715,680,661.544039237,634,878,785,810,653,628.455960763,653,0.40402597782,0.00455879474207,0.059767539941,0.999999919661,0.000153600897071,-0.000368860027529,3.20362518211e-05,1793248276766246400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.966976226,745.966976226,715,680,661,634,877.966976226,785,810,653,629,652.966976226,0.403682294814,0.00455750119047,0.0597573756228,0.999999915305,0.00015365789629,-0.000380417428236,3.2592598351e-05,1793248276782913024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.376777607,745.376777607,715,680,661,634,877.376777607,785,810,653,629,652.376777607,0.403405662318,0.00455548833101,0.0597769858678,0.999999927645,0.000153775280221,-0.000346261668738,3.41400686998e-05,1793248276799579648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.207303764,785,810,653,629,652,0.403142892893,0.00455487794582,0.0597959557428,0.99999993793,0.00015547422715,-0.000314186938087,3.54271994539e-05,1793248276816246272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.780585567,785,810,653,629,652,0.40290459763,0.00455674351582,0.0598137950943,0.999999945712,0.000159965295885,-0.000285786099684,3.62547215694e-05,1793248276832913152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.357082758,745,715,679.642917242,661,634,877.642917242,785,809.642917242,652.642917242,628.642917242,652,0.402679369354,0.00455478177268,0.0598277085755,0.99999995133,0.000160312210217,-0.000264999265455,3.76340865798e-05,1793248276849579776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.935573697,745,715,679.064426303,661,634,877.064426303,785,809.064426303,652.064426303,628.064426303,652,0.402462243205,0.00455044691474,0.0598391878333,0.999999955745,0.000158089553475,-0.00024893347084,3.93556203441e-05,1793248276866246144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715.50716508,679,661,634,877.50716508,785,809.50716508,652.50716508,628,652,0.402259548173,0.00455070986339,0.059835406934,0.999999951348,0.000169091322638,-0.0002590563322,4.00302436986e-05,1793248276882913024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.91826169,745,715.91826169,679.08173831,661,634,878,785,809.91826169,653,628.08173831,652.08173831,0.402062307406,0.00455106302875,0.0598298125507,0.999999944162,0.000189394961907,-0.000272346843673,4.04162750933e-05,1793248276899579392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.319350396,745,715.319350396,679.680649604,661,634,878,785,809.319350396,653,628.680649604,652.680649604,0.401888133257,0.00454834109837,0.0598248447418,0.999999925321,0.000258066664895,-0.000284912886519,3.98064999127e-05,1793248276916246016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.267824123,745,715,679.732175877,661,634,878,785,809,653,628.732175877,652.732175877,0.401735070802,0.00454362090889,0.0598223323621,0.999999921633,0.000263482567961,-0.000293639009896,3.29761340515e-05,1793248276932912896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.841591353,745,715,679.158408647,661,634,878,785,809,653,628.158408647,652.158408647,0.401606124847,0.00453661805142,0.0598226248894,0.99999993609,0.000196639568951,-0.000297978683589,1.90398107318e-05,1793248276949579520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.580345073,745,715,679,661,634,878,785,809.419654927,653,628,652.419654927,0.401498334834,0.00453604598763,0.0598250947266,0.999999941038,0.000180699301854,-0.000291598356716,1.55328215145e-05,1793248276966246144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.000642982,745,715,679,661,634,878,785,809.999357018,653,628,652.999357018,0.401398613235,0.00453792648737,0.0598283949419,0.999999943395,0.000184172219516,-0.000281129657475,1.60033514087e-05,1793248276982912768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785,810,653,628.587018919,652.412981081,0.401320543499,0.00453903458675,0.0598296507334,0.999999943219,0.000188551352112,-0.000278802982289,1.67324636625e-05,1793248276999579392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.172263919,679,661,634,878,785,810,653,628.827736081,652,0.40124612177,0.00453856962985,0.0598296701192,0.999999942847,0.000190160579162,-0.000278988996112,1.7625292606e-05,1793248277016246016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.751774179,679,661,634,878,785,810,653,628.248225821,652,0.401180267408,0.00453438786352,0.0598267719052,0.999999942029,0.000185219137851,-0.000285093844401,1.89044826287e-05,1793248277032912640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.328675984,745,715.671324016,679,661.328675984,634,877.671324016,785,810,653,628.328675984,652,0.401125077281,0.00453528059107,0.0598244454319,0.999999940308,0.00018673991416,-0.000290071756505,1.92695370276e-05,1793248277049579520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.903623376,745,715.096376624,679,661.903623376,634,877.096376624,785,810,653,628.903623376,652,0.401077877682,0.00453997555143,0.0598225473543,0.999999937898,0.00019310272136,-0.000294205274842,1.89496450506e-05,1793248277066246144
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.052539847,680,661,634,878,785.052539847,809.052539847,652.052539847,629,652.052539847,0.401016984278,0.00453374539481,0.0598217633183,0.999999938667,0.000188502929607,-0.000294443628244,2.08652620491e-05,1793248277099579392
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.388431735,715,679.611568265,661.611568265,634,878,785,810,652.388431735,628,653,0.400972445044,0.00453518027712,0.0598291951111,0.99999994219,0.000188027525151,-0.000282538295099,2.09206057288e-05,1793248277166246400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.963133233,715,679.036866767,661.036866767,634,878,785,810,652.963133233,628,653,0.40096765477,0.00453397728614,0.0598303102802,0.999999942639,0.000188057475062,-0.000280925355187,2.08910847019e-05,1793248277182913024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.450328974,715,679.549671026,661,634,877.450328974,785,810,653,628.549671026,652.450328974,0.400964187435,0.00453499804761,0.0598298872968,0.999999942088,0.000189388906769,-0.000281993527585,2.08853049396e-05,1793248277199579648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.134924651,745,715,679.865075349,661,634,877.134924651,785,810,653,629,652.134924651,0.40096208469,0.00453555799984,0.0598298735027,0.999999941959,0.000190068102313,-0.000281988399935,2.09375141304e-05,1793248277216246272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.713291086,745,715,679.286708914,661,634,877.713291086,785,810,653,629,652.713291086,0.400964168753,0.00453410248436,0.059831551067,0.999999943445,0.000188310461973,-0.000277851763248,2.11749605976e-05,1793248277232912896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.289912306,661,634,878,785,810,652.710087694,629,652.710087694,0.400963835881,0.00453405429446,0.0598320292884,0.999999943732,0.000188452145669,-0.000276716420879,2.11987430708e-05,1793248277249579776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.864817991,661,634,878,785,810,652.135182009,629,652.135182009,0.400961127082,0.00453538955195,0.0598313285163,0.999999942852,0.000190460927461,-0.000278531449525,2.10124868043e-05,1793248277266246400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,878,785,810,652.441643,628.558357,652,0.400959910958,0.0045347013357,0.0598309459322,0.999999943052,0.00018848648945,-0.000279154415701,2.10285363058e-05,1793248277282913024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.980518885,745,715.019481115,680,661,634,878,785,810,653,628,652.019481115,0.400959204641,0.00453344579465,0.0598307229524,0.999999943577,0.000185431734885,-0.00027931458546,2.11050600502e-05,1793248277299579648
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.390285075,745,715.609714925,680,661,634,878,785,810,653,628,652.609714925,0.400959990158,0.00453379405133,0.0598323101453,0.999999944098,0.000186602424361,-0.000276652600152,2.11312038783e-05,1793248277316246272
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.196279288,745,715.803720712,679.803720712,661.196279288,634,878,785,810,653,628.196279288,652.803720712,0.400960522181,0.00453354081027,0.0598335368868,0.999999944577,0.000186558065458,-0.000274940790665,2.118641125e-05,1793248277332913152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.775681127,745,715.224318873,679.224318873,661.775681127,634,878,785,810,653,628.775681127,652.224318873,0.400960559405,0.00453211349039,0.0598340600538,0.999999944984,0.000184142022533,-0.000275083653779,2.12983484931e-05,1793248277349579776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.34925124,661.65074876,634,878,785,809.65074876,652.65074876,628.65074876,652,0.400960985678,0.0045327041176,0.0598348140269,0.999999945093,0.000185123996642,-0.000274026055877,2.12837316237e-05,1793248277366246144
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.919137216,661.080862784,634,878,785,809.080862784,652.080862784,628.080862784,652,0.400961657727,0.00453456955558,0.0598357138087,0.999999945007,0.000188252622039,-0.000272210082994,2.11891659047e-05,1793248277382912768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.496399711,634,878,785,809.496399711,652,628,652,0.400960607785,0.00453487164153,0.0598346742121,0.999999944386,0.000189507102875,-0.000273623876815,2.11031803462e-05,1793248277399579904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.923141897,662.076858103,634,877.923141897,785.076858103,810,652.076858103,628.076858103,652.076858103,0.400959719203,0.00453473468663,0.0598336978966,0.999999943948,0.000189845040201,-0.000274991779073,2.10442232929e-05,1793248277416246528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.329393695,662.670606305,634,877.329393695,785.670606305,810,652.670606305,628.670606305,652.670606305,0.400961830776,0.00453338361097,0.0598353038667,0.999999945342,0.00018610315022,-0.000272459357326,2.11574981408e-05,1793248277432912896
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.743042397,745,715.256957603,679.256957603,662.486084794,634,877.256957603,785.743042397,810,652.743042397,629,652.743042397,0.400961933402,0.00453361549672,0.0598358757527,0.999999945638,0.000185322435292,-0.000271909947698,2.10737124819e-05,1793248277449579264
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.165907787,745,715.834092213,679.834092213,661.331815573,634,877.834092213,785.165907787,810,652.165907787,629,652.165907787,0.400959532819,0.00453581980045,0.0598351591385,0.999999944577,0.000188231434259,-0.000273831431295,2.07443834388e-05,1793248277466246144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.589005328,680,661.410994672,634,878,785,810,652.410994672,628.589005328,652,0.40095882374,0.0045346671115,0.0598350268922,0.999999944884,0.000185932236915,-0.00027428040059,2.07682031332e-05,1793248277482912768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.012196564,680,661.987803436,634,878,785,810,652.987803436,628.012196564,652,0.400958797091,0.00453216005768,0.0598351304068,0.999999945729,0.000181531814251,-0.000274135289993,2.09344992366e-05,1793248277499579392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.574604723,745,715,680,661.425395277,634,877.425395277,785,809.425395277,653,628.574604723,652.574604723,0.400958405709,0.00453279849389,0.0598346676545,0.999999945226,0.000183457821413,-0.000274684733259,2.09491524698e-05,1793248277516246016
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.840380981,745,715.159619019,679.840380981,661.159619019,634,877.159619019,785,809,653,628.840380981,653,0.400958551561,0.00453355060401,0.0598345697253,0.999999944825,0.000185668646341,-0.000274658231611,2.09805230267e-05,1793248277532912640
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.260638293,745,715.739361707,679.260638293,661.739361707,634,877.739361707,785,809,653,628.260638293,653,0.400960132173,0.00453442306699,0.059835464221,0.99999994477,0.000188269424596,-0.000273076329913,2.10645161268e-05,1793248277549579520
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bd27ea3c861dfcc06feee910738ccd3fa76a295
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+17,0.283333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+18,0.300000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+21,0.350000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddf3c03cecf69c6a715d5140297d5a57a2998f71
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26044233
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0937878c4e133a9eada652a8558ddb32cc657520
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+59,0.983333333,BASELINE,766,745,715,679,661.267879685,634,878,785,810,653,628.267879685,652.267879685,0.400961281625,0.00453252553083,0.0598392302378,0.999999947611,0.000181802370107,-0.000267014936831,2.0691556217e-05,1793248278656582144
+60,1.000000000,BASELINE,766,745,715,679,661.855782881,634,878,785,810,653,628.855782881,652.855782881,0.400963821128,0.00453175272826,0.0598414107534,0.999999948663,0.000180993882673,-0.000263590622246,2.08796883024e-05,1793248278673248512
+61,1.016666667,BASELINE,765.562636861,745,715,679,661.562636861,634,878,785,810,653,629,652.562636861,0.400963042183,0.00453232901689,0.0598406218058,0.999999948399,0.000181508274583,-0.000264248462838,2.07064848881e-05,1793248278689915392
+62,1.033333333,BASELINE,765,745,715,679,661,634,878,785,810,653,629,652,0.400961240192,0.00453330805652,0.0598389368095,0.999999947721,0.000182451688533,-0.000266179963562,2.04284485073e-05,1793248278706582272
+63,1.050000000,BASELINE,765,745,715,679,661,634,878,785,810,653,629,652,0.40096129032,0.00453309567403,0.059839555746,0.999999947509,0.000183362760856,-0.00026633853552,2.0570742079e-05,1793248278723249408
+64,1.066666667,BASELINE,765,745,715,679.168514863,661.168514863,634,877.831485137,785,809.831485137,653,628.831485137,652.168514863,0.400961509771,0.0045331723387,0.0598398684948,0.999999947439,0.000183929984378,-0.000266209511624,2.06172878209e-05,1793248278739916032
+65,1.083333333,BASELINE,765,745,715,679.743317232,661.743317232,634,877.256682768,785,809.256682768,653,628.256682768,652.743317232,0.400962137456,0.00453394589296,0.0598394430285,0.999999947709,0.000183668192124,-0.000265387097245,2.04329865761e-05,1793248278756582400
+66,1.100000000,BASELINE,765,745,715,679.6729647,661.6729647,634,877,785,809,653,628,652.6729647,0.40096189239,0.00453404276522,0.0598390851821,0.999999947494,0.000184379572373,-0.000265699960816,2.04965367352e-05,1793248278773249024
+67,1.116666667,BASELINE,765,745,715,679.082052807,661.082052807,634,877,785,809,653,628,652.082052807,0.400960943124,0.00453359363968,0.0598387818965,0.999999946884,0.000185876181156,-0.000266928851774,2.07600719939e-05,1793248278789915648
+68,1.133333333,BASELINE,765,745,715,679,661.498801527,634,877,785,809.498801527,653,628.498801527,652,0.400960133435,0.00453445813842,0.059838746937,0.999999946885,0.000185450730728,-0.000267244618089,2.04631983304e-05,1793248278806582272
+69,1.150000000,BASELINE,765,745,715,679,661.922520592,634,877.077479408,785,809.922520592,652.922520592,628.922520592,652,0.400959551201,0.00453516668958,0.0598387931791,0.999999947015,0.00018468941044,-0.000267307395724,2.0177390783e-05,1793248278823248896
+70,1.166666667,BASELINE,765,745,715,679,661.347405614,634,877.652594386,785,809.347405614,652.347405614,628.347405614,652,0.400960285318,0.00453351313838,0.0598390830653,0.999999947343,0.000183761479338,-0.000266690969876,2.0543057197e-05,1793248278839915776
+71,1.183333333,BASELINE,765,745,715,679,661.232361332,634,878,785,809,652,628,652,0.400960822446,0.00453267847434,0.0598394103107,0.999999947578,0.000183005459866,-0.000266319519894,2.06546946204e-05,1793248278856582656
+72,1.200000000,BASELINE,765,745,715,679,661.819225661,634,878,785,809,652,628,652,0.400961059039,0.00453309314854,0.0598397945532,0.999999947673,0.000182511717921,-0.000266321818223,2.03787717532e-05,1793248278873249536
+73,1.216666667,BASELINE,765,745,715,679.401146985,662,634,877.598853015,785,809.401146985,652,628.401146985,652.401146985,0.400960527741,0.00453268676228,0.0598394483934,0.999999947601,0.000181672311452,-0.000267155782633,2.05177180863e-05,1793248278889915904
+74,1.233333333,BASELINE,765,745,715,679.980867854,662,634,877.019132146,785,809.980867854,652,628.980867854,652.980867854,0.400959654609,0.00453191487418,0.0598387770889,0.999999947452,0.000180679029604,-0.000268359970048,2.08413468777e-05,1793248278906582528
+75,1.250000000,BASELINE,765,745,715,679.442060833,661.442060833,634.557939167,877.557939167,785,809.442060833,652,629,652.442060833,0.400959626895,0.00453149172805,0.059838761193,0.999999947735,0.000178732779949,-0.000268643645543,2.0362010398e-05,1793248278923249664
+76,1.266666667,BASELINE,765,745,715,679,661.134058775,634.865941225,877.865941225,785,809.134058775,652,628.865941225,652,0.400959736661,0.00453134088058,0.0598387382369,0.999999947843,0.000178150496977,-0.000268653833027,2.00549148634e-05,1793248278939916288
+77,1.283333333,BASELINE,765,745,715,679,661.707356398,634.292643602,877.292643602,785,809.707356398,652,628.292643602,652,0.400960202337,0.00453204321324,0.0598386188597,0.999999947326,0.000182143765015,-0.000267870879586,2.04019494188e-05,1793248278956582656
+78,1.300000000,BASELINE,765.289228905,745,715,679,661.710771095,634,877.289228905,785,809.710771095,652.289228905,628.289228905,652,0.400960784851,0.00453301153015,0.0598388794774,0.999999947058,0.000184855521529,-0.000267001928942,2.05660170114e-05,1793248278973249024
+79,1.316666667,BASELINE,765.880042577,745,715,679,661.119957423,634,877.880042577,785,809.119957423,652.880042577,628.880042577,652,0.400961489193,0.00453425719412,0.0598395363233,0.999999947059,0.000186231020077,-0.000266043307346,2.05393012683e-05,1793248278989915904
+80,1.333333333,BASELINE,766,745,715,679,661.461614188,634,877.538385812,785,809.461614188,653,628.538385812,652.461614188,0.400960339447,0.00453429033572,0.0598389231769,0.999999946758,0.000186258684147,-0.000267144103124,2.06319336485e-05,1793248279006583040
+81,1.350000000,BASELINE,765.959406613,745,715,679.040593387,662,634,877.040593387,785,810,653,628,653,0.400958870139,0.00453402468701,0.0598381034778,0.999999946426,0.000185916216396,-0.00026861192267,2.07444592116e-05,1793248279023249920
+82,1.366666667,BASELINE,765.383564373,745,715,679.616435627,662,634,877.616435627,785,810,653,628,653,0.400959415507,0.00453389244078,0.0598388264453,0.99999994672,0.000185221013396,-0.000268001126749,2.07183712047e-05,1793248279039916288
+83,1.383333333,BASELINE,765.196048998,745,715.196048998,679.803951002,661.803951002,634,878,785,810,653,628.196048998,653,0.400959722189,0.00453311359789,0.0598390890594,0.999999947028,0.000183772580098,-0.000267841119985,2.07893270692e-05,1793248279056582656
+84,1.400000000,BASELINE,765.783185295,745,715.783185295,679.216814705,661.216814705,634,878,785,810,653,628.783185295,653,0.400959552728,0.00453104489506,0.0598384333402,0.999999947362,0.000180821569219,-0.000268580367466,2.10538703788e-05,1793248279073249280
+85,1.416666667,BASELINE,765.634563562,745,715.634563562,679.365436438,661,634,877.634563562,785,810,652.634563562,628.634563562,652.634563562,0.400959750315,0.00453114987485,0.0598382822971,0.999999947476,0.000180744271384,-0.000268209336164,2.10379562941e-05,1793248279089915648
+86,1.433333333,BASELINE,765.055172599,745,715.055172599,679.944827401,661,634,877.055172599,785,810,652.055172599,628.055172599,652.055172599,0.4009601628,0.00453252749533,0.0598384267302,0.999999947462,0.000182349465802,-0.000267188262443,2.08578409196e-05,1793248279106582272
+87,1.450000000,BASELINE,765.519519775,745,715,680,661.519519775,634,877.519519775,785.519519775,809.480480225,652,628.519519775,652,0.400959800199,0.00453242106166,0.059838250986,0.9999999474,0.000181457972505,-0.000268043533498,2.0651962698e-05,1793248279123249152
+88,1.466666667,BASELINE,765.90556791,745,715,679.90556791,662,634,878,785.90556791,809,652.09443209,628.90556791,652,0.400959436233,0.00453243501127,0.0598381349839,0.999999947311,0.000180907176086,-0.000268756018354,2.04928798122e-05,1793248279139915776
+89,1.483333333,BASELINE,765.326992681,745,715,679.326992681,662,634,878,785.326992681,809,652.673007319,628.326992681,652,0.400959483502,0.00453386693658,0.0598384980379,0.999999947123,0.000183450288223,-0.000267723993367,2.05876129935e-05,1793248279156582656
+90,1.500000000,BASELINE,765.25623798,745,715,679.25623798,662,634,878,785,809.25623798,653,628.25623798,652.25623798,0.400960400863,0.00453439462305,0.0598391099764,0.999999947342,0.000184261570875,-0.000266343981537,2.0603147535e-05,1793248279173249280
+91,1.516666667,BASELINE,765.845519462,745,715,679.845519462,662,634,878,785,809.845519462,653,628.845519462,652.845519462,0.400962449121,0.00453374703137,0.0598400454008,0.999999948094,0.000182821920213,-0.000264511676353,2.05157441973e-05,1793248279189915904
+92,1.533333333,BASELINE,766,745,715,679.572395205,661.572395205,634,878,785,810,653,629,652.572395205,0.400961174524,0.00453487090844,0.0598397384384,0.999999947258,0.000185204355291,-0.000266011794761,2.05226582115e-05,1793248279206582272
+93,1.550000000,BASELINE,765.992908025,745,715,679,661,634,877.992908025,785,810,653,629,652,0.400958756407,0.00453657053092,0.0598389996999,0.999999945872,0.000188831510422,-0.000268657295223,2.05594078984e-05,1793248279223248640
+94,1.566666667,BASELINE,765.416749052,745,715,679,661,634,877.416749052,785,810,653,629,652,0.400959311977,0.00453396600229,0.0598390338223,0.999999947014,0.000183372975089,-0.000268205832283,2.03013228672e-05,1793248279239915520
+95,1.583333333,BASELINE,765,745,715,679,661.158585982,634,877.317171965,785,810,652.841414018,629,652,0.4009600856,0.00453244813887,0.0598393600264,0.999999947755,0.000180460250733,-0.00026742197786,2.022249155e-05,1793248279256582144
+96,1.600000000,BASELINE,765,745,715,679,661.731767098,634,878.463534195,785,810,652.268232902,629,652,0.400961429288,0.00453377116979,0.0598404498267,0.999999947506,0.000184203099828,-0.000265769144345,2.06122874562e-05,1793248279273248512
+97,1.616666667,BASELINE,765.313131814,745,715,679.313131814,662,634,878.686868186,785,810,652,629,652.313131814,0.400961789787,0.00453371987022,0.0598406439817,0.999999947448,0.000184802857377,-0.000265554965818,2.07876693682e-05,1793248279289915392
+98,1.633333333,BASELINE,765.901694804,745,715,679.901694804,662,634,878.098305196,785,810,652,629,652.901694804,0.400961285473,0.00453245970759,0.0598400503259,0.999999947566,0.000182637947051,-0.000266606230301,2.07744524122e-05,1793248279306582528
+99,1.650000000,BASELINE,765.515424785,745,715,680,661.515424785,634,877.515424785,785.484575215,810,652.484575215,628.515424785,653,0.400961279434,0.00453284564668,0.0598402461118,0.999999947758,0.000182933110079,-0.00026568964529,2.07070286456e-05,1793248279323249152
+100,1.666666667,BASELINE,765,745,715.065630534,679.934369466,661.065630534,634,877.065630534,785.934369466,809.934369466,653,628.065630534,653,0.400961324497,0.00453354917646,0.059840476913,0.999999947871,0.000183808028243,-0.000264663147739,2.06561068573e-05,1793248279339915776
+101,1.683333333,BASELINE,765,745,715.641356949,679.358643051,661.641356949,634,877.641356949,785.358643051,809.358643051,653,628.641356949,653,0.400960990186,0.00453415569887,0.0598397495406,0.999999947267,0.000185354993896,-0.000265849214325,2.08179218786e-05,1793248279356582144
+102,1.700000000,BASELINE,765,745,715.78328973,679.21671027,662,634,878,785,809.21671027,653,628.78328973,653,0.400960902247,0.00453401075491,0.0598395218343,0.999999947121,0.000185130034742,-0.000266547020027,2.0897451932e-05,1793248279373249024
+103,1.716666667,BASELINE,765,745,715.208552857,679.791447143,662,634,878,785,809.791447143,653,628.208552857,653,0.400961221337,0.0045326243148,0.0598401196253,0.99999994773,0.000181977681999,-0.000266438170784,2.08410391378e-05,1793248279389915392
+104,1.733333333,BASELINE,765,745,715,679.624553014,662,634,877.624553014,785,810,653,628,653,0.400960440591,0.00453216884264,0.0598400245399,0.999999947668,0.000181721172647,-0.000266852188977,2.07541210376e-05,1793248279406581760
+105,1.750000000,BASELINE,765,745,715,679.035277575,662,634,877.035277575,785,810,653,628,653,0.400959033454,0.00453224358486,0.0598395348405,0.999999947226,0.000183113933697,-0.000267563996034,2.06498292344e-05,1793248279423248640
+106,1.766666667,BASELINE,765.544705165,745,715,679.544705165,661.455294835,634,877.544705165,785,810,653,628.544705165,652.455294835,0.400959982339,0.00453201788901,0.0598390918396,0.999999947409,0.000182478624411,-0.000267332685904,2.04197743963e-05,1793248279439915776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,878,786,810,653,628,653,0.40096110301,0.00453182087932,0.0598391447749,0.999999947593,0.000182586057326,-0.000266587035987,2.01985531748e-05,1793248279482068736
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.575999557,661,634,878,785.424000443,810,653,628,652.424000443,0.400959789616,0.00453356780649,0.0598393465794,0.999999947145,0.000184722085477,-0.000266786187242,2.03225422608e-05,1793248279498735360
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.843975506,661,634,878,785,810,653,628,652,0.400959450373,0.00453475852328,0.0598398786907,0.999999946991,0.000185982358218,-0.000266480320388,2.04216985888e-05,1793248279515402240
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.252721668,661,634,878,785,810,653,628,652,0.400961828518,0.00453439769508,0.0598413321908,0.999999947665,0.000184799717248,-0.000264765708744,2.04515841233e-05,1793248279532068864
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.331384636,661.331384636,634,878,785,810,653,628.331384636,652,0.400961261934,0.00453380912007,0.0598404119469,0.999999947465,0.000183890708397,-0.000266141858288,2.05652880382e-05,1793248279548735232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.910155117,661.910155117,634,878,785,810,653,628.910155117,652,0.400958497048,0.00453305052713,0.0598377196515,0.999999946603,0.000183185971946,-0.000269825328435,2.07415641965e-05,1793248279565401344
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.482859263,745,715,679.517140737,662,634,878,785,810,653,628.517140737,652,0.400959054152,0.00453214199197,0.0598381935435,0.99999994688,0.000182651135789,-0.000269175271024,2.05826857845e-05,1793248279582067968
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,878,785,810,653,628,652,0.400960096262,0.0045314292465,0.0598391454442,0.999999947315,0.000182219011268,-0.000267862817034,2.03761552812e-05,1793248279598734848
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,878,785,810,653,628,652,0.400959946942,0.0045328377615,0.0598391113882,0.999999947283,0.000182465889652,-0.000267822415188,2.03019842846e-05,1793248279615401472
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.76469304,745,715,679,662,634,878,785,809.76469304,653,628,652,0.400963314123,0.00453339784797,0.0598408727541,0.999999948073,0.000182027743538,-0.000265143961193,2.04628684193e-05,1793248279632068096
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.185471505,745,715,679,662,634,878,785,809.185471505,653,628,652,0.400971820872,0.00453271790753,0.0598452582319,0.999999950035,0.000180588394925,-0.000258609843153,2.09672990732e-05,1793248279648734976
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,785,809.391787495,653,628.391787495,652.391787495,0.400997773173,0.00453315242295,0.0598562897578,0.999999954517,0.000181934007335,-0.000239631286067,2.10316751809e-05,1793248279665401344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,785,809.968122114,653,628.968122114,652.968122114,0.401031943007,0.0045341118903,0.0598704518309,0.999999959677,0.00018459144432,-0.000214790914208,2.08887685417e-05,1793248279682067712
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.54990538,661.45009462,634,878,785,810,652.45009462,628.45009462,652.45009462,0.401091132458,0.00453155214696,0.0598895215448,0.99999996729,0.000180223449281,-0.000180274452347,2.09797415974e-05,1793248279698734336
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.132270248,745,715,679.867729752,661.132270248,634,878,785,810,652.132270248,628,652,0.401155278347,0.00452938675414,0.0599079418802,0.999999973143,0.000176424749548,-0.000148810708442,2.10790960387e-05,1793248279715401216
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.715530583,745,715,679.284469417,661.715530583,634,878,785,810,652.715530583,628,652,0.401231329053,0.00452926849083,0.0599231683687,0.999999975884,0.000175969628321,-0.000129687197242,2.11603378858e-05,1793248279732067840
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.703557888,745,715,679,661.703557888,634,878,785,810,653,628,652.296442112,0.401313103431,0.00452950406645,0.0599340238995,0.999999977805,0.000176063707388,-0.000113800917412,2.09999028221e-05,1793248279748734720
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.124882619,745,715,679,661.124882619,634,878,785,810,653,628,652.875117381,0.401400327132,0.00453007652095,0.059940717979,0.999999979079,0.000176680662733,-0.000100996704324,2.06093748153e-05,1793248279765401344
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715.449090379,679,661.449090379,634,878.449090379,785,810,652.550909621,628,652.550909621,0.40150206498,0.00453067263368,0.0599434723594,0.999999979957,0.000174766324196,-9.5651817535e-05,1.98400772935e-05,1793248279782067968
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715.97755151,679,661.97755151,634,878.955103019,785,809.97755151,652.02244849,628,652,0.401608809313,0.0045311945371,0.0599452198962,0.999999980764,0.000172102874221,-9.21588186976e-05,1.89538217407e-05,1793248279798734592
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715.387005683,679,661.387005683,634,877.774011367,785,809.387005683,652.612994317,628,652,0.401741169854,0.0045296736836,0.0599489249528,0.999999982219,0.000168110679382,-8.35816950291e-05,1.77456242257e-05,1793248279815400960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.199629717,634,877.199629717,785,809,653,628,652,0.401881687873,0.00452894887341,0.0599498627109,0.999999983099,0.000165292165077,-7.88162738627e-05,1.63556720443e-05,1793248279832067328
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.778829876,634,877.778829876,785,809,653,628,652,0.402037716281,0.00452973763818,0.0599455388035,0.999999983025,0.000164705255063,-8.12983197367e-05,1.46201366918e-05,1793248279848733952
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.356568129,745,715,679,661.643431871,634,878,785.356568129,809.356568129,653,628,652,0.402218303468,0.00452985939842,0.0599448989444,0.99999998379,0.00016222879304,-7.70895885663e-05,1.26096438564e-05,1793248279865400832
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.933403359,745,715,679,661.066596641,634,878,785.933403359,809.933403359,653,628,652,0.402414061659,0.00452956912204,0.0599465348763,0.999999985008,0.000158585075357,-6.87476837958e-05,1.04292980728e-05,1793248279882067456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.505730815,633.494269185,878,785.494269185,810.505730815,653,628.505730815,652.505730815,0.402645381072,0.00452982261298,0.0599509729379,0.9999999864,0.000154949473892,-5.5887792884e-05,8.15334712543e-06,1793248279898734336
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.080318443,661.919681557,633,877.919681557,785,810.839363115,653,628.919681557,653,0.402885229223,0.00453022162966,0.0599553342344,0.99999998759,0.000151289199255,-4.35520497145e-05,5.81935675596e-06,1793248279915401216
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.67308035,661.32691965,633,877.32691965,785,809.653839299,653,628.32691965,653,0.403149878802,0.00453109630503,0.0599568723134,0.999999988388,0.000147464746011,-3.83227504599e-05,3.19467963618e-06,1793248279932067840
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.739915462,745,715,680,661.260084538,633.260084538,877.260084538,785,809.260084538,653,628.260084538,652.739915462,0.403429671841,0.00453143270559,0.0599539816481,0.99999998911,0.000141580946865,-4.1643445681e-05,3.59336052317e-07,1793248279948734720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.159991868,745,715,680,661.840008132,633.840008132,877.840008132,785,809.840008132,653,628.840008132,652.159991868,0.40372808754,0.00453110716245,0.0599456447327,0.999999989591,0.00013316466655,-5.54785000384e-05,-2.7350745353e-06,1793248279965401088
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.415809034,745,715,680,661.584190966,634,878,785,810,653,629,652.415809034,0.404046746112,0.00452989170947,0.0599352744791,0.999999989689,0.000124328440889,-7.15847078756e-05,-6.28245840973e-06,1793248279982067712
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990039197,745,715,680,661.009960803,634,878,785,810,653,629,652.990039197,0.404373117109,0.00452833720537,0.0599241295341,0.999999989378,0.000115332218347,-8.85562133143e-05,-1.00024227327e-05,1793248279998734080
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.422154686,745,715,680,661.577845314,634,878,785,810,653,629,653,0.404722026377,0.00453043944425,0.0599110081316,0.99999998734,0.000109820638591,-0.000114353533989,-1.35121633725e-05,1793248280015400960
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.836630282,634,878,785,810.163369718,652.836630282,629,653,0.405096467235,0.00453172379692,0.0599025564496,0.99999998579,0.000103073203848,-0.000132298919377,-1.71149770971e-05,1793248280032067584
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.257522257,634,878,785,810.742477743,652.257522257,629,653,0.405534867596,0.00453076255004,0.0599060769187,0.999999987021,9.30242676484e-05,-0.000129866463133,-2.09640834712e-05,1793248280048734464
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.321505379,745,715,679.678494621,661.321505379,634,878,785,810.678494621,652.321505379,629,652.678494621,0.406019139955,0.00452992239249,0.0599230514561,0.99999999107,8.28339309465e-05,-0.00010198095419,-2.44455814497e-05,1793248280065401088
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.900468703,745,715,679.099531297,661.900468703,634,878,785,810.099531297,652.900468703,629,652.099531297,0.406540146148,0.00452917920184,0.0599507998628,0.999999995545,7.25303610486e-05,-5.37129222439e-05,-2.76327030707e-05,1793248280082067712
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.526472467,745,715,679.473527533,662,634,877.526472467,785,810,653,629,652.473527533,0.407082782059,0.00452758525638,0.0599801052473,0.99999999763,6.13075763491e-05,-5.5627992917e-06,-3.0819341832e-05,1793248280098734592
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.95306698,634,877.04693302,785,810,653,628.95306698,653,0.407628250371,0.00452590033729,0.0600071765479,0.999999997458,5.0240246041e-05,3.74346225871e-05,-3.40269811092e-05,1793248280115400960
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.361410633,634,877.638589367,785,810,653,628.361410633,653,0.408154475889,0.00452520944928,0.060004566639,0.999999998146,4.31920381326e-05,2.09118838725e-05,-3.74795272674e-05,1793248280132067840
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.225415997,745,715,680,661.225415997,634,878,785,810,653,628.225415997,653,0.408700997344,0.00452405763805,0.0599968856687,0.999999998573,3.381594618e-05,-2.14899521872e-06,-4.12994652009e-05,1793248280148734976
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.804661513,745,715,680,661.804661513,634,878,785,810,653,628.804661513,653,0.409279376762,0.0045221823279,0.0599812447878,0.999999998111,2.07858367069e-05,-3.54726190964e-05,-4.56960880462e-05,1793248280165401600
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.620317898,745,715,680,662,633.620317898,878,784.620317898,810,653,629,652.620317898,0.409917064475,0.0045218319554,0.0599801526587,0.999999997918,1.09963054242e-05,-3.82687803081e-05,-5.07860602991e-05,1793248280182068224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.047447042,745,715,680,662,633.047447042,878,784.047447042,810,653,629,652.047447042,0.410584929246,0.00452225749733,0.0599864631841,0.999999998089,2.85563620492e-06,-2.55320448904e-05,-5.62288204765e-05,1793248280198735360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.539478629,680,662,633.539478629,878,784.539478629,810.539478629,653,629,652.539478629,0.4112677049,0.00452271349032,0.0599928714017,0.99999999806,-6.05744310806e-06,-8.2909366294e-06,-6.1433028901e-05,1793248280215402496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.126004235,745,715.873995765,680,662,633.873995765,878,785,811,653,629,653,0.411951813308,0.00452292437877,0.0599935850007,0.999999998005,-3.1487078493e-06,-3.00145676733e-06,-6.30120363172e-05,1793248280232069120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.706508683,745,715.293491317,680,662,633.293491317,878,785,811,653,629,653,0.412635872011,0.00452224125076,0.0599737261553,0.999999996865,4.26531820495e-05,-4.22889609563e-05,-5.15925596479e-05,1793248280248735232
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.715041929,745,715,680.284958071,661.715041929,633.284958071,878.284958071,785,811,653,629,653,0.413324159267,0.00452616010131,0.0599458328274,0.999999989759,9.74891330316e-05,-9.68497598758e-05,-3.99736805675e-05,1793248280265401856
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.138693916,745,715,680.861306084,661.138693916,633.861306084,878.861306084,785,811,653,629,653,0.414016770604,0.00453478480293,0.0599097236658,0.999999972603,0.000161563060644,-0.000167028595832,-2.81508967696e-05,1793248280282068224
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.563510812,661.436489188,633.563510812,879,785,811,653,629,653,0.414842743572,0.00452786759813,0.0599276959217,0.999999979422,0.000154502675706,-0.000128211814896,-2.90948895225e-05,1793248280298734592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011616191,745,715.011616191,680,662.023232382,633.011616191,879,785,811,653,629,653,0.415710391002,0.00451572323069,0.0599628435703,0.999999990116,0.000124800249572,-5.51573372421e-05,-3.3929611467e-05,1793248280315400960
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.602352487,745,715.602352487,680,663.204704973,633.602352487,879,785,811,653,629,653,0.416548714405,0.00448852847466,0.0599998273192,0.999999995452,9.01441628836e-05,2.77415495354e-06,-3.10318533131e-05,1793248280332067584
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.810597847,745,715.810597847,680,663.621195694,633.810597847,879,785,811,652.810597847,629,653,0.417386380588,0.0044712049687,0.0600213829139,0.99999999649,6.92310491504e-05,3.66395734288e-05,-2.97583101219e-05,1793248280348734208
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.23114047,745,715.23114047,680,662.462280939,633.23114047,879,785,811,652.23114047,629,653,0.418222693243,0.00447421033925,0.0600111657304,0.999999996339,7.66202479532e-05,2.09432614858e-05,-3.18296793315e-05,1793248280365400576
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.346360731,745,715,680,662.346360731,633,879,784.653639269,811.346360731,652,629,653,0.419070025219,0.00447833848882,0.059992925352,0.999999999085,2.50636608027e-05,-8.21330689132e-06,-3.36816512846e-05,1793248280382067200
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922563805,745,715,680,662.922563805,633,879,784.077436195,811.922563805,652,629,653,0.419924669498,0.00448321170587,0.059969360843,0.99999999615,-6.56089013865e-05,-4.6301998237e-05,-3.53880325529e-05,1793248280398733824
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504769726,745,715,680,662.504769726,633.495230274,879,784.495230274,811.504769726,652,629,653,0.420771034488,0.00448106692039,0.0599336147987,0.999999989737,-9.39354939347e-05,-0.000101681172118,-3.69123922282e-05,1793248280415400960
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069845675,745,715,680,662,633.930154325,879,784.930154325,811,652,629,653,0.421618157157,0.0044785976633,0.0598983043025,0.999999980963,-0.000108372191585,-0.00015770512097,-3.81950727242e-05,1793248280432068352
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.6631833,745,715,680,662,633.3368167,879,784.3368167,811,652,629,653,0.422480592258,0.00448186289499,0.0598804331143,0.99999997543,-9.12523644255e-05,-0.000198441801359,-3.78781791482e-05,1793248280448734976
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.752138989,745,715,680.247861011,662.247861011,633,879,784,811.247861011,652,629,653,0.423404292135,0.0044812291912,0.0599004515864,0.999999981515,-8.26806276924e-05,-0.000169377505631,-3.80088280601e-05,1793248280465401856
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.178831826,745,715,680.821168174,662.821168174,633,879,784,811.821168174,652,629,653,0.424408433932,0.00447547611252,0.05997021989,0.999999994425,-8.53326908109e-05,-4.86632242444e-05,-3.87271082818e-05,1793248280482068224
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.398892088,745,715,680.601107912,663.398892088,633.398892088,879,784.398892088,812,652,629.398892088,653,0.42538697745,0.0044744488888,0.0600130225609,0.999999995631,-8.14693069291e-05,2.27758126236e-05,-3.97767455161e-05,1793248280498734848
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.97861826,745,715,680.02138174,663.97861826,633.97861826,879,784.97861826,812,652,629.97861826,653,0.426353916161,0.00447556408863,0.0600436006042,0.999999993791,-7.46522046987e-05,7.18763601264e-05,-4.09766004694e-05,1793248280515401728
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.43210001,745,715,680,663.43210001,633.43210001,879,785,812.56789999,652,629.43210001,652.43210001,0.427308142088,0.00447523655262,0.0600312146954,0.999999994234,-7.16613602149e-05,6.70968112778e-05,-4.35288689713e-05,1793248280532068096
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,879,785,813,652,629.154858852,652.154858852,0.428246323284,0.00447407089928,0.0600127065413,0.999999995443,-6.79684979029e-05,4.92183921796e-05,-4.55234687993e-05,1793248280548734464
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,879,785,813,652,629.734443219,652.734443219,0.429141834377,0.00447075810375,0.0599819196391,0.99999999703,-6.19483662286e-05,1.07322132447e-06,-4.58465277133e-05,1793248280565401344
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.31172771,662.68827229,633,879.31172771,784.68827229,813,652,630,653,0.430020442777,0.00446972530193,0.0599479468288,0.999999995787,-5.29300906793e-05,-5.9475741198e-05,-4.56736601855e-05,1793248280582067968
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.887067287,662.112932713,633,879.887067287,784.112932713,813,652,630,653,0.430884757406,0.00447062057206,0.0599112798637,0.999999989611,-4.13764413923e-05,-0.000130513940821,-4.50814133979e-05,1793248280598734336
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.462118345,633.462118345,880,784.462118345,813,652.462118345,630,653.462118345,0.431870729275,0.0044676351846,0.0599443213512,0.999999995899,-4.10590953184e-05,-6.59500829643e-05,-4.65421050965e-05,1793248280615400704
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.037945004,633.962054996,880,784.962054996,813.037945004,652.962054996,630,653.962054996,0.432880668435,0.00446401755954,0.059991970955,0.999999997564,-4.30115526716e-05,2.61174292278e-05,-4.83804361829e-05,1793248280632067328
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.626037784,633.373962216,880,784.373962216,813.626037784,652.373962216,630,653.373962216,0.433807314947,0.00446497463531,0.0600045826991,0.999999997426,-3.80856552962e-05,3.67875032791e-05,-4.84246360531e-05,1793248280648733696
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.363901148,633,879.787967049,784,813.787967049,652,630,653,0.434724228027,0.00446340090175,0.0600026979201,0.999999997725,-3.75706306254e-05,2.7360684067e-05,-4.88816980137e-05,1793248280665400320
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.616905308,633,879.205635103,784,813.205635103,652,630,653,0.435624142579,0.00445740730743,0.0599754960972,0.999999997598,-4.47588499415e-05,-1.71637886419e-05,-5.00597913343e-05,1793248280682066944
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.739700097,633.369850048,879.739700097,784,813.369850048,652,630,653,0.436487136986,0.00445581726166,0.0599533902242,0.999999996301,-4.24038902577e-05,-5.48801464138e-05,-5.08738100396e-05,1793248280698733568
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.883195133,633.941597567,880.883195133,784,813.941597567,652,630,653,0.437329976997,0.00445663106968,0.0599340661813,0.999999994118,-3.48394034513e-05,-8.88800191265e-05,-5.14890839427e-05,1793248280715400448
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.481064967,633.481064967,880.481064967,784,814,652,630,653,0.43814816757,0.00445717934098,0.0599077356062,0.999999987628,-3.00187234743e-05,-0.000145646651141,-5.12819461101e-05,1793248280732067072
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.901098198,715,681,662.098901802,633,880,784,814,652,630,653,0.438980799615,0.00445614673329,0.0598923056993,0.999999981758,-2.77448628878e-05,-0.000181950461679,-5.10711603254e-05,1793248280748733696
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.311236255,715,681,662.688763745,633,880,784,814,652,630,653,0.439899041808,0.00444741642131,0.059934944994,0.999999992626,-3.65641217964e-05,-0.000103816682897,-5.13067311247e-05,1793248280765400320
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.273582013,715,681,663.273582013,633,880,784,814,652,630,653,0.440788918721,0.00444285271372,0.0599766725263,0.999999997268,-4.00991498565e-05,-3.45450438795e-05,-5.15986387293e-05,1793248280782066944
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.85276625,715,681,663.85276625,633,880,784,814,652,630,653,0.441647110403,0.00444294327313,0.0600173815801,0.99999999763,-3.77314768574e-05,2.48272193547e-05,-5.19534769557e-05,1793248280798733568
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.14505201,633,880,784,814,652,630,653,0.442427807412,0.00444106307466,0.0600111341008,0.999999997749,-3.86284202495e-05,1.5724671856e-05,-5.25609050254e-05,1793248280815400448
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,880,784,814,652,630,653,0.443182087031,0.00443850902305,0.0599888894886,0.999999997617,-4.06377728549e-05,-1.67024832984e-05,-5.32531897512e-05,1793248280832067328
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.177443587,633,880,784,814,652,630,653,0.444672064351,0.00443090365725,0.0599645423416,0.999999996494,-4.30328726846e-05,-4.90094267554e-05,-5.25134171934e-05,1793248280865400320
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.757076043,633,880,784,814,652,630,653,0.445379053376,0.00443035571418,0.0599676429053,0.999999996507,-4.14836781857e-05,-5.0349574911e-05,-5.22580993699e-05,1793248280882067200
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.334282283,663,633,880,784,814,652,630,653,0.446045710594,0.00442780066675,0.0599556967807,0.99999999352,-6.59840259686e-05,-7.63952008243e-05,-5.26318287655e-05,1793248280898733824
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.909738055,663,633,880,784,814,652,630,653,0.446683269719,0.00442379756065,0.0599328949735,0.999999985368,-0.000109278247365,-0.000120265002536,-5.34593945529e-05,1793248280915400448
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.484017465,745,715,681.515982535,662.515982535,633,880,784,814.484017465,652,630,653,0.447333095861,0.00442198675642,0.0599350168653,0.999999980453,-0.00015591965032,-0.000108293578151,-5.52774640775e-05,1793248280932067072
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.059968023,662.059968023,633,880,784,815,652,630,653,0.447984652374,0.00442021688583,0.0599442787261,0.999999975052,-0.00019915260384,-8.35043065527e-05,-5.71100695715e-05,1793248280948733952
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.652709825,662.652709825,633,880,784,815,652,630,653,0.448631307481,0.00441518731017,0.059975781046,0.999999976325,-0.000206571758708,-3.71301893267e-05,-5.74347426428e-05,1793248280965400320
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.760815112,745,715,681.760815112,663,633,880,784,815,652,630,653,0.449222583248,0.00441207102342,0.0599839351256,0.99999997574,-0.000210720433814,-2.65578909557e-05,-5.8410073034e-05,1793248280982066944
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.183206927,745,715,681.183206927,663,633,880,784,815,652,630,653,0.449735502591,0.00441166185438,0.0599590537188,0.99999997386,-0.000210241698546,-6.6641679874e-05,-6.03060201479e-05,1793248280998733824
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.39328215,745,715,681,662.2134357,632.60671785,880,784,815,652,630,653,0.450210906531,0.00441180108613,0.0599222337889,0.999999968388,-0.000210010617194,-0.000123265911746,-6.26528878562e-05,1793248281015400448
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.969251431,745,715,681,661.061497137,632.030748569,880,784,815,652,630,653,0.45066888389,0.00441219506056,0.0598798681829,0.999999958254,-0.000209894575186,-0.000187573500983,-6.52092168415e-05,1793248281032067072
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.137825907,661,632,880,784,815,652,630,653,0.451554100402,0.00440906666718,0.0598645099747,0.999999953956,-0.000218277436485,-0.000199212215886,-6.8977078157e-05,1793248281065400320
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.717133409,661,632,880,784,815,652,630,653,0.451997846321,0.00440784975687,0.059874663376,0.999999956703,-0.000220969258669,-0.000181322853106,-6.99204384201e-05,1793248281082066944
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.126119575,745,715,681.126119575,660.126119575,631.126119575,880,783.126119575,815,652,630,653,0.452798530256,0.00440446162829,0.0598962759065,0.999999961659,-0.00022437750617,-0.000145921520926,-7.10190532929e-05,1793248281115400448
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.386273818,659,631.386273818,880,783,815,652,630,653,0.453703071123,0.00441006508344,0.059862468313,0.999999968372,-0.000131977568856,-0.000209447488927,-4.43737798509e-05,1793248281165400320
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.199298255,659,631,880,783,815,652,630,653,0.453959132209,0.00441250783307,0.0598453594203,0.999999965807,-9.98920622534e-05,-0.000239059253375,-3.54602442266e-05,1793248281182066944
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.913093077,657.913093077,631,881,783,815,652,630,653,0.455091448302,0.00441227745893,0.0598709331868,0.999999973268,-0.000122191670372,-0.000191050431036,-4.5083850833e-05,1793248281265400320
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681.323583925,657.323583925,631,881,783,815,652,630,653,0.455238820193,0.00441014901529,0.0598630418045,0.999999971299,-0.000124626130226,-0.000199419773669,-4.58432284501e-05,1793248281282066944
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,881,783,815,652,630,653,0.455372380383,0.00440908151755,0.0598535497176,0.999999968544,-0.000126521985642,-0.000211483887243,-4.66825885219e-05,1793248281298733568
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681.416609586,657,631,880.583390414,783.416609586,815,652,630.416609586,653,0.455591405401,0.00441051082583,0.0598363145859,0.99999996252,-0.000127972877613,-0.000237173884769,-4.82859703894e-05,1793248281332066816
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+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.440214018,656,630.559785982,880.440214018,783.440214018,815,652.559785982,630.559785982,653,0.456098316894,0.00441803282938,0.0598052288937,0.999999952103,-0.000118894637146,-0.00028135900019,-4.99541324462e-05,1793248281682067712
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.129770651,656,631,880,783,815,652.870229349,630.870229349,653.129770651,0.45609826938,0.00441634279384,0.0598049378667,0.999999951924,-0.000119813661241,-0.000281712860674,-4.9346640089e-05,1793248281698733824
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.751358845,656,631,880,783,815,652.248641155,630.248641155,653.751358845,0.456098180631,0.00441564022571,0.0598040075832,0.9999999514,-0.000121126480636,-0.00028299572679,-4.94059690389e-05,1793248281715400448
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,880,783.345306053,815,652,630,653.654693947,0.456098228578,0.00441654937616,0.0598040591994,0.999999951475,-0.000119326919467,-0.000283469550565,-4.95554462177e-05,1793248281732067328
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,880,783.920825189,815,652,630,653.079174811,0.456098367657,0.00441853304792,0.0598047654413,0.999999951938,-0.000115452356322,-0.000283403991528,-4.97650245747e-05,1793248281748733952
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,880,783.50422328,815.49577672,652,630.49577672,653,0.456098252792,0.00441797605125,0.0598034925007,0.999999951495,-0.000116116885098,-0.000284669401544,-4.98978019405e-05,1793248281765400576
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.927261453,656,631,880,783,815.927261453,652,630.927261453,653,0.456098079676,0.0044169723817,0.0598021149477,0.999999950927,-0.000117627772303,-0.000286031323515,-4.99565427487e-05,1793248281782067200
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.335303806,656,631,880,783,815.335303806,652,630.335303806,653,0.456097779906,0.00441567322237,0.05980224425,0.99999995051,-0.000120011663216,-0.000286566655068,-4.95742483926e-05,1793248281798733824
+247,4.116666667,HOLD_POSE2,766,745,715,681,656,631,880,783,815,652,630,653,0.456095433886,0.00441613318,0.0597995430908,0.999999949661,-0.000117228932914,-0.000290675873323,-4.94177082051e-05,1793248281837089792
+248,4.133333333,HOLD_POSE2,766,745,715,681.572321751,656,630.427678249,880,783.572321751,815,652,630,653,0.456095861438,0.00441672816492,0.0598005264065,0.999999949978,-0.000116869718572,-0.000289715603958,-4.95100156739e-05,1793248281853756416
+249,4.150000000,HOLD_POSE2,766,745,715,682,656,630,880.145738743,784,815,652,630,653,0.456096499806,0.00441704210865,0.0598012440669,0.999999950278,-0.000116839967986,-0.000288682236404,-4.95434114224e-05,1793248281870423040
+250,4.166666667,HOLD_POSE2,766,745,715,682,656,630,880.72239425,784,815,652,630,653,0.45609776151,0.00441652507675,0.0598011762445,0.999999950534,-0.00011778436772,-0.000287432733678,-4.94026184535e-05,1793248281887089664
+251,4.183333333,HOLD_POSE2,766,745,715,681.691011083,656,630.308988917,880.691011083,783.691011083,815,652,630.308988917,653,0.456098780778,0.00441655127914,0.0598013442401,0.999999950674,-0.000118113747894,-0.000286804083012,-4.94374361647e-05,1793248281903756288
+252,4.200000000,HOLD_POSE2,766,745,715,681.095190001,656,630.904809999,880.095190001,783.095190001,815,652,630.904809999,653,0.456099574994,0.00441708176199,0.0598017311436,0.999999950708,-0.000117872209826,-0.000286751764877,-4.96352720021e-05,1793248281920422912
+253,4.216666667,HOLD_POSE2,766,745,715,681,656,630.516346548,880,783,815,652,630.516346548,653,0.456098546945,0.00441707329071,0.0598008172021,0.999999950138,-0.000117986591663,-0.000288716410268,-4.94619145145e-05,1793248281937089536
+254,4.233333333,HOLD_POSE2,766,745,715,681,656,630,880,783,815,652.059380712,630,653,0.456097360369,0.00441713462311,0.0597997945661,0.999999949576,-0.000117911035557,-0.000290721343594,-4.92516148964e-05,1793248281953756160
+255,4.250000000,HOLD_POSE2,766,745,715,681,656,630,880,783,815,652.636083154,630,653,0.456097811284,0.00441869685382,0.0597999798264,0.999999950129,-0.00011559117199,-0.000289736183343,-4.93343553809e-05,1793248281970422784
+256,4.266666667,HOLD_POSE2,766,745,715,681.217505812,656,630,880.217505812,783,815,652.782494188,630.217505812,653,0.456097703784,0.00441910692343,0.059799474464,0.999999950179,-0.000114931055396,-0.000289813416321,-4.94074943611e-05,1793248281987089408
+257,4.283333333,HOLD_POSE2,766,745,715,681.80700116,656,630,880.80700116,783,815,652.19299884,630.80700116,653,0.456096641251,0.0044175465082,0.0597977879635,0.999999949373,-0.000117109523,-0.000291707608506,-4.94642123501e-05,1793248282003756032
+258,4.300000000,HOLD_POSE2,766,745,715,682,656,630,881,783,815,652,631,653,0.456097048291,0.00441713834756,0.0597982122886,0.999999949371,-0.000117943575481,-0.000291361503109,-4.95541391664e-05,1793248282020422656
+259,4.316666667,HOLD_POSE2,766,745,715,682,656,630,881,783,815,652,631,653,0.456098170661,0.00441729105895,0.0597996640803,0.999999949762,-0.000118123219796,-0.000289924909207,-4.96602307377e-05,1793248282037089280
+260,4.333333333,HOLD_POSE2,766,745,715,682,656,630.542022093,880.457977907,783,815,652,630.457977907,653,0.456095293952,0.00441975347866,0.0597976463258,0.999999948967,-0.000115848925984,-0.000293534935324,-4.98316197384e-05,1793248282053756672
+261,4.350000000,HOLD_POSE2,766,745,715,681.8844501,656,630.8844501,880,783.1155499,815,652,630.1155499,653,0.456093457377,0.00442152872682,0.0597961305115,0.999999948449,-0.000114024550873,-0.000295985443656,-4.9931170165e-05,1793248282070424064
+262,4.366666667,HOLD_POSE2,766,745,715,681.313669083,656,630.313669083,880,783.686330917,815,652,630.686330917,653,0.456096654662,0.00442005610308,0.0597974042952,0.99999994937,-0.000114547103894,-0.000292686559132,-4.97324147184e-05,1793248282087090688
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,631,881,784,816,653,631,653,0.456096821502,0.00441669901324,0.0597974721254,0.99999994903,-0.000119601499186,-0.000291878185276,-4.94308340995e-05,1793248282124338176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.580500222,655.419499778,631,880.419499778,783.419499778,815.419499778,652.419499778,631,653,0.456096437044,0.00441830674012,0.0597968255686,0.999999949087,-0.000115273592852,-0.000293458195577,-4.91955046242e-05,1793248282141004800
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.840411723,655,630.840411723,880.159588277,783,815.159588277,652,630.840411723,653,0.456096227826,0.00441945105613,0.0597965026597,0.999999949082,-0.000112673836291,-0.000294492971555,-4.91411019969e-05,1793248282157671936
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.265003061,655,630.265003061,880.734996939,783,815.734996939,652,630.265003061,653,0.456096475212,0.00441938791735,0.0597970230416,0.999999948959,-0.000114576915196,-0.000294107095004,-4.95581191068e-05,1793248282174340864
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.316613003,655.316613003,630.316613003,880.683386997,783.316613003,815.683386997,652,630,653,0.45609656712,0.00441954543629,0.0597970895547,0.999999948964,-0.000114555966334,-0.000294074351571,-4.96962416958e-05,1793248282191006976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.903528487,655.903528487,630.903528487,880.096471513,783.903528487,815.096471513,652,630,653,0.456096526294,0.00441989133769,0.0597967685854,0.999999949079,-0.000112892414319,-0.000294343089011,-4.95962632328e-05,1793248282207671040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,630.515989655,880.484010345,783.515989655,815,652,630.484010345,653,0.456097034338,0.00441875810555,0.0597966581438,0.999999949103,-0.000114629690528,-0.000293655737813,-4.92044032486e-05,1793248282224337152
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655.936945965,630,881,783,815,652,631,653,0.456097310546,0.00441753599208,0.0597965047025,0.999999949047,-0.000116728303859,-0.000293080619402,-4.88229406086e-05,1793248282241004032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,655.359311309,630,881,783,815,652,631,653,0.456094813661,0.00441796294325,0.0597956623883,0.999999948535,-0.000116316495814,-0.000294956214733,-4.89948810856e-05,1793248282257671168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,655.215860281,630.215860281,880.784139719,783,815,652,630.784139719,653,0.456087951056,0.00441840317986,0.0597924324699,0.999999946962,-0.00011603979994,-0.000300330599055,-4.91242041422e-05,1793248282274337792
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655.786978163,630.786978163,880.213021837,783,815,652,630.213021837,653,0.456073903457,0.00441886528127,0.0597852730904,0.99999994356,-0.000115985468422,-0.000311463204977,-4.91833884641e-05,1793248282291004416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.627751722,655.627751722,630.627751722,880,783,815,652,630.372248278,653,0.456044482866,0.00441931058148,0.0597710931105,0.999999936362,-0.000115191468381,-0.000334031399625,-4.9289631539e-05,1793248282307670784
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.034062761,655.034062761,630.034062761,880,783,815,652,630.965937239,653,0.456005917286,0.00441974588714,0.0597527367598,0.999999926255,-0.000113957458964,-0.00036340232522,-4.94238685983e-05,1793248282324337408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.546147288,655,630,880,783.546147288,815,652,630.453852712,653,0.455948361141,0.00441968097031,0.0597319570972,0.999999914473,-0.000112890855907,-0.000394806216771,-4.93758829706e-05,1793248282341003776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.875643215,655.124356785,630,880,784,815,652,630,653,0.45588763537,0.00442027343518,0.0597131990814,0.999999903448,-0.00011111691213,-0.000422262412649,-4.95028554711e-05,1793248282357670400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.301700079,655.698299921,630,880,784,815,652,630,653,0.45581962936,0.0044233526032,0.0597022831622,0.999999898425,-0.000106748885533,-0.000434999179157,-5.03024516659e-05,1793248282374337280
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.278690646,656,630,880,783.721309354,815,652,630.278690646,653,0.455744758311,0.00442426185695,0.0596947840296,0.999999894153,-0.000105214205532,-0.000445062799373,-5.04375612128e-05,1793248282391003904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.866226562,656,630,880,783.133773438,815,652,630.866226562,653,0.455662279421,0.00442276640922,0.0596910713843,0.999999890827,-0.000106819443515,-0.000452164035315,-4.98362859085e-05,1793248282407671296
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,630.447897184,880,783.447897184,815,652,630.552102816,653,0.455564273553,0.00442295683419,0.0596926302294,0.999999892102,-0.000105173026063,-0.000449840364268,-4.87616235304e-05,1793248282424337920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,880.027656787,784,815,652,630,653,0.455460382662,0.00442362288407,0.0596956634637,0.999999894573,-0.000102522520779,-0.000445065077401,-4.75422357753e-05,1793248282441004544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,880.603809571,784,815,652,630,653,0.4553305606,0.00442386479799,0.0596971161543,0.999999894231,-9.89702569384e-05,-0.000446773646643,-4.62203859278e-05,1793248282457671168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,880.820239459,784,814.820239459,652,630,653,0.455191637966,0.00442440567795,0.0596980700316,0.999999893791,-9.54705508921e-05,-0.000448650943066,-4.49014474513e-05,1793248282474337536
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,880.244732863,784,814.244732863,652,630,653,0.455032680278,0.004425604737,0.0596979257619,0.999999893155,-9.20865522442e-05,-0.00045089969519,-4.35889185859e-05,1793248282491003904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656.338894483,631,880.338894483,783.661105517,814.338894483,652,630.338894483,653,0.454856347025,0.00442610508983,0.059696458595,0.999999891078,-8.97350635181e-05,-0.000456075060149,-4.2263010801e-05,1793248282507670528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656.928530271,631,880.928530271,783.071469729,814.928530271,652,630.928530271,653,0.45466715792,0.00442608848393,0.0596940126426,0.9999998879,-8.81475080431e-05,-0.000463415768104,-4.09272040804e-05,1793248282524336896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,881,783.508948939,815,652,630.491051061,653,0.454440722494,0.00442758829345,0.0596969589472,0.99999988752,-8.10105765749e-05,-0.00046571740845,-3.87807865634e-05,1793248282541004032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.912730502,657.087269498,631,880.912730502,783.912730502,815,652.087269498,630,653,0.454205146008,0.00442921105944,0.0597001323151,0.999999887521,-7.35813526875e-05,-0.000467130572926,-3.65163560806e-05,1793248282557670656
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.339018362,657.660981638,631,880.339018362,783.339018362,815,652.660981638,630,653,0.453947252464,0.00443035334468,0.0597004256893,0.999999887787,-6.87893278028e-05,-0.00046746546372,-3.42173275539e-05,1793248282574337280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,657.764689371,631.235310629,880,783,814.764689371,652.764689371,630,653,0.453667317409,0.00443220640542,0.0596957222015,0.999999885503,-6.31786187844e-05,-0.000473236071163,-3.24060283598e-05,1793248282591004160
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,657.189469366,631.810530634,880,783,814.189469366,652.189469366,630,653,0.453355543111,0.0044350861909,0.0596838006792,0.999999879405,-5.63853097801e-05,-0.000486858644486,-3.12992608934e-05,1793248282607670784
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.99092089,657.99092089,631.00907911,880,783.99092089,814,652,630,653,0.452710899678,0.00443987576385,0.0596867083276,0.999999885752,-3.48901082265e-05,-0.000476007195204,-2.63957156428e-05,1793248282641004032
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.147253941,631.147253941,880,784,814.852746059,652,631,653,0.451967290274,0.00444227699253,0.0597210229653,0.999999909967,-2.06329044461e-05,-0.000423361445631,-2.01533849326e-05,1793248282674337280
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.10947042,659.89052958,632,880,784,814,652,631,653,0.450659633743,0.00445356758776,0.0597286720687,0.999999914982,1.3165528416e-05,-0.000411984703757,-1.14214704258e-05,1793248282724337664
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.948523242,745,714.948523242,682,661.051476758,632,880,784,813,652,630.051476758,653,0.449608214294,0.00445796043139,0.059708467148,0.999999904293,3.52679886248e-05,-0.000436051631222,-5.46546157383e-06,1793248282757670400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.372598424,745,714.372598424,682,661.627401576,632,880,784,813,652,630.627401576,653,0.449053092006,0.00445855872878,0.0597210321529,0.999999913425,4.5908354324e-05,-0.000413573073671,-8.43012739013e-07,1793248282774337280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.20108595,745,714.20108595,682,661.79891405,632,880,784,813,652,631,653,0.448496080698,0.00446009050646,0.059738081542,0.999999924155,5.82780125091e-05,-0.000385070822618,3.83072488176e-06,1793248282791003648
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.770664643,745,714.770664643,682,661.229335357,632,880,784,813,652,631,653,0.447935607769,0.00446333289947,0.0597633486259,0.999999937543,7.3816622091e-05,-0.000345530072356,8.59844962184e-06,1793248282807670272
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.643760852,745,715,682,661.356239148,632,880.356239148,784,813,652,630.643760852,653,0.447352537439,0.0044680581556,0.0597950838915,0.999999951206,8.98021945587e-05,-0.000298897203686,1.35319307776e-05,1793248282824337152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.047404663,745,715,682,661.952595337,632,880.952595337,784,813,652,630.047404663,653,0.44675423573,0.00447378291069,0.0598311789259,0.999999963576,0.000106089034121,-0.000247484012334,1.85771370598e-05,1793248282841003776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,632.529562852,879.940874295,784,813,652,630,652.470437148,0.446049647007,0.00447883785873,0.0598191649041,0.999999954588,0.000122220122711,-0.000274486183469,2.33229072975e-05,1793248282857670400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.894881505,661.894881505,632.894881505,879.105118495,784,813,652,630,652,0.445325036203,0.00448383565635,0.0597987885308,0.999999941462,0.00013796302277,-0.000311901402953,2.75726773176e-05,1793248282874337024
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.318148614,661.318148614,632.318148614,879.681851386,784,813,652,630,652,0.444551775428,0.00448883655141,0.0597595334171,0.999999921151,0.000152024652487,-0.000365654196093,2.97131507571e-05,1793248282891003904
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.257923778,661.257923778,632.257923778,879.742076222,784,812.742076222,652,630.257923778,652.257923778,0.443804855133,0.00449247472153,0.0597482149905,0.999999915236,0.000165270901476,-0.000375656456421,3.30913264867e-05,1793248282907670784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.833183605,661.833183605,632.833183605,879.166816395,784,812.166816395,652,630.833183605,652.833183605,0.443090342696,0.00449443626619,0.0597712684104,0.999999928467,0.000177513950377,-0.000331830336541,3.79923072896e-05,1793248282924337664
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.422097067,633,879.422097067,784,812,652,630.577902933,653,0.442337218073,0.00449868708473,0.0597902420324,0.999999932301,0.000192294120328,-0.000310738526614,4.31509885226e-05,1793248282941004032
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.983983593,662.967967185,633,880,784,812,652,630,653,0.441566120518,0.0045038795489,0.0598066587294,0.999999932083,0.000208208789885,-0.000300231988229,4.84092513098e-05,1793248282957670400
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.409941023,661.819882047,633,880,784,812,652,630,653,0.440718268501,0.00450930409201,0.0597920442541,0.999999916561,0.000227547972347,-0.000335023082483,5.34700325592e-05,1793248282974337280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.164743774,661,633,880,784,812.164743774,652,630,653,0.439872015329,0.004513485825,0.0597859732173,0.999999907099,0.000244325880236,-0.000350282175422,5.83836193046e-05,1793248282991003904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.741032883,661,633,880,784,812.741032883,652,630,653,0.439029756277,0.00451456290193,0.059801244489,0.999999915418,0.00025470548445,-0.000316748503575,6.29295002669e-05,1793248283007670784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661.651225975,633,879.674387013,784,812.674387013,652,630,653,0.438166445649,0.00451995116635,0.0598051565337,0.9999999137,0.000266563014096,-0.000311742759358,6.60415296215e-05,1793248283024337152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.833918719,633,879.083040641,784,812.083040641,652,630,653,0.437285954832,0.0045288577991,0.0597997982908,0.999999904137,0.000279626681107,-0.000330018713471,6.79833897217e-05,1793248283041003776
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.502024545,662.004049089,633,879.497975455,784,811.502024545,652,630,653,0.436369132092,0.00454366614915,0.0597604624126,0.999999901437,0.000204899860889,-0.000392189982687,3.6445544946e-05,1793248283057670912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.923425212,715,681.076574788,661,633,879.923425212,784,811.076574788,652,630,652.923425212,0.435453548758,0.00455969230475,0.0597242534571,0.99999989268,0.000132304454043,-0.000443975947309,4.56359099156e-06,1793248283074337536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.349561242,715,681.650438758,661,633,879.349561242,784,811.650438758,652,630,652.349561242,0.434584560564,0.0045773657413,0.0597443993402,0.999999913224,0.00016669087476,-0.000381747957605,5.9667554044e-06,1793248283091003904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.224721769,744.224721769,715,682,661.224721769,633,879.224721769,784.224721769,811.775278231,652,630,652.224721769,0.433689506785,0.00458595014681,0.0597645958237,0.999999924841,0.000191520758381,-0.000336936876313,1.0505160114e-05,1793248283107670528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.799657915,744.799657915,715,682,661.799657915,633,879.799657915,784.799657915,811.200342085,652,630,652.799657915,0.432753831337,0.00458036988656,0.0597848711679,0.999999928543,0.000201457401781,-0.000319268915812,1.99296348051e-05,1793248283124337152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,744.61381179,715,682,661.227623579,633,879.61381179,784.61381179,811,652,630,653,0.43184233999,0.00458012014522,0.059799294737,0.999999934297,0.000204482326719,-0.000298385880485,2.36228825644e-05,1793248283141003776
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,744.021080696,715,682,660.042161391,633,879.021080696,784.021080696,811,652,630,653,0.430943782945,0.00458272129588,0.0598105886327,0.999999940908,0.000203810695225,-0.000275783345635,2.42509296598e-05,1793248283157670656
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.443842427,744.556157573,715,681.443842427,661.668472718,633.556157573,879,784.556157573,811,652,630,653,0.430014201019,0.00458887200132,0.0598208528077,0.999999942867,0.0002055503563,-0.000267227822729,2.45708971541e-05,1793248283174337536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.867179867,662.734359734,633.867179867,879,784.867179867,811,652,630,653,0.429067171842,0.00459338716469,0.0598175682876,0.999999938819,0.000206109401524,-0.000281516839309,2.50974033072e-05,1793248283191004160
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.290531976,661.581063953,633.290531976,879,784.290531976,811,652,630,653,0.428065664601,0.00459199964948,0.0597691367439,0.999999910562,0.000202426199552,-0.000370411513166,2.63520363413e-05,1793248283207670784
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.583084559,661,633.291542279,879,784.291542279,811,652,630,653,0.427111879872,0.00459227362351,0.0597489446559,0.999999900578,0.000199254030191,-0.00039805971245,2.62624149406e-05,1793248283224337408
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.758253236,661,633.879126618,879,784.879126618,811,652,630,653,0.426206554285,0.00459423473093,0.0597574278855,0.999999914294,0.000196600782185,-0.000363516131288,2.48077914079e-05,1793248283241003776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.53948783,681.53948783,661.921024341,633.53948783,879,784.53948783,811,652,630,653,0.425288681706,0.00459483730466,0.0597855814481,0.999999925701,0.000194422772276,-0.00033173309894,2.7418035482e-05,1793248283257670400
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.960070377,714.039929623,681,662.880211132,633,879,784.039929623,811,652,630,652.960070377,0.424369700903,0.00459494382235,0.0598174311807,0.999999935826,0.000191774210126,-0.000301029748406,3.08622710045e-05,1793248283274337280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.385509525,714.614490475,681,661.156528575,633,879,784.614490475,811,652,630,652.385509525,0.423479391885,0.0045931194679,0.0598305592958,0.999999945225,0.000181177284293,-0.000275209895979,3.13773464032e-05,1793248283291003904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.18953343,715,681,660.37906686,633,879,785,811,652,629.81046657,652.18953343,0.422582451401,0.00459261187401,0.0598381529401,0.999999950983,0.000173304987873,-0.000258846226426,3.16060649286e-05,1793248283307670528
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.765559584,715,681,661.531119167,633,879,785,811,652,629.234440416,652.765559584,0.421671988004,0.00459478939122,0.059834460806,0.999999950633,0.000170988698766,-0.000261765408736,3.12508504648e-05,1793248283324337152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.649751636,662,633.350248364,879.350248364,785,811,652,629.350248364,652.649751636,0.420721055643,0.00459582773603,0.059794923048,0.999999930459,0.000166508959682,-0.000332215901582,3.1466603143e-05,1793248283341003776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.059117473,662,633.940882527,879.940882527,785,811,652,629.940882527,652.059117473,0.419742348292,0.00459608423304,0.0597307833797,0.999999885791,0.00016054437929,-0.000449015124041,3.20742271166e-05,1793248283357670400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.957223243,633.478611621,879.478611621,784.478611621,811,652,629.478611621,652.521388379,0.418883289473,0.00459291519995,0.0597218504073,0.999999892253,0.000146279236699,-0.000439540928162,3.00134103436e-05,1793248283374337024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.298767506,633.099589169,878.900410831,784.099589169,810.900410831,652,629,652.900410831,0.41804819021,0.00459086683693,0.0597279309647,0.999999906994,0.00013397020662,-0.000408975358296,2.83555455607e-05,1793248283391003648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.016576722,633.672192241,878.327807759,784.672192241,810.327807759,652,629,652.327807759,0.417263683097,0.0045959508918,0.0597761562006,0.999999930899,0.000135337016941,-0.000344940296414,3.00212353142e-05,1793248283407670272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.521064467,634,878,784.760532233,810,652,629,652,0.416481326009,0.00459618240657,0.0598129704237,0.99999994551,0.000131899545815,-0.000300903130304,3.22571505112e-05,1793248283424336896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.400781841,634,878,784.20039092,810,652,629,652,0.415701848101,0.00458991583872,0.059834504048,0.999999951706,0.000122028616507,-0.000283645341636,3.5256659969e-05,1793248283441003776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.607839714,715,680,661,634,878,784,810,652,629,652,0.414909190171,0.00458778684349,0.0598403590569,0.999999941086,0.000200522428823,-0.000276396192135,3.4976594417e-05,1793248283457670400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.002611793,744.002611793,715,680,661.002611793,634,878,784.002611793,810,652.002611793,629,652,0.41410928302,0.00458796282744,0.0598374248743,0.999999908,0.000327678482552,-0.000274855724782,3.28859332525e-05,1793248283474337024
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.579433886,744.579433886,715,680,661.579433886,634,878,784.579433886,810,652.579433886,629,652,0.413329709928,0.0045881908628,0.0598222297673,0.999999898536,0.000331854657847,-0.000302686965466,3.43610777096e-05,1793248283491003648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.155470863,661.689058275,633.844529137,878,785,810,652.844529137,629,652,0.41255641058,0.00458769490982,0.0597984551139,0.999999885772,0.000330749436006,-0.000343255072764,3.51537843545e-05,1793248283507670272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.729394808,660.541210384,633.270605192,878,785,810,652.270605192,629,652,0.411799996973,0.0045852503271,0.0597515884281,0.999999862265,0.000315429223469,-0.000418104728822,3.41096955967e-05,1793248283524337152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.687737461,745,715,680.687737461,660.312262539,633.312262539,877.687737461,785,810.312262539,652,629,652,0.411100723438,0.00458457976567,0.0597384535064,0.999999860303,0.00030095574202,-0.000433312523103,3.25541237315e-05,1793248283541003776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.096890584,745,715,680.096890584,660.903109416,633.903109416,877.096890584,785,810.903109416,652,629,652,0.410452427339,0.00458549189355,0.0597554123066,0.999999880145,0.000287237671578,-0.000395310958357,3.05422334891e-05,1793248283557670400
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.483980745,634,877.483980745,784.516019255,810.516019255,652,629,652,0.40985271027,0.00458201881293,0.0597964795262,0.999999906319,0.000273042026186,-0.000334348362494,3.19578951064e-05,1793248283574337024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.062279225,745.062279225,715,680,661.937720775,633.937720775,878,784.062279225,810,652.062279225,629,652,0.409263281718,0.0045781755929,0.059838710186,0.999999928269,0.00025947079022,-0.000273850030304,3.37997371335e-05,1793248283591003648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.635522801,745.635522801,715,680,661.364477199,633.364477199,878,784.635522801,810,652.635522801,629,652,0.408680085512,0.00457835276893,0.0598516882018,0.999999935449,0.000251791040826,-0.000254112195747,3.36221364589e-05,1793248283607670528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.790140302,745.790140302,715,680,661.209859698,633.209859698,877.790140302,785,810,653,629,652,0.408105291308,0.00457727467142,0.0598543400642,0.999999939414,0.000241457086809,-0.000248512888072,3.33456278156e-05,1793248283624337408
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.213894674,745.213894674,715,680,661.786105326,633.786105326,877.213894674,785,810,653,629,652,0.407545165893,0.00457400504039,0.0598389638936,0.999999938006,0.000226489260487,-0.000267597489651,3.28964396026e-05,1793248283641004032
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.255146002,634,877,785,810,652.627573001,628.627573001,652,0.407008797056,0.00457218010952,0.059825842834,0.999999935949,0.000216010287962,-0.000283549113906,3.22685407772e-05,1793248283657670400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.070606825,634,877,785,810,652.035303413,628.035303413,652,0.406486451606,0.0045712079807,0.0598140529584,0.999999933535,0.000208181071542,-0.000297651352456,3.15351495478e-05,1793248283674337024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.085658954,634,877.542829477,785,810,652.542829477,628,652.542829477,0.406028359355,0.00457077160924,0.0598189252393,0.999999937453,0.000201328076958,-0.000289118987869,3.11772159205e-05,1793248283691003904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.880521822,715,680,661.880521822,634,877.880521822,785,809.880521822,653,628.119478178,653,0.405579844007,0.00456990700748,0.0598227289215,0.999999940674,0.000194874466469,-0.000282335063162,3.10343826087e-05,1793248283707670528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.306112356,715,680,661.306112356,634,877.306112356,785,809.306112356,653,628.693887644,653,0.40515228661,0.00456728254941,0.0598184423631,0.999999940128,0.000189705959702,-0.000287671419389,3.16199600711e-05,1793248283724337152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.275608655,715,680,660.724391345,633.724391345,877,784.724391345,809.275608655,652.724391345,629,652.724391345,0.404733916564,0.00456544812082,0.0598041723866,0.999999934014,0.000185588494501,-0.000310664956795,3.18882355742e-05,1793248283741003776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.865671705,715,680,660.134328295,633.134328295,877,784.134328295,809.865671705,652.134328295,629,652.134328295,0.404326028806,0.00456451507282,0.0597785118767,0.999999920222,0.000182670210282,-0.000353804371089,3.17944868256e-05,1793248283757670400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.447321669,633,877.447321669,784.447321669,810.447321669,652.447321669,629,652,0.403960813288,0.00456327826393,0.0597653200564,0.999999913315,0.000181360135029,-0.000373390204566,3.25453486414e-05,1793248283774337024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.026313722,745,715,680,661,633.026313722,877.973686278,785,810.973686278,653,629,652,0.40361243754,0.00456193257123,0.0597572944103,0.999999909617,0.000180378314902,-0.000383540162311,3.35533204715e-05,1793248283791003392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.601589439,745,715,680,661,633.601589439,877.398410561,785,810.398410561,653,629,652,0.403352978102,0.00456018319527,0.0597803746038,0.999999925476,0.000176355491845,-0.000341671633874,3.4731531453e-05,1793248283807670528
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.823182201,745,715,679.823182201,661,634,877.176817799,785,810,653,628.823182201,652,0.403101975709,0.00455907831177,0.0598026242326,0.999999938401,0.000174232636037,-0.000302571347127,3.5948744967e-05,1793248283824337408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.248060595,745,715,679.248060595,661,634,877.751939405,785,810,653,628.248060595,652,0.402870023885,0.00455942522691,0.0598230029091,0.999999947379,0.000176389690822,-0.000269706871352,3.72538164085e-05,1793248283841003776
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.336096662,661,634,878,785,810,653,628,652,0.402645270957,0.00455800199237,0.0598341362801,0.999999951433,0.000175461279796,-0.000254649387535,3.87458113009e-05,1793248283857670400
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.927107102,661,634,878,785,810,653,628,652,0.402425978032,0.00455523618118,0.0598382575165,0.99999995233,0.000172192685935,-0.000253097680515,4.03795791479e-05,1793248283874337280
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.493378566,661,634,878,785.506621434,809.493378566,653,628,652,0.40221671655,0.00455544867863,0.0598311976308,0.99999994843,0.000173275304827,-0.000267285893654,4.09098624806e-05,1793248283891003904
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.915705623,785.915705623,809,653,628,652,0.402016330698,0.00455559660742,0.0598239475965,0.999999944261,0.000174264897241,-0.000281778032796,4.13547045448e-05,1793248283907670528
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.339340191,785.339340191,809,653,628,652,0.401859518008,0.00455292161842,0.0598247702838,0.999999943819,0.000171137923674,-0.000285117627102,4.22070398396e-05,1793248283924336896
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.23627888,785,809.23627888,653,628.23627888,652,0.401716269872,0.00455122112379,0.0598262078696,0.999999944136,0.000167217672384,-0.00028628840793,4.24885499603e-05,1793248283941003520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.810829379,785,809.810829379,653,628.810829379,652,0.401592441608,0.00455091577641,0.0598285257825,0.999999945543,0.000162161715298,-0.000284354179583,4.1952831021e-05,1793248283957670144
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715.397100969,679.397100969,661,634,878,784.602899031,809.602899031,653,628.602899031,652,0.401485870844,0.00454625607328,0.0598300285362,0.999999953863,0.000109838153648,-0.000281621962676,2.9984429766e-05,1793248283974337024
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.989126051,679.989126051,661,634,878,784.010873949,809.010873949,653,628.010873949,652,0.401387771238,0.00453945895678,0.0598311311545,0.999999960554,3.43124426126e-05,-0.000278498037457,1.24040918118e-05,1793248283991003648
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.431693058,679.431693058,661,634,878,784.568306942,809.568306942,653,628.568306942,652,0.401307233445,0.00453849808186,0.0598305156773,0.999999960439,3.41214472416e-05,-0.00027892225657,1.26289435631e-05,1793248284007670272
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.146170055,745,715,679.146170055,661,634,878,785,809.853829945,653,629,652,0.401231441257,0.00453862190056,0.0598291599709,0.999999959783,3.60205307726e-05,-0.000281010162604,1.30288914462e-05,1793248284024337152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.720874248,745,715,679.720874248,661,634,878,785,809.279125752,653,629,652,0.401168598642,0.00454160561688,0.0598257283454,0.99999995771,3.9914632435e-05,-0.000287780946047,1.29654534498e-05,1793248284041003776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.699685328,745,715,679.399370656,661.300314672,634,878.300314672,785,809.300314672,653,629,652,0.401115743605,0.00454080742201,0.0598229665132,0.999999956228,3.94338809733e-05,-0.000292923540668,1.3572147629e-05,1793248284057670656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.115772236,745,715,678.231544472,661.884227764,634,878.884227764,785,809.884227764,653,629,652,0.401072320206,0.00453643782674,0.0598208371916,0.999999955319,3.48217919088e-05,-0.000296528576249,1.48116727742e-05,1793248284074337024
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.467111651,661.532888349,634,878.065776698,785,810,652.532888349,628.532888349,652,0.401039156526,0.00453934184907,0.0598195917008,0.9999999545,4.21206809653e-05,-0.000298334115886,1.49445161836e-05,1793248284091003904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.049373924,745,715.049373924,679.049373924,661.049373924,634,877,785,810,652.049373924,628,652,0.401010202681,0.00454331100662,0.059818911181,0.999999953858,5.11705361899e-05,-0.000299073615059,1.48644587112e-05,1793248284107670528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.627703873,745,715.627703873,679.627703873,661.627703873,634,877,785,810,652.627703873,628,652,0.400999167646,0.00453942042229,0.0598219417134,0.999999955785,4.74218560882e-05,-0.000293159948867,1.54355951025e-05,1793248284124337152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.795779905,745,715.795779905,680,661.795779905,634,877.204220095,785,810,653,628,652,0.400988264731,0.00453748752526,0.0598244108688,0.999999957123,4.58408010913e-05,-0.000288797954349,1.5740052599e-05,1793248284141003776
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.222541062,745,715.222541062,680,661.222541062,634,877.777458938,785,810,653,628,652,0.400977600555,0.00453909210266,0.0598258656349,0.999999957465,4.81765709745e-05,-0.000287239778011,1.55626303925e-05,1793248284157670144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.647512015,661.352487985,633.647512015,877.647512015,785,810,653,628.352487985,652,0.40096968543,0.00454015254155,0.0598269123551,0.9999999576,5.03075293015e-05,-0.000286393489182,1.57300548813e-05,1793248284174337024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.071346986,661.928653014,633.071346986,877.071346986,785,810,653,628.928653014,652,0.400963514763,0.00454086768834,0.0598277001429,0.999999957604,5.23085210015e-05,-0.000285998940329,1.61163075134e-05,1793248284191004160
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.519959103,745,715,679,661.480040897,633.519959103,877,785,809.480040897,652.480040897,628.480040897,652,0.400962368989,0.00453752529131,0.0598292291846,0.999999958536,4.82147424703e-05,-0.000283404157868,1.68810745386e-05,1793248284207670528
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.110089167,661,634,877.110089167,785,809.110089167,652.110089167,628,652,0.400961922714,0.00453492080353,0.0598306036011,0.999999959369,4.49607711381e-05,-0.000280959726499,1.74053108272e-05,1793248284224337152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.686182758,661,634,877.686182758,785,809.686182758,652.686182758,628,652,0.400961431233,0.00453786731168,0.0598308800349,0.999999959334,4.89079078594e-05,-0.00028046802845,1.66849388042e-05,1793248284241003776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.737913013,745,715,679.737913013,661,633.737913013,877.737913013,785,810,653,628,652,0.400960868573,0.00453867757179,0.0598312442553,0.99999995934,5.07836034966e-05,-0.000280115403593,1.66444228698e-05,1793248284257670400
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.162235284,745,715,679.162235284,661,633.162235284,877.162235284,785,810,653,628,652,0.400960220749,0.00453693178165,0.0598317135135,0.999999959409,5.01807914507e-05,-0.00027992918169,1.74173641513e-05,1793248284274337024
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715.423252517,679,661,633.423252517,877.423252517,785,810,653,628,652,0.400961625365,0.00453644517472,0.0598331220501,0.999999960207,4.86062638845e-05,-0.000277346647409,1.73778489914e-05,1793248284291003904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.987624884,679,661,633.987624884,878,785,810,653,628,652,0.400963769053,0.00453647884859,0.0598348471226,0.999999961245,4.6774182453e-05,-0.000273920877308,1.70227894547e-05,1793248284307670528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.408335483,679,661,633.408335483,878,785,810,653,628,652,0.400962875117,0.00453771166171,0.0598341882965,0.999999960781,5.06111122461e-05,-0.000274942406571,1.68172761054e-05,1793248284324337152
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.169890954,715,679,661,633.169890954,877.830109046,785,810,653,628.169890954,652,0.400961763287,0.00453798413823,0.0598336341197,0.99999996043,5.24316712483e-05,-0.000275877481157,1.67797752859e-05,1793248284341003776
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.745578392,715,679,661,633.745578392,877.254421608,785,810,653,628.745578392,652,0.400960131,0.00453596278319,0.0598333299053,0.999999960376,4.94359866687e-05,-0.000276606052618,1.7143584215e-05,1793248284357670400
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.358201893,715,679.320899054,661.320899054,633.679100946,877.320899054,785,809.679100946,652.679100946,628.679100946,652,0.400960622275,0.00453649097198,0.0598341675525,0.999999960744,5.01278034525e-05,-0.000275136731162,1.72653489112e-05,1793248284374337280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.208141551,715,679.895929225,661.895929225,633.104070775,877.895929225,785,809.104070775,652.104070775,628.104070775,652,0.400962795271,0.00453903823326,0.0598359094797,0.999999961436,5.37398809109e-05,-0.000271926821853,1.71954303468e-05,1793248284391003904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.483332266,715,679.516667734,661.516667734,633.483332266,878,785.483332266,809.483332266,652,628,652,0.400962697705,0.00453877007757,0.0598357796495,0.999999961462,5.24394988458e-05,-0.000272103243834,1.69046192314e-05,1793248284407670272
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785.927716623,809.927716623,652.072283377,628,652,0.400962127964,0.00453799293994,0.0598352680688,0.999999961343,5.05441784735e-05,-0.000272914267495,1.66663114543e-05,1793248284424337152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785.347106531,809.347106531,652.652893469,628,652,0.400961766134,0.00453801157641,0.0598349805626,0.999999961252,5.20989473596e-05,-0.000272925728733,1.71404952073e-05,1793248284441003776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.230260936,745,715,679.230260936,661.230260936,633.769739064,877.769739064,785,809.230260936,653,628,652.230260936,0.400961571769,0.00453783678213,0.0598349407524,0.999999961252,5.20829009543e-05,-0.000272918988321,1.72668693099e-05,1793248284457670400
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.802808276,745,715,679.802808276,661.802808276,633.197191724,877.197191724,785,809.802808276,653,628,652.802808276,0.400961626343,0.0045373744501,0.059835269146,0.999999961388,4.97318138097e-05,-0.00027288519088,1.68762191149e-05,1793248284474337280
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.614112412,745,715,679.614112412,661.614112412,633.385887588,877.385887588,785,809.614112412,653,628.385887588,652.614112412,0.400961553612,0.00453790836957,0.0598356666465,0.999999961482,4.97209051776e-05,-0.000272548989439,1.67888304653e-05,1793248284491003904
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.025500201,745,715,679.025500201,661.025500201,633.974499799,877.974499799,785,809.025500201,653,628.974499799,652.025500201,0.400961414002,0.00453896566612,0.059836100452,0.999999961554,5.09394008435e-05,-0.000272053921175,1.68607591746e-05,1793248284507670528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.553112314,661.553112314,634,877.446887686,785,809.553112314,653,628.446887686,652,0.40096155484,0.00453780112797,0.0598363526321,0.999999961631,5.08625757502e-05,-0.000271772292073,1.70491046562e-05,1793248284524337152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.86857164,661.86857164,634,877.13142836,785.13142836,809.86857164,653,628.13142836,652.13142836,0.400962087181,0.00453682493102,0.0598367281122,0.99999996179,5.06144792905e-05,-0.000271227477205,1.71247313157e-05,1793248284541003776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.289723328,661.289723328,634,877.710276672,785.710276672,809.289723328,653,628.710276672,652.710276672,0.400963909081,0.00453683242248,0.0598375513403,0.999999962226,4.99830140213e-05,-0.000269753798239,1.67986837134e-05,1793248284557670400
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc646da1bd47447e8d235fe8259f89edef14d46a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+363,6.050000000,pose2_to_pose3_retreat,0.58563171423,0.00992793194519,1.05004255495,0.556203506305,0.018602392022,1.04966593161
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+365,6.083333333,pose2_to_pose3_retreat,0.585140105668,0.00992797102752,1.05004237571,0.5557118946,0.0186024206274,1.04966575668
+366,6.100000000,pose2_to_pose3_retreat,0.584929848352,0.009927900899,1.05004229277,0.555501638845,0.0186023560244,1.04966567911
+367,6.116666667,pose2_to_pose3_retreat,0.58472855986,0.00992791484127,1.05004236424,0.555300350295,0.0186023698202,1.04966575175
+368,6.133333333,pose2_to_pose3_retreat,0.584536413893,0.00992797128324,1.05004235988,0.555108203679,0.0186024242633,1.04966575207
+369,6.150000000,pose2_to_pose3_retreat,0.584357715746,0.00992794069424,1.05004249695,0.554929505649,0.0186023937915,1.04966588273
+370,6.166666667,pose2_to_pose3_retreat,0.584193609223,0.00992810313519,1.05004248937,0.554765395546,0.018602544074,1.04966587489
+371,6.183333333,pose2_to_pose3_retreat,0.584046465159,0.00992792739685,1.05004237584,0.554618255185,0.0186023810725,1.04966576547
+372,6.200000000,pose2_to_pose3_retreat,0.583917676679,0.00992780167971,1.05004245092,0.554489468845,0.0186022625318,1.04966583863
+373,6.216666667,pose2_to_pose3_retreat,0.583806933766,0.00992781648038,1.05004235572,0.55437872578,0.0186022767123,1.04966574106
+374,6.233333333,pose2_to_pose3_retreat,0.583709799539,0.00992792575472,1.05004231092,0.554281589866,0.0186023803383,1.04966569822
+375,6.250000000,pose2_to_pose3_retreat,0.583624818228,0.00992793477513,1.05004237414,0.554196608367,0.0186023886831,1.04966576082
+376,6.266666667,pose2_to_pose3_retreat,0.583550711166,0.00992780922629,1.05004238349,0.554122503862,0.0186022716523,1.04966576648
+377,6.283333333,pose2_to_pose3_retreat,0.583485994631,0.00992788462788,1.05004235378,0.554057787729,0.0186023488526,1.04966574672
+378,6.300000000,pose2_to_pose3_retreat,0.583431219821,0.0099277794111,1.05004254384,0.554003011005,0.018602236268,1.0496659166
+379,6.316666667,pose2_to_pose3_retreat,0.583384874317,0.00992786243394,1.05004251713,0.553956665623,0.0186023200057,1.04966589678
+380,6.333333333,pose2_to_pose3_retreat,0.583346727949,0.00992799169842,1.05004226773,0.553918517114,0.018602442342,1.04966565513
+381,6.350000000,pose2_to_pose3_retreat,0.583317744998,0.00992792001621,1.05004258735,0.553889535158,0.0186023736173,1.04966596512
+382,6.366666667,pose2_to_pose3_retreat,0.583296238164,0.00992788941943,1.05004244581,0.553868028383,0.0186023435117,1.04966583024
+383,6.383333333,pose2_to_pose3_retreat,0.583280456238,0.00992787754305,1.05004232418,0.553852247134,0.0186023338324,1.04966570637
+384,6.400000000,pose2_to_pose3_retreat,0.583268996852,0.00992789185327,1.05004226785,0.553840788148,0.0186023495379,1.04966565094
+385,6.416666667,pose2_to_pose3_retreat,0.583261354152,0.00992792821294,1.05004221769,0.553833145069,0.018602385061,1.04966561119
+386,6.433333333,pose2_to_pose3_retreat,0.583255626125,0.00992786713345,1.05004233221,0.553827418011,0.0186023271059,1.04966572201
+387,6.450000000,pose2_to_pose3_retreat,0.583251668777,0.00992787417121,1.05004236951,0.553823459911,0.0186023315173,1.04966575758
+388,6.466666667,pose2_to_pose3_retreat,0.583249304747,0.00992790853367,1.05004236371,0.553821094771,0.0186023621086,1.0496657517
+389,6.483333333,pose2_to_pose3_retreat,0.58324803086,0.00992799442356,1.05004228147,0.553819820205,0.0186024459061,1.04966567436
+390,6.500000000,pose2_to_pose3_retreat,0.583247554931,0.00992802651238,1.05004225074,0.553819344022,0.0186024772132,1.04966564547
+391,6.516666667,pose2_to_pose3_retreat,0.583247447489,0.00992803375643,1.05004224381,0.553819236523,0.0186024842808,1.04966563894
+392,6.533333333,pose2_to_pose3_retreat,0.583247180724,0.00992805174264,1.05004222658,0.553818969616,0.0186025018288,1.04966562275
+393,6.550000000,pose2_to_pose3_retreat,0.583246972108,0.00992806580832,1.05004221312,0.553818760888,0.0186025155519,1.04966561008
+394,6.566666667,pose2_to_pose3_retreat,0.583246844207,0.00992807352999,1.05004220603,0.553818632929,0.0186025230942,1.04966560345
+395,6.583333333,pose2_to_pose3_retreat,0.58324683492,0.00992807173383,1.05004220858,0.553818623663,0.0186025213655,1.04966560594
+396,6.600000000,pose2_to_pose3_retreat,0.583246731128,0.0099280516589,1.05004223705,0.553818520102,0.0186025020445,1.04966563368
+397,6.616666667,pose2_to_pose3_retreat,0.583246630368,0.00992803217051,1.05004226468,0.553818419567,0.018602483288,1.04966566061
+398,6.633333333,pose2_to_pose3_retreat,0.583246612011,0.00992802861995,1.05004226972,0.55381840125,0.0186024798708,1.04966566552
+399,6.650000000,pose2_to_pose3_retreat,0.583246574277,0.00992802132164,1.05004228007,0.5538183636,0.0186024728466,1.0496656756
+400,6.666666667,pose2_to_pose3_retreat,0.583246405085,0.00992798859756,1.05004232647,0.553818194786,0.0186024413514,1.04966572083
+401,6.683333333,pose2_to_pose3_retreat,0.583246306839,0.00992796959525,1.05004235342,0.553818096758,0.0186024230628,1.04966574709
+402,6.700000000,pose2_to_pose3_retreat,0.583246185887,0.00992794620139,1.05004238659,0.553817976076,0.0186024005475,1.04966577942
+403,6.716666667,pose2_to_pose3_retreat,0.583246067504,0.00992792330455,1.05004241906,0.553817857957,0.0186023785105,1.04966581106
+404,6.733333333,pose2_to_pose3_retreat,0.583245993629,0.00992790901597,1.05004243933,0.553817784246,0.0186023647585,1.04966583081
+405,6.750000000,pose2_to_pose3_retreat,0.583245971766,0.00992790478732,1.05004244532,0.553817762432,0.0186023606887,1.04966583665
+406,6.766666667,pose2_to_pose3_retreat,0.583245918435,0.00992789447233,1.05004245995,0.55381770922,0.0186023507611,1.04966585091
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+408,6.800000000,pose2_to_pose3_retreat,0.583245534611,0.00992803391301,1.05004250958,0.55381732366,0.0186024839838,1.04966589299
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40d9dcc35c1d4d5c483ebe5ceba880519efaa63f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625bfe244a6ea8b317d7efaf40dfbec4e815f1eb35966ffb8b11446ea60bc112
+size 26041675
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31a322ba2840b359fe9ac36a3d647bb3a45bd422
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+30,0.500000000,BASELINE,765,745,715,679.414088337,662,634,878,785,810,653,629,652.414088337,0.400959416499,0.00453697395032,0.0598367721015,0.999999961735,5.39071879782e-05,-0.00027078913488,1.7243335295e-05,1793248285181062656
+31,0.516666667,BASELINE,765,745,715,679.987960428,662,634,878,785,810,653,629,652.987960428,0.400960097935,0.00453814836919,0.0598375519564,0.999999961995,5.5727663469e-05,-0.0002694722301,1.70237728767e-05,1793248285197729280
+32,0.533333333,BASELINE,765,745,715.556895691,679.443104309,662,634,878,785,810,653,628.443104309,652.443104309,0.400962320125,0.00453799818421,0.0598388693967,0.99999996277,5.39113228829e-05,-0.000266958053937,1.69291788721e-05,1793248285214395904
+33,0.550000000,BASELINE,765.132876256,744.867123744,715.867123744,679,661.867123744,634,877.867123744,785,810,652.867123744,628,652.132876256,0.400963722715,0.00453775299875,0.0598397174602,0.999999963268,5.24618072629e-05,-0.000265378022923,1.69114727805e-05,1793248285231062784
+34,0.566666667,BASELINE,765.734059919,744.265940081,715.265940081,679,661.265940081,634,877.265940081,785,810,652.265940081,628,652.734059919,0.400962120349,0.00453727303488,0.0598388706573,0.999999962778,5.25797940559e-05,-0.000267180705215,1.71553113283e-05,1793248285247729408
+35,0.583333333,BASELINE,766,744.320589198,715,679.320589198,661,634,877,785,810,652.320589198,628,653,0.400961214432,0.00453718071126,0.0598382315089,0.99999996246,5.28092272176e-05,-0.000268323996628,1.71083848175e-05,1793248285264396032
+36,0.600000000,BASELINE,766,744.895493594,715,679.895493594,661,634,877,785,810,652.895493594,628,653,0.400960860992,0.00453739589265,0.0598377570876,0.999999962282,5.31270679415e-05,-0.000268944210343,1.68308018606e-05,1793248285281062400
+37,0.616666667,BASELINE,765.528602363,745,715,679.528602363,661,634,877.471397637,785,810,653,628,653,0.400960554059,0.00453723084434,0.0598377684578,0.99999996223,5.34466304056e-05,-0.000269066919454,1.69542466285e-05,1793248285297729024
+38,0.633333333,BASELINE,765,745,715,679,661.047379251,634,878,785,810,653,628.047379251,652.952620749,0.400960217053,0.0045370843254,0.0598378442203,0.999999962186,5.37879859639e-05,-0.000269150993753,1.71307874801e-05,1793248285314395648
+39,0.650000000,BASELINE,765,745,715,679,661.621753837,634,878,785,810,653,628.621753837,652.378246163,0.400959430609,0.0045380835049,0.0598374357571,0.99999996192,5.43674898183e-05,-0.000270034736152,1.69069190034e-05,1793248285331062272
+40,0.666666667,BASELINE,765.203211116,745,715,679,661.796788884,634,878,785,810,653,628.796788884,652,0.400959408532,0.00453853528559,0.0598372649675,0.999999961854,5.45421206782e-05,-0.00027024791587,1.68012666483e-05,1793248285347729408
+41,0.683333333,BASELINE,765.798327784,745,715,679,661.201672216,634,878,785,810,653,628.201672216,652,0.400960860583,0.00453793137284,0.0598375525465,0.999999962177,5.39359282051e-05,-0.000269167872792,1.69236016089e-05,1793248285364396800
+42,0.700000000,BASELINE,765.620697352,745,715,679.379302648,661.379302648,634,878.379302648,785,810,653,628,652.379302648,0.400961686722,0.00453699569324,0.0598383701786,0.999999962533,5.27483491286e-05,-0.000268072782792,1.69756748294e-05,1793248285381063424
+43,0.716666667,BASELINE,765.046971327,745,715,679.953028673,661.953028673,634,878.953028673,785,810,653,628,652.953028673,0.400962192032,0.00453588995622,0.0598394595058,0.999999962905,5.12627622742e-05,-0.000266969980058,1.69917332046e-05,1793248285397729792
+44,0.733333333,BASELINE,765,745,715,680,661.470291392,634,878.470291392,785,810,653,628,652.470291392,0.400962200475,0.00453664807818,0.0598395938418,0.999999962972,5.12322940454e-05,-0.000266725984548,1.69685421633e-05,1793248285414396160
+45,0.750000000,BASELINE,765.109321402,745,715,680,661,634,878,785,810,653,628,652.109321402,0.400962066567,0.00453722603489,0.0598396084876,0.999999962966,5.15586641464e-05,-0.000266685278835,1.70148645034e-05,1793248285431062784
+46,0.766666667,BASELINE,765.700705229,745,715,680,661,634,878,785,810,653,628,652.700705229,0.400961500317,0.00453627665215,0.059839470859,0.999999962752,5.28863800055e-05,-0.000267203307572,1.73831454646e-05,1793248285447729408
+47,0.783333333,BASELINE,765.715361705,745,715.284638295,680,661.284638295,634.284638295,878,785,810,652.715361705,628.284638295,652.715361705,0.400961312407,0.00453612305264,0.0598392423129,0.999999962681,5.27442241436e-05,-0.000267491749649,1.74349503216e-05,1793248285464396032
+48,0.800000000,BASELINE,765.139063136,745,715.860936864,680,661.860936864,634.860936864,878,785,810,652.139063136,628.860936864,652.139063136,0.400961512169,0.00453678486808,0.0598389206062,0.999999962757,5.10959352336e-05,-0.000267544941265,1.71624717067e-05,1793248285481062656
+49,0.816666667,BASELINE,765,745,715.564020757,679.564020757,661.564020757,634.564020757,877.564020757,785,810,652.435979243,629,652,0.400960979486,0.00453720546334,0.0598383203485,0.999999962556,5.15277190448e-05,-0.000268218811738,1.70983437688e-05,1793248285497729280
+50,0.833333333,BASELINE,765,745,715,679.010636862,661.010636862,634,877.010636862,785,810,652.989363138,628.989363138,652.010636862,0.40096024003,0.00453755080958,0.0598376493152,0.999999962274,5.26200172863e-05,-0.000269055470966,1.70980925675e-05,1793248285514395904
+51,0.850000000,BASELINE,765,745,715,679.586080808,661.586080808,634,877.586080808,785,810,652.413919192,628.413919192,652.586080808,0.400960890869,0.00453797428077,0.0598379243938,0.99999996249,5.36563192423e-05,-0.000268053911985,1.69709671041e-05,1793248285531062272
+52,0.866666667,BASELINE,765,745,715,679.832910985,661.832910985,634,878,785.167089015,810,652.167089015,628,652.832910985,0.400960894085,0.00453782791601,0.0598380029701,0.999999962533,5.41706374346e-05,-0.00026779137901,1.69273885585e-05,1793248285547728640
+53,0.883333333,BASELINE,765,745,715,679.23764398,661.23764398,634,878,785.76235602,810,652.76235602,628,652.23764398,0.400959237717,0.00453622130435,0.0598375779947,0.999999962137,5.33473334601e-05,-0.000269422655038,1.70979051932e-05,1793248285564395520
+54,0.900000000,BASELINE,765.345054066,745,715,679,661,634,878,785.654945934,809.654945934,652.654945934,628.345054066,652,0.400960178916,0.00453638348001,0.0598385761758,0.999999962462,5.36096183915e-05,-0.000268155366487,1.71564755226e-05,1793248285581062144
+55,0.916666667,BASELINE,765.919399892,745,715,679,661,634,878,785.080600108,809.080600108,652.080600108,628.919399892,652,0.400962846224,0.00453772103201,0.0598405200581,0.99999996326,5.45932876721e-05,-0.0002649619537,1.71406564437e-05,1793248285597728768
+56,0.933333333,BASELINE,765.506129991,745,715,679,661,634,878,785,809.493870009,652.493870009,628.506129991,652,0.400962136784,0.00453751687466,0.0598394365072,0.999999962868,5.38714929732e-05,-0.000266602829759,1.68948389674e-05,1793248285614395392
+57,0.950000000,BASELINE,765,745.070470888,715.070470888,679.070470888,661,634,878,785,810,653,628,652,0.400961167365,0.00453708596928,0.0598381438651,0.999999962399,5.29861894963e-05,-0.000268543378028,1.66815817769e-05,1793248285631062016
+58,0.966666667,BASELINE,765,745.662697081,715.662697081,679.662697081,661,634,878,785,810,653,628,652,0.400962354304,0.00453683959666,0.0598389621583,0.999999962847,5.29515495424e-05,-0.000266859837482,1.69873763613e-05,1793248285647728640
+59,0.983333333,BASELINE,765.249010098,745.750989902,715.750989902,679.750989902,661,634,877.750989902,785,810,653,628.249010098,652.249010098,0.400962754024,0.00453718278737,0.0598394291363,0.999999962973,5.38713271096e-05,-0.000266192153931,1.71116640893e-05,1793248285664395520
+60,1.000000000,BASELINE,765.82749915,745.17250085,715.17250085,679.17250085,661,634,877.17250085,785,810,653,628.82749915,652.82749915,0.40096211213,0.0045383060617,0.05983943127,0.999999962675,5.60539469751e-05,-0.000266868606397,1.69957901578e-05,1793248285681062144
+61,1.016666667,BASELINE,765.597008315,745,715,679,661,634,877.402991685,785,810,653,628.597008315,652.597008315,0.400962418547,0.00453777927331,0.0598396745094,0.999999962801,5.49117535429e-05,-0.000266639352531,1.69364700888e-05,1793248285697728768
+62,1.033333333,BASELINE,765.022789008,745,715,679,661,634,877.977210992,785,810,653,628.022789008,652.022789008,0.400963127893,0.00453655138772,0.0598400201924,0.999999963102,5.23568760571e-05,-0.000266025271972,1.69011792651e-05,1793248285714395392
+63,1.050000000,BASELINE,765,745,715,679,661.562457419,633.437542581,878,785,810,652.437542581,628,652,0.400961640118,0.00453658523074,0.0598390628292,0.99999996267,5.24827567856e-05,-0.000267596110177,1.72654747107e-05,1793248285731062016
+64,1.066666667,BASELINE,765,745,715,679.147463936,661.852536064,633.147463936,878.147463936,785,810,652,628.147463936,652,0.400960634252,0.00453688784874,0.0598384892295,0.999999962399,5.30808852667e-05,-0.000268471429548,1.75137528879e-05,1793248285747728896
+65,1.083333333,BASELINE,765,745,715,679.730416103,661.269583897,633.730416103,878.730416103,785,810,652,628.730416103,652,0.400961319701,0.00453783021932,0.0598392079871,0.999999962699,5.47464713373e-05,-0.000267026091557,1.73706425167e-05,1793248285764395520
+66,1.100000000,BASELINE,765,745,715,679.690390731,661.309609269,634,878.380781463,785,810,652.309609269,628.690390731,652.309609269,0.400961113648,0.00453782277158,0.0598391826705,0.999999962542,5.50815711394e-05,-0.000267541809724,1.7423403909e-05,1793248285781062144
+67,1.116666667,BASELINE,765,745,715,679.114431382,661.885568618,634,877.228862765,785,810,652.885568618,628.114431382,652.885568618,0.400960140654,0.00453699821586,0.0598385172431,0.999999961991,5.42720826273e-05,-0.000269744581675,1.76446695012e-05,1793248285797728768
+68,1.133333333,BASELINE,765,745,715,679.459952325,661.540047675,634,877.459952325,785,810,653,628,652.540047675,0.400961160878,0.00453628457332,0.0598390866142,0.999999962381,5.41958021674e-05,-0.000268318068198,1.75233977948e-05,1793248285814395648
+69,1.150000000,BASELINE,765,745,715,679.965922766,661.034077234,634,877.965922766,785,810,653,628.034077234,652,0.400962498697,0.00453571515078,0.0598398696888,0.999999962939,5.43372041922e-05,-0.000266211149073,1.73268028724e-05,1793248285831062272
+70,1.166666667,BASELINE,765,745,715,679.389700648,661.610299352,634,877.389700648,785,810,653,628.610299352,652,0.400961026867,0.00453700266475,0.0598391819009,0.999999962532,5.50496013282e-05,-0.000267595376685,1.72830263073e-05,1793248285847728896
+71,1.183333333,BASELINE,765,745,715,679,662,634,877,785,810,653,628.808969952,652,0.400960330484,0.00453764356246,0.0598388198947,0.999999962401,5.55393447435e-05,-0.000267988270685,1.72118729492e-05,1793248285864396032
+72,1.200000000,BASELINE,765,745,715,679,662,634,877,785,810,653,628.218819343,652,0.400961254251,0.00453693348004,0.0598391385464,0.99999996285,5.55638961481e-05,-0.000266309963944,1.70835210377e-05,1793248285881063424
+73,1.216666667,BASELINE,765.366956626,745,715,679.366956626,662,634,877.366956626,785,810,653,628,652,0.400960921325,0.00453738822572,0.0598384795478,0.99999996255,5.63574261658e-05,-0.000267268481519,1.70961810517e-05,1793248285897730048
+74,1.233333333,BASELINE,765.950154657,745,715,679.950154657,662,634,877.950154657,785,810,653,628,652,0.40095984785,0.00453852938518,0.0598372444362,0.999999961802,5.76041024245e-05,-0.000269780835688,1.7191937044e-05,1793248285914396416
+75,1.250000000,BASELINE,766,745.520497527,715,679.479502473,661.479502473,634,878,785,810,653,628.520497527,652.520497527,0.400960504392,0.00453812849437,0.059838185494,0.999999962245,5.53057387765e-05,-0.000268628915222,1.70090987839e-05,1793248285931063296
+76,1.266666667,BASELINE,765.907118655,745.907118655,715.092881345,679,661,634,878,785,810,653,628.907118655,653,0.400961308295,0.00453734267353,0.0598391038188,0.999999962716,5.29459457497e-05,-0.000267356804274,1.69038030421e-05,1793248285947729920
+77,1.283333333,BASELINE,765.317390686,745.317390686,715.682609314,679,661,634,878,785,810,653,628.317390686,653,0.400962035586,0.00453526866904,0.0598388126195,0.999999962778,5.2029801346e-05,-0.000267273621703,1.73525784726e-05,1793248285964396800
+78,1.300000000,BASELINE,765,745,715.732399563,679.267600437,661.267600437,634,878,785,810,653,628,653,0.400962368543,0.00453599604249,0.0598390041427,0.999999962733,5.41172660112e-05,-0.000267021585914,1.74525641995e-05,1793248285981063168
+79,1.316666667,BASELINE,765,745,715.152928954,679.847071046,661.847071046,634,878,785,810,653,628,653,0.400962241931,0.00453998823221,0.0598397582464,0.99999996254,5.97052335208e-05,-0.000266572763144,1.71460591367e-05,1793248285997729792
+80,1.333333333,BASELINE,765.423925481,745,715.423925481,680,662,634,878,785.423925481,810,653,628,652.576074519,0.400961671147,0.00453921181605,0.0598401226386,0.999999962577,5.91256052785e-05,-0.000266561472218,1.72046934589e-05,1793248286014396416
+81,1.350000000,BASELINE,765.99984198,745,715.99984198,680,662,634,878,785.99984198,810,653,628,652.00015802,0.400960941114,0.00453672570053,0.0598403473066,0.999999962696,5.63346946026e-05,-0.000266707050597,1.73942420549e-05,1793248286031063040
+82,1.366666667,BASELINE,765.424055877,745,715.424055877,680,661.424055877,634,878,785.424055877,809.424055877,653,628,652,0.400959669772,0.00453731601113,0.0598394893011,0.999999962312,5.75379508733e-05,-0.000267871219327,1.75992145009e-05,1793248286047729664
+83,1.383333333,BASELINE,765,745,715,679.84435739,661,634,878,785,809.15564261,653,628.15564261,652.15564261,0.400959041033,0.00453762014553,0.0598388052104,0.999999962071,5.8036451889e-05,-0.000268660281406,1.76366849831e-05,1793248286064396032
+84,1.400000000,BASELINE,765,745,715,679.254628739,661,634,878,785,809.745371261,653,628.745371261,652.745371261,0.400960204921,0.00453712378194,0.059838606995,0.999999962232,5.65663388421e-05,-0.0002684023945,1.72069820164e-05,1793248286081062912
+85,1.416666667,BASELINE,765.326721998,745,715.326721998,679,661.326721998,634.326721998,878,785,810,653,628.673278002,653,0.400960960614,0.00453771010548,0.0598390418058,0.999999962463,5.63371856606e-05,-0.000267594540999,1.70999227609e-05,1793248286097729536
+86,1.433333333,BASELINE,765.901706666,745,715.901706666,679,661.901706666,634.901706666,878,785,810,653,628.098293334,653,0.400961406138,0.00453911911865,0.0598399576271,0.999999962748,5.70509871597e-05,-0.000266368790416,1.7238027277e-05,1793248286114396160
+87,1.450000000,BASELINE,765.53044288,745,716,679.46955712,661.53044288,634.53044288,878,785,810,653,628.46955712,652.53044288,0.40095979679,0.00453794498614,0.0598387421651,0.999999962231,5.68344219481e-05,-0.000268351204186,1.71877564479e-05,1793248286131062784
+88,1.466666667,BASELINE,765,745,715.961879652,679.961879652,661.038120348,634,878,785.038120348,810,653,629,652,0.400957964663,0.00453630730836,0.0598372256026,0.999999961601,5.64060587782e-05,-0.000270781344859,1.71246409995e-05,1793248286147729408
+89,1.483333333,BASELINE,765,745,715.361081624,679.361081624,661.638918376,634,878,785.638918376,810,653,629,652,0.400959098427,0.00453568954204,0.0598377514326,0.999999961832,5.56831167011e-05,-0.000270055770198,1.74452736955e-05,1793248286164395776
+90,1.500000000,BASELINE,765,745,715,679,661.769894793,634,878,785.769894793,810,653,629,652.230105207,0.400961006735,0.00453579311837,0.0598390309472,0.999999962489,5.49854351775e-05,-0.000267753522887,1.75345013927e-05,1793248286181062400
+91,1.516666667,BASELINE,765,745,715,679,661.193185231,634,878,785.193185231,810,653,629,652.806814769,0.40096408173,0.0045369832434,0.0598414457266,0.999999963771,5.43258033478e-05,-0.000263076354999,1.72751668479e-05,1793248286197729280
+92,1.533333333,BASELINE,765,745,715,679.383819031,661.383819031,634,878,785,810,653,629,652.616180969,0.400964929271,0.00453776025489,0.0598420694519,0.999999964058,5.54112234348e-05,-0.000261760385546,1.71593918434e-05,1793248286214395904
+93,1.550000000,BASELINE,765,745,715,679.960971789,661.960971789,634,878,785,810,653,629,652.039028211,0.40096465482,0.0045383291768,0.0598417910044,0.99999996385,5.73756446653e-05,-0.000262137487059,1.71159292824e-05,1793248286231062528
+94,1.566666667,BASELINE,765.536995693,745.536995693,715,679.463004307,662,634,878,785.536995693,810,653,629,652.536995693,0.400963038816,0.00453725737089,0.0598403585981,0.999999963203,5.55651293473e-05,-0.000264977558999,1.71261200052e-05,1793248286247729408
+95,1.583333333,BASELINE,766,745.883424166,715,679.116575834,661.883424166,634,878,785.883424166,810,653,628.883424166,652.883424166,0.40096158677,0.0045364587488,0.0598390523392,0.999999962602,5.41063904138e-05,-0.000267530930967,1.71888327359e-05,1793248286264395776
+96,1.600000000,BASELINE,766,745.288928902,715,679.711071098,661.288928902,634,878,785.288928902,810,653,628.288928902,652.288928902,0.400961205778,0.00453726792406,0.0598386063483,0.999999962364,5.52122191556e-05,-0.000268176615514,1.74509141598e-05,1793248286281062400
+97,1.616666667,BASELINE,766,745,715,680,661.295751716,634,878,785,810,653,628,652,0.400961434719,0.00453746512091,0.0598388761522,0.999999962484,5.56554416996e-05,-0.000267633518857,1.7492266643e-05,1793248286297729024
+98,1.633333333,BASELINE,766,745,715,680,661.871152039,634,878,785,810,653,628,652,0.400962240383,0.00453708366034,0.0598398227774,0.999999962942,5.54721356035e-05,-0.000265966367795,1.73249084327e-05,1793248286314395648
+99,1.650000000,BASELINE,766,745.443435981,715,679.556564019,662,634,877.556564019,785,810,653,628,652,0.400962253142,0.00453691327332,0.0598399621625,0.999999963016,5.42264747127e-05,-0.000265962472327,1.70925783583e-05,1793248286331062272
+100,1.666666667,BASELINE,765.984559732,745.984559732,715.015440268,679.015440268,662,634,877.015440268,785,810,653,628.015440268,652.015440268,0.400962045903,0.00453680339024,0.0598398743548,0.999999962979,5.27184089886e-05,-0.000266419729416,1.68545376811e-05,1793248286347728896
+101,1.683333333,BASELINE,765.389289304,745.389289304,715.610710696,679.610710696,662,634,877.610710696,785,810,653,628.610710696,652.610710696,0.4009621686,0.00453667851992,0.0598400016422,0.999999963032,5.28674263858e-05,-0.000266172405761,1.71060520965e-05,1793248286364396032
+102,1.700000000,BASELINE,765.200288245,745,715.799711755,679.799711755,661.799711755,634,877.799711755,785,810,653,629,653,0.400961749166,0.00453710738174,0.0598397177375,0.99999996289,5.39406007314e-05,-0.000266481896701,1.72397968961e-05,1793248286381062912
+103,1.716666667,BASELINE,765.779106598,745,715.220893402,679.220893402,661.220893402,634,877.220893402,785,810,653,629,653,0.400960305143,0.00453858275675,0.0598386567098,0.999999962372,5.67603639869e-05,-0.00026784372646,1.71509657212e-05,1793248286397730048
+104,1.733333333,BASELINE,766,745,715,679.355170407,661.355170407,634,877.355170407,785,810,653,629,652.644829593,0.40096004503,0.00453894876759,0.0598384048099,0.999999962162,5.79142765453e-05,-0.000268386742924,1.70726145989e-05,1793248286414396928
+105,1.750000000,BASELINE,766,745,715,679.929534304,661.929534304,634,877.929534304,785,810,653,629,652.070465696,0.400960515567,0.00453863013424,0.0598386522632,0.999999962145,5.80401092739e-05,-0.000268424428729,1.70007312347e-05,1793248286431063552
+106,1.766666667,BASELINE,765.495512862,745,715.504487138,679.495512862,662,634,878,785.504487138,810,653,629,652.504487138,0.400960683958,0.00453793590251,0.0598387229334,0.999999962258,5.70120292053e-05,-0.000268219859785,1.70615427174e-05,1793248286447729920
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810,653,629,652,0.400957115598,0.00453845809478,0.0598361426051,0.999999961096,5.76038989977e-05,-0.000272401910619,1.69435400609e-05,1793248286490371840
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.5795316,745.5795316,715,679.4204684,662,634,878,785.5795316,810,653,629,652,0.400958459707,0.00453850215785,0.0598372898005,0.999999961565,5.68524869045e-05,-0.000270817304265,1.71817379467e-05,1793248286507038464
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.84212785,715,679,662,634,877.84212785,785.84212785,810,653,628.84212785,652.15787215,0.400959960825,0.00453820538868,0.0598383584949,0.999999962129,5.57959051171e-05,-0.0002689404913,1.72926986287e-05,1793248286523705088
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.266935604,715,679,662,634,877.266935604,785.266935604,810,653,628.266935604,652.733064396,0.400961876983,0.00453700766173,0.0598392196799,0.999999962944,5.39326359421e-05,-0.000266291257452,1.70673198486e-05,1793248286540371712
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.692796545,745,715,679.307203455,661.692796545,634,877,785.307203455,810,653,628,653,0.4009617673,0.00453724968888,0.059839167291,0.999999962913,5.40193503272e-05,-0.000266405200322,1.68376082353e-05,1793248286557038592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.119569531,745,715,679.880430469,661.119569531,634,877,785.880430469,810,653,628,653,0.400959903337,0.00453873847457,0.0598383237907,0.999999962149,5.57946576999e-05,-0.000268911922764,1.66041446083e-05,1793248286573705472
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.472509326,745,715,680,661,634,877.472509326,785.527490674,810,653,628.472509326,653,0.40095914868,0.00453710853593,0.059837834106,0.999999961973,5.46041183271e-05,-0.000269782498093,1.69940508559e-05,1793248286590372096
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.066887905,680,661.066887905,634,878,785.066887905,810,653,629,652.933112095,0.400959241823,0.00453524546581,0.0598378030028,0.999999962075,5.32012695907e-05,-0.000269658665354,1.74533950079e-05,1793248286607038464
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.641025794,680,661.641025794,634,878,785.641025794,810,653,629,652.358974206,0.40096354707,0.00453784809464,0.0598405423879,0.999999963095,5.61164561236e-05,-0.000265263968892,1.71933426221e-05,1793248286623705088
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.784123928,745,716,680,662,634,878,785.784123928,810,653,629,652,0.400970727789,0.00453893944329,0.0598445420831,0.9999999646,5.76030604378e-05,-0.000259197492667,1.72988521705e-05,1793248286640371456
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.208085172,745,716,680,662,634,878,785.208085172,810,653,629,652,0.400982705879,0.00453750940654,0.0598506444504,0.999999966894,5.67062506816e-05,-0.000250341857899,1.80142568831e-05,1793248286657038080
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715.624571391,680,662,634,878,785,810,653,629,652,0.401012097578,0.00453601491214,0.0598618264708,0.999999971871,5.4890775788e-05,-0.000230032082443,1.81480852362e-05,1793248286673706752
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.036830279,680,662,634,878,785,810,653,629,652,0.401051337028,0.00453448396549,0.0598758811386,0.999999977804,5.25557769844e-05,-0.000203244756817,1.79530204025e-05,1793248286690376448
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.463815781,662,634,877.463815781,785,810,653,629,652,0.401114405787,0.00453627568816,0.059894908497,0.999999983398,5.36646465913e-05,-0.000173215805384,1.78790678332e-05,1793248286707040768
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.109046984,661.890953016,634,877.109046984,785,810,653,629,652.109046984,0.401181556767,0.00453756253976,0.0599130691803,0.999999987875,5.42105968202e-05,-0.000144889181468,1.78395543221e-05,1793248286723705344
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.685479355,661.314520645,634,877.685479355,785,810,653,629,652.685479355,0.401259376494,0.0045357333908,0.0599260903462,0.999999990735,5.13570176292e-05,-0.00012478773586,1.79129463112e-05,1793248286740371712
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715.263692325,679.736307675,661.263692325,634,877.736307675,785,810,653,628.736307675,652.736307675,0.401343343151,0.0045347580898,0.059934958612,0.999999992542,4.97170335121e-05,-0.000110144423817,1.76993976369e-05,1793248286757038080
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.844043518,679.155956482,661.844043518,634,877.155956482,785,810,653,628.155956482,652.155956482,0.401434691437,0.00453480814497,0.0599388398049,0.999999993419,4.95344133588e-05,-0.00010205559426,1.71412719814e-05,1793248286773704704
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715.564337751,679,661.564337751,633.564337751,877.871324499,785,810,653,628,652,0.401542956178,0.00453510320809,0.0599429455235,0.999999994382,4.76092599767e-05,-9.32903930993e-05,1.63166447269e-05,1793248286790371584
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.030286567,878.939426865,785,810,653,628,652.030286567,0.401658723268,0.00453550397144,0.0599469712024,0.999999995288,4.50954871138e-05,-8.45911000118e-05,1.53442756763e-05,1793248286807037952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.604526133,877.790947733,785,810,653,628,652.604526133,0.401797585322,0.00453618607722,0.059948077482,0.999999995638,4.35107280464e-05,-8.15395879412e-05,1.34773472035e-05,1793248286823704576
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178764804,745,715,679.178764804,661.178764804,634,877.178764804,785,810,653,628,652.821235196,0.401943832905,0.00453649424024,0.0599480802805,0.999999995954,4.10808727141e-05,-7.91822892398e-05,1.16273582697e-05,1793248286840371456
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.753001417,745,715,679.753001417,661.753001417,634,877.753001417,785,810,653,628,652.246998583,0.402106419078,0.00453597514961,0.0599456419067,0.999999996205,3.67814563523e-05,-7.83607620295e-05,9.81484401901e-06,1793248286857038080
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878,785.337903598,810,653,628,652,0.402291310218,0.00453523555978,0.059947114505,0.99999999691,3.21091744506e-05,-7.132419627e-05,7.90451448926e-06,1793248286873704704
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878,785.930856191,810,653,628,652,0.402493037122,0.00453432953752,0.0599515390975,0.999999997838,2.71554538912e-05,-5.9596531124e-05,5.92035398086e-06,1793248286890371328
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.489180635,745,715,680,662,634,877.489180635,785.489180635,810,653,628.510819365,652.510819365,0.402731176272,0.00453517326852,0.0599529453832,0.999999998325,2.39178155695e-05,-5.25830028362e-05,3.67057123994e-06,1793248286907037952
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.088098213,785,810,653,629,652.911901787,0.40297975084,0.00453582057603,0.059953874601,0.999999998708,2.06102819869e-05,-4.64385943653e-05,1.34745882264e-06,1793248286923704576
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.66005149,785,810,653,629,652.33994851,0.403259240843,0.00453412053831,0.0599543718807,0.999999999009,1.56747338478e-05,-4.1649907469e-05,-1.18582544692e-06,1793248286940371200
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.233738794,745,715,680,661.766261206,634,878,785,810,653,629,652.233738794,0.40354674062,0.0045337079459,0.0599511421465,0.999999998946,1.02405597287e-05,-4.45619711509e-05,-4.18488066192e-06,1793248286957038080
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.809966875,745,715,680,661.190033125,634,878,785,810,653,629,652.809966875,0.40384597682,0.00453518180225,0.0599424513492,0.999999998235,4.07576668071e-06,-5.87576758352e-05,-7.86641361448e-06,1793248286973704704
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,877.601768799,785,810,653,629,652.601768799,0.404162978361,0.00453505878574,0.0599314592106,0.999999996877,-2.22862053904e-06,-7.8235313895e-05,-1.09878225912e-05,1793248286990371328
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,877.007581873,785,810,653,629,652.007581873,0.4044887216,0.00453415000357,0.0599193346623,0.999999994836,-8.60169701353e-06,-0.000100312007252,-1.38336139237e-05,1793248287007037952
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.431900349,745,715,680,661,634,877,785,810,653,629,652.568099651,0.404865573297,0.00453488603665,0.0599089574537,0.999999992735,-1.4904637932e-05,-0.000118265899844,-1.7938898139e-05,1793248287023704832
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.143812111,679.856187889,661.143812111,634,877.143812111,785.143812111,810,653,628.856187889,653,0.405263649543,0.00453487653171,0.059903338775,0.999999991185,-2.26600224834e-05,-0.000128985486405,-2.19070751684e-05,1793248287040371456
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.720337222,679.279662778,661.720337222,634,877.720337222,785.720337222,810,653,628.279662778,653,0.405723600184,0.00453255982776,0.0599119699776,0.999999992098,-3.47883581809e-05,-0.000118098265009,-2.54137313889e-05,1793248287057038080
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.696567134,679,661.696567134,634,878,785.696567134,810,653,628,652.696567134,0.406211111238,0.00453156195155,0.0599320882483,0.999999995043,-4.23188731432e-05,-8.54884407444e-05,-2.8532119588e-05,1793248287073704704
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.107281568,679,661.107281568,634,878,785.107281568,810,653,628,652.107281568,0.406724585973,0.0045318064931,0.059963028055,0.999999997949,-4.55179553342e-05,-3.24145673242e-05,-3.12847354308e-05,1793248287090371328
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.471855565,661.471855565,634,877.528144435,785,810,653,628.471855565,652.471855565,0.407264765257,0.00453006582525,0.0599883410878,0.999999997806,-5.62986548759e-05,6.24262127471e-06,-3.43512387069e-05,1793248287107037952
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048616966,745,715,679.951383034,662.048616966,634,877.048616966,785,810.048616966,653,629,652.951383034,0.407810330951,0.00452814581866,0.0600096036553,0.999999996315,-6.81995020574e-05,3.61964403829e-05,-3.75380723771e-05,1793248287123704832
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.624111302,745,715,679.375888698,662.624111302,634,877.624111302,785,810.624111302,653,629,652.375888698,0.408349857096,0.00452907079324,0.0600005424418,0.999999996392,-7.39520960419e-05,6.60368350105e-06,-4.12718375803e-05,1793248287140371456
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.800179098,745.199820902,715,679.199820902,663,634,878,785,810.800179098,652.800179098,628.800179098,652,0.408911259145,0.00452926111866,0.0599898778157,0.999999995397,-8.15080049181e-05,-2.28004398072e-05,-4.52032333972e-05,1793248287157038080
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.224064154,745.775935846,715,679.775935846,663,634,878,785,810.224064154,652.224064154,628.224064154,652,0.409513856913,0.00452806798462,0.059976193713,0.999999993156,-9.24598377695e-05,-5.18493347749e-05,-4.95067984073e-05,1793248287173704704
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.637842355,715,680,662.637842355,634,878,785,810,652.362157645,628.362157645,652.362157645,0.410156499177,0.00452696622713,0.0599777600121,0.99999999211,-0.000103500949558,-4.56815007445e-05,-5.45984212592e-05,1793248287190371328
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.04518803,715,680,662.04518803,634,878,785,810,652.95481197,628.95481197,652.95481197,0.410824627896,0.00452592262666,0.0599890324908,0.999999991476,-0.000114598882824,-1.70998377186e-05,-6.01916064887e-05,1793248287207037952
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.52828566,745.52828566,715,680,662,634,878,785,810.52828566,653,629,653,0.411511283477,0.00452534366441,0.059992874686,0.999999990137,-0.000124180279428,-6.00075135924e-06,-6.53366747255e-05,1793248287223704576
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.898919588,745.898919588,715,680.101080412,662,634,878.101080412,785,811,653,629,653,0.412198208693,0.00452616073687,0.0599905014116,0.999999991937,-0.000109410691556,-7.47124684031e-06,-6.40212317191e-05,1793248287240371456
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.321867105,745.321867105,715,680.678132895,662,634,878.678132895,785,811,653,629,653,0.412879202538,0.00453337093093,0.0599617483729,0.999999997403,1.94345003987e-05,-6.13350232186e-05,-3.2458404475e-05,1793248287257038080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.74495551,662,634,878.74495551,785,811,652.74495551,629,653,0.413587428553,0.00452676428441,0.05993444169,0.99999999075,7.37575218162e-05,-0.000113268472854,-1.51575133602e-05,1793248287273704448
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.168221541,662,634,878.168221541,785,811,652.168221541,629,653,0.414330002793,0.0045027303569,0.0599089593022,0.999999986047,3.40852032197e-05,-0.000162767195714,-1.58453026869e-05,1793248287290371328
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.421607661,745,715.421607661,680,662,633.578392339,878.421607661,785,811.421607661,652.421607661,629,653,0.415161075244,0.004486605121,0.0599383537035,0.999999994088,2.80358484226e-06,-0.000107005087648,-1.91113157336e-05,1793248287307037696
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715.983749184,680,662.016250816,633.016250816,879,785,811.983749184,653,629,653,0.416027551855,0.00447444110537,0.0599895112853,0.999999999391,-2.39230215983e-05,-9.79499171938e-06,-2.34553500692e-05,1793248287323704576
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.40898817,680,662.59101183,633.59101183,879,785,811.40898817,653,629,653,0.416858336863,0.00448648927824,0.0600119866899,0.999999999269,-1.28515724148e-05,2.22043819834e-05,-2.836074126e-05,1793248287340371200
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785,811,652.834149565,629,653,0.417693348578,0.00449296718061,0.0600230806131,0.999999998726,-5.67633940672e-06,3.86590676297e-05,-3.19709109752e-05,1793248287357037824
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785,811,652.259119568,629,653,0.418538788209,0.00448570233357,0.060006094599,0.999999999302,-8.11369590789e-06,1.6762518351e-05,-3.23855618021e-05,1793248287373704704
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.686243398,634,879.313756602,785,811.313756602,652,629,653,0.419391246249,0.00448448651518,0.0599823900929,0.999999999193,-4.4161399103e-06,-2.0920803199e-05,-3.39985750075e-05,1793248287390371328
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.115133892,634,879.884866108,785,811.884866108,652,629,653,0.420249460966,0.00448823229821,0.059953174872,0.999999996761,4.3134618615e-06,-7.15529242461e-05,-3.65945221501e-05,1793248287407037952
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.520319048,745,715,680.479680952,662.479680952,634,879.520319048,785,812,652,629.479680952,653,0.421085004643,0.00449013044909,0.0599183531018,0.999999990303,1.35923142308e-05,-0.000133468236763,-3.73495504021e-05,1793248287423704576
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633.923238557,879,784.923238557,811.923238557,652.076761443,629.923238557,653,0.421925711838,0.00449084144284,0.0598873808183,0.999999981336,2.164993778e-05,-0.000188251427998,-3.76963182091e-05,1793248287440371200
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633.350208161,879,784.350208161,811.350208161,652.649791839,629.350208161,653,0.422836810156,0.00448689350581,0.059890448117,0.999999983111,2.09155984846e-05,-0.000178505786146,-3.84088277532e-05,1793248287457038080
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.22395571,745.22395571,715,681,663.22395571,633,879,784,811.22395571,652.77604429,629,653,0.423788339178,0.00448562179628,0.0599206562974,0.999999990932,2.13809703765e-05,-0.000126997322091,-3.93676142737e-05,1793248287473704704
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.799901147,745.799901147,715,681,663.799901147,633,879,784,811.799901147,652.200098853,629,653,0.424803413014,0.00448855629543,0.0599935216248,0.999999998841,2.37319201925e-05,-9.85050029549e-06,-4.07134724522e-05,1793248287490371328
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.613451961,715,681,663.613451961,633,879.386548039,784.386548039,812,652,629.386548039,653,0.425787278626,0.00448548281172,0.0600292471096,0.999999997726,1.93747898286e-05,4.97831599935e-05,-4.11584974765e-05,1793248287507038208
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.021107703,715,681,663.021107703,633,879.978892297,784.978892297,812,652,629.978892297,653,0.426754529075,0.00447921070817,0.0600451995258,0.999999995984,1.14463115021e-05,7.87970973649e-05,-4.11239235818e-05,1793248287523704832
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444261378,745,715,681,662.444261378,633,880,784.444261378,812.555738622,652,630,653,0.427688410642,0.00447866005291,0.0600226190005,0.999999996679,-4.69795288541e-05,5.0778540453e-05,-4.30891354866e-05,1793248287540371200
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.131656578,633.131656578,880.131656578,784.131656578,813,652.131656578,630,653,0.428605697902,0.00447921552943,0.059995902129,0.99999999488,-8.95513542035e-05,1.44285601608e-05,-4.485780924e-05,1793248287557038080
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.706377443,633.706377443,880.706377443,784.706377443,813,652.706377443,630,653,0.429471289689,0.00448278200706,0.0599600568087,0.999999995409,-7.24902157537e-05,-4.2867136944e-05,-4.57163976206e-05,1793248287573704704
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.288699379,680.711300621,662.711300621,634,880.711300621,785,813,652.711300621,630,653,0.430370521499,0.00448270156262,0.059933852287,0.999999993369,-6.21541267474e-05,-8.51628020874e-05,-4.63222236219e-05,1793248287590371328
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715.878961011,680.121038989,662.121038989,634,880.121038989,785,813,652.121038989,630,653,0.431304892093,0.00447881170889,0.0599177181078,0.999999990931,-5.88427200608e-05,-0.000111790111908,-4.6664025577e-05,1793248287607037952
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,716,680.46022679,662.92045358,633.53977321,880,784.53977321,813,652.46022679,630,653,0.432298698764,0.00447652907123,0.0599565322082,0.999999996046,-6.00025245482e-05,-4.43947178038e-05,-4.83439145331e-05,1793248287623704832
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,716,681,664,633.038897293,880,784,813,652.961102707,630,653,0.43330189787,0.00447442691499,0.0600059608541,0.999999995992,-6.1905893457e-05,4.08383134619e-05,-5.0168337847e-05,1793248287640371200
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,716,681,664,633.613781442,880,784,813,652.386218558,630,653,0.434223252576,0.00446909882838,0.0600063381994,0.999999996388,-5.81622284672e-05,3.76600264656e-05,-4.92281226149e-05,1793248287657037824
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.188624431,745,715.811375569,681,663.622751138,633.811375569,880,784,813.188624431,652,630,653,0.435130416681,0.004464922884,0.0599976526193,0.999999997039,-5.61315293538e-05,1.90082968015e-05,-4.90834699786e-05,1793248287673704704
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.763383265,745,715.236616735,681,662.47323347,633.236616735,880,784,813.763383265,652,630,653,0.436008531277,0.00446310549709,0.0599704142608,0.999999996572,-5.76074539964e-05,-3.13192271637e-05,-5.05674188934e-05,1793248287690371328
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.651683912,745,715,681,662.348316088,633,880.348316088,784,814,652,630,653,0.436873901548,0.00446384356775,0.0599440038908,0.999999994416,-5.09418541777e-05,-7.71709811906e-05,-5.11583546768e-05,1793248287707037952
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059631821,745,715,681,662.940368179,633,880.940368179,784,814,652,630,653,0.437730353859,0.00446636983329,0.0599181729116,0.999999990762,-3.85791799798e-05,-0.000119890788743,-5.11243997498e-05,1793248287723704576
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.480222593,633,880.480222593,784,813.480222593,652,630,653,0.43857209137,0.00446342111595,0.0599023075146,0.999999986117,-3.8278479854e-05,-0.000153902450125,-5.11392386187e-05,1793248287740371200
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096203158,745,715,681,662.096203158,633,880.096203158,784,813,652,630,653,0.439425178155,0.00445950780445,0.0598995931845,0.999999984227,-4.02022864169e-05,-0.000165231191727,-5.12612161628e-05,1793248287757037824
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.664929968,745,715,681,662.664929968,633,880.664929968,784,813,652,630,653,0.440342104365,0.00445386856932,0.0599559910359,0.999999995131,-4.64167251687e-05,-6.99381499948e-05,-5.18825871095e-05,1793248287773704448
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.768278735,745,715,681,663,633,880.768278735,784,813.46344253,652,630,653,0.441225897938,0.00445135735985,0.0599955711687,0.999999997453,-4.80177943668e-05,-5.5859470686e-06,-5.24991146069e-05,1793248287790371328
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.204263065,745,715,681,663,633,880.204263065,784,814.59147387,652,630,653,0.442062178359,0.00445333182217,0.0600110342447,0.999999997561,-4.30031698973e-05,1.43962682323e-05,-5.3108696941e-05,1793248287807038208
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.609666604,633,880,784,814.609666604,652,630,653,0.442854793786,0.00444791626552,0.0599984190842,0.999999997557,-4.51043705569e-05,-9.16872897049e-07,-5.33894222349e-05,1793248287823704576
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.002159037,662.002159037,633,880,784.002159037,814.002159037,652,630.002159037,652.997840963,0.443622535949,0.00443834648707,0.0599699556715,0.999999996606,-5.11916273215e-05,-3.61657452401e-05,-5.34810578784e-05,1793248287840371456
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.57828937,662.57828937,633,880,784.57828937,814.57828937,652,630.57828937,652.42171063,0.444368772308,0.00443987316507,0.059966541503,0.999999996728,-4.28642786563e-05,-4.36237411571e-05,-5.29429933682e-05,1793248287857038080
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.846189361,663,633,880,784.846189361,815,652,630.846189361,652.153810639,0.445097466807,0.0044404519144,0.0599617149364,0.999999996324,-3.67605408692e-05,-5.69371909662e-05,-5.25319516637e-05,1793248287873704704
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.272331279,663,633,880,784.272331279,815,652,630.272331279,652.727668721,0.445778255727,0.00443844192892,0.0599530311963,0.99999999423,-3.67293464386e-05,-8.62415286711e-05,-5.2467801334e-05,1793248287890371328
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.302644746,745,715,681,662.697355254,633,880,784,815,652,630,652.697355254,0.446446001777,0.00443514992766,0.059938692595,0.999999991556,-3.96171694495e-05,-0.000111621967341,-5.34689887017e-05,1793248287907037952
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.878630434,745,715,681,662.121369566,633,880,784,815,652,630,652.121369566,0.447101967801,0.00443070004288,0.0599192466692,0.999999988539,-4.51413738714e-05,-0.000133458439675,-5.54323616638e-05,1793248287923704832
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.53067643,745,715,681,662,633,880,784,815,652,630.46932357,652.46932357,0.447791887283,0.00442725253227,0.0599375157659,0.999999992243,-5.12268952455e-05,-9.83606663343e-05,-5.67006988187e-05,1793248287940371456
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059177826,745,715,681.059177826,662.059177826,633,880.059177826,784,815,652,631,653,0.448479389193,0.00442398050914,0.0599636679226,0.999999995308,-5.74219524859e-05,-5.24304503383e-05,-5.77805015641e-05,1793248287957038080
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.609483589,745,715,681.609483589,662.609483589,633,880.609483589,784,815,652,631,653,0.449071598394,0.00441994398217,0.0599716798992,0.999999995353,-6.32823895614e-05,-4.27459476993e-05,-5.88355768547e-05,1793248287973704704
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.826349318,662.826349318,632.826349318,880.826349318,784,814.826349318,652,630.826349318,653,0.449636853107,0.00441734685743,0.0599659233972,0.99999999445,-6.75846048547e-05,-5.38131313709e-05,-6.030616271e-05,1793248287990371328
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.228305981,662.228305981,632.228305981,880.228305981,784,814.228305981,652,630.228305981,653,0.450136232453,0.00441826755266,0.0599265174947,0.99999998903,-6.8078611373e-05,-0.000115596288851,-6.27922330956e-05,1793248288007037952
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.631923884,632,880,784,814.368076116,652,630,653,0.450618010357,0.00441746459599,0.0598932294887,0.99999998213,-6.99026566893e-05,-0.000163253042728,-6.48217763388e-05,1793248288023704832
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661.036567514,632,880,784,814.963432486,652,630,653,0.45108891974,0.00441559731596,0.0598637191679,0.999999974713,-7.25479766574e-05,-0.000202187007325,-6.65694227045e-05,1793248288040371456
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.542735054,661,632,880,784,815,652,630.542735054,653,0.451567618189,0.00441444962537,0.059865173269,0.999999975686,-7.44724297757e-05,-0.000196239771722,-6.76220406027e-05,1793248288057038080
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.879715636,745,715,681.879715636,661,632,880,784,815,652,631,653,0.452037086093,0.00441326175473,0.0598712111934,0.999999977821,-7.60895398067e-05,-0.000184060084651,-6.84819507339e-05,1793248288073704704
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.304821929,745,715,681.304821929,661,632,880,784,815,652,631,653,0.452469741233,0.00441174404899,0.0598869150407,0.999999981983,-7.67233530118e-05,-0.000159425594338,-6.87854322199e-05,1793248288090371584
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.269532831,745,715,681.269532831,660.730467169,632,880.269532831,783.730467169,815,652,631,653,0.452873364224,0.00441025907138,0.0598949191643,0.99999998397,-7.58926230118e-05,-0.000147127368378,-6.82118773902e-05,1793248288107038208
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.843279263,745,715,681.843279263,660.156720737,632,880.843279263,783.156720737,815,652,631,653,0.453244219476,0.00440881103312,0.0598942328405,0.999999984021,-7.34089071395e-05,-0.000148752714578,-6.66484380623e-05,1793248288123704576
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659.56808801,632,881,783.43191199,815,652,631,653.43191199,0.453560167818,0.00440964070986,0.0598794642174,0.999999982515,-2.72274443914e-05,-0.00017773382777,-5.13662149754e-05,1793248288140371456
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.974671553,658.974671553,631.974671553,880.974671553,784,815,652,630.974671553,653.974671553,0.453855002061,0.00441135984107,0.0598594052476,0.999999975526,3.25175332884e-05,-0.000216487230236,-3.19843762741e-05,1793248288157038336
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.398872459,658.398872459,631.398872459,880.398872459,784,815,652,630.398872459,653.398872459,0.454139409749,0.00441380650875,0.0598393868044,0.999999969098,3.01409859807e-05,-0.000244196443256,-3.55525680866e-05,1793248288173704960
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.177048991,658.177048991,631,880,783.822951009,815,652,630,653,0.454419588696,0.00441489565921,0.0598287135276,0.99999996574,2.64070794987e-05,-0.000257558612933,-3.85595701134e-05,1793248288190371584
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.753246209,658.753246209,631,880,783.246753791,815,652,630,653,0.454690234116,0.00441292435368,0.0598391084706,0.999999970536,1.96130740051e-05,-0.000238576076939,-4.03013969831e-05,1793248288207038208
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658.662671526,631,880,783.337328474,815,652,630.337328474,653,0.454939839121,0.00441382688583,0.0598508442302,0.999999975159,1.60963235334e-05,-0.000218277483455,-4.21721403123e-05,1793248288223704832
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658.072683282,631,880,783.927316718,815,652,630.927316718,653,0.455173684837,0.00441688192855,0.0598635842654,0.99999997951,1.50342435782e-05,-0.000196993157989,-4.41394425305e-05,1793248288240371456
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658,631,880,783.492160886,815,652.507839114,631,653,0.455366822616,0.00441443172402,0.0598617200969,0.999999979273,9.15473958005e-06,-0.000198325023877,-4.51424559727e-05,1793248288257038080
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.913429195,631,880.086570805,783.086570805,815.086570805,652.913429195,630.913429195,653,0.455549536955,0.00441186685577,0.0598574437741,0.999999978229,3.35410167241e-06,-0.000203486627809,-4.60937559575e-05,1793248288273704704
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657.337302626,631,880.662697374,783.662697374,815.662697374,652.337302626,630.337302626,653,0.455705651365,0.00441302773339,0.0598511304773,0.999999976326,1.82710800635e-06,-0.00021233572187,-4.75187889646e-05,1793248288290371328
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681.761999172,657,631,880.761999172,783.761999172,815.761999172,652,630,653,0.45584652941,0.00441365928155,0.0598444877414,0.999999974171,-2.0992613083e-08,-0.000222010718759,-4.86791328513e-05,1793248288307038208
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681.187858277,657,631,880.187858277,783.187858277,815.187858277,652,630,653,0.45596588839,0.00441354323209,0.0598373797232,0.999999971664,-2.32260800362e-06,-0.00023285217758,-4.94656434206e-05,1793248288323704832
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681.39780651,656.60219349,631,880.39780651,783.39780651,815,652,630.39780651,653,0.456069802823,0.00441398829346,0.0598317779419,0.999999969768,-3.44674541224e-06,-0.000240712878922,-5.00842576107e-05,1793248288340371456
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681.989075618,656.010924382,631,880.989075618,783.989075618,815,652,630.989075618,653,0.456166206207,0.00441470623614,0.0598269086789,0.999999968176,-3.99824770747e-06,-0.000247123967962,-5.0621219847e-05,1793248288357038080
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656.566785116,631,880.433214884,783.433214884,815,652,631,653,0.456245904414,0.00441721881489,0.0598240273678,0.999999967574,-2.72756662083e-06,-0.000249312410892,-5.18474111581e-05,1793248288373704960
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,682,656.856543019,631,880.143456981,783.143456981,815,652,631,653,0.456318837411,0.00441872453092,0.0598197238634,0.999999966349,-1.53191938344e-06,-0.000254009104107,-5.2715097724e-05,1793248288390371584
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,682,656.282221121,631,880.717778879,783.717778879,815,652,631,653,0.456372395924,0.00441710472856,0.0598110364905,0.999999963118,-6.64652500157e-07,-0.000266477918984,-5.24670686377e-05,1793248288407038208
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,881,783.699997413,815,652.300002587,630.699997413,653,0.456417856214,0.00441630176734,0.0598048497898,0.999999960817,-1.07198225318e-06,-0.000274988528347,-5.23990997337e-05,1793248288423704832
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,881,783.110139088,815,652.889860912,630.110139088,653,0.45645549219,0.00441628801944,0.0598010791813,0.999999959509,-2.71079844717e-06,-0.00027967481025,-5.25051008951e-05,1793248288440371712
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681.529055629,656,630.529055629,880.529055629,783.470944371,815,652.529055629,630,653,0.456483937584,0.00441707856118,0.0597986304289,0.999999958267,-1.84826692811e-06,-0.000284114076269,-5.23526184099e-05,1793248288457038336
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,656,630,880.049680881,783.950319119,815,652,630,653,0.456509430398,0.00441800313693,0.0597963740418,0.999999957021,-5.62326993515e-07,-0.000288512664886,-5.21414605085e-05,1793248288473704960
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,656,630,880.624902409,783.375097591,815,652,630,653,0.456526010906,0.00441839220219,0.0597929421822,0.999999955703,-8.72421077417e-07,-0.000293080881707,-5.19373902832e-05,1793248288490371584
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.199823296,656.199823296,630,881,783.199823296,815,652,630.199823296,653,0.456539653081,0.00441895548039,0.0597901630597,0.999999954546,-5.84722815972e-07,-0.000296999118097,-5.19453354348e-05,1793248288507037952
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.774180646,656.774180646,630,881,783.774180646,815,652,630.774180646,653,0.456547787858,0.00441984529043,0.05978860738,0.99999995372,8.23433370891e-07,-0.000299699078814,-5.23506665942e-05,1793248288523704576
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.348380217,745,715,681.651619783,656.651619783,630.348380217,880.651619783,783.651619783,815,652.348380217,630.651619783,653,0.456553430258,0.00441953365386,0.0597867422032,0.999999952798,6.23085913938e-07,-0.000302724243276,-5.25472378295e-05,1793248288540371200
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.922477539,745,715,681.077522461,656.077522461,630.922477539,880.077522461,783.077522461,815,652.922477539,630.077522461,653,0.456557457835,0.00441844359459,0.0597846765018,0.99999995181,-6.19418320316e-07,-0.0003059601086,-5.26085525581e-05,1793248288557038080
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.490943874,745,715,681,655.490943874,630.490943874,880,783.509056126,815,653,630,653,0.456557859533,0.00441859475191,0.059782570978,0.999999950609,1.51064067333e-06,-0.000309965767487,-5.19704405541e-05,1793248288573704704
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.096444614,655.096444614,630,880.096444614,783.903555386,815.096444614,652.903555386,630,653,0.456558455357,0.00441896147737,0.0597809924881,0.999999949725,3.63700669631e-06,-0.000312890662311,-5.13472396581e-05,1793248288590371584
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.678104555,655.678104555,630,880.678104555,783.321895445,815.678104555,652.321895445,630,653,0.456562875652,0.00441943786107,0.0597820967974,0.999999950697,3.09592962856e-06,-0.000309773596369,-5.13483976451e-05,1793248288607038208
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,655.743363713,630,880.743363713,783.256636287,815.743363713,652,630.256636287,653,0.456564882111,0.00442024389156,0.0597821904783,0.999999950844,3.51113804478e-06,-0.000309260482991,-5.15477903463e-05,1793248288623704832
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655.168708325,630,880.168708325,783.831291675,815.168708325,652,630.831291675,653,0.456563897388,0.00442145841451,0.0597810318068,0.999999949971,5.11135827189e-06,-0.00031197414068,-5.19928319631e-05,1793248288640371456
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,682,655.420184883,630,880,784,815,652,631,653,0.456562483076,0.00442158839769,0.0597791644238,0.9999999492,4.74052479888e-06,-0.000314413235649,-5.21644301496e-05,1793248288657038080
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682,655.985502144,630.014497856,880,784,815.014497856,652,631,653,0.456560951998,0.00442126028984,0.0597770504356,0.999999948482,3.62322804262e-06,-0.000316697068405,-5.22137504817e-05,1793248288673704448
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655.410419036,630.589580964,880,784,815.589580964,652,631,653,0.456561809275,0.0044206473989,0.0597767897272,0.999999948269,5.31664438225e-06,-0.000317389531044,-5.19291072412e-05,1793248288690371072
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682,655.1648121,630.8351879,880.1648121,783.8351879,815.8351879,652,631,653,0.456562241418,0.00442069521395,0.0597764281189,0.999999947983,6.55616180349e-06,-0.000318296749946,-5.17521371149e-05,1793248288707037952
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682,655.740412158,630.259587842,880.740412158,783.259587842,815.259587842,652,631,653,0.456561613929,0.00442238981385,0.0597758150214,0.999999947517,6.6643531548e-06,-0.000319739240707,-5.18435381899e-05,1793248288723704576
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655.685332305,630.314667695,880.685332305,783,815,652,630.685332305,652.685332305,0.456560718023,0.00442221154561,0.0597753648491,0.999999947203,5.64160935393e-06,-0.000320787889727,-5.15486488254e-05,1793248288740371456
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682,655.112181249,630.887818751,880.112181249,783,815,652,630.112181249,652.112181249,0.456559601626,0.00442049481224,0.0597750485117,0.999999947011,3.68986036835e-06,-0.0003215130179,-5.09364416877e-05,1793248288757038336
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,655,630.519232999,880.480767001,783.480767001,815,652,630.480767001,652.480767001,0.456559743603,0.00442206816087,0.0597738575595,0.999999946725,6.05310802976e-06,-0.00032234491909,-5.10680135786e-05,1793248288773704960
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.924254635,655,630,881,783.924254635,815,652.075745365,630.924254635,653,0.456560131265,0.00442397174046,0.0597726764356,0.999999946442,8.67343672767e-06,-0.000323121972574,-5.13050892456e-05,1793248288790371584
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.347707945,655,630,881,783.347707945,815,652.652292055,630.347707945,653,0.456560118579,0.00442276493215,0.0597729675533,0.999999946397,6.05064377689e-06,-0.000323364593932,-5.10429744462e-05,1793248288807038208
+247,4.116666667,HOLD_POSE2,766,745,715,682,656,630,880,783,815,652,630,653,0.456562431063,0.00441938831879,0.0597742755139,0.999999946936,4.31297295664e-06,-0.000321849776843,-5.02161937678e-05,1793248288846126336
+248,4.133333333,HOLD_POSE2,766,745,715,681.413767966,655.413767966,630,880.586232034,783,815,652,630,653,0.456560213696,0.0044205793706,0.0597726158414,0.999999946189,4.57807759206e-06,-0.000324121158157,-5.04668609059e-05,1793248288862792704
+249,4.150000000,HOLD_POSE2,766,745,715,681.171590669,655.171590669,630,881,783.171590669,815,652,630,653,0.456558706724,0.00442108160702,0.0597713801167,0.999999945628,4.6703563618e-06,-0.000325820359201,-5.06202290077e-05,1793248288879459328
+250,4.166666667,HOLD_POSE2,766,745,715,681.754854005,655.754854005,630,881,783.754854005,815,652,630,653,0.456558904099,0.00441993126862,0.0597711615082,0.999999945528,4.34799908999e-06,-0.000326146811364,-5.05401616603e-05,1793248288896125952
+251,4.183333333,HOLD_POSE2,766,745,715,681.666077668,656,630,881,784,815,652,630,653,0.456558918543,0.0044204240068,0.0597708466284,0.999999945252,5.01409743637e-06,-0.000326997686848,-5.04355288272e-05,1793248288912792576
+252,4.200000000,HOLD_POSE2,766,745,715,681.090050892,656,630,881,784,815,652,630,653,0.456558800354,0.00442210802847,0.059770461949,0.999999944847,6.39685795552e-06,-0.000328228786106,-5.03130852302e-05,1793248288929459200
+253,4.216666667,HOLD_POSE2,766.483550399,745,715,681,655.516449601,630,881,783.516449601,815,652,630.483550399,653,0.456559777635,0.00442150775953,0.0597710058109,0.999999945132,5.94104907182e-06,-0.000327448198543,-4.9786050552e-05,1793248288946125824
+254,4.233333333,HOLD_POSE2,766.941631523,745,715,681,655,630,881,783.058368477,815,652,631,653,0.456560696902,0.0044206380959,0.0597715772004,0.999999945458,5.21773087287e-06,-0.000326531461305,-4.93372396624e-05,1793248288962792704
+255,4.250000000,HOLD_POSE2,766.351637257,745,715,681,655,630,881,783.648362743,815,652,631,653,0.456559238932,0.00442117000716,0.059770832193,0.999999945006,5.16090616687e-06,-0.000327769828097,-5.02837360206e-05,1793248288979459328
+256,4.266666667,HOLD_POSE2,766,745,715,681.234524926,655.234524926,630,880.765475074,783.765475074,815,652,630.765475074,653,0.456558921891,0.00442178266926,0.0597704189092,0.999999944866,5.85755163399e-06,-0.000328118704251,-5.0718789011e-05,1793248288996125952
+257,4.283333333,HOLD_POSE2,766,745,715,681.815033762,655.815033762,630,880.184966238,783.184966238,815,652,630.184966238,653,0.45656028801,0.00442251445934,0.0597704950023,0.999999945185,7.66575722933e-06,-0.000327155355396,-5.03993328831e-05,1793248289012792576
+258,4.300000000,HOLD_POSE2,766.390930432,745,715,682,656,630.390930432,880,783,815.390930432,652,630,653,0.456559781611,0.0044222450495,0.0597700084913,0.999999944773,7.58685774396e-06,-0.000328453017752,-5.01584977893e-05,1793248289029459200
+259,4.316666667,HOLD_POSE2,766.96467038,745,715,682,656,630.96467038,880,783,815.96467038,652,630,653,0.456558399573,0.00442150745189,0.0597692588916,0.999999944013,6.62549765204e-06,-0.000330807989287,-4.99544279637e-05,1793248289046125824
+260,4.333333333,HOLD_POSE2,765.923062749,745,715,682,655.461531375,630.461531375,880,783,815.461531375,652,630,653,0.456559634548,0.00442208973937,0.0597704174859,0.99999994447,7.15936184513e-06,-0.000329441836639,-4.97594048458e-05,1793248289062792960
+261,4.350000000,HOLD_POSE2,765.116005319,745,715,682,655,630,880.116005319,783,815,652,630,653,0.456560555194,0.00442228361112,0.0597710497153,0.999999944801,7.20766333992e-06,-0.000328454378522,-4.96405559463e-05,1793248289079459584
+262,4.366666667,HOLD_POSE2,765.708894779,745,715,682,655,630,880.708894779,783,815,652,630,653,0.456559477727,0.00442052471373,0.0597690033869,0.999999944288,4.85653829184e-06,-0.00033002745952,-4.9832409843e-05,1793248289096126208
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,630,880,783,815,652,630.768765895,653,0.456560328821,0.00442278734549,0.0597693298763,0.999999944187,6.93109132388e-06,-0.000330302429466,-4.97795205483e-05,1793248289183917056
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,630,880,783.353151687,815,652,630.646848313,653,0.456559454825,0.00442277363674,0.0597686285954,0.999999943895,7.9959899065e-06,-0.000331197445154,-4.95477794859e-05,1793248289200583680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,630,880,783.934518857,815,652,630.065481143,653,0.45655777793,0.004422572208,0.0597675162497,0.999999943371,1.00087791935e-05,-0.000332762642667,-4.92677524148e-05,1793248289217250304
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.484668977,682,655,630,880,783.484668977,815,652,630,653,0.456558045739,0.00442313012306,0.0597679598099,0.999999943527,8.83973951753e-06,-0.0003322723722,-4.96364861245e-05,1793248289233916928
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.905680783,745,714.094319217,681.905680783,655,630,880.094319217,783,815,652,630.094319217,653,0.45655832856,0.00442348702547,0.0597684312581,0.999999943713,7.40209845174e-06,-0.000331693932553,-4.99812625626e-05,1793248289250583552
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.335538814,745,714.664461186,681.335538814,655,630,880.664461186,783,815,652,630.664461186,653,0.456557441856,0.00442234362212,0.0597680470941,0.999999943631,6.64685148542e-06,-0.00033198688484,-4.97897545655e-05,1793248289267250176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.242298382,745,715,681.242298382,655.242298382,630,881,783,815,652,630.757701618,653,0.456553103311,0.00442247663768,0.0597657261424,0.999999942538,6.5432096947e-06,-0.000335242086326,-4.99409777751e-05,1793248289283916800
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.831141547,745,715,681.831141547,655.831141547,630,881,783,815,652,630.168858453,653,0.456543827805,0.00442443523843,0.05976063512,0.99999993996,7.37151960779e-06,-0.000342734014394,-5.05823888025e-05,1793248289300583424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,630,880.587105866,783,815,652,630.412894134,653,0.456519442704,0.00442425845703,0.059749137474,0.999999933643,7.41971687151e-06,-0.000360684303891,-5.06502063039e-05,1793248289317250304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,630,880.008204057,783,815,652,630.991795943,653,0.456488982658,0.00442322312684,0.059735063989,0.999999925417,7.15426313392e-06,-0.000382839468942,-5.04874055785e-05,1793248289333916928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.433135408,656,630,880.566864592,783,815,652,631,653,0.456434366068,0.00442420088453,0.0597142681405,0.999999911611,1.01278596506e-05,-0.000417321942663,-5.01760369681e-05,1793248289350583552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.858197375,745,715,681,656,630,880.858197375,783.141802625,815,652,630.858197375,653,0.456377800546,0.00442529414938,0.0596954755221,0.999999899298,1.21822566537e-05,-0.000445788357068,-5.02823168827e-05,1793248289367250432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.283489734,745,715,681,656,630,880.283489734,783.716510266,815,652,630.283489734,653,0.45631634532,0.00442665169546,0.0596830935212,0.999999894931,1.12883070114e-05,-0.000455347530306,-5.16701437626e-05,1793248289383917056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.300279402,745,715,681.300279402,656.300279402,630,880.300279402,784,815,652,630,653,0.456244294845,0.00442762354992,0.0596751789568,0.999999890682,1.25013013888e-05,-0.000464540953045,-5.17742262005e-05,1793248289400583680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.892869526,745,715,681.892869526,656.892869526,630,880.892869526,784,815,652,630,653,0.456161930298,0.00442821994798,0.0596716132751,0.999999886551,1.5765326717e-05,-0.00047337833083,-5.06286315397e-05,1793248289417250304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656.056218862,630,880.528109431,783.528109431,815,652,630.471890569,653,0.456069161448,0.00442876895543,0.0596742204755,0.999999887619,1.7652562654e-05,-0.000471127959934,-4.98810663362e-05,1793248289433916928
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.952307217,744.952307217,715,682,655.047692783,630.047692783,880.047692783,783,815,652,630.952307217,653,0.455971860722,0.00442918786289,0.0596780515211,0.999999889757,1.93225316921e-05,-0.00046658303026,-4.91233626746e-05,1793248289450583552
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.378978415,744.378978415,715,682,655.621021585,630.621021585,880.621021585,783,815,652,630.378978415,653,0.4558499178,0.00442828816222,0.059680357477,0.999999891125,2.19465128547e-05,-0.000463716292254,-4.72858482951e-05,1793248289467250176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.200796131,744.200796131,715,682,656,631,881,783.200796131,815,652,630,653,0.455719045749,0.00442839828769,0.059683435626,0.999999892504,2.50129057913e-05,-0.000460727677915,-4.5775708225e-05,1793248289483917056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.793139646,744.793139646,715,682,656,631,881,783.793139646,815,652,630,653,0.45557076214,0.00443047754872,0.0596880195321,0.999999893919,2.89419902058e-05,-0.000457501408144,-4.49039400049e-05,1793248289500583680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,881,784,815,652,630,653,0.455395666528,0.0044310834751,0.0596911493492,0.999999894485,3.1515360263e-05,-0.000456220044926,-4.35968448407e-05,1793248289517250304
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,631,881,784,815,652,630,653,0.455206182875,0.00443089877152,0.0596934988644,0.999999894599,3.33612186797e-05,-0.000455982369454,-4.20561417015e-05,1793248289533917184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.467134804,656,631,881,784,815,652,630.532865196,653,0.454988036374,0.00443291837845,0.0596927480351,0.999999891383,4.08893249107e-05,-0.000462551228292,-4.00946311878e-05,1793248289550583552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.893877315,745,715,681,656,631,880.893877315,784,815,652,631,653,0.454761083396,0.00443468244636,0.05969215124,0.999999887914,4.83030292126e-05,-0.000469460467129,-3.80128702709e-05,1793248289567250176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.324029821,745,715,681,656,631,880.324029821,784,815,652,631,653,0.454505326151,0.00443458563822,0.0596932743048,0.99999988487,5.32983222456e-05,-0.000475558961781,-3.55477281832e-05,1793248289583916800
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.256734263,745,715,681.256734263,656.256734263,631,880,783.743265737,815,652,630.743265737,653,0.454235129987,0.00443597904094,0.059693550399,0.999999882893,5.92032537759e-05,-0.000479159184451,-3.34024984667e-05,1793248289600583424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.851888248,745,715,681.851888248,656.851888248,631,880,783.148111752,815,652,630.148111752,653,0.453945900871,0.00443933679675,0.0596927100406,0.999999882356,6.63072443148e-05,-0.000479466256493,-3.16789681866e-05,1793248289617250048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.567552787,745,715,681.567552787,657,631,880.432447213,783,815,652,630,653,0.453609710524,0.00444151570661,0.0596851196728,0.999999877493,7.37747116524e-05,-0.000488566337229,-2.95595657905e-05,1793248289633916928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.008208683,745,715,681.008208683,657,631.008208683,880.991791317,783.008208683,814.991791317,652.008208683,630.008208683,653,0.453257834709,0.00444331193724,0.0596754995209,0.999999871199,8.13820417288e-05,-0.000500234361696,-2.73034280743e-05,1793248289650583552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.586614084,745,715,681.586614084,657,631.586614084,880.413385916,783.586614084,814.413385916,652.586614084,630.586614084,653,0.452897170453,0.00444565623155,0.0596802299596,0.999999876584,9.03395596868e-05,-0.000487916194143,-2.46598953864e-05,1793248289667250176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.335262362,632,880,784,814,652.832368819,630.832368819,653,0.452531362531,0.00444758762408,0.0596890258536,0.999999883728,9.9082270938e-05,-0.000471438769561,-2.17255286105e-05,1793248289683917056
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.510381365,632,880,784,814,652.244809317,630.244809317,653,0.452152669404,0.00444848466724,0.0597080060087,0.999999895273,0.00010728687439,-0.000444542104944,-1.80626016523e-05,1793248289700583936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.661831436,745,715,682,659,632,880,784,814,652,630.338168564,653,0.451734350816,0.00445178064574,0.0597236868843,0.999999904592,0.000118144003126,-0.000420284200803,-1.48375462264e-05,1793248289717250560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.082125917,745,715,682,659,632,880,784,814,652,630.917874083,653,0.451287729696,0.0044567900643,0.0597370112509,0.999999912195,0.000130895699326,-0.000397911028968,-1.19252402391e-05,1793248289733917184
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.506953831,681.506953831,659.493046169,632,880,784,814,652,631,653,0.45077545067,0.00445879268328,0.0597324298735,0.999999907122,0.000141632421383,-0.000406970901058,-8.45517141236e-06,1793248289750583808
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.067462007,681,660,632,880,784,813.932537993,652,630.932537993,653,0.450248782157,0.00446049803688,0.0597250171815,0.999999900191,0.000152470235853,-0.00041993651235,-4.92461123039e-06,1793248289767250432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.641818027,681,660,632,880,784,813.358181973,652,630.358181973,653,0.449695419974,0.00446369870169,0.0597185365159,0.999999896549,0.000166566518929,-0.000423267147561,-1.63124283743e-06,1793248289783917056
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.223366845,745,715,681,660.223366845,632.223366845,880,784,813,652,630,653,0.449137219859,0.00446644070409,0.0597194845148,0.999999896717,0.000179186838663,-0.000417675915858,2.15969885493e-06,1793248289800583936
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.816833482,745,715,681,660.816833482,632.816833482,880,784,813,652,630,653,0.448571003734,0.00446842274185,0.059732741177,0.999999903124,0.000189361612298,-0.000397301912196,6.77507682362e-06,1793248289817250560
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.601299418,745.398700582,715,681,661,633,880,784,813,652,630.398700582,653,0.447984700714,0.00447159348279,0.059757326718,0.999999916061,0.000203416491803,-0.000355492875427,1.11788768308e-05,1793248289833917184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.02461061,745.97538939,715,681,661,633,880,784,813,652,630.97538939,653,0.447389430501,0.00447529488548,0.0597869697055,0.999999929612,0.000219203530477,-0.000304114794068,1.54882238889e-05,1793248289850584064
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.446664221,715,681.553335779,661.553335779,633,880,784,812.446664221,652,630.446664221,653,0.446719161285,0.00447922425647,0.0598159704046,0.999999935091,0.000236317489571,-0.000271117055019,2.16373486632e-05,1793248289867250432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.874897121,661.874897121,633,880,784,812,652,630,653,0.44602609307,0.00448370723687,0.0598301379487,0.999999933909,0.000253109459834,-0.000259564267006,2.72651208578e-05,1793248289883916800
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.324335751,661.324335751,633,880,784,812,652,630,653,0.445266858763,0.00449003840851,0.0597939572451,0.999999912838,0.000268605218081,-0.000318156413345,3.08409216755e-05,1793248289900583680
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.254431994,661,633,879.745568006,784,812,652,630.254431994,653,0.444519559676,0.00449456683764,0.059766355352,0.9999998958,0.000281718132329,-0.000357611661043,3.38857559546e-05,1793248289917250304
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.873638824,661,633,879.126361176,784,812,652,630.873638824,653,0.4437893718,0.00449651070634,0.0597510527486,0.999999888571,0.00029141480691,-0.000369630671622,3.61693531626e-05,1793248289933916928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661.917782605,633,879.458891302,784,812,652,631,653,0.443038716519,0.00450004644026,0.0597700602574,0.999999894573,0.000305027154421,-0.000340808787643,4.07609929184e-05,1793248289950583808
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.964639578,632.964639578,879.964639578,784,812,652,630.964639578,653,0.442277413392,0.00450403860022,0.0597963143692,0.99999990145,0.000319709450353,-0.000304584240002,4.59819491252e-05,1793248289967250432
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.389357374,632.389357374,879.389357374,784,812,652,630.389357374,653,0.441433653544,0.00450876805018,0.0597988983505,0.999999892733,0.000335399607956,-0.000315214006508,5.17763450766e-05,1793248289983917056
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.809350389,715,681.809350389,661.809350389,632.190649611,879.190649611,784,812,652,630,653,0.440589281849,0.00451322984682,0.0597970271543,0.999999882343,0.000351475866885,-0.000329393516885,5.7262673246e-05,1793248290000583680
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.219448966,715,681.219448966,661.219448966,632.780551034,879.780551034,784,812,652,630,653,0.439743628897,0.00451713113285,0.0597858260796,0.999999868624,0.000368360684947,-0.000351006777318,6.21038561978e-05,1793248290017250560
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.365391883,744.365391883,715,681.365391883,661.365391883,633,879.634608117,784,812,652,630,653,0.43890013955,0.0045202581245,0.0597953581981,0.999999869468,0.000381022034904,-0.000333897318956,6.63194363768e-05,1793248290033916928
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.947234925,744.947234925,715,681.947234925,661.947234925,633,879.052765075,784,812,652,630,653,0.438057931911,0.00452292643885,0.0598171722637,0.999999877853,0.000391181482183,-0.000293849262042,7.01644212032e-05,1793248290050583552
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.476759788,745,714.476759788,681.476759788,662,633,880.046480423,784,812,652,630,652.476759788,0.437118577645,0.0045275702553,0.0597830380211,0.999999889714,0.000302124024736,-0.000357325709118,4.01530152824e-05,1793248290067250432
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.098040856,681.098040856,661.803918287,633,880.803918287,784,811.901959144,652,630,652,0.436178086929,0.00453487583643,0.0597486717722,0.999999888218,0.000225388720148,-0.000415470878317,1.21191700904e-05,1793248290083917312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.669833563,681.669833563,660.660332873,633,879.660332873,784,811.330166437,652,630,652,0.435278921421,0.00455409153869,0.0597401467831,0.999999887992,0.000256010570613,-0.0003979642693,9.95719599219e-06,1793248290100584192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.750801364,633.250267121,879,784,811.250267121,652,630,652.250267121,0.434383290697,0.00457119545206,0.0597446304542,0.999999889276,0.000286305886607,-0.000373317452938,1.05502790974e-05,1793248290117250560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,662.527523757,633.842507919,879,784,811.842507919,652,630,652.842507919,0.433492489896,0.00458541374655,0.0597668896086,0.999999892481,0.000316155018859,-0.000338914007048,1.49079676298e-05,1793248290133916672
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.574803231,715,681.574803231,662.149606463,633.574803231,879,784,811.574803231,652,630,653,0.432595049175,0.0045825325053,0.0597803327802,0.999999894864,0.000321670867977,-0.000326126111475,2.10284547917e-05,1793248290150583296
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.004387556,715,681.004387556,661,633,879.004387556,784.004387556,811,652,630,653,0.431694936241,0.00457359729673,0.0597906683586,0.999999897454,0.000318396511329,-0.00032085579913,2.77122612335e-05,1793248290167249920
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.578676565,715,681.578676565,661,633,879.578676565,784.578676565,811,652,630,653,0.430760156818,0.00458291303556,0.0598121856207,0.999999911229,0.000318339495457,-0.000274947066126,2.46189843545e-05,1793248290183916800
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.156601428,745,715,681.843398572,661.156601428,633,879.843398572,784.843398572,811,652,629.843398572,653,0.429805931233,0.00458951929547,0.0598206412438,0.999999915249,0.000317846716535,-0.00026063587973,2.33165296611e-05,1793248290200583424
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.744540736,745,715,681.255459264,661.744540736,633,879.255459264,784.255459264,811,652,629.255459264,653,0.42879814383,0.00458866265415,0.0597931203118,0.999999894097,0.000316153686575,-0.000333355951967,2.69466576193e-05,1793248290217250048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.672579714,745.327420286,715,681.327420286,661.345159428,633.327420286,879.327420286,784,811,652,629.327420286,652.672579714,0.427827692508,0.00458737201972,0.0597656090275,0.999999881987,0.000308513479696,-0.000374317802906,2.70572241387e-05,1793248290233916928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.093587829,745.906412171,715,681.906412171,660.187175659,633.906412171,879.906412171,784,811,652,629.906412171,652.093587829,0.426885928207,0.00458574792908,0.0597381051573,0.99999987941,0.000296303792635,-0.000390878394594,2.44635546517e-05,1793248290250583552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.514664062,715,681.514664062,660.970671876,633.514664062,880,784.485335938,811,652,630,652,0.425971078683,0.0045897451609,0.0597602592582,0.999999891114,0.00029667697022,-0.000359310831374,2.55112050823e-05,1793248290267250176
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.063630574,745,715,681,662,633,879.936369426,785,811,652,630,652.063630574,0.425061105334,0.00459386541337,0.059791356315,0.999999903871,0.00029841805644,-0.000320081115373,2.74437309339e-05,1793248290283916800
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.636990258,745,715,681,662,633,879.363009742,785,811,652,630,652.636990258,0.424148624338,0.00459028898571,0.0598173961771,0.999999913824,0.000291682820188,-0.000293805996458,3.08407385769e-05,1793248290300583424
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.56752882,633.21623559,879.21623559,785,811,652,630,652.78376441,0.423242700038,0.00458875281606,0.0598365489273,0.999999922615,0.000285168455206,-0.000269039109122,3.26568160134e-05,1793248290317250048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.388723744,633.805638128,879.805638128,785,811,652,630,652.194361872,0.422348090757,0.00459073760581,0.0598438163,0.999999930092,0.000279035256266,-0.000246875037031,3.17446155784e-05,1793248290333916672
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.775865466,633.612067267,879.612067267,785,811,652,629.612067267,652,0.421402477183,0.00459486532438,0.059817799255,0.999999917901,0.000277384873914,-0.000293702110653,3.15419670076e-05,1793248290350583552
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.933460333,633.033269833,879.033269833,785,811,652,629.033269833,652,0.420431769316,0.00460004737374,0.059775406122,0.999999890758,0.000277940056986,-0.000374473147215,3.16884211278e-05,1793248290367250432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.456217566,745,715,681,660.912435133,633,878.456217566,785,811,652,629,652,0.419534595561,0.00459500518459,0.0597353924181,0.999999873964,0.000262669010583,-0.000426778013422,3.06032369479e-05,1793248290383917056
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.120004487,633.120004487,878.120004487,785,810.879995513,652.120004487,629,652.120004487,0.418659248389,0.00459115609576,0.0597111881326,0.999999865637,0.000248473949684,-0.000453999839109,2.95225983963e-05,1793248290400583680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.693491428,633.693491428,878.693491428,785,810.306508572,652.693491428,629,652.693491428,0.417849434552,0.00459417187436,0.0597461773649,0.999999893084,0.000241992234495,-0.00039299622005,2.87429817095e-05,1793248290417250560
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.275108381,745,715,681,661.275108381,634,878.724891619,785,810,653,629,652.724891619,0.417043185574,0.00459482496636,0.0597838737376,0.999999915069,0.000235112274415,-0.000337185481784,2.98194886162e-05,1793248290433917184
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.866059077,745,715,681,661.866059077,634,878.133940923,785,810,653,629,652.133940923,0.416241029342,0.00459276554024,0.059824678081,0.999999932233,0.0002277751041,-0.000287336513261,3.30269462368e-05,1793248290450583808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.104234881,634,878,784.55211744,810.44788256,652.55211744,629,652,0.415444608769,0.00458802085185,0.0598322007825,0.999999936585,0.000212924404853,-0.000283433807794,3.40336951091e-05,1793248290467250176
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.02683653,681,660.05367306,634,878,784.02683653,811,652.02683653,629,652.02683653,0.414651901201,0.00458284787514,0.0598301990916,0.999999937415,0.00019659214504,-0.000292130230544,3.4382079485e-05,1793248290483917056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.601816908,681,661.203633816,634,878,784.601816908,811,652.601816908,629,652.601816908,0.413900698914,0.00458500168805,0.0598328916984,0.99999994032,0.000194976590468,-0.000283120922588,3.44572060015e-05,1793248290500583936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.823092807,745,715.823092807,680.823092807,661.823092807,633.823092807,878,785,810.823092807,652.823092807,629,653,0.413135421502,0.00458565264282,0.0598219112278,0.999999935638,0.000191684071245,-0.000301267209425,3.49046212392e-05,1793248290517250560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.247754879,745,715.247754879,680.247754879,661.247754879,633.247754879,878,785,810.247754879,652.247754879,629,653,0.412338443919,0.00458291885788,0.0597801362254,0.999999909886,0.000184614687758,-0.000380573378814,3.61905057641e-05,1793248290533917184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.663523601,633.336476399,878,785,810.336476399,652.336476399,629,652.663523601,0.411600096161,0.00458303112419,0.0597514509612,0.999999894687,0.000176778648796,-0.000422133766513,3.43241948659e-05,1793248290550583808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.072566213,633.927433787,878,785,810.927433787,652.927433787,629,652.072566213,0.410906090864,0.00458529589209,0.0597326656199,0.999999890698,0.000168362780456,-0.00043514658004,3.00738421973e-05,1793248290567250176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.504221465,745,715,680,661.00844293,634,878,785,810.495778535,652.495778535,629,652,0.410293399877,0.00458204952679,0.059767969382,0.999999913749,0.000167755450397,-0.000378668992741,3.11275717165e-05,1793248290583916800
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.92046901,745,715,680.07953099,661.92046901,634,878.07953099,785,810,652,629,652.07953099,0.409694593028,0.00457800578827,0.0598092163084,0.99999993432,0.000176239281866,-0.000314999053922,3.27945201865e-05,1793248290600583424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.341988969,745,715,680.658011031,661.341988969,634,878.658011031,785,810,652,629,652.658011031,0.409111479543,0.00457379952806,0.0598402471213,0.999999936138,0.000234900310958,-0.000267233802377,3.36505063902e-05,1793248290617250048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.240719857,745,715,680.518560286,661,634,878.759280143,785,810,652.240719857,629,652.759280143,0.408527958764,0.00457232409402,0.0598553452717,0.999999934374,0.000267105382614,-0.000242461971805,3.34465661669e-05,1793248290633916672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.829543862,745,715,679.340912275,661,634,878.170456138,785,810,652.829543862,629,652.170456138,0.407943849048,0.00457479769859,0.0598474032516,0.999999933937,0.000261052582731,-0.000250940853166,3.17098701696e-05,1793248290650583552
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.588636507,745,715,679.411363493,661,634,878,785,810,652.588636507,628.588636507,652.411363493,0.407386324413,0.004573316122,0.0598318812164,0.999999930089,0.000251407456832,-0.000275026400793,3.12539424433e-05,1793248290667250432
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.009670629,745,715,679.990329371,661,634,878,785,810,652.009670629,628.009670629,652.990329371,0.406839631323,0.00457022308081,0.0598132708448,0.999999923982,0.000240298703946,-0.000305470594091,3.13198396961e-05,1793248290683917312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.566199645,745,715,680,661.566199645,634,877.433800355,785,810,652.566199645,628,653,0.406365525312,0.00456842413098,0.0598148382594,0.999999928635,0.000229248486713,-0.000298657649937,3.12895876713e-05,1793248290700583936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.858347989,745,715,680,662,634,877.141652011,785,810,653,628,652.858347989,0.405903156882,0.00456662757202,0.0598175480355,0.999999933331,0.000218828586384,-0.000290632668683,3.13733695389e-05,1793248290717250560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.284011386,745,715,680,662,634,877.715988614,785,810,653,628,652.284011386,0.405472875098,0.00456477116808,0.0598227002415,0.999999937939,0.000210330987073,-0.000280838638976,3.18104637781e-05,1793248290733917184
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.700984939,634,877.700984939,785,810,652.700984939,628,652,0.405041785265,0.00456353556874,0.0598151705261,0.999999936207,0.000204056253285,-0.000291420021716,3.19728451789e-05,1793248290750583808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.109457666,634,877.109457666,785,810,652.109457666,628,652,0.404609904983,0.00456290727314,0.0597952346899,0.99999992768,0.000199956043502,-0.000321933701756,3.18664880307e-05,1793248290767250176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.528022339,661,634,877,784.528022339,810,652.471977661,628,652,0.404216870134,0.00456260822948,0.0597725261226,0.999999914595,0.000199836790987,-0.000360313640512,3.23801923197e-05,1793248290783916800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.050686492,745,715,679.050686492,661,634,877.050686492,784.050686492,810,652.949313508,628,652,0.403841171948,0.00456210458365,0.0597523636238,0.999999901681,0.000199916621904,-0.000394435966428,3.30509237088e-05,1793248290800583680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.624901921,745,715,679.624901921,661,634,877.624901921,784.624901921,810,652.375098079,628,652,0.403553438719,0.00455871547916,0.0597650015545,0.999999913829,0.000192716493087,-0.000366134248788,3.38893669651e-05,1793248290817250816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.796056994,745.203943006,715.203943006,679.796056994,661,634,877.796056994,785,810,652.203943006,628.203943006,652.203943006,0.403282719926,0.00455725430176,0.0597811187933,0.999999925508,0.000188882478,-0.000334814429245,3.47361556873e-05,1793248290833917696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.207925386,745.792074614,715.792074614,679.207925386,661,634,877.207925386,785,810,652.792074614,628.792074614,652.792074614,0.403044053026,0.00455942496107,0.0598037903645,0.999999936706,0.000191389561516,-0.000297809101345,3.5598665548e-05,1793248290850584064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.374579027,745.625420973,715.625420973,679,661,634,877.374579027,785,810,652.625420973,629,653,0.402810879747,0.00455859217844,0.0598218106914,0.999999944792,0.00018960088284,-0.000270393518106,3.68186356646e-05,1793248290867250688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.954006121,745.045993879,715.045993879,679,661,634,877.954006121,785,810,652.045993879,629,653,0.402580710772,0.00455611688741,0.0598372873692,0.999999951264,0.000185462957623,-0.000248222327192,3.8234092095e-05,1793248290883917056
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.531317535,661,634,878,785,810,652.531317535,629,652.468682465,0.402366748443,0.00455561146385,0.0598345778476,0.999999949373,0.000184199794588,-0.000256491085754,3.91891330145e-05,1793248290900583680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.892234669,745,715,680,661,634,878,785,810,653,628.892234669,652,0.402160295857,0.00455511441015,0.0598300360691,0.999999946433,0.000183098100522,-0.000268341150009,4.00384421461e-05,1793248290917250560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.318730683,745,715,680,661,634,878,785,810,653,628.318730683,652,0.40198025955,0.00455391948828,0.0598243524758,0.999999942262,0.000181623004516,-0.000284325874164,4.06023682179e-05,1793248290933917184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.262443082,745,715,680,661,633.737556918,877.737556918,785,809.737556918,653,628,652.262443082,0.401820372308,0.00455240453135,0.0598224554624,0.999999940851,0.000178329345738,-0.000291252291734,4.08620480727e-05,1793248290950583808
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.853211987,745,715,680,661,633.146788013,877.146788013,785,809.146788013,653,628,652.853211987,0.401685692288,0.00455048919902,0.0598252955982,0.999999943107,0.000172760599052,-0.00028684643807,4.07411048411e-05,1793248290967250688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.564973608,745,715,679.564973608,661,633.435026392,877.435026392,785,809.435026392,653,628.435026392,653,0.40156352829,0.0045456766551,0.0598254756267,0.999999951123,0.000115401663749,-0.000289296159819,2.7292374818e-05,1793248290983917568
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.013844464,745,715,679.013844464,661,634,878,785,809.986155536,653,628.986155536,652.986155536,0.401446359741,0.00453998358481,0.0598248540255,0.999999955911,4.26287086128e-05,-0.000293703883385,9.90427182544e-06,1793248291000584192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.591205179,745,715,679.591205179,661,634,878,785,809.408794821,653,628.408794821,652.408794821,0.401364091361,0.00453743865183,0.0598274011604,0.999999958387,3.94072518049e-05,-0.000285551675889,1.15259101073e-05,1793248291017250560
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.829072959,745,715,679.829072959,661,634,878,785,809,653,628.170927041,652,0.401286052688,0.00453680632767,0.0598286859306,0.999999959762,3.96745082989e-05,-0.000280609114814,1.2648563784e-05,1793248291033917184
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.243625088,745,715,679.243625088,661,634,878,785,809,653,628.756374912,652,0.401218271628,0.00454081233493,0.0598269092979,0.999999958578,4.84023594866e-05,-0.000283450374837,1.2561113127e-05,1793248291050583808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.33825841,661.33825841,634,878,785,809.33825841,653,628.66174159,652,0.401158320877,0.00453934715772,0.0598249111472,0.999999957196,4.88709064847e-05,-0.000288168613103,1.33736890293e-05,1793248291067250176
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.917601556,661.917601556,634,878,785,809.917601556,653,628.082398444,652,0.401103950964,0.00453398253891,0.0598227551154,0.999999955662,4.34528537852e-05,-0.000294224618255,1.48277350459e-05,1793248291083916800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.496345753,745,715,679.503654247,661.503654247,633.503654247,877.503654247,785,810,653,628.496345753,652.496345753,0.401064625377,0.00453593850458,0.0598210151425,0.999999954634,4.70885234554e-05,-0.000297148761076,1.4772324313e-05,1793248291100583936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633.074260153,877.074260153,785,810,653,629,652.925739847,0.401029977121,0.00453871491026,0.0598197922321,0.99999995393,5.14080503525e-05,-0.000298808291222,1.4500729076e-05,1793248291117250816
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633.6472687,877.6472687,785,810,653,629,652.3527313,0.401009989244,0.00453884924074,0.0598215787015,0.999999954985,5.02381262424e-05,-0.000295462092061,1.44581481463e-05,1793248291133917440
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,878,785,810,652.773324239,629,652.226675761,0.400994177842,0.00453804340992,0.059823800546,0.999999956188,4.90261360964e-05,-0.000291552380192,1.47776422934e-05,1793248291150584064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,878,785,810,652.183671234,629,652.816328766,0.400985054258,0.00453573209321,0.0598267195593,0.999999957627,4.77467854274e-05,-0.000286740312277,1.56769294137e-05,1793248291167250688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633.601218582,878,785,810,652.398781418,629,652.601218582,0.40097626285,0.00453669921313,0.0598277470003,0.999999957966,4.96774206814e-05,-0.000285230271241,1.56017028699e-05,1793248291183917568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633.022023476,878,785,810,652.977976524,629,652.022023476,0.400967621723,0.00453914953874,0.0598279186705,0.999999957805,5.30602936491e-05,-0.00028521410849,1.50855941621e-05,1793248291200584192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.445063151,745,715.554936849,679,661,633.554936849,878,785,810,653,629,652,0.400966834743,0.00453615159838,0.0598297256851,0.99999995875,4.9733535239e-05,-0.000282451425402,1.57350244316e-05,1793248291217250560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.869055303,679.130944697,661,634,877.869055303,785,810,653,629,652,0.400965855644,0.00453389584227,0.0598311186728,0.999999959457,4.73944561458e-05,-0.000280310477191,1.62750315299e-05,1793248291233916928
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.295965421,679.704034579,661,634,877.295965421,785,810,653,629,652,0.400963179573,0.00453487329459,0.0598308954009,0.999999959275,4.92858698861e-05,-0.000280635436669,1.62900014633e-05,1793248291250583552
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.713834667,661,634,877.286165333,785.286165333,810,653,629,652,0.400961474971,0.00453510990445,0.0598309057774,0.999999959287,5.00670670658e-05,-0.000280455924397,1.62678902251e-05,1793248291267250176
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.122048301,661,634,877.877951699,785.877951699,810,653,629,652,0.400960807886,0.00453455530387,0.0598311656876,0.999999959509,4.96625669443e-05,-0.000279737642585,1.62061767566e-05,1793248291283916800
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.45939393,745,715,679.45939393,661.45939393,634,878,785.54060607,809.54060607,653,628.54060607,652.45939393,0.400959736842,0.00453456850242,0.0598313376191,0.999999959662,4.83221210112e-05,-0.000279427882336,1.61288515443e-05,1793248291300583424
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.962121048,745,715,679.962121048,662,634,877.962121048,785,809,653,628.037878952,653,0.400958610519,0.00453468664121,0.0598314921262,0.999999959784,4.69279802131e-05,-0.000279234763822,1.60697644802e-05,1793248291317250048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.387455673,745,715,679.387455673,662,634,877.387455673,785,809,653,628.612544327,653,0.400958188197,0.00453420128258,0.0598317236447,0.999999959731,4.82190415356e-05,-0.000279190425077,1.63266138445e-05,1793248291333916928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.808345443,634,877.191654557,785,809.191654557,653,628.808345443,652.808345443,0.400957977596,0.00453375855205,0.0598319017314,0.999999959696,4.94034409579e-05,-0.000279092485332,1.65797611794e-05,1793248291350583552
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.220036017,634,877.779963983,785,809.779963983,653,628.220036017,652.220036017,0.400958205177,0.00453340404616,0.059831969234,0.999999959702,5.03670891637e-05,-0.000278883611116,1.68252466518e-05,1793248291367249920
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785,809.637119824,653,628,652,0.400958286673,0.0045342804172,0.0598324597541,0.999999959772,5.11738133294e-05,-0.000278493705389,1.66930059058e-05,1793248291383916544
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785,809.057425999,653,628,652,0.400958280885,0.00453589221259,0.0598332030186,0.99999995988,5.18867784848e-05,-0.00027799563696,1.63350812898e-05,1793248291400583168
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.520434266,634,878,785,809.520434266,653,628,652,0.40095962883,0.00453563051723,0.0598342843872,0.999999960564,5.05576367403e-05,-0.000275766830047,1.63663101418e-05,1793248291417249792
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,634,877.902639307,785.097360693,809.902639307,652.902639307,628,652,0.400960661189,0.00453531474595,0.0598350536822,0.999999961105,4.96616118835e-05,-0.000273959252727,1.64379032783e-05,1793248291433916672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,634,877.329292858,785.670707142,809.329292858,652.329292858,628,652,0.400959422979,0.00453574171416,0.059834115533,0.999999960662,5.19808001084e-05,-0.000275141394418,1.6497640267e-05,1793248291450583296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.251620023,662,634,877.251620023,785.748379977,809.251620023,652.251620023,628.251620023,652.251620023,0.400958652316,0.00453550945305,0.0598337584804,0.999999960423,5.19547397498e-05,-0.000276005067699,1.6592622308e-05,1793248291467250176
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.842742105,662,634,877.842742105,785.157257895,809.842742105,652.842742105,628.842742105,652.842742105,0.400958512498,0.00453438771704,0.059834185481,0.999999960462,4.87643181866e-05,-0.000276439042904,1.67351592685e-05,1793248291483916800
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.424999777,745,715,679.575000223,661.575000223,634,877.575000223,785,810,652.575000223,628.575000223,652.575000223,0.400958969049,0.00453504412386,0.0598348444864,0.999999960737,5.06106296701e-05,-0.000275119272843,1.65648409746e-05,1793248291500583168
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.995983395,745,715,679,661,634,877.00803321,785,810,652,628,652.004016605,0.400959641279,0.00453633272473,0.0598355843687,0.999999961085,5.42360196934e-05,-0.000273173651882,1.62842443071e-05,1793248291517250048
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.420922491,745,715,679,661,634,878.158155018,785,810,652,628,652.579077509,0.400960245099,0.00453587128744,0.0598358671367,0.99999996139,5.124627184e-05,-0.000272622641952,1.64470432978e-05,1793248291533916672
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.157468388,634,878.842531612,785,810,652.157468388,628.157468388,653,0.400960294121,0.00453565699888,0.0598358275182,0.999999961436,4.96074129449e-05,-0.000272749813788,1.65425118846e-05,1793248291550583296
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.744952757,634,878.255047243,785,810,652.744952757,628.744952757,653,0.400958828101,0.00453611762612,0.0598349075234,0.999999960792,5.16575729993e-05,-0.000274728970042,1.64541140362e-05,1793248291567250176
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9bb8e78d7b926688076c8c9e558acc535596e73
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_09/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,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+9,0.150000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+10,0.166666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+17,0.283333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+18,0.300000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+19,0.316666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+20,0.333333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+21,0.350000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+23,0.383333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+408,6.800000000,pose2_to_pose3_retreat,0.583245402078,0.00992798612414,1.05004239206,0.553817191373,0.0186024369749,1.04966577423
+409,6.816666667,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d0e3b5c2f09a2db3a2b9debd09bdb1498d261a3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfa5e75eafe1edd61ce9b31471cc7f5a1622c2af293da39b8818966a87d8a32
+size 25796488
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dd2ccc9ad1c370eae2f879c97c1d77584237b1d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+55,0.916666667,BASELINE,766,745.076598741,715,679.923401259,663,634,878,786,809,653,629,653,0.400939399014,0.00455369858164,0.0499279691411,0.99999997488,7.27871948436e-05,-0.00021067827427,-2.35914264389e-05,1793248293726822912
+56,0.933333333,BASELINE,766,745,715,679.492804925,663.507195075,634,878,786,809.507195075,653,628.492804925,653,0.400938718821,0.0045528794503,0.0499274241934,0.999999974739,7.24117428376e-05,-0.000211489666013,-2.34622951758e-05,1793248293743489792
+57,0.950000000,BASELINE,766,745,715,679,663.908223825,634,878.091776175,786,810,653,628,653,0.400938032617,0.00455228681835,0.0499268964277,0.999999974568,7.22260995481e-05,-0.000212371818103,-2.33497378387e-05,1793248293760156928
+58,0.966666667,BASELINE,766,745,715,679,663.325318088,634,878.674681912,786,810,653,628,653,0.400938996222,0.00455373190487,0.0499276570374,0.999999974614,7.34392690144e-05,-0.000211729031543,-2.34292199704e-05,1793248293776823296
+59,0.983333333,BASELINE,765.745464413,745,715,679.254535587,663.254535587,634.254535587,878.745464413,786,809.745464413,653,628,653,0.400939108181,0.00455409018452,0.0499278604493,0.99999997465,7.34172909585e-05,-0.000211557989358,-2.3527774479e-05,1793248293793489920
+60,1.000000000,BASELINE,765.169465234,745,715,679.830534766,663.830534766,634.830534766,878.169465234,786,809.169465234,653,628,653,0.400938144562,0.00455307589069,0.0499273601528,0.999999974672,7.18353938319e-05,-0.000211982732701,-2.36504162972e-05,1793248293810156544
+61,1.016666667,BASELINE,765,745,715,679.596701767,663.596701767,634.596701767,878,786,809.403298233,653,628,652.596701767,0.40093851139,0.004553577752,0.0499274747215,0.999999974659,7.2447163139e-05,-0.000211820053117,-2.37737165701e-05,1793248293826823168
+62,1.033333333,BASELINE,765,745,715,679.025287155,663.025287155,634.025287155,878,786,809.974712845,653,628,652.025287155,0.400939432821,0.00455471162831,0.049927845599,0.999999974631,7.39733706158e-05,-0.00021141250406,-2.38972913151e-05,1793248293843490048
+63,1.050000000,BASELINE,765.564597891,745,715,679,663,634,878.564597891,786,810,653,628.564597891,652,0.400939228182,0.0045536088268,0.0499279914239,0.99999997491,7.46670292002e-05,-0.000209884068429,-2.35186095846e-05,1793248293860156160
+64,1.066666667,BASELINE,766,745,715,679,663,634,878.84725959,786,810,653,629,652,0.400939226532,0.00455303841783,0.0499281340284,0.999999975053,7.57248399626e-05,-0.000208855650792,-2.31983124539e-05,1793248293876822784
+65,1.083333333,BASELINE,766,745,715,679,663,634,878.266398434,786,810,653,629,652,0.400939939991,0.0045542505513,0.0499282968142,0.999999974779,7.79113947324e-05,-0.000209374221078,-2.31068477394e-05,1793248293893489408
+66,1.100000000,BASELINE,766,745,715,679,663,634,878,786,810,653,629,652.310747501,0.400940030167,0.00455462023969,0.0499282766855,0.999999974743,7.74311759001e-05,-0.000209710147711,-2.3258554238e-05,1793248293910156288
+67,1.116666667,BASELINE,766,745,715,679,663,634,878,786,810,653,629,652.884746043,0.400939592327,0.00455427624716,0.0499281016001,0.999999974905,7.4691788591e-05,-0.000209891346984,-2.36162642472e-05,1793248293926823168
+68,1.133333333,BASELINE,765.542113504,745,715,679,663,634,878,786,809.542113504,653,629,653,0.400939058848,0.004553380414,0.0499273610334,0.999999974765,7.36100555743e-05,-0.0002109484744,-2.34996267366e-05,1793248293943489792
+69,1.150000000,BASELINE,765,745,715,679.031897205,663,634,878,785.968102795,809,653,628.968102795,653,0.400938596287,0.00455244272765,0.0499265900803,0.999999974583,7.30399304836e-05,-0.000212031966291,-2.32792165325e-05,1793248293960156160
+70,1.166666667,BASELINE,765,745,715,679.625012046,663,634,878,785.374987954,809,653,628.374987954,653,0.400939804284,0.00455320802145,0.0499277841573,0.999999974991,7.41437993423e-05,-0.000209707357572,-2.33297860766e-05,1793248293976823040
+71,1.183333333,BASELINE,765,745,715,679.787584883,663,634,878,785.212415117,809.212415117,653,628.212415117,653,0.400940085682,0.00455318854103,0.049928195077,0.999999975136,7.42683336681e-05,-0.000208969480246,-2.33044365527e-05,1793248293993489920
+72,1.200000000,BASELINE,765,745,715,679.210000978,663,634,878,785.789999022,809.789999022,653,628.789999022,653,0.400938774138,0.00455181993335,0.0499272596495,0.999999974837,7.27092667047e-05,-0.000210959397,-2.31485724378e-05,1793248294010156544
+73,1.216666667,BASELINE,765,745,715,679,663,634,878.367051756,786,809.632948244,653,629,652.632948244,0.40093897373,0.00455226881005,0.0499276091672,0.999999974845,7.36744613373e-05,-0.000210596204602,-2.3059328809e-05,1793248294026823168
+74,1.233333333,BASELINE,765,745,715,679,663,634,878.943800998,786,809.056199002,653,629,652.056199002,0.400940036637,0.0045537560197,0.049928692777,0.999999975024,7.60817723298e-05,-0.000208888675591,-2.30081456214e-05,1793248294043490048
+75,1.250000000,BASELINE,765.529838231,745,715,679,663,634,878.470161769,786,809,653,629,652,0.400939239133,0.00455267137887,0.0499284037085,0.999999974952,7.41910559913e-05,-0.000209946733998,-2.26670914806e-05,1793248294060156672
+76,1.266666667,BASELINE,766,745,715,679.115793257,663.115793257,634,877.884206743,786,809.115793257,653,629,652.115793257,0.400938589943,0.00455177686267,0.0499280650312,0.99999997488,7.2678811823e-05,-0.000210838443033,-2.24548728302e-05,1793248294076823040
+77,1.283333333,BASELINE,766,745,715,679.697383889,663.697383889,634,877.302616111,786,809.697383889,653,629,652.697383889,0.400939345326,0.00455276408271,0.0499281229346,0.999999974938,7.45556239528e-05,-0.000209859917725,-2.28868041152e-05,1793248294093489408
+78,1.300000000,BASELINE,766,745,715,680,664,634,877.276046913,786,810,653,629,653,0.400940203459,0.00455322204404,0.0499284813832,0.999999975082,7.5613696797e-05,-0.000208770347328,-2.31116027344e-05,1793248294110156032
+79,1.316666667,BASELINE,766,745,715,680,664,634,877.851534194,786,810,653,629,653,0.400941173049,0.00455310589484,0.0499291658465,0.999999975321,7.57836465933e-05,-0.000207560321447,-2.31117153083e-05,1793248294126822656
+80,1.333333333,BASELINE,765.576579661,745,715,679.576579661,664.423420339,634,877.576579661,786,809.576579661,653,628.576579661,653,0.400940486693,0.00455255263099,0.0499282704957,0.999999975113,7.43686588258e-05,-0.000209072680222,-2.30426713307e-05,1793248294143489536
+81,1.350000000,BASELINE,765.005945506,745,715,679.005945506,664.994054494,634,877.005945506,786,809.005945506,653,628.005945506,653,0.400939224601,0.0045518473921,0.0499268258786,0.999999974743,7.24026235957e-05,-0.000211531551383,-2.29495831608e-05,1793248294160156416
+82,1.366666667,BASELINE,765.590712714,745,715,679,663.818574572,634,877.590712714,786,809,653,628.590712714,653,0.400938357751,0.00455116522019,0.0499267552447,0.999999974687,7.22984236822e-05,-0.000211847475933,-2.28055625018e-05,1793248294176823296
+83,1.383333333,BASELINE,766,745,715,679,663,634,878,786,809.181543497,653,629,653,0.400938036128,0.00455046820224,0.0499268841901,0.999999974738,7.18482997784e-05,-0.000211770070666,-2.26852401529e-05,1793248294193489920
+84,1.400000000,BASELINE,766,745,715,679,663,634,878,786,809.759066059,653,629,653,0.400938894666,0.00454973827254,0.0499274168999,0.999999975016,7.06008958121e-05,-0.000210883955598,-2.26177777361e-05,1793248294210156800
+85,1.416666667,BASELINE,765.665106301,745,715,679.334893699,663,634,877.665106301,785.665106301,809.665106301,653,629,652.665106301,0.400939184626,0.0045506435128,0.0499273585831,0.999999974998,7.20027137413e-05,-0.000210485553449,-2.2722715796e-05,1793248294226823168
+86,1.433333333,BASELINE,765.09049194,745,715,679.90950806,663,634,877.09049194,785.09049194,809.09049194,653,629,652.09049194,0.400939067592,0.00455271922611,0.0499268772027,0.99999997476,7.53008744692e-05,-0.000210436261725,-2.29510600532e-05,1793248294243489536
+87,1.450000000,BASELINE,765.49683174,745,715,680,662.50316826,634,877.49683174,785.49683174,809,653,629,652,0.40094063407,0.00455355598623,0.0499277346498,0.999999974994,7.51763499312e-05,-0.000209334065563,-2.32417934573e-05,1793248294260156416
+88,1.466666667,BASELINE,766,745,715.084927849,679.915072151,662.169855699,634,878,786,809.084927849,653,629,652,0.40094196189,0.00455404440638,0.0499285982255,0.999999975225,7.46090684218e-05,-0.000208403316602,-2.35026883421e-05,1793248294276822784
+89,1.483333333,BASELINE,766,745,715.663701586,679.336298414,663.327403171,634,878,786,809.663701586,653,629,652,0.40094007211,0.00455385390693,0.0499280422442,0.999999974928,7.51873766049e-05,-0.00020961393258,-2.35222638293e-05,1793248294293489408
+90,1.500000000,BASELINE,766,745,715.758810981,679.241189019,663.758810981,634,878,786,809.758810981,653,629,652,0.400938676487,0.00455401262134,0.0499274883444,0.999999974657,7.5704256245e-05,-0.000210721009795,-2.34722559145e-05,1793248294310156288
+91,1.516666667,BASELINE,766,745,715.18310762,679.81689238,663.18310762,634,878,786,809.18310762,653,629,652,0.40093796623,0.00455465567393,0.0499269373314,0.999999974424,7.61359382235e-05,-0.000211684485006,-2.33257400966e-05,1793248294326823168
+92,1.533333333,BASELINE,766,745,715.391530544,679.608469456,663.391530544,634,878.391530544,786,809.391530544,653,629,652,0.400939421548,0.00455392665407,0.0499272784115,0.999999974924,7.38129814216e-05,-0.000210136679487,-2.33745055199e-05,1793248294343490048
+93,1.550000000,BASELINE,766,745,715.965671948,679.034328052,663.965671948,634,878.965671948,786,809.965671948,653,629,652,0.400941886897,0.0045525576961,0.049928035566,0.999999975748,7.02052539915e-05,-0.000207417606211,-2.35143506066e-05,1793248294360156928
+94,1.566666667,BASELINE,766,745,715.443303542,679,663.443303542,634,877.886607085,786,810,653,629,652,0.400940631354,0.00455408998546,0.0499270612814,0.999999974911,7.4505452188e-05,-0.000209943834852,-2.34743717699e-05,1793248294376823040
+95,1.583333333,BASELINE,765.854900773,745,715,679,663,634,877.145099227,785.854900773,810,653,628.854900773,652,0.400939995604,0.00455527421038,0.0499266386547,0.999999974403,7.74926033295e-05,-0.000211280012753,-2.34453413284e-05,1793248294393489664
+96,1.600000000,BASELINE,765.2775075,745,715,679,663,634,877.7224925,785.2775075,810,653,628.2775075,652,0.400941911362,0.00455487177447,0.0499281876219,0.999999975259,7.50695522354e-05,-0.000208076894008,-2.34829990337e-05,1793248294410156288
+97,1.616666667,BASELINE,765.298785132,745,715,679,663,634,877.701214868,785,809.701214868,653,628,652,0.400942071399,0.00455487792598,0.0499289206703,0.999999975388,7.48895731696e-05,-0.000207535161398,-2.33540959345e-05,1793248294426822912
+98,1.633333333,BASELINE,765.87405922,745,715,679,663,634,877.12594078,785,809.12594078,653,628,652,0.400940606731,0.00455526217502,0.0499288986859,0.99999997485,7.67852820247e-05,-0.000209456215103,-2.30710612576e-05,1793248294443489536
+99,1.650000000,BASELINE,766,745,715,679.446300571,663.446300571,634,877,785.446300571,809,653,628.446300571,652.446300571,0.40093936293,0.00455563629161,0.0499276728691,0.999999974546,7.66643336184e-05,-0.000210924263033,-2.32771003786e-05,1793248294460156672
+100,1.666666667,BASELINE,765.981518834,745,715,679.981518834,663.981518834,634,877.018481166,786,809.018481166,653.018481166,629,652.981518834,0.400938254409,0.00455589211771,0.0499261979454,0.99999997434,7.58716006546e-05,-0.000212148197628,-2.35950765779e-05,1793248294476823808
+101,1.683333333,BASELINE,765.38463633,745,715,679.38463633,663.38463633,634,877.61536367,786,809.61536367,653.61536367,629,652.38463633,0.40093944228,0.00455253471215,0.0499274867702,0.999999975171,7.1744240537e-05,-0.000209705925056,-2.3126179076e-05,1793248294493490432
+102,1.700000000,BASELINE,765.20520624,745,715,679,663,634,878,786,809.79479376,653.79479376,628.79479376,652.20520624,0.400940045274,0.00455159114094,0.049928008027,0.99999997541,7.15546132701e-05,-0.000208640784564,-2.30139376979e-05,1793248294510156800
+103,1.716666667,BASELINE,765.782290853,745,715,679,663,634,878,786,809.217709147,653.217709147,628.217709147,652.782290853,0.400939588342,0.00455502196333,0.0499271382833,0.999999974577,7.85010154521e-05,-0.000210071307414,-2.35480348958e-05,1793248294526823168
+104,1.733333333,BASELINE,765.641829085,745,715,679,663,634,878,786,809,653,628,652.641829085,0.400939755145,0.00455499202657,0.0499269715045,0.999999974435,7.89439272333e-05,-0.000210584649992,-2.35079908262e-05,1793248294543489792
+105,1.750000000,BASELINE,765.06667868,745,715,679,663,634,878,786,809,653,628,652.06667868,0.400940299806,0.00455286556662,0.0499272305809,0.999999974723,7.54470334058e-05,-0.000210542366059,-2.31201327529e-05,1793248294560156416
+106,1.766666667,BASELINE,765,745,715,679,663,634,877.479611699,785.479611699,809,653,628.520388301,652.520388301,0.400940657837,0.00455356109267,0.0499276986603,0.999999974849,7.52061320893e-05,-0.00021001090996,-2.32586354429e-05,1793248294576822784
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,878,786,810,653,629,653,0.400940036457,0.00455089126928,0.0499281472958,0.999999975667,6.75506915187e-05,-0.000208739640928,-2.30222961028e-05,1793248294619289088
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.424438868,785.424438868,810,653,628.424438868,652.424438868,0.40094063317,0.00455184405196,0.0499283595035,0.999999975595,7.0411621993e-05,-0.000208126649382,-2.31234964616e-05,1793248294635955712
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.151088095,745,715,679,663.151088095,634,877.30217619,785.151088095,810,653,628.151088095,652.151088095,0.400941492397,0.00455291536579,0.0499286384652,0.999999975614,7.25261755293e-05,-0.000207298341148,-2.32384413477e-05,1793248294652622080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.726519225,745,715,679,663.726519225,634,878.453038451,785.726519225,810,653,628.726519225,652.726519225,0.400943088917,0.00455431958411,0.0499291049109,0.999999975905,7.254447021e-05,-0.000205865298586,-2.33919888651e-05,1793248294669288704
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.311059988,715,679,663.688940012,634,878.688940012,786,809.688940012,653,629,652.688940012,0.400942983698,0.00455481032851,0.0499290179438,0.999999975783,7.27906142986e-05,-0.000206363312578,-2.34321772337e-05,1793248294685955072
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.90385144,715,679,663.09614856,634,878.09614856,786,809.09614856,653,629,652.09614856,0.400941337191,0.00455447372648,0.0499284297426,0.999999975286,7.32431248413e-05,-0.000208610312094,-2.33696945967e-05,1793248294702621696
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.514750837,715,679,663,634,878,785.514750837,809.485249163,653.485249163,628.514750837,652.485249163,0.400945861695,0.00455413157912,0.049930056124,0.999999975978,7.435806538e-05,-0.000204869623738,-2.32926821862e-05,1793248294719288320
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.063745465,634,878,785.063745465,809.936254535,653.936254535,628.063745465,652.936254535,0.400952491127,0.00455391945388,0.049932201822,0.999999976986,7.53591411173e-05,-0.000199517527277,-2.32889657761e-05,1793248294735954944
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.636685134,634,878,785.636685134,809.363314866,653.363314866,628.636685134,652.363314866,0.400966391485,0.00455475451151,0.0499350710673,0.99999997879,7.44262656275e-05,-0.000190553210753,-2.38932019685e-05,1793248294752621568
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.78440274,745,715,679.21559726,664,634,878,785.78440274,809,653.21559726,629,652,0.400986041128,0.00455493723773,0.0499396603391,0.999999981236,7.41735467107e-05,-0.000177303076924,-2.42858101406e-05,1793248294769288448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.195139405,745,715,679.804860595,664,634,878,785.195139405,809,653.804860595,629,652,0.401015655243,0.00455398936456,0.0499472307039,0.999999984619,7.50996528597e-05,-0.000156624906531,-2.43116315274e-05,1793248294785955584
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.612245884,663.612245884,634.387754116,878,785.387754116,809,653.612245884,629,652.387754116,0.401054690404,0.00455330235439,0.0499531489345,0.999999987841,7.48074511351e-05,-0.00013457469064,-2.47228134165e-05,1793248294802622208
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.032506146,663.032506146,634.967493854,878,785.967493854,809,653.032506146,629,652.967493854,0.401098390135,0.00455274450317,0.0499582491577,0.999999990693,7.39120383499e-05,-0.000111845142844,-2.53247957921e-05,1793248294819288576
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.543561989,745,715.543561989,679,663,634.456438011,877.456438011,786,809,653,628.456438011,653,0.401153377746,0.00455353188313,0.0499636866676,0.999999992956,7.37281572662e-05,-8.92519936204e-05,-2.62146214502e-05,1793248294835954944
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,679.238653391,663,634,877.119326695,786,809.119326695,653,628.119326695,652.880673305,0.401210628545,0.00455385335131,0.049968080909,0.999999994423,7.281671102e-05,-7.16696866752e-05,-2.67558014528e-05,1793248294852621312
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,680.389530791,663,634,877.694765395,786,809.694765395,653,628.694765395,652.305234605,0.401273967183,0.00455208848938,0.0499684108014,0.999999994607,6.89626789612e-05,-7.32097482946e-05,-2.58989699023e-05,1793248294869287936
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722985958,745,715.722985958,680.445971917,663.277014042,634,878,785.722985958,809.722985958,653,629,652.277014042,0.401347035991,0.00455162013998,0.0499690158075,0.999999994831,6.71347227122e-05,-7.20563019201e-05,-2.52940985873e-05,1793248294885954560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.133044529,745,715.133044529,679.266089057,663.866955471,634,878,785.133044529,809.133044529,653,629,652.866955471,0.401431096427,0.00455261638892,0.0499699315943,0.999999995101,6.75955120879e-05,-6.78601489639e-05,-2.49738528178e-05,1793248294902621440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448290843,745.448290843,715,679,663.551709157,633.551709157,878,785.448290843,809.448290843,653,629,653,0.401534805108,0.00455228011067,0.0499697487287,0.999999995028,6.81688925985e-05,-6.86339779736e-05,-2.42344963229e-05,1793248294919288576
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.973066883,715,679,663,633.026933117,878,786,810,653,629,652.973066883,0.401645387773,0.00455145719377,0.0499692641718,0.999999994875,6.85197749211e-05,-7.07788201588e-05,-2.33699412165e-05,1793248294935955968
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.398230336,715,679,663,633.601769664,878,786,810,653,629,652.398230336,0.401779417569,0.00454862808055,0.0499691504081,0.999999995174,6.36773907484e-05,-7.13734424281e-05,-2.24411606366e-05,1793248294952622080
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.180434752,679,663,634,878.180434752,786,810,653,629,652,0.401922748479,0.00454609586544,0.0499699197024,0.999999995519,5.92824997695e-05,-7.06502418659e-05,-2.13454835157e-05,1793248294969288448
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.767732758,679,663,634,878.767732758,786,810,653,629,652,0.402087052505,0.00454423312783,0.0499726802088,0.999999995999,5.58966641583e-05,-6.69554757253e-05,-1.987347065e-05,1793248294985954816
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.649704257,679,663,634,878.649704257,786,809.649704257,653,628.649704257,652.350295743,0.402273187911,0.00454159288526,0.0499736657605,0.999999996334,5.14403556361e-05,-6.59570660893e-05,-1.83443840017e-05,1793248295002621952
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.070238947,679,663,634,878.070238947,786,809.070238947,653,628.070238947,652.929761053,0.402473605803,0.00453844398523,0.0499734901064,0.999999996562,4.62837247826e-05,-6.67226594031e-05,-1.67779585459e-05,1793248295019289088
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492083262,745.507916738,715,679,663,634,878,786,809.507916738,653,628.507916738,652.492083262,0.402704710445,0.0045370948809,0.049971243134,0.999999996423,4.35077846648e-05,-7.08754293134e-05,-1.54312988746e-05,1793248295035955200
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085496847,745.914503153,715,679,663.085496847,634,878,786,810,653,629,652,0.402947535173,0.00453573597499,0.0499700641421,0.999999996411,4.08116677577e-05,-7.29139745213e-05,-1.39762659331e-05,1793248295052621568
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.660814558,745.339185442,715,679,663.660814558,634,878,786,810,653,629,652,0.403233256025,0.00453289865913,0.0499766405475,0.999999997448,3.66915692079e-05,-6.01632417927e-05,-1.17266842195e-05,1793248295069288448
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.758608046,634,878,785.758608046,809.758608046,653,628.758608046,652.241391954,0.403534137711,0.00452990242203,0.0499845233952,0.99999999851,3.16637595732e-05,-4.34161659979e-05,-9.65695395149e-06,1793248295085955328
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.17047556,634,878,785.17047556,809.17047556,653,628.17047556,652.82952444,0.403856796724,0.00452667790724,0.0499942828439,0.999999999429,2.53320946948e-05,-2.09286588823e-05,-7.84556625409e-06,1793248295102621952
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.588695123,745,715,679.411304877,663,634,878,785.411304877,809.411304877,653,628,652.588695123,0.404214811114,0.00452428979782,0.050002017295,0.999999999755,2.10123659849e-05,-4.07557332679e-06,-5.66552809851e-06,1793248295119288832
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.009507424,745,715,679.990492576,663,634,878,785.990492576,809.990492576,653,628,652.009507424,0.404587256543,0.0045222430851,0.0500089252,0.999999999786,1.75138519102e-05,1.04777028414e-05,-3.33501747248e-06,1793248295135955200
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.566908203,745,715,680,663,634,878,786,810,653,628.566908203,652,0.405003423893,0.00451551713187,0.0500115110543,0.999999999754,9.56055904015e-06,2.00036091674e-05,1.03883990696e-08,1793248295152621568
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.856860124,663.143139876,634,878,786,810,653,629,652,0.405418466495,0.00450971105978,0.0500089831758,0.999999999821,2.70447191235e-06,1.84337213214e-05,3.20830787801e-06,1793248295169288192
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.281044762,663.718955238,634,878,786,810,653,629,652,0.405827903567,0.00450692160849,0.0499912158154,0.999999999848,-6.10310316124e-07,-1.64223208901e-05,5.90921465412e-06,1793248295185955072
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.69855157,633.69855157,878.30144843,785.69855157,810,653,629,652.30144843,0.406256887749,0.00450351113344,0.0499728896522,0.99999999873,-4.53347779776e-06,-4.94610050455e-05,8.56978068301e-06,1793248295202621696
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.109691428,633.109691428,878.890308572,785.109691428,810,653,629,652.890308572,0.406704508893,0.0044995085518,0.0499540307042,0.999999996635,-9.03670192101e-06,-8.076695912e-05,1.11918847172e-05,1793248295219288576
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.528612037,745,715,679,663,633.471387963,879,785.471387963,810.471387963,653,629,652.528612037,0.407210348169,0.00449373005284,0.0499434626356,0.999999994888,-1.03676287778e-05,-9.94865312484e-05,1.48101319881e-05,1793248295235955200
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.050909334,745,715,679,663,634,878.949090666,786,810.949090666,653,629,652.050909334,0.407737068092,0.00448766057508,0.0499377032538,0.999999993809,-8.36047099147e-06,-0.000109383845048,1.86300850984e-05,1793248295252621824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.632758368,745,715,679,663,634,878.367241632,786,810.367241632,653,629,652.632758368,0.408342563054,0.00448279633109,0.0499623002966,0.999999997893,2.08863196767e-05,-5.73219543914e-05,2.21754260392e-05,1793248295269288704
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.213897777,634,878,786,810.213897777,653,629,653,0.40896150449,0.00447621156402,0.0499864285637,0.999999998965,3.56833064506e-05,-1.12014698004e-05,2.59044544855e-05,1793248295285955072
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.793822824,634,878,786,810.793822824,653,629,653,0.409603455834,0.00446668259476,0.0500097546487,0.999999998914,2.57534226841e-05,2.47519275184e-05,2.99478135002e-05,1793248295302621440
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.372960906,664,634,878.372960906,786,811,653,629,653,0.410231947176,0.00446016882176,0.0500113897868,0.999999999333,4.01283185615e-06,2.13565392163e-05,2.93531872878e-05,1793248295319288064
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.951664843,664,634,878.951664843,786,811,653,629,653,0.410853013319,0.0044553183752,0.0500010591629,0.999999999356,-2.42431081452e-05,-3.7455177698e-06,2.62000269928e-05,1793248295335954688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.472270527,745,715,679.472270527,663.472270527,634,878.472270527,786,810.472270527,652.472270527,629,653,0.411488925593,0.00444762949074,0.0499692592635,0.99999999638,-3.59867137808e-05,-7.19488144197e-05,2.77361103436e-05,1793248295352621568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.103902368,745,715,679,663.103902368,634,878.103902368,786,810.103902368,652.103902368,629,653,0.412153719709,0.00444024507544,0.0499445576889,0.999999991225,-4.34732338979e-05,-0.000121653721185,2.93254475864e-05,1793248295369288704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.681665833,745,715,679,663.681665833,634,878.681665833,786,810.681665833,652.681665833,629,653,0.412944062707,0.00443542898663,0.04996115237,0.99999999645,-3.84078085625e-05,-6.90798166808e-05,2.92086486193e-05,1793248295385955328
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735820175,745,715,679,664,633.735820175,879,786,811,653,629,653,0.413721463772,0.00443089918736,0.0499768511433,0.999999998378,-3.68216305393e-05,-3.14789776379e-05,2.99466369919e-05,1793248295402621952
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.147476947,745,715,679,664,633.147476947,879,786,811,653,629,653,0.414482984467,0.0044267206807,0.0499914505899,0.999999998641,-3.9504682762e-05,-1.22509195654e-05,3.17334972397e-05,1793248295419288576
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.433877771,745,715,679,664,633.433877771,879,786,811,653,629,653,0.415233734222,0.00443539704028,0.049970208436,0.999999997666,-3.30610582448e-05,-5.02872466986e-05,3.23422074226e-05,1793248295435955200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.012833785,664,634,879.012833785,786,811,653,629,653,0.415982783825,0.00444832146027,0.0499377756724,0.99999999358,-2.34317888751e-05,-0.000105988443705,3.25312303989e-05,1793248295452621824
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.589116134,664,634,879.589116134,786,811,653,629,653,0.416815379615,0.00445895847147,0.0499404212637,0.999999994839,-7.97988136854e-06,-9.62296696099e-05,3.15973443758e-05,1793248295469288448
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.836586459,745,715,680,664,634,879.836586459,786,811.163413541,653,629,652.836586459,0.417664233382,0.00446278435997,0.0499512301823,0.999999996791,-2.62451568989e-07,-7.37039374458e-05,3.13948885573e-05,1793248295485955072
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.267220091,745,715,680,664,634,879.267220091,786,811.732779909,653,629,652.267220091,0.418553475255,0.00444969001882,0.0499823184835,0.999999999197,-1.17590553352e-05,-1.94624573556e-05,3.30094557476e-05,1793248295502621952
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.31637657,745,715,680,664,634,879.31637657,785.68362343,812,653,629.31637657,652.31637657,0.419401640767,0.00444212746182,0.0499845937581,0.999999998925,-2.21392393696e-05,-2.18616140908e-05,3.43896385664e-05,1793248295519288832
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.912558561,745,715,680,664,634,879.912558561,785.087441439,812,653,629.912558561,652.912558561,0.420213478043,0.00443945725007,0.0499613866099,0.999999996106,-3.15320541752e-05,-7.43541076504e-05,3.55625302857e-05,1793248295535955456
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.505686891,745,715,680,664,634,880,785.494313109,812,653,630,653,0.421129443483,0.00443742718687,0.0499698771171,0.999999997983,-3.70352814211e-05,-3.83216259499e-05,3.45419162449e-05,1793248295552621824
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715.07302112,680,664,633.92697888,879.92697888,786,812,653,630,653,0.422060996192,0.0044357068217,0.0499835343822,0.999999998575,-4.07162623823e-05,8.64290154527e-06,3.34157725292e-05,1793248295569288192
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715.64783407,680,664,633.35216593,879.35216593,786,812,653,630,653,0.422976673749,0.00443535856709,0.0499952580347,0.999999998409,-3.64690882296e-05,2.61719268912e-05,3.41552489825e-05,1793248295585954816
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715.772908241,680,664,633.227091759,879.227091759,786,812,653,630,653,0.42388675593,0.00443669852358,0.0499967376056,0.999999998441,-3.43407787588e-05,2.69824869112e-05,3.47969906837e-05,1793248295602621440
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715.186620115,680,664,633.813379885,879.813379885,786,812,653,630,653,0.424787987915,0.00444070876316,0.0499820138743,0.999999998744,-3.55639266346e-05,1.34906058867e-06,3.52841431464e-05,1793248295619288320
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.397762162,745,715,680,664,634,880,786,812.397762162,653,630,653,0.425728272842,0.00443956186446,0.0499918577533,0.999999998443,-4.03321841899e-05,1.25789121865e-05,3.64431930032e-05,1793248295635955200
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.981254491,745,715,680,664,634,880,786,812.981254491,653,630,653,0.426686793007,0.00443600690299,0.0500131731776,0.999999997347,-4.67557871697e-05,4.10216211791e-05,3.79159770659e-05,1793248295652622080
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.556478591,634,880,785.443521409,813,652.443521409,630,653,0.427552937121,0.00443328586737,0.0499964351957,0.999999998544,-3.29958097017e-05,-1.39917066239e-05,4.03406057894e-05,1793248295669288960
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.869179397,745,715,680.130820603,664.738358794,633.869179397,880,785,813,652.130820603,630,653,0.428428061542,0.00443150804706,0.0499769878985,0.999999996862,-2.34324837132e-05,-6.30537589952e-05,4.18388279603e-05,1793248295685955328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.296887983,745,715,680.703112017,663.593775967,633.296887983,880,785,813,652.703112017,630,653,0.429343838446,0.00443281981656,0.0499526601571,0.999999995319,-3.02921223496e-05,-8.26842909895e-05,4.01041541521e-05,1793248295702621696
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.569096513,633,880,785,813,653,630,653,0.430275974144,0.00443291679791,0.0499461789863,0.999999995219,-3.81945988433e-05,-8.1009921758e-05,3.92508133576e-05,1793248295719288320
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.751685366,633,880,785,813,653,630,653,0.431225744743,0.00443170422408,0.0499589366177,0.999999996522,-4.72212656398e-05,-5.63686318957e-05,3.93475594139e-05,1793248295735954688
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,665,633,880,785,813.458424619,653,630,653,0.432133503681,0.00443306561019,0.0499488895321,0.999999995635,-4.11336790078e-05,-7.36481282458e-05,4.01799776025e-05,1793248295752621312
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.961531103,633.038468897,880,785,814,653,630.038468897,653,0.433031579374,0.00443478206949,0.0499351730011,0.999999993901,-3.14678567002e-05,-9.75160538225e-05,4.12054055182e-05,1793248295769288192
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.384595195,633.615404805,880,785,814,653,630.615404805,653,0.433950409002,0.00443189276188,0.0499549338172,0.999999997058,-2.7945292836e-05,-5.76475837295e-05,4.21955624826e-05,1793248295785955072
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.191009074,634,880,785,814,653,630.808990926,653,0.434853246282,0.00443061458383,0.049971762339,0.999999998258,-2.70540795098e-05,-2.9997419642e-05,4.30458981876e-05,1793248295802621952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.763950766,634,880,785,814,653,630.236049234,653,0.435724106192,0.00443255794295,0.0499827275886,0.999999998197,-3.14243884514e-05,-2.67783895069e-05,4.36166542725e-05,1793248295819288832
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.347509661,664.652490339,633.652490339,880.347509661,785,814,652.652490339,630,653,0.436570575635,0.00443298715098,0.0499706083642,0.999999996508,-3.79152221152e-05,-5.9711684264e-05,4.45079148011e-05,1793248295835955712
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.938507639,664.061492361,633.061492361,880.938507639,785,814,652.061492361,630,653,0.437399955446,0.0044323554442,0.0499423146258,0.999999990947,-4.58918356713e-05,-0.000117975695548,4.56237418436e-05,1793248295852622592
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.479951393,664.520048607,633,881,785,814.520048607,652.520048607,630.520048607,653,0.438290175267,0.00443043357594,0.0499619125086,0.999999996165,-3.41262407981e-05,-6.74811598256e-05,4.41668003288e-05,1793248295869288704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,665,633,880.900945839,785,815,653,630.900945839,653,0.43916739982,0.00442888230893,0.0499813170962,0.999999998658,-2.27884252747e-05,-1.83846031863e-05,4.27369271584e-05,1793248295885954816
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,665,633,880.328804226,785,815,653,630.328804226,653,0.439948813393,0.00442981663998,0.04997323539,0.999999998124,-2.44437286306e-05,-3.62878328214e-05,4.28633214817e-05,1793248295902621440
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.749747364,633.250252636,880,784.749747364,815,652.749747364,630,653,0.440731290677,0.00442958851882,0.0499651222717,0.999999997347,-2.87604374264e-05,-5.09322089597e-05,4.34232412392e-05,1793248295919288320
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.161346475,633.838653525,880,784.161346475,815,652.161346475,630,653,0.441515205211,0.00442778966017,0.0499569667094,0.999999996463,-3.66733104137e-05,-6.1173131066e-05,4.4568952501e-05,1793248295935955200
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.420718958,745,715,681,664,633.579281042,880,784,815,652.420718958,630,653,0.44229622822,0.0044255511807,0.0499721626834,0.999999997511,-4.44731947467e-05,-3.13043369576e-05,4.4955498303e-05,1793248295952622080
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999610576,745,715,681,664,633,880.000389424,784,815,652.999610576,630.000389424,653,0.443076096434,0.00442314954126,0.0499961618731,0.999999997528,-5.22173575282e-05,1.36754515651e-05,4.50557664534e-05,1793248295969289472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.422018024,745,715,681,664,633,880.577981976,784,815,652.422018024,630.577981976,653,0.443763467068,0.00442509730259,0.0499915732448,0.999999998105,-4.06431871757e-05,-5.01931568951e-06,4.59632143684e-05,1793248295985955584
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.154952549,745,715,681.154952549,664,633,880.845047451,784,815.154952549,652,630.845047451,653.154952549,0.444435180279,0.00442704294351,0.0499785270342,0.99999999787,-3.12062386904e-05,-3.35331320993e-05,4.65039430314e-05,1793248296002621696
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.730236044,745,715,681.730236044,664,633,880.269763956,784,815.730236044,652,630.269763956,653.730236044,0.445064420645,0.00442898283292,0.0499425384212,0.999999994627,-2.75668075405e-05,-8.86825275932e-05,4.60498934472e-05,1793248296019288064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687174308,744.687174308,715,682,664.312825692,633,880,784,815.687174308,652,630,653.687174308,0.445723657943,0.00442929585361,0.0499362410024,0.99999999488,-2.95545852744e-05,-8.55232003479e-05,4.52915481646e-05,1793248296035954688
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098133597,744.098133597,715,682,664.901866403,633,880,784,815.098133597,652,630,653.098133597,0.446409381529,0.00442817240144,0.049956159955,0.999999997877,-3.651100758e-05,-3.08791439154e-05,4.42645195847e-05,1793248296052621056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,744.482554311,715,681.517445689,664.517445689,633,880.482554311,784,815,652,630.482554311,653,0.447022966745,0.00442544326854,0.0499660614404,0.99999999809,-4.04556517627e-05,-1.39048724411e-05,4.46048716299e-05,1793248296069288448
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.061165234,745,715,681,664.061165234,633,881,784,815.061165234,652,631,653,0.447613919514,0.0044227969881,0.0499704168516,0.999999998021,-4.29231270446e-05,-9.21156167065e-06,4.5067763445e-05,1793248296085955584
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.636353813,745,715,681,664.636353813,633,881,784,815.636353813,652,631,653,0.448135861567,0.00442354445184,0.0499449927501,0.999999997309,-3.80363384783e-05,-4.44421906658e-05,4.42633284327e-05,1793248296102622208
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.784150597,745,715,681,664.784150597,633,880.784150597,784,816,652,630.784150597,653,0.448646393417,0.00442336726522,0.0499270288524,0.999999995936,-3.55310931695e-05,-7.02920763213e-05,4.38666351069e-05,1793248296119288832
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.197251219,745,715,681,664.197251219,633,880.197251219,784,816,652,630.197251219,653,0.449137310819,0.00442160058376,0.0499218892153,0.999999995134,-3.71197748177e-05,-8.00162497755e-05,4.41708590635e-05,1793248296135955200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.384853083,745,715,681,664,633,880.384853083,784,816,652,630.384853083,653,0.449637471963,0.00441980291418,0.0499354634478,0.999999996467,-3.82952906578e-05,-5.98908476368e-05,4.48607737354e-05,1793248296152621824
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964530032,745,715,681,664,633,880.964530032,784,816,652,630.964530032,653,0.450142312603,0.00441798955734,0.049958511187,0.999999997879,-3.92616500103e-05,-2.46547197982e-05,4.57459362888e-05,1793248296169288192
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.543279886,664.543279886,633,880.456720114,784,816,652,631,653,0.450585988525,0.00442056097398,0.0499753769017,0.999999998144,-3.97380782562e-05,-2.54247112189e-06,4.61085656979e-05,1793248296185954816
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.879324074,664.879324074,632.879324074,880.120675926,784,816,652,631,653,0.451007298693,0.00442244259544,0.0499865344827,0.999999998071,-3.99832693518e-05,9.32116881238e-06,4.66045974078e-05,1793248296202621440
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.306771029,664.306771029,632.306771029,880.693228971,784,816,652,631,653,0.451359787139,0.00442067109739,0.0499778264568,0.999999997984,-3.94821539202e-05,-1.39886072967e-05,4.77276903058e-05,1793248296219288064
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.726176287,745,715,681.273823713,664,632,881,784.273823713,816,652,631,653,0.451679362752,0.00442183846578,0.0499596811101,0.999999996735,-3.6376093586e-05,-5.35800019953e-05,4.83235868358e-05,1793248296235954944
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.136299688,745,715,681.863700312,664,632,881,784.863700312,816,652,631,653,0.451960949685,0.00442639793356,0.0499306430167,0.999999992107,-3.02633529389e-05,-0.000111963969769,4.83109824538e-05,1793248296252621824
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681.554621986,663.554621986,632,881,784.554621986,816,652.445378014,631,653,0.452243677789,0.0044297826495,0.0499111961792,0.999999988008,-2.89420825199e-05,-0.0001444307027,4.78104616654e-05,1793248296269288448
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.024464685,745,715,681,663.024464685,632,881,784.024464685,816,653,631,653,0.452525931389,0.00443274697417,0.04989547863,0.999999984424,-2.8904891823e-05,-0.000167608352925,4.71633134455e-05,1793248296285954816
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.60068133,745,715,681,663.60068133,632,881,784.60068133,816,653,631,653,0.452789749699,0.004434191706,0.0498988661646,0.999999986282,-2.53549533759e-05,-0.000156934785237,4.65159678114e-05,1793248296302621440
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.823821297,632,881,784.823821297,816,652.823821297,631,653,0.453042766307,0.00443526984673,0.049902942937,0.999999988024,-2.26690664462e-05,-0.000145971622234,4.6153360782e-05,1793248296319288064
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.249947646,632,881,784.249947646,816,652.249947646,631,653,0.453271399782,0.00443552046708,0.0499085755516,0.999999989656,-2.19336366642e-05,-0.000134354746082,4.64335052322e-05,1793248296335954688
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,881,784,816,652,630.66618596,653,0.453470895923,0.00443585044043,0.0499094527939,0.999999989876,-2.12210024029e-05,-0.000132860449964,4.6328863856e-05,1793248296352621568
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,881,784,816,652,630.074794411,653,0.453647909147,0.00443624164413,0.0499066606976,0.99999998905,-2.05259575385e-05,-0.000139176935371,4.59273141655e-05,1793248296369288192
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.505782831,663,631.494217169,881,784,816,652,630.505782831,653,0.453804204686,0.00443806443616,0.0499012492541,0.999999987851,-1.94451251879e-05,-0.000147719980819,4.58208415927e-05,1793248296385955072
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,881,784,816,652,631,653,0.453951993136,0.00443977367159,0.0498949954768,0.999999986459,-1.85394297591e-05,-0.000157007494417,4.5690976234e-05,1793248296402621696
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,881,784,816,652,631,653,0.454067681458,0.00443961299761,0.0498860425704,0.99999998456,-1.89800551482e-05,-0.000168755191877,4.51757652236e-05,1793248296419288832
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662.760312716,631,881,784,816,652,631,653,0.454174198662,0.00444037639606,0.0498786561118,0.999999982921,-1.8259080845e-05,-0.00017840064257,4.46890783722e-05,1793248296435955712
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662.17301638,631,881,784,816,652,631,653,0.454267415349,0.00444247994046,0.0498735414115,0.999999981784,-1.58534841228e-05,-0.000184997286689,4.42437590243e-05,1793248296452621824
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662.409057752,631,881,784,816,652.409057752,631,653,0.454347819705,0.00444087055449,0.0498699757535,0.999999980902,-1.74351037049e-05,-0.000189571009825,4.42202245989e-05,1793248296469288192
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662.988950913,631,881,784,816,652.988950913,631,653,0.454422873226,0.00443771053173,0.0498670570244,0.999999980119,-2.06819105279e-05,-0.000193299897241,4.43728408599e-05,1793248296485954816
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.565028197,715,681.434971803,663,631,881,784,816,652.434971803,631,653,0.454481023822,0.00444001248902,0.0498667712634,0.999999980148,-1.83278619618e-05,-0.000193512621064,4.38239209592e-05,1793248296502621440
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.859214635,745.859214635,715,681.140785365,663,631,881,784,816,652,631,653.140785365,0.454533847848,0.00444166462484,0.0498658127552,0.999999979938,-1.63508224687e-05,-0.000194855544264,4.34550163539e-05,1793248296519288320
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.284216285,745.284216285,715,681.715783715,663,631,881,784,816,652,631,653.715783715,0.454571256153,0.0044409853566,0.049862621614,0.999999978941,-1.58720933446e-05,-0.000199894893778,4.36833455744e-05,1793248296535954944
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.298430995,745,715,682,663,631,881,784,816,652.298430995,631,653.701569005,0.454601513179,0.00444216857167,0.0498601102303,0.999999978103,-1.45269278101e-05,-0.000204198115318,4.34264530508e-05,1793248296552621312
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.888554564,745,715,682,663,631,881,784,816,652.888554564,631,653.111445436,0.454624780404,0.00444517221604,0.0498582632553,0.999999977426,-1.23348895023e-05,-0.000207781830878,4.26952948713e-05,1793248296569287936
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681.52976845,662.52976845,631,881,784,816,652.52976845,631,653,0.454638780432,0.00444513032028,0.0498536050471,0.999999976023,-1.2913302595e-05,-0.000214415244138,4.25831311838e-05,1793248296585954304
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880.950357981,784,815.950357981,652,631,653,0.454650388164,0.00444452778048,0.0498486611561,0.99999997452,-1.39089249677e-05,-0.000221251896951,4.25820136726e-05,1793248296602621184
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880.374129308,784,815.374129308,652,631,653,0.454659506107,0.00444549958986,0.0498476296526,0.99999997423,-1.24880671312e-05,-0.00022271270499,4.22301257371e-05,1793248296619288576
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.798599049,745,715,681,662.201400951,631,880.201400951,784,815.201400951,652,631,653,0.454667214882,0.0044464146468,0.0498467867996,0.999999973977,-1.15269930537e-05,-0.000223953185567,4.19356003839e-05,1793248296635955456
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.224361739,745,715,681,662.775638261,631,880.775638261,784,815.775638261,652,631,653,0.454672314984,0.00444722464275,0.0498462931793,0.999999973799,-1.14170774217e-05,-0.000224785792666,4.17472654961e-05,1793248296652621824
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.359930532,745,715.359930532,681,662.640069468,631,881,784,816,652,631,653,0.454673720811,0.00444679437631,0.0498441550045,0.999999972981,-1.25861247133e-05,-0.000228319534893,4.18406693844e-05,1793248296669288448
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.950670638,745,715.950670638,681,662.049329362,631,881,784,816,652,631,653,0.454672757641,0.00444556877737,0.0498409622401,0.999999971726,-1.45753216276e-05,-0.000233585410912,4.21147414952e-05,1793248296685955584
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715.471031449,681.528968551,662.528968551,631,881,784,816,652.528968551,631,653,0.454673682991,0.00444867088761,0.049840511843,0.999999971741,-1.13211425092e-05,-0.0002338568329,4.12309776914e-05,1793248296702622464
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.894230293,663,631,881,784,816,652.894230293,631,653,0.45467450758,0.0044513193375,0.0498401498693,0.999999971751,-8.54996703957e-06,-0.000234076030704,4.04260656847e-05,1793248296719288832
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.319040866,663,631,881,784,816,652.319040866,631,653,0.454674121312,0.00445020438804,0.0498390713996,0.999999971264,-1.00426883401e-05,-0.000236083056966,4.04393023201e-05,1793248296735955200
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652.262388828,631,653,0.454673935932,0.00444985100509,0.0498380587783,0.999999970883,-1.03641326628e-05,-0.000237667788852,4.05000811163e-05,1793248296752621568
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652.851591042,631,653,0.454674000764,0.0044504461766,0.049837128173,0.999999970637,-9.22671554498e-06,-0.000238726540327,4.06200751435e-05,1793248296769288192
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.433482475,662.566517525,631,881,784,816,653,631,653,0.454673776576,0.00445068662483,0.049836401563,0.999999970374,-6.97073768301e-06,-0.000239906800338,4.05975263421e-05,1793248296785954560
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.987154212,745,715,681.987154212,662.012845788,631,881,784,816,653,631,653,0.454673456132,0.00445081419555,0.0498357588004,0.999999970098,-4.41509228995e-06,-0.000241127435041,4.05171808944e-05,1793248296802621440
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.410714902,745,715,681.410714902,662.589285098,631,881,784,816,653,631,653,0.454673181945,0.00445122926689,0.0498357813897,0.999999969825,-5.23492799807e-06,-0.000242324576742,4.00066764329e-05,1793248296819288320
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715.164978024,681.164978024,662.835021976,631,881,784,816,652.835021976,630.835021976,653,0.454673067009,0.00445147497376,0.0498356548841,0.999999969662,-6.20646443806e-06,-0.000243016236365,3.97592533085e-05,1793248296835955200
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715.738821154,681.738821154,662.261178846,631,881,784,816,652.261178846,630.261178846,653,0.454673346746,0.00445130094458,0.0498351588768,0.999999969773,-7.55396081537e-06,-0.000242455159472,4.01638248018e-05,1793248296852621568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.322324403,745,715.677675597,682,662,631,881,784,816,652.322324403,630.322324403,653,0.454673024373,0.00445236574921,0.0498350514772,0.999999969808,-6.72736363768e-06,-0.000242337603837,4.01506487362e-05,1793248296869288192
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.913897042,745,715.086102958,682,662,631,881,784,816,652.913897042,630.913897042,653,0.454672199037,0.00445446539271,0.0498352686946,0.999999969775,-4.08467413668e-06,-0.000242590536206,3.97885142971e-05,1793248296885954816
+244,4.066666667,HOLD_POSE2,765,745,715,682,662,631,881,784,816,652,631,653,0.454675534528,0.0044502433967,0.0498351587292,0.999999969918,-6.8003591467e-06,-0.000241808289113,4.05692626193e-05,1793248296917142528
+245,4.083333333,HOLD_POSE2,765.575210907,745,715,681.424789093,662.575210907,631,881,784,816,652,631,653,0.454674637751,0.00444976856329,0.0498353343587,0.999999969924,-6.97055337973e-06,-0.000241740013905,4.08111263705e-05,1793248296933809152
+246,4.100000000,HOLD_POSE2,766,745.153359471,715,681.153359471,662.846640529,631,880.846640529,784,816,652.153359471,631.153359471,653,0.45467425601,0.00444979788054,0.0498354753277,0.99999996993,-6.82953845623e-06,-0.00024171401248,4.08334842446e-05,1793248296950475776
+247,4.116666667,HOLD_POSE2,766,745.739804071,715,681.739804071,662.260195929,631,880.260195929,784,816,652.739804071,631.739804071,653,0.454675328722,0.00445125091255,0.0498355184162,0.999999969938,-5.80967300326e-06,-0.000241807391646,4.02359604611e-05,1793248296967142400
+248,4.133333333,HOLD_POSE2,766,745.677782067,715,682,662,631,880.644435867,784,816,653,631.677782067,653,0.454675746765,0.00445313602798,0.0498353563278,0.999999969893,-4.1510360232e-06,-0.000242087647123,3.98850655845e-05,1793248296983809024
+249,4.150000000,HOLD_POSE2,766,745.098582909,715,682,662,631,881.802834181,784,816,653,631.098582909,653,0.454675642683,0.00445536574649,0.0498350306028,0.999999969802,-1.98295418601e-06,-0.000242516943658,3.9730866805e-05,1793248297000475648
+250,4.166666667,HOLD_POSE2,766,745,715,682.47931825,662,631,881.52068175,784.47931825,816,652.52068175,631,653,0.454675411864,0.00445299627399,0.0498348663085,0.999999969626,-4.1010030802e-06,-0.000243157824395,4.00804436429e-05,1793248297017142272
+251,4.183333333,HOLD_POSE2,766,745,715,682.943207682,662,631,881.056792318,784.943207682,816,652.056792318,631,653,0.454675240668,0.00445021448034,0.0498348417484,0.999999969477,-6.55960253152e-06,-0.000243650277258,4.04758951402e-05,1793248297033808896
+252,4.200000000,HOLD_POSE2,766,745,715,682.367204118,662,631,881.632795882,784.367204118,816,652.632795882,631,653,0.454675852215,0.00445228773462,0.0498357919559,0.999999969802,-4.09407155634e-06,-0.00024238898913,4.03460436509e-05,1793248297050475520
+253,4.216666667,HOLD_POSE2,766,745,715,681.787046924,662.212953076,630.787046924,881.787046924,784,816,652.787046924,631,653,0.454676107593,0.00445361634815,0.0498360497537,0.999999969877,-2.75571447896e-06,-0.000242121395638,4.01961244105e-05,1793248297067142144
+254,4.233333333,HOLD_POSE2,766,745,715,681.199585029,662.800414971,630.199585029,881.199585029,784,816,652.199585029,631,653,0.454675736596,0.00445363540288,0.0498350898485,0.999999969523,-3.3996561675e-06,-0.000243601358177,4.00109131381e-05,1793248297083808768
+255,4.250000000,HOLD_POSE2,765.617697266,745,715,681,663,630.382302734,881,784,816,652,631,653,0.454675083542,0.00445454982006,0.0498340611929,0.999999969267,-1.38168519409e-06,-0.000244713214056,3.97424604409e-05,1793248297100475648
+256,4.266666667,HOLD_POSE2,765.038677663,745,715,681,663,630.961322337,881,784,816,652,631,653,0.454674285354,0.004455924953,0.0498329971612,0.999999969052,2.00599374718e-06,-0.000245635657898,3.94311751988e-05,1793248297117142272
+257,4.283333333,HOLD_POSE2,765.538592467,745,715,681.538592467,662.461407533,631,881,784,816,652.538592467,631,653,0.454674200415,0.00445399539272,0.0498328736474,0.999999968839,-5.0363069998e-07,-0.00024644488509,3.98251567444e-05,1793248297133808640
+258,4.300000000,HOLD_POSE2,766,745,715,682,662,631,881,784,816,652.884750004,631,653,0.454673931906,0.00445241099641,0.0498327223192,0.999999968621,-2.89408744013e-06,-0.000247268512315,4.01059125845e-05,1793248297150475520
+259,4.316666667,HOLD_POSE2,766,745,715,682,662,631,881,784,816,652.310035308,631,653,0.454672728029,0.00445314570555,0.0498321917112,0.999999968409,-3.12656965873e-06,-0.000248181856319,3.97340146313e-05,1793248297167142144
+260,4.333333333,HOLD_POSE2,766,745,715,682,662,630.728401772,881.271598228,784,816.271598228,652,631,653,0.454672260807,0.00445303921364,0.0498317697628,0.999999968292,-3.26756488435e-06,-0.00024865288893,3.97055123989e-05,1793248297183809024
+261,4.350000000,HOLD_POSE2,766,745,715,682,662,630.138663808,881.861336192,784,816.861336192,652,631,653,0.454672656476,0.00445194737108,0.049831475094,0.999999968289,-3.30139574494e-06,-0.000248605814904,4.00792507519e-05,1793248297200475648
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,631,881,784,816,653,631,653,0.454672028511,0.00445615963743,0.0498303513322,0.999999967881,1.31295484792e-06,-0.000250391176933,3.92524665412e-05,1793248297233435392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.421066661,745,715,681.421066661,662.578933339,631,881,784,816,653,631,653,0.454672440633,0.00445578208206,0.0498313262985,0.999999968022,-5.8297958208e-08,-0.000249826248018,3.92678995219e-05,1793248297250101760
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.158576527,745,715.158576527,681.158576527,663,631,881,784,816,653,631,653,0.45467230956,0.00445525574098,0.0498315910314,0.999999967996,-1.34268260336e-06,-0.000249922546365,3.9295811403e-05,1793248297266768128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.740113174,745,715.740113174,681.740113174,663,631,881,784,816,653,631,653,0.454670729662,0.00445433255408,0.0498299614085,0.999999967525,-2.39537015744e-06,-0.000251782489987,3.93570073882e-05,1793248297283434752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.675688854,682,662.675688854,631,881,784,816,653,631,653,0.454671874381,0.00445374811733,0.0498306118882,0.99999996784,-2.47796621821e-06,-0.000250516627929,3.94415281919e-05,1793248297300101120
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.089340618,682,662.089340618,631,881,784,816,653,631,653,0.454675220538,0.00445343738416,0.0498331046464,0.99999996878,-1.7767471792e-06,-0.000246725175633,3.95448949908e-05,1793248297316767232
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.510487025,745,715,681.510487025,662.489512975,631,881,784,816,653,631,653,0.454674462832,0.00445463444994,0.0498322476791,0.999999968571,-4.36529491892e-08,-0.000247593629024,3.94392320898e-05,1793248297333433600
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.066499197,745,715,681.066499197,662.933500803,631,881,784,816,653,630.933500803,653,0.454672841477,0.00445564456085,0.049830938204,0.999999968167,1.18236657488e-06,-0.00024923438357,3.93394057104e-05,1793248297350099968
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.639523392,745,715,681.639523392,662.360476608,631,881,784,816,653,630.360476608,653,0.454670260749,0.00445316613986,0.0498307684536,0.999999967869,-2.86686147773e-06,-0.000250377368928,3.95702419391e-05,1793248297366766848
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.218994646,682,662,631,881,784.218994646,816,652.781005354,630.218994646,653,0.454660532996,0.00445193416585,0.0498267484412,0.999999966038,-5.10968672818e-06,-0.000257534358761,3.96831158114e-05,1793248297383433728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.809399927,682,662,631,881,784.809399927,816,652.190600073,630.809399927,653,0.454638684026,0.00445281614179,0.0498161984596,0.999999961424,-4.28888774846e-06,-0.000274890982379,3.9595927804e-05,1793248297400100608
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.607608922,682,662.392391078,631,881.392391078,784.607608922,816,652.392391078,631,653.392391078,0.454600852614,0.00445383109075,0.049799101472,0.999999952926,-2.68338793514e-06,-0.000304292499742,3.93283970936e-05,1793248297416767488
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.028152275,682,662.971847725,631,881.971847725,784.028152275,816,652.971847725,631,653.971847725,0.45455540185,0.00445490943235,0.0497788833129,0.999999941632,-7.0379567941e-07,-0.000339436210309,3.89748911159e-05,1793248297433434112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.452358821,745,715,681.452358821,662.452358821,631,881.452358821,784,816,653,631,653.452358821,0.454489713761,0.0044554182291,0.0497569657347,0.999999929335,-5.23856085182e-07,-0.000373984275664,3.82690759296e-05,1793248297450100480
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.12295343,745,715,681,662,631,881,784,816,652.87704657,631,653,0.454421452656,0.00445604252704,0.0497374059088,0.999999917936,1.53695814247e-08,-0.000403381861521,3.75726107785e-05,1793248297466766848
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.697186244,745,715,681,662,631,881,784,816,652.302813756,631,653,0.454347540694,0.00445719749908,0.0497268183137,0.999999913621,2.21059232824e-06,-0.000413987149291,3.69764947154e-05,1793248297483433472
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.279539717,631,881,784,816,652.279539717,631,653,0.45426566894,0.00445880466717,0.0497216613953,0.999999911265,4.39595226857e-06,-0.000419686838304,3.62337467258e-05,1793248297500100096
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.870953118,631,881,784,816,652.870953118,631,653,0.4541749167,0.00446091633611,0.0497225633129,0.999999911191,6.57030845394e-06,-0.000419913504225,3.53274061395e-05,1793248297516766720
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.45200903,663,631,881,784,816,652.54799097,631,653,0.454069523524,0.00446272494315,0.0497255034245,0.999999912361,1.02762579586e-05,-0.000417061725393,3.50860781241e-05,1793248297533433600
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.969982564,663,631,880.969982564,784,816,652,631,653,0.453958379659,0.00446436380207,0.0497288651145,0.999999913743,1.42534893973e-05,-0.000413624488915,3.49955128653e-05,1793248297550100480
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.394820226,663,631,880.394820226,784,816,652,631,653,0.453817008836,0.00446445601609,0.0497295520024,0.999999913116,1.53942180817e-05,-0.00041515860721,3.42721693985e-05,1793248297566767360
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.184522782,663,631.184522782,880.184522782,784,816,652,631,653,0.453667180634,0.00446547964513,0.0497307578768,0.999999912633,1.75247489691e-05,-0.000416285859115,3.36712847555e-05,1793248297583434240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.77301839,663,631.77301839,880.77301839,784,816,652,631,653,0.453498836841,0.00446854240639,0.04973309996,0.999999912461,2.18222381027e-05,-0.000416522364631,3.33384973847e-05,1793248297600100864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.644226182,745,715,682,663,631.644226182,881,784,816,652.355773818,631,653,0.453305131012,0.0044707469906,0.0497357709806,0.999999912505,2.71971957048e-05,-0.00041613712555,3.28604303691e-05,1793248297616767232
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.065074751,745,715,682,663,631.065074751,881,784,816,652.934925249,631,653,0.453095501253,0.00447241275655,0.0497386485295,0.999999912663,3.32486575146e-05,-0.00041536151536,3.22911474444e-05,1793248297633433856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.511567226,745,715,682,663,631.511567226,881,784,816,652.488432774,631,653,0.452862660432,0.00447509224108,0.0497426229234,0.999999913947,3.73165603789e-05,-0.000411950084181,3.17885331652e-05,1793248297650100480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,816,652,631,653,0.452620298126,0.0044780528365,0.0497464370532,0.999999915141,4.17444917558e-05,-0.000408663927636,3.11446087624e-05,1793248297666767104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,816,652,631,653,0.452341350867,0.0044818625137,0.049748588969,0.999999915129,4.95685481462e-05,-0.000407928156791,2.966849308e-05,1793248297683433728
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,815.753512831,652,631,653,0.452046806356,0.00448606820082,0.0497484901223,0.999999914387,5.78114241328e-05,-0.000408751498834,2.83842079604e-05,1793248297700100608
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,815.16672507,652,631,653,0.451730728269,0.00449082061966,0.049745283869,0.999999912646,6.66325226785e-05,-0.000411727354756,2.73647645225e-05,1793248297716767744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.58488637,663,632,881,784,815,652,631,653,0.451381168,0.00449656508425,0.0497451911485,0.999999914765,7.56261269662e-05,-0.000405129105866,2.49044186285e-05,1793248297733434368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.005011993,663,632,881,784,815,652,631,653,0.451018318487,0.00450270329683,0.0497463342055,0.999999918269,8.4688199454e-05,-0.000394730845115,2.18721711161e-05,1793248297750100736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.571126284,632.571126284,880.428873716,784.571126284,815,652,631,653,0.450656169552,0.00450405324231,0.0497705563774,0.999999935512,8.98153203755e-05,-0.000347106193654,2.06370031933e-05,1793248297766767360
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.853806241,745,715,681,664,632.853806241,880.146193759,784.853806241,814.853806241,652,631,653,0.450280901652,0.00450680470419,0.0497948386471,0.999999949844,9.60584068754e-05,-0.000301193106727,1.91515160325e-05,1793248297783433984
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.281763133,745,715,681,664,632.281763133,880.718236867,784.281763133,814.281763133,652,631,653,0.449867401651,0.00451376026302,0.0498187098434,0.999999960161,0.000105652134823,-0.000261211084158,1.68912321099e-05,1793248297800100608
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.301392662,745,715,681.301392662,664,632,881,784.301392662,814.301392662,652,631,652.698607338,0.449415144407,0.00451952593795,0.0498307304746,0.999999963987,0.000113705303794,-0.000242651053139,1.47398744482e-05,1793248297816767232
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.895335169,745,715,681.895335169,664,632,881,784.895335169,814.895335169,652,631,652.104664831,0.448925267003,0.00452413664083,0.0498312482372,0.999999962704,0.000120263114831,-0.000244884491057,1.26942469184e-05,1793248297833434112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.528944021,745,715,681.528944021,664,632,880.528944021,784.528944021,814.528944021,652,631,652.471055979,0.448371469921,0.0045319275952,0.0498139407864,0.999999955689,0.0001309265255,-0.000267189869037,9.48031015641e-06,1793248297850100992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.043434442,664,632.043434442,880.043434442,784,814,652,630.956565558,653,0.447800609655,0.00454020473782,0.0497923628014,0.999999946349,0.000142224368722,-0.000295021965229,5.99831378054e-06,1793248297866768128
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.622666928,664,632.622666928,880.622666928,784,814,652,630.377333072,653,0.447187934621,0.00454608724272,0.0497651421972,0.999999931526,0.000150514446862,-0.000338063965489,2.29256372953e-06,1793248297883435008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.794181314,664,633,881,784,814,652,630.205818686,653,0.446576586762,0.00455333442488,0.0497451626149,0.999999918803,0.000160211490148,-0.000369763551226,-1.41384655543e-06,1793248297900101632
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.37932693,745,715,681.37932693,664,633,880.62067307,784.37932693,814,652,630.62067307,653,0.445342596607,0.00456783624222,0.0497575477298,0.999999919356,0.00018135552887,-0.000358259939023,-6.96151246092e-06,1793248297933433856
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.958437631,745,715,681.958437631,664,633,880.041562369,784.958437631,814,652,630.041562369,653,0.444708912596,0.0045698577779,0.0497896932641,0.999999931313,0.000188324880598,-0.000319134122429,-7.81789574883e-06,1793248297950100480
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.464731967,745,715,681.464731967,664,633,880.535268033,784.464731967,813.464731967,652,630.535268033,653,0.443986777304,0.00457678101797,0.0497945754372,0.999999929698,0.000197711278468,-0.000318414674218,-1.1195904379e-05,1793248297966767104
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.311208315,632.311208315,879.622416631,784.688791685,813,652,631,652.311208315,0.442507058778,0.00458752132464,0.0497684432344,0.999999932366,7.57209675654e-05,-0.000359391472617,-1.92965958096e-05,1793248298000101120
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.859194359,745,715,681,663.859194359,632.859194359,880.718388719,785,813,652,630.140805641,652.859194359,0.441071886994,0.00457300122661,0.0497949565952,0.999999953509,1.03094318717e-05,-0.000303437581718,-2.83091194482e-05,1793248298033434368
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.980105302,664,633,880,784.980105302,812.980105302,652,630,652.980105302,0.439500585396,0.00453162484192,0.0498265141168,0.999999966415,-1.34414968025e-05,-0.000257301427972,-2.80407144949e-05,1793248298066767104
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.742917608,664,633,880,784.742917608,812,652,630.742917608,652,0.436891306984,0.00456507871599,0.0497775152336,0.999999935453,5.2281570182e-05,-0.000353499898593,-3.73970335651e-05,1793248298116766976
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.327237029,745,715,682,664,633,880,785,812,652,630.672762971,652,0.436034664673,0.00456983912976,0.0497854943776,0.99999993625,8.44851382776e-05,-0.000345672810554,-2.95541257063e-05,1793248298133433600
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.652765853,715,681,663.652765853,633,879.652765853,784.652765853,812,652,630,652,0.432479525744,0.00457293842569,0.049795784131,0.999999936899,0.000123202433027,-0.000332351393009,-2.37801802689e-05,1793248298200100608
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879.177514059,785,812,652,630,652.822485941,0.430668400468,0.00456039349591,0.0497984892578,0.999999943489,7.75335070279e-05,-0.000325921598211,-2.80315131772e-05,1793248298233433856
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.405200693,745,715,681,663.594799307,633,879.405200693,785,812,652,630.405200693,653,0.429732428443,0.00456452814298,0.0497782479346,0.999999933667,7.26904929412e-05,-0.000355635671911,-3.00914792111e-05,1793248298250100480
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.984829163,745,715,681,663.015170837,633,879.984829163,785,812,652,630.984829163,653,0.428786218314,0.00457244491678,0.0497536590209,0.99999991905,7.77220079073e-05,-0.000393487054104,-3.20627197928e-05,1793248298266767104
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.560890167,633,879.439109833,785,811.439109833,652,630.439109833,653,0.427854226503,0.0045782312662,0.0497687434001,0.99999992026,0.000105822386695,-0.000383950012448,-2.93783063823e-05,1793248298283433984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.863758644,745,715,681,664,633,879,785,811,652,630,652.863758644,0.426918776592,0.00458358666151,0.0497778508438,0.999999920549,0.000127497188558,-0.000376654797121,-2.7869037051e-05,1793248298300101120
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.290377336,745,715,681,664,633,879,785,811,652,630,652.290377336,0.425971005043,0.00458774302972,0.0497643595947,0.999999919081,0.0001265657029,-0.000380639239189,-3.05317862192e-05,1793248298316767744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,785,811.292372503,652,630,652.292372503,0.42507795869,0.00458649679446,0.0497763683891,0.999999932726,0.000116361860917,-0.000346370459552,-3.21759370637e-05,1793248298333434368
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,785,811.884734924,652,630,652.884734924,0.424241063389,0.00457970719714,0.0498145416008,0.999999957569,9.66440820771e-05,-0.00027285181481,-3.27749509304e-05,1793248298350100480
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.465868712,745,715,681,664,633,879,785,811.534131288,652,630,653,0.423348536614,0.00457586660491,0.0498275732647,0.999999963216,9.71064690721e-05,-0.00025111509452,-3.28653941216e-05,1793248298366767104
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.955573358,745,715,681,663.955573358,633,879,785,811,652.044426642,630,653,0.422439965829,0.00457313562597,0.0498311632626,0.999999963505,0.000102500077684,-0.000247793706271,-3.28805332896e-05,1793248298383433728
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.375364444,745,715,681,663.375364444,633,879,785,811,652.624635556,630,653,0.421499996166,0.00457519417714,0.0497941407745,0.999999943718,0.000108566178585,-0.000315686188524,-3.34693015778e-05,1793248298400100352
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.20075983,633,879,785,811,653,630,652.79924017,0.42057931803,0.00457776450864,0.0497775427856,0.99999993161,0.000107385833238,-0.000352290240631,-3.37577039511e-05,1793248298416766720
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.769399356,633,879,785,811,653,630,652.230600644,0.419693990237,0.00458127264561,0.0497983713941,0.999999940155,9.29268349958e-05,-0.000331560236122,-3.34957050946e-05,1793248298433433600
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.353059671,745,715,680.646940329,663.646940329,633.353059671,879,785,811,653,630,652,0.418808591227,0.00458589553155,0.0497924922243,0.99999993328,9.68017059705e-05,-0.000350635749503,-3.3520218159e-05,1793248298450100480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.946966712,745,715,680.053033288,663.053033288,633.946966712,879,785,811,653,630,652,0.417923143688,0.00459127886765,0.0497683937586,0.999999914274,0.000113183427154,-0.000396865467377,-3.37401815525e-05,1793248298466766848
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.474837237,745,715,680,663,633.474837237,879.525162763,785,811,653,629.474837237,652,0.417123771383,0.00458618165835,0.0497729804431,0.999999921428,0.000110383869852,-0.000379131598486,-3.49091178285e-05,1793248298483433472
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.101431171,663.101431171,633,879.797137658,785.101431171,811,653,629.101431171,652,0.416336580437,0.00458069741771,0.0497831459728,0.999999931931,0.000106107981291,-0.000351551895637,-3.59150222421e-05,1793248298500100096
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.256011399,745,715,681,663.743988601,633.256011399,878,785.743988601,810.743988601,653,630,652,0.414782046333,0.00457807839232,0.0498111264265,0.999999949473,0.000103027201314,-0.000298604954704,-3.57057169237e-05,1793248298533433600
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.360906444,785,810,653,629.360906444,652.639093556,0.40748902535,0.00457960028432,0.0498246383371,0.999999949052,0.00010072949665,-0.000300605915483,-3.72297526846e-05,1793248298716767744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877,785,810.218292358,653,629,653,0.40695177898,0.00458159524763,0.049817219065,0.999999943584,9.92334449042e-05,-0.00031876310142,-3.70690366082e-05,1793248298733434624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877,785,810.806340091,653,629,653,0.406404832433,0.00458590399759,0.0497905641071,0.999999927158,9.69558105434e-05,-0.000367220720547,-3.7861550813e-05,1793248298750100736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877,785,810.611464677,653,629,652.611464677,0.405908010148,0.00458813182363,0.0497725682716,0.999999916571,9.7363185604e-05,-0.000394823460607,-3.86305146959e-05,1793248298766767104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877,785,810.0321432,653,629,652.0321432,0.405435800802,0.0045893378344,0.0497588244039,0.999999909366,9.90890059386e-05,-0.000412185637788,-3.93879145334e-05,1793248298783433728
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.546701911,785.546701911,810,653.546701911,629,652.546701911,0.405031035255,0.00459145558626,0.0497683911703,0.999999914799,0.000105514598218,-0.000397140334225,-3.93414176947e-05,1793248298800100096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.875268411,786,810,653.875268411,629,652.875268411,0.404644909209,0.00459301945852,0.0497831208096,0.999999922756,0.000111183351032,-0.000374977164561,-3.89779228686e-05,1793248298816766720
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.300082357,786,810,653.300082357,629,652.300082357,0.404311789637,0.00459238963375,0.0498115503458,0.999999937121,0.000113121825441,-0.000333983711957,-3.76401679344e-05,1793248298833433344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.718839951,745,715,680,663.281160049,634,877,786,810,653,629,652.281160049,0.403986455223,0.00459195328662,0.0498345287793,0.999999947489,0.000115040105809,-0.000300733483765,-3.66913563598e-05,1793248298850099968
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.130991326,745,715,680,663.869008674,634,877,786,810,653,629,652.869008674,0.403669612856,0.00459172798438,0.0498515611638,0.99999995444,0.000116936358568,-0.00027592954535,-3.61668032032e-05,1793248298866766592
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.549780551,715,680,663.549780551,634.450219449,877.450219449,786.450219449,810.450219449,653,629,653,0.403362058242,0.00459138710933,0.049849349156,0.999999952078,0.000117680198453,-0.000284107123378,-3.57441272788e-05,1793248298883433472
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.029364257,744.029364257,715,679.970635743,663,634.941271487,878,786.970635743,810.970635743,653,629,652.970635743,0.40305877854,0.0045907099169,0.0498412027044,0.999999946828,0.000117269520941,-0.000302225128499,-3.53877020322e-05,1793248298900100096
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.605478962,744.605478962,715,679.394521038,663,633.789042077,878,786.394521038,810.394521038,653,629,652.394521038,0.402785511765,0.00458438763607,0.0498252985628,0.999999939973,0.000101514540314,-0.00032935278721,-3.57209495873e-05,1793248298916766720
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.818255548,745,715,679,663,633.181744452,878,786,810,653,629,652,0.402527441462,0.00457646095181,0.0498115161466,0.999999933542,8.52042221816e-05,-0.000352709916697,-3.53777786065e-05,1793248298933433600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.241662543,745,715,679,663,633.758337457,878,786,810,653,629,652,0.402302386261,0.00456504862485,0.0498023432826,0.99999992948,6.76874088447e-05,-0.00036787538728,-3.35650558752e-05,1793248298950100224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.342237289,745.342237289,715,679,663,634,877.657762711,786,809.657762711,653,629,652.342237289,0.402107116462,0.00455911779423,0.049799747792,0.999999929522,6.30382471954e-05,-0.000368686201972,-3.24584716646e-05,1793248298966766848
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.931409281,745.931409281,715,679,663,634,877.068590719,786,809.068590719,653,629,652.931409281,0.401933337721,0.00455714203021,0.0498018980771,0.999999932712,6.767348919e-05,-0.000359139693707,-3.18613878783e-05,1793248298983433472
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.488541215,715,679.511458785,663.511458785,634,877,786,809.511458785,653,629,653,0.401794415316,0.00456112056382,0.0498097485427,0.999999938448,7.52140446799e-05,-0.000341178305982,-3.23218349481e-05,1793248299000101120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.910377671,745,715,679.910377671,663.910377671,634,877.089622329,786,810,653,629,653,0.401664141557,0.00456480651907,0.0498182052414,0.999999943882,8.14515169693e-05,-0.000323306895725,-3.27814030982e-05,1793248299016768000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.335914214,745,715,679.335914214,663.335914214,634,877.664085786,786,810,653,629,653,0.401555810251,0.00456266552993,0.0498258785408,0.999999947739,7.85686692752e-05,-0.000311920261494,-3.24824220298e-05,1793248299033433856
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.244362964,745,715,679,663.244362964,634,877.755637036,786,810,653,628.755637036,653,0.401454517977,0.00456242007209,0.0498298395395,0.999999949911,7.82375368647e-05,-0.000304943434374,-3.2646270675e-05,1793248299050100224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.832826725,745,715,679,663.832826725,634,877.167173275,786,810,653,628.167173275,653,0.401363137756,0.00456484381523,0.049828573045,0.999999949857,8.14996138815e-05,-0.000304176297507,-3.34618550658e-05,1793248299066766848
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.585353236,634,877,786,809.585353236,653,628.414646764,653,0.401283429547,0.00456528884945,0.0498277349629,0.999999949583,8.18768831281e-05,-0.000304953420564,-3.36637135811e-05,1793248299083433472
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.006169523,634,877,786,809.006169523,653,628.993830477,653,0.401208352937,0.0045649487075,0.0498270668802,0.999999949222,8.11094249909e-05,-0.000306343325026,-3.36220380794e-05,1793248299100100096
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.450285743,744.450285743,715,679,663,633.450285743,877.549714257,786,809.549714257,653,629,652.450285743,0.401158405198,0.00456503172657,0.049828781671,0.999999950483,8.08324265626e-05,-0.000302258807296,-3.37521792801e-05,1793248299116766976
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.113663643,715,679,663,633.113663643,878,786,809.886336357,653,629,652.113663643,0.401112446752,0.00456519034922,0.0498308043149,0.999999951943,8.09908441197e-05,-0.00029733201513,-3.38700749906e-05,1793248299133433600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.713159994,715,679,663,633.713159994,878,786,809.286840006,653,629,652.713159994,0.401082383323,0.00456565265027,0.0498340331544,0.999999954204,8.29877898618e-05,-0.000289057024597,-3.3927722656e-05,1793248299150100224
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.306722698,745,715,679.306722698,663.306722698,634,877.693277302,786,809.306722698,653,629,652.693277302,0.401055644356,0.00456536371805,0.049836587892,0.999999955572,8.35084218578e-05,-0.000284161693663,-3.36787111201e-05,1793248299166766848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.894841771,745,715,679.894841771,663.894841771,634,877.105158229,786,809.894841771,653,629,652.105158229,0.401031955345,0.00456438558251,0.0498385241893,0.999999956167,8.26746406785e-05,-0.000282366960354,-3.31483614726e-05,1793248299183433472
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.525779105,745,715,679.05155821,663.525779105,634,877.474220895,786,810,653,629,652,0.401013944219,0.00456516412313,0.0498383835217,0.999999956116,8.25339582126e-05,-0.000282572488666,-3.33053210631e-05,1793248299200100864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.051678356,745,715.051678356,678.051678356,663,634,877.948321644,786,810,653,629,652,0.400998245304,0.00456618368419,0.0498379958413,0.999999956037,8.25520170687e-05,-0.000282814974242,-3.35815752841e-05,1793248299216768256
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.628946457,745,715.628946457,678.628946457,663,634,877.371053543,786,810,653,629,652,0.400993489012,0.00456576441681,0.0498396953136,0.9999999571,8.26496939017e-05,-0.000279003813882,-3.35490795094e-05,1793248299233434624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.790470341,679,663.209529659,634,877.209529659,786,810,653,629,652.209529659,0.400989345547,0.00456514915767,0.0498412133672,0.999999958016,8.27139373434e-05,-0.000275698457282,-3.34056084929e-05,1793248299250100736
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.203922128,679,663.796077872,634,877.796077872,786,810,653,629,652.796077872,0.400986304774,0.00456418123953,0.0498424049839,0.999999958685,8.27180221904e-05,-0.000273303222201,-3.30624534557e-05,1793248299266767104
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.621990086,745,715,679,663.621990086,634,878,786,810,653,629,653,0.400984503898,0.00456383148103,0.049843171203,0.999999959183,8.21588908738e-05,-0.000271660165504,-3.29445901042e-05,1793248299283433728
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.042518269,745,715,679,663.042518269,634,878,786,810,653,629,653,0.40098336383,0.00456381117324,0.0498437107046,0.999999959589,8.1299591239e-05,-0.000270417985374,-3.29467968731e-05,1793248299300100096
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.536061874,745,715,679,663,634,877.463938126,786,810,653,629,652.463938126,0.400982130001,0.00456332537395,0.049844006096,0.999999959668,8.11227186107e-05,-0.000270225262354,-3.25887113392e-05,1793248299316767232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.108998962,634,877.108998962,786,810,653,629,652,0.400981294578,0.00456322672906,0.0498443612831,0.999999959791,8.10362691383e-05,-0.000269823002758,-3.23550504008e-05,1793248299333435392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.659371197,634,877.659371197,786,810,653,629,652,0.400982102496,0.00456484505883,0.0498450368746,0.9999999602,8.10971574908e-05,-0.000268235757813,-3.27407517922e-05,1793248299350106880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.234880052,663.765119948,634,877.765119948,786,810,653,629,652.234880052,0.400982513917,0.00456524436873,0.0498457115953,0.999999960525,8.08874705582e-05,-0.000267068600618,-3.287726485e-05,1793248299366774528
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.851211531,663.148788469,634,877.148788469,786,810,653,629,652.851211531,0.400982281417,0.0045636639583,0.0498463849018,0.999999960716,8.02383622028e-05,-0.000266583676814,-3.26090895114e-05,1793248299383435008
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.120618003,663,634,877.439690998,786,810,653,629,652.560309002,0.400982206007,0.00456342982976,0.0498469342003,0.999999960894,8.02915662674e-05,-0.000265916232367,-3.24543560713e-05,1793248299400100352
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.019178157,663.019178157,634,877.980821843,786,810,653,629,652,0.400982155796,0.00456356972952,0.0498474117513,0.999999961065,8.04989159537e-05,-0.00026522246971,-3.23432482225e-05,1793248299416767232
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.594927617,663.594927617,634,877.405072383,786,810,653,629,652,0.400981386077,0.00456213072257,0.0498469523909,0.999999961145,7.86935175661e-05,-0.000265450596422,-3.24505073965e-05,1793248299433433856
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.826173857,745,715,679,663.826173857,634,877,786,810,653,629,652,0.400980932864,0.00456115449304,0.0498466680893,0.999999961298,7.69121906742e-05,-0.000265385345627,-3.25366516847e-05,1793248299450100480
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.239801608,745,715,679,663.239801608,634,877,786,810,653,629,652,0.400981230822,0.00456127658532,0.0498467992595,0.99999996163,7.51879933977e-05,-0.000264623814349,-3.25726834592e-05,1793248299466767616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,810,653,629,652,0.400981687227,0.00456222156472,0.0498474563702,0.999999961817,7.64617437586e-05,-0.000263546768597,-3.25847441201e-05,1793248299483434240
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,810,653,629,652,0.400982253265,0.00456373592195,0.0498484773935,0.999999961897,7.98098551084e-05,-0.000262251409887,-3.25802185186e-05,1793248299500100864
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.498860021,745,715,678.501139979,663,634,877,786,810,653,629,652.498860021,0.40098140344,0.00456299206029,0.0498477562622,0.999999961586,7.95668987463e-05,-0.000263541206106,-3.2308339296e-05,1793248299516767232
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.156156314,663,634,877,786,810,653,629,652.921921843,0.400980523905,0.00456215850215,0.0498470342597,0.999999961301,7.89750945411e-05,-0.000264823273289,-3.20835163756e-05,1793248299533433856
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.301316889,663,634,877,786,810,653,629,652.349341556,0.400980919522,0.00456309076324,0.0498481072842,0.999999961597,7.98853140589e-05,-0.000263384590225,-3.24330353115e-05,1793248299550100480
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.769789185,663,634,877,785.769789185,810,653,629,652.230210815,0.400981078975,0.00456346784829,0.049848713082,0.999999961737,8.07763987014e-05,-0.00026256834098,-3.25527160069e-05,1793248299566767104
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.179326257,663,634,877,785.179326257,810,653,629,652.820673743,0.400980868859,0.00456297615005,0.0498485877265,0.999999961633,8.16375397163e-05,-0.000262726125239,-3.23127276785e-05,1793248299583433728
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,785,810,653,629,652.599220047,0.400980331218,0.00456204515162,0.049848117319,0.999999961597,7.98602955071e-05,-0.000263435086377,-3.21111050107e-05,1793248299600100352
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,785,810,653,629,652.023631182,0.400979650718,0.00456092254287,0.0498474964095,0.999999961582,7.69322620194e-05,-0.000264384455312,-3.19262163762e-05,1793248299616767232
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e86dfcd0628ad88b0fb81a2eb703c67eae78cba1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_01/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,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+1,0.016666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
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+366,6.100000000,pose2_to_pose3_retreat,0.584201887734,0.0099278674082,1.04004242307,0.554773679282,0.0186023257639,1.03966580151
+367,6.116666667,pose2_to_pose3_retreat,0.584056508856,0.009927948045,1.04004238561,0.554628299914,0.0186024050818,1.0396657719
+368,6.133333333,pose2_to_pose3_retreat,0.583931048092,0.00992779842236,1.04004239697,0.554502842039,0.0186022651684,1.03966578114
+369,6.150000000,pose2_to_pose3_retreat,0.58382147741,0.0099278187984,1.04004233869,0.554393269256,0.0186022783284,1.03966572095
+370,6.166666667,pose2_to_pose3_retreat,0.583725888447,0.00992789579838,1.04004237061,0.554297678811,0.0186023503772,1.03966575488
+371,6.183333333,pose2_to_pose3_retreat,0.583640398693,0.00992789505476,1.04004246911,0.554212190613,0.0186023550401,1.03966585661
+372,6.200000000,pose2_to_pose3_retreat,0.583564258259,0.00992783596749,1.04004241234,0.554136050006,0.0186022952948,1.03966579808
+373,6.216666667,pose2_to_pose3_retreat,0.583498150074,0.0099279389967,1.04004273339,0.554069939866,0.0186023917073,1.03966611944
+374,6.233333333,pose2_to_pose3_retreat,0.583441376108,0.00992799146635,1.04004244302,0.554013165726,0.018602443493,1.03966582684
+375,6.250000000,pose2_to_pose3_retreat,0.583395043843,0.00992791247724,1.04004249689,0.55396683451,0.0186023679009,1.03966587703
+376,6.266666667,pose2_to_pose3_retreat,0.583357637147,0.00992800186435,1.04004258342,0.553929427031,0.0186024548401,1.03966596827
+377,6.283333333,pose2_to_pose3_retreat,0.583328927021,0.00992795875004,1.04004264784,0.553900717684,0.0186024141783,1.03966602837
+378,6.300000000,pose2_to_pose3_retreat,0.583305581608,0.00992784537861,1.04004260223,0.553877373742,0.0186023055809,1.03966597786
+379,6.316666667,pose2_to_pose3_retreat,0.583287154936,0.00992790993322,1.04004235635,0.553858946083,0.0186023673161,1.03966574416
+380,6.333333333,pose2_to_pose3_retreat,0.583273250692,0.00992790259136,1.04004214992,0.55384504014,0.0186023542599,1.03966553887
+381,6.350000000,pose2_to_pose3_retreat,0.583263017041,0.00992782982278,1.04004255534,0.553834807175,0.0186022834264,1.03966593487
+382,6.366666667,pose2_to_pose3_retreat,0.583256145218,0.00992789111069,1.04004244271,0.553827935932,0.0186023464758,1.03966581776
+383,6.383333333,pose2_to_pose3_retreat,0.583251851516,0.00992790337638,1.04004223945,0.553823642513,0.0186023599441,1.03966562031
+384,6.400000000,pose2_to_pose3_retreat,0.583249757839,0.00992785506043,1.0400421379,0.553821548911,0.0186023123064,1.03966552853
+385,6.416666667,pose2_to_pose3_retreat,0.583248278612,0.00992788561805,1.04004228553,0.553820069,0.0186023404474,1.03966567397
+386,6.433333333,pose2_to_pose3_retreat,0.583247308061,0.00992795146066,1.04004253767,0.553819097478,0.0186024026546,1.03966591826
+387,6.450000000,pose2_to_pose3_retreat,0.583246805209,0.00992798277082,1.04004266298,0.553818594161,0.0186024322137,1.03966603957
+388,6.466666667,pose2_to_pose3_retreat,0.58324661471,0.0099279586221,1.04004264209,0.553818403976,0.0186024091029,1.03966601802
+389,6.483333333,pose2_to_pose3_retreat,0.583246511092,0.00992794548686,1.04004263073,0.553818300529,0.0186023965322,1.03966600631
+390,6.500000000,pose2_to_pose3_retreat,0.583246503816,0.00992794456451,1.04004262994,0.553818293265,0.0186023956495,1.03966600548
+391,6.516666667,pose2_to_pose3_retreat,0.583246421373,0.0099279341135,1.0400426209,0.553818210958,0.0186023856477,1.03966599616
+392,6.533333333,pose2_to_pose3_retreat,0.583246352791,0.00992792541965,1.04004261338,0.553818142489,0.0186023773275,1.03966598841
+393,6.550000000,pose2_to_pose3_retreat,0.583246201438,0.00992790623333,1.04004259678,0.553817991386,0.0186023589658,1.03966597129
+394,6.566666667,pose2_to_pose3_retreat,0.583246100866,0.0099278934842,1.04004258576,0.55381789098,0.0186023467647,1.03966595992
+395,6.583333333,pose2_to_pose3_retreat,0.583246051204,0.00992788718872,1.04004258031,0.5538178414,0.0186023407398,1.0396659543
+396,6.600000000,pose2_to_pose3_retreat,0.583246041873,0.00992788600592,1.04004257929,0.553817832085,0.0186023396078,1.03966595325
+397,6.616666667,pose2_to_pose3_retreat,0.583246040211,0.00992788579522,1.04004257911,0.553817830425,0.0186023394062,1.03966595306
+398,6.633333333,pose2_to_pose3_retreat,0.583246001062,0.00992788083244,1.04004257481,0.553817791341,0.0186023346567,1.03966594863
+399,6.650000000,pose2_to_pose3_retreat,0.583245971262,0.00992787705477,1.04004257155,0.553817761589,0.0186023310414,1.03966594526
+400,6.666666667,pose2_to_pose3_retreat,0.583245912629,0.00992787185543,1.04004256173,0.553817703034,0.0186023261073,1.03966593552
+401,6.683333333,pose2_to_pose3_retreat,0.583245775223,0.0099278812957,1.04004250598,0.553817565621,0.0186023356436,1.03966588257
+402,6.700000000,pose2_to_pose3_retreat,0.583245668803,0.00992788860719,1.0400424628,0.553817459195,0.0186023430295,1.03966584156
+403,6.716666667,pose2_to_pose3_retreat,0.583245582137,0.00992789456146,1.04004242764,0.553817372524,0.0186023490444,1.03966580816
+404,6.733333333,pose2_to_pose3_retreat,0.583245467542,0.00992794220527,1.04004239554,0.553817257533,0.0186023954614,1.03966577879
+405,6.750000000,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65da9699a0dfc09a37ee54e724d47173ab70a61f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:033d6992400ed5e8d139201b58d34c4c5353068713d09a1e26f7a9f0b2302e85
+size 25727635
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..708873d13d2f806baea6457fd3b9115900652c9e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+35,0.583333333,BASELINE,765.319943448,745,715,679,663,634,877,786,810,653,628.680056552,653,0.400982128039,0.00456010590215,0.0498510142283,0.999999963229,7.71942786783e-05,-0.000258046063125,-3.15571347702e-05,1793248300344589824
+36,0.600000000,BASELINE,765.899380976,745,715,679,663,634,877,786,810,653,628.100619024,653,0.400980940428,0.00456165015039,0.0498505205425,0.999999962994,7.88296412398e-05,-0.00025841298388,-3.19377374642e-05,1793248300361256960
+37,0.616666667,BASELINE,765.526068226,745,715,679,663,634,877,785.526068226,810,653,628,653,0.400981142709,0.00456134687854,0.0498504627646,0.999999963113,7.79942685166e-05,-0.000258235640943,-3.17009863638e-05,1793248300377923584
+38,0.633333333,BASELINE,765.048723263,744.951276737,715,679,663,634,877.048723263,785,809.951276737,653,628.048723263,652.951276737,0.400981593188,0.00456074903717,0.0498505954688,0.999999963286,7.68541087393e-05,-0.000257945503471,-3.1379245557e-05,1793248300394589952
+39,0.650000000,BASELINE,765.63756701,744.36243299,715,679,663,634,877.63756701,785,809.36243299,653,628.63756701,652.36243299,0.400981557306,0.00456118955777,0.0498518243095,0.999999963255,7.80908265778e-05,-0.000257672849272,-3.155348139e-05,1793248300411256320
+40,0.666666667,BASELINE,766,744.222718582,715,679.222718582,663,634,878,785.222718582,809.222718582,653,629,652.222718582,0.400981757345,0.00456144858018,0.0498524389111,0.999999963367,7.81870962184e-05,-0.00025719571533,-3.16710719625e-05,1793248300427922944
+41,0.683333333,BASELINE,766,744.80195977,715,679.80195977,663,634,878,785.80195977,809.80195977,653,629,652.80195977,0.400982335041,0.00456141706461,0.0498520702535,0.999999963706,7.64577634448e-05,-0.000256391255096,-3.16979861393e-05,1793248300444589568
+42,0.700000000,BASELINE,766,745,715,679.62000138,663,634,878,786,810,653,628.62000138,652.62000138,0.400982312049,0.00456142637384,0.0498516273723,0.999999963599,7.72947845898e-05,-0.000256541590459,-3.18476007159e-05,1793248300461256192
+43,0.716666667,BASELINE,766,745,715,679.042587183,663,634,878,786,810,653,628.042587183,652.042587183,0.400981976988,0.00456145689224,0.0498511459307,0.999999963256,7.94650691583e-05,-0.000257187957974,-3.2060960182e-05,1793248300477922816
+44,0.733333333,BASELINE,765.468143601,745,715,679,663,634,878,786,810,653,628,652.531856399,0.400981672869,0.00456241530042,0.0498513115412,0.999999963227,7.97533042013e-05,-0.000257208496933,-3.20812291855e-05,1793248300494589696
+45,0.750000000,BASELINE,765.108902558,745,715,679,663,634,877.891097442,786,810,653,628.108902558,652.891097442,0.400981225744,0.00456294757968,0.0498513997199,0.999999963195,7.93345850903e-05,-0.000257473243577,-3.20020033562e-05,1793248300511256320
+46,0.766666667,BASELINE,765.698479881,745,715,679,663,634,877.301520119,786,810,653,628.698479881,652.301520119,0.400980136544,0.00456127288995,0.049850918715,0.99999996303,7.64569770318e-05,-0.000259035830762,-3.15514906658e-05,1793248300527922944
+47,0.783333333,BASELINE,765.716870824,745,715,679,663.283129176,634,877,786,810,653,629,652,0.400979801768,0.00456087383276,0.0498506158802,0.999999962867,7.64403814376e-05,-0.000259688894209,-3.13795060606e-05,1793248300544589568
+48,0.800000000,BASELINE,765.137379805,745,715,679,663.862620195,634,877,786,810,653,629,652,0.400980256674,0.00456181002742,0.0498504995425,0.999999962709,7.94185136727e-05,-0.000259389925513,-3.14990671089e-05,1793248300561256192
+49,0.816666667,BASELINE,765,745,715,679,664,634,877,786,810,652.560286453,629,652.439713547,0.400982538183,0.0045619178086,0.0498518838553,0.99999996337,8.00866014606e-05,-0.000256606977857,-3.16025796292e-05,1793248300577922816
+50,0.833333333,BASELINE,765,745,715,679,663.983668294,634,877,786,810,652.016331706,629,653,0.400985259127,0.00456175636214,0.0498536627043,0.999999964242,8.0013037413e-05,-0.000253200704601,-3.16908960515e-05,1793248300594589440
+51,0.850000000,BASELINE,765,745,715,679,663.397635795,634,877,786,810,652.602364205,629,653,0.400983509639,0.00456118294995,0.0498529380061,0.999999963871,7.910792256e-05,-0.00025497581274,-3.14230824234e-05,1793248300611256320
+52,0.866666667,BASELINE,765,745,715,679,663,634,877.186184791,786,810,653,629,653,0.400982129843,0.00456081752048,0.049852149673,0.999999963523,7.87216503221e-05,-0.000256476265673,-3.12651963238e-05,1793248300627922944
+53,0.883333333,BASELINE,765,745,715,679,663,634,877.765336812,786,810,653,629,653,0.40098153033,0.00456089106562,0.0498512270304,0.999999963228,7.94304629931e-05,-0.000257397022951,-3.13393265933e-05,1793248300644589568
+54,0.900000000,BASELINE,765,745,715.344149808,679,663.344149808,634,878,785.655850192,810,653.344149808,629,653,0.400981228226,0.00456087961961,0.0498512178528,0.999999963241,7.94137428343e-05,-0.000257349854345,-3.13338059109e-05,1793248300661255936
+55,0.916666667,BASELINE,765,745,715.922731841,679,663.922731841,634,878,785.077268159,810,653.922731841,629,653,0.400981128715,0.00456081027827,0.0498518309207,0.999999963465,7.89027952186e-05,-0.000256643341974,-3.12740276047e-05,1793248300677922816
+56,0.933333333,BASELINE,765,745,716,679,663.50364464,634,877.50364464,785.49635536,810,653.50364464,629,653,0.400980929981,0.00456085560435,0.0498512707997,0.999999963287,7.83239794957e-05,-0.00025750866387,-3.13166846907e-05,1793248300694589440
+57,0.950000000,BASELINE,765.07129209,745,715.92870791,679,663,634,877,785.92870791,810,653,629,652.92870791,0.400980787455,0.00456101342129,0.049850658767,0.999999963085,7.79927384347e-05,-0.00025838132863,-3.13885608126e-05,1793248300711256064
+58,0.966666667,BASELINE,765.661345377,745,715.338654623,679,663,634,877,785.338654623,810,653,629,652.338654623,0.400981165213,0.00456186117991,0.0498509847806,0.999999963174,7.95391068449e-05,-0.000257544539633,-3.15581650107e-05,1793248300727922688
+59,0.983333333,BASELINE,766,745,715,679,663,634,877,785.246851674,810,653,628.753148326,652.246851674,0.400981907286,0.00456182181474,0.0498513281748,0.999999963433,7.92676198783e-05,-0.000256612241591,-3.16490462392e-05,1793248300744589312
+60,1.000000000,BASELINE,766,745,715,679,663,634,877,785.826232884,810,653,628.173767116,652.826232884,0.400983140125,0.00456058742087,0.0498516949823,0.999999963917,7.65473322298e-05,-0.000255551284881,-3.16338811679e-05,1793248300761256192
+61,1.016666667,BASELINE,765.596185295,745,715,679,663,634,877,786,810,653,628.403814705,652.596185295,0.400982469579,0.00456083836669,0.0498516319212,0.999999963567,7.79475206474e-05,-0.000256512265515,-3.15025771618e-05,1793248300777922816
+62,1.033333333,BASELINE,765.019374376,745,715,679,663,634,877,786,810,653,628.980625624,652.019374376,0.400980983613,0.00456172563944,0.0498513847023,0.99999996285,8.11129415372e-05,-0.000258339454158,-3.13215186626e-05,1793248300794589440
+63,1.050000000,BASELINE,765.555743124,745,715,679.555743124,663,634,877.555743124,785.444256876,809.444256876,653,628.444256876,652,0.400981145233,0.00456166062259,0.0498521119723,0.999999963112,8.09536402132e-05,-0.000257371306371,-3.13474911338e-05,1793248300811256064
+64,1.066666667,BASELINE,765.865878159,745,715,679.865878159,663.134121841,633.865878159,877.865878159,785.134121841,809.134121841,653,628.134121841,652,0.400981447834,0.0045615233466,0.0498526678541,0.999999963411,8.03706493311e-05,-0.000256399246388,-3.12870140132e-05,1793248300827922432
+65,1.083333333,BASELINE,765.276223131,745,715,679.276223131,663.723776869,633.276223131,877.276223131,785.723776869,809.723776869,653,628.723776869,652,0.400982034777,0.00456125306312,0.0498525265961,0.99999996372,7.87411052074e-05,-0.000255743878467,-3.0908479096e-05,1793248300844589312
+66,1.100000000,BASELINE,765,745,715,679.307820336,663.692179664,633.307820336,877,785.692179664,810,653,629,652,0.400983227832,0.00456258683897,0.0498528546931,0.999999963883,8.06632595218e-05,-0.000254474339827,-3.11448868579e-05,1793248300861255936
+67,1.116666667,BASELINE,765,745,715,679.88691838,663.11308162,633.88691838,877,785.11308162,810,653,629,652,0.400984955046,0.00456533424964,0.049853596426,0.999999963897,8.57154755345e-05,-0.000252663541248,-3.19232349273e-05,1793248300877922816
+68,1.133333333,BASELINE,765,745,715,680,663.463519026,634,877,785.463519026,810,653,629,652.463519026,0.400983992658,0.00456372659104,0.0498527631744,0.999999963767,8.27261111776e-05,-0.000254190308166,-3.17909729127e-05,1793248300894589440
+69,1.150000000,BASELINE,765,745,715,679.921146264,663.960573132,634,877,786,809.960573132,653,629,653,0.400982548844,0.00456128315618,0.0498516988707,0.999999963609,7.81682721983e-05,-0.000256281045851,-3.14801752943e-05,1793248300911256064
+70,1.166666667,BASELINE,765,745,715,678.77168861,663.385844305,634,877,786,809.385844305,653,629,653,0.400983429737,0.00456184035305,0.0498526864345,0.99999996387,7.88085887933e-05,-0.000255033052618,-3.17454439443e-05,1793248300927922688
+71,1.183333333,BASELINE,765,745,715,678.194149508,663,634,877.194149508,786,809.194149508,653,628.805850492,652.805850492,0.400983777153,0.00456223311731,0.049853308623,0.999999964046,7.91121265353e-05,-0.000254230043783,-3.18776911445e-05,1793248300944589312
+72,1.200000000,BASELINE,765,745,715,678.784898493,663,634,877.784898493,786,809.784898493,653,628.215101507,652.215101507,0.400983034808,0.00456228998648,0.0498531844401,0.999999964054,7.87277084065e-05,-0.0002543360279,-3.17382084373e-05,1793248300961256192
+73,1.216666667,BASELINE,765.368211523,745,715,679,663,634,877.631788477,786,810,653,628,652,0.400982447042,0.00456345324006,0.0498524360236,0.999999963734,7.94971632625e-05,-0.000255339512934,-3.18277614394e-05,1793248300977922816
+74,1.233333333,BASELINE,765.947266577,745,715,679,663,634,877.052733423,786,810,653,628,652,0.40098194779,0.00456525002621,0.0498513301613,0.999999963224,8.09273434025e-05,-0.000256856920666,-3.20484637885e-05,1793248300994589440
+75,1.250000000,BASELINE,765.479568476,745.520431524,715,679,663,634,877,785.479568476,809.479568476,653,628.520431524,652,0.400982393332,0.00456419778006,0.049851537629,0.999999963467,7.95063808333e-05,-0.000256358081399,-3.20056399509e-05,1793248301011256064
+76,1.266666667,BASELINE,765.095830965,745.904169035,715,679,663,634,877.095830965,785.095830965,809.095830965,653,629,652.095830965,0.400982931959,0.00456288667789,0.0498519662182,0.999999963775,7.81983155201e-05,-0.00025557675414,-3.18563157143e-05,1793248301027922432
+77,1.283333333,BASELINE,765.685795074,745.314204926,715,679,663,634,877.685795074,785.685795074,809.685795074,653,629,652.685795074,0.400983462455,0.00456171270921,0.0498528564817,0.999999964039,7.89453452302e-05,-0.000254380471732,-3.12939869587e-05,1793248301044589312
+78,1.300000000,BASELINE,766,745,715,679,663,634,877.729147126,786,810,653,629,652.729147126,0.400983554647,0.00456081669034,0.049853247468,0.999999964209,7.87876140459e-05,-0.000253786678898,-3.11000958956e-05,1793248301061256192
+79,1.316666667,BASELINE,766,745,715,679,663,634,877.149679701,786,810,653,629,652.149679701,0.400983147425,0.00456023737248,0.0498530695691,0.999999964271,7.75989822567e-05,-0.000253879373418,-3.13260092895e-05,1793248301077922816
+80,1.333333333,BASELINE,765.572697324,745,715.427302676,679,663,634,877,786,809.572697324,653,629,652,0.400982410192,0.00455996358213,0.0498527495346,0.999999964141,7.66978566602e-05,-0.000254657257831,-3.1392167536e-05,1793248301094589184
+81,1.350000000,BASELINE,765,745,715.996580542,679,663,634,877,786,809.003419458,653,628.996580542,652.003419458,0.400981570683,0.00455980757784,0.04985238348,0.999999963945,7.59096051928e-05,-0.000255659365045,-3.14051115439e-05,1793248301111255808
+82,1.366666667,BASELINE,765,745,715.420495295,679,663,634,877,786,809.579504705,653,628.420495295,652.579504705,0.400982850516,0.00456155770501,0.0498526003291,0.999999964188,7.72559714459e-05,-0.000254249123995,-3.18238030177e-05,1793248301127922688
+83,1.383333333,BASELINE,765,745,715,679,663,634,877,786,810,653,628.159249009,653,0.400983832706,0.00456256141395,0.0498529526386,0.999999964375,7.81214135351e-05,-0.000253220229909,-3.20313601234e-05,1793248301144589312
+84,1.400000000,BASELINE,765,745,715,679,663,634,877,786,810,653,628.748882356,653,0.400984010492,0.0045615478629,0.049853671042,0.99999996442,7.76871164148e-05,-0.000253221958949,-3.16683082728e-05,1793248301161256192
+85,1.416666667,BASELINE,765,745,715,679,663,634,877,785.668906967,809.668906967,653,629,652.668906967,0.400983616208,0.00456162908159,0.0498534390544,0.999999964252,7.77999065018e-05,-0.000253856939752,-3.16119051328e-05,1793248301177923328
+86,1.433333333,BASELINE,765,745,715,679,663,634,877,785.092202608,809.092202608,653,629,652.092202608,0.400982797551,0.00456252242208,0.0498525020478,0.999999963925,7.83185366689e-05,-0.000254961679172,-3.17829800612e-05,1793248301194590464
+87,1.450000000,BASELINE,765,745,715,679,663,634,877,785.481661069,809.481661069,653,629,652.481661069,0.400983249619,0.00456162775467,0.0498528464531,0.999999964142,7.78792554938e-05,-0.000254276339744,-3.15198899936e-05,1793248301211257344
+88,1.466666667,BASELINE,765.056689972,745,715,679,663,634,877,786,809.943310028,653,629,653,0.400983993281,0.00456050846394,0.0498534563596,0.999999964458,7.73533333034e-05,-0.000253235691952,-3.11757157279e-05,1793248301227923968
+89,1.483333333,BASELINE,765.647799754,745,715,679,663,634,877,786,809.352200246,653,629,653,0.400985206119,0.00456047933431,0.0498542703003,0.999999964737,7.77291407388e-05,-0.000252056944772,-3.08460508796e-05,1793248301244590336
+90,1.500000000,BASELINE,766,745,715,679,663,634,877,786,809.234159755,653,629,653,0.400984869199,0.00456046318925,0.0498541880451,0.999999964607,7.82073528358e-05,-0.000252444272142,-3.06979389611e-05,1793248301261256960
+91,1.516666667,BASELINE,766,745,715,679,663,634,877,786,809.813517581,653,629,653,0.400982247625,0.00456046618603,0.049852784619,0.999999963869,7.88365297468e-05,-0.000255140305115,-3.08174722154e-05,1793248301277923584
+92,1.533333333,BASELINE,765.610043215,745,715.389956785,679,663.389956785,634,877,785.610043215,810,653,629,653,0.400982547277,0.00456135453252,0.0498529197812,0.999999963941,7.94609705511e-05,-0.000254619727691,-3.11829487969e-05,1793248301294590208
+93,1.550000000,BASELINE,765.034989315,745,715.965010685,679,663.965010685,634,877,785.034989315,810,653,629,653,0.40098423352,0.00456266311963,0.0498537852505,0.999999964396,8.00831633676e-05,-0.000252572352338,-3.16651649921e-05,1793248301311256576
+94,1.566666667,BASELINE,765,745,715.458769641,679,663.458769641,634,877,785,810,653,629,653,0.400983310047,0.00456078650175,0.0498527006041,0.999999964043,7.87801790771e-05,-0.000254403106429,-3.14027806673e-05,1793248301327923200
+95,1.583333333,BASELINE,765.120477876,745,715,679,663,634,877,785.120477876,810,653,629,652.879522124,0.400982575237,0.00455949697809,0.049851856478,0.999999963758,7.79479021611e-05,-0.000255793207951,-3.12595173431e-05,1793248301344589824
+96,1.600000000,BASELINE,765.711250146,745,715,679,663,634,877,785.711250146,810,653,629,652.288749854,0.400983236893,0.00456130476465,0.0498524444283,0.999999963959,7.9439947353e-05,-0.000254482403216,-3.17695626055e-05,1793248301361256448
+97,1.616666667,BASELINE,766,745,715,679.295922512,663,634,877.295922512,786,810,653.295922512,629,652.295922512,0.400982559571,0.00456186088581,0.0498526062842,0.999999963904,7.90296798219e-05,-0.000254812971502,-3.18817740866e-05,1793248301377923072
+98,1.633333333,BASELINE,766,745,715,679.874763004,663,634,877.874763004,786,810,653.874763004,629,652.874763004,0.400980602115,0.00456122034681,0.0498523607706,0.9999999636,7.68006980071e-05,-0.000256712781544,-3.16136348532e-05,1793248301394589696
+99,1.650000000,BASELINE,766,745,715,679.549810169,663,634,877.549810169,786,809.549810169,653.549810169,628.549810169,652.549810169,0.400980247817,0.00456101293415,0.0498518721393,0.999999963434,7.71891634103e-05,-0.000257261394253,-3.14796712946e-05,1793248301411256320
+100,1.666666667,BASELINE,766,745,715,679,663.025260487,634,877,786,809.025260487,653,628.025260487,652,0.400980389714,0.00456089188427,0.0498513780071,0.999999963332,7.82367959222e-05,-0.000257354463355,-3.13733365982e-05,1793248301427922944
+101,1.683333333,BASELINE,766,745,715,679,663.613396169,634,877,786,809.613396169,653,628.613396169,652,0.400981725355,0.00456003058542,0.0498522569946,0.999999963818,7.78696212202e-05,-0.000255609494151,-3.10571828238e-05,1793248301444589824
+102,1.700000000,BASELINE,766,745,715,679,663.801592606,634,877.198407394,786,810,653,628.801592606,652.198407394,0.400982488395,0.00455975189148,0.0498526862697,0.999999964105,7.73681972822e-05,-0.000254650787449,-3.09255171124e-05,1793248301461256704
+103,1.716666667,BASELINE,766,745,715,679,663.222575176,634,877.777424824,786,810,653,628.222575176,652.777424824,0.400982152997,0.0045605908237,0.0498522528499,0.999999964017,7.66092396055e-05,-0.000255200388648,-3.1147759661e-05,1793248301477923072
+104,1.733333333,BASELINE,766,745,715,679,663,634,878,786,810,653,628.355174817,652.644825183,0.400982306817,0.00456126493833,0.0498520296092,0.999999963992,7.66243930114e-05,-0.000255268407708,-3.13580033364e-05,1793248301494589952
+105,1.750000000,BASELINE,766,745,715,679,663,634,878,786,810,653,628.932133433,652.067866567,0.400982766122,0.00456183613506,0.0498519376119,0.999999964006,7.712292886e-05,-0.00025503570979,-3.15607545099e-05,1793248301511257344
+106,1.766666667,BASELINE,766,745,715,679,663,634,878,786,810,653,628.492780287,652,0.400983164255,0.0045602382761,0.0498523019202,0.999999964291,7.65369916354e-05,-0.000254111634938,-3.14288426727e-05,1793248301527923712
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,634,877,785,810,653,628,652,0.400983135883,0.00456192624024,0.049852747163,0.999999963826,8.01408253287e-05,-0.000254898903062,-3.08524965713e-05,1793248301570467840
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.420097659,663.579902341,634,877.579902341,785.579902341,810,653,628.579902341,652.579902341,0.400982911151,0.00456231399328,0.0498525250283,0.999999963864,8.08463197831e-05,-0.000254492835037,-3.11297005298e-05,1793248301587134208
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.158538971,745,715,679,663.841461029,634,877.841461029,786,810,653,628.841461029,653,0.400982805842,0.00456270600444,0.049852380312,0.999999963859,8.14498029873e-05,-0.000254292462318,-3.13574178568e-05,1793248301603800832
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.733848401,745,715,679,663.266151599,634,877.266151599,786,810,653,628.266151599,653,0.400983014478,0.00456310920951,0.0498524391146,0.999999963742,8.17851171052e-05,-0.000254632825501,-3.14550437848e-05,1793248301620467456
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.684597387,745,715,679,663,634,877,786,809.684597387,653.315402613,628.315402613,652.684597387,0.40098257911,0.00456251772961,0.0498524194103,0.999999963803,7.98206796739e-05,-0.000255017177654,-3.14490499515e-05,1793248301637134080
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.097667125,745,715,679,663,634,877,786,809.097667125,653.902332875,628.902332875,652.097667125,0.400981589324,0.00456106993313,0.0498523321202,0.999999964005,7.58764040537e-05,-0.000255439399549,-3.13538506678e-05,1793248301653800704
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.482836603,745,715,679,663,634,877,786,809.482836603,653.517163397,629,652.482836603,0.400982883534,0.00456086011821,0.0498526444294,0.999999964166,7.66244508203e-05,-0.000254592942768,-3.12955024645e-05,1793248301670467584
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.061801017,715,679,663.061801017,634,877,786,810,653,629,653,0.400984721478,0.00456075067397,0.0498531114589,0.999999964348,7.79697425007e-05,-0.000253473794231,-3.12246497924e-05,1793248301687133952
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.638628347,715,679,663.638628347,634,877,786,810,653,629,653,0.400987291127,0.00455941821864,0.0498542031104,0.999999964794,7.64862656055e-05,-0.000252192664741,-3.09882854443e-05,1793248301703800832
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.784763863,715,679,663.784763863,634.215236137,877,786,810,653,629,652.784763863,0.400996526251,0.00455879626306,0.0498577523178,0.999999966531,7.53477629083e-05,-0.000245572625016,-3.09006424398e-05,1793248301720467456
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.208524352,715,679,663.208524352,634.791475648,877,786,810,653,629,652.208524352,0.401016940998,0.00455936598858,0.0498654234445,0.999999970271,7.47878660209e-05,-0.000229997933792,-3.10624413358e-05,1793248301737134080
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.624275106,745,715,679,663,634.624275106,877.375724894,786,810,653,629,652.375724894,0.401056170397,0.00455917770681,0.0498793604844,0.999999976539,7.37918347267e-05,-0.000201288547896,-3.09945865e-05,1793248301753800704
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035483635,745,715,679,663,634.035483635,877.964516365,786,810,653,629,652.964516365,0.401106069234,0.00455855957329,0.0498968508076,0.99999998326,7.25484796218e-05,-0.000165130720024,-3.07964993022e-05,1793248301770467328
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.544190247,745,715,679,663,634,877.455809753,786,809.455809753,653,629,653,0.401176658157,0.00455892925581,0.0499150504758,0.999999988062,7.51481629059e-05,-0.000131604767987,-3.01480946338e-05,1793248301787134208
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.122095046,679,663,634,877,786.122095046,809.122095046,653,629,652.877904954,0.401249852084,0.00455918887953,0.0499313003473,0.999999991296,7.69260071536e-05,-0.000103067158999,-2.94491096068e-05,1793248301803800832
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.695620937,679,663,634,877,786.695620937,809.695620937,653,629,652.304379063,0.401327771822,0.00455880735143,0.0499401729044,0.999999992531,7.47539750325e-05,-9.23492520438e-05,-2.86698859765e-05,1793248301820467456
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.729462753,745.270537247,716,679,663,634,877,786.729462753,810,653,629,652.270537247,0.401411807282,0.00455771915547,0.0499449801212,0.999999993182,7.30687179114e-05,-8.67524370264e-05,-2.7756759486e-05,1793248301837134080
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.152974051,745.847025949,716,679,663,634,877,786.152974051,810,653,629,652.847025949,0.401502759025,0.00455583178655,0.0499451898307,0.999999993277,7.19339563668e-05,-8.694708227e-05,-2.66922018628e-05,1793248301853800704
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.434413608,745.565586392,715.565586392,679,663,634,877,786,810,653,629,652.565586392,0.401609656792,0.00455449152702,0.0499453120778,0.99999999338,6.91004593107e-05,-8.82960170885e-05,-2.58692975184e-05,1793248301870467584
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974803654,745,715,679,663,634,877.025196346,786,810,653,629,652,0.401723967245,0.00455330939664,0.0499454872103,0.999999993489,6.5714780684e-05,-8.98510192934e-05,-2.51058891042e-05,1793248301887134208
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.395923074,745,715,679,663,634,877.604076926,786,810,653,629,652,0.401874601224,0.00455125953696,0.0499475187035,0.999999993926,6.36784388038e-05,-8.67723418846e-05,-2.37318109918e-05,1793248301903800832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.181615617,745,715,679.181615617,663,634,878,786,810,653,629,652.181615617,0.402032438,0.00454984301491,0.0499486275704,0.99999999417,6.19859559634e-05,-8.55306784357e-05,-2.24050084876e-05,1793248301920467456
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.756250359,745,715,679.756250359,663,634,878,786,810,653,629,652.756250359,0.402205861728,0.00454979704599,0.0499477398586,0.999999994018,6.10375899002e-05,-8.82643432452e-05,-2.11805113419e-05,1793248301937134080
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.669753429,663,634,877.669753429,786,810,653,629,652.669753429,0.402399689348,0.00454824012466,0.049947056343,0.999999994005,5.82684466146e-05,-9.05852143869e-05,-1.97473023824e-05,1793248301953800960
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.096227537,663,634,877.096227537,786,810,653,629,652.096227537,0.402608547711,0.00454557014567,0.0499465232502,0.999999994081,5.41580101346e-05,-9.26019973771e-05,-1.81603437255e-05,1793248301970467840
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877,785.505447803,810,653,629,652,0.402849465891,0.00454150910792,0.0499502320279,0.999999994775,4.6969149301e-05,-8.93586973583e-05,-1.60625565383e-05,1793248301987134208
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.086184114,785.086184114,810,653,629,652.086184114,0.403105862763,0.00453748747114,0.0499552993263,0.999999995624,3.98816468761e-05,-8.34863500225e-05,-1.38024286654e-05,1793248302003800832
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.662868932,785.662868932,810,653,629,652.662868932,0.403413567772,0.00453528620239,0.0499632311909,0.999999996897,3.69032447255e-05,-6.86867883399e-05,-1.12045024855e-05,1793248302020467456
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.761443208,745,715,679.238556792,663,634,878,786,810,653,629,652.761443208,0.403735611888,0.0045332181026,0.0499720488644,0.999999998097,3.34447190773e-05,-5.1063084069e-05,-8.91905432569e-06,1793248302037134080
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.187158429,745,715,679.812841571,663,634,878,786,810,653,629,652.187158429,0.40407783583,0.00453133741555,0.0499821131623,0.999999999111,2.93105016945e-05,-2.94648818063e-05,-7.07336582394e-06,1793248302053800704
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.612942954,663,634,877.612942954,786,810,653,628.612942954,652,0.404446626581,0.00452833026104,0.0499903626825,0.999999999607,2.45840037027e-05,-1.26127276369e-05,-4.70298794653e-06,1793248302070467328
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.038761002,663,634,877.038761002,786,810,653,628.038761002,652,0.404828261194,0.00452477850956,0.0499977348381,0.999999999804,1.95711644363e-05,1.94492224457e-06,-2.07894609109e-06,1793248302087133952
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.555892658,745,715,679,663,634,877.555892658,786,810,653,628.555892658,652.555892658,0.40523641261,0.00452087355028,0.0499957728981,0.999999999852,1.72077368484e-05,-9.7776318932e-08,7.22956602371e-07,1793248302103800576
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.405650641921,0.00451620094727,0.0499878976787,0.999999999811,1.29482914021e-05,-1.40551543752e-05,3.65061197454e-06,1793248302120467200
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.406077018291,0.00450936058904,0.0499647224541,0.999999998214,2.58988403474e-06,-5.93072641235e-05,6.90800377826e-06,1793248302137133824
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810.296929512,653,628.703070488,652.703070488,0.406530235921,0.00450525773879,0.0499456543362,0.999999995593,-3.09109089643e-06,-9.33136466365e-05,9.81190872409e-06,1793248302153800960
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810.871096392,653,628.128903608,652.128903608,0.407008514767,0.00450371084623,0.0499304209421,0.99999999309,-4.40483842125e-06,-0.000116820115473,1.23857701823e-05,1793248302170467584
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810.540779038,653,628.459220962,652.459220962,0.407535368766,0.00449668149696,0.0499310180527,0.99999999339,-1.14660360256e-05,-0.000113222086782,1.64215939742e-05,1793248302187134208
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.050228146,663,634,878,786,810.050228146,653,629,653,0.408084021406,0.00448831065696,0.049938455242,0.999999994806,-1.98380537648e-05,-9.77828696716e-05,2.08024642897e-05,1793248302203801088
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.629047746,663,634,878,786,810.629047746,653,629,653,0.408714088156,0.00448252529178,0.049969646267,0.999999998591,-2.44944859217e-05,-4.0306886526e-05,2.43604682082e-05,1793248302220467456
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.79402636,745,715,679.79402636,663.20597364,634,878,786,811,653,629,652.79402636,0.409351317045,0.00447618549383,0.0499942230864,0.999999999593,-2.32983057933e-07,2.16915405943e-06,2.8433324358e-05,1793248302237134080
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.220479937,745,715,679.220479937,663.779520063,634,878,786,811,653,629,652.220479937,0.41000132718,0.00446885627644,0.050006996442,0.999999996421,7.56343753448e-05,1.78768597556e-05,3.34249661636e-05,1793248302253800704
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679.362155143,664,634,878,786,811,653,629,652.362155143,0.410624221964,0.00446195860875,0.0499994175434,0.999999994979,9.28254641785e-05,-4.96361145007e-06,3.74306803426e-05,1793248302270467328
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679.950465808,664,634,878,786,811,653,629,652.950465808,0.411230183963,0.00445533043178,0.049979129244,0.999999995129,7.33748991631e-05,-5.18763164374e-05,4.0820710762e-05,1793248302287133952
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530776339,745,715,679.469223661,663.469223661,633.469223661,878.530776339,786,811,653,629,653,0.41189579178,0.00444803918035,0.049952509623,0.999999994704,2.26402577528e-05,-9.43869658077e-05,3.4209842598e-05,1793248302303800832
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.109755386,663.219510772,633.109755386,879,786,811,653,629,653,0.41259185575,0.00443974922269,0.0499363248993,0.999999992488,-2.8035644883e-05,-0.000116149440096,2.73262001e-05,1793248302320467456
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.686200178,664.372400357,633.686200178,879,786,811,653,629,653,0.413394104416,0.00442747189713,0.049966985371,0.999999996216,-6.62318981733e-05,-5.14097603283e-05,2.31923474238e-05,1793248302337134080
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.740192695,664.740192695,634,879,786,811.259807305,653,629,653,0.414179983404,0.00441992685671,0.0499811783145,0.999999996238,-7.99209412505e-05,-2.45888225936e-05,2.30634932513e-05,1793248302353800448
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.169975846,664.169975846,634,879,786,811.830024154,653,629,653,0.414946304525,0.00441803579918,0.0499756963803,0.999999996619,-6.43295506356e-05,-4.30719893204e-05,2.77196840892e-05,1793248302370467072
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.41770953,664,633.58229047,879,785.58229047,811.58229047,653,629,653,0.415716088238,0.00443385071316,0.0499562536963,0.999999995958,-4.14860098422e-05,-7.41217934852e-05,2.94892435796e-05,1793248302387133952
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.012453037,664,633.012453037,879,785.012453037,811.012453037,653,629,653,0.416489078276,0.00445689844672,0.0499318456639,0.999999993502,-1.56266160384e-05,-0.000108864472006,2.99933207946e-05,1793248302403800576
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680.590817224,664,633.590817224,879,785.590817224,811.590817224,653,629,653,0.417340952377,0.00446692125557,0.0499512249974,0.999999997188,7.32367147112e-06,-6.88991969447e-05,2.86988845386e-05,1793248302420467200
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680.831421109,664.168578891,634,879,786,811.831421109,653,629,653,0.418197441123,0.00447013199278,0.0499701520315,0.99999999889,1.64691058369e-05,-3.3965674743e-05,2.81802854908e-05,1793248302437134080
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.255116736,664.744883264,634,879,786,811.255116736,653,629,653,0.419065090814,0.0044568670296,0.0499879851317,0.999999999471,-7.77392625768e-06,-1.1201969907e-05,2.95381291557e-05,1793248302453800704
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.672876072,745,715,680,664.672876072,633.672876072,879,786,811.327123928,652.672876072,629.327123928,653,0.419918402887,0.00444963048347,0.0499816643203,0.999999998963,-2.44237819597e-05,-2.41240722838e-05,2.99154321361e-05,1793248302470467328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.085920288,745,715,680,664.085920288,633.085920288,879,786,811.914079712,652.085920288,629.914079712,653,0.420760326667,0.00444718226024,0.0499561582539,0.999999996812,-3.5042438699e-05,-6.53911199553e-05,2.95138995984e-05,1793248302487133952
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494359652,745,715,680,664,633.494359652,879.494359652,785.505640348,812,652.494359652,630,653,0.421704115409,0.00444499700583,0.0499780627755,0.99999999894,-3.18711052679e-05,-1.50239657568e-05,2.96407731891e-05,1793248302503800576
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.92667244,745,715,680,664.07332756,633.92667244,880,785,812,653,630,653,0.42265573661,0.00444375010451,0.0500030373126,0.999999998417,-2.6220354877e-05,3.9793933517e-05,2.99231931507e-05,1793248302520467456
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.348855293,745,715,680,664.651144707,633.348855293,880,785,812,653,630,653,0.423541062903,0.00444864876862,0.0499931978696,0.999999999188,-1.97809285405e-05,1.7121702274e-05,3.06523452082e-05,1793248302537134080
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.772148408,633.227851592,879.772148408,785.227851592,812,652.772148408,630,653.227851592,0.424443069144,0.00445438449389,0.04998517438,0.999999999378,-1.69856580515e-05,2.00895905272e-06,3.08369479479e-05,1793248302553800704
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.197133077,633.802866923,879.197133077,785.802866923,812,652.197133077,630,653.802866923,0.425370489753,0.00446139559954,0.0499799177476,0.999999999348,-1.974276727e-05,-1.58585122408e-06,3.01918538376e-05,1793248302570467328
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.387063468,664.387063468,634,879.387063468,785.612936532,812.387063468,652.387063468,630,653.612936532,0.426311086849,0.00445622672266,0.0499932304345,0.999999999008,-2.91067811786e-05,1.02653002425e-05,3.21245372525e-05,1793248302587133952
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.976049619,664.976049619,634,879.976049619,785.023950381,812.976049619,652.976049619,630,653.023950381,0.427258557781,0.00444470381049,0.0500162303361,0.99999999804,-4.19174749504e-05,3.01742778715e-05,3.54019917702e-05,1793248302603800832
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.444129979,715,681,664.444129979,633.444129979,880,785,813,653,630,653,0.428127547276,0.00444088352365,0.049978320797,0.999999998012,-2.58063774562e-05,-4.46961560079e-05,3.62329729834e-05,1793248302620467456
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.133998536,715,681,664,633,879.866001464,785,813,653,630,653,0.429013030739,0.0044386493429,0.0499478167193,0.999999994274,-1.52042785008e-05,-9.9405924617e-05,3.659461914e-05,1793248302637134080
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.70784868,715,681,664,633,879.29215132,785,813,653,630,653,0.42996357545,0.0044405498522,0.0499500959054,0.99999999621,-2.67096177736e-05,-7.47507712632e-05,3.57560635714e-05,1793248302653800704
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.283194817,633,879.566389635,785,813,653,630,653,0.43089745869,0.00444348255619,0.049949715699,0.999999996557,-3.30216955488e-05,-6.71365065563e-05,3.58901804354e-05,1793248302670467328
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.860092422,633,880.720184845,785,813,653,630,653,0.431814062176,0.00444748575443,0.0499465774228,0.999999995758,-3.39478146666e-05,-7.71954358482e-05,3.70330609043e-05,1793248302687133952
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.554658083,664.554658083,633,880.554658083,785,813.445341917,652.554658083,630.445341917,653,0.432728411744,0.00444916131737,0.049941840314,0.999999995989,-1.58825474756e-05,-8.0024015343e-05,3.69513092854e-05,1793248302703800576
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.967218645,715,680.032781355,664.032781355,633,880,785,814,652,630.967218645,653,0.433643179363,0.00444974104978,0.0499385669252,0.999999996251,6.01262385779e-06,-7.82412949991e-05,3.6609118345e-05,1793248302720467456
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.387850305,715,680.612149695,664.612149695,633,880,785,814,652,630.387850305,653,0.434576948288,0.00444447480482,0.0499682342256,0.999999998486,-9.61501672476e-06,-3.81687716068e-05,3.84618773593e-05,1793248302737134080
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.190443683,715,680.809556317,665,633.190443683,879.809556317,785,814,652,630.190443683,653,0.435475308791,0.00444127474047,0.0499823469205,0.999999998556,-2.28780850411e-05,-2.74046186887e-05,4.01729503398e-05,1793248302753800704
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.766562067,715,680.233437933,665,633.766562067,879.233437933,785,814,652,630.766562067,653,0.43630196253,0.0044422589756,0.0499649594012,0.999999995756,-3.13525715052e-05,-7.5993947665e-05,4.159708997e-05,1793248302770467328
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.340897368,664.318205264,633.659102632,879,785,814,652.340897368,630.659102632,653,0.437159723088,0.00444485210657,0.0499570820095,0.999999994675,-3.613170194e-05,-8.73930211772e-05,4.13185711416e-05,1793248302787134208
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.914017978,663.171964044,633.085982022,879,785,814,652.914017978,630.085982022,653,0.438038673922,0.00444854123599,0.0499556830282,0.99999999577,-3.8393512499e-05,-7.34576583567e-05,3.98801815735e-05,1793248302803800832
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.007096429,633,879.503548215,784.496451785,814,652.496451785,630,653,0.438906821776,0.00444864857526,0.0499682625429,0.999999997901,-1.17700514948e-05,-4.99701083271e-05,3.95229224508e-05,1793248302820467456
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.906245677,633,880,784,814.093754323,652,630,653,0.439760810079,0.00444776893704,0.0499778265957,0.999999998624,1.12086443784e-05,-3.29791210155e-05,3.92382521585e-05,1793248302837134080
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.327525599,633,880,784,814.672474401,652,630,653,0.440551418067,0.00444505413659,0.0499590299919,0.999999997504,-1.10385468525e-05,-5.83143254358e-05,3.83419830633e-05,1793248302853800704
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,815,652,630.249797222,653,0.441341465165,0.00443974961415,0.0499536600532,0.99999999681,-2.98883938413e-05,-6.34031811166e-05,3.82850037485e-05,1793248302870467584
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,815,652,630.825298155,653,0.442130780873,0.00443106842484,0.0499657967745,0.999999997359,-4.43085356124e-05,-4.20933789851e-05,3.93223513331e-05,1793248302887134208
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.409289727,633,880,784,815,652,631,653,0.442909581039,0.00442917088073,0.0499856990462,0.999999998464,-3.70235821685e-05,-8.16528788736e-06,4.04379016269e-05,1793248302903800832
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.996982281,633,880,784,815,652,631,653,0.443683797716,0.00443023021804,0.0500089861979,0.999999998441,-2.02777270014e-05,3.12629148526e-05,4.15875392615e-05,1793248302920467200
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.423307574,633,880,784,815,652,631,653,0.444335675307,0.00443556300821,0.0499737406491,0.999999998243,-1.61818155158e-05,-3.73191157535e-05,4.31263517964e-05,1793248302937134080
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,815,652,631,653,0.444995192624,0.00444159868421,0.0499451619381,0.999999995293,-1.14767639367e-05,-8.58065900571e-05,4.38147959943e-05,1793248302953800960
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784,815,652,631,653,0.445677102103,0.00444947752866,0.0499354498265,0.999999996026,-4.9458651767e-06,-7.83840684101e-05,4.21956521679e-05,1793248302970467584
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.310763096,745,715,681,664.310763096,633,880.621526192,784,815,652,631,653,0.446348594602,0.00445077378404,0.0499441211999,0.99999999789,-4.08137657445e-06,-4.92700910907e-05,4.2151689515e-05,1793248302987133952
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.885869248,745,715,681,664.885869248,633,881.771738496,784,815,652,631,653,0.447011226109,0.00444647071996,0.0499684300376,0.999999999022,-8.03688209984e-06,-1.70480585224e-06,4.34476163748e-05,1793248303003800832
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.528551569,745,715,681,665,633,881.528551569,784,815.471448431,652,630.528551569,653,0.447597321153,0.00444288285542,0.0499586682563,0.999999998776,-9.70478893468e-06,-1.80699750313e-05,4.50146189148e-05,1793248303020467712
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.941291623,633,881,784,815.941291623,652,630.058708377,653,0.448160615649,0.00443965725383,0.0499404688406,0.999999997625,-1.08051234693e-05,-4.9694448608e-05,4.65197312402e-05,1793248303037134336
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.362118571,633,881,784,815.362118571,652,630.637881429,653,0.44868976795,0.00443807340862,0.0499222494884,0.999999995921,-1.18948517719e-05,-7.6275135639e-05,4.6881185516e-05,1793248303053800960
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,744.783986665,715,681,664,633,880.783986665,784,815.216013335,652.216013335,630.783986665,653,0.449214547697,0.0044356059128,0.0499161710696,0.999999995109,-1.58826203932e-05,-8.53586740399e-05,4.73587919983e-05,1793248303070467584
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,744.207591791,715,681,664,633,880.207591791,784,815.792408209,652.792408209,630.207591791,653,0.449732032527,0.00443166419628,0.0499303477367,0.999999996413,-2.4705276663e-05,-6.52511909725e-05,4.80301786904e-05,1793248303087134208
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.365911202,715,681.365911202,664.365911202,633,880.365911202,784,816,652.634088798,630,653,0.450227292974,0.00442838456035,0.0499504561311,0.999999997452,-3.91161197541e-05,-3.65689170028e-05,4.72006589191e-05,1793248303103801088
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,744.937786469,715,681.937786469,664.937786469,633,880.937786469,784,816,652.062213531,630,653,0.450710043811,0.00442547759591,0.049973903377,0.999999997353,-5.66724417218e-05,-3.06006359038e-06,4.55263090708e-05,1793248303120468480
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.530349771,745,715,682,664.469650229,633,881,784,815.469650229,652,630.530349771,653,0.451130225302,0.00442200555528,0.0499748555862,0.999999994759,-9.49037457254e-05,-1.00233793888e-05,3.70916520125e-05,1793248303137135360
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.878429187,744.878429187,715,681.878429187,664,632.878429187,881,784,815,652,631,653,0.451525286099,0.00441899424768,0.0499688692744,0.99999999106,-0.000126833832287,-2.96532210447e-05,3.02442505535e-05,1793248303153802240
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.301688593,744.301688593,715,681.301688593,664,632.301688593,881,784,815,652,631,653,0.451854889562,0.00441796621447,0.0499471856042,0.999999988513,-0.000125722588694,-7.82103511255e-05,3.24293235938e-05,1793248303170468864
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.274127257,744,715,681,664,632,881,784,815.274127257,652,631,653,0.452167687231,0.00442096759267,0.0499231708315,0.999999984664,-0.000118956316792,-0.000123966545172,3.39576951486e-05,1793248303187135232
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.848928774,744,715,681,664,632,881,784,815.848928774,652,631,653,0.452462051582,0.00442838859817,0.0498965992092,0.999999979893,-0.000105987373077,-0.000166650552334,3.47657688876e-05,1793248303203801600
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.567203865,744.432796135,714.567203865,681.432796135,664,632,880.567203865,784,816,652,630.567203865,653,0.45275911199,0.00443998767727,0.0498923495857,0.999999984767,-4.03343156103e-05,-0.000166128785153,3.52209808223e-05,1793248303220468224
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.019644979,745,714.019644979,681.980355021,664,631.980355021,880.019644979,784,816,652.019644979,630.019644979,653,0.453056270332,0.00445305299418,0.0498962498525,0.99999998722,4.15027440876e-05,-0.00015025436996,3.55265899653e-05,1793248303237134592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.599346028,745,714.599346028,681.400653972,664,631.400653972,880.599346028,784,816,652.599346028,630.599346028,653,0.453328817653,0.00446545241899,0.0499056095262,0.999999988943,4.92367821933e-05,-0.000135844492001,3.51537487833e-05,1793248303253801216
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.17803922,663.82196078,631,881.17803922,784,816,652.82196078,631,653,0.453582955924,0.00447141613401,0.0499114044483,0.99999998998,5.07537006681e-05,-0.000127301107577,3.54718514686e-05,1793248303270468096
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.754477054,663.245522946,631,881.754477054,784,816,652.245522946,631,653,0.453795900197,0.00446297865044,0.0499092225194,0.99999998987,3.83585607382e-05,-0.000131885186015,3.73360802863e-05,1793248303287134976
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,881.34098941,784,816,652.329505295,631,653,0.453981727734,0.00445981986296,0.0498997740187,0.999999988187,3.11435622988e-05,-0.000145723703037,3.76838791327e-05,1793248303303801856
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,880.193024509,784,816,652.903487746,631,653,0.454147435971,0.00446057761439,0.0498849340695,0.999999985084,2.77719795638e-05,-0.000166428570912,3.69065597187e-05,1793248303320468736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.507752998,663,631,880.492247002,784,816,652.507752998,631,653,0.454297172754,0.0044609346244,0.0498779431478,0.999999983901,2.49532993546e-05,-0.00017389948658,3.65207148051e-05,1793248303337135104
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652,631,653,0.454440648868,0.00446118028904,0.0498731397971,0.999999983151,2.2520490873e-05,-0.000178528768245,3.63194264823e-05,1793248303353801728
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652,631,653,0.454565794137,0.00446124252814,0.0498719697602,0.999999982499,2.17447373897e-05,-0.000182150793294,3.67554619577e-05,1793248303370468352
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652.238566276,631,653,0.454675022714,0.00446187586388,0.0498689422498,0.999999981358,2.04694959242e-05,-0.000188449503102,3.67732168178e-05,1793248303387134720
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,881,784,816,652.811740004,631,653,0.454761926905,0.00446331020637,0.0498633094909,0.999999979472,1.8493684396e-05,-0.000198502467833,3.62043010864e-05,1793248303403801344
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681.38542493,663,631,881,784,816,652.61457507,631,653,0.454832546112,0.00446391409094,0.0498555825188,0.999999977161,1.85887146053e-05,-0.000209865493321,3.59000292381e-05,1793248303420467968
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681.959359863,663,631,881,784,816,652.040640137,631,653,0.454895200387,0.00446411180138,0.0498468312746,0.999999974555,1.96965864253e-05,-0.000221869264696,3.57251938143e-05,1793248303437134592
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.552935946,715,681.447064054,663,631,881,784,816,652,631,653,0.45494347212,0.00446370301908,0.0498401298625,0.999999972145,2.03117998069e-05,-0.000232420592475,3.57514121975e-05,1793248303453801728
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.856351428,715,681.143648572,663,631,881,784,816,652.143648572,631,653,0.454987989499,0.00446343722253,0.0498343103169,0.999999970051,2.06858265701e-05,-0.000241236268722,3.57104399389e-05,1793248303470468608
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.278809074,715,681.721190926,663,631,881,784,816,652.721190926,631,653,0.455024477352,0.00446374292105,0.0498306826376,0.999999969116,2.04447442867e-05,-0.000245143693299,3.54202380032e-05,1793248303487135232
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,881,784,816,652.703853035,631,653,0.455054530217,0.00446441816734,0.0498278035714,0.99999996824,2.16393571617e-05,-0.000248603284135,3.53326822603e-05,1793248303503801600
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,881,784,816,652.13131075,631,653,0.455078577281,0.00446543831429,0.0498256231887,0.999999967417,2.41739108885e-05,-0.000251644910136,3.54342571053e-05,1793248303520468224
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681.545980654,662.545980654,630.545980654,881,784,816,652,630.545980654,653,0.455092987235,0.00446540030383,0.0498224430301,0.999999965907,2.50044270252e-05,-0.000257458147514,3.57327703859e-05,1793248303537134848
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880.95735554,784.04264446,816,652,630.04264446,653,0.455104262182,0.00446516797136,0.0498191018363,0.999999964239,2.52547805711e-05,-0.000263796735623,3.59875399545e-05,1793248303553801472
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880.375190368,784.624809632,816,652,630.624809632,653,0.455112159192,0.00446646124745,0.0498174875658,0.999999963617,2.45810606739e-05,-0.00026634639789,3.49473842538e-05,1793248303570468352
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.204021144,662,630,880.204021144,784.795978856,816,652,630.795978856,653,0.45511872729,0.00446762986948,0.049815881327,0.999999962987,2.53815960037e-05,-0.000268720415986,3.42203334485e-05,1793248303587135232
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.777878421,662,630,880.777878421,784.222121579,816,652,630.222121579,653,0.455122886424,0.00446857252672,0.0498142896475,0.999999962344,2.8854564433e-05,-0.000270776037709,3.40608586978e-05,1793248303603802112
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.649465753,662,630.350534247,881,784,816,652,630.350534247,653,0.455124832153,0.0044699421053,0.0498131318274,0.999999961817,2.90284058424e-05,-0.000272745742997,3.36725739624e-05,1793248303620468736
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.077568665,662,630.922431335,881,784,816,652,630.922431335,653,0.455125380114,0.00447158128525,0.04981224799,0.999999961364,2.71188440506e-05,-0.000274661191863,3.31397954256e-05,1793248303637135104
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681.512824018,662,631,881,784.512824018,816,652,630.487175982,653,0.455125680412,0.00447215984436,0.0498107964717,0.999999960846,2.91324205959e-05,-0.00027632449488,3.32285326346e-05,1793248303653801728
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.896236469,662,631,880.896236469,784.896236469,816,652,630.103763531,653,0.455125870717,0.00447269001256,0.0498093658626,0.999999960295,3.14372961261e-05,-0.000278046508298,3.33398983786e-05,1793248303670468352
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.316110639,662,631,880.316110639,784.316110639,816,652,630.683889361,653,0.455125734473,0.00447376207844,0.0498084401916,0.99999995967,3.22533176978e-05,-0.000280219693114,3.31074188703e-05,1793248303687134720
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.737952558,880.262047442,784,816,652,630.737952558,653,0.455126211617,0.00447407956038,0.0498082661414,0.999999959462,3.26107383607e-05,-0.000280910726242,3.31868116574e-05,1793248303703801088
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.162150426,880.837849574,784,816,652,630.162150426,653,0.455127423182,0.00447349356386,0.0498089920216,0.999999959757,3.24190670072e-05,-0.000279827149523,3.3639615408e-05,1793248303720467712
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.578954346,745,715,681.421045654,662.421045654,630,881,784,816,652,630,653,0.455127106375,0.00447360720191,0.0498079507161,0.999999959537,3.27419819213e-05,-0.000280596968066,3.34566032561e-05,1793248303737134592
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.007060616,745,715,681.992939384,662.992939384,630.007060616,880.992939384,784,816,652,630.007060616,653,0.455126189824,0.00447399564001,0.0498062233979,0.999999959108,3.3271293241e-05,-0.000282109104223,3.30302275794e-05,1793248303753801728
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.586630002,745,715,681.413369998,662.413369998,630.586630002,880.413369998,784,816,652,630.586630002,653,0.455125222372,0.00447442827753,0.0498050409288,0.999999958284,3.41800748793e-05,-0.000284901686175,3.30801993128e-05,1793248303770468352
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.834372288,715,681,662.165627712,630.834372288,880.165627712,784,816,652,631,653,0.45512481396,0.00447448635389,0.0498044718087,0.999999957765,3.46545871209e-05,-0.000286652137838,3.31453790465e-05,1793248303787134720
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.256796485,715,681,662.743203515,630.256796485,880.743203515,784,816,652,631,653,0.455125795988,0.00447361282431,0.0498054282063,0.999999958024,3.40489874881e-05,-0.000285810610141,3.32483840099e-05,1793248303803801344
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,744.318584872,715,681,662.681415128,630,880.681415128,784,816,652.318584872,630.681415128,653,0.455125922703,0.00447380718058,0.0498052461273,0.999999957954,3.45011090294e-05,-0.000285992928059,3.33245807347e-05,1793248303820467712
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,744.89220946,715,681,662.10779054,630,880.10779054,784,816,652.89220946,630.10779054,653,0.455125364706,0.0044748564215,0.0498041526529,0.999999957619,3.57999779882e-05,-0.000286994874688,3.33793164053e-05,1793248303837134592
+244,4.066666667,HOLD_POSE2,766,745,715,681,662,630,881,784,816,652,630,653,0.455121993819,0.00447581649016,0.0498002606904,0.999999956107,3.71861724794e-05,-0.000292134592659,3.25795190167e-05,1793248303868500992
+245,4.083333333,HOLD_POSE2,766,745,715,681,662,630,881,784,816,652,630,653,0.455122085679,0.00447585633144,0.049800559511,0.999999955916,3.80964691463e-05,-0.00029262342342,3.29959081118e-05,1793248303885167616
+246,4.100000000,HOLD_POSE2,766,745,715,681.155775831,662,630,881,784.155775831,816,652,630.155775831,653,0.455122346488,0.00447669608135,0.0498006974469,0.999999955855,3.91701211273e-05,-0.000292676558875,3.31169545237e-05,1793248303901834240
+247,4.116666667,HOLD_POSE2,766,745,715,681.731934924,662,630,881,784.731934924,816,652,630.731934924,653,0.455123063228,0.0044796944986,0.0498004012127,0.999999956144,4.06846108861e-05,-0.000291553908616,3.24409767433e-05,1793248303918501120
+248,4.133333333,HOLD_POSE2,765.685664975,745,715,681.685664975,662,630,881,784.685664975,816,652,630.685664975,653,0.455124170098,0.00447969886338,0.0498011907501,0.999999956451,4.05664892572e-05,-0.000290503142923,3.25496343662e-05,1793248303935167744
+249,4.150000000,HOLD_POSE2,765.097834761,745,715,681.097834761,662,630,881,784.097834761,816,652,630.097834761,653,0.45512561641,0.00447709817644,0.0498029249909,0.999999956773,3.9027872441e-05,-0.000289514922296,3.33409840353e-05,1793248303951834368
+250,4.166666667,HOLD_POSE2,765.482724885,744.517275115,715,681.482724885,662.965449771,630,881,784,816,652,630.482724885,653,0.455124288351,0.0044777239516,0.0498018033015,0.99999995633,3.81587178095e-05,-0.000291208235078,3.28877345065e-05,1793248303968500480
+251,4.183333333,HOLD_POSE2,766,744.061697944,715,682,663.938302056,630.061697944,880.938302056,784,816,652,630.938302056,653,0.455122517802,0.00447884461774,0.0498002030886,0.999999955748,3.76134965099e-05,-0.000293343257796,3.22430579551e-05,1793248303985166848
+252,4.200000000,HOLD_POSE2,766,744.639542382,715,682,663.360457618,630.639542382,880.360457618,784,816,652,630.360457618,653,0.455121679648,0.00447871612274,0.0497993700502,0.999999955316,3.86599785493e-05,-0.000294694435913,3.20758572e-05,1793248304001833728
+253,4.216666667,HOLD_POSE2,766,745,715,681.783349078,662.783349078,630.783349078,880.216650922,784,816,652,630.216650922,653,0.455121946941,0.00447890521781,0.0497991336737,0.999999955227,3.91755852208e-05,-0.000294936450046,3.19923255235e-05,1793248304018500608
+254,4.233333333,HOLD_POSE2,766,745,715,681.207460817,662.207460817,630.207460817,880.792539183,784,816,652,630.792539183,653,0.455124047217,0.00447962092136,0.049799886646,0.999999955709,3.88109266451e-05,-0.000293339316003,3.2047528825e-05,1793248304035167488
+255,4.250000000,HOLD_POSE2,765.635139975,745,715,681,662,630,881,784,816,652,631,653,0.455123238293,0.00447991517013,0.0497992847719,0.999999955501,3.89838546782e-05,-0.000294028622382,3.20365110321e-05,1793248304051834112
+256,4.266666667,HOLD_POSE2,765.064827887,745,715,681,662,630,881,784,816,652,631,653,0.455120791205,0.00447997209848,0.0497979199862,0.9999999549,3.94594967865e-05,-0.000296005419341,3.19882042581e-05,1793248304068500736
+257,4.283333333,HOLD_POSE2,765.529737201,745,715,681,662,630.529737201,881,784,816.529737201,652,631,653,0.455120654328,0.00447972858561,0.0497984282533,0.999999954824,3.89382826537e-05,-0.000296327787569,3.20180835657e-05,1793248304085167616
+258,4.300000000,HOLD_POSE2,766,745,715,681,662,630.87723555,880.87723555,784,816.87723555,652.12276445,631,652.87723555,0.455120952191,0.00447951600858,0.0497989309474,0.99999995487,3.84512423785e-05,-0.000296237010163,3.20257437587e-05,1793248304101834240
+259,4.316666667,HOLD_POSE2,766,745,715,681,662,630.301364241,880.301364241,784,816.301364241,652.698635759,631,652.301364241,0.455121761077,0.00447955982529,0.0497985264635,0.999999955115,3.85621947767e-05,-0.000295404492221,3.19143868643e-05,1793248304118500608
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,630,882,784,816,652,630,653,0.455123737052,0.00447977648666,0.0497991794419,0.999999955139,3.88012980892e-05,-0.000295238990807,3.24083360223e-05,1793248304156172800
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.413494293,630.586505707,881.413494293,784,815.413494293,652,630.586505707,653,0.455124791528,0.00447922327116,0.0497999999076,0.999999955415,4.10600013036e-05,-0.000293968449322,3.26528722798e-05,1793248304172840192
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,744.828284759,715,681.828284759,662,630.828284759,881,784,815,652,630.828284759,653,0.45512512867,0.00447918633382,0.0498001735266,0.99999995547,4.22393891775e-05,-0.00029360808416,3.27020689942e-05,1793248304189507328
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,744.246172941,715,681.246172941,662,630.246172941,881,784,815,652,630.246172941,653,0.455123751397,0.0044803832926,0.0497988011928,0.999999955008,4.08392317501e-05,-0.00029542302506,3.22844074913e-05,1793248304206173440
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,744.330996027,715,681,662,630,881,784,815.330996027,652,630.330996027,653,0.455123020426,0.00447996625925,0.0497981689813,0.999999954892,3.94511712353e-05,-0.000296009680577,3.22146302483e-05,1793248304222839808
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,744.904542884,715,681,662,630,881,784,815.904542884,652,630.904542884,653,0.455122763059,0.00447836650729,0.0497980791246,0.999999955032,3.80719753104e-05,-0.000295696259801,3.23997794026e-05,1793248304239506176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,744.520032138,715,681.479967862,662,630,881,784,816,652.479967862,631,653,0.455124058151,0.0044782427484,0.0497997117617,0.999999955683,3.75333680535e-05,-0.000293564753137,3.23356052172e-05,1793248304256173056
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,744.057195434,715,682,662,630,881,784.057195434,816,652.942804566,630.942804566,653,0.455125273375,0.00447834513737,0.0498013260202,0.999999956255,3.73776532526e-05,-0.000291637869152,3.22622510422e-05,1793248304272839680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,744.647735338,715,682,662,630,881,784.647735338,816,652.352264662,630.352264662,653,0.45512285339,0.00447780826192,0.0497995618694,0.999999955187,3.92273385397e-05,-0.000295004089167,3.25674972719e-05,1793248304289506304
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.76572333,745,715,682,662,630,881,784.76572333,815.76572333,652,630.23427667,653,0.455117318108,0.00447834471855,0.0497963585199,0.999999953542,3.97510312336e-05,-0.000300489386266,3.22660284346e-05,1793248304306173184
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.185093517,745,715,682,662,630,881,784.185093517,815.185093517,652,630.814906483,653,0.455107177189,0.0044804679826,0.0497910274683,0.99999995101,3.8314384716e-05,-0.000309107513188,3.10675958594e-05,1793248304322840320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.390902217,745,715,682,662,630.390902217,881,784,815.390902217,652,631,653,0.455082929874,0.00448147581054,0.0497792559077,0.999999944868,3.93785462994e-05,-0.000328288149145,3.06681486751e-05,1793248304339506944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.964729457,745,715,682,662,630.964729457,881,784,815.964729457,652,631,653,0.455052081384,0.00448196166369,0.049764470472,0.999999936568,4.16129757951e-05,-0.000352411574771,3.06425913469e-05,1793248304356173312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,630.449198643,880.449198643,784,816,652,631,653,0.454997443335,0.00448301156303,0.0497431733151,0.999999922021,4.17147928057e-05,-0.000391512401724,3.05883582884e-05,1793248304372839680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.86406119,745,715,681.86406119,662,630.13593881,880.13593881,784,816,652,631,653,0.454939232563,0.0044839794806,0.0497229317929,0.999999907776,4.20725342294e-05,-0.000426335801474,3.02444060196e-05,1793248304389506560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.284588889,745,715,681.284588889,662,630.715411111,880.715411111,784,816,652,631,653,0.454874448252,0.00448455938755,0.0497075259547,0.999999900056,4.37209879978e-05,-0.000444002694996,2.89613017745e-05,1793248304406172928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.294640983,745,715,681,662,631,881,784,816,652,630.705359017,652.705359017,0.454802027872,0.00448470937673,0.0496965782763,0.999999893505,4.46542752248e-05,-0.00045846490185,2.83971487416e-05,1793248304422839296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.873636855,745,715,681,662,631,881,784,816,652,630.126363145,652.126363145,0.454722238007,0.00448444445678,0.0496899331213,0.999999888213,4.48973627107e-05,-0.000469834298567,2.85268479829e-05,1793248304439506176
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,881,784,815.552074125,652,630.447925875,652.447925875,0.454637067682,0.00448627790959,0.049693167805,0.999999890411,4.84832949883e-05,-0.000464788121767,2.82892888824e-05,1793248304456172544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.978477661,745.021522339,715,681,662.021522339,631,881,784,815.021522339,652,631,653,0.454549544073,0.00448866941948,0.049699353108,0.999999894752,5.29465927844e-05,-0.000454876562481,2.79405184896e-05,1793248304472838912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.38846537,745.61153463,715,681,662.61153463,631,881,784,815.61153463,652,631,653,0.45443953685,0.00449032785403,0.0497106212057,0.999999902358,5.59341777563e-05,-0.000437500777708,2.73624107836e-05,1793248304489505280
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.19786442,745.80213558,715,681.19786442,663,631,880.80213558,784,816,652.19786442,630.80213558,653,0.454316316541,0.0044916341693,0.0497188982662,0.999999907368,5.8500541217e-05,-0.00042557927374,2.68967791733e-05,1793248304506171648
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.777096423,745.222903577,715,681.777096423,663,631,880.222903577,784,816,652.777096423,630.222903577,653,0.454167629097,0.0044922618031,0.0497214103444,0.999999907869,6.02550341449e-05,-0.000424170454784,2.66479361732e-05,1793248304522838528
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.645752631,663,631,880.354247369,784,816,652.645752631,630.354247369,653,0.453995918081,0.00449450495033,0.0497217668311,0.999999906574,6.3984865814e-05,-0.000426712009296,2.59942776302e-05,1793248304539505664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.069903448,663,631,880.930096552,784,816,652.069903448,630.930096552,653,0.4538098045,0.00449775869286,0.0497207748734,0.999999904115,6.89503840289e-05,-0.000431724746231,2.50873839884e-05,1793248304556173312
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,881,784,815.48461794,652,631,653,0.453598553445,0.00450030264253,0.0497214206487,0.999999902231,7.54981646597e-05,-0.000435006270486,2.4662676969e-05,1793248304572839424
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,881,784,815.100639019,652,631,653,0.453376459244,0.00450269289848,0.0497229961137,0.999999901038,8.1925814602e-05,-0.000436607564169,2.42038493196e-05,1793248304589505792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,881,784,815.679564394,652,631,653,0.453119338825,0.00450481879319,0.04972791455,0.999999902931,8.67435961983e-05,-0.000431360327385,2.32662485065e-05,1793248304606172672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.258490587,663,631.258490587,881,784,815.741509413,652,631,653,0.452847537288,0.00450816048863,0.0497334003896,0.999999904406,9.30004381236e-05,-0.000426660528366,2.23548101866e-05,1793248304622839552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.837417757,663,631.837417757,881,784,815.162582243,652,631,653,0.452557536392,0.00451300934535,0.0497395896077,0.999999905353,0.000101041203814,-0.000422639358193,2.14758041286e-05,1793248304639506688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,815,652,631,653,0.452239923014,0.00451644692959,0.0497438768718,0.999999906323,0.000108310353167,-0.000418577476419,2.03897868838e-05,1793248304656172800
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,881,784,815,652,631,653,0.451911527,0.00451933341341,0.0497474214248,0.999999907266,0.000115278187011,-0.000414499696891,1.92229320218e-05,1793248304672839168
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.426220854,745,715,681.426220854,663,632,881,784,815,652,631,653,0.451542039977,0.0045245317085,0.0497447206248,0.99999990674,0.00012287170397,-0.000413683484387,1.6959925561e-05,1793248304689505536
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,632,881,784,815,652,630.838131307,652.838131307,0.451162976146,0.00452889112912,0.049746360252,0.999999910251,0.000129651549487,-0.000403078283486,1.47218133083e-05,1793248304706172160
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,632,881,784,815,652,630.258785544,652.258785544,0.450762482076,0.00453090306445,0.0497596912175,0.999999923572,0.000134283064589,-0.00036696670915,1.26351197717e-05,1793248304722838784
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.318633085,745,715,681,663.318633085,632,881.318633085,784,815,652,630,652.318633085,0.450351879402,0.00453670996393,0.049781571441,0.999999937804,0.000142081801463,-0.000322644075126,1.0255685471e-05,1793248304739505664
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.894496016,745,715,681,663.894496016,632,881.894496016,784,815,652,630,652.894496016,0.449933116094,0.0045455805067,0.0498103534109,0.999999951444,0.000152437410519,-0.00027169271638,7.63992373982e-06,1793248304756172800
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.531159523,745,715.468840477,681.468840477,664,632,881.062319047,784.468840477,814.531159523,652,630.468840477,653,0.449451761719,0.00455063890124,0.0498263154526,0.999999956268,0.000159617995186,-0.000248903611469,5.70874262051e-06,1793248304772839680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.044179795,745,715.955820205,681.955820205,664.044179795,632.044179795,880.044179795,784.955820205,814,652,630.955820205,653,0.448951387882,0.00455510695085,0.0498369668242,0.999999958429,0.000166400202011,-0.000235455928805,3.7819351917e-06,1793248304789506560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.636075846,745,715.363924154,681.363924154,664.636075846,632.636075846,880.636075846,784.363924154,814,652,630.363924154,653,0.448389274941,0.00456285710073,0.0498174292924,0.999999950651,0.000177072690257,-0.000259504043713,5.65998226236e-09,1793248304806173184
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.223199651,664.776800349,633,881,784.223199651,814,652,630,653,0.447795091506,0.00456960769005,0.049794101563,0.999999940092,0.000185930322953,-0.000291946725226,-3.58238911148e-06,1793248304822840064
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.802705223,664.197294777,633,881,784.802705223,814,652,630,653,0.447149712204,0.0045747626252,0.0497647233332,0.999999924514,0.000191890800829,-0.000337790115044,-6.86996223961e-06,1793248304839506432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.622230307,745,715,681.622230307,663.622230307,633,880.622230307,784.622230307,814,652,630,653,0.44650605328,0.00458044069921,0.0497451392229,0.999999911251,0.000202398156667,-0.000369378281174,-9.65900454529e-06,1793248304856172544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.049458322,745,715,681.049458322,663.049458322,633,880.049458322,784.049458322,814,652,630,653,0.445863282424,0.00458638881399,0.0497306107753,0.999999899295,0.000215252581569,-0.00039360799091,-1.21907083373e-05,1793248304872838912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.525805863,633,879.474194137,784.525805863,814,652,630.525805863,653,0.445222886881,0.00459192199937,0.0497594192719,0.999999910988,0.000224838439371,-0.000356729057555,-1.46779407625e-05,1793248304889505536
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.104528951,745,715,681,664,633,879.104528951,785,813.895471049,652,630.895471049,653,0.444570955031,0.00459784257719,0.0497881123959,0.99999992123,0.000233753096975,-0.000320310782822,-1.73082997764e-05,1793248304906172416
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.698339876,745,715,681,664,633,879.698339876,785,813.301660124,652,630.301660124,653,0.443863973116,0.00460576002878,0.0497970938776,0.999999921743,0.000240971944658,-0.00031308230529,-2.06282824372e-05,1793248304922839296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.716092579,745,715,681,664,632.716092579,880.283907421,785,813.283907421,652,630.283907421,652.716092579,0.443118783402,0.00461234448757,0.049790452051,0.999999929518,0.000183512517815,-0.000326658448628,-2.41036285624e-05,1793248304939506176
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.139036658,745,715,681,664,632.139036658,880.860963342,785,813.860963342,652,630.860963342,652.139036658,0.442334142154,0.00461755256612,0.0497676783844,0.999999932439,5.92695617728e-05,-0.000361716390415,-2.77393952907e-05,1793248304956172800
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.434110868,745,715,681.434110868,664,632.434110868,880.565889132,785,813.565889132,652,630.565889132,652.434110868,0.441589562192,0.00460794154601,0.049780929247,0.99999994381,2.45964299558e-05,-0.000332763578357,-3.23003597081e-05,1793248304972839168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.993823914,745,715,681.993823914,664,633,879.993823914,785,812.993823914,652,630.006176086,653,0.440857218979,0.00459349109221,0.0498055002127,0.999999958864,1.82174162624e-05,-0.0002838382524,-3.70852798592e-05,1793248304989505280
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.406869535,745,715,681.406869535,664,633,879.406869535,785,812.406869535,652,630.593130465,653,0.440079775534,0.00456629524427,0.0498192711083,0.999999963615,-1.068623462e-06,-0.000267436571908,-3.53138273621e-05,1793248305006172160
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.820558936,633,879.179441064,785.179441064,812,652,631,653,0.439264692496,0.00454986350754,0.0498178364545,0.999999961568,-8.49621492502e-06,-0.000274823539499,-3.55512455437e-05,1793248305022838784
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.235702874,633,879.764297126,785.764297126,812,652,631,653,0.438364569574,0.00455775135696,0.0497820475799,0.999999942694,1.08682382061e-05,-0.000335956704331,-4.03273478686e-05,1793248305039505408
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.343440811,745,715,681,663.343440811,633,880,785.656559189,812.343440811,652,630.656559189,653,0.437477338255,0.004566538035,0.0497720736861,0.999999934542,2.80747787778e-05,-0.000358032491649,-4.40570849311e-05,1793248305056172288
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.918728218,745,715,681,663.918728218,633,880,785.081271782,812.918728218,652,630.081271782,653,0.436598809706,0.004575931485,0.0497795267134,0.999999935365,4.38245765095e-05,-0.000353741812338,-4.70804520498e-05,1793248305072839168
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.493072132,664,633,880,785,813,652,630.493072132,653,0.435707358365,0.00457969935187,0.0497835983478,0.999999936119,3.84966586206e-05,-0.000351861301273,-4.97272123438e-05,1793248305089506048
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.930653136,745,714.930653136,681.930653136,663.930653136,633,880,785,812.930653136,652,630.930653136,653,0.434816468101,0.00458277401859,0.0497853591216,0.999999936164,4.12456653362e-05,-0.000351514111736,-4.90687367526e-05,1793248305106172672
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.338656801,745,714.338656801,681.338656801,663.338656801,633,880,785,812.338656801,652,630.338656801,653,0.433945829831,0.00458759931093,0.0497738960826,0.999999926427,0.000131002406334,-0.000359734830329,-2.3966497597e-05,1793248305122839040
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.247005782,745,714.247005782,681.247005782,663.247005782,633,879.752994218,785,812,652,630,652.752994218,0.433068186987,0.0045886350348,0.0497791284471,0.999999922352,0.000180756682955,-0.000349995713724,-1.12393990534e-05,1793248305139505664
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.824201673,745,714.824201673,681.824201673,663.824201673,633,879.175798327,785,812,652,630,652.175798327,0.432181180512,0.00458460497499,0.0498066787374,0.999999934209,0.000177036848212,-0.000316248418562,-1.50550234176e-05,1793248305156172288
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.599127099,745,715,681.599127099,664,633,879.400872901,785,812,652,630,652.400872901,0.431241610008,0.00457908298375,0.049804524076,0.999999937516,0.000154009314705,-0.000317562387501,-2.00702683802e-05,1793248305172839168
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.022685691,745,715,681.022685691,664,633,879.977314309,785,812,652,630,652.977314309,0.430279018325,0.00457290757823,0.0497893596685,0.99999993631,0.000122525675021,-0.000334231982908,-2.56109055542e-05,1793248305189506048
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.454975731,633,879.454975731,785,812,652,630,653,0.429346685882,0.00457770683312,0.0497692907611,0.999999927787,0.000106706109226,-0.00036355381932,-2.94630443317e-05,1793248305206172928
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.719101716,633,879.719101716,785,812,652.719101716,630,653,0.427482799752,0.00459164703372,0.0497707788838,0.999999919028,0.00012479602633,-0.000381303059615,-3.12798272917e-05,1793248305239506432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.693613772,633,879.693613772,785,811.693613772,652.693613772,630,653,0.426551161375,0.00459613973471,0.0497721266837,0.999999918145,0.000140564445188,-0.000378117521565,-3.12950810902e-05,1793248305256173056
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.117704755,633,879.117704755,785,811.117704755,652.117704755,630,653,0.425620291709,0.00459743961314,0.0497616322884,0.999999917592,0.000147984622126,-0.000376667689565,-3.22172492957e-05,1793248305272839680
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,633,879,785,811.457593349,652.457593349,630,652.542406651,0.424733903342,0.00459489069384,0.0497917485207,0.999999940336,0.000129777810075,-0.000318377433143,-3.34751320307e-05,1793248305289506304
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.033589352,745,715,681,663.033589352,633,879.033589352,785.033589352,811.966410648,652.966410648,630,652.033589352,0.423857589033,0.00459130102329,0.0498299838611,0.999999962561,0.000106800361253,-0.000249529103407,-3.47295734234e-05,1793248305306172672
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.62374905,745,715,681,663.62374905,633,879.62374905,785.62374905,811.37625095,652.37625095,630,652.62374905,0.422958866455,0.00458684870392,0.0498298921024,0.999999962251,0.000113855694433,-0.000247676904251,-3.44980223263e-05,1793248305322839296
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.790118338,633,879.790118338,785.790118338,811.209881662,652,630,653,0.422045999126,0.00458337964954,0.0498179282586,0.999999956175,0.000119527852117,-0.000268639071925,-3.45848141141e-05,1793248305339505920
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.211069003,633,879.211069003,785.211069003,811.788930997,652,630,653,0.421108251985,0.00458164009116,0.0497850822184,0.999999937482,0.000122767098365,-0.000329730169627,-3.52315494203e-05,1793248305356172800
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.634879041,663.365120959,633.365120959,879,785.365120959,811.634879041,652,630,652.634879041,0.420212742958,0.00458601260564,0.0497841673394,0.999999933949,0.000113153593735,-0.000343593929688,-3.52386622067e-05,1793248305372839680
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.060329216,663.939670784,633.939670784,879,785.939670784,811.060329216,652,630,652.060329216,0.419341461248,0.00459389092962,0.0498015677816,0.999999940196,9.61679100995e-05,-0.000330368669673,-3.4878895426e-05,1793248305389506048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.525841419,663.474158581,633.474158581,879,786,811,652.525841419,630,652.525841419,0.418451759341,0.00459866119737,0.0497820777967,0.999999925225,0.000112244695593,-0.000368453738829,-3.45467514477e-05,1793248305406172416
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.888234461,745,714.888234461,681,663,633,878.888234461,785.888234461,811,653,630,652.888234461,0.417578304684,0.00460132464039,0.0497650925594,0.999999911947,0.000128341846606,-0.000398043833374,-3.45881336145e-05,1793248305422839040
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.309043234,745,714.309043234,681,663,633,878.309043234,785.309043234,811,653,630,652.309043234,0.416781837383,0.00459670193033,0.0497766834239,0.999999923796,0.000128301656881,-0.000366930203837,-3.61781231211e-05,1793248305439505664
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.269504988,680.730495012,663,633.269504988,878,785.269504988,810.730495012,653,629.730495012,652.269504988,0.415999092926,0.00459156243288,0.0497932265897,0.999999936981,0.000123729748469,-0.000330673112205,-3.71973333322e-05,1793248305456172288
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.847317588,680.152682412,663,633.847317588,878,785.847317588,810.152682412,653,629.152682412,652.847317588,0.415232047147,0.00458583174266,0.0498154350753,0.999999951174,0.00011397365631,-0.000288532018239,-3.7563584809e-05,1793248305472838656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.419158782,745,715,680.419158782,663.419158782,634,878,786,810.419158782,653,629.419158782,653,0.414442857423,0.00458579117008,0.0498046340044,0.999999945954,0.000107712126216,-0.00030832144991,-3.77775602261e-05,1793248305489505792
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.988855435,745,715,680.988855435,663.988855435,634,878,786,810.988855435,653,629.988855435,653,0.413645714797,0.00458779416198,0.0497819777897,0.999999932633,0.000102705642116,-0.000350352782019,-3.79368467753e-05,1793248305506172928
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.431106676,745,715,680.431106676,663.431106676,633.431106676,878,785.431106676,811,653,630,653,0.412881194999,0.00459364550947,0.0497722741936,0.999999926267,0.000116444033653,-0.000363859985497,-3.8893200061e-05,1793248305522839808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.152707417,745,715,680,663.152707417,633.152707417,878.152707417,785.152707417,810.847292583,653,630,653,0.412140910119,0.00459786618758,0.0497722813594,0.999999924566,0.000127225373233,-0.000364891089308,-3.9198364237e-05,1793248305539506432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.746840945,745,715,680,663.746840945,633.746840945,878.746840945,785.746840945,810.253159055,653,630,653,0.411468798549,0.00459715118797,0.0497996120318,0.999999936106,0.00012837773212,-0.000331503127143,-3.75751866797e-05,1793248305556172800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.670023366,634,878.670023366,786,810.329976634,653,629.670023366,653,0.410793231463,0.00459671412448,0.0498039986381,0.999999937178,0.000122950904306,-0.000330367903607,-3.72086115381e-05,1793248305572838912
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.095053139,634,878.095053139,786,810.904946861,653,629.095053139,653,0.410115098845,0.00459648341677,0.0497913502512,0.999999930575,0.000112639310598,-0.000353178966514,-3.77750102577e-05,1793248305589505792
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.47917714,633.52082286,877.52082286,785.52082286,810.52082286,653,629.47917714,653,0.409490808722,0.00459201164549,0.0497834971049,0.999999928207,0.00011005676531,-0.000360573806022,-3.82001863912e-05,1793248305606172416
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.945364837,663.945364837,633.054635163,877.054635163,785.054635163,810.054635163,653,629.945364837,653,0.408883310319,0.00458672333111,0.0497796016817,0.999999928251,0.000108504935905,-0.000360892527372,-3.84828023405e-05,1793248305622839040
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.356467903,663.356467903,633.643532097,877.643532097,785.643532097,810.643532097,653,629.356467903,653,0.408335731851,0.00458166431438,0.0498051203459,0.999999942282,0.000102062655788,-0.000321873852378,-3.76448808426e-05,1793248305639506176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.229887828,663,634,877.770112172,786,810.770112172,653,629,653,0.407789126213,0.00457892989902,0.0498198640771,0.999999949111,9.75591079971e-05,-0.000301467797053,-3.71207183981e-05,1793248305656173312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.812346155,663,634,877.187653845,786,810.187653845,653,629,653,0.407244012619,0.00457976063968,0.049818082688,0.999999946774,9.60289233849e-05,-0.000309607235499,-3.70777568107e-05,1793248305672839936
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.610348588,745,715,679.610348588,663,634,877.389651412,785.610348588,810,653,629,652.610348588,0.406708741397,0.00458372069895,0.0498009863741,0.999999935772,9.68791083408e-05,-0.000342994385338,-3.77532961109e-05,1793248305689506560
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.035492575,745,715,679.035492575,663,634,877.964507425,785.035492575,810,653,629,652.035492575,0.40617814829,0.00458916814981,0.0497766107471,0.999999918941,9.88607027112e-05,-0.000388381985306,-3.87703448696e-05,1793248305706173440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.536157562,745,715,679,663,634,878,785.536157562,810,653,629.536157562,652.536157562,0.405712796914,0.00459341986919,0.0497651268584,0.999999912501,0.00010617308856,-0.000402639945692,-4.00816378556e-05,1793248305722839552
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.111598764,663,634,878,786,810,653,629.888401236,653,0.405263933029,0.00459685030518,0.0497588513809,0.999999909247,0.00011277413717,-0.000408771650429,-4.11583707491e-05,1793248305739505920
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.704292627,663,634,878,786,810,653,629.295707373,653,0.404867637781,0.00459707944676,0.0497713719074,0.99999991702,0.000114796424239,-0.000388702425822,-4.1140459611e-05,1793248305756172288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.708776161,663,634,877.708776161,786,810,653,629,652.708776161,0.404500676523,0.0045978160815,0.0497918608415,0.999999927634,0.000117990297536,-0.000359375683462,-4.07479939607e-05,1793248305772838912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.127582813,663,634,877.127582813,786,810,653,629,652.127582813,0.404162922933,0.00459905802355,0.0498202838617,0.999999940249,0.000122350710699,-0.000320831297351,-3.99825870107e-05,1793248305789506048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.447663315,663,634,877.447663315,786,810,653,629,652.447663315,0.403848477516,0.00459994989413,0.049838028564,0.999999948012,0.000124607271644,-0.000294664076779,-4.02804984908e-05,1793248305806172928
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.978283106,745,715,680,663,634,878,786,810,653,629,652.978283106,0.403540741803,0.00460074517566,0.0498518933211,0.999999953767,0.000126354757894,-0.0002735522661,-4.08568604774e-05,1793248305822839552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.391740797,745,715,680,663,634,878,786,810,653,629,652.391740797,0.403237012102,0.00460158915333,0.0498429601651,0.999999947644,0.000130252016105,-0.000293383136204,-4.089694766e-05,1793248305839506176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.193492593,745,715,679.806507407,663,634,877.806507407,785.806507407,810,653,629,652,0.402943079902,0.00460219997947,0.0498314327926,0.999999940378,0.000132758437757,-0.000316092581518,-4.12950165387e-05,1793248305856172800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.776093707,745,715,679.223906293,663,634,877.223906293,785.223906293,810,653,629,652,0.402668850258,0.0046023419439,0.0498146885201,0.999999930955,0.000132467923167,-0.000344590763615,-4.24129772066e-05,1793248305872839424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.646831719,745,715,679.353168281,663,634,877,785.353168281,810,653,629,652.353168281,0.402428581347,0.00459851910789,0.0498032760746,0.999999926054,0.000123832508931,-0.000362264958812,-3.63583409911e-05,1793248305889505792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.073206894,745,715,679.926793106,663,634,877,785.926793106,810,653,629,652.926793106,0.402209511555,0.0045922213435,0.0497951918882,0.999999923985,0.00010998799795,-0.000373182551313,-2.5826389105e-05,1793248305906172672
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.50071939,663,634,877,786,810,653,629,652.50071939,0.40203954437,0.00457833222383,0.04979876783,0.999999929989,9.23713142868e-05,-0.000361736782696,-2.52146300723e-05,1793248305922839808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.074567782,745,715,679,663,634,877.074567782,786,810,653.074567782,629,652.074567782,0.401879637088,0.00456502225986,0.0498040563762,0.999999936392,7.63301832524e-05,-0.000347432210615,-2.61016935581e-05,1793248305939506944
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.670597182,745,715,679,663,634,877.670597182,786,810,653.670597182,629,652.670597182,0.401739846206,0.00456352861288,0.049809392665,0.999999940349,7.51661383025e-05,-0.00033601415808,-2.7321508123e-05,1793248305956173568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786,810,653.74198422,629,652.74198422,0.401615688872,0.0045649146064,0.049816429538,0.999999944441,7.67372504631e-05,-0.000323129512191,-2.85902857591e-05,1793248305972839936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786,810,653.165203842,629,652.165203842,0.401510845954,0.00456985824075,0.0498255673911,0.999999948651,8.16875019802e-05,-0.000308432969879,-2.99195545579e-05,1793248305989506048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.409811234,715,679,663,634,878,786,810,653,629,652.409811234,0.401418846884,0.0045701036782,0.0498293192211,0.999999951108,8.16791269359e-05,-0.000300281651587,-3.07135402685e-05,1793248306006172416
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.984117715,715,679,663,634,878,786,810,653,629,652.984117715,0.401332003245,0.00456846329346,0.0498309091405,0.999999952895,7.96803951399e-05,-0.000294757538971,-3.12926672099e-05,1793248306022839040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.440890198,715,679,663,634,877.440890198,786,810,653,629,653,0.401260425701,0.00457076556121,0.0498300854967,0.999999951988,8.36650862546e-05,-0.000296636109953,-3.21023663881e-05,1793248306039505664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.13871017,634,877,786,810,653,629,652.86128983,0.4011942333,0.00457214837595,0.0498294527489,0.999999951449,8.6404132574e-05,-0.000297595670795,-3.27518996162e-05,1793248306056172544
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.733394881,634,877,786,810,653,629,652.266605119,0.401144315927,0.00457014010934,0.0498296731761,0.999999952425,8.44890257392e-05,-0.000294842116058,-3.28533707136e-05,1793248306072839680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.682120702,745,715,679,663.682120702,634,877,786,810,653,629,652,0.401105201621,0.0045697596608,0.0498323432435,0.999999954081,8.45644807406e-05,-0.000289139250407,-3.29386211549e-05,1793248306089506304
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.105925217,745,715,679,663.105925217,634,877,786,810,653,629,652,0.401074866135,0.00457070201525,0.049837003946,0.999999956243,8.62575128441e-05,-0.000281039705101,-3.30106903196e-05,1793248306106173184
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.468828401,745,715,678.531171599,663,634,877,786,810,653,629,652.468828401,0.401052028386,0.00457146075775,0.0498394649063,0.999999957482,8.60160875414e-05,-0.000276640854698,-3.32736977267e-05,1793248306122839808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.955446411,745,715,678.044553589,663,634,876.955446411,786,809.955446411,653,629,652.955446411,0.401031389321,0.00457195313819,0.0498412131152,0.999999958441,8.52672408522e-05,-0.000273352941883,-3.35418295345e-05,1793248306139506176
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.222203912,745,715,679,663,634,876.222203912,786,809.222203912,653,629,652,0.401004116435,0.0045695819991,0.0498390714434,0.999999958182,8.40029213582e-05,-0.000274716683355,-3.3329507579e-05,1793248306172838912
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.799208774,745,715,679,663,634,876.799208774,786,809.799208774,653,629,652,0.400993590597,0.00457294620837,0.0498373671674,0.999999957027,8.75520406998e-05,-0.000277762503821,-3.36044850058e-05,1793248306189505536
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877.950376039,786,809.049623961,653,629,652.950376039,0.400988016585,0.00457272436771,0.0498414783546,0.999999958854,8.92944714299e-05,-0.000270617030908,-3.29298341196e-05,1793248306222839040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786,809.523505135,653.523505135,629,653,0.400986250994,0.00457228872785,0.049842309675,0.999999959245,8.90592654851e-05,-0.00026925017039,-3.28958597125e-05,1793248306239505920
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786,810,653.900288732,629,653,0.400984594215,0.00457214651022,0.0498429015033,0.999999959528,8.86681074281e-05,-0.000268320601368,-3.29600686338e-05,1793248306256172800
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2f3812bbc1823b3fe9c63fa1d58eadce45fce19
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.583258675617,0.00992772706613,1.04004264916,0.553830468872,0.0186021912958,1.03966602966
+383,6.383333333,pose2_to_pose3_retreat,0.583254065214,0.0099276693224,1.04004266263,0.553825859902,0.0186021382861,1.03966604053
+384,6.400000000,pose2_to_pose3_retreat,0.583251200625,0.00992784819873,1.04004264818,0.553822993039,0.0186023095299,1.03966602798
+385,6.416666667,pose2_to_pose3_retreat,0.583249757996,0.00992793828219,1.0400426409,0.553821549265,0.0186023957696,1.03966602166
+386,6.433333333,pose2_to_pose3_retreat,0.583248962282,0.00992793162986,1.04004257337,0.553820753558,0.0186023892345,1.0396659563
+387,6.450000000,pose2_to_pose3_retreat,0.583248324406,0.00992791660196,1.04004250831,0.553820115798,0.0186023746856,1.03966589326
+388,6.466666667,pose2_to_pose3_retreat,0.583247872517,0.00992790595577,1.04004246222,0.553819663991,0.0186023643788,1.0396658486
+389,6.483333333,pose2_to_pose3_retreat,0.583247579851,0.00992789906076,1.04004243236,0.553819371377,0.0186023577036,1.03966581967
+390,6.500000000,pose2_to_pose3_retreat,0.583247386146,0.00992789449721,1.04004241261,0.553819177708,0.0186023532855,1.03966580053
+391,6.516666667,pose2_to_pose3_retreat,0.583247320114,0.00992789294154,1.04004240587,0.553819111687,0.0186023517794,1.039665794
+392,6.533333333,pose2_to_pose3_retreat,0.583247140403,0.00992788870767,1.04004238754,0.553818932009,0.0186023476805,1.03966577624
+393,6.550000000,pose2_to_pose3_retreat,0.583246980453,0.00992788528314,1.04004237558,0.553818772088,0.018602344371,1.03966576468
+394,6.566666667,pose2_to_pose3_retreat,0.583246934145,0.00992788540826,1.04004238624,0.553818725787,0.0186023445131,1.03966577512
+395,6.583333333,pose2_to_pose3_retreat,0.583246911251,0.00992788547011,1.04004239151,0.553818702898,0.0186023445833,1.03966578028
+396,6.600000000,pose2_to_pose3_retreat,0.583246883888,0.00992788554404,1.04004239781,0.553818675538,0.0186023446672,1.03966578645
+397,6.616666667,pose2_to_pose3_retreat,0.583246656698,0.00992788615787,1.04004245013,0.553818448388,0.0186023453641,1.03966583768
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+400,6.666666667,pose2_to_pose3_retreat,0.583246117707,0.00992788761412,1.04004257426,0.553817909488,0.0186023470174,1.0396659592
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b885d76195caf1e8bfb5e9ee6d665d29d621805
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe28fbd839487e0800a741ccf3ac226202b4a208e73ac5f7b6a438047c1723a
+size 25855860
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5fb5e69311d53cb632bc0ba6c84d1ffb7d8a617c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+13,0.216666667,BASELINE,765.460886034,745,715,679,663,634,877,786,810,653,628.539113966,652,0.400983548739,0.00456929632628,0.0498481036668,0.99999996245,8.39804525371e-05,-0.000258885095781,-3.20362681767e-05,1793248306928979968
+14,0.233333333,BASELINE,765.113643825,745,715,679,663,634,877.113643825,786,810,653,629,652.113643825,0.400983022776,0.00456891582252,0.0498479117692,0.999999962358,8.39087405112e-05,-0.000259257223674,-3.2077125183e-05,1793248306945646592
+15,0.250000000,BASELINE,765.684164042,745,715,679,663,634,877.684164042,786,810,653,629,652.684164042,0.400983039834,0.0045693141903,0.0498476901797,0.999999962405,8.35679481655e-05,-0.000259156518392,-3.2301939595e-05,1793248306962313472
+16,0.266666667,BASELINE,766,745,715,679,663,634,877.734456863,786,810,653,628.734456863,653,0.400983714713,0.00456954182838,0.0498482514065,0.999999962668,8.35135590757e-05,-0.000258165177807,-3.22498205959e-05,1793248306978980096
+17,0.283333333,BASELINE,766,745,715,679,663,634,877.139611623,786,810,653,628.139611623,653,0.400985205363,0.00456955774321,0.0498497834098,0.999999963194,8.38143409035e-05,-0.000256069353485,-3.18542743133e-05,1793248306995646976
+18,0.300000000,BASELINE,766,745,715,679,663,634,877,786,810,653,628.445458865,652.554541135,0.400984535067,0.00456937407867,0.0498494911849,0.999999963116,8.33248457682e-05,-0.000256520469774,-3.19619742631e-05,1793248307012313344
+19,0.316666667,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652,0.400983328188,0.00456918839108,0.0498487489534,0.999999962872,8.28064375486e-05,-0.00025760916888,-3.22059830489e-05,1793248307028979712
+20,0.333333333,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652,0.400984662019,0.0045701947902,0.0498502112617,0.999999963018,8.65873356576e-05,-0.000255807168947,-3.20868852802e-05,1793248307045646336
+21,0.350000000,BASELINE,765.822237255,745,715,679,663.177762745,634,877,786,809.822237255,653,629,652.177762745,0.40098516716,0.00457066845317,0.0498508569079,0.999999963055,8.82810878898e-05,-0.000255100301976,-3.19515695296e-05,1793248307062313216
+22,0.366666667,BASELINE,765.236102037,745,715,679,663.763897963,634,877,786,809.236102037,653,629,652.763897963,0.40098376856,0.00456991826691,0.0498496264447,0.999999962866,8.51800614818e-05,-0.000256909272614,-3.17789963986e-05,1793248307078979840
+23,0.383333333,BASELINE,765.345657897,745,715,679,663.654342103,634,877.345657897,786,809.345657897,653,629,653,0.400983688704,0.00457005015072,0.0498497087851,0.999999962851,8.52035554548e-05,-0.000256956390945,-3.18181116389e-05,1793248307095646720
+24,0.400000000,BASELINE,765.924466703,745,715,679,663.075533297,634,877.924466703,786,809.924466703,653,629,653,0.40098449836,0.0045707770026,0.0498506766291,0.999999962954,8.7334580201e-05,-0.000255815116345,-3.20000135198e-05,1793248307112314112
+25,0.416666667,BASELINE,766,745,715,679,663.504934009,634,877.495065991,786,810,653,628.495065991,652.495065991,0.400984503616,0.00457032606549,0.0498507507117,0.999999963019,8.70818706035e-05,-0.000255647950952,-3.19739934998e-05,1793248307128980480
+26,0.433333333,BASELINE,766,745,715,679,663.915539793,634,877,786,810,653,628.084460207,652.084460207,0.400984553635,0.00456981585463,0.0498507259639,0.999999963115,8.63188745843e-05,-0.000255535144771,-3.19527148662e-05,1793248307145646848
+27,0.450000000,BASELINE,766,745,715,679,663.34289179,634,877,786,810,653,628.65710821,652.65710821,0.400985560196,0.00456998476286,0.0498509053013,0.999999963414,8.46742554213e-05,-0.000254891504124,-3.21392132543e-05,1793248307162313216
+28,0.466666667,BASELINE,766,745,715,678.763547369,663.236452631,634,877,786,810,653.236452631,629,652.763547369,0.40098565134,0.00456966788598,0.0498507798908,0.99999996352,8.32104841932e-05,-0.00025494613197,-3.22134122635e-05,1793248307178979584
+29,0.483333333,BASELINE,766,745,715,678.174209141,663.825790859,634,877,786,810,653.825790859,629,652.174209141,0.400984376301,0.00456862601582,0.04985019967,0.999999963342,8.20166133439e-05,-0.000256042866651,-3.21200139163e-05,1793248307195646208
+30,0.500000000,BASELINE,766,745,715.407961568,678.407961568,663.592038432,634,877,785.592038432,810,653.592038432,629,652.407961568,0.400984213349,0.00456892793021,0.0498497527303,0.999999963185,8.29766697491e-05,-0.000256333631,-3.2211352292e-05,1793248307212312832
+31,0.516666667,BASELINE,766,745,715.987124411,678.987124411,663.012875589,634,877,785.012875589,810,653.012875589,629,652.987124411,0.400984517085,0.00456979376447,0.0498493617221,0.999999963035,8.48406228228e-05,-0.000256286169474,-3.23802155269e-05,1793248307228979456
+32,0.533333333,BASELINE,766,745,715.436970067,678.436970067,663,634,877,785.563029933,810,653,629,652.436970067,0.400982837443,0.00456896338474,0.0498489342824,0.999999962887,8.20160386109e-05,-0.000257787412707,-3.23125389644e-05,1793248307245646336
+33,0.550000000,BASELINE,766,745,715,678.140300916,663,634,877,786,810,653,629,652,0.4009818442,0.0045688076149,0.0498489458674,0.999999962809,8.06680527238e-05,-0.000258523215397,-3.22471179919e-05,1793248307262312960
+34,0.566666667,BASELINE,766,745,715,678.722101691,663,634,877,786,810,653,629,652,0.400983152833,0.00457089607366,0.0498503415854,0.99999996297,8.4302094531e-05,-0.000256739516938,-3.22057190011e-05,1793248307278979840
+35,0.583333333,BASELINE,766,745,715.304890923,679,663,634,877.304890923,786.304890923,810,653,629,652.304890923,0.400983963334,0.00457167787514,0.0498506195363,0.999999962997,8.57304515679e-05,-0.000256155237521,-3.22555440916e-05,1793248307295646720
+36,0.600000000,BASELINE,766,745,715.8885841,679,663,634,877.8885841,786.8885841,810,653,629,652.8885841,0.400984318326,0.00457126482659,0.0498498753644,0.999999962912,8.51418585619e-05,-0.000256667745995,-3.23887874681e-05,1793248307312313344
+37,0.616666667,BASELINE,765.531423035,745,715.531423035,679,663,634,878,786.531423035,810.468576965,653,629,652.531423035,0.400984336435,0.00457010068023,0.0498496716067,0.999999962921,8.47221640715e-05,-0.000256811002613,-3.20642599134e-05,1793248307328979712
+38,0.633333333,BASELINE,765,745,715,679,663,634,878,786,810.952695375,653.047304625,629,652.047304625,0.40098416863,0.00456889922645,0.0498495315254,0.999999962918,8.44290113633e-05,-0.000256967105263,-3.16760286731e-05,1793248307345646336
+39,0.650000000,BASELINE,765,745,715,679,663,634,878,786,810.378337713,653.621662287,629,652.621662287,0.400982814893,0.00456925633242,0.0498486804517,0.999999962531,8.51018040985e-05,-0.000258236896895,-3.17812620914e-05,1793248307362312960
+40,0.666666667,BASELINE,765,745,715.196133042,679,663.196133042,634,877.803866958,786,810,653.803866958,629,652.803866958,0.400982584141,0.00456932743982,0.0498486133676,0.999999962467,8.57040629314e-05,-0.000258281821643,-3.1798228079e-05,1793248307378979584
+41,0.683333333,BASELINE,765,745,715.770822041,679,663.770822041,634,877.229177959,786,810,653.229177959,629,652.229177959,0.400984520861,0.004568846542,0.0498500594604,0.999999963028,8.61701843921e-05,-0.000255962633407,-3.16448292842e-05,1793248307395646208
+42,0.700000000,BASELINE,765,745,715.643775218,679,663.643775218,634,877,786,810,653,628.643775218,652.356224782,0.400985197653,0.00456956884091,0.0498504985767,0.999999963165,8.68540676017e-05,-0.000255184829467,-3.17287119434e-05,1793248307412313344
+43,0.716666667,BASELINE,765,745,715.05126606,679,663.05126606,634,877,786,810,653,628.05126606,652.94873394,0.400985038734,0.00457108922186,0.049850269764,0.999999963023,8.7682392453e-05,-0.000255429427893,-3.19699837156e-05,1793248307428980480
+44,0.733333333,BASELINE,765.52838541,745,715,679,663.52838541,634,877,786,810,653,628.52838541,653,0.400984755613,0.00457037692717,0.0498503805027,0.999999963237,8.58944179984e-05,-0.000255245706672,-3.16030125702e-05,1793248307445646848
+45,0.750000000,BASELINE,765.89394003,745,715,679,663.89394003,634,877,786,810,653,629,652.89394003,0.400984319751,0.00456950409873,0.0498504590014,0.999999963413,8.40429023285e-05,-0.000255211747819,-3.12799033971e-05,1793248307462313216
+46,0.766666667,BASELINE,765.319616865,745,715,679,663.319616865,634,877,786,810,653,629,652.319616865,0.400983261461,0.00456885618921,0.0498502531594,0.999999963289,8.30049641188e-05,-0.000256018121806,-3.14048109835e-05,1793248307478979584
+47,0.783333333,BASELINE,765,745,715,679,663.261094379,634,877,786,810,653,629,652.261094379,0.400982630785,0.00456911652595,0.0498496830273,0.999999963064,8.28763968781e-05,-0.000256913556892,-3.16014344829e-05,1793248307495646208
+48,0.800000000,BASELINE,765,745,715,679,663.84982175,634,877,786,810,653,629,652.84982175,0.400982536698,0.00457051657094,0.0498486557675,0.999999962711,8.38889491694e-05,-0.000257920749971,-3.18880503591e-05,1793248307512313344
+49,0.816666667,BASELINE,765,745,715,679,663.568026193,634,877,786,810,653.431973807,628.568026193,653,0.40098294568,0.00457012971092,0.0498491523356,0.999999963072,8.22537557046e-05,-0.000257033127919,-3.19911856735e-05,1793248307528979712
+50,0.833333333,BASELINE,765.011816105,745,715,679,663,634,877.011816105,786,810,653.988183895,628.011816105,652.988183895,0.40098350912,0.00456915579945,0.0498501415263,0.999999963653,7.97959131829e-05,-0.000255540944226,-3.20288515423e-05,1793248307545646080
+51,0.850000000,BASELINE,765.588881456,745,715,679,663,634,877.588881456,786,810,653.411118544,628.588881456,652.411118544,0.400983220325,0.00456937123051,0.0498497337721,0.999999963369,8.13589697527e-05,-0.000256168196327,-3.19403355195e-05,1793248307562313216
+52,0.866666667,BASELINE,766,745,715,679,663,634,877.831851992,786,810,653,628.831851992,652,0.400983268604,0.00456958656302,0.049849374795,0.999999963176,8.26430382426e-05,-0.000256520351022,-3.18748039407e-05,1793248307578980352
+53,0.883333333,BASELINE,766,745,715,679,663,634,877.247132195,786,810,653,628.247132195,652,0.400984151957,0.00456980165135,0.0498491366588,0.999999963211,8.32359383907e-05,-0.000256190976234,-3.18662142912e-05,1793248307595646976
+54,0.900000000,BASELINE,765.665573865,745,715,679,663,634,877,786,809.665573865,653,628.334426135,652,0.400984662158,0.00456978543672,0.0498493517775,0.999999963194,8.46459231717e-05,-0.000255809702219,-3.17486385438e-05,1793248307612313600
+55,0.916666667,BASELINE,765.086329924,745,715,679,663,634,877,786,809.086329924,653,628.913670076,652,0.400984899191,0.00456959989594,0.049849898703,0.999999963136,8.66540575505e-05,-0.000255390435211,-3.15512791476e-05,1793248307628980224
+56,0.933333333,BASELINE,765.491060954,745,715,679,663,634,877,786,809.491060954,653,629,652,0.40098534337,0.00456962402089,0.0498505471378,0.999999963463,8.4701844627e-05,-0.000254720562656,-3.18788872592e-05,1793248307645646592
+57,0.950000000,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652,0.400985560464,0.00456957651245,0.0498510824641,0.999999963763,8.24532800586e-05,-0.0002542440109,-3.21720799407e-05,1793248307662313216
+58,0.966666667,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652,0.400983810104,0.00456871955021,0.0498506400101,0.999999963394,8.31724966119e-05,-0.000255539533046,-3.15213168637e-05,1793248307678979840
+59,0.983333333,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652.225955061,0.400982853525,0.00456851353919,0.0498502997076,0.999999963143,8.35838847295e-05,-0.000256418854635,-3.12557125608e-05,1793248307695646208
+60,1.000000000,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652.81285231,0.400983164935,0.00456934736202,0.0498501225823,0.999999963084,8.35035456709e-05,-0.000256633334755,-3.16053634657e-05,1793248307712313088
+61,1.016666667,BASELINE,766,745,715,679,663,634,877.394488765,786,810,653,629,652.605511235,0.400984367682,0.00456920475804,0.0498509349531,0.999999963538,8.33121490222e-05,-0.000254934574824,-3.14727995371e-05,1793248307728980224
+62,1.033333333,BASELINE,766,745,715,679,663,634,877.97366228,786,810,653,629,652.02633772,0.400985987718,0.00456860502783,0.0498522105686,0.999999964228,8.30687594059e-05,-0.000252340108104,-3.11144808037e-05,1793248307745646848
+63,1.050000000,BASELINE,765.449265321,745,715.550734679,679,663,634,877.449265321,786,810,653,629,652.550734679,0.400984978099,0.00456907797465,0.0498510884129,0.999999963758,8.35413942484e-05,-0.000253982427254,-3.15948130409e-05,1793248307762313472
+64,1.066666667,BASELINE,765,745,715.872546678,679,663,634,877,786,810,653,629,652.872546678,0.40098431582,0.00456931673691,0.0498502556427,0.999999963422,8.38582065398e-05,-0.000255153927304,-3.19334587568e-05,1793248307778980096
+65,1.083333333,BASELINE,765,745,715.296720409,679,663,634,877,786,810,653,629,652.296720409,0.400985316188,0.00456855187317,0.0498508427762,0.999999963765,8.3506839997e-05,-0.000253959035463,-3.16331032957e-05,1793248307795646976
+66,1.100000000,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400985564271,0.00456812282941,0.0498513215264,0.999999963946,8.35128749401e-05,-0.000253273235514,-3.13966031188e-05,1793248307812313600
+67,1.116666667,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400985012594,0.00456805079946,0.0498516850531,0.999999963956,8.3898867181e-05,-0.00025312865658,-3.12279881848e-05,1793248307828979968
+68,1.133333333,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652.455439737,0.40098409998,0.00456900720102,0.0498507507893,0.999999963498,8.34830190415e-05,-0.000255034490077,-3.14832096115e-05,1793248307845646592
+69,1.150000000,BASELINE,765.034511785,745,715,679.034511785,663,634,877,785.965488215,810,653,629,653,0.400983203554,0.00457014602284,0.0498495795662,0.999999962972,8.2894204353e-05,-0.000257238086214,-3.18256915189e-05,1793248307862313216
+70,1.166666667,BASELINE,765.609753087,745,715,679.609753087,663,634,877,785.390246913,810,653,629,653,0.400984098937,0.00456976024493,0.0498502263264,0.999999963444,8.30124704873e-05,-0.00025536899932,-3.17291508931e-05,1793248307878979840
+71,1.183333333,BASELINE,766,745,715.185263867,679.814736133,663,634,877.185263867,785.185263867,810,653,628.814736133,653,0.400984855351,0.00456914935295,0.0498508293214,0.999999963801,8.2604192869e-05,-0.000254122410088,-3.15610083344e-05,1793248307895646720
+72,1.200000000,BASELINE,766,745,715.761343221,679.238656779,663,634,877.761343221,785.761343221,810,653,628.238656779,653,0.400985318611,0.00456806358108,0.0498513399934,0.999999963919,8.10851673664e-05,-0.000254188983891,-3.12418209552e-05,1793248307912313344
+73,1.216666667,BASELINE,765.654330852,745,715.654330852,679,663.345669148,634,877.654330852,786,809.654330852,653,628.345669148,652.654330852,0.40098546562,0.00456797314594,0.0498513504758,0.999999964034,8.07347853315e-05,-0.000253837078471,-3.13113869288e-05,1793248307928979968
+74,1.233333333,BASELINE,765.064172212,745,715.064172212,679,663.935827788,634,877.064172212,786,809.064172212,653,628.935827788,652.064172212,0.400985388945,0.00456858670592,0.0498510071772,0.999999964149,8.12109771438e-05,-0.000253189185476,-3.16559155838e-05,1793248307945646848
+75,1.250000000,BASELINE,765,745,715,679,663.483507449,634,877,786,809.516492551,653,629,652.516492551,0.400985403821,0.00456911713509,0.049850970976,0.999999964069,8.24224669289e-05,-0.000253108166133,-3.17005067273e-05,1793248307962313472
+76,1.266666667,BASELINE,765.095060523,745,715,679,663,634,877,786,810,653,629,652.904939477,0.400985458616,0.00456964771265,0.0498509442504,0.999999963945,8.38420308312e-05,-0.000253130124802,-3.1721211401e-05,1793248307978980096
+77,1.283333333,BASELINE,765.668901617,745,715,679,663,634,877,786,810,653,629,652.331098383,0.400985658214,0.00457023011987,0.0498507765435,0.999999963722,8.58577510694e-05,-0.000253322407814,-3.18059158413e-05,1793248307995646720
+78,1.300000000,BASELINE,765.750848536,745,715,679,663,634,877,785.750848536,810,653,628.750848536,652,0.400985969222,0.00457054039408,0.0498510166756,0.999999963708,8.68450796831e-05,-0.000253037414613,-3.18465274719e-05,1793248308012313344
+79,1.316666667,BASELINE,765.16185727,745,715,679,663,634,877,785.16185727,810,653,628.16185727,652,0.400986432192,0.00457047948187,0.0498518130954,0.999999963981,8.64296934923e-05,-0.000252101421994,-3.18269969977e-05,1793248308028979968
+80,1.333333333,BASELINE,765,745,715,679,663,634,877,785.420014209,809.579985791,653,628,652,0.400986429402,0.00457077357987,0.0498524151839,0.999999964174,8.57567934481e-05,-0.000251560118368,-3.18552926146e-05,1793248308045646592
+81,1.350000000,BASELINE,765,745,715,679,663,634,877,785.999187779,809.000812221,653,628,652,0.400986250119,0.00457120220475,0.0498529436328,0.999999964337,8.49863115746e-05,-0.000251168377338,-3.19017113551e-05,1793248308062313216
+82,1.366666667,BASELINE,765,745,715,679,663,634,877,786,809.576539906,653,628.576539906,652,0.400984718661,0.00457070020351,0.0498516824561,0.999999963912,8.44207533195e-05,-0.000253056209927,-3.18159494408e-05,1793248308078979584
+83,1.383333333,BASELINE,765.152476231,745,715,679,663,634,877,786,809.847523769,653,629,652,0.400983521668,0.00457070022767,0.0498505694282,0.999999963523,8.43835994228e-05,-0.000254595605939,-3.18435488933e-05,1793248308095646208
+84,1.400000000,BASELINE,765.724523835,745,715,679,663,634,877,786,809.275476165,653,629,652,0.400983250252,0.00457208527965,0.0498498709789,0.999999963246,8.57996725314e-05,-0.000255167394553,-3.21835974743e-05,1793248308112312832
+85,1.416666667,BASELINE,765.692849159,745,715,679,663,634,877,786,809.307150841,653,629,652,0.40098413282,0.00457222242823,0.0498501147748,0.999999963367,8.62965880108e-05,-0.000254525552335,-3.21772552307e-05,1793248308128979712
+86,1.433333333,BASELINE,765.100395303,745,715,679,663,634,877,786,809.899604697,653,629,652,0.400986087289,0.00457120043745,0.0498512337934,0.999999963857,8.59397260193e-05,-0.000252756405555,-3.18491611328e-05,1793248308145646592
+87,1.450000000,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652.48063914,0.400984914196,0.00456989966304,0.0498505353391,0.999999963542,8.57626823915e-05,-0.00025410152826,-3.1515498133e-05,1793248308162313216
+88,1.466666667,BASELINE,765.058970984,745,715,679,663.058970984,634,877,786,810,653,628.941029016,652.941029016,0.400983556974,0.00456853105832,0.0498497515491,0.99999996321,8.53782380421e-05,-0.000255575258101,-3.11887952881e-05,1793248308178980096
+89,1.483333333,BASELINE,765.634041239,745,715,679,663.634041239,634,877,786,810,653,628.365958761,652.365958761,0.400986172985,0.00456706662424,0.0498514662568,0.999999964182,8.28575854965e-05,-0.00025261359236,-3.09329499567e-05,1793248308195646464
+90,1.500000000,BASELINE,765.78637373,745,715,679,663.78637373,634,877.21362627,786,810,653,628.21362627,652,0.400987364386,0.00456665755717,0.0498523549212,0.999999964646,8.16896954035e-05,-0.000251150423889,-3.09613731194e-05,1793248308212313088
+91,1.516666667,BASELINE,765.198887607,745,715,679,663.198887607,634,877.801112393,786,810,653,628.801112393,652,0.400986062627,0.0045680954511,0.0498517979559,0.999999964239,8.28892277586e-05,-0.000252309723309,-3.14872846433e-05,1793248308228979712
+92,1.533333333,BASELINE,765.383245493,745,715,679,663,634,877.616754507,786,810,653,628.616754507,652.383245493,0.400984054522,0.00456989439395,0.0498503993352,0.999999963485,8.48622908742e-05,-0.000254629312383,-3.14971310984e-05,1793248308245646336
+93,1.550000000,BASELINE,765.962638928,745,715,679,663,634,877.037361072,786,810,653,628.037361072,652.962638928,0.400981684905,0.00457187812449,0.0498485699488,0.999999962543,8.72312529925e-05,-0.00025754274658,-3.12428515949e-05,1793248308262312960
+94,1.566666667,BASELINE,765.459551068,745,715,679,663,634,877,786,810,653,628.540448932,653,0.400983068991,0.00456955399231,0.0498495527354,0.999999963221,8.39693801819e-05,-0.000256011062116,-3.10740152134e-05,1793248308278979584
+95,1.583333333,BASELINE,765,745,715,679,663,634,877,786,810,653,629,653,0.400984163611,0.00456774923307,0.0498504047938,0.999999963777,8.13927256099e-05,-0.000254668719479,-3.10670697409e-05,1793248308295646208
+96,1.600000000,BASELINE,765,745,715,679,663,634,877,786,810,653,629,653,0.40098312597,0.00456911954094,0.0498499944364,0.999999963477,8.29908912672e-05,-0.000255254565106,-3.16669021293e-05,1793248308312312832
+97,1.616666667,BASELINE,765.271092466,745,715,679,663,634,877,786,810,653,629,652.728907534,0.400983067938,0.00456884445031,0.0498502947337,0.999999963559,8.27472294705e-05,-0.000254997172287,-3.18130287548e-05,1793248308328979456
+98,1.633333333,BASELINE,765.862411004,745,715,679,663,634,877,786,810,653,629,652.137588996,0.400984167062,0.00456662574417,0.049851434487,0.999999964087,8.03279218347e-05,-0.000253743709937,-3.14232185984e-05,1793248308345646336
+99,1.650000000,BASELINE,766,745,715,679,663,634,877,786,810,653,629,652,0.40098414553,0.00456753583342,0.0498517097642,0.999999964081,8.13214010183e-05,-0.000253455708097,-3.13798800202e-05,1793248308362312960
+100,1.666666667,BASELINE,765.975934686,745,715,679.024065314,663,634,877,786,810,653,629,652.024065314,0.400983774936,0.00456926205799,0.0498516827888,0.999999963913,8.32042352965e-05,-0.000253501598873,-3.14294094224e-05,1793248308378979584
+101,1.683333333,BASELINE,765.399908806,745,715,679.600091194,663,634,877,786,810,653,629,652.600091194,0.400983192553,0.00456794603862,0.0498507358807,0.999999963789,8.17490022654e-05,-0.00025449075917,-3.11992098572e-05,1793248308395646208
+102,1.700000000,BASELINE,765.179171747,745,715,679.820828253,663,634,877,786,810,653,629,653,0.400982982703,0.00456744959051,0.0498502262416,0.999999963749,8.09230258489e-05,-0.000254908855562,-3.12161246535e-05,1793248308412312576
+103,1.716666667,BASELINE,765.765188463,745,715,679.234811537,663,634,877,786,810,653,629,653,0.400983618764,0.00456881414157,0.0498507095086,0.999999963906,8.15259015064e-05,-0.000254030238024,-3.17941616219e-05,1793248308428979200
+104,1.733333333,BASELINE,766,745,715,679,663,634,877.347204309,786,810,653,628.652795691,652.652795691,0.400983947891,0.0045692061198,0.0498505733894,0.99999996385,8.19772445293e-05,-0.00025410572273,-3.17701999834e-05,1793248308445646080
+105,1.750000000,BASELINE,766,745,715,679,663,634,877.926545279,786,810,653,628.073454721,652.073454721,0.400984071805,0.00456894784758,0.0498500231561,0.999999963654,8.23272746993e-05,-0.000254819108736,-3.13437493102e-05,1793248308462312704
+106,1.766666667,BASELINE,765.493991261,745,715,679,663.506008739,634,877.493991261,786,810,653,628.506008739,652.506008739,0.400985436964,0.00456948736628,0.0498511441945,0.999999963999,8.35854677587e-05,-0.000253038982793,-3.14168528958e-05,1793248308478979328
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.400983994733,0.00456817036242,0.0498503456352,0.999999963958,8.06388890983e-05,-0.0002541218706,-3.16819073678e-05,1793248308522315520
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.409661805,745,715,679,663,634,877.409661805,786,810,653,628.409661805,653,0.400983795907,0.00456852541403,0.0498509920459,0.999999963817,8.31158702785e-05,-0.000253912232785,-3.14184171213e-05,1793248308538981888
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.177336161,744.822663839,715,679,663,634,877.177336161,785.822663839,810,653,628,653,0.400983847294,0.00456871654353,0.0498514560169,0.999999963788,8.44199011314e-05,-0.000253615533452,-3.12541684477e-05,1793248308555648256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.756760676,744.243239324,715,679,663,634,877.756760676,785.243239324,810,653,628,653,0.400984466011,0.00456853599946,0.049851506328,0.999999964025,8.30644090774e-05,-0.00025312143259,-3.13149380198e-05,1793248308572314880
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.333975421,715.333975421,679,663,634,877.666024579,785.333975421,810,653,628.333975421,652.666024579,0.400983834613,0.00456829583151,0.0498505000878,0.999999963718,8.2630484536e-05,-0.000254456808601,-3.14337072146e-05,1793248308588981760
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.909591302,715.909591302,679,663,634,877.090408698,785.909591302,810,653,628.909591302,652.090408698,0.400982298722,0.00456801252403,0.0498487294035,0.999999963013,8.28633396743e-05,-0.000257115861787,-3.15944407376e-05,1793248308605648384
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.517084747,679,663,634,877,786,810,653,629,652.482915253,0.400982581257,0.00456893366522,0.0498493279354,0.999999963267,8.28075798802e-05,-0.000256130857007,-3.17168400578e-05,1793248308622315008
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.057829239,634,877,786,810,653,629,652.942170761,0.400983464118,0.00456997225969,0.0498504552291,0.999999963693,8.28331410796e-05,-0.00025444437783,-3.17953551804e-05,1793248308638981888
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.651431068,634,877,786,810,653,629,652.348568932,0.400986769681,0.00457001978922,0.049852391386,0.999999964075,8.41103554146e-05,-0.000252549657415,-3.15334711281e-05,1793248308655648512
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.760783509,634,877.239216491,786,810,653,629,652.239216491,0.40099709794,0.00456962644426,0.0498563696803,0.999999965865,8.33829496232e-05,-0.000245630562744,-3.13455941887e-05,1793248308672314880
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.1812722,634,877.8187278,786,810,653,629,652.8187278,0.40101741626,0.00456860593807,0.0498632529949,0.999999969516,7.98038931616e-05,-0.000231564099266,-3.12629952804e-05,1793248308688981504
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.606099319,786,810,653,629,652.606099319,0.401062141252,0.00456784572098,0.0498795224186,0.999999976743,7.91890457498e-05,-0.000198195720627,-3.10184306294e-05,1793248308705648384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.032901172,786,810,653,629,652.032901172,0.401117975783,0.00456720398336,0.0499000642538,0.99999998416,7.99234597853e-05,-0.000156041408789,-3.07001416384e-05,1793248308722315008
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.543093503,634,877,786,810,653,629,652.543093503,0.401186980481,0.00456709481993,0.0499180541044,0.999999988543,7.96187546871e-05,-0.000125172693359,-3.01138012524e-05,1793248308738981376
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.877457957,634,877.122542043,786,810,653,629,652.877457957,0.401259318098,0.00456701233324,0.0499344232002,0.999999991544,7.95491980732e-05,-9.85941439733e-05,-2.93632534536e-05,1793248308755648256
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.285429132,634,877.714570868,786,810,653,629,652.285429132,0.401341352296,0.00456690780104,0.0499451781971,0.999999992674,8.06229773562e-05,-8.58192562623e-05,-2.80461258819e-05,1793248308772314880
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,809.701832955,653,629,652,0.401429941152,0.00456488190677,0.0499512647358,0.999999993596,7.78160281351e-05,-7.76017701205e-05,-2.70376319712e-05,1793248308788981504
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,809.126087188,653,629,652,0.401524632064,0.00456106731977,0.0499530051709,0.999999994395,7.13963132166e-05,-7.36269994314e-05,-2.63164607628e-05,1793248308805648128
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.551283448,745,715,679,663,634,877.551283448,786,809.448716552,653,629,652,0.401632330108,0.00455986670609,0.0499509996356,0.9999999941,6.98604190317e-05,-7.92484318529e-05,-2.52805231547e-05,1793248308822314752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023951895,745,715,679,663,634,877.023951895,786,810,653,629,652.023951895,0.401745145811,0.00455945019544,0.0499481909629,0.99999999349,6.97116825245e-05,-8.70380374489e-05,-2.41688019049e-05,1793248308838981376
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.615680173,745,715,679,663,634,877.615680173,786,810,653,629,652.615680173,0.401892816584,0.0045602456654,0.0499512434836,0.999999993881,6.99825837963e-05,-8.243795481e-05,-2.33528909679e-05,1793248308855648256
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.203064655,679,663,634,878,786,810,653,629,652.796935345,0.40205123541,0.00455999630649,0.0499522840183,0.999999994067,6.88043489045e-05,-8.14572740675e-05,-2.23085693438e-05,1793248308872314880
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.782400188,679,663,634,878,786,810,653,629,652.217599812,0.402229569942,0.00455781092038,0.0499495964213,0.999999993874,6.49409212422e-05,-8.71832042582e-05,-2.08410117238e-05,1793248308888981504
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.640910399,679,663.359089601,634,878,786,810,653,629,652.359089601,0.402430979913,0.00455512752875,0.049950665582,0.999999994227,6.1415162876e-05,-8.60701531253e-05,-1.91250403209e-05,1793248308905648128
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.065812686,679,663.934187314,634,878,786,810,653,629,652.934187314,0.402646270789,0.0045521445648,0.0499539945966,0.999999994896,5.80925269981e-05,-8.08431559576e-05,-1.72596370141e-05,1793248308922314752
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.492000162,634,878,786,810,653,629,653,0.402890807666,0.00455042229756,0.0499570250197,0.999999995177,5.47345887905e-05,-8.01239085362e-05,-1.51733249122e-05,1793248308938981632
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.084455762,634,878,786,810,653,629,653,0.403145663019,0.00454868360651,0.0499602467004,0.999999995522,5.11887727901e-05,-7.85205017426e-05,-1.30555493252e-05,1793248308955648256
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.677841847,634,878,786,810,653,629,653,0.403439923349,0.00454586422331,0.0499648534174,0.99999999654,4.65382944076e-05,-6.80789055507e-05,-1.09201986004e-05,1793248308972314880
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.263520705,663.736479295,634,877.736479295,786,810,653,629,653,0.4037623068,0.00454297070929,0.0499726127158,0.999999997741,4.1756315226e-05,-5.19325166622e-05,-8.84216816076e-06,1793248308988981504
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.840045063,663.159954937,634,877.159954937,786,810,653,629,653,0.404118094211,0.00453998914463,0.0499841165755,0.999999998878,3.6818142776e-05,-2.90101106844e-05,-6.83222152434e-06,1793248309005648128
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.584306741,663,634,877.415693259,786,810,653,629,653,0.404491606318,0.00453523820386,0.0499919774839,0.999999999385,3.20177800465e-05,-1.37401161759e-05,-3.96704116932e-06,1793248309022314752
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.008994988,663,634,877.991005012,786,810,653,629,653,0.404871924372,0.00452980785558,0.0499984395666,0.999999999627,2.72703338042e-05,-1.40850612427e-06,-7.7346699125e-07,1793248309038981376
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810.566855453,653,629,653,0.405285311609,0.00452641582802,0.0499941525027,0.999999999723,2.27578686831e-05,-5.89120444904e-06,1.51088815074e-06,1793248309055648000
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.294236566,634,878,785.852881717,810.852881717,653,629,653,0.405699306803,0.00452242032207,0.0499853363604,0.999999999628,1.78800870847e-05,-2.01570743477e-05,4.12969120591e-06,1793248309072314880
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664.48149366,634,878,785.25925317,810.25925317,653,629,653,0.406113552944,0.00451649497371,0.0499632924521,0.999999997895,1.18822275832e-05,-6.3304726743e-05,7.80738782143e-06,1793248309088981504
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664.352959082,634,878,785.323520459,810.323520459,653,629,653,0.40657024768,0.00451207951596,0.0499438683956,0.999999995133,7.06277114496e-06,-9.78065316595e-05,1.08399993197e-05,1793248309105648128
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.204244113,634,878,785.897877943,810.897877943,653,629,653,0.40705985438,0.00450883472995,0.049926475602,0.999999992017,3.15697227123e-06,-0.000125604905274,1.33724535639e-05,1793248309122315008
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,811,653,629,653,0.407606252327,0.0045031086379,0.049931674264,0.999999993461,-4.14377955925e-06,-0.000113057716352,1.66983548507e-05,1793248309138981376
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.04972566,634,878,786,811,653,629,653,0.408169184528,0.00449680826905,0.0499433525308,0.999999995759,-1.2135443863e-05,-8.90290336442e-05,2.02370691572e-05,1793248309155648000
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.637980469,634,878,786,811,653,629,653,0.408778177228,0.00449009973068,0.0499722954318,0.999999998896,-1.96586691768e-05,-3.51456077031e-05,2.42222872931e-05,1793248309172314880
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.77643326,745,715,679,664,634,878.22356674,786.22356674,811,653,629,653,0.409400864475,0.00448295469421,0.0499942995582,0.999999999568,-6.43922266118e-06,2.50942693865e-06,2.85706825081e-05,1793248309188981504
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.195117189,745,715,679,664,634,878.804882811,786.804882811,811,653,629,653,0.410045465566,0.00447511117811,0.0500052003229,0.999999998539,3.99724465775e-05,1.41959438454e-05,3.35002299756e-05,1793248309205648384
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.382233566,745,715.382233566,679.382233566,664,634,878.617766434,786.617766434,811,653,629,653,0.410681802621,0.00446951184435,0.0499928099719,0.999999995184,8.9040710496e-05,-1.70681947944e-05,3.75769217663e-05,1793248309222315008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.957580929,745,715.957580929,679.957580929,664,634,878.042419071,786.042419071,811,653,629,653,0.411313964464,0.00446504632691,0.0499686523763,0.999999986975,0.000139451149629,-7.00320610231e-05,4.12227296098e-05,1793248309238981632
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468312457,745,715.468312457,680,664,634,878.531687543,786,811,653,629,653,0.411992613217,0.00445812442119,0.0499476861636,0.999999986427,0.000123902132429,-9.92605966957e-05,4.40733256995e-05,1793248309255648256
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.108699538,745,715,679.891300462,664,634,879,786,811,653,629,653,0.412692812711,0.00445125307316,0.0499363627478,0.999999987456,0.000103753393279,-0.00011015533024,4.67958223211e-05,1793248309272315136
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.699022029,745,715,679.300977971,664,634,879,786,811,653,629,653,0.413472103783,0.00444547203797,0.0499666388663,0.999999993887,8.64864379142e-05,-4.81879476365e-05,4.9231188039e-05,1793248309288981760
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,879.283677212,786,811,653,629,653,0.414242933882,0.00443790330041,0.0499774030726,0.999999998506,2.19073252553e-05,-2.97026047342e-05,4.03197882676e-05,1793248309305648384
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,879.862437296,786,811,653,629,653,0.415004962917,0.00442847498257,0.0499678708655,0.999999993993,-9.18862019123e-05,-5.64475531693e-05,1.96054095992e-05,1793248309322315008
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.438397634,664,634,879.561602366,786,811.438397634,652.561602366,629.438397634,652.561602366,0.415799091682,0.00444623865418,0.0499502628657,0.999999993027,-8.15298326118e-05,-8.39439584508e-05,1.5898947457e-05,1793248309338981632
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.013783978,664,634,879,786,811.986216022,652.013783978,629.986216022,652.013783978,0.416604046024,0.00447210428488,0.0499310743645,0.999999993261,-3.25542542975e-05,-0.000110053607,1.74990463117e-05,1793248309355648256
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680.601622003,664,634,879,786,811.398377997,652.601622003,629.398377997,652.601622003,0.41744303063,0.00448229672803,0.0499509286398,0.999999997378,1.26738608843e-05,-6.86520476536e-05,1.92488432637e-05,1793248309372314880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.813251573,744.813251573,715,680.813251573,664,634,879,786,811.186748427,653,629,653,0.418288532259,0.00448605263811,0.0499693742446,0.999999998517,3.5761895774e-05,-3.52253729877e-05,2.11276459886e-05,1793248309388981504
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.233826871,744.233826871,715,680.233826871,664,634,879,786,811.766173129,653,629,653,0.419147737195,0.00447627443718,0.0499848578339,0.999999999481,1.22959386819e-05,-1.85675065594e-05,2.32777094116e-05,1793248309405648128
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.344795374,744.344795374,715,680,664,633.655204626,879,785.655204626,812,652.655204626,629.344795374,652.655204626,0.420007274555,0.00447014659268,0.0499777892661,0.999999999231,-5.91938610223e-06,-3.04161630122e-05,2.40402952467e-05,1793248309422314752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922874663,744.922874663,715,680,664,633.077125337,879,785.077125337,812,652.077125337,629.922874663,652.077125337,0.420867036794,0.00446648853067,0.0499554622113,0.999999997609,-2.05822026787e-05,-6.15519503669e-05,2.38641322933e-05,1793248309438981376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.502702981,745,715,680,664,633.497297019,879,785.497297019,812,652,630,652.497297019,0.421823326097,0.00446178685144,0.049976472635,0.999999999522,-1.11762101557e-05,-1.54306518044e-05,2.43711971641e-05,1793248309455648256
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.073193247,633.926806753,879,785.926806753,812,652.073193247,630,653,0.422782644496,0.00445830979464,0.0499991625449,0.999999999172,4.89350834471e-07,3.21069715989e-05,2.50098906315e-05,1793248309472315136
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.663479276,633.336520724,879,785.336520724,812,652.663479276,630,653,0.42365837277,0.00446461951485,0.0499865807793,0.999999999649,1.93931960459e-06,5.62042883055e-06,2.58353831644e-05,1793248309488981760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.750933871,633,879,785.249066129,812,652.750933871,629.750933871,653,0.424560174799,0.00447100865331,0.0499805314904,0.99999999965,1.50687401032e-08,-4.8776397964e-06,2.60086354517e-05,1793248309505648128
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.171578563,633,879,785.828421437,812,652.171578563,629.171578563,653,0.425496553629,0.00447750311001,0.0499831449849,0.999999999642,-6.38376963132e-06,5.82676953847e-06,2.53169453051e-05,1793248309522315008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.40492875,745,715,680,664.40492875,633,879.40492875,785.59507125,812.40492875,652,629.40492875,653,0.426436850059,0.00447344055551,0.0499969039826,0.999999999339,-1.70022402118e-05,1.71051511587e-05,2.72001031158e-05,1793248309538981632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980237688,745,715,680,664.980237688,633,879.980237688,785.019762312,812.980237688,652,629.980237688,653,0.427378794825,0.00446493597087,0.0500153526272,0.999999998703,-2.93961875216e-05,2.86250400672e-05,3.0166669042e-05,1793248309555648256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.432793431,745,715,680,664.432793431,633.567206569,879.432793431,785,812.432793431,652,630,653,0.428246877361,0.0044582253662,0.0499737150666,0.999999998255,-5.89816315693e-06,-4.97430117496e-05,3.13231062073e-05,1793248309572314880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.152482811,745,715,680,664,633.847517189,879.152482811,785,812.152482811,652,630,653,0.429142112293,0.00445418931784,0.0499436952933,0.999999994353,8.46981202917e-06,-0.000101041685544,3.18374254452e-05,1793248309588981504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.731859071,745,715,680,664,633.268140929,879.731859071,785,812.731859071,652,630,653,0.430120719426,0.00445746234024,0.0499521848625,0.999999997223,-6.29733610959e-06,-6.76045265686e-05,3.07343317252e-05,1793248309605648384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690155965,745,715,680.309844035,664.309844035,633,880,785,813,652,630,653,0.431057533619,0.0044630931963,0.049951231323,0.999999997415,-1.34583632732e-05,-6.37891799804e-05,3.03348456127e-05,1793248309622314752
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113369683,745,715,680.886630317,664.886630317,633,880,785,813,652,630,653,0.431958341577,0.00447075541422,0.0499421421911,0.99999999578,-1.40664314685e-05,-8.54941364006e-05,3.05415438887e-05,1793248309638981376
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.537839913,633,880,785,813.462160087,652,630.462160087,652.537839913,0.432877693894,0.00447147458326,0.0499387988758,0.999999995794,1.11814475714e-05,-8.56371928696e-05,3.08902388933e-05,1793248309655648256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.038341271,633.038341271,880,785,814,652.038341271,630.961658729,652.038341271,0.433802589199,0.00447002371816,0.04993895486,0.999999995691,3.90128089068e-05,-7.81831624374e-05,3.13555612861e-05,1793248309672314880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.628316629,633.628316629,880,785,814,652.628316629,630.371683371,652.628316629,0.43474196189,0.00446178923231,0.0499692331799,0.999999998675,1.30078471985e-05,-3.73184070455e-05,3.29990664411e-05,1793248309688981504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.214222778,745,715,681,665,633.785777222,880,785,814,652.785777222,630,653,0.435644867901,0.00445667222251,0.0499809575334,0.999999998875,-7.29723902483e-06,-3.16109791005e-05,3.4617685688e-05,1793248309705648128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.793200422,745,715,681,665,633.206799578,880,785,814,652.206799578,630,653,0.436485682632,0.00445686330502,0.0499610902489,0.999999995507,-1.78972114954e-05,-8.57655555878e-05,3.61939322646e-05,1793248309722314752
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.630541321,745,715,681,664.630541321,633,880,785,814,652,630,653,0.437356694388,0.00445833022816,0.0499569633723,0.99999999526,-2.5530320893e-05,-8.68697265019e-05,3.58031940942e-05,1793248309738981632
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.055794116,745,715,681,664.055794116,633,880,785,814,652,630,653,0.438244484972,0.00446050606803,0.0499615826039,0.999999997204,-3.15149017531e-05,-5.84966072615e-05,3.43195071081e-05,1793248309755648256
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.530482912,745,715,681,664.530482912,633,880,784.469517088,814.530482912,652.530482912,630,653,0.439113824783,0.00446580625079,0.0499733691963,0.99999999865,-3.34414150848e-06,-4.00770429582e-05,3.29104799509e-05,1793248309772314880
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.883614647,745,715,681,664.883614647,633,880.232770706,784,815,652.883614647,630.116385353,653,0.439967025288,0.00446946254137,0.0499792306266,0.999999998826,1.82522034042e-05,-3.16932004635e-05,3.17854338245e-05,1793248309788981760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.304135047,745,715,681,664.304135047,633,881.391729906,784,815,652.304135047,630.695864953,653,0.440763900955,0.00446524126331,0.0499584498632,0.999999997756,-9.22215663849e-07,-5.89831924005e-05,3.17584021062e-05,1793248309805648384
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.274129072,745,715,680.725870928,664,633,881.451741855,784,815,652.274129072,630.725870928,653,0.44156733039,0.00445898742643,0.0499562794958,0.999999997632,-1.56499864068e-05,-5.85144396414e-05,3.2671558067e-05,1793248309822315008
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851050581,745,715,680.148949419,664,633,880.297898838,784,815,652.851050581,630.148949419,653,0.442377998814,0.00445048850348,0.0499746654579,0.999999998701,-2.54661590562e-05,-2.73844426995e-05,3.46232092048e-05,1793248309838981632
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.57372865,745,715,680.42627135,664,633,880,784.42627135,815,652.57372865,630.42627135,653,0.443146163883,0.0044486874836,0.0499899917061,0.999999999267,-1.37890466216e-05,-8.89169324876e-07,3.57130839145e-05,1793248309855648256
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.999099258,715,681.000900742,664,633,880,784.999099258,815,652,631,653,0.443899388791,0.00444922543914,0.0500041664119,0.999999999035,5.33722797692e-06,2.38358233951e-05,3.65043371696e-05,1793248309872314880
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.424155377,715,681.575844623,664,633,880,784.424155377,815,652,631,653,0.444558578956,0.00445477786572,0.049963115931,0.999999997929,4.53986666659e-06,-5.16451398182e-05,3.81286508397e-05,1793248309888981504
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.155892331,715,681.844107669,664,633,880,784,815.155892331,652,631,653,0.44523165364,0.00446120704308,0.0499330678515,0.999999994232,6.48190568598e-06,-9.990761557e-05,3.88995914138e-05,1793248309905648384
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.750296807,715,681.249703193,664,633,880,784,815.750296807,652,631,653,0.445943784469,0.0044701024487,0.0499339686014,0.999999996612,1.61296495969e-05,-7.16067705579e-05,3.72700654114e-05,1793248309922315264
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.333241632,745,715,681,664.333241632,633,880,784,816,652,631,653,0.446626605742,0.00447169196668,0.0499454978256,0.999999998228,1.95761952825e-05,-4.16053114622e-05,3.78225938114e-05,1793248309938982144
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.907884998,745,715,681,664.907884998,633,880,784,816,652,631,653,0.447288194999,0.00446798906631,0.0499647263641,0.999999998976,1.85305645407e-05,-1.03719215792e-05,3.99558123051e-05,1793248309955649280
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.520310788,633,880,784,816,652,631,653,0.447864376891,0.00446371164021,0.0499489008243,0.999999998432,1.65095198528e-05,-3.38242741533e-05,4.14702932079e-05,1793248309972316160
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.947130486,880.052869514,784,816,652,631,653,0.448424356486,0.00445958416111,0.0499276782881,0.999999996815,1.45008204839e-05,-6.57746883539e-05,4.282974356e-05,1793248309988983296
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.354362879,880.645637121,784,816,652,631,653,0.448985378025,0.00445810793929,0.0499196786435,0.999999995901,1.45197192833e-05,-7.78988594665e-05,4.38122414298e-05,1793248310005649664
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.233048623,632.233048623,880.766951377,784,816,652,630.766951377,653,0.44953546049,0.00445596046661,0.0499233012825,0.999999996168,1.36054044328e-05,-7.37651024994e-05,4.51391702749e-05,1793248310022316288
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.812498803,632.812498803,880.187501197,784,816,652,630.187501197,653,0.450069283153,0.00445281525229,0.049944199189,0.999999997799,1.13039684776e-05,-4.5465693774e-05,4.69780583849e-05,1793248310038982912
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.609678229,745,715,681,664.609678229,633,880,784,815.609678229,652,630.390321771,653,0.450572236914,0.00444751252259,0.0499624094166,0.999999998581,5.95057340095e-06,-2.00788206851e-05,4.89935628358e-05,1793248310055649280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.032633637,745,715,681,664.032633637,633,880,784,815.032633637,652,630.967366363,653,0.451060423602,0.00444117767659,0.0499793339095,0.999999998687,-8.62823491957e-07,3.91475095869e-06,5.10935574744e-05,1793248310072315648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880.552564255,784,815.552564255,652,631,653,0.451454422037,0.00444200318202,0.0499722886153,0.999999998426,-4.6982442699e-07,-2.10804478215e-05,5.19960110413e-05,1793248310088982528
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.136774215,745,715,681,664,632.863225785,880.863225785,784,816,652,631,653,0.451830035841,0.00444285648052,0.0499567449701,0.999999996876,-1.35519184467e-06,-5.9273118452e-05,5.22764442015e-05,1793248310105649408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.716205237,745,715,681,664,632.283794763,880.283794763,784,816,652,631,653,0.452164422138,0.00444241062141,0.0499183473499,0.999999990143,-7.77591143422e-06,-0.000130674348046,5.0776090177e-05,1793248310122315776
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.295250903,664,632,880,784,816,652,631,653,0.45250063912,0.00444147128593,0.0498948142479,0.999999984288,-3.67328128635e-05,-0.000168460903176,4.11882856348e-05,1793248310138982144
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.873926614,664,632,880,784,816,652,631,653,0.452838613442,0.00444005824001,0.0498855502771,0.999999980769,-8.73232226896e-05,-0.000173979195043,2.38369686563e-05,1793248310155648768
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.55019456,745,715,681.55019456,664,631.55019456,880,784,816,652,630.55019456,653.44980544,0.453158281338,0.00445394633159,0.0498936805183,0.999999986694,-3.92954131518e-05,-0.000156959106179,2.07830547409e-05,1793248310172315904
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.025454265,745,715,681,663.974545735,631,880.025454265,784,816,652.025454265,630.025454265,653.974545735,0.453470438943,0.00447188545959,0.0499061696603,0.999999990145,3.34157272872e-05,-0.000134628920453,2.16524448272e-05,1793248310188982528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.613233274,745,715,681,663.386766726,631,880.613233274,784,816,652.613233274,630.613233274,653.386766726,0.453729333982,0.00448516041035,0.0499079157684,0.999999989847,4.4557813215e-05,-0.00013368381284,2.12124819873e-05,1793248310205648896
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.198166786,663,631.198166786,880.801833214,784,816,652.801833214,631,653,0.453976210885,0.00449205789281,0.0499061696177,0.999999989204,4.92384036551e-05,-0.000136752986085,2.1609257847e-05,1793248310222315008
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.777625226,663,631.777625226,880.222374774,784,816,652.222374774,631,653,0.454199963726,0.00448668452104,0.0498977040303,0.999999987976,4.1486463871e-05,-0.000147546015799,2.36159982201e-05,1793248310238981632
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.644479584,745,715,681.644479584,663,631.644479584,880,784,816,652,631,653,0.454394241045,0.00448355703629,0.0498869711209,0.999999985874,3.53590085903e-05,-0.000162495990468,2.44398483227e-05,1793248310255648256
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067557856,745,715,681.067557856,663,631.067557856,880,784,816,652,631,653,0.454570162424,0.0044818281833,0.0498748262298,0.999999983036,3.02432047221e-05,-0.000180034715011,2.45270504599e-05,1793248310272315136
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507814043,745,715,681,663,631,880.507814043,784,816,652,631,653,0.454720888439,0.00448521605024,0.0498670121365,0.999999980632,3.43225216529e-05,-0.000192235661841,2.45608890877e-05,1793248310288981760
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.914948938,745,715,681.085051062,662.914948938,631,881,784,816,652,631,653,0.454863397288,0.00448828719846,0.0498594263101,0.999999978145,3.80076247187e-05,-0.000204096371539,2.46859045704e-05,1793248310305648640
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.325429756,745,715,681.674570244,662.325429756,631,881,784,816,652,631,653,0.454976988111,0.00448545452243,0.0498497874327,0.99999997537,3.21208297992e-05,-0.000218138176313,2.53937028043e-05,1793248310322315264
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.259657004,745,715,682,662.259657004,630.740342996,881,784,816,652,631,653,0.455081771587,0.00448356582728,0.0498399171894,0.999999972276,2.85575500523e-05,-0.000232307955877,2.57801075471e-05,1793248310338981632
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.839281785,745,715,682,662.839281785,630.160718215,881,784,816,652,631,653,0.455175702016,0.0044828403725,0.0498297618414,0.999999968865,2.78574708501e-05,-0.000246635434222,2.57704683949e-05,1793248310355648256
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681.583502702,662.583502702,630.416497298,881,784,816,652.416497298,631,653,0.455252552586,0.00448412484166,0.049822514555,0.999999965602,3.00372227546e-05,-0.000259291351591,2.57330305258e-05,1793248310372315136
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681.007211546,662.007211546,630.992788454,881,784,816,652.992788454,631,653,0.455322850274,0.00448618044069,0.0498163829793,0.999999962312,3.3321854171e-05,-0.000271305955493,2.56849273652e-05,1793248310388981760
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.42344572,881,784,816,652.42344572,630.42344572,653,0.455375503915,0.0044847287639,0.0498112602399,0.99999996076,3.14175803147e-05,-0.000277155112742,2.60387649916e-05,1793248310405648384
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.840119014,744.840119014,715,681,662,630,880.840119014,784,816,652,630,653,0.455425328353,0.00448451574699,0.0498075770198,0.999999959425,3.08853731151e-05,-0.000281967606119,2.6261063039e-05,1793248310422315008
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.258201579,744.258201579,715,681,662,630,880.258201579,784,816,652,630,653,0.455468274775,0.00448768973174,0.049807659941,0.999999958677,3.41485724957e-05,-0.000284249866049,2.61226918442e-05,1793248310438981632
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.31994344,744.31994344,715,681,662,630,880.31994344,783.68005656,816,652.31994344,630.31994344,653,0.455504054223,0.00449050362018,0.0498081099656,0.999999958205,3.75166810085e-05,-0.000285489500141,2.60347801414e-05,1793248310455648256
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.895079574,744.895079574,715,681,662,630,880.895079574,783.104920426,816,652.895079574,630.895079574,653,0.455534117167,0.00449303028962,0.0498088527985,0.999999957954,4.09684673009e-05,-0.000285897517188,2.59871158302e-05,1793248310472314880
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,783.472909557,816,652.527090443,631,653,0.455553325788,0.00449239142225,0.0498069726099,0.999999957364,4.06994755113e-05,-0.000287992383919,2.60103724477e-05,1793248310488981760
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652,630.947828665,653,0.455569276899,0.00449113114803,0.0498044881909,0.999999956655,3.9630104375e-05,-0.000290584345537,2.60735732327e-05,1793248310505648640
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652,630.360037991,653,0.455576649722,0.00449074278404,0.0498018092302,0.999999955556,3.88671614174e-05,-0.000294415520073,2.63843969454e-05,1793248310522315264
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880.775374577,784,815.775374577,652.224625423,630.224625423,653,0.455582967539,0.00449106139418,0.0497997317248,0.99999995459,3.84982240992e-05,-0.000297725434495,2.64229073345e-05,1793248310538981632
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880.195654857,784,815.195654857,652.804345143,630.804345143,653,0.45558761757,0.00449249760927,0.0497986050172,0.999999953847,3.87521422162e-05,-0.000300211325791,2.60309370113e-05,1793248310555648256
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,815.381787362,653,631,653,0.455590766729,0.00449315812488,0.0497980397897,0.999999953257,3.94501978149e-05,-0.000302082350116,2.59884813433e-05,1793248310572314880
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,815.958069333,653,631,653,0.455593151297,0.0044934234745,0.0497977605981,0.999999952745,4.03745111449e-05,-0.0003036401416,2.61240795532e-05,1793248310588981760
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681.532461851,662,630.532461851,880.532461851,784,816,652.467538149,630.467538149,653,0.455593959028,0.00449464963344,0.0497961344548,0.999999952206,4.12259649052e-05,-0.00030532056268,2.58502802166e-05,1793248310605648384
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630.890105249,881,784,816,652,630,653,0.455594741652,0.00449584912804,0.04979491335,0.999999951818,4.22273748827e-05,-0.000306473826673,2.55857734728e-05,1793248310622315264
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630.298701298,881,784,816,652,630,653,0.455595956424,0.0044966014446,0.0497959300522,0.999999952114,4.39108757425e-05,-0.000305275163119,2.55027422823e-05,1793248310638981888
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662.284552439,630,881,784,816,652,630.284552439,653,0.455596636233,0.00449759124851,0.0497962040353,0.999999952122,4.52162614651e-05,-0.000305073063488,2.5355154393e-05,1793248310655648512
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662.859489002,630,881,784,816,652,630.859489002,653,0.455596770117,0.00449882340698,0.0497957200779,0.999999951836,4.61357830735e-05,-0.000305887951452,2.51416867548e-05,1793248310672315136
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662.564189928,630,881,784,816,652,631,653,0.455595473786,0.0044988550361,0.0497938869129,0.99999995092,4.6202761955e-05,-0.000308849819629,2.5230889609e-05,1793248310688981760
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.987209921,715,681.987209921,662,630,881,784,816.012790079,652.012790079,630.987209921,653.012790079,0.455593803186,0.00449849158127,0.0497917018062,0.999999949826,4.5999993796e-05,-0.000312388955011,2.54054906817e-05,1793248310705648384
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.400758697,715,681.400758697,662,630,881,784,816.599241303,652.599241303,630.400758697,653.599241303,0.455596093937,0.00449782386517,0.0497933043298,0.999999950367,4.60663440539e-05,-0.000310673503745,2.50195404652e-05,1793248310722315008
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.184504996,715,681,662,630,881,784,816.815495004,652.815495004,630.184504996,653.815495004,0.455597215618,0.00449812686751,0.0497939283887,0.999999950491,4.68625397412e-05,-0.000310175051499,2.47630931232e-05,1793248310738981632
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.767205741,715,681,662,630,881,784,816.232794259,652.232794259,630.767205741,653.232794259,0.455595814232,0.00450052485899,0.0497924407404,0.999999949714,4.9233876226e-05,-0.00031230310729,2.4786136849e-05,1793248310755648256
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652,631,653,0.455594990022,0.0045004589844,0.0497913031256,0.999999949472,4.85559085821e-05,-0.000313181718066,2.47953139959e-05,1793248310772314880
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652,631,653,0.455594549808,0.00449875388942,0.0497903983895,0.999999949585,4.58492261576e-05,-0.000313229067805,2.47952656493e-05,1793248310788981504
+244,4.066666667,HOLD_POSE2,766,745,715,681,662,630,881,784,816,652,631,653,0.455596650865,0.0045022695891,0.0497909154933,0.999999949734,4.91042905091e-05,-0.0003122638447,2.47332143596e-05,1793248310820619008
+245,4.083333333,HOLD_POSE2,766,745,715,681.595196486,662,630,881,784,816,652.595196486,631,653,0.455596741919,0.0045017080141,0.0497909612486,0.999999949671,5.00957669063e-05,-0.000312286259541,2.50326777121e-05,1793248310837285888
+246,4.100000000,HOLD_POSE2,766,745,715,682,662.185270267,630,881,784,816,652.814729733,631,653,0.45559655864,0.00450181041031,0.0497908304073,0.999999949521,5.04829063449e-05,-0.000312697930564,2.50762242646e-05,1793248310853952512
+247,4.116666667,HOLD_POSE2,766,745,715,682,662.764452532,630,881,784,816,652.235547468,631,653,0.455595792091,0.00450332450746,0.0497903240951,0.99999994919,4.95851361869e-05,-0.000313937217823,2.45756538953e-05,1793248310870618880
+248,4.133333333,HOLD_POSE2,765.657536564,745,715,682,662.657536564,630,881,784,816,652.342463436,631,653,0.455595945481,0.00450346629994,0.049790114816,0.999999949057,5.00869974252e-05,-0.000314300257956,2.43379498685e-05,1793248310887285504
+249,4.150000000,HOLD_POSE2,765.080328614,745,715,682,662.080328614,630,881,784,816,652.919671386,631,653,0.455596729452,0.00450266743425,0.0497901091407,0.999999949059,5.15482481243e-05,-0.000314062666868,2.42804298726e-05,1793248310903952128
+250,4.166666667,HOLD_POSE2,765.491381899,745,715,681.508618101,662,630,881,784,816,652.508618101,630.508618101,653,0.455594026507,0.00450260498349,0.0497880420336,0.999999947906,5.20604670156e-05,-0.000317625709734,2.43324238231e-05,1793248310920619008
+251,4.183333333,HOLD_POSE2,766,745,715,681,662,630.064669694,881,784,816,652,630.064669694,653,0.455591266102,0.00450278027754,0.0497860625822,0.999999946768,5.22944344903e-05,-0.000321146370634,2.43881598726e-05,1793248310937285632
+252,4.200000000,HOLD_POSE2,766,745,715,681,662,630.658121413,881,784,816,652,630.658121413,653,0.455592645171,0.00450392607044,0.0497875248473,0.999999947402,5.15077504388e-05,-0.000319296469998,2.43297284372e-05,1793248310953952768
+253,4.216666667,HOLD_POSE2,766,745,715,681.246465122,662,630.753534878,881,784,816,652,631,653,0.455593869615,0.00450422289243,0.0497882285335,0.999999947738,5.16396491049e-05,-0.000318211247718,2.4490987413e-05,1793248310970619648
+254,4.233333333,HOLD_POSE2,766,745,715,681.827867189,662,630.172132811,881,784,816,652,631,653,0.455594883927,0.0045033659944,0.0497879013392,0.999999947669,5.30198676234e-05,-0.000318165195065,2.49507975011e-05,1793248310987286272
+255,4.250000000,HOLD_POSE2,766.403634956,745,715,682,662,630,881,784,816,652,631,653,0.455596204951,0.00450331228894,0.0497885668104,0.999999947965,5.35598783505e-05,-0.000317147084482,2.48825393687e-05,1793248311003952640
+256,4.266666667,HOLD_POSE2,766.977033067,745,715,682,662,630,881,784,816,652,631,653,0.455597654974,0.00450359639484,0.0497896497825,0.999999948414,5.37465096811e-05,-0.000315720140078,2.45921832502e-05,1793248311020618752
+257,4.283333333,HOLD_POSE2,766.43578223,745,715,682,662,630,881,784,816,652,631,653,0.45559584654,0.00450355671921,0.0497877290816,0.999999947889,5.16119458534e-05,-0.000317771672438,2.40763902072e-05,1793248311037285632
+258,4.300000000,HOLD_POSE2,766,745,715,682,662,630,881,784,816,652,631,653,0.45559434873,0.00450357744475,0.0497863667705,0.999999947451,5.03556163961e-05,-0.000319375298129,2.37188033619e-05,1793248311053952256
+259,4.316666667,HOLD_POSE2,766,745,715,682,662,630,881,784,816,652,631,653,0.455594131455,0.00450381010361,0.0497869649618,0.9999999474,5.18952602956e-05,-0.0003192784148,2.38418304497e-05,1793248311070618880
+260,4.333333333,HOLD_POSE2,766,745,715,681.693164297,662,630,881,784,816,652,631,653,0.455594016991,0.00450490181266,0.0497869721757,0.999999947199,5.37133732094e-05,-0.000319606336182,2.38657321661e-05,1793248311087285760
+261,4.350000000,HOLD_POSE2,766,745,715,681.117235295,662,630,881,784,816,652,631,653,0.455593992691,0.0045067469042,0.0497864611055,0.999999946863,5.57757018937e-05,-0.000320306809068,2.38027014447e-05,1793248311103952640
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,881,785,816,652,631,653,0.455596236668,0.0045036268033,0.0497873755046,0.999999947976,5.08158727483e-05,-0.000317627018994,2.40395272293e-05,1793248311136248064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.410935687,745,715,681,662,630,881,784.410935687,816,652,631,653,0.455595283309,0.00450506923017,0.0497875303485,0.999999947429,5.17143525357e-05,-0.000319213362448,2.38961527864e-05,1793248311152914432
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.175336789,745,715,681.175336789,662,630,881,784.175336789,816,652,631,653,0.455594415262,0.00450588329665,0.0497872522297,0.999999946895,5.24943199597e-05,-0.000320756099092,2.38857087905e-05,1793248311169580544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.75516872,745,715,681.75516872,662,630,881,784.75516872,816,652,631,653,0.455593744028,0.00450524776046,0.0497859752825,0.999999946397,5.30008841558e-05,-0.000322198236845,2.41819301296e-05,1793248311186246912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.331927398,681.668072602,662,630,881,784.668072602,816,652,631,653,0.455594367415,0.00450552514596,0.0497858837648,0.999999946508,5.39237257844e-05,-0.000321708364059,2.40687744335e-05,1793248311202913792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.906439989,681.093560011,662,630,881,784.093560011,816,652,631,653,0.455595936958,0.00450646972945,0.0497866586042,0.999999947061,5.51507987965e-05,-0.000319806504243,2.36564303788e-05,1793248311219580416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.507622501,681,662,630,880.507622501,784,816,652.492377499,631,653,0.455595468916,0.00450586169808,0.0497865893648,0.999999947085,5.34972246239e-05,-0.000320009609737,2.37036454372e-05,1793248311236247296
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.0793704,662,630,880.158740801,784,816,652.9206296,631,653,0.455594260365,0.00450515111354,0.0497862069833,0.999999946881,5.19096626388e-05,-0.000320897549072,2.3853764146e-05,1793248311252914176
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.659007115,662,630,881.31801423,784,816,652.340992885,631,653,0.455590882755,0.00450569782538,0.0497848858239,0.999999945904,5.42701715904e-05,-0.000323521023713,2.40890060096e-05,1793248311269581056
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.762939933,745,715,681.762939933,662,630,881.762939933,784,816,652,630.762939933,653,0.455582426645,0.00450613789396,0.0497806909219,0.999999943664,5.54590061883e-05,-0.000330178370726,2.40382161669e-05,1793248311286247680
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.187150035,745,715,681.187150035,662,630,881.187150035,784,816,652,630.187150035,653,0.455566713978,0.00450642558235,0.0497723897934,0.999999939524,5.49736612761e-05,-0.000342599627579,2.35787219883e-05,1793248311302914304
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.386022598,745,715,681,662,630,881,784,816,652,630,653,0.455534442855,0.00450794841406,0.049757598883,0.999999930491,5.6156307782e-05,-0.000367870808486,2.31349560418e-05,1793248311319580672
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.957934933,745,715,681,662,630,881,784,816,652,630,653,0.455494197982,0.00451006603083,0.0497396828081,0.99999991832,5.81421778706e-05,-0.000399329889648,2.2698763989e-05,1793248311336247040
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.547384306,662,630,880.452615694,784,816,652,630.547384306,653,0.45543056683,0.00451001284453,0.04971688032,0.999999902394,5.83448252914e-05,-0.000437388271037,2.23249851282e-05,1793248311352913408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.863760025,662,630,880.136239975,784,816,652.136239975,631,653,0.455363730806,0.00451059209099,0.0496958104642,0.999999887623,5.91657051506e-05,-0.000469878952344,2.16053069579e-05,1793248311369580032
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.281407243,662,630,880.718592757,784,816,652.718592757,631,653,0.455292480088,0.00451380654308,0.0496816843287,0.999999881488,6.24745360826e-05,-0.000482422843433,1.97367690587e-05,1793248311386246912
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880.702404698,784,816,653,631,653,0.455214473756,0.00451427602585,0.0496736785417,0.999999877436,6.37358708413e-05,-0.000490616577408,1.90070708436e-05,1793248311402913792
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880.126534916,784,816,653,631,653,0.455130150412,0.00451217875115,0.0496713957518,0.999999875438,6.30826391299e-05,-0.000494742579455,1.9342275371e-05,1793248311419580416
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.447607492,662,630,880.447607492,784,816,652.552392508,631,653,0.455033862859,0.00451348807341,0.049672320593,0.999999877064,6.48569055578e-05,-0.00049122840064,1.89644140607e-05,1793248311436246784
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.021833451,630.021833451,881,784,816,652.021833451,631,653,0.454933095605,0.00451569687046,0.0496742842906,0.999999879631,6.73063735186e-05,-0.000485664199062,1.84078136671e-05,1793248311452913152
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.610867084,630.610867084,881,784,816,652.610867084,631,653,0.454803478653,0.00451635112208,0.049679769938,0.999999880895,6.95377808924e-05,-0.000482736550052,1.84243967471e-05,1793248311469580032
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,630.802558491,881,784,816,652.802558491,631,653,0.454665428798,0.00451705748438,0.0496855604204,0.999999882965,7.21984556359e-05,-0.000478036579233,1.84051972242e-05,1793248311486246656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,630.220771303,881,784,816,652.220771303,631,653,0.454510963211,0.00451786528683,0.0496919443033,0.999999886571,7.56947551007e-05,-0.000469886552932,1.83163421899e-05,1793248311502913280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,630.354631692,881.354631692,784,816,652.354631692,631,653,0.454339201538,0.00452097060652,0.0497006228453,0.999999891604,8.09770829199e-05,-0.000458179089422,1.74951479139e-05,1793248311519579904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,630.926130632,881.926130632,784,816,652.926130632,631,653,0.454156862809,0.00452548092266,0.0497107046365,0.999999897354,8.73516175988e-05,-0.000444296152219,1.62261075978e-05,1793248311536246784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.498617454,663,631,881.498617454,784,816,652.498617454,631,653,0.453937287894,0.00452817195013,0.0497158633421,0.99999989889,9.49310276664e-05,-0.000439269434409,1.58471969821e-05,1793248311552913920
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.920656698,631,881,784,816,652.079343302,631,653,0.453705890362,0.00453057592422,0.0497201110469,0.999999899695,0.000102234916125,-0.000435794276516,1.55051738481e-05,1793248311569580800
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.328796548,631,881,784,816,652.671203452,631,653,0.453433829077,0.00453287012917,0.0497231947173,0.999999900099,0.000106603771311,-0.000433849502949,1.45479132419e-05,1793248311586247168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.256891317,662.256891317,631.256891317,881,784.256891317,815.743108683,652.743108683,631,653,0.453146836135,0.00453642492525,0.0497269503301,0.999999900878,0.00011257394069,-0.000430572591043,1.33477014516e-05,1793248311602913280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.834864564,662.834864564,631.834864564,881,784.834864564,815.165135436,652.165135436,631,653,0.452841180511,0.00454155530201,0.0497315457866,0.999999902084,0.000120545551727,-0.000425630673378,1.18438312063e-05,1793248311619579904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,631.587592462,881,785,815.412407538,652,631,653,0.452504555468,0.00454446622288,0.0497364935497,0.999999902256,0.000127246642002,-0.000423283589754,1.12451976737e-05,1793248311636246528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,631.010221612,881,785,815.989778388,652,631,653,0.452155542642,0.00454648935966,0.0497415822356,0.999999902005,0.000133439522864,-0.000421974441737,1.1008659516e-05,1793248311652913152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663.576090775,631.576090775,881,785,815.423909225,652,631,653,0.451769426462,0.00455134336372,0.0497393508893,0.999999900488,0.000141045041666,-0.000423148762528,8.6358131693e-06,1793248311669580032
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.83947668,664,632,881,785,815,652,631,653,0.451372790685,0.00455629486472,0.0497391456915,0.999999901911,0.000148444733249,-0.000417259416111,6.00671521287e-06,1793248311686246656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.260366401,664,632,881,785,815,652,631,653,0.450950467395,0.0045613675597,0.0497445679785,0.999999910787,0.000155241310718,-0.00039283385595,2.80980575427e-06,1793248311702913280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.683183819,745,715,681,664,632,880.683183819,785,815,652,631,653,0.450521443423,0.00456598848109,0.0497635408492,0.999999924617,0.000161255203915,-0.00035321758039,4.27470115945e-07,1793248311719580160
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.107575815,745,715,681,664,632,880.107575815,785,815,652,631,653,0.450086945942,0.00457024037102,0.0497935825372,0.999999940758,0.000166629760631,-0.000301192740532,-1.28947989862e-06,1793248311736247808
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.469422726,745,715,681.469422726,664,632,880,785,815,652,631,653,0.449600302982,0.00457634495534,0.0498183575129,0.999999949631,0.000178189660941,-0.000262637689709,-2.71824244163e-06,1793248311752914432
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.952327746,664,632.047672254,880,784.952327746,815,652,631,652.952327746,0.449096303011,0.00458287749368,0.0498391760325,0.99999995516,0.00019064535539,-0.000230903556298,-4.30355885169e-06,1793248311769580544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.363505301,664,632.636494699,880,784.363505301,815,652,631,652.363505301,0.448531327937,0.00458943407587,0.0498288243616,0.999999951384,0.000197131449861,-0.000241452790007,-8.41790344539e-06,1793248311786246912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.77785779,745,715,681.22214221,664,633,880,784,814.77785779,652,631,652.22214221,0.447925482638,0.00459534817177,0.0498087547364,0.999999942689,0.000204955969989,-0.000269188723995,-1.23844520546e-05,1793248311802913280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.197332449,745,715,681.802667551,664,633,880,784,814.197332449,652,631,652.802667551,0.44725370124,0.00460022574096,0.0497730070878,0.999999924071,0.000214939778083,-0.000324652045712,-1.6112560399e-05,1793248311819580416
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.37832054,745,715,682,664,632.62167946,880,784,814,652,631,653,0.446585718163,0.00460619781069,0.0497473702101,0.999999906951,0.000226384412826,-0.000366695117728,-1.95453983064e-05,1793248311836247552
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.951464402,745,715,682,664,632.048535598,880,784,814,652,631,653,0.445919691125,0.00461273351404,0.0497269400664,0.999999890546,0.000238581327566,-0.000401827176457,-2.28261809967e-05,1793248311852914176
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.473651743,745,715,681.473651743,664,632.526348257,880,784,814,652,631,653,0.445266805807,0.00461691816083,0.0497555859931,0.99999990318,0.000246410374705,-0.000363759811812,-2.44904084451e-05,1793248311869580800
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.104408741,744.895591259,715,681,664,633,880,784.104408741,813.895591259,652,631,652.895591259,0.444604013122,0.00462136502172,0.0497850729232,0.999999914565,0.000254849404348,-0.000324398263334,-2.62393507839e-05,1793248311886247168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.696556472,744.303443528,715,681,664,633,880,784.696556472,813.303443528,652,631,652.303443528,0.44388925925,0.00462805290424,0.0497972782945,0.999999915414,0.000268025682999,-0.000310627174685,-2.90826941053e-05,1793248311902913792
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.815113847,745,715,681,664,633,879.815113847,784.815113847,812.815113847,652,630.184886153,653,0.439200727779,0.00457129659386,0.0498168161929,0.999999960405,-2.37524964818e-05,-0.000276786211013,-4.4885869682e-05,1793248312002914048
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.235597253,745,715,681,664,633,879.235597253,784.235597253,812.235597253,652,630.764402747,653,0.438295714959,0.00458753157938,0.0497804462071,0.999999941554,4.84730602882e-06,-0.00033818278441,-5.00128856245e-05,1793248312019580672
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.658437109,633,879,784.683125782,812,652,630.658437109,653,0.437402992963,0.00459523992161,0.0497710178736,0.999999933974,2.34179712441e-05,-0.000358648193091,-5.36113931763e-05,1793248312036247552
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.502460175,745,715,681.502460175,664.00492035,633,879.502460175,785.497539825,812,652,630.502460175,653,0.435627863784,0.00460103426575,0.0497828840425,0.999999934859,4.50586999721e-05,-0.000353471478735,-5.75236667238e-05,1793248312069580544
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.911697168,664.823394335,633,880,785,812,652,630.911697168,653,0.434736251716,0.00460577531168,0.0497829676509,0.999999932501,6.76752368785e-05,-0.000356946397985,-5.48374905978e-05,1793248312086247168
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.332298214,663.664596428,633,880,785,812,652,630.332298214,653,0.433846378539,0.00461311589109,0.049773521486,0.999999922579,0.000162437031607,-0.000357084529134,-3.07578572479e-05,1793248312102913536
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.825535263,663.825535263,633,879.174464737,785,812,652.825535263,630.825535263,653,0.432057174998,0.00459948924586,0.0498086742523,0.99999993445,0.000190009806214,-0.000307589930704,-1.96177291826e-05,1793248312136247552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.307022,745,714.692978,680.307022,664.385956001,633,879.307022,785,812,652.307022,630,653,0.426394454066,0.00460993901826,0.0497703750373,0.99999991443,0.000162043631933,-0.000378988367231,-3.5339436352e-05,1793248312236246784
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.88247727,745,714.11752273,680.88247727,663.23504546,633,879.88247727,785,812,652.88247727,630,653,0.425474262461,0.00461233866844,0.0497656112015,0.999999918383,0.00016966823785,-0.000364800813929,-3.69795773235e-05,1793248312252913664
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633.374902356,879,785,812,652,630.374902356,653,0.422789861016,0.0045988400339,0.0498281929548,0.999999959615,0.000127161050444,-0.000251269319143,-3.82675984583e-05,1793248312302913536
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.366491483,680,663.366491483,633,879,786,811,653,629.366491483,653,0.420051300689,0.0046038625145,0.0497879592973,0.999999933172,0.000131756238748,-0.000338823146167,-3.86651704344e-05,1793248312352913152
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.236253867,663,634,878,786,810,652.763746133,628.763746133,652,0.407675283046,0.00459215741336,0.0498205539163,0.999999947191,0.000110189412428,-0.000302989134795,-4.09238880993e-05,1793248312636247296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.814919768,663,634,878,786,810,652.185080232,628.185080232,652,0.407131326059,0.00459653082545,0.0498153402119,0.999999942636,0.000116372723137,-0.00031537270985,-4.152907421e-05,1793248312652913920
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.04052484,663.95947516,634,878,786,810,652.95947516,628.95947516,652,0.406083784524,0.00460500570484,0.0497719050091,0.999999912814,0.000121771739857,-0.000397080128359,-4.32477906547e-05,1793248312686247168
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fc74aba648188861b68dba68d5fdb8ce5f7192a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..580d674fd3d8e9d4915c6d0b3f9effa399d5cfe3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200a87ec08b227914c83250da9825eb043d3d3f6148674be7419f16070c61cd9
+size 25981177
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1701f29fea1166746aeba788679a40f5a234aff0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/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
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+59,0.983333333,BASELINE,766,745,715,679,663,634,878,786,810.22220205,653.77779795,629.77779795,653,0.400987895963,0.00458252213781,0.0498538429535,0.999999962614,0.000106156401791,-0.000249972961032,-3.18724382816e-05,1793248314675693568
+60,1.000000000,BASELINE,766,745,715,679,663,634,878,786,810.816445436,653.183554564,629.183554564,653,0.400987015507,0.00458201046391,0.0498530744657,0.999999962118,0.000106299000637,-0.000251893594419,-3.18394750326e-05,1793248314692360448
+61,1.016666667,BASELINE,766,745,715.40010247,679,663.40010247,634,877.59989753,786,810.59989753,653.40010247,629,653,0.400986423225,0.00458152640718,0.0498525016753,0.999999962136,0.000105259132519,-0.00025226686815,-3.17687715669e-05,1793248314709026816
+62,1.033333333,BASELINE,766,745,715.979027971,679,663.979027971,634,877.020972029,786,810.020972029,653.979027971,629,653,0.400985959739,0.00458105469379,0.0498520163506,0.999999962383,0.000103690768963,-0.000251948560068,-3.16812003741e-05,1793248314725693440
+63,1.050000000,BASELINE,766,745,716,679,664,634,877.555159004,786,810,653.444840996,629,653,0.400987162095,0.00458053577413,0.0498526832066,0.999999962533,0.000103825192677,-0.000251334206966,-3.1378795399e-05,1793248314742360320
+64,1.066666667,BASELINE,765.87367348,745,716,679,664,634,877.87367348,786,810,653,629,653,0.400987964166,0.00458036600895,0.049853091239,0.999999962538,0.000104711165365,-0.000250970073386,-3.12010896255e-05,1793248314759026944
+65,1.083333333,BASELINE,765.318980827,745,716,679,664,634,877.318980827,786,810,653,629,653,0.400987196566,0.00458138622379,0.0498524747615,0.999999962056,0.000107928566564,-0.000251492153133,-3.14736138877e-05,1793248314775693568
+66,1.100000000,BASELINE,765.260798454,745,715.739201546,679.260798454,663.739201546,634,877,786,810.260798454,653,628.739201546,653,0.400987306196,0.00458134844136,0.0498527604523,0.999999962231,0.000107801299724,-0.000250841395652,-3.15357251162e-05,1793248314792359936
+67,1.116666667,BASELINE,765.874526567,745,715.125473433,679.874526567,663.125473433,634,877,786,810.874526567,653,628.125473433,653,0.400988602949,0.00457987890722,0.0498542670166,0.999999963288,0.000103147807355,-0.000248603477478,-3.13130915351e-05,1793248314809026816
+68,1.133333333,BASELINE,765.540574808,745,715,679.540574808,663.459425192,634,877.459425192,786,810.540574808,653,628.459425192,653,0.400986056618,0.00458091780187,0.0498525480506,0.999999962436,0.000103148696375,-0.00025199119123,-3.14598212508e-05,1793248314825693440
+69,1.150000000,BASELINE,765.036788657,745,715,679,664,634,878,786,810,653,629,653,0.400982913039,0.00458247273658,0.0498503006652,0.99999996121,0.000104422487404,-0.00025626740749,-3.16730878811e-05,1793248314842360064
+70,1.166666667,BASELINE,765.612299704,745,715,679,664,634,878,786,810,653,629,653,0.400985485805,0.00458214470915,0.0498524535574,0.999999961951,0.000106820949743,-0.000252384253638,-3.14707162079e-05,1793248314859026688
+71,1.183333333,BASELINE,766,745.191926135,715,679,663.808073865,634,877.808073865,786,810,653,629,653,0.400987025821,0.00458178576556,0.0498535104887,0.999999962418,0.000107273716639,-0.000250327252014,-3.15154049716e-05,1793248314875693568
+72,1.200000000,BASELINE,766,745.780048113,715,679,663.219951887,634,877.219951887,786,810,653,629,653,0.400986433916,0.00458136300124,0.049852305013,0.999999962346,0.000103709957264,-0.000252040001646,-3.20701040655e-05,1793248314892360192
+73,1.216666667,BASELINE,766,745.6373819,715,679,663,634,877,786,810,653,629,653,0.400986617583,0.00458134680606,0.0498522475574,0.999999962281,0.000103508727178,-0.000252376647057,-3.20830171088e-05,1793248314909026816
+74,1.233333333,BASELINE,766,745.058128814,715,679,663,634,877,786,810,653,629,653,0.40098726459,0.00458157350307,0.0498528759512,0.999999962225,0.000105316336597,-0.000251891181393,-3.17722567734e-05,1793248314925693440
+75,1.250000000,BASELINE,766,745,715,679.518656726,663.518656726,634,877,786,810,653,629,653,0.400987733049,0.00458146263744,0.0498528461999,0.99999996259,0.000104556087985,-0.00025077005064,-3.16656678688e-05,1793248314942360064
+76,1.266666667,BASELINE,766,745,715,679.905434687,663.905434687,634,877.094565313,786,810,653,629,653,0.400987847183,0.00458136811656,0.0498526493897,0.999999962848,0.000103780241864,-0.000250073300972,-3.15871468718e-05,1793248314959027200
+77,1.283333333,BASELINE,766,745,715,679.332569498,663.332569498,634,877.667430502,786,810,653,629,653,0.400986269923,0.00458154671192,0.0498519789285,0.999999962334,0.000104374242548,-0.000251881649635,-3.15354002765e-05,1793248314975694592
+78,1.300000000,BASELINE,766,745,715,679,663,634,877.751782337,786,810,653,629,653,0.400985221732,0.00458092965507,0.0498515791398,0.999999962053,0.000104594060972,-0.000252916426969,-3.14333986384e-05,1793248314992361472
+79,1.316666667,BASELINE,766,745,715,679,663,634,877.160031208,786,810,653,629,653,0.400984905774,0.00457921141483,0.0498515539622,0.999999962098,0.00010429601077,-0.000252880580749,-3.12618439812e-05,1793248315009027328
+80,1.333333333,BASELINE,766,745,715,679,663,634,877,786,810,653,628.578678682,653,0.400985803218,0.00457948898718,0.0498524385168,0.999999962161,0.000105587927378,-0.00025211659967,-3.10830841294e-05,1793248315025693952
+81,1.350000000,BASELINE,766,745,715,679,663,634,877,786,810,653,628.001180695,653,0.400987150449,0.00458050637328,0.0498536602938,0.999999962226,0.000107469217703,-0.000251082711339,-3.09016534199e-05,1793248315042360576
+82,1.366666667,BASELINE,766,745,715,679,663.57430225,634,877.57430225,786,810,653,628.57430225,652.42569775,0.400986002605,0.00458039918875,0.0498526997256,0.99999996232,0.000104628943001,-0.000251859823553,-3.12972506613e-05,1793248315059027456
+83,1.383333333,BASELINE,766,745,715,679,663.846959306,634,878,785.846959306,810,653,628.846959306,652,0.400985444385,0.00458076826131,0.0498522070361,0.9999999624,0.000103209137893,-0.000252081002003,-3.16795422963e-05,1793248315075694336
+84,1.400000000,BASELINE,766,745,715,679,663.258956427,634,878,785.258956427,810,653,628.258956427,652,0.40098657648,0.00458249746839,0.0498530568272,0.999999962457,0.000105853989298,-0.000250711597471,-3.2020657874e-05,1793248315092360704
+85,1.416666667,BASELINE,766,745,715,679,663,634,877.675803852,785.324196148,810,653,628.324196148,652,0.400987336378,0.00458284402071,0.0498533404469,0.999999962646,0.000105826149495,-0.000249962512061,-3.20618516066e-05,1793248315109027072
+86,1.433333333,BASELINE,766,745,715,679,663,634,877.096468455,785.903531545,810,653,628.903531545,652,0.400987803362,0.00458210243692,0.0498531784951,0.99999996294,0.000103694927261,-0.000249701611915,-3.18670097118e-05,1793248315125693696
+87,1.450000000,BASELINE,766,745,715.481007043,678.518992957,663,634,877.481007043,786,810,653,629,652.481007043,0.400987392014,0.00458274661316,0.04985321883,0.999999962754,0.000105093775215,-0.000249842553419,-3.20360315885e-05,1793248315142360576
+88,1.466666667,BASELINE,766,745,715.942534014,678.057465986,663.057465986,634,878,786,810,653,629,653,0.400986859011,0.00458342899839,0.0498532872815,0.99999996251,0.000106826605646,-0.00025006202506,-3.21981213649e-05,1793248315159027200
+89,1.483333333,BASELINE,766,745,715.371835392,678.628164608,663.628164608,634,878,786,810,653,629,653,0.400986806667,0.00458198005704,0.0498532459095,0.999999962645,0.000105243648317,-0.000250265859584,-3.16490678753e-05,1793248315175693824
+90,1.500000000,BASELINE,766,745.207010331,715,679,663.792989669,634,877.792989669,786,810,653,629,652.792989669,0.400986621904,0.00458149517639,0.0498532628437,0.999999962662,0.000104695298625,-0.000250453537036,-3.14288978267e-05,1793248315192360448
+91,1.516666667,BASELINE,766,745.801089475,715,679,663.198910525,634,877.198910525,786,810,653,629,652.198910525,0.400986189543,0.00458281290077,0.0498533887993,0.999999962464,0.000106081462945,-0.000250611003903,-3.18236755204e-05,1793248315209027072
+92,1.533333333,BASELINE,765.61464546,745.61464546,715,679,663.38535454,634,877.38535454,786,810,653,629,652,0.400985648585,0.00458205801225,0.0498528449,0.999999962389,0.000104679076998,-0.000251493290871,-3.18760864917e-05,1793248315225693952
+93,1.550000000,BASELINE,765.035320318,745.035320318,715,679,663.964679682,634,877.964679682,786,810,653,629,652,0.400985052964,0.00458025986128,0.0498519638253,0.999999962368,0.000101873057074,-0.00025274042055,-3.17561650817e-05,1793248315242360320
+94,1.566666667,BASELINE,765.541409441,745,715,679,663.458590559,634,878,786,810,653,629,652.541409441,0.40098531869,0.00458011853375,0.0498523413969,0.999999962482,0.0001028434816,-0.000251925541739,-3.15178267525e-05,1793248315259026944
+95,1.583333333,BASELINE,766,745,715,679,663,634,877.882541558,786,810,653,629,652.882541558,0.400985691041,0.00458028977404,0.0498527673766,0.999999962554,0.000104146144879,-0.000251120461407,-3.13803457074e-05,1793248315275693568
+96,1.600000000,BASELINE,766,745,715,679,663,634,877.308483665,786,810,653,629,652.308483665,0.40098626048,0.00458125790132,0.0498530638644,0.999999962434,0.000105787190711,-0.000250873902051,-3.16648172046e-05,1793248315292360192
+97,1.616666667,BASELINE,766.273473777,745,715.273473777,679,663,634,877,786,810,653,629,652.273473777,0.400987215022,0.00458186872983,0.0498534851865,0.999999962584,0.000106094386525,-0.000250121807119,-3.18453764758e-05,1793248315309026816
+98,1.633333333,BASELINE,766.864607082,745,715.864607082,679,663,634,877,786,810,653,629,652.864607082,0.400988616888,0.00458206453,0.0498540515128,0.999999963048,0.00010485221919,-0.000248782496153,-3.19052341805e-05,1793248315325693440
+99,1.650000000,BASELINE,766.554188109,745,715.554188109,679,663,634,877,786,810,653.445811891,629,652.554188109,0.400986994095,0.00458111234453,0.0498528736372,0.9999999627,0.000104187492561,-0.00025046592494,-3.17950228882e-05,1793248315342360320
+100,1.666666667,BASELINE,766,745,715,679,663.02372513,634,877.02372513,786,810,653.97627487,629,652,0.400984648104,0.00457989983753,0.0498513037832,0.999999962145,0.000103750973451,-0.000252874704691,-3.16388103252e-05,1793248315359027200
+101,1.683333333,BASELINE,766,745,715,679,663.593763944,634,877.593763944,786,810,653.406236056,629,652,0.400986340477,0.00458054619051,0.049852639797,0.999999962451,0.000104619139724,-0.000251307795931,-3.15867573426e-05,1793248315375694080
+102,1.700000000,BASELINE,766,745,715.170667826,679,663.829332174,634,878,786,810,653,629,652.170667826,0.40098738286,0.00458097473024,0.0498534528953,0.999999962641,0.000105304511242,-0.000250264477124,-3.15835665087e-05,1793248315392360960
+103,1.716666667,BASELINE,766,745,715.76459721,679,663.23540279,634,878,786,810,653,629,652.76459721,0.400986813244,0.00458086308621,0.0498529691468,0.999999962548,0.00010553654591,-0.000250519678045,-3.17015553428e-05,1793248315409027328
+104,1.733333333,BASELINE,765.650392928,745,716,679,663.349607072,634,877.650392928,786,810.349607072,653.349607072,628.650392928,652.650392928,0.400986841389,0.00458170604475,0.0498528276084,0.99999996247,0.000106189321085,-0.000250545912828,-3.17870505904e-05,1793248315425693696
+105,1.750000000,BASELINE,765.071239424,745,716,679,663.928760576,634,877.071239424,786,810.928760576,653.928760576,628.071239424,652.071239424,0.400987262016,0.00458317578012,0.0498529107596,0.9999999624,0.000107118347798,-0.000250421812118,-3.18512110785e-05,1793248315442360320
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663,634,878,786,810,653,629,652,0.400986778379,0.00458321159423,0.049852697127,0.999999962229,0.000105939145288,-0.000251606040285,-3.18237564491e-05,1793248315474459136
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.40400483,679,663,634,877.40400483,786,810,653,629,652.59599517,0.400986098687,0.00458133863423,0.0498527139616,0.99999996244,0.000104274676681,-0.000251495085598,-3.15761214333e-05,1793248315491125760
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.191050024,679,663,634,877.191050024,786,809.808949976,653,629,653,0.400986134066,0.00458006697669,0.0498529389531,0.999999962719,0.000103102691226,-0.00025088560449,-3.14357162323e-05,1793248315507792384
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.784126283,679,663,634,877.784126283,786,809.215873717,653,629,653,0.40098767417,0.00458006063851,0.0498536019689,0.999999963145,0.000102967036909,-0.00024922707507,-3.15209544991e-05,1793248315524458752
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.632438069,679,663,634,878,786,809.367561931,653,629,652.632438069,0.400988209119,0.00458118444997,0.0498542208982,0.999999963181,0.000104439014269,-0.000248474793274,-3.14726314317e-05,1793248315541125120
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.054519795,679,663,634,878,786,809.945480205,653,629,652.054519795,0.400988168816,0.00458295504807,0.0498548145968,0.99999996299,0.000106831042084,-0.000248241158688,-3.13478709717e-05,1793248315557791744
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.477880464,786,810,653,629,652.522119536,0.400988310517,0.00458196600276,0.0498549279979,0.999999963122,0.000105621060649,-0.000248230330001,-3.1324791008e-05,1793248315574458368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.100398227,634,877,786,810,653,629,652.899601773,0.400988385924,0.00458103182672,0.049854868818,0.999999963156,0.000104766250898,-0.000248454036551,-3.13478500441e-05,1793248315591124992
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.687265765,634,877,786,810,653,629,652.312734235,0.400988048246,0.00458175636341,0.0498542158306,0.999999962554,0.000107450397972,-0.000249701704769,-3.1543150613e-05,1793248315607791616
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.72921991,634,877.27078009,786,810,653,629,652.27078009,0.400989278704,0.00458236290125,0.0498545346218,0.999999962508,0.000108540060379,-0.000249402943492,-3.16552236789e-05,1793248315624458240
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.149531005,634,877.850468995,786,810,653,629,652.850468995,0.400992298109,0.0045828348247,0.0498559620285,0.999999963098,0.000107810717489,-0.000247339998875,-3.16723499086e-05,1793248315641124864
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.401010453624,0.0045810129014,0.0498626929838,0.999999966654,0.000104783799905,-0.000233954560189,-3.1273977636e-05,1793248315657791488
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.4010341937,0.00457843160359,0.0498713624083,0.999999971009,0.000101001720899,-0.000216414935934,-3.07397439863e-05,1793248315674458368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,878,786,810,653,629,653,0.401087919233,0.00457937937378,0.0498888386705,0.999999978442,0.000101260204876,-0.000178609804116,-3.10015481984e-05,1793248315691124992
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.158590799,679,663.158590799,634,878,786.158590799,810,653,629,653,0.401145771331,0.00458002578579,0.0499062973279,0.999999984018,0.00010167700381,-0.000143777013503,-3.08944980014e-05,1793248315707791872
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.744481707,679,663.744481707,634,878,786.744481707,810,653,629,653,0.401214741876,0.00457986023173,0.0499237085553,0.999999987462,0.000102520359985,-0.000116952761088,-2.97936227744e-05,1793248315724458496
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,679.32790303,663.67209697,634,878,786.67209697,810,653,629,653,0.40129281488,0.00457893464149,0.049937144296,0.999999989715,0.000101965863319,-9.671875492e-05,-2.86013974849e-05,1793248315741125632
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,679.909414279,663.090585721,634,878,786.090585721,810,653,629,653,0.401377927943,0.00457742122069,0.0499475052971,0.999999991265,0.000100330233067,-8.15818079418e-05,-2.73385198965e-05,1793248315757793024
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.483856812,715.516143188,679.516143188,663,634,878,786,810,653,629,653,0.401470780609,0.00457650438642,0.0499496587097,0.999999991614,9.83499528306e-05,-7.99131999581e-05,-2.67063028708e-05,1793248315774459648
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.942430611,715,679,663,634,878,786,809.942430611,653,629,653,0.401567135314,0.00457552810487,0.0499499384341,0.999999991739,9.6124054218e-05,-8.12267968971e-05,-2.61451768641e-05,1793248315791126272
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.363516592,715,679,663,634,878,786,809.363516592,653,629,653,0.401682271355,0.00457301657429,0.0499469650718,0.99999999164,9.22497629188e-05,-8.70414026314e-05,-2.517401032e-05,1793248315807793152
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.218556663,715,679,663.218556663,634,878,786,809.218556663,653,629,652.781443337,0.401809794149,0.00457184777513,0.0499460509387,0.99999999165,9.02745832886e-05,-8.92540735246e-05,-2.41636135699e-05,1793248315824459520
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.805961558,715,679,663.805961558,634,878,786,809.805961558,653,629,652.194038442,0.401958221495,0.00457294504354,0.0499486120743,0.999999991901,9.15044492455e-05,-8.5387920706e-05,-2.30870098685e-05,1793248315841125888
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.610587018,715,679.389412982,664,634,878,785.610587018,810,653,629,652,0.402130563087,0.00457170412241,0.0499489854202,0.999999992009,8.90047131677e-05,-8.71144626441e-05,-2.17017331591e-05,1793248315857792256
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.029085695,715,679.970914305,664,634,878,785.029085695,810,653,629,652,0.402314701032,0.00456930982702,0.0499482795806,0.999999992017,8.46652515209e-05,-9.15997500864e-05,-2.01641951588e-05,1793248315874458880
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.454605827,664,634,877.454605827,785.545394173,810,653,629,652.545394173,0.402527799663,0.00456558025715,0.0499504152118,0.999999992842,7.96905404972e-05,-8.72743874537e-05,-1.86960210719e-05,1793248315891125504
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,877,786,810,653,629,653,0.402749511276,0.00456250005439,0.0499523024356,0.99999999346,7.55662421131e-05,-8.41204283689e-05,-1.71156196148e-05,1793248315907791872
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,877,786,810,653,629,653,0.402998186949,0.00456215755081,0.0499526755684,0.999999993287,7.48042292079e-05,-8.71873073939e-05,-1.5094400991e-05,1793248315924458496
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.723791716,634,877.276208284,786,810,653,629,653,0.40327086752,0.00456030493956,0.0499560606604,0.999999994009,7.10379386485e-05,-8.2274487638e-05,-1.29381100334e-05,1793248315941125376
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.132765508,634,877.867234492,786,810,653,629,653,0.403570908486,0.00455673113099,0.0499628787367,0.999999995575,6.38474189882e-05,-6.82665306187e-05,-1.06278658409e-05,1793248315957792000
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.448528462,715,679,663,633.551471538,877.551471538,786,810,653,629,652.551471538,0.403917019828,0.00455355187607,0.0499741624892,0.99999999699,6.10805929912e-05,-4.71350159952e-05,-8.15871010411e-06,1793248315974458368
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.973318489,715,679,663,633.026681511,877,786,810,653,629,652.026681511,0.404277545591,0.00455039916997,0.0499864969774,0.999999997929,5.93301385389e-05,-2.42758497896e-05,-5.63220758838e-06,1793248315991124992
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.401727818,715,679,663,633.598272182,877,786,810,653,629,652.598272182,0.404659864368,0.00454545417,0.0499938678761,0.999999998601,5.21626831753e-05,-8.28193626663e-06,-2.87477353515e-06,1793248316007792384
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.175740558,786,810,653,629,653,0.405049206552,0.00454084345829,0.0499976074426,0.999999998936,4.6125332769e-05,9.21801105497e-07,-1.08691290152e-07,1793248316024459776
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.767109696,786,810,653,629,653,0.405455159125,0.00453702334312,0.0499927588631,0.999999999065,4.27606955333e-05,-5.93331390441e-06,2.67784364179e-06,1793248316041126656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.647591115,745,715,679,663,634,878,785.647591115,810,653,629,653,0.405872279388,0.00453244845415,0.0499754502088,0.999999998537,3.78621867305e-05,-3.82439871348e-05,5.53195774861e-06,1793248316057793280
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.066235287,745,715,679,663,634,878,785.066235287,810,653,629,653,0.406296654924,0.00452738321636,0.0499500467069,0.999999995661,3.19671782226e-05,-8.70921902266e-05,8.42997579721e-06,1793248316074459648
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.509095767,745,715,679,663.509095767,634,878,785.509095767,810.509095767,653,629,653,0.406784996127,0.0045229355425,0.0499344870678,0.999999993239,2.49304669079e-05,-0.000113019090222,1.12774427354e-05,1793248316091126272
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.083446521,679,664,634,878.083446521,786,811,653,629,653,0.407290660926,0.00451826393555,0.0499238977337,0.999999991392,1.76565327915e-05,-0.000129232016759,1.42250333992e-05,1793248316107793152
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.656590836,679,664,634,878.656590836,786,811,653,629,653,0.407849721097,0.00451181220101,0.0499350482463,0.999999994203,9.85197333801e-06,-0.000105735208874,1.77983360361e-05,1793248316124459264
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.762676347,679,664,634,878.762676347,786,811,653,629,653,0.408431543131,0.00450469405115,0.0499528364381,0.999999997248,8.73862353085e-07,-7.10208737798e-05,2.1408973771e-05,1793248316141125632
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.170600237,679,664,634,878.170600237,786,811,653,629,653,0.409047389664,0.00449657974107,0.0499805466616,0.999999999446,-9.85847823936e-06,-1.95385301936e-05,2.50754199367e-05,1793248316157792000
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,633.586665809,878.413334191,786,811,653,629,653,0.409683470902,0.0044900797041,0.0499957114062,0.999999999433,-1.60441998476e-05,3.35771977871e-06,2.94125993589e-05,1793248316174458624
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,633.006026892,878.993973108,786,811,653,629,653,0.410327742498,0.0044842330745,0.0500057981336,0.999999999106,-2.0389592349e-05,1.4683213818e-05,3.40212705056e-05,1793248316191124992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,633.566467795,879,786,811,652.433532205,628.433532205,653,0.410958134209,0.00447979487584,0.0499813834546,0.99999999324,0.000102388433306,-3.99237403008e-05,3.79807051426e-05,1793248316207799296
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.860387406,634,879.279225188,786,811,652.139612594,628.139612594,652.860387406,0.411603174001,0.0044751039664,0.0499580999662,0.99999997687,0.00019244026829,-8.6606600855e-05,4.15380613114e-05,1793248316224470272
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.2849466,634,880.4301068,786,811,652.7150534,628.7150534,652.2849466,0.412294395005,0.00446957805601,0.0499394773733,0.999999977861,0.000176168518526,-0.000106394052552,4.3861509002e-05,1793248316241129728
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.300994878,663.601989756,634,880.398010244,785.699005122,811,653,629,652.300994878,0.413034147066,0.00446296998923,0.04994555829,0.999999986255,0.000135414806491,-8.6531704724e-05,4.08028817642e-05,1793248316257792512
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.897236567,664.794473133,634,879.205526867,785.102763433,811,653,629,652.897236567,0.413821503473,0.00445530043122,0.0499758709539,0.999999996592,7.06466589695e-05,-2.77767473141e-05,3.24649605755e-05,1793248316274458880
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.524144959,745,715,680,664.524144959,633.524144959,879,785.475855041,811.475855041,653,629,653,0.414589408572,0.00444434035662,0.0499744704736,0.999999998871,-1.96198360176e-05,-3.7366946515e-05,2.18467682863e-05,1793248316291125248
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.050940686,745,715,680,664,633,879,786,811.949059314,653,629,653,0.415356687539,0.00443649149495,0.0499650128686,0.999999992725,-0.00010272289079,-6.21214043423e-05,1.18033002254e-05,1793248316307791872
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.627441009,745,715,680,664,633,879,786,811.372558991,653,629,653,0.416159297565,0.00446781084084,0.0499405636823,0.999999993633,-5.7137909187e-05,-9.64898872425e-05,1.25883850213e-05,1793248316324458496
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.207760772,680,664.207760772,633.207760772,879.207760772,786,811.207760772,653,629.207760772,653,0.416977327513,0.00449140597043,0.0499339171094,0.999999994725,-7.86599452546e-06,-0.000101449109748,1.40355504207e-05,1793248316341125120
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.795057832,680,664.795057832,633.795057832,879.795057832,786,811.795057832,653,629.795057832,653,0.417823526445,0.0045008905403,0.0499597922589,0.999999997314,4.81411872307e-05,-5.26836474833e-05,1.66922011621e-05,1793248316357791744
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.622850905,680,665,634,880,786,812,653,629.622850905,653,0.418674744824,0.00449311580434,0.0499747968801,0.999999998203,4.66521688506e-05,-3.18119084264e-05,2.01515448571e-05,1793248316374458368
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.043549967,680,665,634,880,786,812,653,629.043549967,653,0.4195286536,0.00447609008342,0.0499839748992,0.999999999273,1.43451963821e-05,-2.58912013334e-05,2.40411317552e-05,1793248316391124992
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.466702742,633.466702742,879.466702742,785.466702742,812,653,629.533297258,653,0.4203974141,0.00447219665037,0.0499663522078,0.999999998705,-5.06342541551e-06,-4.51255060649e-05,2.30001993181e-05,1793248316407791616
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.111702817,879,785,812,653,630,653,0.42128344601,0.00446898254197,0.0499559051578,0.999999998294,-1.71100238584e-05,-5.12962419919e-05,2.20873009758e-05,1793248316424458240
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.697569814,879,785,812,653,630,653,0.42223766793,0.00446412070699,0.049985165538,0.999999999701,-2.35642136444e-06,6.66609323154e-06,2.34191962717e-05,1793248316441125120
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.719811633,745,715,680,664.280188367,634,879.280188367,785.280188367,812,653,629.719811633,653,0.423165122976,0.00446502115886,0.049993762355,0.999999999431,6.59125411022e-06,2.26218218369e-05,2.41431863521e-05,1793248316457791744
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.140659135,745,715,680,664.859340865,634,879.859340865,785.859340865,812,653,629.140659135,653,0.424064017584,0.00447207003485,0.0499803109216,0.999999999644,9.34394213509e-06,-6.2439629497e-06,2.4218534965e-05,1793248316474458112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.562195421,634,880,785.562195421,812,652.562195421,629.437804579,653,0.424993392612,0.00447903438573,0.0499812853872,0.999999999683,6.03669043058e-06,-3.51530742362e-06,2.41856776953e-05,1793248316491124992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.015958567,745.015958567,715,680.015958567,664.015958567,634,880,785,812.015958567,652,630,653,0.42593263215,0.00448551367726,0.0499871857459,0.999999999664,5.97078301659e-07,9.19642618473e-06,2.42112011419e-05,1793248316507791616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.591003519,745.591003519,715,680.591003519,664.591003519,634,880,785,812.591003519,652,630,653,0.426874923514,0.00447594949366,0.050003539394,0.999999999419,-1.14451056551e-05,1.65924909868e-05,2.74980326548e-05,1793248316524458240
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.829989046,745.829989046,715,681,664.829989046,634,880,785,813,652,630,653,0.427797936324,0.00446801761862,0.0500021904979,0.999999999471,-1.28399769552e-05,-7.69055391881e-07,2.98623107124e-05,1793248316541124864
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.241221592,745.241221592,715,681,664.241221592,634,880,785,813,652,630,653,0.428673463786,0.00446410630755,0.0499572382019,0.99999999635,1.19907060836e-05,-7.91114411736e-05,2.99542333739e-05,1793248316557791744
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.341907366,633.658092634,880,785,813,652,630,653,0.429612830971,0.00446297918198,0.0499453187149,0.999999995424,1.03063201795e-05,-9.03996849147e-05,2.95434085878e-05,1793248316574458624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.921122782,633.078877218,880,785,813,652,630,653,0.430596507432,0.0044637844795,0.0499563263505,0.999999998017,-9.78141193517e-06,-5.51475780292e-05,2.87836413435e-05,1793248316591125248
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.497097006,715,680.502902994,665,633,880,785,813,652,630,653,0.431505574563,0.00447103659391,0.049946317986,0.999999996624,-1.27605779067e-05,-7.59646165008e-05,2.86019570352e-05,1793248316607791616
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.927279223,715,680.072720777,664.927279223,633.072720777,880,785,813.072720777,652,630,653,0.432408345133,0.00447786270268,0.0499351721301,0.999999994578,-8.86943800071e-06,-9.97329513875e-05,2.86104688055e-05,1793248316624458496
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.350543239,715,680.649456761,664.350543239,633.649456761,880,785,813.649456761,652,630,653,0.433348995268,0.00447469225122,0.0499391052317,0.999999995865,2.39452814727e-05,-8.2693379872e-05,2.93055663906e-05,1793248316641125120
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.231132935,745,715,681,664,633.768867065,880.231132935,785,814,652,630,653,0.434288977463,0.00447091526839,0.0499526702233,0.999999997313,3.38664434314e-05,-5.75018587061e-05,3.03381981109e-05,1793248316657791744
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.82046528,745,715,681,664,633.17953472,880.82046528,785,814,652,630,653,0.435227924657,0.00446619831009,0.0499811622845,0.999999999263,8.30820635841e-06,-1.96768106628e-05,3.18939251403e-05,1793248316674458368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880.597621578,785,814,652,630.402378422,653,0.436097279547,0.00446557327004,0.049971655873,0.999999997909,-5.02387754835e-06,-5.50362731687e-05,3.35908227791e-05,1793248316691124992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880.018958866,785,814,652,630.981041134,653,0.436936145594,0.00446674092308,0.0499455021114,0.999999991793,-1.299961221e-05,-0.000122458290776,3.53495678648e-05,1793248316707791616
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.458605699,745,715,681,664,633,880,784.458605699,814.541394301,652,631,653,0.43782334348,0.0044689938153,0.0499582487902,0.999999996509,-1.48500807374e-05,-7.54367562937e-05,3.27366038085e-05,1793248316724458496
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.106585905,744.893414095,715,681,664.106585905,633,880,784.106585905,815,652,630.893414095,653,0.438709297199,0.00447122952469,0.0499703180692,0.999999998886,-1.23238948615e-05,-3.39333890693e-05,3.03970904517e-05,1793248316741124864
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.696532055,744.303467945,715,681,664.696532055,633,880,784.696532055,815,652,630.303467945,653,0.439582184302,0.00447322060512,0.0499733398081,0.999999998896,9.10922338369e-06,-3.50344655341e-05,2.99692060348e-05,1793248316757791744
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.711838652,744.288161348,715,681,664.711838652,633,880.288161348,785,815,652.288161348,630.288161348,653,0.440427576768,0.00447170841999,0.0499672090269,0.999999998393,1.30031016487e-05,-4.61605819642e-05,3.0234746308e-05,1793248316774458624
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.118426432,744.881573568,715,681,664.118426432,633,880.881573568,785,815,652.881573568,630.881573568,653,0.441243843963,0.00446648520661,0.0499513829319,0.999999997205,-1.68243306753e-06,-6.79062772825e-05,3.12348351222e-05,1793248316791125248
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.462244315,664,633,880.537755685,784.537755685,815,653,631,653,0.442065480069,0.00446020976708,0.0499648969339,0.999999998571,-9.52021241944e-07,-4.23206324596e-05,3.26463105039e-05,1793248316807791616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.039661285,745,715,682,664.039661285,633,880,784.039661285,815,653,630.960338715,653.039661285,0.442882957225,0.00445415796892,0.049984586919,0.999999999385,3.22496456934e-06,-7.30923739912e-06,3.41446183818e-05,1793248316824458496
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.616035787,745,715,682,664.616035787,633,880,784.616035787,815,653,630.383964213,653.616035787,0.443626038222,0.00445468278488,0.0499888597518,0.99999999936,2.02921782353e-06,-4.44003251188e-06,3.54299657917e-05,1793248316841125120
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681.803874859,664.803874859,633,880,784.803874859,815,652.803874859,630.196125141,653.803874859,0.444349476817,0.00445614754755,0.0499788405505,0.999999999043,1.99014816132e-06,-2.37425953717e-05,3.66904656403e-05,1793248316857792000
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.216372232,664.216372232,633,880,784.216372232,815,652.216372232,630.783627768,653.216372232,0.445033718155,0.0044594880208,0.0499403008838,0.999999995463,4.25928501704e-06,-8.72900246586e-05,3.7901381076e-05,1793248316874458624
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.365871466,633,880.365871466,784.365871466,815,652,631,653,0.445743515161,0.00446562343991,0.049933277372,0.999999995707,1.05706340765e-05,-8.39452376604e-05,3.77691787086e-05,1793248316891125248
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.945049127,633,880.945049127,784.945049127,815,652,631,653,0.4464682113,0.00447338833617,0.0499446280503,0.99999999827,1.92386272902e-05,-4.16017125085e-05,3.68539271025e-05,1793248316907791872
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.521597053,665,633,880.478402947,784.478402947,815.521597053,652,631,653,0.447126273397,0.00447243714326,0.0499533585076,0.999999998636,2.17056009273e-05,-2.82451441834e-05,3.82046086393e-05,1793248316924458496
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.90043748,664.90043748,633,880,784,816,652,631,653,0.447762741596,0.00447008384963,0.0499562860413,0.999999998612,2.30330286085e-05,-2.58668711268e-05,3.97158827144e-05,1793248316941125120
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.314195377,664.314195377,633,880,784,816,652,631,653,0.448327797673,0.00446534289182,0.0499321904175,0.999999996984,2.19675047008e-05,-6.22997938544e-05,4.0851115256e-05,1793248316957791744
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880,784,816,652,631,653,0.44890139604,0.00446265875363,0.0499197230699,0.999999995527,2.16662524166e-05,-8.17458424779e-05,4.23633117918e-05,1793248316974458624
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880,784,816,652,631,653,0.449484860126,0.00446235010156,0.0499206855869,0.999999995444,2.22476816147e-05,-8.15732124427e-05,4.43108758933e-05,1793248316991125248
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.57418174,880.42581826,784,816,652,631,653,0.450043261048,0.00445994803734,0.0499407826871,0.999999997377,2.02400090565e-05,-5.24346607469e-05,4.56788925728e-05,1793248317007791616
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,880.99688723,784,816,652,631,653,0.450592369306,0.00445680150371,0.0499675905507,0.999999998666,1.73093982254e-05,-1.31651157195e-05,4.68429160711e-05,1793248317024458240
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,880.421637252,784,816,652,631,653,0.451072304596,0.00445370540793,0.0499766654034,0.999999998713,1.40387562583e-05,-5.84155807145e-06,4.8408394937e-05,1793248317041125120
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.157376652,745.157376652,715,681,664,632.157376652,880,784,816,652.157376652,631,653,0.451523469576,0.00445171054083,0.0499763331605,0.999999998568,1.11511883894e-05,-1.60898876143e-05,4.98080965321e-05,1793248317057791488
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.746721938,745.746721938,715,681,664,632.746721938,880,784,816,652.746721938,631,653,0.451895665695,0.00445273833387,0.0499501802523,0.999999995888,9.31508446464e-06,-7.45696653628e-05,5.07527716632e-05,1793248317074458112
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.669686085,745.669686085,715,681,663.669686085,632.669686085,880.330313915,784,816,652.669686085,631,653,0.452262198508,0.00445278083225,0.0499211005233,0.999999990529,3.413955925e-06,-0.000128152106339,5.00741079636e-05,1793248317091124992
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.09043014,745.09043014,715,681,663.09043014,632.09043014,880.90956986,784,816,652.09043014,631,653,0.45262446313,0.00445208076042,0.0498898149889,0.999999982975,-5.55078995678e-06,-0.000178043651826,4.81720102343e-05,1793248317107791872
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.4853739,663.4853739,632,881,784,816,652,631,653,0.452979519553,0.00445225646079,0.0498863084066,0.999999982204,-5.80128600516e-05,-0.000176585106358,3.23025568206e-05,1793248317124459264
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.93945502,663.93945502,631.93945502,880.93945502,784.06054498,816,652,631,653,0.453330424333,0.00445358094576,0.0498892829688,0.999999980292,-0.000110362381281,-0.000164264746745,1.59160157507e-05,1793248317141126400
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.364236108,663.364236108,631.364236108,880.364236108,784.635763892,816,652,631,653,0.453657372789,0.00446329366619,0.0499036670521,0.999999985646,-9.3352083839e-05,-0.000140363701333,1.70986772106e-05,1793248317157792512
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.215653384,663,631,880.215653384,785,816,652,631,653,0.453958502108,0.00447587770326,0.0499100865579,0.999999990374,-4.94478813598e-05,-0.000128444569884,1.75927678929e-05,1793248317174458624
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.803606003,663,631,880.803606003,785,816,652,631,653,0.454215057805,0.00449341871687,0.049902756192,0.999999989608,4.08853626024e-05,-0.000137210751663,1.68981250102e-05,1793248317191125504
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631.385888224,881,784.614111776,816.385888224,652,631,653,0.454448561687,0.00449830804252,0.0498913840241,0.999999985421,6.79459402107e-05,-0.000155663008577,1.76189306251e-05,1793248317207791872
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631.965326397,881,784.034673603,816.965326397,652,631,653,0.454670503493,0.00449685166285,0.049877984609,0.999999981801,6.3270856038e-05,-0.000178973511124,1.9049682692e-05,1793248317224458752
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681.457942598,663,631.457942598,881,784,816.457942598,652,630.457942598,653,0.454850765395,0.0044929469062,0.0498652802506,0.999999978866,5.75149832519e-05,-0.000196315792587,2.04798453458e-05,1793248317241125632
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.118220292,663,631,881,784,816,652,630.118220292,653,0.455022065398,0.00449036009362,0.0498524468596,0.99999997553,5.30802911895e-05,-0.00021368199134,2.15247492437e-05,1793248317257792256
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.692855252,663,631,881,784,816,652,630.692855252,653,0.455169008115,0.00449346312323,0.0498389445115,0.999999971266,5.40118795323e-05,-0.000232607102284,2.10824247535e-05,1793248317274459392
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.2750899,681.7249101,663,631,881,784,816,652,630.7249101,653,0.455302449319,0.0044939529894,0.0498270992606,0.999999966912,5.28837467122e-05,-0.000250873320301,2.10424473528e-05,1793248317291126016
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715.866050829,681.133949171,663,631,881,784,816,652,630.133949171,653,0.455420387447,0.00449144229948,0.0498171567667,0.999999962535,4.93905461266e-05,-0.000268382965672,2.14644636367e-05,1793248317307792384
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715.552439852,681,662.552439852,630.552439852,881,784,816.447560148,652.447560148,630.447560148,652.552439852,0.455529336822,0.00449222294094,0.0498121039516,0.999999959962,4.76264770979e-05,-0.00027808610411,2.17918413243e-05,1793248317324458752
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816.973911891,653,631,652.026088109,0.455634657224,0.00449392092836,0.0498086905639,0.999999958041,4.65385965404e-05,-0.000285067842559,2.21182006954e-05,1793248317341125376
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816.399818361,653,631,652.600181639,0.455719089586,0.00449462457354,0.0498096101344,0.999999958505,4.90087805811e-05,-0.00028294708779,2.30058401974e-05,1793248317357792000
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652.821222448,631,653,0.455796694736,0.00449544168164,0.0498102392694,0.999999958734,5.06256958482e-05,-0.000281810581002,2.34888133208e-05,1793248317374458624
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,881,784,816,652.232297345,631,653,0.455858637031,0.0044965190938,0.0498102020936,0.999999958445,5.0285060209e-05,-0.000282932114714,2.30434095626e-05,1793248317391125760
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.350639306,630,881,784.350639306,816,652,630.649360694,653,0.455909401091,0.00449795419797,0.0498089188849,0.999999957535,5.14177464977e-05,-0.000285929144011,2.30496709351e-05,1793248317407792896
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.929675304,630,881,784.929675304,816,652,630.070324696,653,0.455952883967,0.00449962229288,0.0498068240449,0.999999956203,5.35101136769e-05,-0.000290147819076,2.33501343666e-05,1793248317424459776
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681.509339263,662.490660737,630,881,784.490660737,816,652,630.509339263,653,0.455985302653,0.0044994335548,0.0498050965974,0.999999955184,5.3494813037e-05,-0.000293624950076,2.35690107924e-05,1793248317441125888
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,880.911966518,784,816,652,630.911966518,653,0.456014219983,0.00449920038452,0.0498033541976,0.999999954253,5.31841308041e-05,-0.000296817705651,2.37606159391e-05,1793248317457792000
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,880.339090996,784,816,652,630.339090996,653,0.456032277512,0.00450013621936,0.049801249731,0.999999953615,5.28513318438e-05,-0.000299008852973,2.38641422421e-05,1793248317474458624
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681.759296316,662.240703684,630,880.240703684,784,816,652,630.240703684,653,0.456046878245,0.00450142927817,0.0497990269446,0.999999952661,5.33972094165e-05,-0.000302101266552,2.36855700572e-05,1793248317491125504
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.169465831,662.830534169,630,880.830534169,784,816,652,630.830534169,653,0.456056465093,0.00450324046964,0.049796632542,0.999999951237,5.52175566007e-05,-0.000306500914684,2.30978302922e-05,1793248317507792128
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.412645994,662.587354006,630,881,784,816.412645994,652,631,653,0.456063660817,0.00450509813212,0.0497957622461,0.999999950666,5.86634982083e-05,-0.000307736725549,2.29244537187e-05,1793248317524459008
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.991646106,662.008353894,630,881,784,816.991646106,652,631,653,0.456069892583,0.00450697452887,0.0497955063787,0.999999950429,6.27647819484e-05,-0.000307697066869,2.29181235467e-05,1793248317541125632
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.433859751,662.566140249,630,881,784,817,652,631,653,0.456072839371,0.00450642551073,0.049793842307,0.999999950147,5.93658650041e-05,-0.000309295821419,2.27449164577e-05,1793248317557792256
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.858929355,630,881,784,816.858929355,652,631,653,0.456075221258,0.00450582359262,0.0497925118725,0.999999949781,5.69598218068e-05,-0.000310926572167,2.27545697315e-05,1793248317574459136
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.282448992,630,881,784,816.282448992,652,631,653,0.456076008023,0.00450516799033,0.049792274826,0.999999949194,5.7957138266e-05,-0.000312582047926,2.33361554358e-05,1793248317591125760
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.300310246,662,630,881,784,816,652.300310246,631,653,0.456076158818,0.00450524392857,0.049791437087,0.999999948558,5.83594784901e-05,-0.000314546308383,2.32246126572e-05,1793248317607792384
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.889101093,662,630,881,784,816,652.889101093,631,653,0.456075698696,0.00450602259088,0.0497900223176,0.999999947872,5.81902795488e-05,-0.00031680719027,2.24472447724e-05,1793248317624458752
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715.471926595,682,662,630,880.528073405,784,816,652.528073405,631,653,0.456075654696,0.00450623152838,0.04978958543,0.999999947456,6.04848012918e-05,-0.000317650641576,2.29614880812e-05,1793248317641125376
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,744.947400247,715.947400247,682,662,630,880.052599753,784,816,652,631,653,0.456075599926,0.00450637510829,0.0497892241919,0.999999947069,6.2968525378e-05,-0.000318339150649,2.36250096862e-05,1793248317657792512
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.374326405,715.374326405,682,662,630,880.625673595,784,816,652,631,653,0.456074483084,0.00450718018732,0.0497873660761,0.999999946399,6.16671690395e-05,-0.000320749236533,2.27998193986e-05,1793248317674458880
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.203623619,715,682,662,630,881,784,816,652.203623619,631,653,0.456074085301,0.00450808583451,0.0497863823694,0.999999946035,6.11758065826e-05,-0.00032201846705,2.21752009544e-05,1793248317691125760
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.790757544,715,682,662,630,881,784,816,652.790757544,631,653,0.456075041814,0.00450918089446,0.049787045549,0.999999946259,6.22100088811e-05,-0.000321138979156,2.19283450669e-05,1793248317707793152
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.626644856,745,715,682,662,630,881,784,816.373355144,652.626644856,631,653,0.456074447806,0.0045088093602,0.0497862447639,0.999999945861,6.3029990379e-05,-0.000322188406376,2.23578403041e-05,1793248317724459776
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.046559087,745,715,682,662,630,881,784,816.953440913,652.046559087,631,653,0.456072995259,0.00450762575744,0.0497846333663,0.999999945114,6.37313555569e-05,-0.000324305893983,2.31618382014e-05,1793248317741125888
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.536126972,745,715,681.463873028,662,630,881.536126972,784,816.463873028,652,631,653,0.456072850723,0.00450854248812,0.0497841943478,0.99999994483,6.22440528653e-05,-0.000325513892783,2.24942239726e-05,1793248317757792256
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715.115871202,681.115871202,662,629.884128798,881.884128798,784,816,652,631,653,0.456072811448,0.0045094548056,0.0497839541086,0.999999944613,6.1139751372e-05,-0.000326424931821,2.19543077552e-05,1793248317774458624
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715.683267362,681.683267362,662,629.316732638,881.316732638,784,816,652,631,653,0.456072737549,0.00450963568775,0.049784089791,0.999999944513,6.22721996584e-05,-0.000326488062803,2.24124384903e-05,1793248317791125248
+246,4.100000000,HOLD_POSE2,766,745,716,681,662,630,881,783,816,652,631,653,0.456071393149,0.00451218360678,0.0497822202842,0.999999943779,6.63118744844e-05,-0.000327972300881,2.18841640083e-05,1793248317828613888
+247,4.116666667,HOLD_POSE2,766,745,715.421148577,681,662,630,881,783.578851423,816,652.578851423,631,653,0.456072767716,0.00451213483513,0.0497824070902,0.999999943945,6.68703258652e-05,-0.00032735498615,2.18452268419e-05,1793248317845280256
+248,4.133333333,HOLD_POSE2,766,745,715,681,662,630,881,784,816,653,631,653,0.456074110868,0.00451146337467,0.049782700541,0.999999944196,6.67599653923e-05,-0.000326595853325,2.20500579149e-05,1793248317861946624
+249,4.150000000,HOLD_POSE2,766,745,715,681,662,630,881,784,816,653,631,653,0.456075370124,0.00450912901091,0.0497832787893,0.999999944673,6.48635291827e-05,-0.000325457992219,2.29058770937e-05,1793248317878612992
+250,4.166666667,HOLD_POSE2,766,745,715,681.315106763,662,630,881,784,816,652.684893237,631,653,0.456074948412,0.00450933028294,0.049783294479,0.999999944433,6.45656691925e-05,-0.00032624499592,2.30070693903e-05,1793248317895279616
+251,4.183333333,HOLD_POSE2,766,745,715,681.902234463,662,630,881,784,816,652.097765537,631,653,0.456073075575,0.00451172048313,0.0497828245311,0.999999943573,6.56478057157e-05,-0.000328693669909,2.24568179523e-05,1793248317911946240
+252,4.200000000,HOLD_POSE2,766,745,715,681.517290059,662,630,880.517290059,784,816,652,631,653,0.456073199669,0.00451073887996,0.0497829407527,0.999999943703,6.30275191326e-05,-0.000328815106784,2.24039463624e-05,1793248317928612864
+253,4.216666667,HOLD_POSE2,766,745,715,681,662,630,880.061547883,784,816,652,630.938452117,653,0.456073573273,0.00450933490107,0.0497830405991,0.999999943946,6.01911753169e-05,-0.000328605993938,2.24083661284e-05,1793248317945279744
+254,4.233333333,HOLD_POSE2,766,745,715,681,662,630,880.637805549,784,816,652,630.362194451,653,0.456072697135,0.00451003205086,0.0497820241774,0.999999943559,6.17337251268e-05,-0.000329520746113,2.20609149445e-05,1793248317961946368
+255,4.250000000,HOLD_POSE2,766,745,715,681.213547719,662,630,881,784,816,652,630.213547719,653,0.456072454446,0.00451086575319,0.0497815504776,0.99999994332,6.29117391594e-05,-0.00033003389912,2.19020321236e-05,1793248317978612992
+256,4.266666667,HOLD_POSE2,766,745,715,681.788417611,662,630,881,784,816,652,630.788417611,653,0.45607328355,0.00451193050198,0.0497819950618,0.999999943336,6.34729594705e-05,-0.000329867547311,2.20622065062e-05,1793248317995279616
+257,4.283333333,HOLD_POSE2,766,745,715,682,662,629.626788967,880.626788967,784,816,652.373211033,631,653.373211033,0.456073681655,0.00451220083868,0.0497822026219,0.999999943275,6.51055325675e-05,-0.000329711232515,2.23897864298e-05,1793248318011946496
+258,4.300000000,HOLD_POSE2,766,745,715,682,662,629.036215923,880.036215923,784,816,652.963784077,631,653.963784077,0.456073828741,0.00451200850156,0.0497822721367,0.999999943166,6.73620727902e-05,-0.000329560763362,2.28148651073e-05,1793248318028613120
+259,4.316666667,HOLD_POSE2,766,745,715,681.456136009,662,629.543863991,880.543863991,783.456136009,816,652.456136009,631,653.456136009,0.456073658591,0.00451344784146,0.0497818512454,0.999999942958,6.84896316793e-05,-0.000329978555618,2.2526132966e-05,1793248318045280000
+260,4.333333333,HOLD_POSE2,766,745,715,681.122065597,662,629.877934403,881.122065597,783,816,652,631,653,0.456073670015,0.00451453419418,0.0497814227119,0.9999999428,6.94271717613e-05,-0.000330279941476,2.2259815986e-05,1793248318061946624
+261,4.350000000,HOLD_POSE2,766,745,715,681.695853247,662,629.304146753,881.695853247,783,816,652,631,653,0.456074430079,0.00451391978796,0.0497810844588,0.999999942853,6.99344637601e-05,-0.000330013164145,2.22490218691e-05,1793248318078612992
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,881,784,816,652,631,653,0.456074862439,0.00451091496763,0.0497811420401,0.999999943143,6.71685133223e-05,-0.000329648944229,2.31123526762e-05,1793248318116402432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.592337178,662,630,881,784,816,652,631,653,0.456072757033,0.00451293473167,0.0497794239292,0.99999994216,6.86382298899e-05,-0.000332390105182,2.20476811078e-05,1793248318133069312
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.81917333,662,630,881,784,816,652,631,653,0.456071729114,0.00451459597614,0.0497786377885,0.999999941547,7.02568522188e-05,-0.000333931598128,2.14534124409e-05,1793248318149736192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.239177371,662,630,881,784,816,652,631,653,0.456073079715,0.00451546580018,0.0497799089429,0.999999941767,7.22041796996e-05,-0.000332824861551,2.18975434416e-05,1793248318166402560
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.338006154,662,629.661993846,881.338006154,784,816,652,630.661993846,653,0.456073500923,0.0045156005961,0.0497800253192,0.999999941873,7.29600288605e-05,-0.000332335382544,2.20114389726e-05,1793248318183068928
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.913215954,662,629.086784046,881.913215954,784,816,652,630.086784046,653,0.456073269908,0.00451521956897,0.049779331303,0.9999999419,7.28797303999e-05,-0.000332279078399,2.1893584088e-05,1793248318199735552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.486441322,745,715,682,662,629,881.027117356,784,816,652,630.486441322,653,0.456073227519,0.00451413100684,0.0497799494821,0.999999942276,7.02605555856e-05,-0.00033170551716,2.19797439109e-05,1793248318216402944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,681.938584926,662,629,880,784,816,652.061415074,631,653,0.456072932758,0.00451293472962,0.049780534526,0.999999942575,6.74244724291e-05,-0.000331381990133,2.21122791526e-05,1793248318233070080
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,681.345420262,662,629,880,784,816,652.654579738,631,653,0.456070162709,0.00451189430613,0.0497788139755,0.999999941747,6.66161792228e-05,-0.000334019088214,2.23324869801e-05,1793248318249736192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.758804264,745,715,681.241195736,662.241195736,629.241195736,880.241195736,784,816,652.758804264,631,653,0.456062386119,0.00451177018103,0.0497744846537,0.99999993947,6.62999045321e-05,-0.00034083850856,2.22137216016e-05,1793248318266402304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.181318863,745,715,681.818681137,662.818681137,629.818681137,880.818681137,784,816,652.181318863,631,653,0.456047629105,0.00451292361458,0.0497665180258,0.999999935067,6.666963184e-05,-0.000353489175016,2.16223392805e-05,1793248318283069184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.605162501,662.210325002,630,881,784,816,652,631,653,0.456017926061,0.00451341934642,0.0497528231692,0.999999926473,6.86618902072e-05,-0.000376662939615,2.15706687187e-05,1793248318299736064
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.029614368,661.059228736,630,881,784,816,652,631,653,0.455981382463,0.0045136140591,0.0497365065959,0.999999915342,7.13967543617e-05,-0.000404652954146,2.17660152933e-05,1793248318316402944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.555609202,745,715,681.555609202,661.555609202,630,880.444390798,784,816,652.555609202,631,652.444390798,0.455919944233,0.00451436932566,0.0497147414358,0.999999899926,7.05753477899e-05,-0.000441273978128,2.1095157736e-05,1793248318333069056
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.859547603,745,715,682,662,629.859547603,880.140452397,784,816,652.859547603,631,652.140452397,0.455855051789,0.00451558500985,0.0496944595305,0.999999885459,7.07610093178e-05,-0.000472933793651,2.02327492351e-05,1793248318349735424
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.277550044,745,715,682,662,629.277550044,880.722449956,784,816,652.277550044,631,652.722449956,0.455783545549,0.00451815253245,0.0496797697438,0.999999878189,7.4719087988e-05,-0.000487525021545,1.89158715717e-05,1793248318366402304
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,629.300908444,881,784,816,652,631,653,0.455704376507,0.00452031940197,0.0496699715937,0.999999871798,7.85690650864e-05,-0.000499908348306,1.79596726947e-05,1793248318383068928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,629.8761405,881,784,816,652,631,653,0.455618221665,0.00452212101537,0.0496646329118,0.999999866269,8.23204910004e-05,-0.000510278838017,1.73322872259e-05,1793248318399735552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.549766273,662,630,880.549766273,784,816,652,631,653,0.455519475678,0.00452423114452,0.0496637697117,0.999999865225,8.49567363535e-05,-0.000511908316413,1.68112571954e-05,1793248318416402176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.024672923,662,630,880.024672923,784,815.975327077,652.024672923,631,653,0.455416091065,0.00452635257758,0.0496641825514,0.999999865462,8.72813609438e-05,-0.000511067988487,1.63358577769e-05,1793248318433069312
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.614186752,662,630,880.614186752,784,815.385813248,652.614186752,631,653,0.455285611558,0.00452679468946,0.0496656928708,0.999999866529,8.94775986455e-05,-0.000508597273848,1.62369589977e-05,1793248318449736448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.799577083,745,715,682,662.200422917,630,881,784,815,652.799577083,631,653,0.45514506685,0.00452746232581,0.0496661707747,0.999999867146,9.16143864223e-05,-0.000507013563133,1.58530074934e-05,1793248318466402816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.21954895,745,715,682,662.78045105,630,881,784,815,652.21954895,631,653,0.454985458455,0.0045285571102,0.0496646932618,0.999999866924,9.36385745442e-05,-0.000507109856773,1.49291601502e-05,1793248318483069184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.358542158,745,715,682,662.641457842,630,880.641457842,784,815.358542158,652,630.641457842,653,0.454807608471,0.004530284354,0.0496663662668,0.999999866614,9.7059750554e-05,-0.000507091497093,1.44612920222e-05,1793248318499735552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.935453582,745,715,682,662.064546418,630,880.064546418,784,815.935453582,652,630.064546418,653,0.454618648476,0.00453239679584,0.0496699580872,0.999999866238,0.000101331758974,-0.000507003308079,1.42711368825e-05,1793248318516402176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.519544089,681.480455911,662,630,880.519544089,784,816,652,630.519544089,653,0.454418573727,0.00453466996734,0.0496838187794,0.999999875533,0.000107964227702,-0.000486920085524,1.36282719618e-05,1793248318533068800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,662.104050111,630,880.895949889,784,816,652,631,653,0.454206078022,0.00453698624076,0.0496980197981,0.999999884848,0.000114412744249,-0.000465880754577,1.29976775451e-05,1793248318549735424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,662.686309429,630,880.313690571,784,816,652,631,653,0.453942931426,0.00453940754908,0.0497078394127,0.999999890718,0.000118649154638,-0.000452024034528,1.26855901878e-05,1793248318566402304
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.734456059,681,663,630.265543941,880.265543941,784,815.734456059,652.265543941,630.734456059,653,0.453662634885,0.004541789222,0.0497151609639,0.999999894483,0.000122849731461,-0.000442492881054,1.19435913907e-05,1793248318583069184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.158754582,681,663,630.841245418,880.841245418,784,815.158754582,652.841245418,630.158754582,653,0.45336230708,0.0045441246003,0.0497195647557,0.999999895949,0.000127008454146,-0.000438014026312,1.06994524678e-05,1793248318599736064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.583366673,745,715,681,663,631,880.583366673,784,815,652.583366673,630,653,0.453029328839,0.0045485455235,0.049724189955,0.999999896219,0.000135785490975,-0.000434777438011,9.6687503954e-06,1793248318616402432
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.00809817,745,715,681,663,631,880.00809817,784,815,652.00809817,630,653,0.452683918792,0.00455376052806,0.0497288994562,0.999999895939,0.000146320973387,-0.000432013848793,8.719315475e-06,1793248318633068800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.579248985,745,715,681.579248985,663,631,880,784,815,652,630.579248985,653,0.452306679996,0.00455877637605,0.0497344873216,0.999999895171,0.000154522543552,-0.000430960547091,7.32600197959e-06,1793248318649735424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.835491838,745,715,682,663,631.164508162,880.164508162,784,815,652,631,652.835491838,0.451910104404,0.00456379598113,0.0497379695995,0.999999894757,0.000162297235504,-0.00042908370379,5.65354505586e-06,1793248318666402304
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.255935752,745,715,682,663,631.744064248,880.744064248,784,815,652,631,652.255935752,0.451465889435,0.00456883223873,0.0497361079169,0.99999989536,0.000169079003847,-0.000425067485832,3.29280994336e-06,1793248318683068928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.321821097,745,715,682,663,632,880.678178903,784,815,652,631,652.321821097,0.451027169211,0.00457415021512,0.049744164465,0.999999904413,0.000176087146611,-0.000400209899721,5.29253367666e-07,1793248318699735552
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.898155079,745,715,682,663,632,880.101844921,784,815,652,631,652.898155079,0.450592794469,0.00457969098992,0.0497600648664,0.999999918808,0.000183274318553,-0.000358869873193,-2.5528756568e-06,1793248318716402688
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.529259263,663.470740737,632,880,784.470740737,815,652,631,653,0.450127611492,0.00458156590425,0.0497913224782,0.999999935695,0.000188513276737,-0.000305050194543,-4.20364427838e-06,1793248318733069312
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.955853736,745,715,681,664,632,880,785,814.955853736,652,631,653,0.44965025602,0.00458322693408,0.0498241472279,0.999999949533,0.000193875271785,-0.000251621986108,-5.65912379484e-06,1793248318749735936
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.362229059,745,715,681,664,632,880,785,814.362229059,652,631,653,0.449103698907,0.00459201947085,0.0498354496364,0.999999950807,0.00020597351732,-0.00023640679911,-8.50789439293e-06,1793248318766402304
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.225485872,745,715,681,664,632.225485872,880,785,814.225485872,652,631,653,0.448517567601,0.00459871894483,0.0498327169651,0.999999948005,0.00021611267556,-0.000239059667565,-1.16403972242e-05,1793248318783068928
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664.380801424,633,880,785,814.619198576,652,631,653,0.447196482881,0.0046080782451,0.0497766327505,0.999999922121,0.000232325540341,-0.00031847147917,-1.89374602976e-05,1793248318816402432
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664.956826881,633,880,785,814.043173119,652,631,653,0.446510702368,0.00461530308627,0.0497418285031,0.999999899429,0.000242526266614,-0.000376571864314,-2.27315555515e-05,1793248318833069056
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.45703178,745,715,681.54296822,664.45703178,632.45703178,880,785,814,652,631,653,0.445847122136,0.00462058413681,0.0497394243071,0.999999895055,0.000252828106506,-0.000381208124832,-2.54638002115e-05,1793248318849735680
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.128178069,745.128178069,715,681.871821931,664,632.128178069,880,785,813.871821931,652,631,653,0.445176298383,0.00462543843519,0.0497474568411,0.999999895699,0.000263121523884,-0.000372282901423,-2.78362201778e-05,1793248318866402304
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.707228189,745.707228189,715,681.292771811,664,632.707228189,880,785,813.292771811,652,631,653,0.444473668274,0.0046293455947,0.0497829669946,0.999999907466,0.000273356494541,-0.000330891875533,-2.92455684693e-05,1793248318883069440
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.136587579,745.136587579,715,681.863412421,664,632.136587579,880,785,813,652,630.136587579,653,0.442913286636,0.00462126543117,0.0497763459092,0.999999934999,2.1447399997e-05,-0.000357951376176,-3.75989735616e-05,1793248318916402432
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.438795647,745,715,682,664,632.438795647,880,785,813,652,630.438795647,653,0.442143051773,0.00459740486172,0.0497764048037,0.999999937109,-3.46475551244e-05,-0.000350794727664,-3.90365710832e-05,1793248318933069056
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.397138391,664,633,880,785,813,652,631,653,0.440616745954,0.00456822503901,0.049814265602,0.999999960116,-4.41194774789e-05,-0.000275674813612,-4.27083835619e-05,1793248318966403328
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.343837621,745,715,681.343837621,663.656162379,633,880,785,813,652,630.343837621,652.343837621,0.438024149846,0.00459064226235,0.0497889511053,0.999999944345,1.28183097226e-05,-0.000329081949784,-5.33913581976e-05,1793248319016403200
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,633,880,785,812.908552829,652,630.091447171,653,0.435361872721,0.00460569406519,0.0498022699963,0.999999946003,6.04787403762e-05,-0.000317881826393,-5.73287870654e-05,1793248319066402816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,633,880,785,812.328635294,652,630.671364706,653,0.434434868833,0.00461132044165,0.0497781832286,0.999999923795,0.000163749672454,-0.000353402932257,-2.64850170106e-05,1793248319083069440
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.622155491,744.377844509,715,681.377844509,664,633,879,785,812,652.377844509,630.622155491,652.377844509,0.431706812626,0.00459827460947,0.0498047900145,0.999999932911,0.000188920115976,-0.000313183347939,-2.00712218515e-05,1793248319133069056
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.266576716,745,715,681,663.733423284,633,879.533153432,785,811.266576716,652,630.266576716,652.733423284,0.42791735098,0.00460730038053,0.0497726195531,0.999999921991,0.000133997028548,-0.000369744962802,-3.67669004032e-05,1793248319199735808
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879.533817914,785,811.533817914,653,630,653,0.425108090421,0.00461212281036,0.049781037236,0.999999929696,0.000149570871048,-0.000341956721616,-3.60758452858e-05,1793248319249735424
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.03991291,745,715,681,664,633,879.03991291,785,811.03991291,652.96008709,630,653,0.424218153247,0.00460817393322,0.049811902803,0.999999956034,0.000111680580519,-0.000272023492644,-3.82368381757e-05,1793248319266402048
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.629960203,745,715,681,664,633,879.629960203,785,811.629960203,652.370039797,630,653,0.423332167589,0.00460503589883,0.0498299659193,0.999999961725,0.000124240022955,-0.000244143616706,-3.88394207113e-05,1793248319283068928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.784533846,633.215466154,880,785,811.784533846,652.215466154,629.784533846,652.784533846,0.422423983327,0.00460319798789,0.0498284409794,0.999999958493,0.00013655326561,-0.000250650591788,-3.92573455328e-05,1793248319299735552
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633.630942738,879.630942738,785,811,653,629.369057262,652.369057262,0.420572228858,0.00460775161888,0.0497875046906,0.999999931003,0.000153745087257,-0.000335830039819,-3.96775040768e-05,1793248319333069312
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633.056413353,879.056413353,785,811,653,629.943586647,652.943586647,0.419687869094,0.0046141032453,0.0497966313661,0.999999931868,0.000155359609323,-0.00033244286335,-4.01047199323e-05,1793248319349735936
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.515036439,633.515036439,878.484963561,785.515036439,811,653,630,652.484963561,0.418779789394,0.00461873522,0.0497861318689,0.999999922993,0.00014839065375,-0.000361206892964,-3.90448633814e-05,1793248319366402304
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.910251366,745,715,680.910251366,663.910251366,634,878.179497268,785.910251366,811,652.910251366,629.910251366,652,0.417885328689,0.00462146249858,0.049774887979,0.999999914177,0.000142297285222,-0.000387211858606,-3.82687030582e-05,1793248319383068928
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.315286808,745,715,680.315286808,663.315286808,634,879.369426384,785.315286808,811,652.315286808,629.315286808,652,0.417082070918,0.00461452180945,0.049771483011,0.99999991705,0.000146393789079,-0.000377979283479,-4.00009919727e-05,1793248319399735552
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.2711654,634,879.457669199,785.2711654,810.7288346,652,629,652,0.41629808518,0.0046086780246,0.0497835959134,0.999999927833,0.000147512140852,-0.000347643568126,-4.14536855588e-05,1793248319416402176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.848021414,634,878.303957172,785.848021414,810.151978586,652,629,652,0.415535825276,0.00460407080412,0.0498132024467,0.999999945464,0.000145273156868,-0.000293517826859,-4.25911850898e-05,1793248319433069056
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.995784804,745,715,680,663.004215196,634,878.995784804,786,810.995784804,652.995784804,629.995784804,652.995784804,0.413939275817,0.00460820079505,0.0497923306198,0.99999993687,0.000109427223262,-0.000335454690521,-4.19060529521e-05,1793248319466403328
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,878.412802949,786,811,653,629.412802949,652.412802949,0.413165927842,0.00461420359556,0.0497711678271,0.99999992338,0.000131109785794,-0.000366291225549,-4.33638761595e-05,1793248319483069696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.824950672,744.824950672,715,680,663,634,878,786,811,653,629,652.175049328,0.412420198679,0.00461804076126,0.0497654787557,0.999999917246,0.000148208181653,-0.000376319293445,-4.38950241804e-05,1793248319499735808
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.332531829,744.332531829,715,680,663,634,878,786,811,653,629,653,0.411057539785,0.00461635944583,0.0498079405924,0.999999936105,0.000148396149941,-0.000322574202183,-4.14115389238e-05,1793248319533069056
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.296866104,745,715,679.296866104,663,633.703133896,877.703133896,786,810,653,629,652.296866104,0.404637118436,0.0046144303618,0.0497855261403,0.999999920312,0.000138415603598,-0.000371550728226,-4.65589597004e-05,1793248319733069056
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.87462627,745,715,679.87462627,663,633.12537373,877.12537373,786,810,653,629,652.87462627,0.404298491262,0.00461518375782,0.0498156608344,0.999999935889,0.000141531862071,-0.000325669755425,-4.61449802983e-05,1793248319749736192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.548723845,663,633,877.451276155,786,810,653,629,653,0.4039821875,0.00461653481129,0.0498391723396,0.999999946644,0.00014341608461,-0.000289859331436,-4.60930027368e-05,1793248319766402816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.02817051,878,786,810,653,629,653,0.403671769595,0.00461807056744,0.049859251469,0.999999954716,0.000145012191547,-0.000259633060348,-4.6158747307e-05,1793248319783069440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.61603564,878,786,810,653,629,653,0.403355374844,0.00461998518374,0.0498476045264,0.999999947428,0.000147667848111,-0.000284902677662,-4.65701469464e-05,1793248319799735808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,785.799166263,810,653,629,652.799166263,0.403051565601,0.00462221562929,0.0498340563406,0.999999939199,0.000150106146333,-0.000311168409093,-4.73783812224e-05,1793248319816402176
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,785.220143744,810,653,629,652.220143744,0.402771456088,0.00462504081073,0.0498169279366,0.999999929665,0.000152135138154,-0.000339309914205,-4.89338923529e-05,1793248319833069056
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.643989943,745.356010057,715,679,663,634,878,785.356010057,809.643989943,653,629,652,0.402522735548,0.00462475598442,0.0498057708283,0.999999923525,0.000149159608739,-0.000358136267696,-4.93875946348e-05,1793248319849735424
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.069595819,745.930404181,715,679,663,634,878,785.930404181,809.069595819,653,629,652,0.402293269639,0.00462256341413,0.0497982766369,0.999999919638,0.000143114200813,-0.00037124851377,-4.91654243211e-05,1793248319866402048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.504808239,745.495191761,715,679,663,634,878,786,809.504808239,653,629,652,0.402112708718,0.00462186392136,0.0498018279291,0.999999928961,8.97873134657e-05,-0.000362710171467,-4.95707333082e-05,1793248319883068672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.081773056,663.081773056,634,877.918226944,786,810,653,629,652,0.401943633561,0.00462095623552,0.0498075527657,0.999999936539,4.45717216702e-05,-0.000350111380672,-4.8547879604e-05,1793248319899735296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.674737758,663.674737758,634,877.325262242,786,810,653,629,652,0.401804210351,0.00461746023283,0.0498173454765,0.999999940442,9.0812826955e-05,-0.000330789188796,-3.80562864546e-05,1793248319916401920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.738531232,633.738531232,877,786,810,653,629,652.261468768,0.40167722689,0.00460871452484,0.0498264878202,0.999999943741,0.000117823350348,-0.000312577359914,-3.05252520504e-05,1793248319933068800
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.159374281,633.159374281,877,786,810,653,629,652.840625719,0.401565357907,0.00459359035221,0.0498348399583,0.999999948546,0.000121468447115,-0.000295714639385,-2.65913383488e-05,1793248319949735424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.583052168,663,633.416947832,877.416947832,785.583052168,810,653,629,653,0.401463104267,0.00458590716252,0.0498355284774,0.999999949819,0.000117788315341,-0.00029293985736,-2.59619811562e-05,1793248319966401792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.007806339,663,633.992193661,877.992193661,785.007806339,810,653,629,653,0.40136450118,0.0045810490093,0.0498333074344,0.999999949786,0.00011132709456,-0.000295513688346,-2.65872286669e-05,1793248319983068416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.420627395,745,715,679,663.579372605,634,877.420627395,785.579372605,810,653,629,653,0.40128989688,0.00458387939971,0.0498318936032,0.99999994889,0.000115082824994,-0.000296985462715,-2.78532590373e-05,1793248319999735296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.164434273,745,715,679,663.835565727,634,877,786,810,653,629,652.835565727,0.40122120153,0.0045854226622,0.0498310422561,0.999999948541,0.000116997572343,-0.000297322955363,-2.87719822697e-05,1793248320016402432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.743739721,745,715,679,663.256260279,634,877,786,810,653,629,652.256260279,0.401166581615,0.00458345160729,0.0498315820507,0.999999949633,0.000113912853914,-0.0002948368827,-2.87922007184e-05,1793248320033068800
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.898238431,679,663,634,877,786,810,653,629,652.898238431,0.401091173838,0.00458706552328,0.049838449766,0.999999953471,0.000117896679979,-0.000279730998217,-3.01512285482e-05,1793248320066402048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.528139872,679,663,634,877,786,810,653,629,652.528139872,0.40106363275,0.00458636778871,0.0498393505831,0.999999954141,0.000118279720829,-0.000277153691891,-3.02180380889e-05,1793248320083069184
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.046254042,679,663,634.046254042,877.046254042,786,810,653,629,652.046254042,0.401038052762,0.00458501880829,0.0498395005377,0.999999954512,0.000117929241352,-0.000275972700873,-3.01435360363e-05,1793248320099736576
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,716,679,663,634.200943886,877.200943886,786,809.200943886,653,629,652.200943886,0.40099849288,0.00458556786035,0.0498393840082,0.999999954874,0.000118058270598,-0.000274507910356,-3.09805490839e-05,1793248320149735424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.626014325,679,663,634,877,786,809.373985675,653,629,652,0.400992631896,0.00458484492852,0.0498400373395,0.9999999553,0.000117696189935,-0.000273125186589,-3.08402059427e-05,1793248320166402048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.051781175,679,663,634,877,786,809.948218825,653,629,652,0.400988938289,0.00458352918325,0.0498409442464,0.999999956056,0.000116286116449,-0.000270992057376,-3.0475998811e-05,1793248320183068672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,786,809.461394141,653,629,652,0.400987909452,0.00458528318344,0.0498424380224,0.999999956631,0.000116725715679,-0.000268639675712,-3.07549987543e-05,1793248320199735296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.872250788,745,715,679,663.127749212,634,877.127749212,786,809.127749212,653,629,652.127749212,0.400986896535,0.00458679181733,0.0498435586451,0.999999957076,0.00011694799568,-0.000266849624697,-3.10375779482e-05,1793248320216402176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.293158095,745,715,679,663.706841905,634,877.706841905,786,809.706841905,653,629,652.706841905,0.400985006757,0.00458635863933,0.0498431553988,0.999999957139,0.000115754784096,-0.000267123087532,-3.11075732072e-05,1793248320233068800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.28614912,745,715,679,663.71385088,634,877.71385088,786,810,653,629,653,0.400984790047,0.00458607862131,0.0498440570007,0.999999957502,0.000115505650674,-0.000265874561495,-3.10656020451e-05,1793248320249735168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.865676347,745,715,679,663.134323653,634,877.134323653,786,810,653,629,653,0.400986288672,0.00458595563251,0.0498462964151,0.999999958167,0.000116224445524,-0.000263065596602,-3.09088358616e-05,1793248320266401792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.440029996,634,877,786,810,653,629,652.559970004,0.400986013599,0.00458732954233,0.0498462075489,0.999999957871,0.000118218842776,-0.000263266617315,-3.12024061636e-05,1793248320283068928
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.986811797,634,877.013188203,786,810,653,629,652,0.400985221167,0.00458904945903,0.0498454379888,0.999999957316,0.000120405522326,-0.000264332429816,-3.16164001692e-05,1793248320299736320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.397690827,634,877.602309173,786,810,653,629,652,0.400985205502,0.00458615663051,0.0498456194934,0.999999958272,0.00011418203479,-0.000263504717041,-3.13557497373e-05,1793248320316403200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.187988162,634,878,786,810,652.812011838,629,652.187988162,0.40098542274,0.00458486418072,0.0498459451433,0.999999958831,0.000111398335259,-0.000262580042465,-3.13034161956e-05,1793248320333069824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.766516496,634,878,786,810,652.233483504,629,652.766516496,0.400986123829,0.0045868964734,0.0498465702511,0.999999958619,0.000115760699941,-0.000261453932507,-3.16838552119e-05,1793248320349736448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.656007779,634,877.656007779,786,809.656007779,652.343992221,629,652.656007779,0.40098654728,0.00458739196957,0.0498473908603,0.999999958672,0.000117595781939,-0.000260447328281,-3.15297607935e-05,1793248320366403072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.079244352,634,877.079244352,786,809.079244352,652.920755648,629,652.079244352,0.400986782861,0.00458684755268,0.0498483437605,0.999999958914,0.000117720712771,-0.000259521590738,-3.10139605288e-05,1793248320383069696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,786,809.505850402,653,629,652.505850402,0.400986577845,0.00458659261378,0.0498483032208,0.999999959199,0.000115765384319,-0.00025929075322,-3.11284542368e-05,1793248320399736064
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.091140586,679,663,634,877.091140586,786,810,653,628.908859414,652.908859414,0.400986416172,0.0045862922293,0.0498481652647,0.999999959449,0.000113887689489,-0.000259135226662,-3.13064072331e-05,1793248320416402688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.670370576,679,663,634,877.670370576,786,810,653,628.329629424,652.329629424,0.400986862444,0.00458550154496,0.0498483530084,0.999999959504,0.000114200199819,-0.00025879027065,-3.12865694351e-05,1793248320433069056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.750391124,745,715.750391124,679,663,634,877.750391124,786,810,653,628.249608876,652,0.400987345271,0.00458502598513,0.0498488130571,0.999999959733,0.000114245040584,-0.000257898828314,-3.11488631505e-05,1793248320449735424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.171141768,745,715.171141768,679,663,634,877.171141768,786,810,653,628.828858232,652,0.400987876375,0.00458496658745,0.0498496327195,0.999999960192,0.000113936389462,-0.000256285680767,-3.08554964352e-05,1793248320466402304
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.404684917,745,715,679,663.404684917,634,877,786,810,653,629,652,0.400987008269,0.0045851383939,0.0498493696234,0.999999960061,0.000113769808416,-0.000256872868645,-3.0825696184e-05,1793248320483069440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.979076255,745,715,679,663.979076255,634,877,786,810,653,629,652,0.400985553398,0.00458540715682,0.0498486524675,0.999999959682,0.000113662805107,-0.000258382777069,-3.09064237194e-05,1793248320499736320
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.566448004,715.566448004,679,664,633.433551996,877,786,810,653,629,652,0.400985422123,0.00458604326429,0.0498491929968,0.999999959557,0.000115726177649,-0.000257947207999,-3.09341840861e-05,1793248320516402944
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.847946021,745.847946021,715.847946021,679,663.847946021,633.152053979,877.152053979,786,810,653,629,652.152053979,0.400985203152,0.00458663320783,0.0498493307978,0.999999959429,0.000117031321824,-0.000257838466666,-3.10584148536e-05,1793248320533069568
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.26867995,745.26867995,715.26867995,679,663.26867995,633.73132005,877.73132005,786,810,653,629,652.73132005,0.400984597204,0.00458705443064,0.0498482035028,0.999999959277,0.000115975611055,-0.000258854625502,-3.14593156419e-05,1793248320549735936
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa52160b3043fb79d5dd652fdebdf629042ad295
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+2,0.033333333,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+3,0.050000000,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+4,0.066666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+5,0.083333333,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
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+375,6.250000000,pose2_to_pose3_retreat,0.583513491356,0.00992792667449,1.04004248648,0.554085281567,0.0186023809079,1.03966587493
+376,6.266666667,pose2_to_pose3_retreat,0.583454905506,0.00992794551567,1.04004249063,0.554026695296,0.0186023983656,1.03966588004
+377,6.283333333,pose2_to_pose3_retreat,0.583408062944,0.00992781224834,1.04004253792,0.5539798549,0.01860227195,1.03966591582
+378,6.300000000,pose2_to_pose3_retreat,0.583369290482,0.00992786558985,1.04004212213,0.553941081292,0.0186023218565,1.03966551048
+379,6.316666667,pose2_to_pose3_retreat,0.583338132571,0.0099278955603,1.04004230964,0.553909923522,0.0186023522101,1.03966569576
+380,6.333333333,pose2_to_pose3_retreat,0.583313753037,0.00992781988199,1.04004245496,0.553885545645,0.0186022820753,1.03966583935
+381,6.350000000,pose2_to_pose3_retreat,0.583294420619,0.00992775859357,1.04004243087,0.553866214145,0.0186022239857,1.03966581718
+382,6.366666667,pose2_to_pose3_retreat,0.583279109002,0.00992794345863,1.04004263194,0.553850899396,0.0186023980864,1.03966601508
+383,6.383333333,pose2_to_pose3_retreat,0.583267553771,0.00992807815473,1.04004253495,0.553839341309,0.0186025230599,1.03966591737
+384,6.400000000,pose2_to_pose3_retreat,0.583259768069,0.0099278985636,1.04004250974,0.553831558337,0.0186023527281,1.03966589213
+385,6.416666667,pose2_to_pose3_retreat,0.583254492016,0.00992784379788,1.04004255667,0.553826283355,0.0186023015588,1.03966593826
+386,6.433333333,pose2_to_pose3_retreat,0.583251249089,0.00992791531499,1.04004263409,0.553823039598,0.0186023702087,1.03966601444
+387,6.450000000,pose2_to_pose3_retreat,0.583249400129,0.00992781509178,1.0400426547,0.55382119077,0.0186022702699,1.03966603142
+388,6.466666667,pose2_to_pose3_retreat,0.58324834074,0.00992774445695,1.0400426643,0.553820131511,0.0186021999778,1.03966603867
+389,6.483333333,pose2_to_pose3_retreat,0.583247982791,0.00992772059073,1.04004266755,0.553819773607,0.0186021762274,1.03966604112
+390,6.500000000,pose2_to_pose3_retreat,0.583247714411,0.00992773840303,1.04004262567,0.553819505259,0.018602194236,1.03966600122
+391,6.516666667,pose2_to_pose3_retreat,0.583247471073,0.00992777169932,1.04004256642,0.553819261951,0.0186022277629,1.039665945
+392,6.533333333,pose2_to_pose3_retreat,0.583247442206,0.00992777564919,1.04004255939,0.553819233087,0.0186022317401,1.03966593833
+393,6.550000000,pose2_to_pose3_retreat,0.583247350311,0.00992778822334,1.04004253701,0.553819141203,0.0186022444013,1.0396659171
+394,6.566666667,pose2_to_pose3_retreat,0.583247326368,0.00992779149943,1.04004253118,0.553819117264,0.0186022477001,1.03966591157
+395,6.583333333,pose2_to_pose3_retreat,0.583247248854,0.00992780210582,1.04004251231,0.553819039759,0.0186022583799,1.03966589367
+396,6.600000000,pose2_to_pose3_retreat,0.583247022027,0.00992783314296,1.04004245708,0.553818812958,0.018602289632,1.03966584126
+397,6.616666667,pose2_to_pose3_retreat,0.583246822701,0.00992786041693,1.04004240854,0.553818613657,0.0186023170948,1.03966579521
+398,6.633333333,pose2_to_pose3_retreat,0.583246678411,0.00992788016042,1.04004237341,0.553818469384,0.018602336975,1.03966576188
+399,6.650000000,pose2_to_pose3_retreat,0.583246571131,0.00992789483967,1.04004234729,0.553818362117,0.018602351756,1.03966573709
+400,6.666666667,pose2_to_pose3_retreat,0.583246455227,0.00992791069896,1.04004231907,0.553818246227,0.0186023677251,1.03966571032
+401,6.683333333,pose2_to_pose3_retreat,0.5832462964,0.00992793243148,1.0400422804,0.553818087419,0.0186023896081,1.03966567362
+402,6.700000000,pose2_to_pose3_retreat,0.583246233883,0.00992794098574,1.04004226517,0.55381802491,0.0186023982216,1.03966565918
+403,6.716666667,pose2_to_pose3_retreat,0.58324610857,0.00992795813253,1.04004223466,0.553817899612,0.0186024154871,1.03966563023
+404,6.733333333,pose2_to_pose3_retreat,0.583245966735,0.00992794056933,1.04004226486,0.553817757708,0.0186023976129,1.03966565864
+405,6.750000000,pose2_to_pose3_retreat,0.583245804798,0.0099278808466,1.04004236879,0.553817595599,0.0186023370573,1.03966575673
+406,6.766666667,pose2_to_pose3_retreat,0.583245562711,0.00992779944402,1.04004251772,0.5538173532,0.0186022542273,1.03966589716
+407,6.783333333,pose2_to_pose3_retreat,0.583245509945,0.00992795563969,1.04004240796,0.553817299116,0.0186024060888,1.03966579054
+408,6.800000000,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812393,1.03966577906
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e054b476400b3d418c7b963f420590201e84bd84
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a942df8ea3a419049b0511b89b0d5be47a7fb1bea9e4e0160139ad83fa46f9a0
+size 26052499
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5af15535d9b2a5fb35457bfd559c9d58b2132399
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+16,0.266666667,BASELINE,765.278053818,745,715,679,663.721946182,634,877,786,810,653,629,652,0.400985572849,0.00458352456226,0.0498497079873,0.999999960978,0.00010839774086,-0.000255592742462,-3.10788145206e-05,1793248320939244032
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+18,0.300000000,BASELINE,766,745,715,679,663,634,877,785.550314158,809.550314158,653,629,652,0.400986511873,0.00458652482893,0.0498504021091,0.999999960838,0.000112679021075,-0.000254255377697,-3.13324219981e-05,1793248320972577024
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+21,0.350000000,BASELINE,765.185756239,745,715,679,663,633.185756239,877,785,810,653,628.814243761,652.185756239,0.400987727042,0.00458521809279,0.0498514929768,0.999999961285,0.000111424541405,-0.000253021686432,-3.15477934107e-05,1793248321022576640
+22,0.366666667,BASELINE,765.770425099,745,715,679,663,633.770425099,877,785,810,653,628.229574901,652.770425099,0.400987102619,0.00458586005153,0.0498515973801,0.999999961143,0.000111458991697,-0.000253525728274,-3.18590410788e-05,1793248321039243264
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+27,0.450000000,BASELINE,766,745,715,679,663,634,878,786,810,653,629,652.337435987,0.400987755821,0.0045833026208,0.0498519256517,0.999999961504,0.00011108125355,-0.000252392143625,-3.08488621721e-05,1793248321122577152
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+29,0.483333333,BASELINE,765.168043829,745,715,679,663,634,877.168043829,786,810.831956171,653,629,652.831956171,0.400987788154,0.00458380691947,0.0498515017653,0.99999996117,0.000113359081467,-0.000252713679396,-3.07387519552e-05,1793248321155910144
+30,0.500000000,BASELINE,765.41402075,745,715,679.41402075,663,634,877.41402075,786,810.58597925,653,629,652.58597925,0.400987791021,0.00458457368976,0.049851634536,0.999999961458,0.000112497581512,-0.000251918986338,-3.10655691981e-05,1793248321172576768
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+32,0.533333333,BASELINE,766,745,715,679.430812705,663.569187295,634,877.430812705,786,810.569187295,653,629,652.569187295,0.400988162665,0.00458444282647,0.0498521057313,0.999999961977,0.000108762605825,-0.000251466489812,-3.13346373888e-05,1793248321205910272
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+38,0.633333333,BASELINE,765.052522897,745.947477103,715,679,663,634,877.947477103,786,809.947477103,653,629,652.052522897,0.400985397886,0.0045844102575,0.0498513801988,0.999999961327,0.000108022182131,-0.000254347636526,-3.13675384779e-05,1793248321305910272
+39,0.650000000,BASELINE,765.628183805,745.371816195,715,679,663,634,877.371816195,786,809.371816195,653,629,652.628183805,0.40098609792,0.00458481016719,0.0498514083915,0.999999961407,0.000109800029953,-0.000253256279751,-3.1494736229e-05,1793248321322576896
+40,0.666666667,BASELINE,766,745,715,679,663,634,877.207812784,786,809.207812784,653,629,653,0.400986478317,0.00458544010839,0.0498512848058,0.999999961271,0.0001117669455,-0.00025292040641,-3.15810046025e-05,1793248321339243520
+41,0.683333333,BASELINE,766,745,715,679,663,634,877.794679557,786,809.794679557,653,629,653,0.400986275689,0.00458648963089,0.0498508843737,0.999999960745,0.000114078723629,-0.000253962547539,-3.15926171e-05,1793248321355910400
+42,0.700000000,BASELINE,766,745,715,679,663.376413737,634,877.623586263,786,810,653,628.623586263,652.623586263,0.40098656874,0.00458600338741,0.0498508891491,0.999999960763,0.00011351445207,-0.000254160345673,-3.14789712276e-05,1793248321372577024
+43,0.716666667,BASELINE,766,745,715,679,663.955385911,634,877.044614089,786,810,653,628.044614089,652.044614089,0.400987128528,0.00458469070657,0.0498511119777,0.999999961071,0.00011140250013,-0.000253903779917,-3.12979204303e-05,1793248321389243648
+44,0.733333333,BASELINE,765.468109258,745,715,679,663.468109258,634,877,786,810,653,628.531890742,652,0.400987232965,0.00458497634208,0.049851704929,0.999999961362,0.000110900602948,-0.000252993857663,-3.11775906722e-05,1793248321405910528
+45,0.750000000,BASELINE,765.107449521,745,715.107449521,679,663,634,877,786,810,653,629,652,0.400987256086,0.00458536601133,0.0498521474741,0.999999961582,0.000110745574986,-0.000252194352646,-3.11196897259e-05,1793248321422577152
+46,0.766666667,BASELINE,765.679806119,745,715.679806119,679,663,634,877,786,810,653,629,652,0.400987091868,0.00458562842526,0.0498518055446,0.999999961513,0.00011150973954,-0.000252108617022,-3.13099674493e-05,1793248321439243264
+47,0.783333333,BASELINE,766,745,715.738445494,679,663,634,877,786,810,653,629,652,0.400986949274,0.00458601316755,0.0498514585053,0.999999961364,0.000112066062018,-0.000252431487301,-3.14995693411e-05,1793248321455909888
+48,0.800000000,BASELINE,766,745,715.144771421,679,663,634,877,786,810,653,629,652,0.400986834139,0.00458655324134,0.0498511049777,0.999999961112,0.000112358468595,-0.000253273201684,-3.1688313094e-05,1793248321472577024
+49,0.816666667,BASELINE,766,745,715,679,663.439096519,634,877.439096519,786.439096519,810,653,629,652,0.400985731554,0.00458497871265,0.0498507834069,0.999999960905,0.000111773610948,-0.000254411980482,-3.11728861777e-05,1793248321489243648
+50,0.833333333,BASELINE,766,745,715.019573073,679,663.980426927,634,877.980426927,786.980426927,810,653,629,652.019573073,0.40098445338,0.00458288335667,0.0498505552584,0.999999960741,0.000111026860569,-0.000255464759121,-3.04667912524e-05,1793248321505910272
+51,0.850000000,BASELINE,766,745,715.593566871,679,663.406433129,634,877.406433129,786.406433129,810,653,629,652.593566871,0.400987221941,0.00458535221355,0.0498526814338,0.999999961468,0.000113708241704,-0.000251367827103,-3.07925297207e-05,1793248321522576640
+52,0.866666667,BASELINE,766,745,715.829792249,679,663,634,877.170207751,786,810,653.170207751,629,652.829792249,0.400988799992,0.0045865364974,0.0498539258682,0.999999961932,0.00011459770184,-0.000249079327035,-3.10416164129e-05,1793248321539242752
+53,0.883333333,BASELINE,766,745,715.246730669,679,663,634,877.753269331,786,810,653.753269331,629,652.246730669,0.400987490356,0.00458460493658,0.0498530315624,0.999999961795,0.000111140700273,-0.000251177337525,-3.11047774809e-05,1793248321555909632
+54,0.900000000,BASELINE,766,745,715,678.66388923,663,634,878,786,810,653.66388923,629,652,0.400986499314,0.00458371297667,0.0498521021345,0.999999961609,0.000109232838831,-0.000252752647733,-3.10773584509e-05,1793248321572576256
+55,0.916666667,BASELINE,766,745,715,678.081209311,663,634,878,786,810,653.081209311,629,652,0.400985741991,0.00458358366277,0.0498511469412,0.999999961394,0.000108461418843,-0.000253944507588,-3.09834903199e-05,1793248321589242880
+56,0.933333333,BASELINE,766,745,715,678.496951934,663,634,877.503048066,786,810,653,629,652,0.400985458437,0.00458438316943,0.049850943678,0.999999961029,0.000110581062579,-0.00025445764819,-3.10746614779e-05,1793248321605910016
+57,0.950000000,BASELINE,765.925801281,745,715,679,663,634,877,786,810,653,629,652.074198719,0.400985419993,0.00458523554729,0.0498509064281,0.999999960781,0.000112452661391,-0.000254596512076,-3.12040965532e-05,1793248321622577408
+58,0.966666667,BASELINE,765.349790357,745,715,679,663,634,877,786,810,653,629,652.650209643,0.400986520359,0.0045854282254,0.0498511684042,0.999999961523,0.000109480331788,-0.000252947464088,-3.13896531793e-05,1793248321639243520
+59,0.983333333,BASELINE,765.230914822,745,715,679,663,634,877.230914822,786,810,653,629,652.769085178,0.400987446126,0.00458532766118,0.0498516309665,0.999999962031,0.000108231138172,-0.000251457859619,-3.15139458802e-05,1793248321655909888
+60,1.000000000,BASELINE,765.818878517,745,715,679,663,634,877.818878517,786,810,653,629,652.181121483,0.400988101921,0.00458477367507,0.0498524036826,0.999999962188,0.000109646319457,-0.000250214792248,-3.15435101067e-05,1793248321672577024
+61,1.016666667,BASELINE,766,745,715,679,663,634,877.599075572,785.599075572,810,653,629,652,0.400988070264,0.00458558662353,0.0498523674848,0.999999961846,0.000111262673827,-0.000250858105036,-3.15989156767e-05,1793248321689243392
+62,1.033333333,BASELINE,766,745,715,679,663,634,877.019664225,785.019664225,810,653,629,652,0.400987732561,0.00458700811549,0.0498519711678,0.99999996128,0.000112968588043,-0.000252341212534,-3.16658255123e-05,1793248321705910016
+63,1.050000000,BASELINE,766,745,715,679,663,634,877,785.55777524,810,653,629,652,0.400986300248,0.00458652499194,0.0498510193581,0.999999960929,0.00011301701935,-0.000253732644634,-3.14578177024e-05,1793248321722576384
+64,1.066666667,BASELINE,765.866121201,745,715,679,663,634,877,786,810,653,628.866121201,652.133878799,0.400985251707,0.00458577430634,0.0498504076173,0.999999960816,0.000112359534355,-0.000254480933616,-3.13400630407e-05,1793248321739243264
+65,1.083333333,BASELINE,765.294162365,745,715,679,663,634,877,786,810,653,628.294162365,652.705837635,0.40098558478,0.00458436704505,0.0498509725113,0.999999961459,0.00010958267579,-0.000253135259338,-3.15492390441e-05,1793248321755909888
+66,1.100000000,BASELINE,765.287946155,745,715,679,663,634,877,786,809.712053845,653,628.287946155,652.712053845,0.400985488901,0.00458374914929,0.0498510503965,0.999999961689,0.000107751314481,-0.000253009946801,-3.15874744112e-05,1793248321772576512
+67,1.116666667,BASELINE,765.880802272,745,715,679,663,634,877,786,809.119197728,653,628.880802272,652.119197728,0.400984938801,0.00458396712312,0.0498506125817,0.999999961487,0.000106921152801,-0.000254176891411,-3.14446984824e-05,1793248321789243136
+68,1.133333333,BASELINE,765.538434794,745,715,679,663,634,877,786,809.461565206,653,629,652,0.400985177171,0.00458417796509,0.0498508831654,0.999999961392,0.000108969547273,-0.000253697572305,-3.1275858221e-05,1793248321805910272
+69,1.150000000,BASELINE,765.039159965,745,715,679,663.039159965,634,876.960840035,785.960840035,809.960840035,653,629,652,0.400985607701,0.00458429171209,0.049851309765,0.999999961338,0.000111464065726,-0.000252846105789,-3.11085180143e-05,1793248321822577152
+70,1.166666667,BASELINE,765.615042496,745,715,679,663.615042496,634,876.384957504,785.384957504,809.384957504,653,629,652,0.400985952402,0.0045830992837,0.0498514313377,0.999999961556,0.0001101445808,-0.000252572212219,-3.10516370146e-05,1793248321839243520
+71,1.183333333,BASELINE,765.805084846,745,715,679,664,634,876.389830308,785.194915154,809.194915154,653,629,652,0.400986093774,0.00458268572827,0.0498514869639,0.999999961704,0.000109137747985,-0.000252420655972,-3.10452805971e-05,1793248321855910144
+72,1.200000000,BASELINE,765.217166884,745,715,679,664,634,877.565666231,785.782833116,809.782833116,653,629,652,0.400985825178,0.00458384259574,0.0498514096236,0.999999961719,0.000108761307974,-0.00025251576552,-3.11407956878e-05,1793248321872576768
+73,1.216666667,BASELINE,765.365314407,745,715,679,663.634685593,634,877.634685593,786,809.634685593,653,629,652,0.40098678512,0.00458434409113,0.0498518294676,0.999999961862,0.000109146080964,-0.00025177385496,-3.12035797578e-05,1793248321889243136
+74,1.233333333,BASELINE,765.944611143,745,715,679,663.055388857,634,877.055388857,786,809.055388857,653,629,652,0.400988464677,0.00458446170332,0.0498525405364,0.999999962079,0.000109976733271,-0.000250541661204,-3.12471916791e-05,1793248321905909760
+75,1.250000000,BASELINE,765.478953157,745,715,679,663,634,877,786,809,653,629,652,0.40098847217,0.00458479442272,0.0498526413254,0.999999962088,0.000110855858323,-0.000250088068502,-3.14717604544e-05,1793248321922576384
+76,1.266666667,BASELINE,765,745,715,679,663,634,877.097056501,785.902943499,809.097056501,653,628.902943499,652,0.400988246731,0.00458495599091,0.0498526729057,0.999999962093,0.000111310890105,-0.0002498459232,-3.16330353875e-05,1793248321939243264
+77,1.283333333,BASELINE,765,745,715,679,663,634,877.672457142,785.327542858,809.672457142,653,628.327542858,652,0.400987744524,0.00458416195561,0.0498526813799,0.999999962186,0.000109650516085,-0.000250240205258,-3.13880774304e-05,1793248321955910144
+78,1.300000000,BASELINE,765,745,715,679,663,634,877.746151791,785.253848209,810,653,628.253848209,652.253848209,0.400987589572,0.00458362930238,0.0498527215297,0.999999962221,0.000108636014511,-0.000250557842134,-3.12522964864e-05,1793248321972576768
+79,1.316666667,BASELINE,765,745,715,679,663,634,877.156844452,785.843155548,810,653,628.843155548,652.843155548,0.400987893518,0.00458344206432,0.0498528035385,0.999999962184,0.000108475030251,-0.000250774192758,-3.12607924349e-05,1793248321989243648
+80,1.333333333,BASELINE,765,745,715.425651283,679,663.425651283,634,877,786,810,653,629,652.574348717,0.400987522084,0.0045833768718,0.0498520802507,0.999999961891,0.000109220022656,-0.000251621073028,-3.12520564956e-05,1793248322005910016
+81,1.350000000,BASELINE,765.005646772,745,715.994353228,678.994353228,663.994353228,634,877,786,810,653,629,652.005646772,0.400986917913,0.00458336751076,0.0498510822307,0.999999961509,0.000110281533705,-0.000252673429355,-3.1240663584e-05,1793248322022576640
+82,1.366666667,BASELINE,765.582619269,745,715.417380731,678.417380731,663.417380731,634,877,786,810,653,629,652.582619269,0.400987548743,0.00458452860388,0.0498518376736,0.999999961842,0.0001101229898,-0.000251378187755,-3.15927649136e-05,1793248322039243264
+83,1.383333333,BASELINE,765.842407707,745,715,678.157592293,663,634,877,786,810,653,629,652.842407707,0.400987983405,0.00458510394548,0.0498523740212,0.999999962056,0.000110235940884,-0.000250462355381,-3.1711761475e-05,1793248322055909632
+84,1.400000000,BASELINE,765.272663789,745,715,678.727336211,663,634,877,786,810,653,629,652.272663789,0.400987905023,0.00458414736956,0.0498523373679,0.999999961961,0.000111058933642,-0.000250538792889,-3.12211184698e-05,1793248322072576512
+85,1.416666667,BASELINE,765.309695356,745,715,679,663,633.690304644,877.309695356,785.690304644,810,653,629,652.309695356,0.400987434286,0.00458355434981,0.049852172127,0.999999961977,0.000110192476527,-0.000250894311264,-3.09135065393e-05,1793248322089243392
+86,1.433333333,BASELINE,765.903632874,745,715,679,663,633.096367126,877.903632874,785.096367126,810,653,629,652.903632874,0.400986603441,0.0045832950064,0.0498518888669,0.999999962091,0.000107775421727,-0.000251505973446,-3.07738827837e-05,1793248322105910784
+87,1.450000000,BASELINE,766,745,715,679,663.483899425,633.483899425,877.516100575,785.483899425,810,653,629,652.516100575,0.40098687641,0.00458504199898,0.0498522199222,0.999999961883,0.000110476250904,-0.000251114104476,-3.11579022276e-05,1793248322122577408
+88,1.466666667,BASELINE,765.937709035,745,715,679,663.937709035,634,877,786,810,653,629,652,0.400987190049,0.00458684423689,0.0498526001869,0.999999961649,0.000113437502943,-0.000250669977646,-3.15853416319e-05,1793248322139243520
+89,1.483333333,BASELINE,765.35283483,745,715,679,663.35283483,634,877,786,810,653,629,652,0.400986051374,0.00458585001801,0.0498523951378,0.999999961818,0.000110267912824,-0.000251417994986,-3.15262230238e-05,1793248322155909888
+90,1.500000000,BASELINE,765.229756795,745,715,679,663,634,877,786,810,653,629,652,0.40098543521,0.00458535651309,0.0498523024838,0.999999961915,0.000108494639319,-0.000251806641838,-3.15042618032e-05,1793248322172576768
+91,1.516666667,BASELINE,765.808877517,745,715,679,663,634,877,786,810,653,629,652,0.400985613566,0.00458562438463,0.0498523807359,0.999999961916,0.000108844579288,-0.000251648836519,-3.15388014235e-05,1793248322189243136
+92,1.533333333,BASELINE,766,745,715,679,663,634,877,786,809.609470152,653,629,652,0.400985717237,0.00458452540825,0.0498520126197,0.999999961831,0.000108986576299,-0.000251934563382,-3.14547549663e-05,1793248322205909504
+93,1.550000000,BASELINE,766,745,715,679,663,634,877,786,809.026570735,653,629,652,0.40098578412,0.00458275314163,0.0498514246286,0.999999961704,0.000109026143533,-0.000252438768013,-3.13122946604e-05,1793248322222576384
+94,1.566666667,BASELINE,765.452751626,745,715,679,663,634,877,786,810.094496749,653,629,652.547248374,0.400987312881,0.00458304595226,0.0498523505973,0.999999962269,0.000107480036696,-0.000250854372101,-3.13321604665e-05,1793248322239243520
+95,1.583333333,BASELINE,765.121427951,745,715,679,663,634,877,786,810.878572049,653,629,653,0.40098860571,0.0045835305752,0.0498530876803,0.99999996269,0.000106510652818,-0.000249584414485,-3.13661648812e-05,1793248322255910400
+96,1.600000000,BASELINE,765.698588223,745,715,679,663,634,877,786,810.301411777,653,629,653,0.40098875102,0.00458436492211,0.0498528444746,0.999999962458,0.000107990007312,-0.00024986896276,-3.14241358104e-05,1793248322272577280
+97,1.616666667,BASELINE,765.719181487,745,715,679,663,634,877.280818513,786,810,653,629,653,0.400988294618,0.00458462190234,0.0498523511777,0.999999962302,0.000108510703264,-0.000250269673116,-3.14213440177e-05,1793248322289243648
+98,1.633333333,BASELINE,765.13140936,745,715,679,663,634,877.86859064,786,810,653,629,653,0.400987180505,0.00458424778171,0.0498515845142,0.999999962229,0.000107983520549,-0.000250797356459,-3.135213446e-05,1793248322305909760
+99,1.650000000,BASELINE,765,745,715,679,663,634,878,786,810,653,629,653,0.400987185879,0.0045841640413,0.0498517484902,0.999999962235,0.000106986031741,-0.0002511590044,-3.16870124905e-05,1793248322322576384
+100,1.666666667,BASELINE,765,745,715,678.969151742,663,634,877.969151742,786,810,653,629,653,0.400987383516,0.00458410823551,0.0498521076635,0.999999962249,0.000105867549126,-0.000251523820749,-3.208283144e-05,1793248322339243008
+101,1.683333333,BASELINE,765,745,715,678.395249057,663,634,877.395249057,786,810,653,629,653,0.400985290994,0.00458307223264,0.049851185621,0.999999962041,0.000105003102009,-0.000252786060145,-3.15031070462e-05,1793248322355909632
+102,1.700000000,BASELINE,765.178406538,745,715,678.178406538,663,634,877.178406538,786,810,653,629,652.821593462,0.400984928493,0.00458251495133,0.0498511328157,0.999999962096,0.00010501900118,-0.000252597706879,-3.11956675786e-05,1793248322372576256
+103,1.716666667,BASELINE,765.751515397,745,715,678.751515397,663,634,877.751515397,786,810,653,629,652.248484603,0.400988393449,0.00458301678215,0.04985300309,0.999999962731,0.000106982557358,-0.000249200097224,-3.14906247922e-05,1793248322389243136
+104,1.733333333,BASELINE,766,745,715,679,663.336451348,634,877.663548652,786,810,653,629,652.336451348,0.400989411795,0.00458405487193,0.0498535866097,0.999999962819,0.000107901262666,-0.000248431047518,-3.16453496156e-05,1793248322405910016
+105,1.750000000,BASELINE,766,745,715,679,663.930440445,634,877.069559555,786,810,653,629,652.930440445,0.400988557377,0.00458550344287,0.0498531851792,0.999999962495,0.00010802018378,-0.000249674036975,-3.16927331442e-05,1793248322422576896
+106,1.766666667,BASELINE,765.488260999,745,715,679,664,634,877,785.488260999,810,653,629,652.488260999,0.400988747657,0.00458517449514,0.0498534981437,0.999999962531,0.00010875269102,-0.000249228356865,-3.15509184221e-05,1793248322439243008
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,664,634,877,786,810,653,629,652,0.400987726113,0.00458463736853,0.0498530753065,0.999999962432,0.000107869636387,-0.000249995887471,-3.16422248482e-05,1793248322482539264
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.407831252,634,877,786,810,653,629,652.592168748,0.400987900788,0.00458381866884,0.0498526912989,0.999999962528,0.000106623234024,-0.000250179707347,-3.13804511636e-05,1793248322499205632
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.18013951,745,715,679,663,634,877,786,810,653,629,653.18013951,0.400988263922,0.00458339822442,0.0498527057896,0.999999962621,0.000106551531795,-0.000249864864521,-3.11913251631e-05,1793248322515872256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.75882269,745,715,679,663,634,877,786,810,653,629,653.75882269,0.400989044005,0.0045838588865,0.0498536019244,0.999999962702,0.000109078755573,-0.000248446772014,-3.11629260651e-05,1793248322532539136
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.337439416,663.337439416,634,877,786,810,653,628.662560584,653.662560584,0.400989377326,0.00458387475745,0.0498539526003,0.999999962798,0.000109345894858,-0.000247948801169,-3.11120335216e-05,1793248322549206016
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.916008619,663.916008619,634,877,786,810,653,628.083991381,653.083991381,0.400989391395,0.00458357278647,0.0498539134982,0.999999962907,0.000107998007212,-0.000248108337299,-3.10450674584e-05,1793248322565873152
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.511612223,664,634,877,785.511612223,810,653,628.488387777,652.511612223,0.400989470356,0.00458376783844,0.0498542560186,0.999999962887,0.000108579495707,-0.000247923729995,-3.11488074289e-05,1793248322582539264
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.938056885,634,877.061943115,785.061943115,810,653,629,652,0.400989427284,0.00458403721323,0.0498544877328,0.999999962803,0.00010945187703,-0.000247868536921,-3.12457031196e-05,1793248322599205632
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.345418359,634,877.654581641,785.654581641,810,653,629,652,0.400988244284,0.00458422019546,0.0498532148719,0.999999962362,0.000110009298597,-0.000249422812061,-3.10355894865e-05,1793248322615872256
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.758288186,786,810,653,629,652.241711814,0.400992637429,0.00458466771466,0.049854332022,0.999999962984,0.000109855881871,-0.000246986216148,-3.10144217113e-05,1793248322632539136
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.178854384,786,810,653,629,652.821145616,0.401004821615,0.00458548484736,0.0498587885178,0.999999965048,0.000108709275238,-0.000238973538043,-3.12572508571e-05,1793248322649205760
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.397566327,634,877,786,810,653,629,652.602433673,0.40103583871,0.00458448556658,0.0498706700995,0.999999970306,0.000108184434995,-0.000216154556621,-3.09913872388e-05,1793248322665872384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.972641775,634,877,786,810,653,629,652.027358225,0.401075264498,0.00458267527664,0.0498858669033,0.999999976277,0.000107937206635,-0.000186724717943,-3.04983977298e-05,1793248322682539520
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.441304437,663.441304437,634,877.558695563,786,810,653,629,652.558695563,0.401138839908,0.00458250662257,0.0499047145552,0.99999998321,0.000107260706533,-0.000145345674078,-3.0806666419e-05,1793248322699206400
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.143711436,663.143711436,634,877.856288564,786,810,653,629,652.856288564,0.401205552677,0.00458206245396,0.0499220515522,0.999999987646,0.000106515605933,-0.000111483071666,-3.05687748291e-05,1793248322715873280
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.723909545,663.723909545,634,877.276090455,786,810,653,629,652.276090455,0.401278130669,0.00458053242969,0.0499342464604,0.999999988785,0.000105627273564,-0.000102262526297,-2.85505034989e-05,1793248322732539392
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.696879884,634,877,786,810,653,629,652.303120116,0.401359834501,0.00457927467127,0.0499430898523,0.999999990224,0.000102779959597,-9.07928384685e-05,-2.72938638848e-05,1793248322749206016
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.118565902,634,877,786,810,653,629,652.881434098,0.40144982341,0.00457826409514,0.0499488905001,0.999999991839,9.81541437274e-05,-7.72812206982e-05,-2.67286874907e-05,1793248322765872384
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.54440652,663,634,877.45559348,786,810,653,628.54440652,652.54440652,0.401550170198,0.004577625011,0.0499496174078,0.999999991844,9.75393768117e-05,-7.83209183549e-05,-2.57591648096e-05,1793248322782538752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.029527929,663.029527929,634,877.970472071,786,810,653,628.029527929,652,0.401654527704,0.00457706517638,0.0499490321088,0.999999991455,9.79890341815e-05,-8.29430592156e-05,-2.46844828557e-05,1793248322799205632
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.619530236,663.619530236,634,877.380469764,786,810,653,628.619530236,652,0.401784310339,0.0045761910943,0.0499483761317,0.999999991264,9.90081652203e-05,-8.43338090188e-05,-2.3593076049e-05,1793248322815873024
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.794176918,745,715.205823082,679,663.794176918,634,877,785.794176918,810,653,629,652,0.401928251136,0.00457476922779,0.0499491753908,0.99999999139,9.76483148722e-05,-8.47496555324e-05,-2.24276642705e-05,1793248322832539904
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.214619785,745,715.785380215,679,663.214619785,634,877,785.214619785,810,653,629,652,0.402097900343,0.0045723526931,0.0499526170712,0.99999999207,9.19687042298e-05,-8.33952701312e-05,-2.11278742029e-05,1793248322849206272
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.361827089,745,715.638172911,679,663,634,877.361827089,785,810,653,629,652,0.40228202264,0.00457060576936,0.0499524687468,0.999999992309,8.81425631431e-05,-8.49690098153e-05,-1.98075561567e-05,1793248322865872640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.936444872,745,715.063555128,679,663,634,877.936444872,785,810,653,629,652,0.402474656586,0.00456925264391,0.0499502091391,0.999999992287,8.54064479046e-05,-8.8264781224e-05,-1.84751654717e-05,1793248322882539264
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.477094535,785.522905465,810.522905465,653,629,652,0.402692204583,0.0045671448086,0.0499487674378,0.999999992237,8.1036828432e-05,-9.31305303833e-05,-1.68886163992e-05,1793248322899205888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.890798915,745,715.109201085,679,663,634,877.109201085,786,810.890798915,653,629,652.109201085,0.40292476753,0.00456452827966,0.0499491469626,0.999999992474,7.64803484968e-05,-9.47352266142e-05,-1.50709482028e-05,1793248322915872512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.311552559,745,715.688447441,679,663,634,877.688447441,786,810.311552559,653,629,652.688447441,0.40320862467,0.0045601261173,0.0499569279575,0.999999994014,7.1993943313e-05,-8.14626511087e-05,-1.23944985371e-05,1793248322932538880
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.266437349,745,715.733562651,679,663.266437349,634,877.733562651,786,810,653,629,653,0.403513490294,0.0045565427117,0.049964517731,0.999999995391,6.78215622677e-05,-6.72241706814e-05,-9.91694301416e-06,1793248322949205760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.842964919,745,715.157035081,679,663.842964919,634,877.157035081,786,810,653,629,653,0.403842806397,0.00455391220752,0.0499718849533,0.999999996577,6.401465508e-05,-5.18615330819e-05,-7.67086844306e-06,1793248322965872896
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.418261223,663.581738777,634,877.418261223,786,810,653,629,652.581738777,0.404197729931,0.00455037071935,0.049979134607,0.999999997546,5.95047590913e-05,-3.65937299413e-05,-5.21837489613e-06,1793248322982539520
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.993096595,663.006903405,634,877.993096595,786,810,653,629,652.006903405,0.404562239479,0.00454648820861,0.0499863402492,0.99999999827,5.47317025795e-05,-2.13614279806e-05,-2.68860941202e-06,1793248322999206400
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.416379659,663.583620341,634,877.416379659,786,810,653,629,652.583620341,0.404961558352,0.00454303887242,0.0499939754803,0.999999998615,5.24120916664e-05,-4.82403459977e-06,-3.06888167799e-07,1793248323015872768
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.17054653,715,679,663.82945347,634,877.17054653,786,810,653,629,653,0.405365974297,0.00453914072822,0.049994755386,0.999999998813,4.86429093684e-05,-1.55313005811e-06,2.27244383574e-06,1793248323032539136
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.748424802,715,679,663.251575198,634,877.748424802,786,810,653,629,653,0.405781553414,0.00453415807984,0.0499791496234,0.999999998681,4.13403569289e-05,-3.00056752754e-05,5.32804516494e-06,1793248323049205760
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,663,634,878,786,810,653,629,653,0.406220877402,0.00452944852236,0.0499583723099,0.999999997117,3.46065795459e-05,-6.70735808189e-05,8.37539255619e-06,1793248323065872384
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,663,634,878,786,810,653,629,653,0.406678508409,0.00452494951373,0.0499336077989,0.999999993398,2.83113192305e-05,-0.000110783815658,1.14163765885e-05,1793248323082539008
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.52310485,715,679,663.47689515,634,878,786,810.47689515,653.47689515,629,652.52310485,0.407179647245,0.00452069882212,0.0499245557257,0.999999991403,2.3425485562e-05,-0.000128211339411,1.43808163001e-05,1793248323099205888
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.053608287,786,811,653.946391713,629,652.053608287,0.407697677018,0.00451617435153,0.0499216048602,0.999999990686,1.80500661993e-05,-0.000134171398616,1.73533912463e-05,1793248323115872768
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.645573902,786,811,653.354426098,629,652.645573902,0.408295272858,0.00450838646174,0.0499474005166,0.999999996627,4.84053182174e-06,-7.93749361143e-05,2.05661107252e-05,1793248323132539648
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.768055651,715.231944349,679,664,634,878.768055651,786,811,653,629,653,0.408911585487,0.00450125686064,0.0499735669944,0.999999999246,-5.84643855451e-06,-2.96700046879e-05,2.43694163492e-05,1793248323149206528
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.190033635,715.809966365,679,664,634,878.190033635,786,811,653,629,653,0.409555824877,0.00449510947414,0.0500002867631,0.999999999419,-1.27695610154e-05,1.24379922902e-05,2.90539188787e-05,1793248323165872896
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,744.386592182,715.613407818,679.386592182,664,634,878.386592182,786,811,653,629,653,0.410197742668,0.00448932919007,0.0500033501424,0.999999999283,-1.28983592278e-05,1.27041275813e-05,3.32541220196e-05,1793248323182539520
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.962534136,715.037465864,679.962534136,664,634,878.962534136,786,811,653,629,653,0.41083852334,0.00448372871004,0.0499948268099,0.999999999232,-9.69935134423e-06,-7.52354891839e-06,3.72171190463e-05,1793248323199206144
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.54620374,745,715,680,664,634,879,786,811,653,629,653,0.411453783997,0.0044771847935,0.0499628474314,0.999999989813,0.000112786516674,-7.71741443054e-05,4.11873726748e-05,1793248323215872256
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.870102754,745,715,679.870102754,663.870102754,633.870102754,878.870102754,786,811,653,629.129897246,653,0.412100199396,0.00447041208152,0.0499394144783,0.999999969409,0.000209093425013,-0.00012435365773,4.46996279732e-05,1793248323232538880
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.288197164,745,715,679.288197164,663.288197164,633.288197164,878.288197164,786,811,653,629.711802836,653,0.412861203683,0.00446307163992,0.0499513998354,0.999999978412,0.000185423649821,-8.13738201168e-05,4.66164141106e-05,1793248323249205504
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.28981465,745,715,679.28981465,663.28981465,633,878.28981465,786,811,653,629.71018535,653,0.413634109673,0.00445088450287,0.0499665092569,0.999999993285,9.86673290291e-05,-4.95314126048e-05,3.52406727311e-05,1793248323265872640
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.864005821,745,715,679.864005821,663.864005821,633,878.864005821,786,811,653,629.135994179,653,0.414418694132,0.00443394161369,0.0499846841236,0.999999998282,-4.9991775816e-05,-2.86174446838e-05,1.08218266158e-05,1793248323282540544
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.560254037,745,715,679.560254037,663.560254037,633,879,786,811,653,629,653,0.415194639276,0.00443929250907,0.0499649920684,0.999999995298,-7.45177919121e-05,-6.12856479011e-05,9.77586889235e-06,1793248323299207168
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715.016313555,679.016313555,663.016313555,633.016313555,879,786,811.016313555,653,629.016313555,653,0.415968894758,0.00445216760603,0.049934455825,0.999999992149,-5.96797921876e-05,-0.000109047634833,1.58008680369e-05,1793248323315873792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.605048641,679.605048641,663.605048641,633.605048641,879,786,811.605048641,653,629.605048641,653,0.416777943938,0.00448628328024,0.0499357726495,0.999999994465,-1.53888244199e-05,-0.000102934123417,1.54114800282e-05,1793248323332540160
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.808876847,680,664,634,879,785.808876847,812,653,630,653,0.417611128264,0.00450637267118,0.0499460817454,0.999999996321,2.25004150794e-05,-8.11664017009e-05,1.62568158697e-05,1793248323349206784
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.228224898,680,664,634,879,785.228224898,812,653,630,653,0.41849350247,0.00449787504086,0.0499747180226,0.999999998309,4.73422660637e-05,-2.7493777237e-05,1.96186469437e-05,1793248323365873664
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.34940598,679.65059402,664,634,879.34940598,785.34940598,812,653,630,653,0.419346289048,0.00448991292385,0.04997622737,0.999999998429,3.98966470853e-05,-3.2996157424e-05,2.14997970548e-05,1793248323382540032
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.925080448,679.074919552,664,634,879.925080448,785.925080448,812,653,630,653,0.420179915221,0.00448229759513,0.0499601698463,0.999999996731,1.15422921986e-05,-7.68191169062e-05,2.24220869488e-05,1793248323399206400
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.497337164,715.502662836,679.497337164,664,634,879.502662836,785.502662836,812,652.502662836,629.502662836,652.502662836,0.421121416338,0.00447559526883,0.0499695689168,0.99999999896,-5.74015845511e-06,-3.95887392749e-05,2.1924238464e-05,1793248323415873280
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.928284213,715,680,664.143431575,634,879.071715787,785.071715787,812,652,629.071715787,652.071715787,0.422073158197,0.00446940834842,0.0499821917611,0.999999999605,-1.74486561294e-05,5.44854685825e-06,2.13450645737e-05,1793248323432539904
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.334745682,715,680,665.330508636,634,879.665254318,785.665254318,812,652,629.665254318,652.665254318,0.422981978547,0.0044659777417,0.049990558939,0.999999999582,-6.52761037725e-07,1.90542425097e-05,2.17201442539e-05,1793248323449206016
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.251278228,715,680,665.497443545,633.748721772,879.748721772,785.748721772,812,652.251278228,630,653,0.423889208227,0.00446869945653,0.0499892679634,0.999999999602,7.62655495261e-06,1.56716593963e-05,2.2164280062e-05,1793248323465872640
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.827582137,715,680,664.344835725,633.172417863,879.172417863,785.172417863,812,652.827582137,630,653,0.424794380515,0.00447937913256,0.0499754842713,0.999999999684,4.88976987518e-06,-9.68507752769e-06,2.26977392795e-05,1793248323482539264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.595629112,745.595629112,715,680,664.404370888,633.404370888,879.404370888,785,812,652.595629112,630,653,0.425743980238,0.00448587360904,0.0499868340689,0.999999999708,1.70738950813e-06,4.7234956556e-06,2.36344597268e-05,1793248323499205888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018633419,745.018633419,715,680,664.981366581,633.981366581,879.981366581,785,812,652.018633419,630,653,0.426712545854,0.00449058143485,0.0500089132842,0.999999999041,-1.66521408297e-06,3.61077704247e-05,2.47433312217e-05,1793248323515872256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.569457335,745,715,680,665,633.430542665,879.430542665,785,812,652.569457335,630,653,0.427603617379,0.00447912680461,0.049991062874,0.999999999105,2.38352317646e-05,-2.11272409996e-05,2.78596586144e-05,1793248323532538880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.844543379,745,715,680,664.844543379,633.155456621,879,785,812.155456621,653,630.155456621,653,0.428505830161,0.004468903439,0.04997050026,0.999999996433,3.59526613328e-05,-7.04089831987e-05,2.9716517341e-05,1793248323549205760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.265255684,745,715,680,664.265255684,633.734744316,879,785,812.734744316,653,630.734744316,653,0.429445468642,0.0044635074556,0.0499461761123,0.999999995524,8.95618287886e-06,-8.99443839608e-05,2.79569639578e-05,1793248323565872640
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.312420252,633.687579748,879,785,813,652.687579748,630.687579748,652.687579748,0.430391873605,0.00446394074928,0.0499403939024,0.999999995765,-6.56003695482e-06,-8.75860202795e-05,2.74900970362e-05,1793248323582539008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.888734744,633.111265256,879,785,813,652.111265256,630.111265256,652.111265256,0.431343994015,0.00446929790021,0.0499502736443,0.999999997301,-1.23791436322e-05,-6.67344937505e-05,2.81151328898e-05,1793248323599205888
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.53653287,665,633,879.46346713,785,813.46346713,652,630,652.46346713,0.432268106147,0.00447394836137,0.0499395097072,0.999999995991,-4.7610278456e-06,-8.47337225956e-05,2.85476739788e-05,1793248323615872256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.077804448,664.961097776,633,880,784.961097776,814,652,630,653,0.433188664253,0.00447783790937,0.0499268564927,0.999999993872,6.11933598916e-06,-0.000106670584224,2.89769187722e-05,1793248323632538880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.259350454,664.370324773,633,880,784.370324773,814,652,630,653,0.434153866283,0.00447333163386,0.049957468365,0.99999999801,1.7671091465e-05,-5.26040277118e-05,3.00127467451e-05,1793248323649205504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.783378386,664.216621614,633,880,784.216621614,814,652,630,653,0.435091019767,0.00446986717609,0.0499767324165,0.999999999018,1.87299250782e-05,-2.53560256155e-05,3.11492741812e-05,1793248323665872384
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.202860127,664.797139873,633,880,784.797139873,814,652,630,653,0.435981055434,0.00446815283832,0.0499769335833,0.99999999854,2.16199211629e-06,-4.31597609875e-05,3.24549641335e-05,1793248323682539008
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.373586761,665,633,879.626413239,784.626413239,814,652,630.373586761,653,0.436857760944,0.0044694498822,0.0499662274479,0.999999997205,-7.79362155157e-06,-6.66238763177e-05,3.30136149885e-05,1793248323699205888
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.947846667,665,633,879.052153333,784.052153333,814,652,630.947846667,653,0.437727306071,0.00447236449802,0.0499496624254,0.999999995013,-1.41974089178e-05,-9.31284790502e-05,3.31709916678e-05,1793248323715872768
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.534263492,681,664.465736508,633,879.534263492,784.534263492,814,652,631,653,0.438642634772,0.00447432093224,0.0499670294666,0.999999998128,7.7068976463e-06,-5.26368942263e-05,3.02189946285e-05,1793248323732539136
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.879826712,681,664.120173288,633,880,785,814.120173288,652.120173288,630.879826712,653,0.439541985562,0.00447608005425,0.0499796514135,0.999999999065,2.51414390147e-05,-2.15822855389e-05,2.77834471669e-05,1793248323749205504
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.300494033,681,664.699505967,633,880,785,814.699505967,652.699505967,630.300494033,653,0.440362813918,0.00447745098472,0.0499611926867,0.999999998126,1.46937408981e-05,-5.21544493989e-05,2.85078846524e-05,1793248323765872128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.27839444,745,715,681,664.72160556,633,880.27839444,785,815,652.72160556,630.27839444,653,0.44118940774,0.00447442818442,0.0499548857014,0.999999997603,8.15478298925e-06,-6.19243922415e-05,2.98794942587e-05,1793248323782538496
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.85680417,745,715,681,664.14319583,633,880.85680417,785,815,652.14319583,630.85680417,653,0.442022214736,0.00446667042449,0.0499616741954,0.999999998259,5.82812911357e-06,-4.92765564281e-05,3.19485370648e-05,1793248323799205120
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.571309629,745,715,681,664.428690371,633,880.571309629,784.571309629,815,652,630.571309629,653,0.442828253255,0.00446403602073,0.0499807390499,0.999999999302,8.1032843176e-06,-1.5924150997e-05,3.28175488932e-05,1793248323815871744
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.001569781,745,715,681,664.998430219,633,880.001569781,784.001569781,815,652,630.001569781,653,0.443625484365,0.00446308732418,0.0500038431238,0.999999999081,1.18925455635e-05,2.42405585141e-05,3.329172169e-05,1793248323832538624
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.592614036,745,715,681,664.407385964,633,880,784.592614036,815,652,630.592614036,653,0.444333163408,0.00446190992159,0.0499717226716,0.99999999847,9.13908534178e-06,-4.10826154749e-05,3.58854587606e-05,1793248323849205248
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.181846571,633,880,784.818153429,815,652,631,653,0.445047445644,0.00446287506986,0.0499458655579,0.999999995789,9.06126105099e-06,-8.34068597995e-05,3.71961818418e-05,1793248323865871872
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.760137671,633,880,784.239862329,815,652,631,653,0.44577666307,0.00446851258029,0.0499339958071,0.999999996443,1.48560113844e-05,-7.4955656037e-05,3.56970342291e-05,1793248323882538496
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,880,784.336889548,815.336889548,652,630.663110452,653,0.446492349521,0.0044734827369,0.0499410459312,0.999999997923,2.10831311751e-05,-4.94615581899e-05,3.55468484487e-05,1793248323899205376
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,880,784.912550461,815.912550461,652,630.087449539,653,0.447198445813,0.00447797990437,0.0499615055679,0.999999998887,2.76166936011e-05,-1.18882641792e-05,3.63527430136e-05,1793248323915872000
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.512228479,745,715,681,664.512228479,633,880.487771521,784.512228479,815.512228479,652,630.487771521,653,0.447817370486,0.00447551716705,0.049947343776,0.999999998252,2.83471338416e-05,-3.54717791354e-05,3.78665086901e-05,1793248323932538624
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880.935211444,784,815,652,631,652.935211444,0.448420319973,0.00447177045685,0.0499281292643,0.999999996534,2.78636337332e-05,-6.77811670974e-05,3.95111445079e-05,1793248323949205504
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880.342930547,784,815,652,631,652.342930547,0.449020331892,0.004467720069,0.0499182675872,0.999999995457,2.59596276102e-05,-8.19452402347e-05,4.11889554048e-05,1793248323965872128
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.242561705,745,715,681,664.242561705,633,880.242561705,784,815.242561705,652,631,652,0.449610843393,0.00446527976695,0.0499225192731,0.999999995907,2.51609804272e-05,-7.57419051899e-05,4.26103980329e-05,1793248323982538752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.818717511,745,715,681,664.818717511,633,880.818717511,784,815.818717511,652,631,652,0.450188288959,0.00446505380951,0.0499461810093,0.999999997849,2.58825289285e-05,-4.15273573575e-05,4.36792582856e-05,1793248323999205376
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.604892035,633,881,784,816,652,631,652.395107965,0.450730993144,0.00446293020436,0.0499653321714,0.99999999851,2.50351716802e-05,-1.68571126564e-05,4.54788771209e-05,1793248324015872000
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.028393806,633,881,784,816,652,631,652.971606194,0.451257747945,0.0044599354074,0.0499824125744,0.999999998585,2.34675449662e-05,3.43143733235e-06,4.76139802812e-05,1793248324032538624
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.457335849,881,784,816,652,631,653,0.451676340467,0.00446222610173,0.0499650671555,0.999999997703,2.55711700341e-05,-4.07306374811e-05,4.77677505256e-05,1793248324049205248
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.11903441,663.88096559,632,880.88096559,784,816,652.11903441,631,653,0.452083405988,0.00446395319875,0.0499420557023,0.999999994323,2.59943300846e-05,-9.16627452535e-05,4.77124840067e-05,1793248324065872128
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.717957649,663.282042351,632,880.282042351,784,816,652.717957649,631,653,0.452466589747,0.00446230428692,0.0499033912818,0.999999986472,1.88759433719e-05,-0.000156428021711,4.722827883e-05,1793248324082538752
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.695717128,663,632,880,784,816,652.695717128,631,653,0.452849206664,0.00446178128345,0.0498840650734,0.999999982498,-1.19459668227e-05,-0.000182702801987,3.84786676333e-05,1793248324099205632
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.120604903,663,632,880,784,816,652.120604903,631,653,0.453231319035,0.00446226040362,0.0498819509943,0.999999982447,-6.38653831347e-05,-0.000174718811043,2.23723671812e-05,1793248324115872256
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631.548520718,880,784,816,652,631,653,0.453594372508,0.00445802817124,0.0498934251163,0.999999983818,-9.21146012598e-05,-0.000153592530823,1.69601592499e-05,1793248324132539392
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,652.976477446,0.453949819284,0.00445297098288,0.0499077497853,0.999999985066,-0.000112921049712,-0.000130020192441,1.45224189166e-05,1793248324149207040
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,652.386055467,0.454243825956,0.00445816159921,0.0499038757918,0.999999985641,-0.000105727585027,-0.000131543156654,1.53805691027e-05,1793248324165873408
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880.200943402,784,816,652,631,652,0.454521147744,0.00446738123758,0.0498956372851,0.999999985522,-9.24026393203e-05,-0.000141943376621,1.63992851098e-05,1793248324182540032
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880.781475835,784,816,652,631,652,0.45476695118,0.00448421183721,0.0498791540621,0.999999983266,-6.74951148264e-05,-0.000169113039172,1.77213153903e-05,1793248324199206400
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.640516119,745,715,681,663,630.640516119,881,784,816,652,631,652.359483881,0.454980632033,0.0044989298705,0.0498610009051,0.999999980093,-3.92696929711e-08,-0.00019880068949,1.70966337523e-05,1793248324215872768
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.064031848,745,715,681,663,630.064031848,881,784,816,652,631,652.935968152,0.455174922296,0.00451237266684,0.0498418397003,0.999999969097,9.3100628329e-05,-0.000230008309909,1.52968305989e-05,1793248324232539392
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.511101149,745,715,681.511101149,662.488898851,630,881,784,816,652,631,653,0.455348096814,0.00450886096217,0.0498259548883,0.999999962862,9.796316005e-05,-0.000253757407021,1.69518170134e-05,1793248324249206016
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,881,784,816,652.088757372,631,653,0.45551553996,0.00450391900976,0.0498124649664,0.999999958004,9.19767114305e-05,-0.000274187727005,1.87944758199e-05,1793248324265872384
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,881,784,816,652.681706294,631,653,0.455665413653,0.00450288668612,0.0498102537833,0.999999956531,8.70209101763e-05,-0.00028105957509,1.92510235091e-05,1793248324282539264
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,744.733035552,715,682,662,630,881,784,816.266964448,653,630.733035552,653,0.455808501182,0.00450307326304,0.0498099704805,0.999999956298,8.47749600356e-05,-0.000282548648154,1.95681954278e-05,1793248324299206144
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,744.156690145,715,682,662,630,881,784,816.843309855,653,630.156690145,653,0.455943724323,0.00450467240497,0.0498119213685,0.99999995755,8.56694146284e-05,-0.00027779970632,1.9723846901e-05,1793248324315873024
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,744.417631468,715.417631468,682,662,630,880.582368532,784,816.582368532,652.582368532,630.417631468,653,0.456055622075,0.00450391883796,0.0498136433316,0.999999958464,8.32732853087e-05,-0.000275181226504,2.03347088885e-05,1793248324332539648
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,744.991197426,715.991197426,682,662,630,880.008802574,784,816.008802574,652.008802574,630.991197426,653,0.456158810633,0.00450228682067,0.049815279819,0.999999959243,7.96485236306e-05,-0.000273358214892,2.11155365602e-05,1793248324349206528
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715.419366961,681.419366961,662,630,880.580633039,784,816,652,631,653,0.456230660525,0.00450557572843,0.0498112682711,0.99999995679,8.27745492027e-05,-0.000281307568886,2.08232078539e-05,1793248324365872640
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,629.832396896,880.832396896,784,816,652,631,653,0.456296869268,0.0045073137108,0.0498068785546,0.999999954194,8.41440151036e-05,-0.000289992420195,2.08815824975e-05,1793248324382539008
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,629.252106853,880.252106853,784,816,652,631,653,0.456350390587,0.00450504401423,0.0498017744394,0.999999951453,8.09292451334e-05,-0.00030011323237,2.18446750249e-05,1793248324399205632
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681.325721166,662,629.325721166,880.325721166,784,816,652,631,653,0.456396963979,0.00450374999911,0.0497974975871,0.999999949305,7.89917733844e-05,-0.000307645472789,2.24821576407e-05,1793248324415872256
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681.901657945,662,629.901657945,880.901657945,784,816,652,631,653,0.45643820005,0.00450320549209,0.0497938562292,0.99999994765,7.80355085135e-05,-0.000313189200379,2.28695102104e-05,1793248324432539136
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,880.524317156,784,816,652,631,653,0.456471509968,0.00450492913043,0.0497940030178,0.999999948059,7.82730457192e-05,-0.000311870278572,2.21859385775e-05,1793248324449206016
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662,629.949152548,880,784,816.050847452,652,631,653,0.456501998351,0.00450690840564,0.0497948155199,0.999999948765,7.87280150715e-05,-0.000309538286198,2.14019375091e-05,1793248324465873152
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,629.357684248,880,784,816.642315752,652,631,653,0.45651984027,0.00450664003897,0.0497944126751,0.999999948146,7.88811899453e-05,-0.000311459443547,2.18947128194e-05,1793248324482539520
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.771746134,661.771746134,629,880.456507732,784,816.771746134,652.228253866,631,653,0.456534205164,0.00450719406213,0.0497934362418,0.999999947365,7.93896810298e-05,-0.000313805356921,2.2223229615e-05,1793248324499205888
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.194269111,661.194269111,629,881.611461778,784,816.194269111,652.805730889,631,653,0.456543250289,0.00450900632281,0.0497915822313,0.999999946334,8.04417977223e-05,-0.000316801137115,2.23004346372e-05,1793248324515872512
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.382500363,661.382500363,629,881.617499637,784,816,653,631,653,0.456548616241,0.00450961948119,0.0497893422191,0.99999994524,8.05061072102e-05,-0.000320231653282,2.21276465587e-05,1793248324532539136
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.958911125,661.958911125,629,881.041088875,784,816,653,631,653,0.456552117017,0.00450962474884,0.0497869065216,0.999999944106,8.00696430545e-05,-0.000323882560845,2.18281232735e-05,1793248324549205760
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681.453698485,662,629,881,783.453698485,816.546301515,652.453698485,631,653,0.456555251164,0.00450941399817,0.0497864746386,0.999999943777,8.08346556171e-05,-0.000324692710567,2.20444817315e-05,1793248324565872384
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.1324357,662,629,881,783.1324357,816.8675643,652.1324357,631,652.8675643,0.456557823611,0.0045093954576,0.0497858853055,0.999999943448,8.14886328131e-05,-0.000325536446438,2.21134248814e-05,1793248324582539008
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.711491352,662,629,881,783.711491352,816.288508648,652.711491352,631,652.288508648,0.456558596707,0.00451008103304,0.0497842463146,0.999999942911,8.14571613017e-05,-0.000327228766776,2.15516973069e-05,1793248324599205888
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.711158861,662,629,880.711158861,784,816.288841139,652.711158861,631,652.288841139,0.456558674422,0.00451072831841,0.049782425471,0.999999942094,8.17385665259e-05,-0.000329658016077,2.13581208024e-05,1793248324615872512
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.135502905,662,629,880.135502905,784,816.864497095,652.135502905,631,652.864497095,0.456558061635,0.00451133758244,0.0497804240503,0.999999940995,8.2330653543e-05,-0.000332819024729,2.15301125936e-05,1793248324632539392
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.438561672,662,629,880.877123343,784,816.561438328,652,631,653,0.456558357254,0.00451237483796,0.0497804326806,0.99999994083,8.39871091774e-05,-0.000332892548845,2.16341963497e-05,1793248324649206016
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.98746128,745,715,681.98746128,661.98746128,629.01253872,881.98746128,784,816,652,631,653,0.456558921837,0.00451353407543,0.04978104188,0.999999940942,8.59284242702e-05,-0.000332055279488,2.17115014449e-05,1793248324665872640
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.394867854,745,715,681.394867854,661.394867854,629.605132146,881.394867854,784,816,652,631,653,0.456558991735,0.00451424102319,0.0497808075873,0.999999940617,8.58892738137e-05,-0.000333054627149,2.15171202393e-05,1793248324682539008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.193385036,745,715,681,661.193385036,629.806614964,881,784,816.193385036,652,631,653,0.456559149014,0.0045146629194,0.0497804692363,0.999999940416,8.57234755614e-05,-0.000333714532905,2.13289440173e-05,1793248324699205888
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.772969625,745,715,681,661.772969625,629.227030375,881,784,816.772969625,652,631,653,0.456559480794,0.00451451555343,0.0497799230758,0.999999940461,8.53047553532e-05,-0.000333696556204,2.11531594683e-05,1793248324715872512
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.349747919,662,629,881,784,816.650252081,652,631,653,0.456559702248,0.00451440664859,0.049779665114,0.999999940115,8.64793596857e-05,-0.000334422530709,2.12818609173e-05,1793248324732539392
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.924719054,662,629,881,784,816.075280946,652,631,653,0.456559852657,0.00451432251113,0.0497795927402,0.999999939512,8.86799992312e-05,-0.000335627579064,2.160663878e-05,1793248324749206528
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.510619579,745,715,682,662,629,881,784,816,652.510619579,630.489380421,653,0.456558832143,0.00451314101155,0.0497776172221,0.999999939161,8.48090748032e-05,-0.000337686178867,2.12888073926e-05,1793248324765872896
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.90320348,745,715,682,661.90320348,629,880.90320348,784,816,652.90320348,630.09679652,653,0.456557716374,0.00451248099442,0.0497757623199,0.999999938799,8.14970683514e-05,-0.000339588250351,2.09672069548e-05,1793248324782539264
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.323857233,745,715,682,661.323857233,629,880.323857233,784,816,652.323857233,630.676142767,653,0.456557005162,0.00451524484005,0.0497759380614,0.999999938296,8.55314040473e-05,-0.000340068940137,2.11094463519e-05,1793248324799205632
+247,4.116666667,HOLD_POSE2,766,745,715,681,662,629,881,784,816,653,630,653,0.456558038845,0.00451726076672,0.0497758551922,0.999999937987,8.93337448986e-05,-0.000339988606016,2.12978749317e-05,1793248324837504768
+248,4.133333333,HOLD_POSE2,766,745,715,681,662.575374832,629,881,784,816.575374832,652.424625168,630.575374832,653,0.456558130368,0.00451874153079,0.0497760248782,0.999999938098,8.96480150963e-05,-0.000339608286339,2.08236115578e-05,1793248324854171136
+249,4.150000000,HOLD_POSE2,766,745,715,681,662.69045807,629,881,784,816.845229035,652.154770965,631,653,0.456557840873,0.00451934807024,0.0497756312073,0.999999937949,8.9444584129e-05,-0.000340114918565,2.05973327655e-05,1793248324870837504
+250,4.166666667,HOLD_POSE2,766,745,715,681,661.509011484,629,881,784,816.254505742,652.745494258,631,653,0.456556478145,0.00451749213094,0.0497736506962,0.999999937059,8.77829144176e-05,-0.00034311987943,2.10695663792e-05,1793248324887504640
+251,4.183333333,HOLD_POSE2,766,745,715,681.32911439,661.32911439,629,881,784,816,653,631,653,0.456555530797,0.00451655336333,0.0497731411119,0.999999936663,8.70291160296e-05,-0.000344449923249,2.12929702316e-05,1793248324904171776
+252,4.200000000,HOLD_POSE2,766,745,715,681.907357624,661.907357624,629,881,784,816,653,631,653,0.45655489788,0.00451630886483,0.0497737449711,0.999999936647,8.69625466846e-05,-0.000344512109384,2.13280180528e-05,1793248324920838400
+253,4.216666667,HOLD_POSE2,766,745,715,681.514892328,662,629.485107672,881,784,816,653,631,653,0.456556306547,0.0045174578866,0.0497744480164,0.999999936871,8.88501731296e-05,-0.00034339428225,2.1061431424e-05,1793248324937504768
+254,4.233333333,HOLD_POSE2,766,745,715,681.062256085,662,629.937743915,881,784,816,652.937743915,631,653.062256085,0.456557956015,0.00451871901674,0.0497751098603,0.999999937107,9.09457116891e-05,-0.000342172967399,2.08150243031e-05,1793248324954171136
+255,4.250000000,HOLD_POSE2,766,745,715,681.635240781,662,629.364759219,881,784,816,652.364759219,631,653.635240781,0.456558385683,0.00451871886628,0.0497752784661,0.999999937107,9.16884060877e-05,-0.00034194949706,2.1206247581e-05,1793248324970837504
+256,4.266666667,HOLD_POSE2,766,745.21522337,715,681.78477663,661.78477663,629,881,784,816,652,631,653.78477663,0.456558679676,0.00451908996981,0.0497751055146,0.999999937067,9.204855272e-05,-0.000341961692491,2.13598516432e-05,1793248324987504128
+257,4.283333333,HOLD_POSE2,766,745.807464462,715,681.192535538,661.192535538,629,881,784,816,652,631,653.192535538,0.456558736001,0.00452011141781,0.04977433424,0.999999936955,9.17385708973e-05,-0.000342386715661,2.10972059995e-05,1793248325004170752
+258,4.300000000,HOLD_POSE2,766,745.60952135,715,681.39047865,661.39047865,629,881,783.60952135,816,652,631,653,0.456557924717,0.00452042012483,0.04977379234,0.999999936435,9.18338015778e-05,-0.000343865513645,2.12714228863e-05,1793248325020837632
+259,4.316666667,HOLD_POSE2,766,745.03095165,715,681.96904835,661.96904835,629,881,783.03095165,816,652,631,653,0.456556695511,0.00452038550919,0.0497733609283,0.999999935715,9.21242204827e-05,-0.000345851908205,2.16560736166e-05,1793248325037505024
+260,4.333333333,HOLD_POSE2,766,745,715,682,662,629,881,783.544817975,816.544817975,652,631,653,0.456557823428,0.00452027008846,0.0497739866266,0.9999999364,9.26178209243e-05,-0.000343740280874,2.15727599339e-05,1793248325054171136
+261,4.350000000,HOLD_POSE2,766.122842422,745,715,681.877157578,662,629.122842422,880.877157578,784,816.877157578,652.122842422,631,653,0.456558563062,0.00452030002326,0.0497743088937,0.999999936812,9.31105630777e-05,-0.000342410113741,2.14704589424e-05,1793248325070837504
+262,4.366666667,HOLD_POSE2,766.709987675,745,715,681.290012325,662,629.709987675,880.290012325,784,816.290012325,652.709987675,631,653,0.456557331568,0.00452089661503,0.0497732584646,0.999999935914,9.35566559893e-05,-0.000344909055258,2.13963628049e-05,1793248325087504128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,629,881,784,816,652,631,653,0.45655783703,0.00452079102927,0.0497740912997,0.999999936397,9.27080398367e-05,-0.000343744927181,2.12075504303e-05,1793248325124527872
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.42320809,661.42320809,629,881,784,816.57679191,652,631,653,0.456557352425,0.00451999622239,0.0497734167752,0.999999935998,9.24165245631e-05,-0.00034497315109,2.13611822588e-05,1793248325141194240
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.153509957,661,629,881,784,816.846490043,652,630.846490043,653,0.456556918718,0.00451986791565,0.0497728313197,0.999999935673,9.20157294752e-05,-0.000346026267927,2.12832235623e-05,1793248325157860608
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.730024598,661,629,881,784,816.269975402,652,630.269975402,653,0.456556625264,0.00452157618459,0.0497724912982,0.999999935555,9.13138081007e-05,-0.000346596868381,2.05671051443e-05,1793248325174527488
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.31281835,681.68718165,661.31281835,629,881,784,816.31281835,652,630.31281835,653,0.456556985993,0.00452291814903,0.0497729415268,0.999999935623,9.24020916739e-05,-0.000346119950743,2.0412725919e-05,1793248325191194368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.901142208,681.098857792,661.901142208,629,881,784,816.901142208,652,630.901142208,653,0.456557922874,0.00452393750152,0.0497740877448,0.99999993585,9.50670453391e-05,-0.000344720462495,2.07530819133e-05,1793248325207860992
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.519141931,681,662,629.480858069,881,784,816.519141931,652.480858069,631,653,0.456556956261,0.00452157367575,0.0497737142285,0.99999993557,9.40536924404e-05,-0.000345767879787,2.13988985369e-05,1793248325224527360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,629.941343964,881,784,816,652.941343964,630.941343964,653,0.456555706263,0.00451909936371,0.049773021466,0.999999935198,9.26222951087e-05,-0.000347192055763,2.1983935203e-05,1793248325241193728
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,629.365128315,881,784,816,652.365128315,630.365128315,653,0.456555348036,0.00452167937712,0.0497722201319,0.99999993494,9.40573942962e-05,-0.000347579944282,2.14883052753e-05,1793248325257860608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,744.788704033,715,681,662,629,881,784,816,652,630.211295967,653,0.456551272479,0.00452335177695,0.0497700246259,0.999999933844,9.49179781978e-05,-0.000350519172249,2.09486182175e-05,1793248325274527488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,744.211918929,715,681,662,629,881,784,816,652,630.788081071,653,0.456540766872,0.00452345423219,0.0497654175512,0.999999931265,9.47847942997e-05,-0.000357871578828,2.03327234024e-05,1793248325291193856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.373155067,744.373155067,715.373155067,681,662,629,881,784,816,652,631,653,0.456512650113,0.00452433858764,0.0497516853708,0.999999922915,9.61655705392e-05,-0.000380160498692,2.00030348281e-05,1793248325307860480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.963043413,744.963043413,715.963043413,681,662,629,881,784,816,652,631,653,0.456474304568,0.00452567708085,0.0497326532107,0.999999910448,9.84256742837e-05,-0.000411124738696,1.98395784592e-05,1793248325324527104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.457665139,745,715.457665139,681.542334861,662,629,881,784,816,652.542334861,631,653,0.456415649891,0.00452505568326,0.0497100687539,0.999999894213,9.61273838361e-05,-0.000449378560979,1.98169821777e-05,1793248325341193984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,629,881,784,816,653,631,653,0.45635305029,0.00452494409259,0.0496880880176,0.999999877923,9.50419288126e-05,-0.000484499479123,1.95245156689e-05,1793248325357860608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,629,881,784,816,653,631,653,0.456280657145,0.0045272578839,0.0496692909505,0.999999866888,9.97001193304e-05,-0.000505918533134,1.81749775184e-05,1793248325374527232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.734749625,662,629,881,784,816,652.734749625,631,653,0.456203310004,0.00452899917449,0.0496560039785,0.999999858257,0.000102467080158,-0.000522198256136,1.71929368813e-05,1793248325391194112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.165134276,662,629,881,784,816,652.165134276,631,653,0.45612027834,0.00453008354156,0.0496490396372,0.999999852729,0.000103063924768,-0.000532580786181,1.6632586107e-05,1793248325407860480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,629.425720737,881,784,816,652,631,653,0.456026947758,0.0045312855875,0.0496497386711,0.999999853004,0.000104858662262,-0.00053172753408,1.62241685507e-05,1793248325424527104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.024279874,662,629.975720126,881,784,816,652,631,653,0.455928645338,0.00453253706593,0.0496536986639,0.999999855747,0.000107151229127,-0.000526092237658,1.58679464253e-05,1793248325441193728
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.600838436,662,629.399161564,881,784,816,652,631,653,0.455812892315,0.00453382013246,0.0496606678549,0.999999860732,0.000109643399961,-0.000516023656084,1.52880560603e-05,1793248325457860608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,744.823023504,715,682,662,629.176976496,881,784,816,652.176976496,631,653,0.455684474327,0.00453492936264,0.0496649511691,0.999999863254,0.000112391965263,-0.000510529505201,1.48200672229e-05,1793248325474527232
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,744.247831694,715,682,662,629.752168306,881,784,816,652.752168306,631,653,0.455527558879,0.00453564744296,0.0496631909834,0.999999860416,0.000115717444158,-0.000515328295159,1.4603868409e-05,1793248325491194112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.327183041,744.327183041,715,682,662,630,881,784,815.672816959,652.672816959,630.672816959,653,0.455354677852,0.00453760632996,0.0496618444184,0.999999858896,0.000119367523308,-0.000517463171176,1.3795165559e-05,1793248325507860480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.902063779,744.902063779,715,682,662,630,881,784,815.097936221,652.097936221,630.097936221,653,0.455169709882,0.00454050458406,0.0496608109894,0.999999858379,0.000123263345178,-0.000517581300904,1.2537900667e-05,1793248325524527104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.508844432,745.491155568,715,681.508844432,662,629.508844432,880.508844432,784,815.491155568,652,630,653,0.454950834238,0.00454330388911,0.0496590840136,0.999999855597,0.000128834534469,-0.000521607115739,1.15992635441e-05,1793248325541193984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.91886814,715,681,662,629.08113186,880,784,816,652,630.08113186,653,0.454722881465,0.00454608851616,0.0496590365568,0.999999853813,0.000135052807987,-0.00052346622889,1.0814333301e-05,1793248325557860608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.341334131,715,681,662,629.658665869,880,784,816,652,630.658665869,653,0.454481991134,0.00454890765423,0.0496701365235,0.999999861097,0.000143125361806,-0.000507158963838,1.05695377828e-05,1793248325574527232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.235051787,630,880.235051787,784,815.764948213,652,630.764948213,653,0.454226900387,0.00455214675083,0.049683012873,0.999999870003,0.000149288676807,-0.000487453825233,9.74778210948e-06,1793248325591193856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.809778558,630,880.809778558,784,815.190221442,652,630.190221442,653,0.453951288533,0.00455599273226,0.049698456285,0.9999998812,0.000152692936925,-0.000462838396717,8.09225728967e-06,1793248325607860480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.396011347,663,630.396011347,881,784,815.396011347,652,630.396011347,653,0.453643140014,0.00455860891435,0.0497111681467,0.999999887704,0.000157682864972,-0.000446847842553,7.36297728988e-06,1793248325624527104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.987936344,663,630.987936344,881,784,815.987936344,652,630.987936344,653,0.453318895055,0.00456061669335,0.0497225286627,0.999999891949,0.000163457250227,-0.000435124163405,7.09192664442e-06,1793248325641193984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,631,881,784,815.436657457,652,631,653,0.452934581968,0.00456672433842,0.0497290097859,0.999999892588,0.000173134774777,-0.000429899195998,5.97053482854e-06,1793248325657861376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,631.138211657,880.861788343,784,815,652,631,653,0.452540525526,0.00457249348362,0.0497345356267,0.999999892611,0.000181880417126,-0.000426234995324,4.60929757171e-06,1793248325674528768
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,631.71247043,880.28752957,784,815,652,631,653,0.452119672274,0.00457692558696,0.0497373678886,0.999999891238,0.000187429853889,-0.000427068343562,2.54717984932e-06,1793248325691195136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.705908482,663,632,880,784.294091518,815,652,631,653,0.451679746444,0.00458123566885,0.0497347474426,0.999999888736,0.00019409086333,-0.000429949574531,4.12377948381e-07,1793248325707861504
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.116904456,663,632,880,784.883095544,815,652,631,653,0.451220694742,0.00458542338919,0.0497266590674,0.999999885061,0.000201866549185,-0.000434884405208,-1.79531128487e-06,1793248325724527616
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.951326134,745,715,681.048673866,664.048673866,632,880.048673866,784,815,652,630.048673866,653,0.45028269019,0.00458971874278,0.049774699783,0.999999922016,0.000213956828882,-0.000331898399115,-5.80457910477e-06,1793248325757861120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.375008035,745,715,681.624991965,664.624991965,632,880.624991965,784,815,652,630.624991965,653,0.449763641932,0.00459468260447,0.0498132549783,0.999999939815,0.000221435892401,-0.000266959940573,-8.32856680483e-06,1793248325774528256
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.776180613,745.776180613,715,681.223819387,664.223819387,632.776180613,880.223819387,784,815,652,631,653,0.448624528328,0.00460482441818,0.049839881865,0.999999945509,0.000241542895273,-0.000224605636286,-1.38588267497e-05,1793248325807861760
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.049746134,715,681,664,632.049746134,880,784,814.049746134,652,631,653,0.44732525767,0.00461832528712,0.0497863123555,0.999999919361,0.000261224409716,-0.000304268620236,-2.14505491118e-05,1793248325841194752
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632,879.470040167,784,814,651.470040167,630.470040167,653,0.446605142343,0.00462655458986,0.0497512339416,0.999999896575,0.000273868398153,-0.000362234892191,-2.51538201234e-05,1793248325857861376
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.892271179,745,714.892271179,681,664,632,879,784,813.892271179,651.107728821,630.107728821,652.892271179,0.445884771096,0.00463396252403,0.0497276132837,0.999999877568,0.000285525041439,-0.000403139205039,-2.85972598528e-05,1793248325874527744
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.318823431,745,714.318823431,681,664,632,879,784,813.318823431,651.681176569,630.681176569,652.318823431,0.445185996853,0.0046373873616,0.0497541419412,0.999999889678,0.000291657370661,-0.000366900624379,-3.10422329731e-05,1793248325891194368
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.25636712,745,714.25636712,681,664,632.25636712,879.25636712,784.25636712,813,652,631,652.25636712,0.444466337595,0.00463899526298,0.0497774978957,0.999999919193,0.000217358053488,-0.000336438374632,-3.43410995193e-05,1793248325907860992
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.833739971,745,714.833739971,681,664,632.833739971,879.833739971,784.833739971,813,652,631,652.833739971,0.443720527428,0.00463832811905,0.0497968812076,0.999999949304,4.23476131979e-05,-0.000313208847262,-3.87091538253e-05,1793248325924528128
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.579017392,745,715,681.420982608,664,633,880,784.579017392,813,652,631,653,0.442945572116,0.00461671702363,0.0497874924786,0.999999943847,-2.30649324577e-05,-0.000331913495094,-4.00832647984e-05,1793248325941194752
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664.163347931,632.163347931,879.163347931,785,812.163347931,652,630.836652069,652.163347931,0.440582854892,0.00456970839659,0.0498117402461,0.999999960064,-3.62093160312e-05,-0.000276581691357,-4.54351730004e-05,1793248325991194112
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664.736976769,632.736976769,879.736976769,785,812.736976769,652,630.263023231,652.736976769,0.439726250612,0.00458166449284,0.0498232194121,0.999999964092,-1.29252345581e-05,-0.000263032431553,-4.96350628064e-05,1793248326007860736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.318671393,664.362657215,633,880,785,812.681328607,652,630,653,0.438847319911,0.00458919309854,0.0498085887498,0.999999956298,4.91276261953e-06,-0.000290758492789,-5.32772056434e-05,1793248326024527360
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.490496928,744.509503072,715,681.509503072,663.490496928,633,880,784.509503072,812,652,630,653,0.437059649189,0.0045984530265,0.0497746034341,0.999999934572,2.99896574291e-05,-0.000355552836234,-5.94803512638e-05,1793248326057860864
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.353572824,744.646427176,715,681.646427176,664,633,879.353572824,784.646427176,812,652,630,652.353572824,0.435231501172,0.00461114449032,0.0497816411112,0.999999930434,5.47036508649e-05,-0.000363406479366,-6.38332895054e-05,1793248326091194624
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.778216044,664,633,879.221783956,785,812,652,630.221783956,652.221783956,0.434304012365,0.0046132460283,0.0497803329894,0.999999927191,9.48242567243e-05,-0.000365755352991,-5.3370953581e-05,1793248326107861248
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.201610273,664,633,879.798389727,785,812,652,630.798389727,652.798389727,0.433387085357,0.00460787727673,0.0497795521931,0.999999922826,0.000178412217782,-0.00034922014792,-2.37226617049e-05,1793248326124528128
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.606250575,745,715,681,663.606250575,633,879.393749425,785.606250575,811,652,629.393749425,652,0.424108455431,0.00460984529019,0.0498162782433,0.999999953154,0.000140669031082,-0.000269010930412,-3.91972209171e-05,1793248326291194112
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.816230715,664,633,879,785.816230715,811.183769285,652.183769285,629.183769285,652.183769285,0.423215626007,0.00460741969969,0.0498384421786,0.999999963651,0.000129333390891,-0.000233235782679,-3.96529799537e-05,1793248326307860992
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.236311465,664,633,879,785.236311465,811.763688535,652.763688535,629.763688535,652.763688535,0.422262695607,0.00460858083315,0.0498183145804,0.999999952279,0.000145474609795,-0.000269601489914,-3.99163815571e-05,1793248326324527616
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.660441787,745,715,680.339558213,663.660441787,633,879,785,811.660441787,652.660441787,630,653,0.421321607919,0.00460953013414,0.0498008194756,0.999999941577,0.000155252360344,-0.000301821859561,-4.05733972454e-05,1793248326341194496
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.087357181,745,715,680.912642819,663.087357181,633,879,785,811.087357181,652.087357181,630,653,0.420388664948,0.00461033375026,0.0497851348322,0.99999993139,0.000160653723922,-0.000331191329313,-4.15011154798e-05,1793248326357861632
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.503990524,745,715,681,663.503990524,633,879,785,811,652.503990524,630,653,0.419502349164,0.00461613852916,0.0497899712787,0.999999932071,0.0001398402233,-0.000338594381956,-4.06890170936e-05,1793248326374528256
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.904568,715,681,663.904568,633,879,785.095432,811,653,630,653,0.418627179267,0.00462140469358,0.049793548484,0.999999931511,0.000121624288335,-0.000347276499281,-3.98051582722e-05,1793248326391194880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.329174272,715,681,663.329174272,633,879,785.670825728,811,653,630,653,0.417765890768,0.00461943831671,0.0497722307604,0.999999916307,0.000140184333028,-0.00038226057356,-4.01340909389e-05,1793248326407861248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744.246296417,715,680.753703583,663.246296417,633,879,785.753703583,811,653,629.753703583,653,0.416937629658,0.00461471935338,0.0497688548185,0.999999914398,0.000149622013864,-0.00038360889714,-4.07613619567e-05,1793248326424527616
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.821869952,715,680.178130048,663.821869952,633,879,785.178130048,811,653,629.178130048,653,0.416153523392,0.00460632041896,0.0497894654964,0.999999930546,0.000146863877718,-0.000339989113584,-4.17874856636e-05,1793248326441194240
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.591897966,745,715,680,663.591897966,633,878.591897966,785.408102034,811,652.591897966,629.408102034,653,0.415364265681,0.00460580217987,0.049801304849,0.999999940063,0.000133968867562,-0.000316466005715,-4.21424540488e-05,1793248326457860864
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.000888783,745,715,680,663.000888783,633,878.000888783,785.999111217,811,652.000888783,629.999111217,653,0.414572699076,0.00460881598693,0.0498092129853,0.999999946733,0.000116530614134,-0.000301950018204,-4.21966175907e-05,1793248326474527744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.575298548,745,715,680,663,633.575298548,878.575298548,786,811,652.575298548,630,652.424701452,0.413773313582,0.00461384025675,0.0497818803337,0.999999928512,0.000127671587031,-0.000353353931795,-4.26336933439e-05,1793248326491194624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,878.848878317,786,811,653,630,652.151121683,0.413001110247,0.0046183139084,0.0497647606569,0.999999915076,0.000139925035711,-0.000385235363141,-4.31513721283e-05,1793248326507861760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,878.27401366,786,811,653,630,652.72598634,0.412305158121,0.00462123514556,0.0497764268301,0.999999921439,0.00015517716065,-0.000362097669459,-4.38934439184e-05,1793248326524528128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,878,786,810.691224374,653,629.691224374,653,0.411613424384,0.00462324457757,0.0497932172949,0.999999928974,0.000164208226257,-0.000336444531995,-4.35033676537e-05,1793248326541194496
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,878,786,810.10121741,653,629.10121741,653,0.410925532776,0.00462442354171,0.0498146749389,0.999999937488,0.000167573180345,-0.000308500341934,-4.20821363986e-05,1793248326557861120
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,633.52090589,877.52090589,785.52090589,810.47909411,653,629,653,0.41024668361,0.00461845518425,0.0497998633518,0.999999930767,0.000145589103277,-0.000339969989113,-4.11197698779e-05,1793248326574527744
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,633.057488745,877,785.057488745,810.942511255,653,629,653,0.409578599517,0.00461103493601,0.0497801823357,0.999999920573,0.000121107801397,-0.000377557636075,-4.04614600564e-05,1793248326591194624
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,633.636707689,877,785.636707689,810.363292311,653,629,653,0.408991218675,0.00460387024924,0.049784470388,0.999999927292,0.000121601795129,-0.000359011740666,-4.17002252994e-05,1793248326607860992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.213672686,680,663,634,877,785.786327314,810.213672686,653,629,652.786327314,0.408422818079,0.00459977325233,0.0497942304902,0.999999934187,0.000123212159854,-0.000338601331512,-4.23563519938e-05,1793248326624527616
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.786845404,680,663,634,877,785.213154596,810.786845404,653,629,652.213154596,0.407886351426,0.00460083758311,0.0498131972066,0.999999941461,0.000126700796464,-0.000315053917092,-4.20322008334e-05,1793248326641193984
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.629341674,680,663,634,877.370658326,785.370658326,810.629341674,653,629,652.370658326,0.407350430598,0.00460323189882,0.0498192503111,0.999999942585,0.000129045780126,-0.000310464600185,-4.2297032004e-05,1793248326657860608
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.039228991,680,663,634,877.960771009,785.960771009,810.039228991,653,629,652.960771009,0.406814832885,0.00460641365408,0.0498176577011,0.99999994026,0.000130713645609,-0.000317099734517,-4.29105798275e-05,1793248326674527232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.460858022,663,634,878,786,810,652.460858022,629,652.460858022,0.406291394033,0.00460559461542,0.0497881350601,0.999999923279,0.000129834822657,-0.000366970052334,-4.37943801727e-05,1793248326691194624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.116311851,634,877.883688149,785.883688149,810,652.116311851,629,652.116311851,0.405784863529,0.00460585637966,0.0497622263716,0.999999906243,0.000130159930805,-0.000410568451784,-4.47957277641e-05,1793248326707861760
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.692040369,634,877.307959631,785.307959631,810,652.692040369,629,652.692040369,0.405341698662,0.00461151249469,0.0497584483145,0.99999990265,0.000135956728883,-0.00041723266502,-4.61853572804e-05,1793248326724527872
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.731813522,633.731813522,877.268186478,785.268186478,810,653,628.731813522,653,0.404939234118,0.0046144469285,0.0497681653555,0.999999909273,0.000139056375408,-0.000399897961205,-4.68947690929e-05,1793248326741193984
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.155187177,633.155187177,877.844812823,785.844812823,810,653,628.155187177,653,0.40458357883,0.00461425117066,0.0497934030381,0.999999926237,0.0001390540415,-0.000354962227482,-4.68218659343e-05,1793248326757860608
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.431385159,633.431385159,878,786,810,653,628.431385159,652.568614841,0.404247910213,0.00461542963931,0.0498216542962,0.999999939589,0.000141513380381,-0.000314109452469,-4.61650370266e-05,1793248326774527488
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.978891932,634,878,786,810,653,629,652.021108068,0.403920161727,0.00461716997266,0.0498499213461,0.999999950302,0.000144925623738,-0.000276289015989,-4.53470768908e-05,1793248326791194880
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.402630738,634,878,786,810,653,629,652.597369262,0.403607152099,0.0046203786972,0.0498494182304,0.99999994893,0.000149559242006,-0.000278678494647,-4.5946416149e-05,1793248326807860736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.8261272,878,786,810,653,629,652.8261272,0.403297517196,0.00462295667408,0.0498441922934,0.999999944957,0.000153441521277,-0.000290483282961,-4.64955434696e-05,1793248326824527104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.24906177,878,786,810,653,629,652.24906177,0.402995707965,0.00462407201339,0.0498280146334,0.999999934269,0.000155581524139,-0.000324121177882,-4.69282345032e-05,1793248326841193728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.327350552,877.672649448,786,810,653,629,652.327350552,0.402726792429,0.00462545104894,0.0498160340931,0.999999926697,0.000157782391016,-0.000345617289175,-4.75233117192e-05,1793248326857860352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.903267012,877.096732988,786,810,653,629,652.903267012,0.40248285391,0.00462703031611,0.049807240535,0.999999921988,0.000160029473849,-0.000357893827649,-4.82416931153e-05,1793248326874527232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877.491695398,786,810,653,629,652.508304602,0.402274898048,0.00462672920708,0.0498076399426,0.999999923576,0.000153491292412,-0.000356313111206,-4.82664461591e-05,1793248326891193856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.91929893,745,715,679,663,634,877.91929893,785.91929893,810,653,629,652,0.402080266757,0.00462610667158,0.0498101219366,0.999999927617,0.000138596924528,-0.000351057499832,-4.81109608051e-05,1793248326907860480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.342276534,745,715,679,663,634,877.342276534,785.342276534,810,653,629,652,0.401922909644,0.00462584186331,0.0498139987687,0.999999937462,8.3218145983e-05,-0.000340405004471,-4.77081462408e-05,1793248326924527360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,785.234067345,810,653,629,652,0.401780544773,0.00462555694296,0.0498198477066,0.999999943045,7.52138326242e-05,-0.000326284034313,-4.23355603909e-05,1793248326941193984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,785.809421863,810,653,629,652,0.401660039685,0.00462524269778,0.0498285721177,0.999999943115,0.000136284930265,-0.000307105777139,-2.97166874783e-05,1793248326957860608
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.392607588,745,715.392607588,679,663,633.607392412,877,785.607392412,809.607392412,653,629,652,0.401551064182,0.00461372668538,0.0498329294891,0.999999944943,0.000143132315758,-0.000298252209322,-2.59295846185e-05,1793248326974527232
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.979672059,745,715.979672059,679,663,633.020327941,877,785.020327941,809.020327941,653,629,652,0.401447799238,0.00459666248491,0.0498351238839,0.9999999487,0.000123122923559,-0.00029451241751,-2.65168206367e-05,1793248326991193856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.438589322,679,663,633.561410678,877,785.561410678,809.561410678,653,629,652,0.40136221686,0.00458405203319,0.0498331341421,0.999999950004,0.000108649283046,-0.000295807870935,-2.61710260103e-05,1793248327007860480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.141709144,634,877.141709144,786,810,653,629,652.141709144,0.401281599921,0.00457670548007,0.0498315400551,0.999999950626,9.97067251392e-05,-0.000296824155653,-2.65098955226e-05,1793248327024527104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.71817525,634,877.71817525,786,810,653,629,652.71817525,0.401214270894,0.00458501821964,0.0498316202521,0.999999949905,0.000107124101809,-0.000296429872335,-2.90519554939e-05,1793248327041193984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.292812234,679.292812234,663.707187766,633.707187766,878,785.707187766,810,653,629,652.707187766,0.401160887532,0.00458701197527,0.0498325619386,0.999999950668,0.000109507824725,-0.000292870567461,-2.99826934508e-05,1793248327057860608
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.865699729,679.865699729,663.134300271,633.134300271,878,785.134300271,810,653,629,652.134300271,0.40112084321,0.00458296161598,0.0498343276409,0.999999952857,0.000107076852522,-0.000286283915541,-2.93722002234e-05,1793248327074527232
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.545888173,679.545888173,663,633.454111827,877.545888173,785,809.545888173,653,629,652,0.40108954629,0.00458465759047,0.049837078303,0.999999954148,0.000109570117441,-0.00028071444203,-2.99633397691e-05,1793248327091193856
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.954071188,877,785.045928812,809,653,629,652,0.401061460111,0.00458784367883,0.0498398692674,0.999999955073,0.000113307753158,-0.000275794601595,-3.08674723678e-05,1793248327107860480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.377828927,877,785.622171073,809,653,629,652,0.401039518777,0.00458791827174,0.0498396431163,0.999999955265,0.000114003080461,-0.000274779315783,-3.11370117324e-05,1793248327124527104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.198094251,877,786,809,653,629,652,0.401020591707,0.00458714524131,0.0498392157497,0.999999955432,0.000113152412341,-0.000274509284807,-3.12647024513e-05,1793248327141194240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.773409783,877,786,809,653,629,652,0.401007404555,0.00458475812284,0.0498384052181,0.999999955542,0.000109357780032,-0.000275658406554,-3.11222776532e-05,1793248327157861632
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.642095798,745,715,679,663,633.642095798,876.642095798,786,809.357904202,653,628.642095798,652,0.400998859794,0.00458659148646,0.04983874407,0.999999955482,0.000110597857393,-0.000275347328319,-3.14229058135e-05,1793248327174528256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.051637263,745,715,679,663,633.051637263,876.051637263,786,809.948362737,653,628.051637263,652,0.400993331506,0.00459116718009,0.0498398297533,0.999999955301,0.000115109323007,-0.000274087460302,-3.20114151626e-05,1793248327191194368
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.528532798,745,715,679,663,633.528532798,877.585598395,786,810,653,628.528532798,652,0.400991058048,0.00458752973225,0.0498409809212,0.999999956521,0.000109372769598,-0.00027199952225,-3.18039360986e-05,1793248327207860992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.89304728,878.78609456,785.89304728,809.89304728,653,629,652,0.400989007446,0.00458406783266,0.0498419194096,0.999999957505,0.000104610750495,-0.000270281646177,-3.15347945428e-05,1793248327224527616
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,633.317972169,877.635944338,785.317972169,809.317972169,653,629,652,0.400986567008,0.00458481934184,0.0498418995513,0.999999957039,0.000108412771544,-0.000270530837285,-3.13296437673e-05,1793248327241194496
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..601d205a03a657b4091fbbbca019e58697526ba5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d0b51ea452c5022d50d4df55057cc3cb470d53d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795a82f8dd8cafcb795050eb4de7019332c80a58521126d8d3b02627837459e5
+size 25755363
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d554ec32f58e669caefa574ff9191bfafd063cf
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+8,0.133333333,BASELINE,765,745,715,679.352891429,658,633.352891429,877,784.647108571,810.647108571,652,629,652.352891429,0.401015869219,0.00448367386386,0.0698413146648,0.999999985711,2.16184457668e-05,-0.000166646776029,1.84095719216e-05,1793248329250743040
+9,0.150000000,BASELINE,765,745,715.232620826,679.232620826,658.232620826,633.232620826,877.232620826,784.767379174,810.767379174,652,629,652,0.401016144675,0.00448323856026,0.0698414427034,0.999999985724,2.22781767056e-05,-0.000166452873269,1.87049313693e-05,1793248329267409664
+10,0.166666667,BASELINE,765,745,715.81202687,679.81202687,658.81202687,633.81202687,877.81202687,784.18797313,810.18797313,652,629,652,0.401016250195,0.00448389068436,0.0698415040393,0.999999985685,2.35081092987e-05,-0.000166503940706,1.88148527241e-05,1793248329284076288
+11,0.183333333,BASELINE,765,745,715.610585504,679.610585504,658.610585504,634,877.610585504,784,810,652,629,652.389414496,0.401016211188,0.00448439880992,0.0698414892836,0.999999985684,2.44018485481e-05,-0.000166397916627,1.86489070644e-05,1793248329300742912
+12,0.200000000,BASELINE,765,745,715.034167108,679.034167108,658.034167108,634,877.034167108,784,810,652,629,652.965832892,0.401016102776,0.00448483778483,0.0698414379873,0.999999985702,2.51341417683e-05,-0.000166216454357,1.8350485073e-05,1793248329317409536
+13,0.216666667,BASELINE,765.540097041,745,715,679,658.540097041,634,877,784,810,652,628.459902959,653,0.401015758638,0.00448265907201,0.0698414534772,0.999999985766,2.14095839304e-05,-0.000166348993322,1.83689689133e-05,1793248329334076160
+14,0.233333333,BASELINE,765.882348187,744.882348187,715,679.117651813,658.882348187,634,877,784,810,652,628,652.882348187,0.401015420295,0.0044810733446,0.0698414401014,0.999999985779,1.87465043006e-05,-0.000166588773376,1.83956695276e-05,1793248329350743040
+15,0.250000000,BASELINE,765.290997765,744.290997765,715,679.709002235,658.290997765,634,877,784,810,652,628,652.290997765,0.401015165091,0.00448253923213,0.0698412935605,0.999999985626,2.14879058623e-05,-0.000167180675252,1.83750558738e-05,1793248329367409664
+16,0.266666667,BASELINE,765,744.29408768,715,680,658,634,877,784,810.29408768,652,628.29408768,652,0.401015313902,0.00448350061726,0.0698415854489,0.999999985643,2.27745827706e-05,-0.00016689641774,1.84454389055e-05,1793248329384076288
+17,0.283333333,BASELINE,765,744.873103245,715,680,658,634,877,784,810.873103245,652,628.873103245,652,0.401015854146,0.00448397321335,0.069842302111,0.999999985832,2.26518444082e-05,-0.000165763290085,1.8603984398e-05,1793248329400742912
+18,0.300000000,BASELINE,765,745,715.448031822,680,658,634,877,784.448031822,810.551968178,652,629,652,0.401015889472,0.00448259879865,0.0698418352147,0.999999985811,2.06181248986e-05,-0.000166166454273,1.84940513537e-05,1793248329417409536
+19,0.316666667,BASELINE,765.022255614,745,715.977744386,680,658.022255614,634,877,784.977744386,810,652,628.977744386,652,0.401015783707,0.00448084191349,0.06984108904,0.99999998573,1.82354380616e-05,-0.000166948359897,1.83182548404e-05,1793248329434076160
+20,0.333333333,BASELINE,765.607672049,745,715.392327951,680,658.607672049,634,877,784.392327951,810,652,628.392327951,652,0.401015693734,0.00448252469011,0.0698416817698,0.999999985774,2.05945109922e-05,-0.000166403021148,1.83826139799e-05,1793248329450742784
+21,0.350000000,BASELINE,765.807718946,745,715,679.807718946,659,633.807718946,877,784,810,652,628,652,0.401015220725,0.00448384023937,0.0698417276919,0.99999998571,2.19044852858e-05,-0.00016662382696,1.83432353846e-05,1793248329467409408
+22,0.366666667,BASELINE,765.224750595,745,715,679.224750595,659,633.224750595,877,784,810,652,628,652,0.401013969439,0.00448440963552,0.0698406625795,0.999999985435,2.10828425608e-05,-0.000168401327806,1.80930767051e-05,1793248329484076288
+23,0.383333333,BASELINE,765,745,715,679,658.646713895,633.353286105,877,784,810,652,628,652,0.401014197324,0.00448352531991,0.0698408722623,0.999999985495,2.01858381167e-05,-0.000168148982404,1.81248433689e-05,1793248329500742912
+24,0.400000000,BASELINE,765,745,715,679,658.071771322,633.928228678,877,784,810,652,628,652,0.401015353261,0.004481728926,0.0698418817687,0.999999985765,1.92415506332e-05,-0.000166623084263,1.83334937708e-05,1793248329517409536
+25,0.416666667,BASELINE,765,745,715,679.503869755,658,634,877,784,810,652,628,652,0.401015428923,0.00448230132895,0.0698419738741,0.999999985796,1.99916433478e-05,-0.000166373450976,1.8137399721e-05,1793248329534076160
+26,0.433333333,BASELINE,765.081266396,745,715,679.918733604,658.081266396,634,877,784,810,652.081266396,628,652,0.401015440218,0.00448315486042,0.0698419461664,0.999999985798,2.08343189796e-05,-0.000166278179782,1.79386645332e-05,1793248329550742784
+27,0.450000000,BASELINE,765.668983011,745,715,679.331016989,658.668983011,634,877,784,810,652.668983011,628,652,0.401016010652,0.00448365471623,0.0698419872796,0.999999985842,2.07478073046e-05,-0.000166010396716,1.80832536826e-05,1793248329567409408
+28,0.466666667,BASELINE,765.748009261,745,715.251990739,679,658.748009261,633.748009261,877,784,810,652.748009261,628.251990739,652,0.401016533369,0.00448333448596,0.0698422038467,0.999999985938,2.04551653118e-05,-0.000165452491938,1.82179392743e-05,1793248329584076288
+29,0.483333333,BASELINE,765.171073727,745,715.828926273,679,658.171073727,633.171073727,877,784,810,652.171073727,628.828926273,652,0.401016994553,0.00448195674577,0.0698426466636,0.9999999861,1.98967160416e-05,-0.000164520472077,1.83398541124e-05,1793248329600742912
+30,0.500000000,BASELINE,765,745,715.59491646,679,658.40508354,633.40508354,877,784,810,652,628.59491646,652,0.401016720733,0.00448267821658,0.0698425951966,0.999999986069,2.08381600334e-05,-0.000164591672797,1.83415022965e-05,1793248329617409792
+31,0.516666667,BASELINE,765,745,715.019087252,679,658.980912748,633.980912748,877,784,810,652,628.019087252,652,0.401016137102,0.00448428452018,0.0698423353854,0.999999985955,2.24118199937e-05,-0.000165085738336,1.82924572053e-05,1793248329634076928
+32,0.533333333,BASELINE,765,745,715,679,658.430926943,634,877,784,810,652,628,652,0.40101515033,0.00448256103207,0.0698418574865,0.99999998575,2.185487311e-05,-0.000166380724534,1.84568882584e-05,1793248329650743296
+33,0.550000000,BASELINE,765,745,715.155124052,679,658.155124052,634,877,784,810,652,628,652,0.40101483674,0.00448166599276,0.0698417599054,0.999999985681,2.1101670356e-05,-0.000166887837409,1.8454179383e-05,1793248329667409920
+34,0.566666667,BASELINE,765,745,715.734253951,679,658.734253951,634,877,784,810,652,628,652,0.401016400958,0.0044833474131,0.069842722297,0.999999985998,2.00116922985e-05,-0.000165166375494,1.79746165521e-05,1793248329684076544
+35,0.583333333,BASELINE,765,745,715.68731374,679,658.68731374,633.68731374,877,784,810,652,628,652,0.401016874541,0.00448394772148,0.0698431134786,0.999999986109,1.97947631314e-05,-0.000164525403218,1.79373073232e-05,1793248329700742912
+36,0.600000000,BASELINE,765,745,715.109472913,679,658.109472913,633.109472913,877,784,810,652,628,652,0.401016423277,0.0044836312588,0.0698430202803,0.999999986047,2.03181698568e-05,-0.000164800674275,1.82750243107e-05,1793248329717409280
+37,0.616666667,BASELINE,765,745,715,679,658,633.465749107,877,784,810,652,628.465749107,652,0.401017272964,0.0044839887898,0.0698437967097,0.999999986247,2.1258172642e-05,-0.000163483980486,1.8088651419e-05,1793248329734076416
+38,0.633333333,BASELINE,765.041410655,745,715,679,658.041410655,634,876.958589345,784,810.041410655,652,629,652,0.401018169001,0.00448445449117,0.0698445998383,0.999999986456,2.21400702699e-05,-0.000162112403031,1.78149803888e-05,1793248329750743296
+39,0.650000000,BASELINE,765.630993609,745,715,679,658.630993609,634,876.369006391,784,810.630993609,652,629,652,0.401015653396,0.00448426673825,0.0698430657426,0.999999986016,2.09638427938e-05,-0.00016493989032,1.8007252441e-05,1793248329767410176
+40,0.666666667,BASELINE,765.783178821,745,715.216821179,679.433642357,658.783178821,633.783178821,876.433642357,784,810.783178821,652,629,651.783178821,0.401014731382,0.00448454324241,0.0698425237928,0.999999985836,2.12552031672e-05,-0.000165976803641,1.80984368379e-05,1793248329784076800
+41,0.683333333,BASELINE,765.203633734,745,715.796366266,680.592732532,658.203633734,633.203633734,877.592732532,784,810.203633734,652,629,651.203633734,0.401016475314,0.00448559641031,0.0698436416209,0.999999986099,2.40017167692e-05,-0.000164018234557,1.80205099321e-05,1793248329800743168
+42,0.700000000,BASELINE,765.374593442,745,715.625406558,680.250813116,658.374593442,633.374593442,877.625406558,784,810,652,628.625406558,651.374593442,0.401016828089,0.00448440095194,0.0698439394749,0.99999998611,2.35405332623e-05,-0.000163999756392,1.81565302629e-05,1793248329817409792
+43,0.716666667,BASELINE,765.952106678,745,715.047893322,679.095786644,658.952106678,633.952106678,877.047893322,784,810,652,628.047893322,651.952106678,0.401016427266,0.00448198739753,0.0698437931434,0.999999985985,2.13417185117e-05,-0.000165032238625,1.84084472573e-05,1793248329834076160
+44,0.733333333,BASELINE,765.474233675,745,715,679.525766325,659,633.474233675,877,784,810,652,628,652.525766325,0.401016457861,0.00448280427407,0.0698435005592,0.999999986043,2.12593466561e-05,-0.000164686132369,1.84655856569e-05,1793248329850742784
+45,0.750000000,BASELINE,765,745,715,679.897911549,658.897911549,633.102088451,877,784,810,652,628.102088451,652.897911549,0.401016519681,0.00448365373307,0.0698433656368,0.999999986124,2.1314269717e-05,-0.000164186996114,1.84673533921e-05,1793248329867409408
+46,0.766666667,BASELINE,765,745,715,679.307177682,658.307177682,633.692822318,877,784,810,652,628.692822318,652.307177682,0.401016544224,0.00448326088607,0.0698440486645,0.999999986235,2.1110271422e-05,-0.000163552092253,1.82883980065e-05,1793248329884076800
+47,0.783333333,BASELINE,765.278210969,745,715,679,658.278210969,634,876.721789031,784,810,652,629,652,0.401017004935,0.00448324846592,0.069844208233,0.999999986288,2.04009425346e-05,-0.000163344726628,1.80763564849e-05,1793248329900743680
+48,0.800000000,BASELINE,765.857809198,745,715,679,658.857809198,634,876.142190802,784,810,652,629,652,0.401017938151,0.00448364816393,0.0698438007355,0.999999986275,1.91441866006e-05,-0.000163600515118,1.78284725735e-05,1793248329917410304
+49,0.816666667,BASELINE,765.565892872,745,715.434107128,679,659,634,876.434107128,784.434107128,810,652,628.565892872,652,0.401017037182,0.00448326735123,0.0698433867077,0.999999986153,1.97963405666e-05,-0.000164262028126,1.79166467145e-05,1793248329934076928
+50,0.833333333,BASELINE,765,745,716,679,658.99047599,634,877,784.99047599,810,652,628,652,0.401015554578,0.00448265492002,0.0698429630102,0.999999985989,2.10705131996e-05,-0.000165074358367,1.81123213956e-05,1793248329950743040
+51,0.850000000,BASELINE,765,745,716,679,658.403426406,634,877,784.403426406,810,652,628,652,0.401014958136,0.0044833830334,0.0698420816718,0.999999985632,2.24342686414e-05,-0.000167034331139,1.82022438308e-05,1793248329967409408
+52,0.866666667,BASELINE,765,745,715.818913471,679.181086529,658,634,877,784,810,652,628.181086529,652,0.401014498775,0.00448391467666,0.0698416003878,0.999999985432,2.31261298412e-05,-0.000168140098834,1.81953133905e-05,1793248329984076032
+53,0.883333333,BASELINE,765,745,715.239973671,679.760026329,658,634,877,784,810,652,628.760026329,652,0.401014340587,0.00448401466834,0.0698419980371,0.999999985583,2.23418164338e-05,-0.000167369148779,1.79755938801e-05,1793248330000742656
+54,0.900000000,BASELINE,765,745,715.339140031,680,658,634,877,784,810.339140031,652,628.660859969,652,0.401015599552,0.00448398893707,0.0698427098117,0.999999985828,2.25975298347e-05,-0.000165869943902,1.78919672614e-05,1793248330017410048
+55,0.916666667,BASELINE,765,745,715.918376826,680,658,634,877,784,810.918376826,652,628.081623174,652,0.401017861801,0.0044838741993,0.0698436439737,0.999999986137,2.35895381519e-05,-0.00016385516552,1.79046886488e-05,1793248330034077184
+56,0.933333333,BASELINE,765,745,716,679.507668878,658.492331122,633.507668878,877,784,810.507668878,652,628.492331122,652.492331122,0.401017344662,0.00448246308263,0.0698430658124,0.999999986075,2.20435190049e-05,-0.000164437144536,1.79975290904e-05,1793248330050743808
+57,0.950000000,BASELINE,765,745,716,679,659,633.067351381,877,784,810,652,628.932648619,653,0.401016426837,0.004481284777,0.0698424163351,0.999999985964,2.04912928413e-05,-0.000165306034761,1.80804294753e-05,1793248330067410432
+58,0.966666667,BASELINE,765,745,716,679,659,633.657367633,877,784,810,652,628.342632367,653,0.401015937489,0.00448356332364,0.06984313848,0.999999985965,2.21215826469e-05,-0.000165095991782,1.79842078585e-05,1793248330084076800
+59,0.983333333,BASELINE,765,745,715.757099681,679,658.757099681,633.757099681,877,784,810,652.242900319,628,652.757099681,0.401015946739,0.00448538443421,0.0698438132012,0.999999986035,2.36657160625e-05,-0.000164463122426,1.79601230866e-05,1793248330100743168
+60,1.000000000,BASELINE,765,745,715.177776754,679,658.177776754,633.177776754,877,784,810,652.822223246,628,652.177776754,0.401016646561,0.00448657198549,0.0698444222397,0.999999986198,2.50905211018e-05,-0.000163244628645,1.80359495134e-05,1793248330117409792
+61,1.016666667,BASELINE,765,745,715.399734508,679.399734508,658,633.399734508,877,784,810,652.600265492,628,652,0.401016860587,0.00448552389542,0.0698443990801,0.99999998621,2.48662156222e-05,-0.000163209037825,1.80407190095e-05,1793248330134076416
+62,1.033333333,BASELINE,765,745,715.976443656,679.976443656,658,633.976443656,877,784,810,652.023556344,628,652,0.401016859537,0.00448348601877,0.0698440960271,0.999999986153,2.39117986121e-05,-0.000163697154241,1.80140294341e-05,1793248330150743296
+63,1.050000000,BASELINE,765,744.439654809,715.439654809,679.439654809,658,634,877,784.560345191,810,652,628,652.560345191,0.401016044325,0.00448399927032,0.0698441467176,0.999999986077,2.19661901355e-05,-0.000164459618372,1.78172981365e-05,1793248330167410176
+64,1.066666667,BASELINE,765,744,715,679.143731246,658,634,877,784.856268754,810,652,628.143731246,653,0.401015263179,0.0044841498754,0.0698440596514,0.999999985998,2.06820244145e-05,-0.000165105242388,1.77814195782e-05,1793248330184077312
+65,1.083333333,BASELINE,765,744,715,679.72461787,658,634,877,784.27538213,810,652,628.72461787,653,0.401014691093,0.00448286706914,0.069843507783,0.999999985929,2.15380044202e-05,-0.00016535996538,1.82567953879e-05,1793248330200743936
+66,1.100000000,BASELINE,765,744.302439632,715.302439632,679.697560368,658,634,877,784.302439632,810,652.302439632,629,653,0.401014907731,0.00448250515443,0.0698435065086,0.999999985884,2.21273009955e-05,-0.00016554094428,1.84016179037e-05,1793248330217410560
+67,1.116666667,BASELINE,765,744.877498691,715.877498691,679.122501309,658,634,877,784.877498691,810,652.877498691,629,653,0.401015835323,0.00448297333247,0.06984400154,0.99999998586,2.24762087775e-05,-0.000165655450157,1.82484792796e-05,1793248330234076672
+68,1.133333333,BASELINE,765,745,715.543641726,679,658,634,877,784.543641726,810.456358274,652.543641726,628.543641726,652.543641726,0.401017448182,0.00448461051345,0.0698452220465,0.999999986221,2.44042977137e-05,-0.000163210587227,1.80038280989e-05,1793248330250743040
+69,1.150000000,BASELINE,765,745,715,679.036669428,658,634,877.036669428,784.036669428,810.963330572,652.036669428,628,652,0.401018971168,0.00448636193066,0.0698464177687,0.999999986618,2.63657272336e-05,-0.000160479724432,1.77401341839e-05,1793248330267409664
+70,1.166666667,BASELINE,765,745,715,679.623321525,658,634,877.623321525,784.623321525,810.376678475,652.623321525,628,652,0.401016364126,0.0044850807118,0.0698442964362,0.999999986171,2.24159470455e-05,-0.000163850017385,1.75623587031e-05,1793248330284076288
+71,1.183333333,BASELINE,765,745,715.206911875,680,658.206911875,634,878,784.793088125,810.206911875,652.793088125,628.206911875,652,0.401015373281,0.00448437592715,0.0698434593098,0.999999985961,2.08580794807e-05,-0.000165331711799,1.75438329793e-05,1793248330300743168
+72,1.200000000,BASELINE,765,745,715.785009751,680,658.785009751,634,878,784.214990249,810.785009751,652.214990249,628.785009751,652,0.401017281783,0.00448470522651,0.0698449259625,0.999999986209,2.35911418082e-05,-0.000163425387885,1.78109905919e-05,1793248330317410304
+73,1.216666667,BASELINE,765.362767613,745,715.637232387,679.637232387,658.637232387,634,877.637232387,784,810.637232387,652,628.637232387,652,0.401016464331,0.00448458768009,0.0698442053798,0.999999985988,2.38802518108e-05,-0.000164712373909,1.80045606177e-05,1793248330334076928
+74,1.233333333,BASELINE,765.940324121,745,715.059675879,679.059675879,658.059675879,634,877.059675879,784,810.059675879,652,628.059675879,652,0.401014032884,0.00448420556342,0.06984218977,0.999999985484,2.27223365991e-05,-0.000167890067744,1.81545605954e-05,1793248330350743552
+75,1.250000000,BASELINE,765.483681591,745,715.516318409,679.516318409,658.516318409,633.483681591,877.516318409,784,810,652,628.516318409,652,0.401015294167,0.00448503880112,0.0698432332698,0.999999985734,2.40560091886e-05,-0.000166232832019,1.78771980954e-05,1793248330367410176
+76,1.266666667,BASELINE,765,745,716,679.906126406,659,633.093873594,877.906126406,784,810.093873594,652.093873594,629,652,0.401016755789,0.00448573220537,0.0698444719666,0.999999986024,2.51482860232e-05,-0.000164338503857,1.76609561815e-05,1793248330384076800
+77,1.283333333,BASELINE,765,745,716,679.31943172,659,633.68056828,877.31943172,784,810.68056828,652.68056828,629,652,0.401017035272,0.00448495628571,0.0698448848271,0.999999986094,2.34660039283e-05,-0.000164124339468,1.80241176653e-05,1793248330400743168
+78,1.300000000,BASELINE,765,745,715.735106044,679.264893956,659,633.735106044,877.264893956,784,811,653,629,652.264893956,0.401016458034,0.00448427342036,0.0698446383709,0.999999985988,2.27343070311e-05,-0.000164844590399,1.82541284708e-05,1793248330417409792
+79,1.316666667,BASELINE,765,745,715.153611843,679.846388157,659,633.153611843,877.846388157,784,811,653,629,652.846388157,0.401014856848,0.00448370177324,0.0698436039016,0.999999985673,2.31387460536e-05,-0.000166681650966,1.83249980677e-05,1793248330434076416
+80,1.333333333,BASELINE,765,745,715.422419496,680,659,633.422419496,877.577580504,784,810.577580504,653,628.577580504,652.577580504,0.401014833971,0.00448385094636,0.069843526408,0.99999998564,2.38490105802e-05,-0.000166806114454,1.81050269379e-05,1793248330450743040
+81,1.350000000,BASELINE,765,745,715.996489687,680,659,633.996489687,877.003510313,784,810.003510313,653,628.003510313,652.003510313,0.401015377716,0.00448425889747,0.0698437924732,0.999999985707,2.46690680137e-05,-0.000166315747238,1.77806425493e-05,1793248330467409920
+82,1.366666667,BASELINE,765,745,715.432934031,679.432934031,659,634,877.567065969,784,810,652.432934031,628,652,0.401015758531,0.00448440900694,0.0698444596395,0.999999985802,2.50660522498e-05,-0.000165662353624,1.79635836841e-05,1793248330484076800
+83,1.383333333,BASELINE,765,745,715,679.143598148,659,634,877.856401852,784,810,652,628.143598148,652.143598148,0.401016195542,0.00448444482406,0.0698448461884,0.9999999859,2.47396945134e-05,-0.000165110209739,1.80750254682e-05,1793248330500743424
+84,1.400000000,BASELINE,765,745,715,679.738934443,659,634,877.261065557,784,810,652,628.738934443,652.738934443,0.401016812489,0.00448412608509,0.069844342194,0.999999986001,2.21460003432e-05,-0.000164879737387,1.7951722064e-05,1793248330517410048
+85,1.416666667,BASELINE,765,745,715.325298784,680,658.674701216,634,877.325298784,784,810,652,629,652.674701216,0.401016075405,0.00448415796309,0.0698437923172,0.999999985918,2.11326327162e-05,-0.000165535077869,1.77808776821e-05,1793248330534076928
+86,1.433333333,BASELINE,765,745,715.904655992,680,658.095344008,634,877.904655992,784,810,652,629,652.095344008,0.401014280821,0.00448446367302,0.0698432066061,0.999999985693,2.13535006305e-05,-0.000166882238387,1.75729037932e-05,1793248330550743808
+87,1.450000000,BASELINE,765,745,716,680,658,634,877.520516931,784,810,652,629,652,0.401014966079,0.00448438254467,0.0698434536329,0.999999985823,2.22380625422e-05,-0.000165962679531,1.77446430721e-05,1793248330567410176
+88,1.466666667,BASELINE,765,745,716,680,658.054802989,634,877,784,810.054802989,652,628.945197011,652.054802989,0.401015843523,0.00448418762664,0.0698437507448,0.999999985969,2.32378751128e-05,-0.000164921147501,1.79863894202e-05,1793248330584076544
+89,1.483333333,BASELINE,765,745,716,680,658.643620864,634,877,784,810.643620864,652,628.356379136,652.643620864,0.40101383367,0.00448362644314,0.069842937468,0.999999985593,2.40867683627e-05,-0.000167042016154,1.81814485353e-05,1793248330600743424
+90,1.500000000,BASELINE,765,745,715.771485768,680,658.771485768,634,877,784,810.771485768,652,628.228514232,653,0.401013578422,0.00448304111503,0.0698430569101,0.99999998555,2.42784201469e-05,-0.000167267811747,1.82082097824e-05,1793248330617410304
+91,1.516666667,BASELINE,765,745,715.192609576,680,658.192609576,634,877,784,810.192609576,652,628.807390424,653,0.401016013365,0.00448241876802,0.0698446064133,0.999999986019,2.34623779064e-05,-0.000164588048455,1.79769338189e-05,1793248330634077440
+92,1.533333333,BASELINE,765,745,715.386911909,680,658,634,877.386911909,784,810,652,628.613088091,652.613088091,0.40101610523,0.00448269510265,0.0698447039889,0.999999986018,2.38866928191e-05,-0.000164535957636,1.79520549813e-05,1793248330650744064
+93,1.550000000,BASELINE,765,745,715.966755218,680,658,634,877.966755218,784,810,652,628.033244782,652.033244782,0.401015028731,0.00448341955964,0.0698440775694,0.999999985783,2.49295046228e-05,-0.00016579414035,1.80300948633e-05,1793248330667410432
+94,1.566666667,BASELINE,765,745,715.462178657,679.462178657,658.537821343,634,877.462178657,784,810,652,628.537821343,652.537821343,0.401014529105,0.00448467151095,0.06984347532,0.999999985668,2.54089237026e-05,-0.000166433437352,1.78511642638e-05,1793248330684076800
+95,1.583333333,BASELINE,765,745,715.112484606,679.112484606,658.887515394,634,877,784.112484606,810,652.112484606,629,653,0.401014407531,0.00448567158688,0.0698432536759,0.99999998564,2.53042645333e-05,-0.000166635892359,1.76779767125e-05,1793248330700742912
+96,1.600000000,BASELINE,765,745,715.704768591,679.704768591,658.295231409,634,877,784.704768591,810,652.704768591,629,653,0.401015748866,0.00448546044879,0.06984464922,0.999999985949,2.28544004352e-05,-0.000165135570475,1.7595951954e-05,1793248330717409792
+97,1.616666667,BASELINE,765,745,715.709482587,680,658,634,877.290517413,785,810,652.709482587,629,652.709482587,0.401016055538,0.0044850258137,0.0698449901679,0.999999986038,2.16960703846e-05,-0.000164743252782,1.77019083082e-05,1793248330734076416
+98,1.633333333,BASELINE,765,745,715.130228897,680,658,634,877.869771103,785,810,652.130228897,629,652.130228897,0.40101533389,0.00448436905185,0.0698442829849,0.999999985913,2.18213562515e-05,-0.000165452146299,1.79946932852e-05,1793248330750743040
+99,1.650000000,BASELINE,765,745,715.445884199,680,658,634,877.554115801,784.554115801,810,652.445884199,629,652.445884199,0.401014332481,0.00448384990798,0.0698433284792,0.999999985592,2.21780771342e-05,-0.000167301190274,1.82619928033e-05,1793248330767409920
+100,1.666666667,BASELINE,765,745,716,680,658,634,877,784.021544619,810,652.978455381,629,652.978455381,0.401013390549,0.00448341872997,0.0698424058276,0.999999985245,2.26528933419e-05,-0.000169276772493,1.85034812761e-05,1793248330784076544
+101,1.683333333,BASELINE,765,745,716,680,658,634,877,784.609245427,810,652.390754573,629,652.390754573,0.401016143749,0.00448425030493,0.0698442051942,0.999999985775,2.44671976355e-05,-0.000165888029555,1.82609339397e-05,1793248330800742912
+102,1.700000000,BASELINE,765.194066267,745,715.805933733,680,658.194066267,634,877,785,810.194066267,652,629,652,0.401017177441,0.00448424160238,0.0698450390552,0.99999998602,2.52564862788e-05,-0.000164291931168,1.8186255032e-05,1793248330817409536
+103,1.716666667,BASELINE,765.773172984,745,715.226827016,680,658.773172984,634,877,785,810.773172984,652,629,652,0.401014799509,0.00448256573296,0.0698439572882,0.999999985722,2.40120751099e-05,-0.00016625255986,1.8444638342e-05,1793248330834076160
+104,1.733333333,BASELINE,765.648480986,745,715.351519014,679.648480986,658.648480986,634,877,784.648480986,811,652,629,652,0.401014229921,0.00448250163766,0.0698436540809,0.99999998567,2.28055124585e-05,-0.000166734199856,1.84483351246e-05,1793248330850742784
+105,1.750000000,BASELINE,765.070624693,745,715.929375307,679.070624693,658.070624693,634,877,784.070624693,811,652,629,652,0.401014824695,0.00448347533691,0.0698438521751,0.999999985777,2.16233197189e-05,-0.000166263543687,1.828804349e-05,1793248330867409408
+106,1.766666667,BASELINE,765,745,715.494838718,679.505161282,658.505161282,633.494838718,877,784,811,652,628.494838718,652,0.4010155955,0.00448297961894,0.069844042839,0.999999985795,2.18965307929e-05,-0.000166099680827,1.8501567364e-05,1793248330884075776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,877,784,810,652,628,653,0.401015044085,0.0044829789221,0.0698431346584,0.999999985662,2.11110531638e-05,-0.000167083152915,1.76926899354e-05,1793248330926718976
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579372549,745,716,680,659,634,877.579372549,784.579372549,810,652.579372549,628.579372549,653,0.401015147657,0.00448378857436,0.0698434710135,0.999999985643,2.32230442791e-05,-0.000166883273004,1.8027945676e-05,1793248330943385600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.842456473,745,715.842456473,680,659,634,878,785,810,652.842456473,629,653,0.401014998417,0.00448390196378,0.0698434915698,0.999999985607,2.35290753722e-05,-0.000167035510083,1.82067993241e-05,1793248330960052224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.267469172,745,715.267469172,680,659,634,878,785,810,652.267469172,629,653,0.401014179303,0.0044821704627,0.0698426753529,0.999999985525,1.90498467579e-05,-0.000168120753042,1.79712337373e-05,1793248330976718848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.307451295,680,658.692548705,634,877.692548705,785,810,652,629,652.692548705,0.401013807236,0.00448206818907,0.0698426076169,0.999999985486,1.76655747134e-05,-0.000168512082387,1.7860157514e-05,1793248330993385216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.882313598,680,658.117686402,634,877.117686402,785,810,652,629,652.117686402,0.401013823996,0.00448338296393,0.0698431908848,0.999999985498,1.89731941978e-05,-0.000168299868469,1.78573580522e-05,1793248331010051840
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.531661656,679.531661656,658.468338344,634,877,784.531661656,810.468338344,652,629,652,0.401013437023,0.0044839606757,0.0698428238439,0.999999985335,2.13743237269e-05,-0.000169008703944,1.76121727771e-05,1793248331026718464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.056417044,659,634,877.056417044,784,811,652,628.943582956,652,0.401013179229,0.00448432098872,0.0698423832344,0.999999985092,2.37258260865e-05,-0.000170147245321,1.73887075776e-05,1793248331043385344
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.63688371,659,634,877.63688371,784,811,652,628.36311629,652,0.401015086746,0.00448442433784,0.0698435315797,0.999999984597,2.30016133461e-05,-0.000173074903494,1.79465754068e-05,1793248331060051968
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.785292922,634,878,784,811,652.214707078,628,652,0.401022810312,0.00448453658296,0.0698477787507,0.999999984648,2.28377129511e-05,-0.000172731607443,1.86161741544e-05,1793248331076718592
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.211885639,634,878,784,811,652.788114361,628,652,0.401040250454,0.00448466369018,0.0698572029724,0.9999999856,2.36098979955e-05,-0.000166923694064,1.94724360145e-05,1793248331093385216
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.636116037,658,634,877.636116037,784,810.636116037,652.636116037,628.363883963,652.363883963,0.401072307921,0.00448275823977,0.0698700026911,0.999999987722,2.06058001782e-05,-0.000154070490046,1.98400417951e-05,1793248331110052096
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.058961841,658,634,877.058961841,784,810.058961841,652.058961841,628.941038159,652.941038159,0.401112932518,0.00447966151938,0.0698847807696,0.999999990287,1.53884454269e-05,-0.000137088082355,1.99212492206e-05,1793248331126718720
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.530059672,745,715.530059672,679,658,634,876.469940328,784,810,652,628.469940328,652.469940328,0.401172049675,0.0044804607362,0.06989947392,0.99999999262,1.6414839301e-05,-0.00011873631856,1.97988090052e-05,1793248331143385344
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,679,658,633.882031832,876.235936337,784,810,652,628.117968168,652,0.4012366934,0.0044815328909,0.0699129349702,0.999999994467,1.76556074788e-05,-0.000101863536841,1.94660929362e-05,1793248331160051712
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,679,658,633.303735394,877.392529213,784,810,652,628.696264606,652,0.401314691884,0.00448194029206,0.0699216259054,0.999999995513,1.69606710968e-05,-9.13699383475e-05,1.84032706209e-05,1793248331176718336
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.726730082,679.273269918,658.273269918,633.273269918,878,784,810.273269918,652,629,652,0.401399630832,0.00448307749595,0.0699266649268,0.999999996038,1.62492426589e-05,-8.58696161953e-05,1.69020557274e-05,1793248331193384960
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.151153123,679.848846877,658.848846877,633.848846877,878,784,810.848846877,652,629,652,0.401492247719,0.00448502204994,0.0699276639887,0.99999999608,1.55195697948e-05,-8.58931467066e-05,1.49158655917e-05,1793248331210051584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.566568312,745,715,680,659.433431688,634,877.566568312,784.433431688,810.566568312,652,629,652,0.401596816589,0.00448356482391,0.0699253652852,0.999999995758,1.13086287826e-05,-9.05239081098e-05,1.26807814873e-05,1793248331226718464
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.958245627,634,877.020877186,784.979122814,810,652,628.979122814,652,0.401706988049,0.00448107468488,0.0699220498267,0.999999995257,5.96325510647e-06,-9.66593392414e-05,1.0331988537e-05,1793248331243385088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.801898011,634,877.599050995,784.400949005,810,652,628.400949005,652,0.4018530909,0.00448335176684,0.0699229440701,0.999999995051,3.43080353741e-06,-9.91607353411e-05,7.31401624608e-06,1793248331260051712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.822986377,658.177013623,634,877.645972754,784,810,652,628,652,0.402010615351,0.00448500776741,0.0699242100835,0.999999994903,7.58636928575e-07,-0.000100881927075,4.06563467098e-06,1793248331276718336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.245501596,658.754498404,634,876.491003192,784,810,652,628,652,0.402193979719,0.0044852586488,0.0699263171801,0.999999994913,-2.22961712034e-06,-0.000100838003785,2.9598134968e-07,1793248331293384960
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.331269231,679.331269231,658.668730769,634,876.331269231,784,810,652,628,652.331269231,0.402393153042,0.00448450471656,0.0699274271101,0.999999994784,-8.69635239252e-06,-0.000101697985976,-3.70612790848e-06,1793248331310051840
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715.907512149,679.907512149,658.092487851,634,876.907512149,784,810,652,628,652.907512149,0.402604017113,0.00448300772439,0.0699277996355,0.999999994484,-1.77354257875e-05,-0.000103226406505,-7.88013878844e-06,1793248331326718464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.495071941,784.495071941,810.495071941,652.495071941,628,653,0.402848413213,0.00448479611351,0.0699319834316,0.999999995039,-2.00602876255e-05,-9.67067873309e-05,-1.29098686297e-05,1793248331343385088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.916979969,785,810.916979969,652.916979969,628,653,0.403106338523,0.00448686129329,0.069937367143,0.999999995752,-2.20083162138e-05,-8.76583473106e-05,-1.80911196952e-05,1793248331360051712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.339603217,785,810.339603217,652.339603217,628,653,0.403406651105,0.00448683440456,0.0699455569846,0.999999996656,-2.93562708804e-05,-7.27139642858e-05,-2.32004320923e-05,1793248331376718592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.237194455,745,716,680,658.237194455,634,877.237194455,785,810.237194455,652,628.237194455,652.762805545,0.40372285153,0.00448673355392,0.0699518552756,0.999999997191,-3.13270771053e-05,-6.26821952076e-05,-2.65842778869e-05,1793248331393385216
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.813165015,745,716,680,658.813165015,634,877.813165015,785,810.813165015,652,628.813165015,652.186834985,0.404061743959,0.00448652706622,0.0699554519341,0.999999997514,-2.56178997778e-05,-5.96669326554e-05,-2.75037029693e-05,1793248331410051840
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.602530328,745,715.602530328,680,658.602530328,634,877.602530328,784.602530328,810.602530328,652,628.602530328,652.397469672,0.404419830736,0.00448429644329,0.0699596895386,0.999999998048,-1.54996617917e-05,-5.45048836241e-05,-2.6306569861e-05,1793248331426718464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.014224252,745,715.014224252,680,658.014224252,634,877.014224252,784.014224252,810.014224252,652,628.014224252,652.985775748,0.40478713325,0.00448109397595,0.0699642348791,0.999999998537,-3.26450955092e-06,-4.83121019148e-05,-2.40932174196e-05,1793248331443385088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.564217652,634,877,784,810.564217652,652.564217652,628.564217652,653,0.405200014153,0.00448468070411,0.0699692262837,0.999999998837,1.63731720773e-06,-4.04307237593e-05,-2.62250285511e-05,1793248331460051712
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.858184349,659.141815651,634,877,784,810.858184349,652.858184349,628.858184349,652.858184349,0.40562253975,0.00448839160086,0.0699727687542,0.999999999013,-1.11006507013e-06,-3.42965207387e-05,-2.82330781468e-05,1793248331476718592
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.282420886,659.717579114,634,877,784,810.282420886,652.282420886,628.282420886,652.282420886,0.406071121848,0.00449196770645,0.0699718437482,0.999999998642,-2.67075982952e-05,-3.36366005982e-05,-2.9532984985e-05,1793248331493385472
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.411853522,634,877,784,810.294073239,652,628.294073239,652,0.406537994197,0.00449648909152,0.0699616113522,0.9999999979,-2.76252378023e-05,-5.00868005854e-05,-3.04761938895e-05,1793248331510052096
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.257458222,634,877,784,810.871270889,652,628.871270889,652,0.407022475874,0.00450192056217,0.0699424180953,0.99999999606,-4.78185936675e-06,-8.30100828461e-05,-3.10759854378e-05,1793248331526718720
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.441504004,658.441504004,634,877.441504004,784,810.558495996,652,629,652.441504004,0.407548477047,0.00450865933904,0.0699355860092,0.999999995298,1.30570250927e-05,-9.03467346623e-05,-3.27192450517e-05,1793248331543385088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.010287558,680,659,634,878,784,810.010287558,652,629,652.989712442,0.408087730579,0.00451572670797,0.0699326493149,0.999999994947,2.92352791422e-05,-8.97179589079e-05,-3.46649150545e-05,1793248331560051712
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.610591112,680,659,634,878,784,810.610591112,652,629,652.389408888,0.408703524985,0.00452011808812,0.0699496266176,0.999999997364,3.25590492769e-05,-5.34732844451e-05,-3.67764367183e-05,1793248331576718336
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.202576579,784,811,652,629,652.202576579,0.409321606307,0.00452564677646,0.0699605505715,0.999999998376,3.13120805185e-05,-2.80513984176e-05,-3.8483624046e-05,1793248331593385216
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.779202983,784,811,652,629,652.779202983,0.409943910291,0.00453327546014,0.0699602972499,0.999999998733,2.16254188893e-05,-2.26133752785e-05,-3.94442235918e-05,1793248331610051840
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.645005493,680,659,634,879,784,811,652,628.645005493,653,0.410589795764,0.00454064844899,0.0699548393914,0.999999998161,3.28027658408e-05,-3.15072728019e-05,-4.01226117004e-05,1793248331626718464
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.069732046,680,659,634,879,784,811,652,628.069732046,653,0.41125031385,0.0045478627754,0.0699461520468,0.999999996339,5.69265154729e-05,-4.92943230626e-05,-4.06258836939e-05,1793248331643385088
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878.479379732,784,811,652,628.520620268,652.479379732,0.41196280793,0.00455444243412,0.069961855305,0.999999996417,6.97031304184e-05,-2.38842901869e-05,-4.16849411599e-05,1793248331660051712
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.109659987,634,878.219319973,784,811,652,629,652,0.412692079058,0.0045607370197,0.0699836580868,0.999999995959,7.8235497514e-05,1.17689310528e-05,-4.26833787223e-05,1793248331676718592
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.684314205,634,879.368628411,784,811,652,629,652,0.41346208985,0.00456619401151,0.0700170589921,0.999999994077,7.54077002979e-05,6.55910222425e-05,-4.30996937975e-05,1793248331693385216
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.259912673,745,715,680,660,634,879.740087327,784.259912673,811,652,629,652,0.414218582359,0.00457245776093,0.0700280281537,0.999999992686,8.10141343532e-05,7.88449147098e-05,-4.29915330314e-05,1793248331710051840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.836662268,745,715,680,660,634,879.163337732,784.836662268,811,652,629,652,0.414958596009,0.00457970495909,0.0700116527328,0.999999993503,9.6902005565e-05,4.2645653545e-05,-4.22440295307e-05,1793248331726719232
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.576991314,633.576991314,879,785,811,652.423008686,629,652,0.415706887344,0.00458557313769,0.0699657328985,0.999999992993,0.000104840453395,-3.26878254584e-05,-4.42064025044e-05,1793248331743386112
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715.012883612,680.012883612,659.012883612,633,879.012883612,785,811,652.987116388,629,652.012883612,0.416460951984,0.0045908326137,0.0699097870227,0.99999998558,0.000109477887291,-0.00012093802542,-4.71982717608e-05,1793248331760052224
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.59121019,680.59121019,659.59121019,633,879.59121019,785,811,652.40878981,629,652.59121019,0.417324863716,0.00459328954473,0.0699261194299,0.999999988344,0.000107083468744,-9.74883723234e-05,-4.8383384105e-05,1793248331776718848
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.831230673,745.168769327,715.831230673,680.831230673,660.168769327,633,879.831230673,784.831230673,811,652,629,653,0.418188832719,0.00459530037558,0.0699457363305,0.999999990767,0.000106054962508,-6.92019486916e-05,-4.92901132597e-05,1793248331793385728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.255522036,745.744477964,715.255522036,680.255522036,660.744477964,633,879.255522036,784.255522036,811,652,629,653,0.419052939763,0.00459623556239,0.0699732728535,0.999999992479,0.000108319966098,-2.92530278022e-05,-4.95256003366e-05,1793248331810052608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.320412397,745.679587603,715.320412397,680,660.679587603,633.320412397,879.320412397,784,811.320412397,652,629,653,0.419947907971,0.00459098189237,0.0700001326611,0.999999993287,0.000103940907971,1.46725761082e-05,-4.90592237267e-05,1793248331826718976
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.896526997,745.103473003,715.896526997,680,660.103473003,633.896526997,879.896526997,784,811.896526997,652,629,653,0.420867504608,0.00458078926132,0.0700264524209,0.999999992496,9.42596165224e-05,6.17717338527e-05,-4.8032731121e-05,1793248331843385600
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.518067842,745,715.518067842,680.481932158,660,633.518067842,879.518067842,784,812,652.481932158,629.481932158,653,0.421766395485,0.00457525476481,0.0700310437092,0.999999992924,8.76690510088e-05,6.38720183775e-05,-4.88498701644e-05,1793248331860052224
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715.068721024,681,659.931278976,633.068721024,879,784,811.931278976,652.931278976,630,653,0.422651374714,0.00457218542025,0.070021382648,0.999999994396,8.33075097786e-05,4.18320336145e-05,-5.01829384208e-05,1793248331876718592
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715.650653616,681,659.349346384,633.650653616,879,784,811.349346384,652.349346384,630,653,0.423466313354,0.00457991016682,0.0699408091824,0.999999990753,9.05392676381e-05,-8.69180438493e-05,-5.23547591959e-05,1793248331893385472
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715.770897574,681,659.229102426,634,879,784,811.229102426,652,630,653,0.424315299614,0.00458522814312,0.0698826547029,0.999999979614,8.82072809415e-05,-0.000172938631811,-5.55376377566e-05,1793248331910052096
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715.19768135,681,659.80231865,634,879,784,811.80231865,652,630,653,0.42521542581,0.00458693113109,0.06985817372,0.999999976659,7.15104711341e-05,-0.000194779183022,-6.02391350911e-05,1793248331926718720
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.62444907,660.37555093,634,879,784,812.37555093,652,630,653,0.426166925665,0.00459023728904,0.0698921423496,0.999999985197,8.02696130284e-05,-0.000140471224556,-5.85734416604e-05,1793248331943385344
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.051208373,660.948791627,634,879,784,812.948791627,652,630,653,0.427145468525,0.00459438735451,0.0699568788189,0.999999992258,0.000102428751828,-4.607873748e-05,-5.35560624075e-05,1793248331960052224
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.539750556,660.460249444,633.460249444,879,784,813,652,629.460249444,653,0.428133084965,0.00459641232719,0.0700052213397,0.999999992732,0.000106337387532,1.8738694597e-05,-5.36330102341e-05,1793248331976719104
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.870656462,660,633,879,784,813,652,629,653,0.429113810653,0.00459743284147,0.0700440045968,0.99999999018,0.00010640797028,7.31217987985e-05,-5.44952064136e-05,1793248331993385728
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.291849782,660,633,879,784,813,652,629,653,0.430067498294,0.00459568729393,0.0700551580875,0.999999988342,9.93625959991e-05,0.00010132741259,-5.63495869045e-05,1793248332010052352
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.284550854,660.284550854,633,879.284550854,784,813.284550854,652,629.284550854,652.715449146,0.430943998591,0.00459489270114,0.0700233199245,0.999999992412,9.84904620188e-05,4.79378437884e-05,-5.6376768797e-05,1793248332026718720
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.858504386,660.858504386,633,879.858504386,784,813.858504386,652,629.858504386,652.141495614,0.43174199538,0.00459506527778,0.0699477570642,0.999999989204,0.000103896826263,-8.84381748409e-05,-5.45455959957e-05,1793248332043385344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681.443573654,660.112852693,633,880,784,813.556426346,652,630,652,0.432609426738,0.00459503028135,0.0699047721951,0.999999981451,0.000103032693321,-0.00015254305207,-5.6679179326e-05,1793248332060052224
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.031813995,745,715,681.968186005,659.095441984,633.031813995,879.968186005,784,813.031813995,652,630,652,0.433504273304,0.00459477705643,0.0698780931002,0.999999976256,9.9810545749e-05,-0.000184216640339,-5.99201265981e-05,1793248332076718848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.612022969,745,715,681.387977031,660.836068908,633.612022969,879.387977031,784,813.612022969,652,630,652,0.434480082658,0.00459193280859,0.0699487475938,0.999999991961,9.13072475377e-05,-6.44593627023e-05,-5.98883140674e-05,1793248332093385728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809127125,745,715,681,661.809127125,633.809127125,879.190872875,784,814,652,629.809127125,652.190872875,0.435432080815,0.00458927334026,0.0700042527767,0.999999994151,8.60459825705e-05,2.78804620356e-05,-5.9304604658e-05,1793248332110052608
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.233020092,745,715,681,661.233020092,633.233020092,879.766979908,784,814,652,629.233020092,652.766979908,0.436336021577,0.0045869868075,0.070029182481,0.999999992423,8.732803635e-05,6.48843175774e-05,-5.76070163709e-05,1793248332126719488
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.65884091,633,880,784,814.34115909,651.65884091,629.34115909,652.65884091,0.43720492773,0.0045838812491,0.070031594608,0.999999991889,8.257478382e-05,7.72910782125e-05,-5.85579383145e-05,1793248332143386112
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.085971132,633,880,784,814.914028868,651.085971132,629.914028868,652.085971132,0.438050038791,0.00458021941958,0.0700187130962,0.999999992739,7.37224319986e-05,7.29918190328e-05,-6.13076930921e-05,1793248332160052224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.5058515,633,880,784,814.4941485,651,630,652,0.438830997463,0.00458255335804,0.0699653452068,0.999999995221,7.53713730974e-05,-6.37606182848e-06,-6.19460126304e-05,1793248332176719104
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.902137738,660.902137738,633,880,784,814,651.097862262,630,652.097862262,0.439594733142,0.00458573609284,0.0699079315822,0.999999990344,7.92557312936e-05,-9.58642944012e-05,-6.19690880533e-05,1793248332193385728
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.325576263,660.325576263,633,880,784,814,651.674423737,630,652.674423737,0.440329629736,0.00458789223814,0.0698656959718,0.999999980085,8.50048327229e-05,-0.000170020279637,-6.08063022509e-05,1793248332210052352
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.499569785,660.249784892,633,880.249784892,784,814.249784892,652,630,653,0.441116675393,0.00458928494514,0.0698703863126,0.999999981047,8.66335682e-05,-0.000163484118469,-6.06076388067e-05,1793248332226718976
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.647177917,660.823588958,633,880.823588958,784,814.823588958,652,630,653,0.441971368386,0.00458968732526,0.0699359486646,0.999999993295,8.29173937228e-05,-5.22746762694e-05,-6.1659627877e-05,1793248332243385856
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.406986857,633,880.186026287,784,814.593013143,652,630,652.593013143,0.442761375069,0.00458865297423,0.0699921901619,0.999999994403,8.17254936296e-05,2.97431466947e-05,-6.02510751507e-05,1793248332260052224
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.994643708,633,879.010712585,784,814.005356292,652,630,652.005356292,0.443522666219,0.00458698082816,0.0700442939421,0.999999990118,8.16541714736e-05,9.88022076519e-05,-5.77502364294e-05,1793248332276718848
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.846718849,633,879.576640575,784,814,652,630,652.576640575,0.444232346977,0.00458689685018,0.0700303452048,0.999999992883,7.67798179624e-05,6.95918517508e-05,-5.91206750799e-05,1793248332293385472
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.15610652,745,715,682,660.15610652,633,880,784,814.15610652,652,630,653,0.444920282988,0.00458592427253,0.0700115088407,0.999999994942,7.25193487484e-05,3.56344652025e-05,-5.99005493924e-05,1793248332310052096
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.728955027,745,715,682,660.728955027,633,880,784,814.728955027,652,630,653,0.445551436737,0.0045825404895,0.0699812464708,0.999999995771,7.00156489017e-05,-8.58246639582e-06,-5.90087890955e-05,1793248332326718720
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,880,784.304349054,815,652,630,653,0.446167114786,0.00458224648379,0.0699586833503,0.999999994886,7.32492612464e-05,-3.88150883069e-05,-5.7929956182e-05,1793248332343385344
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,880,784.882029138,815,652,630,653,0.446768894318,0.00458472735799,0.0699430348045,0.999999993466,8.16354623423e-05,-5.64886221918e-05,-5.66831164492e-05,1793248332360052224
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.529561443,745,715,681.529561443,661,633,880,784.529561443,815,652,630,653,0.4473172379,0.00458509091727,0.0699293374343,0.999999991261,8.20201413865e-05,-8.64850521025e-05,-5.71964049718e-05,1793248332376719360
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.060395219,745,715,681,660.939604781,633,880,784,815,652,630,653,0.447853340812,0.00458512064871,0.0699170288428,0.999999988229,8.10320368614e-05,-0.000116665488919,-5.80096684789e-05,1793248332393386496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.639983355,745,715,681,660.360016645,633,880,784,815,652,630,653,0.448402098769,0.00458695152751,0.0699123545973,0.999999987307,8.58945303941e-05,-0.000121242686634,-5.75187420846e-05,1793248332410053376
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.782508998,745,715,681.217491002,660,633,880,784,815,652,630,653,0.448934194613,0.00458839254949,0.0699163166838,0.999999987885,8.96246335446e-05,-0.000113998410887,-5.65901237972e-05,1793248332426720000
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.208412645,745,715,681.791587355,660,633,880,784,815,652,630,653,0.449438970659,0.00458919434933,0.0699344391831,0.999999990488,9.14980319254e-05,-8.73712606815e-05,-5.49438516111e-05,1793248332443386112
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659.633095415,632.633095415,880,784,815,652,630.366904585,653,0.449910428863,0.00458877240739,0.0699444721523,0.999999991904,8.96170527208e-05,-7.19317342289e-05,-5.46469591826e-05,1793248332460052480
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659.05708232,632.05708232,880,784,815,652,630.94291768,653,0.450362898406,0.00458765302312,0.0699498946888,0.999999992841,8.55963558412e-05,-6.28683243398e-05,-5.51191133864e-05,1793248332476719104
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.116778949,745,714.116778949,681.883221051,658.883221051,632,880,783.883221051,815,651.883221051,630.116778949,653,0.451057151581,0.00459431608738,0.069884847621,0.999999979382,9.62967486656e-05,-0.00016999841657,-5.53556694161e-05,1793248332510051840
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.69721933,745,714.69721933,681.30278067,658.30278067,632,880,783.30278067,815,651.30278067,630.69721933,653,0.451390523092,0.00459468992458,0.0698488057184,0.999999969006,0.000101199011052,-0.000220811968311,-5.46680002628e-05,1793248332526718720
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.725757755,745,715,681.274242245,658,632,880.274242245,783.274242245,815,651.274242245,631,653,0.451710721639,0.00459593662831,0.0698245688934,0.999999960779,0.000104183107519,-0.000254168233697,-5.46473323321e-05,1793248332543385856
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.152461532,745,715,681.847538468,658,632,880.847538468,783.847538468,815,651.847538468,631,653,0.452016555395,0.00459813517008,0.0698132051983,0.999999956905,0.000105075494246,-0.000268487783355,-5.53540119005e-05,1793248332560052480
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.431546568,745,715,682,658,632,880.568453432,784,815,652,631,653,0.452307640192,0.00459871691755,0.0698124151102,0.999999958107,0.000104262171863,-0.000264151913382,-5.60354773226e-05,1793248332576719104
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657.980870822,632,880,783.980870822,815,652,630.980870822,653,0.452591786632,0.00459877903141,0.0698152035508,0.999999960918,0.000102908865163,-0.000253688310699,-5.67094437353e-05,1793248332593385728
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.402244533,632,880,783.402244533,815,652,630.402244533,653,0.45282928065,0.00460077459491,0.0698106180008,0.999999958723,0.000103835942155,-0.000261675183077,-5.743125112e-05,1793248332610052352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.823852747,745,715,682,657,632,880,783,815,652,630.176147253,653,0.4530556984,0.00460198736958,0.0698048181371,0.999999955774,0.000104634055852,-0.000272346957961,-5.77056519061e-05,1793248332626718720
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.245995833,745,715,682,657,632,880,783,815,652,630.754004167,653,0.453256856317,0.00460141496806,0.0697962489913,0.999999951049,0.00010513806434,-0.000289141741091,-5.69597269804e-05,1793248332643385856
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.32892006,745,715,682,657,631.67107994,880,783,815,651.67107994,630.67107994,653,0.453446223118,0.00460112572476,0.0697944997169,0.999999950256,0.00010426747806,-0.000292235434384,-5.67033745497e-05,1793248332660052736
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.901655947,745,715,682,657,631.098344053,880,783,815,651.098344053,630.098344053,653,0.453626849638,0.00460104637573,0.0697978057506,0.999999952484,0.000102377957456,-0.000285173036966,-5.6809923364e-05,1793248332676719360
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.510166561,745,715,682,657,631,880,783.489833439,815,651.489833439,630,653,0.453771288048,0.00460183606862,0.069796086978,0.999999951301,0.000102614079404,-0.000289227965443,-5.67100861961e-05,1793248332693385984
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.079560172,745,715,682.079560172,656.920439828,631,880,783.920439828,815,651.920439828,630,653,0.453905044189,0.0046024086443,0.0697935474208,0.999999949637,0.000103029469059,-0.00029481454461,-5.65190581032e-05,1793248332710052608
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682.762484427,656,631,880,783,815,651.237515573,630,653,0.454121381125,0.0046000167302,0.0697901851722,0.999999948311,0.000102227685446,-0.000299710770798,-5.56886263565e-05,1793248332743385600
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,880.397696959,783,815,652,630,653,0.454281205118,0.00460093647908,0.0697855223826,0.999999944859,0.000104441041,-0.000310364763613,-5.52035455557e-05,1793248332776718592
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631,880.982742446,783,815,652,630,653,0.454348326344,0.00459915681229,0.0697858982225,0.99999994572,0.000102280166995,-0.000308395621954,-5.46969296107e-05,1793248332793385216
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.438169287,745,715,682,656,631,880.438169287,783.561830713,815,652,630.561830713,653,0.454393446471,0.00460074345258,0.0697815878809,0.999999942501,0.000106332536034,-0.000317432260978,-5.41053128938e-05,1793248332810051840
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.138819337,745,715,682,656,631,880,783.861180663,815,652,630.861180663,653,0.454434449388,0.00460213695747,0.0697774553126,0.999999939558,0.000109376510299,-0.000325628258265,-5.37389962166e-05,1793248332826718720
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.70983461,745,715,682,656,631,880,783.29016539,815,652,630.29016539,653,0.454464715841,0.00460261061017,0.0697743196674,0.999999938126,0.000108693025559,-0.000330165560269,-5.40821655418e-05,1793248332843385600
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.956910116,745.956910116,715,682,655.043089884,631.043089884,881,783,815.956910116,651.043089884,630,653,0.454542919142,0.0046017812426,0.0697685979649,0.999999934662,0.000108837228729,-0.000340715111552,-5.23856556694e-05,1793248332910052352
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.377108623,745.377108623,715,682,655.622891377,631.622891377,881,783,815.377108623,651.622891377,630,653,0.454548332872,0.0046003194626,0.0697664946332,0.999999933844,0.000107287830579,-0.00034359974614,-5.23546305624e-05,1793248332926718976
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,682,655.7985774,631.7985774,880.7985774,783,815,652,630,652.7985774,0.454552976987,0.00459949090534,0.0697647928913,0.999999933154,0.000105663544173,-0.000346079742875,-5.24889295227e-05,1793248332943385600
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+244,4.066666667,HOLD_POSE2,766,745,715,682,655,631,880,783,815,652,630,653,0.454558001638,0.00459901524472,0.0697523694433,0.999999926432,0.00010823871933,-0.000364512280805,-5.05034595306e-05,1793248333224795904
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+246,4.100000000,HOLD_POSE2,765.157966324,745,714.842033676,682,655.842033676,631.842033676,881,783,815,652,630,652.842033676,0.454559213235,0.00459773542824,0.0697544555316,0.999999927118,0.000107263826539,-0.000362972105175,-5.00928482074e-05,1793248333258129408
+247,4.116666667,HOLD_POSE2,765.733843224,745,714.266156776,682,655.266156776,631.266156776,881,783,815,652,630,652.266156776,0.454558490906,0.00459869139161,0.0697531431959,0.99999992604,0.000110612761723,-0.000364946690048,-4.9994052589e-05,1793248333274796544
+248,4.133333333,HOLD_POSE2,765.691841762,745,714,682,655.308158238,631,880.691841762,783,815,652,630,652.308158238,0.454558905014,0.00459997187615,0.0697526645518,0.999999925696,0.00011224365648,-0.000365361836651,-5.02042006636e-05,1793248333291463424
+249,4.150000000,HOLD_POSE2,765.118868983,745,714,682,655.881131017,631,880.118868983,783,815,652,630,652.881131017,0.454560295715,0.00460153123659,0.0697529023374,0.999999925992,0.000112398159912,-0.000364436886138,-5.06798382637e-05,1793248333308130048
+250,4.166666667,HOLD_POSE2,765.469180381,745,714,682,656,631,880,783,815,651.530819619,630,653,0.454559552242,0.00460027858986,0.0697526597871,0.999999925965,0.000109837890145,-0.000365315826466,-5.04885168062e-05,1793248333324796416
+251,4.183333333,HOLD_POSE2,766,744.939993404,714,682.060006596,655.939993404,631,880,783,815,651.060006596,630.060006596,653,0.454558321179,0.00459857907529,0.0697522644899,0.999999925768,0.000107210593533,-0.000366682947381,-5.01364726877e-05,1793248333341462784
+252,4.200000000,HOLD_POSE2,766,744.359316389,714,682.640683611,655.359316389,631,880,783,815,651.640683611,630.640683611,653,0.454557706738,0.0045993890925,0.0697516348204,0.999999924905,0.000110167816876,-0.000368188752002,-4.99047302414e-05,1793248333358129152
+253,4.216666667,HOLD_POSE2,766,744.218342125,714.218342125,683,655,631,880,783.218342125,815,651.781657875,631,653,0.454557495609,0.00459982145222,0.0697513813908,0.999999924576,0.000111491276311,-0.000368691979072,-4.9836701514e-05,1793248333374795776
+254,4.233333333,HOLD_POSE2,766,744.791100903,714.791100903,683,655,631,880,783.791100903,815,651.208899097,631,653,0.454557939139,0.00459964079179,0.0697517386804,0.999999925127,0.000110162782089,-0.000367567805062,-5.00344157032e-05,1793248333391462656
+255,4.250000000,HOLD_POSE2,766,745,715,683,655,631,879.634866468,783.634866468,815,651.365133532,630.634866468,653,0.454558776686,0.00460023754868,0.0697523510535,0.999999925461,0.000110569020373,-0.000366527630674,-5.00973971839e-05,1793248333408129024
+256,4.266666667,HOLD_POSE2,766,745,715,683,655,631,879.060102441,783.060102441,815,651.939897559,630.060102441,653,0.454559840447,0.00460128063647,0.069753109875,0.999999925669,0.000111971203307,-0.000365535682052,-5.00830259287e-05,1793248333424795648
+257,4.283333333,HOLD_POSE2,766,745,714.469087902,683,655,631,880.061824196,783,815,652,630,653,0.454558764362,0.00460167922423,0.0697517637272,0.999999924825,0.000111811314826,-0.000367874789021,-5.01625026026e-05,1793248333441462016
+258,4.300000000,HOLD_POSE2,766,745,714.121197841,683,655,631,880.878802159,783,815,651.878802159,630.121197841,653.121197841,0.454557598392,0.00460154793585,0.0697505100559,0.999999924058,0.000111560840154,-0.000370039441267,-5.00948274724e-05,1793248333458128384
+259,4.316666667,HOLD_POSE2,766,745,714.701533549,683,655,631,880.298466451,783,815,651.298466451,630.701533549,653.701533549,0.45455703858,0.00459969442898,0.0697505379623,0.999999924069,0.000111658260577,-0.000370069530836,-4.94281735718e-05,1793248333474795264
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,655,631,880,783,814,652,630,653,0.454558108846,0.00459915061132,0.069750125379,0.999999924158,0.000111402684495,-0.00036991306104,-4.93681494084e-05,1793248333512871936
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.40299542,655,631,880.59700458,783,814.59700458,652,630,653,0.454557728149,0.00459973663904,0.0697502020972,0.999999924239,0.000109960023807,-0.000370060043577,-4.98718302239e-05,1793248333529538816
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.188362948,655,631,880.811637052,783,815,651.811637052,630,653,0.454557370503,0.00460012066473,0.0697500318043,0.99999992416,0.000109282860168,-0.000370436992399,-5.01328755196e-05,1793248333546205696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.767993126,655,631,880.232006874,783,815,651.232006874,630,653,0.454557060741,0.0046000850922,0.0697493484206,0.999999923755,0.000110195785571,-0.000371291626869,-4.98899187765e-05,1793248333562872064
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.654265003,745,714.654265003,682.654265003,655,630.654265003,880.345734997,783,815,651.345734997,630,653,0.454558010819,0.00459939105618,0.0697496499136,0.999999923914,0.000110767148954,-0.000370731442712,-4.95974084235e-05,1793248333579538944
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.077783438,745,714.077783438,682.077783438,655,630.077783438,880.922216562,783,815,651.922216562,630,653,0.454559801723,0.00459825755586,0.069750608722,0.999999924449,0.000111110550797,-0.000369226996153,-4.92718255714e-05,1793248333596205568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.494640573,745,714.494640573,682,655,630.494640573,880.505359427,783,815,652,630,653,0.45455800714,0.00459921143237,0.0697497413869,0.999999923959,0.000110110696621,-0.000370815839184,-4.95388990288e-05,1793248333612872448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,631,880,783.068908688,815,652,630,653,0.454556028865,0.00460019506907,0.0697487411868,0.999999923433,0.000109152627325,-0.000372478927988,-4.97960510534e-05,1793248333629539584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,631,880,783.66201963,815,652,630,653,0.454556907456,0.00459892838758,0.0697488970075,0.99999992389,0.000110106221372,-0.000371036575797,-4.92745314103e-05,1793248333646205952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.750621925,745,715,682.249378075,655,631,880,783.750621925,815,652,630.249378075,653,0.454554860651,0.00459913240529,0.069747942282,0.999999923343,0.00011077866989,-0.000372320557698,-4.91937178474e-05,1793248333662872576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.170884062,745,715,682.829115938,655,631,880,783.170884062,815,652,630.829115938,653,0.454548938475,0.00460128470936,0.0697455163776,0.99999992145,0.000111078675092,-0.000377216209078,-4.96967229613e-05,1793248333679538944
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.595458083,655,631,880.809083833,783,815,652,630.595458083,653,0.454529511556,0.0046014899928,0.069736388139,0.999999915666,0.000111461449374,-0.000392122353375,-4.98500223149e-05,1793248333696205824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.021834245,655,631,881.95633151,783,815,652,630.021834245,653,0.454504440207,0.00460088150168,0.0697244585994,0.999999907951,0.000111878817726,-0.000411212473238,-4.98571590383e-05,1793248333712872960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.130706725,745,715,682.565353363,655,631,880.869293275,783.565353363,815,652,630,653,0.45446124164,0.00460124160307,0.0697100570945,0.999999896627,0.000113029187107,-0.000437661120106,-4.9221617737e-05,1793248333729539584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.848308425,745,715,683,655,631,880.151691575,784,815,652,630,653,0.454412530362,0.0046014091504,0.0696959799937,0.999999886101,0.000114190873059,-0.000460865477752,-4.85983103921e-05,1793248333746206208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.265905786,745,715,683,655,631,880.734094214,784,815,652,630,653,0.454350203022,0.00460092113695,0.0696831017338,0.999999879844,0.000115302335852,-0.000474031288792,-4.80819474731e-05,1793248333762872832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.315146805,655,631,880.684853195,783.684853195,815,652,630,653,0.454282219882,0.00460034881832,0.0696743184083,0.999999874162,0.000116326009727,-0.000485697279392,-4.73491153394e-05,1793248333779539200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,683.895065112,655,631,880.104934888,783.104934888,815,652,630,653,0.454209485007,0.00459970567049,0.0696689754546,0.999999868986,0.000117275927425,-0.000496103190715,-4.64344159984e-05,1793248333796205824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.533236627,655,631,880.466763373,783,815,652,630.466763373,653,0.454124203692,0.00460180090277,0.0696720632686,0.999999870829,0.000121536612123,-0.000491456612914,-4.51761500701e-05,1793248333812872448
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.962123541,655.037876459,631.037876459,880.962123541,783,815,652,630.962123541,653,0.454034309711,0.00460421666259,0.069676706803,0.999999873993,0.000126214377409,-0.000483906226163,-4.37938856023e-05,1793248333829539584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.373100462,655.626899538,631.626899538,880.373100462,783,815,652,630.373100462,653,0.453917628993,0.00460249342593,0.0696768855715,0.999999874753,0.000126318059289,-0.00048249113549,-4.17117581527e-05,1793248333846206464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.212737006,655.787262994,631.787262994,880,783,815,652,630,653,0.453785812747,0.00460096699479,0.0696748844229,0.999999873182,0.000127111745076,-0.000485719003105,-3.94290023264e-05,1793248333862873344
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.793069885,655.206930115,631.206930115,880,783,815,652,630,653,0.453627843294,0.00459978063112,0.0696691165177,0.9999998675,0.00012909771324,-0.000496969604295,-3.67995737744e-05,1793248333879539712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.630219642,745.369780358,715,683,655.369780358,631,880.369780358,783,815,652,630,653,0.453453805517,0.00459877056171,0.0696627622991,0.99999986243,0.000131609418876,-0.000506604862033,-3.41996266149e-05,1793248333896206336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.055516558,745.944483442,715,683,655.944483442,631,880.944483442,783,815,652,630,653,0.453270863076,0.0045978581899,0.0696560831602,0.999999857677,0.000134412474824,-0.000515344939184,-3.1616017036e-05,1793248333912872960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.529980178,746,714.470019822,683,656,631,880.470019822,783.529980178,815,652,630.529980178,653,0.453060080388,0.00459973623688,0.0696537407933,0.999999854082,0.000141651287727,-0.000520569824959,-2.79053026693e-05,1793248333929539328
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.884830303,714.115169697,683,656,631.115169697,880,784,814.884830303,652,630.884830303,653,0.452837738891,0.00460133306618,0.0696512886122,0.999999849947,0.000148798549666,-0.00052667159278,-2.41086964593e-05,1793248333946205696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.305529928,714.694470072,683,656,631.694470072,880,784,814.305529928,652,630.305529928,653,0.452580812693,0.00460059413691,0.0696465250611,0.999999843358,0.000153665389842,-0.000537821954469,-2.04516444088e-05,1793248333962872320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.726444849,656.273555151,632,880,784,814.273555151,651.726444849,630,652.726444849,0.452304235982,0.00459868551867,0.0696425746172,0.999999838546,0.000158089759231,-0.000545578745087,-1.6137864701e-05,1793248333979539200
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.147600075,656.852399925,632,880,784,814.852399925,651.147600075,630,652.147600075,0.452005729166,0.00459547151872,0.0696395316072,0.999999835812,0.00016202032759,-0.000549548284042,-1.10911721701e-05,1793248333996206080
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.572550459,745,715,682.427449541,657,632,880,784,814.572550459,651.427449541,630.427449541,652.427449541,0.451686196112,0.00459742353291,0.069642566986,0.999999834409,0.00016995969649,-0.000549771247305,-6.81899847815e-06,1793248334012872960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.001231973,715,682.998768027,657,632,880,784,814,652,631,653,0.451359402186,0.00460117345953,0.0696476805189,0.999999833384,0.000179301281058,-0.000548702682745,-2.82057971424e-06,1793248334029539840
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.590174168,715,682.409825832,657,632,880,784,814,652,631,653,0.45100192077,0.00461912290828,0.0696517126149,0.99999983183,0.000203022406405,-0.000543242827873,-2.95528718357e-06,1793248334046206464
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.756026987,745.243973013,715,682,657.756026987,632,880,784,814,652,630.243973013,653,0.450225397877,0.00464106136407,0.0696720680529,0.999999836196,0.000236555850838,-0.00052119440071,2.41541566903e-06,1793248334079539456
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,880,784,814,651.090676712,630,653,0.449371546742,0.00462414003557,0.0697103940915,0.999999867873,0.000230173092412,-0.000459413232313,1.46144361779e-05,1793248334112872448
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.606020331,745,715,682.606020331,659.393979669,633,880,784,813,651.606020331,631,653,0.446109809174,0.00460486377962,0.0697541950155,0.99999991502,0.000145684544173,-0.000385282952716,1.71108958073e-05,1793248334212872960
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.029199116,745,715,682.029199116,659.970800884,633,880,784,813,651.029199116,631,653,0.44547386903,0.00460690548029,0.0697482799929,0.999999915612,0.000132644517126,-0.000388526739795,1.51175621929e-05,1793248334229539328
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.556162982,660.556162982,633,880,784,813,651.556162982,631,652.443837018,0.444847316558,0.0045989457718,0.0697667117167,0.999999930726,0.000112863256504,-0.000354299204078,1.67865751932e-05,1793248334246205952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.859544125,633,880,784,812.859544125,651.859544125,630.859544125,652.140455875,0.444202431127,0.00459248880119,0.0697853512553,0.999999943694,9.57834428543e-05,-0.000321080433186,1.85970269387e-05,1793248334262872576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.28001732,633,880,784,812.28001732,651.28001732,630.28001732,652.71998268,0.443498671485,0.00459239648854,0.0698005823116,0.999999951717,8.82720985297e-05,-0.000297260832282,2.02391818427e-05,1793248334279539456
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.703147096,660,633,879.703147096,784,812,651.296852904,630,653,0.442773223082,0.00459050725633,0.0698112952462,0.999999950494,0.000129670159256,-0.000285876091631,2.17202910464e-05,1793248334296206336
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.128760495,660,633,879.128760495,784,812,651.871239505,630,653,0.44202749734,0.00458693804818,0.0698177841004,0.999999935303,0.000216794596386,-0.000286116945453,2.30508354905e-05,1793248334312872704
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.448224287,784,812,652,630,652.551775713,0.441260772801,0.00458277132078,0.0698249586267,0.999999940046,0.000221524224055,-0.000264962822351,2.51127657224e-05,1793248334329539328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.026513066,745,715,682.026513066,660.026513066,633,880,784.026513066,812,652,630,652.026513066,0.440486082872,0.0045785792669,0.06983150017,0.999999950449,0.000202087159168,-0.000239836041037,2.72195962649e-05,1793248334346205952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.616562447,745,715,682.616562447,660.616562447,633,880,784.616562447,812,652,630,652.616562447,0.43967105116,0.00457751855204,0.0698203765924,0.999999950118,0.000175013165665,-0.000261667308028,2.57889868737e-05,1793248334362872576
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,660.594197388,633,880,784.797098694,812,652,630.202901306,653,0.438828151275,0.00457535565068,0.0697912099707,0.999999940598,0.000150365298698,-0.000309168079908,2.46715134496e-05,1793248334379539200
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,659.435291981,633,880,784.21764599,812,652,630.78235401,653,0.4379335327,0.00457114727278,0.0697285584321,0.999999909498,0.000130219923836,-0.000404307221495,2.41351687687e-05,1793248334396205824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.641135842,745,715,682.641135842,659,633,879.641135842,784,812,652,630.641135842,653,0.43707222544,0.00456685241907,0.0697118866087,0.999999900321,0.000117752161246,-0.000429976624321,2.47489062545e-05,1793248334412872192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.066395817,745,715,682.066395817,659,633,879.066395817,784,812,652,630.066395817,653,0.436230956738,0.0045625055457,0.0697228740303,0.999999907983,0.000109902891712,-0.000413856284842,2.60544794017e-05,1793248334429538560
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.519694831,745,715,682,660.039389662,633,879,784,812,651.480305169,630,652.480305169,0.43539781455,0.00456001790736,0.0697722134644,0.999999932677,0.000122394448246,-0.000344828005511,2.75569738171e-05,1793248334446205184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.894203308,745,715,682.105796692,660.788406615,633,879,784,812,651.105796692,630,652,0.434556157325,0.00455664706798,0.0698197342902,0.999999951787,0.000131651227666,-0.000279709909055,2.92725402239e-05,1793248334462871808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.314689601,745,715,682.685310399,659.629379202,633,879,784,812,651.685310399,630,652,0.433671620653,0.00454823425704,0.0698366826564,0.99999995834,0.000114527986088,-0.000263042299617,3.18269959566e-05,1793248334479538432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.73539026,659.52921948,633,879,784,812,651.73539026,630,652,0.432782334721,0.00454218678176,0.0698459487443,0.99999996375,0.000101787940344,-0.000247132683005,3.26277579161e-05,1793248334496205312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.156345572,660.687308857,633,879,784,812,651.156345572,630,652,0.431887405142,0.00453895002653,0.0698460860064,0.999999968126,9.42564306417e-05,-0.000232123784853,3.13446112538e-05,1793248334512871936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.4165726,745,715,682,660.5834274,633,879,784.4165726,812,651.4165726,630,652.4165726,0.430908161852,0.0045353956372,0.0697972510826,0.999999944936,9.7179987427e-05,-0.000315699174746,3.19194197486e-05,1793248334529538560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.987224697,745,715,682,660.012775303,633,879,784.987224697,812,651.987224697,630,652.987224697,0.429897733141,0.00453172376337,0.0697303026061,0.999999899111,0.000103970603784,-0.000435738355502,3.31814377738e-05,1793248334546205184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.421130106,745,715,682.578869894,658.842260212,633,879,784.421130106,811.421130106,652,629.421130106,652.421130106,0.428977218427,0.00452389993959,0.0697228958341,0.999999901943,8.46840180048e-05,-0.000433577621931,3.08846157719e-05,1793248334562871808
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.166966826,745,715,682.833033174,658.667867303,633,879.166966826,784,811,652,629.166966826,652,0.428076305287,0.00451701346749,0.0697401342972,0.999999918079,6.97349869621e-05,-0.000397598366809,2.99166568141e-05,1793248334579538432
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.745141055,745,715,682.254858945,660.980564222,633,879.745141055,784,811,652,629.745141055,652,0.427218596163,0.00451266967564,0.069814711235,0.999999956558,6.69392272752e-05,-0.000285222378727,3.2422145089e-05,1793248334596205056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.677980962,745,715,682,661.355961923,633,879.677980962,784,811,651.677980962,630,652,0.42633442342,0.00450487845833,0.0698526482577,0.999999970236,6.34359325666e-05,-0.000232992468275,3.49054207603e-05,1793248334612872192
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.102124795,745,715,682,660.20424959,633,879.102124795,784,811,651.102124795,630,652,0.425429390308,0.00449436974794,0.0698617032241,0.999999971507,5.93749116307e-05,-0.000228173760575,3.73711870771e-05,1793248334629539840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.473729553,745,715,681.526270447,659.526270447,633,879,784,811,651.473729553,630,652.473729553,0.424498405322,0.00448563689411,0.0698400508217,0.999999965003,4.07789001731e-05,-0.000258979517126,3.55138034019e-05,1793248334646206464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744.949210614,715,681,659.050789386,633.050789386,879.050789386,784.050789386,811.050789386,652,630,653,0.423554666376,0.00447793496376,0.069808007757,0.999999952451,2.18950667752e-05,-0.000305811327627,3.31362092327e-05,1793248334662872832
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.359352268,715,681,659.640647732,633.640647732,879.640647732,784.640647732,811.640647732,652,630,653,0.422534939872,0.00447711177254,0.0697359409744,0.99999990149,3.32135236145e-05,-0.000441229147165,3.51288965644e-05,1793248334679539200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,744.226325245,715,681.226325245,659.773674755,633.773674755,879.773674755,784.773674755,811.773674755,652,630,653,0.421569050793,0.00447205599117,0.0696917892204,0.999999863904,3.40471747212e-05,-0.000519349751329,3.6176809719e-05,1793248334696205568
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,744.805485049,715,681.805485049,659.194514951,633.194514951,879.194514951,784.194514951,811.194514951,652,630,653,0.420687092556,0.00446040172313,0.0696911561836,0.999999870083,1.85353172562e-05,-0.000508145673029,3.57518481728e-05,1793248334712872192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.617435202,744.617435202,715,681.617435202,659.382564798,633.382564798,879.382564798,784,811,652,629.617435202,652.617435202,0.419886574138,0.00445250147869,0.0697491980675,0.999999916733,-2.20270934552e-06,-0.000406619845161,3.4475386931e-05,1793248334729539328
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.041407371,744.041407371,715,681.041407371,659.958592629,633.958592629,879.958592629,784,811,652,629.041407371,652.041407371,0.419127239894,0.00444649964482,0.069836911861,0.999999965487,-2.55836089392e-05,-0.000259418298083,3.27683216506e-05,1793248334746206464
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.527820384,715,681,660,633.472179616,879.472179616,784,811,652,629.527820384,652.527820384,0.418316362324,0.00444261060036,0.0698666880741,0.99999997521,-1.56521240028e-05,-0.000219147975307,3.61959839171e-05,1793248334762872832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.101516399,744.898483601,715,681,659.796967203,633,879,784,811,652,629.898483601,652.898483601,0.417491176309,0.00443920554646,0.0698804009998,0.999999978813,-5.48675453241e-06,-0.000202048445642,3.89785238571e-05,1793248334779539456
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.699647459,744.300352541,715,681,658.600705082,633,879,784,811,652,629.300352541,652.300352541,0.416615523266,0.00443736763864,0.0698374849713,0.999999966079,-6.79902580004e-06,-0.000257784241196,3.66596407438e-05,1793248334796205824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.712855924,744.287144076,715,681,658.574288152,633,878.712855924,784,811,652,629,652,0.415758007577,0.00444636315478,0.0698019897865,0.999999952238,1.73124262737e-07,-0.000307106981523,3.47790850464e-05,1793248334812872704
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.136085711,744.863914289,715,681,659.727828579,633,878.136085711,784,811,652,629,652,0.414918786073,0.00446628573866,0.0697739795934,0.999999938088,1.55013059147e-05,-0.000349961229236,3.33406458203e-05,1793248334829539328
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.439420853,659.560579147,633.439420853,878,784.439420853,810.560579147,652,629,652,0.414106702163,0.0044776040488,0.0697505037401,0.999999919562,3.18658142764e-05,-0.000398337920804,3.44471056852e-05,1793248334846205952
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.014826749,745,715,681.970346503,658.985173251,633.985173251,877.985173251,784.985173251,810,652,629,652.014826749,0.413306811858,0.00448565832902,0.0697302269376,0.999999899342,4.75553520337e-05,-0.000444681354737,3.62425387553e-05,1793248334862872576
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.601396569,745,715,680.797206863,658.398603431,633.398603431,877.398603431,784.398603431,810,652,629,652.601396569,0.412653973661,0.00447030628973,0.0697793156694,0.999999938947,2.48762941083e-05,-0.000346857609102,3.43011523915e-05,1793248334879539456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.372337086,633.186168543,877.186168543,784,810.186168543,652,629,652.813831457,0.412002801093,0.00445852906241,0.0698262857201,0.99999996581,8.15440680282e-06,-0.000259224215861,3.34012799868e-05,1793248334896206336
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.534256192,633.767128096,877.767128096,784,810.767128096,652,629,652.232871904,0.411355160554,0.00445433261684,0.0698687628819,0.999999980726,4.0653555871e-06,-0.000193200580277,3.47100534145e-05,1793248334912872960
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.309908645,634,878,784,811,652,629,652,0.410680311963,0.00445288998515,0.0698700651139,0.999999979746,5.44750916353e-06,-0.000198105176273,3.51106943044e-05,1793248334929539584
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.158143733,634,878,784,811,652,629,652,0.409987261128,0.00445328966496,0.0698438211697,0.99999996797,1.04899183477e-05,-0.000250461014086,3.49037912288e-05,1793248334946206208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.505692707,878,784,810.505692707,652,629,652,0.409329131238,0.00445491308456,0.0698022419649,0.999999948046,6.62505640996e-06,-0.000320519657693,3.36241718239e-05,1793248334962872832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.069863653,633.069863653,878,784,810,652,629,652,0.40868481367,0.00445702599353,0.0697630413855,0.999999925637,2.66450798232e-06,-0.000384296897489,3.21822014607e-05,1793248334979539968
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.664776711,633.664776711,878,784,810,652,629,652,0.408102530297,0.00446135382616,0.069760060029,0.999999927405,8.63913720932e-06,-0.000379692299958,3.08032218798e-05,1793248334996206592
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.748200797,745,715,680,659,634,878,784,810.251799203,652,628.748200797,652.251799203,0.407552064631,0.00446607446118,0.0697692119567,0.999999933719,1.63114693626e-05,-0.00036245226454,3.04184850112e-05,1793248335012872704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.17136397,745,715,680,659,634,878,784,810.82863603,652,628.17136397,652.82863603,0.40704267123,0.00447130214891,0.0697940262608,0.999999945079,2.6175298547e-05,-0.000328901642573,3.13171767855e-05,1793248335029538816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.403236455,745,715.403236455,680,658.596763545,633.596763545,878,784,810.596763545,652,628.403236455,653,0.406543009654,0.00447407738018,0.0698021727057,0.999999946997,2.56629013862e-05,-0.000322998918292,3.19379907617e-05,1793248335046205184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.976891765,745,715.976891765,680,658.023108235,633.023108235,878,784,810.023108235,652,628.976891765,653,0.406047460972,0.00447581613613,0.0698032748553,0.99999994521,2.07652254691e-05,-0.000328780955799,3.24413659976e-05,1793248335062871808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.432025754,745,715.432025754,680,658,633.567974246,877.432025754,784,810,652,629,652.432025754,0.405601768107,0.00447511984263,0.0697952157906,0.999999940856,1.17470931725e-05,-0.000342310488869,3.12160043491e-05,1793248335079538432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.156327008,658.156327008,634,877.156327008,784.156327008,810,652,628.843672992,652,0.405175542952,0.00447417444815,0.0697944115061,0.999999941042,8.86528660648e-06,-0.000341943633998,3.02125968967e-05,1793248335096205056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.735321729,658.735321729,634,877.735321729,784.735321729,810,652,628.264678271,652,0.404796295465,0.00447283188994,0.0698142619231,0.999999953342,2.30421211585e-05,-0.000303125328441,3.00054809762e-05,1793248335112871680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.688299331,659,633.688299331,878,784.688299331,810,652,628,652,0.404435924735,0.00447058133192,0.0698290050602,0.999999961205,2.67697940092e-05,-0.000275655519902,2.97778830674e-05,1793248335129538304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.11412311,659,633.11412311,878,784.11412311,810,652,628,652,0.404091449688,0.00446756616941,0.0698394474799,0.999999966113,2.16984811111e-05,-0.00025774200724,2.953303781e-05,1793248335146204928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.460358079,745,715.460358079,680,658.539641921,633.460358079,878,784.460358079,810,652,628,652,0.403763024501,0.00446746762808,0.0698350424649,0.999999964639,1.59712698952e-05,-0.000263879380588,2.88887064841e-05,1793248335162871552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.963925092,680,658,634,878,784.963925092,810,652,628,652.036074908,0.403440632031,0.00446807778093,0.0698269098024,0.999999961416,1.00902650199e-05,-0.000276177813929,2.81358126889e-05,1793248335179538176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.370279475,680,658,634,878,784.370279475,810,652,628,652.629720525,0.403149944317,0.00446845891334,0.0698180890786,0.999999957137,4.34699928023e-06,-0.000291488223635,2.72366451439e-05,1793248335196205056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.217344485,634,878,784,810,652,628,652.782655515,0.402870027759,0.0044686778328,0.0698094425621,0.999999952653,-1.2694269369e-06,-0.000306573660753,2.65666043735e-05,1793248335212871680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.794986142,634,878,784,810,652,628,652.205013858,0.402607966834,0.00446862784795,0.069801084834,0.99999994802,-6.6755876595e-06,-0.000321286153942,2.62763926533e-05,1793248335229538560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.629716105,715,679.629716105,659,633.629716105,877.629716105,784,810,652,628.370283895,652,0.402381472706,0.00446967457621,0.0697955002198,0.999999945097,-5.43713442075e-06,-0.000330289268289,2.61745256884e-05,1793248335246205184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.055707876,715,679.055707876,659,633.055707876,877.055707876,784,810,652,628.944292124,652,0.402174546841,0.00447132469863,0.0697914413282,0.999999943158,-5.42920352921e-07,-0.000336151174232,2.61762829981e-05,1793248335262871552
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.529850064,715,679,658.470149936,633.529850064,877.529850064,784,810,652,629,652,0.402002299037,0.00448017694745,0.069790967048,0.99999994233,2.46945456888e-05,-0.000337680119777,2.65009691683e-05,1793248335279538432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,658,634,878,784.115841736,810,652,628.884158264,652,0.40183836231,0.00448935103246,0.0697907220751,0.999999941034,5.01137273221e-05,-0.000338688762013,2.66662126278e-05,1793248335296205056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,658,634,878,784.698578373,810,652,628.301421627,652,0.401692900395,0.0044967023003,0.0697898484587,0.999999939763,6.74526023344e-05,-0.0003394773879,2.60489365762e-05,1793248335312871680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.722910074,745,715,679.277089926,658,633.722910074,878,784.722910074,810,652,628,652,0.401563222633,0.00449910539262,0.0697894563961,0.999999939868,7.07062542642e-05,-0.000338564223331,2.52720831943e-05,1793248335329538304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.148925622,745,715,679.851074378,658,633.148925622,878,784.148925622,810,652,628,652,0.401450457181,0.00449620664532,0.069789580306,0.999999941581,5.88679612394e-05,-0.000335827635306,2.43242469651e-05,1793248335346204928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.427475606,745,715.427475606,680,658.427475606,633.427475606,877.572524394,784,810.427475606,652,628,652,0.401354675388,0.00449443689261,0.0697887757223,0.999999941419,5.08963659991e-05,-0.000337683018305,2.32597962468e-05,1793248335362871808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.995195521,745,716,680,658.995195521,633.995195521,877.009608958,784,810.995195521,652,628.004804479,652.004804479,0.401265078485,0.00449308168888,0.0697876636257,0.999999940606,4.43236188538e-05,-0.000341074940415,2.21609380008e-05,1793248335379538688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.408060521,745,716,680,658.408060521,633.408060521,878.183878958,784,810.408060521,652,628.591939479,652.591939479,0.401203893664,0.00449402806937,0.0697887087923,0.999999942485,4.30952508565e-05,-0.000335700596368,2.18438634272e-05,1793248335396205312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.176603791,745,715.823396209,679.823396209,658.176603791,633.176603791,878.823396209,784,810,652,628.823396209,652.823396209,0.401146586835,0.00449428508246,0.0697898122105,0.999999943736,4.19490209772e-05,-0.000332105607681,2.17806017739e-05,1793248335412871936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.755638019,745,715.244361981,679.244361981,658.755638019,633.755638019,878.244361981,784,810,652,628.244361981,652.244361981,0.40109811687,0.0044929712208,0.0697910483676,0.999999943612,4.0989960969e-05,-0.000332565270828,2.22957085198e-05,1793248335429538560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.333690045,679.333690045,658.666309955,634,877.666309955,784,810,652,628,652,0.401061889189,0.00449252220904,0.0697947508529,0.999999945581,4.12540231683e-05,-0.000326537758231,2.2584949232e-05,1793248335446205184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715.911024976,679.911024976,658.088975024,634,877.088975024,784,810,652,628,652,0.401034600246,0.00449270467016,0.0698002541359,0.999999948986,4.24111519696e-05,-0.000315773612933,2.27092731679e-05,1793248335462871808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715.512886568,679.512886568,658,634,877.487113432,784,809.512886568,652,628.487113432,652,0.401013451661,0.00449266240925,0.0698017488026,0.999999949926,4.04916615198e-05,-0.000313059245031,2.24223692245e-05,1793248335479538688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.935599448,745,715,679.064400552,658,634,877.935599448,784,809.064400552,652,628.935599448,652,0.400994494543,0.00449250837331,0.0698028150611,0.999999950548,3.81628318783e-05,-0.000311381515098,2.21107727119e-05,1793248335496205312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.346700169,745,715,679.653299831,658,634,877.346700169,784,809.653299831,652,628.346700169,652,0.4009842742,0.00449177745407,0.0698063403153,0.999999952187,3.70653788473e-05,-0.000306202027569,2.22082624055e-05,1793248335512871936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.761682272,658,634,877.238317728,784,810,652,628,652.238317728,0.400976783614,0.00449150148664,0.0698092778098,0.999999953554,3.6851120777e-05,-0.000301725251962,2.22819010871e-05,1793248335529538560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.182220482,658,634,877.817779518,784,810,652,628,652.817779518,0.400973200589,0.00449187676794,0.0698113739453,0.999999954555,3.79011275764e-05,-0.00029825438589,2.2321397817e-05,1793248335546205184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.395010769,658,634,878,784,810,652,628,652.604989231,0.40096889356,0.00449298893959,0.0698116883657,0.999999954575,4.03632937411e-05,-0.000297865827573,2.2279805817e-05,1793248335562871808
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.971218823,658,634,878,784,810,652,628,652.028781177,0.40096425442,0.00449443913374,0.0698111854871,0.999999954141,4.3473238275e-05,-0.000298891169529,2.22010172155e-05,1793248335579538688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.443354857,658,634,878,784.556645143,810,652,628.556645143,652,0.400965466492,0.00449478417977,0.0698134345315,0.99999995531,4.16539941944e-05,-0.000295238368364,2.18888043472e-05,1793248335596205312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.141013154,658,634,878,785,810,652,629,652,0.400965900334,0.00449508223081,0.0698150284371,0.999999956111,4.02553614968e-05,-0.000292726521696,2.16549040555e-05,1793248335612871680
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.720582379,658,634,878,785,810,652,629,652,0.400962957107,0.00449541482993,0.0698141348657,0.999999955552,4.09708243488e-05,-0.000294528015608,2.1702726328e-05,1793248335629538560
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.298596721,745,715.298596721,680,658,634,878,785,810,652,629,652.298596721,0.400962308307,0.00449480641254,0.0698144520009,0.999999955703,4.11246126938e-05,-0.000293983198511,2.18439397562e-05,1793248335646205440
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.875163656,745,715.875163656,680,658,634,878,785,810,652,629,652.875163656,0.400963795439,0.00449332198234,0.0698158962091,0.999999956511,4.07555260497e-05,-0.000291254149437,2.20720930574e-05,1793248335662872064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.549954198,680,658,634,878,784.549954198,810,652,628.549954198,652.549954198,0.400964676442,0.00449310159718,0.0698167428658,0.999999957129,3.9321472778e-05,-0.000289351678773,2.17228129244e-05,1793248335679538688
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.025156683,679.974843317,658,634,878,784,810,652,628.025156683,652,0.400965319843,0.00449328338616,0.0698174077495,0.999999957658,3.77797415109e-05,-0.000287759942897,2.12287559247e-05,1793248335696205312
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.615878029,679.384121971,658,634,878,784,810,652,628.615878029,652,0.400964387327,0.00449465341412,0.0698176985667,0.999999957483,4.04336960804e-05,-0.000288018644311,2.10673737619e-05,1793248335712871680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.797399863,745,715.797399863,679.202600137,658,634,878,784,810,652,629,652,0.400964009788,0.00449560921428,0.069818124449,0.999999957521,4.21421865865e-05,-0.000287648585951,2.10038486182e-05,1793248335729538560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.218113417,745,715.218113417,679.781886583,658,634,878,784,810,652,629,652,0.400964664095,0.0044957948572,0.0698188014528,0.999999957962,4.20928135112e-05,-0.000286109499744,2.11222651164e-05,1793248335746205184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.641484911,658,634,878,784,810,652,628.641484911,652,0.400964058352,0.00449555472628,0.0698186977985,0.999999957913,4.0993171111e-05,-0.000286442376076,2.10995088233e-05,1793248335762871808
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.066461565,658,634,878,784,810,652,628.066461565,652,0.400962691661,0.00449505746936,0.0698181227026,0.999999957564,3.92592681509e-05,-0.000287905735838,2.09914978851e-05,1793248335779538688
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.508249898,658,634,878,784,810,652,628.508249898,652,0.400964537354,0.00449392449055,0.0698196342432,0.999999958332,3.96082555666e-05,-0.000285155210407,2.12945878143e-05,1793248335796206080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.914571104,658,634,878,784.085428896,810,652,629,652,0.400966436902,0.00449296149743,0.0698210393236,0.999999959059,4.00856697207e-05,-0.00028250784895,2.15707905542e-05,1793248335812873216
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.322517232,658,634,878,784.677482768,810,652,629,652,0.400966166199,0.00449349927526,0.0698201958856,0.99999995873,3.97104358725e-05,-0.000283738102615,2.13689339008e-05,1793248335829539328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.262365755,745,715,679.262365755,658,634,878,785,810,652,629,652,0.400965669777,0.00449348261759,0.0698198087385,0.999999958533,3.93125496465e-05,-0.000284494653112,2.1260759165e-05,1793248335846205696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.838668409,745,715,679.838668409,658,634,878,785,810,652,629,652,0.400964903268,0.00449280254351,0.0698199675718,0.999999958495,3.8887558396e-05,-0.000284684388548,2.12646806278e-05,1793248335862872064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.585708378,745,715,680,658,634,877.585708378,784.585708378,810,652.414291622,628.585708378,652,0.400965766318,0.00449266299219,0.0698211399669,0.99999995895,3.77975310694e-05,-0.000283223709543,2.13251724834e-05,1793248335879539200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.010349351,745,715,680,658,634,877.010349351,784.010349351,810,652.989650649,628.010349351,652,0.400967262903,0.0044927335842,0.0698227064125,0.999999959592,3.64489524744e-05,-0.000281121385954,2.14076576541e-05,1793248335896206336
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.579208993,745,715.579208993,680,658.579208993,634,877,784,810,652.420791007,628.579208993,652,0.40096718419,0.00449423626685,0.0698231607905,0.999999959571,3.94674828685e-05,-0.000280799274846,2.1285096578e-05,1793248335912872960
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a24a84cd8df2b0c81b9e7dcc7c311a90802f3be7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/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
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+38,0.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+44,0.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+45,0.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+46,0.766666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+52,0.866666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+55,0.916666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+56,0.933333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+57,0.950000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+58,0.966666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+67,1.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+81,1.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+83,1.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+84,1.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+85,1.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+86,1.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+87,1.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+88,1.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+89,1.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+90,1.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+91,1.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+93,1.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+94,1.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+95,1.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+96,1.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+97,1.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+98,1.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+99,1.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+100,1.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+108,1.800000000,pose1_to_pose2_press,0.583245455927,0.00992795153616,1.06004248404,0.553817247446,0.0186024101395,1.05966587103
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+375,6.250000000,pose2_to_pose3_retreat,0.583364816965,0.00992784253711,1.06004237099,0.55393660846,0.0186023009276,1.05966575476
+376,6.266666667,pose2_to_pose3_retreat,0.583333126756,0.00992779163993,1.06004239243,0.553904919078,0.0186022526639,1.05966577217
+377,6.283333333,pose2_to_pose3_retreat,0.583308081892,0.00992783366588,1.06004237673,0.553879872777,0.0186022901311,1.05966576377
+378,6.300000000,pose2_to_pose3_retreat,0.583289425134,0.00992798014309,1.06004244127,0.553861213298,0.0186024276426,1.05966583447
+379,6.316666667,pose2_to_pose3_retreat,0.583275704731,0.00992792480271,1.06004251066,0.553847494163,0.0186023760755,1.05966589172
+380,6.333333333,pose2_to_pose3_retreat,0.58326592949,0.00992791475346,1.06004246271,0.55383771953,0.0186023679572,1.05966584074
+381,6.350000000,pose2_to_pose3_retreat,0.583258967908,0.00992792949413,1.06004243059,0.55383075818,0.018602383547,1.05966581011
+382,6.366666667,pose2_to_pose3_retreat,0.583254476719,0.00992792443862,1.0600425909,0.553826267652,0.0186023807004,1.05966596968
+383,6.383333333,pose2_to_pose3_retreat,0.5832516995,0.00992787089566,1.06004246955,0.553823491147,0.0186023296638,1.05966585028
+384,6.400000000,pose2_to_pose3_retreat,0.583250101026,0.0099278129381,1.06004228102,0.553821893249,0.0186022737628,1.05966566416
+385,6.416666667,pose2_to_pose3_retreat,0.58324862325,0.00992777507854,1.06004214822,0.553820415821,0.0186022372086,1.05966553417
+386,6.433333333,pose2_to_pose3_retreat,0.58324779666,0.0099278278191,1.060042269,0.553819588566,0.0186022878775,1.05966565926
+387,6.450000000,pose2_to_pose3_retreat,0.583247739048,0.00992783149503,1.06004227742,0.553819530907,0.018602291409,1.05966566798
+388,6.466666667,pose2_to_pose3_retreat,0.58324763988,0.00992783782246,1.06004229191,0.553819431659,0.0186022974879,1.05966568298
+389,6.483333333,pose2_to_pose3_retreat,0.583247567016,0.00992784247154,1.06004230256,0.553819358737,0.0186023019544,1.05966569401
+390,6.500000000,pose2_to_pose3_retreat,0.583247387492,0.00992785392602,1.06004232879,0.553819179069,0.018602312959,1.05966572118
+391,6.516666667,pose2_to_pose3_retreat,0.58324717392,0.00992786755299,1.06004236,0.553818965325,0.0186023260507,1.0596657535
+392,6.533333333,pose2_to_pose3_retreat,0.583247064885,0.00992787450996,1.06004237593,0.553818856202,0.0186023327344,1.05966577
+393,6.550000000,pose2_to_pose3_retreat,0.583246987302,0.00992787946017,1.06004238727,0.553818778556,0.0186023374901,1.05966578174
+394,6.566666667,pose2_to_pose3_retreat,0.583246657409,0.00992790050899,1.06004243548,0.553818448397,0.0186023577122,1.05966583166
+395,6.583333333,pose2_to_pose3_retreat,0.583246638577,0.00992790171054,1.06004243823,0.553818429551,0.0186023588665,1.05966583451
+396,6.600000000,pose2_to_pose3_retreat,0.583246424695,0.00992789703879,1.06004245679,0.553818216287,0.0186023561148,1.05966584895
+397,6.616666667,pose2_to_pose3_retreat,0.583246292798,0.00992789402236,1.06004246814,0.553818084777,0.0186023543005,1.05966585772
+398,6.633333333,pose2_to_pose3_retreat,0.583246151302,0.0099278907864,1.06004248032,0.553817943696,0.0186023523542,1.05966586713
+399,6.650000000,pose2_to_pose3_retreat,0.583245957104,0.00992788634519,1.06004249703,0.553817750069,0.018602349683,1.05966588004
+400,6.666666667,pose2_to_pose3_retreat,0.583245847181,0.00992788569023,1.06004250138,0.553817640396,0.0186023498,1.05966588262
+401,6.683333333,pose2_to_pose3_retreat,0.583245760545,0.00992789675478,1.06004247299,0.553817553505,0.0186023600408,1.05966585519
+402,6.700000000,pose2_to_pose3_retreat,0.583245653771,0.0099279103911,1.06004243799,0.553817446417,0.0186023726619,1.05966582139
+403,6.716666667,pose2_to_pose3_retreat,0.58324549493,0.00992793067716,1.06004238593,0.553817287108,0.0186023914377,1.05966577111
+404,6.733333333,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..892c84a68aece5b0db95f824f3ae80b4f8f10878
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb8efef32fb6e5f3a9b66631c760421923b0c5895542a9d71a662b0873fb5b5
+size 25884362
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fb013546d5eebd0ec15ecded68b2c314258206d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+40,0.666666667,BASELINE,765,745,715,680,658,634,878,785,810,652,628.695731898,652.695731898,0.400964597281,0.00449463712127,0.0698238034548,0.999999959936,4.03407999422e-05,-0.000279435453032,2.04011344187e-05,1793248336709324544
+41,0.683333333,BASELINE,765,745,715,680,658,634,878,785,810,652,628.121825853,652.121825853,0.400964350225,0.00449385261155,0.0698226282586,0.999999959865,3.88628745468e-05,-0.000279893667045,2.0454769634e-05,1793248336725991168
+42,0.700000000,BASELINE,765,745,715,680,658.463688683,634,878,784.536311317,810,652,628,652.463688683,0.400965544829,0.00449499937114,0.0698234466214,0.999999960193,4.0756823647e-05,-0.000278451470515,2.04310557442e-05,1793248336742657792
+43,0.716666667,BASELINE,765.051431027,745,715.051431027,679.948568973,659.051431027,634,878,784,810,652.051431027,628.051431027,652.948568973,0.400966860085,0.00449650086466,0.0698245933424,0.999999960561,4.30749190465e-05,-0.000276782964617,2.03378258319e-05,1793248336759324416
+44,0.733333333,BASELINE,765.629945505,745,715.629945505,679.370054495,659.629945505,634,878,784,810,652.629945505,628.629945505,652.370054495,0.400965430385,0.0044963041908,0.0698235995615,0.999999960334,4.04276752583e-05,-0.000278043543641,1.97457868421e-05,1793248336775991296
+45,0.750000000,BASELINE,765.792176723,745,715.792176723,679,659.584353447,633.792176723,878,784,810,652.792176723,628.792176723,652,0.400964609504,0.00449633682827,0.069822984298,0.999999960082,3.95398549812e-05,-0.000279092079593,1.95226541869e-05,1793248336792657920
+46,0.766666667,BASELINE,765.215429283,745,715.215429283,679,658.430858567,633.215429283,878,784,810,652.215429283,628.215429283,652,0.400964869389,0.00449677653515,0.0698230409716,0.999999959794,4.17753321329e-05,-0.00027976420035,1.99543975213e-05,1793248336809324544
+47,0.783333333,BASELINE,765.361152354,745,715,679.361152354,658,633.361152354,878,784,809.638847646,652,628,652,0.400966139484,0.00449673501758,0.0698241485585,0.999999960232,4.20590669167e-05,-0.00027813992542,2.01472258877e-05,1793248336825991168
+48,0.800000000,BASELINE,765.937635189,745,715,679.937635189,658,633.937635189,878,784,809.062364811,652,628,652,0.400968011899,0.00449640657879,0.0698258827331,0.999999961095,4.11791112458e-05,-0.000275146466648,2.01976056179e-05,1793248336842658048
+49,0.816666667,BASELINE,765.47503139,745,715,680,658,633.47503139,877.47503139,784.52496861,809.52496861,652,628,652.52496861,0.400967608446,0.00449652454901,0.0698255268571,0.999999960728,4.33685936931e-05,-0.000276146873501,2.01265352278e-05,1793248336859324416
+50,0.833333333,BASELINE,765.111598104,745,715.111598104,680,658.111598104,633.111598104,877.223196207,784.888401896,810,652,628,652.888401896,0.400966845367,0.00449653228992,0.0698248229355,0.999999960255,4.48875310287e-05,-0.000277614256287,2.01126974198e-05,1793248336875990784
+51,0.850000000,BASELINE,765.689781634,745,715.689781634,680,658.689781634,633.689781634,878.379563269,784.310218366,810,652,628,652.310218366,0.400965732955,0.00449585276439,0.06982372386,0.999999959985,4.20462393018e-05,-0.000279008482238,2.03997413248e-05,1793248336892657664
+52,0.866666667,BASELINE,766,745,715.732369703,680,658.732369703,634,878.732369703,784,810,652,628,652,0.400965445697,0.00449548449343,0.0698235301297,0.999999959989,4.08928661493e-05,-0.000279151971348,2.05772228647e-05,1793248336909324288
+53,0.883333333,BASELINE,766,745,715.154908747,680,658.154908747,634,878.154908747,784,810,652,628,652,0.400966113706,0.00449547655621,0.0698243845007,0.999999960318,4.16935653796e-05,-0.000277847505394,2.06278660577e-05,1793248336925991168
+54,0.900000000,BASELINE,765.579866835,745,715,680,658,634,878,784,810,652,628,652.420133165,0.400966301942,0.00449527685274,0.069824855918,0.999999960458,4.06052743533e-05,-0.000277516140384,2.04903212421e-05,1793248336942658304
+55,0.916666667,BASELINE,765.005711763,745,715,680,658,634,878,784,810,652,628,652.994288237,0.400966314292,0.00449500684727,0.0698251869434,0.999999960526,3.88244745898e-05,-0.000277541516728,2.02837862142e-05,1793248336959325440
+56,0.933333333,BASELINE,765,745,715,680,658,634,878,784,810,652,628.584305298,652.415694702,0.400968215523,0.00449629105744,0.0698255178632,0.999999960743,4.04629515847e-05,-0.00027653126502,2.02028724424e-05,1793248336975991552
+57,0.950000000,BASELINE,765,745,715,679.829563946,658.170436054,634,878,784.170436054,810,652,628.829563946,652,0.40096871485,0.00449695484013,0.0698254074038,0.999999960749,4.11868188171e-05,-0.000276408226838,2.0123404517e-05,1793248336992657920
+58,0.966666667,BASELINE,765,745,715,679.253071938,658.746928062,634,878,784.746928062,810,652,628.253071938,652,0.400965828987,0.00449610327655,0.0698242453818,0.999999960253,3.96498163387e-05,-0.000278423725656,2.00443740077e-05,1793248337009324544
+59,0.983333333,BASELINE,765,745,715,679.323263661,659,634,878,785,810,652,628,652,0.400965065423,0.00449527112153,0.0698238739635,0.999999960112,4.05100479565e-05,-0.000278786293724,2.03257638657e-05,1793248337025990912
+60,1.000000000,BASELINE,765,745,715,679.899476934,659,634,878,785,810,652,628,652,0.40096596253,0.00449445415336,0.0698241211824,0.999999960245,4.32460839295e-05,-0.000277855465184,2.08891779676e-05,1793248337042657536
+61,1.016666667,BASELINE,765.487205374,745,715,680,658.512794626,634,878,784.512794626,810,652,628,652.487205374,0.400965398395,0.00449444198749,0.069823978098,0.999999960317,4.16773144032e-05,-0.000277837072409,2.08734443941e-05,1793248337059324416
+62,1.033333333,BASELINE,766,745,715,680,658.075846147,634,878.075846147,784,810,652,628,652.924153853,0.40096467594,0.0044946708646,0.0698238498547,0.999999960352,3.98165014012e-05,-0.000277995597554,2.07311869131e-05,1793248337075991040
+63,1.050000000,BASELINE,766,745,715,680,658.654405524,634,878.654405524,784,810,652,628,652.345594476,0.400964950824,0.00449537014744,0.0698243666552,0.999999960249,4.20495114367e-05,-0.000278048747066,2.05615013495e-05,1793248337092657664
+64,1.066666667,BASELINE,765.767468565,745,715,680,659,634,878.767468565,784.232531435,810,652,628,652.232531435,0.400965610886,0.00449587521642,0.0698246663186,0.999999960229,4.34448733573e-05,-0.000277928246508,2.02798320847e-05,1793248337109324544
+65,1.083333333,BASELINE,765.189985719,745,715,680,659,634,878.189985719,784.810014281,810,652,628,652.810014281,0.400966842343,0.00449609217658,0.0698246438677,0.999999960336,4.35976164884e-05,-0.000277550142772,1.98320393305e-05,1793248337125991424
+66,1.100000000,BASELINE,765,745,715.384243256,680,658.615756744,634,878,785,810,652,628,653,0.400966172757,0.00449665079215,0.0698243251592,0.999999960148,4.36690743361e-05,-0.000278214637394,1.9856621083e-05,1793248337142658048
+67,1.116666667,BASELINE,765,745,715.956876876,680,658.043123124,634,878,785,810,652,628,653,0.400964571109,0.00449737691769,0.0698238611988,0.999999959813,4.37006788733e-05,-0.000279390306867,2.01128030242e-05,1793248337159324928
+68,1.133333333,BASELINE,765,745,715.452365296,680,658,634,878,784.452365296,810,652,628,652.452365296,0.400966493323,0.00449691381578,0.0698245845281,0.999999960488,4.24589442863e-05,-0.000277172491439,1.99214812799e-05,1793248337175991552
+69,1.150000000,BASELINE,765,745,715,680,658,634,877.863141306,784,810,652,628,652,0.400967928303,0.00449629278358,0.0698251268235,0.999999961014,4.13220721756e-05,-0.00027544409578,1.98762426798e-05,1793248337192657920
+70,1.166666667,BASELINE,765,745,715,680,658,634,877.283652001,784,810,652,628,652,0.400966859299,0.0044954742053,0.069824770892,0.999999960816,4.08597372528e-05,-0.000276192411174,2.04213380749e-05,1793248337209324544
+71,1.183333333,BASELINE,765,745,715.293422957,679.706577043,658.293422957,634,877.293422957,784,810,652,628,652,0.400966880972,0.00449512633519,0.0698250474788,0.999999960815,4.00804755361e-05,-0.00027629066927,2.06831371733e-05,1793248337225991680
+72,1.200000000,BASELINE,765,745,715.868183079,679.131816921,658.868183079,634,877.868183079,784,810,652,628,652,0.400967948398,0.00449522978517,0.069825930531,0.999999961003,3.89973408615e-05,-0.000275765645352,2.06733087234e-05,1793248337242658560
+73,1.216666667,BASELINE,765,745,715.547362756,679.452637244,658.547362756,634,877.547362756,784,810,652,628.452637244,652.452637244,0.400967114449,0.00449575711988,0.0698252661776,0.999999960762,3.95307179593e-05,-0.000276598894258,2.01650977868e-05,1793248337259325184
+74,1.233333333,BASELINE,765.03944368,745,715,680,658.03944368,634,877.03944368,784,810,652,628.96055632,653,0.400965914687,0.00449630562387,0.0698242834739,0.999999960449,4.04345828527e-05,-0.000277638194574,1.95797846218e-05,1793248337275991552
+75,1.250000000,BASELINE,765.618958011,745,715,680,658.618958011,634,877.618958011,784,810,652,628.381041989,653,0.400967453687,0.00449541677666,0.0698252470765,0.999999960929,3.9824430549e-05,-0.000275964230253,1.99695340233e-05,1793248337292657664
+76,1.266666667,BASELINE,766,745,715,680,658.802354718,634,878,784,810,652,628.197645282,653,0.400968233905,0.00449513995527,0.0698259378449,0.999999961173,3.93272558519e-05,-0.000275135367545,2.02113996275e-05,1793248337309324288
+77,1.283333333,BASELINE,766,745,715,680,658.225255334,634,878,784,810,652,628.774744666,653,0.400967557355,0.00449603814659,0.0698261048063,0.999999960966,3.90469839972e-05,-0.000275928993828,2.0169346903e-05,1793248337325990912
+78,1.300000000,BASELINE,765.650510594,745,715,679.650510594,658,634,877.650510594,784.349489406,810,652,628.650510594,653,0.400967356991,0.00449538066319,0.0698258583176,0.999999960792,3.89755516623e-05,-0.000276561051406,2.02459657074e-05,1793248337342657536
+79,1.316666667,BASELINE,765.077273353,745,715,679.077273353,658,634,877.077273353,784.922726647,810,652,628.077273353,653,0.400967461488,0.0044937272158,0.0698253471327,0.999999960641,3.9037821218e-05,-0.000277089670488,2.03985596286e-05,1793248337359324160
+80,1.333333333,BASELINE,765.511163522,745,715.511163522,679,658,634,877.511163522,784.488836478,810,652,628,652.488836478,0.40096577157,0.00449378953586,0.069824744402,0.999999960378,3.89426695827e-05,-0.000278050380766,2.03946505567e-05,1793248337375991552
+81,1.350000000,BASELINE,766,745,715.899953008,679.200093983,658.100046992,634,878,784.100046992,810.100046992,652,628.100046992,652,0.400964246538,0.00449430661771,0.0698242165287,0.999999960182,3.88569898513e-05,-0.000278769671666,2.03133044835e-05,1793248337392658432
+82,1.366666667,BASELINE,766,745,715.320281745,680.359436509,658.679718255,634,878,784.679718255,810.679718255,652,628.679718255,652,0.400964852266,0.0044957222738,0.0698241158996,0.999999960398,3.89343001475e-05,-0.00027800886057,1.99776221658e-05,1793248337409324800
+83,1.383333333,BASELINE,765.742922282,745,715,680.742922282,658.742922282,634,878,785,810.742922282,652,629,652,0.400965809501,0.00449608779186,0.0698246470022,0.999999960757,3.91213364037e-05,-0.000276685839792,1.99885233566e-05,1793248337425991424
+84,1.400000000,BASELINE,765.168417241,745,715,680.168417241,658.168417241,634,878,785,810.168417241,652,629,652,0.400967200759,0.00449515664969,0.0698259581369,0.999999961292,3.94438570601e-05,-0.000274668629173,2.04273693124e-05,1793248337442657792
+85,1.416666667,BASELINE,765,745,715,680,658,634,878,785,810,652,629,652,0.400966647058,0.00449505062802,0.069825497348,0.999999961072,3.94516157635e-05,-0.00027546699569,2.04458707368e-05,1793248337459324416
+86,1.433333333,BASELINE,765,745,715,680,658.002770605,634,878,784.997229395,810,652,629,652,0.400965295355,0.00449528509119,0.0698243094189,0.99999996054,3.93319643423e-05,-0.000277419105861,2.02902937122e-05,1793248337475991040
+87,1.450000000,BASELINE,765,745,715,680,658.581238254,634,878,784.418761746,810,652,629,652,0.400965737171,0.00449516251584,0.0698247280065,0.999999960784,3.98629867877e-05,-0.000276469748275,2.01869736799e-05,1793248337492657664
+88,1.466666667,BASELINE,765,745,715,680,658.840036328,634,877.840036328,784.159963672,810,652,628.840036328,652,0.400966032696,0.00449504563881,0.0698249469141,0.999999960936,3.96951322021e-05,-0.000275953120914,2.00762057288e-05,1793248337509324288
+89,1.483333333,BASELINE,765,745,715,680,658.260635053,634,877.260635053,784.739364947,810,652,628.260635053,652,0.400965944639,0.00449494370326,0.0698246422447,0.999999960845,3.7694765836e-05,-0.000276571147042,1.99459087426e-05,1793248337525990912
+90,1.500000000,BASELINE,765,745,715,679.684357748,658,634,877.315642252,784.684357748,810,652,628.315642252,652,0.400966508429,0.00449466423161,0.0698250299415,0.999999960926,3.78809460751e-05,-0.00027624541456,2.00134522674e-05,1793248337542657792
+91,1.516666667,BASELINE,765,745,715,679.110634745,658,634,877.889365255,784.110634745,810,652,628.889365255,652,0.400967605192,0.0044942395999,0.0698259837426,0.999999961148,3.98549275872e-05,-0.00027514803019,2.02427574996e-05,1793248337559324416
+92,1.533333333,BASELINE,765.475325194,745,715,679.475325194,658.475325194,634,877.524674806,784,810,652,628.524674806,652,0.400966371875,0.00449459570292,0.0698252262283,0.999999960671,4.08828253015e-05,-0.000276708207738,2.0479078174e-05,1793248337575990784
+93,1.550000000,BASELINE,765.936833695,745,715.063166305,680,659.063166305,634,877.063166305,784.063166305,810,652,628,652,0.400964949256,0.00449508097645,0.0698242469192,0.999999960157,4.15241253527e-05,-0.00027845126126,2.06553293099e-05,1793248337592657664
+94,1.566666667,BASELINE,765.357510083,745,715.642489917,680,659.642489917,634,877.642489917,784.642489917,810,652,628,652,0.400966528558,0.00449509760323,0.0698247960681,0.999999960733,4.08533248732e-05,-0.00027650057351,2.03270323759e-05,1793248337609324032
+95,1.583333333,BASELINE,765.221661193,745,715.778338807,680,659.778338807,634,877.778338807,784.778338807,810,652,628.221661193,652.221661193,0.400967444598,0.00449567537344,0.0698252887841,0.999999961114,4.06371425862e-05,-0.000275175389541,1.99549098246e-05,1793248337625990656
+96,1.600000000,BASELINE,765.800587031,745,715.199412969,680,659.199412969,634,877.199412969,784.199412969,810,652,628.800587031,652.800587031,0.400967291622,0.0044971575722,0.0698256905438,0.999999961189,4.11536956133e-05,-0.000274858367245,1.95121508446e-05,1793248337642657536
+97,1.616666667,BASELINE,766,745,715.382401533,680,659,634,877.382401533,784,810.382401533,652,628.617598467,653,0.400966930855,0.00449678901108,0.0698254100946,0.999999961041,4.12132854819e-05,-0.000275376947931,1.96711460441e-05,1793248337659324160
+98,1.633333333,BASELINE,766,745,715.965733834,680,659,634,877.965733834,784,810.965733834,652,628.034266166,653,0.400966460906,0.00449544797834,0.0698247711825,0.999999960775,4.10327665591e-05,-0.000276334591595,2.01463296702e-05,1793248337675990784
+99,1.650000000,BASELINE,766,745,716,680,659,634,878,784,810.454846407,652,628.545153593,652.454846407,0.400966223819,0.00449530130242,0.0698255955879,0.999999961081,3.95050148318e-05,-0.000275451229024,2.01080209322e-05,1793248337692657408
+100,1.666666667,BASELINE,766,745,716,680,658.875657101,634,878,784,810,652,628.875657101,652.124342899,0.400966113908,0.00449523754592,0.069826158338,0.999999961287,3.83757327795e-05,-0.000274866157326,2.00556848243e-05,1793248337709324032
+101,1.683333333,BASELINE,766,745,716,680,658.296417624,634,878,784,810,652,628.296417624,652.703582376,0.400966416092,0.00449520445385,0.0698254297512,0.999999961007,3.90118060177e-05,-0.000275792681738,2.00692684246e-05,1793248337725990656
+102,1.700000000,BASELINE,765.731408238,745,715.731408238,679.731408238,658,634,878,784,810,652,628,652.731408238,0.400966200478,0.00449482661871,0.0698250297616,0.999999960761,3.86204550612e-05,-0.000276733500981,2.0134210664e-05,1793248337742657280
+103,1.716666667,BASELINE,765.181313044,745,715.181313044,679.181313044,658,634,878,784,810,652,628,652.181313044,0.400965442176,0.0044940874681,0.0698249741654,0.999999960549,3.71522898174e-05,-0.000277689302174,2.02529804398e-05,1793248337759323904
+104,1.733333333,BASELINE,765.412687251,745,715,679.412687251,658.412687251,634,878,784.412687251,810,652,628.412687251,652,0.400965762869,0.00449405588591,0.0698250368202,0.999999960719,3.81280866636e-05,-0.000276947511433,2.02230049471e-05,1793248337775990784
+105,1.750000000,BASELINE,766,745,715,680,659,634,878,785,810,652,629,652,0.40096655685,0.00449438015437,0.0698251534067,0.99999996105,4.01652382488e-05,-0.000275465451949,2.01266504563e-05,1793248337792657408
+106,1.766666667,BASELINE,766,745,715,680,659,634,878,785,810,652,629,652,0.400966162584,0.00449487002264,0.0698251826095,0.999999960952,3.92895162656e-05,-0.00027594344467,2.01705543024e-05,1793248337809324032
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,879,785,809,652,629,652,0.400967058045,0.00449363981479,0.069826743747,0.999999961404,3.99956754515e-05,-0.000274198247695,2.02108850894e-05,1793248337849642752
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.426266905,659,634,878.426266905,784.426266905,810.14746619,652,629,652,0.400965550084,0.00449350359069,0.0698252196104,0.999999960878,3.85509312383e-05,-0.000276320086265,2.01229815397e-05,1793248337866309376
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.152272685,679.152272685,658.847727315,634,878,784,810.847727315,652,628.847727315,652,0.400964799886,0.00449337840413,0.0698243321219,0.999999960572,3.77154112669e-05,-0.000277545362083,2.0070332833e-05,1793248337882976000
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.744706107,679.744706107,658.255293893,634,878,784,810.255293893,652,628.255293893,652,0.400966240086,0.00449328512277,0.0698252849337,0.999999960914,3.86409198006e-05,-0.000276179026379,2.01195920584e-05,1793248337899642112
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.670613454,745,716,679.670613454,658.329386546,634,878,784,810,652,628,652,0.400967189077,0.00449421392156,0.0698256461607,0.999999961083,3.98738690954e-05,-0.000275393180886,2.00504666057e-05,1793248337916308480
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.091803879,745,716,679.091803879,658.908196121,634,878,784,810,652,628,652,0.400967766107,0.00449591667523,0.069825559419,0.999999961122,4.13396232458e-05,-0.000275046902994,1.98916961259e-05,1793248337932975360
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.482850295,745,715.517149705,679.482850295,658.517149705,634,878,784.482850295,809.517149705,652,628,652.482850295,0.400966808624,0.00449612864979,0.0698249607477,0.999999960757,4.03992931398e-05,-0.000276508588987,1.99022213086e-05,1793248337949641984
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.057016653,634,878.057016653,784.942983347,809.057016653,652,628,652.942983347,0.400965784928,0.0044960067694,0.0698244406327,0.999999960394,3.91930898333e-05,-0.00027798858202,1.99500475378e-05,1793248337966308608
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658.633877284,634,878.633877284,784.366122716,809.633877284,652,628,652.366122716,0.400966794893,0.00449540318938,0.0698255165976,0.999999960777,3.96981325151e-05,-0.000276528153128,2.00469953008e-05,1793248337982975488
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.784069574,745,715,680,658.784069574,634,879,784,810,652,628.215930426,652,0.400970256651,0.00449554704583,0.0698276589443,0.999999961629,4.00252962025e-05,-0.000273382997756,2.00599799758e-05,1793248337999642368
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.192995352,745,715,680,658.192995352,634,879,784,810,652,628.807004648,652,0.400977978,0.00449698945097,0.0698316539549,0.999999963272,4.00434241801e-05,-0.000267310905847,1.99270925093e-05,1793248338016308992
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.388655177,745,715,680,658,634,878.611344823,784,810,652,629,652,0.401003654167,0.00449614795682,0.0698428362848,0.999999968107,3.84358184896e-05,-0.000248819073343,1.99467840968e-05,1793248338032975616
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965736991,745,715,680,658,634,878.034263009,784,810,652,629,652,0.401038035137,0.0044941991896,0.0698575031496,0.999999973993,3.60400294553e-05,-0.000224305938749,2.00404485822e-05,1793248338049642240
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634.540374142,878,784,810,652.540374142,628.459625858,652,0.401093852242,0.00449606669596,0.0698772922294,0.999999980999,3.79230379927e-05,-0.000190216466797,1.95181974776e-05,1793248338066308864
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658.117931504,634.882068496,878,784.117931504,810,652.882068496,628,652,0.401152438404,0.00449766272464,0.0698956117039,0.999999986175,3.94171370477e-05,-0.000160415155084,1.90372585096e-05,1793248338082975232
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658.707792418,634.292207582,878,784.707792418,810,652.292207582,628,652,0.401216691015,0.00449720841878,0.0699067564033,0.99999998781,3.8274142601e-05,-0.00015019276678,1.88772139648e-05,1793248338099642112
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.707613948,745,715,679.707613948,658.707613948,634,878,784.707613948,810,652,628,652,0.401289472554,0.00449615499052,0.0699140299833,0.999999989256,3.60282159242e-05,-0.000140941317426,1.80418708874e-05,1793248338116308736
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.12819126,745,715,679.12819126,658.12819126,634,878,784.12819126,810,652,628,652,0.401370626973,0.00449451340126,0.069917503268,0.999999990531,3.26995360352e-05,-0.0001326430436,1.65435843659e-05,1793248338132975616
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448127161,745,715,679,658.448127161,634,878,784,810.448127161,652.448127161,628.448127161,652,0.401465171712,0.00449533622634,0.0699158451035,0.999999990152,3.1379553193e-05,-0.000136027145595,1.44520479295e-05,1793248338149642240
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976655183,745,715,679.023344817,659,634,878,784.023344817,810.976655183,652.976655183,629,652.023344817,0.401564561432,0.00449681404542,0.0699128284259,0.999999989303,3.05756261913e-05,-0.000142518553318,1.21694342599e-05,1793248338166309120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.406563333,745,715,679.593436667,659,634,878,784.593436667,810.406563333,652.406563333,629,652.593436667,0.401688329562,0.0044972349799,0.0699121371887,0.999999989174,2.84929632906e-05,-0.000144055023081,9.35893022476e-06,1793248338182975488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.828945621,634,877.828945621,784.828945621,810,652,628.828945621,652.828945621,0.401821575201,0.00449834523357,0.0699122557778,0.999999989214,2.64244421574e-05,-0.000144336073712,6.33657807453e-06,1793248338199642112
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.232617255,634,877.232617255,784.232617255,810,652,628.232617255,652.232617255,0.401978383724,0.00450116926687,0.0699143877502,0.999999989688,2.43910804818e-05,-0.000141495911426,2.7875313073e-06,1793248338216308736
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,628,652,0.402158278479,0.00450218348155,0.0699167428811,0.999999990283,2.01536318977e-05,-0.000137938600981,-1.20422415103e-06,1793248338232975360
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,628,652,0.402352938421,0.00450204019778,0.0699192407369,0.999999990912,1.45065237407e-05,-0.000133922626566,-5.47912145034e-06,1793248338249642240
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507613875,745,715,680,658,634,877.507613875,784,810,652,628,652.507613875,0.402581423688,0.00450440857674,0.0699225259222,0.999999991722,1.11383051276e-05,-0.000127740384679,-1.06567574672e-05,1793248338266309120
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.914771616,745,715,680,658,634,877.914771616,784,810.085228384,652,628.085228384,652.914771616,0.402818371292,0.00450694608445,0.0699259779812,0.999999992489,7.67731030701e-06,-0.000121283373841,-1.59245909127e-05,1793248338282976000
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.327608552,745,715,680,658,634,877.327608552,784,810.672391448,652,628.672391448,652.327608552,0.403078321474,0.00450848706217,0.0699297881958,0.999999993174,1.86201497042e-06,-0.000114926733007,-2.10074549476e-05,1793248338299642624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.23966338,784,810.76033662,652,629,652.23966338,0.403365414554,0.00450973139415,0.0699364799179,0.999999994268,-3.33012574503e-06,-0.000103780409509,-2.61255501411e-05,1793248338316309248
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.781828784,784,810.218171216,652,629,652.781828784,0.403686767261,0.00451060130114,0.0699468086654,0.999999995732,-7.73572319722e-06,-8.65885708115e-05,-3.12881136333e-05,1793248338332975616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.37171807,745.37171807,715,680,658.37171807,634,877.62828193,784,810,652,628.62828193,652.62828193,0.404023226841,0.00451362678468,0.0699537145146,0.999999996432,-8.9215815563e-06,-7.57404906756e-05,-3.6342505906e-05,1793248338349642240
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.993743642,745.993743642,715,680,658.993743642,634,877.006256358,784,810,652,628.006256358,652.006256358,0.404369859074,0.00451810379025,0.0699583154521,0.999999996723,-7.93933193824e-06,-6.91641711657e-05,-4.13240576413e-05,1793248338366308864
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.435654724,715,679.435654724,658.435654724,634,877.564345276,784,810,652,628.564345276,652,0.404761546659,0.00452197505604,0.0699608377939,0.99999999649,3.91156181971e-05,-6.63493257069e-05,-3.29903075909e-05,1793248338382975488
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.860461742,745,715.139538258,679.139538258,658.139538258,634,878,784,810,652,629,652,0.405160292503,0.00452331974095,0.0699634142,0.999999994938,7.369043612e-05,-6.29185682211e-05,-2.7099936279e-05,1793248338399642112
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.268695528,745,715.731304472,679.731304472,658.731304472,634,878,784,810,652,629,652,0.405580429705,0.00451649600367,0.0699662342662,0.999999995719,6.63014357837e-05,-5.73678509173e-05,-2.95667339563e-05,1793248338416308736
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.683506701,680,659,634,878.316493299,784,810,652,628.683506701,652,0.406019429135,0.00450216818783,0.0699639759888,0.99999999621,5.50706760355e-05,-6.0911960458e-05,-2.89129534081e-05,1793248338432975872
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.103788176,680,659,634,878.896211824,784,810,652,628.103788176,652,0.40647411619,0.00448159928248,0.0699574940893,0.999999996251,4.06447514851e-05,-7.20201721762e-05,-2.56638104098e-05,1793248338449642752
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.473323344,745,715,680,659,634,878.526676656,784,810.473323344,652,628.473323344,652,0.40696019422,0.00448911987313,0.0699402789785,0.999999994863,-3.85328855083e-06,-9.75806329713e-05,-2.71453869012e-05,1793248338466309120
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784,811,652,629,652.050699069,0.407460733008,0.0045020911963,0.0699233043684,0.999999991019,-4.8081541346e-05,-0.000121547904757,-2.9603182923e-05,1793248338482975744
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784,811,652,629,652.636870239,0.408041702089,0.00450793476186,0.0699335911414,0.99999999475,-2.01967552057e-05,-9.540113419e-05,-3.14755550616e-05,1793248338499642368
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.220120596,634,878.220120596,784,811,652.220120596,628.779879404,653,0.408640242103,0.00451337350582,0.0699449646279,0.99999999712,2.50684410196e-06,-6.79886649948e-05,-3.36354369898e-05,1793248338516309248
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.798615597,634,878.798615597,784,811,652.798615597,628.201384403,653,0.409267389004,0.00451815316659,0.0699581073722,0.99999999846,1.67750441148e-05,-3.85155361987e-05,-3.62634083873e-05,1793248338532976128
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680.378188,660,634,878.621812,784,810.621812,652.621812,628.378188,652.621812,0.409882274504,0.00452703325671,0.0699538885369,0.999999997918,2.6782994354e-05,-4.5227606584e-05,-3.74270485219e-05,1793248338549642752
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680.958335739,660,634,878.041664261,784,810.041664261,652.041664261,628.958335739,652.041664261,0.410490612158,0.00453810305561,0.0699403982804,0.99999999615,3.45158879875e-05,-7.1263277215e-05,-3.78087072227e-05,1793248338566309376
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.466699472,745,715.533300528,681,659.466699472,634,878,784,810.533300528,652,629,652,0.411163155718,0.00454134646008,0.0699422211413,0.999999995653,4.5973216127e-05,-7.14559198873e-05,-3.84103663718e-05,1793248338582976256
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.107521704,745,715.892478296,680.892478296,659.107521704,634,878,784.107521704,811,652,629,652.107521704,0.411858426657,0.00454533587531,0.0699505503974,0.999999995766,5.82563138159e-05,-5.95178336511e-05,-3.9143885377e-05,1793248338599642880
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.680260425,745,715.319739575,680.319739575,659.680260425,634,878,784.680260425,811,652,629,652.680260425,0.412630538143,0.00455517314195,0.0699819046239,0.999999996523,7.28654461678e-05,-3.74495483498e-06,-4.037427543e-05,1793248338616308992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.737189767,745,715.262810233,680.262810233,660,634,878.262810233,784.737189767,811,652,629,653,0.413398903966,0.00456409387616,0.0700091044576,0.999999995213,7.93168030177e-05,3.98727768165e-05,-4.11480005344e-05,1793248338632975360
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.142240657,745,715.857759343,680.857759343,660,634,878.857759343,784.142240657,811,652,629,653,0.414162536136,0.00457185630042,0.0700310539849,0.999999993978,7.54583869268e-05,6.81288731745e-05,-4.13445939597e-05,1793248338649641728
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.43876188,744.56123812,715.56123812,681,659.56123812,634,879,784,811,652,629,653,0.414887074721,0.00457828523393,0.0700022526501,0.999999994963,9.02895562481e-05,1.39786377864e-05,-4.15537878073e-05,1793248338666308608
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.984679669,744.015320331,715,680.984679669,659,634,879,784,811,652,629,653,0.415601596326,0.00458433176398,0.0699577849314,0.999999990917,0.000110297301993,-6.51767068927e-05,-4.1861538768e-05,1793248338682975232
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.410385041,744.589614959,715,680.410385041,659,634,879,784,811,652,629,653,0.416398803403,0.00459171289692,0.0699235148495,0.999999987186,0.00010492278172,-0.000111973048326,-4.56207836764e-05,1793248338699642112
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.168538463,715.168538463,680.168538463,659.337076926,633.831461537,879,784,811.168538463,652,629,653,0.417217884708,0.00459861405198,0.0699075227923,0.999999984486,0.000104369609473,-0.000133484652623,-4.81280817849e-05,1793248338716308992
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.759051376,715.759051376,680.759051376,660.518102753,633.240948624,879,784,811.759051376,652,629,653,0.418091733081,0.00460431347258,0.0699372939372,0.999999987953,0.000115887781482,-9.16901527507e-05,-4.75008457004e-05,1793248338732975616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.343201657,745.656798343,715.656798343,680.656798343,660.656798343,633.343201657,879,784.343201657,811.656798343,652,629,653,0.4189789854,0.00460868617832,0.0699653438781,0.999999990011,0.000123438836121,-4.96553614198e-05,-4.76949502931e-05,1793248338749642496
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922966261,745.077033739,715.077033739,680.077033739,660.077033739,633.922966261,879,784.922966261,811.077033739,652,629,653,0.41987547679,0.00461214440228,0.0699922074218,0.999999990574,0.000128255425055,-7.45494307802e-06,-4.84551907625e-05,1793248338766309120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.500179822,745,715,680.499820178,660,634,879,784.500179822,811.499820178,652,629.499820178,653,0.420787799638,0.00460667968596,0.0700174278867,0.999999990958,0.0001214977515,3.04480347122e-05,-4.89481810236e-05,1793248338782975744
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075801343,744.924198657,715,681,660.075801343,633.924198657,879.075801343,784,812,652,629.924198657,653,0.421695626711,0.00459786762836,0.0700353263916,0.999999991076,0.000110712180004,5.61504102943e-05,-4.93756325783e-05,1793248338799642112
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.648982103,744.351017897,715,681,660.648982103,633.351017897,879.648982103,784,812,652,629.351017897,653,0.422558036229,0.00457606308552,0.0700068330021,0.999999995125,8.51343186753e-05,6.11790446093e-06,-4.96417484332e-05,1793248338816308736
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.770469722,744.229530278,715,681,660.770469722,633.229530278,879.770469722,784,812,652,629,652.770469722,0.423405623336,0.00456443030677,0.0699553894898,0.999999993533,6.7436896305e-05,-7.59644957966e-05,-5.11382021142e-05,1793248338832975360
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.178280922,744.821719078,715,681,660.178280922,633.821719078,879.178280922,784,812,652,629,652.178280922,0.424229791123,0.00456886894217,0.0698676847105,0.999999974802,6.21905864598e-05,-0.000208685831906,-5.45785928477e-05,1793248338849641984
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.596913,879,784,812.403087,651.596913,629,652,0.425155083383,0.00457599371275,0.0698600878265,0.999999973985,6.31392531466e-05,-0.000211857712658,-5.62141190936e-05,1793248338866308864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.020205947,879,784,812.979794053,651.020205947,629,652,0.426123932534,0.00458427547134,0.0698869955014,0.999999983466,6.67562577828e-05,-0.00015922926701,-5.70722432084e-05,1793248338882976000
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.555600654,633,879,784,812.444399346,651.555600654,629,652.555600654,0.427096041486,0.00458606185763,0.0699496038775,0.999999991979,8.68379728697e-05,-7.49050142753e-05,-5.37562862375e-05,1793248338899642368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.13449104,745,715.13449104,681,660.86550896,633,879.26898208,784,812.13449104,652,629.13449104,653,0.428064218051,0.00458807268768,0.070006819649,0.999999993417,0.000102466703464,4.87333156059e-06,-5.14005302238e-05,1793248338916309248
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.723923476,745,715.723923476,681,660.276076524,633,880.447846951,784,812.723923476,652,629.723923476,653,0.429018692145,0.00459164051416,0.070041409089,0.999999991367,0.000101010147318,6.5381346273e-05,-5.28055049057e-05,1793248338932975360
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.69193157,745,715.69193157,681,660.30806843,633,880.38386314,784,813,652,630,653,0.429969969421,0.00459387011761,0.0700474819513,0.99999999082,9.73611947327e-05,7.7085377269e-05,-5.42057534685e-05,1793248338949641984
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112445085,745,715.112445085,681,660.887554915,633,879.22489017,784,813,652,630,653,0.430918430151,0.00459492070396,0.0700284308027,0.999999993194,9.17806716118e-05,4.57915481201e-05,-5.56018381804e-05,1793248338966308864
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.536985915,633,879,784,813,652,630,652.536985915,0.431745021402,0.00459662841467,0.0699548532874,0.999999990344,9.92696732419e-05,-7.97666559356e-05,-5.56235055244e-05,1793248338982975232
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.037581552,784,813.037581552,652,630,652.037581552,0.432552354355,0.0045982019838,0.0698756850786,0.999999969573,0.000108753900381,-0.000214363866522,-5.54453364611e-05,1793248338999641856
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.613264014,784,813.613264014,652,630,652.613264014,0.433504057749,0.00459558960332,0.0699044347808,0.99999998142,0.000101752162354,-0.000153429556232,-5.71438560886e-05,1793248339016308992
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.193000709,681,660.386001417,633,880,784,813.806999291,652,630,652.806999291,0.434457299647,0.00459262647476,0.0699419616195,0.999999990306,9.51594214419e-05,-8.35536502978e-05,-5.78845547937e-05,1793248339032975872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.781035723,681,661.562071446,633,880,784,813.218964277,652,630,652.218964277,0.435413690734,0.00458894543376,0.069997453527,0.999999994387,8.94038156542e-05,4.62394545065e-06,-5.66647837543e-05,1793248339049642240
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.634733728,681,661.269467456,633,880,784,813.365266272,652,630,652.365266272,0.436337171861,0.00458301749807,0.0700240134406,0.99999999372,8.30675715715e-05,4.9680335104e-05,-5.65031819655e-05,1793248339066308864
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.052760347,681,660.105520694,633,880,784,813.947239653,652,630,652.947239653,0.437241127936,0.00457575651301,0.0700334084243,0.999999993069,7.63868439206e-05,6.91535420168e-05,-5.69693766669e-05,1793248339082975488
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.522616012,633,880.522616012,784,814,652,630,653,0.438075191951,0.00457453686997,0.0700065942274,0.999999994663,7.36637082995e-05,4.27136697873e-05,-5.85019073858e-05,1793248339099642112
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.097318531,745,715,681,661,633,880.805362939,784.097318531,814,652,630,653,0.438883107163,0.00457490504429,0.069969387117,0.999999995612,7.21145019134e-05,-4.12750344852e-06,-5.96456893328e-05,1793248339116308480
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.671941847,745,715,681,661,633,879.656116306,784.671941847,814,652,630,653,0.439596948661,0.00458010676569,0.0698989123221,0.999999987264,7.43877820668e-05,-0.000128578258581,-5.83614278974e-05,1793248339132975360
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.252691063,661,633,879.252691063,784.747308937,814.252691063,652,630.252691063,653,0.440358661252,0.00458308521377,0.0698617929243,0.999999977287,7.66278905066e-05,-0.000190230178346,-5.80189600608e-05,1793248339149642240
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.841590821,661,633,879.841590821,784.158409179,814.841590821,652,630.841590821,653,0.441184066889,0.00458310556782,0.0698690533154,0.99999998099,7.88238645598e-05,-0.000168327435811,-5.8929561693e-05,1793248339166309376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.577081426,745,715,682,661.422918574,633,880,784,815,652,630.577081426,653,0.442029577777,0.00458231738861,0.0699287433351,0.999999992201,8.1915297511e-05,-7.39942056879e-05,-5.84103028796e-05,1793248339182976000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.998543209,633,880,784,814.998543209,652,630,653,0.442882218604,0.00458124115847,0.0700075814749,0.999999993623,8.53154619947e-05,4.6736742491e-05,-5.73669416859e-05,1793248339199642368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.421303598,633,880,784,814.421303598,652,630,653,0.443628802784,0.00458390709432,0.0700292651084,0.999999992899,8.05053048167e-05,6.67596513843e-05,-5.71335749535e-05,1793248339216308992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.844655945,660.844655945,633,880,784,814,652,630,652.844655945,0.444354174681,0.00458604006032,0.0700374362939,0.999999993282,7.44130571702e-05,6.81547681639e-05,-5.70358321701e-05,1793248339232975616
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.269607501,660.269607501,633,880,784,814,652,630,652.269607501,0.44502223597,0.00458673306334,0.070009099916,0.99999999607,6.48568908748e-05,1.92218217159e-05,-5.73045144388e-05,1793248339249642240
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.627186956,633,880.313593478,784,814,652,630,652.313593478,0.445678321847,0.00458653331195,0.0699813287664,0.999999995928,6.75299999057e-05,-1.87966651911e-05,-5.68388741769e-05,1793248339266308864
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.807981051,633,880.903990526,784,814,652,630,652.903990526,0.446323837195,0.00458554554156,0.0699540565358,0.999999994054,8.09976805544e-05,-4.71811434279e-05,-5.57250600806e-05,1793248339282975744
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.48413686,745,715,681.48413686,661.51586314,633,880.51586314,784,814.48413686,652,630,653,0.446916368187,0.00458790048907,0.0699388242345,0.999999991536,8.86902751795e-05,-7.73802567085e-05,-5.54394390145e-05,1793248339299642368
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.938006181,745,715,681.938006181,661,633,880,783.938006181,814.938006181,652,630,653,0.447495718502,0.0045905893897,0.0699262267975,0.999999988292,9.4643740806e-05,-0.000106729320364,-5.53760214531e-05,1793248339316309504
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.362622822,745,715,681.362622822,661,633,880,783.362622822,814.362622822,652,630,653,0.448051126106,0.0045906680349,0.0699160866244,0.99999998593,9.54825573853e-05,-0.00012612053754,-5.58208228329e-05,1793248339332976128
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.782591652,681.217408348,660.782591652,633,880,783.217408348,814,652,630,653,0.448597987179,0.00459198717275,0.069913660859,0.999999984763,0.000100136062255,-0.000131750918984,-5.55657137388e-05,1793248339349642752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.194638951,681.805361049,660.194638951,633,880,783.805361049,814,652,630,653,0.449130281739,0.00459542056954,0.0699243833027,0.999999985853,0.00011129120888,-0.000113927737327,-5.41176979152e-05,1793248339366309376
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.386762616,682,660,633,880,784,814.386762616,652,630,653,0.449652564659,0.00459623575496,0.0699372560909,0.999999987296,0.000116490840455,-9.47418316883e-05,-5.34957841928e-05,1793248339382976000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.964922279,682,660,633,880,784,814.964922279,652,630,653,0.450169893173,0.00459575526757,0.0699511930203,0.999999988727,0.000118743269878,-7.48815538141e-05,-5.32826831161e-05,1793248339399642624
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.542020618,745,715,682,659.457979382,632.457979382,880,784,815,652,630,653,0.450581069334,0.00460002143845,0.0699315322609,0.999999984844,0.00012815937466,-0.000104890636713,-5.37052595899e-05,1793248339416309248
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.881923039,745,715,682,658.881923039,632,880.118076961,784,815,651.881923039,630,652.881923039,0.4509738769,0.00460402659404,0.0699062112717,0.999999978764,0.000138289874324,-0.000142999257006,-5.38373403531e-05,1793248339432975872
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.30961131,745,715,682,658.30961131,632,880.69038869,784,815,651.30961131,630,652.30961131,0.451322397849,0.00460584821942,0.0698674638788,0.999999967478,0.000149388621912,-0.000199875059704,-5.26939528822e-05,1793248339449642752
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.272148101,745,715,682,658,632,880.727851899,783.727851899,815,651.272148101,630,652.272148101,0.451665484954,0.00460846769602,0.0698383027642,0.999999957127,0.000157946729881,-0.000240957644856,-5.23286680338e-05,1793248339466309632
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.86504225,745,715,682,658,632,880.13495775,783.13495775,815,651.86504225,630,652.86504225,0.452002167865,0.00461202749736,0.0698204397682,0.999999950537,0.000163510511655,-0.000263426788055,-5.28804331164e-05,1793248339482976512
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657.551125856,632,880,783.448874144,814.551125856,652,630,652.551125856,0.452337960004,0.00461324096681,0.0698166445121,0.999999954736,0.000136776131735,-0.000262287013227,-5.50149321483e-05,1793248339499642624
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657,631.97042853,879.97042853,784,814.02957147,651.97042853,630,652.02957147,0.45266984815,0.00461380446822,0.0698167448072,0.999999960691,0.000100891090243,-0.000255199555786,-5.75521914525e-05,1793248339516308992
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657,631.39824223,879.39824223,784,814.60175777,651.39824223,630,652.60175777,0.452934917954,0.00461512975637,0.0698122517045,0.99999996014,7.17563928964e-05,-0.000266646076755,-5.89208816751e-05,1793248339532975616
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657,631.179119005,879.358238011,783.820880995,815,651.179119005,630,653,0.453189719092,0.00461637857816,0.0698087279407,0.999999958621,5.45910472945e-05,-0.000276058040261,-5.97530159158e-05,1793248339549642240
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657,631.768328094,880.536656187,783.231671906,815,651.768328094,630,653,0.453421010245,0.00461745233129,0.0698074234631,0.999999956709,6.48293441932e-05,-0.000280811916077,-5.93567137826e-05,1793248339566308608
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.648803143,745,715,682,656.648803143,631.648803143,880.648803143,783.351196857,815,652,630,653,0.453637262819,0.00461743186898,0.0698057122165,0.99999995485,8.20495336397e-05,-0.000283775133567,-5.51293302012e-05,1793248339582975232
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.070042637,745,715,682,656.070042637,631.070042637,880.070042637,783.929957363,815,652,630,653,0.453843770927,0.00461670239229,0.0698037373974,0.999999952664,0.000103793753582,-0.000285578065574,-4.841953575e-05,1793248339599642368
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507535144,745,714.492464856,682,656,631,879.492464856,783.492464856,815,651.492464856,630.507535144,653,0.454019806514,0.00462052129325,0.0698012271455,0.999999950536,0.000116001119545,-0.00028835400593,-4.81957299599e-05,1793248339616309248
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714.084333039,682,656,631.084333039,879.084333039,783,815,651.084333039,630.915666961,653,0.454186383559,0.0046239155571,0.069799084953,0.99999994862,0.000125115472693,-0.000291074189206,-4.88041587166e-05,1793248339632975872
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714.657554114,682,656,631.657554114,879.657554114,783,815,651.657554114,630.342445886,653,0.454322450803,0.00462121776086,0.0697995038086,0.999999948284,0.000123911351487,-0.000292694514583,-4.90602018296e-05,1793248339649642496
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631.761801187,880,783,815,652,630,653,0.454446170771,0.00461996379077,0.0697989473555,0.99999994742,0.000122917867853,-0.000295959063907,-4.95867051844e-05,1793248339666309120
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631.170140655,880,783,815,652,630,653,0.454551568686,0.00462085230539,0.0697969436479,0.999999945753,0.000122236948057,-0.000301663466704,-5.05145427753e-05,1793248339682976000
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.586829634,745,715,682,655.586829634,631,880,783,815,652,630,652.586829634,0.454637362551,0.00462148783333,0.0697905269807,0.999999941945,0.000121319108382,-0.000314231272237,-5.1477163366e-05,1793248339699642368
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.006888792,745,715,682,655.006888792,631,880,783,815,652,630,652.006888792,0.454715243512,0.0046220212467,0.0697823290839,0.99999993708,0.000120305639285,-0.000329569394701,-5.24538235986e-05,1793248339716308736
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.568340525,745,715,682,655.568340525,631,880,783,815,652,630,652.568340525,0.454777089588,0.00462003864154,0.0697743580128,0.999999933498,0.000120731986111,-0.000340206451472,-5.18362787514e-05,1793248339732975616
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.853583174,682,655.853583174,631,880,783,815,652,630.146416826,653,0.454834409028,0.00461874554244,0.0697678974913,0.999999930373,0.000121232752722,-0.000349163983002,-5.13859424859e-05,1793248339749642496
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714.266773457,682,655.266773457,631,880,783,815,652,630.733226543,653,0.454878693013,0.00461961731465,0.0697659722043,0.999999928854,0.000121905299168,-0.000353239811283,-5.14961791983e-05,1793248339766309376
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.684017279,745,714.315982721,682,655,631,880,783.315982721,815,652,630.684017279,653,0.454918145782,0.00462110327064,0.0697658845514,0.999999928159,0.000123933211515,-0.000354503516186,-5.14724614505e-05,1793248339782976256
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.104639957,745,714.895360043,682,655,631,880,783.895360043,815,652,630.104639957,653,0.454953571386,0.00462310119361,0.0697673287002,0.999999928152,0.000127090920084,-0.000353423111987,-5.13370829207e-05,1793248339799642624
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.472613305,745,715,682,655,631,879.527386695,783.527386695,815,652,630,653,0.454978299082,0.00462125785459,0.0697670581507,0.999999928034,0.000125292352624,-0.00035450434028,-5.05926752062e-05,1793248339816308992
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682,655,631,879.049367424,783,815,652,630,652.950632576,0.454999547657,0.00461863830516,0.0697662568848,0.99999992771,0.000122821043457,-0.000356397738576,-4.97503302166e-05,1793248339832975616
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655,631,879.625791362,783,815,652,630,652.374208638,0.455008826895,0.00461677107564,0.0697638246305,0.999999925517,0.000124830569938,-0.000361875250521,-4.92955607731e-05,1793248339849642240
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714.793624682,682,655,631,880.206375318,783,815,652,630,652,0.455016854852,0.00461595663247,0.0697617946019,0.999999923861,0.000125617447761,-0.000366192842089,-4.89999091061e-05,1793248339866309120
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,714.205342459,682,655,631,880.794657541,783,815,652,630,652,0.455022567256,0.00461709041838,0.0697605089104,0.999999923248,0.000124141758569,-0.00036836394798,-4.89987121445e-05,1793248339882976000
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,714.377069633,682.377069633,655,631,880.622930367,783.377069633,815,652,630,652,0.455026101271,0.00461712557048,0.0697591856498,0.99999992272,0.000123711928465,-0.000369965052888,-4.88060837332e-05,1793248339899642624
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,714.956333988,682.956333988,655,631,880.043666012,783.956333988,815,652,630,652,0.455028467176,0.00461657160601,0.0697578422437,0.999999922238,0.000123842915743,-0.000371260508109,-4.851080471e-05,1793248339916309248
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682.468272959,655,631,880.531727041,783.468272959,815,651.468272959,630,652.531727041,0.45502997414,0.00461543957793,0.0697576460596,0.999999921723,0.000123958083814,-0.000372716246956,-4.76524931611e-05,1793248339932975872
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.893372094,745,715,682,655,631,880.893372094,783.106627906,814.893372094,651.106627906,630,653,0.455030807951,0.00461457710484,0.069757056484,0.999999920995,0.000124159459431,-0.000374688358058,-4.69366575223e-05,1793248339949641984
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.319245543,745,715,682,655,631,880.319245543,783.680754457,814.319245543,651.680754457,630,653,0.455028997423,0.00461510309516,0.0697543320518,0.999999919343,0.000124744457338,-0.000378867154461,-4.70467477954e-05,1793248339966308608
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,682,655,631,880.263272554,783.736727446,814.263272554,652,630,653,0.455028188939,0.00461463418193,0.0697524860128,0.999999918509,0.000123552246517,-0.000381452310301,-4.70302760575e-05,1793248339982975488
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,682,655,631,880.856301375,783.143698625,814.856301375,652,630,653,0.455028635541,0.00461291912414,0.0697517401854,0.999999918708,0.000120134031941,-0.000382041387153,-4.68552818625e-05,1793248339999642112
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.437960081,745,715,682,655,631,880.562039919,783,815,652,630,652.562039919,0.455030300305,0.00460987420357,0.0697518233378,0.999999919406,0.000117218523389,-0.000381132037243,-4.67556628781e-05,1793248340016308736
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682.015895016,655,631,880.015895016,783.015895016,815,652,630,652.015895016,0.455032275417,0.00460647432069,0.0697521544303,0.99999992023,0.000114470914171,-0.000379813578484,-4.66758221021e-05,1793248340032975872
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682.590752912,655,631,880.590752912,783.590752912,815,652,630,652.590752912,0.455031464404,0.00460554786653,0.0697518816231,0.999999920087,0.00011197405951,-0.000380960158724,-4.64438091357e-05,1793248340049642752
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.834056655,715,683.165943345,655,631,880.834056655,783.834056655,815,652,630,652.834056655,0.455030998509,0.00460506213841,0.0697515559938,0.999999919904,0.000110570292433,-0.000381851036772,-4.64285579381e-05,1793248340066309376
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.258044511,715,683.741955489,655,631,880.258044511,783.258044511,815,652,630,652.258044511,0.455031385444,0.0046056655049,0.069751099834,0.999999919637,0.00011186769506,-0.000382110039517,-4.69489548584e-05,1793248340082975744
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,744.324722924,715,683.675277076,655,631,880,783,815,652,630.324722924,652.324722924,0.455031252639,0.00460484120398,0.0697505453767,0.99999991932,0.000111197332869,-0.000383088684519,-4.73084514466e-05,1793248340099642112
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,744.912972541,715,683.087027459,655,631,880,783,815,652,630.912972541,652.912972541,0.455030698042,0.0046028582892,0.0697499111467,0.999999918959,0.000108930044379,-0.000384651350314,-4.75373704323e-05,1793248340116308736
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682.50529551,655,631,880,783,815,652,630.50529551,653,0.455030569797,0.00459921026434,0.0697500158957,0.99999991928,0.000105617268388,-0.000384866085012,-4.64998972802e-05,1793248340132975360
+245,4.083333333,HOLD_POSE2,766,745,714,682,655,631,880,784,814,652,630,653,0.455029658671,0.00459255147144,0.0697485287982,0.999999919104,9.89270007788e-05,-0.00038725724479,-4.51379687779e-05,1793248340176812544
+246,4.100000000,HOLD_POSE2,765.406363588,745,714,682,654.406363588,631,880,784,814,652,630,653,0.45502896558,0.00459124216267,0.0697469004186,0.999999918701,9.77121770309e-05,-0.000388546114985,-4.5637693611e-05,1793248340193479424
+247,4.116666667,HOLD_POSE2,765.183544378,745,714,682,654,631,880.183544378,783.816455622,814.183544378,652,630.183544378,653,0.455028835393,0.00459002455109,0.0697460914864,0.999999918574,9.64973826835e-05,-0.000389142788275,-4.59125523003e-05,1793248340210146048
+248,4.133333333,HOLD_POSE2,765.765362091,745,714,682,654,631,880.765362091,783.234637909,814.765362091,652,630.765362091,653,0.455029926653,0.00458900591324,0.0697470606741,0.999999919052,9.52826519019e-05,-0.000388237462282,-4.56994735618e-05,1793248340226812416
+249,4.150000000,HOLD_POSE2,766,745,714,682.342895007,654,631,881,783,815,652,630.657104993,653,0.455030282063,0.00458843728364,0.0697475805743,0.999999919276,9.4921823617e-05,-0.00038777049753,-4.55234249961e-05,1793248340243478784
+250,4.166666667,HOLD_POSE2,766,745,714,682.917532053,654,631,881,783,815,652,630.082467947,653,0.455030140156,0.00458817278752,0.0697477968282,0.999999919328,9.51380965638e-05,-0.000387599794737,-4.53724029019e-05,1793248340260145920
+251,4.183333333,HOLD_POSE2,766,745,714.492398391,683,654.492398391,631,881,783,814.507601609,652,630,653,0.45502940109,0.00458821479049,0.0697467700249,0.999999918751,9.5254256954e-05,-0.000389019331157,-4.5704461473e-05,1793248340276812288
+252,4.200000000,HOLD_POSE2,766,745,714.930946594,683,654.930946594,631,880.930946594,783.069053406,814.069053406,652,630,652.930946594,0.455028639266,0.00458811681058,0.0697456025873,0.999999918102,9.52084114207e-05,-0.000390659797675,-4.60113740766e-05,1793248340293478656
+253,4.216666667,HOLD_POSE2,766,745,714.341091101,683,654.341091101,631,880.341091101,783.658908899,814.658908899,652,630,652.341091101,0.455028460459,0.00458657574137,0.0697449453867,0.999999917725,9.40672306237e-05,-0.000391956870956,-4.55181459579e-05,1793248340310145280
+254,4.233333333,HOLD_POSE2,766,745,714.244080989,683,654,631,880.244080989,783.755919011,815,652,630.244080989,652.244080989,0.455028673174,0.00458580332355,0.0697447891932,0.999999917643,9.34378316906e-05,-0.000392342573259,-4.52885758679e-05,1793248340326812160
+255,4.250000000,HOLD_POSE2,766,745,714.822831426,683,654,631,880.822831426,783.177168574,815,652,630.822831426,652.822831426,0.455029422719,0.00458608483529,0.069745319951,0.999999917969,9.3510157941e-05,-0.000391478657353,-4.54205181478e-05,1793248340343479040
+256,4.266666667,HOLD_POSE2,766,745,715,683,654.40020745,631,880.59979255,783.40020745,814.59979255,651.59979255,630.59979255,653,0.455030080835,0.00458758883992,0.0697456979739,0.99999991821,9.45470363434e-05,-0.000390552492108,-4.59285120821e-05,1793248340360145664
+257,4.283333333,HOLD_POSE2,766,745,715,683,654.976977165,631,880.023022835,783.976977165,814.023022835,651.023022835,630.023022835,653,0.455030698614,0.00458963218013,0.0697460086136,0.999999918412,9.60094528361e-05,-0.000389598863818,-4.66024113135e-05,1793248340376812288
+258,4.300000000,HOLD_POSE2,766,745,715,683,655,631,880,783.43666218,814.56333782,651.56333782,630,652.43666218,0.455029724259,0.0045861881064,0.0697447210659,0.999999918453,9.0815444518e-05,-0.000390820700654,-4.58889927675e-05,1793248340393478656
+259,4.316666667,HOLD_POSE2,766,745,714.851854085,683,654.851854085,631,880,783,815,652,630,652.148145915,0.45502901145,0.0045839726018,0.0697438125935,0.999999918356,8.75365902402e-05,-0.000391888192676,-4.5266192068e-05,1793248340410145024
+260,4.333333333,HOLD_POSE2,766,745,714.272722617,683,654.272722617,631,880,783,815,652,630,652.727277383,0.4550292521,0.0045859949703,0.0697442002319,0.999999917949,9.06344155798e-05,-0.000392243534271,-4.50748180539e-05,1793248340426811904
+261,4.350000000,HOLD_POSE2,766,744.694607562,714,682.694607562,654,631,880.305392438,783,815,651.694607562,630,653,0.455028852232,0.00458721813727,0.0697441328341,0.999999917428,9.2550690621e-05,-0.000393128734414,-4.5040014293e-05,1793248340443478528
+262,4.366666667,HOLD_POSE2,766,744.117397213,714,682.117397213,654,631,880.882602787,783,815,651.117397213,630,653,0.455027882264,0.00458772996595,0.0697436604263,0.999999916808,9.3415313587e-05,-0.000394485540987,-4.51445676265e-05,1793248340460145408
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,655,631,880,784,814,652,630,653,0.455026718165,0.00458796338232,0.0697437455728,0.99999991629,9.32850642617e-05,-0.000395848598624,-4.49547383504e-05,1793248340492604416
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.408643137,714.591356863,682,654.408643137,631,880.591356863,783.408643137,814.591356863,652,630,653,0.455028438499,0.00458653866671,0.0697441544915,0.999999917177,9.25381506928e-05,-0.000393778374331,-4.49562198116e-05,1793248340509270272
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654.17915878,631,880.82084122,783.17915878,815,652,630,653,0.455029726668,0.00458557969389,0.0697444043784,0.999999917845,9.18524053348e-05,-0.000392235555687,-4.49894727261e-05,1793248340525936384
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,654.759010098,631,880.240989902,783.759010098,815,652,630,653,0.455030048292,0.00458566236479,0.0697442985871,0.999999918033,9.13034638767e-05,-0.000391872290932,-4.50937831929e-05,1793248340542602752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.664734255,745,715,682,654.664734255,631,880.335265745,783.664734255,815,652,630.335265745,653,0.455030721596,0.00458564621487,0.0697446170583,0.999999918281,9.1655089637e-05,-0.000391163055226,-4.50497981438e-05,1793248340559269120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.091035795,745,715,682,654.091035795,631,880.908964205,783.091035795,815,652,630.908964205,653,0.455031645006,0.00458555978602,0.0697452372545,0.999999918569,9.26471765882e-05,-0.000390207773547,-4.4900348981e-05,1793248340575935744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.483478053,745,715,682,654.483478053,631,881,783,815,652,630.516521947,653,0.455030692941,0.00458631267434,0.0697452061092,0.999999918158,9.25140918707e-05,-0.000391294280022,-4.48718695397e-05,1793248340592602624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.06002068,654.93997932,631,880.93997932,783,815,652,630,653,0.455028877245,0.00458704905459,0.0697446557088,0.99999991744,9.21389798427e-05,-0.000393213964045,-4.48643946903e-05,1793248340609269248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.653219293,654.346780707,631,880.346780707,783,815,652,630,653,0.455022532022,0.0045862325291,0.0697405839523,0.999999915163,9.14990865599e-05,-0.000399113982743,-4.48408260347e-05,1793248340625936128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,654,631,880,783.239758526,815,652,630.239758526,653,0.455009637222,0.0045856064984,0.0697340088748,0.999999911189,9.14193381379e-05,-0.000408960049516,-4.49037261654e-05,1793248340642603264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,654,631,880,783.816926054,815,652,630.816926054,653,0.454987525288,0.00458524854854,0.069723910907,0.999999904699,9.21278742101e-05,-0.00042435933699,-4.50883126712e-05,1793248340659269888
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,654,631,880,784,815,652,630.033460289,653,0.454900434081,0.00458589592319,0.0696900057013,0.999999879185,9.39794762145e-05,-0.000480473796847,-4.40657802733e-05,1793248340692602624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,654.541897531,631,880,784,815,652,630,652.458102469,0.454841239678,0.00458496874717,0.0696760177175,0.999999872701,9.2829896412e-05,-0.000494023023674,-4.38306453859e-05,1793248340709269248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.879250364,745,715,682.879250364,655,631,880.120749636,784,815,652,630,652.120749636,0.454777258312,0.00458426090639,0.069663276519,0.999999866444,9.20257931788e-05,-0.000506698864112,-4.35840247038e-05,1793248340725936128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.286994077,745,715,682.286994077,655,631,880.713005923,784,815,652,630,652.713005923,0.454697388795,0.00458474271774,0.0696543755891,0.999999859512,9.30819242619e-05,-0.000520045068478,-4.31941707691e-05,1793248340742602752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.297111757,745,715,682,655,631,881,783.702888243,815,652,630,653,0.4546119676,0.00458476152494,0.0696505699484,0.999999856797,9.54604637764e-05,-0.000524905884228,-4.20466568506e-05,1793248340759269376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.87355486,745,715,682,655,631,881,783.12644514,815,652,630,653,0.454521326969,0.00458434503605,0.069651554674,0.999999858152,9.90822732124e-05,-0.00052178911179,-4.01868245213e-05,1793248340775936256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.449145236,655,631,880.550854764,783.449145236,815,652,630.449145236,653,0.454413648352,0.00458398147831,0.0696554562667,0.999999860849,0.000101253195554,-0.000516315688197,-3.83044403827e-05,1793248340792603136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,655,631,880.025137523,784,815,652,630.974862477,653,0.454300116506,0.00458367466831,0.0696601937199,0.999999863902,0.000103135827239,-0.00051013239701,-3.6392589713e-05,1793248340809270016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,655,631,880.615556155,784,815,652,630.384443845,653,0.454162619265,0.00458430951473,0.0696652965661,0.999999867181,0.00010770335497,-0.000502877098992,-3.39606086434e-05,1793248340825936384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,655.202120032,631,880.797879968,783.797879968,815,652,630.202120032,653,0.454010720358,0.0045844480413,0.0696689597388,0.999999869627,0.000110977891773,-0.000497436427435,-3.14284332739e-05,1793248340842602496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,655.781489096,631,880.218510904,783.218510904,815,652,630.781489096,653,0.453831941329,0.00458366020648,0.0696699358173,0.999999870632,0.000111839111735,-0.000495382685145,-2.87092494891e-05,1793248340859269376
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.64104762,655.64104762,631,880.35895238,783.35895238,815,652,630.64104762,653,0.453626398296,0.00458214518349,0.0696651253272,0.999999865559,0.000114983372583,-0.000505002814329,-2.5159290969e-05,1793248340875936000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.06473829,655.06473829,631,880.93526171,783.93526171,815,652,630.06473829,653,0.453404648801,0.00458018982514,0.069656810888,0.999999856555,0.000119510086507,-0.000521691839329,-2.1106271963e-05,1793248340892602624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655.506723572,631.506723572,880.493276428,784,815,652,630,653,0.45315146772,0.00458049304396,0.0696480581077,0.999999849085,0.000125992794805,-0.000534463713177,-1.74237901996e-05,1793248340909269760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.080873302,715,682,656,632,880,784,814.919126698,652,630.080873302,653,0.452890201125,0.00458064594248,0.0696401056683,0.999999842245,0.000132099634469,-0.000545778027815,-1.36051971632e-05,1793248340925936896
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.676016122,715,682,656,632,880,784,814.323983878,652,630.676016122,653,0.452602812416,0.00457802545568,0.0696375952934,0.999999839165,0.000134242332668,-0.000550975979431,-8.62290131732e-06,1793248340942603520
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.736865989,715,682,656.263134011,632,880,784,814.263134011,652,631,653,0.452293244521,0.00457605310509,0.0696360686922,0.99999983663,0.000138610508033,-0.000554541909173,-3.19906038889e-06,1793248340959269888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.159336418,715,682,656.840663582,632,880,784,814.840663582,652,631,653,0.451957176693,0.00457485515533,0.0696357175151,0.999999834735,0.000145637709136,-0.000556157879978,2.75234341405e-06,1793248340975936512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.415129447,657,632,880,784,814.584870553,652,630.584870553,653,0.451598601392,0.00457407394127,0.0696386782572,0.99999983415,0.000152858068046,-0.000555213593486,8.4760227366e-06,1793248340992603136
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.988427992,657,632,880,784,814.011572008,652,630.011572008,653,0.451231450494,0.00457345150834,0.0696429008786,0.999999834009,0.000160152022134,-0.00055329381942,1.4112936274e-05,1793248341009269760
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.434779503,657,632,880.565220497,784,814,652,630.565220497,653,0.45082877481,0.00457234240872,0.0696533625049,0.999999839078,0.000164118331962,-0.000542708449113,1.94243955643e-05,1793248341025936384
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.145630593,632,880.854369407,784,814,652,631,653,0.450418531975,0.00457046346884,0.0696643287145,0.999999844748,0.00016721883541,-0.00053096816721,2.47929286196e-05,1793248341042602752
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.736890135,632,880.263109865,784,814,652,631,653,0.449987373191,0.00456625950011,0.0696764456482,0.999999852195,0.000167879743663,-0.000516240127793,3.03566222324e-05,1793248341059269632
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.319894382,658.319894382,632,880.319894382,784,814,652,630.680105618,653,0.449532466988,0.00456344572113,0.0696959266724,0.999999868869,0.000163949552077,-0.000484006495034,3.34728657845e-05,1793248341075936512
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.896279608,658.896279608,632,880.896279608,784,814,652,630.103720392,653,0.449058520092,0.00456174659379,0.0697213122147,0.999999891373,0.000156338223218,-0.000437736900967,3.46267480335e-05,1793248341092603136
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.52631908,745,715,683,659.47368092,632.47368092,881,784,813.52631908,652,630.47368092,653,0.44855431428,0.00455491279931,0.0697512232049,0.99999991672,0.000117528305381,-0.000389812043956,2.81592160136e-05,1793248341109269504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.052160789,745,715,683,659.947839211,633,880.947839211,784,813,651.947839211,630.947839211,652.947839211,0.448037528922,0.00454728070903,0.0697793758093,0.999999937012,7.60857206352e-05,-0.000346023215229,2.1340701044e-05,1793248341125936128
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.639418194,745,715,683,659.360581806,633,880.360581806,784,813,651.360581806,630.360581806,652.360581806,0.447459811209,0.0045430179759,0.0697793025282,0.999999935886,7.78674459473e-05,-0.00034839042153,2.80783168848e-05,1793248341142602752
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.775531383,745,715,682.775531383,659,633,880,784,812.775531383,651.224468617,630,652.224468617,0.446852734495,0.00454013232605,0.069770467769,0.99999993092,7.74998649978e-05,-0.000362026270283,3.30270061941e-05,1793248341159269632
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.193991727,745,715,682.193991727,659,633,880,784,812.193991727,651.806008273,630,652.806008273,0.446198955301,0.00453943725687,0.0697476957827,0.999999919211,7.37132980675e-05,-0.000393587590475,3.51299794353e-05,1793248341175936256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.382232172,745,715,682,659.382232172,633,880.382232172,784,812,652,630,652.617767828,0.445542502838,0.00453517699588,0.0697461789933,0.999999921372,5.46456047277e-05,-0.000391252343919,3.45193903803e-05,1793248341192603136
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.955795189,745,715,682,659.955795189,633,880.955795189,784,812,652,630,652.044204811,0.444884712259,0.00452913213588,0.0697553017454,0.999999929907,2.7928762487e-05,-0.000371949767854,3.25504954654e-05,1793248341209270272
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.471780663,745,715,682.528219337,660.528219337,633,880.471780663,784,812,652,630,652,0.444204959773,0.00452769821609,0.0697778205046,0.999999944875,1.6169602532e-05,-0.000329853391399,3.4437686507e-05,1793248341225936384
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.895537807,660.791075614,633,879.895537807,784,812,651.895537807,630,652.104462193,0.443513998342,0.00452789757001,0.0697994437956,0.999999956513,5.6526583149e-06,-0.00029268070881,3.57673232697e-05,1793248341242602752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.300931236,659.601862472,633,879.300931236,784,812,651.300931236,630,652.699068764,0.442779048994,0.00453395371503,0.0698116166746,0.999999958104,-4.89640832123e-06,-0.000287541409402,3.2969988253e-05,1793248341259269120
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.286320442,659,633,879,784,812.286320442,651.286320442,630,653,0.442022725655,0.00455013426994,0.0698171185842,0.99999995704,6.91674688608e-05,-0.000283368619002,2.89484153476e-05,1793248341275935744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.86603558,659,633,879,784,812.86603558,651.86603558,630,653,0.441244500138,0.00457668938395,0.0698157847031,0.999999934033,0.00022993485924,-0.000280186211512,2.36723558203e-05,1793248341292602112
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.442066937,745,715,683,660.768267749,633,879.442066937,784,812.557933063,652,630,653,0.440437891479,0.00457585276452,0.0698205116035,0.999999933829,0.000245592675939,-0.000267273395578,2.43260395222e-05,1793248341309268736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.982631998,745,715,682.982631998,662.947895995,633,880,784.017368002,812,652,630,653,0.439620511348,0.00456687668126,0.0698251641,0.999999943545,0.000217433477689,-0.000254799545109,2.66559650073e-05,1793248341325935360
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.394956332,745,715,682.394956332,661.184868997,633,880,784.605043668,812,652,630,653,0.438729532777,0.0045609463652,0.0697675618351,0.9999999208,0.000182500892604,-0.000352765578007,2.55096926505e-05,1793248341342601984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.189893395,715,682.189893395,660,633,880,785,812,652,629.810106605,653,0.437846756518,0.00455679422887,0.06972055759,0.999999895949,0.000152595643096,-0.00042918700992,2.47975671258e-05,1793248341359268608
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.768951648,715,682.768951648,660,633,880,785,812,652,629.231048352,653,0.436980790015,0.00455628626946,0.0696952727815,0.999999884374,0.000132993349879,-0.000461455239248,2.49751765435e-05,1793248341375935488
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.346602674,745.653397326,715,683,660.346602674,633,880,784.653397326,812,652,629.346602674,653,0.436136858946,0.00455076092585,0.0697189995165,0.99999990442,0.000111647903164,-0.000421901783985,2.63305989944e-05,1793248341392602368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.9233194,745.0766806,715,683,660.9233194,633,880,784.0766806,812,652,629.9233194,653,0.435307557525,0.00454190447519,0.0697752656579,0.999999939621,8.9145154142e-05,-0.000334664968368,2.84679867759e-05,1793248341409268992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.502094519,660.004189038,633,880,784.497905481,811.502094519,651.502094519,630,653,0.434427052085,0.00453909312692,0.0698117318012,0.99999995207,9.84969675287e-05,-0.000291933460784,3.05511592216e-05,1793248341425935616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.9256715,745,715,682,659.0743285,633,880,784.9256715,811.0743285,651.0743285,630,653,0.433541230997,0.00453646337244,0.0698421628526,0.999999960427,0.000108758526883,-0.000257418854941,3.24521921815e-05,1793248341442602240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.334194784,745,715,682,659.665805216,633,880,784.334194784,811.665805216,651.665805216,630,653,0.43267305826,0.0045286472587,0.0698517297077,0.999999968228,9.1362527972e-05,-0.000232589302594,3.31438149792e-05,1793248341459268864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.74803938,784.25196062,811.74803938,651.74803938,629.74803938,653,0.431747394741,0.00452274944243,0.0698355049942,0.999999963167,8.11881779535e-05,-0.000256808292367,3.35307162401e-05,1793248341475935232
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.168795983,784.831204017,811.168795983,651.168795983,629.168795983,653,0.430747053786,0.00451934338642,0.0697857784744,0.999999936784,8.03943438494e-05,-0.000344738595179,3.35218011797e-05,1793248341492602112
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.407081039,659.592918961,633,879,784.592918961,811,651.407081039,629.407081039,653,0.429769739612,0.00451491665087,0.0697375381263,0.999999909491,7.77231535424e-05,-0.00041702743101,3.26298933681e-05,1793248341509268992
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.98157361,659.01842639,633,879,784.01842639,811,651.98157361,629.98157361,653,0.428801895229,0.00451007016245,0.0696899089673,0.999999880161,7.42799029408e-05,-0.000482883728519,3.13748559214e-05,1793248341525935616
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.554697497,745,715,683,659.554697497,633,879,784,811,652,630,653,0.42792334129,0.00449987993482,0.0697551265276,0.999999924821,5.66724930601e-05,-0.000382147895347,3.32930506116e-05,1793248341542602496
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.868089379,745,715,682.868089379,660.131910621,633.131910621,879,784,811.131910621,652,630,652.868089379,0.427047168772,0.00449072598672,0.0698166719305,0.999999956844,4.32104884692e-05,-0.000288461864442,3.51363139504e-05,1793248341559269120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.276467133,745,715,682.276467133,660.723532867,633.723532867,879,784,811.723532867,652,630,652.276467133,0.426168984044,0.00448580061086,0.0698523878537,0.999999969828,4.58310469278e-05,-0.000238583202181,3.63519851842e-05,1793248341575935744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.382981851,633.691490925,879,784,811.691490925,652,630,652,0.425259019145,0.00447841659122,0.069855483034,0.99999997072,3.82503159327e-05,-0.000236132718423,3.65769780408e-05,1793248341592602368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.224689855,633.112344928,879,784,811.112344928,652,630,652,0.424321175413,0.00446887574779,0.0698299619473,0.999999961227,2.17205916826e-05,-0.000275288197617,3.59329067851e-05,1793248341609268736
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.925590495,633,879,784,811,652,630,652.462795247,0.423350030247,0.00446520974619,0.0697829076045,0.999999935337,1.76202943499e-05,-0.00035736872431,3.60900355713e-05,1793248341625935616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.962063433,660.886190298,633,879,784.037936567,811,652,630,653,0.422372806188,0.00446270507899,0.0697314999443,0.999999898914,1.6584880742e-05,-0.000447849736438,3.64230966374e-05,1793248341642602240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.37289773,659.11869319,633,879,784.62710227,811,652,630,653,0.421423710283,0.00445653060639,0.0696921392166,0.999999869001,1.6617385628e-05,-0.000510283198154,3.65107098275e-05,1793248341659268864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.212756313,745,715,681,658.212756313,633.212756313,879,784.787243687,811,652,629.787243687,652.787243687,0.420535966928,0.00444902487846,0.0696961762144,0.999999874153,5.23663803068e-06,-0.000500398965422,3.56115892999e-05,1793248341675935488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.792355509,745,715,681,658.792355509,633.792355509,879,784.207644491,811,652,629.207644491,652.207644491,0.419754009923,0.0044392237462,0.0697750412874,0.999999932209,-2.58232928629e-05,-0.000365821697888,3.30111030488e-05,1793248341692602112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.629995291,745,715,681.370004709,659.740009418,634,879,784,811,652,629,652,0.418952390114,0.00443639284568,0.0698312405066,0.999999960738,-3.1089933281e-05,-0.00027632933845,3.46325337995e-05,1793248341709268992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.053434714,745,715,681.946565286,660.893130572,634,879,784,811,652,629,652,0.418139793552,0.00443745309153,0.069874786463,0.99999997654,-2.19574160902e-05,-0.00021200572835,3.86108584141e-05,1793248341725935872
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.53130495,745,715,681.46869505,659.937390099,633.46869505,879,784,811,652,629,652,0.417283395865,0.00445144896807,0.069854290736,0.999999968568,7.73678231812e-06,-0.000247600921806,3.87012272157e-05,1793248341742602240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.884304699,745,715,681,659,633,878.884304699,784,811,652,629,652,0.416427910031,0.00446611707523,0.069826406423,0.9999999565,3.47364776721e-05,-0.000290428804006,3.8008879223e-05,1793248341759269120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.304665343,745,715,681,659,633,878.304665343,784,811,652,629,652,0.415594022047,0.00447818233828,0.0697951254151,0.999999946829,4.25088723603e-05,-0.000321332713052,3.57703306076e-05,1793248341775935744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.726416795,659,633.273583205,878,784,810.726416795,652,629,652,0.414755490939,0.00447911192626,0.0697637445539,0.999999929833,3.91134824791e-05,-0.000370914654524,3.50139614559e-05,1793248341792602368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.149709268,659,633.850290732,878,784,810.149709268,652,629,652,0.413911815404,0.0044677034244,0.0697322530595,0.999999901758,2.33444262824e-05,-0.00044119145202,3.58998153927e-05,1793248341809268992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.426277187,745,715,680.426277187,658.573722813,634,878,784,810.426277187,652,629,652,0.413186530156,0.00446249041939,0.0697463383252,0.999999912334,1.83997554509e-05,-0.000416758313583,3.61304826792e-05,1793248341825936128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.997996503,658.00601049,634,878,784.002003497,810.997996503,652,629,652,0.412502967615,0.00445945495056,0.069776506733,0.999999934776,1.72242755317e-05,-0.000358952451866,3.61288889224e-05,1793248341842603264
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.424375725,659.726872824,634,878,784.575624275,810.424375725,652,629,652,0.411880492139,0.0044579435602,0.0698362146301,0.999999967176,8.65021591264e-06,-0.000253614448454,3.54006407135e-05,1793248341859269632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.844975436,745,715,680.155024564,660.689950872,634,878,784.844975436,810,652,629,652,0.411239472059,0.00445599449098,0.0698784358439,0.999999982991,3.33229993846e-06,-0.000181065766166,3.49480260186e-05,1793248341875936256
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.249141069,745,715,680.750858931,659.498282138,634,878,784.249141069,810,652,629,652,0.410545720555,0.00445280088875,0.0698709339747,0.999999978999,7.27317324222e-06,-0.000201752963045,3.52791714976e-05,1793248341892602880
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.3349692,744.6650308,715,680.6650308,658.6650308,634,878,784,810.3349692,652,629,652,0.409860381043,0.00445462351095,0.0698401410892,0.999999966102,9.89708355356e-06,-0.000257862297875,3.47138695504e-05,1793248341909269760
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.910654252,744.089345748,715,680.089345748,658.089345748,634,878,784,810.910654252,652,629,652,0.409181086605,0.00446005089682,0.0697926107943,0.999999941766,1.15745965118e-05,-0.000339426717179,3.35043615944e-05,1793248341925936384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.514956027,744.485043973,715,680,658.485043973,633.514956027,878,784,810.514956027,652,629,652,0.408568248345,0.00446363964074,0.0697660353632,0.999999927231,1.14439501159e-05,-0.000379957782596,3.22241346617e-05,1793248341942603264
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,878,784,810,652,628.939320923,652,0.407976014707,0.00446667065542,0.069748476866,0.999999917525,1.23502367367e-05,-0.000404760755332,3.10690513179e-05,1793248341959270144
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,878,784,810,652,628.350781835,652,0.407456818826,0.00446778827043,0.0697758697995,0.999999935003,2.51667094925e-05,-0.000358318721864,3.11156369623e-05,1793248341975936768
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.765515934,633.234484066,878,784,810,652,628,652,0.406943569162,0.00446997325316,0.0697950091847,0.999999944824,3.1468024979e-05,-0.000329194233765,3.15067195374e-05,1793248341992602880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.185079272,633.814920728,878,784,810,652,628,652,0.406439092458,0.00447373300648,0.0698019714655,0.999999946064,2.81570207571e-05,-0.000325619673381,3.24060653297e-05,1793248342009269248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.391426798,658,634,878,784,810,652,628.391426798,652.391426798,0.405959454351,0.00447557171131,0.0697988786801,0.999999942672,2.38389140233e-05,-0.000336206500068,3.24333949233e-05,1793248342025935872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.966092886,658,634,878,784,810,652,628.966092886,652.966092886,0.405491443933,0.00447651111281,0.0697910788001,0.999999936851,1.9049350389e-05,-0.000353422720441,3.2052506169e-05,1793248342042602496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715.552459926,680.447540074,658.552459926,634,878,784,810,652,628.447540074,652.447540074,0.405105144773,0.00447724602714,0.0698017693627,0.999999943494,2.86503201037e-05,-0.000333490462384,3.12267534761e-05,1793248342059269376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715.862342198,680,659,634,878,784,810,652,628,652,0.404731355858,0.00447676910678,0.0698154603875,0.999999951725,3.53955819637e-05,-0.000307178700234,3.06216147164e-05,1793248342075935744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715.283246185,680,659,634,878,784,810,652,628,652,0.404381254427,0.00447244721714,0.0698350552861,0.999999963193,3.00896573325e-05,-0.000267878867905,3.08133866155e-05,1793248342092602880
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.29550171,745,715.29550171,680,658.70449829,634,878,784,810,652,628.29550171,652,0.404037978563,0.00446938272657,0.0698431873104,0.999999967799,2.16563295248e-05,-0.000251015239525,3.04133402717e-05,1793248342109270016
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.873916284,745,715.873916284,680,658.126083716,634,878,784,810,652,628.873916284,652,0.403701237505,0.0044675220681,0.0698403447958,0.99999996684,1.02288312782e-05,-0.000255631999451,2.94466881106e-05,1793248342125936896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.551183965,745,715.551183965,680,658,634,878,784,810,652,629,652.448816035,0.403392412305,0.0044654670124,0.0698313694708,0.999999962983,-3.46521934899e-06,-0.000270618083588,2.80600647874e-05,1793248342142603264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.022418744,745,715,680,658,634,878,784.022418744,810,652,629,652.977581256,0.403092977919,0.00446340702791,0.0698208037938,0.999999957895,-1.75776657757e-05,-0.000288434840878,2.65933134381e-05,1793248342159269120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.588329117,745,715,680,658,634,878,784.588329117,810,652,629,652.411670883,0.402832561743,0.00446254118955,0.0698131259377,0.999999952857,-2.65170067565e-05,-0.000304804425113,2.60219835965e-05,1793248342175935744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878,785,810,652,628.83562301,652,0.402580199151,0.00446227814543,0.0698051974515,0.999999948091,-3.27087105063e-05,-0.000319506478365,2.57621432073e-05,1793248342192602368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878,785,810,652,628.23251787,652,0.402349331908,0.0044636239811,0.0697966000256,0.999999944785,-3.1566869398e-05,-0.000329757828525,2.63336795773e-05,1793248342209268736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.645432811,745,715,680,658,634,878,784.645432811,810,652,628.354567189,652,0.402147046766,0.00446444263497,0.0697925041835,0.999999942945,-2.8847005507e-05,-0.000335453551234,2.73459333437e-05,1793248342225935872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.068399187,745,715,680,658,634,878,784.068399187,810,652,628.931600813,652,0.401962694899,0.00446493051878,0.0697912327736,0.999999942054,-2.51370411451e-05,-0.000338290933217,2.8634706909e-05,1793248342242603008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.495943031,634,878,784.504056969,810,652,628.495943031,652,0.401811010243,0.00447658579815,0.0697929981481,0.999999942231,3.80659982362e-05,-0.000336521852548,2.90316605985e-05,1793248342259270144
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.078726553,745,715,679.921273447,657.078726553,634,878,785,810,652,628.078726553,652,0.401667390141,0.00449010384281,0.0697946483979,0.999999938666,0.000100256251182,-0.000334362583472,2.86051128268e-05,1793248342275936768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.671882069,745,715,679.328117931,657.671882069,634,878,785,810,652,628.671882069,652,0.401547761545,0.00450598091611,0.069792877904,0.999999938682,0.000103550993042,-0.000333701465085,2.35811549968e-05,1793248342292602880
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.259399273,658.259399273,634,878,785,810,652,628.740600727,652,0.401438390631,0.00451097845863,0.0697923826453,0.999999940112,9.43325555834e-05,-0.000332377687787,2.00460566917e-05,1793248342309269504
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.83993618,658.83993618,634,878,785,810,652,628.16006382,652,0.401341718787,0.00450250708516,0.0697934661343,0.999999942881,6.96227375406e-05,-0.000330233535252,1.83541744279e-05,1793248342325936128
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.584271365,634,878,784.584271365,810,652,628,652,0.401263452359,0.00450088309813,0.0697935937139,0.999999943317,6.3546224199e-05,-0.000330139171419,1.83574385489e-05,1793248342342602752
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.01028502,634,878,784.01028502,810,652,628,652,0.401192192424,0.00450186574361,0.0697933574023,0.999999943013,6.45629541668e-05,-0.000330825112038,1.90060034225e-05,1793248342359269376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.436065575,745,715,680,658,634,878,784,810,652,628,652.563934425,0.401141080448,0.00450245850246,0.0697952061954,0.999999944085,6.56820321416e-05,-0.000327284222144,2.00413313537e-05,1793248342375936000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.857366655,634,878,784.142633345,809.857366655,652,628,652.857366655,0.401094985182,0.00450211110221,0.0697975895426,0.999999945567,6.4884000136e-05,-0.000322835479504,2.08389568343e-05,1793248342392602368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.264542802,634,878,784.735457198,809.264542802,652,628,652.264542802,0.401063563777,0.00449881875103,0.0698015400133,0.999999948245,5.80291415957e-05,-0.000315764716143,2.08640541892e-05,1793248342409268992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.321095258,680,657.321095258,634,878,784.678904742,809.321095258,652,628,652,0.401037175093,0.00449980397828,0.0698053080914,0.999999950325,5.7685001901e-05,-0.000309178600455,2.07452912089e-05,1793248342425936128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.900942762,680,657.900942762,634,878,784.099057238,809.900942762,652,628,652,0.401014841987,0.00450423626023,0.0698089291901,0.999999951932,6.25874762643e-05,-0.00030298303376,2.05105994406e-05,1793248342442603264
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.524455037,679.524455037,658,634,878,784,810,652,628.475544963,652.475544963,0.401001676523,0.00450101220958,0.0698119294177,0.999999953705,5.8162588277e-05,-0.000297938412569,2.09500179856e-05,1793248342459269888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.050358296,745,715.050358296,679.050358296,658,634,878,784,810,652,629,653,0.400990740098,0.00449684758661,0.0698146020265,0.99999995534,5.24890321553e-05,-0.000293436764706,2.14454132446e-05,1793248342475936256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.638979897,745,715.638979897,679.638979897,658,634,878,784,810,652,629,653,0.400983440256,0.00449949017133,0.0698151401022,0.999999955628,5.4009468351e-05,-0.000292204179619,2.10546083399e-05,1793248342492602624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.776448916,658,634,878,784,810,652,628.776448916,652.776448916,0.400976702071,0.00450112861113,0.0698152833946,0.999999955574,5.5580949065e-05,-0.000292102699824,2.09409115462e-05,1793248342509269248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.198302504,658,634,878,784,810,652,628.198302504,652.198302504,0.400970854781,0.0045011742824,0.0698148004838,0.999999954978,5.72333961829e-05,-0.000293795372223,2.12667619239e-05,1793248342525936128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.378817285,658,634,878,784.378817285,810,652,628,652,0.400969217371,0.0044999908176,0.0698162055966,0.999999955673,5.58586173792e-05,-0.000291674418163,2.14348279915e-05,1793248342542603264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.955401093,658,634,878,784.955401093,810,652,628,652,0.400969777785,0.00449816566622,0.069818596377,0.999999957023,5.29034355871e-05,-0.000287562510412,2.15205206831e-05,1793248342559269888
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.470765019,745,716,680,658,634,877.470765019,785,810,652.529234981,628,652,0.400968612812,0.00449973372849,0.0698188073309,0.99999995717,5.38642741608e-05,-0.000286895990899,2.12146551593e-05,1793248342575936512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.89361929,680,658,634,877.10638071,784.89361929,810,653,628,652.10638071,0.400968015224,0.00450124101342,0.0698191936098,0.999999957366,5.50236859326e-05,-0.000286012477121,2.09080796609e-05,1793248342592602880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.30025771,680,658,634,877.69974229,784.30025771,810,653,628,652.69974229,0.40097067712,0.00450116785403,0.0698212190353,0.999999958248,5.55892482169e-05,-0.000282813379478,2.07485234993e-05,1793248342609269504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.713761396,878.286238604,784,809.713761396,652.713761396,628.286238604,653,0.400970558723,0.00450156332722,0.0698218019821,0.999999958462,5.62858024211e-05,-0.000281929030292,2.05673794502e-05,1793248342625935872
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.134297839,878.865702161,784,809.134297839,652.134297839,628.865702161,653,0.400967592173,0.00450243887111,0.0698209072435,0.999999957999,5.71165457901e-05,-0.000283415926236,2.03641205896e-05,1793248342642602496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.441194175,878.558805825,784,809.441194175,652,629,652.558805825,0.400966845166,0.0045012095882,0.0698208277922,0.999999957883,5.62085332348e-05,-0.000283996093199,2.04965247781e-05,1793248342659269376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.015780227,745,715,680,658,634,878,784,810,652,629,652,0.400966777377,0.00449939597943,0.0698210030986,0.999999957876,5.48155412545e-05,-0.000284277887503,2.07269326879e-05,1793248342675936768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.600909227,745,715,680,658,634,878,784,810,652,629,652,0.400967056882,0.00449941015312,0.0698214959582,0.999999958046,5.48502062041e-05,-0.000283663813067,2.08397462336e-05,1793248342692602880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.185275673,634,878,784.185275673,810,652,629,652,0.400967762562,0.00449935561017,0.0698221298184,0.999999958313,5.44324559883e-05,-0.000282798465936,2.08648632465e-05,1793248342709268992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.768006244,634,878,784.768006244,810,652,629,652,0.400969382473,0.00449915365573,0.0698230661544,0.999999958788,5.30441810342e-05,-0.000281394086591,2.07018529285e-05,1793248342725935616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.653213314,658.653213314,634,878,785,810,652.346786686,628.653213314,652,0.400968940991,0.00449917782396,0.0698231922776,0.999999958815,5.28699276701e-05,-0.000281329449804,2.07113809228e-05,1793248342742602240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.077045697,658.077045697,634,878,785,810,652.922954303,628.077045697,652,0.400967136008,0.0044993515603,0.0698227824882,0.999999958547,5.34986850164e-05,-0.000282150981455,2.08350338323e-05,1793248342759268864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.496371512,658,633.503628488,878,785,810,652.503628488,628,652,0.400967459651,0.00450089296544,0.069822711034,0.999999958563,5.58766196819e-05,-0.000281645147469,2.06964043057e-05,1793248342775936512
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.928722614,745,715.071277386,680,658,633.071277386,878,784.928722614,810,652,628.071277386,652,0.400968058841,0.0045024111259,0.0698227443718,0.999999958642,5.80594449991e-05,-0.000280935532199,2.05140040172e-05,1793248342792603648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.339925797,745,715.660074203,680,658,633.660074203,878,784.339925797,810,652,628.660074203,652,0.400968272978,0.00450222767152,0.0698231593711,0.999999958911,5.6865224166e-05,-0.00028023400687,2.03077584641e-05,1793248342809270016
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,716,680,658,634,878,784.246333946,810,652,628.753666054,652.246333946,0.400968172085,0.00450190778252,0.0698235781538,0.999999959096,5.62132976604e-05,-0.000279704107135,2.03251973694e-05,1793248342825936640
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,716,680,658,634,878,784.829128454,810,652,628.170871546,652.829128454,0.400967640902,0.00450140154131,0.0698240021042,0.999999959167,5.63020754536e-05,-0.00027940862584,2.06481605138e-05,1793248342842603264
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,716,680,658,634,877.59402898,785,810,652,628,652.59402898,0.400968630598,0.00450125916671,0.0698246630668,0.999999959468,5.55009648156e-05,-0.000278497732097,2.05605747462e-05,1793248342859269888
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,716,680,658,634,877.019655398,785,810,652,628,652.019655398,0.400970251176,0.00450126772918,0.0698254223453,0.999999959862,5.43307157762e-05,-0.00027733155652,2.03026874229e-05,1793248342875936512
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8538f3ee7814a2144c33c1d478814b9c9297dd6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/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,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+38,0.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+44,0.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+45,0.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+46,0.766666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+50,0.833333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+51,0.850000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+52,0.866666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+53,0.883333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+54,0.900000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+55,0.916666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+56,0.933333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+57,0.950000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+58,0.966666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+59,0.983333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+60,1.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+61,1.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+62,1.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+63,1.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+64,1.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+65,1.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+66,1.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+67,1.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+69,1.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+70,1.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+72,1.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+75,1.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+76,1.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+77,1.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+78,1.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+79,1.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+80,1.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+81,1.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+82,1.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+83,1.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecd58403b48a5cf105c839528d3a712b3f9d1f80
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad44ce158768201fc27531f6ed1b825a565eaef7d691fa839043581e555505c1
+size 25813771
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42ab87e2713a7a7eeb46ff121843dcbb457d993b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+10,0.166666667,BASELINE,765,745,715,679,658,634,878,784,810,652,628,652,0.400967364903,0.00450067160755,0.069824885192,0.999999959923,5.31526338453e-05,-0.000277371653889,1.98509363383e-05,1793248343186571264
+11,0.183333333,BASELINE,765,745,715,679.366574541,658,634,877.633425459,784.366574541,810,652,628,652,0.400967756169,0.00450087806441,0.069825446212,0.999999960105,5.4095546798e-05,-0.000276521167844,1.99939376524e-05,1793248343203237888
+12,0.200000000,BASELINE,765,745,715,679.940254295,658,634,877.059745705,784.940254295,810,652,628,652,0.4009686428,0.004501097031,0.0698267214156,0.999999960522,5.51633717039e-05,-0.000274783068466,2.02010700376e-05,1793248343219904512
+13,0.216666667,BASELINE,765.531111293,745,715,680,658,634,877.531111293,785,810,652,628.531111293,652,0.400968600267,0.00450238182595,0.0698260216294,0.999999960151,5.62203407481e-05,-0.000275946993681,1.97666233449e-05,1793248343236571136
+14,0.233333333,BASELINE,766,745,715.120774358,680,658,634,878,784.879225642,810,652,629,652,0.400968746709,0.00450307647082,0.0698256688605,0.999999959937,5.64510600935e-05,-0.000276697625922,1.94204507343e-05,1793248343253238016
+15,0.250000000,BASELINE,766,745,715.698368571,680,658,634,878,784.301631429,810,652,629,652,0.400970016508,0.00450107025938,0.0698274970871,0.999999960667,5.35613263608e-05,-0.000274608950663,1.96902788074e-05,1793248343269904896
+16,0.266666667,BASELINE,765.724733107,745,715.724733107,680,658,634,877.724733107,784,810,652,629,652,0.400970689075,0.00449939258668,0.0698281398116,0.999999961015,5.16993526832e-05,-0.000273670777599,2.0025932957e-05,1793248343286571776
+17,0.283333333,BASELINE,765.14859544,745,715.14859544,680,658,634,877.14859544,784,810,652,629,652,0.40097070886,0.00449807401179,0.0698274867648,0.999999960957,5.09607360809e-05,-0.000273990120531,2.04335359632e-05,1793248343303238400
+18,0.300000000,BASELINE,765.435803577,745,715.435803577,680,658,634,877.435803577,784,810,652,628.564196423,652,0.400969333223,0.00449929925573,0.0698264322299,0.999999960567,5.14806959439e-05,-0.000275348212359,1.99752233647e-05,1793248343319905024
+19,0.316666667,BASELINE,766,744.977216116,715.977216116,680,658,634,878,784.022783884,810.022783884,652,628,652.022783884,0.400967589339,0.0045013026049,0.0698253177032,0.999999960094,5.23846614285e-05,-0.000276941462726,1.9259094236e-05,1793248343336571648
+20,0.333333333,BASELINE,766,744.397326582,715.397326582,680,658,634,878,784.602673418,810.602673418,652,628,652.602673418,0.400968699996,0.00450071363821,0.0698261482726,0.999999960519,5.19823696255e-05,-0.000275457064509,1.95977834397e-05,1793248343353238016
+21,0.350000000,BASELINE,765.817814889,744.182185111,715,679.817814889,658,633.817814889,878,785,810.817814889,652,628,652.817814889,0.400968842203,0.00450069856418,0.0698262580299,0.999999960581,5.2101956115e-05,-0.00027519429281,1.9768851894e-05,1793248343369904640
+22,0.366666667,BASELINE,765.239125601,744.760874399,715,679.239125601,658,633.239125601,878,785,810.239125601,652,628,652.239125601,0.400966876693,0.00450193249924,0.0698247990255,0.999999959857,5.33573485536e-05,-0.000277590245807,1.95751137237e-05,1793248343386571520
+23,0.383333333,BASELINE,765,745,715,679.335948009,658,633.335948009,878,785,810,652,628,652,0.40096745957,0.00450101711343,0.0698253508752,0.999999960232,5.22802066424e-05,-0.000276441961694,1.95761823378e-05,1793248343403238144
+24,0.400000000,BASELINE,765,745,715,679.908475465,658,633.908475465,878,785,810,652,628,652,0.400969837056,0.0044985881449,0.0698273187973,0.999999961368,4.95604604311e-05,-0.000272797774782,1.97144366874e-05,1793248343419905024
+25,0.416666667,BASELINE,765.495382475,745,715,680,658,634,878,784.504617525,810,652,628.495382475,652,0.400970276854,0.00449956826967,0.0698272399416,0.999999961244,5.12191141879e-05,-0.000272946650305,1.97142867948e-05,1793248343436571648
+26,0.433333333,BASELINE,765.916273794,745,715,679.916273794,658,634,877.916273794,784,810,652,628.916273794,652,0.400970404199,0.00450095534866,0.0698270041875,0.999999960972,5.33010917801e-05,-0.000273545331392,1.96983033915e-05,1793248343453238272
+27,0.450000000,BASELINE,765.335641613,745,715,679.335641613,658,634,877.335641613,784,810,652,628.335641613,652,0.40097086537,0.00450090782795,0.069828148649,0.999999961267,5.29510008364e-05,-0.000272530120937,1.97446473019e-05,1793248343469904896
+28,0.466666667,BASELINE,765,745,715,679.241867735,658,634,877.241867735,784,810,652,628.241867735,652,0.400970873074,0.00450087074743,0.0698287077919,0.999999961354,5.25682665764e-05,-0.000272281608957,1.97563949585e-05,1793248343486571520
+29,0.483333333,BASELINE,765,745,715,679.815098712,658,634,877.815098712,784,810,652,628.815098712,652,0.40097025952,0.00450084797014,0.0698284650376,0.999999961159,5.21408103946e-05,-0.000273083488037,1.97207451092e-05,1793248343503238144
+30,0.500000000,BASELINE,765,745,715,679.610398627,658,633.610398627,878,784,810,652.389601373,628.610398627,652,0.400969810158,0.00450098787424,0.0698278628223,0.999999960943,5.28284430403e-05,-0.000273753169688,1.95663532276e-05,1793248343519904512
+31,0.516666667,BASELINE,765,745,715,679.035290476,658,633.035290476,878,784,810,652.964709524,628.035290476,652,0.400969438975,0.0045012052383,0.0698270894514,0.999999960715,5.40470197602e-05,-0.000274359906162,1.93554229122e-05,1793248343536571392
+32,0.533333333,BASELINE,765.558751889,745,715,679,658,633,878,784.558751889,810,652.441248111,628,652,0.400969151748,0.0045019108612,0.0698272298841,0.999999960741,5.37479938931e-05,-0.000274334295384,1.92347670534e-05,1793248343553238528
+33,0.550000000,BASELINE,765.851155882,745,715,679.148844118,658,633.148844118,878,784.851155882,810,652,628,652,0.400969008602,0.00450214561696,0.0698274331639,0.999999960823,5.31626388292e-05,-0.000274148837919,1.92508236516e-05,1793248343569905408
+34,0.566666667,BASELINE,765.27592544,745,715,679.72407456,658,633.72407456,878,784.27592544,810,652,628,652,0.400969262474,0.00450094006386,0.0698276453457,0.999999961018,5.20412613269e-05,-0.000273623899064,1.96416073952e-05,1793248343586572032
+35,0.583333333,BASELINE,765,745,715,680,658,634,878,784,810,652,628,652,0.400969352665,0.00450102110073,0.0698275210237,0.999999960987,5.22147636752e-05,-0.000273707378046,1.96094209278e-05,1793248343603238144
+36,0.600000000,BASELINE,765,745,715,680,658,634,878,784,810,652,628,652,0.40096929196,0.00450228822854,0.069827086483,0.999999960746,5.35819992963e-05,-0.0002743517497,1.91873036025e-05,1793248343619904512
+37,0.616666667,BASELINE,765,745,715,680,658,633.539934731,878,784,810,652,628,652,0.400969991303,0.00450143031763,0.0698273093219,0.999999960927,5.33850122916e-05,-0.000273713519948,1.94197504338e-05,1793248343636571136
+38,0.633333333,BASELINE,765,745,715,680,658,633,878,784,809.952497178,652,628,652,0.400970778708,0.00450016749926,0.0698277074431,0.999999961204,5.28039885199e-05,-0.000272785652496,1.98017269036e-05,1793248343653238016
+39,0.650000000,BASELINE,765,745,715,680,658,633,878,784,809.370162912,652,628,652,0.40097018003,0.00450099341778,0.0698280226363,0.999999961252,5.27923337698e-05,-0.000272609017001,1.98196349528e-05,1793248343669904640
+40,0.666666667,BASELINE,765,745,715,679.791355542,658.208644458,633.208644458,878,784,809.208644458,652,628,652,0.4009697385,0.00450088538751,0.0698282284552,0.999999961344,5.251352573e-05,-0.000272328736743,1.98062566069e-05,1793248343686571520
+41,0.683333333,BASELINE,765,745,715,679.218701376,658.781298624,633.781298624,878,784,809.781298624,652,628,652,0.400969571136,0.00449914795171,0.0698282434549,0.999999961509,5.17686310666e-05,-0.000271867633576,1.97382947277e-05,1793248343703238144
+42,0.700000000,BASELINE,765,745,715,679,659,633.644044823,878,784,810,652.355955177,628,652,0.400969890799,0.00449937406828,0.0698283789801,0.999999961486,5.23262506207e-05,-0.000271845695623,1.97534221479e-05,1793248343719904768
+43,0.716666667,BASELINE,765,745,715,679,659,633.068151049,878,784,810,652.931848951,628,652,0.400970511389,0.00450081343022,0.0698285889757,0.999999961344,5.3688671387e-05,-0.000272095110336,1.98198890231e-05,1793248343736571392
+44,0.733333333,BASELINE,765.519378386,745,715.519378386,679.519378386,658.480621614,633,878,784.519378386,810,652.480621614,628,652,0.400969530937,0.0045001949088,0.0698279033324,0.99999996107,5.22219164426e-05,-0.000273396017061,1.96784283958e-05,1793248343753238016
+45,0.750000000,BASELINE,765.892867197,745,715.892867197,680,658.107132803,633.107132803,878,784.892867197,810,652,628.107132803,652,0.400968853082,0.00449975072712,0.069827563615,0.999999960939,5.09115513441e-05,-0.000274135519824,1.94836884185e-05,1793248343769904640
+46,0.766666667,BASELINE,765.311036221,745,715.311036221,680,658.688963779,633.688963779,878,784.311036221,810,652,628.688963779,652,0.40097046821,0.00450130292975,0.0698292893402,0.999999961538,5.19767510691e-05,-0.000271762119609,1.9176533197e-05,1793248343786571264
+47,0.783333333,BASELINE,765.267423103,745,715,680,658.732576897,633.732576897,878,784.267423103,810,652,628.732576897,652,0.400970510497,0.00450154335618,0.0698294167731,0.999999961611,5.21795527209e-05,-0.000271450520959,1.924263556e-05,1793248343803237888
+48,0.800000000,BASELINE,765.842009805,745,715,680,658.157990195,633.157990195,878,784.842009805,810,652,628.157990195,652,0.40096874621,0.0045002770697,0.0698277083992,0.999999961082,5.13917994962e-05,-0.000273507118246,1.97374635302e-05,1793248343819904512
+49,0.816666667,BASELINE,765.57533618,745,715,680,658,633,878,784.57533618,810,652,628,652,0.40096846842,0.00449992019102,0.0698272448029,0.99999996092,5.16868913192e-05,-0.000274032825365,1.98381044588e-05,1793248343836571136
+50,0.833333333,BASELINE,765.010270128,745,715.010270128,679.989729872,658,633.010270128,877.989729872,784.010270128,810,652,628.010270128,652,0.400968760278,0.00449991672098,0.0698272629173,0.999999960907,5.23768010542e-05,-0.000273955627306,1.97897502216e-05,1793248343853238016
+51,0.850000000,BASELINE,765.589937419,745,715.589937419,679.410062581,658,633.589937419,877.410062581,784.589937419,810,652,628.589937419,652,0.400969379701,0.00450038586823,0.069827815543,0.999999961276,5.21884776318e-05,-0.000272640413624,1.97689203863e-05,1793248343869904640
+52,0.866666667,BASELINE,765.831342786,745,715.831342786,679,658,634,877.168657214,784.831342786,810,652,628.831342786,652,0.400969729887,0.00450050049939,0.069828222366,0.999999961467,5.20267608823e-05,-0.000271967768198,1.98342560673e-05,1793248343886571264
+53,0.883333333,BASELINE,765.254913838,745,715.254913838,679,658,634,877.745086162,784.254913838,810,652,628.254913838,652,0.400969429127,0.00449975799768,0.069828276674,0.999999961226,5.19293725466e-05,-0.000272848695127,2.01079188115e-05,1793248343903237888
+54,0.900000000,BASELINE,765,745,715,679.32124365,658,634,878,784.32124365,810,652,628,652,0.400970414407,0.00449993114025,0.0698287522027,0.999999961529,5.17510279157e-05,-0.000271784406659,1.99452472711e-05,1793248343919904512
+55,0.916666667,BASELINE,765,745,715,679.897185882,658,634,878,784.897185882,810,652,628,652,0.400972419327,0.004500830253,0.0698295616969,0.999999962256,5.15084969508e-05,-0.000269177850759,1.94366273258e-05,1793248343936571136
+56,0.933333333,BASELINE,765.485674292,745,715,679.514325708,658,634,878,784.514325708,809.514325708,652,628.485674292,652.485674292,0.400972005224,0.00450230987268,0.0698293865916,0.999999961861,5.41185038058e-05,-0.000270136839911,1.93929605378e-05,1793248343953237760
+57,0.950000000,BASELINE,765.925013294,745,715,679,658,634,878,784,809.074986706,652,629,652.925013294,0.400971239164,0.00450358291631,0.0698290434373,0.99999996133,5.66778300114e-05,-0.000271567364862,1.94463984131e-05,1793248343969904384
+58,0.966666667,BASELINE,765.348426473,745,715,679,658,634,878,784,809.651573527,652,629,652.348426473,0.400971635105,0.00450263030372,0.0698290073936,0.999999961599,5.47516700517e-05,-0.000270969174857,1.94735278335e-05,1793248343986571008
+59,0.983333333,BASELINE,765.228876515,744.771123485,715,679.228876515,658,634,877.771123485,784,810,652,628.771123485,652,0.400971140447,0.00450165913249,0.0698282321979,0.999999961555,5.33177206491e-05,-0.000271415301601,1.95362507501e-05,1793248344003237888
+60,1.000000000,BASELINE,765.807273258,744.192726742,715,679.807273258,658,634,877.192726742,784,810,652,628.192726742,652,0.400969285744,0.00450065961998,0.0698263282336,0.999999961032,5.26354319397e-05,-0.000273456217609,1.96533289507e-05,1793248344019904512
+61,1.016666667,BASELINE,766,744.382275195,715,680,658,634,877.382275195,784.382275195,810,652,628,652,0.40096901846,0.00450156396215,0.0698263118433,0.999999960869,5.36895244341e-05,-0.000273865188644,1.94267109207e-05,1793248344036571136
+62,1.033333333,BASELINE,766,744.955580647,715,680,658,634,877.955580647,784.955580647,810,652,628,652,0.40096954444,0.00450341969713,0.0698272387101,0.999999960883,5.56113200085e-05,-0.000273458645307,1.90283412758e-05,1793248344053237760
+63,1.050000000,BASELINE,765.451989666,745,715,680,658,634,877.451989666,784.451989666,810,652,628.548010334,652,0.400969411933,0.00450291886104,0.0698280191195,0.999999961081,5.47747499008e-05,-0.000272903112615,1.90123785427e-05,1793248344069904384
+64,1.066666667,BASELINE,765.137366226,745,715,680,658,634,877,784,810,652,628.862633774,652,0.400969655606,0.00450246977271,0.0698286660114,0.999999961318,5.41594359098e-05,-0.000272152132363,1.90794793306e-05,1793248344086571264
+65,1.083333333,BASELINE,765.711830461,745,715,680,658,634,877,784,810,652,628.288169539,652,0.40097127226,0.00450281512619,0.0698289271919,0.99999996163,5.49853151201e-05,-0.00027081905649,1.93086912609e-05,1793248344103238656
+66,1.100000000,BASELINE,766,745,715,680,658,634,877.286343091,784,810,652,628.286343091,652,0.400972531988,0.00450294782158,0.0698295050517,0.999999961925,5.59996390906e-05,-0.000269514397417,1.94038715904e-05,1793248344119905536
+67,1.116666667,BASELINE,766,745,715,680,658,634,877.860904398,784,810,652,628.860904398,652,0.400973432455,0.00450286646626,0.0698304016646,0.9999999622,5.72036418078e-05,-0.000268238341314,1.9364142595e-05,1793248344136572160
+68,1.133333333,BASELINE,765.5534911,745,715,680,658,634,877.5534911,784,810,652,628.5534911,652,0.400972793778,0.00450315642022,0.0698296673334,0.999999962059,5.63817084129e-05,-0.000268950538785,1.91845044634e-05,1793248344153238784
+69,1.150000000,BASELINE,765.035145868,745,715,680,658.035145868,634,877.070291735,784.035145868,810,652,628,652,0.400971627079,0.00450341677839,0.0698284734392,0.99999996179,5.48657531932e-05,-0.000270276137624,1.89942183446e-05,1793248344169905920
+70,1.166666667,BASELINE,765.616096004,745,715,680,658.616096004,634,878.232192008,784.616096004,810,652,628,652,0.400969895226,0.00450137565744,0.0698282329134,0.999999961636,5.26214375632e-05,-0.000271265009469,1.9332586517e-05,1793248344186572032
+71,1.183333333,BASELINE,765.8061035,745,715,680,659,634,878.8061035,784.8061035,810,652,628.1938965,652,0.400969313086,0.00450004499492,0.0698283433254,0.999999961618,5.15490330357e-05,-0.000271518154066,1.95897944435e-05,1793248344203238400
+72,1.200000000,BASELINE,765.234439333,745,715,680,659,634,878.234439333,784.234439333,810,652,628.765560667,652,0.400970970928,0.00450009851495,0.0698291374678,0.999999961873,5.27598571784e-05,-0.000270337884788,1.96888782923e-05,1793248344219904768
+73,1.216666667,BASELINE,765.342211451,745,715,680,658.657788549,634,877.657788549,784,810,652,628.657788549,652,0.400971391152,0.00450090621544,0.069829294387,0.999999961786,5.45950825307e-05,-0.000270289426824,1.97502810864e-05,1793248344236571392
+74,1.233333333,BASELINE,765.922328906,745,715,680,658.077671094,634,877.077671094,784,810,652,628.077671094,652,0.40097095098,0.00450223822351,0.0698290083075,0.999999961459,5.68643926311e-05,-0.000271027806149,1.97854879394e-05,1793248344253238016
+75,1.250000000,BASELINE,765.489988304,745,715,680,658,634,877.510011696,784,810,652,628.510011696,652,0.400970963693,0.00450305506417,0.0698290787817,0.999999961639,5.6844868678e-05,-0.000270396671309,1.9415303872e-05,1793248344269904896
+76,1.266666667,BASELINE,765,745,715,679.902892243,658,634,878.097107757,784,810,652,628.902892243,652,0.400971096303,0.00450363370619,0.0698291531732,0.999999961885,5.63732940172e-05,-0.000269606836638,1.90740822745e-05,1793248344286572288
+77,1.283333333,BASELINE,765,745,715,679.324500352,658,634,878.675499648,784,810,652,628.324500352,652,0.400971476159,0.00450342649008,0.0698289738044,0.999999962079,5.54148763122e-05,-0.000269079717859,1.91869968592e-05,1793248344303238912
+78,1.300000000,BASELINE,765,745,715,679.252679079,658,633.747320921,878.494641843,784,810,652,628,652,0.400970967258,0.00450248070111,0.0698283490127,0.999999961911,5.38500966621e-05,-0.000270011198215,1.92891249701e-05,1793248344319905536
+79,1.316666667,BASELINE,765,745,715,679.828308811,658,633.171691189,877.343382378,784,810,652,628,652,0.400969322431,0.00450059093773,0.0698271549232,0.999999961274,5.15103222265e-05,-0.000272806922957,1.9377466815e-05,1793248344336571904
+80,1.333333333,BASELINE,765,745,715,680,658,633.412450135,877.412450135,784,810,652,628.412450135,652,0.400969507427,0.00450162363052,0.0698276913936,0.999999961348,5.29865702573e-05,-0.000272269403831,1.91031221589e-05,1793248344353238016
+81,1.350000000,BASELINE,765,745,715,680,658,634,877.999794295,784,810,652,628.999794295,652,0.400970469626,0.00450389701095,0.0698289625749,0.999999961718,5.60831810845e-05,-0.000270316331095,1.86749235707e-05,1793248344369904640
+82,1.366666667,BASELINE,765,745,715,680,658,634,877.422132657,784,810,652,628.422132657,652,0.400969886789,0.00450201109303,0.0698278436981,0.999999961391,5.46587305892e-05,-0.000271782492801,1.90984508228e-05,1793248344386571520
+83,1.383333333,BASELINE,765.155752426,745,715,679.844247574,658.155752426,634,877,784,810,652,628,652,0.400969807016,0.00450080546634,0.0698274462828,0.999999961322,5.34214849803e-05,-0.000272260492577,1.93884921431e-05,1793248344403238144
+84,1.400000000,BASELINE,765.734244108,745,715,679.265755892,658.734244108,634,877,784,810,652,628,652,0.400971092643,0.00450144626827,0.069829007039,0.99999996196,5.26923457729e-05,-0.000270056448812,1.93162294518e-05,1793248344419904768
+85,1.416666667,BASELINE,765.690583696,744.690583696,715,679.309416304,658.690583696,634,877.309416304,784,810,652,628,652,0.400971534838,0.00450140492403,0.0698291741446,0.999999962079,5.22022823779e-05,-0.000269717151051,1.92375074577e-05,1793248344436571648
+86,1.433333333,BASELINE,765.11823236,744.11823236,715,679.88176764,658.11823236,634,877.88176764,784,810,652,628,652,0.400971260303,0.00450078390723,0.0698281569571,0.999999961759,5.1915380287e-05,-0.000270962472732,1.91532964975e-05,1793248344453238784
+87,1.450000000,BASELINE,765,744.469282934,715,680,658,634,877.530717066,784,810,652,628,652,0.400970197088,0.00450133701214,0.069828171577,0.999999961508,5.35813908498e-05,-0.000271545852607,1.94089243188e-05,1793248344469905408
+88,1.466666667,BASELINE,765,745,715,680,658,634,877,784.059515049,809.940484951,652,628,652,0.400969201522,0.00450205194963,0.0698284818218,0.99999996134,5.54592205342e-05,-0.000271763630709,1.97222091866e-05,1793248344486572032
+89,1.483333333,BASELINE,765,745,715,680,658,634,877,784.6389907,809.3610093,652,628,652,0.40097059093,0.00450151006772,0.0698290278516,0.999999961777,5.47454848987e-05,-0.000270292954914,1.97662152583e-05,1793248344503238400
+90,1.500000000,BASELINE,765,745,715,679.783234165,658,633.783234165,877,784.783234165,809.216765835,652,628,652,0.400971680962,0.00450139226336,0.0698295377272,0.999999962076,5.44555435921e-05,-0.000269239141478,1.98056607085e-05,1793248344519904768
+91,1.516666667,BASELINE,765,745,715,679.20826914,658,633.20826914,877,784.20826914,809.79173086,652,628,652,0.400972276283,0.00450197523477,0.069829987859,0.999999962151,5.48659100666e-05,-0.000268874181024,1.98375698613e-05,1793248344536571392
+92,1.533333333,BASELINE,765,745,715,679.375117613,658,633,877,784,810,652,628,652,0.400971822352,0.00450135637013,0.0698297421488,0.999999962101,5.4618473479e-05,-0.000269121963497,1.9707069918e-05,1793248344553238016
+93,1.550000000,BASELINE,765,745,715,679.963287639,658,633,877,784,810,652,628,652,0.400970772484,0.00450005490879,0.0698291012272,0.999999961978,5.39974300281e-05,-0.000269717760407,1.94843278424e-05,1793248344569904640
+94,1.566666667,BASELINE,765,745,715,680,658,633.542454519,877.542454519,784,810,652,628,652.542454519,0.400971505356,0.00450065039033,0.0698298445383,0.999999962294,5.19809463603e-05,-0.000268960828243,1.92409134675e-05,1793248344586571776
+95,1.583333333,BASELINE,765,745,715,679.878874197,658,634,878,784,810.121125803,652,628,652.878874197,0.400972066654,0.00450125086804,0.0698303822686,0.999999962497,5.05305229965e-05,-0.000268494213808,1.9075236271e-05,1793248344603238656
+96,1.600000000,BASELINE,765,745,715,679.299810417,658,634,878,784,810.700189583,652,628,652.299810417,0.400971530589,0.00450139278875,0.0698297943629,0.99999996218,5.15714139777e-05,-0.000269465669393,1.92086615106e-05,1793248344619905280
+97,1.616666667,BASELINE,765.276843862,744.723156138,715,679.276843862,658,633.723156138,877.723156138,784.276843862,810.446312276,652,628,652,0.400970651879,0.00450142765487,0.0698290014227,0.999999961805,5.27264372402e-05,-0.000270630307758,1.92236700195e-05,1793248344636571648
+98,1.633333333,BASELINE,765.850911231,744.149088769,715,679.850911231,658,633.149088769,877.149088769,784.850911231,809.298177538,652,628,652,0.400969405301,0.00450134758564,0.0698279883545,0.999999961367,5.40039944803e-05,-0.000272002349844,1.91115446341e-05,1793248344653238016
+99,1.650000000,BASELINE,765.564144554,744.435855446,715,680,658.435855446,633.435855446,877.435855446,785,809.435855446,652,628,652,0.400970392287,0.00450134562624,0.0698281150654,0.999999961676,5.35093953813e-05,-0.000270961852277,1.91108602453e-05,1793248344669904640
+100,1.666666667,BASELINE,765.0242113,745,715,680,658.9757887,634,878,784.9757887,810,652,628,652,0.400972054815,0.00450140366183,0.0698286303975,0.999999962211,5.24697748821e-05,-0.000269182192213,1.91387723434e-05,1793248344686571008
+101,1.683333333,BASELINE,765.603305689,745,715,680,658.396694311,634,878,784.396694311,810,652,628,652,0.400971241581,0.00450220867291,0.0698288883536,0.999999961994,5.318746928e-05,-0.000269859196247,1.89260724698e-05,1793248344703237632
+102,1.700000000,BASELINE,765.818869495,745,715,680,658,633.818869495,878,784,810,652,628,652,0.400970287491,0.00450250338456,0.0698287697808,0.999999961731,5.33642657831e-05,-0.00027080597119,1.88233260344e-05,1793248344719904512
+103,1.716666667,BASELINE,765.243805892,745,715,680,658,633.243805892,878,784,810,652,628,652,0.400969027061,0.0045016882674,0.0698278323113,0.999999961365,5.23646861706e-05,-0.000272339459418,1.89597127232e-05,1793248344736571648
+104,1.733333333,BASELINE,765.328578174,745,715.328578174,679.671421826,658,633.328578174,878.328578174,784,810,652,628,652,0.400968898759,0.00450118681307,0.0698276228232,0.99999996127,5.27741169788e-05,-0.000272601350072,1.90453950521e-05,1793248344753238784
+105,1.750000000,BASELINE,765.898990159,745,715.898990159,679.101009841,658,633.898990159,878.898990159,784,810,652,628,652,0.400969603704,0.00450091621477,0.0698279491298,0.999999961376,5.42205805327e-05,-0.000271927344004,1.90937589437e-05,1793248344769905408
+106,1.766666667,BASELINE,765.508887143,745,715.508887143,679.491112857,658,634,878.508887143,784,809.508887143,652,628.491112857,652,0.400969956634,0.00450125942471,0.0698284008544,0.99999996156,5.35797225194e-05,-0.000271379618728,1.90120926314e-05,1793248344786571776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,877,784,810,652,628,652,0.400970780682,0.00450084360717,0.0698296440073,0.999999962053,5.26919421266e-05,-0.000269731871298,1.90388162922e-05,1793248344829617152
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.575278789,633.575278789,877.575278789,784,810,652,628,652,0.400970541833,0.0044996565756,0.0698292024312,0.999999961952,5.18929512538e-05,-0.000270227148104,1.9522751037e-05,1793248344846283776
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.850353688,634,877.850353688,784.149646312,810,652,628,652,0.400970338569,0.00449961039457,0.0698288611512,0.999999961843,5.17900657313e-05,-0.000270632707939,1.97288723324e-05,1793248344862950656
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.278556704,634,877.278556704,784.721443296,810,652,628,652,0.400970235694,0.00450278254061,0.0698288028053,0.999999961715,5.36508858917e-05,-0.000270785177259,1.91512849225e-05,1793248344879617536
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.610032262,784.694983869,810,652,628,652,0.400969368076,0.00450284226171,0.0698282872043,0.999999961383,5.33667081116e-05,-0.000272071803828,1.90681122592e-05,1793248344896284416
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.799550248,784.100224876,810,652,628,652,0.40096777401,0.00449994540812,0.0698273372444,0.99999996085,5.10449401401e-05,-0.000274435796253,1.94545972299e-05,1793248344912951296
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.481325263,680,658,634,878.518674737,784.481325263,810,652,628,652,0.400968469579,0.00450080224606,0.0698281011617,0.999999961109,5.29529318661e-05,-0.000273136269128,1.93554409164e-05,1793248344929617664
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.059935728,745,715.940064272,679.940064272,658.059935728,634,878,784.940064272,810,652,628,652,0.400969789394,0.00450221003936,0.0698292179205,0.999999961526,5.51509553596e-05,-0.000271181366221,1.9165690657e-05,1793248344946283776
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.63628279,745,715.36371721,679.36371721,658.63628279,634,878,784.36371721,810,652,628,652,0.400972489643,0.00450181028634,0.0698303820532,0.999999961999,5.24619915104e-05,-0.000269976857833,1.90433928071e-05,1793248344962950400
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.783506095,745,715,679.216493905,658.783506095,634,877.783506095,784.216493905,810,652,628,652,0.400980629068,0.00450200355724,0.0698339196909,0.999999963429,5.2118785678e-05,-0.000264698583611,1.89747331974e-05,1793248344979617024
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.196685324,745,715,679.803314676,658.196685324,634,877.196685324,784.803314676,810,652,628,652,0.400998072554,0.00450321123404,0.069841517363,0.999999966397,5.57881513499e-05,-0.000252451868801,1.8997825287e-05,1793248344996283648
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.385478046,784.614521954,810,652,628,652,0.401036472765,0.00450223970856,0.0698569343584,0.999999972896,5.4091737518e-05,-0.000225659562061,1.89620457457e-05,1793248345012950784
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.965293456,784.034706544,810,652,628,652,0.401085438234,0.00450016954622,0.0698762934382,0.999999980244,4.96901856003e-05,-0.000191534146344,1.88965862687e-05,1793248345029617920
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.463241935,784,810,652,628,652,0.401145284153,0.0045009612002,0.0698918810577,0.999999983594,5.12302863416e-05,-0.000172719091878,1.88486671121e-05,1793248345046284544
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.891129722,658,634,877.108870278,784.108870278,810,652,628,652,0.401208525149,0.00450172043767,0.0699056653647,0.999999986326,5.22480232757e-05,-0.000155801934458,1.85303314765e-05,1793248345062950912
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.313944505,658,634,877.686055495,784.686055495,810,652,628,652,0.401283390471,0.00450155644516,0.0699127254906,0.999999988431,4.9391481023e-05,-0.000142855572433,1.70439720118e-05,1793248345079617536
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.270198866,658,634,877.729801134,784.729801134,810,652,628,652,0.401363512718,0.00450161332959,0.06991618214,0.999999989376,4.73542207627e-05,-0.000136971368843,1.56154436111e-05,1793248345096283904
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.862640591,658,634,877.137359409,784.137359409,810,652,628,652,0.401449904441,0.0045019336349,0.0699153412337,0.999999989095,4.62940475797e-05,-0.000139509592692,1.42558854189e-05,1793248345112950528
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.444624089,745,715,680,658,634,877.444624089,784,810,652,628,652.444624089,0.40155644544,0.00450241441833,0.0699125876376,0.999999988483,4.39403521e-05,-0.000144788783662,1.1767538374e-05,1793248345129617152
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976668244,745,715,679.976668244,658.023331756,633.976668244,878,784,810,652,628,652.976668244,0.401670364158,0.00450296375753,0.0699094908941,0.999999987783,4.11780757496e-05,-0.000150529273545,8.92764857537e-06,1793248345146283776
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.400782843,745,715,679.400782843,658.599217157,633.400782843,878,784,810,652,628,652.400782843,0.40181497489,0.00450398954064,0.0699119398168,0.999999988368,3.79859237271e-05,-0.000147601538045,5.83114232506e-06,1793248345162950400
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.178358108,658.821641892,633.178358108,878,784,810,652,628,652,0.401968711089,0.00450504523001,0.0699148067914,0.999999989128,3.47753866413e-05,-0.000143277369663,2.46641584836e-06,1793248345179617536
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.764950431,658.235049569,633.764950431,878,784,810,652,628,652,0.402143334055,0.00450616937004,0.0699186306217,0.999999990287,3.15227694182e-05,-0.000135756982086,-1.5122249524e-06,1793248345196284416
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.651427887,658.348572113,633.651427887,878,784,810,652,628,652,0.402340281099,0.00450805138603,0.0699222052235,0.999999991181,2.85671300786e-05,-0.000129556576027,-6.04918202009e-06,1793248345212951040
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.069792385,658.930207615,633.069792385,878,784,810,652,628,652,0.402552154557,0.00451044013555,0.0699256131856,0.999999991889,2.58100567039e-05,-0.00012423873943,-1.0959442673e-05,1793248345229617664
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505322644,745,715,679.505322644,658.494677356,633.505322644,877.494677356,784,810,652,628,652,0.402800030241,0.00451120224138,0.0699275512666,0.999999992538,1.8412695673e-05,-0.000119682603395,-1.61429446802e-05,1793248345246284032
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877.07957818,784,810,652,628,652,0.403058392234,0.00451214512214,0.0699300154987,0.999999993227,1.09427783967e-05,-0.000113867731745,-2.14335709067e-05,1793248345262950400
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877.654018075,784,810,652,628,652,0.403351436636,0.00451559144613,0.0699369979937,0.999999994649,6.95631068784e-06,-9.95794644879e-05,-2.71586677388e-05,1793248345279617024
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.764110643,745,715,680,658,634,878,784,810,651.764110643,628,652,0.40366109791,0.00451854553411,0.0699464877252,0.999999996093,3.40517469337e-06,-8.20818376062e-05,-3.26478957624e-05,1793248345296283904
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.170985137,745,715,680,658,634,878,784,810,651.170985137,628,652,0.403995924128,0.00452075416859,0.0699597744717,0.999999997503,5.13315082433e-07,-5.97238851473e-05,-3.77799184078e-05,1793248345312950784
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.410742015,634,878,784,809.589257985,651.410742015,628,652,0.404346429694,0.00452344205148,0.0699608729138,0.999999997226,2.83002890204e-07,-6.09075904053e-05,-4.28820551319e-05,1793248345329617664
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.987852325,634,878,784,809.012147675,651.987852325,628,652,0.404703286066,0.00452632405068,0.0699570345646,0.999999996284,1.13073267711e-06,-7.16266865766e-05,-4.79720866398e-05,1793248345346284288
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.436764503,634,877.436764503,784,809.563235497,652,628,652,0.405125913099,0.00453232136329,0.0699631069517,0.999999995536,6.41349436769e-05,-5.93106356746e-05,-3.60172439881e-05,1793248345362950656
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.141999434,784,810,652,628,652,0.405552838021,0.00453649033471,0.0699683804507,0.999999992205,0.000111588086896,-4.86512423046e-05,-2.77678801881e-05,1793248345379617024
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.731535381,784,810,652,628,652,0.405988851375,0.00453468584792,0.0699704644941,0.999999992876,0.000105817128154,-4.47741157144e-05,-3.2352068112e-05,1793248345396283648
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,628.315008967,652,0.406439015961,0.00452170073509,0.0699617822902,0.999999993037,9.62492617207e-05,-6.03761438962e-05,-3.19016324792e-05,1793248345412950528
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,628.893413559,652,0.406901013188,0.00449936691049,0.0699440978588,0.999999991886,8.3506599634e-05,-9.22657210672e-05,-2.7241482826e-05,1793248345429617152
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,628.529763882,652,0.407425773536,0.0044989737578,0.0699336327238,0.999999994206,7.13376630745e-06,-0.000103428442161,-2.89844281881e-05,1793248345446284032
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.092894561,634,878,784,810,652,628,652.04644728,0.407971674329,0.00450405771491,0.0699270033569,0.999999991127,-7.33012059227e-05,-0.000106509132342,-3.20876387623e-05,1793248345462950912
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.239554996,634,878,784,810,652,628,652.619777498,0.408596548993,0.0045150470289,0.0699453855124,0.999999996217,-3.67570309071e-05,-7.10245715785e-05,-3.42126787826e-05,1793248345479618048
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.800461294,634,878,784.199538706,810,652,628.199538706,653,0.40921328347,0.00452269066327,0.0699563209019,0.999999998228,-6.19735219159e-06,-4.69906952216e-05,-3.60106629292e-05,1793248345496284672
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.208037721,634,878,784.791962279,810,652,628.791962279,653,0.409813990159,0.00452374676855,0.0699525938632,0.999999998195,1.25790562604e-05,-4.55028260798e-05,-3.71646852895e-05,1793248345512951552
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.623873161,810.376126839,652,629,653,0.410445109585,0.00453274625252,0.0699485810971,0.999999997399,3.48602079104e-05,-5.03248300261e-05,-3.8143802757e-05,1793248345529618176
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.04417857,810.95582143,652,629,653,0.411092689006,0.00454604485997,0.0699444136894,0.999999995781,5.90381996193e-05,-5.85618699411e-05,-3.9028257967e-05,1793248345546284288
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878.529030921,784,811,652,629,652.470969079,0.411802464025,0.00454959577044,0.0699574707362,0.999999996307,6.62053798593e-05,-3.72869125778e-05,-4.0154009182e-05,1793248345562950912
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.104589499,680.104589499,659.104589499,634,879,784,810.895410501,652,629,652,0.41252916091,0.00455335764882,0.0699759490545,0.999999996703,6.95884678696e-05,-7.66296636759e-06,-4.11330353219e-05,1793248345579617536
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.693503303,680.693503303,659.693503303,634,879,784,810.306496697,652,629,652,0.413310457914,0.00456182028495,0.0700129516338,0.999999996009,6.1946985582e-05,4.93485657105e-05,-4.13404387563e-05,1793248345596284416
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.277294211,745,715.722705789,681,660,634,879,784.277294211,810.277294211,652,628.722705789,652,0.414077152134,0.00457121381056,0.070028796832,0.999999994282,6.85715952575e-05,7.05715194314e-05,-4.18807162339e-05,1793248345612951296
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.855525503,745,715.144474497,681,660,634,879,784.855525503,810.855525503,652,628.144474497,652,0.414827998594,0.00458161759693,0.070021680717,0.999999993571,9.06786625056e-05,5.29544689229e-05,-4.27822496301e-05,1793248345629618176
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.566368163,634,879,784.566368163,811,652,628.433631837,652.433631837,0.415567719825,0.00458862673566,0.0699763290196,0.999999992896,0.000108314999995,-2.26207536566e-05,-4.43283899508e-05,1793248345646284544
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988342629,745,715,681,659.011657371,634,879,784,811.011657371,652,629,653,0.416305984837,0.00459446700208,0.0699194722706,0.9999999846,0.000123813923039,-0.000115531569357,-4.60761900366e-05,1793248345662951168
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.412212475,745,715,681,659.587787525,634,879,784,811.587787525,652,629,653,0.41715316953,0.00459845792504,0.0699221912611,0.999999986667,0.00010792018737,-0.000113102142023,-4.71923911963e-05,1793248345679617792
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.167313923,745,715,681,660.167313923,633.832686077,879,784,811.832686077,652,629,653,0.41800941559,0.00460380990521,0.0699333159666,0.99999998877,0.000103513343533,-9.71730100161e-05,-4.79820190722e-05,1793248345696284416
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.755380999,745,715,681,660.755380999,633.244619001,879,784,811.244619001,652,629,653,0.418888448699,0.0046125846075,0.0699655789672,0.999999989541,0.000127993193792,-4.72954580093e-05,-4.79503957366e-05,1793248345712950784
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.661385409,633,879.338614591,784,811,652,629,653,0.419786021214,0.00461816905409,0.0699914808703,0.999999989302,0.000138066802599,-6.82950642556e-06,-4.78200513763e-05,1793248345729617408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.081594465,633,879.918405535,784,811,652,629,653,0.420696798281,0.00462148125848,0.0700128521159,0.999999988998,0.000137879645351,2.6933083096e-05,-4.76193935498e-05,1793248345746284032
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.503879544,745,715,680.503879544,660.496120456,633,879.503879544,784,811.496120456,652,629.496120456,653,0.421611830427,0.00461153085635,0.0700275616488,0.999999990121,0.00012218214068,4.86266790164e-05,-4.96467441422e-05,1793248345762950912
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.07275354,745,715,680.07275354,660.92724646,633,879,784,812,652,629.92724646,653,0.422513732418,0.00459788578523,0.0700298789027,0.999999992096,0.000103216928304,4.98412989073e-05,-5.16671798051e-05,1793248345779618048
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.644300437,745,715,680.644300437,660.355699563,633,879,784,812,652,629.355699563,653,0.423320836645,0.0045738024024,0.0699547157096,0.999999992679,7.92645280778e-05,-7.57947470728e-05,-5.11384586605e-05,1793248345796284928
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.776133613,745,715,681,659.776133613,633,879,784,812,652,629,653,0.424167038567,0.00456155414532,0.0698924606321,0.999999982367,5.87288939954e-05,-0.000170468278374,-5.25190962697e-05,1793248345812951296
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.183352794,745,715,681,659.183352794,633,879,784,812,652,629,653,0.425077670584,0.0045688092532,0.0698514771152,0.999999974489,4.38238231276e-05,-0.000214118010062,-5.70462098863e-05,1793248345829617664
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.199506068,633,879,784,812,652,629,653,0.426048053993,0.00457671583735,0.0698871546388,0.999999984181,6.20793682643e-05,-0.000157271610655,-5.52254696689e-05,1793248345846284032
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.936182857,633,879,784,812,652,629,653,0.427045195611,0.00458491416945,0.0699571630178,0.999999992656,9.51851195302e-05,-5.54203668645e-05,-5.05619909015e-05,1793248345862950656
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.555084801,715,681,660.889830399,633,879.555084801,784,812,652,629.555084801,652.444915199,0.428031331085,0.0045869002058,0.0700081735712,0.999999993618,9.95574642597e-05,1.48971449856e-05,-5.1277685768e-05,1793248345879617536
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.133536547,745.866463453,715,680.866463453,660,633,880,784,812,652,630,652,0.429011338156,0.00458849478889,0.0700492683062,0.999999990937,9.94575042549e-05,7.41297150828e-05,-5.23433070026e-05,1793248345896284416
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.719410923,745.280589077,715,680.280589077,660,633,880,784,812,652,630,652,0.429972008252,0.00458956614745,0.0700592294437,0.999999989694,8.79212138129e-05,9.98883624291e-05,-5.38991450425e-05,1793248345912951296
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.698181469,745,715,680.301818531,660.603637062,633,879.698181469,784,812.301818531,652,629.698181469,652.301818531,0.430863811046,0.00459125178035,0.070026204382,0.999999993613,8.83861570915e-05,4.50585290886e-05,-5.41414804795e-05,1793248345929617920
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.118960215,745,715,680.881039785,661.762079569,633,879.118960215,784,812.881039785,652,629.118960215,652.881039785,0.431692317552,0.00459350199539,0.0699536705174,0.999999990083,9.98814859758e-05,-8.38405290197e-05,-5.31765692228e-05,1793248345946284544
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.083959337,633,879.458020332,784,813.458020332,652,629,653,0.432557830658,0.00459186165328,0.0699041963311,0.999999980669,0.000100870724685,-0.000159600256421,-5.4905730473e-05,1793248345962951168
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.034412769,745,715,681,660.068825538,633,879.965587231,784,813.965587231,652,629.034412769,652.965587231,0.433439619791,0.00458917727234,0.0698674449023,0.999999971352,9.85062386966e-05,-0.000210522930672,-5.71999861157e-05,1793248345979617280
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.610663278,745,715,681,661.221326556,633,879.389336722,784,813.389336722,652,629.610663278,652.389336722,0.434427077561,0.00458588708457,0.0699371738738,0.999999990892,8.60916477872e-05,-8.66334048307e-05,-5.74281108209e-05,1793248345996283904
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809273284,745.190726716,715,681,662,633,879,784.190726716,813,652,630,652,0.435398049892,0.00458226138344,0.069995246843,0.999999995296,7.75012521837e-05,1.30941688011e-05,-5.68400330342e-05,1793248346012950528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.221267501,745.778732499,715,681,662,633,879,784.778732499,813,652,630,652,0.436334683643,0.00457793681563,0.0700290406588,0.999999993604,7.68765613901e-05,6.24930100311e-05,-5.45518270003e-05,1793248346029617152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.638412495,715,681,661.27682499,633,879.361587505,784.638412495,813.361587505,652,630,652.361587505,0.437233767494,0.00457696684099,0.0700336243882,0.999999992583,7.55672285328e-05,7.73935812779e-05,-5.59765743185e-05,1793248346046284032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.058665189,715,681,660.117330378,633,879.941334811,784.058665189,813.941334811,652,630,652.941334811,0.438110195974,0.00457802082311,0.0700205845347,0.99999999294,7.38448246098e-05,7.14800019668e-05,-5.96414909539e-05,1793248346062951168
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.517770925,633,880,784,813.482229075,652,630,653,0.438895631822,0.00458145015281,0.0699712238564,0.999999995512,7.3396907675e-05,-4.62459248774e-06,-5.97237936024e-05,1793248346079617792
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.904446581,633,880,784.095553419,813.095553419,652,630,653,0.43966439192,0.00458472670591,0.0699185282008,0.999999991597,7.42254631825e-05,-8.80885103528e-05,-5.94715578927e-05,1793248346096284416
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.317829043,633,880,784.682170957,813.682170957,652,630,653,0.440400099544,0.00458584377816,0.069869708212,0.999999980715,8.08766167918e-05,-0.000168761767189,-5.95729207987e-05,1793248346112950784
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.265195002,660.265195002,633,879.734804998,784.734804998,814,652,629.734804998,652.734804998,0.44121221826,0.00458627503307,0.069874394735,0.999999981588,8.56465335862e-05,-0.000161159389771,-5.93042753561e-05,1793248346129617408
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.843969878,660.843969878,633,879.156030122,784.156030122,814,652,629.156030122,652.156030122,0.442114689232,0.00458589534308,0.0699423500453,0.999999993185,8.81919808338e-05,-4.91754674257e-05,-5.85981132844e-05,1793248346146284032
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.57699948,661.42300052,633,879.84600104,784,814,651.57699948,629.42300052,652.42300052,0.442939751716,0.00458504393955,0.0699949691947,0.999999994757,8.04343145295e-05,2.63885712472e-05,-5.76245174266e-05,1793248346162950656
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.997891852,681.002108148,661.995783703,633.002108148,880.997891852,784,814.002108148,651.002108148,630,653,0.443735911075,0.00458401788519,0.0700416924956,0.999999992142,6.89059293296e-05,8.8143770573e-05,-5.65570298602e-05,1793248346179617024
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.423523936,681.576476064,660.847047872,633.576476064,880.423523936,784,814.576476064,651.576476064,630,653,0.444441778831,0.00458284339292,0.0700245010373,0.999999994936,6.60749041198e-05,5.03595893641e-05,-5.67966008429e-05,1793248346196283904
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.150556788,681.849443212,660.150556788,633.849443212,880,784,814.849443212,652,630,653,0.44513471152,0.00458205933138,0.0700037208309,0.999999996092,6.66464693139e-05,1.2514468883e-05,-5.67295259006e-05,1793248346212951040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.723831295,681.276168705,660.723831295,633.276168705,880,784,814.276168705,652,630,653,0.44579132663,0.00458237148047,0.0699728645064,0.999999995171,7.67714741511e-05,-2.55017590475e-05,-5.58014825605e-05,1793248346229617920
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.30820326,745,715,681.30820326,661,632.69179674,880,784,814,652,630,653,0.446436572882,0.00458193744498,0.0699503887988,0.99999999355,8.22854937474e-05,-5.51961835526e-05,-5.55247418422e-05,1793248346246284800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.902890609,745,715,681.902890609,661,632.097109391,880,784,814,652,630,653,0.447071251402,0.00458080980874,0.0699357031255,0.999999991976,8.35134650035e-05,-7.71552422457e-05,-5.58534063576e-05,1793248346262951424
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,682,661,632.482402601,880,784,814.482402601,652,630,653,0.447647832758,0.00457996666446,0.0699178509084,0.999999988229,8.51198314799e-05,-0.000114777914003,-5.58831092118e-05,1793248346279617792
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.941215348,660.941215348,633,880,783.941215348,814.941215348,652,630,653,0.448213877356,0.00457939582415,0.0699021653166,0.999999983428,8.7435603371e-05,-0.000149656603899,-5.56951459947e-05,1793248346296284416
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.36631053,660.36631053,633,880,783.36631053,814.36631053,652,630,653,0.448786961009,0.00458072829037,0.0699109282681,0.999999985067,9.53314618051e-05,-0.000133603782196,-5.41083831539e-05,1793248346312951040
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.786025831,745,715,681.213974169,659.786025831,633,880,783.213974169,814,651.786025831,630,653,0.449344386436,0.00458185461526,0.0699229045709,0.999999987014,0.000101389009412,-0.000113388511377,-5.32517029974e-05,1793248346329617664
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.196293632,745,715,681.803706368,659.196293632,633,880,783.803706368,814,651.196293632,630,653,0.449874314538,0.00458261893717,0.0699405238089,0.999999989442,0.000104218315786,-8.58636044189e-05,-5.36771143561e-05,1793248346346284544
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659,632.613594799,880,784,814.386405201,651.386405201,630,653,0.450360924953,0.00458284348257,0.0699387962203,0.999999989046,0.000105661529846,-8.85649923922e-05,-5.38483012303e-05,1793248346362951168
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,658,632,880.880946081,784,815,652,630.119053919,653,0.451579874737,0.00459501962601,0.0698472167086,0.999999963099,0.00014087101746,-0.000226367742594,-5.21072627913e-05,1793248346412951296
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,658,632,880.307101257,784,815,652,630.692898743,653,0.451943324893,0.00459543062185,0.0698235933805,0.999999955081,0.000144046692307,-0.000257561619385,-5.24466431265e-05,1793248346429617920
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.274310742,744.725689258,715,681.274310742,657.725689258,632,880,783.725689258,815,652,630.725689258,653,0.452298364093,0.00459790268215,0.0698099827476,0.999999950874,0.000145340795118,-0.000272374983052,-5.42145056675e-05,1793248346446284288
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.864434777,744.135565223,715,681.864434777,657.135565223,632,880,783.135565223,815,652,630.135565223,653,0.452643719755,0.00460274764096,0.0698078997079,0.999999951904,0.000144468648528,-0.000268329499937,-5.76269763405e-05,1793248346462950656
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553925223,744.446074777,714.553925223,681.553925223,657,632,880,783.446074777,814.553925223,652,630,652.553925223,0.452960720798,0.00460468507921,0.0698069524767,0.999999957031,9.08858266031e-05,-0.000272252167777,-5.96433746412e-05,1793248346479617280
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.024960039,681.024960039,656.975039961,631.975039961,880,783.975039961,814.024960039,652,630,652.024960039,0.453267530495,0.00460577751601,0.0698064846238,0.999999959133,2.49099488172e-05,-0.000278151056881,-6.12011678211e-05,1793248346496284160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.598907587,681.598907587,656.401092413,631.401092413,880,783.401092413,814.598907587,652,630,652.598907587,0.453536179266,0.00460735652208,0.0698091101132,0.999999959692,3.21124366418e-05,-0.000275248633751,-6.1829739778e-05,1793248346512951296
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.177279631,745,715,682,656,631,880.177279631,783.177279631,815,652,630.177279631,653,0.45379145233,0.00460821046632,0.0698108491953,0.999999959855,4.5649099289e-05,-0.000273165084843,-5.9886241259e-05,1793248346529617920
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.765918175,745,715,682,656,631,880.765918175,783.765918175,815,652,630.765918175,653,0.454015688422,0.00460738197995,0.0698105314613,0.99999995866,7.38835536347e-05,-0.000272981648534,-5.19745210696e-05,1793248346546284544
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631.349471705,880.650528295,784,815,652,630.650528295,652.650528295,0.454220039348,0.0046086485185,0.0698083227417,0.999999956086,9.30579217676e-05,-0.000277339591241,-4.74538843218e-05,1793248346562951168
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,656,631.929668117,880.070331883,784,815,652,630.070331883,652.070331883,0.454411261912,0.00461129821334,0.0698048655745,0.999999952809,0.000106250733415,-0.000284695797724,-4.51720739192e-05,1793248346579617536
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.493929463,745,715,682,655.493929463,631.493929463,880.506070537,784,815,652,630,652,0.454570154333,0.00461433869692,0.0697988575597,0.99999994831,0.000112923263313,-0.000297427833184,-4.65280541622e-05,1793248346596284160
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.081709079,745,715,682,655,631,880.918290921,783.918290921,814.918290921,652,630.081709079,652.081709079,0.454719106516,0.0046171452002,0.069791753892,0.999999943267,0.000117981767516,-0.000311790513692,-4.82940281822e-05,1793248346612950784
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.434525762,745,715,682.565474238,655,631,880.565474238,783.434525762,815,652,630,652,0.455279208118,0.00462364277446,0.0697705703775,0.999999927701,0.000126340822597,-0.000355094835514,-5.04254048415e-05,1793248346712950784
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682.013142611,654,631,880,783.986857389,814.986857389,652,630.013142611,652.986857389,0.455512197784,0.00462822438043,0.0697467413733,0.999999911126,0.000141839523397,-0.000394142996485,-4.77607981809e-05,1793248347012950784
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+250,4.166666667,HOLD_POSE2,765.911380332,745,714.911380332,682,654,631,880,783,814.911380332,652,630,653,0.455510744504,0.00462834710081,0.0697423754717,0.999999907701,0.000142859221364,-0.000402495857873,-4.67584607733e-05,1793248347239932672
+251,4.183333333,HOLD_POSE2,765.516265803,745,715,682,654,631,880.483734197,783,814.516265803,652,630,653,0.4555114374,0.00462842714882,0.0697421063776,0.999999907895,0.00014259006111,-0.000402108143234,-4.67624854182e-05,1793248347256599552
+252,4.200000000,HOLD_POSE2,765,745,714.942637815,682.057362185,654,631,880.942637815,783,814,652,630,653,0.455512337786,0.00462842176799,0.0697419387674,0.99999990827,0.000142073387237,-0.000401349807103,-4.68377457161e-05,1793248347273266176
+253,4.216666667,HOLD_POSE2,765,745,714.350077039,682.649922961,654,631,880.350077039,783,814,652,630,653,0.45551250546,0.00462764647438,0.0697423719844,0.999999908466,0.000140932711178,-0.000401224354494,-4.7176540353e-05,1793248347289932800
+254,4.233333333,HOLD_POSE2,765,745,714.235238481,683,654,631,880,783,814.235238481,652,630,653,0.455512197774,0.00462815106793,0.0697422702085,0.999999908128,0.000142115153434,-0.000401645161669,-4.7206512374e-05,1793248347306599680
+255,4.250000000,HOLD_POSE2,765,745,714.810093879,683,654,631,880,783,814.810093879,652,630,653,0.455511203803,0.00463050345162,0.0697413960562,0.999999907006,0.000146651512521,-0.000402854611348,-4.67906330565e-05,1793248347323266304
+256,4.266666667,HOLD_POSE2,765.385389253,745,715,682.614610747,654,631,880,783.385389253,815,652,630,653,0.455511184175,0.00463004763138,0.0697415165123,0.999999906972,0.00014676540374,-0.000402946627718,-4.63607385203e-05,1793248347339933184
+257,4.283333333,HOLD_POSE2,765.960901732,745,715,682.039098268,654,631,880,783.960901732,815,652,630,653,0.455511645218,0.00462820644633,0.0697421276362,0.999999907479,0.000144697569104,-0.000402487383303,-4.59239298503e-05,1793248347356599552
+258,4.300000000,HOLD_POSE2,765.448630145,745,714.448630145,682.551369855,654,631,880,783.448630145,815,652,630,653,0.45551057225,0.00462919222892,0.069740729021,0.999999906926,0.000144251498586,-0.00040395930499,-4.64303395168e-05,1793248347373266176
+259,4.316666667,HOLD_POSE2,765.139924134,745,714,682.860075866,653.860075866,631,880.139924134,783,814.860075866,652,630,653,0.455509674162,0.00462982026275,0.0697393864326,0.999999906291,0.000144176692219,-0.000405517531055,-4.67701564213e-05,1793248347389933056
+260,4.333333333,HOLD_POSE2,765.719049645,745,714,682.280950355,653.280950355,631,880.719049645,783,814.280950355,652,630,653,0.455509675957,0.0046286786069,0.0697386795029,0.999999905642,0.000144896193649,-0.00040690483172,-4.63712685815e-05,1793248347406599680
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.53100995,654,631,880,783,815,652,631,653,0.455511689882,0.00462940680475,0.0697403860588,0.99999990685,0.000143175845576,-0.000404485529264,-4.68175694019e-05,1793248347460253696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.924725458,682.924725458,654,630.924725458,880,783,815,651.924725458,630.924725458,652.924725458,0.455511908095,0.00463038016927,0.0697402634298,0.999999907001,0.000143636570761,-0.000403914340543,-4.71068732143e-05,1793248347476921088
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.28022989,682.28022989,654,630.28022989,880,783,815,651.28022989,630.28022989,652.28022989,0.45550769821,0.004630833196,0.0697369159215,0.999999904513,0.000145665779817,-0.000409368125127,-4.66102082813e-05,1793248347493587200
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.32583648,682.32583648,654,630.32583648,880.32583648,783,814.67416352,651.32583648,630.32583648,652.32583648,0.455506559999,0.00463018266284,0.0697360364687,0.999999903851,0.00014539347031,-0.000411111739228,-4.63202979177e-05,1793248347510253568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.902339201,682.902339201,654,630.902339201,880.902339201,783,814.097660799,651.902339201,630.902339201,652.902339201,0.455507784828,0.00462868316025,0.069737055693,0.999999904608,0.000143350600778,-0.000410001116154,-4.61894440249e-05,1793248347526920192
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.520800839,682.520800839,654,631,880.520800839,783,814.479199161,652,630.520800839,653,0.455509198488,0.00462895143037,0.0697377531882,0.999999905237,0.000142917370866,-0.000408609900482,-4.62374005689e-05,1793248347543586816
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.055850511,682,654,631,880,783,815,652,630,653,0.455510445143,0.00462945188435,0.0697382631321,0.999999905755,0.000142884307181,-0.000407344982597,-4.63152171207e-05,1793248347560253696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.629890376,682,654,631,880,783,815,652,630,653,0.455509784972,0.00462876142257,0.0697376417524,0.999999905485,0.00014351812812,-0.00040778283903,-4.63317167127e-05,1793248347576920320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.789555008,745,715,682,654,631,880.210444992,783,815,652,630,653,0.455506022449,0.00462893950977,0.0697357436647,0.999999904333,0.000144086942565,-0.000410383249028,-4.64594911397e-05,1793248347593587200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.197176944,745,715,682,654,631,880.802823056,783,815,652,630,653,0.455496629519,0.00463069391195,0.0697315285011,0.999999901553,0.000144537777748,-0.000416908441002,-4.67892163867e-05,1793248347610253824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.386679714,745,715,682,654,631,880.613320286,783,815,652,630,653,0.455470718837,0.00463159144383,0.0697199084346,0.999999893656,0.000144773951473,-0.000435381391307,-4.66093839793e-05,1793248347626920448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.966284856,745,715,682,654,631,880.033715144,783,815,652,630,653,0.455436566981,0.00463206145909,0.0697045938526,0.99999988272,0.000144903024506,-0.000459815415981,-4.61753188771e-05,1793248347643587072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880.54040698,783,814.45959302,652,630.54040698,653,0.45537911037,0.00463137998337,0.0696848026529,0.999999867334,0.00014556646666,-0.000491955027628,-4.60820434974e-05,1793248347660253696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.882999656,682.117000344,654,631,880.882999656,783,814.117000344,652,630.882999656,653,0.455318779603,0.00463054463939,0.0696660933383,0.9999998528,0.00014616283732,-0.000520503424661,-4.59650672797e-05,1793248347676920320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.295096916,682.704903084,654,631,880.295096916,783,814.704903084,652,630.295096916,653,0.455252673995,0.00462937624291,0.0696528511742,0.999999846372,0.000146356426999,-0.000532682487254,-4.56679871782e-05,1793248347693587200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,654.288476192,631,880,783,815,651.711523808,630,653,0.45517854627,0.00462910067982,0.0696452283298,0.999999842033,0.000147791791881,-0.000540432322875,-4.50022572173e-05,1793248347710253824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,654.867685756,631,880,783,815,651.132314244,630,653,0.455096333664,0.00462972493616,0.0696432687742,0.999999839897,0.000150478648232,-0.00054371827439,-4.39649929213e-05,1793248347726920448
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.445268395,682.554731605,654.554731605,631,880.445268395,783,814.554731605,651.445268395,630,653,0.455001510748,0.00462946237121,0.0696457492699,0.999999841105,0.000152073732594,-0.000541200310251,-4.2032596851e-05,1793248347743586816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880.977839752,783,814,652,630,653,0.454902029531,0.00462895536235,0.0696494261595,0.999999843247,0.000153387812631,-0.00053702056381,-3.98443716852e-05,1793248347760253696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880.406132948,783,814,652,630,653,0.454779616584,0.0046288977347,0.0696501720479,0.999999844445,0.000155749426453,-0.000534244631057,-3.7884206662e-05,1793248347776920064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880,783,814,652,630,653,0.454647668913,0.00462897136745,0.0696497244554,0.999999844649,0.00015864390774,-0.000533147030247,-3.59069725394e-05,1793248347793586688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880,783,814,652,630,653,0.454492333723,0.00462936696626,0.069646349397,0.999999842429,0.000162845448845,-0.000536166177392,-3.38878702466e-05,1793248347810253568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.650644696,745,714.650644696,682,654,631,880,783,814.349355304,652,630,653,0.454316304066,0.00462910090069,0.0696470502868,0.999999842401,0.00016706401663,-0.000535091503731,-3.10487147832e-05,1793248347826920192
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.071509123,745,714.071509123,682,654,631,880,783,814.928490877,652,630,653,0.454126663092,0.0046283996409,0.0696504320357,0.999999843794,0.000171293783731,-0.000531324215599,-2.76701883507e-05,1793248347843587072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.504199192,745,714.504199192,682,654.504199192,631,880.504199192,783,814.495800808,652,630,653,0.453917447187,0.00462820993669,0.06965729761,0.999999848065,0.000176777118819,-0.000521572547893,-2.41170618979e-05,1793248347860253952
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.081074324,655,631,880.918925676,783,814.081074324,652,630,653,0.453698733223,0.00462782027372,0.0696628368967,0.999999851167,0.000182074454388,-0.000513906043332,-2.03889116437e-05,1793248347876920576
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.668247254,655,631,880.331752746,783,814.668247254,652,630,653,0.453437941959,0.00462573254361,0.0696570334121,0.999999845184,0.000185108365175,-0.00052451841539,-1.57217278252e-05,1793248347893586944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,655.251710294,631,879.748289706,783,814.748289706,652,630,653,0.453155276006,0.00462443346478,0.0696504841954,0.999999838994,0.000189974689104,-0.000534603552243,-1.1026253375e-05,1793248347910253312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,655.830354703,631,879.169645297,783,814.169645297,652,630,653,0.452844198111,0.00462415872644,0.0696429663846,0.999999832562,0.00019722104413,-0.000544003888606,-6.29403389599e-06,1793248347926920192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.590529825,656,631.409470175,879.409470175,783.409470175,814,652,630,653,0.452502532748,0.0046228354907,0.0696364261135,0.999999826895,0.000202057890187,-0.000552612327933,-1.18262488156e-06,1793248347943586816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.01121898,656,631.98878102,879.98878102,783.98878102,814,652,630,653,0.452148180276,0.00462107735759,0.0696302913082,0.999999821495,0.000205895316209,-0.000560892302727,4.08606483488e-06,1793248347960253696
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.312819632,682,656.312819632,632,879.312819632,783.312819632,813.312819632,652,630.312819632,652.312819632,0.450531891439,0.00463141088246,0.0696608345011,0.99999982832,0.000235259584254,-0.000536517318603,1.27634384224e-05,1793248348026920960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.895637292,682,656.895637292,632,879.895637292,783.895637292,813.895637292,652,630.895637292,652.895637292,0.450068670905,0.00462945730443,0.0696726569782,0.999999833658,0.000236747687627,-0.000525678488612,1.72011551099e-05,1793248348043587328
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.322897491,682.354205019,660.677102509,632.677102509,880,784,813,652,630,653,0.444095015474,0.00458739953643,0.0697865286612,0.999999947662,6.05820326365e-05,-0.000317232724444,1.92276182932e-05,1793248348210254080
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.259486334,682.740513666,660.481027332,633,880,784,812.740513666,651.740513666,630.259486334,653,0.443374463975,0.00458554447043,0.0698053493428,0.999999956378,5.03832283044e-05,-0.00029019459857,2.21788684934e-05,1793248348226920704
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.853607959,682.146392041,659.292784082,633,880,784,812.146392041,651.146392041,630.853607959,653,0.442627377279,0.00458347717355,0.0698194689743,0.999999959111,3.39004198471e-05,-0.000282980907689,2.34748388967e-05,1793248348243587840
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.43553681,633,880,784,812,651.43553681,630.56446319,652.56446319,0.441852555194,0.00458002951306,0.0698222227564,0.999999952952,0.000124941789291,-0.000279043245052,2.49267806959e-05,1793248348260253952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.986660476,682,660,633,880.013339524,784,811.986660476,652,630,652,0.441067820259,0.00457617613981,0.0698214395487,0.999999930818,0.000248178786495,-0.00027581334437,2.64269120785e-05,1793248348276920320
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.414699074,682,660,633,880.585300926,784,811.414699074,652,630,652,0.440247724747,0.00457423312052,0.0698281627686,0.999999935887,0.000247415785634,-0.000257366024786,2.78094850549e-05,1793248348293587200
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.162588373,682.162588373,660,633,880.674823254,784,811,652,630,652,0.439402622631,0.0045716468785,0.0698156570722,0.999999933849,0.000238603278393,-0.0002730360462,2.86726354618e-05,1793248348310254336
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.753920506,682.753920506,660,633,879.492158989,784,811,652,630,652,0.438491578428,0.00456736446532,0.0697524449341,0.999999906157,0.000208564309251,-0.000378673121891,2.81660739554e-05,1793248348326920960
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.661827508,714.661827508,683,659.661827508,633,879.338172492,784,811,652,630,652,0.437602859661,0.0045629672379,0.0697134694629,0.99999988806,0.000177104430027,-0.000437922664798,2.71511653294e-05,1793248348343587584
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.082621936,714.082621936,683,659.082621936,633,879.917378064,784,811,652,630,652,0.436730053431,0.00455848817661,0.0696917687244,0.99999988151,0.000144631796716,-0.00046410940358,2.57739314894e-05,1793248348360253952
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.492102154,714.492102154,683,659.984204307,633,879.507897846,784,811,652,630,652.492102154,0.435887783134,0.00455536555958,0.0697358571319,0.999999913257,0.000124058755159,-0.000396643132064,2.77442722957e-05,1793248348376920832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.932272052,660.932272052,633,879.067727948,784,811.067727948,652,630,653,0.435046119094,0.00455216904729,0.0697884799036,0.999999942907,0.000108369143131,-0.000318632811886,3.0238383356e-05,1793248348393587200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.343985081,660.343985081,633,879.656014919,784,811.656014919,652,630,653,0.434170065636,0.00454666994498,0.0698225663992,0.999999953844,0.000114996449655,-0.000279344812738,3.24773060456e-05,1793248348410253568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.240052053,745,715,682,659.759947947,633,880,784,812,652,630,653,0.433284539677,0.00454062910952,0.0698460644435,0.999999962435,0.000112221329556,-0.000247817680663,3.35113889368e-05,1793248348426920448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.818105357,745,715,682,659.181894643,633,880,784,812,652,630,653,0.432385675997,0.00453382549502,0.0698546536019,0.999999969019,9.62072820052e-05,-0.000227218101544,3.28490177929e-05,1793248348443587328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.603496465,745,715,682,659.396503535,633,879.603496465,784,811.603496465,652,630,652.603496465,0.431411580099,0.00453146567886,0.0698231378609,0.999999954979,9.34982929141e-05,-0.000283169217579,3.34062741291e-05,1793248348460253952
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.024939974,745,715,682,659.975060026,633,879.024939974,784,811.024939974,652,630,652.024939974,0.430402941694,0.00453114621469,0.0697732081209,0.999999924671,9.68982665918e-05,-0.000374268267323,3.45235171802e-05,1793248348476920576
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.899105559,633,879,784,811,652,630,652,0.429438405673,0.00452162583833,0.0697291933106,0.999999902248,8.72517277801e-05,-0.000432202307324,3.3041823695e-05,1793248348493587200
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.128541272,744.871458728,715,682,658.257082544,633.128541272,879,784.128541272,811,652,630,652,0.428498289417,0.00451235530721,0.0697112872306,0.999999894834,7.59160561829e-05,-0.000451146082244,3.21875829929e-05,1793248348510253824
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.716827378,744.283172622,715,682,659.433654755,633.716827378,879,784.716827378,811,652,630,652,0.427638407757,0.00450546087223,0.0697858094347,0.999999941142,6.06410898866e-05,-0.000335979714006,3.39962621685e-05,1793248348526920448
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.699692513,744.300307487,715,682,660,634,879,785,811,651.699692513,630,652,0.426754456786,0.0044989738447,0.0698350468002,0.999999963636,5.52846320408e-05,-0.000261517669377,3.57713660022e-05,1793248348543587072
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.12067283,744.87932717,715,682,660,634,879,785,811,651.12067283,630,652,0.425848167391,0.0044928649281,0.0698608175708,0.999999972273,5.91334380848e-05,-0.000224832885071,3.75153090987e-05,1793248348560253696
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.543636703,659.087273405,633.543636703,879.456363297,784.543636703,811,651.456363297,629.543636703,652.456363297,0.424926568074,0.00448312191359,0.069852123501,0.999999969899,4.43729612951e-05,-0.000238507465102,3.6708568006e-05,1793248348576920320
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.032762891,745,715,681,658.065525782,633,879.967237109,784,811,652,629,653,0.423996724342,0.00447291267289,0.0698319222979,0.999999962567,2.56352381148e-05,-0.000270109191545,3.53489328344e-05,1793248348593586944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.607271675,745,715,681,659.214543349,633,879.392728325,784,811,652,629,653,0.422997207699,0.00447081491687,0.0697714858946,0.999999927323,2.21460428121e-05,-0.000378908042274,3.59511528448e-05,1793248348610253824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.813591915,745,715,681,659.813591915,633,879,784,810.813591915,652,629,652.813591915,0.422016648129,0.00446616040775,0.0697193516914,0.999999888607,2.04863736106e-05,-0.000470132871418,3.66220974714e-05,1793248348626920704
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.224457618,745,715,681,659.224457618,633,879,784,810.224457618,652,629,652.224457618,0.421077044265,0.00445598214916,0.0696851540033,0.999999862071,2.27793123296e-05,-0.000523389852257,3.74415193357e-05,1793248348643587072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.359002243,745,715,681,659,633.359002243,879,784,810,652,629,652.359002243,0.420241539291,0.00444679490578,0.0697270419223,0.99999989814,2.95086636243e-06,-0.000449912011031,3.59281328468e-05,1793248348660253696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.938969467,745,715,681,659,633.938969467,879,784,810,652,629,652.938969467,0.419470106979,0.0044382176304,0.0698157603438,0.999999954461,-3.04932366765e-05,-0.000298429192808,3.29789079528e-05,1793248348676920064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.031035425,633.484482287,879,784,810.515517713,652,629.515517713,652.484482287,0.418659940951,0.00443483367901,0.0698627875533,0.999999972633,-3.14501279265e-05,-0.000229007464988,3.60703991463e-05,1793248348693586688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.908490362,745,715,681.091509638,660.725471085,633,878.908490362,784,811,652,630,652,0.417837511129,0.00443123950631,0.0698924888266,0.999999981256,-2.77890376677e-05,-0.000187548532668,3.92565081865e-05,1793248348710253312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.333313593,745,715,681.666686407,658.99994078,633,878.333313593,784,811,652,630,652,0.41697433895,0.0044233060437,0.0698565305486,0.99999996954,-1.99140840636e-05,-0.000242875448968,3.91877904928e-05,1793248348726919936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.248194453,745,715,681.751805547,658,633.248194453,878,784,810.751805547,652,629.751805547,652,0.416120644545,0.00443104234669,0.0698221425886,0.999999957165,-6.92369630832e-06,-0.000290152371488,3.78655516015e-05,1793248348743586304
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.838427636,745,715,681.161572364,658,633.838427636,878,784,810.161572364,652,629.161572364,652,0.415280011606,0.00446037327764,0.0697899186993,0.99999994606,1.31163108189e-05,-0.000326335530154,3.48158253721e-05,1793248348760252928
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.844409418,634,877.577795291,784,810,652,629,652,0.414434003176,0.00447868841294,0.0697592281584,0.999999923793,3.75879502327e-05,-0.000387001180448,3.50825972959e-05,1793248348776919552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.996506097,745,715,681,659.993012195,634,877.003493903,784,810,652,629,652,0.413587085897,0.00449268973042,0.0697295201578,0.999999893335,6.34505346815e-05,-0.000456032479,3.65844379685e-05,1793248348793586176
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.424086122,745,715,681,658.848172245,634,877.575913878,784,810,652,629,652,0.412922114634,0.0044803598146,0.0697656927593,0.999999924432,4.38102058028e-05,-0.000384638382229,3.56441707726e-05,1793248348810253056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.847879532,658.304240935,634,878,784,810,652,629,652,0.412266277678,0.00446957660789,0.0698076263599,0.999999952329,2.5129017845e-05,-0.000305748110172,3.50421159685e-05,1793248348826919680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.260846884,659.478306232,634,878,784,810,652,629,652,0.411636555536,0.0044632154373,0.0698660306563,0.999999978231,9.19000813416e-06,-0.000205426271025,3.54070099111e-05,1793248348843586048
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.678663598,633.678663598,878,784,810,652,629,652,0.410974635197,0.00445775142655,0.0698856359883,0.999999983837,8.48402018206e-06,-0.000176038638441,3.55660035158e-05,1793248348860252672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.100358326,633.100358326,878,784,810,652,629,652,0.410286966383,0.00445300486418,0.0698742142499,0.999999978488,1.99596982281e-05,-0.000203376248058,3.55603412526e-05,1793248348876919296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.520503615,715,680.479496385,658.520503615,633.479496385,878,784,810,652,628.520503615,652,0.409604279238,0.0044545596754,0.0698313917806,0.999999961044,1.38816891002e-05,-0.000276674212335,3.422211223e-05,1793248348893586176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.058960112,715,681,658.058960112,634,878,784,810,651.941039888,628,652,0.408932650885,0.0044580147329,0.0697855830808,0.999999937139,5.69079987338e-06,-0.000353018159123,3.26666399863e-05,1793248348910253056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.632175947,715,681,658.632175947,634,878,784,810,651.367824053,628,652,0.408348354678,0.00446650328293,0.0697712369927,0.999999930335,1.12198312915e-05,-0.00037175548258,3.16568798089e-05,1793248348926920448
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.789286307,659,634,877.789286307,784,810,651,628,652,0.407787294568,0.00447353995745,0.0697708273994,0.999999931163,2.27287930491e-05,-0.000369038266708,3.11115298763e-05,1793248348943587328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.20121793,659,634,877.20121793,784,810,651,628,652,0.407267846675,0.00447797655311,0.0697953758516,0.999999944738,4.49468576031e-05,-0.00032789938347,3.13978648519e-05,1793248348960253952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.617698765,658.617698765,633.617698765,877.382301235,784,809.617698765,651.382301235,628.382301235,652,0.40675772637,0.00447687223484,0.0698057663297,0.999999948928,4.33978484157e-05,-0.000315038265011,3.18098096917e-05,1793248348976920576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.036545792,658.036545792,633.036545792,877.963454208,784,809.036545792,651.963454208,628.963454208,652,0.406252457708,0.00447288584322,0.069808792623,0.999999948836,2.94865377908e-05,-0.000316885655873,3.22870898081e-05,1793248348993587456
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.538745468,745,715,679.538745468,658,633.538745468,878,784,809.538745468,652,629,652,0.40578804121,0.00447474086695,0.0698035429482,0.999999944435,2.64859145109e-05,-0.000330694446635,3.27142183236e-05,1793248349010253824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.886210675,745,715,680,658,634,878,784,810,652,628.886210675,652,0.405342224636,0.00447706005102,0.0698017904388,0.999999942362,2.57500606625e-05,-0.000336951069052,3.28314446698e-05,1793248349026920448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.310574283,745,715,680,658,634,878,784,810,652,628.310574283,652,0.404960774438,0.00447967217066,0.0698164862717,0.999999951177,3.12347463528e-05,-0.000309297162174,3.17045025896e-05,1793248349043587328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.272931495,745,715,679.727068505,658.272931495,634,878,784.272931495,810,652,628,652,0.404594748136,0.00447952208035,0.0698316261439,0.999999959816,3.28679856177e-05,-0.000279876181131,3.09237107394e-05,1793248349060254208
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.865657825,745,715,679.134342175,658.865657825,634,878,784.865657825,810,652,628,652,0.404246794094,0.00447613549833,0.0698472862978,0.999999968236,2.99884706295e-05,-0.000248384714465,3.05485044525e-05,1793248349076920320
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.447715131,658.552284869,634,878,784.552284869,809.552284869,652,628.447715131,652,0.403911916878,0.00447238761743,0.0698489853781,0.999999969576,1.85159574289e-05,-0.000244158214622,2.98645494637e-05,1793248349093586944
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.973757109,745,715,680,658,634,878,784.026242891,809,652,628.973757109,651.973757109,0.403582140559,0.00446862531396,0.0698460492959,0.999999968593,4.53740976369e-06,-0.000248895823248,2.90505546375e-05,1793248349110253312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.403575817,745,715,680,658,634,878,784.596424183,809,652,628.403575817,651.403575817,0.403278653782,0.00446675883385,0.069831848399,0.999999962097,-9.18450563351e-06,-0.000273808228397,2.74167523705e-05,1793248349126919936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.826837742,658.173162258,634,878.173162258,784.826837742,809.173162258,652,628,651.173162258,0.402988973325,0.00446454025821,0.0698200943899,0.999999955911,-2.20876073791e-05,-0.000294950700265,2.6346889378e-05,1793248349143586560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.234216965,658.765783035,634,878.765783035,784.234216965,809.765783035,652,628,651.765783035,0.402732736568,0.00446146878647,0.0698142675863,0.999999951988,-3.30072589957e-05,-0.000306961094528,2.66430814529e-05,1793248349160253440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.350015147,658.649984853,634,879,784.350015147,810,652,628,652,0.402495440848,0.00446143255536,0.0698085299154,0.99999994903,-3.51437782509e-05,-0.000316163398779,2.72991661313e-05,1793248349176920064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.928765323,658.071234677,634,879,784.928765323,810,652,628,652,0.402270523078,0.00446337985483,0.0698028504922,0.999999946769,-3.15405183211e-05,-0.000323530616373,2.81904407915e-05,1793248349193586944
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.495474301,715,679.495474301,658,634,878.495474301,784.495474301,810,652,628.504525699,652,0.402081783294,0.00446543247602,0.0697990525962,0.999999944967,-2.60084881642e-05,-0.00032943358402,2.93948095567e-05,1793248349210253568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.079625069,658,633.920374931,878,784.079625069,810,652,629,652,0.401903167926,0.00446829665495,0.0697960116363,0.999999943552,-1.4325957785e-05,-0.000334286101143,3.07261020354e-05,1793248349226920192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.653227349,658,633.346772651,878,784.653227349,810,652,629,652,0.401755859824,0.00447610385842,0.0697960281862,0.999999943154,3.38334881685e-05,-0.000333896858447,3.25721727859e-05,1793248349243586816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.233877622,715,680,658,633.233877622,877.766122378,785,810,652,629,652,0.401621658664,0.00448933326788,0.069796464571,0.999999941088,8.19541799477e-05,-0.000331744620922,3.24603814573e-05,1793248349260253440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.825302691,715,680,658,633.825302691,877.174697309,785,810,652,629,652,0.401507495144,0.00451085203733,0.0697975427911,0.999999937686,0.000130015622233,-0.000326897152466,2.93554495257e-05,1793248349276919808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.408169177,744.591830823,715,679.591830823,658,634,877,784.591830823,809.591830823,652,628.591830823,652,0.40140753807,0.00451229206153,0.0697991511001,0.999999940941,0.00011338097445,-0.000323624550876,2.30167627007e-05,1793248349293586688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.987447786,744.012552214,715,679.012552214,658,634,877,784.012552214,809.012552214,652,628.012552214,652,0.401313536512,0.00450531483348,0.0698009816288,0.999999945934,6.96249456174e-05,-0.000321012152216,1.53224469545e-05,1793248349310253312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,744.561606216,715,679.561606216,658,634,878.123212432,784,809.561606216,652,628,652,0.401242227321,0.00450433180485,0.0697999826281,0.999999945441,6.80654730502e-05,-0.000322819128677,1.65419917675e-05,1793248349326919936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.860903855,745,715,680,658,634,878.860903855,784.139096145,810,652,628,652,0.401176373418,0.00450457980629,0.0697995688356,0.999999945207,6.85946406088e-05,-0.000323368503029,1.77062093662e-05,1793248349343587072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.272280903,745,715,680,658,634,878.272280903,784.727719097,810,652,628,652,0.401126525461,0.00450837715395,0.0698012488379,0.999999946131,7.28534140243e-05,-0.000319537259939,1.80535739961e-05,1793248349360253696
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.688797259,658,633.688797259,878,785,810,652,628,652,0.40108795785,0.00450675739385,0.0698047525588,0.999999948305,7.07694074969e-05,-0.000313090697539,1.88698030992e-05,1793248349376920320
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.10973704,658,633.10973704,878,785,810,652,628,652,0.401059099418,0.00450047503762,0.0698098259855,0.999999951472,6.32260631386e-05,-0.000304393084985,2.00895918458e-05,1793248349393586944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.468080782,658,633.468080782,878.468080782,784.531919218,810,652,628,652,0.401035289171,0.00450274250959,0.0698130473438,0.999999952807,6.63942609036e-05,-0.000299281633011,2.01868777663e-05,1793248349410253312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.045443252,745,715.045443252,680,658,633.954556748,878.954556748,784,810,652,628.045443252,652,0.40101333503,0.00450639500685,0.0698157201504,0.999999953688,7.11948263869e-05,-0.000295216493245,2.007573568e-05,1793248349426919936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.620883502,745,715.620883502,680,658,633.379116498,878.379116498,784,810,652,628.620883502,652,0.400999261924,0.00450288543702,0.0698170458838,0.999999954528,6.58230436635e-05,-0.000293574851175,2.05947986712e-05,1793248349443586560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.799764634,745,715.799764634,680,658,633.200235366,878,784.200235366,809.799764634,652,628.799764634,652,0.40098815331,0.00450089939896,0.0698181938048,0.9999999553,6.25353425127e-05,-0.00029163579288,2.09334733089e-05,1793248349460253440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.212859174,745,715.212859174,680,658,633.787140826,878,784.787140826,809.212859174,652,628.212859174,652,0.400982769361,0.00450185541972,0.0698189983559,0.999999955984,6.3272165611e-05,-0.00028912240079,2.09238039487e-05,1793248349476920576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.628072488,809,652,628,652,0.400980664794,0.00450290628034,0.0698216063584,0.999999957305,6.37304352069e-05,-0.000284423862183,2.07962163662e-05,1793248349493587200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.044491556,809,652,628,652,0.400980426428,0.00450401111161,0.0698252406539,0.999999958962,6.40301878621e-05,-0.000278481818623,2.06015248609e-05,1793248349510253824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.468333047,784,809.531666953,652,628,652,0.400977109874,0.00450334229144,0.0698250205023,0.999999958817,6.30979596757e-05,-0.000279230380826,2.03606327112e-05,1793248349526920192
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.893636461,658,634,877,784,810,652,628,652,0.40097417504,0.00450281824453,0.0698246820703,0.999999958617,6.24225888803e-05,-0.000280108108308,2.02181181181e-05,1793248349543586816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.32265018,658,634,877,784,810,652,628,652,0.400974017388,0.00450356603358,0.0698252165497,0.999999958826,6.33133849494e-05,-0.000279137991709,2.05219976218e-05,1793248349560253440
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.25717193,745,715,679,658,633.74282807,877.25717193,784,810,652,628,652,0.400973250267,0.00450335668783,0.0698251517932,0.999999958852,6.28378214359e-05,-0.000279145482133,2.06365843931e-05,1793248349576919808
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.848474056,745,715,679,658,633.151525944,877.848474056,784,810,652,628,652,0.400971691296,0.0045019037864,0.0698243084806,0.999999958636,6.05870176645e-05,-0.000280423126692,2.05052329435e-05,1793248349593586432
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.430183327,658,633.430183327,877.569816673,784,809.569816673,652,628,652,0.400970892491,0.00450377723179,0.0698247533696,0.999999958387,6.41087990181e-05,-0.000280543628725,2.02756469382e-05,1793248349610253568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.991448439,745,715.008551561,680,658,634,877.008551561,784,809.008551561,652,628.008551561,652,0.400970370609,0.00450672209106,0.0698256353177,0.999999958117,6.94931609628e-05,-0.000280241233706,2.00183794031e-05,1793248349626920960
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.415453082,745,715.584546918,680,658,634,877.584546918,784,809.584546918,652,628.584546918,652,0.400970844482,0.00450471106728,0.069826066462,0.999999958851,6.64916900438e-05,-0.00027833297986,2.0170221088e-05,1793248349643587328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.15993412,745,715.84006588,680,658,634,878,784,810,652,629,652,0.400971631197,0.00450354412134,0.0698266013204,0.999999959473,6.41239281354e-05,-0.000276643250271,2.02456769861e-05,1793248349660253952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.733747496,745,715.266252504,680,658,634,878,784,810,652,629,652,0.400973227488,0.00450456148934,0.069827404571,0.999999959833,6.3396085485e-05,-0.000275519020256,2.01234609051e-05,1793248349676920576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.680861916,745,715,680,658,634,878,784.319138084,810,652,628.680861916,652,0.400974120983,0.00450426759204,0.0698281283134,0.999999960312,6.22495839633e-05,-0.000274046622876,1.9987587778e-05,1793248349693586944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.085449076,745,715,680,658,634,878,784.914550924,810,652,628.085449076,652,0.400974406075,0.00450283854498,0.0698287832264,0.999999960892,6.07406535402e-05,-0.000272272820432,1.98398918847e-05,1793248349710253312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.492510914,745,715,680,658.492510914,633.507489086,878,785,809.507489086,652,628,652,0.400973744093,0.00450289700343,0.0698285670522,0.999999960513,6.06481271061e-05,-0.000273667077542,2.00587210636e-05,1793248349726919936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.932490939,745,715,680,658.932490939,633.067509061,878.067509061,784.932490939,809.067509061,652,628,652,0.400973068031,0.0045030266567,0.0698283200814,0.999999960081,6.0680917182e-05,-0.000275216152505,2.03002917317e-05,1793248349743586816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.357774539,745,715,680,658.357774539,633.642225461,878.642225461,784.357774539,809.642225461,652,628,652,0.400973478449,0.00450181858705,0.0698289383424,0.999999960481,5.98721198115e-05,-0.000273940127159,2.02513043055e-05,1793248349760253952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.222985212,745,715,680,658,634,878.777014788,784,809.777014788,652,628.222985212,652,0.400973346898,0.00450135563438,0.0698288971086,0.999999960676,5.96508574456e-05,-0.000273282227098,2.01685536983e-05,1793248349776920832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.813711583,745,715,680,658,634,878.186288417,784,809.186288417,652,628.813711583,652,0.400972321549,0.00450212150824,0.0698277682538,0.999999960535,6.03985417322e-05,-0.000273643722273,2.00301217619e-05,1793248349793587456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.603249668,744.603249668,715,680,658,634,878,784,809.396750332,652,628.603249668,652,0.400972497384,0.00450268272432,0.0698282225614,0.999999960691,6.06725487169e-05,-0.000273029909694,1.98047453087e-05,1793248349810254080
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.023751955,744.023751955,715,680,658,634,878,784,809.976248045,652,628.023751955,652,0.400973226497,0.00450314967282,0.0698294060903,0.999999960982,6.07283749032e-05,-0.000271966860074,1.95393213039e-05,1793248349826920448
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.550365611,715,680,658,634,878,784.550365611,810,652,628,652.550365611,0.400972554255,0.00450294469448,0.0698286658242,0.999999960652,6.16136676211e-05,-0.000272969676758,1.96966151042e-05,1793248349843587072
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec55e5f3dc5ac0831547ec7fc69d9d6fd5e52f49
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+385,6.416666667,pose2_to_pose3_retreat,0.58325309679,0.00992799718602,1.06004239633,0.553824886502,0.0186024495584,1.05966578079
+386,6.433333333,pose2_to_pose3_retreat,0.58325181202,0.00992798485538,1.06004250174,0.553823602352,0.0186024391809,1.0596658827
+387,6.450000000,pose2_to_pose3_retreat,0.583250723584,0.00992797440906,1.06004259105,0.553822514441,0.0186024303893,1.05966596905
+388,6.466666667,pose2_to_pose3_retreat,0.583249454476,0.00992797297297,1.06004265228,0.553821245599,0.0186024299467,1.05966603242
+389,6.483333333,pose2_to_pose3_retreat,0.583248560202,0.00992797939802,1.06004266573,0.553820351273,0.0186024364241,1.05966605127
+390,6.500000000,pose2_to_pose3_retreat,0.583248012994,0.00992798332952,1.06004267396,0.553819804033,0.0186024403876,1.0596660628
+391,6.516666667,pose2_to_pose3_retreat,0.583247556621,0.00992798660841,1.06004268083,0.553819347633,0.0186024436932,1.05966607241
+392,6.533333333,pose2_to_pose3_retreat,0.583247323743,0.00992798828156,1.06004268433,0.553819114741,0.01860244538,1.05966607732
+393,6.550000000,pose2_to_pose3_retreat,0.583247120856,0.00992798852685,1.06004268187,0.553818911924,0.0186024458599,1.05966607487
+394,6.566666667,pose2_to_pose3_retreat,0.583246740692,0.00992798560881,1.06004266191,0.553818532116,0.018602444002,1.05966605157
+395,6.583333333,pose2_to_pose3_retreat,0.583246265506,0.00992798196138,1.06004263696,0.553818057373,0.0186024416797,1.05966602244
+396,6.600000000,pose2_to_pose3_retreat,0.583245924069,0.00992797934059,1.06004261903,0.553817716255,0.0186024400111,1.0596660015
+397,6.616666667,pose2_to_pose3_retreat,0.583245815317,0.0099279608616,1.06004253809,0.553817607388,0.0186024212914,1.05966592397
+398,6.633333333,pose2_to_pose3_retreat,0.583245796552,0.00992795756868,1.06004252367,0.553817588602,0.0186024179538,1.05966591017
+399,6.650000000,pose2_to_pose3_retreat,0.583245738671,0.00992794741173,1.06004247922,0.553817530656,0.0186024076588,1.05966586761
+400,6.666666667,pose2_to_pose3_retreat,0.583245582805,0.00992792006017,1.0600423595,0.553817374615,0.0186023799357,1.059665753
+401,6.683333333,pose2_to_pose3_retreat,0.583245491878,0.00992793952421,1.06004236705,0.553817283294,0.0186023980225,1.05966575968
+402,6.700000000,pose2_to_pose3_retreat,0.583245480666,0.00992794738808,1.06004237992,0.553817271987,0.0186024055375,1.05966577185
+403,6.716666667,pose2_to_pose3_retreat,0.583245415274,0.00992799325114,1.06004245496,0.553817206048,0.018602449366,1.0596658428
+404,6.733333333,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+405,6.750000000,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c27d0e28c8a2d9311b5f829d4a269f53b9bd8527
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8d777cfb0ea94447c189a8856dc861e7f18c70e3377449b42252787ab56284
+size 25950933
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ff1893b5b0805d5a7c98bcadd4e17473cffdc37
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/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,765,745,715,679,658,634,878,785,810,652,628,652,0.400972085487,0.00450533160845,0.0698296336039,0.999999960686,6.46301926708e-05,-0.000272137974135,1.97876273057e-05,1793248349999867136
+1,0.016666667,BASELINE,765.579031592,745,715,680.158063184,658,634,878,784.420968408,809.420968408,652,628,652,0.400971836924,0.00450569537103,0.0698292969076,0.999999960571,6.52046494756e-05,-0.00027243838503,1.96041204585e-05,1793248350016533760
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+20,0.333333333,BASELINE,765,745,715.602245504,680,658,634,878,784,810,652,628,652,0.400974499628,0.00450355503774,0.0698317569267,0.999999962097,6.07290958608e-05,-0.000267865635712,1.91560505238e-05,1793248350333200128
+21,0.350000000,BASELINE,765,745,715.819864753,679.819864753,658,634,878,784.180135247,810,652,628,652,0.400974561759,0.00450390744751,0.0698312460214,0.999999961935,6.13664000959e-05,-0.000268323628748,1.91492719676e-05,1793248350349867264
+22,0.366666667,BASELINE,765,745,715.244509863,679.244509863,658,634,878,784.755490137,810,652,628,652,0.400974064874,0.00450320853547,0.0698310752284,0.999999961783,6.19484098773e-05,-0.000268725211704,1.95725008602e-05,1793248350366534144
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+27,0.450000000,BASELINE,765,745,715,679.661655872,658,634,878,784.661655872,810.338344128,652,628.661655872,652,0.400974359935,0.00450300612826,0.0698327920058,0.999999962655,5.83225809692e-05,-0.000266316357651,1.90777799926e-05,1793248350449866752
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+44,0.733333333,BASELINE,765.531871844,744.531871844,715,679.468128156,658,634,877.531871844,784,809.531871844,652,628,652,0.400975679835,0.00450344349389,0.0698330670534,0.999999962597,6.21924073966e-05,-0.000265657125431,1.91065767694e-05,1793248350733200384
+45,0.750000000,BASELINE,766,745,715.110361868,679.110361868,658,634,878,784,810,652,628,652,0.400975751141,0.00450308522005,0.0698336254732,0.999999962791,6.22014667204e-05,-0.000264906463104,1.9325584363e-05,1793248350749866496
+46,0.766666667,BASELINE,766,745,715.686717455,679.686717455,658,634,878,784,810,652,628,652,0.400973148997,0.00450234762297,0.0698321116349,0.999999962184,5.89507651213e-05,-0.000267934195576,1.91959149073e-05,1793248350766533376
+47,0.783333333,BASELINE,765.738219549,745,715.738219549,680,658.261780451,634,878,784,809.738219549,652,628,652,0.400972649427,0.00450265967262,0.069831866071,0.999999962027,5.85388809845e-05,-0.00026862346047,1.90023043785e-05,1793248350783200512
+48,0.800000000,BASELINE,765.164695769,745,715.164695769,680,658.835304231,634,878,784,809.164695769,652,628,652,0.400974653724,0.00450422170234,0.0698331308416,0.999999962414,6.15076247481e-05,-0.000266527943072,1.87325490979e-05,1793248350799867392
+49,0.816666667,BASELINE,765,745,715.421261914,680,658.578738086,634,878,784,809.421261914,652,628,652,0.400975713679,0.00450376446165,0.069833505055,0.999999962688,6.18811480408e-05,-0.000265401767968,1.88753665175e-05,1793248350816534272
+50,0.833333333,BASELINE,765,745,716,680,658,634,878,784,810,652,628.011983637,652,0.400976379657,0.00450253328687,0.0698335201612,0.999999962919,6.11956425089e-05,-0.000264670027161,1.91692440513e-05,1793248350833200640
+51,0.850000000,BASELINE,765,745,716,680,658,634,878,784,810,652,628.591114824,652,0.400976404362,0.00450317275199,0.0698335188093,0.999999963151,5.98689496114e-05,-0.000264124570381,1.87463956097e-05,1793248350849867264
+52,0.866666667,BASELINE,765,745,715.830938769,680,658,634,878,784,810,652,629,652,0.400975866843,0.00450401403982,0.0698332711961,0.99999996307,5.97247479783e-05,-0.000264485939651,1.84330172809e-05,1793248350866533888
+53,0.883333333,BASELINE,765,745,715.255837915,680,658,634,878,784,810,652,629,652,0.400973979009,0.00450534005147,0.0698324321297,0.999999962232,6.24205725021e-05,-0.000267025261309,1.83825567543e-05,1793248350883200512
+54,0.900000000,BASELINE,765,745,715,679.680316956,658,634,878,784,809.680316956,652,628.680316956,652,0.400973993091,0.00450564408123,0.0698324204334,0.999999962153,6.29617523224e-05,-0.000267180567624,1.85653164523e-05,1793248350899867392
+55,0.916666667,BASELINE,765,745,715,679.104459377,658,634,878,784,809.104459377,652,628.104459377,652,0.400975531255,0.00450512915685,0.0698330717411,0.999999962687,6.17763308857e-05,-0.000265425469024,1.8934964646e-05,1793248350916533760
+56,0.933333333,BASELINE,765.48327394,745,715,679.48327394,658,634,878,784,809.48327394,652,628,652,0.40097398564,0.0045044074123,0.0698323665388,0.99999996233,6.08033748709e-05,-0.000266983536947,1.90698373056e-05,1793248350933200384
+57,0.950000000,BASELINE,765.927786727,745,715,680,658,634,878,784,810,652,628.072213273,652,0.400972299565,0.0045036413534,0.0698316904303,0.999999961921,6.01146141686e-05,-0.000268657924952,1.91724104788e-05,1793248350949867264
+58,0.966666667,BASELINE,765.348851055,745,715,680,658,634,878,784,810,652,628.651148945,652,0.400974422958,0.0045028859321,0.0698333277612,0.999999962568,6.10896895931e-05,-0.0002659967702,1.94133982613e-05,1793248350966533888
+59,0.983333333,BASELINE,765.227803144,745,715,680.227803144,658,634,878,784.227803144,810,652,629,652,0.400975707904,0.00450320480156,0.0698343132695,0.999999962923,6.2345969084e-05,-0.000264368457748,1.94237741185e-05,1793248350983200768
+60,1.000000000,BASELINE,765.800998295,745,715,680.800998295,658,634,878,784.800998295,810,652,629,652,0.400975721606,0.00450515249584,0.0698343104938,0.999999962839,6.40286064754e-05,-0.000264306126242,1.90844993709e-05,1793248350999867392
+61,1.016666667,BASELINE,765.617451885,745,715,680.617451885,658,634,877.617451885,784.617451885,810,652,628.617451885,652,0.400974573521,0.00450479508896,0.0698333315518,0.999999962586,6.35017014299e-05,-0.000265388143668,1.90755358623e-05,1793248351016533760
+62,1.033333333,BASELINE,765.031458961,745,715,680.031458961,658,634,877.031458961,784.031458961,810,652,628.031458961,652,0.400972807579,0.0045032117947,0.06983183347,0.99999996224,6.17997285706e-05,-0.000267078742973,1.92422368307e-05,1793248351033200128
+63,1.050000000,BASELINE,765.551059091,745,715,680,658,634,877.551059091,784,809.448940909,652,628,652,0.400973536233,0.00450420818207,0.0698327422084,0.999999962341,6.24141900542e-05,-0.000266552046933,1.93082410459e-05,1793248351049867008
+64,1.066666667,BASELINE,765.867431038,745,715,680,658,634,878,784,809.132568962,652,628,652,0.400974267924,0.00450475702597,0.0698335115176,0.999999962459,6.24848507176e-05,-0.000266093332183,1.9282053642e-05,1793248351066533632
+65,1.083333333,BASELINE,765.288651091,745,715,680,658,634,878,784,809.711348909,652,628,652,0.400974533502,0.00450330690845,0.0698333519477,0.999999962549,6.02828259816e-05,-0.000266286821848,1.89647882919e-05,1793248351083200512
+66,1.100000000,BASELINE,765,745,715,679.714795497,658.285204503,634,877.714795497,784,810,652,628.285204503,652,0.400974219857,0.00450268168733,0.0698332447562,0.999999962576,5.95460386457e-05,-0.000266358210644,1.88755733207e-05,1793248351099866880
+67,1.116666667,BASELINE,765,745,715,679.145839209,658.854160791,634,877.145839209,784,810,652,628.854160791,652,0.400973329938,0.00450287716101,0.0698331896762,0.999999962543,6.02670255165e-05,-0.000266308120494,1.90132471512e-05,1793248351116533248
+68,1.133333333,BASELINE,765,745,715,679.44174284,658.55825716,634,877,784,810,652,628.55825716,652,0.400973503346,0.00450385258041,0.0698330201765,0.999999962358,6.18314301809e-05,-0.000266650269221,1.89541886889e-05,1793248351133199872
+69,1.150000000,BASELINE,765,745,715,680,658.034851817,634,877.034851817,784,810,652,628,652,0.40097397935,0.00450501452576,0.0698328116297,0.999999962121,6.36501950631e-05,-0.000267115172023,1.88511188174e-05,1793248351149866240
+70,1.166666667,BASELINE,765,745,715,680,658.614013875,634,877.614013875,784,810,652,628,652,0.400973457239,0.00450489105423,0.0698326091866,0.999999961964,6.49012886751e-05,-0.000267385755592,1.91197211741e-05,1793248351166532864
+71,1.183333333,BASELINE,765,745,715,680,658.808081609,633.808081609,878,784.191918391,810,652,628,652,0.400973287538,0.00450456925171,0.0698325618367,0.999999961986,6.43833594251e-05,-0.000267425681912,1.91499225809e-05,1793248351183200000
+72,1.200000000,BASELINE,765,745,715,680,658.232689694,633.232689694,878,784.767310306,810,652,628,652,0.400973821991,0.00450385116259,0.0698328243799,0.999999962359,6.03307330201e-05,-0.000267004730359,1.8703773373e-05,1793248351199867648
+73,1.216666667,BASELINE,765,745,715,680,658.335278541,633.335278541,878,784.664721459,810,652,628.335278541,652,0.400974237571,0.00450403068727,0.0698328655994,0.999999962398,6.03802449269e-05,-0.000266851306508,1.86808382998e-05,1793248351216534272
+74,1.233333333,BASELINE,765,745,715,680,658.898206175,633.898206175,878,784.101793825,810,652,628.898206175,652,0.400974572438,0.00450481967828,0.0698327565435,0.99999996221,6.32150473643e-05,-0.000266879529972,1.89452592928e-05,1793248351233200640
+75,1.250000000,BASELINE,765,745,715,680,658.502582407,634,878,784.497417593,810,652,628.502582407,652,0.400974589342,0.0045037483893,0.0698327175988,0.999999962498,6.15926866037e-05,-0.000266195078022,1.8743717282e-05,1793248351249867520
+76,1.266666667,BASELINE,765,745,715,680,658,634,878.099160393,785,810,652,628,652,0.400974463866,0.00450282140243,0.0698327574282,0.999999962769,5.99027492177e-05,-0.000265574422554,1.85484620881e-05,1793248351266534400
+77,1.283333333,BASELINE,765,745,715,680,658,634,878.674591469,785,810,652,628,652,0.400973991659,0.00450455987339,0.069833101276,0.999999962479,6.2613965891e-05,-0.00026601580097,1.88774420075e-05,1793248351283200768
+78,1.300000000,BASELINE,765.250191351,745,715,679.749808649,658,634,878.749808649,784.749808649,810,652,628,652,0.400973180149,0.00450511285809,0.0698328010897,0.999999962166,6.32280727768e-05,-0.000267035851578,1.90194697201e-05,1793248351299867392
+79,1.316666667,BASELINE,765.82601089,745,715,679.17398911,658,634,878.17398911,784.17398911,810,652,628,652,0.400971927033,0.00450412291262,0.0698316626821,0.999999961825,6.11127563123e-05,-0.000268809053599,1.89181760118e-05,1793248351316533760
+80,1.333333333,BASELINE,765.589017589,744.589017589,715.410982411,679.410982411,658,634,878,784,810,652,628,652.410982411,0.400973407373,0.00450421325022,0.0698329301163,0.999999962433,6.09648609405e-05,-0.000266580654958,1.87480119482e-05,1793248351333200384
+81,1.350000000,BASELINE,765.000083287,744.000083287,715.999916713,679.999916713,658,634,878,784,810,652,628,652.999916713,0.400976071276,0.00450477134111,0.0698352392596,0.999999963442,6.16688419942e-05,-0.000262619597398,1.85480275974e-05,1793248351349867008
+82,1.366666667,BASELINE,765,744.57905494,715.42094506,680,658,634,878,784.57905494,809.42094506,652,628,652.42094506,0.400974248873,0.00450474365156,0.0698342463436,0.999999962804,6.16818281286e-05,-0.000265008629732,1.89296384383e-05,1793248351366533888
+83,1.383333333,BASELINE,765.157554105,745,715.157554105,679.842445895,658,634,878,784.842445895,809.157554105,652,628,652,0.400972941038,0.00450489637078,0.0698333486759,0.999999962268,6.21861695281e-05,-0.000266890930254,1.9122874059e-05,1793248351383201024
+84,1.400000000,BASELINE,765.734356555,745,715.734356555,679.265643445,658,634,878,784.265643445,809.734356555,652,628,652,0.400973004145,0.00450552937464,0.0698327057044,0.999999962018,6.39982576019e-05,-0.000267422438033,1.88146281493e-05,1793248351399867904
+85,1.416666667,BASELINE,765.684084117,745,715.684084117,679,658,634,878,784,810,652.315915883,628.315915883,652,0.400973490766,0.00450587138735,0.0698324997267,0.999999962103,6.42338648439e-05,-0.000267059507452,1.86273443122e-05,1793248351416534528
+86,1.433333333,BASELINE,765.098463773,745,715.098463773,679,658,634,878,784,810,652.901536227,628.901536227,652,0.400974338951,0.00450596497438,0.0698326668204,0.999999962476,6.31235949944e-05,-0.000265932974785,1.85433285231e-05,1793248351433200896
+87,1.450000000,BASELINE,765.481403701,745,715,679.481403701,658,634,878,784.481403701,810,652.518596299,628.518596299,652.481403701,0.40097399628,0.00450521117758,0.069833070239,0.999999962413,6.27310887869e-05,-0.000266253599198,1.86692090967e-05,1793248351449867008
+88,1.466666667,BASELINE,765.939806331,745,715,680,658,634,878,784.939806331,810,652,628.060193669,652.939806331,0.400973609297,0.00450435644902,0.0698335224168,0.99999996234,6.22974944569e-05,-0.000266616076852,1.88142227078e-05,1793248351466533632
+89,1.483333333,BASELINE,765.36028073,745,715,680,658,634,878,784.36028073,810,652,628.63971927,652.36028073,0.400974916647,0.00450410859943,0.0698339831646,0.999999962945,6.02577528725e-05,-0.000264816066905,1.87582882571e-05,1793248351483200000
+90,1.500000000,BASELINE,765,745,715,680,658,634,878,784,809.783150403,652,628.783150403,652.216849597,0.400975110553,0.00450361315899,0.0698340329721,0.999999963163,5.85740067036e-05,-0.000264369401555,1.87766944927e-05,1793248351499866624
+91,1.516666667,BASELINE,765,745,715,680,658,634,878,784,809.209956238,652,628.209956238,652.790043762,0.400973474761,0.00450271085752,0.0698334074896,0.999999962752,5.74752608205e-05,-0.000266146660261,1.89172632843e-05,1793248351516533504
+92,1.533333333,BASELINE,765.372567433,745,715,680,658,634,878,784.372567433,809.372567433,652,628.372567433,652.627432567,0.400972678906,0.00450379923816,0.0698328162095,0.99999996227,6.09950336359e-05,-0.000267164561486,1.90508916081e-05,1793248351533200128
+93,1.550000000,BASELINE,765.960483736,745,715,680,658,634,878,784.960483736,809.960483736,652,628.960483736,652.039516264,0.400972368547,0.00450603825913,0.0698322446987,0.999999961716,6.7184370809e-05,-0.000267743544274,1.9180508263e-05,1793248351549866240
+94,1.566666667,BASELINE,765.45890357,745,715,679.45890357,658.54109643,634,878,785,810,652,628.45890357,652.54109643,0.40097261262,0.00450409190418,0.0698326892112,0.999999962082,6.34846149266e-05,-0.000267291983884,1.9009726566e-05,1793248351566533120
+95,1.583333333,BASELINE,765.120751254,745,715,679.120751254,659,634,878,785,810,652,628,652.879248746,0.400973169561,0.00450256062132,0.0698331382768,0.999999962465,6.02493067619e-05,-0.000266618685602,1.88423295275e-05,1793248351583200000
+96,1.600000000,BASELINE,765.698771861,745,715,679.698771861,659,634,878,785,810,652,628,652.301228139,0.400974760005,0.00450374323368,0.06983332734,0.999999962719,6.14712565105e-05,-0.000265386900825,1.87697199744e-05,1793248351599866624
+97,1.616666667,BASELINE,766,745,715,680,658.725740147,634,878,784.725740147,809.725740147,652,628,652,0.400974357503,0.00450435596455,0.0698329817275,0.99999996253,6.20942721341e-05,-0.000265955074332,1.87829879407e-05,1793248351616532992
+98,1.633333333,BASELINE,766,745,715,680,658.153008388,634,878,784.153008388,809.153008388,652,628,652,0.400971786117,0.00450434850389,0.0698320542374,0.999999961854,6.20654787967e-05,-0.000268482109096,1.88897148212e-05,1793248351633199616
+99,1.650000000,BASELINE,765.567035686,745,715,679.567035686,658,634,877.567035686,784,809,652,628,652,0.400972636054,0.00450344053317,0.0698323922621,0.999999962181,6.08529770432e-05,-0.000267538286174,1.89262066839e-05,1793248351649866240
+100,1.666666667,BASELINE,765,745,715.023309505,679.023309505,658.023309505,634,877.023309505,784,809,652,628,652,0.400974642388,0.00450230863797,0.0698331604602,0.999999962838,5.92466174373e-05,-0.000265434228331,1.89207120406e-05,1793248351666532864
+101,1.683333333,BASELINE,765,745,715.60281147,679.60281147,658.60281147,634,877.60281147,784,809,652,628,652,0.400974481345,0.00450366672071,0.06983318503,0.99999996278,5.85388232809e-05,-0.000265836826218,1.85243085127e-05,1793248351683199488
+102,1.700000000,BASELINE,765,745,715.818476025,680,659,634,878,784.181523975,809.181523975,652,628,652,0.400974250114,0.00450453568932,0.0698330805009,0.999999962662,5.82166509488e-05,-0.000266366765368,1.8308193277e-05,1793248351699866368
+103,1.716666667,BASELINE,765,745,715.241483513,680,659,634,878,784.758516487,809.758516487,652,628,652,0.40097386597,0.00450433907262,0.0698326947165,0.999999962413,5.87345952727e-05,-0.000267174130418,1.84848545673e-05,1793248351716533248
+104,1.733333333,BASELINE,765.340118198,745,715,680,658.659881802,634,878,785,810,652,628.340118198,652.340118198,0.400974173664,0.00450485931188,0.0698331242821,0.999999962468,6.04809264615e-05,-0.000266573505146,1.85749421177e-05,1793248351733199872
+105,1.750000000,BASELINE,765.925037452,745,715,680,658.074962548,634,878,785,810,652,628.925037452,652.925037452,0.400974979308,0.00450589551029,0.069834140698,0.999999962734,6.31113927019e-05,-0.00026495947485,1.86027179866e-05,1793248351749866240
+106,1.766666667,BASELINE,766,745,715,680,658.505001327,634,878,785,810,652,629,652.494998673,0.400974154557,0.00450514799291,0.0698332085361,0.999999962554,6.20347037102e-05,-0.000265892426157,1.85487443449e-05,1793248351766532864
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,810,652,628,653,0.400974194964,0.00450327849794,0.0698338423165,0.999999962993,5.68560549968e-05,-0.000265411389086,1.83895090703e-05,1793248351809630464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.57643927,745,715,680,658,634,877.42356073,785,810,652,628.57643927,652.42356073,0.400974064088,0.00450415923655,0.0698334398177,0.999999962801,5.95730910002e-05,-0.00026553325866,1.84738716143e-05,1793248351826297088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844607779,745,715,680,658,634,877.155392221,784.844607779,810,652,629,652.155392221,0.400973823154,0.00450484627689,0.0698332013817,0.999999962646,6.19890740799e-05,-0.000265555136097,1.85708514246e-05,1793248351842963456
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.258690362,745,715,680,658,634,877.741309638,784.258690362,810,652,629,652.741309638,0.400973277299,0.00450499666263,0.0698334174932,0.999999962612,6.3570969249e-05,-0.000265299978245,1.87027882874e-05,1793248351859630080
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,629,652.675767851,0.400974199642,0.00450517100261,0.0698338946912,0.999999962739,6.37549248175e-05,-0.000264770272022,1.88034311364e-05,1793248351876296448
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,629,652.095213007,0.400976282674,0.00450536427969,0.069834578292,0.999999962994,6.28337349573e-05,-0.00026402352078,1.88793344009e-05,1793248351892963072
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,810,652,629,652,0.400975139389,0.00450488301248,0.0698344216558,0.999999962831,6.25823464439e-05,-0.0002647024775,1.88272288284e-05,1793248351909629952
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.060780661,745,715,680,658,633.939219339,878,784,810,652,628.939219339,652,0.400973679034,0.00450435635186,0.0698341560708,0.999999962611,6.24760023914e-05,-0.000265561031269,1.87628483317e-05,1793248351926296320
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.645439211,745,715,680,658,633.354560789,878,784,810,652,628.354560789,652,0.400974941116,0.00450457901292,0.0698343721807,0.999999962611,6.24872641268e-05,-0.000265556856373,1.88091161565e-05,1793248351942963200
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.772258965,658,633.227741035,878,784,810,652,628,652,0.400982229107,0.00450484788953,0.0698374471812,0.999999963788,6.23568742201e-05,-0.000261110342577,1.88802700082e-05,1793248351959629824
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.193588704,658,633.806411296,878,784,810,652,628,652,0.400998802503,0.00450518798029,0.0698449274845,0.999999966693,6.20082113852e-05,-0.000249818568962,1.89897710677e-05,1793248351976296448
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.614153139,745.385846861,715,679,658,634,878,784.385846861,810,652,628.385846861,652,0.401035497319,0.00450448504352,0.0698591322424,0.999999972953,5.92785867141e-05,-0.000224121645531,1.87077633768e-05,1793248351992963072
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034332786,745.965667214,715,679,658,634,878,784.965667214,810,652,628.965667214,652,0.401082307606,0.00450325775448,0.0698767175285,0.999999980026,5.53520013887e-05,-0.000191182943173,1.82289358353e-05,1793248352009629696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.459922967,715,679,658.540077033,634,878,784.459922967,810,652,629,652,0.401140257085,0.00450353427132,0.0698919903021,0.999999983221,5.74261820941e-05,-0.000172976368372,1.84187424789e-05,1793248352026296832
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.116896238,745,715,679,658.883103762,634,878,784.116896238,810,652,628.883103762,652,0.401201253503,0.00450384340574,0.0699051353526,0.999999985779,5.88914067515e-05,-0.000156966782233,1.82905913336e-05,1793248352042963968
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.704795722,745,715,679,658.295204278,634,878,784.704795722,810,652,628.295204278,652,0.401271701909,0.00450390260076,0.0699102937467,0.999999987602,5.63812125093e-05,-0.000146073337322,1.67117463889e-05,1793248352059630592
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.711497765,745,715.288502235,679.288502235,658,634,878,784.711497765,810,652,628,652,0.401349952697,0.00450510179244,0.0699118806277,0.99999998811,5.57428522068e-05,-0.000142999788563,1.49331614332e-05,1793248352076297216
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.1320202,745,715.8679798,679.8679798,658,634,878,784.1320202,810,652,628,652,0.401436072747,0.00450745075306,0.0699098653796,0.999999987368,5.69923717053e-05,-0.000147813170214,1.29531243542e-05,1793248352092963584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447292551,745,715.552707449,680,658,634,878,784.447292551,809.552707449,652,628,652,0.401541531959,0.00450796645088,0.0699074875434,0.999999986856,5.44552997211e-05,-0.00015236013407,1.04295146973e-05,1793248352109629952
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.026298139,634,877.973701861,784.973701861,809,652,628.026298139,652,0.401654220924,0.00450796899805,0.0699052847709,0.999999986458,5.08929797637e-05,-0.000156312033052,7.73767186565e-06,1793248352126296576
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658.599923166,634,877.400076834,784.400076834,809,652,628.599923166,652,0.401798624334,0.00450854898367,0.0699089519967,0.999999987598,4.92447341012e-05,-0.000149515180461,4.88235463512e-06,1793248352142963200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.821809601,744.821809601,715,679.821809601,658.821809601,634,877.178190399,784,809.178190399,652,628.821809601,652,0.401952118727,0.00450897078096,0.0699128146102,0.999999988713,4.63442187727e-05,-0.000142906829768,1.72919844251e-06,1793248352159629824
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.232840877,744.232840877,715,679.232840877,658.232840877,634,877.767159123,784,809.767159123,652,628.232840877,652,0.402126570341,0.00450902791014,0.0699171276455,0.999999989827,4.05568745359e-05,-0.000136733029217,-2.11055882556e-06,1793248352176296704
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.350265645,715,679.350265645,658.350265645,634,877.649734355,784,810,652,628,652.350265645,0.402320624696,0.00451103965605,0.0699201104796,0.999999990744,3.66733734197e-05,-0.000130862507858,-6.5232344611e-06,1793248352192963328
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.929539442,715,679.929539442,658.929539442,634,877.070460558,784,810,652,628,652.929539442,0.40252749559,0.00451432935534,0.0699222236115,0.999999991521,3.40346286751e-05,-0.000125190273691,-1.13104918229e-05,1793248352209629952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505820631,744.494179369,715,680,658.494179369,634,877.505820631,784,810,652,628,652.494179369,0.402769384903,0.00451614613414,0.069921223063,0.99999999145,2.85542915858e-05,-0.000126522971737,-1.66461128002e-05,1793248352226296320
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.919129287,744.080870713,715,680,658.080870713,634,878,784,810,652,628,652,0.403022082903,0.00451782747734,0.0699211917232,0.999999991535,2.26273629609e-05,-0.000126223945466,-2.20568264444e-05,1793248352242963200
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.349019638,744.650980362,715,680,658.650980362,634,878,784,810,652,628,652,0.403310832822,0.00451992343188,0.0699296322537,0.999999993418,1.63792728489e-05,-0.000110185148636,-2.74624314313e-05,1793248352259630080
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.769564074,634,878,784,810,652,628,652.230435926,0.403613554396,0.00452214387536,0.0699383337602,0.999999994921,1.11590302222e-05,-9.45908074568e-05,-3.29591228509e-05,1793248352276296704
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.175354791,634,878,784,810,652,628,652.824645209,0.403938332045,0.00452456084086,0.0699474472513,0.999999996051,7.56138014893e-06,-7.96980988506e-05,-3.85996058425e-05,1793248352292963328
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.408891267,745,715,679.591108733,658,634,878,784.408891267,810,652,628.408891267,652.591108733,0.404290588194,0.00452626585363,0.0699502062883,0.999999996064,3.39914228167e-06,-7.68388178199e-05,-4.42290374872e-05,1793248352309629952
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.988966175,745,715,679.011033825,658,634,878,784.988966175,810,652,628.988966175,652.011033825,0.404654348295,0.00452767280505,0.0699503050124,0.999999995635,-9.99461985337e-07,-7.90173702074e-05,-4.98538423096e-05,1793248352326296832
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.436657293,715.563342707,679.563342707,658,634,878,784.436657293,810,652,629,652,0.405071320913,0.00453262146038,0.0699547015369,0.99999999416,7.74155652665e-05,-6.79658227559e-05,-3.2677023339e-05,1793248352342963456
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.140847916,715.859152084,680,658.140847916,634,878,784.140847916,810,652,628.859152084,652,0.40549266984,0.0045320740848,0.0699585557123,0.999999989496,0.000130931178767,-5.88230790318e-05,-2.01137235682e-05,1793248352359630080
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.728631479,715.271368521,680,658.728631479,634,878,784.728631479,810,652,628.271368521,652,0.405924631403,0.00451386890235,0.0699604244785,0.999999993088,0.000100341074484,-5.65513441822e-05,-2.35929020616e-05,1793248352376296704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.687881198,745,715,680,658.687881198,633.687881198,878,784.687881198,810,652,628,652,0.406369759958,0.00450174357438,0.0699498716893,0.999999993293,8.40219890234e-05,-7.53202746026e-05,-2.61015451121e-05,1793248352392963328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.108078414,745,715,680,658.108078414,633.108078414,878,784.108078414,810,652,628,652,0.406826181033,0.00449483253985,0.0699286657408,0.999999990132,7.99422241014e-05,-0.000112134413854,-2.77778234579e-05,1793248352409629952
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.47005473,745,715,680,658,633.47005473,878,784,810.47005473,652,628.47005473,652.47005473,0.407346719273,0.00450749132698,0.0699189938718,0.999999992107,6.94248185161e-06,-0.000121679082407,-3.05329459243e-05,1793248352426296576
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.047307759,680,658.047307759,634,878,784,810.952692241,652,628.952692241,652.952692241,0.407888721217,0.0045230892875,0.0699139618818,0.9999999893,-7.33127334343e-05,-0.000122091230066,-3.34433746141e-05,1793248352442963200
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.619045309,680,658.619045309,634,878,784,810.380954691,652,628.380954691,652.380954691,0.408505812209,0.00452156531192,0.0699310705618,0.999999993541,-5.89530818106e-05,-9.05248767238e-05,-3.53353667976e-05,1793248352459629824
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.802385119,745,715.802385119,680,658.802385119,634,878.197614881,784,810,652,628.197614881,652,0.409121238298,0.00452485026433,0.0699435089831,0.999999996543,-3.59801347224e-05,-6.50203703795e-05,-3.73115585606e-05,1793248352476296448
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.210173418,745,715.210173418,680,658.210173418,634,878.789826582,784,810,652,628.789826582,652,0.40973333988,0.00453773767022,0.0699466218445,0.999999997881,4.19181470804e-06,-5.16201444273e-05,-3.94558797125e-05,1793248352492963072
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.373045734,634,878.626954266,784,810,652,629,652,0.410358576037,0.00454612812754,0.069942252159,0.999999996913,3.60131521979e-05,-5.71151001001e-05,-4.01844921346e-05,1793248352509629952
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.951317733,634,878.048682267,784,810,652,629,652,0.410991037992,0.00455204464661,0.0699337660473,0.99999999453,6.32405076579e-05,-7.30049949316e-05,-4.01342707117e-05,1793248352526296576
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.52789353,745,715,680,659,633.47210647,878,784.52789353,810,652,629,652,0.411701294085,0.00455641116186,0.06994691568,0.999999994962,7.48683781043e-05,-5.26016518088e-05,-4.12665993045e-05,1793248352542963200
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.104135403,680.104135403,659.104135403,633.104135403,878.104135403,784.895864597,810.104135403,652,629,652.104135403,0.412432277502,0.00456171929372,0.0699656736938,0.99999999551,8.15202084719e-05,-2.33253236576e-05,-4.23108204226e-05,1793248352559629824
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.6795715,680.6795715,659.6795715,633.6795715,878.6795715,784.3204285,810.6795715,652,629,652.6795715,0.4132247042,0.00457193389253,0.0700008131185,0.999999996015,7.21411969271e-05,3.10094590523e-05,-4.24642970362e-05,1793248352576296448
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.738381451,745,715.738381451,681,660,633.738381451,879,784.261618549,810.738381451,652,629,653,0.413993201894,0.00457975214005,0.0700182540673,0.999999994668,7.49953903473e-05,5.65820166664e-05,-4.28849527995e-05,1793248352592963072
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.148027364,745,715.148027364,681,660,633.148027364,879,784.851972636,810.148027364,652,629,653,0.414731631818,0.00458455926521,0.0700134560854,0.999999993644,9.32211579347e-05,4.60135452184e-05,-4.36413313799e-05,1793248352609629952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.566316563,659.566316563,633.433683437,879,785,810.433683437,652,629,653,0.415456751942,0.00459113750621,0.0699634409286,0.999999992049,0.000110975245872,-3.88951812786e-05,-4.55351858246e-05,1793248352626296576
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012398826,745,715,680.012398826,659.012398826,633.987601174,879.012398826,784.987601174,811.012398826,652,629,653,0.416180320439,0.00459830003624,0.0698998866297,0.999999980032,0.0001278045053,-0.0001460119939,-4.77833445669e-05,1793248352642963200
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.586455236,745,715,680.586455236,659.586455236,633.413544764,879.586455236,784.413544764,811.586455236,652,629,653,0.417035375638,0.00460508090281,0.069908496767,0.999999984036,0.000109890334359,-0.000132164785548,-4.88374878571e-05,1793248352659629824
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.835747672,745,715,680.835747672,660.164252328,633.164252328,879.835747672,784,811.835747672,652,629,653,0.417896345368,0.00461130290003,0.0699236992782,0.999999987495,0.000103990219075,-0.000108373505029,-4.95014293648e-05,1793248352676296448
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.248313061,745,715,680.248313061,660.751686939,633.751686939,879.248313061,784,811.248313061,652,629,653,0.418772553339,0.00461608501706,0.0699558864847,0.999999988727,0.000129043306908,-5.89621611792e-05,-4.91600487534e-05,1793248352692963072
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.336492934,680,660.663507066,634,879,784,811,652,629,653,0.419675253817,0.00462094442377,0.0699839272508,0.999999988533,0.000142187886079,-1.73776898243e-05,-4.91467191277e-05,1793248352709629696
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.919374167,680,660.080625833,634,879,784,811,652,629,653,0.420597352714,0.00462586042365,0.070008931891,0.999999987863,0.000146612764955,1.84757531778e-05,-4.93735964438e-05,1793248352726296576
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.504859938,680.495140062,660.495140062,634,879,784.495140062,811,652,629,653,0.421500971326,0.0046135352477,0.0700199966942,0.999999989903,0.000128172314607,3.51643000885e-05,-5.03022037984e-05,1793248352742963200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.069563841,715,681,660.930436159,633.930436159,879.069563841,784.930436159,811.069563841,652,629.069563841,653,0.422392640355,0.00459761770461,0.0700200376133,0.999999992442,0.000106460387332,3.40856115852e-05,-5.11866532631e-05,1793248352759629824
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.642540653,715,681,660.357459347,633.357459347,879.642540653,784.357459347,811.642540653,652,629.642540653,653,0.423219301708,0.00457573217984,0.0699564957113,0.999999992176,8.76361947155e-05,-7.33056406322e-05,-5.09363512986e-05,1793248352776296448
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.222412474,745.777587526,715,681,660,633,880,784,812,651.777587526,630,652.777587526,0.424073447768,0.00456441674911,0.0698980991127,0.999999983264,6.68942212131e-05,-0.000162005651318,-5.24477681535e-05,1793248352792963072
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.813720515,745.186279485,715,681,660,633,880,784,812,651.186279485,630,652.186279485,0.424973180374,0.00457063297931,0.0698482365561,0.999999973324,4.29713951885e-05,-0.000219704198741,-5.68811902164e-05,1793248352809629952
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.794801966,633,880,784,812,651.397400983,629.602599017,652.397400983,0.425939115544,0.00457682766656,0.0698756665692,0.999999981227,5.83912052903e-05,-0.000176345693539,-5.51216152345e-05,1793248352826297088
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.955146732,633,880,784,812,651.977573366,629.022426634,652.977573366,0.426935498334,0.00458301244548,0.0699386447389,0.999999990759,9.19053568581e-05,-8.65093446233e-05,-5.05137760668e-05,1793248352842964224
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.448875535,745,715,680.448875535,661.448875535,633.551124465,879.448875535,784,812.551124465,652,629.551124465,653,0.427910595929,0.00458657730038,0.0699862860713,0.999999993356,0.000100524536882,-2.36696866125e-05,-5.12194272377e-05,1793248352859630848
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.127564948,745,715,680.127564948,660.872435052,633.872435052,879,784,813,651.872435052,629.872435052,653,0.428887468481,0.00458963950083,0.0700271352656,0.999999992741,0.000103006579275,3.41268021049e-05,-5.23744223634e-05,1793248352876297728
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.715391058,745,715,680.715391058,660.284608942,633.284608942,879,784,813,651.284608942,629.284608942,653,0.429873833135,0.00459126818964,0.0700457030933,0.999999991726,8.69572076193e-05,7.76438817141e-05,-5.43798058047e-05,1793248352892964352
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.601125059,633.300562529,879,784,813,651.300562529,629.300562529,653,0.430788122296,0.00459000350296,0.0700203381227,0.999999994424,8.25372793369e-05,3.73060432598e-05,-5.43032959968e-05,1793248352909630720
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.76648449,633.883242245,879,784,813,651.883242245,629.883242245,653,0.43163475914,0.00458602300543,0.0699537364824,0.99999999133,8.90331025584e-05,-8.17405897926e-05,-5.22726568698e-05,1793248352926297088
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.618592304,633.539530768,879.460469232,784,813,652,630,653,0.432509815499,0.00458370239505,0.0699086753427,0.999999982591,9.12198083669e-05,-0.000153612417986,-5.38607848396e-05,1793248352942963456
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.072377901,633,880,784.036188951,813,652,630,653,0.43339833485,0.00458193908045,0.0698756475607,0.999999973758,9.14079984955e-05,-0.000202400071727,-5.62323608584e-05,1793248352959630080
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.219632803,633,880,784.609816401,813,652,630,653,0.434381025745,0.00458227473783,0.0699411616946,0.999999991828,7.79530813222e-05,-8.39308780655e-05,-5.67713748049e-05,1793248352976296960
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.815544411,745.184455589,715,681,661.368911178,633,880.184455589,784.815544411,813,652,630,653,0.435350193346,0.00458265630537,0.0699965711416,0.999999995714,7.24612168541e-05,1.20057345113e-05,-5.63748387086e-05,1793248352992963584
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.238753159,745.761246841,715,681,662.522493682,633,880.761246841,784.238753159,813,652,630,653,0.436290597187,0.00458313552353,0.0700304880074,0.999999993222,8.3906705435e-05,6.0015735444e-05,-5.39883960993e-05,1793248353009629952
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.651617368,715,681.348382632,661.954852104,633,880.651617368,784,813,652,630,653,0.437205059133,0.0045814806786,0.0700358825551,0.999999991863,8.55165006319e-05,7.70686132311e-05,-5.49616265899e-05,1793248353026296576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.057175361,715,681.942824639,660.171526082,633,880.057175361,784,813,652,630,653,0.438101198505,0.00457831856497,0.0700211320557,0.999999992475,8.01794375416e-05,7.22567633919e-05,-5.83077627886e-05,1793248353042963200
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.481628285,660.518371715,633,880,784,813.518371715,651.481628285,630.518371715,653,0.438882006106,0.00457984220917,0.0699625983882,0.999999995406,7.3377892172e-05,-1.95242157721e-05,-5.84977177413e-05,1793248353059629824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.908128833,633,880,784,814,651.091871167,630.908128833,653,0.43964947612,0.00458168404179,0.0699027506083,0.999999989236,6.90566511144e-05,-0.000115570966315,-5.83278772864e-05,1793248353076296448
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.334822474,633,880,784,814,651.665177526,630.334822474,653,0.440411369886,0.00458258017784,0.0698604330276,0.999999978031,7.85497240399e-05,-0.000185471649264,-5.80327019083e-05,1793248353092963072
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.245911852,660.245911852,633,880,784,814,652,630,653,0.441236158372,0.00458210388497,0.0698662993837,0.99999997942,8.30050213376e-05,-0.000175861989345,-5.78092027549e-05,1793248353109629952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.837074714,660.837074714,633,880,784,814,652,630,653,0.442149248619,0.00457970075332,0.0699398141825,0.999999993613,8.03874694904e-05,-5.46227850414e-05,-5.76863340744e-05,1793248353126296576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.420322124,633,880,784,814,652,630,653,0.442988189015,0.00458073604383,0.0699955415162,0.999999995494,7.17379782799e-05,2.44299269079e-05,-5.71700289977e-05,1793248353142963456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000553625,745,715,681.999446375,661.998892749,633,880,784,814,652,630.000553625,653,0.443798834113,0.00458307776871,0.0700444385642,0.999999992741,6.08091098323e-05,8.73383673664e-05,-5.65046928051e-05,1793248353159630080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.576131493,745,715,681.423868507,660.847737014,633,880,784,814,652,630.576131493,653,0.444521550907,0.00458362055576,0.0700279492266,0.999999994852,6.59869972721e-05,5.24067284319e-05,-5.65185567393e-05,1793248353176296448
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.154404803,681.154404803,660.154404803,633,880,784,814,652,631,653,0.445228535728,0.00458391444365,0.0700084519769,0.999999995632,7.22515097196e-05,1.83168040885e-05,-5.63903916253e-05,1793248353192963328
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.740209179,681.740209179,660.740209179,633,880,784,814,652,631,653,0.445891566341,0.00458351291944,0.0699805507624,0.999999995024,8.15520013654e-05,-1.34214180964e-05,-5.5865404335e-05,1793248353209629952
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.675791471,682,661,633,880,784,814,652,631,653,0.446545312696,0.00458013773144,0.069956385559,0.999999993928,8.28841395794e-05,-4.67421718572e-05,-5.55798010866e-05,1793248353226296576
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715.093230529,682,661,633,880,784,814,652,631,653,0.447191660654,0.00457439291667,0.0699351974766,0.999999992122,7.78665265216e-05,-8.13239973903e-05,-5.54849560801e-05,1793248353242963200
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.517106703,745,715,682,661,633,880,784,814.482893297,652,630.517106703,653,0.447784018676,0.00457696576479,0.069915641703,0.999999987903,8.15034506682e-05,-0.000120195025003,-5.57149660316e-05,1793248353259629824
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.942256521,633,880,784,815,652,630,653,0.448366971657,0.00458104709782,0.0698999540897,0.999999982873,8.75274742022e-05,-0.000153232461637,-5.58000595886e-05,1793248353276296704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.367828658,633,880,784,815,652,630,653,0.448957812135,0.00458444613118,0.0699160956959,0.999999985491,0.000100156666703,-0.000126759045682,-5.40346335851e-05,1793248353292963328
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.207224361,745,715,682,660,632.792775639,880,784,815,652,630,653,0.449533853266,0.00458689039386,0.0699332765969,0.999999987746,0.000107879430413,-0.000100052558895,-5.34740969318e-05,1793248353309629952
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.783390345,745,715,682,660,632.216609655,880,784,815,652,630,653,0.45008354562,0.00458763478534,0.0699523078532,0.999999990115,0.00010686680191,-7.29311164331e-05,-5.50587418536e-05,1793248353326296832
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,880,784,815,651.629026877,630,653,0.450574356865,0.00458880149841,0.0699429848799,0.999999988676,0.000109127542132,-8.75614032875e-05,-5.54329955907e-05,1793248353342963200
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,880,784,815,651.034566154,630,653,0.451029696058,0.00459022263334,0.0699165802971,0.99999998395,0.000113360277615,-0.000127344436162,-5.50780660881e-05,1793248353359629824
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658.916252299,632.541873851,880,784,815,651.541873851,630,653,0.451429131144,0.00459508482693,0.0698771982326,0.999999972764,0.000132086657893,-0.000185267193832,-5.19708772621e-05,1793248353376296704
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632.883053977,880.116946023,784,815,652,630,653,0.451822632075,0.00459979618609,0.0698410157706,0.999999959817,0.00014738065343,-0.000236953788992,-4.9974150546e-05,1793248353392963072
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632.308979534,880.691020466,784,815,652,630,653,0.452206428109,0.00460308754798,0.0698204719279,0.999999954203,0.00014576022244,-0.000259886447588,-5.29822726712e-05,1793248353409629696
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657.725926102,632,880.725926102,784,815,652,630,652.725926102,0.452578118095,0.0046056512156,0.0698092573373,0.999999951258,0.000143827164651,-0.000271428796884,-5.58967336985e-05,1793248353426296576
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.132407306,632,880.132407306,784,815,652,630,652.132407306,0.452935697936,0.00460736672411,0.0698089163918,0.999999951894,0.000141529727068,-0.000269695250287,-5.87020285385e-05,1793248353442963200
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.5524025,745,715,682,656.5524025,632,880,783.5524025,815,652,630,652.4475975,0.453269898256,0.00461130286009,0.069810439955,0.99999995286,0.000134185115556,-0.000269338799504,-6.1074631292e-05,1793248353459629568
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023702914,745,715,682,656,631.976297086,880.023702914,783,815,652,630,653,0.453595488384,0.0046158616568,0.0698125772066,0.999999954084,0.000123878827574,-0.000269237772521,-6.32196162071e-05,1793248353476296448
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.599368996,745,715,682,656,631.400631004,880.599368996,783,815,652,630,653,0.453876908256,0.00462007142611,0.0698165377692,0.999999959603,7.83539338789e-05,-0.00026587644856,-6.29574275742e-05,1793248353492963072
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.178073568,715,682,656,631.178073568,881,783.178073568,815,652,630,653,0.454140435893,0.00462380507394,0.0698172375038,0.999999960921,5.63746838936e-05,-0.00026705329135,-6.05209944662e-05,1793248353509629696
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.763732738,715,682,656,631.763732738,881,783.763732738,815,652,630,653,0.454363010661,0.00462644894539,0.0698104736569,0.999999955879,8.82881405563e-05,-0.000278617367303,-5.31080187221e-05,1793248353526296576
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.652561576,715,682.347438424,656,632,880.652561576,783.652561576,815,652,630,653,0.454574131299,0.00462923048018,0.0698046372083,0.999999951239,0.000108949329307,-0.000288484749393,-4.92873364055e-05,1793248353542963456
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.070176825,715,682.929823175,656,632,880.070176825,783.070176825,815,652,630,653,0.454777506396,0.00463210510654,0.0697994278882,0.999999947245,0.000122001463594,-0.000297204787024,-4.78958497001e-05,1793248353559630848
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,683,655.495886975,631.495886975,880.504113025,783.504113025,815,652,630.504113025,653,0.454942882056,0.00463125819809,0.0697893927104,0.999999941237,0.000124363073269,-0.000315799229755,-4.82832358526e-05,1793248353576297472
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682.922040355,654.922040355,631,880.922040355,783.922040355,815,652,630.922040355,653,0.455099238541,0.00463038313414,0.0697796981479,0.999999934942,0.000125981022243,-0.000334445881569,-4.88969205106e-05,1793248353592964096
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,682.343921703,654.343921703,631,880.343921703,783.343921703,815,652,630.343921703,653,0.455231132821,0.00463259863963,0.069776430735,0.999999930613,0.000132224833324,-0.000344747958381,-4.93988317739e-05,1793248353609630208
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682,654.238082196,631,880.238082196,783,815,652,630,653,0.455354431595,0.00463418760843,0.0697737067948,0.999999927397,0.000136371385548,-0.000352303119137,-4.99034429182e-05,1793248353626296576
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,682,654.825791605,631,880.825791605,783,815,652,630,653,0.455465107736,0.00463485649875,0.0697717809525,0.999999925979,0.000137438081881,-0.000355824392622,-5.04120188552e-05,1793248353642963200
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655,631,880.590275998,783.409724002,815,652,630,653,0.455565078246,0.00463690686465,0.0697727931078,0.999999925886,0.000138783283401,-0.00035545751727,-5.11608608473e-05,1793248353659629824
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,682,655,631,880.007934875,783.992065125,815,652,630,653,0.455660538461,0.00463953924755,0.0697750430443,0.999999926349,0.000140245819398,-0.000353452560931,-5.20109271495e-05,1793248353676296704
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.564837814,715,682.564837814,654.435162186,631,880,783.435162186,815,652,630.564837814,653,0.455732028356,0.00463822783859,0.0697769197269,0.999999926798,0.000141083036654,-0.00035193302699,-5.1402378134e-05,1793248353692963072
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.859073462,715,682.859073462,654.140926538,631,880.140926538,783.140926538,815,652,630.859073462,653,0.455797749643,0.00463745465343,0.0697777155243,0.999999926819,0.000142245742072,-0.000351456781511,-5.10577665147e-05,1793248353709629696
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.272070173,715,682.272070173,654.727929827,631,880.727929827,783.727929827,815,652,630.272070173,653,0.455846259585,0.00463855756134,0.0697751063008,0.999999925482,0.00014446606215,-0.000354261646488,-5.16123788888e-05,1793248353726296576
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,654.689249348,631,881,783.689249348,815,652,630,653,0.455887042217,0.00463874115725,0.0697716251081,0.999999923928,0.000144620214821,-0.000358521758902,-5.1871157755e-05,1793248353742963456
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,654.110041681,631,881,783.110041681,815,652,630,653,0.455921149242,0.00463813056106,0.0697673906221,0.999999922169,0.000142989408875,-0.000364039057658,-5.18743665668e-05,1793248353759630080
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,682.469240949,654.469240949,631,881,783.469240949,815,652,630.469240949,653,0.455944843893,0.00464087626784,0.0697651665879,0.999999920258,0.000145883823643,-0.000368055934197,-5.23045260013e-05,1793248353776296448
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682.951167276,654.951167276,631,880.951167276,783.951167276,815,651.951167276,630.951167276,653,0.455965269346,0.00464402838522,0.0697632526699,0.999999918298,0.000149577870091,-0.000371819739906,-5.27396739009e-05,1793248353792963072
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,682.368387094,654.368387094,631,880.368387094,783.368387094,815,651.368387094,630.368387094,653,0.455976652194,0.00464301673808,0.0697595736398,0.999999916391,0.000150409918835,-0.000376664388411,-5.21344130118e-05,1793248353809629696
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,682,654,631,880.213283116,783,815,651.213283116,630,653,0.455986759094,0.00464219912683,0.0697568255159,0.999999915019,0.000150710413487,-0.000380226593214,-5.17364110105e-05,1793248353826296576
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,682,654,631,880.793046052,783,815,651.793046052,630,653,0.455994673559,0.00464171492334,0.0697556769488,0.999999914596,0.00015009755006,-0.000381585202137,-5.16945375638e-05,1793248353842963200
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.37233771,745,715,682.37233771,654,631,881,783,815,652,630.37233771,653,0.455999092488,0.00464129627955,0.0697537853255,0.999999913975,0.000148258764858,-0.000383916368064,-5.17475326808e-05,1793248353859629568
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.951367733,745,715,682.951367733,654,631,881,783,815,652,630.951367733,653,0.456001570972,0.0046409140293,0.0697514812165,0.999999913233,0.000145739445307,-0.000386787420316,-5.18531912874e-05,1793248353876296192
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.472083529,745,715,682.472083529,654,631,881,783,815,652,631,653,0.456003469839,0.00464159836887,0.0697518682749,0.999999912628,0.000147961202273,-0.000387551957353,-5.15196859475e-05,1793248353892963328
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,654,631,880.896335952,783,815,652,630.896335952,653,0.456004703849,0.00464239707386,0.0697518569018,0.999999911826,0.000150320967688,-0.000388755795989,-5.11863538697e-05,1793248353909629952
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,654,631,880.323186572,783,815,652,630.323186572,653,0.456003167465,0.00464327082087,0.0697489235416,0.999999910091,0.000151336996354,-0.000392823937354,-5.10361723891e-05,1793248353926296576
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.258444202,715,682,653.741555798,631,880.258444202,783,815,652,630.258444202,653,0.456003170354,0.00464315119819,0.0697471479075,0.999999909199,0.000151850810929,-0.000394931946609,-5.07074509246e-05,1793248353942962944
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.851040978,715,682,653.148959022,631,880.851040978,783,815,652,630.851040978,653,0.456005163428,0.00464174720926,0.0697468691419,0.999999909416,0.000151715293486,-0.000394505625278,-5.01478881415e-05,1793248353959629568
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.567117854,715,682,653.432882146,631,880.567117854,783,814.567117854,652,631,653,0.456004791684,0.00464245699612,0.0697461181137,0.999999908823,0.000151970183853,-0.000395894689141,-5.02687116701e-05,1793248353976296448
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682.011057039,653.988942961,631,880,783.011057039,814.011057039,652,630.988942961,653,0.456003639356,0.00464385335173,0.0697452199165,0.999999907972,0.000152326709498,-0.00039785981933,-5.06053888937e-05,1793248353992963072
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682.58643207,653.41356793,631,880,783.58643207,814.58643207,652,630.41356793,653,0.456003173221,0.00464406729092,0.0697449036029,0.999999908059,0.000151180152448,-0.000398116209873,-5.02991167203e-05,1793248354009629952
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,683,653,630.835059048,880,783.835059048,814.835059048,652,630,653,0.456003389173,0.00464411835371,0.0697446376884,0.999999908086,0.000150854654357,-0.000398197072674,-5.0098475226e-05,1793248354026296832
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,683,653,630.24854029,880,783.24854029,814.24854029,652,630,653,0.456005348489,0.00464375311553,0.0697445005906,0.99999990796,0.000152627726938,-0.000397829298544,-5.01678185485e-05,1793248354042963456
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,683,653.334526097,630.334526097,880,783,814,652,630,653,0.456005019171,0.00464384920166,0.0697439448952,0.999999907439,0.000152800711942,-0.000399066336278,-5.0192795552e-05,1793248354059630080
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,683,653.915053677,630.915053677,880,783,814,652,630,653,0.456003006854,0.00464428453328,0.0697430813745,0.999999906625,0.000151797035554,-0.000401483509454,-5.01851467562e-05,1793248354076296448
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682.50603281,653.50603281,631,880,783,814.49396719,652,630,653,0.456002589264,0.00464317938776,0.0697423035724,0.999999905959,0.000152997835695,-0.000402721344725,-4.98843913413e-05,1793248354092963328
+245,4.083333333,HOLD_POSE2,766,745,714,682,653,631,880,783,815,652,630,652,0.456003089477,0.00463973353124,0.0697418488056,0.999999907159,0.000144926204789,-0.000402743038931,-4.97647099023e-05,1793248354136604160
+246,4.100000000,HOLD_POSE2,766,745,714.588785314,682,653.588785314,631,880.588785314,783.588785314,815,652,630,652,0.456001860241,0.0046429510494,0.0697402673229,0.999999905547,0.000149898186017,-0.000404918533462,-4.97645333434e-05,1793248354153270784
+247,4.116666667,HOLD_POSE2,766,745,715,682.174928826,654,631,881,783.825071174,815,652,630,652.174928826,0.456001385774,0.00464459407645,0.0697394607311,0.999999904664,0.000152803382254,-0.000406007325371,-4.9805204508e-05,1793248354169937408
+248,4.133333333,HOLD_POSE2,766,745,715,682.754954618,654,631,881,783.245045382,815,652,630,652.754954618,0.456002659188,0.00464259092655,0.0697404486169,0.999999905522,0.00015092235675,-0.000404579551749,-4.99404700838e-05,1793248354186604032
+249,4.150000000,HOLD_POSE2,766,745,714.667179918,683,654,631,881,783,815,652,630,653,0.456003815896,0.00464184327582,0.0697415459258,0.999999906209,0.000149377418722,-0.000403465902624,-4.98449608451e-05,1793248354203270400
+250,4.166666667,HOLD_POSE2,766,745,714.090894814,683,654,631,881,783,815,652,630,653,0.456004887232,0.00464201404976,0.0697427232799,0.999999906771,0.000148078336001,-0.000402582042386,-4.95806348764e-05,1793248354219937024
+251,4.183333333,HOLD_POSE2,766,745.484499088,714.484499088,683,653.515500912,631,880.515500912,783,815,652.484499088,630,653,0.456003769811,0.00464175370242,0.0697407125754,0.999999905867,0.000147650246189,-0.000404947101731,-4.98306465335e-05,1793248354236603904
+252,4.200000000,HOLD_POSE2,766,745.938731865,714.938731865,682.938731865,653,630.938731865,880,783.061268135,815,652.938731865,630,653,0.456002460782,0.0046415354452,0.0697384854366,0.999999904829,0.000147583855172,-0.000407488598707,-5.0139008954e-05,1793248354253270528
+253,4.216666667,HOLD_POSE2,766,745.348653377,714.348653377,682.348653377,653,630.348653377,880,783.651346623,815,652.348653377,630,653,0.456003035582,0.00464237727863,0.0697395429909,0.999999905068,0.000149231558678,-0.00040630181969,-5.01196943503e-05,1793248354269937152
+254,4.233333333,HOLD_POSE2,766,745,714,682.236352905,653.236352905,630.236352905,880,783.763647095,815,652,630,653,0.456003328603,0.00464314767761,0.0697402039988,0.999999905063,0.000150819985901,-0.000405744802925,-4.99867996934e-05,1793248354286604032
+255,4.250000000,HOLD_POSE2,766,745,714,682.814034125,653.814034125,630.814034125,880,783.185965875,815,652,630,653,0.456003214691,0.00464381491469,0.0697402923353,0.999999904707,0.000152322809326,-0.000406097255468,-4.96898787574e-05,1793248354303270912
+256,4.266666667,HOLD_POSE2,766,745,714.390490537,682.609509463,654,631,880.390490537,783,815,652,630,653,0.456002743507,0.00464340388125,0.0697398622903,0.999999904637,0.000151477141351,-0.00040660929412,-4.94832909109e-05,1793248354319937536
+257,4.283333333,HOLD_POSE2,766,745,714.966365527,682.033634473,654,631,880.966365527,783,815,652,630,653,0.456002102708,0.0046424809415,0.0697391861449,0.999999904701,0.000149516532816,-0.000407197095929,-4.93195884568e-05,1793248354336604160
+258,4.300000000,HOLD_POSE2,766,745,715,682,653.446114879,630.446114879,880.446114879,783.553885121,814.446114879,652,630,653,0.45600301138,0.00464372952168,0.0697393029533,0.999999904574,0.000151057344234,-0.000406914744262,-4.95468111724e-05,1793248354353270784
+259,4.316666667,HOLD_POSE2,766,745,715,682.139962855,653,630.139962855,880,784,814.139962855,652,630,653,0.456003834452,0.00464440641979,0.0697393687902,0.99999990449,0.000152258317637,-0.000406658411399,-4.96585948089e-05,1793248354369937408
+260,4.333333333,HOLD_POSE2,766,745,715,682.719247766,653,630.719247766,880,784,814.719247766,652,630,653,0.456004087156,0.00464286610346,0.0697391202486,0.999999904592,0.000151710870136,-0.000406653165197,-4.93319202524e-05,1793248354386604032
+261,4.350000000,HOLD_POSE2,766,745,715,683,653.296715706,631,880,783.703284294,815,652,630,653,0.456003475205,0.00464323377233,0.0697389226164,0.999999904279,0.00015169498102,-0.000407417448111,-4.94031081241e-05,1793248354403270656
+262,4.366666667,HOLD_POSE2,766,745,715,683,653.872474858,631,880,783.127525142,815,652,630,653,0.456002050097,0.0046453957877,0.0697387728613,0.999999903577,0.000152178990933,-0.000408905427316,-4.98484619285e-05,1793248354419937280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,881,783,815,652,630,653,0.456003616254,0.00464310786215,0.0697376860053,0.999999903635,0.000154633614803,-0.000407920154695,-4.91947331712e-05,1793248354452585984
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.589683624,653,631,881,783,815,652,630,653,0.456003070731,0.00464298265537,0.0697373150791,0.999999903702,0.000152070607688,-0.000408699042101,-4.93470143313e-05,1793248354469252608
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,653,631,880.823677503,783,815,652,630,653,0.456002645269,0.00464295997956,0.0697370270638,0.999999903616,0.000150837555579,-0.000409355737044,-4.94427943461e-05,1793248354485919232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,653,631,880.244003619,783,815,652,630,653,0.456002494459,0.00464317185126,0.0697369287134,0.999999903188,0.000152646878183,-0.000409732907414,-4.94093236399e-05,1793248354502585856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.668734688,682.668734688,653,631,880,783,815,652,630,653,0.456002616582,0.0046423165079,0.0697372542686,0.999999903337,0.000152688970498,-0.000409366925618,-4.92953210069e-05,1793248354519252736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.096667818,682.096667818,653,631,880,783,815,652,630,653,0.456002937103,0.00464068539042,0.0697378879671,0.999999903905,0.000151446437377,-0.000408460735712,-4.912277855e-05,1793248354535919360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.489455614,682,653,631,880.489455614,783,814.510544386,652,630,653,0.456001974284,0.00464257256038,0.0697368317165,0.999999903126,0.000152154423881,-0.000410031175135,-4.97111713399e-05,1793248354552585984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.92275833,745,714.92275833,682.07724167,653,631,881,783,814.07724167,652,630,653,0.456000600058,0.00464458314912,0.0697354666958,0.999999902136,0.000153019583534,-0.00041205489567,-5.02437984244e-05,1793248354569252608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.342754635,745,714.342754635,682.657245365,653,631,881,783,814.657245365,652,630,653,0.455998246551,0.00464274049867,0.0697343286074,0.999999901583,0.00015232620013,-0.000413751101569,-4.94063273699e-05,1793248354585919232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.236067493,745,714.236067493,682.763932507,653,631,881,783.236067493,815,652,630,653,0.455989663945,0.00464216025364,0.0697299269979,0.999999899073,0.000151933387003,-0.000419945334809,-4.91515196266e-05,1793248354602586112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.813182559,745,714.813182559,682.186817441,653,631,881,783.813182559,815,652,630,653,0.455972082135,0.00464340381051,0.0697208105678,0.999999893627,0.000151974808899,-0.000432637884441,-4.97384877716e-05,1793248354619252736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,880.61077054,784,815,652,630.38922946,653,0.455937060636,0.00464362844968,0.0697058337728,0.999999882541,0.000151605353273,-0.000457685839372,-4.95644553475e-05,1793248354635919616
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,880.552719139,783.447280861,815,652,631,653,0.455832129505,0.00464304440738,0.0696682560788,0.999999854528,0.000151883658106,-0.000515247706855,-4.89359067417e-05,1793248354669252864
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.553446989,682.446553011,653,631,880.553446989,783,815,652,630.553446989,652.446553011,0.455420165454,0.00464517559913,0.0696424805664,0.999999833652,0.000162653719068,-0.000551642664125,-4.39404848521e-05,1793248354752586240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.020681566,683,653.020681566,631,880,783.020681566,815,652,630,653,0.455306060472,0.00464535494854,0.0696411087629,0.999999831675,0.000164357041448,-0.000554875576835,-4.1829223884e-05,1793248354769252864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.613299652,683,653.613299652,631,880,783.613299652,815,652,630,653,0.455166789221,0.0046450512012,0.0696382913412,0.999999827696,0.000169992332395,-0.000560522065694,-3.90471495688e-05,1793248354785919488
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.799262616,654,631,880,783.799262616,815,652,630,653,0.4550166717,0.00464406552832,0.0696356554102,0.999999824975,0.000173360450799,-0.000564513116703,-3.63593814923e-05,1793248354802586112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.221553323,654,631,880,783.221553323,815,652,630,653,0.454846185599,0.00464179924315,0.0696333603075,0.999999824718,0.000172470964203,-0.000565395361211,-3.38487147908e-05,1793248354819252736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880,783.35473786,814.64526214,651.64526214,630,653,0.454663606254,0.00464220379407,0.0696348389007,0.999999826791,0.000176577622616,-0.000560590344575,-3.12575491777e-05,1793248354835919360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,880,783.930146939,814.069853061,651.069853061,630,653,0.454473504066,0.00464426978755,0.0696386649907,0.999999830212,0.000183792224935,-0.000552247462441,-2.86163074868e-05,1793248354852585984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.51727143,654.51727143,631,880.51727143,784,814.51727143,651.51727143,630,653,0.45425503113,0.0046434751724,0.0696428485622,0.99999983309,0.000187341701608,-0.000545982854435,-2.5014003419e-05,1793248354869252864
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.895567293,745,715,683,655,631,880.895567293,784,814.895567293,652,630,653,0.454024488044,0.00464231793416,0.0696472330184,0.999999835963,0.000190755129948,-0.000539668321105,-2.10789757356e-05,1793248354885919488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.315609056,745,715,683,655,631,880.315609056,784,814.315609056,652,630,653,0.453756833901,0.0046413092707,0.069652307278,0.999999839273,0.000195854984587,-0.000531818911143,-1.62335692277e-05,1793248354902586112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.262274908,745,715,683,655,631,880,784,814.262274908,652,630,653,0.453464800584,0.00463915660997,0.0696529050489,0.999999840015,0.000200733912436,-0.000528726271187,-1.11391965272e-05,1793248354919252736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.837682343,745,715,683,655,631,880,784,814.837682343,652,630,653,0.453143660756,0.00463563811997,0.0696481582968,0.999999837753,0.000205349073381,-0.000531312785033,-5.74758099511e-06,1793248354935919360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.58869737,745.41130263,715,682.58869737,655.41130263,631,880,784,814.58869737,652,630,653,0.452791255972,0.00463462241031,0.0696416894364,0.999999830488,0.000212593008579,-0.000542059853676,-3.24500543237e-07,1793248354952586240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.015779331,745.984220669,715,682.015779331,655.984220669,631,880,784,814.015779331,652,630,653,0.452426566084,0.004634590132,0.0696345438987,0.99999982102,0.000220869882369,-0.000556013493896,5.11094346588e-06,1793248354969252864
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.573971088,745.426028912,715,682,656,631.573971088,880,784,814,652,630,653,0.452037416584,0.00463233595025,0.0696291426119,0.999999814664,0.000227039753726,-0.000564803113415,1.10384639446e-05,1793248354985919488
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.838259095,745.161740905,715,682,656.161740905,632,880.161740905,784,813.838259095,651.838259095,630.161740905,653,0.451631218384,0.00463003121495,0.0696264813912,0.999999809694,0.000232137895949,-0.000571349417038,1.6837776883e-05,1793248355002586112
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.25686516,745.74313484,715,682,656.74313484,632,880.74313484,784,813.25686516,651.25686516,630.74313484,653,0.451182583083,0.00462775858925,0.0696308013727,0.999999808379,0.00023461016037,-0.00057245468646,2.22682815355e-05,1793248355019252736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.321655891,745.678344109,715,682,657.321655891,632,881,784,813.321655891,651,631,652.678344109,0.450718677996,0.00462214294071,0.069642331315,0.999999815535,0.000233195721474,-0.000560191130451,2.71194450941e-05,1793248355035919360
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.897903112,745.102096888,715,682,657.897903112,632,881,784,813.897903112,651,631,652.102096888,0.450242686793,0.00461388128214,0.0696595679572,0.99999982898,0.000228704948702,-0.000537346120212,3.15120595023e-05,1793248355052586240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.530335764,745,715,682,658,632,880.530335764,784,814,651.469664236,631,652,0.44975435653,0.00460833543101,0.0696793923393,0.999999854343,0.000177894383487,-0.000509306664951,1.65733203732e-05,1793248355069253632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.04223472,658,632.04223472,880,784,813.95776528,652,630.95776528,652.04223472,0.449261615667,0.0046037423439,0.06970108239,0.999999878694,0.000121565957821,-0.000477318841864,-8.74085060337e-07,1793248355085921280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.638076521,658,632.638076521,880,784,813.361923479,652,630.361923479,652.638076521,0.448745887387,0.00460397268672,0.0697399235892,0.999999909021,0.000123646072037,-0.000408237477297,3.3572861684e-06,1793248355102587904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.226351878,745,714.773648122,682.773648122,658.452703756,633,880,784,813,652,630,652.773648122,0.448198407287,0.00460330992773,0.0697725910161,0.999999929449,0.000126270327084,-0.000353671437403,8.66177372193e-06,1793248355119254272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.802920234,745,714.197079766,682.197079766,659.605840467,633,880,784,813,652,630,652.197079766,0.447601800119,0.00460126534245,0.0697957062477,0.99999993976,0.000129736489007,-0.000321563825281,1.5626609621e-05,1793248355135920640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.61626208,745,714.38373792,682,659.61626208,633,880,784,812.61626208,652,630,652.38373792,0.446946202387,0.00459878536761,0.0697836695538,0.999999933865,0.00012662651055,-0.000340332539203,2.02114715894e-05,1793248355152587264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.033237607,745,714.966762393,682,659.033237607,633,880,784,812.033237607,652,630,652.966762393,0.446259969113,0.00459607928204,0.0697533774154,0.999999918196,0.000120101345878,-0.000385522847953,2.35603418308e-05,1793248355169253888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.533542948,745,715,682,659,633,880,784,812,652,630,652.466457052,0.445565183252,0.00459569877091,0.0697479314869,0.999999920185,8.93185052311e-05,-0.000389032493593,1.75150602294e-05,1793248355185920512
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.895929526,745,715,682,659.208140949,633,879.895929526,784,812,651.895929526,630,652,0.444870166011,0.00459449290209,0.0697493113176,0.999999925509,6.11831761312e-05,-0.000380880528406,1.30172129499e-05,1793248355202586880
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.303197173,745,715,682,660.393605653,633,879.303197173,784,812,651.303197173,630,652,0.444176490338,0.00458875141855,0.0697756883926,0.999999944074,5.23651969675e-05,-0.00032980338908,1.84520284679e-05,1793248355219253760
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.281789852,660.436420295,633,879.281789852,784,812,651.281789852,630,652.281789852,0.443445245339,0.00458600056346,0.0697973298544,0.999999954643,4.11649906577e-05,-0.000297550431242,2.19968777865e-05,1793248355235920384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.858666152,659.282667697,633,879.858666152,784,812,651.858666152,630,652.858666152,0.442674658173,0.00458638145253,0.0698140122509,0.99999995873,2.74701479504e-05,-0.000285009890977,2.35625812711e-05,1793248355252587264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.565603621,659.434396379,633,880,784,812,652,630,653,0.441872738562,0.0045835813131,0.069817469589,0.999999950329,0.000139623743947,-0.000281491062637,2.46798141322e-05,1793248355269253632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.009980325,745,715,682,660.009980325,633,880,784,812,651.990019675,630,653,0.441060900936,0.00457976251422,0.0698167967955,0.999999918357,0.000289684991342,-0.000280554237725,2.56631404162e-05,1793248355285920512
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.59864835,745,715,682,660.59864835,633,880,784,812,651.40135165,630,653,0.440263520667,0.00457673149579,0.0698254829954,0.999999929528,0.000269842092484,-0.000259581837204,2.7320403272e-05,1793248355302586880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.81540098,745,715,682,660.81540098,633,880,784,812,651,630,653,0.439424342135,0.00457384225543,0.0698132951553,0.999999930917,0.000247366426638,-0.000276009063515,2.81844509517e-05,1793248355319253248
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.235272662,745,715,682,660.235272662,633,880,784,812,651,630,653,0.438495605007,0.00457125679467,0.0697563817554,0.999999906187,0.000219249688014,-0.000372570237578,2.73489235795e-05,1793248355335920128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.342984368,659.314031264,633,880,784,812,651.342984368,630,652.657015632,0.437592352535,0.00456682048876,0.0697183409709,0.999999890215,0.000187768518133,-0.000428488018502,2.66776457189e-05,1793248355352586752
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.919964715,658.16007057,633,880,784,812,651.919964715,630,652.080035285,0.436706486628,0.00456112147141,0.0696931757497,0.999999883525,0.000153992016989,-0.000456677446859,2.61184247669e-05,1793248355369253632
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.985123432,633,880,784.492561716,812,652,630,652.492561716,0.435837811077,0.00455821771957,0.0697373894071,0.999999914479,0.000131712321085,-0.000391049235341,2.78421727789e-05,1793248355385920256
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.066874861,745,715,683,659.933125139,633,880,785,812,652,630,653,0.43497133047,0.00455516487531,0.0697902602621,0.999999943465,0.000113088930598,-0.000315247232705,3.00103283133e-05,1793248355402586880
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.660256953,745,715,683,659.339743047,633,880,785,812,652,630,653,0.43410033404,0.00454739386614,0.0698233179235,0.99999995483,0.000108673937665,-0.000278306296843,3.27825406556e-05,1793248355419253504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.752900994,659.247099006,633,880,784.752900994,811.752900994,652,630,652.752900994,0.433217784529,0.00453953388786,0.0698451043765,0.999999963342,0.000103069457537,-0.000248063427182,3.40059714653e-05,1793248355435920128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.174819078,659.825180922,633,880,784.174819078,811.174819078,652,630,652.174819078,0.432319759831,0.0045315547366,0.0698517933334,0.999999969137,9.58716886969e-05,-0.00022679244404,3.3154848749e-05,1793248355452586752
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,880,784,811,652,630,652.405244971,0.431341969691,0.00452957329326,0.0698178271058,0.999999954381,9.2899546947e-05,-0.000285477051849,3.33337802136e-05,1793248355469253376
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,880,784,811,652,630,652.986168262,0.430329600376,0.00453019192526,0.069766236391,0.99999992346,9.17592625362e-05,-0.000378823320287,3.39592517334e-05,1793248355485920000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.432239664,633,879.432239664,784,811,652,630,652.432239664,0.4293542367,0.00452079765954,0.0697230783373,0.999999900802,8.44605311979e-05,-0.000436136555289,3.23636644201e-05,1793248355502586880
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.850899483,745,715,682,659.149100517,633,879,784.149100517,811,652,630,652,0.42840766192,0.00451152956397,0.069710777556,0.999999896336,7.46681912408e-05,-0.000448042159816,3.18004360706e-05,1793248355519253504
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.270335458,745,715,682,659.729664542,633,879,784.729664542,811,652,630,652,0.427541783913,0.00450333329857,0.0697871756268,0.999999942911,5.80945766977e-05,-0.000331091497145,3.43813882597e-05,1793248355535919616
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.307331863,745,715,682,660.307331863,633,879,784.692668137,811,651.692668137,629.692668137,652,0.426659150273,0.00449797996963,0.0698373166816,0.999999964878,5.52875099804e-05,-0.000256678726285,3.60936400749e-05,1793248355552586240
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.882474943,745,715,682,660.882474943,633,879,784.117525057,811,651.117525057,629.117525057,652,0.425761915698,0.00449510399659,0.069864577178,0.999999973181,6.44767143114e-05,-0.0002193337918,3.70489002115e-05,1793248355569252864
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.542450174,745,715,682,659.627350521,633,879.457549826,784,811,651,629,652.457549826,0.424830862595,0.00448449616518,0.069852469809,0.999999970048,4.60776338001e-05,-0.000237675454852,3.59411536394e-05,1793248355585919488
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.067159083,633,879.966420459,784,811,651.033579541,629.033579541,653,0.423886611626,0.00447253768817,0.0698277578766,0.999999961282,2.19898500803e-05,-0.000275250907303,3.44767200442e-05,1793248355602586112
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.251568751,633,879.374215625,784,811,651.625784375,629.625784375,653,0.422867290379,0.00447114373481,0.0697615537048,0.999999921167,2.11340377316e-05,-0.000394881257306,3.5892501507e-05,1793248355619252736
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.212671055,745,715,681.787328945,659.574657889,633,879.212671055,784,810.787328945,652,629.787328945,653,0.421882693572,0.00446624613987,0.0697100811155,0.999999881737,2.14259963237e-05,-0.000484469708065,3.68158914356e-05,1793248355635919616
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.790428312,745,715,681.209571688,658.419143376,633,879.790428312,784,810.209571688,652,629.209571688,653,0.420957707032,0.00445533394533,0.0696838977936,0.999999862543,2.36883000956e-05,-0.000522486133192,3.68940080861e-05,1793248355652586240
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.633579923,745,715,681,658.366420077,633,879.633579923,784,810,652,629.366420077,653,0.420129190689,0.00444649630262,0.0697258080858,0.999999898752,5.21900384403e-06,-0.00044855591293,3.55989576162e-05,1793248355669252864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.058593113,745,715,681,658.941406887,633,879.058593113,784,810,652,629.941406887,653,0.419355585351,0.00443883949788,0.0698064773438,0.999999950793,-2.50507434884e-05,-0.000310905522524,3.35222982595e-05,1793248355685919488
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.051778583,633.525889292,878.474110708,784,810.525889292,652,629.474110708,652.474110708,0.418544973099,0.00443474554918,0.069856587169,0.999999970547,-2.96838154942e-05,-0.000238100497168,3.65164674032e-05,1793248355702586112
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.667195482,633.889065161,878.110934839,784,811,652,629,652,0.417719435256,0.00442981405646,0.0698868724824,0.999999979566,-2.97683223522e-05,-0.000196069504205,3.92279158586e-05,1793248355719252736
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.918622274,633.306207425,878.693792575,784,811,652,629,652,0.416848266031,0.00441959984891,0.0698475739803,0.999999966835,-2.28775625463e-05,-0.000253652698406,3.82890145636e-05,1793248355735919360
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.273065276,878.726934724,784,810.726934724,652,629,652,0.415995723624,0.00442356505362,0.0698138241622,0.999999954444,-1.64149375069e-05,-0.000299101749367,3.7151661651e-05,1793248355752585984
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.84836988,878.15163012,784,810.15163012,652,629,652,0.415163798165,0.00444322458712,0.0697862158472,0.999999944485,-1.04261892783e-05,-0.000331120252655,3.57946548664e-05,1793248355769252608
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.84520049,633.577399755,878.422600245,784,810.422600245,652,629,652,0.414337126778,0.00446917494142,0.0697569381236,0.999999922885,2.72085875228e-05,-0.000390149983082,3.56692458498e-05,1793248355785920000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.99289239,633.003553805,878.996446195,784,810.996446195,652,629,652,0.413512335718,0.00449737673857,0.069727062928,0.999999891181,7.61692593855e-05,-0.000458846845159,3.5984616833e-05,1793248355802587392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.588696392,745,715,681,658.822607217,633.588696392,878.411303608,784,810.411303608,652,629,652,0.412836245181,0.00448438369678,0.0697708971267,0.99999992907,5.15453893064e-05,-0.000371423539246,3.53261932819e-05,1793248355819254016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.823017432,745,715,681.176982568,658.353965136,633.823017432,878,784,810,652,629,652,0.412172181953,0.00447311432936,0.0698165646007,0.999999958305,2.82336335151e-05,-0.000285256748895,3.49474994087e-05,1793248355835920640
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.243996441,745,715,681.756003559,659.512007118,633.243996441,878,784,810,652,629,652,0.411533335188,0.00446634364933,0.0698653531884,0.9999999785,8.94415331339e-06,-0.000204154280709,3.52180321774e-05,1793248355852587008
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.336506903,659.336506903,633,877.668253451,784.331746549,810,652,629,652.331746549,0.410869128885,0.00446182322758,0.0698768495962,0.999999981444,1.34524815817e-05,-0.000188911687017,3.52562594361e-05,1793248355869253120
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.189795689,658.189795689,633,877.094897845,784.905102155,810,652,629,652.905102155,0.410186453418,0.0044589416561,0.069861186326,0.999999974199,3.52926147797e-05,-0.000221634457384,3.51253000274e-05,1793248355885919744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.479108901,657.520891099,633.479108901,877.479108901,784.520891099,810.479108901,652,629,653,0.409518791383,0.00445702286874,0.0698193226716,0.999999956074,2.12327708346e-05,-0.000293642831661,3.42698715662e-05,1793248355902586624
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.054869208,745,715,680.945130792,657.109738416,633.945130792,877.945130792,784,810.945130792,652,629,652.945130792,0.408860672475,0.004456431731,0.0697758102768,0.99999993218,2.62722220092e-06,-0.000366784840776,3.31861777374e-05,1793248355919253504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.646521108,745,715,680.353478892,658.293042216,633.353478892,877.353478892,784,810.353478892,652,629,652.353478892,0.408266781981,0.00446696077345,0.0697670065417,0.999999929235,9.21019292535e-06,-0.000374788905868,3.12751087682e-05,1793248355935920384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.766864715,745,715,680.233135285,659,633.233135285,877.233135285,784,810,652,629,652,0.407706424147,0.00447484512878,0.0697717419373,0.999999933228,2.47512238282e-05,-0.000363318121611,3.05193675176e-05,1793248355952587264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.18772721,745,715,680.81227279,659,633.81227279,877.81227279,784,810,652,629,652,0.407195833072,0.00447880443331,0.0697965711143,0.999999945922,5.35871473505e-05,-0.000322944198794,3.14782787092e-05,1793248355969254144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.610890344,658.610890344,634,877.610890344,784,810,652,628.610890344,652,0.406688851878,0.00447693360448,0.0698053326656,0.999999948418,5.02980684781e-05,-0.000315595910099,3.21317045169e-05,1793248355985920768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.035156854,658.035156854,634,877.035156854,784,810,652,628.035156854,652,0.406183602001,0.00447226654151,0.0698063879033,0.999999946452,3.16012760511e-05,-0.000324087292909,3.26386142604e-05,1793248356002587392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.551238046,745,715,680,658,634,878.102476092,784,810,652,628,652,0.405731014857,0.00447466178473,0.069800147721,0.999999941563,2.54896208346e-05,-0.00033942667568,3.18367215126e-05,1793248356019253760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715.136385547,680,658,634,878.863614453,784,810,652,628,652,0.405296884113,0.00447822331207,0.0697988677197,0.999999940413,2.33484197087e-05,-0.000343030771129,3.09548000773e-05,1793248356035920128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715.715236889,680,658,634,878.284763111,784,810,652,628,652,0.404911518651,0.00448407844806,0.0698152189426,0.999999951893,3.14329234987e-05,-0.000307118057201,3.00893927594e-05,1793248356052586752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.707373667,745,715.707373667,680,658.292626333,634,878,784,810,652,628,652,0.404546205503,0.00448410578353,0.0698305183057,0.999999960434,3.30235100195e-05,-0.000277739056019,3.00437234299e-05,1793248356069253376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.131399803,745,715.131399803,680,658.868600197,634,878,784,810,652,628,652,0.40420030886,0.0044784901101,0.0698447991609,0.999999966692,2.832609249e-05,-0.000254686594365,3.07917993302e-05,1793248356085920256
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.445350491,745,715,680,658.554649509,634,878,784,810,652,628,652,0.403867767412,0.00447522018715,0.0698441869805,0.999999967096,1.6703407854e-05,-0.000254267284877,2.96031949096e-05,1793248356102586880
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.977251996,745,715,680,658,634,878,784,810,652,628,652,0.403540624856,0.00447268215364,0.0698390408631,0.999999965573,3.04619803118e-06,-0.000260898848443,2.78560645609e-05,1793248356119253760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.389478377,745,715,680,658,634,878,784,810,652,628,652,0.403249537332,0.00447110217778,0.0698306135518,0.999999961369,-1.03047581698e-05,-0.000276505611949,2.64538359333e-05,1793248356135920640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.804284258,877.804284258,784,809.804284258,652,628.195715742,652,0.402964759224,0.00446878128456,0.0698210806122,0.99999995627,-2.21895243162e-05,-0.000293772661693,2.57885671748e-05,1793248356152587520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.224156692,877.224156692,784,809.224156692,652,628.775843308,652,0.402692373684,0.00446500513103,0.069809376072,0.999999949768,-3.11944960429e-05,-0.000314300733337,2.65707860796e-05,1793248356169254144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.646863991,658,633.353136009,877.353136009,784,809.353136009,652,628.646863991,652,0.402455910395,0.00446436965675,0.069801486489,0.999999945983,-3.32411172452e-05,-0.000325849323334,2.74138439994e-05,1793248356185920512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.071356361,658,633.928643639,877.928643639,784,809.928643639,652,628.071356361,652,0.402242067511,0.00446571188452,0.0697959992037,0.999999944095,-3.09060290634e-05,-0.00033174348813,2.82952126514e-05,1793248356202586880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.502688678,745,715,679,658,634,878,784.502688678,810,652,628,652,0.402059268362,0.00446653948462,0.06979526391,0.999999943254,-2.61518950681e-05,-0.000334497857278,3.03069302721e-05,1793248356219253248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.92104609,745,715,679.07895391,658,634,877.92104609,785,810,652,628,652,0.401885373247,0.00446843831591,0.0697952233638,0.999999942781,-1.42912308303e-05,-0.000336424629909,3.24519015569e-05,1793248356235919872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.329007318,745,715,679.670992682,658,634,877.329007318,785,810,652,628,652,0.401740787608,0.00447777193033,0.0697953268381,0.999999942144,4.15264739814e-05,-0.000335861180942,3.44231469865e-05,1793248356252587008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.25697438,745,715,680,658,634,877.25697438,784.74302562,810,652,628,652,0.401608980255,0.00449280282815,0.0697961742047,0.999999939287,9.87879035666e-05,-0.000332334037529,3.49483680511e-05,1793248356269254144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.835379679,745,715,680,658,634,877.835379679,784.164620321,810,652,628,652,0.401493156358,0.00451496005079,0.0697979520529,0.999999934129,0.000157855182072,-0.000325099820345,3.36648602859e-05,1793248356285920512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.588021738,745,715,680,658.411978262,634,878,784,810,652,628,652,0.401393668828,0.00451622002431,0.0697981174065,0.999999938117,0.000130220152775,-0.000325939538952,2.39103936216e-05,1793248356302586880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.012141953,745,715,680,658.987858047,634,878,784,810,652,628,652,0.401300680565,0.00450916623112,0.0697976412449,0.999999943176,6.80914566102e-05,-0.000329991393279,1.0785838786e-05,1793248356319253504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.575237407,745,715,679.424762593,657.849525186,634,877.424762593,784,810,652,628.575237407,652,0.401231164231,0.00450518711913,0.0697951531372,0.999999942969,6.21899780787e-05,-0.000331729004788,1.22649523005e-05,1793248356335920384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.839308148,744.839308148,715,679.160691852,657.160691852,634,877.160691852,784.160691852,810,652.160691852,628.839308148,652,0.401168271136,0.0045038291351,0.0697945528949,0.999999943338,6.20770413672e-05,-0.000330571368254,1.39017137892e-05,1793248356352587008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.259520088,744.259520088,715,679.740479912,657.740479912,634,877.740479912,784.740479912,810,652.740479912,628.259520088,652,0.40112133345,0.00450913453131,0.0697989893634,0.999999945315,7.39025717974e-05,-0.000321992709905,1.51292938488e-05,1793248356369253376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.317754531,744.317754531,715,680,658,634,878,785,810,652.682245469,628,652,0.401083574045,0.00450806343932,0.0698034463388,0.999999947669,7.41140495395e-05,-0.000314474375427,1.66071180584e-05,1793248356385920256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.892992518,744.892992518,715,680,658,634,878,785,810,652.107007482,628,652,0.401053251996,0.0045018253399,0.0698079199318,0.999999950351,6.49144073541e-05,-0.000307815243673,1.8287720716e-05,1793248356402587392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.532545728,745,715,680,658,634,878,785,810,652,628.467454272,652,0.401029038891,0.00450598022615,0.0698092621771,0.999999951185,6.95673377981e-05,-0.000304077878047,1.80907273655e-05,1793248356419254016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.956977382,810,652,629,652,0.401006915363,0.0045116332284,0.0698100280568,0.999999951617,7.62706415371e-05,-0.000301065408328,1.75716114261e-05,1793248356435920896
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.365026063,810,652,629,652,0.400993639763,0.00450609583551,0.0698125707626,0.999999952832,6.87420112328e-05,-0.000298782339714,1.84174033155e-05,1793248356452587008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.221463731,745,715,680,657.778536269,634,878,784,810,652,629,652,0.400983482516,0.00450209853185,0.0698145263205,0.999999953796,6.34212074941e-05,-0.000296688481101,1.90363643195e-05,1793248356469253632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.799168223,745,715,680,657.200831777,634,878,784,810,652,629,652,0.400978341369,0.00450057857576,0.0698155374073,0.999999954431,6.16518562457e-05,-0.000294898980905,1.92904510481e-05,1793248356485920256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.623638439,745,715.376361561,680,657.752723122,633.623638439,878,784.376361561,810,652,629,652.376361561,0.400974415979,0.00450291728573,0.0698166497037,0.999999954833,6.47220309778e-05,-0.000292877486946,1.91657080104e-05,1793248356502586624
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.04671751,745,715.95328249,680,658.90656498,633.04671751,878,784.95328249,810,652,629,652.95328249,0.400971138453,0.0045073122409,0.0698178159337,0.999999955084,7.03711414917e-05,-0.000290732365846,1.88390903131e-05,1793248356519253248
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.539692742,745,715.460307258,680,657.920614516,633.539692742,878,784.460307258,810,652,628.460307258,652.460307258,0.400970531083,0.00450550703102,0.069819433857,0.999999955957,6.9076203236e-05,-0.000288026394834,1.88566629752e-05,1793248356535919616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.874767971,745,715,679.874767971,657.125232029,633.874767971,878,784,810,652,628.125232029,652,0.400970325956,0.00450371319372,0.0698210454518,0.999999956867,6.71922777809e-05,-0.000285294808559,1.88998189006e-05,1793248356552586240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.295419086,745,715,679.295419086,657.704580914,633.295419086,878,784,810,652,628.704580914,652,0.400970726287,0.00450394163341,0.0698224897758,0.999999957738,6.5391283285e-05,-0.000282649535962,1.89257714368e-05,1793248356569252864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.282241735,877.717758265,784,810,652,628.717758265,652,0.400971500567,0.00450379581551,0.0698237096455,0.999999958429,6.3797253457e-05,-0.000280559831927,1.89171166968e-05,1793248356585919744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.858146254,877.141853746,784,810,652,628.141853746,652,0.400972663928,0.00450326059553,0.0698246959784,0.99999995894,6.24185630035e-05,-0.000279048177484,1.88724542833e-05,1793248356602586880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.43467873,745,715,679,658,634,877,784,810,652,628.43467873,652,0.400971692688,0.00450252461297,0.0698247300368,0.999999958811,6.16693417768e-05,-0.000279682787241,1.8799333326e-05,1793248356619253504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.98833655,745,715,679.01166345,658,634,877.01166345,784,809.98833655,652,629,652,0.400970086094,0.00450176188689,0.0698244756423,0.999999958485,6.11901970931e-05,-0.000280953865908,1.87239710768e-05,1793248356635919872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.399118046,745,715,679.600881954,658,634,877.600881954,784,809.399118046,652,629,652,0.400971562615,0.00450292386026,0.0698253484535,0.999999958855,6.38979226318e-05,-0.000279008251709,1.89981761122e-05,1793248356652586240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.813325053,878,784,809.186674947,652,628.813325053,652.186674947,0.400972396956,0.00450403470359,0.0698258720187,0.999999959104,6.57201006182e-05,-0.000277681269305,1.91201696662e-05,1793248356669253120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.234723994,878,784,809.765276006,652,628.234723994,652.765276006,0.400971883034,0.00450503819877,0.0698256623381,0.999999959118,6.5683061575e-05,-0.000277653111309,1.89225935181e-05,1793248356685920256
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.34173426,745,715,679.65826574,658,633,878,784,810,652,628,652.65826574,0.400971119369,0.00450519491502,0.0698254744832,0.99999995906,6.53751586989e-05,-0.000277961777402,1.85174817827e-05,1793248356702587136
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.916729853,745,715,679.083270147,658,633,878,784,810,652,628,652.083270147,0.400970185234,0.00450477363598,0.069825301526,0.999999958952,6.48823693028e-05,-0.00027850035324,1.79707101953e-05,1793248356719254016
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.502789751,658,633,878,784,810,652,628,652,0.400970062265,0.00450383668755,0.0698253036795,0.999999959075,6.46228995186e-05,-0.000278096599692,1.83491597164e-05,1793248356735920384
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.910560635,745,715,680,657.910560635,633.089439365,878,784,810,652,628,652,0.400969970557,0.00450321943024,0.0698253471425,0.999999959148,6.48520616633e-05,-0.000277748579068,1.88006065583e-05,1793248356752587008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.330947914,745,715,680,657.330947914,633.669052086,878,784,810,652,628,652,0.400969297354,0.0045048328287,0.0698254544848,0.999999958739,6.75426358118e-05,-0.000278580565061,1.87934321439e-05,1793248356769253376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.247896139,634,878,784.247896139,809.752103861,652,628,652,0.400969890039,0.00450563933642,0.0698259088334,0.999999958855,6.86221644698e-05,-0.000277900872539,1.87648173292e-05,1793248356785919744
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.825717253,634,878,784.825717253,809.174282747,652,628,652,0.400972167493,0.00450537195349,0.0698268250126,0.999999959673,6.75575530383e-05,-0.000275209287178,1.87076674844e-05,1793248356802586624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.400904079,680,658.400904079,634,878,784.599095921,809.400904079,652,628.400904079,652,0.400972051999,0.00450526424435,0.0698271241525,0.999999959871,6.62004591689e-05,-0.000274825354651,1.85973309103e-05,1793248356819253504
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.974953158,680,658.974953158,634,878,784.025046842,809.974953158,652,628.974953158,652,0.400970903025,0.00450522549616,0.0698271568013,0.999999959802,6.471704619e-05,-0.00027543806605,1.84640237172e-05,1793248356835920384
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.436216228,680,659,634,878,784,810,652,629,652,0.400970378926,0.00450481316362,0.0698272877859,0.999999959953,6.37183244419e-05,-0.000275128347969,1.84050107905e-05,1793248356852587008
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08e7ff5a2a47102506698e5b45b09a12041c4b4a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+45,0.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+51,0.850000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+53,0.883333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+63,1.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+81,1.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..462a9998d5e3103d3e937606c7a8c118d37db6d2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ee91eb1fb3dc63fc3495e0336e6cf4b09138ef7c6da33d92bf15d3f8f734d1
+size 26064847
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb2b0aca3002173a94f2e21387345edc8f9956a0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+15,0.250000000,BASELINE,766,745,715.691787881,680,658,634,878,784,810,652,628,652.691787881,0.400972539162,0.00450527134704,0.0698296895578,0.999999961127,6.40371481381e-05,-0.00027076900996,1.81338604257e-05,1793248357258662656
+16,0.266666667,BASELINE,765.725872388,745,715.725872388,680,658,634,878,784,810,652,628,652.725872388,0.400973300794,0.00450484451841,0.0698304181582,0.999999961371,6.45009571301e-05,-0.000269743509295,1.83517686283e-05,1793248357275329280
+17,0.283333333,BASELINE,765.133084056,745,715.133084056,680,658,634,878,784,810,652,628,652.133084056,0.400974438572,0.00450487536885,0.069830811105,0.999999961557,6.51348388536e-05,-0.000268885326101,1.85763202891e-05,1793248357291995904
+18,0.300000000,BASELINE,765,745,715,679.552502101,658,634,877.552502101,784,810,652,628,652,0.400974138252,0.00450503058329,0.0698305443299,0.999999961516,6.44850768244e-05,-0.000269199579355,1.84698874572e-05,1793248357308662528
+19,0.316666667,BASELINE,765,745,715,679.024414617,658,634,877.048829234,784,810,652,628,652,0.400973475887,0.00450522144803,0.0698301109853,0.999999961421,6.34659670234e-05,-0.000269808025612,1.82637029668e-05,1793248357325329152
+20,0.333333333,BASELINE,765,745,715,679.598371633,658,634,878.196743267,784,810,652,628,652,0.400974035383,0.00450540436762,0.0698302272974,0.999999961598,6.2497865517e-05,-0.000269398480261,1.79690165773e-05,1793248357341995776
+21,0.350000000,BASELINE,765.172641343,745,715.172641343,679.827358657,658,634,878.827358657,784,810,652,628,652,0.400973653812,0.00450519746194,0.0698297113729,0.999999961435,6.18612971928e-05,-0.000270155673749,1.78374846552e-05,1793248357358662400
+22,0.366666667,BASELINE,765.747639732,745,715.747639732,679.252360268,658,634,878.252360268,784,810,652,628,652,0.400971078995,0.0045040820314,0.0698277219608,0.999999960477,6.1997398575e-05,-0.000273632062982,1.80861997574e-05,1793248357375329024
+23,0.383333333,BASELINE,765.66619167,745,715.66619167,679,658,634,877.66619167,784,810,652,628,652,0.400970908208,0.00450413759862,0.0698280061658,0.999999960499,6.24168030528e-05,-0.00027345433422,1.8157926328e-05,1793248357391995904
+24,0.400000000,BASELINE,765.071285924,745,715.071285924,679,658,634,877.071285924,784,810,652,628,652,0.400972617799,0.00450510909401,0.069830068743,0.999999961285,6.30578008957e-05,-0.000270418436391,1.80912164509e-05,1793248357408662528
+25,0.416666667,BASELINE,765,745,715,679.505550771,658,634,877.505550771,784.505550771,810,652,628,652,0.400972731704,0.00450645451559,0.0698297921102,0.999999961132,6.42108180114e-05,-0.000270735488956,1.77607729133e-05,1793248357425329152
+26,0.433333333,BASELINE,765,745,715,680,658,634,878,785,810,652,628,652,0.400972573033,0.00450741314772,0.0698292952432,0.999999960917,6.50436966166e-05,-0.000271346867592,1.74984490724e-05,1793248357441996032
+27,0.450000000,BASELINE,765,745,715,680,658,634,878,785,810,652,628,652,0.400972072024,0.00450566409593,0.0698294060322,0.999999961118,6.34649072266e-05,-0.00027095517136,1.78796440933e-05,1793248357458662656
+28,0.466666667,BASELINE,765,745,715.233499913,680,658,634,878.233499913,784.766500087,810,652,628,652.233499913,0.400971492943,0.00450495938786,0.0698292956333,0.999999961094,6.29619367276e-05,-0.000271149430926,1.80749895837e-05,1793248357475329280
+29,0.483333333,BASELINE,765,745,715.823836023,680,658,634,878.823836023,784.176163977,810,652,628,652.823836023,0.400970794552,0.00450585065328,0.0698288472136,0.999999960727,6.41030402608e-05,-0.000272239152262,1.79863185015e-05,1793248357491995904
+30,0.500000000,BASELINE,765,744.591830371,715.591830371,680,658,634,878.591830371,784.408169629,810,652,628,652.591830371,0.400972231365,0.00450607087156,0.0698300316229,0.999999961252,6.46989595445e-05,-0.00027015804715,1.80162456352e-05,1793248357508662528
+31,0.516666667,BASELINE,765,744.010049885,715.010049885,680,658,634,878.010049885,784.989950115,810,652,628,652.010049885,0.400974576367,0.00450600566663,0.0698319105397,0.999999962148,6.50629901478e-05,-0.000266728262792,1.80966173321e-05,1793248357525329152
+32,0.533333333,BASELINE,765,744,715,680,658.564751351,634,878.564751351,784.435248649,810,652,628,652,0.400972617737,0.004507466931,0.069830344982,0.999999961328,6.58029986502e-05,-0.000269626264959,1.77934308482e-05,1793248357541996032
+33,0.550000000,BASELINE,765.138331715,744.138331715,715,680,658.861668285,634,878.861668285,784,810,652,628.138331715,652,0.400970919851,0.00450795218295,0.0698290453831,0.999999960653,6.59667180097e-05,-0.000272086158022,1.76580111283e-05,1793248357558662656
+34,0.566666667,BASELINE,765.708483822,744.708483822,715,680,658.291516178,634,878.291516178,784,810,652,628.708483822,652,0.400970272061,0.00450530692478,0.0698287650144,0.99999996055,6.43108452508e-05,-0.000272831217624,1.80673437986e-05,1793248357575330048
+35,0.583333333,BASELINE,766,745.290826091,715,680,658,634,878,784.290826091,810,652,628.709173909,652,0.400970050669,0.00450362198962,0.0698284153611,0.999999960495,6.28249545549e-05,-0.000273366963112,1.82429834596e-05,1793248357591996928
+36,0.600000000,BASELINE,766,745.885922097,715,680,658,634,878,784.885922097,810,652,628.114077903,652,0.400970275386,0.00450294176935,0.0698279932202,0.999999960491,6.15169033669e-05,-0.000273683718755,1.81741273889e-05,1793248357608663552
+37,0.616666667,BASELINE,766,745.531697276,715,680,658,634,877.531697276,784.531697276,810,652,628.468302724,652,0.400971855914,0.00450464856371,0.0698291151321,0.999999960912,6.31679259068e-05,-0.000271779032996,1.79303869076e-05,1793248357625329920
+38,0.633333333,BASELINE,765.952822114,745,715.047177886,680,658,634,877.047177886,784.047177886,810,652.047177886,628.952822114,652,0.400973478703,0.00450662060818,0.0698304108758,0.999999961365,6.5151629306e-05,-0.000269652549509,1.76854277341e-05,1793248357641996032
+39,0.650000000,BASELINE,765.379410924,745,715.620589076,680,658,634,877.620589076,784.620589076,810,652.620589076,628.379410924,652,0.400971986305,0.00450523687404,0.0698295610521,0.999999961153,6.30184071435e-05,-0.00027092852689,1.78895018559e-05,1793248357658663168
+40,0.666666667,BASELINE,765.199312576,745,716,680,658.199312576,634,878,784.800687424,809.800687424,652.800687424,628,652,0.400971375324,0.00450485850561,0.0698293160766,0.999999961137,6.22302871088e-05,-0.00027116149638,1.80051558829e-05,1793248357675330048
+41,0.683333333,BASELINE,765.788425451,745,716,680,658.788425451,634,878,784.211574549,809.211574549,652.211574549,628,652,0.400972488149,0.00450644635467,0.0698302540172,0.99999996151,6.40728151175e-05,-0.000269354630693,1.79478846354e-05,1793248357691996416
+42,0.700000000,BASELINE,766,745,715.628652899,680,658.628652899,634,878,784.371347101,809.371347101,652,628.371347101,652,0.400973069876,0.00450609568788,0.069830676145,0.999999961678,6.40273253651e-05,-0.000268743603499,1.79064592924e-05,1793248357708663040
+43,0.716666667,BASELINE,766,745,715.049200866,680,658.049200866,634,878,784.950799134,809.950799134,652,628.950799134,652,0.400973353975,0.00450465866623,0.0698308092084,0.999999961733,6.29237801442e-05,-0.000268802730753,1.78739140824e-05,1793248357725329920
+44,0.733333333,BASELINE,766,745,715,680,658,634,878,785,810,652,628.471024317,652,0.400973225838,0.00450544543459,0.0698305214084,0.999999961534,6.36122132495e-05,-0.000269377524819,1.79275683482e-05,1793248357741996800
+45,0.750000000,BASELINE,766,745,715,679.894401139,658,633.894401139,878,785,810,652,628,652,0.400972936266,0.00450629824722,0.0698301800995,0.999999961294,6.47305713195e-05,-0.00026999656373,1.79814772305e-05,1793248357758663680
+46,0.766666667,BASELINE,766,745,715,679.324093228,658,633.324093228,878,785,810,652,628,652,0.400972104593,0.00450653365689,0.0698297751656,0.999999960981,6.70091791143e-05,-0.000270599747752,1.80013086147e-05,1793248357775330048
+47,0.783333333,BASELINE,765.74361784,745,715,679.25638216,658,633.25638216,878,785,810,652,628.25638216,652,0.400971983141,0.00450656470136,0.0698297202917,0.99999996088,6.80475820897e-05,-0.000270715158847,1.79649753532e-05,1793248357791996416
+48,0.800000000,BASELINE,765.149758885,745,715,679.850241115,658,633.850241115,878,785,810,652,628.850241115,652,0.400972796556,0.00450632673921,0.0698301262028,0.999999961065,6.74534991526e-05,-0.000270188512705,1.7854712362e-05,1793248357808663040
+49,0.816666667,BASELINE,765,745,715,680,658,634,878.433128464,784.566871536,810,652,628.566871536,652.433128464,0.400972771221,0.00450513723259,0.0698303328625,0.999999961308,6.47366010812e-05,-0.000269955126001,1.78423071921e-05,1793248357825329408
+50,0.833333333,BASELINE,765,745,715.012195628,680,658,633.987804372,878.987804372,784.012195628,809.987804372,652,628,652.987804372,0.400972460707,0.00450365935758,0.069830459093,0.999999961548,6.13964583886e-05,-0.000269841753583,1.78659167523e-05,1793248357841996288
+51,0.850000000,BASELINE,765,745,715.585724856,680,658,633.414275144,878.414275144,784.585724856,809.414275144,652,628,652.414275144,0.400972042625,0.00450367784311,0.069829976019,0.999999961256,6.23188391978e-05,-0.000270700558481,1.80283099237e-05,1793248357858663168
+52,0.866666667,BASELINE,765,745,715.836555973,680,658,633.163444027,878,784.836555973,809.163444027,652,628,652,0.400971632842,0.00450404961338,0.0698295840056,0.999999961021,6.33213771676e-05,-0.000271332049029,1.80844476153e-05,1793248357875329792
+53,0.883333333,BASELINE,765,745,715.247937339,680,658,633.752062661,878,784.247937339,809.752062661,652,628,652,0.400971244651,0.00450534039981,0.0698294288726,0.999999960937,6.45324316616e-05,-0.000271372216052,1.78641779368e-05,1793248357891996672
+54,0.900000000,BASELINE,765.335399574,745,715.335399574,680,658,634,878,784,809.664600426,652,628,652,0.400971393193,0.0045051199912,0.069829482626,0.999999961052,6.35682725906e-05,-0.000271173353211,1.78640266728e-05,1793248357908663296
+55,0.916666667,BASELINE,765.914892587,745,715.914892587,680,658,634,878,784,809.085107413,652,628,652,0.400971932352,0.00450379978149,0.0698296884003,0.999999961309,6.10210602899e-05,-0.000270800531823,1.80240707944e-05,1793248357925329920
+56,0.933333333,BASELINE,765.507068698,745,715.507068698,679.507068698,658,634,878,784,809.492931302,652,628,652,0.40097139448,0.00450488089214,0.0698294390079,0.999999961001,6.29231664373e-05,-0.00027151261841,1.78991436037e-05,1793248357941996288
+57,0.950000000,BASELINE,765,744.930002974,715,679.069997026,658,634,878,784,810,652,628,652,0.400970765135,0.00450613294815,0.0698291833735,0.999999960686,6.50893855725e-05,-0.000272170134743,1.77466431905e-05,1793248357958662912
+58,0.966666667,BASELINE,765,744.358118936,715,679.641881064,658,634,878,784,810,652,628,652,0.400970809331,0.00450564670299,0.0698294448053,0.99999996107,6.36574399087e-05,-0.000271097251251,1.77481855143e-05,1793248357975329536
+59,0.983333333,BASELINE,765,744.221280064,715,680,658,634,878,784,810,652,628.221280064,652,0.400971335343,0.00450554407775,0.0698298911382,0.999999961416,6.30207293722e-05,-0.000269970117094,1.77003592943e-05,1793248357991996416
+60,1.000000000,BASELINE,765,744.813268914,715,680,658,634,878,784,810,652,628.813268914,652,0.400972668537,0.00450608412792,0.0698306472348,0.999999961702,6.37162698841e-05,-0.000268752097045,1.7569826334e-05,1793248358008663040
+61,1.016666667,BASELINE,765,745,715,680,658.396544765,634,878,784.396544765,810,652,629,652,0.400971926979,0.00450736495094,0.0698303735905,0.999999961354,6.5706751209e-05,-0.000269567531078,1.75561796338e-05,1793248358025330176
+62,1.033333333,BASELINE,765,745,715,680,658.975805884,634,878,784.975805884,810,652,629,652,0.400970229434,0.00450898710061,0.0698296254714,0.999999960706,6.82939037488e-05,-0.000271319921984,1.75963907478e-05,1793248358041997056
+63,1.050000000,BASELINE,765,745,715,680,658.448622396,634,878,785,810,652,628.448622396,652,0.400970664013,0.00450727616142,0.0698297073654,0.999999960804,6.60767754322e-05,-0.00027149610612,1.7740492396e-05,1793248358058663680
+64,1.066666667,BASELINE,765,745,715,680,658.129122862,634,878,784.870877138,810,652,628,652,0.400971213902,0.00450592446682,0.0698298690153,0.99999996094,6.4291235104e-05,-0.000271418791606,1.78248086504e-05,1793248358075329792
+65,1.083333333,BASELINE,765,745,715,680,658.715127839,634,878,784.284872161,810,652,628,652,0.40097184296,0.00450635796426,0.0698301848579,0.99999996111,6.47737633263e-05,-0.000270687606087,1.76815602308e-05,1793248358091996160
+66,1.100000000,BASELINE,765,745,715,679.701546228,658.701546228,634,878,784.298453772,810,652,628,652.298453772,0.400972474541,0.00450657333585,0.0698305581329,0.999999961331,6.57038908668e-05,-0.000269645241405,1.76785851933e-05,1793248358108662528
+67,1.116666667,BASELINE,765,745,715,679.120754709,658.120754709,634,878,784.879245291,810,652,628,652.879245291,0.400973108511,0.00450658236001,0.069830985739,0.999999961598,6.70574480552e-05,-0.000268308500774,1.78083090091e-05,1793248358125329152
+68,1.133333333,BASELINE,765,745,715,679,658,634,878,785,810,652,628,652.543492761,0.400971698609,0.00450677822279,0.0698301073656,0.999999961294,6.70556110685e-05,-0.000269434761037,1.78970618828e-05,1793248358141996032
+69,1.150000000,BASELINE,765,745,715,679.032704171,658,634,878,784.967295829,809.967295829,652,628.032704171,652,0.400969983591,0.00450693210623,0.0698290448394,0.999999960909,6.65150195321e-05,-0.000270991809572,1.79482412399e-05,1793248358158662912
+70,1.166666667,BASELINE,765,745,715,679.606607761,658,634,878,784.393392239,809.393392239,652,628.606607761,652,0.400972097498,0.00450557971965,0.0698306077517,0.99999996169,6.29464451909e-05,-0.000268979001455,1.75556094169e-05,1793248358175330048
+71,1.183333333,BASELINE,765.185665262,745,715,680,658,634,878,784,809.185665262,652,629,652,0.400973795403,0.00450436339323,0.0698317188546,0.999999962287,6.06072241308e-05,-0.000267297384628,1.74555517657e-05,1793248358191996928
+72,1.200000000,BASELINE,765.775954908,745,715,680,658,634,878,784,809.775954908,652,629,652,0.400974586703,0.00450344358542,0.0698318453197,0.999999962513,6.09471589904e-05,-0.000266337539878,1.79931073564e-05,1793248358208663552
+73,1.216666667,BASELINE,765.640007882,745,715,679.640007882,658,634,878,784,810,652,629,652,0.400973274907,0.00450390520093,0.0698306684724,0.999999961958,6.13744074221e-05,-0.000268312037549,1.80251564885e-05,1793248358225329920
+74,1.233333333,BASELINE,765.059795548,745,715,679.059795548,658,634,878,784,810,652,629,652,0.400970676571,0.00450521188317,0.0698286943415,0.999999960915,6.18550687066e-05,-0.000272081578794,1.77479689817e-05,1793248358241996288
+75,1.250000000,BASELINE,765,745,715,679.516974977,658,634,878,784.516974977,810,652,628.483025023,652,0.400972354605,0.00450560312587,0.0698298017045,0.999999961409,6.38354647595e-05,-0.000269796159556,1.78249218452e-05,1793248358258662912
+76,1.266666667,BASELINE,765,745,715,679.906857476,658,634,877.906857476,784.906857476,810,652,628,652,0.400973915992,0.00450571735573,0.0698309998153,0.999999961925,6.55774524017e-05,-0.000267445896094,1.79491355122e-05,1793248358275329536
+77,1.283333333,BASELINE,765,745,715,679.331763707,658,634,877.331763707,784.331763707,810,652,628,652,0.400972331388,0.00450494248136,0.0698308354497,0.999999961702,6.51941983924e-05,-0.000268359952977,1.81073461896e-05,1793248358291996160
+78,1.300000000,BASELINE,765.249622552,745,715,679.249622552,658,634,877.249622552,784.249622552,809.750377448,652,628,652,0.400971485468,0.00450430183772,0.0698306665966,0.99999996153,6.40435729704e-05,-0.000269271925923,1.82076836505e-05,1793248358308663040
+79,1.316666667,BASELINE,765.839588137,745,715,679.839588137,658,634,877.839588137,784.839588137,809.160411863,652,628,652,0.400971646694,0.00450384420842,0.0698304916252,0.999999961422,6.18466898918e-05,-0.000270181057488,1.82291149828e-05,1793248358325329920
+80,1.333333333,BASELINE,766,745,715,679.577822111,658,634,877.577822111,784.577822111,809.422177889,652,628.422177889,652,0.400972397913,0.00450479630048,0.0698307651731,0.999999961634,6.22633144154e-05,-0.000269311157903,1.80677810102e-05,1793248358341996800
+81,1.350000000,BASELINE,766,745,715,679.00199079,658,634,877.00199079,784,810,652,629,652.00199079,0.400973366037,0.00450627319151,0.0698312056865,0.999999961961,6.36605653552e-05,-0.000267782660688,1.78394556278e-05,1793248358358663936
+82,1.366666667,BASELINE,766,745,715,679.575351796,658,634,877.575351796,784,810,652,629,652.575351796,0.400973352047,0.00450727787556,0.0698314943594,0.999999961747,6.63901447185e-05,-0.000267907633574,1.79728151238e-05,1793248358375330048
+83,1.383333333,BASELINE,765.851692848,745,715,680,658,634,877.851692848,784.148307152,810,652,628.851692848,652.851692848,0.400973296983,0.00450784822527,0.0698316801252,0.999999961629,6.81967147996e-05,-0.00026789112099,1.80444617617e-05,1793248358391996160
+84,1.400000000,BASELINE,765.279895688,745,715,680,658,634,877.279895688,784.720104312,810,652,628.279895688,652.279895688,0.400973124626,0.00450717833663,0.0698315720408,0.9999999618,6.73676391385e-05,-0.000267470597695,1.79398878074e-05,1793248358408662784
+85,1.416666667,BASELINE,765,745,715,679.695179367,658,634,877,784.695179367,810,652,628,652,0.400973262222,0.00450612980403,0.0698316247495,0.999999961943,6.62776443572e-05,-0.00026720867759,1.79115064049e-05,1793248358425329664
+86,1.433333333,BASELINE,765,745,715,679.098075281,658,634,877,784.098075281,810,652,628,652,0.400973697021,0.00450471820103,0.0698318316378,0.999999962059,6.49374620293e-05,-0.000267098837401,1.79561837841e-05,1793248358441996544
+87,1.450000000,BASELINE,765.481679189,745,715,679.481679189,658,634,877.481679189,784,810,652,628,652,0.400973162908,0.00450439184237,0.0698318482197,0.999999962136,6.36930903832e-05,-0.000267100061391,1.81365281935e-05,1793248358458663680
+88,1.466666667,BASELINE,765.942202725,745,715,680.057797275,658,634,878,784.057797275,810,652,628.057797275,652,0.400972404386,0.00450442006686,0.0698317634842,0.99999996214,6.28237179254e-05,-0.000267280216036,1.82941697701e-05,1793248358475330304
+89,1.483333333,BASELINE,765.368109037,745,715,680.631890963,658,634,878,784.631890963,810,652,628.631890963,652,0.400971342276,0.00450571048634,0.0698311077954,0.999999961573,6.51359647875e-05,-0.000268863753331,1.80108324539e-05,1793248358491996416
+90,1.500000000,BASELINE,765,745,715,680.788926468,658,634,878,784.788926468,810,652,628.788926468,652.211073532,0.400971047974,0.00450610979019,0.069830597682,0.999999961254,6.58793037053e-05,-0.000269875666246,1.78422253404e-05,1793248358508663040
+91,1.516666667,BASELINE,765,745,715,680.200649775,658,634,878,784.200649775,810,652,628.200649775,652.799350225,0.400972125799,0.00450491660795,0.069830347722,0.99999996139,6.38188941746e-05,-0.000269866046257,1.78786491518e-05,1793248358525329920
+92,1.533333333,BASELINE,765.38191392,745,715,679.61808608,658,634,878,784.38191392,810,652,628,652.61808608,0.400972612632,0.00450519696763,0.0698307075815,0.999999961595,6.38678685992e-05,-0.00026908849721,1.79298651895e-05,1793248358541996544
+93,1.550000000,BASELINE,765.961520413,745,715,679.038479587,658,634,878,784.961520413,810,652,628,652.038479587,0.400972793545,0.00450624008624,0.0698313831058,0.999999961836,6.50087368969e-05,-0.000267913440076,1.79887382264e-05,1793248358558662912
+94,1.566666667,BASELINE,766,745,715,679.535878601,658,634,878,784.464121399,810,652,628,652,0.400972328715,0.00450518479182,0.0698315608437,0.999999961794,6.43386814235e-05,-0.000268220979154,1.81555888692e-05,1793248358575329536
+95,1.583333333,BASELINE,765.890443709,745,715.109556291,680,658.109556291,634,878,784.109556291,810,652,628.109556291,652,0.400972042996,0.00450432743963,0.0698316110763,0.999999961746,6.36840217739e-05,-0.000268547182945,1.82855537401e-05,1793248358591995904
+96,1.600000000,BASELINE,765.318063994,745,715.681936006,680,658.681936006,634,878,784.681936006,810,652,628.681936006,652,0.400972707923,0.00450493667613,0.0698312721976,0.999999961761,6.36384151594e-05,-0.000268506854945,1.82272565841e-05,1793248358608662784
+97,1.616666667,BASELINE,765.264609644,745,715.735390356,680,658.735390356,634,878,784.735390356,810,652,629,652,0.400973472522,0.00450551103093,0.0698313985293,0.999999961859,6.40361983234e-05,-0.000268054975138,1.8117877487e-05,1793248358625329664
+98,1.633333333,BASELINE,765.860157507,745,715.139842493,680,658.139842493,634,878,784.139842493,810,652,629,652,0.400974361776,0.00450604176036,0.0698321066837,0.999999962059,6.49885138988e-05,-0.000267088381588,1.79446119596e-05,1793248358641996288
+99,1.650000000,BASELINE,765.55651252,745,715.44348748,680,658,634,878,784.44348748,810,652,628.55651252,652,0.400974175165,0.00450644104391,0.0698318641505,0.999999962092,6.52900259975e-05,-0.00026690088506,1.77836133156e-05,1793248358658662912
+100,1.666666667,BASELINE,765.022860182,745,715.977139818,680,658,634,878,785,810,652,628,652.022860182,0.400973679539,0.00450676207768,0.0698313608786,0.999999962086,6.53705791553e-05,-0.000266916421026,1.7642990508e-05,1793248358675329536
+101,1.683333333,BASELINE,765.597216108,745,715.402783892,680,658,634,878,785,810,652,628,652.597216108,0.400973693808,0.00450616847233,0.0698316054506,0.999999962337,6.49385635514e-05,-0.000266062276729,1.79031154314e-05,1793248358691996672
+102,1.700000000,BASELINE,765.824274239,745,715,680,658,634,878,784.824274239,809.824274239,652,628.175725761,652.824274239,0.400973857627,0.00450583633759,0.0698317796197,0.999999962449,6.47889126335e-05,-0.000265663757915,1.8060581503e-05,1793248358708663296
+103,1.716666667,BASELINE,765.236013348,745,715,680,658,634,878,784.236013348,809.236013348,652,628.763986652,652.236013348,0.400974372533,0.0045061180333,0.0698317885108,0.999999962239,6.53021432592e-05,-0.000266334869064,1.79770448368e-05,1793248358725329664
+104,1.733333333,BASELINE,765,745,715,680,658,634,878,784.346890644,809.346890644,652,629,652,0.400974108939,0.00450624250407,0.069831726,0.999999962162,6.50595376454e-05,-0.000266691212666,1.78692427137e-05,1793248358741996544
+105,1.750000000,BASELINE,765,745,715,680,658,634,878,784.926205456,809.926205456,652,629,652,0.400973323735,0.00450626163079,0.0698316156483,0.999999962174,6.4310505598e-05,-0.000266836655332,1.77451822055e-05,1793248358758663424
+106,1.766666667,BASELINE,765.503505031,745,715,680,658,634,878,784.496494969,809.496494969,652,629,652,0.400972220568,0.00450514432227,0.0698315160637,0.999999961958,6.39859508963e-05,-0.000267699109081,1.80582801531e-05,1793248358775330048
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,633,878,784,810,652,629,652,0.400971754572,0.00450484306343,0.0698311083316,0.999999961685,6.38140959211e-05,-0.000268762754471,1.80017037843e-05,1793248358818762240
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.408006945,658.591993055,633.591993055,878,784,810,652,628.408006945,652,0.400973548515,0.00450512307722,0.0698322944562,0.999999962267,6.46479108971e-05,-0.000266376438076,1.81461735251e-05,1793248358835428608
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.180000913,658.819999087,634,878,784.180000913,810,652,628.180000913,652,0.400974556868,0.00450532645464,0.069832783143,0.999999962533,6.50089553948e-05,-0.000265289293439,1.81312655437e-05,1793248358852094720
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.759171323,658.240828677,634,878,784.759171323,810,652,628.759171323,652,0.4009738231,0.00450535988352,0.0698317251942,0.999999962107,6.43215856231e-05,-0.000267083187839,1.77629220197e-05,1793248358868761088
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.663589546,745,715,679.663589546,658.336410454,634,877.663589546,785,810,652,629,652,0.400973682713,0.00450601762576,0.0698313320472,0.999999961916,6.55984867644e-05,-0.000267496164122,1.76374446653e-05,1793248358885427712
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.087725118,745,715,679.087725118,658.912274882,634,877.087725118,785,810,652,629,652,0.400973964689,0.00450711974869,0.0698314121004,0.999999961888,6.82735385517e-05,-0.000266926215035,1.76848373173e-05,1793248358902094080
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.502563075,633.502563075,877.497436925,785,810,652,629,652,0.400972771681,0.00450710491145,0.0698308388405,0.999999961569,6.67976372956e-05,-0.000268487982645,1.77063786748e-05,1793248358918760704
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.91678766,715,679,658,633,878,785,810,652,628.91678766,652,0.400971976087,0.00450657900222,0.0698305886264,0.999999961358,6.45515045678e-05,-0.000269814866883,1.77866869564e-05,1793248358935427072
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.337319081,715,679,658,633,878,785,810,652,628.337319081,652,0.400975131398,0.00450420231126,0.0698329651669,0.999999962135,6.2160750819e-05,-0.000267456275967,1.82451719646e-05,1793248358952093696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.240916804,715,679.240916804,658,633.240916804,878,784.759083196,809.759083196,652,628,652,0.400986481203,0.00450309686581,0.0698384602256,0.999999964457,6.08481913068e-05,-0.000258927890921,1.84442293421e-05,1793248358968760576
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.817435474,715,679.817435474,658,633.817435474,878,784.182564526,809.182564526,652,628,652,0.4010092461,0.00450376229066,0.0698482994416,0.999999968735,6.10375778416e-05,-0.000241804860984,1.82818988659e-05,1793248358985427200
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.39426634,745,715.39426634,680,658,634,878,784.39426634,809.39426634,652,628,652,0.401051522512,0.0045043106509,0.0698645303857,0.999999975276,6.09452075868e-05,-0.000213094279889,1.79898920038e-05,1793248359002093824
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.971241933,745,715.971241933,680,658,634,878,784.971241933,809.971241933,652,628,652,0.40110284087,0.00450480476161,0.0698837233587,0.999999981978,6.07222667449e-05,-0.000179013842746,1.76377910245e-05,1793248359018760704
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.440629241,745,715.440629241,680,658,634,878,785,810,652,628,652,0.401162647078,0.00450576795145,0.0698982623795,0.999999984486,6.24836766431e-05,-0.00016378481529,1.72720399093e-05,1793248359035427328
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.854858608,658,634,878,784.854858608,809.854858608,652,628,652,0.401225912112,0.00450651292334,0.069909410188,0.999999986336,6.3491717406e-05,-0.000151709951828,1.67324489485e-05,1793248359052093952
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.277845581,658,634,878,784.277845581,809.277845581,652,628,652,0.401298144121,0.00450653536511,0.0699111937948,0.999999987289,6.19483572099e-05,-0.000146077891093,1.56777239746e-05,1793248359068760576
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.299154479,745,715,679.299154479,658.299154479,634,877.700845521,784,809.299154479,652,628,652.299154479,0.401380669519,0.00450656875811,0.0699109456546,0.999999987641,5.98280453718e-05,-0.000144728425647,1.38517052222e-05,1793248359085427200
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.876142462,745,715,679.876142462,658.876142462,634,877.123857538,784,809.876142462,652,628,652.876142462,0.401472754683,0.00450661232182,0.0699088105714,0.999999987445,5.71719017842e-05,-0.00014735633188,1.13093634718e-05,1793248359102093824
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.538641858,745,715,680,658.538641858,634,877.461358142,784.461358142,810,652,628,653,0.401579582777,0.00450715282378,0.0699077704546,0.999999987294,5.24771100639e-05,-0.000150276546195,8.69232737541e-06,1793248359118760704
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.048152904,634,878,785,810,652,628.048152904,652.951847096,0.401693659093,0.0045079688828,0.0699073625536,0.999999987217,4.7685964239e-05,-0.000152501317876,5.98717793051e-06,1793248359135427328
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.627557504,634,878,785,810,652,628.627557504,652.372442496,0.401843243038,0.00451032647413,0.0699106276314,0.999999988163,4.79795756881e-05,-0.000146172059166,2.53515889572e-06,1793248359152093952
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.206366337,680,658.793633663,634,878,784.793633663,810,652,628.793633663,652.206366337,0.402003708182,0.00451214088772,0.0699137044707,0.999999988993,4.67678221035e-05,-0.000140806109168,-1.04509270691e-06,1793248359168760576
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.784102985,680,658.215897015,634,878,784.215897015,810,652,628.215897015,652.784102985,0.402183754769,0.00451297781564,0.0699164425616,0.999999989662,4.28470613356e-05,-0.000137173699659,-4.85610719733e-06,1793248359185427200
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.359409429,745,715.640590571,680.359409429,658,634,878,784.359409429,810,652,628.359409429,653,0.402387732165,0.0045139660048,0.0699189733247,0.999999990459,3.87602603883e-05,-0.000132287716314,-8.96707034262e-06,1793248359202093824
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.93326591,745,715.06673409,680.93326591,658,634,878,784.93326591,810,652,628.93326591,653,0.402605988257,0.00451504444634,0.0699213803829,0.999999991294,3.45743886883e-05,-0.000126653768894,-1.32570027382e-05,1793248359218760704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.479602295,745,715,680.479602295,658,634,878,785,810,652,629,652.479602295,0.402849801737,0.00451687740013,0.0699248476677,0.999999992138,2.81422653225e-05,-0.000120775653374,-1.85929322239e-05,1793248359235427328
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.107670252,634,878,784.892329748,810,652,629,652.107670252,0.403105332096,0.00451856702186,0.0699287317776,0.999999993001,2.12892034159e-05,-0.000113856921559,-2.41096635205e-05,1793248359252093952
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.687893568,634,878,784.312106432,810,652,629,652.687893568,0.403397525967,0.00451919180649,0.0699338329549,0.999999994205,1.38860090333e-05,-0.00010251205508,-2.98158002109e-05,1793248359268760576
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.733871416,634,878,784,810,652,628.733871416,652.733871416,0.403711801012,0.004520236849,0.0699408633839,0.999999995315,7.77331312429e-06,-8.97809468313e-05,-3.53318424828e-05,1793248359285427200
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.157950951,634,878,784,810,652,628.157950951,652.157950951,0.404051780039,0.0045217711004,0.0699501395937,0.999999996324,3.16284618099e-06,-7.54361589988e-05,-4.06266015023e-05,1793248359302093824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.584935028,652,628,652.415064972,0.40441743499,0.00452229790769,0.0699550371599,0.999999996524,-3.12002827288e-06,-6.92357218733e-05,-4.63456010352e-05,1793248359318760448
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.013016745,652,628,652.986983255,0.404792792881,0.00452244400119,0.0699582800339,0.9999999964,-1.00349064547e-05,-6.61130402416e-05,-5.22249211994e-05,1793248359335427072
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.419298964,658.580701036,634,878,784,809.580701036,652,628.580701036,652.419298964,0.40520206951,0.00450023857377,0.0699617377357,0.999999996759,4.81888896075e-05,-5.8745398356e-05,-2.66347909929e-05,1793248359352093952
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.170168706,745,715,679.340337411,659,634,878,784,810,652,629,652,0.405620154873,0.00448673591228,0.0699630607615,0.999999994313,9.07670812135e-05,-5.50082612774e-05,-1.04783798136e-05,1793248359368760576
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.748231795,745,715,680.496463589,659,634,878,784,810,652,629,652,0.40605746117,0.00449534157591,0.0699592549755,0.999999993762,9.22063308458e-05,-6.02104241338e-05,-1.86914049789e-05,1793248359385427200
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.674919954,745,715,680.349839908,658.674919954,634,878,784,810,652,628.674919954,652,0.406514581806,0.00450213455756,0.0699484977179,0.999999991462,0.000101184014537,-7.90604454862e-05,-2.42378934685e-05,1793248359402094080
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.099009007,745,715,679.198018014,658.099009007,634,878,784,810,652,628.099009007,652,0.406986991181,0.00450752887952,0.0699323767228,0.99999998701,0.000115978334028,-0.000108441118752,-2.77268901846e-05,1793248359418760704
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.48637418,715.48637418,679.48637418,658,634,878,784,810.48637418,652,628.48637418,652.48637418,0.407518545964,0.00451159016671,0.0699252706552,0.999999993022,1.30279054247e-05,-0.000113347584213,-3.064201867e-05,1793248359435427072
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.927242825,715.927242825,680,658.072757175,633.927242825,878,784,810.927242825,651.927242825,629,653,0.408071634321,0.00451615364055,0.0699229262689,0.999999988967,-9.51600365231e-05,-0.000109043211916,-3.346686291e-05,1793248359452093952
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.347594525,715.347594525,680,658.652405475,633.347594525,878,784,810.347594525,651.347594525,629,653,0.408689197807,0.00452614387868,0.0699407169108,0.999999994031,-6.95327500576e-05,-7.59671437864e-05,-3.64927465915e-05,1793248359468760576
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.231377429,878.231377429,784.231377429,810.231377429,651.231377429,629,653,0.40930715833,0.00453357054875,0.0699518621799,0.999999997031,-4.22140324708e-05,-5.18092973844e-05,-3.83520574919e-05,1793248359485427200
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.809336245,878.809336245,784.809336245,810.809336245,651.809336245,629,653,0.409925713542,0.00453715723706,0.0699530533117,0.999999998343,-1.23617135484e-05,-4.10101011676e-05,-3.84639531678e-05,1793248359502093824
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.615479661,634,879,784.615479661,811,652,629,653,0.410562784619,0.00454537671373,0.0699490573662,0.999999997834,2.31425158208e-05,-4.73469243693e-05,-3.94325901412e-05,1793248359518760704
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.041661568,634,879,784.041661568,811,652,629,653,0.411208970962,0.00455587689262,0.0699425078441,0.999999995351,6.14291561342e-05,-6.21197384667e-05,-4.0822997223e-05,1793248359535427328
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.546602963,745.546602963,715,680,659.093205927,634,878.453397037,784,811,652,629,652.453397037,0.411932891048,0.00456247787804,0.0699573652487,0.999999995243,8.03493490562e-05,-3.52431901802e-05,-4.26143041669e-05,1793248359552093952
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.866302157,745.866302157,715,680,660,634,878.133697843,784,811,652,629,652.133697843,0.412673796131,0.00456825158775,0.069977241683,0.999999995192,8.76689001666e-05,-1.25922493932e-06,-4.39228669469e-05,1793248359568760320
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.28687736,745.28687736,715,680,660,634,878.71312264,784,811,652,629,652.71312264,0.413451037765,0.00457228498281,0.0700082635356,0.999999996133,6.13684317744e-05,4.55492218633e-05,-4.35174036129e-05,1793248359585427200
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,784,811,652,629,653,0.414207930232,0.00457956289107,0.0700168592582,0.999999995493,6.52502346792e-05,5.33544985701e-05,-4.3689808664e-05,1793248359602094080
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,784,811,652,629,653,0.41494486802,0.00459002242946,0.0700034635064,0.999999993877,9.87293280807e-05,2.29125507261e-05,-4.44288821203e-05,1793248359618760960
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.557535635,634,879,784,811,652,629,653,0.415690074306,0.00459927270867,0.0699564935067,0.999999989898,0.000123000983973,-5.3825321001e-05,-4.66709508049e-05,1793248359635427584
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.017582771,659.035165542,633.982417229,879,784,811,652,629,653,0.416441323932,0.0046080285362,0.069901639031,0.999999978586,0.000143137757525,-0.000141099217784,-4.9296031764e-05,1793248359652093952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.607848334,660.215696667,633.392151666,879,784,811,652,629,653,0.417308952492,0.00461244668782,0.069916682494,0.99999998445,0.00011819345264,-0.000121047244341,-4.97709093932e-05,1793248359668760832
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.805838776,661,633.194161224,879,784.194161224,811,652,629,652.805838776,0.418182102609,0.00461721547361,0.0699373924965,0.999999988442,0.000110749286786,-9.13687982144e-05,-5.00237364559e-05,1793248359685427200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.22734994,661,633.77265006,879,784.77265006,811,652,629,652.22734994,0.419066182182,0.00462267831323,0.069969318989,0.999999988335,0.000137945337946,-4.2635471017e-05,-4.98370309913e-05,1793248359702093824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.348493721,745,715,680.348493721,660.651506279,634,879,784.651506279,811.348493721,652,629,652.348493721,0.419966604105,0.00462549623836,0.0699968429337,0.999999987787,0.000148123931141,1.87469547004e-06,-4.98121043363e-05,1793248359718760704
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922624702,745,715,680.922624702,660.077375298,634,879,784.077375298,811.922624702,652,629,652.922624702,0.420877607084,0.00462660167544,0.0700215163843,0.999999986956,0.000147284325923,4.36505140289e-05,-4.98919237004e-05,1793248359735427328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.503521243,745,715,681,660.496478757,634,879,784,812,652,629,653,0.421782437839,0.00461134261739,0.0700266350461,0.999999989885,0.000124637463133,4.58856650772e-05,-5.08922073871e-05,1793248359752094464
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072789986,745,715,681,660.927210014,634,879,784,811.927210014,652,629,653,0.42267650218,0.00459346590426,0.0700182112691,0.999999993333,9.97830783654e-05,2.60070704347e-05,-5.19733176193e-05,1793248359768761344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.66701191,745,715,681,660.33298809,634,879,784,811.33298809,652,629,653,0.423500327695,0.00457509706319,0.0699345952567,0.999999989285,8.34475846183e-05,-0.000108164218572,-5.26063768257e-05,1793248359785428224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.746060167,745,715,681,659.746060167,633.746060167,879,784,811.253939833,652,629,653,0.42437001384,0.00456831979571,0.0698774227125,0.999999977971,6.52888569108e-05,-0.000191965217543,-5.42582188892e-05,1793248359802095104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.168429641,745,715,681,659.168429641,633.168429641,879,784,811.831570359,652,629,653,0.425298157483,0.00457631801188,0.0698539569781,0.999999974981,4.48060981193e-05,-0.000211560500119,-5.72086787487e-05,1793248359818761984
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.407592679,745,715,681,659.815185357,633.407592679,879,784,812,652,629.407592679,653,0.426267506982,0.00458140867486,0.069893650265,0.999999985364,6.23348582529e-05,-0.000149508955057,-5.50741962145e-05,1793248359835428608
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.982953016,745,715,681,660.965906032,633.982953016,879,784,812,652,629.982953016,653,0.427253817011,0.00458530257053,0.0699593401958,0.999999992696,9.55093945866e-05,-5.38510699826e-05,-5.08467193977e-05,1793248359852095232
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.571297563,681.571297563,660.428702437,634,879.571297563,784,812.571297563,652,630,653,0.428258994752,0.00458777339634,0.0700066572455,0.999999993406,0.000102123273658,1.19597603692e-05,-5.11526891623e-05,1793248359868761344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.842470284,745,715.842470284,681.842470284,660.157529716,633.842470284,879.842470284,784.157529716,813,652,629.842470284,653,0.429254606646,0.00458947957539,0.0700431732319,0.999999991375,0.00010124034115,6.56829393949e-05,-5.18341854676e-05,1793248359885427712
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.262958708,745,715.262958708,681.262958708,660.737041292,633.262958708,879.262958708,784.737041292,813,652,629.262958708,653,0.430223050834,0.0045892538541,0.0700522586469,0.999999991186,8.24477656624e-05,8.94675794991e-05,-5.31508307227e-05,1793248359902094336
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.314426805,745,715,681,661,633.314426805,879.314426805,784.685573195,813,652,629.314426805,652.685573195,0.431109655108,0.00458711963846,0.0700102876935,0.999999995224,7.94752041962e-05,1.91361953359e-05,-5.35597882116e-05,1793248359918760960
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.890046179,745,715,681,661,633.890046179,879.890046179,784.109953821,813,652,629.890046179,652.109953821,0.43192827538,0.00458340004736,0.0699259045029,0.999999986197,8.96442386594e-05,-0.000129376840458,-5.32147336463e-05,1793248359935427840
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.535732447,745,715,681,660.535732447,633.535732447,880,784,813,652,630,652.464267553,0.432826305121,0.00457901238504,0.069899010823,0.99999998072,8.97076249955e-05,-0.000165990944455,-5.43934997653e-05,1793248359952094208
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.078753219,633,880.039376609,784,813.039376609,652,630,653,0.433749291895,0.00457504538097,0.069891328587,0.999999980633,8.66092424753e-05,-0.000167682570919,-5.58173142031e-05,1793248359968760832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.263164276,633,880.631582138,784,813.631582138,652,630,653,0.434759417117,0.00457919890633,0.0699627859537,0.999999994564,7.26217405904e-05,-5.00284828666e-05,-5.5629961486e-05,1793248359985427456
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681.217991361,662,633,880.564017278,784,813.782008639,652,630,653,0.435741146254,0.00458202802431,0.070016272894,0.999999995402,6.86644856895e-05,3.78002543132e-05,-5.5246991122e-05,1793248360002093824
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681.794858316,662,633,879.410283369,784,813.205141684,652,630,653,0.436676127544,0.00458267679288,0.070040175428,0.999999992286,8.12198605717e-05,7.65280244793e-05,-5.4541979591e-05,1793248360018760448
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.629970183,661.259940367,633,879.370029817,784,813.370029817,652,630,653,0.437568315853,0.00458219797421,0.0700328621178,0.999999991964,8.36179260562e-05,7.71884465936e-05,-5.5878537678e-05,1793248360035427072
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.055734376,660.111468753,633,879.944265624,784,813.944265624,652,630,653,0.438436888218,0.00458109688115,0.0700083219177,0.99999999345,8.0410541381e-05,5.6840882301e-05,-5.83417638001e-05,1793248360052093696
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.533448986,633,880.533448986,784,814,652,630,653,0.439194906189,0.00458314184801,0.0699418807108,0.999999993982,7.59032707057e-05,-5.38369288841e-05,-5.81100736291e-05,1793248360068760320
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.878166324,681,660.878166324,633,880.878166324,784.121833676,814,651.878166324,630.121833676,653,0.439960394937,0.00458492538407,0.0698815514378,0.999999983606,7.38574300926e-05,-0.000154866645806,-5.78725694017e-05,1793248360085427200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.298814594,681,660.298814594,633,880.298814594,784.701185406,814,651.298814594,630.701185406,653,0.440798564643,0.00458445724371,0.0698610878114,0.999999978168,8.15796316088e-05,-0.000183202615574,-5.87010603016e-05,1793248360102093824
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.279478858,681,660.838436573,633,880,784.720521142,814,651.279478858,631,652.720521142,0.441666675679,0.00458233737343,0.0698901142992,0.999999985872,8.01460746399e-05,-0.000135538333264,-5.88462108795e-05,1793248360118760704
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.856645046,681,662.569935139,633,880,784.143354954,814,651.856645046,631,652.143354954,0.442566678714,0.00457845816054,0.0699718552589,0.999999995901,6.89602461164e-05,-6.92226296597e-06,-5.82634997312e-05,1793248360135427328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.431029743,662.568970257,633,880,784,814,652,630.568970257,652,0.443385001745,0.00457853213417,0.0700162817137,0.999999994949,6.43486075688e-05,5.17895662248e-05,-5.72632869889e-05,1793248360152093952
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.995367933,661.995367933,632.995367933,880,783.995367933,814,652,630,652.004632067,0.444175724645,0.00457990672184,0.070047937601,0.999999992737,6.19794395622e-05,8.67887235264e-05,-5.61374475256e-05,1793248360168760320
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.404458659,661.404458659,632.404458659,880,783.404458659,814,652,630,652.595541341,0.444889410757,0.00458055542895,0.0700239261651,0.999999995076,6.8469958326e-05,4.42653417875e-05,-5.65732941182e-05,1793248360185427200
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,632.182498998,880,783.182498998,814,652,630,653,0.445597462558,0.00457993454727,0.0699971992185,0.999999995687,7.34702340234e-05,3.37001641445e-06,-5.67167021429e-05,1793248360202093824
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,632.760884701,880,783.760884701,814,652,630,653,0.446293292241,0.00457655960494,0.0699645816345,0.999999995011,7.52377951775e-05,-3.39936489001e-05,-5.62257368152e-05,1793248360218760448
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.336823604,745,715,681,661.336823604,633,880,784.336823604,814.336823604,651.663176396,630,653,0.446943280483,0.00457449097805,0.069941805804,0.999999993009,7.50589973575e-05,-7.20852318472e-05,-5.61406662548e-05,1793248360235427072
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.911037985,745,715,681,661.911037985,633,880,784.911037985,814.911037985,651.088962015,630,653,0.447560959977,0.00457334303279,0.0699259663704,0.999999989585,7.35084200297e-05,-0.000110689843453,-5.63416673173e-05,1793248360252093952
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.652106495,745.347893505,715,681.347893505,660,632.347893505,880.347893505,784,814.347893505,652,630,652.652106495,0.44937207338,0.00458349144556,0.0699302209657,0.999999987551,0.00010512269484,-0.000104712590434,-5.36955669317e-05,1793248360302094080
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.61679035,745,715,682.38320965,656,631,880.61679035,784,815,652,630,653,0.454309634551,0.00462314430886,0.0698154589065,0.999999947157,0.000170223950079,-0.00027030041681,-6.03895232856e-05,1793248360502094080
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+254,4.233333333,HOLD_POSE2,765.949047542,745,715,682.949047542,653,631,881,783.050952458,815,652,630,653,0.456493757959,0.00465049659182,0.0697429989942,0.9999999071,0.000138608476346,-0.000404719515407,-5.28138102344e-05,1793248361290304512
+255,4.250000000,HOLD_POSE2,765.376193773,745,715,682.376193773,653,631,881,783.623806227,815,652,630,653,0.456494839837,0.00465302458843,0.0697435083648,0.999999907149,0.000140797720333,-0.000403811778273,-5.30434436267e-05,1793248361306970880
+256,4.266666667,HOLD_POSE2,765.204653929,745,715,682,652.795346071,631,880.795346071,784,815.204653929,652,630,653,0.456495906596,0.00465483913954,0.0697442736307,0.999999907246,0.000143138714788,-0.000402746488596,-5.30540167063e-05,1793248361323637504
+257,4.283333333,HOLD_POSE2,765.800793271,745,715,682,652.199206729,631,880.199206729,784,815.800793271,652,630,653,0.456496944434,0.00465528893033,0.0697455284022,0.999999907437,0.000145769994625,-0.000401379814518,-5.26455461688e-05,1793248361340304640
+258,4.300000000,HOLD_POSE2,766,745,715,682,652,631,880.383348394,783.616651606,815.616651606,652,630,653,0.456496568227,0.0046546040558,0.0697451519748,0.999999907185,0.000145779551461,-0.000402018720536,-5.25201457901e-05,1793248361356971008
+259,4.316666667,HOLD_POSE2,766,745,715,682,652,631,880.95908612,783.04091388,815.04091388,652,630,653,0.456495482359,0.00465334973193,0.0697439569051,0.999999906711,0.000144473356217,-0.00040366415788,-5.25368085205e-05,1793248361373637376
+260,4.333333333,HOLD_POSE2,766,745,714.465986571,682.534013429,652.534013429,631,880.465986571,783.534013429,815,652,630,653,0.456493764983,0.00465404352501,0.069742011913,0.999999905841,0.000143455969641,-0.000406098510947,-5.31180340871e-05,1793248361390304000
+261,4.350000000,HOLD_POSE2,766,745,714.111757156,682.888242844,652.888242844,631,880.111757156,783.888242844,815,652,630,653,0.456492732672,0.00465420635588,0.0697406824558,0.999999905345,0.000142175547475,-0.000407720079675,-5.34891935016e-05,1793248361406970880
+262,4.366666667,HOLD_POSE2,766,745,714.701820303,682.298179697,652.298179697,631,880.701820303,783.298179697,815,652,630,653,0.456494839107,0.00465145890754,0.0697422329378,0.999999906595,0.00013967480861,-0.000405604740689,-5.27764546342e-05,1793248361423637760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,652,631,880,784,815,652,631,653,0.456495561666,0.00465385302785,0.0697435152188,0.999999906029,0.000143969486941,-0.000405474456772,-5.29663942446e-05,1793248361460819712
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.423194416,714.576805584,682.423194416,652,631,880.576805584,783.423194416,815,652,630.423194416,653,0.456493583556,0.00465438682892,0.069741647222,0.999999904976,0.000144425390617,-0.000407924707611,-5.27853119396e-05,1793248361477486336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.153352971,652.153352971,631,881,783,815,652,630,653,0.456492607917,0.00465401714217,0.0697406994866,0.999999904556,0.000143870666382,-0.000409183882663,-5.2517286725e-05,1793248361494152960
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.729189162,652.729189162,631,881,783,815,652,630,653,0.456494394057,0.00465115837142,0.0697422870461,0.999999905883,0.00014053169014,-0.00040716167722,-5.20097361451e-05,1793248361510819584
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.688016181,652.688016181,630.688016181,881,783.311983819,814.688016181,652,630,653,0.456495072094,0.00465047078816,0.0697425718881,0.999999906131,0.000139884553187,-0.000406788033794,-5.19096470838e-05,1793248361527485952
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.09904362,652.09904362,630.09904362,881,783.90095638,814.09904362,652,630,653,0.456494766324,0.00465171085146,0.0697417001377,0.999999905428,0.000141627313379,-0.000407878034083,-5.2171314805e-05,1793248361544152832
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.4816962,652.4816962,630.4816962,881,783.5183038,814.4816962,652,630.4816962,653,0.456494158991,0.00465212279456,0.0697414046106,0.999999905087,0.00014266471837,-0.000408386066704,-5.18988235218e-05,1793248361560819456
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.939555686,745,715,683,652.939555686,631,881,783.060444314,815,652,630.939555686,653,0.456493528724,0.0046523264183,0.0697411672631,0.999999904852,0.000143434426056,-0.000408728033368,-5.16070214345e-05,1793248361577485824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.363599695,745,715,683,652.363599695,631,881,783.636400305,815,652,630.363599695,653,0.456493222795,0.00465218115581,0.0697404326145,0.9999999049,0.000143137164801,-0.000408657075462,-5.20714964504e-05,1793248361594152704
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.210251669,745,714.789748331,682.789748331,652.210251669,630.789748331,880.789748331,783.789748331,815,652,630,653,0.456489550482,0.00465191679978,0.0697383218798,0.999999903963,0.000142770248459,-0.00041102468954,-5.24265997661e-05,1793248361610819328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.780499403,745,714.219500597,682.219500597,652.780499403,630.219500597,880.219500597,783.219500597,815,652,630,653,0.456480114194,0.00465144853001,0.0697338549899,0.999999901313,0.000142284067657,-0.000417567663166,-5.25944351663e-05,1793248361627485696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.36667208,682,652.63332792,630.36667208,880,783,815,652,630,653,0.456456007368,0.00465094873274,0.0697222926792,0.99999989409,0.000141303261732,-0.000434817546131,-5.27958564487e-05,1793248361644152064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.962810782,682,652.037189218,630.962810782,880,783,815,652,630,653,0.456422719588,0.00465042920523,0.0697062899911,0.999999883559,0.000140012914928,-0.000458767907879,-5.30182960655e-05,1793248361660818944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,652,631,880.539847357,783,815,652,630,652.460152643,0.456362499864,0.00465043222451,0.0696828443294,0.999999866299,0.000141223566026,-0.000494697108066,-5.22701999688e-05,1793248361677485312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,652.115629766,631,881,783,815,652,630,652.115629766,0.456299047228,0.00465102891007,0.0696611198854,0.999999849607,0.000143096651712,-0.000526921480483,-5.15968286899e-05,1793248361694151936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,652.691479128,631,881,783,815,652,630,652.691479128,0.456229859156,0.00465385007742,0.0696482170749,0.999999841415,0.000146944005561,-0.000541228074176,-5.14778815127e-05,1793248361710819072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.734875716,745,715,682,653,631,880.734875716,783,815,652,630,653,0.456155154943,0.00465523068763,0.0696396342125,0.999999835171,0.000150605928452,-0.00055171748745,-5.08225598224e-05,1793248361727485696
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.163774444,745,715,682,653,631,880.163774444,783,815,652,630,653,0.456074084618,0.0046549487667,0.0696360369548,0.999999831335,0.000154053847327,-0.000557801534491,-4.95482142883e-05,1793248361744152064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.425715342,745,715,682,653,631,880.425715342,783,814.574284658,652,630,652.574284658,0.455979617075,0.0046550284803,0.0696354269894,0.999999830723,0.000154175248454,-0.000558951870491,-4.85363261422e-05,1793248361760818944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,881.021886333,783,814.021886333,652,630,652,0.455878575778,0.00465518827955,0.0696359982386,0.999999831343,0.000153132912357,-0.000558215268723,-4.75462924774e-05,1793248361777485312
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,881.599956645,783,814.599956645,652,630,652,0.455747366981,0.00465368821234,0.0696360640331,0.999999830001,0.000156506237977,-0.000559937722829,-4.44299500821e-05,1793248361794151936
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,881.824480609,783,815,652,630,652.175519391,0.455607380651,0.00465245320069,0.0696356828889,0.999999828331,0.00015940624169,-0.000562323960742,-4.1460948079e-05,1793248361810818560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,653,631,881.254552675,783,815,652,630,652.745447325,0.455447670399,0.00465181379398,0.0696342974316,0.999999825955,0.000161242646217,-0.000566201782934,-3.88230341847e-05,1793248361827485184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.327759105,715,682.327759105,653.327759105,631.327759105,881,783.327759105,815,652,630.327759105,653,0.455270851939,0.0046521792597,0.0696307327431,0.999999821743,0.000166445897529,-0.000572293476826,-3.59204488227e-05,1793248361844152064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.920066475,715,682.920066475,653.920066475,631.920066475,881,783.920066475,815,652,630.920066475,653,0.455080224704,0.00465335580047,0.0696254091045,0.99999981596,0.000174366673764,-0.000580172080766,-3.28042356121e-05,1793248361860818944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.500406589,715,683,653.500406589,631.500406589,880.500406589,784,814.500406589,652,631,653,0.454860458962,0.0046526178884,0.0696227023664,0.99999981228,0.000178865528766,-0.00058530925763,-2.93235219065e-05,1793248361877485568
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.923041043,653.076958957,631,880.076958957,783.923041043,814.076958957,652,630.923041043,653,0.454632582052,0.00465123727594,0.0696213462901,0.999999810365,0.000182404775712,-0.000587657101039,-2.56531007216e-05,1793248361894152448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.3467624,653.6532376,631,880.6532376,783.3467624,814.6532376,652,630.3467624,653,0.454381572397,0.00464762452737,0.0696261046841,0.999999817869,0.000183181593373,-0.000574682231456,-2.1120774557e-05,1793248361910818816
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,881,783,815,652,630.228203935,653,0.454119034867,0.00464631049401,0.0696340590992,0.99999982608,0.00018736901057,-0.000558980141929,-1.65765672997e-05,1793248361927485184
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,654,631,881,783,815,652,630.801187548,653,0.453839080571,0.00464846945225,0.0696468421911,0.999999835235,0.00019670929859,-0.000539157659582,-1.20144098801e-05,1793248361944151808
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.388881395,715,682,654.388881395,631.388881395,880.611118605,783.388881395,814.611118605,652,631,653,0.45352569338,0.00464684133886,0.0696509045831,0.999999838166,0.000202288759243,-0.00053169490393,-6.8545772986e-06,1793248361960818688
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.984391374,715,682,654.984391374,631.984391374,880.015608626,783.984391374,814.015608626,652,631,653,0.453194541933,0.00464320099942,0.0696503333103,0.999999837934,0.000205869938298,-0.000530799377059,-1.37717561694e-06,1793248361977485312
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.44236015,715,682,655.55763985,632,880.55763985,784,814,652,631,653,0.452806951695,0.00464217487794,0.0696429065333,0.999999831312,0.000214948276803,-0.000539585790594,4.45220213122e-06,1793248361994152192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,880.868157873,784,814,651.868157873,630.868157873,653,0.452405429837,0.00464108465851,0.0696353975757,0.999999824195,0.00022284414037,-0.000549407097218,1.01581197232e-05,1793248362010819072
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,880.288682974,784,814,651.288682974,630.288682974,653,0.451961764872,0.00463953791061,0.0696282360938,0.999999816451,0.00022622288006,-0.000561857299077,1.54126963619e-05,1793248362027485696
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656.885431291,632,880,784,814,651.885431291,630.885431291,652.114568709,0.451044648517,0.00462773135923,0.0696265859682,0.999999807622,0.000227942258653,-0.000576260875057,2.68478118744e-05,1793248362060818688
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.466486836,632,880,784,813.533513164,652,630.533513164,652,0.450562879604,0.0046174039882,0.0696423138868,0.999999821245,0.000216714320426,-0.000556606706681,2.70790150466e-05,1793248362077485056
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.954775647,745,715,682,658,632.045224353,880.045224353,784,813,651.954775647,630,652,0.450073865668,0.00460744885791,0.0696619324995,0.999999839243,0.000199767721214,-0.000530088242858,2.47707199177e-05,1793248362094151936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.379131937,745,715,682,658,632.620868063,880.620868063,784,813,651.379131937,630,652,0.449551562115,0.00461028673374,0.0696863030924,0.999999867001,0.000147579811076,-0.000494108514387,8.63236221392e-06,1793248362110818816
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.169155356,745,715,682.169155356,660.661689288,633,880,784,812,652,630,653,0.443649104781,0.00459049294647,0.0697905084164,0.999999953497,3.59229635326e-05,-0.000302030723192,2.22001628331e-05,1793248362260818432
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.989927244,745,714.989927244,682.010072756,659,633,879.989927244,784,812,652,630,652.989927244,0.442106664083,0.00458617293019,0.0698226518353,0.999999919404,0.000293375880824,-0.000273013242613,2.42258185118e-05,1793248362294151936
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.415010077,745,714.415010077,682.584989923,659,633,879.415010077,784,812,652,630,652.415010077,0.441311301131,0.00458061545594,0.0698242092607,0.999999930127,0.000265616882716,-0.000261798882635,2.5586884298e-05,1793248362310818560
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.160487869,714.160487869,683,659.160487869,633,879.160487869,784,812,651.839512131,630,652,0.440496289663,0.00457645308858,0.0698239195382,0.999999937998,0.000239691881283,-0.000256573498205,2.68586394858e-05,1793248362327485184
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.737493091,714.737493091,683,659.737493091,633,879.737493091,784,812,651.262506909,630,652,0.439630284063,0.00457591147012,0.0698188358761,0.999999940118,0.00021852668992,-0.000266891421957,2.78986050654e-05,1793248362344152064
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.679609743,715,682.679609743,659.679609743,633,880,784,811.679609743,651.320390257,630,652,0.43872110442,0.00457416867013,0.0697798440355,0.999999926971,0.000193024928073,-0.000328690694734,2.76102951244e-05,1793248362360818688
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.09179469,715,682.09179469,659.09179469,633,880,784,811.09179469,651.90820531,630,652,0.437775888113,0.00457142326252,0.0697125495625,0.99999989228,0.000163903497205,-0.000433460650453,2.62132938426e-05,1793248362377485312
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,633,879.509599179,784,811.490400821,652,630,652,0.436887891196,0.00456522321002,0.0697078736661,0.999999895184,0.000136661822619,-0.000436178261797,2.65416141101e-05,1793248362394152192
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.141705078,633,879.070852539,784.070852539,811.929147461,652,630,652,0.436013225508,0.00455894335271,0.069721049465,0.999999908285,0.000112271036458,-0.000412405113591,2.73373121773e-05,1793248362410819072
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.292583114,633,879.646291557,784.646291557,811.353708443,652,630,652,0.435158088344,0.00455664819958,0.0697788306375,0.999999938051,0.000105705851383,-0.000334473914817,2.91876236099e-05,1793248362427485696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.221872373,660.556255253,633,879.778127627,785,811.221872373,652,630,652,0.43428368604,0.00455225397854,0.0698218792072,0.999999955185,0.000107276265477,-0.000277761740004,3.11503680749e-05,1793248362444152320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.797679479,659.404641042,633,879.202320521,785,811.797679479,652,630,652,0.433378551512,0.00454451128692,0.0698414260775,0.999999959539,0.000121824730941,-0.000254898517609,3.32924682051e-05,1793248362460819712
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.382670923,745,715,683,659.382670923,633,879.765341847,784.617329077,812,652,630,652,0.432456714838,0.00453854556736,0.0698480998585,0.999999964378,0.000112954295888,-0.000239551448603,3.31664779393e-05,1793248362477486336
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.972637559,745,715,683,659.972637559,633,880.945275118,784.027362441,812,652,630,652,0.431525830541,0.00453354244737,0.0698478001891,0.999999969262,9.13976657358e-05,-0.000228275937628,3.18118459447e-05,1793248362494152704
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.447497734,745,715,682.447497734,660,633,879.342493203,784,811.447497734,652,629.447497734,652.552502266,0.430481504931,0.00452944000312,0.0697755013382,0.99999993286,9.15574374586e-05,-0.000353215971309,3.37035059875e-05,1793248362510819584
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.738597122,633,878.392104317,784,811,651.869298561,629.130701439,653,0.429464552377,0.00452396605476,0.069718561117,0.99999989434,8.96506970448e-05,-0.000449521490711,3.48272298495e-05,1793248362527486208
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.590167886,633,880.114748171,784,811,651.295083943,629.704916057,653,0.428559207575,0.00451368949618,0.0697256202448,0.999999905671,7.71476197755e-05,-0.000426180215583,3.28093397859e-05,1793248362544152832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.857179026,633,880.428547316,784,811.285726342,651.285726342,629.714273658,653,0.427665408712,0.0045074159878,0.069764808097,0.999999932413,6.57274482755e-05,-0.000360274122101,3.25097686841e-05,1793248362560819200
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.620527663,633,879.252981558,784,811.873509221,651.873509221,629.126490779,653,0.426783815732,0.00450537431767,0.0698379609348,0.999999966791,5.54520743601e-05,-0.000249370489839,3.40267239433e-05,1793248362577485824
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.454815211,745,715,682,660.090369578,633,879,784,811.545184789,652,629,653,0.425861841411,0.00449532467739,0.069854847384,0.999999970603,5.84036150546e-05,-0.000232447448595,3.67620030944e-05,1793248362594153216
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.965768645,745,715,681.965768645,659,633,879,784,810.965768645,652,629,652.965768645,0.424927710601,0.00448350550291,0.0698543516615,0.999999967625,6.30465574001e-05,-0.000243346573499,3.94558549978e-05,1793248362610820352
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.388159939,745,715,681.388159939,659,633,879,784,810.388159939,652,629,652.388159939,0.423976381285,0.0044784537518,0.0698228486095,0.999999957531,3.69652504551e-05,-0.000286814876353,3.61890821148e-05,1793248362627486720
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.188430553,659.188430553,633,879,784,810.188430553,652,629,652,0.423004724362,0.00447362123593,0.0697771271363,0.999999933859,2.01174521263e-05,-0.000361485259168,3.47213017701e-05,1793248362644152832
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.76293494,659.76293494,633,879,784,810.76293494,652,629,652,0.421991418195,0.00446923790844,0.0697022736489,0.999999874029,2.21881100208e-05,-0.000500085336466,3.69394618092e-05,1793248362660818944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.653555091,659.307110182,633,879,784.346444909,811,651.653555091,629.346444909,652.346444909,0.421070648854,0.00445996405689,0.0696878409068,0.999999863663,1.90882563172e-05,-0.000520512784427,3.71011307962e-05,1793248362677485312
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.063718365,658.127436731,633,879,784.936281635,811,651.063718365,629.936281635,652.936281635,0.420214890503,0.00444725441105,0.0697158562312,0.999999894437,1.23559052957e-05,-0.000457919088467,3.58180302297e-05,1793248362694151936
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.549485576,633.516495192,879,784.483504808,811,651.516495192,629.483504808,652.483504808,0.419423877943,0.00444309000276,0.0697917063438,0.99999994209,-1.00456579201e-05,-0.000338281802789,3.58487177782e-05,1793248362710818816
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.905110875,633.905110875,879,784,811,652,629,652,0.418631238867,0.00443921565596,0.0698616044827,0.999999972075,-2.90497147026e-05,-0.000231685444028,3.6434857853e-05,1793248362727485440
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.330027385,633.330027385,879,784,811,652,629,652,0.417790686712,0.00443157190812,0.0698720647456,0.999999973464,-2.12569188088e-05,-0.000226045200822,3.90267083095e-05,1793248362744152576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.245006007,745,715,681,659.509987985,633,878.754993993,784,811,652,629,652,0.416952599247,0.00442520770604,0.0698615175509,0.999999970669,-1.8721689913e-05,-0.000238222151563,3.95090796757e-05,1793248362760819712
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.819971886,745,715,681,658.360056229,633,878.180028114,784,811,652,629,652,0.416117831151,0.00442056672255,0.0698226787304,0.999999961393,-2.32670477136e-05,-0.000274394265261,3.71505267947e-05,1793248362777486592
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.4066457,633.4066457,878.4066457,784,811,652,629,652.4066457,0.415263327346,0.00444405110098,0.0697892902203,0.999999945834,-4.32259985788e-06,-0.000327223313762,3.51951886698e-05,1793248362794152704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.998656503,633.998656503,878.998656503,784,811,652,629,652.998656503,0.414399827156,0.00448035612509,0.0697583861726,0.999999923986,2.53294248269e-05,-0.00038764525025,3.34236513621e-05,1793248362810819072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,633.423145877,878.423145877,784,811,652,629,652.423145877,0.413618167659,0.00448745857303,0.0697484979935,0.99999991271,6.00108816415e-05,-0.000411926140405,3.60048135383e-05,1793248362827485696
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.15409041,681,659,633.15409041,878,784,811,652,629,652.15409041,0.412878124833,0.00448847333136,0.0697566648479,0.999999917041,7.2531997578e-05,-0.000399106370537,3.7023948473e-05,1793248362844152064
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.72878852,681,659,633.72878852,878,784,811,652,629,652.72878852,0.412251171257,0.00447305234216,0.0698139845343,0.999999958448,2.45326665564e-05,-0.000285240422492,3.37523244261e-05,1793248362860818688
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.688970012,745,715.688970012,681,659.311029988,634,878.311029988,784.311029988,810.688970012,652,629,653,0.411616814314,0.00446572252576,0.0698579507196,0.999999977745,5.21045454452e-06,-0.000208282802955,3.31837071267e-05,1793248362877485312
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.099987441,745,715.099987441,681,659.900012559,634,878.900012559,784.900012559,810.099987441,652,629,653,0.410975841373,0.00446562340339,0.0698899835177,0.999999985821,1.15156115012e-05,-0.000164308395642,3.50306378051e-05,1793248362894152192
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.48115013,745,715,681,659.03769974,633.51884987,878.51884987,784.51884987,810,652,629,653,0.410275773645,0.00446125064847,0.0698640387752,0.999999976936,1.50628433874e-05,-0.000211491657089,3.42346090113e-05,1793248362910818560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.93936019,745,715,680.93936019,658,633.06063981,878,784,810,652,628.93936019,652.93936019,0.409572542251,0.00445711901545,0.0698260055718,0.999999960757,1.70364680507e-05,-0.000277683145587,3.29682184855e-05,1793248362927484928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.360244814,745,715,680.360244814,658,633.639755186,878,784,810,652,628.360244814,652.360244814,0.408945575546,0.00446252050812,0.0697859760583,0.99999993921,1.03772464407e-05,-0.000347027339012,3.23008330947e-05,1793248362944152320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.215670275,658.215670275,634,878,784,810,652,628.215670275,652,0.408342278427,0.00446903550949,0.0697643412967,0.999999926497,1.20694976148e-05,-0.00038193067752,3.14386164033e-05,1793248362960819456
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.786317873,658.786317873,634,878,784,810,652,628.786317873,652,0.407777939757,0.00447738326333,0.0697729829403,0.999999934311,2.7507656089e-05,-0.000360146911113,3.02557220585e-05,1793248362977486336
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878,784,810,652,628.629988663,652.370011337,0.407254618495,0.00447869150359,0.0697880965757,0.999999941786,4.07855938596e-05,-0.000337380084045,3.06532295267e-05,1793248362994152960
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878,784,810,652,628.038485791,652.961514209,0.406755850505,0.00447578583953,0.0698070843942,0.99999994879,5.277040894e-05,-0.000314024787389,3.19967771368e-05,1793248363010819328
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.460045788,657.920091575,634,878,784,810,652,628.539954212,653,0.406248243763,0.00447328082591,0.0698030298393,0.999999945375,3.56239572386e-05,-0.000327030921024,3.21237873101e-05,1793248363027486208
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.117022678,745,715,680,657.117022678,633.882977322,878,784.117022678,809.882977322,652,628.882977322,652.882977322,0.405758002949,0.00447267292633,0.0697991965462,0.999999942084,2.08400731428e-05,-0.000338197102041,3.19568582487e-05,1793248363044153344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.69228042,745,715,680,657.69228042,633.30771958,878,784.69228042,809.30771958,652,628.30771958,652.30771958,0.405338171776,0.00447938452659,0.0698025089086,0.999999944055,2.32459980476e-05,-0.00033224963755,3.0970444749e-05,1793248363060819712
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.732761531,745,715.267238469,680,658.267238469,633.267238469,878,784.732761531,809,652,628,652.267238469,0.404948021791,0.00448428067482,0.0698123279406,0.999999950152,2.92837645601e-05,-0.000312908736787,3.04264035747e-05,1793248363077486080
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.158148219,745,715.841851781,680,658.841851781,633.841851781,878,784.158148219,809,652,628,652.841851781,0.404592010819,0.00448708870907,0.0698296308746,0.999999960071,3.94988364653e-05,-0.000278162848238,3.03911743718e-05,1793248363094152448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715.569553508,679.569553508,659,633.569553508,878,784.430446492,809.430446492,652,628,652.569553508,0.404249889573,0.00448382348472,0.0698422659069,0.999999966267,3.45852996969e-05,-0.000255608913017,3.05633337075e-05,1793248363110818816
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.023618828,745,715,679.023618828,658.976381172,633.023618828,878,784.976381172,810,652,628,652,0.40391340142,0.00447828383916,0.0698522252068,0.999999970656,2.33499766933e-05,-0.000239166778026,3.06831006548e-05,1793248363127485440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.599677937,745,715,679.599677937,658.400322063,633.599677937,878,784.400322063,810,652,628,652,0.403585301055,0.00447348879639,0.0698410600831,0.99999996649,-1.37793438082e-06,-0.000257389170286,2.77353856641e-05,1793248363144152320
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878,784,810,652,628.175523987,652,0.403271760339,0.00447046743113,0.0698314596778,0.999999962065,-1.8395521724e-05,-0.000273611171098,2.58421643193e-05,1793248363160818944
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878,784,810,652,628.750884617,652,0.402991385968,0.00447148643318,0.0698254236399,0.999999958802,-1.78492956362e-05,-0.000285276357908,2.63510379097e-05,1793248363177485824
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.665883221,745,715,680,658.334116779,634,878,784,810,652,628.665883221,652,0.402733619537,0.00447020064412,0.0698168432958,0.999999954424,-2.05996078017e-05,-0.00030000297474,2.6952925389e-05,1793248363194152960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.076640428,745,715,680,658.923359572,634,878,784,810,652,628.076640428,652,0.402493116123,0.00446715495503,0.0698063201611,0.999999949018,-2.58671016805e-05,-0.000317067249796,2.76258367759e-05,1793248363210820352
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809.495619208,652,628,652,0.402279923069,0.00446748147652,0.0697993732747,0.999999945132,-2.45216340008e-05,-0.000329058988852,2.92466251941e-05,1793248363227486464
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.916227285,878,784,809,652,628,652,0.402076787872,0.00446860449823,0.0697942552643,0.999999942136,-2.10934680169e-05,-0.000338113078662,3.10197808313e-05,1793248363244152576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.339190785,878,784,809,652,628,652,0.401908831869,0.00447144869297,0.0697967575529,0.999999943507,-1.12238256373e-05,-0.000334335534975,3.28556328238e-05,1793248363260818944
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.235995879,745,715,680,658.764004121,633.235995879,878.235995879,784,809.235995879,652,628,652,0.401754944113,0.00447937813391,0.0697978315226,0.999999943721,3.38962597322e-05,-0.000332009079063,3.43343155646e-05,1793248363277485568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.808544463,745,715,680,658.191455537,633.808544463,878.808544463,784,809.808544463,652,628,652,0.401621119033,0.00449455962234,0.0697968685728,0.99999993599,0.000129286849241,-0.000331752011307,3.53036404515e-05,1793248363294152192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.211909626,784.394045187,810,652,628,652,0.401509214414,0.00450926599242,0.0697979668422,0.999999930928,0.000171114245257,-0.000328016460827,3.56274487454e-05,1793248363310819072
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.027894288,784.986052856,810,652,628,652,0.401408322314,0.00452373366959,0.0698001006379,0.999999930047,0.000186032281498,-0.000322533372947,3.56269591083e-05,1793248363327485952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.563882699,634,878.127765397,784.436117301,809.436117301,652,628,652,0.401321554029,0.00451464907387,0.06979946433,0.999999937573,0.000137096314013,-0.000324534145066,2.7120706569e-05,1793248363344152576
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.858835709,745,715,680,658.858835709,634,878.858835709,784,809.141164291,652,628,652.141164291,0.401240898924,0.00450695443358,0.0697988644504,0.99999994242,9.30060635198e-05,-0.000325789859368,1.92748080814e-05,1793248363360819200
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.282190257,745,715,680,658.282190257,634,878.282190257,784,809.717809743,652,628,652.717809743,0.401178051284,0.00450530073228,0.0697985831329,0.999999944997,6.86172400237e-05,-0.000324190093842,1.40991499985e-05,1793248363377486592
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.299382898,745,715,680,658.299382898,634,878,784.299382898,810,652,628,652.700617102,0.401127110065,0.00450513402119,0.0697999590469,0.999999946935,5.82908169316e-05,-0.000320299359976,1.18214801997e-05,1793248363394153728
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.885678572,745,715,680,658.885678572,634,878,784.885678572,810,652,628,652.114321428,0.401087579327,0.00450639236288,0.0698029231641,0.999999948672,6.14410537186e-05,-0.000314213082854,1.23210888927e-05,1793248363410820352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.533235744,634,878,784.533235744,809.533235744,652,628,652,0.401057871152,0.0045052943564,0.0698062520846,0.999999950347,6.20715150615e-05,-0.000308658602555,1.35172188762e-05,1793248363427487232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.953676998,745,715,679.953676998,658,634,878,784,809.046323002,652,628.046323002,652,0.401031126935,0.00450398436674,0.069809544894,0.999999951908,6.23219970377e-05,-0.000303450118749,1.47710735937e-05,1793248363444154368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.377150671,745,715,679.377150671,658,634,878,784,809.622849329,652,628.622849329,652,0.401011075527,0.00450678078861,0.0698114130059,0.999999952547,6.52091278048e-05,-0.000300727483167,1.47546024112e-05,1793248363460819968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.198959798,658,634,878,784,810,652,629,652,0.400994726425,0.00450733913821,0.0698134047588,0.999999953281,6.63318963637e-05,-0.000298002738306,1.52150010074e-05,1793248363477486336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.774283572,658,634,878,784,810,652,629,652,0.400985380822,0.00450366381945,0.069815630398,0.999999954214,6.41170941516e-05,-0.000295274003576,1.65774743286e-05,1793248363494152960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.358734943,745,715,679.641265057,658.358734943,633.641265057,878,784,810,652,629,652,0.400979068681,0.00450342398255,0.0698171591692,0.999999954923,6.35172316618e-05,-0.000292978427588,1.68386106344e-05,1793248363510819584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.949079327,745,715,679.050920673,658.949079327,633.050920673,878,784,810,652,629,652,0.400974715029,0.0045054021902,0.0698182380224,0.999999955491,6.39600200929e-05,-0.000290962511261,1.63886925102e-05,1793248363527485696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.470794532,745,715,679.529205468,658.470794532,633.529205468,878,784.529205468,810,652,629,652,0.400973625841,0.00450736049085,0.0698199400413,0.99999995636,6.71714837246e-05,-0.000287227475201,1.63569816132e-05,1793248363544152320
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.107614511,633.892385489,878,784.892385489,810,652,628.892385489,652,0.400972472751,0.00450864137333,0.0698212872164,0.999999957013,6.98208083408e-05,-0.000284305186982,1.6424608609e-05,1793248363560819200
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.682754138,633.317245862,878,784.317245862,810,652,628.317245862,652,0.400969703255,0.00450698741464,0.0698208372267,0.999999956698,6.88924952638e-05,-0.000285618861315,1.67522933028e-05,1793248363577485568
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.742770795,633.257229205,878,784.257229205,809.742770795,652,628,652,0.400969087178,0.00450589432304,0.0698215890209,0.999999957026,6.75117747092e-05,-0.000284788081002,1.69177380196e-05,1793248363594152192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.169113156,633.830886844,878,784.830886844,809.169113156,652,628,652,0.400971120114,0.00450549117736,0.0698238191799,0.999999958137,6.55745286146e-05,-0.000281319317248,1.68836045789e-05,1793248363610819072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.581581546,658.418418454,634,877.581581546,785,809.418418454,652,628,652,0.40097128723,0.00450566274197,0.0698240310925,0.999999958406,6.46062104368e-05,-0.00028059237362,1.68079044624e-05,1793248363627485696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.010934895,745,715,679.010934895,658.989065105,634,877.010934895,785,810,652,628,652,0.400970673226,0.0045060586773,0.0698234260585,0.999999958329,6.40962639071e-05,-0.000280986831468,1.67232316613e-05,1793248363644152576
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.563115314,745,715,679.563115314,658.436884686,634,877.563115314,785,810,652,628,652,0.40097000258,0.00450566872645,0.0698241449735,0.999999958418,6.62258619167e-05,-0.000280155185648,1.70545113392e-05,1793248363660819456
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.87407163,745,715,679.87407163,658,634,877.87407163,784.87407163,810,652,628,652,0.400969323009,0.00450528115047,0.0698245734836,0.999999958441,6.75969425367e-05,-0.000279727530255,1.73608196062e-05,1793248363677486080
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.270968862,745,715,679.270968862,658,634,877.270968862,784.270968862,810,652,628,652,0.400968609614,0.00450490257343,0.0698239015763,0.999999958228,6.60938090608e-05,-0.000280830696678,1.75725048705e-05,1793248363694152192
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.324025608,745,715,679.324025608,658,634,877.324025608,784.324025608,809.675974392,652,628.324025608,652,0.400969073552,0.00450458342816,0.0698241707067,0.999999958315,6.58798262788e-05,-0.000280569803415,1.76262892356e-05,1793248363710819072
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.912404956,745,715,679.912404956,658,634,877.912404956,784.912404956,809.087595044,652,628.912404956,652,0.400970498007,0.00450431276986,0.0698252075755,0.999999958645,6.67175870124e-05,-0.000279196052745,1.75512513852e-05,1793248363727485952
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.507121068,784.507121068,809,651.507121068,628.507121068,652,0.400970196248,0.00450475753754,0.0698253188073,0.999999958892,6.54027607718e-05,-0.000278645926671,1.71807963111e-05,1793248363744152576
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.071388949,680,658,634,877.071388949,784,809.071388949,651.071388949,628,652,0.400969678602,0.00450533167604,0.0698252962153,0.999999959104,6.40095651888e-05,-0.000278232181106,1.68016803512e-05,1793248363760819200
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.645803483,680,658,634,877.645803483,784,809.645803483,651.645803483,628,652,0.400969767324,0.00450593563111,0.0698254715145,0.999999959189,6.47172286181e-05,-0.000277764289599,1.6725640243e-05,1793248363777486336
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,744.779121217,715.779121217,680,658,634,878,784,810,652,628,652.220878783,0.400970265057,0.00450644864927,0.0698259128178,0.999999959359,6.55185077206e-05,-0.000276972832097,1.66032195602e-05,1793248363794153216
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,744.202983057,715.202983057,680,658,634,878,784,810,652,628,652.797016943,0.400971420636,0.00450681540542,0.0698267819593,0.999999959662,6.64703575102e-05,-0.000275660953987,1.6406200782e-05,1793248363810819328
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.617000321,744.382999679,715,680,658,634,878,784.382999679,810,652,628.382999679,652.617000321,0.400971159456,0.00450726341722,0.069827233095,0.99999995976,6.72137846819e-05,-0.000275128950468,1.6294088969e-05,1793248363827485952
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.025662524,744.974337476,715,680,658,634,878,784.974337476,810,652,628.974337476,652.025662524,0.400970127608,0.00450775562918,0.0698274568505,0.999999959749,6.78438373512e-05,-0.000275021170896,1.62281635184e-05,1793248363844152576
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.552633519,745,715,680,658,634,878,785,809.447366481,652,628.447366481,652,0.400970739884,0.00450747453269,0.0698275993401,0.999999959828,6.68334720263e-05,-0.000274970825843,1.64076495077e-05,1793248363860819200
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.869777859,745,715,679.869777859,658,634,878,784.869777859,809.130222141,652,628.130222141,652,0.400970917346,0.00450706946465,0.0698276019934,0.999999959802,6.61886006108e-05,-0.000275206444845,1.66267331426e-05,1793248363877485824
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.29258662,745,715,679.29258662,658,634,878,784.29258662,809.70741338,652,628.70741338,652,0.400969346362,0.00450635929595,0.0698271373329,0.999999959406,6.70536698392e-05,-0.000276414651753,1.69435163423e-05,1793248363894152448
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..644279daa4209a24bd209e1e225de7e08cd48e1c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_11/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,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+385,6.416666667,pose2_to_pose3_retreat,0.583261427652,0.00992801710721,1.06004242731,0.553833217612,0.0186024703296,1.05966581212
+386,6.433333333,pose2_to_pose3_retreat,0.583255356153,0.00992808072404,1.06004239151,0.553827145496,0.0186025319802,1.05966577916
+387,6.450000000,pose2_to_pose3_retreat,0.58325197074,0.00992801294617,1.0600425078,0.553823761457,0.0186024683838,1.05966588445
+388,6.466666667,pose2_to_pose3_retreat,0.58324966708,0.00992799968882,1.06004244331,0.553821456655,0.0186024514816,1.05966582528
+389,6.483333333,pose2_to_pose3_retreat,0.583248221205,0.0099280000706,1.06004236479,0.553820009513,0.0186024478571,1.0596657535
+390,6.500000000,pose2_to_pose3_retreat,0.583247723342,0.00992798412393,1.06004235264,0.553819511979,0.018602433066,1.05966574228
+391,6.516666667,pose2_to_pose3_retreat,0.583247412126,0.00992796484988,1.06004235366,0.553819201411,0.0186024159816,1.05966574308
+392,6.533333333,pose2_to_pose3_retreat,0.58324717265,0.0099279500188,1.06004235445,0.553818962434,0.0186024028353,1.0596657437
+393,6.550000000,pose2_to_pose3_retreat,0.583247132816,0.00992794755186,1.06004235458,0.553818922684,0.0186024006486,1.0596657438
+394,6.566666667,pose2_to_pose3_retreat,0.583247101433,0.00992794560822,1.06004235468,0.553818891365,0.0186023989258,1.05966574388
+395,6.583333333,pose2_to_pose3_retreat,0.583246767342,0.00992792491752,1.06004235577,0.553818557971,0.0186023805856,1.05966574474
+396,6.600000000,pose2_to_pose3_retreat,0.583246472752,0.00992790667313,1.06004235674,0.553818263994,0.0186023644139,1.0596657455
+397,6.616666667,pose2_to_pose3_retreat,0.583246449434,0.00992790522903,1.06004235682,0.553818240725,0.0186023631338,1.05966574556
+398,6.633333333,pose2_to_pose3_retreat,0.583246423662,0.00992790363288,1.0600423569,0.553818215006,0.018602361719,1.05966574562
+399,6.650000000,pose2_to_pose3_retreat,0.58324637634,0.0099279007022,1.06004235706,0.553818167783,0.0186023591213,1.05966574574
+400,6.666666667,pose2_to_pose3_retreat,0.58324623529,0.0099279077302,1.06004236596,0.553818026872,0.0186023666101,1.05966575441
+401,6.683333333,pose2_to_pose3_retreat,0.583246113518,0.0099279447477,1.06004239024,0.553817904916,0.0186024029819,1.05966577819
+402,6.700000000,pose2_to_pose3_retreat,0.583246019225,0.00992797341181,1.06004240904,0.55381781048,0.0186024311459,1.05966579661
+403,6.716666667,pose2_to_pose3_retreat,0.583245920784,0.00992800333661,1.06004242867,0.553817711891,0.0186024605487,1.05966581584
+404,6.733333333,pose2_to_pose3_retreat,0.583245874896,0.00992801728626,1.06004243782,0.553817665933,0.018602474255,1.0596658248
+405,6.750000000,pose2_to_pose3_retreat,0.5832457755,0.00992804750162,1.06004245764,0.553817566387,0.0186025039433,1.05966584421
+406,6.766666667,pose2_to_pose3_retreat,0.583245708835,0.00992806776684,1.06004247093,0.553817499622,0.018602523855,1.05966585723
+407,6.783333333,pose2_to_pose3_retreat,0.583245541828,0.00992802213358,1.06004243361,0.553817333111,0.0186024798886,1.05966581947
+408,6.800000000,pose2_to_pose3_retreat,0.583245422941,0.00992796473652,1.06004241203,0.553817214429,0.0186024231874,1.05966579788
+409,6.816666667,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27f47167f30fbd562b845fb52940d66e13a7e286
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb7df25798a6a8b06f5c7368b47b921eff8d1a778c99319b4234c7dffa5d1bc
+size 25710127
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6050cc6557e2952bd6a82bfd725f6e9e5bf47c7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+30,0.500000000,BASELINE,765,745,716,679.411690387,658,634,877,784,810,652,628,652,0.40103085473,0.00450032114152,0.0798642362796,0.999999978247,0.000138872776448,-0.000147767961434,4.88318882866e-05,1793248365637757184
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+44,0.733333333,BASELINE,765,745.469838942,716,680,658.469838942,633.530161058,878.530161058,784,810,652,629,653,0.401028966244,0.00450183362263,0.0798631904468,0.999999977586,0.000142149130951,-0.000149198050447,4.86023467263e-05,1793248365871091200
+45,0.750000000,BASELINE,765.107047616,745,716,680,658,634,878.785904769,784,809.892952384,651.892952384,628.892952384,652.892952384,0.40102933759,0.00450066173613,0.0798631768276,0.99999997792,0.000140042949726,-0.000148971705363,4.85305940592e-05,1793248365887758080
+46,0.766666667,BASELINE,765.696212173,745,716,680,658,634,877.607575654,784,809.303787827,651.303787827,628.303787827,652.303787827,0.401029680046,0.00450089451476,0.079863854427,0.999999977892,0.000140926142545,-0.000148351389143,4.84436117029e-05,1793248365904423936
+47,0.783333333,BASELINE,765.719324249,745,716,679.719324249,658,634,877,784,809.280675751,651.280675751,628.280675751,652,0.401030043958,0.00450085903562,0.079864203749,0.999999978068,0.000140107408339,-0.000148030590452,4.81831261067e-05,1793248365921090304
+48,0.800000000,BASELINE,765.139864863,745,716,679.139864863,658,634,877,784,809.860135137,651.860135137,628.860135137,652,0.40103043071,0.004500537992,0.0798642036149,0.999999978454,0.000137476946854,-0.000148028632682,4.77379436429e-05,1793248365937757184
+49,0.816666667,BASELINE,765,745,715.562909431,679.437090569,658,634,877.437090569,784,810,652,628.562909431,652,0.401031007276,0.00450111727909,0.0798645777282,0.99999997835,0.000138651651269,-0.000147536911232,4.80486401142e-05,1793248365954423808
+50,0.833333333,BASELINE,765,745.013212191,715.013212191,679.986787809,658,634,878,784,810,652,628,652,0.401031621739,0.0045019677909,0.0798650594963,0.999999978091,0.000140979460418,-0.000146904924485,4.85883973779e-05,1793248365971090688
+51,0.850000000,BASELINE,765,745.587757693,715.587757693,679.412242307,658,634,878,784,810,652,628,652,0.401031280409,0.00450217117533,0.0798650561273,0.999999978101,0.000140861063909,-0.000146934094131,4.86423024191e-05,1793248365987757824
+52,0.866666667,BASELINE,765.167059036,745.832940964,716,679.167059036,658,634,878,784,810.167059036,652,628,652,0.401030545432,0.00450233232611,0.079864542552,0.999999977953,0.000141060761497,-0.000147734359243,4.86919309924e-05,1793248366004424448
+53,0.883333333,BASELINE,765.758439952,745.241560048,716,679.758439952,658,634,878,784,810.758439952,652,628,652,0.401028810607,0.00450238620544,0.0798627330773,0.999999977397,0.000142068402733,-0.00015049316958,4.87306975402e-05,1793248366021091072
+54,0.900000000,BASELINE,766,745,716,679.658250556,658,634,878,784,810.658250556,652,628.341749444,652,0.401029208963,0.00450242857024,0.0798630134251,0.999999977491,0.000141940197471,-0.000149995221509,4.87049906926e-05,1793248366037757696
+55,0.916666667,BASELINE,766,745,716,679.080514609,658,634,878,784,810.080514609,652,628.919485391,652,0.401031080331,0.00450246298397,0.0798647368475,0.999999978032,0.000141027661868,-0.000147248400522,4.86347633579e-05,1793248366054424320
+56,0.933333333,BASELINE,765.505280005,745,715.505280005,679,658,634,878,784,809.505280005,652,628.505280005,652,0.401030411037,0.00450290260329,0.0798639001814,0.999999977762,0.00014171212005,-0.000148446240165,4.85593549827e-05,1793248366071090688
+57,0.950000000,BASELINE,765.069320338,745,715,679,658,634,877.930679662,784,809.069320338,652,628.069320338,652,0.401029584696,0.00450327592759,0.0798629133994,0.999999977407,0.000142585118365,-0.000150009331614,4.85056161576e-05,1793248366087757312
+58,0.966666667,BASELINE,765.642255097,745,715,679,658,634,877.357744903,784,809.642255097,652,628.642255097,652,0.401030606291,0.0045026909243,0.0798638477608,0.999999977413,0.00014294913065,-0.000149585410078,4.86154024102e-05,1793248366104424192
+59,0.983333333,BASELINE,766,745.222660375,715.222660375,679.222660375,658,634,877.222660375,784,810,652,629,652,0.40103086094,0.00450198986108,0.0798641224211,0.999999977379,0.000142897226747,-0.000149816711126,4.87498944282e-05,1793248366121090816
+60,1.000000000,BASELINE,766,745.815485198,715.815485198,679.815485198,658,634,877.815485198,784,810,652,629,652,0.401029840569,0.00450109585255,0.0798633003532,0.999999977278,0.000142153877978,-0.00015113729486,4.89254588638e-05,1793248366137757440
+61,1.016666667,BASELINE,765.600081487,746,716,679.600081487,658.399918513,634,878,784,810,652,629,652,0.401029748129,0.00450272060725,0.0798630449066,0.999999977154,0.000143314987795,-0.000150935493748,4.86922789922e-05,1793248366154424320
+62,1.033333333,BASELINE,765.01944032,746,716,679.01944032,658.98055968,634,878,784,810,652,629,652,0.401030075019,0.00450548358782,0.0798630455154,0.999999977017,0.000145336720007,-0.000150045728829,4.82743880906e-05,1793248366171091200
+63,1.050000000,BASELINE,765,745.445866602,716,679,658.445866602,634,877.445866602,784,810,652,629,652,0.401027773246,0.00450375326642,0.0798623042386,0.999999977175,0.000142847308125,-0.000151282263268,4.85555137155e-05,1793248366187757824
+64,1.066666667,BASELINE,765,745,716,679,658,633.869587085,877,784,810,652,629,652,0.401026531483,0.00450229977056,0.0798620952562,0.999999977341,0.000141158490261,-0.000151711578641,4.87430615148e-05,1793248366204424704
+65,1.083333333,BASELINE,765,745,716,679,658,633.28298625,877,784,810,652,629,652,0.401029316187,0.00450235908798,0.0798638381511,0.999999977515,0.000142816804058,-0.000149059568228,4.8518569124e-05,1793248366221091072
+66,1.100000000,BASELINE,765,745,715.699459312,679.300540688,658,633.300540688,877.300540688,784,810,652,629,652,0.401031004562,0.00450188973372,0.0798645040236,0.999999977728,0.000142671047188,-0.000147798116296,4.84310462512e-05,1793248366237757440
+67,1.116666667,BASELINE,765,745,715.118797456,679.881202544,658,633.881202544,877.881202544,784,810,652,629,652,0.401031671096,0.0045009276271,0.0798641660492,0.99999997798,0.000140843792829,-0.000147832744815,4.8471186842e-05,1793248366254423808
+68,1.133333333,BASELINE,765,745,715,680,658,633.541661247,878,784,810,652,629,652,0.401032031139,0.0045012085206,0.0798647521921,0.999999977996,0.000141035994178,-0.000147482168494,4.86304228508e-05,1793248366271090688
+69,1.150000000,BASELINE,765.034477899,745,715,680,658,633.034477899,878,784,810.034477899,652,629,652.034477899,0.401032252586,0.00450173537898,0.0798654845085,0.999999977966,0.000141639911812,-0.000147047134994,4.88090459719e-05,1793248366287758080
+70,1.166666667,BASELINE,765.609202663,745,715,680,658,633.609202663,878,784,810.609202663,652,629,652.609202663,0.401031537587,0.00450110660958,0.0798647827422,0.99999997815,0.000140556023653,-0.000146841226634,4.88114549431e-05,1793248366304424448
+71,1.183333333,BASELINE,766,745,715,679.811073494,658,634,878,784,810.811073494,652,628.811073494,652.811073494,0.401031218191,0.00450049391458,0.0798645827764,0.999999978249,0.000140039394726,-0.000146652164601,4.88351254987e-05,1793248366321090816
+72,1.200000000,BASELINE,766,745,715,679.220727813,658,634,878,784,810.220727813,652,628.220727813,652.220727813,0.401031739346,0.00449991537333,0.0798654490046,0.999999978171,0.000140728042384,-0.000146498896552,4.89039713338e-05,1793248366337757696
+73,1.216666667,BASELINE,766,745,715,679,658,634,878,784,810,652,628.362789666,652,0.401032156488,0.00450054134596,0.0798660998382,0.999999978241,0.000140842435988,-0.000145975888416,4.87145462161e-05,1793248366354424576
+74,1.233333333,BASELINE,766,745,715,679,658,634,878,784,810,652,628.942229457,652,0.401032511516,0.00450188662821,0.0798666220428,0.999999978398,0.000140613897479,-0.000145232079524,4.837088728e-05,1793248366371091200
+75,1.250000000,BASELINE,765.48286869,745,715,679,658,633.48286869,877.48286869,784,810,652,628.48286869,652.51713131,0.401031779371,0.00450073577014,0.079865978676,0.999999978471,0.000139208227229,-0.000146139114756,4.81937433036e-05,1793248366387757568
+76,1.266666667,BASELINE,765,745,715.091846107,679,658,633,877.091846107,784,810,652,628.091846107,652.908153893,0.401031057089,0.00449975857413,0.0798653280545,0.999999978479,0.000138215761334,-0.000147041431476,4.81359817246e-05,1793248366404423936
+77,1.283333333,BASELINE,765,745,715.668225219,679,658,633,877.668225219,784,810,652,628.668225219,652.331774781,0.401031021979,0.00450115581659,0.079865320107,0.999999978208,0.000140090849747,-0.000146954405328,4.86107397234e-05,1793248366421090816
+78,1.300000000,BASELINE,765,745,715.749296087,679,658,633.250703913,878,784,810,652,629,652,0.401030621661,0.00450191776695,0.0798651328027,0.999999977999,0.000140993495885,-0.000147442799964,4.88118546976e-05,1793248366437757440
+79,1.316666667,BASELINE,765,745,715.158544129,679,658,633.841455871,878,784,810,652,629,652,0.401029725984,0.00450181802407,0.0798647022237,0.999999977878,0.00014057714733,-0.000148711679879,4.86418075958e-05,1793248366454424064
+80,1.333333333,BASELINE,765,745.422429998,715.422429998,679,658,634,878,784,810,652,628.577570002,652,0.401029094435,0.00450079474499,0.0798641716503,0.999999978045,0.000138769740316,-0.000149290220145,4.86286213685e-05,1793248366471090944
+81,1.350000000,BASELINE,765,745.99981743,715.99981743,679,658,634,878,784,810,652,628.00018257,652,0.401028559775,0.00449943269072,0.0798636043967,0.999999978313,0.000136452059727,-0.000149615527405,4.86729754505e-05,1793248366487757568
+82,1.366666667,BASELINE,765,745.423710053,716,679.576289947,658,634,878,784.576289947,810,652,628.576289947,652,0.401029632088,0.00450041872633,0.0798635505004,0.999999978299,0.000137237253635,-0.000149112878134,4.8306497933e-05,1793248366504424448
+83,1.383333333,BASELINE,765,745,716,679.844219451,658,634,877.844219451,784.844219451,810,652,628.844219451,652,0.401030561846,0.00450131539715,0.0798636557989,0.999999978204,0.000138601423962,-0.000148541236188,4.81273352032e-05,1793248366521091072
+84,1.400000000,BASELINE,765,745,716,679.256356774,658,634,877.256356774,784.256356774,810,652,628.256356774,652,0.401031094796,0.00450196214072,0.0798642021991,0.999999977885,0.000141568755465,-0.000147778958346,4.84680801689e-05,1793248366537757696
+85,1.416666667,BASELINE,765.326882053,745,715.673117947,679.326882053,658,633.673117947,877.326882053,784,810,652,628,652.326882053,0.401031227758,0.00450201296271,0.0798645492444,0.999999977768,0.000142541691942,-0.000147555443716,4.8719271959e-05,1793248366554424064
+86,1.433333333,BASELINE,765.906545177,745,715.093454823,679.906545177,658,633.093454823,877.906545177,784,810,652,628,652.906545177,0.401031051405,0.0045016029527,0.0798647421265,0.999999977811,0.000141972343175,-0.000147748559963,4.89012113872e-05,1793248366571090432
+87,1.450000000,BASELINE,765.516959448,745,715,679.516959448,658,633.483040552,878,784,810,652,628,652.516959448,0.401029724647,0.00450134704157,0.0798642843003,0.999999977704,0.000141844680321,-0.000148612186895,4.88585992928e-05,1793248366587757056
+88,1.466666667,BASELINE,765,745,715.058900493,679,658,634,878,784,810,652,628.058900493,652,0.401028465191,0.00450105040586,0.0798637947611,0.999999977608,0.000141695934269,-0.000149412034709,4.88102050215e-05,1793248366604423680
+89,1.483333333,BASELINE,765,745,715.634527488,679,658,634,878,784,810,652,628.634527488,652,0.401029736027,0.00450013664982,0.079864124263,0.999999977879,0.000140617436548,-0.000148521710003,4.90897337445e-05,1793248366621090304
+90,1.500000000,BASELINE,765,745,715.784409827,679.215590173,658,633.784409827,877.784409827,784,810,652,629,652.215590173,0.401030463827,0.00449973305968,0.0798642327965,0.999999978096,0.000139525817888,-0.000148117978522,4.90059943314e-05,1793248366637756928
+91,1.516666667,BASELINE,765,745,715.193894179,679.806105821,658,633.193894179,877.193894179,784,810,652,629,652.806105821,0.401030247253,0.00450021668165,0.0798639570515,0.99999997822,0.000138411381166,-0.000148560464729,4.82905077323e-05,1793248366654423296
+92,1.533333333,BASELINE,765.38871209,745,715.38871209,679.61128791,658,633.38871209,877.38871209,784,810,652,628.61128791,652.61128791,0.401030551235,0.00450054788351,0.0798644494633,0.999999978161,0.000139465638413,-0.000147974434445,4.82873141027e-05,1793248366671090176
+93,1.550000000,BASELINE,765.967451795,745,715.967451795,679.032548205,658,633.967451795,877.967451795,784,810,652,628.032548205,652.032548205,0.4010311097,0.0045008045726,0.0798653173998,0.999999978007,0.00014158009347,-0.000146885598806,4.8632335292e-05,1793248366687757056
+94,1.566666667,BASELINE,765.458221876,745,716,679,658,634,878,784,810,652,628,652,0.401031871406,0.00450170084927,0.0798658673411,0.999999977954,0.000142929160141,-0.000145881053627,4.8803538725e-05,1793248366704423680
+95,1.583333333,BASELINE,765,745,716,679.118823835,658,634,877.881176165,784,810,652,628.118823835,652,0.401032267928,0.00450210806148,0.0798661274015,0.999999977923,0.000143553100703,-0.000145446238909,4.88982378337e-05,1793248366721090048
+96,1.600000000,BASELINE,765,745,716,679.707666813,658,634,877.292333187,784,810,652,628.707666813,652,0.401031172024,0.0045004299695,0.0798653157671,0.999999977962,0.000141489151755,-0.000147245178854,4.8731288855e-05,1793248366737756928
+97,1.616666667,BASELINE,765,745,716,680,658,634,877.291691457,784,810,652,628.708308543,652.291691457,0.401030398323,0.0045003813153,0.0798648625303,0.999999977933,0.000140784195547,-0.000148157451494,4.86196648378e-05,1793248366754423552
+98,1.633333333,BASELINE,765,745,716,680,658,634,877.870965602,784,810,652,628.129034398,652.870965602,0.401029942286,0.0045019391467,0.0798647626427,0.99999997784,0.000141419089422,-0.000148195546324,4.85625864844e-05,1793248366771090176
+99,1.650000000,BASELINE,765,745,716,680,658.448395123,634,878,784,810,652,628,652.551604877,0.40102980481,0.0045023862781,0.0798642613661,0.999999977929,0.000140393166181,-0.000148630234841,4.83825456616e-05,1793248366787756800
+100,1.666666667,BASELINE,765,745,715.974381334,680,658.974381334,634,878,784,809.974381334,652,628.025618666,652,0.401029797726,0.00450251131223,0.0798637166738,0.999999978063,0.000139013340792,-0.000149090416429,4.81716770463e-05,1793248366804423424
+101,1.683333333,BASELINE,765,745,715.390121381,680,658.390121381,634,878,784,809.390121381,652,628.609878619,652,0.401030643187,0.00450255389146,0.0798647336933,0.999999978107,0.000140295422843,-0.000147628028991,4.8057018148e-05,1793248366821090048
+102,1.700000000,BASELINE,765,745.19287886,715.19287886,680,658,634,878,784,809.19287886,652,629,652,0.401031057877,0.00450242306691,0.0798652532659,0.999999978104,0.000141031030414,-0.000146942799359,4.80549518025e-05,1793248366837756672
+103,1.716666667,BASELINE,765,745.773347644,715.773347644,680,658,634,878,784,809.773347644,652,629,652,0.401030606934,0.00450194378758,0.0798647732191,0.999999978015,0.000140668497777,-0.000147819267928,4.8279140121e-05,1793248366854423296
+104,1.733333333,BASELINE,765,745.646808338,715.646808338,679.646808338,658,634,878,784,810,652,629,652,0.40103062506,0.00450183049869,0.0798650749635,0.999999977946,0.000141246448478,-0.000147676722118,4.84592820159e-05,1793248366871089920
+105,1.750000000,BASELINE,765,745.067364484,715.067364484,679.067364484,658,634,878,784,810,652,629,652,0.401030943669,0.00450195166075,0.0798658775179,0.999999977889,0.000142426866415,-0.000146881402666,4.86112080915e-05,1793248366887756800
+106,1.766666667,BASELINE,765.508526447,745,715.508526447,679,658,633.491473553,877.491473553,784,810,652,628.491473553,652,0.401031090696,0.00450177152342,0.0798654616033,0.99999997803,0.000140922979503,-0.000147402029063,4.85052719653e-05,1793248366904423168
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784,810,652,628,652,0.401031930102,0.00449950117604,0.0798654202594,0.999999978638,0.00013592315197,-0.000148011531869,4.83905111668e-05,1793248366947063040
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420582575,745,715.579417425,679.420582575,658.420582575,634,877.420582575,784,810,652,628.579417425,652.579417425,0.401031504118,0.00450046872815,0.0798654530184,0.999999978544,0.000137714302595,-0.000146954892344,4.84969481815e-05,1793248366963729664
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.158331037,716,679,658,634,877.158331037,784,810,652,629,652.841668963,0.401030599275,0.00450126040345,0.0798649624473,0.999999978334,0.000139150111284,-0.00014701866024,4.85325127475e-05,1793248366980396288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.735910718,716,679,658,634,877.735910718,784,810,652,629,652.264089282,0.401028426452,0.00450158637044,0.0798630861372,0.999999977822,0.000139645001714,-0.000150049182256,4.83804124376e-05,1793248366997062912
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.687593743,716,679,658,634,878.312406257,784,809.687593743,652,628.687593743,652,0.401028224617,0.0045012920035,0.0798630316277,0.999999977679,0.000140246688077,-0.000150429381472,4.8417260589e-05,1793248367013729536
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.112011537,716,679,658,634,878.887988463,784,809.112011537,652,628.112011537,652,0.401029683174,0.00450047505745,0.0798645118318,0.999999977849,0.000140938340987,-0.000148576906854,4.86132819081e-05,1793248367030396160
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658,634,878.058244796,784,809.470877602,652,628,652,0.40102976846,0.00450083889722,0.0798645732199,0.99999997808,0.000139107419968,-0.000148858121682,4.82638284115e-05,1793248367047062784
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,716,679.055365393,658,634,877.055365393,784.055365393,810,651.944634607,628,652,0.401029427261,0.00450135902983,0.079864226579,0.999999978225,0.000137066928762,-0.000149895024348,4.78904693308e-05,1793248367063729664
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,716,679.63826292,658,634,877.63826292,784.63826292,810,651.36173708,628,652,0.401028184074,0.00450064985619,0.0798632586654,0.999999977446,0.00013883727301,-0.000153219924992,4.85451666364e-05,1793248367080396288
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,716,679.782197981,658,634,877.782197981,784.782197981,810,651.217802019,628,652,0.401029642546,0.00450038495892,0.0798642912169,0.999999976999,0.000139829201603,-0.000155095535005,4.89391173687e-05,1793248367097062912
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,716,679.20815209,658,634,877.20815209,784.20815209,810,651.79184791,628,652,0.401035519938,0.00450084673421,0.0798685957924,0.999999977117,0.00013954792876,-0.000154600639092,4.89065826948e-05,1793248367113730304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,716,679.366271686,658,634,877,784,810,652,628,652,0.40105489546,0.00449988716326,0.0798767587288,0.999999977994,0.000138646875923,-0.000149620001297,4.90195438315e-05,1793248367130397184
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,716,679.940910491,658,634,877,784,810,652,628,652,0.40108194989,0.00449811900728,0.0798871166362,0.999999979256,0.000137393238413,-0.000142087484222,4.92152756052e-05,1793248367147063552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.528920286,784,810,651.471079714,628.528920286,652,0.401132163321,0.00450002784456,0.0799012922727,0.999999981449,0.000139338671483,-0.000123662635684,4.89277257784e-05,1793248367163730432
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.883359005,680,658,633.883359005,877.883359005,784,810,651.116640995,629,652,0.401189912087,0.00450208100778,0.0799156151452,0.999999983515,0.000140975086938,-0.000103785597114,4.82195900999e-05,1793248367180397312
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715.302881912,680,658,633.302881912,877.302881912,784,810,651.697118088,629,652,0.401267070607,0.0045030322069,0.0799287834848,0.999999985697,0.000139924593253,-8.30982418827e-05,4.60592164035e-05,1793248367197063680
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.72476639,658,633,877,784,810,652,628.72476639,652,0.401349348765,0.00450336804663,0.0799377708093,0.999999987101,0.000138014382684,-6.95243831792e-05,4.37823468029e-05,1793248367213730304
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.149227593,658,633,877,784,810,652,628.149227593,652,0.401437212913,0.00450303247262,0.0799421962608,0.999999987979,0.000135166142026,-6.37120047923e-05,4.13783695993e-05,1793248367230396672
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.424212295,658,633,877,784,810,652,628,652,0.401539439915,0.00450386857157,0.0799448526728,0.999999988507,0.000133103197132,-6.16334652804e-05,3.83545675146e-05,1793248367247063296
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.99691746,658,633,877,784,810,652,628,652,0.401646694543,0.00450511480734,0.0799468898436,0.99999998891,0.00013131514019,-6.08619329259e-05,3.51137996424e-05,1793248367263729920
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.40738933,658,633,878.185221339,784,810,652,628.59261067,652.59261067,0.401782399727,0.0045075646612,0.0799502937761,0.999999989477,0.000129502100905,-5.76282880013e-05,3.08791416015e-05,1793248367280396800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.182011072,878.817988928,784,810,652,628.817988928,652.817988928,0.401929768775,0.00451002970703,0.0799544380767,0.999999990228,0.00012699402723,-5.22457680721e-05,2.61918720305e-05,1793248367297063424
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.757537144,878.242462856,784,810,652,628.242462856,652.242462856,0.402102022659,0.00451251351587,0.0799601670899,0.999999991334,0.000122983554756,-4.22461040792e-05,2.05376678119e-05,1793248367313730560
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.333044544,784,809.666522272,652,628,652,0.402288242814,0.00451427900086,0.0799642901183,0.999999992411,0.000116963533711,-3.59110189226e-05,1.44095874191e-05,1793248367330397440
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876.180559744,784,809.090279872,652,628,652,0.402484630134,0.00451552156165,0.0799672440246,0.999999993456,0.000109480603758,-3.22436679426e-05,7.93653469467e-06,1793248367347064064
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876.497222252,784,809.497222252,652,628,652,0.402692097934,0.00451400399389,0.0799635616922,0.999999994356,9.70130971987e-05,-4.32694864653e-05,1.80478492118e-06,1793248367363730176
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.08529072,658,634,877,784,810,652,628.08529072,652,0.402908112663,0.00450966802575,0.0799583717081,0.999999995101,8.05934558788e-05,-5.73192327909e-05,-4.16725095437e-06,1793248367380396288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.664525179,658,634,877,784,810,652,628.664525179,652,0.403161703997,0.00449197943539,0.079951590263,0.999999996196,4.66486366135e-05,-7.30733553974e-05,-9.58154000232e-06,1793248367397063168
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.241251781,745,715,680,658,633.758748219,877.482503562,784,810,652,628.758748219,652,0.403443533778,0.00448485775469,0.0799487250928,0.999999996448,2.34233713906e-05,-7.95352978738e-05,-1.51611416391e-05,1793248367413729792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.814526905,745,715,680,658,633.185473095,878.629053809,784,810,652,628.185473095,652,0.403764226774,0.00449227880981,0.0799512497061,0.999999996989,1.49509202218e-05,-7.32088543274e-05,-2.09682548124e-05,1793248367430396416
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.611151354,745,715,680,658,633,878.611151354,784,810,652,628.388848646,652,0.404106935518,0.00450180990987,0.0799554441489,0.999999997305,2.39868068833e-05,-6.60187673457e-05,-2.13811452786e-05,1793248367447063040
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.036329067,745,715,680,658,633,878.036329067,784,810,652,628.963670933,652,0.404460173668,0.00451235017549,0.0799604372169,0.999999997252,4.13963615053e-05,-5.84156280026e-05,-1.92141545458e-05,1793248367463729664
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.55585655,715,679.44414345,658,633.55585655,878,784,810,652,629,652,0.404848578962,0.00451632428694,0.0799584435105,0.999999997113,4.60438630216e-05,-5.60291074721e-05,-2.26985718423e-05,1793248367480396288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.854541564,715,679.145458436,658,633.854541564,878,784,810.145458436,652,629,652,0.4052512084,0.00452226584255,0.0799561204198,0.999999996764,5.19752850459e-05,-5.52660741207e-05,-2.67549040302e-05,1793248367497062912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.276117179,715,679.723882821,658,633.276117179,878,784,810.723882821,652,629,652,0.405689114829,0.00453538217559,0.0799542199225,0.999999995742,6.42911428992e-05,-5.82878925717e-05,-3.13787068255e-05,1793248367513729536
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,878,784,810.699112032,651.699112032,628.699112032,652,0.406151527636,0.00454414801139,0.0799484186357,0.999999994231,7.76616101046e-05,-6.78663901592e-05,-3.00224284074e-05,1793248367530396160
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,878,784,810.123403103,651.123403103,628.123403103,652,0.406636323796,0.00454894025067,0.0799390544987,0.999999992019,9.19953234581e-05,-8.34335385366e-05,-2.32041452254e-05,1793248367547062784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,878,784,810,651,628,652,0.407108040319,0.00456015458006,0.0799341119181,0.999999990187,0.000101139837901,-9.30195753189e-05,-2.72721162937e-05,1793248367563729408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.047587229,715,680,658,633.047587229,878,784,810,651,628,652,0.40758389163,0.00457274818665,0.0799298613845,0.999999988284,0.000109051276941,-0.00010200856005,-3.36626424011e-05,1793248367580396032
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.626952608,715,680,658,633.626952608,878,784,810,651,628,652,0.408145826399,0.00458117506548,0.0799198637425,0.99999998487,0.00011900435377,-0.000122561033001,-3.28168837228e-05,1793248367597062912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.795894338,715,680,658,633.795894338,878,784,810,651,628,652,0.408728350371,0.00458985395488,0.0799163889235,0.999999982692,0.000127637904246,-0.00013120608696,-3.32951421627e-05,1793248367613729536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.222741464,715,680,658,633.222741464,878,784,810,651,628,652,0.409348102026,0.00459898850874,0.0799247081419,0.999999983383,0.000133885594254,-0.000118321115786,-3.61673804545e-05,1793248367630397184
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.349990826,633.349990826,878.349990826,784,810.349990826,651.349990826,628,652,0.410024550579,0.00460564947813,0.0799521654268,0.999999986779,0.000140728924545,-7.23951805222e-05,-3.73604698327e-05,1793248367647063808
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.922455747,633.922455747,878.922455747,784,810.922455747,651.922455747,628,652,0.410737038884,0.00461073809606,0.079991787956,0.999999988338,0.000147950876978,-5.46652751942e-06,-3.74861963176e-05,1793248367663729920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.515627732,680,659,634,878.484372268,784,810.484372268,651.484372268,628.515627732,652,0.411409738804,0.00461128813262,0.0799938109488,0.999999988782,0.000144365757799,-5.93319264751e-06,-3.94915974685e-05,1793248367680396544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.891517503,680,659,633.891517503,878,784,810.108482497,651.108482497,629,652.108482497,0.412077656972,0.00460864756075,0.0799830851438,0.999999989252,0.000138127677916,-2.61956681112e-05,-4.15990294457e-05,1793248367697063168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.314059913,680,659,633.314059913,878,784,810.685940087,651.685940087,629,652.685940087,0.412751853305,0.00459528797849,0.0799427131865,0.999999987191,0.000127740739647,-8.63871153119e-05,-4.28743735641e-05,1793248367713729792
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.262648921,680,659,633.262648921,878,784,811,652,629,653,0.41346870768,0.00458808613781,0.0799189721902,0.999999985218,0.000118979062679,-0.000115839508009,-4.45913347508e-05,1793248367730396672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.838465058,680,659,633.838465058,878,784,811,652,629,653,0.414236425099,0.00458822642638,0.079915060974,0.999999986712,0.000112155251312,-0.000108640457717,-4.68348546207e-05,1793248367747063552
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.585857565,680.414142435,659,634,878,784,811,651.585857565,629,652.585857565,0.415051378383,0.00458916162782,0.0799364843348,0.999999989357,0.0001182851664,-7.13633738229e-05,-4.69256235617e-05,1793248367763730432
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.010234328,680.989765672,659,634,878,784,811,651.010234328,629,652.010234328,0.415884749645,0.00459040677857,0.0799677860554,0.999999990303,0.000129465948105,-2.23583807348e-05,-4.6177000027e-05,1793248367780397312
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.419417316,659,634,878.580582684,784,811,651.580582684,629,652,0.416649938385,0.0045951922107,0.0799536143098,0.999999991144,0.000110122535352,-5.91794504974e-05,-4.56484334905e-05,1793248367797063936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,784,811,651.832191495,629,652,0.417447392548,0.00459917826223,0.0799471693523,0.999999991001,0.000102319350108,-7.35783152761e-05,-4.59933525373e-05,1793248367813730304
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,784,811,651.25441124,629,652,0.418326689349,0.00460105478926,0.0799616126464,0.999999990698,0.000124059896353,-2.94021309784e-05,-4.84625463911e-05,1793248367830396928
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.321186463,715.321186463,680,659.321186463,634,879,784,811,651.321186463,629,652,0.41920629321,0.00460071623164,0.0799735039106,0.999999990485,0.000128318186425,-5.73338966174e-08,-5.06339881128e-05,1793248367847063296
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.895067011,715.895067011,680,659.895067011,634,879,784,811,651.895067011,629,652,0.420086138609,0.00459863495171,0.0799833873596,0.999999991404,0.000118822275989,1.76188378547e-05,-5.25711726908e-05,1793248367863729920
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.481888658,745.518111342,715.518111342,680,659.518111342,634,879,784,811,651.518111342,629,652.481888658,0.42095972679,0.0045964770714,0.0799706818672,0.999999992097,0.000114186443675,-3.95944027597e-06,-5.24580628281e-05,1793248367880397312
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929683918,745,715,680,659,633.929683918,879,784,811.070316082,651.070316082,629,653,0.421839933498,0.00459510679908,0.0799585453905,0.999999991993,0.000112685913449,-2.5274387647e-05,-5.17317029553e-05,1793248367897064448
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.350590401,745,715,680,659,633.350590401,879,784,811.649409599,651.649409599,629,653,0.422778159374,0.00459955934631,0.0799870987636,0.999999990639,0.000126002384026,1.88710482442e-05,-4.98876602494e-05,1793248367913731072
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.227959089,715,680.227959089,659,633,879.227959089,784,812,652,629,653,0.423694856331,0.00460341630772,0.0800022082812,0.999999989221,0.000133423895588,3.72614937797e-05,-4.86496287332e-05,1793248367930397440
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.805673969,715,680.805673969,659,633,879.805673969,784,812,652,629,653,0.424578521784,0.00460635946728,0.079996691004,0.999999990016,0.000131800821393,1.61362721065e-05,-4.83413951318e-05,1793248367947063808
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.620996026,715,681,659.379003974,633,880,783.620996026,812,652,629,653,0.425453812354,0.0046073100288,0.0799629060612,0.999999989132,0.000131121778294,-4.57858122133e-05,-4.94659122792e-05,1793248367963730432
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.049888589,715,681,659.950111411,633,880,783.049888589,812,652,629,653,0.426324857944,0.00460725061399,0.0799147932573,0.999999981872,0.000130921229923,-0.000128386355081,-5.13166389144e-05,1793248367980396800
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.458552961,633.541447039,880,783.541447039,812,652,629,652.458552961,0.427270017872,0.00460646247463,0.0799084849858,0.999999983749,0.000124074843716,-0.000119494003388,-5.31815606599e-05,1793248367997063424
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.13149627,681,659.13149627,634,880,784,812.13149627,651.86850373,629.13149627,652.13149627,0.428215940196,0.00460570097618,0.0799097061156,0.99999998595,0.000118887267782,-0.000104947149161,-5.43273757068e-05,1793248368013730048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.710576655,681,659.710576655,634,880,784,812.710576655,651.289423345,629.710576655,652.710576655,0.429140311544,0.00460526757117,0.0799229360131,0.999999986115,0.00012151108448,-0.000100961409552,-5.30208864229e-05,1793248368030397184
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,716,681,660,633.711954081,879.711954081,784.288045919,813,651.288045919,630,653,0.43008988981,0.00460531053291,0.0799547408993,0.999999989298,0.000121612030001,-6.2258766252e-05,-5.23365721528e-05,1793248368047064064
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,716,681,660,633.136094671,879.136094671,784.863905329,813,651.863905329,630,653,0.431064654598,0.00460582947704,0.0800051057851,0.999999991468,0.000119192139437,1.11327672545e-05,-5.22739307224e-05,1793248368063730432
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.552062874,681,660,633,879.447937126,784.552062874,813,652,630,653,0.431999085199,0.00460716098161,0.0800258858032,0.999999990467,0.000119948973683,4.37081672502e-05,-5.26066290833e-05,1793248368080397056
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.034087413,715,681,660,633,880,784,813,651.965912587,630,653,0.43291524338,0.00460886130367,0.0800323216275,0.999999989621,0.000121738288792,5.58675614443e-05,-5.30748299573e-05,1793248368097063680
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.613665769,715,681,660,633,880,784,813,651.386334231,630,653,0.433738742534,0.00461243959192,0.0799557270762,0.999999989229,0.000124317732387,-5.65473406659e-05,-5.3753562541e-05,1793248368113730304
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.807748917,715,681.192251083,660.384502165,633.192251083,880,784,813.192251083,651,629.807748917,653,0.434588246232,0.00461336223418,0.0799066222296,0.999999983021,0.000122459824922,-0.000126367098885,-5.46989060007e-05,1793248368130396672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.231148792,715,681.768851208,661.537702417,633.768851208,880,784,813.768851208,651,629.231148792,653,0.435489738451,0.00460897570022,0.0799124748836,0.999999986016,0.00011173075261,-0.000111030516539,-5.61772601083e-05,1793248368147063296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.312582261,633.65629113,880,784,813.65629113,651.34370887,629.34370887,653,0.43637789067,0.00460789423784,0.0799378391568,0.999999989563,0.000109369392977,-7.62689224724e-05,-5.56274760234e-05,1793248368163730432
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.165198848,633.082599424,880,784,813.082599424,651.917400576,629.917400576,653,0.437257116762,0.00460902426866,0.0799762590647,0.99999999181,0.000112607046436,-2.8509645096e-05,-5.37206218148e-05,1793248368180397056
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.506035907,633.506035907,880,784,813.506035907,652,630,653,0.438153868887,0.00460731155155,0.0800085787011,0.999999992078,0.000110681242665,2.49167075314e-05,-5.45259630254e-05,1793248368197063936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.09521009,715,682,660.90478991,633.90478991,880,784,814.09521009,652,630,652.90478991,0.439038429773,0.00460586797723,0.0800334334223,0.999999990306,0.000108167508055,6.78414461014e-05,-5.55481399577e-05,1793248368213730560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.674347923,715,682,660.325652077,633.325652077,880,784,814.674347923,652,630,652.325652077,0.439846042938,0.00460822262826,0.0800255610266,0.999999991354,0.000107079677873,5.25445140052e-05,-5.53538009784e-05,1793248368230396928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.748082948,715,682,660,633,880,784,814.748082948,652,630,652.251917052,0.440594453061,0.00461040748793,0.0799818949021,0.99999999261,0.000106530930555,-1.65320892272e-05,-5.62000782378e-05,1793248368247063296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.172529171,715,682,660,633,880,784,814.172529171,652,630,652.827470829,0.441266805235,0.00461237421719,0.0798922447326,0.99999998064,0.000106674739263,-0.000154699198068,-5.83832298579e-05,1793248368263729920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.403211086,715,682.403211086,660,633,880,784,814,652,630,653,0.441982292683,0.00461101302773,0.0798494339001,0.999999970714,0.000100296550331,-0.000212285121788,-5.87177635246e-05,1793248368280396544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.979031222,715,682.979031222,660,633,880,784,814,652,630,653,0.442716245798,0.00460822720279,0.0798266743277,0.99999996645,9.11263855786e-05,-0.000235375375435,-5.8260930066e-05,1793248368297063168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.431051471,715,682.431051471,660.568948529,633,880,784,814,652,630,653,0.443523464741,0.00460819213381,0.0799041128852,0.999999986889,9.3663745077e-05,-0.000118345656036,-5.8678417449e-05,1793248368313730048
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.844404509,633,880,784,814.155595491,651.844404509,630,653,0.44430642114,0.0046073043137,0.0799739742955,0.999999993656,9.52568015008e-05,-1.36517913202e-05,-5.85517263427e-05,1793248368330396928
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.268041907,633,880,784,814.731958093,651.268041907,630,653,0.445016278443,0.00460382933127,0.0800131052994,0.999999993109,9.30997597186e-05,4.3363076651e-05,-5.68640959122e-05,1793248368347064064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.306619859,784,815,651,630,653,0.445686304921,0.00460226320201,0.0800283224929,0.999999992191,9.13519278288e-05,6.41441738631e-05,-5.62011588289e-05,1793248368363730688
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.879802951,784,815,651,630,653,0.446321704007,0.00460235655476,0.0800227499588,0.999999992934,8.995984722e-05,5.34250541843e-05,-5.64290500074e-05,1793248368380397056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.468096372,715,682.468096372,660,633,881,784,815,651.468096372,630,652.531903628,0.44690598599,0.00460440968595,0.080004630275,0.999999993561,9.24309461717e-05,3.24625281795e-05,-5.72746955887e-05,1793248368397063680
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.940924897,715,682.940924897,659.940924897,633,880.940924897,784,815,652,630,652.059075103,0.44747253062,0.00460667940029,0.0799819795582,0.999999993737,9.53169283412e-05,6.48175440473e-06,-5.8299959658e-05,1793248368413730304
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.361606958,715,682.361606958,659.361606958,633,880.361606958,784,815,652,630,652.638393042,0.448002319351,0.00460627695188,0.0799487458978,0.999999993133,9.28293150331e-05,-3.97558560355e-05,-5.9463495793e-05,1793248368430396928
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659,633,880,784,815,652,630,653,0.448499788767,0.00460767520041,0.0799118979388,0.999999989261,9.30307843772e-05,-9.60236882554e-05,-6.00215501681e-05,1793248368447063552
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682,659,633,880,784,815,652,630,653,0.448943577386,0.00461206431529,0.0798690468164,0.999999979181,9.76986838446e-05,-0.000168951205561,-5.95739298747e-05,1793248368463730432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659,632.631682093,880.368317907,784,815,651.631682093,630,652.631682093,0.449396598277,0.00461616614278,0.0798502596631,0.999999973818,0.000102003375038,-0.000195917334368,-5.98002850089e-05,1793248368480397312
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659,632.059647074,880.940352926,784,815,651.059647074,630,652.059647074,0.449854725591,0.00462010907165,0.0798447823184,0.999999973051,0.000106107175898,-0.000197462166945,-6.03994168998e-05,1793248368497064192
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.527474711,715,682,659,632,880.472525289,784,814.472525289,651,630,652.527474711,0.45030200328,0.00462165291017,0.079866363645,0.999999978441,0.000110734135676,-0.000165203236981,-5.97062597782e-05,1793248368513731072
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,715,682.11480367,658.88519633,632,880.11480367,784,814.11480367,651.11480367,630.11480367,653,0.450740740876,0.0046233715845,0.07988893832,0.999999982888,0.000114746568554,-0.000132548436639,-5.90547077203e-05,1793248368530397696
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,715,682.695841787,658.304158213,632,880.695841787,784,814.695841787,651.695841787,630.695841787,653,0.451149925288,0.00462693448195,0.0799027549337,0.99999998499,0.000116015992453,-0.000114266935639,-5.91830597836e-05,1793248368547064320
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.725343533,715,682.725343533,658,632,881,783.725343533,815,652,630.725343533,653,0.451510070967,0.00463023789702,0.079900693303,0.999999983942,0.00011650277492,-0.000122326032719,-5.98243344865e-05,1793248368563730688
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.148971378,715,682.148971378,658,632,881,783.148971378,815,652,630.148971378,653,0.45181634658,0.00463325626522,0.0798811890987,0.999999978703,0.000116129809773,-0.000159320810961,-6.10290650396e-05,1793248368580397056
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.425572688,745,715,682.425572688,658,632,881,783,815,652,630,653,0.452081606451,0.00464092903357,0.0798497570759,0.999999968052,0.000124838461846,-0.000210835942861,-6.21285628296e-05,1793248368597063680
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.999479558,745,715,682.999479558,658,632,881,783,815,652,630,653,0.4523325702,0.00465022410203,0.0798141675894,0.999999952904,0.000136712528809,-0.000267412170722,-6.31913813494e-05,1793248368613730048
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.410605486,745,714.410605486,683,658,632,880.410605486,783,815,652,630,653,0.452571968434,0.00465646716237,0.0797972702831,0.999999945133,0.000144997505461,-0.000290870027184,-6.40651135365e-05,1793248368630397184
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.176139486,683,657.823860514,631.823860514,880,783,815,652,630,653,0.452810480843,0.00466121326471,0.0797857197384,0.999999939641,0.000150726433897,-0.000306243364093,-6.49160621027e-05,1793248368647064064
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.755592668,683,657.244407332,631.244407332,880,783,815,652,630,653,0.45304698895,0.00466253806401,0.0797863730436,0.999999940542,0.00015061013378,-0.000303174077494,-6.57152350286e-05,1793248368663730176
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.332214809,745,715,683,657,631.332214809,880.332214809,783,815,652,630,653,0.4532541479,0.00466307148446,0.0797838538142,0.999999939737,0.000149939166617,-0.000306065099122,-6.60863985891e-05,1793248368680396288
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.906771838,745,715,683,657,631.906771838,880.906771838,783,815,652,630,653,0.453439897414,0.00466302761437,0.0797790203019,0.999999937653,0.000148863583988,-0.000313304013094,-6.61453403264e-05,1793248368697062912
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.520138218,745,715,683,656.520138218,631.520138218,880.520138218,783.479861782,815,652,630,653,0.4535969126,0.00466126833926,0.0797746472247,0.999999935627,0.00014541893791,-0.000321404277625,-6.55703874102e-05,1793248368713729536
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.054971996,745,715,683.054971996,656,631,880.054971996,783.945028004,815,652,630,652.945028004,0.45374584342,0.00465955338786,0.079770199287,0.999999933396,0.000142352464515,-0.000329732615973,-6.49573217088e-05,1793248368730396160
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.652840854,745,715,683.652840854,656,631,880.652840854,783.347159146,815,652,630,652.347159146,0.453869898582,0.00466155748412,0.079764131291,0.999999929643,0.000147552441229,-0.000338665754783,-6.51804040144e-05,1793248368747062784
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.758698052,745,714.758698052,683.758698052,656,631,880.758698052,783,815,652,630,652.241301948,0.453982184874,0.00466273064411,0.0797575615225,0.999999925909,0.00015012565134,-0.000348413526941,-6.52124770252e-05,1793248368763729664
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.183263976,745,714.183263976,683.183263976,656,631,880.183263976,783,815,652,630,652.816736024,0.454078174741,0.00466275320195,0.0797502969471,0.999999922235,0.000149061563058,-0.000359289325832,-6.49800584091e-05,1793248368780396288
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.391196791,745,714.391196791,683,656,631,880,783,814.608803209,651.608803209,630,653,0.454155166103,0.00466304344036,0.0797416543878,0.999999916853,0.00015028154945,-0.000373593631692,-6.43241679371e-05,1793248368797063168
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.965202706,745,714.965202706,683,656,631,880,783,814.034797294,651.034797294,630,653,0.454223279322,0.00466345876784,0.0797323678867,0.999999910492,0.000152568900666,-0.000389500103593,-6.34703859609e-05,1793248368813729536
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,683.555043565,655.444956435,631,880.555043565,783,814.555043565,651.555043565,630,653,0.454280057743,0.00466253059099,0.0797293595159,0.999999909467,0.000150871602587,-0.000392783752412,-6.34340775735e-05,1793248368830397184
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683.857437993,655.142562007,631,881,783,814.857437993,651.857437993,630,653,0.454332860444,0.0046618903931,0.0797272456332,0.999999908606,0.000149953876885,-0.00039534082614,-6.33100902931e-05,1793248368847064320
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,683.280118481,655.719881519,631,881,783,814.280118481,651.280118481,630,653,0.454375769488,0.00466239282273,0.0797266240288,0.99999990718,0.000152197729036,-0.000398166344604,-6.27578358713e-05,1793248368863730176
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.702593605,745,715,683.297406395,656,631.297406395,880.702593605,783,814,651.297406395,630,653,0.454411724832,0.00466176118737,0.0797260147024,0.999999906348,0.000152230932302,-0.000400316723138,-6.22596253418e-05,1793248368880396288
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.1248751,745,715,683.8751249,656,631.8751249,880.1248751,783,814,651.8751249,630,653,0.454441126165,0.00466006067072,0.0797254169481,0.999999906079,0.000150180550332,-0.000401830767676,-6.1812352313e-05,1793248368897063168
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,684,655.554113276,631.554113276,880.445886724,783.445886724,814.445886724,651.554113276,630,653,0.454461530928,0.00466116118063,0.0797238494224,0.999999905848,0.00015006957763,-0.000402354981148,-6.23966019694e-05,1793248368913730048
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,683.984501038,655.015498962,631,880.984501038,783.984501038,815,651,630,653,0.454479245744,0.00466296220573,0.0797220516249,0.999999905615,0.000150441929019,-0.000402662557355,-6.32411197236e-05,1793248368930397440
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,683.385968114,655.614031886,631,880.385968114,783.385968114,815,651,630,653,0.454489095793,0.00466205891513,0.079721651327,0.999999904874,0.000148877608511,-0.000405088621659,-6.31759580658e-05,1793248368947064064
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.196373899,745,715,683.196373899,655.803626101,631,880.196373899,783,815,651.196373899,630,653,0.454497280273,0.00466106195531,0.0797210763991,0.999999904289,0.000147368387133,-0.000407113273249,-6.29608032303e-05,1793248368963730688
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.74931696,745,715,683.74931696,655.25068304,631,880.74931696,783,815,651.74931696,630,653,0.454502440469,0.00465989491411,0.0797201843839,0.999999903998,0.000145959213002,-0.000408409052903,-6.24732957999e-05,1793248368980397056
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,683.671479317,655,631,881,783,815,651.671479317,630,653,0.454505475338,0.0046595127345,0.0797190972539,0.999999903079,0.000147281217807,-0.000410268776382,-6.18890074843e-05,1793248368997063680
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,683.070496024,655,631,881,783,815,651.070496024,630,653,0.45450674754,0.00465978148943,0.0797178483031,0.999999901627,0.000150868359026,-0.000412596213435,-6.12244527923e-05,1793248369013730304
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.495125261,745.504874739,715,683,655,631,881,783,814.495125261,651.504874739,630,653,0.454506701694,0.00465886632433,0.0797167906404,0.999999901056,0.000148483978102,-0.000414837099552,-6.12460926206e-05,1793248369030396672
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.080193696,746,715,683,655,631,880.919806304,783,814,651.919806304,630,652.919806304,0.454506600061,0.00465811645449,0.0797158117609,0.999999900571,0.000146009934296,-0.000416863639769,-6.13427630863e-05,1793248369047063552
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.677109627,746,715,683,655,631,880.322890373,783,814,651.322890373,630,652.322890373,0.454507267554,0.00465944539861,0.0797151767236,0.999999899969,0.000148071342039,-0.000417583167104,-6.13353257838e-05,1793248369063730176
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.735606358,715,683.264393642,655,631.264393642,880,783,814.264393642,651.264393642,630,652.264393642,0.454507717847,0.00466039347303,0.0797144500464,0.999999899575,0.000149342400786,-0.000418083641689,-6.1264994274e-05,1793248369080396800
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.159671768,715,683.840328232,655,631.840328232,880,783,814.840328232,651.840328232,630,652.840328232,0.454507912208,0.00466089276034,0.0797136153877,0.999999899431,0.000149682173886,-0.000418326001608,-6.11205531108e-05,1793248369097063168
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,683.584024352,655,632,880,783,815,652,630,653,0.454507324695,0.00466044985371,0.0797130353432,0.999999898947,0.000149291417601,-0.000419662529789,-6.08373625598e-05,1793248369113729792
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,683.008487126,655,632,880,783,815,652,630,653,0.454506437266,0.00465964553659,0.0797125529647,0.999999898329,0.000148620441953,-0.000421418763329,-6.05009499802e-05,1793248369130396416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.421667198,745.578332802,715,683.578332802,655,631.421667198,880.578332802,783,815,652,630,652.421667198,0.454506798373,0.0046588828322,0.0797122877624,0.999999897948,0.000148437893104,-0.000422396142364,-6.04226881505e-05,1793248369147063040
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.163569707,745.836430293,715,683.836430293,655,631,881,783,815,651.836430293,630,652.163569707,0.454507028086,0.00465855629009,0.0797119121854,0.999999897611,0.000148348460068,-0.000423223491156,-6.04323249635e-05,1793248369163729408
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.744338221,745.255661779,715,683.255661779,655,631,881,783,815,651.255661779,630,652.744338221,0.454506875006,0.00465934062944,0.0797112467975,0.999999897378,0.000148477881336,-0.00042369790747,-6.06563000259e-05,1793248369180396032
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.67829246,683,655,631,880.67829246,783,814.67829246,651.32170754,630,653,0.454507157992,0.00465867597838,0.0797106671577,0.999999897336,0.000148219293841,-0.000423940027255,-6.02855534412e-05,1793248369197062656
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.103596273,683,655,631,880.103596273,783,814.103596273,651.896403727,630,653,0.454507783895,0.00465687185094,0.0797101549499,0.999999897444,0.000147655578855,-0.000423999470589,-5.94471217403e-05,1793248369213729536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.52917337,745,714,683,655,631,880,783,814.47082663,652,630.47082663,653,0.454506658962,0.00465695960628,0.0797096526344,0.999999896912,0.00014647917073,-0.000425620410212,-5.97313737533e-05,1793248369230396160
+245,4.083333333,HOLD_POSE2,766,745,715,684,655,631,881,784,814,651,630,653,0.454506600677,0.00465663027017,0.0797086722741,0.999999896943,0.000143843181027,-0.000426378297979,-6.02117235161e-05,1793248369273790208
+246,4.100000000,HOLD_POSE2,765.424169081,745,715,684,655,631,880.424169081,783.424169081,814,651.575830919,630,652.424169081,0.454507105193,0.00465794662571,0.079709023256,0.999999896576,0.000146152487353,-0.000426482776935,-5.99917198463e-05,1793248369290456832
+247,4.116666667,HOLD_POSE2,765.151230084,745,714.848769916,684,655,631,880.151230084,783,814,652,630,652.151230084,0.454507210821,0.00465868688275,0.0797091690689,0.999999896267,0.000147143921855,-0.000426865238681,-6.00115602828e-05,1793248369307123200
+248,4.133333333,HOLD_POSE2,765.725421848,745,714.274578152,684,655,631,880.725421848,783,814,652,630,652.725421848,0.454506200836,0.00465781590256,0.0797087410634,0.999999896122,0.000144449520936,-0.00042802516526,-6.07021988565e-05,1793248369323789824
+249,4.150000000,HOLD_POSE2,766,745.299610402,714.299610402,684,655,631,880.700389598,783,814.299610402,652,630,653,0.454506878809,0.00465694028618,0.0797088018209,0.999999896462,0.00014295442107,-0.000427741468415,-6.06446624772e-05,1793248369340456704
+250,4.166666667,HOLD_POSE2,766,745.87379598,714.87379598,684,655,631,880.12620402,783,814.87379598,652,630,653,0.454509103698,0.00465606042107,0.0797093105006,0.999999897249,0.000142558409694,-0.000426134776199,-5.99014680581e-05,1793248369357123328
+251,4.183333333,HOLD_POSE2,766,745.534661837,714.534661837,683.534661837,655,631,880.465338163,783,815,652,630,653,0.454508252868,0.00465573727714,0.0797085300073,0.999999896606,0.000143997540473,-0.00042724752236,-5.92698552197e-05,1793248369373790208
+252,4.200000000,HOLD_POSE2,766,745.059590847,714.059590847,683,655,631,881,783,814.940409153,652,630,653,0.454506613175,0.0046556364832,0.0797074489972,0.999999895577,0.000145808106415,-0.000429103831733,-5.87813782771e-05,1793248369390456832
+253,4.216666667,HOLD_POSE2,766,745.634981556,714.634981556,683,655,631,881,783,814.365018444,652,630,653,0.454505645323,0.00465610274226,0.0797069103968,0.999999894754,0.000146358788686,-0.000430764965848,-5.92597544887e-05,1793248369407123456
+254,4.233333333,HOLD_POSE2,766,745.785491413,715,683,655.214508587,631,881,783,814.214508587,652,630,653,0.454506185003,0.00465683665997,0.079707215792,0.999999894739,0.000147229657085,-0.000430462307185,-5.95659709954e-05,1793248369423790080
+255,4.250000000,HOLD_POSE2,766,745.19878748,715,683,655.80121252,631,881,783,814.80121252,652,630,653,0.454509340415,0.00465803499402,0.0797089856099,0.999999896117,0.000148656082605,-0.0004267522578,-5.95734719471e-05,1793248369440456704
+256,4.266666667,HOLD_POSE2,766,745,714.617090232,683.382909768,655.617090232,631,880.617090232,783,815,652,630.382909768,653,0.454508990966,0.00465804262928,0.0797085930166,0.999999895974,0.000147171424788,-0.000427572125154,-5.97853854613e-05,1793248369457123328
+257,4.283333333,HOLD_POSE2,766,745,714.037958603,683.962041397,655.037958603,631,880.037958603,783,815,652,630.962041397,653,0.454506845454,0.00465744009184,0.0797070922972,0.999999895041,0.000144194984339,-0.00043071334505,-6.01020500599e-05,1793248369473789952
+258,4.300000000,HOLD_POSE2,766,745,714.539611178,683.460388822,655,631,880.539611178,783,815,652,630.460388822,653,0.45450597589,0.0046571510742,0.0797059454438,0.999999894454,0.000144375856413,-0.000432020390155,-6.00508730337e-05,1793248369490456576
+259,4.316666667,HOLD_POSE2,766,745,715,683,655,631.116729255,881,783,814.883270745,652,630,653,0.45450536797,0.00465684674248,0.0797052076054,0.999999894041,0.000144465338302,-0.000432966909354,-5.98950178705e-05,1793248369507123456
+260,4.333333333,HOLD_POSE2,766,745,715,683,655,631.692501968,881,783,814.307498032,652,630,653,0.454505437028,0.00465639570786,0.0797059806296,0.999999894218,0.00014332452911,-0.000433001571493,-5.94289741475e-05,1793248369523790336
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,684,655,631,881,783,814,651,630,653,0.454507508899,0.00465841983524,0.0797068034984,0.999999894568,0.00014747938123,-0.000430736068478,-5.98426256547e-05,1793248369561143552
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.581624216,745,715,684,654.418375784,631,880.418375784,783,814.581624216,651.581624216,629.418375784,653,0.45450875874,0.00465895478018,0.0797073791335,0.999999895456,0.0001466073691,-0.000428937715884,-6.00540034932e-05,1793248369577810176
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.83855815,745,714.83855815,683.83855815,654.16144185,631,880,783,814.83855815,651.83855815,629.16144185,652.83855815,0.45450977484,0.0046596815467,0.0797078530083,0.999999895952,0.00014628585616,-0.000427868704601,-6.02047666481e-05,1793248369594476544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.26337033,745,714.26337033,683.26337033,654.73662967,631,880,783,814.26337033,651.26337033,629.73662967,652.26337033,0.454510191902,0.00466089991698,0.0797080660901,0.99999989545,0.000147375171885,-0.000428668861474,-6.0200185488e-05,1793248369611143168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.312721116,783.312721116,814.312721116,651.312721116,630,652.312721116,0.454508805551,0.00465912596878,0.0797071185641,0.999999894826,0.000145412713078,-0.000430817367477,-5.99912866254e-05,1793248369627810048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.889575757,783.889575757,814.889575757,651.889575757,630,652.889575757,0.454505895983,0.00465482461964,0.0797051907543,0.999999894077,0.000140872634968,-0.000434104729067,-5.96098149734e-05,1793248369644476672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.476653544,745,714,683,654.523346456,631,881,783.523346456,815,652,630,653,0.454505942873,0.00465472961977,0.0797048785113,0.999999894192,0.000140683294194,-0.000433891878037,-5.96757944692e-05,1793248369661143296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.06502658,683,654.06502658,631,881,783,815,652,630,653,0.454506656012,0.0046556275594,0.0797050144048,0.999999894507,0.000141769418654,-0.000432796939262,-5.97808349891e-05,1793248369677809920
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.64449933,683,654.64449933,631,881,783,815,652,630,653,0.454507102765,0.00465650267292,0.0797056697711,0.999999894754,0.000144797437017,-0.000431279250454,-5.93568453892e-05,1793248369694476544
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.777894116,745,715,683.222105884,655,631,880.777894116,783,815,652,630,652.777894116,0.454504686546,0.00465686077169,0.0797045215633,0.999999894019,0.000146101003067,-0.000432560137365,-5.92222194326e-05,1793248369711143168
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.203249745,745,715,683.796750255,655,631,880.203249745,783,815,652,630,652.203249745,0.454497726062,0.00465639823655,0.0797005106247,0.999999891717,0.000144667424716,-0.00043828307537,-5.9546887163e-05,1793248369727810048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.620202322,655,631,880.379797678,783,814.620202322,651.620202322,630,652.379797678,0.454477767175,0.00465700691884,0.0796913851102,0.999999884977,0.000145487427829,-0.000453142072436,-5.95048719176e-05,1793248369744476672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.032556183,655,631,880.967443817,783,814.032556183,651.032556183,630,652.967443817,0.454450694769,0.00465820183662,0.0796794605872,0.999999875495,0.000147540728028,-0.000473000878795,-5.92621853881e-05,1793248369761143552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.547256163,745,715,683,655,631,881,783,814.547256163,651.547256163,630,653,0.454390632995,0.00465627243829,0.079656097397,0.999999854942,0.000146556342725,-0.000514982460463,-5.85769362592e-05,1793248369777809920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.874247844,683.125752156,655,631,881,783.125752156,814.874247844,652,630,653,0.454325433833,0.00465499845491,0.0796331011568,0.99999983346,0.00014632246011,-0.000555278694875,-5.7758942654e-05,1793248369794476544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.298815899,683.701184101,655,631,881,783.701184101,814.298815899,652,630,653,0.45424878258,0.00465672344218,0.0796138161122,0.99999981618,0.000149409406441,-0.000584908492184,-5.65590834989e-05,1793248369811144192
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.723845157,745,714,683.723845157,654.723845157,631,880.723845157,783.723845157,814.276154843,651.723845157,630,653,0.454169803208,0.00465645000221,0.0796012276228,0.999999805114,0.000150341778059,-0.000603442037251,-5.50163865533e-05,1793248369827811584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.149372666,745,714,683.149372666,654.149372666,631,880.149372666,783.149372666,814.850627334,651.149372666,630,653,0.454088308879,0.00465401775115,0.0795958731218,0.999999801454,0.000148946659503,-0.000609988799067,-5.31033374838e-05,1793248369844477696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.420874436,745,714,683.420874436,654.420874436,631,880.420874436,783.420874436,814.579125564,651.420874436,630,653,0.453995273627,0.00465400799677,0.0795949149392,0.999999800365,0.000151536768781,-0.000611318199079,-5.09664284456e-05,1793248369861144064
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.989636797,745,714,683.989636797,654.989636797,631,880.989636797,783.989636797,814.010363203,651.989636797,630,653,0.453898183099,0.00465484946545,0.0795955015461,0.99999980017,0.00015552721754,-0.000610814309144,-4.87508589645e-05,1793248369877810432
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.409320853,655,631,881,783.409320853,814,652,630,653,0.453772193394,0.00465382979665,0.0795982572694,0.999999802331,0.000158501238174,-0.000606751453908,-4.54790739508e-05,1793248369894477056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.815993488,745,714.184006512,683.184006512,655,631,881,783,814,652,630,653,0.453637906289,0.00465225793866,0.0796015789649,0.999999805042,0.00016054195605,-0.000601988269232,-4.18710352e-05,1793248369911143680
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.240361231,745,714.759638769,683.759638769,655,631,881,783,814,652,630,653,0.453487101126,0.00464958435577,0.0796060195551,0.999999808858,0.000160636449515,-0.000595875132074,-3.75890590547e-05,1793248369927810304
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.334376697,715,683.665623303,655.334376697,631,881,783,814,652,630,653,0.453313776497,0.00464866797143,0.0796074016437,0.999999809584,0.000164299005718,-0.000593919787486,-3.31082292035e-05,1793248369944477184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.908473524,715,683.091526476,655.908473524,631,881,783,814,652,630,653,0.453124307277,0.00464901135124,0.079606591043,0.999999808076,0.000170519564544,-0.000594945231848,-2.8484837432e-05,1793248369961144064
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.498734221,745.501265779,715,683.498734221,656,631.498734221,880.501265779,783,814,652,630,653,0.452904074175,0.0046474103447,0.0796030876944,0.99999980206,0.000175047037133,-0.000603926620012,-2.26163854159e-05,1793248369977810432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.910454235,656,631.910454235,880,783,814,652,630,653,0.452672247966,0.00464549148501,0.0796005534392,0.999999796536,0.000179655555719,-0.000611869113714,-1.63599523153e-05,1793248369994477056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.333335792,656,631.333335792,880,783,814,652,630,653,0.452409068034,0.00464384992507,0.079606076694,0.999999798994,0.00018645384313,-0.000605938656935,-9.27676942909e-06,1793248370011143680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.757801717,745,715,683.242198283,656,631.242198283,880.242198283,783,814,652,630,653,0.452136328662,0.00464129388084,0.0796133651449,0.999999802902,0.000192957425499,-0.00059746098487,-2.07774353203e-06,1793248370027810560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.184434058,745,715,683.815565942,656,631.815565942,880.815565942,783,814,652,630,653,0.451850518223,0.00463748741829,0.0796230672331,0.999999808769,0.000199058043061,-0.000585500383036,5.27967966629e-06,1793248370044476928
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.391489574,745.391489574,715,683.608510426,656.391489574,632,881,783.391489574,814,652,630,653,0.451535118094,0.00463455925758,0.0796293270918,0.999999813719,0.000203240372558,-0.000575419406622,1.21263673048e-05,1793248370061143552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.968625243,745.968625243,715,683.031374757,656.968625243,632,881,783.968625243,814,652,630,653,0.451205686411,0.00463204759162,0.0796339546296,0.999999818193,0.000206513041145,-0.000566229757252,1.87308616606e-05,1793248370077810176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.442447246,715,683,657.557552754,632,881,783.442447246,813.442447246,652,630,653,0.450857915068,0.00462853299529,0.0796455049491,0.999999833705,0.000206801109649,-0.000537852017093,2.3192328608e-05,1793248370094477056
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.855303958,745,715,683,658,632,880.855303958,783.144696042,813,652,630,653,0.450492442456,0.00462517913993,0.0796589641036,0.999999851092,0.000196886319881,-0.000508383741619,2.44397774912e-05,1793248370111143680
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.275563393,745,715,683,658,632,880.275563393,783.724436607,813,652,630,653,0.450076919004,0.00462248192137,0.0796769658142,0.999999872873,0.000156811388558,-0.000478953209676,1.63943376642e-05,1793248370127810816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,632,880,784,813,652,630,653,0.449634697268,0.00461946168485,0.0796852126776,0.999999881102,0.000137939391738,-0.000467459697363,1.57909735221e-05,1793248370144477440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,632,880,784,813,652,630,653,0.449168288688,0.0046161488161,0.079684622327,0.999999878706,0.000138275781327,-0.000472215880442,2.19296138281e-05,1793248370161143808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.460499478,745,715,683,658,632.460499478,880.460499478,784,813,651.539500522,630,653,0.448665662899,0.00461507261663,0.0796775763267,0.999999869766,0.00014672866413,-0.000488271545954,2.29911623083e-05,1793248370177810432
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.952232713,745,715,683,658.047767287,633,880.952232713,784,813,651,630,652.952232713,0.448150190828,0.00461565041007,0.079669251671,0.999999859362,0.000159683730672,-0.00050525103792,2.23367014249e-05,1793248370194477312
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.369734365,745,715,683,658.630265635,633,880.369734365,784,813,651,630,652.369734365,0.44760289534,0.00462782798306,0.079666574161,0.999999856425,0.000197942072819,-0.000497633979871,1.81708902554e-05,1793248370211143936
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.209287518,659,633,880,784,812.790712482,651.209287518,629.790712482,652.209287518,0.447056187592,0.00463404228763,0.0796846060271,0.999999869133,0.000215429193708,-0.00046373706871,1.64769153418e-05,1793248370227810816
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.782268078,659,633,880,784,812.217731922,651.782268078,629.217731922,652.782268078,0.446510501232,0.00462989381757,0.0797386259736,0.999999906655,0.000196820758971,-0.000384171882816,1.90784172986e-05,1793248370244477696
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.643425252,659,633,880,783.643425252,812,652,629.356574748,653,0.445932736631,0.00461997942139,0.0797880508864,0.999999935484,0.000173378078958,-0.000313841782417,2.17822177151e-05,1793248370261144320
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.068305828,659,633,880,783.068305828,812,652,629.931694172,653,0.445335311296,0.00460653108906,0.0798346595009,0.999999957855,0.000146972490379,-0.000249171868873,2.4548716737e-05,1793248370277810944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,783.520423725,812,651.479576275,630,652.479576275,0.444671277723,0.00460532689231,0.0798410755004,0.999999955633,0.000160100093741,-0.000249751286692,2.69326765403e-05,1793248370294477056
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.109416349,633,880,784,812,651,630,652,0.443983366925,0.004604035782,0.0798367060224,0.999999949408,0.00017339389683,-0.000265073519152,2.92262726924e-05,1793248370311143424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.691619509,633,880,784,812,651,630,652,0.443231073176,0.00459523860616,0.0798091392483,0.999999939149,0.000164383233322,-0.000306100587599,3.13521839153e-05,1793248370327810048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.730603828,633,880,784,811.730603828,651,630,652.269396172,0.442477128354,0.00458706810336,0.0797929674801,0.999999934767,0.000152286059439,-0.000325975746177,3.18522023066e-05,1793248370344476672
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.157812237,633,880,784,811.157812237,651,630,652.842187763,0.441721323988,0.004579603362,0.0797896288254,0.999999938338,0.000136712840028,-0.00032202951565,3.0521131752e-05,1793248370361143552
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.414052231,784,811,651.414052231,630,652.585947769,0.440916988905,0.00457432208995,0.079763816539,0.999999925368,0.000136040186812,-0.000360190002788,3.19413423916e-05,1793248370377810432
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.98556409,784,811,651.98556409,630,652.01443591,0.440094198156,0.00456987116833,0.0797294577714,0.999999903614,0.000141034059872,-0.000414363222864,3.44078357925e-05,1793248370394477568
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.420053299,784,811.579946701,651.420053299,630,652,0.43925653956,0.00455868261722,0.0796903600018,0.999999878874,0.000132248486469,-0.000472668186107,3.67067822111e-05,1793248370411143936
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.83015384,784.16984616,812,651,630,652,0.438436315562,0.00454896013399,0.0796817124719,0.999999873904,0.000121604439008,-0.000485767928284,3.78750202823e-05,1793248370427810560
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.25244336,784.74755664,812,651,630,652,0.437658883821,0.00454317750307,0.0797464822891,0.999999917505,0.000107354974183,-0.000390055867773,3.63384297127e-05,1793248370444476928
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.323594719,633,879.323594719,784.676405281,811.676405281,651,630,652,0.436856945698,0.00453534767446,0.0798076370222,0.999999949889,0.000105949040136,-0.000295788049559,3.88082159336e-05,1793248370461143552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.898334803,633,879.898334803,784.101665197,811.101665197,651,630,652,0.436035987941,0.00452592899382,0.0798659860463,0.999999971927,0.000114511109865,-0.000202641127635,4.43873945569e-05,1793248370477810176
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.514979646,633,880,784,811,651,629.514979646,652.485020354,0.435162694504,0.00451398192689,0.0798596325921,0.999999970605,9.58687756339e-05,-0.000218039730144,4.53633498705e-05,1793248370494476800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.072991037,745,715,683,658.927008963,633,879.927008963,784,811,651,629,652.927008963,0.434271827726,0.00450214068012,0.0798372609824,0.999999962679,7.51319137232e-05,-0.000258695261633,4.55333526341e-05,1793248370511143424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.652072663,745,715,683,658.347927337,633,879.347927337,784,811,651,629,652.347927337,0.433337097726,0.00449480057875,0.079800235908,0.999999946763,8.04083988795e-05,-0.000312733825868,4.69742412178e-05,1793248370527810560
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.770376142,745,715,683,658.229623858,633,879.229623858,784,811,651,629.229623858,652,0.43237537992,0.00448770811208,0.0797572170529,0.999999920646,7.91358685073e-05,-0.000387359613715,4.89776883548e-05,1793248370544477696
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.195128427,745,715,683,658.804871573,633,879.804871573,784,811,651,629.804871573,652,0.43137304063,0.00448098837765,0.0797051765094,0.999999874833,6.80059307552e-05,-0.000492972761463,5.18278839968e-05,1793248370561144832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.621237656,745,715,683,659,633,879.621237656,784,811,651,630,652,0.430467293472,0.00446980516745,0.0797213837488,0.999999889902,5.79606240126e-05,-0.00046270979809,5.22995489348e-05,1793248370577811200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.048043486,745,715,683,659,633,879.048043486,784,811,651,630,652,0.429611130458,0.004456330701,0.0797726249414,0.999999931722,4.8472096347e-05,-0.000362696913614,5.15502312951e-05,1793248370594477056
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.543826522,745.543826522,715,683,659.543826522,633,879,784,811,651.543826522,629.456173478,652,0.428754856317,0.0044494475109,0.0798296487877,0.999999959599,3.88831674778e-05,-0.00027648261807,5.33618032083e-05,1793248370611143680
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.865886224,745.865886224,715,682.865886224,659.865886224,633,879,784,811.134113776,651.865886224,629,652,0.427875039738,0.004444633471,0.0798653199444,0.999999972767,3.34504562492e-05,-0.000224270245626,5.52183106701e-05,1793248370627810304
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.286525895,745.286525895,715,682.286525895,659.286525895,633,879,784,811.713474105,651.286525895,629,652,0.426917098014,0.00444468691494,0.0798283456245,0.999999958121,4.18465362786e-05,-0.000280750481619,5.64462000226e-05,1793248370644476928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.288396366,745,714.711603634,682,658.711603634,633.288396366,879,784,811.711603634,651,629,652,0.425961416434,0.00445733007451,0.0797905211852,0.999999939883,6.00594076107e-05,-0.000336868458169,5.60936582513e-05,1793248370661143552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.858976135,745,714.141023865,682,658.141023865,633.858976135,879,784,811.141023865,651,629,652,0.425007946362,0.00448229172772,0.079751864943,0.99999991759,8.78775851982e-05,-0.000392631975922,5.4194732702e-05,1793248370677810432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.442496044,682,658.442496044,633.557503956,878.557503956,784,811,651,629,652,0.424050136226,0.00448919484218,0.0797322961334,0.999999902418,0.000101364386,-0.000426348362918,5.58294614462e-05,1793248370694477568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.969967189,633,878.030032811,784,811,651,629,652,0.423097107546,0.00448940221967,0.0797218729277,0.999999892374,0.000108583246092,-0.00044727760794,5.83397874628e-05,1793248370711144192
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.386694137,633,878.613305863,784,811,651,629,652,0.422258407836,0.00447547886585,0.079764487498,0.999999927695,8.70110989878e-05,-0.000365986959327,5.56091525427e-05,1793248370727811072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.806375498,658.193624502,633,878.806375498,784,810.806375498,651,629,652,0.421427924174,0.00446506636258,0.0798103187324,0.999999956083,7.08912562237e-05,-0.00028259909496,5.42878705327e-05,1793248370744477440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.231868437,658.768131563,633,878.231868437,784,810.231868437,651,629,652,0.420613602311,0.00446156011982,0.0798624775375,0.999999977272,6.54967451209e-05,-0.000195085744406,5.57389541739e-05,1793248370761143808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.659611035,633,878.340388965,784,810.340388965,651.340388965,629,652,0.419745141278,0.00446162814678,0.0798632745454,0.999999976821,6.81769142836e-05,-0.000196379838739,5.6087586098e-05,1793248370777810176
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633,878.496194507,784,810.496194507,651.496194507,629,652,0.41795117392,0.00446907148738,0.0798051405844,0.999999950321,7.77551830573e-05,-0.000300731427363,5.35917466899e-05,1793248370811143680
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633,878,784,810.097659464,651,629,652,0.417074751813,0.00447372600549,0.079788519398,0.999999940141,7.88702170043e-05,-0.000332869930869,5.19117691417e-05,1793248370827810560
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.171344373,658,633.828655627,878,784,810.171344373,651.828655627,629,652,0.414642126546,0.0044684728918,0.0797789330157,0.999999929226,8.62772236903e-05,-0.000361803756135,5.65974433925e-05,1793248370877810432
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810.412889356,651.587110644,629,652,0.413899800195,0.00446716037029,0.0797856045177,0.999999937969,7.50371671519e-05,-0.000339718664605,5.49853982603e-05,1793248370894477056
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.001400009,634,878,784,810.998599991,651,629,652,0.413177944142,0.00446726092075,0.0798032881033,0.999999952534,5.95135842263e-05,-0.000297766596909,5.22045346099e-05,1793248370911143424
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.580495156,634,878,784,810.419504844,651,629,652,0.412445350573,0.00446864280216,0.0798042996724,0.999999948956,8.0597639954e-05,-0.000304453285316,5.38618183905e-05,1793248370927810048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.158319135,680,658.841680865,633.841680865,878,784,810,651,629,652.158319135,0.411719158303,0.00447014070644,0.0798006197347,0.999999943475,9.53995660955e-05,-0.000317660635587,5.51397468003e-05,1793248370944476672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.732801799,680,658.267198201,633.267198201,878,784,810,651,629,652.732801799,0.411009792567,0.00447194359302,0.0797846075292,0.999999933521,9.36880588713e-05,-0.000348008440228,5.54204880515e-05,1793248370961143808
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.691496831,680,658.308503169,633.308503169,878,784,810,651,629,652.691496831,0.410347654983,0.00447381948658,0.0797834662246,0.999999932804,9.32787265573e-05,-0.000350168627235,5.54421260005e-05,1793248370977810688
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.114735774,680,658.885264226,633.885264226,878,784,810,651,629,652.114735774,0.409726584523,0.00447575886299,0.0797952558626,0.999999940324,9.40016961584e-05,-0.000327818364824,5.5238461543e-05,1793248370994477824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.527103178,634,878.472896822,784,810,651,629,652,0.409136984409,0.0044749886359,0.0798209737634,0.999999954077,9.20792985822e-05,-0.000283199472662,5.6258476489e-05,1793248371011144448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878.937948052,784,810,651,629,652,0.408554060467,0.00447396538113,0.0798451402608,0.999999964921,9.00861401194e-05,-0.000242372388575,5.74356588066e-05,1793248371027810816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878.358606673,784,810,651,629,652,0.407961641923,0.00447644219616,0.0798275394296,0.999999955039,9.29795187833e-05,-0.000279255718101,5.73897959346e-05,1793248371044477184
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.780373041,715,680,658,634,878,784,810,651,628.780373041,652,0.40738451643,0.00447780306178,0.0798044526373,0.999999941728,9.75313960098e-05,-0.000322175773576,5.68785462723e-05,1793248371061143552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.203939114,715,680,658,634,878,784,810,651,628.203939114,652,0.406832236154,0.00447735095062,0.079772453329,0.999999922688,0.000104777677325,-0.000374903118102,5.5611227087e-05,1793248371077810432
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.378511246,715,680,658,634,878,784,810,651,628,652,0.406351331142,0.00447643292239,0.0797677358847,0.999999922428,0.000100382227396,-0.00037694840072,5.4569575555e-05,1793248371094477312
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.964255629,715,680,658,634,878,784,810,651,628,652,0.405909503701,0.00447525980672,0.0797779551303,0.999999932859,8.96129847792e-05,-0.000351245496546,5.36514759133e-05,1793248371111144192
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810.543889466,651.543889466,628.543889466,652,0.405489714171,0.00447933008683,0.0798013131117,0.999999945844,9.72821109318e-05,-0.000309801516916,5.35864063825e-05,1793248371127810816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.123188943,745,715,680,658,634,878,784,810.876811057,652,628.876811057,652,0.405078598882,0.00448266382551,0.0798209124778,0.999999954727,0.000104294730145,-0.000277110287845,5.36491338136e-05,1793248371144477440
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.702721088,745,715,680,658,634,878,784,810.297278912,652,628.297278912,652,0.404694310871,0.00448200676573,0.0798234252329,0.999999953712,0.000104436354933,-0.000280632536526,5.39799084851e-05,1793248371161143808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.719947625,745,715,680.280052375,658,633.719947625,878,784,810,651.719947625,628,652,0.404315669168,0.00448140974058,0.0798257443061,0.999999952339,0.000104367289227,-0.000285166286397,5.575589321e-05,1793248371177810432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.144934391,745,715,680.855065609,658,633.144934391,878,784,810,651.144934391,628,652,0.403942974373,0.00448087594603,0.0798278593866,0.999999950568,0.000104076316986,-0.000290765384129,5.90540231855e-05,1793248371194477056
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.439072668,745,715,680.560927332,658,633,878,784,810,651,628.439072668,652,0.403620802771,0.00448247178452,0.0798300495636,0.999999950196,0.000103755819611,-0.000292452474857,5.75745154336e-05,1793248371211143680
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.974227746,745,715,679.974227746,658,633.025772254,878,784,809.974227746,651,628.974227746,652,0.403317020832,0.00448454959239,0.0798322865801,0.999999950331,0.000103551653701,-0.000292637100964,5.4574479163e-05,1793248371227810304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.394796557,745,715,679.394796557,658,633.605203443,878,784,809.394796557,651,628.394796557,652,0.403042532751,0.00448156378413,0.0798349861741,0.999999951223,0.000106060357094,-0.000288865934701,5.34973884998e-05,1793248371244476928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.183002459,651,628,652,0.402783379225,0.00447937911011,0.0798369002172,0.999999952036,0.000107607803576,-0.000285465300823,5.34645481868e-05,1793248371261143808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.757311395,651,628,652,0.402557014967,0.00447890746819,0.0798371345495,0.999999952712,0.000107099834438,-0.000282856961285,5.5664584706e-05,1793248371277810688
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.332712892,658,634,878,784.332712892,810,651.332712892,628.332712892,652,0.402349524521,0.00447909565164,0.0798351923226,0.999999952572,0.000104297947933,-0.000284280657314,5.62278364998e-05,1793248371294477568
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.908914013,658,634,878,784.908914013,810,651.908914013,628.908914013,652,0.402155846414,0.00447976671297,0.0798316572313,0.999999951812,9.98173110309e-05,-0.000288655104988,5.55932454967e-05,1793248371311144192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.502540529,658,634,878,784.502540529,809.502540529,651.502540529,628.502540529,652,0.401996449749,0.00448232948209,0.0798363575149,0.999999953723,0.000100512908036,-0.000281757353519,5.53579334532e-05,1793248371327810560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.08652232,679,658,634,878,784,809.08652232,651,628,652,0.401846127387,0.00448600866874,0.079842042243,0.999999955706,0.000103596994493,-0.000273505090687,5.5232713155e-05,1793248371344476928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715.665341437,679,658,634,878,784,809.665341437,651,628,652,0.401710812245,0.00449401910709,0.0798445301888,0.999999955549,0.000114741238777,-0.000269588326012,5.5307333634e-05,1793248371361143552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715.757192557,679,658,634,878,784,810,651,628,652,0.40158487296,0.0045026935081,0.079844168175,0.999999953199,0.000132214141736,-0.000270402470291,5.48136573976e-05,1793248371377810432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715.181581229,679,658,634,878,784,810,651,628,652,0.401471784696,0.00451227796869,0.0798398998653,0.999999947469,0.000158361416467,-0.00027770103243,5.35410455594e-05,1793248371394477056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.400378451,658,634,878,784.400378451,809.599621549,651,628,652,0.401376076637,0.00451173217459,0.0798354177573,0.999999945479,0.000159172903049,-0.000284596446233,5.20679727913e-05,1793248371411144192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.985263631,658,634,878,784.985263631,809.014736369,651,628,652,0.401288377915,0.00450651804669,0.0798308371246,0.999999945297,0.000148308876971,-0.000291306076681,5.05025214889e-05,1793248371427811072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.433798099,878,784.433798099,809,651,628.566201901,652,0.401218429646,0.00450606286003,0.0798257927852,0.999999944053,0.000143012110305,-0.000298169368187,5.03553161659e-05,1793248371444477440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.14621903,744.85378097,715,679.85378097,658,633.14621903,878,784,809.14621903,651,629,652,0.401155122042,0.00450569525865,0.0798221896735,0.999999943077,0.000139274928793,-0.000303177237497,5.03173288303e-05,1793248371461144064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.723819428,744.276180572,715,679.276180572,658,633.723819428,878,784,809.723819428,651,629,652,0.401110052476,0.00450522316907,0.0798228738906,0.999999943152,0.000139714377247,-0.000302699445883,5.04934146909e-05,1793248371477810688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.40005719,744.299971405,715,679.299971405,658,634,878,784,809.700028595,651.299971405,629,652,0.401072458593,0.00450569511163,0.0798237540288,0.999999943493,0.000139743434294,-0.000301543023828,5.05696481771e-05,1793248371494477056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.250407381,744.874796309,715,679.874796309,658,634,878,784,809.125203691,651.874796309,629,652,0.401041714418,0.00450703203835,0.0798248136829,0.999999944077,0.000139396463835,-0.000299764795943,5.05543903809e-05,1793248371511143424
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.460995136,745,715,680,658,634,878,784,809.460995136,652,628.539004864,652,0.401020635094,0.00450809264985,0.0798255638441,0.999999944361,0.000139945003443,-0.000298591381587,5.0361025525e-05,1793248371527810048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.049469691,809.950530309,651.950530309,628.049469691,652,0.401002849745,0.00450869601014,0.0798261839235,0.999999944578,0.000140458889987,-0.000297656112096,5.0165994377e-05,1793248371544477184
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.628403029,809.371596971,651.371596971,628.628403029,652,0.400991514465,0.00450522902419,0.0798263341625,0.99999994497,0.000137932959138,-0.000297467099985,5.04839504884e-05,1793248371561144320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.207006486,679.792993514,658,634,878,784.792993514,809.207006486,651.207006486,629,652,0.400982332024,0.00450361509184,0.0798268957372,0.99999994538,0.000137101324546,-0.00029646331712,5.05207620731e-05,1793248371577810944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.785018679,679.214981321,658,634,878,784.214981321,809.785018679,651.785018679,629,652,0.400977007992,0.00450532228009,0.0798281945251,0.999999945826,0.000139306278926,-0.000293999267947,5.00536946257e-05,1793248371594477568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715.641101685,679.358898315,658,634,878,784,810,652,629,652,0.400974159157,0.00450621483764,0.0798291368097,0.999999946325,0.000139422909717,-0.000292281141828,4.98384687152e-05,1793248371611144192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715.069669308,679.930330692,658,634,878,784,810,652,629,652,0.400972776094,0.00450662498336,0.0798298679785,0.999999946856,0.000138302867314,-0.000291004739957,4.97723795069e-05,1793248371627810304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.479448754,878,784,810,651.479448754,629,652,0.400972213249,0.00450597139822,0.0798316662971,0.99999994738,0.000138624760778,-0.000289013567836,4.99481803084e-05,1793248371644477184
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,810,651.105842333,628.894157667,652,0.400971858318,0.00450536722059,0.0798332830503,0.999999947846,0.000139031662299,-0.000287178254631,5.00621976819e-05,1793248371661143808
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,810,651.659256758,628.340743242,652,0.400971901,0.00450559653685,0.0798335054504,0.999999948089,0.000138951407073,-0.00028642169243,4.9772928539e-05,1793248371677810176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.231206371,745,715,680,658,633.231206371,878,784,809.768793629,651.768793629,628,652,0.400971815847,0.00450602496057,0.0798336447354,0.999999948423,0.000138303700493,-0.000285629631377,4.94229168409e-05,1793248371694476800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.832853285,745,715,680,658,633.832853285,878,784,809.167146715,651.167146715,628,652,0.400971525876,0.00450677239574,0.079833650853,0.999999948901,0.000136746819177,-0.000284780693686,4.89755829299e-05,1793248371711143936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.575226952,745,715,680,658.424773048,634,878.424773048,784,809,651.424773048,628.424773048,652,0.400971903575,0.00450650144483,0.0798344388163,0.999999949216,0.000137277346479,-0.000283426922881,4.8918325193e-05,1793248371727810560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.987244644,633.987244644,879,784,809,651.987244644,628.987244644,652,0.40097250468,0.00450589385597,0.0798354917097,0.999999949446,0.000138637955612,-0.000281932555183,4.90034179205e-05,1793248371744477440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.407946001,633.407946001,879,784,809,651.407946001,628.407946001,652,0.400971620574,0.00450773458176,0.0798349529093,0.99999994885,0.000141201454979,-0.00028281915315,4.87462007864e-05,1793248371761144064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.170712264,878.829287736,784.170712264,809,651.170712264,628,652,0.400970910596,0.00450929287574,0.0798346615544,0.999999948528,0.000142867734751,-0.000283155493173,4.85359042669e-05,1793248371777810688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.747845921,878.252154079,784.747845921,809,651.747845921,628,652,0.400970615168,0.00451017877311,0.079834959303,0.999999948875,0.000142397968445,-0.000282181812447,4.84373135132e-05,1793248371794477056
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715.32401825,680,658,633.67598175,878,785,809,652,628.32401825,652,0.400970632495,0.0045093694866,0.0798352040403,0.999999949178,0.000140809968128,-0.000281924623744,4.8322853605e-05,1793248371811143680
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715.899444653,680,658,633.100555347,878,785,809,652,628.899444653,652,0.40097089249,0.00450724489437,0.0798354076458,0.999999949443,0.000138354321809,-0.000282223366533,4.81960807069e-05,1793248371827810304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715.514127392,680,658,633.485872608,878,784.514127392,809.485872608,651.514127392,629,652,0.400970513747,0.00450735600886,0.0798350769102,0.999999949067,0.0001399809735,-0.000282733190669,4.82962227608e-05,1793248371844477440
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715.073458097,680,658,634,878,784.073458097,810,651,629,652,0.400970120825,0.00450784009415,0.079834792351,0.999999948663,0.0001420372489,-0.000283110175518,4.8465000555e-05,1793248371861144320
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18fe157112a671ea5a0be310070a08892094ced1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+371,6.183333333,pose2_to_pose3_retreat,0.58367889566,0.00992794311614,1.07004220312,0.554250687426,0.0186024028779,1.0696655975
+372,6.200000000,pose2_to_pose3_retreat,0.583594430345,0.0099278368734,1.07004244719,0.554166221958,0.0186022958675,1.06966583572
+373,6.216666667,pose2_to_pose3_retreat,0.583521002193,0.00992785560946,1.07004260053,0.554092793053,0.0186023117142,1.06966598136
+374,6.233333333,pose2_to_pose3_retreat,0.58345928811,0.00992786268035,1.07004250485,0.554031079085,0.0186023193692,1.06966589013
+375,6.250000000,pose2_to_pose3_retreat,0.583407838313,0.00992788052471,1.0700425171,0.55397962991,0.0186023390015,1.06966589493
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+377,6.283333333,pose2_to_pose3_retreat,0.583332933911,0.00992788391015,1.07004243994,0.553904725059,0.0186023410054,1.06966582097
+378,6.300000000,pose2_to_pose3_retreat,0.583307604698,0.00992787655388,1.07004259645,0.553879395851,0.0186023336761,1.06966597773
+379,6.316666667,pose2_to_pose3_retreat,0.583288099213,0.00992780951882,1.07004256376,0.55385989024,0.0186022663905,1.06966594909
+380,6.333333333,pose2_to_pose3_retreat,0.583273508742,0.00992782604436,1.0700422558,0.553845300573,0.0186022859541,1.06966564837
+381,6.350000000,pose2_to_pose3_retreat,0.583263336535,0.00992789505931,1.07004259076,0.553835129025,0.0186023569416,1.06966597724
+382,6.366666667,pose2_to_pose3_retreat,0.583256079804,0.00992806441348,1.07004260193,0.553827869701,0.0186025174663,1.06966598772
+383,6.383333333,pose2_to_pose3_retreat,0.583251596497,0.00992790281125,1.07004243789,0.553823387316,0.018602359061,1.06966582529
+384,6.400000000,pose2_to_pose3_retreat,0.583248872145,0.00992779236425,1.07004236356,0.553820663528,0.0186022503865,1.06966574772
+385,6.416666667,pose2_to_pose3_retreat,0.583247485474,0.00992777962948,1.07004238289,0.553819276626,0.0186022366138,1.0696657612
+386,6.433333333,pose2_to_pose3_retreat,0.583246886933,0.00992778731704,1.07004248352,0.55381867823,0.018602244706,1.06966585984
+387,6.450000000,pose2_to_pose3_retreat,0.583246642719,0.00992779629271,1.07004256545,0.553818434184,0.0186022542243,1.06966594119
+388,6.466666667,pose2_to_pose3_retreat,0.583246512424,0.00992780108147,1.07004260917,0.553818303978,0.0186022593026,1.06966598459
+389,6.483333333,pose2_to_pose3_retreat,0.583246480151,0.00992780226763,1.07004261999,0.553818271727,0.0186022605605,1.06966599534
+390,6.500000000,pose2_to_pose3_retreat,0.583246412789,0.00992780474341,1.07004264259,0.553818204411,0.018602263186,1.06966601778
+391,6.516666667,pose2_to_pose3_retreat,0.583246383564,0.00992780581754,1.0700426524,0.553818175206,0.0186022643251,1.06966602752
+392,6.533333333,pose2_to_pose3_retreat,0.583246289221,0.00992780928496,1.07004268405,0.553818080928,0.0186022680021,1.06966605894
+393,6.550000000,pose2_to_pose3_retreat,0.583246194309,0.00992781277328,1.07004271589,0.553817986081,0.0186022717014,1.06966609056
+394,6.566666667,pose2_to_pose3_retreat,0.583246061841,0.00992781764194,1.07004276033,0.553817853703,0.0186022768644,1.06966613468
+395,6.583333333,pose2_to_pose3_retreat,0.583245884379,0.00992781639117,1.07004264549,0.553817676286,0.0186022759748,1.06966602468
+396,6.600000000,pose2_to_pose3_retreat,0.583245761627,0.00992781481015,1.07004255,0.553817553558,0.0186022746404,1.06966593302
+397,6.616666667,pose2_to_pose3_retreat,0.583245674037,0.00992781368203,1.07004248186,0.553817465986,0.0186022736884,1.06966586761
+398,6.633333333,pose2_to_pose3_retreat,0.58324566814,0.00992781360607,1.07004247727,0.553817460089,0.0186022736242,1.0696658632
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+400,6.666666667,pose2_to_pose3_retreat,0.583245573044,0.00992781238126,1.07004240329,0.553817365012,0.0186022725906,1.06966579219
+401,6.683333333,pose2_to_pose3_retreat,0.583245562408,0.00992781224427,1.07004239502,0.553817354377,0.0186022724749,1.06966578425
+402,6.700000000,pose2_to_pose3_retreat,0.583245445948,0.00992782811241,1.07004233546,0.553817237657,0.0186022874953,1.06966572557
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+404,6.733333333,pose2_to_pose3_retreat,0.583245406749,0.00992785309417,1.07004235052,0.553817198049,0.0186023109682,1.0696657378
+405,6.750000000,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da694524abf526b550e72c70ab7974f0405a8ff7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4348eda93314a101d893fe38f801f0541de25662ca46752884ca9f84daf73ba
+size 25836701
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55f7d8556b541326508ab0c654ff1d55a5a322a4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+22,0.366666667,BASELINE,765.744619404,745,715,680.255380596,658.744619404,634,878,784,809.255380596,652,628.744619404,652,0.400970349949,0.00450881954691,0.0798370169005,0.999999949947,0.000142801999053,-0.000278286652983,4.76519225194e-05,1793248372455544064
+23,0.383333333,BASELINE,765.671027795,745,715,680,658.671027795,634,878,784,809.328972205,652,629,652,0.400970666094,0.00450944176764,0.0798370489052,0.999999950022,0.000143060902858,-0.000277885217367,4.76445219876e-05,1793248372472210688
+24,0.400000000,BASELINE,765.074839619,745,715,680,658.074839619,634,878,784,809.925160381,652,629,652,0.400972193709,0.00450965658965,0.0798381176301,0.999999950755,0.000141729464476,-0.000275906979231,4.77256567412e-05,1793248372488877056
+25,0.416666667,BASELINE,764.493599977,745,715,680,658,634,878,784,809.493599977,652,629,652,0.400971928786,0.00450874764659,0.0798385628611,0.999999950872,0.000141270411517,-0.000275656401312,4.80866922229e-05,1793248372505543424
+26,0.433333333,BASELINE,764.084927427,745,715,680,658,634,878,784,809.084927427,652,629,652,0.400971505311,0.00450790074864,0.0798387959857,0.999999950856,0.000141078403109,-0.000275767205258,4.83416895255e-05,1793248372522210304
+27,0.450000000,BASELINE,764.660185089,745,715,680,658,634,878,784,809.660185089,652,629,652,0.400971652072,0.0045083434333,0.0798383212551,0.999999950585,0.000141705158078,-0.000276532588598,4.77524946862e-05,1793248372538876928
+28,0.466666667,BASELINE,765,745,715.240244537,680,658,634,878,784.240244537,810,652,628.759755463,652,0.400971344432,0.00450931379469,0.0798382029511,0.999999950313,0.000143032865161,-0.000276901898216,4.73364420808e-05,1793248372555543296
+29,0.483333333,BASELINE,765,745,715.827234374,680,658,634,878,784.827234374,810,652,628.172765626,652,0.400970380952,0.00451104575267,0.0798385990779,0.99999995004,0.000145372257441,-0.000276699553989,4.71702859564e-05,1793248372572210176
+30,0.500000000,BASELINE,765,745,716,680.408904396,658,634,877.591095604,785,809.591095604,652,628,652,0.400970806384,0.00451045779108,0.0798380080517,0.999999950128,0.00014446538231,-0.000276848049733,4.72099025102e-05,1793248372588877056
+31,0.516666667,BASELINE,765,745,716,680.988355604,658,634,877.011644396,785,809.011644396,652,628,652,0.400971811107,0.00450890223192,0.0798370053014,0.999999950365,0.000142204546245,-0.000277142874644,4.73353432222e-05,1793248372605543680
+32,0.533333333,BASELINE,765,745,715.433684341,680.433684341,658,634,878.132631318,784.433684341,809,652,628.566315659,652,0.400971992966,0.00451000733219,0.0798380205725,0.9999999503,0.000143322769346,-0.00027677732596,4.74594914661e-05,1793248372622210304
+33,0.550000000,BASELINE,765,745,715,680,658,634,878.856810597,784,809.143189403,651.856810597,629,652,0.400972175175,0.00451057675497,0.0798389706164,0.999999950412,0.000143627504182,-0.000276203345607,4.75169029934e-05,1793248372638876672
+34,0.566666667,BASELINE,765,745,715,680,658,634,878.283111095,784,809.716888905,651.283111095,629,652,0.400972409175,0.00450937157076,0.0798396001223,0.999999951074,0.000141278077198,-0.000275043416529,4.73737450504e-05,1793248372655543552
+35,0.583333333,BASELINE,765,745,715.298653479,680,658,634,878,784,810,651.298653479,629,651.701346521,0.400971835374,0.00450893641086,0.0798387456227,0.999999950974,0.000140324305619,-0.000275904394273,4.73071703159e-05,1793248372672209920
+36,0.600000000,BASELINE,765,745,715.888275666,680,658,634,878,784,810,651.888275666,629,651.111724334,0.400970474557,0.00450925146133,0.0798364453032,0.999999950132,0.000140730277008,-0.000278734277955,4.73152081802e-05,1793248372688876544
+37,0.616666667,BASELINE,765,745,715.530350454,680,658,633.530350454,878,784,810,651.530350454,628.530350454,651.469649546,0.400970114219,0.00450815393138,0.0798365486113,0.999999950172,0.000139864475588,-0.000278979956002,4.75780386556e-05,1793248372705543424
+38,0.633333333,BASELINE,765,745,715,680,658.048743399,633.048743399,878,784,809.951256601,651.048743399,628.048743399,652,0.400969966389,0.00450692152577,0.0798371180922,0.99999995038,0.000138874950335,-0.000278683231159,4.78507120593e-05,1793248372722210048
+39,0.650000000,BASELINE,765,745,715,680,658.624038272,633.624038272,878,784,809.375961728,651.624038272,628.624038272,652,0.400969587517,0.00450779951501,0.0798366531892,0.999999950166,0.000139760686086,-0.000279053454981,4.75862496749e-05,1793248372738876928
+40,0.666666667,BASELINE,765,745,715,680,658.800802913,634,878,784,809,652,628.800802913,652,0.400969630894,0.00450872211859,0.0798367918808,0.999999950121,0.000140872694364,-0.00027868824094,4.73798215259e-05,1793248372755543808
+41,0.683333333,BASELINE,765,745,715,680,658.225900753,634,878,784,809,652,628.225900753,652,0.400970470673,0.00450972886909,0.0798380690105,0.999999950395,0.000142411474574,-0.00027693591956,4.72828516026e-05,1793248372772210176
+42,0.700000000,BASELINE,765,745,715.358749034,680,658,634,878,784.358749034,809,652,628.358749034,652,0.400970531156,0.00450900502142,0.0798382689845,0.999999950514,0.000141715783024,-0.000276848895757,4.73649422392e-05,1793248372788876800
+43,0.716666667,BASELINE,765,745,715.949708216,680,658,634,878,784.949708216,809,652,628.949708216,652,0.400970087218,0.00450716099659,0.0798377717398,0.999999950531,0.000139573768294,-0.000277839781541,4.7562934737e-05,1793248372805543680
+44,0.733333333,BASELINE,765,745,715.469868466,679.469868466,658,634,878,784.469868466,809,652,629,652,0.400972632227,0.00450916560764,0.0798389837444,0.999999951142,0.000141323916198,-0.000274750883315,4.74954584144e-05,1793248372822210048
+45,0.750000000,BASELINE,765,745,715,679.108485246,658,634,878,784.108485246,809.108485246,652,628.891514754,652,0.400974382823,0.00451089506148,0.0798398275219,0.999999951521,0.000143094727911,-0.000272452577003,4.74449138238e-05,1793248372838876928
+46,0.766666667,BASELINE,765,745,715,679.68216656,658,634,878,784.68216656,809.68216656,652,628.31783344,652,0.40097153468,0.00450990950338,0.0798384105335,0.999999950727,0.000143401677694,-0.000275171719027,4.75728620529e-05,1793248372855543552
+47,0.783333333,BASELINE,765,745,715.262171586,680,658,634,878.262171586,785,810,651.737828414,628.262171586,652,0.400970649584,0.0045094818698,0.0798382228073,0.999999950615,0.000142825411835,-0.000275901608043,4.74244350208e-05,1793248372872210432
+48,0.800000000,BASELINE,765,745,715.85003248,680,658,634,878.85003248,785,810,651.14996752,628.85003248,652,0.400972203134,0.00450974733196,0.0798395621631,0.999999951355,0.000141151948968,-0.000274160297382,4.69326738222e-05,1793248372888877056
+49,0.816666667,BASELINE,765,745,715.568401012,680,658,634,878.568401012,784.568401012,810,651.431598988,628.568401012,652,0.400971586942,0.00451001591606,0.0798390141012,0.999999950975,0.000141540811565,-0.000275320109484,4.70732304016e-05,1793248372905546240
+50,0.833333333,BASELINE,765,745,715,680,658.01097462,634,878,784,810,652,628,652,0.40097027786,0.00451027313059,0.0798378591402,0.999999950233,0.000142603676078,-0.00027739862065,4.74245066602e-05,1793248372922216192
+51,0.850000000,BASELINE,765,745,715,680,658.588534526,634,878,784,810,652,628,652,0.400971560082,0.00450988817163,0.0798387431371,0.99999995081,0.000141999360922,-0.000275612203045,4.74746273184e-05,1793248372938879488
+52,0.866666667,BASELINE,765,745,715.164944611,680,658.835055389,634,878,784,810,652,628.164944611,652,0.400971822329,0.00450950825793,0.0798389230164,0.999999950962,0.000141631373283,-0.000275253723563,4.74534118988e-05,1793248372955543808
+53,0.883333333,BASELINE,765,745,715.738506212,680,658.261493788,634,878,784,810,652,628.738506212,652,0.400969557794,0.00450914084283,0.0798373585865,0.999999950061,0.000141848839422,-0.000278432672751,4.7255475738e-05,1793248372972210432
+54,0.900000000,BASELINE,765.320972527,745,715.679027473,679.679027473,658,633.679027473,878,784,810,652,629,652,0.400969036634,0.00450906110159,0.0798371393147,0.999999950052,0.000141397059182,-0.000278692189019,4.72553144139e-05,1793248372988876800
+55,0.916666667,BASELINE,765.91090042,745,715.08909958,679.08909958,658,633.08909958,878,784,810,652,629,652,0.400969976318,0.00450922241347,0.0798380472034,0.999999950794,0.000140384491361,-0.00027650539873,4.74208763279e-05,1793248373005543680
+56,0.933333333,BASELINE,765.507386373,745,715,679,658,633.492613627,878,784,810,652,629,652,0.400970944172,0.00450949686746,0.0798392361469,0.999999950857,0.000142404262078,-0.000275289753872,4.71428217127e-05,1793248373022210304
+57,0.950000000,BASELINE,765,745,715,679.07201559,658,634,878,784,809.92798441,652,629,652,0.40097182445,0.00450957096861,0.0798402847974,0.999999950855,0.000144209880218,-0.000274399778791,4.68805736259e-05,1793248373038876928
+58,0.966666667,BASELINE,765,745,715,679.645499723,658,634,878,784,809.354500277,652,629,652,0.400972060005,0.00450810978469,0.0798400083674,0.999999951279,0.000140767796471,-0.00027457448879,4.72779474942e-05,1793248373055543552
+59,0.983333333,BASELINE,765,745,715.220174603,679.779825397,658,634,878,784,809.220174603,651.779825397,628.779825397,652,0.400971710485,0.004507697168,0.0798392539767,0.999999951256,0.000139255743687,-0.000275392736228,4.74801136339e-05,1793248373072210176
+60,1.000000000,BASELINE,765,745,715.796777202,679.203222798,658,634,878,784,809.796777202,651.203222798,628.203222798,652,0.400970413821,0.00450898201623,0.079837725843,0.999999950522,0.00014086810645,-0.000277252769432,4.73662692758e-05,1793248373088876800
+61,1.016666667,BASELINE,765,745,715.615150449,679.384849551,658,634,878.384849551,784,810,651.384849551,628,652,0.400969339727,0.00450898389851,0.0798372511917,0.999999950264,0.000140819197743,-0.000278215621111,4.73165122057e-05,1793248373105543424
+62,1.033333333,BASELINE,765,745,715.020835391,679.979164609,658,634,878.979164609,784,810,651.979164609,628,652,0.400968386774,0.00450828748936,0.0798373499288,0.999999950266,0.00013986609386,-0.00027869015567,4.73016365039e-05,1793248373122210048
+63,1.050000000,BASELINE,765.555246689,745,715.555246689,680,658,634,878.444753311,784,810,651.444753311,628.555246689,652,0.400969915522,0.00450827688874,0.0798383067088,0.999999950888,0.000138895461905,-0.000277000067403,4.6941784925e-05,1793248373138876928
+64,1.066666667,BASELINE,765.869134123,745.130865877,715.869134123,680,658,634,878.130865877,784.130865877,810,651.130865877,629,652,0.400971169529,0.00450860007788,0.0798389222335,0.999999951235,0.000138979504116,-0.000275741646073,4.67049854327e-05,1793248373155543552
+65,1.083333333,BASELINE,765.292835787,745.707164213,715.292835787,680,658,634,878.707164213,784.707164213,810,651.707164213,629,652,0.400971181494,0.00450997458912,0.0798382701083,0.999999950575,0.000142655542831,-0.000276220186996,4.6929683046e-05,1793248373172210176
+66,1.100000000,BASELINE,765,745.711667768,715.288332232,680,658,634,878.711667768,785,809.711667768,652,628.711667768,652,0.400971449063,0.00450998172261,0.0798384998273,0.999999950642,0.000142688511671,-0.000275953308506,4.6959028324e-05,1793248373188876800
+67,1.116666667,BASELINE,765,745.125469075,715.874530925,680,658,634,878.125469075,785,809.125469075,652,628.125469075,652,0.400971980688,0.00450857626345,0.0798396405504,0.999999951461,0.000138957945692,-0.000274916361929,4.67865615735e-05,1793248373205543424
+68,1.133333333,BASELINE,764.542171017,745,715.542171017,679.542171017,658,634,878,784.542171017,809.457828983,652,628.457828983,652,0.40097288136,0.00450833431079,0.0798403038474,0.999999951829,0.000138603006499,-0.000273725907477,4.69619369103e-05,1793248373222210048
+69,1.150000000,BASELINE,764.039624276,745,715,679.039624276,658,633.960375724,878,784,809.960375724,652,628.960375724,652,0.400973791451,0.00450837852742,0.0798407629312,0.999999952047,0.000139115929114,-0.000272624177339,4.72135784154e-05,1793248373238876928
+70,1.166666667,BASELINE,764.611837641,745,715,679.611837641,658,633.388162359,878,784,809.388162359,652,628.388162359,652,0.400973477303,0.00450801030952,0.0798402247325,0.999999951893,0.000138937820605,-0.000273276881261,4.72170911729e-05,1793248373255543552
+71,1.183333333,BASELINE,765,745,715,679.814740614,658,633.185259386,878,784,809,651.814740614,628,652,0.400972731503,0.0045080193569,0.0798395347464,0.999999951659,0.000138586202447,-0.000274323816369,4.71358297895e-05,1793248373272210176
+72,1.200000000,BASELINE,765,745,715,679.238770298,658,633.761229702,878,784,809,651.238770298,628,652,0.400971075354,0.0045088240544,0.0798385246415,0.999999951254,0.000137868653446,-0.000276202182797,4.68757802529e-05,1793248373288877568
+73,1.216666667,BASELINE,765,745,715,679,658.346991432,634,878,784,809.346991432,651,628,652,0.400971038272,0.00450890605129,0.0798385506749,0.999999951082,0.000139176279335,-0.000276151908674,4.69671876192e-05,1793248373305544704
+74,1.233333333,BASELINE,765,745,715,679,658.939686398,634,878,784,809.939686398,651,628,652,0.400972147645,0.00450847630611,0.0798393103947,0.999999951071,0.000141917925186,-0.000274735970176,4.73074605198e-05,1793248373322211584
+75,1.250000000,BASELINE,765,745,715.517926407,679.517926407,658.482073593,634,878,784,809.482073593,651,628,652,0.400971428419,0.00450676790391,0.0798389636219,0.999999951389,0.000138395145238,-0.000275362504453,4.73835503368e-05,1793248373338878208
+76,1.266666667,BASELINE,765,745,715.905728943,679.905728943,658,633.905728943,878,784,809.094271057,651.094271057,628.094271057,652,0.400970653655,0.00450578593385,0.0798386840063,0.999999951606,0.000135513750454,-0.000276009853156,4.7359436823e-05,1793248373355544832
+77,1.283333333,BASELINE,765,745,715.330698787,679.330698787,658,633.330698787,878,784,809.669301213,651.669301213,628.669301213,652,0.400970652144,0.00450924733509,0.0798393861551,0.99999995119,0.00013952254704,-0.000275583307276,4.69769434237e-05,1793248373372211200
+78,1.300000000,BASELINE,765,745,715.250518525,679.250518525,658,633.250518525,878.250518525,784,809.749481475,652,628.749481475,652,0.400970436157,0.00451097596145,0.0798394464867,0.999999950795,0.000142009255383,-0.000275769635815,4.6850037853e-05,1793248373388877824
+79,1.316666667,BASELINE,765,745,715.840110009,679.840110009,658,633.840110009,878.840110009,784,809.159889991,652,628.159889991,652,0.400969929881,0.00451035930346,0.0798386381286,0.999999950443,0.000142435840445,-0.000276785480466,4.70690664975e-05,1793248373405544448
+80,1.333333333,BASELINE,765,745,715.577719628,680,658,633.577719628,878.577719628,784.422280372,809.422280372,651.577719628,628.422280372,652,0.400969933367,0.00450978155643,0.0798380268022,0.999999950322,0.000142296835617,-0.000277289929521,4.70951486479e-05,1793248373422211072
+81,1.350000000,BASELINE,765,745,715,680,658,633.001679971,878,784.998320029,809.998320029,651.001679971,629,652,0.400970130573,0.00450922287191,0.0798374930784,0.999999950288,0.000141949688985,-0.000277597627592,4.70497797508e-05,1793248373438877440
+82,1.366666667,BASELINE,765,745,715,680,658,633.577849182,878,784.422150818,809.422150818,651.577849182,629,652,0.40097170907,0.00451023173451,0.0798384257091,0.999999950748,0.000142393051988,-0.000275695210791,4.7121867835e-05,1793248373455544576
+83,1.383333333,BASELINE,765,745,715,680,658,634,878,784,809.153883199,652,628.846116801,652,0.40097250931,0.00451080908335,0.0798391283746,0.999999951061,0.000142514727581,-0.000274474316512,4.72397447119e-05,1793248373472211456
+84,1.400000000,BASELINE,765,745,715,680,658,634,878,784,809.729546791,652,628.270453209,652,0.400971176417,0.00451020369089,0.0798392007257,0.99999995098,0.000141754686211,-0.00027512141545,4.74831246823e-05,1793248373488878336
+85,1.416666667,BASELINE,765.312452375,745,715,680,658,634,878,784,809.687547625,652,628.312452375,652,0.400971496689,0.00450999916357,0.0798397340024,0.999999950985,0.000142515479178,-0.000274707952349,4.74751021703e-05,1793248373505544704
+86,1.433333333,BASELINE,765.901775203,745,715,680,658,634,878,784,809.098224797,652,628.901775203,652,0.400973281863,0.0045101498511,0.0798406757146,0.999999951065,0.000144623914664,-0.000273354703452,4.72443067526e-05,1793248373522211072
+87,1.450000000,BASELINE,765.517294184,745,715.482705816,680,658,634,878,784,809.482705816,652,629,652.482705816,0.400972447187,0.00450992749733,0.0798397653215,0.999999950782,0.000144542473078,-0.000274402121897,4.74022723878e-05,1793248373538877696
+88,1.466666667,BASELINE,765,745,715.938596209,679.938596209,658,633.938596209,878,784,809.938596209,652,629,652.938596209,0.400971336748,0.0045096341606,0.0798387604056,0.999999950541,0.000144025481146,-0.000275521240081,4.75573956138e-05,1793248373555544320
+89,1.483333333,BASELINE,765,745,715.36452451,679.36452451,658,633.36452451,878,784,809.36452451,652,629,652.36452451,0.400972298858,0.00450937112484,0.0798400591614,0.999999951266,0.000143528929663,-0.000273230082303,4.70395900083e-05,1793248373572210944
+90,1.500000000,BASELINE,765,745,715,679.214469271,658,633.214469271,878,784,809,651.785530729,629,652,0.400972437027,0.00450938872044,0.0798403297408,0.999999951515,0.000142765795049,-0.000272767466108,4.67620892347e-05,1793248373588877568
+91,1.516666667,BASELINE,765,745,715,679.802025355,658,633.802025355,878,784,809,651.197974645,629,652,0.400971141885,0.00450989449724,0.0798388117233,0.999999950937,0.000141538917358,-0.00027548574758,4.69026183967e-05,1793248373605544448
+92,1.533333333,BASELINE,765.384230998,744.615769002,715.384230998,680,658,633.615769002,878,784,809,651.384230998,629,652,0.400971024662,0.00450922176614,0.079838682074,0.999999951009,0.000140482714192,-0.000275751458417,4.699482223e-05,1793248373622211584
+93,1.550000000,BASELINE,765.963717744,744.036282256,715.963717744,680,658,633.036282256,878,784,809,651.963717744,629,652,0.400971506025,0.00450795014941,0.0798392579556,0.999999951411,0.00013951324307,-0.000274770839768,4.70624684577e-05,1793248373638878208
+94,1.566666667,BASELINE,766,744.54153857,716,679.45846143,658,633.54153857,878,784,809.54153857,651.45846143,628.45846143,652,0.400971437193,0.00450813881341,0.0798392558571,0.999999951252,0.00014028355215,-0.000274933444239,4.7201722962e-05,1793248373655544576
+95,1.583333333,BASELINE,765.881518517,745,715.881518517,679.118481483,658,634,878,784,809.881518517,651.118481483,628,652,0.400971233672,0.00450867383423,0.0798390902937,0.999999951006,0.000141539086844,-0.000275173502033,4.72580225067e-05,1793248373672210944
+96,1.600000000,BASELINE,765.307522862,745,715.307522862,679.692477138,658,634,878,784,809.307522862,651.692477138,628,652,0.400970653614,0.00451016547016,0.079838444694,0.99999995057,0.000144213358755,-0.000275417765982,4.69770048032e-05,1793248373688877568
+97,1.616666667,BASELINE,765,745,715,679.726138948,658,634,878.273861052,784,809.273861052,652,628,652,0.400971039121,0.00451056398443,0.0798387094726,0.999999950663,0.000144663285647,-0.000274867499214,4.68418949756e-05,1793248373705543936
+98,1.633333333,BASELINE,765,745,715,679.136228651,658,634,878.863771349,784,809.863771349,652,628,652,0.400972538937,0.00450970098197,0.0798400248728,0.999999951368,0.00014254620785,-0.000273400304559,4.68751700941e-05,1793248373722210560
+99,1.650000000,BASELINE,765.445273258,745,715,679,658,634,878.554726742,784,809.554726742,652,628.445273258,652,0.40097233185,0.00450925334248,0.0798398802254,0.999999951315,0.000141619083364,-0.000274058820174,4.69697100584e-05,1793248373738877440
+100,1.666666667,BASELINE,765.975877194,745,715.024122806,679.024122806,658,634,878,784.024122806,809,651.975877194,629,652,0.400971640757,0.0045089503429,0.0798393212424,0.999999951056,0.000141048309598,-0.000275278535409,4.70738813694e-05,1793248373755544064
+101,1.683333333,BASELINE,765.399944987,745,715.600055013,679.600055013,658,634,878,784.600055013,809,651.399944987,629,652,0.400971602315,0.00450910295253,0.0798393130487,0.999999951293,0.00014045555453,-0.000274734697859,4.69775561697e-05,1793248373772210944
+102,1.700000000,BASELINE,765,745,715.82578787,680,658,633.82578787,878,784.82578787,809.17421213,651,628.82578787,652.17421213,0.400971096672,0.00450939641172,0.0798389735621,0.999999951197,0.00014082971959,-0.000274901547328,4.69248991141e-05,1793248373788877824
+103,1.716666667,BASELINE,765,745,715.255664862,680,658,633.255664862,878,784.255664862,809.744335138,651,628.255664862,652.744335138,0.400969529277,0.00451000996268,0.0798378811864,0.999999950338,0.00014340128737,-0.000276683489457,4.69714813906e-05,1793248373805544192
+104,1.733333333,BASELINE,765,745.328911294,715,680,658,633.328911294,877.671088706,784,810,651.328911294,628,652.671088706,0.40096988531,0.00451020641356,0.0798382579314,0.99999995033,0.000144412261864,-0.0002761924962,4.69331880525e-05,1793248373822210816
+105,1.750000000,BASELINE,765,745.925238401,715,680,658,633.925238401,877.074761599,784,810,651.925238401,628,652.074761599,0.400971805154,0.0045100637483,0.0798398291202,0.999999951016,0.000144154422431,-0.000273853531125,4.6825888024e-05,1793248373838877440
+106,1.766666667,BASELINE,765,745.493923207,715.506076793,680,658,634,877.506076793,784,809.493923207,652,628.506076793,652.506076793,0.400972669125,0.00451031607248,0.0798401197769,0.999999951102,0.000143995522744,-0.000273611279279,4.68909493296e-05,1793248373855544064
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658,634,878,784,810,652,628,652,0.400973035979,0.00451053277636,0.0798409240522,0.999999951429,0.000143578078089,-0.000272600350584,4.70701273571e-05,1793248373898789888
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.412224459,745,716,680,658,633.412224459,878,784,810,651.412224459,628.587775541,652,0.400972509926,0.00450802177966,0.0798401069299,0.999999951649,0.000141126479076,-0.000273008909914,4.74587397465e-05,1793248373915456512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715.826816701,679.826816701,658,633.173183299,877.826816701,784.173183299,810,651.173183299,629,652,0.400971958978,0.00450664937584,0.0798394542524,0.999999951614,0.00014017283757,-0.000273592465684,4.7652261826e-05,1793248373932122624
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715.246968793,679.246968793,658,633.753031207,877.246968793,784.753031207,810,651.753031207,629,652,0.400971349574,0.00450795058629,0.0798391877197,0.999999950991,0.000142736661221,-0.000274586943723,4.73876778885e-05,1793248373948789248
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.33147609,679.33147609,658.33147609,634,877.33147609,785,809.66852391,652,629,652,0.400970189383,0.00450783516869,0.0798380909431,0.999999950529,0.000142425966662,-0.000276441616247,4.73056396101e-05,1793248373965455616
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.908880011,679.908880011,658.908880011,634,877.908880011,785,809.091119989,652,629,652,0.400968620553,0.0045066687302,0.0798363781943,0.999999950179,0.000139982617299,-0.000278934481836,4.73590351207e-05,1793248373982121984
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.528223592,680,659,634,878.471776408,785,809.471776408,652,629,652,0.400969361607,0.00450779620542,0.0798374504962,0.999999950531,0.000139865922725,-0.000277768637778,4.71140241568e-05,1793248373998788864
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.034527875,679.965472125,659,634,878.965472125,785,810,651.965472125,628.965472125,652,0.40097050897,0.0045092049441,0.0798389848458,0.999999950993,0.000140152342467,-0.000276002680871,4.68370001942e-05,1793248374015455744
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.639820659,679.360179341,659,634,878.360179341,785,810,651.360179341,628.360179341,652,0.400971217952,0.00450815772894,0.0798395304075,0.999999951121,0.000139895654779,-0.000275649374718,4.6955097302e-05,1793248374032122368
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.234507684,745,715.765492316,679.234507684,658.765492316,634,878,785,809.765492316,651.234507684,628,652,0.400976072864,0.00450800920336,0.079841880743,0.999999952063,0.000140301255987,-0.000271995912319,4.69935659811e-05,1793248374048788736
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.813610135,745,715.186389865,679.813610135,658.186389865,634,878,785,809.186389865,651.813610135,628,652,0.400987019969,0.00450918124749,0.0798468830838,0.999999954149,0.000141680050435,-0.000263493071197,4.69150255181e-05,1793248374065455616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.609937755,745,715,680,658.390062245,633.609937755,878,784.609937755,809.390062245,652,628.390062245,652,0.40101424571,0.00450982016569,0.0798575134538,0.999999958947,0.000142859997376,-0.000243967706019,4.66581192755e-05,1793248374082122240
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034743504,745,715,680,658.965256496,633.034743504,878,784.034743504,809.965256496,652,628.965256496,652,0.401049197647,0.00451020605085,0.079870815009,0.999999964541,0.000143945567028,-0.000219210810841,4.63165567328e-05,1793248374098788864
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.549380177,878,784.549380177,810,652,629,652,0.401108449783,0.0045113139891,0.0798901099368,0.999999972527,0.000141372131611,-0.000181480453483,4.50083772164e-05,1793248374115455488
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.133343528,679.866656472,659,634,878,784.866656472,810,652,628.866656472,652.133343528,0.401173183922,0.00451194609251,0.0799087516231,0.999999978687,0.000138705139462,-0.000146555250767,4.36884012753e-05,1793248374132121856
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715.714838906,679.285161094,659,634,878,784.285161094,810,652,628.285161094,652.714838906,0.40125109219,0.00451082296605,0.0799239029304,0.999999982106,0.000136514272027,-0.000123860854942,4.25376242793e-05,1793248374148788480
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,716,679,658.704936626,634,878,784,809.704936626,652,628,652.704936626,0.401333982416,0.00451101740007,0.0799327435663,0.999999984045,0.000135359948993,-0.000109316689591,4.04776601811e-05,1793248374165454848
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,716,679,658.125935181,634,878,784,809.125935181,652,628,652.125935181,0.401421666753,0.00451247971627,0.0799355114725,0.99999998489,0.000135203087841,-0.000102615453325,3.75427897794e-05,1793248374182121472
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446617943,745,716,679.446617943,658,633.553382057,878,784,809.446617943,652,628.446617943,652,0.401523963617,0.0045133174523,0.0799383024726,0.99999998569,0.000132540982651,-9.93817807371e-05,3.42823177475e-05,1793248374198788352
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658,633,878,784,810,651.9819725,628.9819725,652,0.401631149376,0.00451400948704,0.0799410877377,0.999999986466,0.000129244077328,-9.70042896351e-05,3.09022951578e-05,1793248374215454976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,680,658,633,878,784,810,651.389902574,628.389902574,652,0.401764674377,0.00451559019304,0.0799434859791,0.999999987308,0.000127907476704,-9.11983281345e-05,2.65973806512e-05,1793248374232121600
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.80221834,745,715.80221834,680,658,633.19778166,878,784,809.80221834,651,628,652,0.401911166387,0.00451703773864,0.0799474254845,0.999999988403,0.000125433878102,-8.35284116298e-05,2.19780313208e-05,1793248374248788224
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.222992477,745,715.222992477,680,658,633.777007523,878,784,809.222992477,651,628,652,0.402082666718,0.00451822846923,0.0799543374903,0.999999989956,0.000120767451017,-7.22636486706e-05,1.67522595226e-05,1793248374265455104
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809,651.352782988,628,652,0.402270970443,0.00452154049048,0.0799591809776,0.999999991064,0.000117156504443,-6.34834831033e-05,1.07877234238e-05,1793248374282121728
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809,651.926398653,628,652,0.402469792657,0.00452618038284,0.0799627296284,0.999999991886,0.000114206259868,-5.625860768e-05,4.36074020282e-06,1793248374298788352
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809,652,628.501704667,652,0.40268131181,0.00452428006486,0.079957413656,0.999999992601,0.000101479485911,-6.70429947848e-05,-2.4246014518e-06,1793248374315454976
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.079542079,634,878,784.079542079,809,652,628.920457921,652,0.402899565316,0.00451938423139,0.079951031607,0.999999993162,8.47739978203e-05,-8.0055185895e-05,-8.97148781616e-06,1793248374332121600
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.672101563,634,878,784.672101563,809,652,628.327898437,652,0.403149198863,0.00450137753617,0.0799461896154,0.999999994491,5.16888555276e-05,-9.03383356406e-05,-1.36402104731e-05,1793248374348788480
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.75126313,658.75126313,634,878,785,809.24873687,652,628,652,0.403427022529,0.00449240277256,0.0799450288065,0.999999994935,3.19193531145e-05,-9.35402495457e-05,-1.89914262477e-05,1793248374365455104
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.194356914,658.194356914,634,878,785,809.805643086,652,628,652,0.403739771963,0.00449461800559,0.079948428752,0.999999995403,2.86470935632e-05,-8.79689568393e-05,-2.51882078309e-05,1793248374382121728
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.387466549,658.387466549,634,878,784.612533451,810,651.612533451,628,652,0.404083751805,0.00450547330462,0.0799522371469,0.999999994347,6.53584523165e-05,-8.09091262325e-05,-2.2074047615e-05,1793248374398788608
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.982647731,658.982647731,634,878,784.017352269,810,651.017352269,628,652,0.40444447376,0.00452096040509,0.079956264505,0.999999989608,0.000123504390706,-7.30513141585e-05,-1.39684398215e-05,1793248374415454976
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.573837014,680,658.426162986,634,878,784,810,651,628,652,0.404837701542,0.00452310559654,0.0799568292011,0.999999995569,6.40985874339e-05,-6.64619444476e-05,-1.8338219607e-05,1793248374432121600
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.844098658,680,658,634,878,784,810,651.155901342,628.155901342,652,0.40524204075,0.00452736455002,0.079955025088,0.999999997293,2.51892048108e-05,-6.5089937181e-05,-2.32786297281e-05,1793248374448788480
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.285305987,680,658,634,878,784,810,651.714694013,628.714694013,652,0.405672572187,0.00453812144893,0.0799473680532,0.999999995445,4.83708556651e-05,-7.71025717342e-05,-2.87255383033e-05,1793248374465455104
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.29021701,680,658,634,878,784,810,652,629,652,0.406122085261,0.00454760626973,0.0799405937405,0.999999992908,7.5334973161e-05,-8.77518651464e-05,-2.84198821628e-05,1793248374482121472
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.883193441,680,658,634,878,784,810,652,629,652,0.406591400362,0.00455576403786,0.079934740298,0.999999989409,0.000106245028323,-9.69788988665e-05,-2.21130513289e-05,1793248374498788096
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.536246236,784,810,652,628.536246236,652.463753764,0.407101100181,0.00456429672115,0.0799300554739,0.999999987799,0.000112549252791,-0.000105191904797,-2.58575673289e-05,1793248374515454976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,716,679.957645727,658,634,877.084708545,784,810,652,628.042354273,652.957645727,0.407621258626,0.0045732258184,0.0799251719948,0.999999986495,0.000113767101486,-0.000114321623853,-3.15839911682e-05,1793248374532121600
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,716,679.364934243,658,634,878.270131513,784,810,652,628.635065757,652.364934243,0.408148591279,0.0045861109309,0.0799139821669,0.999999981809,0.000127323434549,-0.000138595477763,-3.10247452147e-05,1793248374548788224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715.777388888,679.222611112,658.222611112,634,878.777388888,784,810,652,629,652,0.408711211875,0.0045967389856,0.0799108822936,0.999999979321,0.000137443690601,-0.000146503048362,-3.16999283218e-05,1793248374565455104
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715.198120501,679.801879499,658.801879499,634,878.198120501,784,810,652,629,652,0.409330369157,0.00460375088544,0.0799207437737,0.999999981103,0.000142058821543,-0.000128189312004,-3.43528568922e-05,1793248374582122240
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.378267991,680,659,634,878,784,810,652,629,652,0.410004086644,0.00460958833711,0.0799506799719,0.99999998502,0.000150331443976,-7.80692562676e-05,-3.55793573324e-05,1793248374598788864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.953159497,680,659,634,878,784,810,652,629,652,0.410706164479,0.004614815311,0.0799910509984,0.999999986404,0.000160505227996,-1.14162916737e-05,-3.60644009216e-05,1793248374615455488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.473135464,680.526864536,659,634,878,784,810,652,629,652.526864536,0.411390434864,0.00461395281881,0.0799915918267,0.999999987619,0.000151850539682,-1.65345678179e-05,-3.78075902356e-05,1793248374632121856
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.103967267,680.896032733,659,634,878,784,810,651.896032733,629,652.896032733,0.412071212503,0.00460993473945,0.0799821881862,0.99999998863,0.000140968927479,-3.59768464353e-05,-3.96657534538e-05,1793248374648788480
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.697566848,680.302433152,659,634,878,784,810,651.302433152,629,652.302433152,0.412742980005,0.00459359935917,0.0799425903845,0.999999986699,0.000127465295463,-9.28951805633e-05,-4.15397903296e-05,1793248374665454848
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.716781751,680,659,634,878,784,810.283218249,651,629,652,0.413456777413,0.0045836748553,0.0799190587099,0.999999985297,0.000113813795251,-0.000120802956101,-4.31137645335e-05,1793248374682121472
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.139386018,680,659,634,878,784,810.860613982,651,629,652,0.414214231171,0.0045804092971,0.0799122148423,0.999999986984,0.000100008703694,-0.000118577605819,-4.43760653634e-05,1793248374698788352
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.436655075,680.436655075,659.436655075,634,878,784,811,651,628.563344925,652.436655075,0.415016445127,0.00458049807743,0.0799335089718,0.999999989755,0.000108551550624,-8.23229023422e-05,-4.3930500519e-05,1793248374715455488
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.987471392,680.987471392,660,634,878,784,811,651,628.012528608,652.987471392,0.415832165902,0.00458182428728,0.079962836429,0.999999990763,0.000123531159079,-3.69753502862e-05,-4.29763368154e-05,1793248374732122624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.399492452,680.399492452,660,634,878,784,811,651,628.600507548,652.399492452,0.416614036429,0.00459095839864,0.0799498657151,0.999999990722,0.000107510656634,-7.1371609031e-05,-4.36246194618e-05,1793248374748788992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.185599244,715.185599244,680,660,634,878.185599244,784,811,651,629,652,0.417429184305,0.0045984106841,0.0799452332167,0.999999990255,0.000104145219921,-8.15567027289e-05,-4.46371192918e-05,1793248374765455616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.764571463,715.764571463,680,660,634,878.764571463,784,811,651,629,652,0.418314862646,0.00460229838087,0.0799582733594,0.999999989964,0.000127601880882,-4.04268331942e-05,-4.64215683773e-05,1793248374782122240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.342351721,745.657648279,716,680.342351721,660.342351721,634,879.342351721,784,811,651,629,652.342351721,0.419196841735,0.0046001588842,0.0799708180384,0.99999999041,0.000129495598447,-9.63815540595e-06,-4.81408710765e-05,1793248374798788864
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.91931511,745.08068489,716,680.91931511,660.91931511,634,879.91931511,784,811,651,629,652.91931511,0.420076285711,0.00459388898631,0.0799830231784,0.999999991861,0.000116612353835,1.40637613504e-05,-4.98155292811e-05,1793248374815455488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.505527437,745,716,680.505527437,660.505527437,634,879.505527437,784,811,651,629,652.505527437,0.420947532516,0.00459088309676,0.0799689692474,0.999999992744,0.000109028932492,-1.05089184731e-05,-5.01441057704e-05,1793248374832122368
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,716,680.071104909,660,634,879,784,811,651.071104909,629,652.071104909,0.421825550525,0.00458954452481,0.0799561019752,0.999999992625,0.000105270026569,-3.40737363048e-05,-5.0067979894e-05,1793248374848788992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,716,680.660630993,660,634,879,784,811,651.660630993,629,652.660630993,0.422762653076,0.0045964932345,0.0799830129875,0.999999991215,0.000123113219784,6.9324440452e-06,-4.86367861789e-05,1793248374865455360
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,716,681,660.24669078,633.75330922,879,784,811,651.75330922,629,652.75330922,0.423684171,0.00460286678939,0.0799972767521,0.999999989726,0.000133106794397,2.37585258458e-05,-4.75967385436e-05,1793248374882121728
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,716,681,660.82804819,633.17195181,879,784,811,651.17195181,629,652.17195181,0.424584546576,0.00460846007646,0.0799943829608,0.999999990089,0.000132451390877,7.78131171282e-06,-4.70873289557e-05,1793248374898788096
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.59572612,681,660.59572612,633.40427388,879,784,811.40427388,651,629,652.40427388,0.425461467822,0.00461183343485,0.0799600332974,0.999999987951,0.000136305868807,-5.65071951501e-05,-4.8235232731e-05,1793248374915454976
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.021655805,681,660.021655805,633.978344195,879,784,811.978344195,651,629,652.978344195,0.426328538114,0.00461427441514,0.0799124720586,0.999999978704,0.000142054511838,-0.000141086611612,-5.00792136186e-05,1793248374932121856
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.102256565,634,879.551128282,784,812,651.551128282,629,653,0.427269739963,0.0046108687352,0.0799052006132,0.999999981277,0.000133738936831,-0.000129749242473,-5.22085030401e-05,1793248374948788992
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.871872072,633.871872072,879.871872072,784,812,651.871872072,629,653,0.42821139869,0.0046075860197,0.0799037586772,0.999999983692,0.000126609760785,-0.000117144761233,-5.35063972067e-05,1793248374965456128
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.279412677,633.279412677,879.279412677,784,812,651.279412677,629,653,0.429144181428,0.00460557954162,0.0799177188401,0.999999984301,0.000125778119577,-0.000113574928466,-5.17508088156e-05,1793248374982122496
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.694599326,633,879.305400674,784,812.305400674,651,629.305400674,653,0.43010991654,0.00460468912014,0.0799526911268,0.999999988652,0.00012361564014,-6.93157427785e-05,-5.10960499958e-05,1793248374998788864
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.116610551,633,879.883389449,784,812.883389449,651,629.883389449,653,0.431105063538,0.00460479484505,0.0800064179717,0.999999991383,0.000120265308574,1.12610888212e-05,-5.14238462915e-05,1793248375015455232
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.45974567,633.45974567,879.54025433,784,813,651,629.54025433,653,0.43203210757,0.00461025725686,0.0800244103685,0.999999990133,0.000124487442613,3.95534601921e-05,-5.16922328055e-05,1793248375032122112
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.963590739,660.963590739,633.963590739,879.036409261,784,813,651,629,652.963590739,0.432937572159,0.00461680401895,0.0800280906609,0.999999989067,0.000130246898685,4.68253780622e-05,-5.20474630848e-05,1793248375048788736
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.376028814,660.376028814,633.376028814,879.623971186,784,813,651,629,652.376028814,0.433776931921,0.00461927086071,0.0799518372134,0.999999988003,0.000130305897964,-6.40657269515e-05,-5.3944607122e-05,1793248375065455616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.208470032,660,633,880,784,813,651.208470032,629.208470032,652,0.434641926805,0.00461916911654,0.0799059704056,0.999999982044,0.000127769461274,-0.000128574650577,-5.52820775564e-05,1793248375082122240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.787523934,660,633,880,784,813,651.787523934,629.787523934,652,0.435552491753,0.0046145013615,0.0799141199748,0.999999985059,0.000120619286032,-0.000110632950462,-5.56246532205e-05,1793248375098788864
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.634960064,745.365039936,715,681,660,633,880,784,813.365039936,652,630,652.365039936,0.436452609238,0.00461197748548,0.0799403849798,0.999999988556,0.000117973039904,-7.75019696423e-05,-5.44388004912e-05,1793248375115456000
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.058335495,745.941664505,715,681,660,633,880,784,813.941664505,652,630,652.941664505,0.437346671106,0.00461069624599,0.0799771500624,0.999999991042,0.000117937363725,-3.5566971226e-05,-5.23670392316e-05,1793248375132122624
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.514194493,745.485805507,715,681,660,633,880,784,814,652,629.485805507,653,0.438231919794,0.00461049624456,0.0800109694769,0.999999991405,0.00011793258367,2.08024068772e-05,-5.33702855796e-05,1793248375148788992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.089485563,660.089485563,633,880,784,814,652,629.089485563,653,0.43910776504,0.00461058410342,0.0800375406995,0.999999989428,0.000117073668139,6.68055290864e-05,-5.45399202498e-05,1793248375165455360
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681.682921434,660.682921434,633,880,784,814,652,629.682921434,653,0.439936239834,0.0046116077302,0.0800251598785,0.999999991276,0.000111384988652,4.52802259734e-05,-5.46974602158e-05,1793248375182122240
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.730339002,633.269660998,880,784,814,652,630,653,0.440696148192,0.00461118935759,0.0799748822474,0.99999999218,0.000106682823233,-3.36972639483e-05,-5.58897293703e-05,1793248375198789120
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.151282485,633.848717515,880,784,814,652,630,653,0.4413773868,0.00460911650706,0.079881123716,0.999999977039,0.000103112533415,-0.000178592513331,-5.82691941194e-05,1793248375215455232
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682.424896815,660,633.575103185,880,784,814,652,630,652.575103185,0.442111947413,0.00460562059344,0.0798442098091,0.999999967818,9.68929246481e-05,-0.000227208975034,-5.78871335859e-05,1793248375232121600
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,683,660,633,880.000059853,784,814,651.999940147,630,652.000059853,0.442865369251,0.00460162193513,0.0798274086972,0.999999965151,8.97375296107e-05,-0.000241762643315,-5.65286159684e-05,1793248375248788224
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,683,660,633,880.587198115,784,814,651.412801885,630,652.587198115,0.44365617148,0.00460274896743,0.0799054429432,0.999999986624,9.38300399041e-05,-0.000121368889476,-5.67145160426e-05,1793248375265454848
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.172113584,715,682.827886416,660,633,881,784,814,651.172113584,630,653,0.444431887965,0.00460313576109,0.0799710298242,0.999999993494,9.65373035595e-05,-2.20632318597e-05,-5.66192380787e-05,1793248375282121216
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.751765937,715,682.248234063,660,633,881,784,814,651.751765937,630,653,0.445171883861,0.00460176978258,0.0800071432552,0.999999993462,9.59645174608e-05,2.73090448295e-05,-5.58581749291e-05,1793248375298787840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.666696654,715,682,660,633,881,784,814,652,630,653,0.44585483003,0.00460206556131,0.0800224357479,0.999999992794,9.46800595109e-05,4.83635265254e-05,-5.57486684985e-05,1793248375315454720
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.083747361,715,682,660,633,881,784,814,652,630,653,0.446495045611,0.00460360600498,0.0800221332468,0.999999992951,9.28625557896e-05,4.82078290936e-05,-5.61271815685e-05,1793248375332121344
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.487198615,745,715,682,660,633,881,784,814,652,630,653,0.447104591532,0.00460731260475,0.0800016768104,0.999999993365,9.68013897865e-05,2.61112288336e-05,-5.67232544837e-05,1793248375348787968
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,880.941784393,784,814,651.941784393,630,653,0.447699145167,0.00461141447896,0.0799762742673,0.999999993157,0.000101889704476,-2.95265337134e-06,-5.74133713337e-05,1793248375365454592
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,880.35172174,784,814,651.35172174,630,653,0.448203737837,0.00461580755456,0.0799365738769,0.999999990454,0.000108657028292,-6.20406752754e-05,-5.86292139536e-05,1793248375382121472
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.23414901,715,682.23414901,659.76585099,633,880.23414901,784,814,651,630,652.76585099,0.44869545318,0.00462124168364,0.0798950132917,0.999999983563,0.000114870807116,-0.00012712720189,-5.93104883228e-05,1793248375398788096
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.81383368,715,682.81383368,659.18616632,633,880.81383368,784,814,651,630,652.18616632,0.4491681653,0.0046282121037,0.0798507076049,0.999999970802,0.000120267714368,-0.000201065766941,-5.92028957428e-05,1793248375415454976
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.608540696,715,683,659,632.608540696,881,784,814.391459304,651,630,652.391459304,0.449654288993,0.00463282660874,0.0798432878565,0.999999968947,0.0001211883642,-0.000209635816962,-5.89289738829e-05,1793248375432121600
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.03188912,715,683,659,632.03188912,881,784,814.96811088,651,630,652.96811088,0.450146757499,0.00463632657386,0.0798533181704,0.999999973548,0.000119991378741,-0.000187281218922,-5.85763647349e-05,1793248375448788224
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.552919284,715,683,659,632.552919284,881,784,815,651,630,653,0.450602569194,0.00464034537609,0.0798801569502,0.999999978475,0.000129635895838,-0.000151230972766,-5.80803753147e-05,1793248375465454592
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.863166992,745.863166992,715,683,658.863166992,632.863166992,881.136833008,784,814.863166992,651.136833008,630,653,0.451044836851,0.00464445593667,0.0799032854614,0.999999981321,0.000138993643155,-0.000121189858883,-5.78929545e-05,1793248375482121216
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.283691931,745.283691931,715,683,658.283691931,632.283691931,881.716308069,784,814.283691931,651.716308069,630,653,0.451450232394,0.00464876507899,0.0799112286893,0.999999981304,0.000145370730965,-0.000113181181346,-5.87308755669e-05,1793248375498787840
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.295047135,715,682.704952865,658,632,881.704952865,783.704952865,814.295047135,651.704952865,630,652.704952865,0.451805831826,0.00465307076905,0.0798959162643,0.99999997672,0.000151942863384,-0.000141048330306,-5.982609161e-05,1793248375515455232
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448057071,746,715,682.448057071,657.551942929,632,881,783.448057071,815,651.448057071,630,652.448057071,0.452397098589,0.00466719725113,0.0798279916732,0.999999951694,0.000174062197635,-0.000249639850293,-6.31983395683e-05,1793248375548790016
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.977254521,715,683,657,632,881.022745479,783.977254521,815,652,630,653,0.452672834655,0.00467767380626,0.0798004259684,0.999999937538,0.00019057223824,-0.000290393157402,-6.54100767768e-05,1793248375565456896
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.388340981,715,683,657,632,881.611659019,783.388340981,815,652,630,653,0.452928064919,0.00466572134138,0.0797899046375,0.999999935983,0.00017547157206,-0.000304484894472,-6.73191648832e-05,1793248375582123008
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714.80267147,683,656.80267147,632,881.80267147,783,815,652,630,653,0.453180016989,0.00465343351421,0.0797828295465,0.999999937914,0.000145779848283,-0.000313296556652,-6.90262384447e-05,1793248375598789376
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714.353196267,683,656,632,881,783.353196267,815,652,630,653,0.453643815981,0.00464135423381,0.0797824083572,0.999999945138,7.87425817351e-05,-0.000313987167082,-7.02596830933e-05,1793248375632122368
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714.927851456,683,656,632,881,783.927851456,815,652,630,653,0.453844823082,0.00465086175004,0.0797826305746,0.999999941916,0.000100275717494,-0.000318292177095,-6.93003488218e-05,1793248375648788992
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,683,656,631.082432216,880.082432216,783,815,652,629.917567784,652,0.45415199401,0.00465397701296,0.0797609166433,0.999999927025,0.000144338938911,-0.000348842996767,-5.85171628553e-05,1793248375682122240
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,683,656,631.672261421,880.672261421,783,815,652,629.327738579,652,0.454273964599,0.00465553245186,0.0797480486221,0.999999919395,0.000146252720575,-0.0003690172068,-6.03879610248e-05,1793248375698788864
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,683,655.742468253,632,881,783.257531747,814.742468253,652,629.257531747,652.257531747,0.454388800884,0.00465692708417,0.0797382652629,0.999999913361,0.000147722930887,-0.000384212648104,-6.19434556576e-05,1793248375715455488
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,683,655,631.589116134,881,783.589116134,814,652,629.589116134,653,0.454590331273,0.00465790958637,0.0797334631264,0.999999909755,0.00014733390405,-0.000393374021208,-6.35623410564e-05,1793248375748788224
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.160207206,745.839792794,715,684,656,631,881,783.839792794,815,651.160207206,630,653,0.45481052356,0.00466206921096,0.0797407096047,0.999999912187,0.000148948464816,-0.000386289805584,-6.49599102632e-05,1793248375798788352
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.739046727,745.260953273,715,684,656,631,881,783.260953273,815,651.739046727,630,653,0.454857236917,0.00466251745936,0.079739610528,0.999999910639,0.00015217435843,-0.000389175285442,-6.40860707846e-05,1793248375815455232
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745.316353462,714.683646538,684,655.683646538,631,881,783.316353462,815,652,630,653,0.454895375315,0.00466220420387,0.0797376886702,0.999999909608,0.000153577344737,-0.000391334747835,-6.36761180917e-05,1793248375832122112
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714.042471521,683,655,631,881,783.042471521,814.042471521,651.042471521,630,652.042471521,0.454968499716,0.00466339413897,0.0797322923646,0.999999906823,0.000154157148852,-0.000398284316827,-6.29168878651e-05,1793248375882121984
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714.634805036,683,655,631,881,783.634805036,814.634805036,651.634805036,630,652.634805036,0.454980322823,0.00466379906331,0.0797295163804,0.999999905687,0.000152881348164,-0.000401592852091,-6.30628112688e-05,1793248375898788352
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714.875513198,683,655,631.875513198,881,783.875513198,814.124486802,652,630,653,0.455000437439,0.00466267302236,0.0797207665766,0.999999899648,0.000151842596399,-0.000416921928159,-6.18305091306e-05,1793248375998788352
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765.142913903,745,714,683,654.142913903,631,881,783,815,652,630,653,0.455001074076,0.0046614081513,0.0797181792077,0.999999898661,0.000149124773182,-0.00042038416577,-6.09659830375e-05,1793248376048788480
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.76170193,745.76170193,714.23829807,684,654.23829807,631,881,783,814.76170193,652,630,652.76170193,0.455001306741,0.00466162196484,0.0797169667879,0.999999897931,0.000147463188371,-0.000422771394611,-6.04722296684e-05,1793248376132121600
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.660778994,745.660778994,714,684,654.678442012,631,881,783,814.660778994,651.660778994,630,653,0.45500161139,0.00466214769341,0.0797163336611,0.999999897463,0.00014816166546,-0.000423621812612,-6.05515013703e-05,1793248376148788224
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+245,4.083333333,HOLD_POSE2,766,745,715,683,654,632,881,783,814,652,630,653,0.455001517374,0.00465995685449,0.0797146042967,0.99999989644,0.000148318527184,-0.00042613771371,-5.93941980707e-05,1793248376225017088
+246,4.100000000,HOLD_POSE2,766,745,715,683.576970819,654,631.423029181,881,783,814,652,630,653,0.455000862344,0.00466246337766,0.0797139501563,0.999999895601,0.000149392708044,-0.000427597749181,-6.03332682904e-05,1793248376241684224
+247,4.116666667,HOLD_POSE2,766,745,714.84617268,683.84617268,654,631,881,783,814,652,630,653,0.455000363276,0.00466390079788,0.0797135622439,0.999999895033,0.000149666169965,-0.000428756733943,-6.08413018695e-05,1793248376258351104
+248,4.133333333,HOLD_POSE2,766,745,714.269630199,683.269630199,654,631,881,783,814,652,630,653,0.455000292787,0.0046624003398,0.0797139059216,0.999999895218,0.000147739268512,-0.000429088436214,-6.016485345e-05,1793248376275017984
+249,4.150000000,HOLD_POSE2,766,745.312790233,714.312790233,683.312790233,654.312790233,631,881,783,814.312790233,651.687209767,630,653,0.455000859799,0.00466170659051,0.0797142856395,0.999999895525,0.000146872503986,-0.000428718858722,-5.98234491034e-05,1793248376291684352
+250,4.166666667,HOLD_POSE2,766,745.900374557,714.900374557,683.900374557,654.900374557,631,881,783,814.900374557,651.099625443,630,653,0.455001986871,0.00466172155528,0.0797146970196,0.99999989594,0.000146937096545,-0.000427733189294,-5.97763894469e-05,1793248376308350720
+251,4.183333333,HOLD_POSE2,766,745.518815663,715,684,654.518815663,631,880.518815663,783,815,651.481184337,630,653,0.455000147771,0.00466099904554,0.079712556126,0.999999894767,0.000145906067257,-0.000430788763499,-5.99927119624e-05,1793248376325017600
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+262,4.366666667,HOLD_POSE2,766,745.153825244,714.153825244,683,654,631,881,783,815,651.846174756,630,653,0.454999587413,0.00466069118465,0.079709306084,0.99999989369,0.000144326502506,-0.000433839784256,-5.97783798245e-05,1793248376508350976
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+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.577966106,683.577966106,654,631,880.577966106,783.422033894,815,652,630,653,0.454998530202,0.00466081501746,0.0797076824774,0.999999892637,0.000144961744871,-0.000436034429902,-5.98789497698e-05,1793248376557676544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,684,654,631,881,783,815,652,630.154965143,653,0.454997791884,0.00466083460374,0.0797070175406,0.999999892472,0.000144119809741,-0.000436692671112,-5.98753075124e-05,1793248376574343680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,654,631,881,783,815,652,630.729346915,653,0.45499869781,0.00465979753518,0.0797081608045,0.999999892947,0.000144145947147,-0.000435684105243,-5.921426573e-05,1793248376591010048
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.304889637,715,684,654.304889637,631,881.304889637,783,814.695110363,652,630.695110363,653,0.454999772778,0.00466065153734,0.0797095571859,0.999999893419,0.0001453707704,-0.000434212713054,-5.90703307231e-05,1793248376607676672
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.881466848,715,684,654.881466848,631,881.881466848,783,814.118533152,652,630.118533152,653,0.45500099838,0.00466319067529,0.0797111791208,0.99999989388,0.00014766374426,-0.000432328895754,-5.93871903151e-05,1793248376624343040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.529414855,715,684,655,631,881.529414855,783,814.470585145,651.529414855,630,653,0.455001542466,0.00466105580386,0.0797107250859,0.999999894065,0.000146348598846,-0.000432367155256,-5.92565327476e-05,1793248376641009408
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.061396675,715,684,654.938603325,631,881,783,815,651.061396675,630,653,0.455001793225,0.00465825407897,0.0797098580838,0.999999894172,0.000144367821553,-0.000432810917896,-5.90571384175e-05,1793248376657675776
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.639154177,715,684,654.360845823,631,881,783,815,651.639154177,630,653,0.455001060303,0.00466001652345,0.0797100360933,0.999999894264,0.000144641671934,-0.000432481829605,-5.92536328349e-05,1793248376674342400
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.784036672,715,684,654.215963328,631,881,783,815,652,630,653,0.454996842305,0.00466103838541,0.0797081571442,0.999999893102,0.000144755913068,-0.00043509164935,-5.94660885185e-05,1793248376691009280
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.208805217,715,684,654.791194783,631,881,783,815,652,630,653,0.454986826669,0.00466082824313,0.0797028563195,0.999999889819,0.000144604634486,-0.000442590521296,-5.97050967167e-05,1793248376707676160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,683.625079183,654.625079183,631,881,783,814.625079183,652,630,653,0.454959043164,0.00466121197905,0.0796911844399,0.999999880777,0.000145837044675,-0.000462199866265,-5.95785110888e-05,1793248376724343040
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.036512521,654.036512521,631,881,783,814.036512521,652,630,653,0.454921134769,0.00466193413204,0.0796758820614,0.999999867895,0.000147857939545,-0.000488710274844,-5.92435945219e-05,1793248376741009152
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.456440302,745,714.456440302,683.543559698,654,631,881,783,814.543559698,652,630.543559698,653,0.454856518355,0.0046605931384,0.0796554420857,0.999999850257,0.000147454039892,-0.000523790996859,-5.81970883738e-05,1793248376757675520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.12180918,745.12180918,714.12180918,684,654.12180918,631,881,783,814.87819082,652,630.87819082,653,0.454788303492,0.00465968562855,0.0796366956234,0.999999833607,0.000147799925529,-0.00055470042213,-5.70031977872e-05,1793248376774341888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.695382343,745.695382343,714.695382343,684,654.695382343,631,881,783,814.304617657,652,630.304617657,653,0.454713294131,0.00466089189927,0.0796254902672,0.999999825651,0.00015152139768,-0.000568037149519,-5.54372405989e-05,1793248376791008512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.729725211,746,715,683.729725211,654.729725211,631.270274789,881,783,814.270274789,652,630,653,0.454630454553,0.0046604188436,0.0796177737635,0.999999819666,0.000152919823899,-0.000578259131439,-5.38587390674e-05,1793248376807675136
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.153338584,746,715,683.153338584,654.153338584,631.846661416,881,783,814.846661416,652,630,653,0.454538746518,0.00465804379144,0.079614008717,0.999999816044,0.000151687180037,-0.00058495336793,-5.22660299786e-05,1793248376824341760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.565956253,715,683,654,631.565956253,881,783,814.565956253,652,630,653,0.454432038701,0.00465816925755,0.0796116558891,0.999999814167,0.000154578763819,-0.000587611478096,-4.98387307679e-05,1793248376841008640
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.024848451,654.024848451,631,881,783,814.024848451,652,630,653,0.45431822435,0.00465908213026,0.0796096380512,0.999999812715,0.000158858017961,-0.000589166966594,-4.70779649998e-05,1793248376857675520
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.603111267,654.603111267,631,881,783,814.603111267,652,630,653,0.454167223281,0.0046573461383,0.079603680711,0.999999806879,0.000160749694564,-0.000598747315243,-4.36276730613e-05,1793248376874342144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.180740927,745,714.819259073,683.819259073,655,631,881,783,814.819259073,652,630,653,0.454009093406,0.00465617272269,0.0795982813758,0.999999800912,0.000163600482444,-0.000608135054566,-3.97943200762e-05,1793248376891008512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.75698502,745,714.24301498,683.24301498,655,631,881,783,814.24301498,652,630,653,0.453835364067,0.00465623035517,0.079594103086,0.999999794772,0.000168550028534,-0.000617101318721,-3.51227409266e-05,1793248376907675136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.660736895,745,714.339263105,683,655,631.339263105,881,783,814,652,630,653,0.453649506307,0.00465402780499,0.0795929309897,0.999999793447,0.000171748125789,-0.000618634227199,-3.00089651698e-05,1793248376924341760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.074058324,745,714.925941676,683,655,631.925941676,881,783,814,652,630,653,0.453454803597,0.00465017696432,0.0795939512291,0.999999795661,0.000173668938986,-0.000614746190056,-2.45727068247e-05,1793248376941008640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.506264347,745,715,683,655.506264347,631.493735653,880.493735653,783,814,652,630,653,0.453223872582,0.00465013187575,0.0796000055154,0.999999798935,0.000181035826673,-0.000607460080956,-1.86457859605e-05,1793248376957675264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,683.085239264,656,631,880,783.085239264,814,651.914760736,630.085239264,653,0.452980294585,0.00465001151623,0.0796059668351,0.999999801394,0.000188530235008,-0.00060126088169,-1.24228361696e-05,1793248376974341888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.661738989,656,631,880,783.661738989,814,651.338261011,630.661738989,653,0.452693992641,0.00464628857684,0.0796072008808,0.999999799011,0.000192225042004,-0.000604155204842,-4.90231557171e-06,1793248376991008512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.763082675,745,715,683.763082675,656,631,880,783.763082675,814,651.236917325,630.763082675,653,0.452397191407,0.00464280262777,0.0796090884895,0.999999798216,0.000197306098407,-0.000603847768417,2.50207576573e-06,1793248377007675136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.189780536,745,715,683.189780536,656,631,880,783.189780536,814,651.810219464,630.189780536,653,0.452085482874,0.00463965316738,0.0796119040531,0.999999799675,0.000204355407649,-0.000598994343886,9.74158162385e-06,1793248377024342016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.393626706,656.393626706,631.393626706,880.393626706,783,814,652,630,653,0.451756611704,0.00463715547084,0.0796169259621,0.999999803966,0.000209148365665,-0.000589975053411,1.59463214458e-05,1793248377041008640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.982034304,656.982034304,631.982034304,880.982034304,783,814,652,630,653,0.451419247842,0.00463498029097,0.0796230396515,0.999999809559,0.000212824798326,-0.000578894340164,2.16390209641e-05,1793248377057675264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.5648601,714.4351399,684,657,632,881,783.5648601,813.4351399,651.4351399,630,652.4351399,0.451038715888,0.00463155848592,0.0796336825811,0.999999825081,0.00020181032704,-0.000555468488934,2.3795546847e-05,1793248377074341888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.145591897,683.854408103,657,632,881,783.854408103,813.145591897,651.145591897,630,652.145591897,0.450646567558,0.00462746337315,0.0796478638778,0.999999843713,0.000183718912368,-0.000527506055322,2.36342976738e-05,1793248377091008512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714.720665083,683.279334917,657,632,881,783.279334917,813.720665083,651.720665083,630,652.720665083,0.450224162711,0.00462149788962,0.0796720622058,0.999999870447,0.000146116096707,-0.000487308095877,1.69643760572e-05,1793248377107675392
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.704022956,715,683,657.295977044,632,880.704022956,783.295977044,813.704022956,652,630,653,0.449771510388,0.00461752720173,0.0796867018367,0.999999883816,0.000128325195936,-0.000464345405523,1.68426223832e-05,1793248377124342016
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.128485396,715,683,657.871514604,632,880.128485396,783.871514604,813.128485396,652,630,653,0.449290288231,0.00461544066634,0.0796923129515,0.999999886658,0.000129247327209,-0.000457662016898,2.29058381723e-05,1793248377141008640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.459031373,715,683,658,632.459031373,880,784,813,652,630,653,0.448765049477,0.00461093799376,0.0796834483653,0.999999879744,0.000116896108252,-0.000475632229038,2.49115211537e-05,1793248377157675264
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.951055886,715,683,658.048944114,633,880,784,813,652,630,652.951055886,0.448224925474,0.00460538100039,0.0796711165908,0.999999869764,0.000107350624413,-0.000498284492986,2.56913536222e-05,1793248377174341888
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.372471825,715,683,658.627528175,633,880,784,813,652,630,652.372471825,0.447660619511,0.00459592931373,0.0796662862805,0.999999862834,0.000169448475641,-0.000494927336495,2.58252411927e-05,1793248377191008512
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.204441232,715,683,659,633,880,784,812.795558768,651.795558768,630,652,0.44709530933,0.00458686295044,0.0796812560319,0.99999987144,0.00019815953769,-0.000465973463885,2.68710963914e-05,1793248377207675136
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.778334531,715,683,659,633,880,784,812.221665469,651.221665469,630,652,0.446528184431,0.00457849291744,0.0797320070867,0.999999909348,0.00016653629773,-0.000390762975476,2.95649964935e-05,1793248377224342016
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.648616939,715,683.702766122,659,633,880,784,812,651.351383061,630,652,0.445936035624,0.00457326818812,0.0797832116188,0.999999938582,0.000144383455633,-0.000317710888385,3.23954760097e-05,1793248377241008640
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.966652145,659.516673927,633,880,784,812,652,630,652.516673927,0.444645332185,0.00456153856202,0.0798448965472,0.999999963126,0.000116286440789,-0.000242336036173,3.87076845879e-05,1793248377274341888
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.89118888,633,880,784,812,651.89118888,630,652.89118888,0.443938394783,0.00455337881157,0.0798425130282,0.999999960385,0.000109079937249,-0.000256106045472,4.1737144116e-05,1793248377291008512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.315121553,633,880,784,812,651.315121553,630,652.315121553,0.443177147378,0.00455006160117,0.0798132990421,0.999999946961,0.000119222658645,-0.000300042166731,4.28780159757e-05,1793248377307675392
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.259909321,633,880,784,812,651,630,652.259909321,0.44240829573,0.00454440600343,0.0797942645323,0.999999940108,0.000115393287461,-0.000323450335443,4.30006557952e-05,1793248377324342272
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.833688635,633,880,784,812,651,630,652.833688635,0.441630260995,0.00453592653724,0.0797875228912,0.999999942775,9.46910307748e-05,-0.000322068678693,4.18936651185e-05,1793248377341009664
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633.07260671,880,784,811,651,629.92739329,652,0.434065171273,0.00451562711265,0.0798344665956,0.999999962203,8.87044843369e-05,-0.000256596474007,4.33950946038e-05,1793248377491009280
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633.649106036,880,784,811,651,629.350893964,652,0.433115737693,0.00451009288282,0.07979764789,0.999999943502,0.000100665333405,-0.000317397402289,4.60632770019e-05,1793248377507675648
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.225059287,745,715,683,659,633.774940713,880,784,811,651,629.225059287,652,0.432145961614,0.00449968636015,0.0797552049272,0.999999916673,9.58416432739e-05,-0.000393874451977,4.82879620868e-05,1793248377524342272
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.80016329,745,715,683,659,633.19983671,880,784,811,651,629.80016329,652,0.431144545796,0.00448170174294,0.0797040143016,0.999999874272,6.49122144668e-05,-0.000494733278466,4.98228563424e-05,1793248377541008896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.625658296,745,715,683,659,633,880,784,811,651,630,652,0.430241677307,0.00447129821615,0.0797287586101,0.999999895219,5.68660789621e-05,-0.000451441505679,5.02828842136e-05,1793248377557675520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.051972809,745,715,683,659,633,880,784,811,651,630,652,0.429391287128,0.00446493175929,0.0797939396583,0.999999941972,6.10057156909e-05,-0.000331386901514,5.01705256503e-05,1793248377574342400
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.083277827,633.541638913,879.458361087,784.541638913,811,651.541638913,630,652.541638913,0.428516829398,0.00445256672311,0.0798401829744,0.99999996381,4.27711686054e-05,-0.00026056581493,5.15394471378e-05,1793248377591009280
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.867774471,660.735548943,633.867774471,879,784.867774471,811,651.867774471,630,652.867774471,0.427620619202,0.0044408149039,0.0798635464906,0.999999972631,2.69987614465e-05,-0.000226318762744,5.2811356775e-05,1793248377607676416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.293921562,659.587843123,633.293921562,879,784.293921562,811,651.293921562,630,652.293921562,0.426659764649,0.00443310708011,0.0798167935492,0.999999953864,2.68942443569e-05,-0.000297846138713,5.32663925203e-05,1793248377624343296
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.281006997,658.718993003,633.281006997,879,784,811,651,629.718993003,652,0.425697881372,0.00444001515037,0.079779236367,0.999999935037,3.71378098362e-05,-0.000354553962906,5.3273022457e-05,1793248377641009664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.857064926,658.142935074,633.857064926,879,784,811,651,629.142935074,652,0.424734918018,0.00446226957621,0.079751334525,0.999999918619,5.82466258461e-05,-0.000395701592261,5.28088366346e-05,1793248377657675776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.110405713,658.444797143,634,879,784,811,651.444797143,629.444797143,652.444797143,0.423773663866,0.00448569831635,0.0797317789705,0.999999903059,9.13010097642e-05,-0.00042739229005,5.36891648729e-05,1793248377674342656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.96446007,879,784,811,651.96446007,629.96446007,652.96446007,0.422821759364,0.00450699001645,0.0797194107204,0.999999890397,0.000124693466377,-0.000447939297321,5.48504389231e-05,1793248377691009536
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.386568253,879,784,811,651.386568253,629.386568253,652.386568253,0.422003927314,0.00448975576513,0.0797746907573,0.999999933377,0.000103086197305,-0.000346055450163,5.35279692299e-05,1793248377707675904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.190113016,633.190113016,879,784,811,651,629,652,0.421182773933,0.00447653442025,0.0798249986515,0.999999962278,8.44980850105e-05,-0.00025597723483,5.27282701343e-05,1793248377724342272
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.764348482,633.764348482,879,784,811,651,629,652,0.420354909669,0.00447142113072,0.0798652603649,0.999999978001,7.20101623718e-05,-0.000189752229628,5.29848271364e-05,1793248377741009152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.305405119,634,879,784,811,651.347297441,629,652,0.419466771661,0.00446796766785,0.0798554769202,0.999999974155,7.16959420045e-05,-0.000209034255161,5.34217534065e-05,1793248377757676032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.127378238,634,879,784,811,651.936310881,629,652,0.418536683702,0.00446566943023,0.0798108624781,0.999999953932,7.98545131431e-05,-0.000287828434145,5.39842149561e-05,1793248377774342912
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.51733995,745,715,681,658.51733995,634,878.48266005,784,811,652,629.51733995,652.51733995,0.417674015938,0.00446908379331,0.0797997665065,0.999999947484,7.75821085981e-05,-0.000310206086356,5.27734460609e-05,1793248377791009280
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.903169039,745,715,681,659,634,878.096830961,784,810.903169039,651.903169039,629.903169039,652.903169039,0.416823007009,0.00447386369389,0.079794501659,0.99999994305,7.70450853111e-05,-0.00032447595496,5.1754971161e-05,1793248377807675392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.326502872,745,715,681,659,634,878.673497128,784,810.326502872,651.326502872,629.326502872,652.326502872,0.415989267452,0.0044819783483,0.0797979950751,0.999999939168,9.13742769654e-05,-0.000332462521726,5.27547097443e-05,1793248377824342016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.751166532,633.751166532,879,784,810,651.248833468,629,652,0.41518403057,0.00448467481535,0.0797937654152,0.999999934843,9.81715041883e-05,-0.00034325788061,5.33886460065e-05,1793248377841008640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.177565871,633.177565871,879,784,810,651.822434129,629,652,0.41441599427,0.00448029968681,0.0797794559144,0.999999930059,9.51383205877e-05,-0.000357719158677,5.35451520754e-05,1793248377857675264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.407360587,715,681,658,633.407360587,878.592639413,784,810,651.592639413,629,652,0.413677501738,0.00447488514069,0.0797878475282,0.999999938954,8.0204591216e-05,-0.000335957710008,5.28311355369e-05,1793248377874342400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.997365122,715,681,658,633.997365122,878.002634878,784,810,651.002634878,629,652,0.412952255366,0.00446900456157,0.0798064173989,0.999999952477,5.99351399176e-05,-0.000297955462122,5.17268119402e-05,1793248377891009792
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.423038411,715,680.423038411,658,634,878.576961589,784,810,651.576961589,629,652,0.412215856214,0.00446851369049,0.0798009134531,0.999999944889,8.67425426618e-05,-0.000316035046082,5.31044240122e-05,1793248377907676416
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.155345735,658,634,878.844654265,784,810,651.844654265,629,652,0.41149085785,0.00447026734787,0.0797937092003,0.999999937126,0.000104436610722,-0.000334550635405,5.39998375744e-05,1793248377924342784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.730579393,658,634,878.269420607,784,810,651.269420607,629,652,0.410796810028,0.00447802244756,0.0797822010394,0.999999931364,9.69272132333e-05,-0.000353564725292,5.35618114351e-05,1793248377941009408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878,784.306381555,810,651,629,652,0.410150581001,0.00448307752021,0.0797869721255,0.999999934566,9.88294876576e-05,-0.000343822315787,5.37385960534e-05,1793248377957676288
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878,784.882684534,810,651,629,652,0.409546480261,0.00448575387498,0.0798060851901,0.999999944912,0.000109023423081,-0.000308745497155,5.44570274761e-05,1793248377974343168
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.469902239,715.469902239,680.530097761,658,634,878,784.530097761,810,651,629,652,0.408958491971,0.00448221837633,0.0798276536337,0.999999955921,9.97052358048e-05,-0.000274237645339,5.48641705763e-05,1793248377991009536
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.941237344,715.941237344,680,658,634,878,784,810,651.058762656,629,652.058762656,0.408373483329,0.00447774393138,0.079844889786,0.999999963803,8.71235453674e-05,-0.000248498798898,5.52446517023e-05,1793248378007676160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.362526308,715.362526308,680,658,634,878,784,810,651.637473692,629,652.637473692,0.407778399693,0.00447901007119,0.0798182395649,0.999999949676,8.97938219845e-05,-0.000299063790156,5.60932261364e-05,1793248378024343296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.213022454,745,715,680,658,634,878,784.213022454,810,651.786977546,629,652.786977546,0.407207682408,0.00448054711218,0.0797913494731,0.999999934108,9.50972842928e-05,-0.000345866532512,5.58310273366e-05,1793248378041009920
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.783268256,745,715,680,658,634,878,784.783268256,810,651.216731744,629,652.216731744,0.406677825802,0.00448253843482,0.0797640571381,0.999999918427,0.000104816409709,-0.000386360249413,5.37061416929e-05,1793248378057676544
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.632404834,745,715.367595166,680,658,634,878,784.632404834,810,651,629,652,0.406210937152,0.00448309703938,0.0797653664472,0.999999922755,0.000102786753899,-0.000375713700143,5.25795564534e-05,1793248378074343424
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.039445048,745,715.960554952,680,658,634,878,784.039445048,810,651,629,652,0.405782652737,0.00448277727575,0.0797842108012,0.999999938586,9.35541760943e-05,-0.000333714166916,5.20650072861e-05,1793248378091010304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715.459280297,680,658,634,878,784,809.459280297,651,629,652,0.405362913175,0.00448577890379,0.0798033014415,0.999999946523,0.000106051440397,-0.000304884746338,5.24633775603e-05,1793248378107676416
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.880762913,658,634,878,784.119237087,809.119237087,651,628.880762913,652,0.404950454211,0.00448880853493,0.0798195598478,0.999999951814,0.000117088979161,-0.00028260348071,5.28836489884e-05,1793248378124342784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.305061223,658,634,878,784.694938777,809.694938777,651,628.305061223,652,0.40456353567,0.00449103926246,0.0798249086839,0.999999952084,0.00011661028508,-0.000281796991797,5.31387100774e-05,1793248378141009408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.268813366,745,715,679.537626732,658,634,878,784.731186634,809.731186634,651.268813366,628.268813366,652,0.404194114169,0.00449185666296,0.0798284297971,0.9999999513,0.000116521272709,-0.000284362674678,5.44118757568e-05,1793248378157676288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.840628442,745,715,680.681256883,658,634,878,784.159371558,809.159371558,651.840628442,628.840628442,652,0.403844415049,0.00449108098588,0.0798298907329,0.999999949294,0.000116871502749,-0.000290729410488,5.68326310527e-05,1793248378174342912
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.428506173,680.571493827,658,634,878,784,809,652,629,652,0.403531505383,0.00448869219638,0.0798315945011,0.999999949877,0.000111052995038,-0.000291458647622,5.44532540439e-05,1793248378191009280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715.977963906,680.022036094,658,634,877.977963906,784,809.022036094,651.977963906,629,652,0.40323376985,0.00448576917869,0.0798332209958,0.999999951282,0.000103154542704,-0.000290263276952,5.0426941965e-05,1793248378207676416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.398462606,680.601537394,658,634,877.398462606,784,809.601537394,651.398462606,629,652,0.402960279261,0.0044850999847,0.079830518883,0.999999949711,0.000102939193008,-0.000295487682025,5.16594234226e-05,1793248378224343040
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.820623873,745.179376127,715,680.820623873,658,634,877.179376127,784,810,651.179376127,629,652,0.402703551828,0.00448517110051,0.0798286181579,0.999999948797,0.000102533220789,-0.000298495753749,5.28436302616e-05,1793248378241009664
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.246444492,745.753555508,715,680.246444492,658,634,877.753555508,784,810,651.753555508,629,652,0.402483719802,0.0044868716234,0.0798284812713,0.999999949381,0.000101707692256,-0.000296625719598,5.39215854742e-05,1793248378257676032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.335429754,745.664570246,715,680,658,634,878.335429754,784,810,652,629,652,0.402288721678,0.00448661352314,0.0798303651748,0.999999951072,9.65266768176e-05,-0.000292567486504,5.42509786259e-05,1793248378274342144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.923090314,745.076909686,715,680,658,634,878.923090314,784,810,652,629,652,0.402112397709,0.00448488261065,0.0798337686379,0.999999953517,8.80704957294e-05,-0.000286863808268,5.40174808185e-05,1793248378291008512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.496475747,745,715.503524253,680,658.503524253,634,878.496475747,784,810,651.496475747,629,652,0.40195702466,0.00448619978385,0.0798386165343,0.999999955455,9.01105659008e-05,-0.000279162329718,5.51197056328e-05,1793248378307675392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,716,680,658.917574037,634,878,784,809.917574037,651.082425963,629,652,0.401807653807,0.00448910397134,0.0798432235401,0.999999956853,9.58882546049e-05,-0.000271929511243,5.61654123078e-05,1793248378324342016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,716,680,658.341332295,634,878,784,809.341332295,651.658667705,629,652,0.401675341561,0.00449876620428,0.07984508429,0.999999955622,0.000114589036211,-0.000269306733483,5.56675123066e-05,1793248378341008640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,716,679.765505965,658,634,878,784,809,652,629,652,0.401551701648,0.00450942262345,0.0798435506334,0.999999951547,0.000141172318511,-0.000272253993687,5.34160552676e-05,1793248378357675520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,716,679.190283281,658,634,878,784,809,652,629,652,0.401440662967,0.00452152363202,0.0798370847764,0.999999942632,0.000179209169475,-0.000283294728451,4.8616613912e-05,1793248378374342656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715.605362537,679.394637463,658,634,878,784,809,651.605362537,629,652,0.401348498331,0.00452123675109,0.0798317383113,0.999999940672,0.000178336869404,-0.000291067355009,4.61609049577e-05,1793248378391009280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.015647866,679.984352134,658,634,878,784,809,651.015647866,629,652,0.401265663515,0.00451482628771,0.0798269451843,0.999999942304,0.000158230994958,-0.000297224489884,4.48637500584e-05,1793248378407675648
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.559430477,745,715.559430477,679.440569523,658,634,878,784,809.559430477,651,629,652,0.4012010053,0.00451443345208,0.0798231170682,0.999999940865,0.000156825759034,-0.000302700774063,4.5249134308e-05,1793248378424342272
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.864495862,745,715.864495862,679.135504138,658,634,878,784,809.864495862,651,629,652,0.401141565319,0.00451439050344,0.0798203689257,0.999999939694,0.000156171099104,-0.00030678710338,4.58718365596e-05,1793248378441008896
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.283841936,745,715.283841936,679.716158064,658,634,878,784,809.283841936,651,629,652,0.40109764033,0.00451495812723,0.0798210822332,0.999999939743,0.000156307617257,-0.000306368205612,4.71234964146e-05,1793248378457675776
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce2c8667df7e3c794c7bad3f846102b2c566057d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/fem_node.csv
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6fc4a7da002d055d9c39a407f3b26afeabfd83f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/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,765,745,715,680,658,634,878,784,810,652,628,652,0.400967670235,0.00451328257455,0.0798322842094,0.999999947192,0.000147722965589,-0.00028571581258,4.64881104025e-05,1793248379068835840
+1,0.016666667,BASELINE,765,745,715,680,658,633.42570741,878,784,809.42570741,652,628.57429259,652,0.400966984484,0.00451249748036,0.0798319474377,0.999999947097,0.000147363683431,-0.000286236774799,4.64687207931e-05,1793248379085502464
+2,0.033333333,BASELINE,765,745,715,679.852476986,658,633.147523014,878,784,809,652,628.852476986,652,0.400966696898,0.00451200384742,0.0798319429481,0.99999994713,0.000147130657883,-0.000286255887394,4.63773938899e-05,1793248379102169344
+3,0.050000000,BASELINE,765,745,715,679.282289613,658,633.717710387,878,784,809,652,628.282289613,652,0.400967550084,0.00451234527235,0.0798328904712,0.99999994753,0.000147259366793,-0.000284837163773,4.60799613082e-05,1793248379118836736
+4,0.066666667,BASELINE,765,745,715.302448104,679.302448104,658,634,878,784.302448104,809,651.697551896,628.302448104,652,0.400967717907,0.00451229455102,0.0798329792415,0.999999947621,0.000147268953168,-0.000284541727916,4.58939027425e-05,1793248379135503616
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+6,0.100000000,BASELINE,765,744.536695722,715.536695722,680,658,634,877.536695722,784.536695722,809.463304278,651,629,652,0.400967456418,0.00451117015867,0.0798326118666,0.999999947794,0.000145129808468,-0.000285019616466,4.59596164524e-05,1793248379168837120
+7,0.116666667,BASELINE,765,744.019279623,715.019279623,680,658,634,877.019279623,784,810,651,629,652,0.400967797366,0.00451049379434,0.0798331847797,0.999999948261,0.000142818437605,-0.000284520306157,4.6134982286e-05,1793248379185503488
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+9,0.150000000,BASELINE,765.213986858,745,715.786013142,679.786013142,658,634,878,784.213986858,809.786013142,651,628.786013142,652,0.400965961289,0.00451282094316,0.079832308624,0.999999947519,0.000144634343553,-0.000286240299649,4.59307984772e-05,1793248379218836736
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+17,0.283333333,BASELINE,765,745,715.135236425,680,658,634,878,785,810,651.864763575,629,652,0.400968790562,0.00451318748295,0.0798346773698,0.99999994793,0.000148699540532,-0.000282711321599,4.58570356646e-05,1793248379352169728
+18,0.300000000,BASELINE,765,745,715,679.554436456,658,634,878,784.554436456,810,651.554436456,628.554436456,652,0.400968285036,0.00451334260684,0.0798338115303,0.999999947895,0.000147488722667,-0.000283527492251,4.54995819539e-05,1793248379368836608
+19,0.316666667,BASELINE,765,745,715.023028461,679.023028461,658,634,878,784,810,651,628.023028461,652,0.400967185604,0.00451342559026,0.0798324068201,0.999999947767,0.000145539769188,-0.000285028694797,4.51924450622e-05,1793248379385503488
+20,0.333333333,BASELINE,765,745,715.597314862,679.597314862,658,634,878,784,810,651,628.597314862,652,0.400966455099,0.00451372280914,0.0798323404925,0.999999947358,0.00014683583011,-0.000285747538658,4.55160994665e-05,1793248379402170368
+21,0.350000000,BASELINE,765,745,715.823767885,680,658,634,877.823767885,784,809.823767885,651.176232115,628.823767885,652,0.400965801212,0.00451420300757,0.0798322290557,0.999999947012,0.000147994721211,-0.000286331388076,4.56886954227e-05,1793248379418836992
+22,0.366666667,BASELINE,765,745,715.233983806,680,658,634,877.233983806,784,809.233983806,651.766016194,628.233983806,652,0.400965327121,0.00451511259171,0.0798320117641,0.99999994682,0.000148831725006,-0.000286598455088,4.55068127083e-05,1793248379435503360
+23,0.383333333,BASELINE,765,745,715,680,658,634,877.349150449,784,809.349150449,651.650849551,628,652,0.400965910737,0.00451517505289,0.079832670148,0.999999946947,0.00014980851569,-0.000285622037736,4.56461487853e-05,1793248379452169728
+24,0.400000000,BASELINE,765,745,715,680,658,634,877.927911658,784,809.927911658,651.072088342,628,652,0.400967189931,0.00451468042323,0.0798339043996,0.999999947281,0.000150877234091,-0.000283827871524,4.5996726993e-05,1793248379468836352
+25,0.416666667,BASELINE,765,745,715,679.496071471,658,634,878,784,810,651.503928529,628.503928529,652,0.400967168038,0.00451384922801,0.0798340013317,0.999999947687,0.00014798969075,-0.000283905010586,4.60676725915e-05,1793248379485502976
+26,0.433333333,BASELINE,765.079251739,745,715,679.079251739,658,634,878,784,810,652,628.920748261,652,0.400967047401,0.00451322782641,0.0798339065356,0.999999947995,0.000145447792007,-0.000284132569719,4.60807814581e-05,1793248379502169856
+27,0.450000000,BASELINE,765.652684551,745,715,679.652684551,658,634,878,784,810,652,628.347315449,652,0.40096746534,0.00451421320693,0.0798336252158,0.999999947681,0.000148571128714,-0.000283637890476,4.59813305406e-05,1793248379518836736
+28,0.466666667,BASELINE,765.766360847,745,715,679.766360847,658,634,877.766360847,784,809.766360847,652,628,652,0.400967330427,0.00451459701737,0.0798332144681,0.99999994741,0.000149719925557,-0.000284010605541,4.58377653471e-05,1793248379535503616
+29,0.483333333,BASELINE,765.173852841,745,715,679.173852841,658,634,877.173852841,784,809.173852841,652,628,652,0.400966346337,0.00451405681838,0.0798326049196,0.999999947215,0.000147835836463,-0.000285715635009,4.56264407991e-05,1793248379552170240
+30,0.500000000,BASELINE,765,745,715.409257046,679.409257046,658,634,877.409257046,784,809.409257046,652,628,652,0.400966062641,0.00451322510687,0.0798325152814,0.999999947169,0.000147223908684,-0.000286167378239,4.57736062078e-05,1793248379568836608
+31,0.516666667,BASELINE,765,745,715.988464209,679.988464209,658,634,877.988464209,784,809.988464209,652,628,652,0.400966069794,0.00451227234043,0.0798326415436,0.999999947187,0.000147140264987,-0.00028609867555,4.60696399442e-05,1793248379585503232
+32,0.533333333,BASELINE,765.563900422,745,716,680,658.563900422,634,878,784.563900422,809.436099578,652,628.563900422,652,0.400966553322,0.00451262659296,0.0798334385371,0.999999947943,0.000145797420046,-0.000284211384964,4.56190576541e-05,1793248379602170112
+33,0.550000000,BASELINE,765.857970454,745,716,680,658.857970454,634,878,784.857970454,809.142029546,652,628.857970454,652,0.400967218004,0.00451277575959,0.0798341977552,0.999999948569,0.00014490363086,-0.000282514345307,4.52918370181e-05,1793248379618836736
+34,0.566666667,BASELINE,765.271168485,745,716,680,658.271168485,634,878,784.271168485,809.728831515,652,628.271168485,652,0.400968419666,0.00451219951496,0.0798347959948,0.999999948756,0.000145496213611,-0.000281528815488,4.53984418715e-05,1793248379635503360
+35,0.583333333,BASELINE,765,745,715.688585499,680,658,634,878,784,809.688585499,651.688585499,628.311414501,652,0.400968176811,0.00451254122151,0.079834513824,0.999999948483,0.00014647019838,-0.000281965070404,4.55609823869e-05,1793248379652169984
+36,0.600000000,BASELINE,765,745,715.109627082,680,658,634,878,784,809.109627082,651.109627082,628.890372918,652,0.400966692937,0.0045136715626,0.079833475271,0.999999947813,0.000147771855142,-0.000283622815714,4.57715786277e-05,1793248379668836608
+37,0.616666667,BASELINE,765,745.467661389,715,680,658,633.532338611,878,784,809,651,629,652,0.400967020695,0.00451322605088,0.0798336036622,0.99999994783,0.000148226727498,-0.000283315651688,4.58453433745e-05,1793248379685503488
+38,0.633333333,BASELINE,765.044505754,745.955494246,715,680,658,633.044505754,878,784,809,651.044505754,629,652,0.400967811255,0.00451246965691,0.0798340430829,0.999999948058,0.000148237875833,-0.000282501201456,4.58592067295e-05,1793248379702170368
+39,0.650000000,BASELINE,765.620704984,745.379295016,715,680,658,633.620704984,878,784,809,651.620704984,629,652,0.400969075365,0.00451239670111,0.0798349418886,0.999999948894,0.000145310980464,-0.000281109491191,4.55392803165e-05,1793248379718836480
+40,0.666666667,BASELINE,765.798863697,745,715,680,658,634,878,784,809.201136303,651.798863697,629,652,0.400969199024,0.00451271099936,0.0798350823347,0.999999949134,0.000144374855594,-0.00028076855883,4.53448536498e-05,1793248379735503104
+41,0.683333333,BASELINE,765.210280172,745,715,680,658,634,878,784,809.789719828,651.210280172,629,652,0.400967125841,0.00451377126196,0.0798337619589,0.999999948236,0.000147273535898,-0.000282451731474,4.53921761421e-05,1793248379752169728
+42,0.700000000,BASELINE,765.373056865,744.626943135,715,679.626943135,658,634,878,784,809.626943135,651,629,652,0.400967486628,0.00451385116689,0.079834016906,0.999999948121,0.000148901507048,-0.000281972277837,4.55749664109e-05,1793248379768836608
+43,0.716666667,BASELINE,765.953477618,744.046522382,715,679.046522382,658,634,878,784,809.046522382,651,629,652,0.400969200339,0.00451338613935,0.0798351474972,0.999999948445,0.000149823153636,-0.000280290726989,4.58330565254e-05,1793248379785503744
+44,0.733333333,BASELINE,765.471397227,744.528602773,715,679.528602773,658,634,878.528602773,784,809.528602773,651,628.471397227,652,0.400968493192,0.0045130200091,0.0798345601487,0.999999948488,0.000147659819071,-0.000281310438829,4.56688607175e-05,1793248379802170112
+45,0.750000000,BASELINE,765,745,715.102810571,680,658.102810571,634,878.897189429,784,810,651.102810571,628.102810571,652,0.400967728623,0.0045127606667,0.0798339526139,0.999999948459,0.000145906235384,-0.000282346323582,4.55350110491e-05,1793248379818836992
+46,0.766666667,BASELINE,765,745,715.674937017,680,658.674937017,634,878.325062983,784,810,651.674937017,628.674937017,652,0.400967664878,0.00451294945776,0.079833936275,0.999999948244,0.000147250217422,-0.000282381556765,4.57076595301e-05,1793248379835503616
+47,0.783333333,BASELINE,765.256275644,745,715.743724356,679.743724356,658.743724356,633.743724356,878,784.256275644,810,651.743724356,629,652.256275644,0.400968351632,0.00451369048667,0.0798344068849,0.999999948192,0.000149112895939,-0.00028156417371,4.58612953594e-05,1793248379852170496
+48,0.800000000,BASELINE,765.849734879,745,715.150265121,679.150265121,658.150265121,633.150265121,878,784.849734879,810,651.150265121,629,652.849734879,0.400970025822,0.00451515809868,0.0798355181763,0.999999948347,0.000151658027094,-0.000279624997735,4.59899161387e-05,1793248379868836864
+49,0.816666667,BASELINE,765.567078488,745,715,679.432921512,658,633.432921512,878,784.567078488,809.567078488,651.432921512,628.567078488,652.567078488,0.400969061393,0.00451468947815,0.079834666311,0.999999948253,0.000149917200482,-0.000280941887634,4.57282676321e-05,1793248379885503488
+50,0.833333333,BASELINE,765,745,715,679.98748571,658,634,878,784.01251429,809.01251429,651.98748571,628,652,0.400967221956,0.00451361313677,0.0798331714955,0.999999948057,0.000146829768538,-0.000283319215976,4.53483270166e-05,1793248379902170368
+51,0.850000000,BASELINE,765,745,715,679.412873751,658,634,878,784.587126249,809.587126249,651.412873751,628,652,0.4009662637,0.00451472689505,0.0798326944302,0.999999947676,0.000148528184998,-0.000283741254429,4.55985108469e-05,1793248379918836736
+52,0.866666667,BASELINE,765.165357897,745,715,679.165357897,658,633.834642103,878,784.834642103,810,651,628.165357897,652,0.400966168236,0.00451535121301,0.0798328169023,0.999999947626,0.000149343603516,-0.000283467682445,4.57269200882e-05,1793248379935503360
+53,0.883333333,BASELINE,765.752829593,745,715,679.752829593,658,633.247170407,878,784.247170407,810,651,628.752829593,652,0.400968275247,0.00451472612268,0.0798344698305,0.999999948427,0.000147904968024,-0.000281418405926,4.55444718643e-05,1793248379952169472
+54,0.900000000,BASELINE,765.664391036,745,715,680,657.664391036,633.335608964,878,784,809.664391036,651,628.664391036,652,0.400968629849,0.00451384929515,0.0798347384931,0.999999948706,0.000146443598485,-0.000281214328881,4.53936676578e-05,1793248379968835840
+55,0.916666667,BASELINE,765.085019857,745,715,680,657.085019857,633.914980143,878,784,809.085019857,651,628.085019857,652,0.400967711626,0.00451278962383,0.0798340017246,0.999999948607,0.00014496571663,-0.000282350472118,4.52658473979e-05,1793248379985502464
+56,0.933333333,BASELINE,765,745,715,680,657.492642023,634,877.507357977,784.492642023,809.492642023,651.492642023,628.492642023,652,0.400968306484,0.00451308870159,0.079834869074,0.999999948638,0.000147051519375,-0.000281100236735,4.56389989523e-05,1793248380002169088
+57,0.950000000,BASELINE,765,745,715,680,658,634,877.139560032,784.930219984,810,651.930219984,628.930219984,652,0.400968967072,0.0045134900122,0.0798357414546,0.999999948657,0.00014921666317,-0.000279827329575,4.60119630254e-05,1793248380018835712
+58,0.966666667,BASELINE,765,745,715,680,658,634,878.290503039,784.354748481,810,651.354748481,628.354748481,652,0.40096821818,0.00451293872376,0.0798346510066,0.99999994849,0.000147515194899,-0.000281364380034,4.57591830887e-05,1793248380035502592
+59,0.983333333,BASELINE,765.225872898,745,715,679.774127102,658,634,879,784,810,651.225872898,628,652,0.400967849174,0.00451280353774,0.0798341327184,0.999999948329,0.000147209131739,-0.000282120745612,4.56010801007e-05,1793248380052169216
+60,1.000000000,BASELINE,765.814771303,745,715,679.185228697,658,634,879,784,810,651.814771303,628,652,0.400968090728,0.00451333711621,0.0798345340119,0.999999948183,0.00014914577939,-0.00028162238575,4.55951429497e-05,1793248380068835840
+61,1.016666667,BASELINE,765.602988497,745,715,679.397011503,658,634,878.602988497,784,810,652,628.397011503,652,0.400968018945,0.00451417178919,0.0798340025986,0.999999948089,0.000148811885211,-0.000282176121179,4.53167457958e-05,1793248380085502464
+62,1.033333333,BASELINE,765.02380353,745,715,679.97619647,658,634,878.02380353,784,810,652,628.97619647,652,0.400967803384,0.00451514462293,0.0798330432015,0.999999948018,0.00014743612571,-0.000283212623113,4.49133271194e-05,1793248380102169088
+63,1.050000000,BASELINE,765,745,715,680,658,634,878,784,810,652,628.448074785,652,0.400968055539,0.00451632806488,0.079833438656,0.999999947943,0.000148880228786,-0.000282708932133,4.49972601218e-05,1793248380118835712
+64,1.066666667,BASELINE,765,745,715,679.870064735,658.129935265,634,878,784,809.870064735,651.870064735,628.129935265,652,0.40096825297,0.00451687399768,0.0798339200979,0.999999947985,0.00014962590378,-0.000282147192241,4.51036984975e-05,1793248380135502336
+65,1.083333333,BASELINE,765,745,715,679.283517307,658.716482693,634,878,784,809.283517307,651.283517307,628.716482693,652,0.400968187645,0.004515147906,0.0798344996504,0.999999948448,0.000147492481046,-0.000281613437071,4.5215821304e-05,1793248380152169216
+66,1.100000000,BASELINE,765.299422038,745,715,679.299422038,658.700577962,634,878,784.299422038,809,651.299422038,629,652,0.400967531046,0.00451419182958,0.0798344831414,0.999999948562,0.000146469361428,-0.000281715392896,4.53684034233e-05,1793248380168835840
+67,1.116666667,BASELINE,765.878985601,745,715,679.878985601,658.121014399,634,878,784.878985601,809,651.878985601,629,652,0.400966321245,0.00451395618538,0.0798339089526,0.999999948355,0.000146485049922,-0.000282412124767,4.55588395756e-05,1793248380185502464
+68,1.133333333,BASELINE,765.542759077,745,715,680,658,634,878,784.542759077,809.457240923,652,628.542759077,652,0.400967681995,0.0045143946927,0.0798347353167,0.999999948543,0.000147450035187,-0.000281243537055,4.55484530272e-05,1793248380202169088
+69,1.150000000,BASELINE,765,745,715,680,658,634,878,784,809.965110107,652,628.034889893,652,0.400969580406,0.00451501436383,0.0798358223509,0.999999948768,0.000148736982746,-0.000279770334057,4.54894606346e-05,1793248380218835712
+70,1.166666667,BASELINE,765,745,715,680,658,634,878,784,809.391493376,652,628.608506624,652,0.400969305915,0.00451568422288,0.0798352271771,0.99999994801,0.000151126957271,-0.000281194684421,4.54982950024e-05,1793248380235503104
+71,1.183333333,BASELINE,765,745,715,680,658.187268342,634,878,784,809,651.812731658,629,652,0.400968383026,0.00451596932937,0.0798343272284,0.99999994745,0.000152129314656,-0.000282652681296,4.54361739624e-05,1793248380252170496
+72,1.200000000,BASELINE,765,745,715,680,658.777089865,634,878,784,809,651.222910135,629,652,0.400966066333,0.00451542736951,0.0798327721331,0.999999947325,0.000150148842138,-0.000284183005188,4.5221526742e-05,1793248380268837120
+73,1.216666667,BASELINE,765,745,715.360440908,679.639559092,658.639559092,634,878,784,809.360440908,651.360440908,629,652,0.400967108849,0.00451551321276,0.0798335399474,0.99999994779,0.000150155836166,-0.000282547605057,4.51656930769e-05,1793248380285503744
+74,1.233333333,BASELINE,765,745,715.939860896,679.060139104,658.060139104,634,878,784,809.939860896,651.939860896,629,652,0.40097019219,0.00451598046598,0.0798357190017,0.999999948604,0.000151370278157,-0.000278988928858,4.52063436074e-05,1793248380302170368
+75,1.250000000,BASELINE,765,745.517796963,716,679.517796963,658,634,878,784,809.482203037,651.482203037,629,652.517796963,0.400969643012,0.00451521917742,0.0798354859524,0.999999948504,0.000150081312627,-0.000279997016055,4.54789439925e-05,1793248380318836736
+76,1.266666667,BASELINE,765.094264164,745.905735836,716,680,658,634,878,784,809,651,628.905735836,652.905735836,0.400968907571,0.00451445513465,0.0798351199058,0.999999948391,0.000148666308043,-0.000281120521171,4.56850199646e-05,1793248380335503360
+77,1.283333333,BASELINE,765.664186626,745.335813374,716,680,658,634,878,784,809,651,628.335813374,652.335813374,0.400969355056,0.00451439514211,0.0798354923625,0.999999948761,0.000148078275981,-0.000280157654022,4.54198635396e-05,1793248380352170240
+78,1.300000000,BASELINE,765.755949392,745,715.755949392,680,658.244050608,634,878,784.244050608,809.244050608,651.244050608,628.244050608,652,0.400969459476,0.00451387664562,0.079835740315,0.999999949071,0.000146887599416,-0.00027968809925,4.53588403269e-05,1793248380368836864
+79,1.316666667,BASELINE,765.161825034,745,715.161825034,680,658.838174966,634,878,784.838174966,809.838174966,651.838174966,628.838174966,652,0.400969071793,0.00451270045685,0.0798358096747,0.999999949293,0.000144832470963,-0.000279926167109,4.55906321375e-05,1793248380385503488
+80,1.333333333,BASELINE,765.421017149,745,715.421017149,680,658.578982851,634,878,784.578982851,810,652,629,652.421017149,0.400969790892,0.00451419175071,0.0798367409684,0.999999949382,0.000146529609249,-0.000278746151447,4.5439694318e-05,1793248380402170112
+81,1.350000000,BASELINE,765.99963606,745,715.99963606,680,658.00036394,634,878,784.00036394,810,652,629,652.99963606,0.400970924299,0.00451668157852,0.0798379949149,0.999999949412,0.000149631354878,-0.000277035296468,4.51454871411e-05,1793248380418836992
+82,1.366666667,BASELINE,765.425071659,745.574928341,716,680,658,634,878,784,810,652,628.425071659,652.425071659,0.40097080931,0.0045153771358,0.0798373091584,0.999999949508,0.000147846403433,-0.000277630441857,4.52388916645e-05,1793248380435503872
+83,1.383333333,BASELINE,765.153439355,745.846560645,716,679.846560645,658,634,878,784,810,651.846560645,628.153439355,652,0.400970845349,0.00451415003151,0.0798369346088,0.999999949577,0.000146761532563,-0.000277928040655,4.54201346438e-05,1793248380452170496
+84,1.400000000,BASELINE,765.741064444,745.258935556,716,679.258935556,658,634,878,784,810,651.258935556,628.741064444,652,0.400971310973,0.004513148528,0.0798374441322,0.999999949577,0.000147666374842,-0.000277379568286,4.58492428881e-05,1793248380468836864
+85,1.416666667,BASELINE,766,745,716,679.324008149,658.324008149,634,878,784,810,651.324008149,629,652,0.400970716162,0.00451262084466,0.079836965032,0.999999949422,0.000147249913682,-0.00027815939851,4.58432973696e-05,1793248380485503488
+86,1.433333333,BASELINE,766,745,716,679.903263913,658.903263913,634,878,784,810,651.903263913,629,652,0.400969285961,0.00451246642811,0.0798357071122,0.999999949141,0.000145792554111,-0.000279985640927,4.5494624535e-05,1793248380502170112
+87,1.450000000,BASELINE,765.518632674,745.481367326,715.518632674,680,658.518632674,634,878.481367326,784,810,651.518632674,628.518632674,652,0.400968836436,0.00451294661362,0.0798351132954,0.999999948883,0.000146929470193,-0.000280340526803,4.53340860483e-05,1793248380518836480
+88,1.466666667,BASELINE,765,745.941159162,715.058840838,680,658,634,879,784,809.941159162,651.058840838,628,652,0.400968543971,0.00451346160161,0.079834728542,0.99999994865,0.000148369262719,-0.000280428553642,4.5242322284e-05,1793248380535503104
+89,1.483333333,BASELINE,765,745.367177715,715.632822285,680,658,634,879,784,809.367177715,651.632822285,628,652,0.40096790527,0.00451316744112,0.0798350084833,0.999999948616,0.000147907274533,-0.000280762767418,4.54224597293e-05,1793248380552169984
+90,1.500000000,BASELINE,765,745,715.787769571,680,658,634,878.787769571,784.212230429,809.212230429,652,628.212230429,652,0.400967790301,0.00451310381226,0.0798352332694,0.999999948642,0.000147722734377,-0.000280759037957,4.54782117701e-05,1793248380568837120
+91,1.516666667,BASELINE,765,745,715.198726451,680,658,634,878.198726451,784.801273549,809.801273549,652,628.801273549,652,0.400968605212,0.00451344948969,0.079835360128,0.999999948773,0.000148030800059,-0.000280155294122,4.53131189337e-05,1793248380585504256
+92,1.533333333,BASELINE,765,745,715,680,658.384125013,634,878,784.615874987,809.615874987,652,629,652,0.400969016448,0.00451384298721,0.0798358488033,0.999999948849,0.000148297929036,-0.000279751743691,4.52610217111e-05,1793248380602170880
+93,1.550000000,BASELINE,765,745,715,680,658.963824099,634,878,784.036175901,809.036175901,652,629,652,0.400969222157,0.00451426083195,0.0798365216945,0.999999948897,0.000148544215454,-0.000279450120021,4.5266455256e-05,1793248380618836992
+94,1.566666667,BASELINE,765,745,715,679.460261538,658.460261538,634,878,784,809,652,629,652,0.400968442617,0.00451418860799,0.0798350988358,0.999999948425,0.000148935137387,-0.000280923544204,4.52716938232e-05,1793248380635503616
+95,1.583333333,BASELINE,765,745,715.115349957,679,658,634,878,784.115349957,809.115349957,652,629,652,0.400967874827,0.00451416541171,0.0798340205532,0.999999948087,0.000149208889893,-0.00028198197027,4.52719100923e-05,1793248380652170240
+96,1.600000000,BASELINE,765,745,715.69075836,679,658,634,878,784.69075836,809.69075836,652,629,652,0.400968413114,0.00451446784892,0.0798348729024,0.999999948423,0.000148976932606,-0.000280914028494,4.52521473325e-05,1793248380668837120
+97,1.616666667,BASELINE,765,745,716,679.272736657,658,634,878,784.727263343,810,652,629,652,0.400968623342,0.00451497526235,0.0798353249747,0.999999948528,0.000149022897794,-0.000280521409824,4.51991349676e-05,1793248380685503744
+98,1.633333333,BASELINE,765,745,716,679.862348046,658,634,878,784.137651954,810,652,629,652,0.400968452418,0.0045157208241,0.0798353119914,0.999999948368,0.000149391762787,-0.00028091340459,4.51074920807e-05,1793248380702170624
+99,1.650000000,BASELINE,765.444798854,745,715.555201146,680,658,634,878,784,810,651.555201146,628.555201146,652,0.400968095661,0.00451518201673,0.0798353102335,0.999999948438,0.000148693350057,-0.000281008216834,4.52626055507e-05,1793248380718837248
+100,1.666666667,BASELINE,766,745.024745871,715.024745871,680,658.024745871,634,878,784,810,651.024745871,628,652,0.400967770932,0.00451430854357,0.0798353478024,0.99999994858,0.000147770432911,-0.000280954855127,4.54754546477e-05,1793248380735503616
+101,1.683333333,BASELINE,766,745.597541483,715.597541483,680,658.597541483,634,878,784,810,651.597541483,628,652,0.40096940904,0.00451468661972,0.0798361806281,0.999999948767,0.000149074479388,-0.000279624447454,4.53025402239e-05,1793248380752170240
+102,1.700000000,BASELINE,765.824715957,745.824715957,716,680,658.824715957,634,878,784,809.824715957,652,628.175284043,652,0.400970239114,0.00451471565559,0.0798365868708,0.999999948908,0.000149894326557,-0.00027869298217,4.52400893083e-05,1793248380768836864
+103,1.716666667,BASELINE,765.235285237,745.235285237,716,680,658.235285237,634,878,784,809.235285237,652,628.764714763,652,0.400969160033,0.00451392000787,0.0798359852182,0.999999948944,0.000149570147362,-0.00027870410524,4.54386324814e-05,1793248380785503488
+104,1.733333333,BASELINE,765,745,715.651925014,680,658,633.651925014,878,784,809.348074986,652,628.651925014,652,0.400968281987,0.00451327587028,0.0798353820572,0.999999948899,0.000147908927384,-0.000279746791486,4.54507115764e-05,1793248380802169856
+105,1.750000000,BASELINE,765,745,715.072597818,680,658,633.072597818,878,784,809.927402182,652,628.072597818,652,0.400967537502,0.00451273239209,0.0798347778939,0.999999948793,0.000145359411318,-0.000281474822197,4.53389086769e-05,1793248380818836480
+106,1.766666667,BASELINE,765,745,715,680,658,633.505132073,878,784,810,651.494867927,628.505132073,652,0.400968291325,0.00451374374992,0.0798353726907,0.999999948761,0.00014709026692,-0.000280697028451,4.52981976101e-05,1793248380835503360
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,784,809,651,629,652,0.40097002733,0.00451573797962,0.0798359711331,0.999999949294,0.000147416502857,-0.000278624546359,4.52544464938e-05,1793248380878326016
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,878.420434019,784,809.579565981,651,629,652,0.400968659102,0.00451451065435,0.0798353061053,0.999999948736,0.000148408716844,-0.000280085051836,4.53383494606e-05,1793248380894992640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.840858594,784.159141406,810,651,629,652,0.400967454572,0.00451386603748,0.0798345582839,0.999999948229,0.000149050295421,-0.000281552441847,4.53260434354e-05,1793248380911659008
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.261258088,784.738741912,810,651,629,652,0.400966682544,0.0045147609634,0.0798335917177,0.999999947864,0.000148765478924,-0.00028303802144,4.50595487354e-05,1793248380928325120
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.684089675,680,658,634,877.315910325,784.684089675,810,651.315910325,629,652,0.400966901264,0.0045147936855,0.0798340341734,0.999999948136,0.000148418780749,-0.000282257296406,4.5072260491e-05,1793248380944991488
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.108917273,680,658,634,877.891082727,784.108917273,810,651.891082727,629,652,0.400967933072,0.00451411881195,0.0798356329885,0.999999948925,0.00014802129738,-0.000279616654728,4.53141121153e-05,1793248380961658112
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.476013593,745,715,680,658,634,878,784.476013593,809.523986407,652,629,652,0.400968382918,0.00451446255899,0.0798360546615,0.99999994887,0.000148941891504,-0.00027929972695,4.54676834318e-05,1793248380978324992
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.937616467,745,715.062383533,680,658,634,878,784.937616467,809.062383533,651.937616467,629,652,0.400968696965,0.00451478926091,0.0798361113277,0.999999948664,0.000149794081633,-0.00027957296888,4.55317988499e-05,1793248380994991872
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.358212411,745,715.641787589,680,658,634,878,784.358212411,809.641787589,651.358212411,629,652,0.400969012239,0.00451300262192,0.0798354218772,0.999999948837,0.000147527524172,-0.000280238634919,4.50254370342e-05,1793248381011658496
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.22031161,745.22031161,715.77968839,679.77968839,658,634,878,784,810,651,629,652,0.400974700465,0.00451224079039,0.0798378539877,0.999999950142,0.000146514909321,-0.00027611909827,4.48111473345e-05,1793248381028325120
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.797410389,745.797410389,715.202589611,679.202589611,658,634,878,784,810,651,629,652,0.400989090007,0.00451313859991,0.0798453413603,0.999999953187,0.000147533012143,-0.0002642500883,4.5069858552e-05,1793248381044991744
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.626360119,715,679.373639881,658,634,878,784,810,651,628.626360119,652.373639881,0.401018406422,0.00451455894228,0.0798577828238,0.999999958507,0.000148994834305,-0.000242450732056,4.4765006186e-05,1793248381061658368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.050600813,715,679.949399187,658,634,878,784,810,651,628.050600813,652.949399187,0.401055797489,0.0045162619474,0.0798729041894,0.999999964498,0.000150696685186,-0.000215279582156,4.41552957099e-05,1793248381078324992
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.536987955,633.463012045,878,784,810,651.536987955,628.536987955,652.463012045,0.401119691397,0.00451570961397,0.0798930168075,0.999999972677,0.000148723773388,-0.000175034829186,4.34685385376e-05,1793248381094991616
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.877430636,745.122569364,715.122569364,679.877430636,659,633.122569364,878,784,810,651.877430636,629,652,0.401187775893,0.00451524760113,0.0799119198964,0.999999978664,0.000146628229998,-0.000139130778514,4.26057810614e-05,1793248381111657984
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.303440042,745.696559958,715.696559958,679.303440042,659,633.696559958,878,784,810,651.303440042,629,652,0.40126188927,0.00451591858559,0.0799245970758,0.999999980916,0.000145385092905,-0.000123852868863,4.1122158411e-05,1793248381128324864
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.726317075,715.726317075,679.273682925,658.726317075,634,878,784,810,651.273682925,629,652.273682925,0.401344845308,0.0045166864785,0.0799333101984,0.999999982728,0.000143796857131,-0.000111137698529,3.8916574022e-05,1793248381144991744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.145680985,715.145680985,679.854319015,658.145680985,634,878,784,810,651.854319015,629,652.854319015,0.401437718959,0.00451756306049,0.0799375773733,0.999999984168,0.000141821570879,-0.000101296807615,3.59012627743e-05,1793248381161658880
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.429352097,745,715.429352097,680,658.429352097,634,878.429352097,784,809.570647903,652,629,653,0.401542372916,0.00451792599491,0.0799397121788,0.999999985073,0.000138601898782,-9.79215791656e-05,3.24810162651e-05,1793248381178325504
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.997405235,745,716,680,659,634,878.997405235,784,809,652,629,652.997405235,0.401651107131,0.00451812422136,0.0799411477278,0.9999999858,0.000134966862385,-9.66783302234e-05,2.89215908188e-05,1793248381194992128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.404546475,745,716,680,659,634,878.404546475,784,809,652,629,652.404546475,0.401790470232,0.00451998984271,0.079945983047,0.999999987178,0.000131655303554,-8.77946838606e-05,2.45539946367e-05,1793248381211658240
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.816300462,680,658.816300462,634,878,784,809,651.816300462,628.816300462,652,0.401940968861,0.00451731683779,0.0799513447301,0.999999989161,0.000122999160796,-7.82150703033e-05,2.07824548806e-05,1793248381228324608
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.237963971,680,658.237963971,634,878,784,809,651.237963971,628.237963971,652,0.402115389638,0.00450489361953,0.0799578371861,0.999999992289,0.000102861387364,-6.71403296e-05,1.82914082504e-05,1793248381244991232
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.338180473,634,878,784,809.338180473,651.338180473,628,652,0.402305591369,0.0044913466089,0.0799615665204,0.999999994871,8.02075964624e-05,-6.00815016546e-05,1.46939818532e-05,1793248381261657856
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.912792452,634,878,784,809.912792452,651.912792452,628,652,0.402506826029,0.00447701392207,0.0799633640791,0.999999996832,5.57947847157e-05,-5.58303104422e-05,1.0323053899e-05,1793248381278324736
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.501025641,634,878,784,810,652,628.498974359,652,0.402715811136,0.0044883587294,0.07995650235,0.999999996026,5.67943715852e-05,-6.86890841572e-05,1.85466118134e-06,1793248381294991872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.914016626,658,634,878,784.085983374,810,652,629,652,0.402933566576,0.00450138483883,0.0799490140574,0.999999994777,5.91832621111e-05,-8.3030894992e-05,-7.07759580715e-06,1793248381311658752
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.334147192,658,634,878,784.665852808,810,652,629,652,0.403193733319,0.00449767890559,0.0799468261634,0.999999995053,4.34353203483e-05,-8.83068981052e-05,-1.44632130665e-05,1793248381328325120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.243609571,658.243609571,634,878,784.756390429,809.756390429,652,628.756390429,652,0.403476288623,0.00449823303154,0.0799455256499,0.999999994952,3.62797451971e-05,-9.11432835303e-05,-2.17435362286e-05,1793248381344991488
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.818493369,658.818493369,634,878,784.181506631,809.181506631,652,628.181506631,652,0.403789289157,0.00450458022982,0.0799454318472,0.99999999464,4.08085624784e-05,-9.06621370234e-05,-2.88806740174e-05,1793248381361658112
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.392467933,680,659,634,878,784,809.392467933,651.607532067,628.392467933,652,0.404139147481,0.00451509524017,0.0799496921608,0.999999992344,8.94898639133e-05,-8.22003847565e-05,-2.33906222246e-05,1793248381378324736
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.966022957,680,659,634,878,784,809.966022957,651.033977043,628.966022957,652,0.404506012205,0.00452753330418,0.0799559614901,0.999999984905,0.000158543389425,-7.00563321456e-05,-1.20743081069e-05,1793248381394991360
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.441991957,680,659,634,878,784,810,651.558008043,629,652,0.4049021989,0.0045318457395,0.079956248084,0.999999995723,6.25242336652e-05,-6.57862496185e-05,-1.78017014921e-05,1793248381411657984
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.147575968,680,659,634,878.147575968,784,809.852424032,651.852424032,628.852424032,652,0.405308340647,0.00453705548525,0.0799541462141,0.999999997526,-8.9110509646e-06,-6.55270897305e-05,-2.396064271e-05,1793248381428324608
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.726682162,680,659,634,878.726682162,784,809.273317838,651.273317838,628.273317838,652,0.405738193027,0.00454638525625,0.0799461617899,0.999999996507,2.19349397521e-05,-7.5546519828e-05,-2.824320677e-05,1793248381444991488
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.695526975,784,809.304473025,651.304473025,628,652,0.406193120069,0.00455642340402,0.0799392882455,0.999999993861,6.20375885788e-05,-8.71553463057e-05,-2.88760716567e-05,1793248381461658112
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.118911708,784,809.881088292,651.881088292,628,652,0.406670459244,0.00456709470992,0.0799334076202,0.999999988541,0.000110413971134,-0.000100184798498,-2.62467848989e-05,1793248381478324736
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.535049213,680,659,634,878.464950787,784,810,651.535049213,628.464950787,652.464950787,0.407176112809,0.00457504850207,0.0799308944924,0.999999986226,0.0001250145764,-0.00010533683017,-2.86822362116e-05,1793248381494991360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.05013775,715.05013775,680,659,634,878.94986225,784,810,651.05013775,629,652.94986225,0.407691507092,0.00458257725378,0.0799282633076,0.999999984881,0.000130365695861,-0.000110500254387,-3.21388012963e-05,1793248381511658496
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.629432084,715.629432084,680,659,634,878.370567916,784,810,651.629432084,629,652.370567916,0.408232069125,0.00459307140001,0.0799151526267,0.999999981493,0.000130708761635,-0.000137383419224,-3.24849963028e-05,1793248381528324864
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.791923624,715.791923624,680.208076376,658.791923624,634,878.208076376,784,810.208076376,651.791923624,629,652,0.408803801752,0.00460245143284,0.0799117863205,0.999999979562,0.000135899835052,-0.000145971680903,-3.31637422515e-05,1793248381544991488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.214433435,715.214433435,680.785566565,658.214433435,634,878.785566565,784,810.785566565,651.214433435,629,652,0.409430873874,0.00460985349481,0.0799257199443,0.999999980751,0.000149697945136,-0.000122079608289,-3.44328911721e-05,1793248381561658624
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.638520952,658.361479048,634,879,784,810.638520952,651.361479048,628.638520952,652,0.410104988844,0.00461598763017,0.0799553112745,0.999999983944,0.000160053320857,-7.2483346378e-05,-3.5241896703e-05,1793248381578325504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.063540336,658.936459664,634,879,784,810.063540336,651.936459664,628.063540336,652,0.410806888866,0.00462137288557,0.0799941505671,0.999999985155,0.000168375301977,-7.70533455976e-06,-3.57791260621e-05,1793248381594992384
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.523354421,680,659,634,879,784.523354421,810.523354421,651.476645579,628,652.523354421,0.411478445197,0.00461763395064,0.0799898520503,0.999999986987,0.000155326641552,-2.08579831075e-05,-3.82819844413e-05,1793248381611658752
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.11003247,716,680,659,634,878.88996753,784.88996753,811,651.11003247,628,653,0.412150501385,0.00461086486367,0.079974582236,0.999999988025,0.000140811962888,-4.95144545315e-05,-4.08728562009e-05,1793248381628325376
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.689471268,716,680,659,634,878.310528732,784.310528732,811,651.689471268,628,653,0.41284077221,0.00459600483085,0.0799353714868,0.99999998515,0.000131369767834,-0.000103007432827,-4.27973988325e-05,1793248381644991744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.732783782,716,680,659,634,878.267216218,784,811,652,628.267216218,653,0.413565571181,0.0045874995741,0.0799140448685,0.999999983652,0.000121575583743,-0.000126534751373,-4.36460261607e-05,1793248381661658368
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.156994759,716,680,659,634,878.843005241,784,811,652,628.843005241,653,0.414330242247,0.00458633260907,0.0799133702719,0.999999986197,0.000111374932985,-0.000115458684577,-4.32522210089e-05,1793248381678324736
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.582669028,680.417330972,659.834661943,633.582669028,879,784,810.582669028,651.582669028,629,652.582669028,0.415132754534,0.00458431815086,0.0799354359149,0.999999989313,0.000115357136566,-7.90777017605e-05,-4.25739774436e-05,1793248381694991360
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.008891882,680.991108118,660.982216236,633.008891882,879,784,810.008891882,651.008891882,629,652.008891882,0.415949452434,0.00458198599028,0.0799660262632,0.999999990806,0.000124656111791,-3.32105859515e-05,-4.17891055004e-05,1793248381711657984
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.582688758,715,681,660.417311242,633.582688758,879,784.582688758,810.582688758,651.582688758,629,652.582688758,0.416740840966,0.00458877385855,0.0799521430768,0.99999999061,0.000110834662703,-6.84183177519e-05,-4.25902226415e-05,1793248381728324864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.829652015,715.170347985,680.829652015,660,634,879,784.829652015,811,651.829652015,629,652.829652015,0.417562926031,0.00459443277441,0.079947654437,0.999999990236,0.000106738638925,-7.89849214596e-05,-4.35531148736e-05,1793248381744991744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.252038099,715.747961901,680.252038099,660,634,879,784.252038099,811,651.252038099,629,652.252038099,0.418459352431,0.00459704938537,0.0799672998624,0.999999990579,0.000126764149244,-2.75886782779e-05,-4.48430907519e-05,1793248381761659392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.6745324,680.3254676,660.3254676,633.6745324,879,784,811,651,629,652.3254676,0.419340320076,0.00459639676811,0.0799772471612,0.999999990696,0.000128218449991,-1.21692961171e-06,-4.65381443983e-05,1793248381778326016
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.097110501,680.902889499,660.902889499,633.097110501,879,784,811,651,629,652.902889499,0.420209320589,0.00459321334243,0.0799796868465,0.999999992158,0.000115296215797,5.7825996615e-06,-4.85467809877e-05,1793248381794991872
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.523011928,633.476988072,879,784,811.476988072,651,629.476988072,652.523011928,0.421082684102,0.00459181387963,0.0799661397529,0.999999992487,0.000110514860578,-1.90187796392e-05,-4.95121129608e-05,1793248381811658496
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.052105827,634,879.052105827,784,811.947894173,651,629.947894173,652.052105827,0.421963665839,0.00459127333278,0.0799535722653,0.999999991905,0.000108759743752,-4.30327099733e-05,-5.00904097483e-05,1793248381828324864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.644766938,634,879.644766938,784,811.355233062,651,629.355233062,652.644766938,0.422914528465,0.00459590151589,0.0799846992955,0.999999991417,0.000121324071744,7.82418245396e-06,-4.88418402778e-05,1793248381844991232
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.231194335,715,680.768805665,661,633.768805665,880,784,811.231194335,651,629,652.768805665,0.423840313184,0.00460046115944,0.0799995407554,0.999999990237,0.000129134223133,2.45441320104e-05,-4.74166142861e-05,1793248381861658112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.808295113,715,680.191704887,661,633.191704887,880,784,811.808295113,651,629,652.191704887,0.424728577186,0.00460491825673,0.079990016209,0.999999990478,0.000129831311753,-9.8106419352e-06,-4.57270797232e-05,1793248381878324736
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.614832996,745.614832996,715,680.385167004,660.614832996,633.385167004,880,784,812,651.385167004,629,652,0.425615825026,0.00460852189021,0.0799565513224,0.999999987506,0.00013570991144,-6.5976559033e-05,-4.70961068878e-05,1793248381894991104
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.038074993,745.038074993,715,680.961925007,660.038074993,633.961925007,880,784,812,651.961925007,629,652,0.426502567351,0.00461170099073,0.0799111779558,0.999999979515,0.000144165914381,-0.000132991842229,-4.99865335216e-05,1793248381911657728
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.548525008,745.548525008,715,681,660,634,880,784,812,651.451474992,629,652.548525008,0.427451467198,0.00461057019022,0.0799060650898,0.999999981529,0.00013497046868,-0.000126792946595,-5.1460398985e-05,1793248381928324352
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.865612416,715,681,659.865612416,633.865612416,880,784,812,651.134387584,629,652.865612416,0.428402847785,0.00460816600766,0.0799090015511,0.999999984074,0.000126512989772,-0.000114613207461,-5.20567100541e-05,1793248381944990976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.284513478,715,681,659.284513478,633.284513478,880,784,812,651.715486522,629,652.284513478,0.429347870562,0.00460254164547,0.0799292352157,0.999999986002,0.000124655749301,-9.97544618674e-05,-5.00688046157e-05,1793248381961657600
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.292933419,681,659.292933419,633,880,784,812.292933419,651.707066581,629,652,0.430312889888,0.00460069902604,0.0799634532757,0.999999989573,0.00012371630683,-5.59516912012e-05,-4.91730486858e-05,1793248381978324224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715.866876891,681,659.866876891,633,880,784,812.866876891,651.133123109,629,652,0.431297091785,0.00460248422018,0.0800110865183,0.999999991016,0.000123657304571,1.56169857584e-05,-4.93249880755e-05,1793248381994991104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.559154714,681,660,633,879.559154714,784,813,651,629,652.440845286,0.432209490258,0.00460928940294,0.0800180442773,0.999999990246,0.000128233848609,2.3820377465e-05,-4.99614832926e-05,1793248382011657728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,813,651,629.015381002,653,0.433099758222,0.00461748664861,0.0800110426324,0.999999989661,0.000134106040924,1.07475604802e-05,-5.07830378861e-05,1793248382028324352
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,813,651,629.611034131,653,0.433973173648,0.00462100876541,0.0799408174973,0.999999985887,0.000136045674728,-8.3081148743e-05,-5.3065685464e-05,1793248382044990976
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.200108497,715,681.200108497,660,633.200108497,879.200108497,784,813,651,629.799891503,653,0.43486122145,0.00462111420817,0.0799016681734,0.999999980737,0.000132889536812,-0.000133677721307,-5.47430192989e-05,1793248382061657600
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.776802354,715,681.776802354,660,633.776802354,879.776802354,784,813,651,629.223197646,653,0.43577680616,0.00461478979249,0.0799210005897,0.999999985959,0.00012014363815,-0.000102915498256,-5.52812107139e-05,1793248382078324224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.647596105,715,681.647596105,660,633.647596105,880,784,813,651,629.352403895,653,0.436684420588,0.00460972221357,0.0799513388768,0.99999998958,0.00011757866701,-6.45817227469e-05,-5.33332690673e-05,1793248382094991104
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.072684287,715,681.072684287,660,633.072684287,880,784,813,651,629.927315713,653,0.437587002522,0.00460544820214,0.0799886262727,0.999999991155,0.000121441937138,-2.14672685763e-05,-4.98155821884e-05,1793248382111657728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.512307618,745.512307618,715,681.512307618,660,633,880,784,813.512307618,651,630,653,0.438471933885,0.00460426692963,0.0800217530149,0.999999991484,0.00011373262794,3.7232321084e-05,-5.2056649333e-05,1793248382128324096
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902065159,745.902065159,715,681.902065159,660,633,880.097934841,784,814,651.097934841,630,653,0.439344543369,0.00460402577403,0.0800442870119,0.999999989699,0.000105890373063,8.00638704921e-05,-5.45763611095e-05,1793248382144990976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.320504643,745.320504643,715,681.320504643,660,633,880.679495357,784,814,651.679495357,630,653,0.440168918979,0.00460621681938,0.0800174850386,0.999999992383,0.0001056623032,3.33968426914e-05,-5.43564161926e-05,1793248382161657600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.257915663,633,881,784,813.742084337,652,630,653,0.440928248266,0.00460711194982,0.0799585135322,0.999999991064,0.000105293302894,-6.0897719516e-05,-5.54743583815e-05,1793248382178324224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.832480616,633,881,784,813.167519384,652,630,653,0.441607718551,0.00460641605407,0.0798600467152,0.999999969991,0.000104751277333,-0.000213665752212,-5.82348560862e-05,1793248382194990848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.407860764,681.407860764,661,633,880.592139236,784,813.407860764,652,630,653,0.442373218786,0.00460609195533,0.0798435517719,0.999999967218,0.00010065456239,-0.000228080048765,-5.84060683672e-05,1793248382211657472
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715.983576455,681.983576455,661,633,880.016423545,784,813.983576455,652,630,653,0.443174124668,0.00460592086942,0.0798607923106,0.999999976609,9.50949169676e-05,-0.000185554937541,-5.75116618284e-05,1793248382228324096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715.428495983,682,661,633,880,784,814,651.428495983,630,653,0.443957850892,0.00460653159331,0.0799305075341,0.999999989911,9.85852675876e-05,-8.50119051054e-05,-5.68438232862e-05,1793248382244990976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.842241009,633,880,784,813.842241009,651,630,653,0.444730543916,0.00460610042041,0.0799901651694,0.999999993433,9.97338747648e-05,-2.28654227253e-07,-5.64511475528e-05,1793248382261657600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.261432771,633,880,784,813.261432771,651,630,653,0.445475003112,0.00460281371522,0.080018720079,0.999999993269,9.38901799673e-05,3.77242714133e-05,-5.6778513155e-05,1793248382278324224
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.316270661,715,682,660,633,880.316270661,784,813.316270661,651,630,653,0.4461696055,0.0046004934828,0.0800261076339,0.999999993045,9.05658555947e-05,5.0438382922e-05,-5.62467430284e-05,1793248382294990848
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.891432542,715,682,660,633,880.891432542,784,813.891432542,651,630,653,0.446823396312,0.00459896438092,0.0800161681221,0.999999993596,8.93038250135e-05,4.24926327345e-05,-5.50117059959e-05,1793248382311657728
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.524499879,715,682,660,633,880.524499879,784,814,651,630,652.524499879,0.447403080562,0.00460380206294,0.079988634633,0.999999993668,9.72168530276e-05,8.36345436788e-06,-5.60696548276e-05,1793248382328324096
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.060890454,783.939109546,814,651,630,652.060890454,0.447960572855,0.00461008148244,0.079955674648,0.999999992051,0.000106522794332,-3.52427069195e-05,-5.75262467765e-05,1793248382344990720
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.639903867,783.360096133,814,651,630,652.639903867,0.448475955341,0.00461602318078,0.0799113744193,0.999999986537,0.000109515456435,-0.000107648837057,-5.78350456184e-05,1793248382361657344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682.219234231,659.780765769,633,881.219234231,783.219234231,814,651,630.219234231,652.780765769,0.448987577892,0.00462247406466,0.0798722199722,0.999999977691,0.000112656588818,-0.000168969571773,-5.81084530432e-05,1793248382378324224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682.799085892,659.200914108,633,881.799085892,783.799085892,814,651,630.799085892,652.200914108,0.449493015691,0.00462976250499,0.0798415298031,0.999999969082,0.000116041939643,-0.000212055981449,-5.83236455807e-05,1793248382394990848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.375132782,745,715,683,659,632.624867218,881.624867218,784,814,651.375132782,630.624867218,652,0.449999583268,0.00463371397158,0.0798440691812,0.999999969721,0.000121452827162,-0.000205949441202,-5.8244005438e-05,1793248382411657472
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.949162421,745,715,683,659,632.050837579,881.050837579,784,814,651.949162421,630.050837579,652,0.450506749903,0.0046358961624,0.0798642269916,0.999999975037,0.000127937662383,-0.00017376061182,-5.80080438702e-05,1793248382428324352
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,683,658.464364473,632,881,783.464364473,814,651.464364473,630,652.535635527,0.450975530318,0.00463940543094,0.079892001431,0.999999980226,0.000135294551181,-0.000133773245282,-5.78543511476e-05,1793248382444990976
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.877741345,745,715,683,658,632,881,783.122258655,814,651,630,652.877741345,0.45142210803,0.00464345637136,0.0799115244802,0.999999982225,0.000142949729255,-0.000108461764521,-5.78973870652e-05,1793248382461657600
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.295106137,745,715,683,658,632,881,783.704893863,814,651,630,652.295106137,0.451799124848,0.00464906145758,0.0798971892537,0.999999976839,0.000151409065967,-0.000141267162947,-5.86511217331e-05,1793248382478324224
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,683.283266995,657.716733005,632,881.283266995,784,814.283266995,651.283266995,630,652.283266995,0.452146937456,0.00465360826446,0.0798706939365,0.999999967472,0.000163277605978,-0.000187133223068,-5.81124329518e-05,1793248382494990848
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,683.857265699,657.142734301,632,881.857265699,784,814.857265699,651.857265699,630,652.857265699,0.452464776238,0.00465706890366,0.079831718084,0.999999952104,0.000178645188562,-0.000246404120066,-5.62472623299e-05,1793248382511657728
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.432820927,745,715,684,657,632,881.567179073,783.567179073,814.567179073,651.567179073,630,652.567179073,0.452764964073,0.00466338154162,0.0798062312376,0.999999940802,0.00018683990116,-0.000282954139635,-5.8509170729e-05,1793248382528324352
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,683.990870706,656.990870706,632,881,783,814.009129294,651.009129294,630,652.009129294,0.453059020777,0.00467078819982,0.079785501559,0.999999930977,0.000192597647238,-0.000311585363489,-6.21907528277e-05,1793248382544990976
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,683.399380674,656.399380674,632,881,783,814.600619326,651.600619326,630,652.600619326,0.453334626484,0.00468776996554,0.0797834465752,0.999999929176,0.000194337692523,-0.000314768469009,-6.93008530444e-05,1793248382561657600
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,683,656,632,881,783.187517366,815,651.812482634,630,653,0.453599959167,0.00469464874436,0.0797823271155,0.999999930901,0.000178867639564,-0.000317419466883,-7.38214110672e-05,1793248382578323968
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,683,656,632,881,783.764868936,815,651.235131064,630,653,0.45384393499,0.00468052418712,0.079783152539,0.999999938326,0.000127619113428,-0.000318964252913,-7.29585087194e-05,1793248382594990592
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.340181102,745,715,683,656,631.659818898,881,784,815,651.340181102,630,653,0.454060602798,0.00466105077006,0.079777814503,0.999999938216,0.000106781063343,-0.000328028967156,-6.7549804499e-05,1793248382611657472
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.914092102,745,715,683,656,631.085907898,881,784,815,651.914092102,630,653,0.45425850798,0.00463790228421,0.0797682417086,0.99999993398,0.000106837283216,-0.000342260435873,-5.90177938665e-05,1793248382628324352
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.498540686,745,715,683.501459314,656,631,881,783.498540686,815,652,630,653,0.454422853495,0.00464824387086,0.0797571589143,0.99999992535,0.000127085445939,-0.000359935959018,-5.99676345557e-05,1793248382644990976
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,684,655.910409252,631,881,783,815,652,630,653,0.454578601041,0.0046615826947,0.0797471055479,0.999999916566,0.000147071432244,-0.000375981779222,-6.22579000002e-05,1793248382661657600
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,684,655.331049532,631,881,783,815,652,630,653,0.45471964238,0.00465907704533,0.0797441329551,0.99999991522,0.000146192213961,-0.000379804023975,-6.27509385088e-05,1793248382678324224
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.753153811,745.246846189,714.753153811,684,655,631,881,783.246846189,815,652,630,653,0.454850999023,0.00465751883566,0.0797439750318,0.999999915149,0.000144748653012,-0.000380410366325,-6.3539598698e-05,1793248382694990848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.177209942,745.822790058,714.177209942,684,655,631,881,783.822790058,815,652,630,653,0.454969443927,0.00465722376176,0.0797475696527,0.999999916782,0.000142552705119,-0.000376729236853,-6.47223844867e-05,1793248382711657728
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.397233376,745.602766624,714.397233376,683.602766624,655,631,881,783.602766624,815,652,630,653,0.455068809913,0.00466016336709,0.0797493200231,0.999999916605,0.000145033426449,-0.000376125727715,-6.54616249157e-05,1793248382728324096
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.971009787,745.028990213,714.971009787,683.028990213,655,631,881,783.028990213,815,652,630,653,0.455159696624,0.00466454056586,0.0797502507504,0.99999991561,0.000149592607054,-0.00037689001016,-6.60037397733e-05,1793248382744990976
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,683,655,631,881,783.561938136,815,652,630,653,0.455227982106,0.00466144299622,0.079748427657,0.999999915262,0.000147879443784,-0.000378579626095,-6.54548892289e-05,1793248382761657600
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683.150196737,655,631,881,783.849803263,815,652,630,653,0.455290101803,0.00466037485642,0.0797459157096,0.99999991439,0.000147534054713,-0.000381054134385,-6.51955101963e-05,1793248382778324224
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,683.728250062,655,631,881,783.271749938,815,652,630,653,0.455338083436,0.00466622091488,0.0797418589092,0.999999911916,0.000152035771879,-0.000385624250052,-6.59261082827e-05,1793248382794991104
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714.119580087,683.119580087,654.119580087,631,881,783.880419913,815,651.119580087,630.880419913,653,0.455403222632,0.00466818052555,0.0797321602473,0.999999905172,0.000152550035519,-0.000402607353998,-6.55117520761e-05,1793248382828324352
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,714.465289321,683,654.465289321,631,881,783.534710679,814.534710679,651,630.534710679,653,0.45542466213,0.00466578492447,0.0797276089785,0.999999902643,0.000151554472184,-0.000409337860208,-6.47203945628e-05,1793248382844990976
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.051909923,715,683.051909923,654.948090077,631,881,783,814.051909923,651,630,653,0.45544412649,0.00466351438271,0.0797236902252,0.99999990061,0.000150875092138,-0.00041463676055,-6.39792493761e-05,1793248382861657600
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714.7299602,683.7299602,654,631,881,783,814.2700398,651,630,653,0.455487512168,0.0046686017437,0.0797172306984,0.999999895483,0.000153561649254,-0.000426093674588,-6.24337315448e-05,1793248383011657472
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.154290723,683.154290723,654,631,881,783,814.845709277,651,630,653,0.455485778766,0.00466987122094,0.0797155269625,0.999999893792,0.000154799588864,-0.000429650703246,-6.20804960798e-05,1793248383028324096
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714.420342772,683,654,631,881,783,814.579657228,651,630,653,0.455485268417,0.00466800941094,0.0797143540905,0.999999893491,0.000152719200005,-0.000431142503892,-6.17324419571e-05,1793248383044990720
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714.9945969,683,654,631,881,783,814.0054031,651,630,653,0.455485205898,0.00466500105882,0.079713375598,0.999999893693,0.0001494237826,-0.000431878107079,-6.13862850388e-05,1793248383061657344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.413821718,745,715,683.586178282,654,631,881,783,814.586178282,651.586178282,630,653,0.455483754694,0.00466770325,0.0797114784319,0.999999892116,0.00015220484649,-0.000434482328236,-6.18602457331e-05,1793248383078323968
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.174112307,745,715,684,654,631,881,783,815,652,629.825887693,653,0.455483333533,0.00466943442058,0.0797104137557,0.999999891248,0.000153579132318,-0.000435962634511,-6.20885625758e-05,1793248383094990592
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.753180378,745,715,684,654,631,881,783,815,652,629.246819622,653,0.455485338757,0.00466878100766,0.0797113056055,0.999999892091,0.000151547252481,-0.00043478762448,-6.17274358402e-05,1793248383111657216
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.671039025,684,654,631,881,783,814.671039025,652,629.328960975,653,0.455485347884,0.00466733413204,0.0797111669181,0.999999892081,0.000149425095004,-0.000435579044044,-6.14968902268e-05,1793248383128324096
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.097700643,684,654,631,881,783,814.097700643,652,629.902299357,653,0.455483874158,0.00466529781157,0.0797102626687,0.99999989143,0.000147235872472,-0.000437831278176,-6.13633502884e-05,1793248383144990976
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.478626645,683.521373355,654,631,881,783,814.478626645,652,630,653,0.455483259581,0.00466546401407,0.0797093041446,0.999999890939,0.000148747730731,-0.000438446607295,-6.13280809662e-05,1793248383161657344
+245,4.083333333,HOLD_POSE2,766,745,714,684,654,631,881,783,815,652,630,653,0.455486182425,0.00466787269725,0.0797099113448,0.999999891484,0.000152604246722,-0.000435979713479,-6.05474699908e-05,1793248383204881152
+246,4.100000000,HOLD_POSE2,765.424259589,745,714.575740411,683.424259589,654,631,881,783.575740411,815,652,630,653,0.455485071859,0.00466728729041,0.0797090069036,0.999999890562,0.00015226933263,-0.000438183805495,-6.07106097977e-05,1793248383221547776
+247,4.116666667,HOLD_POSE2,765,745,715,683.149995396,654,631,881,783.850004604,815,651.850004604,630,652.850004604,0.455484386546,0.00466705763808,0.0797084222027,0.999999889955,0.000151723450247,-0.000439730222228,-6.08841472645e-05,1793248383238214400
+248,4.133333333,HOLD_POSE2,765,745,715,683.720090205,654,631,881,783.279909795,815,651.279909795,630,652.279909795,0.455484892261,0.00466782436461,0.0797087330139,0.999999890245,0.000150586698621,-0.000439434656268,-6.10868060023e-05,1793248383254881280
+249,4.150000000,HOLD_POSE2,765.303271379,745,715,684,654,631,881.303271379,783,814.696728621,651,630,652.303271379,0.455484308452,0.00466735281208,0.0797079629114,0.999999889851,0.00014999831241,-0.000440556706308,-6.09020152138e-05,1793248383271547648
+250,4.166666667,HOLD_POSE2,765.899075507,745,715,684,654,631,881.899075507,783,814.100924493,651,630,652.899075507,0.455482673697,0.00466568682705,0.0797061501695,0.999999888794,0.000149938874438,-0.000443046175553,-6.0343494208e-05,1793248383288214272
+251,4.183333333,HOLD_POSE2,766,745,715,684,654,631,881.518788582,783,814.481211418,651.481211418,630,653,0.455482007468,0.00466732016746,0.0797056331633,0.99999988837,0.000150659466756,-0.000443701081447,-6.07613503823e-05,1793248383304880896
+252,4.200000000,HOLD_POSE2,766,745,714.939789348,684,654,631,881,783,814.939789348,651.939789348,630,653,0.455481778314,0.00466910096526,0.0797054676866,0.99999988822,0.000151131565701,-0.00044380806422,-6.12619207235e-05,1793248383321547520
+253,4.216666667,HOLD_POSE2,766,745,714.363781643,684,654,631,881,783,814.363781643,651.363781643,630,653,0.455483601327,0.00466638091393,0.0797060499018,0.999999889315,0.000148112192814,-0.000442426293935,-6.0765296754e-05,1793248383338214144
+254,4.233333333,HOLD_POSE2,766,745,714,684,654,631,881,783,814.211233274,651.211233274,630,653,0.455484693087,0.00466598024197,0.0797063921185,0.999999889799,0.000147502517281,-0.000441548846083,-6.06576053156e-05,1793248383354880768
+255,4.250000000,HOLD_POSE2,766,745,714,684,654,631,881,783,814.784546373,651.784546373,630,653,0.455484531388,0.00466955527194,0.0797063229485,0.999999889245,0.000151023359843,-0.000441535869083,-6.12165921461e-05,1793248383371547648
+256,4.266666667,HOLD_POSE2,766,745,714.36963245,684,654.36963245,631,881,783,814.63036755,652,630,653,0.455484477552,0.00467072766006,0.0797061826902,0.999999889094,0.000151525350084,-0.000441673791167,-6.14537144031e-05,1793248383388214528
+257,4.283333333,HOLD_POSE2,766,745,714.961806648,684,654.961806648,631,881,783,814.038193352,652,630,653,0.455484488657,0.00467045350854,0.0797059996324,0.999999889189,0.000150209803622,-0.000441902563896,-6.14970542021e-05,1793248383404881152
+258,4.300000000,HOLD_POSE2,765.45898767,745,715,684,653.917975339,631,881,783,814.54101233,652,630,653,0.455484124395,0.0046688947076,0.0797060525324,0.999999888685,0.000150368518138,-0.00044304333962,-6.10895129359e-05,1793248383421547776
+259,4.316666667,HOLD_POSE2,765,745.118358372,715,684,653.118358372,631,881,783,815,652,630,653,0.45548365124,0.00466740555462,0.0797059557615,0.999999888175,0.000150556251376,-0.000444186135879,-6.06787631661e-05,1793248383438214144
+260,4.333333333,HOLD_POSE2,765,745.691990542,715,684,653.691990542,631,881,783,815,652,630,653,0.45548285876,0.00466652499064,0.0797052206955,0.999999887803,0.000150464639372,-0.000445094845223,-6.03752433148e-05,1793248383454880768
+261,4.350000000,HOLD_POSE2,765.272857872,745.727142128,714.727142128,683.727142128,654,631,881,783,815,652,630,653,0.455482212679,0.004666166466,0.079704474604,0.999999887402,0.000150369917052,-0.000446048055354,-6.02110604003e-05,1793248383471547648
+262,4.366666667,HOLD_POSE2,765.86211488,745.13788512,714.13788512,683.13788512,654,631,881,783,815,652,630,653,0.455481736357,0.00466641328511,0.0797037157276,0.999999886969,0.000150271588096,-0.000447052867425,-6.02084491157e-05,1793248383488214272
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,654,631,881,783,814,651,630,653,0.455480750894,0.0046687221118,0.0797032421272,0.999999886577,0.000149063712438,-0.000448190236769,-6.1247684727e-05,1793248383520914176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.577167488,714,683,654,630.422832512,880.422832512,783.577167488,814.577167488,651,630,652.422832512,0.455481469093,0.0046684394316,0.079703545188,0.999999886743,0.000149906747074,-0.000447603710256,-6.07727895247e-05,1793248383537580544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,683,653.846817361,630.153182639,880.153182639,783.846817361,814.846817361,651,630,652.153182639,0.455482280671,0.00466816142379,0.0797037407604,0.999999886989,0.000150215322991,-0.000446990672266,-6.04681291889e-05,1793248383554247424
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,653.273959147,630.726040853,880.726040853,783.273959147,814.273959147,651,630,652.726040853,0.455483348079,0.00466789621689,0.0797036418459,0.999999887459,0.000149059638697,-0.000446305000458,-6.06298624326e-05,1793248383570914816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.691217901,714.308782099,683.308782099,653.308782099,631,881,783,814,651.308782099,630,653,0.45548317983,0.00466809776496,0.0797034235562,0.999999887379,0.000148992265748,-0.000446504156665,-6.06461960503e-05,1793248383587581440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.099418291,714.900581709,683.900581709,653.900581709,631,881,783,814,651.900581709,630,653,0.455481879027,0.00466872712227,0.0797030958517,0.999999886795,0.000149922396184,-0.000447514311425,-6.0529262088e-05,1793248383604247808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,653.518064759,631,881,783,814,652,630,653,0.455482757967,0.00466797438548,0.0797035044077,0.999999887413,0.000150122885696,-0.00044608106484,-6.04122865443e-05,1793248383620914688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.060628919,715,683.939371081,653.060628919,631,881,783,814,652,630,653,0.455483809766,0.00466703802113,0.0797039712136,0.999999888149,0.000149927278584,-0.000444507126007,-6.03100601371e-05,1793248383637581568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.634659729,715,683.365340271,653.634659729,631,881,783,814,652,630,653,0.455482598415,0.00466690979835,0.0797036724252,0.999999887861,0.000147625081586,-0.000445919513231,-6.03327995845e-05,1793248383654248192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.791632558,714.791632558,683,653.791632558,631,881,783,814.208367442,652,630,653,0.455479203803,0.00466733160397,0.0797020937935,0.999999886817,0.000146976769439,-0.000448457797503,-6.04109421208e-05,1793248383670914816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.218490529,714.218490529,683,653.218490529,631,881,783,814.781509471,652,630,653,0.455471987106,0.00466871630659,0.0796982746279,0.999999884441,0.000149223800274,-0.000452967112342,-6.05860750406e-05,1793248383687581696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.36803489,714,683,653.36803489,631,881,783,814.63196511,652,630,653,0.455445788805,0.00466856670459,0.0796864860226,0.999999875804,0.000149013994054,-0.000471740496883,-6.03940449776e-05,1793248383704247808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.962805486,714,683,653.962805486,631,881,783,814.037194514,652,630,653,0.455407896484,0.00466747186181,0.0796697876743,0.999999862703,0.000147290601341,-0.000499301564495,-5.99758163458e-05,1793248383720914176
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.459220966,745.459220966,714,683,654,631,881.540779034,783,814,651.459220966,630,652.459220966,0.455344146665,0.00466848045845,0.0796489649347,0.999999843856,0.000151006461243,-0.000534774202505,-5.91776507174e-05,1793248383737580800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.117173036,683,654,631,881.882826964,783,814.117173036,651,630,652,0.455276757631,0.00466908698012,0.0796294911425,0.999999825972,0.000154136289082,-0.000566485257663,-5.82447866838e-05,1793248383754247680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.69177511,683,654,631,881.30822489,783,814.69177511,651,630,652,0.455201895284,0.00466757607797,0.0796163575338,0.999999817549,0.000153561843466,-0.000581451257213,-5.68850191335e-05,1793248383770914304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.733251767,683,654,631,881.266748233,783,814.733251767,651.266748233,630,652.266748233,0.455122200454,0.00466634872111,0.0796094037164,0.999999812337,0.000154139307133,-0.000590363813203,-5.51125124206e-05,1793248383787580672
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.157849338,683,654,631,881.842150662,783,814.157849338,651.842150662,630,652.842150662,0.455036913965,0.00466544945438,0.0796096005322,0.999999811034,0.000156049644293,-0.000592271933071,-5.28624256017e-05,1793248383804247296
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.428341659,745,714,683,654,631,881.571658341,783,814,651.571658341,630,653,0.454936434536,0.00466701739546,0.0796115970679,0.999999811472,0.00015943994616,-0.000590828773644,-5.05495936352e-05,1793248383820913920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.01821063,654,631,880.98178937,783,814.01821063,651,630,653,0.45482906352,0.00466932194714,0.0796141210974,0.999999812446,0.000163255461551,-0.000588332942019,-4.81753623843e-05,1793248383837580288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.595779067,654,631,880.404220933,783,814.595779067,651,630,653,0.454686426287,0.00466560375979,0.0796119498185,0.999999810248,0.000162946934619,-0.000592417272975,-4.46437667166e-05,1793248383854246912
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.827189702,745,714,683.827189702,654.172810298,631,880.172810298,783,814.827189702,651,630,653,0.454534050944,0.00466257258872,0.0796079345229,0.999999806694,0.000164337904331,-0.000598280734452,-4.08165476903e-05,1793248383870914048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.251411242,745,714,683.251411242,654.748588758,631,880.748588758,783,814.251411242,651,630,653,0.454358967785,0.00466114343897,0.0795996192521,0.999999799933,0.000169691849961,-0.000608292865686,-3.62999790228e-05,1793248383887580672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.331575979,745,714.331575979,683.331575979,654.668424021,631,881,783.331575979,814,651.331575979,630,653,0.454167724484,0.00465999328971,0.07959186316,0.999999792593,0.000174087547578,-0.00061927652479,-3.16931122912e-05,1793248383904247296
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.920150643,745,714.920150643,683.920150643,654.079849357,631,881,783.920150643,814,651.920150643,630,653,0.453963955725,0.00465905938865,0.0795845404766,0.99999978475,0.000177740524647,-0.000631013199023,-2.70162566424e-05,1793248383920913920
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.49710288,745,714.49710288,684,654,631,881,783.49710288,814,651.49710288,630,652.49710288,0.453732346006,0.00465817695796,0.079585505983,0.999999783569,0.000183597862138,-0.000631442643084,-2.08187283336e-05,1793248383937580288
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.65820075,683.34179925,654.65820075,631,881,783,814,651,630,652.65820075,0.453211380282,0.00465234020704,0.0795914859634,0.999999785833,0.000193520153033,-0.000625161212739,-7.52192332063e-06,1793248383970913792
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.766725324,683,655,631.233274676,881,783,814,651.233274676,630,653,0.452919483279,0.00464920296795,0.0795949251146,0.999999787258,0.000199910720806,-0.000620902960734,-1.75954230818e-07,1793248383987580416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.190859383,683,655,631.809140617,881,783,814,651.809140617,630,653,0.452608288257,0.00464798303032,0.0795982314147,0.999999787643,0.000209761075432,-0.000616969874916,7.96207025193e-06,1793248384004246784
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.987676515,745,714.987676515,683,655.987676515,632,881,783.987676515,814,652,630,652.012323485,0.4519372067,0.00464239078375,0.079608956335,0.999999797028,0.00021624010612,-0.000598991317661,1.9854598814e-05,1793248384037580288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.436009651,745,715,683,656,631.436009651,881,784,813.436009651,651.436009651,630,652.563990349,0.451551950963,0.0046410372027,0.0796163172028,0.99999980466,0.000206346868409,-0.000589619514965,2.12181073397e-05,1793248384054246912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.140055208,745,714.859944792,683.140055208,656.140055208,631.140055208,880.859944792,783.859944792,813,651,630,653,0.451157919377,0.00463833095375,0.0796262056045,0.999999817633,0.000188833713098,-0.000573291618283,2.03323459452e-05,1793248384070913792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.716378667,745,714.283621333,683.716378667,656.716378667,631.716378667,880.283621333,783.283621333,813,651,630,653,0.450739523673,0.00463129490568,0.0796438619004,0.999999845664,0.00014836753269,-0.000535254493211,1.27148506962e-05,1793248384087580672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.702268994,745,714.297731006,683.702268994,657,632,880,783.297731006,813,651,630,653,0.450309488728,0.00462542181442,0.079664777059,0.999999868962,0.000126823039402,-0.000495832351466,1.19250310181e-05,1793248384104247296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.116043724,745,714.883956276,683.116043724,657,632,880,783.883956276,813,651,630,653,0.449868175584,0.00462067559984,0.0796888499802,0.999999888659,0.000123613206357,-0.000455068157555,1.77510657212e-05,1793248384120913664
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,657.467213305,632,880.467213305,784,813,651,630,653,0.449355359373,0.00461608569913,0.0796937197222,0.999999890496,0.000118854489367,-0.000452064499036,2.27770410594e-05,1793248384137580544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.950984835,683,658,632.049015165,880.950984835,784,813,651,630,653,0.448819573948,0.0046112800253,0.0796919451552,0.99999988627,0.000120087896689,-0.000460765112798,2.70909047462e-05,1793248384154247168
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.376922889,683,658,632.623077111,880.376922889,784,813,651,630,653,0.448226781274,0.0046037497448,0.0796697660286,0.999999859172,0.000189603380238,-0.000495010861892,2.589185755e-05,1793248384170913792
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.197926451,633,880,784,812.802073549,651,629.802073549,652.802073549,0.447635495476,0.00459610043774,0.0796614053346,0.999999846544,0.000225630119685,-0.000505297091633,2.60455119708e-05,1793248384187580672
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.774281225,633,880,784,812.225718775,651,629.225718775,652.225718775,0.447047090807,0.00458822355658,0.0796794649932,0.999999869714,0.000197627570551,-0.00046977357571,2.87854839866e-05,1793248384204247296
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.359694109,683,659,633,880,784,812,651,629.359694109,652,0.446464184544,0.00458126058605,0.0797240425219,0.99999990475,0.000167426384067,-0.000401889775869,3.08590452497e-05,1793248384220913920
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.950938047,683,659,633,880,784,812,651,629.950938047,652,0.445884817853,0.00457488593752,0.0797856906889,0.999999941211,0.000135809844722,-0.000313174334931,3.2503610323e-05,1793248384237580544
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.530580429,659,633,880.530580429,784,812,651,630,652,0.445227744881,0.00456996790295,0.0798245001009,0.999999958139,0.000121282482621,-0.000260310772409,3.53661238501e-05,1793248384254247168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.891862053,659,633,880.891862053,784,812,651,630,652,0.444547043875,0.00456470852098,0.0798513691649,0.999999967249,0.00011317603502,-0.000226318036063,3.83722304688e-05,1793248384270913792
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.318755144,659,633,880.318755144,784,812,651,630,652,0.443794982229,0.00455741467489,0.0798357836356,0.999999957522,0.000126028927279,-0.000259516179507,4.15218679724e-05,1793248384287580416
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.745467804,715,683,659,633,879.745467804,784,812,651,630,652.254532196,0.443025863347,0.00455020259277,0.0798164565584,0.9999999489,0.000128060737285,-0.00028972731899,4.31210438609e-05,1793248384304247040
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.171954266,715,683,659,633,879.171954266,784,812,651,630,652.828045734,0.442235368129,0.00454309297675,0.0797924405478,0.999999942306,0.00011653150113,-0.000316195131072,4.2777172006e-05,1793248384320913664
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.414648449,715,683,659,633,879.414648449,784,811.585351551,651,630,652.585351551,0.441437548523,0.00453617001786,0.0797760707793,0.999999938299,9.84077466247e-05,-0.000334468644342,4.3003181177e-05,1793248384337580288
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.993292912,683.006707088,659,633,880.006707088,784,811.006707088,651,630,652,0.440635531366,0.00452932312874,0.0797624582646,0.999999934698,7.79058911734e-05,-0.000350203080911,4.3494293987e-05,1793248384354247168
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.41395899,683.58604101,659,633,880.58604101,784,811.58604101,651,630,652,0.439742914672,0.00452214666353,0.0797047067325,0.999999893711,9.54630077731e-05,-0.000448740430384,4.57843959851e-05,1793248384370913792
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.164088129,683.835911871,659,633,880.835911871,784,811.835911871,651.164088129,629.835911871,652,0.438874108807,0.00451415474088,0.0796737453261,0.999999867819,0.000100054057077,-0.000502088498642,4.75200742036e-05,1793248384387580416
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.738914149,683.261085851,659,633,880.261085851,784,811.261085851,651.738914149,629.261085851,652,0.43806490517,0.00450412160292,0.0797098437393,0.999999898425,7.21890411969e-05,-0.000442320829892,4.78679449224e-05,1793248384404247296
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.32074804,659,633.32074804,879.67925196,784,811,651.67925196,629.32074804,652.32074804,0.437259962485,0.00449519314516,0.0797663169647,0.999999934057,6.47704841229e-05,-0.000353913339668,4.93478282457e-05,1793248384420913920
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.908413655,659,633.908413655,879.091586345,784,811,651.091586345,629.908413655,652.908413655,0.436458565687,0.00448718397196,0.0798397455391,0.999999966692,7.436690098e-05,-0.000241672588921,5.17697405275e-05,1793248384437580544
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.508948001,659,634,879,784,811,651,630,653,0.435578162988,0.00447748126613,0.0798560265012,0.999999972289,5.83911712017e-05,-0.000221826755402,5.29673948869e-05,1793248384454247168
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.927984676,659,633.927984676,879.072015324,784,811,651,630,652.927984676,0.434679471715,0.00446740404272,0.0798570667715,0.999999972516,4.03729148097e-05,-0.00022453833923,5.40389777934e-05,1793248384470913792
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.352245836,659,633.352245836,879.647754164,784,811,651,630,652.352245836,0.433754883293,0.00445689415534,0.0798253014866,0.999999962296,4.1090684409e-05,-0.000265716645022,5.58096877702e-05,1793248384487580672
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.222303641,659,633,880,784,811,651,629.777696359,652.222303641,0.432790076229,0.00444762229895,0.0797810215575,0.999999940059,3.57640359701e-05,-0.00033964783713,5.69389367591e-05,1793248384504247040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.79497866,659,633,880,784,811,651,629.20502134,652.79497866,0.431761880673,0.00444030169381,0.0797170173713,0.999999889948,2.09108178599e-05,-0.000465200651919,5.70571828654e-05,1793248384520913664
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.620885351,784,811.379114649,651,629.379114649,652.620885351,0.430822531621,0.00443024601986,0.0797090882848,0.999999882772,1.26259208527e-05,-0.000480556483822,5.79783955913e-05,1793248384537580544
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.03035821,784,811.96964179,651,629.96964179,652.03035821,0.429932727699,0.00441866514094,0.0797324293645,0.999999903829,8.00383536004e-06,-0.000434461192936,5.93473812134e-05,1793248384554247168
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.449927422,659.550072578,633,879.550072578,784,811.449927422,651,630,652,0.429072378188,0.00441011678224,0.0798021808893,0.999999946658,-1.88461973773e-06,-0.000320939726147,6.06521980925e-05,1793248384570913792
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.128823474,745,715,682,659.871176526,633.128823474,879.871176526,784,811,651,629.871176526,652,0.428196032879,0.00440186113504,0.0798551372011,0.999999970446,-1.03142450175e-05,-0.000234885253578,6.18943186081e-05,1793248384587580416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.703652686,745,715,682,659.296347314,633.703652686,879.296347314,784,811,651,629.296347314,652,0.427258781283,0.0043940499062,0.0798412380234,0.999999965023,-1.27050577066e-05,-0.000256576739938,6.29314175292e-05,1793248384604247296
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.715909643,745,715,682.284090357,658.715909643,633.715909643,879.284090357,784,811,651,629,652,0.42630273565,0.00439374398765,0.079812544144,0.999999952845,-1.30917613224e-05,-0.000300308749503,6.28702101533e-05,1793248384620913664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.129503751,745,715,682.870496249,658.129503751,633.129503751,879.870496249,784,811,651,629,652,0.425326690352,0.00440142486622,0.0797681064428,0.999999930509,-1.13457865607e-05,-0.000367495240241,6.16402368555e-05,1793248384637580288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.54810117,658,633,879.54810117,784,811,651,629.45189883,652,0.424347764651,0.00443321665928,0.079741127499,0.999999913146,3.26964521667e-05,-0.000411050572055,6.06295757136e-05,1793248384654247168
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,879,784,811,651,629.968284199,652,0.423374557511,0.0044704444562,0.0797216978834,0.999999896325,8.61311036915e-05,-0.00044316517477,5.94668553235e-05,1793248384670913792
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,879,784,811,651,629.391347093,652,0.422513693445,0.00448364005025,0.0797469789348,0.999999916483,9.49385090338e-05,-0.000393747990819,5.46215035424e-05,1793248384687580416
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.814985345,715,681.814985345,658.185014655,633,879,784,810.814985345,651,629,652,0.421671499734,0.0044907936438,0.0797854399646,0.999999941476,9.73798013144e-05,-0.000323914615277,5.14167967229e-05,1793248384704247296
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.239836727,715,681.239836727,658.760163273,633,879,784,810.239836727,651,629,652,0.420868675395,0.00448520668365,0.0798516931609,0.999999972666,8.63970937749e-05,-0.000211030316546,5.16716597325e-05,1793248384720913920
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.345322642,715,681,658.654677358,633,878.654677358,784,810.345322642,651,629,652,0.41999985492,0.0044789563476,0.0798664120884,0.999999977765,8.06036882566e-05,-0.00018775587253,5.21538315117e-05,1793248384737580544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.937642312,715,681,658.062357688,633,878.062357688,784,810.937642312,651,629,652,0.4190838298,0.00447223152266,0.0798442703788,0.9999999694,7.85220073618e-05,-0.000228576184388,5.27985894384e-05,1793248384754247424
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.516001264,633,878.516001264,784,811,651,629,652,0.418192265447,0.00446927047946,0.0798102825806,0.99999995491,7.32577896489e-05,-0.000286613173705,5.16384930087e-05,1793248384770914560
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.907274496,659,633.092725504,878.907274496,784,811,651,629,652,0.417313147598,0.00446845345746,0.0797830299907,0.999999939834,7.0235688276e-05,-0.000335889345018,5.07708512392e-05,1793248384787581952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.330508669,659,633.669491331,878.330508669,784,811,651,629,652,0.416483977864,0.0044765167217,0.0797982123131,0.999999941276,8.08725488198e-05,-0.000328857885818,5.25384522794e-05,1793248384804248576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.749270506,633.749270506,878.250729494,784,810.749270506,651,629,651.749270506,0.415668331664,0.00448284228822,0.0797980824328,0.999999937335,9.35997865941e-05,-0.000337135852887,5.39317746296e-05,1793248384820915200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.162029944,633.162029944,878.837970056,784,810.162029944,651,629,651.162029944,0.414870835843,0.00448683564137,0.0797774016156,0.999999925579,0.000109132577221,-0.000365961029634,5.48227669046e-05,1793248384837581824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878.580540795,784,810,651,629,651.419459205,0.414113609834,0.00448342447635,0.0797815208203,0.99999993387,9.43225771621e-05,-0.000347281714959,5.25262715154e-05,1793248384854248448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878.001243219,784,810,651,629,651.998756781,0.4133717289,0.00447719175929,0.0797950902751,0.999999948285,6.79502090029e-05,-0.000310500426088,4.90151578042e-05,1793248384870915072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.575055145,658,633,878,784,810,651,629,652,0.412651467742,0.00447295434599,0.0798052150147,0.999999951261,6.9600125918e-05,-0.000300045941107,5.10520906623e-05,1793248384887581184
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.151256005,745,715,680.848743995,658,633,878,784,810,651,629,652,0.411930136769,0.00447135512081,0.0798078739376,0.999999950186,7.54502097924e-05,-0.000301910423449,5.27812096424e-05,1793248384904247552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.727201343,745,715,680.272798657,658,633,878,784,810,651,629,652,0.4112056713,0.00447715122345,0.0797895915036,0.999999937054,9.29241047147e-05,-0.000338204529149,5.36125615187e-05,1793248384920914176
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633,878,784,810,651,629,652,0.410531674339,0.00448342862022,0.0797833817467,0.999999931823,0.000102787390352,-0.00035054384555,5.39286535672e-05,1793248384937580800
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633,878,784,810,651,629,652,0.40990309352,0.00449013912834,0.0797880360705,0.999999934705,0.000105801964918,-0.000341326488143,5.37810685257e-05,1793248384954247424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.480026499,878,784,810,651,629,652,0.40930353651,0.00448930945935,0.0798136771799,0.999999949006,0.000105546716395,-0.000296537354,5.39684416913e-05,1793248384970914816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.941159184,745,715,680,658,633.941159184,878,784,810,651,628.941159184,652.058840816,0.408711062665,0.00448687823283,0.0798397834601,0.999999961493,0.000103573860881,-0.000251686138411,5.42355156713e-05,1793248384987581696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.366980352,745,715,680,658,633.366980352,878,784,810,651,628.366980352,652.633019648,0.408128031518,0.00448408353368,0.0798319344974,0.999999957581,9.24830209205e-05,-0.000270749359587,5.45936602519e-05,1793248385004248320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,809.791902356,651,628.208097644,652.791902356,0.407549631893,0.00448212446252,0.0798130201786,0.999999947363,9.13734917004e-05,-0.000306525844717,5.44625116679e-05,1793248385020915200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,809.215231865,651,628.784768135,652.215231865,0.406979435464,0.00448164541698,0.0797745074174,0.999999923589,0.000107942395826,-0.000371904081271,5.34647496667e-05,1793248385037581824
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.370055757,878,784,809,651,629,652,0.406481488811,0.00448385499981,0.0797639510726,0.999999918503,0.000109436733988,-0.00038501999729,5.27032708571e-05,1793248385054247936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.960474822,878,784,809,651,629,652,0.406026565888,0.00448766562522,0.0797700424002,0.999999926097,0.000101954369319,-0.000367014399733,5.2082495549e-05,1793248385070914048
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.540584334,745,715,680.540584334,658,634,878,784,809,651,629,652,0.405602049983,0.00449003784625,0.0797920183852,0.99999994007,0.000105921390078,-0.000325559976385,5.14837000295e-05,1793248385087580928
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.881106542,745,715,680.881106542,658,633.881106542,878,784,809,651,629,652,0.405186288145,0.00449237461247,0.0798125837241,0.999999950648,0.000111439463263,-0.000289279539869,5.10250941808e-05,1793248385104247552
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.306859681,745,715,680.306859681,658,633.306859681,878,784,809,651,629,652,0.404795698169,0.00449497084515,0.0798233814963,0.999999952532,0.000119751813191,-0.000279258528279,5.10973650784e-05,1793248385120914432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.273604151,878,784,809.273604151,651,629,652,0.404420671885,0.00449612283598,0.0798303486975,0.999999952936,0.000123588600389,-0.000275890522501,5.2327893753e-05,1793248385137581312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.861202686,878,784,809.861202686,651,629,652,0.404063506872,0.00449561738169,0.0798329198473,0.999999951772,0.000122289128922,-0.000280157659036,5.4887665553e-05,1793248385154247936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.440049976,745,715,680,658,634,878,784,810,651,629,652,0.40372900573,0.00449540717657,0.0798315886433,0.999999949793,0.000119898891242,-0.000288058687761,5.53224428304e-05,1793248385170914560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.983712971,878,784,809.983712971,651.016287029,629,652,0.403402864055,0.00449515596186,0.0798291617559,0.999999947617,0.00011696531825,-0.000296740250746,5.50412166434e-05,1793248385187581440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.404148799,878,784,809.404148799,651.595851201,629,652,0.403123424462,0.00449032857235,0.0798305795368,0.99999994981,0.000106907274057,-0.00029354928104,5.27256427141e-05,1793248385204247808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.825720992,658,633.174279008,878.174279008,784,809.174279008,651.825720992,629,652,0.402856950553,0.00448733886162,0.0798313523887,0.999999950983,0.000100266451431,-0.000292106414219,5.15259466501e-05,1793248385220914432
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.2499114,658,633.7500886,878.7500886,784,809.7500886,651.2499114,629,652,0.402620349,0.00448858307646,0.0798306393548,0.999999950029,0.000101498746976,-0.000294691094217,5.28971807053e-05,1793248385237581056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.666501208,745,715,679.666997583,658,633.666501208,878.666501208,784,810,651,628.666501208,652,0.402408246762,0.00448773920543,0.0798305810668,0.99999995045,9.71164589092e-05,-0.000294548634663,5.39396415915e-05,1793248385254247680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.077262519,745,715,680.845474962,658,633.077262519,878.077262519,784,810,651,628.077262519,652,0.402214931531,0.00448529410874,0.0798310248636,0.999999951868,8.8428688984e-05,-0.000292314898254,5.47299865143e-05,1793248385270914560
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.496966384,658,633,878,784,810,651,628,652,0.402053055322,0.00448652103766,0.0798382394641,0.999999954978,8.70358706716e-05,-0.000281786557939,5.53618640892e-05,1793248385287581184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,810,651,628,652,0.401898278973,0.00448904383798,0.0798456008894,0.999999957856,8.77131321565e-05,-0.000271045883374,5.59254070454e-05,1793248385304248064
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,810,651,628,652,0.401757780977,0.00449606299609,0.0798476582852,0.999999958437,9.42656883098e-05,-0.000266606124341,5.62196733872e-05,1793248385320914688
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.23139002,878,784,809.76860998,651.23139002,628,652,0.401625472482,0.00450630679603,0.0798462695204,0.999999956603,0.000106210955401,-0.000269210850303,5.51274907721e-05,1793248385337581312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.806939986,878,784,809.193060014,651.806939986,628,652,0.40150534472,0.00452134679446,0.0798397550785,0.999999950844,0.000126177117303,-0.000282293252106,5.19731612779e-05,1793248385354247936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.393319004,651.606680996,628,652,0.40140372552,0.00452563109812,0.0798341680005,0.999999944677,0.000153767495314,-0.000291083689922,4.76570328066e-05,1793248385370914304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.985163916,651.014836084,628,652,0.401311448432,0.00452448651522,0.0798290490051,0.99999993762,0.000185206159664,-0.000297707778602,4.27544918555e-05,1793248385387580928
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.437792634,651.562207366,628.562207366,652,0.401239556275,0.00452084333051,0.0798250305214,0.999999936816,0.000180684920066,-0.000303026197291,4.35526689419e-05,1793248385404247808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.138832015,679.861167985,658,633.861167985,878,784,809.138832015,652,628.861167985,652,0.401173441011,0.00451833922042,0.0798218198136,0.999999936275,0.000176687490498,-0.000307009552514,4.44624906289e-05,1793248385420914688
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.715336047,679.284663953,658,633.284663953,878,784,809.715336047,652,628.284663953,652,0.401123885221,0.00451962860907,0.0798210664386,0.999999936175,0.000177256227079,-0.000306889914848,4.52621861306e-05,1793248385437581824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.702401196,679.297598804,658,633.297598804,878,784,809.702401196,651.702401196,628.297598804,652,0.40108256035,0.00451878967999,0.0798206116824,0.999999936477,0.000174692759013,-0.000307267313051,4.5998153989e-05,1793248385454248192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.114521246,679.885478754,658,633.885478754,878,784,809.114521246,651.114521246,628.885478754,652,0.401049264003,0.00451587476656,0.0798204482021,0.999999937146,0.000169074104162,-0.000308129525484,4.66719612973e-05,1793248385470914304
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.46624026,651.46624026,628.53375974,652,0.401025232676,0.00451597677204,0.0798204610747,0.999999937699,0.000166857563832,-0.000307556464283,4.65804231011e-05,1793248385487581184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.954846574,878,784,809.954846574,651.954846574,628.045153426,652,0.401004332713,0.00451670961482,0.0798205672117,0.999999938263,0.000165507773541,-0.000306485267059,4.63469606389e-05,1793248385504247808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.377420034,878,784,809.377420034,651.377420034,628.622579966,652,0.400993922329,0.00451627477702,0.0798212698103,0.999999939257,0.000164672711413,-0.000303635297868,4.66231955894e-05,1793248385520914176
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.197519233,878.197519233,784,809.197519233,651,628.802480767,652,0.40098463551,0.00451520581393,0.0798221514024,0.99999994024,0.000162923170893,-0.000301298219949,4.68559707596e-05,1793248385537580800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.767764883,878.767764883,784,809.767764883,651,628.232235117,652,0.400977468903,0.00451294023196,0.079823370762,0.999999941205,0.000159447974395,-0.000299928987832,4.70067356304e-05,1793248385554247424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.351918236,745,715,680,658,634,878.648081764,784,809.648081764,651,628.351918236,652,0.400972083117,0.0045137472555,0.079823805163,0.999999940929,0.00016112010621,-0.000299975790688,4.68737512706e-05,1793248385570914304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.945627055,745,715,680,658,634,878.054372945,784,809.054372945,651,628.945627055,652,0.400967920871,0.00451666535781,0.0798237002468,0.999999939785,0.000166328785551,-0.000300995501186,4.65458128347e-05,1793248385587580928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.47418788,715,680,658,634,878,784,809.52581212,651,628.47418788,652,0.400967108453,0.00451682859799,0.0798247276766,0.999999940679,0.000164269164459,-0.000299160519624,4.64884732196e-05,1793248385604247808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.895890346,744.104109654,715,680,658,634,878,784,809.895890346,651,628.104109654,652,0.400966858702,0.0045164166864,0.0798258415066,0.999999941729,0.000161762760928,-0.000297011221253,4.64605028192e-05,1793248385620914432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.319968314,744.680031686,715,680,658,634,878,784,809.319968314,651,628.680031686,652,0.400967628416,0.0045146568971,0.0798268295458,0.999999942597,0.00016055233321,-0.0002947417286,4.64419990517e-05,1793248385637581056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.260689791,745,715,680,658,634,878,784,809.260689791,651,629,652.260689791,0.400967199824,0.00451444307005,0.0798269228911,0.999999942712,0.000160641304012,-0.000294321870439,4.63042067506e-05,1793248385654247680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.84726855,745,715,680,658,634,878,784,809.84726855,651,629,652.84726855,0.400965273225,0.0045161618541,0.0798258977774,0.99999994189,0.000162354656035,-0.000296214244742,4.60172915487e-05,1793248385670914560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.571492195,745.428507805,715.428507805,679.571492195,658,634,878,784,810,651.428507805,629,652.571492195,0.40096674355,0.00451628117015,0.0798276427326,0.999999942819,0.000161496186266,-0.000293535277189,4.60216907296e-05,1793248385687580928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.992144674,716,679,658,634,878,783.992144674,810,651.992144674,628.992144674,652,0.400969354172,0.0045158452253,0.0798303093941,0.999999944319,0.000159774414979,-0.000289321915913,4.61283230913e-05,1793248385704247552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745.413667549,716,679,658,634,878,783.413667549,810,651.413667549,628.413667549,652,0.400967929201,0.00451597698748,0.0798290920919,0.999999943745,0.000161109509276,-0.00029054936294,4.62116359205e-05,1793248385720914688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.163863939,745,715.836136061,679,658,634,878,783.163863939,809.836136061,651,628,652,0.400966938452,0.00451525431093,0.0798284950847,0.999999943583,0.000160910300866,-0.000291194471258,4.6351780899e-05,1793248385737581312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.739021871,745,715.260978129,679,658,634,878,783.739021871,809.260978129,651,628,652,0.400967037587,0.00451238701661,0.0798294550008,0.99999994445,0.000156860034662,-0.00029037792531,4.6634573008e-05,1793248385754247680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.679068683,745,715,679.320931317,658,634,878,784,809.320931317,651,628,652,0.400967791563,0.00451256049982,0.0798302839211,0.999999944776,0.000156927867431,-0.000289233872345,4.65270770141e-05,1793248385770914304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.091551019,745,715,679.908448981,658,634,878,784,809.908448981,651,628,652,0.400969089493,0.00451525985003,0.0798310040277,0.999999944651,0.000160416460227,-0.000287817770874,4.60953824203e-05,1793248385787581184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.511176827,784,810,651,628.488823173,652,0.40096820283,0.00451624216174,0.0798304068622,0.999999944341,0.000161144398599,-0.000288497797061,4.60387903451e-05,1793248385804247808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.067553764,784,809.932446236,651,629,651.932446236,0.400966957837,0.0045166843054,0.0798296185228,0.999999944044,0.000161075918487,-0.000289564368304,4.6025364285e-05,1793248385820914432
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.643836711,784,809.356163289,651,629,651.356163289,0.40096605118,0.00451544545368,0.079829221652,0.999999944102,0.000158847426746,-0.00029062806663,4.58155777052e-05,1793248385837580800
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.21947821,680,658,633.78052179,878,784,809,651.21947821,629,651.21947821,0.40096577802,0.00451468142912,0.0798292434389,0.999999944208,0.000157569177659,-0.000290963816403,4.57739042438e-05,1793248385854247680
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.794081908,680,658,633.205918092,878,784,809,651.794081908,629,651.794081908,0.400966529887,0.00451468569581,0.0798299426328,0.999999944402,0.000157828463027,-0.000290121713265,4.60042452394e-05,1793248385870914560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.621277875,680,658.378722125,633.378722125,878,784,809,651.621277875,628.621277875,652,0.400966746859,0.00451434501594,0.0798309730035,0.99999994473,0.000157646112361,-0.000289048677671,4.62408223063e-05,1793248385887581184
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.031032102,680,658.968967898,633.968967898,878,784,809,651.031032102,628.031032102,652,0.400966665081,0.00451381167675,0.0798321883428,0.999999945133,0.000157217099394,-0.000287846661873,4.64808823259e-05,1793248385904248064
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.450120267,658.450120267,634,878,784,809,651.549879733,628,652,0.400967145468,0.004514528622,0.0798317994287,0.9999999447,0.000159623780988,-0.000288064827095,4.62539424885e-05,1793248385920914432
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90975e149a9912b5352a9eeda06c6a9cb65e2cdf
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+1,0.016666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+2,0.033333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+3,0.050000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+4,0.066666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+5,0.083333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+365,6.083333333,pose2_to_pose3_retreat,0.584930622415,0.00992786880591,1.07004247142,0.55550241437,0.0186023290683,1.06966586185
+366,6.100000000,pose2_to_pose3_retreat,0.584719801923,0.00992792280803,1.07004236679,0.555291592559,0.0186023786138,1.06966575768
+367,6.116666667,pose2_to_pose3_retreat,0.584530003314,0.00992788060934,1.0700424672,0.555101794227,0.018602337561,1.06966586282
+368,6.133333333,pose2_to_pose3_retreat,0.584360097481,0.00992783726996,1.07004251316,0.55493188906,0.0186022962996,1.06966590462
+369,6.150000000,pose2_to_pose3_retreat,0.584207305194,0.00992787306147,1.07004243247,0.554779096497,0.0186023309767,1.06966581986
+370,6.166666667,pose2_to_pose3_retreat,0.584068788106,0.00992797957262,1.07004240008,0.554640577825,0.0186024322701,1.06966579109
+371,6.183333333,pose2_to_pose3_retreat,0.583943465716,0.00992803027748,1.07004271724,0.55451525356,0.0186024762645,1.06966610028
+372,6.200000000,pose2_to_pose3_retreat,0.583828936321,0.00992796577664,1.07004251304,0.554400727774,0.0186024239529,1.06966589487
+373,6.216666667,pose2_to_pose3_retreat,0.583725503579,0.00992781036801,1.07004236573,0.554297294951,0.0186022685209,1.06966575382
+374,6.233333333,pose2_to_pose3_retreat,0.583634357419,0.00992792275977,1.07004244099,0.554206147879,0.0186023777743,1.06966582799
+375,6.250000000,pose2_to_pose3_retreat,0.583555017427,0.00992799292257,1.07004248695,0.554126806279,0.0186024423318,1.06966587051
+376,6.266666667,pose2_to_pose3_retreat,0.58348829791,0.00992797622843,1.07004239643,0.554060086753,0.0186024258042,1.06966578445
+377,6.283333333,pose2_to_pose3_retreat,0.583432287762,0.00992794136148,1.07004240291,0.554004078344,0.0186023969232,1.06966579287
+378,6.300000000,pose2_to_pose3_retreat,0.583386786488,0.00992793148073,1.07004245016,0.553958577927,0.0186023900405,1.0696658422
+379,6.316666667,pose2_to_pose3_retreat,0.583349873322,0.00992799744663,1.07004244424,0.553921663451,0.0186024516336,1.06966583793
+380,6.333333333,pose2_to_pose3_retreat,0.583320921163,0.00992804874284,1.07004244493,0.553892710542,0.018602500149,1.06966583317
+381,6.350000000,pose2_to_pose3_retreat,0.58329879503,0.00992782577788,1.0700423462,0.553870587752,0.0186022886773,1.06966573797
+382,6.366666667,pose2_to_pose3_retreat,0.583282420118,0.00992789150648,1.07004259877,0.553854213167,0.0186023550484,1.06966597978
+383,6.383333333,pose2_to_pose3_retreat,0.583270578559,0.00992788296282,1.07004253084,0.553842370515,0.0186023427832,1.06966591156
+384,6.400000000,pose2_to_pose3_retreat,0.583261920851,0.00992790361003,1.07004248034,0.553833711884,0.0186023604363,1.06966586425
+385,6.416666667,pose2_to_pose3_retreat,0.583256105424,0.00992792605759,1.07004246699,0.55382789605,0.0186023816338,1.0696658539
+386,6.433333333,pose2_to_pose3_retreat,0.583252051368,0.0099279000421,1.07004245822,0.553823842326,0.0186023567571,1.06966584544
+387,6.450000000,pose2_to_pose3_retreat,0.583249479281,0.00992788583155,1.07004253325,0.553821269948,0.0186023414742,1.06966591856
+388,6.466666667,pose2_to_pose3_retreat,0.583248082396,0.00992787867202,1.07004259359,0.553819872783,0.0186023332957,1.06966597736
+389,6.483333333,pose2_to_pose3_retreat,0.583247436539,0.00992788355346,1.07004253433,0.553819226932,0.018602338174,1.06966591749
+390,6.500000000,pose2_to_pose3_retreat,0.583247094248,0.00992788760466,1.07004248734,0.55381888467,0.0186023423071,1.06966587019
+391,6.516666667,pose2_to_pose3_retreat,0.583247047073,0.009927888163,1.07004248086,0.553818837498,0.0186023428768,1.06966586367
+392,6.533333333,pose2_to_pose3_retreat,0.583246724455,0.00992789198136,1.07004243657,0.553818514908,0.0186023467724,1.0696658191
+393,6.550000000,pose2_to_pose3_retreat,0.58324668557,0.00992789244159,1.07004243123,0.553818476025,0.0186023472419,1.06966581372
+394,6.566666667,pose2_to_pose3_retreat,0.583246651779,0.00992789284152,1.0700424266,0.553818442237,0.01860234765,1.06966580905
+395,6.583333333,pose2_to_pose3_retreat,0.58324642368,0.0099278955412,1.07004239528,0.553818214157,0.0186023504043,1.06966577754
+396,6.600000000,pose2_to_pose3_retreat,0.583246288192,0.00992789714478,1.07004237668,0.55381807868,0.0186023520403,1.06966575882
+397,6.616666667,pose2_to_pose3_retreat,0.583246253974,0.00992789754977,1.07004237199,0.553818044465,0.0186023524535,1.06966575409
+398,6.633333333,pose2_to_pose3_retreat,0.583246219216,0.00992789809322,1.07004236676,0.553818009708,0.018602353002,1.06966574885
+399,6.650000000,pose2_to_pose3_retreat,0.583246217449,0.00992789827244,1.07004236597,0.55381800794,0.0186023531779,1.06966574808
+400,6.666666667,pose2_to_pose3_retreat,0.583246127547,0.00992790739234,1.07004232586,0.553817917973,0.0186023621246,1.06966570905
+401,6.683333333,pose2_to_pose3_retreat,0.58324594403,0.0099279260087,1.07004224399,0.553817734325,0.0186023803876,1.06966562937
+402,6.700000000,pose2_to_pose3_retreat,0.583245710745,0.00992794967372,1.07004213991,0.553817500871,0.0186024036034,1.06966552808
+403,6.716666667,pose2_to_pose3_retreat,0.58324558051,0.00992794149991,1.07004214896,0.553817370761,0.0186023958698,1.06966553752
+404,6.733333333,pose2_to_pose3_retreat,0.583245555239,0.00992793182374,1.07004217612,0.553817345597,0.0186023865404,1.06966556432
+405,6.750000000,pose2_to_pose3_retreat,0.583245460776,0.00992789565534,1.07004227764,0.553817251534,0.0186023516684,1.06966566447
+406,6.766666667,pose2_to_pose3_retreat,0.583245385758,0.00992787006286,1.07004235875,0.553817176512,0.0186023260227,1.06966574466
+407,6.783333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a181e24d88eae3af6e553ea8fa59c1b101bb4e9e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73bdffe4865ef88d789b096c6e9aec66fe9bb69767e780da75ada9b0c6275ed9
+size 25896136
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60411f57264d200d490e347a98a4cd04d224abb5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+33,0.550000000,BASELINE,765.163648898,745,715.163648898,680,658,634,878,784,810,651.836351102,628,652,0.400966968682,0.00447371305099,0.0798331485831,0.999999952149,0.000111000764254,-0.000283944417446,5.25043045323e-05,1793248386627893760
+34,0.566666667,BASELINE,765.745042204,745,715.745042204,680,658,634,878,784,810,651.254957796,628,652,0.400967529306,0.00447409445975,0.0798331424718,0.999999952308,0.00011137037295,-0.000283288129819,5.22385450774e-05,1793248386644560640
+35,0.583333333,BASELINE,765.677007182,745,716,680,658,634,878,784,810,651,628.322992818,652.322992818,0.400967953512,0.00447411358682,0.0798333980346,0.999999952341,0.000111500617677,-0.000283103494289,5.23335705319e-05,1793248386661227008
+36,0.600000000,BASELINE,765.10174537,745,716,680,658,634,878,784,810,651,628.89825463,652.89825463,0.400968271172,0.00447384975891,0.0798338579742,0.999999952275,0.000111443910585,-0.000283287235918,5.27103819321e-05,1793248386677893376
+37,0.616666667,BASELINE,765.474314921,745,715.525685079,680,658.474314921,634,878,784,810,651.474314921,628.525685079,652.525685079,0.400968007474,0.0044748074605,0.079833572473,0.999999952275,0.000111482619363,-0.000283291915509,5.25980603995e-05,1793248386694560256
+38,0.633333333,BASELINE,766,745,715,679.948448249,658.948448249,634,878,784,810,652,628.051551751,652,0.40096777866,0.00447613035688,0.0798332933312,0.999999952293,0.000111912463037,-0.000283097152607,5.23934904511e-05,1793248386711226880
+39,0.650000000,BASELINE,766,745,715,679.360759363,658.360759363,634,878,784,810,652,628.639240637,652,0.400969211771,0.00447852156538,0.0798347461357,0.999999952336,0.000116196879209,-0.000281228335219,5.23225860699e-05,1793248386727893248
+40,0.666666667,BASELINE,765.776484323,745,715.223515677,679,658,633.776484323,878,784,810,652,629,652,0.400969528655,0.00447796726027,0.0798350395446,0.999999952511,0.000115569552197,-0.000280857146277,5.2356855192e-05,1793248386744560128
+41,0.683333333,BASELINE,765.197636453,745,715.802363547,679,658,633.197636453,878,784,810,652,629,652,0.400968071028,0.00447273034919,0.0798334898137,0.999999952873,0.000107133821956,-0.00028286679983,5.25583230212e-05,1793248386761227264
+42,0.700000000,BASELINE,765.379361931,745,715.620638069,679.379361931,658,633.379361931,878,784,810,652,628.620638069,652,0.400967524168,0.00447299771038,0.0798330062307,0.999999952567,0.000107976806736,-0.000283625502909,5.25699704379e-05,1793248386777894144
+43,0.716666667,BASELINE,765.955401443,745,715.044598557,679.955401443,658,633.955401443,878,784,810,652,628.044598557,652,0.400967449487,0.00447611872381,0.0798330753847,0.999999951914,0.000113630277706,-0.000283735659262,5.24832067623e-05,1793248386794560768
+44,0.733333333,BASELINE,766,745,715,680,658,633.459122835,878,784,810,652,628,652,0.400967124752,0.00447485911911,0.0798328478511,0.999999952169,0.000111685572779,-0.000283608199525,5.24805861694e-05,1793248386811227136
+45,0.750000000,BASELINE,766,745.126357313,715.126357313,680,658.126357313,633,877.873642687,784.126357313,810,651.873642687,628,652,0.4009672465,0.00447370398214,0.0798328494067,0.999999952492,0.000109870887752,-0.00028318114015,5.24652032058e-05,1793248386827893760
+46,0.766666667,BASELINE,766,745.708993784,715.708993784,680,658.708993784,633,877.291006216,784.708993784,810,651.291006216,628,652,0.400969056285,0.00447425357147,0.0798337681158,0.999999952797,0.00011082823859,-0.000281744226163,5.23782365393e-05,1793248386844560384
+47,0.783333333,BASELINE,766,745.711998711,715.711998711,679.711998711,658.711998711,633,877.288001289,784.711998711,810,651.288001289,628.288001289,651.711998711,0.400969842413,0.00447509219564,0.0798341822059,0.999999952824,0.000111841801831,-0.00028127468171,5.22241572261e-05,1793248386861226752
+48,0.800000000,BASELINE,766,745.136612338,715.136612338,679.136612338,658.136612338,633,877.863387662,784.136612338,810,651.863387662,628.863387662,651.136612338,0.400969607074,0.00447621923632,0.0798340927567,0.999999952576,0.000112911457317,-0.000281770436844,5.20031088493e-05,1793248386877893120
+49,0.816666667,BASELINE,766,745,715,679,658,633.437730109,878,784.437730109,809.562269891,652,628.562269891,651.437730109,0.400968976175,0.00447570836093,0.0798338715575,0.999999952445,0.000112003574802,-0.000282554202348,5.22356404991e-05,1793248386894559744
+50,0.833333333,BASELINE,766,745,715,679,658,634,878.012099756,784.987900244,809.012099756,651.987900244,628.012099756,652,0.400968232697,0.0044747168297,0.0798336150786,0.999999952352,0.000110516537907,-0.000283398318168,5.25989368143e-05,1793248386911226880
+51,0.850000000,BASELINE,766,745,715,679,658,634,878.603329641,784.396670359,809.603329641,651.396670359,628.603329641,652,0.400967995593,0.00447512813422,0.0798336333643,0.999999952489,0.000110778996256,-0.000282839011284,5.24617063881e-05,1793248386927893760
+52,0.866666667,BASELINE,765.80934658,745,715,679.19065342,658,633.80934658,878.80934658,784,810,651,629,652,0.400967503192,0.00447529828244,0.0798335948788,0.999999952499,0.000110925269476,-0.000282751495046,5.24259435534e-05,1793248386944560384
+53,0.883333333,BASELINE,765.229986654,745,715,679.770013346,658,633.229986654,878.229986654,784,810,651,629,652,0.400966490288,0.00447497675827,0.0798334406474,0.999999952253,0.000110834663026,-0.000283625871338,5.2597054084e-05,1793248386961227008
+54,0.900000000,BASELINE,765,745,715,680,658,633.345976428,878,784,810,651.345976428,629,652,0.400966276409,0.00447604601987,0.0798327618091,0.999999951899,0.000112100536157,-0.000284406316196,5.24305694471e-05,1793248386977893888
+55,0.916666667,BASELINE,765,745,715,680,658,633.919703401,878,784,810,651.919703401,629,652,0.400966588515,0.00447803081267,0.0798317376305,0.99999995147,0.0001142593573,-0.000285124927516,5.2041851504e-05,1793248386994560256
+56,0.933333333,BASELINE,765.492472072,745,715,680,658,634,877.507527928,784,809.507527928,651.507527928,628.507527928,652,0.400967109628,0.0044771705543,0.0798324317873,0.999999951711,0.000114050407219,-0.000284344001283,5.21521177966e-05,1793248387011226880
+57,0.950000000,BASELINE,766,745,715.067627135,680,658.067627135,634,877.067627135,784.067627135,809,651.067627135,628.067627135,652,0.400967439764,0.00447581064047,0.0798331653122,0.999999952007,0.000113241097155,-0.000283595137104,5.23173035952e-05,1793248387027893248
+58,0.966666667,BASELINE,766,745,715.662606894,680,658.662606894,634,877.662606894,784.662606894,809,651.662606894,628.662606894,652,0.40096601546,0.00447416472694,0.0798320253109,0.999999951888,0.000110754844717,-0.000284999159923,5.22775524477e-05,1793248387044560128
+59,0.983333333,BASELINE,765.750743239,745,715.750743239,679.750743239,659,634,878,784.750743239,809,651.750743239,629,652,0.400965933128,0.00447296697276,0.079831902592,0.999999951977,0.00010898402814,-0.000285375688289,5.2235365883e-05,1793248387061227008
+60,1.000000000,BASELINE,765.175003981,745,715.175003981,679.175003981,659,634,878,784.175003981,809,651.175003981,629,652,0.400967608541,0.00447235622823,0.0798331123336,0.999999952346,0.000108150306308,-0.000284406379918,5.21899893449e-05,1793248387077894144
+61,1.016666667,BASELINE,765,745,715,679.399615968,658.600384032,634,878,784,809.399615968,651,629,652,0.400968369083,0.00447339441743,0.0798337505354,0.999999952359,0.000110521986904,-0.000283411021815,5.23933928232e-05,1793248387094560768
+62,1.033333333,BASELINE,765,745,715,679.973747073,658.026252927,634,878,784,809.973747073,651,629,652,0.400968730093,0.00447515270776,0.0798341391416,0.999999952203,0.0001142934896,-0.000282404287665,5.27054403069e-05,1793248387111227136
+63,1.050000000,BASELINE,765,745,715,680,658.564007685,634,878,784,809.435992315,651.564007685,629,652,0.400969446228,0.00447634259584,0.0798348582888,0.999999952517,0.000114791500269,-0.000281102959122,5.26220984533e-05,1793248387127893760
+64,1.066666667,BASELINE,765.15240465,745,715.15240465,680,658.84759535,634,878,784,809.15240465,651.84759535,628.84759535,652,0.400970062882,0.00447688513369,0.0798352217006,0.999999952787,0.000114516246365,-0.000280274111476,5.25166861403e-05,1793248387144560384
+65,1.083333333,BASELINE,765.733387376,745,715.733387376,680,658.266612624,634,878,784,809.733387376,651.266612624,628.266612624,652,0.400970351929,0.0044756838454,0.0798345402068,0.99999995287,0.00011250758994,-0.000280813626702,5.24024876609e-05,1793248387161227264
+66,1.100000000,BASELINE,765.689017548,745,715.689017548,680,658,633.689017548,878,784,809.689017548,651,628,652,0.400970075026,0.00447487675659,0.0798342946391,0.999999952908,0.00011137167868,-0.000281161571394,5.22316995327e-05,1793248387177893888
+67,1.116666667,BASELINE,765.114295519,745,715.114295519,680,658,633.114295519,878,784,809.114295519,651,628,652,0.400969318149,0.00447440398254,0.0798344187738,0.999999952911,0.000110975929677,-0.000281347047949,5.20129185737e-05,1793248387194560768
+68,1.133333333,BASELINE,765,745,715.458617973,680,658,633.458617973,878.458617973,784,809.458617973,651.458617973,628,652,0.400969102365,0.00447537744045,0.0798340378171,0.999999952695,0.000111738746406,-0.000281808372604,5.20416683904e-05,1793248387211227392
+69,1.150000000,BASELINE,765,745,715.967687803,680,658,634,878.967687803,784,810,651.967687803,628.032312197,652,0.400969004069,0.00447663399275,0.0798335830499,0.99999995244,0.000112749780144,-0.000282294289246,5.2131031353e-05,1793248387227894272
+70,1.166666667,BASELINE,765,745,715.372576306,680,658,634,878.372576306,784,810,651.372576306,628.627423694,652,0.400968612591,0.00447656827515,0.0798340265499,0.999999952478,0.000113074849426,-0.000282015851854,5.22058769039e-05,1793248387244560640
+71,1.183333333,BASELINE,765,745,715,679.785096301,658,634,878,784.214903699,809.785096301,651.214903699,628.785096301,652,0.400968113887,0.00447624212486,0.0798339409762,0.999999952415,0.00011274663794,-0.000282363886114,5.22348823973e-05,1793248387261227008
+72,1.200000000,BASELINE,765,745,715,679.210393118,658,634,878,784.789606882,809.210393118,651.789606882,628.210393118,652,0.40096743566,0.00447547994883,0.0798329696085,0.999999952182,0.000111324680409,-0.000283760781648,5.21871408338e-05,1793248387277893376
+73,1.216666667,BASELINE,765,745,715.364449822,679.364449822,658,634,878,784.635550178,809,652,628,652,0.40096812108,0.00447420831045,0.079833541569,0.999999952663,0.000109440155535,-0.000282790397854,5.22137145685e-05,1793248387294560000
+74,1.233333333,BASELINE,765,745,715.93937344,679.93937344,658,634,878,784.06062656,809,652,628,652,0.400969594021,0.004472642452,0.0798350048186,0.999999953551,0.000107288492995,-0.000280452884029,5.22832062109e-05,1793248387311226624
+75,1.250000000,BASELINE,765,745,716,679.47091762,658,634,878,784,809,651.47091762,628,652,0.4009689312,0.00447498924896,0.0798345760083,0.999999952917,0.000111080142165,-0.00028123257185,5.22920989699e-05,1793248387327893248
+76,1.266666667,BASELINE,765.117969372,745.117969372,715.882030628,679,658,634,878,784,809.117969372,651,628.117969372,652,0.400968442858,0.00447705925956,0.0798341787781,0.999999952411,0.000114166381392,-0.000281800606114,5.22636959367e-05,1793248387344559616
+77,1.283333333,BASELINE,765.696835577,745.696835577,715.303164423,679,658,634,878,784,809.696835577,651,628.696835577,652,0.400969619831,0.00447624588743,0.0798347763302,0.999999953167,0.000111759407079,-0.000280106078059,5.21174904868e-05,1793248387361226752
+78,1.300000000,BASELINE,766,745.724887128,715,679.275112872,658,634,878,784.275112872,810,651,629,652,0.400969989997,0.00447517483271,0.0798349843881,0.99999995347,0.000109990858978,-0.000279722569279,5.21341811932e-05,1793248387377893632
+79,1.316666667,BASELINE,766,745.147257443,715,679.852742557,658,634,878,784.852742557,810,651,629,652,0.400969472989,0.00447382042773,0.0798347641543,0.99999995328,0.00010892433076,-0.000280780670271,5.23299941212e-05,1793248387394560512
+80,1.333333333,BASELINE,766,745,715.425751885,680,658,634,878,784.574248115,809.574248115,651,628.574248115,652,0.400968971667,0.00447368873309,0.0798341300951,0.99999995299,0.000109047620506,-0.000281778173331,5.22509789199e-05,1793248387411227136
+81,1.350000000,BASELINE,766,745,715.997180343,680,658,634,878,784.002819657,809.002819657,651,628.002819657,652,0.400968475713,0.00447397540466,0.0798333544402,0.999999952665,0.000109578021938,-0.0002827549421,5.20779276964e-05,1793248387427893504
+82,1.366666667,BASELINE,765.41086354,745,715.41086354,680,658,634,878,783.41086354,809,651,628,652,0.400969630621,0.00447400288745,0.0798339155658,0.999999953012,0.000109827470219,-0.000281442339774,5.2000045153e-05,1793248387444560128
+83,1.383333333,BASELINE,765.17713137,745,715,679.82286863,658,634,878,783.17713137,809,651.17713137,628.17713137,652,0.400969979033,0.00447442006117,0.0798343498282,0.999999953115,0.000110769448062,-0.000280710717156,5.19693948125e-05,1793248387461226752
+84,1.400000000,BASELINE,765.755913422,745,715,679.244086578,658,634,878,783.755913422,809,651.755913422,628.755913422,652,0.400968480131,0.00447572378517,0.0798344813935,0.999999952658,0.000113284916598,-0.00028132222571,5.20447747769e-05,1793248387477893376
+85,1.416666667,BASELINE,765.666989291,745,715,679.333010709,658.333010709,634,878,784,809.333010709,651.666989291,628.666989291,652,0.400968140613,0.00447588655423,0.0798345131116,0.999999952605,0.000113506761758,-0.000281398248923,5.21674126859e-05,1793248387494560256
+86,1.433333333,BASELINE,765.091120704,745,715,679.908879296,658.908879296,634,878,784,809.908879296,651.091120704,628.091120704,652,0.400968646609,0.00447521724816,0.0798344720133,0.999999952849,0.000112055914286,-0.000281083753625,5.23245148404e-05,1793248387511227392
+87,1.450000000,BASELINE,765,745,715,680,658.520417139,634,878,784,809.520417139,651.479582861,628,652,0.400968448637,0.00447496203808,0.0798341119258,0.999999952787,0.000111254664681,-0.000281615431962,5.23545461692e-05,1793248387527894016
+88,1.466666667,BASELINE,765.051888017,745,715,680,658,634,878,784,809,651.948111983,628,652,0.400968205148,0.00447482019008,0.0798337787174,0.999999952735,0.000110457205543,-0.000282117516768,5.23315035849e-05,1793248387544560128
+89,1.483333333,BASELINE,765.651340173,745,715,680,658,634,878,784,809,651.348659827,628,652,0.400968877767,0.00447505320087,0.0798343619265,0.999999953395,0.000108411159695,-0.000280628778975,5.20004487092e-05,1793248387561226752
+90,1.500000000,BASELINE,766,745,715,680,658.240856185,634,878,784,809,651,628,652,0.400969016017,0.00447552586041,0.079834580651,0.999999953483,0.00010853646157,-0.000280305658094,5.17938266573e-05,1793248387577893376
+91,1.516666667,BASELINE,766,745,715,680,658.816558592,634,878,784,809,651,628,652,0.40096841137,0.00447633168755,0.0798342926567,0.999999952774,0.000111680442915,-0.00028160301646,5.17601952535e-05,1793248387594560000
+92,1.533333333,BASELINE,766,745,715.391427316,680,658.608572684,634,878,784,809,651,628.391427316,652,0.400968347983,0.00447698048746,0.079834041247,0.999999952465,0.000114082032756,-0.000281683816932,5.20460596346e-05,1793248387611226624
+93,1.550000000,BASELINE,766,745,715.965906217,680,658.034093783,634,878,784,809,651,628.965906217,652,0.400968537716,0.00447755585342,0.0798338069462,0.999999952344,0.000116136442346,-0.000281195692349,5.24813367076e-05,1793248387627893248
+94,1.566666667,BASELINE,766,745,716,680,658,634,878,784,809,651,628.444436353,652,0.400969354197,0.00447619582404,0.0798347952794,0.999999952901,0.00011342019665,-0.000280320296228,5.24915310934e-05,1793248387644560128
+95,1.583333333,BASELINE,765.856580913,745,715.856580913,680,658,634,878,784,809,651,628.143419087,652,0.400969887536,0.00447486448754,0.0798354901891,0.999999953328,0.000110888805674,-0.000279813476184,5.24599345486e-05,1793248387661227008
+96,1.600000000,BASELINE,765.277115603,745,715.277115603,680,658,634,878,784,809,651,628.722884397,652,0.400969439795,0.00447399163798,0.079835058457,0.999999953256,0.000109834554061,-0.000280501548375,5.23828183789e-05,1793248387677893632
+97,1.616666667,BASELINE,765,745,715,680,658,634,878.299098851,784,809.299098851,651,629,652,0.400969223705,0.00447358391228,0.0798346711842,0.999999953197,0.000109307790181,-0.000280942370629,5.22439691921e-05,1793248387694560000
+98,1.633333333,BASELINE,765,745,715,680,658,634,878.872333731,784,809.872333731,651,629,652,0.400969219933,0.00447360249121,0.0798343246602,0.999999953152,0.000109264489916,-0.000281156578408,5.20485392367e-05,1793248387711226624
+99,1.650000000,BASELINE,765,745,715,680,658,634,878.542593045,784,810,651,628.542593045,652.457406955,0.400969104845,0.00447452399327,0.0798345296453,0.999999953069,0.000110689227562,-0.00028090783949,5.19596234414e-05,1793248387727893504
+100,1.666666667,BASELINE,765.045095656,745,715,679.954904344,658,634,878.045095656,784,810,651,628.045095656,652.954904344,0.400968997316,0.00447550460388,0.0798348660602,0.999999952987,0.000112329807688,-0.000280552104919,5.19381500529e-05,1793248387744560128
+101,1.683333333,BASELINE,765.623599732,745,715,679.376400268,658,634,878.623599732,784,810,651,628.623599732,652.376400268,0.400969356463,0.00447412425948,0.0798348879481,0.999999953068,0.000111548100074,-0.000280499766545,5.23534217813e-05,1793248387761226752
+102,1.700000000,BASELINE,766,745,715,679.201986108,658.201986108,634,878.798013892,784,809.798013892,651,629,652.201986108,0.400969441855,0.00447316268993,0.07983492209,0.999999953146,0.000110656103799,-0.000280525861071,5.26078266636e-05,1793248387777893632
+103,1.716666667,BASELINE,766,745,715,679.780153212,658.780153212,634,878.219846788,784,809.219846788,651,629,652.780153212,0.400969017401,0.00447298105108,0.079834979054,0.999999953221,0.000109558704878,-0.000280698029838,5.25626314379e-05,1793248387794560512
+104,1.733333333,BASELINE,765.644107323,745,715,679.644107323,658.644107323,634,878,784,809,651,629,652.644107323,0.400968411476,0.00447330198108,0.0798344363078,0.999999953138,0.000109162359353,-0.000281188878304,5.23475092438e-05,1793248387811227392
+105,1.750000000,BASELINE,765.069857276,745,715,679.069857276,658.069857276,634,878,784,809,651,629,652.069857276,0.400967694211,0.00447393126135,0.0798335256104,0.999999952958,0.000109196143886,-0.000281875252194,5.20281286315e-05,1793248387827894016
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,716,679,660,634,878,784,810,651,629,652,0.400969432282,0.00447559458458,0.0798343474079,0.999999952727,0.000114381424805,-0.000280645079486,5.19757286873e-05,1793248387858198784
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715.426532304,679.573467696,658.853064607,634,878,784,809.426532304,651,629,652,0.400968692222,0.00447447420091,0.0798344716193,0.999999952761,0.000111157058084,-0.000281753062874,5.23230368711e-05,1793248387874865920
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.150503227,633.849496773,878,784,809,651,629,652,0.400968113794,0.00447393495039,0.0798344231877,0.999999952719,0.000109421915841,-0.000282538434159,5.25451403683e-05,1793248387891532800
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.737895804,633.262104196,878,784,809,651,629,652,0.400968004561,0.00447508264603,0.0798338735978,0.999999952483,0.000112009778597,-0.0002823873089,5.24037926433e-05,1793248387908199168
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.314552827,878,784,809,651,629,652,0.400968504682,0.00447567988904,0.079834374641,0.999999952628,0.000113278914474,-0.000281396317865,5.22259550552e-05,1793248387924865792
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.882559541,878,784,809,651,629,652,0.400969495796,0.0044758335996,0.0798357222415,0.999999953084,0.000113485473657,-0.000279728597125,5.20187154266e-05,1793248387941532416
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.469387225,745,715,680,658.530612775,634,878.469387225,784,809.469387225,651.469387225,628.530612775,652.469387225,0.400969354377,0.00447489063989,0.0798354071199,0.999999953219,0.000111567497914,-0.000279995866412,5.21313638176e-05,1793248387958199552
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.940060889,745,715,680,658,633.940060889,878.940060889,784,810,651.940060889,628,652.940060889,0.400969105255,0.0044738475026,0.0798348203733,0.999999953292,0.000109402786869,-0.000280561994378,5.22685684588e-05,1793248387974866176
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.359766032,745,715,680,658,633.359766032,878.359766032,784,810,651.359766032,628,652.359766032,0.400970483846,0.00447441624546,0.0798356379738,0.999999953597,0.000109903496837,-0.000279344110543,5.18951083313e-05,1793248387991532288
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.218393441,878,784.218393441,809.781606559,651.218393441,628.218393441,652,0.400973077557,0.00447464679882,0.0798369889091,0.999999954132,0.000109935890805,-0.000277436955032,5.17552630848e-05,1793248388008198656
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.793069238,878,784.793069238,809.206930762,651.793069238,628.793069238,652,0.400977653589,0.00447432563704,0.0798392099153,0.999999955036,0.000109204284088,-0.000274405336666,5.19965321596e-05,1793248388024865280
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.633207373,809,651.633207373,628.633207373,652,0.400996345637,0.00447514613477,0.0798472004209,0.999999958671,0.000109877616809,-0.000260555070592,5.19268575585e-05,1793248388041532160
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.060019851,809,651.060019851,628.060019851,652,0.401022980794,0.00447660904641,0.0798584374348,0.999999963518,0.000111341511465,-0.000240617130918,5.16822143772e-05,1793248388058198784
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809,651,628.533484916,652,0.401076943938,0.00447699357084,0.0798780568215,0.999999971843,0.00011128876272,-0.000203366535257,5.07107912709e-05,1793248388074865664
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.124925231,745,715,679.875074769,658.124925231,634,878,784,809.124925231,651,628.875074769,652,0.401137485366,0.00447736006201,0.0798978870622,0.999999978834,0.000110937432837,-0.000166014787293,4.96422670745e-05,1793248388091532800
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.700351633,745,715,679.299648367,658.700351633,634,878,784,809.700351633,651,628.299648367,652,0.401210222925,0.00447811635967,0.0799149422036,0.999999983562,0.000110149053154,-0.000135600312125,4.85301180961e-05,1793248388108199680
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.724746964,745,715,679.275253036,658.724746964,633.724746964,878,784,809.724746964,651,628,652,0.40128722296,0.00447834345413,0.0799261622815,0.999999986046,0.000109076489238,-0.00011753237721,4.68633043458e-05,1793248388124866048
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.150416036,745,715,679.849583964,658.150416036,633.150416036,878,784,809.150416036,651,628,652,0.401368854411,0.00447799553954,0.079931042234,0.999999986836,0.000107695143313,-0.000112879654039,4.45938162531e-05,1793248388141532416
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.563730551,658,633.436269449,878,784,809.436269449,651,628.436269449,652,0.401462501404,0.00447780679827,0.0799333617612,0.999999987695,0.000104152655605,-0.000109591621471,4.18506638694e-05,1793248388158199040
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.973194486,878,784,809.973194486,651,629,652,0.40156179988,0.00447782032522,0.0799349221768,0.999999988565,0.000100004602762,-0.000106574479082,3.88710152245e-05,1793248388174865664
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.393651655,878,784,809.393651655,651,629,652,0.401689720492,0.00448084007069,0.0799395631365,0.999999989571,9.9181862124e-05,-9.91582545948e-05,3.44803639253e-05,1793248388191532288
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.184711013,877.815288987,784,809.184711013,651,629,652,0.401828200237,0.00448407910964,0.0799448697372,0.999999990668,9.82290454178e-05,-9.01350301588e-05,2.98598002146e-05,1793248388208198912
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.760574442,877.239425558,784,809.760574442,651,629,652,0.401989040466,0.00448778253403,0.0799515859289,0.99999999197,9.70007738376e-05,-7.77087507103e-05,2.47523641149e-05,1793248388224865536
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.335685531,679,658.335685531,634,877.335685531,783.664314469,810,651,628.664314469,652,0.402170047855,0.00449047206973,0.0799586945448,0.999999993463,9.2182366087e-05,-6.49098463914e-05,1.90695415666e-05,1793248388241532416
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.910261279,679,658.910261279,634,877.910261279,783.089738721,810,651,628.089738721,652,0.402365407197,0.0044924400731,0.0799660824297,0.999999994976,8.48090419902e-05,-5.18457627361e-05,1.2977245398e-05,1793248388258199296
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.498263401,745,715.501736599,679,658.501736599,634,878,783.498263401,810,651,628.498263401,652,0.402567542158,0.0044961988346,0.0799636080507,0.999999995297,7.86693728238e-05,-5.64079843847e-05,5.93206506222e-06,1793248388274866432
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,878,784,810,651,628.913016792,652,0.402775263062,0.00449994977682,0.0799585330787,0.999999995221,7.21323802063e-05,-6.5980758342e-05,-1.41800176761e-06,1793248388291533056
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,878,784,810,651,628.334288501,652,0.403007473393,0.0045017827053,0.0799490757435,0.99999999438,6.20583135781e-05,-8.5436076292e-05,-9.4946192492e-06,1793248388308199168
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.757658747,745,715,679,658,634,877.757658747,784,810,651,628,652,0.403265124414,0.00450522686906,0.0799436525034,0.999999993748,5.55919651077e-05,-9.54468371759e-05,-1.74418002396e-05,1793248388324865536
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.183898924,745,715,679,658,634,877.183898924,784,810,651,628,652,0.403557567342,0.00451087450936,0.0799437461702,0.999999993939,5.4059423554e-05,-9.25415062361e-05,-2.52119673188e-05,1793248388341532160
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.400291256,658.400291256,634,877.400291256,784,809.599708744,651,628.400291256,652,0.403884006974,0.00451517616907,0.0799475185479,0.999999991723,9.2712062714e-05,-8.70639083961e-05,-1.94749620724e-05,1793248388358199040
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.98940146,658.98940146,634,877.98940146,784,809.01059854,651,628.98940146,652,0.404226482976,0.00451884292431,0.0799530261877,0.999999985445,0.000150320208227,-8.03729620476e-05,-7.36657064644e-06,1793248388374865664
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.431520139,634,878,784,809.568479861,651.568479861,628.431520139,652,0.40460752911,0.00453211446844,0.0799530551999,0.999999983873,0.00016210413445,-7.60947102584e-05,-1.36577464861e-05,1793248388391532800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.146550928,745,715.146550928,680,658,634,878,784,810,652,628.146550928,652,0.40500024019,0.00454304564308,0.0799530356846,0.999999986481,0.000146821265341,-7.13125183912e-05,-1.98950089035e-05,1793248388408199680
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.722210504,745,715.722210504,680,658,634,878,784,810,652,628.722210504,652,0.40542503775,0.00454660886404,0.0799531679685,0.999999996082,5.47435720773e-05,-6.4925340427e-05,-2.49874017865e-05,1793248388424866048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.70269806,744.70269806,715.70269806,680,658,634,878,784,810,652,629,652,0.405862969219,0.00455429566158,0.0799471080615,0.999999996303,3.45502736394e-05,-7.39465716613e-05,-2.70685416196e-05,1793248388441532416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.128136396,744.128136396,715.128136396,680,658,634,878,784,810,652,629,652,0.406313149239,0.00456582805065,0.0799352734019,0.999999991603,8.13953683907e-05,-9.73374741235e-05,-2.63414287206e-05,1793248388458199040
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.459407909,715,680,658.459407909,634,878,784,810,651.540592091,629,652,0.406799833121,0.00457767143308,0.0799274913302,0.999999986964,0.000114159572788,-0.000110490716718,-2.88356114202e-05,1793248388474865664
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.049620586,680,659,634,878.049620586,784,810,651,629,652,0.407300175864,0.00458900082492,0.0799212043531,0.999999982273,0.000141091411043,-0.000120519542957,-3.19614795097e-05,1793248388491532288
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.628547872,680,659,634,878.628547872,784,810,651,629,652,0.40783445355,0.00459389526418,0.079918457667,0.999999980136,0.00014892107823,-0.000128565101101,-3.19627972418e-05,1793248388508199680
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.794155936,680,659,634,879,784,810,651,628.794155936,652,0.408385979175,0.00460108608868,0.0799162855849,0.999999978892,0.000151833725949,-0.00013449786028,-3.27588893333e-05,1793248388524866560
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715.219779999,680,659,634,879,784,810,651,628.219779999,652,0.408968384529,0.00461238823453,0.0799151422427,0.999999979402,0.000145943212418,-0.000136647980115,-3.49779016629e-05,1793248388541533184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.637124008,745.362875992,715,680,659,634,879,784,810,651,628,652.362875992,0.409613413173,0.00462134966969,0.0799350305529,0.999999981328,0.000158676578032,-0.00010408685721,-3.6503250563e-05,1793248388558200064
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.04933603,745.95066397,715,680,659,634,879,784,810,651,628,652.95066397,0.410297255959,0.0046288603226,0.0799679543652,0.999999981307,0.000182953098001,-5.00115672094e-05,-3.75986639175e-05,1793248388574866944
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.530755546,745.469244454,715,680.530755546,659,634,878.469244454,784,810,651,628.530755546,652.469244454,0.410985315342,0.00463189962387,0.0799866362195,0.999999984991,0.000167459530552,-2.26114189317e-05,-3.82633027624e-05,1793248388591532800
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.110113549,680.889886451,659,634,878.110113549,784,810,651,629,652,0.411670829075,0.00463057770473,0.0799946060354,0.999999987669,0.000151621961,-1.22864191739e-05,-3.9003888935e-05,1793248388608198656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.689350464,680.310649536,659,634,878.689350464,784,810,651,629,652,0.412343851242,0.00461242084539,0.0799624981742,0.999999985897,0.000149843412608,-6.42948408159e-05,-4.02361943988e-05,1793248388624865280
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.734995947,680,659,633.734995947,879,784,810.265004053,651,629,652,0.413038947977,0.00459646847747,0.0799338685008,0.999999984658,0.000135220385871,-0.000103291817069,-4.15856746587e-05,1793248388641531648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.163486778,680,659,633.163486778,879,784,810.836513222,651,629,652,0.413759576363,0.00458306583385,0.0799092617137,0.999999985387,0.000105741366213,-0.000127239692248,-4.30706801329e-05,1793248388658198272
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.421513038,633.421513038,879,784,810.578486962,651,628.578486962,652.421513038,0.41454997402,0.00457874065329,0.079920180351,0.999999988275,0.000105128224195,-0.000102936220665,-4.24546306752e-05,1793248388674865152
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.988304594,634,879,784,810.011695406,651.011695406,628.011695406,652.988304594,0.415367826656,0.00457818214103,0.0799449422775,0.999999990645,0.000115694903643,-6.0349888696e-05,-4.10201856378e-05,1793248388691531776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.408939175,634,879,784,810.591060825,651.591060825,628.591060825,652.408939175,0.41616140139,0.00458390938889,0.0799507225881,0.999999991027,0.000107517060586,-6.87540403082e-05,-4.07242916079e-05,1793248388708198656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.169988207,659,634,879,784,811,651.830011793,629,652.169988207,0.416970649743,0.0045899899349,0.0799534126435,0.999999990856,0.000106835340036,-7.18751615345e-05,-4.13328251804e-05,1793248388724865280
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.747864481,659,634,879,784,811,651.252135519,629,652.747864481,0.417817507022,0.00459691822235,0.0799486876067,0.99999998938,0.000124140626079,-6.23196084583e-05,-4.41115400601e-05,1793248388741531904
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.643055638,634,879,784,811,651,629,652.678472181,0.418690459056,0.00459781884879,0.0799624965048,0.999999990388,0.000127372979451,-2.88711712588e-05,-4.65482104937e-05,1793248388758198272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.78386032,634,879,784,811,651,629,652.10806984,0.419583609362,0.0045940538405,0.0799906513601,0.999999991382,0.000119712357085,2.30712488727e-05,-4.87201255523e-05,1793248388774865152
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.519393369,634,879,784,811,651,629,652,0.420460821091,0.00459079695917,0.0799787022258,0.999999992675,0.000110783687965,2.86597607562e-06,-4.86604294597e-05,1793248388791531776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.928107596,879.071892404,784,811,651.071892404,629,652,0.421340254211,0.00458854770931,0.0799613556319,0.999999992993,0.000104610930527,-2.74194426101e-05,-4.81498714042e-05,1793248388808198656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.348559894,879.651440106,784,811,651.651440106,629,652,0.422261680692,0.00459257496658,0.079972090613,0.999999991594,0.000119991563636,-9.79860129021e-06,-4.81390809872e-05,1793248388824866304
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.229668583,633.229668583,880,784,811,652,629,652.229668583,0.423188210756,0.00459754848744,0.0799883414845,0.999999990505,0.00012839398326,1.3396106858e-05,-4.82253683943e-05,1793248388841533440
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.80590644,633.80590644,880,784,811,652,629,652.80590644,0.424122442252,0.00460394991812,0.0800129158212,0.999999989842,0.000126266299784,4.50017677265e-05,-4.84581459739e-05,1793248388858199552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.611795519,745,715,681,661,633.611795519,880,784,811.388204481,651.611795519,629,653,0.424986874074,0.0046091630311,0.0799860627785,0.999999989788,0.00013403584327,-1.55915864289e-05,-4.70626825312e-05,1793248388874865920
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.026419507,745,715,681,661,633.026419507,880,784,811.973580493,651.026419507,629,653,0.42581585414,0.00461377258956,0.0799330894403,0.999999980649,0.000146832250301,-0.000123013409916,-4.48402246356e-05,1793248388891532288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.106314578,745,715,681,660.446842711,633.553157289,880,784,812,651,629,653,0.426795946806,0.0046121353739,0.0799192780201,0.999999982658,0.000137666510912,-0.000115299416964,-4.9373328602e-05,1793248388908198912
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.867776239,745.132223761,715,680.867776239,660.132223761,633.867776239,880,784,812,651,629,652.867776239,0.427768040359,0.00460926446358,0.0799110428891,0.999999984581,0.000128422533837,-0.000107529633538,-5.27624776302e-05,1793248388924865280
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.289506662,745.710493338,715,680.289506662,660.710493338,633.289506662,880,784,812,651,629,652.289506662,0.428689055058,0.00460322781759,0.0799153746495,0.999999984242,0.000122416429791,-0.000117929719825,-5.12154351207e-05,1793248388941532160
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.713160865,745.713160865,715,680.286839135,660.713160865,633,879.713160865,784,812,651.286839135,629.286839135,652.286839135,0.429641738982,0.0046013276539,0.0799379986192,0.999999987234,0.000120700792034,-9.18032379224e-05,-5.03557121037e-05,1793248388958199040
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.138743836,745.138743836,715,680.861256164,660.138743836,633,879.138743836,784,812,651.861256164,629.861256164,652.861256164,0.430626173642,0.00460357462644,0.0799789619096,0.999999990719,0.000123286670736,-2.90561122767e-05,-5.01850787284e-05,1793248388974866176
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,715,681,660,633.446399213,879.446399213,784,812.446399213,651.553600787,629.553600787,653,0.431582322571,0.00460621281161,0.0800164808583,0.999999990456,0.000125525033932,2.86072008782e-05,-5.01248154647e-05,1793248388991533056
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.034490801,745,715,681,660,633.965509199,880,784,813,651.034490801,629.034490801,653,0.432524594584,0.00460931556445,0.0800464082718,0.999999987776,0.000127924028934,7.45934555156e-05,-5.01885365935e-05,1793248389008199936
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.615182154,745,715,681,660,633.384817846,880,784,813,651.615182154,629.615182154,653,0.433389757993,0.00461780232112,0.0799734854825,0.999999988856,0.000134619381312,-3.8701271e-05,-5.16590781468e-05,1793248389024866560
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.193532939,715,681,660,633.193532939,880,784,813,652,629.806467061,653,0.434269213616,0.00462169006518,0.0799203121868,0.999999982327,0.000136612463446,-0.000117710029019,-5.31710677589e-05,1793248389041532928
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.767285489,715,681,660,633.767285489,880,784,813,652,629.232714511,653,0.43517674823,0.00461654247655,0.0799059392227,0.999999981765,0.000129367352886,-0.000129359744365,-5.47644885985e-05,1793248389058199040
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.658773191,715.341226809,681,660.341226809,633.658773191,880,784,813.341226809,652,629.341226809,653,0.436088365166,0.0046126068438,0.0799254714442,0.999999985743,0.000122917848025,-0.000102239965114,-5.43422264877e-05,1793248389074865664
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.084703093,715.915296907,681,660.915296907,633.084703093,880,784,813.915296907,652,629.915296907,653,0.437002767705,0.00460949821493,0.079968139583,0.99999999059,0.000117011241601,-4.86650050042e-05,-5.25445205113e-05,1793248389091532032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.492289698,681,660.492289698,633,880.507710302,784,813.492289698,652,630,653,0.437914534497,0.00460866898824,0.0800045994614,0.999999991413,0.000119767221884,8.40223069994e-06,-5.25264090053e-05,1793248389108199168
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.100052815,715,681,660.100052815,633,880.899947185,784,813.100052815,651.899947185,630,653,0.438819813552,0.00460791985949,0.0800338074644,0.999999989841,0.000119925477165,5.59070918126e-05,-5.30063467881e-05,1793248389124866304
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.676926504,715,681,660.676926504,633,880.323073496,784,813.676926504,651.323073496,630,653,0.439696348214,0.00460567222068,0.0800335763311,0.999999991954,0.000100558186669,5.49599161894e-05,-5.43918834899e-05,1793248389141532928
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.747602205,715,681,660.747602205,633,880.252397795,784,813.747602205,651.252397795,630,653,0.440498061198,0.00460607214035,0.0799952068393,0.999999993715,9.72158021328e-05,-4.41952546543e-06,-5.5673839625e-05,1793248389158199296
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.173916131,715,681,660.173916131,633,880.826083869,784,813.173916131,651.826083869,630,653,0.441204530302,0.00460984225408,0.0799082893502,0.99999998231,0.000114272226993,-0.000138179974299,-5.68239426822e-05,1793248389174865664
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.41218875,660,633,881,784,813.41218875,651.58781125,630,653,0.441937299033,0.00460971901603,0.079855288547,0.999999970148,0.000108372776929,-0.000211260738154,-5.7690461209e-05,1793248389191532288
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814,651,630,653,0.442682115648,0.00460791647629,0.0798177623195,0.999999961002,9.26298402957e-05,-0.000256910059287,-5.8424147961e-05,1793248389208199168
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814,651,630,653,0.443523367014,0.00460841410833,0.0798946452641,0.999999983817,9.96671919846e-05,-0.000138235904599,-5.76532679314e-05,1793248389224865792
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.15406931,715.15406931,682,660,633,880.84593069,784,814,651.15406931,630,653,0.44434808409,0.00460770232422,0.0799622874961,0.999999992282,0.000104503448197,-3.58039830681e-05,-5.68526685953e-05,1793248389241532416
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.73424401,715.73424401,682,660,633,880.26575599,784,814,651.73424401,630,653,0.445127072911,0.00460364569023,0.0800043729527,0.999999992868,0.00010325219801,2.17072489947e-05,-5.5969877024e-05,1793248389258199040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.689259543,715.689259543,682,660,633,880.310740457,784,814.310740457,652,630.310740457,653,0.44585886529,0.00459960373182,0.0800264759436,0.999999992739,9.37731761768e-05,5.18896249797e-05,-5.50989419408e-05,1793248389274865920
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.1158721,715.1158721,682,660,633,880.8841279,784,814.8841279,652,630.8841279,653,0.446550765801,0.00459557417789,0.0800316891632,0.999999993799,7.73397996665e-05,5.89728434681e-05,-5.42380284635e-05,1793248389291532800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814.530039715,652,630.530039715,653,0.447173447651,0.00459838965164,0.0800108935591,0.999999993957,8.69195713115e-05,3.82092734357e-05,-5.54125999801e-05,1793248389308199424
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.941834378,784,814,652,630,653,0.447772549958,0.00460320737872,0.0799815606278,0.999999993145,0.000102089858415,5.76321359471e-06,-5.70563918923e-05,1793248389324866048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.360633025,784,814,652,630,653,0.448317258997,0.0046104409021,0.0799346908564,0.999999990105,0.000108288876372,-6.83157839467e-05,-5.82838967605e-05,1793248389341532672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.218496911,715,682.218496911,659.781503089,633,880.218496911,784,814,651.781503089,630,653,0.448849692406,0.0046172019827,0.0798890552927,0.999999982628,0.000107789325891,-0.000140130902692,-5.90706279323e-05,1793248389358199552
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.794239988,715,682.794239988,659.205760012,633,880.794239988,784,814,651.205760012,630,653,0.449362054898,0.00462319061061,0.0798454376845,0.999999971928,9.63375019323e-05,-0.000208244534018,-5.91366867287e-05,1793248389374866432
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.374600756,745.625399244,715,683.374600756,659,632.625399244,881,783.625399244,814,651,630,653,0.449878867337,0.00462792382644,0.0798396472846,0.999999969971,0.000104129715529,-0.00021394356632,-5.86736640514e-05,1793248389391533312
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.957529633,745.042470367,715,683.957529633,659,632.042470367,881,783.042470367,814,651,630,653,0.450398154589,0.0046319588658,0.0798548938675,0.999999973705,0.000122624186744,-0.00018493174067,-5.79164013695e-05,1793248389408200192
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.461986175,745.538013825,715,683.461986175,658.461986175,632,881,783.538013825,814,651.538013825,630,653,0.450908678164,0.00463611241056,0.0798854814431,0.999999979628,0.000132440503507,-0.000140924704716,-5.78165152654e-05,1793248389424866816
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.118100219,745.881899781,715,683,658,632,881,783.881899781,814.118100219,652,630,653,0.45139919125,0.00464004230053,0.07990962539,0.999999982441,0.000140839352491,-0.000109256714196,-5.78372975274e-05,1793248389441533696
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.697383559,745.302616441,715,683,658,632,881,783.302616441,814.697383559,652,630,653,0.451814252491,0.00464306245126,0.0799038992771,0.9999999791,0.000146365987861,-0.000130374363126,-5.81275665397e-05,1793248389458199808
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.725404659,745,715,683,658,632,881,783.274595341,815,652,630,653,0.45219331692,0.00464648401355,0.0798803138767,0.99999997123,0.000155499909287,-0.000173347802126,-5.75321026038e-05,1793248389474866176
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.150458769,745,715,683,658,632,881,783.849541231,815,652,630,653,0.452533008254,0.00465034463694,0.0798371941075,0.99999995537,0.000168579455302,-0.000240226956516,-5.59678296943e-05,1793248389491532288
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.423513323,745.423513323,715,683,657.576486677,632,881,784,815,652,630,653,0.452857092464,0.00465484298999,0.0798076474609,0.999999943479,0.000174268391087,-0.000281671707054,-5.77416840094e-05,1793248389508198912
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.99714024,745.99714024,715,683,657.00285976,632,881,784,815,652,630,653,0.453175644748,0.00465956738518,0.0797829117861,0.999999933104,0.000177337737065,-0.000314101273896,-6.06987320244e-05,1793248389524865280
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.408777118,715,683,657,632,881,783.408777118,815,651.408777118,630.591222882,653,0.453472360274,0.00465941282449,0.0797760018891,0.999999930886,0.000166418098931,-0.000326497841405,-6.27053217237e-05,1793248389541532160
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.180071612,745,715,683,656.819928388,631.819928388,881,783.180071612,814.819928388,651.180071612,630.819928388,653,0.453762955105,0.00466055131735,0.0797730703316,0.999999931956,0.000147989909379,-0.000331845485518,-6.37666503618e-05,1793248389558199040
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.757154866,745,715,683,656.242845134,631.242845134,881,783.757154866,814.242845134,651.757154866,630.242845134,653,0.454040296557,0.00466459455698,0.0797787130773,0.999999939827,0.000113161825105,-0.00032187335925,-6.27544202538e-05,1793248389574866176
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.668104946,745.331895054,715,683,656.331895054,631.331895054,881,783.668104946,814.331895054,652,630,653,0.454282256503,0.00467274431982,0.0797743260967,0.999999936309,0.000119101463844,-0.000330935184018,-6.06552025078e-05,1793248389591533056
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.095067083,745.904932917,715,683,656.904932917,631.904932917,881,783.095067083,814.904932917,652,630,653,0.45449850957,0.00468387773267,0.0797626518844,0.999999923775,0.000154661435547,-0.000353826380255,-5.77662191459e-05,1793248389608199680
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.507135679,715,683,656.014271359,632,881,783,815,652,630,653,0.454688926019,0.00469045564058,0.0797528129028,0.999999915904,0.000170119770898,-0.000368117903241,-6.11589969608e-05,1793248389624866304
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.082239872,714.917760128,683,655.082239872,631.917760128,881,783,815,652,630,653,0.45487164741,0.00469175949636,0.0797449698324,0.999999910759,0.000175993478593,-0.000378521499664,-6.50423149787e-05,1793248389641532672
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.662423701,714.337576299,683,655.662423701,631.337576299,881,783,815,652,630,653,0.455038891513,0.00466661624918,0.079747001424,0.999999916382,0.000148042387649,-0.000375740979072,-6.43307571124e-05,1793248389658199040
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.759040745,714.240959255,683.240959255,655.759040745,631,881,783,815,652,630,653,0.455192749045,0.00465451910057,0.0797495789273,0.999999919454,0.000135066185424,-0.000372432331109,-6.43702055633e-05,1793248389674865664
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.182798718,714.817201282,683.817201282,655.182798718,631,881,783,815,652,630,653,0.455327979821,0.0046605749482,0.0797529160393,0.999999919789,0.000142926794923,-0.000368388820751,-6.54546419003e-05,1793248389691532544
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,683.600616463,655,631,881,783,815,651.600616463,630,653,0.455439166919,0.004665129566,0.0797502544007,0.999999916869,0.000149798048412,-0.00037341392762,-6.62205959493e-05,1793248389708199424
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,683.01567432,655,631,881,783,815,651.01567432,630,653,0.455539183017,0.0046689866934,0.0797448056671,0.999999912354,0.000156209634441,-0.000382652428032,-6.68385790915e-05,1793248389724866048
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683.723522177,654,631,881,783,814.723522177,652,630,652,0.455743692109,0.00466992562484,0.0797326491862,0.99999990258,0.000156665602905,-0.000407193275756,-6.70096206786e-05,1793248389774865920
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+246,4.100000000,HOLD_POSE2,766,746,715,684,653,631,880,784,815,652,630,653,0.455952839316,0.00467275655318,0.0796981492866,0.999999879686,0.000152175106108,-0.000462104378099,-6.26949684613e-05,1793248390213919744
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+248,4.133333333,HOLD_POSE2,766,745,714.153821243,684,653.846178757,631,881,783,815,651,630,652.846178757,0.455953449547,0.00467429942747,0.0796992685563,0.999999879527,0.000153248973751,-0.00046204752176,-6.30341591661e-05,1793248390247253504
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+251,4.183333333,HOLD_POSE2,766,745.909369334,714.090630666,683.090630666,653,631,881.909369334,783,815,651,630,652.909369334,0.455955011545,0.00467498095556,0.0796995096517,0.999999880514,0.000152838824615,-0.000460065386286,-6.2860236286e-05,1793248390297252352
+252,4.200000000,HOLD_POSE2,766,745.514827972,714.485172028,683.485172028,653,630.514827972,881.514827972,783,815,651.485172028,630,653,0.455954178306,0.00467430312082,0.0796984484875,0.999999879725,0.000152254181073,-0.00046195954654,-6.29382729391e-05,1793248390313918976
+253,4.216666667,HOLD_POSE2,766,745,714.937996924,683.937996924,653,630.062003076,881.062003076,783,815,652,630,653,0.455952960851,0.00467362117668,0.0796971548866,0.999999878701,0.00015193274849,-0.000464270437422,-6.29828171274e-05,1793248390330585088
+254,4.233333333,HOLD_POSE2,766,745,714.35182179,683.35182179,653,630.64817821,881.64817821,783,815,652,630,653,0.455952585948,0.00467526364101,0.0796975510923,0.999999878859,0.000152788785827,-0.000463608829373,-6.3279550122e-05,1793248390347251968
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+256,4.266666667,HOLD_POSE2,766,745,714,683.814588847,653.814588847,631,881.185411153,783,815,651.185411153,630,653,0.455953973133,0.00467310685585,0.0796977903124,0.999999879372,0.000149169869692,-0.000463685711418,-6.32420645555e-05,1793248390380585472
+257,4.283333333,HOLD_POSE2,766,745,714.392154572,684,653.607845428,631,881,783,815,651.392154572,630,653,0.455953370839,0.00467235740494,0.0796965042526,0.999999878431,0.000148747903794,-0.000465914432798,-6.27305297559e-05,1793248390397252096
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+259,4.316666667,HOLD_POSE2,766,745,715,683.45806903,653.54193097,631,881,783,815,651.45806903,630,653,0.455952074764,0.00467456349342,0.0796956056709,0.999999877104,0.000153183867721,-0.000467352439295,-6.25218949238e-05,1793248390430585344
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+261,4.350000000,HOLD_POSE2,766,745.712665792,715,683.712665792,653.287334208,631,881,783,814.287334208,651.712665792,630,653,0.455952971368,0.0046757326455,0.0796959449901,0.999999877554,0.000154481139587,-0.000465936114695,-6.27041901341e-05,1793248390463918848
+262,4.366666667,HOLD_POSE2,766,745.703108877,715,683.703108877,653,631,881,783,814.296891123,652,630,653,0.45595311563,0.0046761279539,0.0796956519598,0.999999877377,0.000154179693197,-0.00046642353367,-6.26368595279e-05,1793248390480585472
+263,4.383333333,HOLD_POSE2,766,745.126943465,715,683.126943465,653,631,881,783,814.873056535,652,630,653,0.455952830482,0.00467747435585,0.0796955421983,0.999999876861,0.000154981699228,-0.000467254569495,-6.26996570417e-05,1793248390497252096
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.353242543,653,631,881.353242543,783,814.646757457,652,630.646757457,653,0.455951389275,0.00467682973115,0.079692999675,0.999999875955,0.000156075666906,-0.000468833597326,-6.26496923568e-05,1793248390663238400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630.766894387,881,783,814.766894387,651.766894387,630.766894387,653,0.455945520137,0.00467667821745,0.0796903480821,0.999999874139,0.000156230376659,-0.000472650756675,-6.25669584257e-05,1793248390679904768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630.185690121,881,783,814.185690121,651.185690121,630.185690121,653,0.455931881137,0.00467519685546,0.0796840217917,0.999999869715,0.000154833845226,-0.000482400228409,-6.23410808132e-05,1793248390696571136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630,881,783,814.389099791,651,630.389099791,653,0.455896317368,0.00467479450016,0.0796700046974,0.999999857828,0.000154769738454,-0.00050652386822,-6.18446652504e-05,1793248390713237760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630,881,783,814.960878276,651,630.960878276,653,0.455850460125,0.00467489872823,0.0796523768423,0.999999841665,0.000155331192291,-0.000537396045273,-6.12212345956e-05,1793248390729904640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.536635945,653,630.536635945,881,783,815,651,630.463364055,653,0.455786168396,0.00467458761897,0.0796348359833,0.999999826198,0.000155011497995,-0.000565604577721,-6.05515645578e-05,1793248390746571264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.115765341,683.884234659,653.115765341,631,881,783,814.884234659,651.115765341,630,653,0.455719439294,0.00467408233042,0.0796193422692,0.999999812518,0.000154752580951,-0.000589447765005,-5.97251624503e-05,1793248390763237888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.707557695,683.292442305,653.707557695,631,881,783,814.292442305,651.707557695,630,653,0.455648255122,0.00467290401328,0.0796122401346,0.999999808594,0.000155009697153,-0.000596145117126,-5.82682429457e-05,1793248390779904512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.707110465,683,653.707110465,630.707110465,881,783,814,651.707110465,630,653,0.455568236162,0.00467226935927,0.0796088420421,0.999999806816,0.000157030977317,-0.000598779484151,-5.63295885971e-05,1793248390796571136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.128090093,683,653.128090093,630.128090093,881,783,814,651.128090093,630,653,0.45547958629,0.00467216582291,0.0796090625178,0.999999807152,0.000160775711713,-0.000597444622822,-5.39203159696e-05,1793248390813237760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.448965685,683,653.448965685,630.448965685,881,783,814,651.448965685,630,653,0.455371599335,0.00467253976038,0.0796110553686,0.999999808317,0.000163690968763,-0.000594924511944,-5.13362888599e-05,1793248390829904384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.974110364,745,714.974110364,683,654,631,881,783,814,651.974110364,630,652.974110364,0.455256899677,0.00467300329182,0.0796133243048,0.999999809518,0.000166382886355,-0.000592377782453,-4.86652399199e-05,1793248390846571264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.387962504,745,714.387962504,683,654,631,881,783,814,651.387962504,630,652.387962504,0.455115801859,0.00467247059262,0.0796106728784,0.999999806711,0.000169340541487,-0.000596540835448,-4.5185244655e-05,1793248390863237888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.195899857,745,714.195899857,683.195899857,654.195899857,631,881.195899857,783,814,651.195899857,630,652.195899857,0.454962224656,0.00467124187953,0.079607399288,0.999999803332,0.000171804861684,-0.000601754069184,-4.13584745665e-05,1793248390879904512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.775288116,745,714.775288116,683.775288116,654.775288116,631,881.775288116,783,814,651.775288116,630,652.775288116,0.454784218151,0.00466865066805,0.0796029077663,0.999999798849,0.000173303442061,-0.000609023108604,-3.68528676247e-05,1793248390896571648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.646314696,654.646314696,631,881.646314696,783,814,651.646314696,630,653,0.45458650678,0.00466708964838,0.0795992640247,0.999999795194,0.000177265811891,-0.000614147987676,-3.1811574935e-05,1793248390913238272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.068545362,654.068545362,631,881.068545362,783,814,651.068545362,630,653,0.454376311,0.004666181326,0.0795961574098,0.999999792036,0.000182789162383,-0.000617914394007,-2.6430887941e-05,1793248390929904640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.494426997,683.505573003,654.505573003,631,881,783,814.505573003,651,630,653,0.454120643842,0.00466320504205,0.0795880324171,0.999999783402,0.000186455613629,-0.000630884847265,-2.03410040795e-05,1793248390946571008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.081523658,683.918476342,655,631,880.918476342,783,814.836952684,651,630,653,0.453857007661,0.00466032246427,0.0795804691254,0.999999775101,0.000190773797564,-0.000642811957387,-1.40130872844e-05,1793248390963237376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.671981126,683.328018874,655,631,880.328018874,783,813.656037748,651,630,653,0.453581833251,0.00465976262983,0.0795806294661,0.999999774718,0.000200721000818,-0.000640491335029,-6.79513721194e-06,1793248390979904000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.742270526,683.257729474,655,631,880.257729474,783,813.257729474,651.257729474,630.257729474,652.742270526,0.453288819005,0.00465888092721,0.0795835095216,0.999999777403,0.000209600861345,-0.000633452599908,1.84900639252e-07,1793248390996570624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.162408087,683.837591913,655,631,880.837591913,783,813.837591913,651.837591913,630.837591913,652.162408087,0.452973506977,0.00465759692549,0.0795897889158,0.99999978388,0.000217146662449,-0.000620516752584,6.8675744369e-06,1793248391013237248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.414749452,683.585250548,655.414749452,631,881,783,814,651.585250548,630.170501096,652.414749452,0.452624399978,0.00465449038093,0.0795947731059,0.999999786811,0.000220444604472,-0.000614491358174,1.35130032719e-05,1793248391029904128
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,714.990854653,683.009145347,655.990854653,631,881,783,814,651.009145347,629.018290695,652.990854653,0.45226214526,0.00465067478722,0.0795992534046,0.99999978838,0.000222089942613,-0.000611154433701,2.01439420249e-05,1793248391046571008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.42393777,745,715,683.57606223,656,631,881,783,813.42393777,651.57606223,629.57606223,653,0.451866782405,0.00464789362369,0.0796069739173,0.999999799209,0.000199377633379,-0.000601279801878,1.71213998168e-05,1793248391063237888
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.840142088,656,631.159857912,881,783.159857912,813,652,630,653,0.45146311347,0.00464426568027,0.0796164603707,0.9999998122,0.000177908720604,-0.000586277018534,1.51008342021e-05,1793248391079904768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.260440259,656,631.739559741,881,783.739559741,813,652,630,653,0.451039032476,0.0046383699681,0.0796304475437,0.999999831224,0.0001607373129,-0.000558082847982,1.6120781618e-05,1793248391096571136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.318106223,632,881,784,813,652,630,652.681893777,0.450596306509,0.00463323099565,0.0796485324693,0.999999852534,0.000140429538191,-0.000524375319907,1.55514983899e-05,1793248391113237760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.895710285,632,881,784,813,652,630,652.104289715,0.450138370702,0.00462870933938,0.0796699601727,0.999999874815,0.000117563243622,-0.000486170220339,1.36857869412e-05,1793248391129904384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.471527792,745,715,683.471527792,657.471527792,632,881,784,813,651.528472208,630,652.471527792,0.449625589869,0.0046243441131,0.0796854565293,0.999999885813,0.000113211139827,-0.00046389675229,1.89098467871e-05,1793248391146571008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.952036482,745,715,684,658,632,880.952036482,784,812.952036482,651,630.047963518,653,0.449094276841,0.0046199704677,0.0796969827046,0.999999891456,0.000119887103427,-0.000449534592302,2.51742245925e-05,1793248391163237888
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.364211084,745,715,684,658,632,880.364211084,784,812.364211084,651,630.635788916,653,0.448490390379,0.00461511409942,0.0796785319487,0.999999861236,0.000204774996761,-0.000484708030563,2.55649814618e-05,1793248391179905024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.779643299,658,632.220356701,880.220356701,784,812,651,630.779643299,653,0.447886356288,0.0046083595925,0.0796673977466,0.999999843957,0.000244961146181,-0.000501385507158,2.63117380883e-05,1793248391196571904
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.200381374,658,632.799618626,880.799618626,784,812,651,630.200381374,653,0.447282081784,0.00459851349909,0.0796681803574,0.999999858032,0.000212339480341,-0.000487937752421,2.76383283394e-05,1793248391213238272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.376905502,633,881,784,812,651,630,652.623094498,0.446686515621,0.00458968282593,0.0797059041501,0.999999891841,0.00017940874771,-0.00042808909261,2.9502003134e-05,1793248391229904896
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.953147802,633,881,784,812,651,630,652.046852198,0.44609555512,0.00458138918589,0.0797631652987,0.99999992973,0.000146314556528,-0.00034370004093,3.16497295712e-05,1793248391246571520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.469625192,683,659,633,880.469625192,784,812,651.530374808,630,652.530374808,0.445432820699,0.00457537933497,0.0798131343214,0.999999953193,0.000130093667454,-0.000274690941489,3.51421875328e-05,1793248391263237888
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.109697574,683,659,633,880.109697574,784,812,651.890302426,630,653,0.444748650782,0.00456951260129,0.0798524625119,0.999999967607,0.000117081997277,-0.000222693061514,3.85367738324e-05,1793248391279904512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.697779605,683,659,633,880.697779605,784,812,651.302220395,630,653,0.443998703511,0.00456338856001,0.0798482010823,0.999999964391,0.000111553244078,-0.000238944164828,4.09855444169e-05,1793248391296570880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.718414966,784,812,651,629.718414966,653,0.443224475843,0.00455648559479,0.0798302593933,0.99999995647,0.000115292619513,-0.00026824859677,4.25514258421e-05,1793248391313237504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.1391308,784,812,651,629.1391308,653,0.442424578207,0.00454875912985,0.0797978545724,0.999999942298,0.000128830504397,-0.000311353354023,4.31838937873e-05,1793248391329904640
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.436781763,745,715,683.436781763,659,633,880,784,811.563218237,651,629.873563527,652.563218237,0.441622168898,0.00454168293632,0.0797838538792,0.999999940143,0.000107989701971,-0.00032595356428,4.25010557443e-05,1793248391346571264
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.988449475,745.011550525,715,683.988449475,659,633,879.988449475,784,811.011550525,651,630.988449475,652,0.440816865015,0.00453480187732,0.0797745873022,0.99999994052,7.74605130793e-05,-0.000333522945453,4.14944013023e-05,1793248391363237888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.417459341,745.582540659,715,683.417459341,659,633,879.417459341,784,811.582540659,651,630.417459341,652,0.439909815805,0.00452741641496,0.0797128491853,0.999999898113,0.000104014990632,-0.000436960416564,4.49411078211e-05,1793248391379904512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.839764339,715,683,659,633,879.160235661,784,811.839764339,651,630.160235661,652,0.439021809663,0.00451964917648,0.0796743807016,0.999999867042,0.000115745028489,-0.000500266971478,4.745837795e-05,1793248391396570880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.243838442,715,683,659,633,879.756161558,784,811.243838442,651,630.756161558,652,0.438185582807,0.00451084386661,0.07969918373,0.999999891811,8.71665391165e-05,-0.000454455196634,4.74484564849e-05,1793248391413237504
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.341962437,651.341962437,630.658037563,652,0.437364793083,0.00450060393901,0.0797544182412,0.999999927731,6.93750426322e-05,-0.000370584047449,4.89099400114e-05,1793248391429904128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.920751202,651.920751202,630.079248798,652,0.436554694391,0.00448937046626,0.0798307280964,0.999999963043,5.90540863281e-05,-0.00026035485036,5.13904457017e-05,1793248391446570496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,812,651.506180673,630,652,0.435693756955,0.00448143809909,0.0798540746554,0.999999971551,5.62459544573e-05,-0.000225637872551,5.31280145899e-05,1793248391463237632
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.931881024,651,629.931881024,652,0.434815320365,0.00447349457306,0.0798635005489,0.999999974873,5.34472561695e-05,-0.000210738247041,5.4653259948e-05,1793248391479904768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.341171318,651,629.341171318,652,0.433864509752,0.00446144776215,0.079830590888,0.999999964838,4.15772871308e-05,-0.00025596834952,5.54538213507e-05,1793248391496571392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.43287796676,0.00445092069483,0.0797847470823,0.999999941877,3.09392935741e-05,-0.00033486424227,5.61605550525e-05,1793248391513238016
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.431842569965,0.00444247143456,0.0797212195783,0.999999892446,2.19856673701e-05,-0.000459788347151,5.67390061945e-05,1793248391529904896
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.43089647831,0.0044311811033,0.0797094289385,0.999999882731,1.28174201508e-05,-0.000480664476502,5.77464059002e-05,1793248391546571264
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652.551473395,0.429149072292,0.00441040549326,0.0797951580448,0.999999942751,-4.92172711784e-06,-0.000332969509608,6.00400323666e-05,1793248391579904512
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.87028634,784,811,651,629,652.87028634,0.428284539402,0.0044020501367,0.0798538217783,0.999999970114,-1.2579152283e-05,-0.000236367413751,6.11932149745e-05,1793248391596571392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.278359864,784,811,651,629,652.278359864,0.427323511864,0.00439267470553,0.0798448625564,0.999999966827,-1.74310638017e-05,-0.000249259357476,6.25525518205e-05,1793248391613238016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784,811,651,629.305709647,652,0.426354862015,0.00439344376055,0.0798154076211,0.999999954346,-1.83489618532e-05,-0.000295126056802,6.22285652456e-05,1793248391629904640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784,811,651,629.88280433,652,0.425379445727,0.00440321829492,0.0797677582001,0.999999929503,-1.57745510949e-05,-0.000370265154902,6.0410255885e-05,1793248391646571520
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.459233685,715,682.081532631,659,633.459233685,879,784,811,651.459233685,629.540766315,652,0.424399151839,0.00443351031981,0.0797382866961,0.999999910918,3.04184407355e-05,-0.000416595997328,6.07099946226e-05,1793248391663238144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.035281925,745.964718075,715,681.035281925,658.964718075,633.964718075,879,784,811,651.964718075,629,652,0.423425535801,0.00446781901131,0.0797164988497,0.999999893126,8.48150326053e-05,-0.000450348977469,6.11524264881e-05,1793248391679904768
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.608106117,745.391893883,715,681.608106117,658.391893883,633.391893883,879,784,811,651.391893883,629,652,0.422572599341,0.00448366531363,0.0797412009441,0.999999912223,9.48502055905e-05,-0.000404317839982,5.55455964628e-05,1793248391696571136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.811952144,745,715,682,658.188047856,633.188047856,879,784,811,651,629,652.188047856,0.421726876847,0.0044929333934,0.079779564562,0.999999937425,9.86381615908e-05,-0.000335780179402,5.16845940015e-05,1793248391713237760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.216593732,745,715,682,658.783406268,633.783406268,879,784,811,651,629,652.783406268,0.4208967796,0.00448795308466,0.0798475189649,0.999999970848,8.88946835383e-05,-0.000218493511008,5.16050425141e-05,1793248391729904384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.366625179,745,715,681.633374821,658.633374821,634,879,784,811,651,629,652.633374821,0.420027099073,0.00448126849842,0.0798627667345,0.99999997641,8.21384863311e-05,-0.000194245263745,5.19765458476e-05,1793248391746571264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.942902173,745,715,681.057097827,658.057097827,634,879,784,811,651,629,652.057097827,0.4191347832,0.00447360933438,0.0798478746134,0.999999970736,7.70905438995e-05,-0.000223200336455,5.26059816896e-05,1793248391763238144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.482453949,745,715,681.517546051,658,634,879,784,811,651,629,652,0.418241620109,0.0044709611897,0.0798125730648,0.999999955768,7.21921411333e-05,-0.00028396102608,5.11689462333e-05,1793248391779904768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.905958364,658,634,879,784,811,651,629,652,0.417361547355,0.00446999157836,0.0797833340565,0.999999939713,6.90139277234e-05,-0.000336616485566,5.0001852483e-05,1793248391796571648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.318811656,658,634,879,784,811,651,629,652,0.416550602053,0.00447493365016,0.0797976531831,0.999999941948,7.47692536599e-05,-0.000328431265821,5.14418488453e-05,1793248391813238272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.735336294,784,811,651,629,652.264663706,0.415725638114,0.00448112065993,0.0797972251242,0.999999938334,8.86315066474e-05,-0.000335677827782,5.28800792536e-05,1793248391829904896
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.156222937,784,811,651,629,652.843777063,0.414884018548,0.00448878679284,0.0797792757823,0.999999926985,0.000112125681976,-0.000361259047503,5.431621137e-05,1793248391846571264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.42210129,784,811,651,629,652.57789871,0.414128710969,0.0044844983289,0.07978388628,0.999999934652,9.63327516553e-05,-0.000344477140914,5.24619750352e-05,1793248391863237632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.999867008,658,634,879,784,810.999867008,651,629,652,0.413405289741,0.00447579505388,0.0797968297378,0.999999947912,6.60348693655e-05,-0.000312050762749,4.93933224383e-05,1793248391879904256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.4263795,658,634,879,784,810.4263795,651,629,652,0.412687437273,0.00447322093844,0.0798053304451,0.999999950508,7.18552560591e-05,-0.000302013348668,5.10769449645e-05,1793248391896571136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.151527014,658,634,878.848472986,784,810,651,629,652,0.411970405687,0.00447206599217,0.0798073582206,0.999999949541,7.92183451582e-05,-0.000303125704357,5.25063317137e-05,1793248391913237760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.742241765,658,634,878.257758235,784,810,651,629,652,0.411255753189,0.0044750243825,0.0797906247738,0.999999937805,9.10528229618e-05,-0.00033655468561,5.31988387714e-05,1793248391929904896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.326791216,784,810.326791216,651,629,652,0.410569777563,0.00448053643251,0.0797848308626,0.999999933525,9.6233963013e-05,-0.00034763957059,5.32449145555e-05,1793248391946571776
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.906567765,784,810.906567765,651,629,652,0.409906002174,0.00448802539733,0.0797875057911,0.999999935687,9.62644227518e-05,-0.00034142677756,5.27905557337e-05,1793248391963238400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.518791033,658,634,879,784,810.518791033,651,629,652,0.409320442597,0.00448789443784,0.0798138929948,0.999999949583,0.000102986536559,-0.000295522168917,5.38018846458e-05,1793248391979904768
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.056224303,658,634,879,784,810,651.056224303,629,652,0.408749734761,0.00448627441585,0.0798411859472,0.999999961614,0.000108504622379,-0.000248965053603,5.49132240821e-05,1793248391996571392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.644106374,658,634,879,784,810,651.644106374,629,652,0.408177377758,0.00448441620643,0.0798339677871,0.999999958428,9.0481300502e-05,-0.000268342260672,5.43076871396e-05,1793248392013238016
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.228625685,745,715,680.771374315,658,634,878.771374315,784,810,651.771374315,629,652,0.407601036086,0.00448352395859,0.0798139452099,0.999999947432,8.83321054166e-05,-0.000307345380122,5.36016805745e-05,1793248392029904896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.807986129,745,715,680.192013871,658,634,878.192013871,784,810,651.192013871,629,652,0.407018581587,0.00448411359297,0.0797742793719,0.99999992164,0.00011053541644,-0.000376456617517,5.27415434234e-05,1793248392046571776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.386813059,784,810,651,628.613186941,652,0.406507933969,0.00448477097225,0.0797665103644,0.999999919222,0.000108596709791,-0.000383468633445,5.20950796693e-05,1793248392063238656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.965375569,784,810,651,628.034624431,652,0.406032882123,0.00448546193382,0.0797745531251,0.999999929497,9.46904190353e-05,-0.00035969707372,5.15545372339e-05,1793248392079905280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.460751954,784,809.460751954,651,628,652,0.405620299774,0.00449122363962,0.0797930992886,0.999999941344,0.000103775624615,-0.000322464559085,5.05956376822e-05,1793248392096571648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.883892836,745,715,680.116107164,658,634,878,784,809.116107164,651.116107164,628.116107164,652,0.405215351666,0.00449598820071,0.0798105563873,0.999999950048,0.000113940885093,-0.000290569810894,4.98978197145e-05,1793248392113238272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.293617218,745,715,680.706382782,658,634,878,784,809.706382782,651.706382782,628.706382782,652,0.404825341217,0.00449536234649,0.0798208354088,0.999999950903,0.000122540097227,-0.000283973196081,5.03749854015e-05,1793248392129904640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.708877085,658.291122915,634,878,784,810,651.708877085,629,652,0.404446804614,0.00449581911902,0.0798285353162,0.99999995146,0.000125234391298,-0.000280562907748,5.17798576913e-05,1793248392146571008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.129615724,658.870384276,634,878,784,810,651.129615724,629,652,0.404079624257,0.00449734741971,0.0798336825488,0.999999951798,0.000122084301558,-0.000280306281425,5.41029260986e-05,1793248392163237632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.447237061,745,715,680,658.105525877,634,878,784.447237061,810,651,629,652,0.403738642601,0.00449615987682,0.0798327654488,0.99999995056,0.000118361385226,-0.000286152406764,5.46493802585e-05,1793248392179904256
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.976707989,745,715,679.976707989,657.023292011,634,878,784.976707989,810,651.023292011,629,652,0.403407577762,0.00449420694547,0.0798301500011,0.99999994887,0.0001143847337,-0.000293591681299,5.45823727099e-05,1793248392196571136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.403099071,745,715,679.403099071,657.596900929,634,878,784.403099071,810,651.596900929,629,652,0.403132383941,0.00449266714961,0.0798287104275,0.999999948639,0.000108314479817,-0.000297107912557,5.21212223146e-05,1793248392213237760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.17619241,745,715.17619241,679.17619241,658,634,878,783.82380759,809.82380759,652,628.82380759,652,0.402869588573,0.00449141509734,0.0798281115706,0.999999948514,0.000103820281317,-0.000299314329092,5.10317538065e-05,1793248392229904128
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.768917849,745,715.768917849,679.768917849,658,634,878,783.231082151,809.231082151,652,628.231082151,652,0.402636104187,0.00449084329426,0.0798295002356,0.999999948747,0.000103052005367,-0.000298424237811,5.3185051949e-05,1793248392246570496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.646927332,745,715.646927332,680,658.353072668,633.646927332,878,783.353072668,809,651.646927332,628.353072668,652,0.402424925517,0.00448885065043,0.0798323896544,0.999999950491,9.817492286e-05,-0.000293978596709,5.43742809092e-05,1793248392263236864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.068248894,745,715.068248894,680,658.931751106,633.068248894,878,783.931751106,809,651.068248894,628.931751106,652,0.402227999692,0.00448595012016,0.0798362380224,0.99999995312,9.06724020727e-05,-0.000287261036342,5.4947490797e-05,1793248392279903744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.507013199,745,715,680,658.492986801,633.507013199,878,784,809,651,628.492986801,652,0.402060696457,0.00448544064193,0.0798416159717,0.999999956297,8.37634440407e-05,-0.000278140335817,5.50234078994e-05,1793248392296570368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.916289372,745,715,679.916289372,658,634,878,784.083710628,809.083710628,651,628.083710628,652,0.401901265081,0.0044857601256,0.0798464417445,0.999999958995,7.82694506773e-05,-0.000269908840218,5.50698654495e-05,1793248392313237248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.328190906,745,715,679.328190906,658,634,878,784.671809094,809.671809094,651,628.671809094,652,0.401765399236,0.00448914807514,0.0798467081494,0.99999995903,8.08229447859e-05,-0.000268971211337,5.53394597621e-05,1793248392329903872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.744144777,810,651.255855223,629,652,0.401636868295,0.00449565580126,0.079845239096,0.99999995779,8.61483158561e-05,-0.000271986420802,5.4965884544e-05,1793248392346570752
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.165215656,810,651.834784344,629,652,0.401517599305,0.00450610293626,0.0798415786418,0.999999954846,9.4973795483e-05,-0.000279992964377,5.37801652906e-05,1793248392363237376
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.412808996,679,658,634,878,784.412808996,810,652,629,652,0.401412818296,0.00451792964126,0.079834576595,0.999999946964,0.00014079401983,-0.000289704911789,4.81735046701e-05,1793248392379903744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.990472435,679,658,634,878,784.990472435,810,652,629,652,0.401313823038,0.00453030727452,0.07982624009,0.99999993386,0.000201388020581,-0.000300097907668,4.08013498574e-05,1793248392396570368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.438042951,679,658,634,878,784.438042951,810,651.438042951,628.438042951,652,0.40124228163,0.00452271599843,0.0798231799595,0.999999934921,0.000189776466273,-0.000303846339314,4.26571013587e-05,1793248392413236992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.138308685,745,715,679.138308685,658,634,878,784,809.861691315,651,628.138308685,652,0.401176586042,0.00451674445447,0.079820846299,0.999999935801,0.000179814902784,-0.000306750630782,4.43711214711e-05,1793248392429903872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.730989775,745,715,679.730989775,658,634,878,784,809.269010225,651,628.730989775,652,0.401128582686,0.00451719420087,0.0798206085535,0.999999935716,0.000179251882165,-0.000307247813381,4.51111364203e-05,1793248392446570496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.683555479,745,715,680,658,634,878.316444521,784,809.316444521,651.316444521,629,652,0.40108745565,0.00451611504097,0.0798203857181,0.999999936006,0.000176874574272,-0.000307580324208,4.58084307647e-05,1793248392463236864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.104106649,745,715,680,658,634,878.895893351,784,809.895893351,651.895893351,629,652,0.401052043677,0.00451376517198,0.0798201752747,0.999999936595,0.00017298937049,-0.000307775972592,4.64702191141e-05,1793248392479903744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.528854691,658,634,878.528854691,784,810,652,629,652,0.401027523987,0.00451435413192,0.0798203369404,0.999999936723,0.000173819127065,-0.000306836608863,4.6817199673e-05,1793248392496571136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878.046510156,784,809.953489844,651.953489844,628.953489844,652,0.401006159977,0.004514640903,0.0798205983842,0.999999936932,0.000174496611752,-0.000305697943048,4.72800513493e-05,1793248392513238784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878.633877085,784,809.366122915,651.366122915,628.366122915,652,0.400993751465,0.00450392877282,0.0798210724137,0.999999939178,0.000161394974377,-0.000305132361534,4.98921181354e-05,1793248392529905408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.218333062,657.781666938,634,878.563333876,784,809,651,628,652,0.400983655404,0.00449063760144,0.0798216581841,0.999999942009,0.000144214523397,-0.000304089261299,5.20859261692e-05,1793248392546571520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.797971853,657.202028147,634,877.404056294,784,809,651,628,652,0.400977386075,0.0044730785367,0.0798224288676,0.999999945651,0.000120284299658,-0.000302255945187,5.35875837886e-05,1793248392563237632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.376914476,745,715,680,657.376914476,634,877.753828951,784,809.376914476,651,628.376914476,652,0.400972223103,0.00447255261362,0.0798230669387,0.999999945817,0.000120098015552,-0.000301762090221,5.36783007648e-05,1793248392579904512
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a439e4902995f80d968eed665d8c759b3ea6f2b4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d81ecb05bec4cdb384b6816208860fd637ac646
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b386dfe047a995d6633831d57b4fa7e135f616d670ac99eb59df07500c877b
+size 26030909
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b13be37e501463746b5761883b430943dfc71708
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+7,0.116666667,BASELINE,765.939728587,745,715.939728587,680,658,634,878,784,809.060271413,651,628.939728587,652,0.400968627953,0.00447818973396,0.0798330312387,0.999999951183,0.000120416099954,-0.000283566577208,5.21964564699e-05,1793248393202744576
+8,0.133333333,BASELINE,765.366053783,745,715.366053783,680,658,634,878,784,809.633946217,651,628.366053783,652,0.400969381038,0.00447867655968,0.0798334766234,0.999999950834,0.000123279772777,-0.000283586875871,5.20781890279e-05,1793248393219410944
+9,0.150000000,BASELINE,765.209100453,745,715,679.790899547,658,634,877.790899547,784,809.790899547,651,628.209100453,652,0.400969414769,0.00447914712687,0.0798334972648,0.999999950562,0.00012462221428,-0.000283984437283,5.19495584529e-05,1793248393236077568
+10,0.166666667,BASELINE,765.786862997,745,715,679.213137003,658,634,877.213137003,784,809.213137003,651,628.786862997,652,0.400968180217,0.00447958902879,0.0798327690471,0.999999950433,0.000123282593774,-0.000285047145384,5.18026567956e-05,1793248393252743936
+11,0.183333333,BASELINE,765.627365495,745,715,679,658,634,877.372634505,784,809.372634505,651.372634505,629,652,0.400968863952,0.00447953620869,0.0798333403644,0.999999950861,0.00012219971876,-0.000284021340306,5.17358041547e-05,1793248393269410560
+12,0.200000000,BASELINE,765.036912399,745,715,679,658,634,877.963087601,784,809.963087601,651.963087601,629,652,0.400970668996,0.00447919420541,0.0798346713077,0.999999951611,0.000121266920817,-0.000281774722456,5.17157430978e-05,1793248393286077184
+13,0.216666667,BASELINE,765.54294241,745,715.54294241,679.54294241,658,634,878,784,810,652,628.45705759,652,0.400968417262,0.00447820015963,0.0798333162066,0.99999995091,0.000121218489052,-0.000284196054867,5.2135070581e-05,1793248393302743808
+14,0.233333333,BASELINE,765.878663808,745,715.878663808,680,658,634,878.121336192,784,810,651.878663808,628,652,0.40096664358,0.00447789439329,0.0798322777542,0.999999950334,0.000121328332157,-0.000286128374474,5.23702291531e-05,1793248393319410432
+15,0.250000000,BASELINE,765.303093613,745,715.303093613,680,658,634,878.696906387,784,810,651.303093613,628,652,0.400967672258,0.00448032804372,0.0798330952483,0.999999950608,0.000121809920788,-0.000285064725948,5.18062449653e-05,1793248393336077056
+16,0.266666667,BASELINE,765,745,715,680,658,634,879,784,809.722259088,651,628,651.722259088,0.400968393829,0.00448155144232,0.0798335997741,0.999999950661,0.000123771762623,-0.000284070186953,5.1609774183e-05,1793248393352743936
+17,0.283333333,BASELINE,765,745,715,680,658,634,879,784,809.135568739,651,628,651.135568739,0.400968773784,0.00448142859825,0.0798337561646,0.999999950457,0.000127380187176,-0.000283152523082,5.1822112705e-05,1793248393369410560
+18,0.300000000,BASELINE,765,745,715,680,658,634,878.554521367,784.445478633,809.445478633,651.445478633,628.445478633,651.445478633,0.400967577468,0.00447990596031,0.0798329520211,0.999999950359,0.000124515507782,-0.000284763567385,5.18356202297e-05,1793248393386076928
+19,0.316666667,BASELINE,765,745,715.024720693,680,658,634,878,784.975279307,810,651.975279307,629,652,0.400966030715,0.00447806819149,0.0798319334183,0.999999950288,0.000119946017667,-0.000286977088216,5.17869265236e-05,1793248393402743808
+20,0.333333333,BASELINE,765,745,715.601517219,680,658,634,878,784.398482781,810,651.398482781,629,652,0.40096723656,0.00447858712899,0.0798325717871,0.99999995057,0.000120746453699,-0.000285674624021,5.16835278072e-05,1793248393419410432
+21,0.350000000,BASELINE,765,745,715.821871503,679.821871503,658,633.821871503,878,784,809.821871503,651.178128497,628.821871503,652,0.400968647741,0.00447908329081,0.0798333757137,0.999999950882,0.000121599631923,-0.000284224224946,5.16373127037e-05,1793248393436077312
+22,0.366666667,BASELINE,765,745,715.245674286,679.245674286,658,633.245674286,878,784,809.245674286,651.754325714,628.245674286,652,0.40097051779,0.00447952855513,0.0798345496164,0.999999951264,0.000122570674491,-0.000282443231847,5.17188874294e-05,1793248393452743936
+23,0.383333333,BASELINE,765.337489868,745,715,679,658.337489868,633.337489868,878.337489868,784,809,652,628.337489868,652,0.400970161238,0.00447943702826,0.0798343079248,0.999999951201,0.000122452270695,-0.000282731096002,5.16399805204e-05,1793248393469410560
+24,0.400000000,BASELINE,765.925832536,745,715,679,658.925832536,633.925832536,878.925832536,784,809,652,628.925832536,652,0.400968149676,0.00447894651,0.0798330140364,0.999999950807,0.000121524092558,-0.000284556720607,5.14417892468e-05,1793248393486077184
+25,0.416666667,BASELINE,766,745,715,679.507574764,658.492425236,634,878.492425236,784,809.507574764,652,629,652,0.400968483495,0.0044784675655,0.0798331032925,0.999999951141,0.000120974441591,-0.000283592780884,5.15684255117e-05,1793248393502743808
+26,0.433333333,BASELINE,766,745,715.087418238,680,658,634,878.087418238,784,809.912581762,651.912581762,628.912581762,652,0.400968878563,0.00447804748655,0.0798332208003,0.999999951428,0.000120441822569,-0.000282778893285,5.17168400521e-05,1793248393519410432
+27,0.450000000,BASELINE,766,745,715.661986498,680,658,634,878.661986498,784,809.338013502,651.338013502,628.338013502,652,0.400967729666,0.00447794614039,0.0798323839345,0.999999950873,0.000119699845548,-0.000285043520152,5.1725511686e-05,1793248393536077312
+28,0.466666667,BASELINE,765.762693628,745,716,680,658,634,878.762693628,784,809,651,628.237306372,652,0.400967627304,0.00447773067848,0.0798324218282,0.999999950746,0.000119472623609,-0.000285577959365,5.17620027884e-05,1793248393552743936
+29,0.483333333,BASELINE,765.186299805,745,716,680,658,634,878.186299805,784,809,651,628.813700195,652,0.40096902034,0.00447735215639,0.079833709667,0.999999951233,0.000119980936066,-0.000283640130573,5.1838245173e-05,1793248393569410560
+30,0.500000000,BASELINE,765,745,716,680,658,634,878,784,809.400688867,651.400688867,629,652,0.400969365021,0.00447791324628,0.0798342891068,0.999999951437,0.000120641946823,-0.00028263541838,5.18457013477e-05,1793248393586077184
+31,0.516666667,BASELINE,765,745,716,680,658,634,878,784,809.992737377,651.992737377,629,652,0.400969209032,0.00447892307291,0.0798345302318,0.999999951508,0.000121375882705,-0.000282076340931,5.18203068335e-05,1793248393602744064
+32,0.533333333,BASELINE,765.568823015,745,716,680,657.431176985,634,878,784,810,651.431176985,629,652,0.400969466223,0.00447773993087,0.0798350975431,0.999999951673,0.000120492350727,-0.000281840893801,5.19830261795e-05,1793248393619410432
+33,0.550000000,BASELINE,766,745.144049787,716,680,657.144049787,634,878,784,809.855950213,651.144049787,629,652,0.40096936127,0.00447726147239,0.0798352198527,0.999999951588,0.000120487332222,-0.000282132482623,5.20298087106e-05,1793248393636077312
+34,0.566666667,BASELINE,766,745.717308086,716,680,657.717308086,634,878,784,809.282691914,651.717308086,629,652,0.400968161993,0.00447896382765,0.0798340041721,0.999999950755,0.000123159772295,-0.000283982443913,5.17241866513e-05,1793248393652744960
+35,0.583333333,BASELINE,765.701793348,745.701793348,715.701793348,680,658,634,877.701793348,784,809,652,628.701793348,652,0.400967512938,0.00447882852314,0.0798332650961,0.999999950498,0.000122614185442,-0.000285134520137,5.1653773848e-05,1793248393669411840
+36,0.600000000,BASELINE,765.113461501,745.113461501,715.113461501,680,658,634,877.113461501,784,809,652,628.113461501,652,0.400967399195,0.00447690535996,0.0798329897085,0.999999950799,0.000118937781103,-0.00028560762433,5.18121960503e-05,1793248393686078208
+37,0.616666667,BASELINE,765,745,715,680,658,634,877.939270409,784,809,651.530364795,628.469635205,652,0.400968393043,0.00447719778515,0.0798339756825,0.999999951249,0.00012069221411,-0.000283299658645,5.17383213464e-05,1793248393702745088
+38,0.633333333,BASELINE,765.050913546,745,715.050913546,679.949086454,658,634,878.949086454,784,809.050913546,651,628.949086454,652,0.400969618755,0.00447811070902,0.0798351780415,0.999999951683,0.000123595163378,-0.000280521656975,5.16335915259e-05,1793248393719411456
+39,0.650000000,BASELINE,765.62634557,745,715.62634557,679.37365443,658,634,878.37365443,784,809.62634557,651,628.37365443,652,0.400970506826,0.00447996241345,0.0798355047803,0.999999951722,0.000124962250659,-0.000279746897348,5.17827881528e-05,1793248393736078080
+40,0.666666667,BASELINE,766,745,715.798570438,679,658,634,878,784,809.798570438,651,628.201429562,652,0.400970375062,0.00448090697653,0.0798354739533,0.999999951675,0.00012513111774,-0.000279834146461,5.18210538105e-05,1793248393752744704
+41,0.683333333,BASELINE,766,745,715.224130974,679,658,634,878,784,809.224130974,651,628.775869026,652,0.400968354757,0.00448017168328,0.0798347809811,0.999999951465,0.000123081104863,-0.000281517674707,5.16538960358e-05,1793248393769411072
+42,0.700000000,BASELINE,765.638581673,745,715,679.361418327,658,634,877.638581673,784,809.361418327,651,629,652,0.400967249887,0.00447979399837,0.0798337466658,0.999999951139,0.000122793330833,-0.000282808800781,5.16011838771e-05,1793248393786077952
+43,0.716666667,BASELINE,765.045924208,745,715,679.954075792,658,634,877.045924208,784,809.954075792,651,629,652,0.400966730722,0.00447964511496,0.0798324939558,0.99999995074,0.000123633055302,-0.000283848863872,5.16216951993e-05,1793248393802744576
+44,0.733333333,BASELINE,765.532132555,745,715,679.467867445,658,634,877.532132555,784,809.467867445,651.532132555,628.467867445,652,0.400966802404,0.00447963390394,0.0798332462783,0.999999950679,0.000123160340363,-0.000284252791689,5.17185379062e-05,1793248393819411200
+45,0.750000000,BASELINE,765.89155697,745,715,679.10844303,658,634,878,784,809,651.89155697,628.10844303,652,0.400966966236,0.00447966036891,0.0798340402525,0.999999950702,0.000122818723354,-0.000284300949396,5.18125139627e-05,1793248393836077824
+46,0.766666667,BASELINE,765.317478869,745,715,679.682521131,658,634,878,784,809,651.317478869,628.682521131,652,0.400967312642,0.00447979895361,0.0798342899158,0.999999950968,0.000123513375435,-0.000283050928467,5.18666506497e-05,1793248393852744960
+47,0.783333333,BASELINE,765.262385846,745,715,679.737614154,658,634,878,784,809.262385846,651,629,652,0.400967526381,0.00447971768224,0.0798341944439,0.999999951222,0.000122366276438,-0.000282689202389,5.16667102462e-05,1793248393869411840
+48,0.800000000,BASELINE,765.849410162,745,715,679.150589838,658,634,878,784,809.849410162,651,629,652,0.400967575979,0.00447936439265,0.0798336719515,0.999999951453,0.000118940459905,-0.000283426524301,5.11524114369e-05,1793248393886078208
+49,0.816666667,BASELINE,766,745,715.430956963,679.430956963,658,634,878,784,809.569043037,651,628.569043037,652,0.400968413359,0.00447929930283,0.0798346188335,0.999999951441,0.000120539926585,-0.0002827389328,5.14549870644e-05,1793248393902744832
+50,0.833333333,BASELINE,766,745,715.989388101,679.989388101,658,634,878,784,809.010611899,651.010611899,628.010611899,652,0.400969505931,0.00447932866116,0.0798360366392,0.999999951342,0.000123782614034,-0.000281579812765,5.20268542936e-05,1793248393919411200
+51,0.850000000,BASELINE,766,745,715.409831653,679.409831653,658,634,878,784,809.590168347,651.590168347,628.590168347,652,0.400969706949,0.00447909027479,0.0798355201937,0.999999951569,0.000122160845172,-0.000281500026812,5.19249366551e-05,1793248393936077824
+52,0.866666667,BASELINE,765.832594539,745,715.167405461,679.167405461,658,634,878,784.167405461,810,652,629,652,0.400969627514,0.00447889493032,0.0798351810939,0.999999951701,0.000120851918414,-0.000281611871742,5.18446821323e-05,1793248393952744448
+53,0.883333333,BASELINE,765.260957914,745,715.739042086,679.739042086,658,634,878,784.739042086,810,652,629,652,0.400968870869,0.0044788035184,0.0798352702278,0.999999951607,0.000120298406343,-0.000282186444564,5.18167371782e-05,1793248393969411584
+54,0.900000000,BASELINE,765,745,716,680,658,634,878,784.679767037,810,652,628.679767037,652,0.400968588461,0.00447881503417,0.0798349181305,0.999999951477,0.000120914945753,-0.000282382797,5.18138159327e-05,1793248393986078720
+55,0.916666667,BASELINE,765,745,716,680,658,634,878,784.090550991,810,652,628.090550991,652,0.400968704393,0.00447891300516,0.0798341954164,0.999999951316,0.000122514282376,-0.000282261459173,5.18319136187e-05,1793248394002745600
+56,0.933333333,BASELINE,765.492968571,745,715.507031429,680,658,634,878,784,810,651.507031429,628.492968571,652,0.400968463347,0.00447927828098,0.079834191216,0.999999951174,0.000123818278985,-0.000282218601555,5.17095585069e-05,1793248394019411968
+57,0.950000000,BASELINE,765.925597469,745,715,680,658,634,878.074402531,784,809.925597469,651.074402531,628.925597469,652.074402531,0.40096826252,0.00447957052739,0.0798343332793,0.999999951098,0.000124635374253,-0.000282149042517,5.15875454901e-05,1793248394036078592
+58,0.966666667,BASELINE,765.351227574,745,715,680,658,634,878.648772426,784,809.351227574,651.648772426,628.351227574,652.648772426,0.400968767555,0.00447904586265,0.0798345814551,0.999999951452,0.000122540987233,-0.000281804293153,5.16392146867e-05,1793248394052744448
+59,0.983333333,BASELINE,765.223097762,745,715.223097762,680,658,634,878.776902238,784,809.223097762,651.776902238,628,652.776902238,0.400969214867,0.00447850925503,0.0798349029895,0.999999951762,0.000121066748723,-0.000281329379946,5.17044064208e-05,1793248394069410816
+60,1.000000000,BASELINE,765.797353053,745,715.797353053,680,658,634,878.202646947,784,809.797353053,651.202646947,628,652.202646947,0.40096957132,0.00447795384916,0.0798353399911,0.999999952008,0.000120568628229,-0.000280649587834,5.17908827368e-05,1793248394086078208
+61,1.016666667,BASELINE,765.615438676,745,715.615438676,679.615438676,658,634,878,784,810,651.384561324,628,652,0.400969794312,0.00447797584154,0.079835427096,0.999999952072,0.000120743781778,-0.000280323270171,5.19240340519e-05,1793248394102745088
+62,1.033333333,BASELINE,765.021166869,745,715.021166869,679.021166869,658,634,878,784,810,651.978833131,628,652,0.400969944522,0.00447831270303,0.0798353233938,0.999999952035,0.000121286087786,-0.000280189710617,5.20826383543e-05,1793248394119412224
+63,1.050000000,BASELINE,765.556572876,745,715.556572876,679.556572876,658,634,878,784.556572876,810,651.443427124,628,652,0.400969794009,0.00447861394998,0.0798354086382,0.999999952183,0.000120253919782,-0.000280166566476,5.17579688499e-05,1793248394136078592
+64,1.066666667,BASELINE,765.867057738,745,716,680,658,634,878,784.867057738,809.867057738,651,628,652,0.400969619725,0.0044788264496,0.0798354722262,0.999999952251,0.000119678713922,-0.000280217383765,5.15060315399e-05,1793248394152745216
+65,1.083333333,BASELINE,765.293208187,745,716,680,658,634,878,784.293208187,809.293208187,651,628,652,0.400969403443,0.0044787489783,0.0798354408456,0.999999952033,0.000120811897788,-0.000280499971547,5.15545099457e-05,1793248394169411584
+66,1.100000000,BASELINE,765,745,715.711255342,679.711255342,658,634,878,784,809,651.288744658,628,652,0.400969102108,0.00447874021564,0.0798355928055,0.99999995209,0.000120431518884,-0.000280476522351,5.14623560394e-05,1793248394186077952
+67,1.116666667,BASELINE,765,745,715.120836382,679.120836382,658,634,878,784,809,651.879163618,628,652,0.40096871191,0.00447880323832,0.0798359363157,0.999999952433,0.000118469801594,-0.000280133332185,5.12232724697e-05,1793248394202744576
+68,1.133333333,BASELINE,765,745,715.460846368,679.460846368,658.460846368,634,878,784,809.460846368,651.539153632,628.460846368,652,0.400969449173,0.0044788689643,0.0798358064745,0.999999952289,0.000120091644438,-0.000279919122505,5.14307048743e-05,1793248394219411200
+69,1.150000000,BASELINE,765.040024021,745,715.959975979,679.959975979,658.959975979,634,878,784,810,651,628.959975979,652,0.400970391975,0.00447883280774,0.0798355759739,0.999999952054,0.000122297015636,-0.000279753768911,5.1707521578e-05,1793248394236077824
+70,1.166666667,BASELINE,765.615760773,745,715.384239227,679.384239227,658.384239227,634,878,784,810,651,628.384239227,652,0.400970202575,0.00447742366498,0.0798356285205,0.99999995234,0.000119970040191,-0.000279798100056,5.13751107046e-05,1793248394252744448
+71,1.183333333,BASELINE,766,745,715,679.190734385,658,634,878,784,809.809265615,651,628,652,0.400969553543,0.00447692406116,0.0798353409134,0.999999952232,0.000119618300291,-0.000280354303199,5.12780812287e-05,1793248394269411328
+72,1.200000000,BASELINE,766,745,715,679.764176865,658,634,878,784,809.235823135,651,628,652,0.400967982263,0.0044782494448,0.0798343707889,0.999999951329,0.000123229865438,-0.000281937576306,5.16533439121e-05,1793248394286078208
+73,1.216666667,BASELINE,765.65128309,745,715,680,658,634,878,784,809.34871691,651,628.34871691,652,0.400966871551,0.00447859982866,0.0798333502236,0.999999950746,0.000124003876389,-0.000283622337239,5.18632604507e-05,1793248394302745088
+74,1.233333333,BASELINE,765.058991563,745,715,680,658,634,878,784,809.941008437,651,628.941008437,652,0.400966082541,0.00447826918667,0.0798322944262,0.99999995039,0.000122795889244,-0.000285377986115,5.19576846497e-05,1793248394319411712
+75,1.250000000,BASELINE,765.521513879,745,715,680,658,633.478486121,878,784.521513879,809.478486121,651,628.478486121,652,0.40096762884,0.00447744339062,0.0798332569521,0.999999951214,0.000120794366023,-0.000283368677949,5.17987168617e-05,1793248394336078080
+76,1.266666667,BASELINE,765.900332041,745,715,680,658,633,878,784.900332041,809,651,628,652.099667959,0.400969338419,0.00447712736658,0.0798343498645,0.999999951993,0.000119532209824,-0.000281187606575,5.15750852494e-05,1793248394352744704
+77,1.283333333,BASELINE,765.32715514,745,715,680,658,633,878,784.32715514,809,651,628,652.67284486,0.400970596467,0.00447949341464,0.0798350015519,0.999999951977,0.000122199706794,-0.000280169079666,5.11774076782e-05,1793248394369411328
+78,1.300000000,BASELINE,765,745,715,679.74859383,658,633.25140617,878,784,809,651.25140617,628,652.74859383,0.400971099276,0.00448036206165,0.0798354981889,0.999999951952,0.000123785819565,-0.000279547333304,5.12496871834e-05,1793248394386077696
+79,1.316666667,BASELINE,765,745,715,679.162872481,658,633.837127519,878,784,809,651.837127519,628,652.162872481,0.400970597784,0.00447923949284,0.0798357886427,0.999999951924,0.000123933927835,-0.000279453218306,5.19469067664e-05,1793248394402744320
+80,1.333333333,BASELINE,765.420483701,745.420483701,715.420483701,679.420483701,658.420483701,634,878,784,809,652,628.420483701,652,0.400969642244,0.00447794357614,0.0798354675558,0.999999951849,0.000122618858549,-0.000280285250735,5.20226323999e-05,1793248394419411456
+81,1.350000000,BASELINE,766,745.997095286,715.997095286,680,658.997095286,634,878,784,809.002904714,652,629,652,0.40096851886,0.00447659451478,0.079834915219,0.999999951751,0.000120757998917,-0.000281469705917,5.18595115984e-05,1793248394436078336
+82,1.366666667,BASELINE,766,745.419463519,715.419463519,680,658.419463519,634,878,784,809.580536481,652,629,652,0.400968789789,0.00447794137713,0.0798352142211,0.999999951459,0.000122418060769,-0.000281801416472,5.18032279627e-05,1793248394452745216
+83,1.383333333,BASELINE,766,745,715.156821131,679.843178869,658,634,878,784,809.843178869,652,629,652,0.400968890569,0.0044789444166,0.0798352811121,0.999999951289,0.000123435072528,-0.000281969044153,5.17594791318e-05,1793248394469411840
+84,1.400000000,BASELINE,766,745,715.729533342,679.270466658,658,634,878,784,809.270466658,652,629,652,0.400968540114,0.00447903563492,0.0798347324421,0.99999995145,0.000122746709899,-0.000281701522613,5.1748972706e-05,1793248394486078208
+85,1.416666667,BASELINE,766,745,716,679.310564085,658,634,878,784,809.310564085,652,629,652,0.400968626073,0.00447856896614,0.0798348073146,0.99999995185,0.000120744823051,-0.000281149924994,5.17311697621e-05,1793248394502744576
+86,1.433333333,BASELINE,766,745,716,679.899038691,658,634,878,784,809.899038691,652,629,652,0.400969102561,0.00447760306804,0.0798354401686,0.999999952456,0.000117567519577,-0.000280344119848,5.17068374763e-05,1793248394519411200
+87,1.450000000,BASELINE,765.517665572,745,716,680,658,634,878,784,809.517665572,652,629,652,0.400968540435,0.004477662224,0.079835168358,0.999999952183,0.000118630006271,-0.00028088422471,5.16323963779e-05,1793248394536077824
+88,1.466666667,BASELINE,765.063624292,745,716,680,658,634,878.127248584,784,809.063624292,652,628.936375708,652,0.400968008078,0.00447792343944,0.0798348636002,0.99999995182,0.00012037442718,-0.000281444871856,5.15611611653e-05,1793248394552744704
+89,1.483333333,BASELINE,765.637429904,745,716,680,658,634,879.274859808,784,809.637429904,652,628.362570096,652,0.400969439161,0.00447810267576,0.0798357969539,0.999999952221,0.000120546366543,-0.000279935196342,5.15988445103e-05,1793248394569411328
+90,1.500000000,BASELINE,766,745,715.789025921,680,658,634,879.578051841,784,810,651.789025921,628.210974079,652,0.400969713069,0.00447805614583,0.0798359572249,0.999999952348,0.000119873115929,-0.000279778118643,5.1559275269e-05,1793248394586077952
+91,1.516666667,BASELINE,766,745,715.215930541,680,658,634,878.431861081,784,810,651.215930541,628.784069459,652,0.400968000771,0.0044776221049,0.079834790557,0.999999952001,0.000117749159623,-0.000281942674549,5.13871077109e-05,1793248394602744576
+92,1.533333333,BASELINE,766,745,715.368769559,680,658,634.368769559,878,784.368769559,810,651,628.631230441,652,0.400967734902,0.0044781434501,0.0798343606942,0.9999999517,0.000119233551123,-0.000282393370115,5.13463295383e-05,1793248394619411200
+93,1.550000000,BASELINE,766,745,715.960485561,680,658,634.960485561,878,784.960485561,810,651,628.039514439,652,0.400968343497,0.00447924239158,0.0798343762804,0.99999995142,0.00012289943568,-0.000281807919984,5.13849852268e-05,1793248394636078080
+94,1.566666667,BASELINE,765.459880989,745,716,680,658,634.459880989,878,785,810,651,628,652,0.400967710779,0.00447879306922,0.0798341938223,0.999999951433,0.000121155159291,-0.000282516129131,5.13877635955e-05,1793248394652744448
+95,1.583333333,BASELINE,765.118325145,745,716,680,658,633.881674855,878,785,809.881674855,651,628.118325145,652,0.400967475561,0.00447842207845,0.0798342297014,0.999999951541,0.000119765007654,-0.000282732780945,5.13466312001e-05,1793248394669410816
+96,1.600000000,BASELINE,765.694354762,745,716,680,658,633.305645238,878,785,809.305645238,651,628.694354762,652,0.400969121538,0.00447878264882,0.0798351649697,0.999999951949,0.000121242211504,-0.000280689909388,5.11455743503e-05,1793248394686077440
+97,1.616666667,BASELINE,766,745,715.724516513,679.724516513,658,633.275483487,878,784.724516513,809,651.275483487,629,652,0.400970150652,0.00447806887952,0.0798355978881,0.999999952184,0.00012156913884,-0.000279669013732,5.1356770977e-05,1793248394702744320
+98,1.633333333,BASELINE,766,745,715.137623743,679.137623743,658,633.862376257,878,784.137623743,809,651.862376257,629,652,0.400970482459,0.0044761406659,0.079835462945,0.99999995223,0.00012059578203,-0.000279803369962,5.20339830616e-05,1793248394719411456
+99,1.650000000,BASELINE,765.556751996,745,715.443248004,679.443248004,658,634,878,784,809.443248004,652,629,652,0.400968163913,0.0044777377604,0.0798341728933,0.999999951578,0.00012032276365,-0.000282294810816,5.1737630233e-05,1793248394736078080
+100,1.666666667,BASELINE,765.022198665,745,715.977801335,680,658,634,878,784,810,651.977801335,628.977801335,652,0.400965197744,0.00448032111521,0.0798326218377,0.999999950746,0.000120318129664,-0.000285332038179,5.116007537e-05,1793248394752744960
+101,1.683333333,BASELINE,765.599233094,745,715.400766906,680,658,634,878,784,810,651.400766906,628.400766906,652,0.400966336944,0.00448056400418,0.0798333911923,0.999999950981,0.000121659453931,-0.000283963935428,5.10081271003e-05,1793248394769411584
+102,1.700000000,BASELINE,765.823946792,745,715,679.823946792,658,634,878,784.176053208,809.823946792,651.176053208,628,652,0.400967381236,0.00448037737087,0.0798340749834,0.999999951251,0.000122306175133,-0.000282742586384,5.09557398971e-05,1793248394786078208
+103,1.716666667,BASELINE,765.247614026,745,715,679.247614026,658,634,878,784.752385974,809.247614026,651.752385974,628,652,0.400968209744,0.00447921416349,0.079834564235,0.999999951606,0.000121373626963,-0.000281854900908,5.11297175746e-05,1793248394802744576
+104,1.733333333,BASELINE,765,745,715,679.335428736,658,634,878,784.664571264,809,651.664571264,628.335428736,652,0.400969038342,0.00447784551029,0.0798355371259,0.999999952124,0.000119975499882,-0.000280564445993,5.1401476938e-05,1793248394819411200
+105,1.750000000,BASELINE,765,745,715,679.923525998,658,634,878,784.076474002,809,651.076474002,628.923525998,652,0.400969867009,0.00447632210074,0.079836874328,0.99999995276,0.000118226665903,-0.000278970596702,5.17468923661e-05,1793248394836078080
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,679,658,634,878,784,809,652,628,652,0.400968775187,0.00447854680921,0.0798349337503,0.999999951809,0.000122171632879,-0.00028082736397,5.0904112514e-05,1793248394866935296
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.426432561,679.573567439,658,634,878,784,809,651.426432561,628,652,0.400968809409,0.00447935048194,0.079834266644,0.999999951616,0.000122557511458,-0.000281323242958,5.10393107957e-05,1793248394883602944
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.147797319,680,658,634,878,784,809,651.147797319,628,652,0.400968876459,0.00447942086761,0.0798339168466,0.999999951595,0.000121934572185,-0.000281648241668,5.11446214025e-05,1793248394900270336
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.72394725,680,658,634,878,784,809,651.72394725,628,652,0.40096903865,0.00447736600906,0.0798344866874,0.999999952068,0.000118387833269,-0.00028147798785,5.11633102828e-05,1793248394916935936
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.690410759,679.690410759,658.309589241,634,878,784,809,651.690410759,628.309589241,652,0.40096864668,0.00447733232678,0.0798347054511,0.999999952122,0.000117587512978,-0.000281640010833,5.10675421167e-05,1793248394933602048
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.096037268,679.096037268,658.903962732,634,878,784,809,651.096037268,628.903962732,652,0.400967744949,0.00447915787968,0.0798346012666,0.999999951796,0.000119313562259,-0.000282107687861,5.08664874611e-05,1793248394950268416
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.516030294,745,715,679.483969706,658.516030294,634,878,784.483969706,809.483969706,651,629,652,0.400967485576,0.00447948062721,0.0798344636258,0.999999951769,0.000119304394586,-0.000282209918062,5.0856839294e-05,1793248394966935040
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.939269905,810,651,628.939269905,652,0.400967482313,0.00447932411273,0.0798343252544,0.999999951825,0.000118820069877,-0.000282207255171,5.09018869035e-05,1793248394983601664
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.366538795,810,651,628.366538795,652,0.400968594598,0.00447756872394,0.0798342350825,0.999999952095,0.000117149087487,-0.000281914020056,5.10970756085e-05,1793248395000268544
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.787079885,877.787079885,784,809.787079885,651,628,652,0.400971113657,0.00447678572691,0.0798353349343,0.999999952707,0.000116245360504,-0.000280098752857,5.11657392173e-05,1793248395016935424
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.195661328,877.195661328,784,809.195661328,651,628,652,0.400976133472,0.00447773130682,0.0798385502373,0.999999953917,0.000116705548871,-0.000275577838216,5.1009484874e-05,1793248395033602304
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.613660961,658,633.386339039,877.386339039,784,809.386339039,651,628,652,0.40099402354,0.00447790127936,0.0798464836012,0.999999957406,0.000117322172528,-0.000262351191625,5.09367119166e-05,1793248395050268928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.036316871,658,633.963683129,877.963683129,784,809.963683129,651,628,652,0.401018276629,0.00447768779365,0.0798567495628,0.999999961772,0.000118016137411,-0.000244820452547,5.09052119202e-05,1793248395066935040
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.539631381,658,634,878,784,809.460368619,651,628.539631381,652,0.401072930434,0.0044793971821,0.0798758482941,0.999999970051,0.000119375938218,-0.000207656200346,5.02602743881e-05,1793248395083601920
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.115255414,745,715,680,658.115255414,634,878,784,809,651,629,652,0.401133606594,0.00448086788216,0.0798953595465,0.999999977026,0.000120339948849,-0.000170351509561,4.9464762278e-05,1793248395100268288
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.689960677,745,715,680,658.689960677,634,878,784,809,651,629,652,0.4012101552,0.00448087254688,0.0799141517232,0.999999982205,0.000119548027876,-0.000137740654978,4.8233153666e-05,1793248395116934912
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658.726903753,634,878,784,809.273096247,651,629,652,0.401287488841,0.004481086405,0.0799269333128,0.999999985011,0.000118571990384,-0.000117322714841,4.64040574222e-05,1793248395133602048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.13389265,634,878,784,809.86610735,651,629,652,0.401365742096,0.00448154531988,0.0799326738815,0.999999985967,0.000117380272276,-0.000111187999271,4.38750426013e-05,1793248395150268928
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.554334419,745,715,679.554334419,658,634,878,784,809.554334419,651,629,652,0.401457984611,0.00448336230657,0.0799341214434,0.99999998656,0.000116062977444,-0.000108345787903,4.08800309621e-05,1793248395166935552
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.021329689,658,634,877.978670311,784,809.021329689,651,629,652,0.401555437017,0.00448552716586,0.0799344864982,0.999999987058,0.000114710336395,-0.00010631653954,3.77257473408e-05,1793248395183602176
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.597752298,658,634,877.402247702,784,809.597752298,651,629,652,0.401682302378,0.00448643812522,0.0799392617003,0.999999987949,0.000113390894307,-0.000100455726456,3.39631832743e-05,1793248395200268800
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715.177273502,680,658,634,877.354547004,784,809.822726498,651,629,652,0.401819170146,0.00448794136682,0.079944572805,0.999999989126,0.000111035375254,-9.23854647443e-05,2.97188708693e-05,1793248395216935424
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.763950669,680,658,634,878.527901339,784,809.236049331,651,629,652,0.401979137922,0.00449081245245,0.0799511215477,0.999999990917,0.000106287092084,-7.9212600491e-05,2.43619869807e-05,1793248395233601792
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.65204141,680,658.34795859,634,878.65204141,784,809.34795859,651.34795859,629,652,0.402157636437,0.00449396771859,0.0799588907265,0.999999992477,0.000102204810891,-6.51505821232e-05,1.88425365932e-05,1793248395250268160
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.06983042,680,658.93016958,634,878.06983042,784,809.93016958,651.93016958,629,652,0.402348610218,0.00449731430078,0.079967481527,0.99999999378,9.85708945257e-05,-5.04899668109e-05,1.3213642779e-05,1793248395266934784
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715.503972343,680,659,634,878,784,810,652,628.496027657,652,0.402549915773,0.00450045807274,0.0799653337692,0.999999994271,9.13409736221e-05,-5.5478382663e-05,6.14089422395e-06,1793248395283601920
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715.922903912,680,658.922903912,633.922903912,878,784,810,651.922903912,628,652,0.402757455651,0.00450354509928,0.0799613263442,0.999999994489,8.34375307593e-05,-6.37102413851e-05,-1.25223275522e-06,1793248395300268800
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715.346757566,680,658.346757566,633.346757566,878,784,810,651.346757566,628,652,0.40299623635,0.00450644372663,0.0799547546039,0.999999994334,7.43466857363e-05,-7.56029644365e-05,-9.4454432518e-06,1793248395316935424
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.234615915,878,784,810,651,628.234615915,652,0.403254851036,0.00450987472337,0.0799501286936,0.999999994142,6.70892559535e-05,-8.31088146697e-05,-1.75675224044e-05,1793248395333602304
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.823891007,878,784,810,651,628.823891007,652,0.403543447925,0.00451411048072,0.0799484442145,0.999999994187,6.26033247314e-05,-8.39832100018e-05,-2.55820747573e-05,1793248395350268672
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.592662313,651.407337687,628.592662313,652,0.403867657526,0.00451977328451,0.0799500549209,0.999999990999,0.000103860613425,-8.26028307378e-05,-1.98123480694e-05,1793248395366935296
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.011699966,651.988300034,628.011699966,652,0.404207046775,0.00452604435612,0.0799530701758,0.999999983197,0.000164615609335,-8.02613702744e-05,-8.16717464254e-06,1793248395383601920
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.563212997,680,658,634,878,784,809.563212997,652,628,652,0.40458232835,0.00453979597485,0.0799546753754,0.999999982981,0.000169288380664,-7.19515589352e-05,-1.4239992347e-05,1793248395400268800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.862558811,680,658,634,878,784,810,651.862558811,628.137441189,652,0.404969101903,0.00455067813682,0.0799551521906,0.999999986345,0.000150317765818,-6.55486246506e-05,-2.04223674285e-05,1793248395416935424
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.290104566,680,658,634,878,784,810,651.290104566,628.709895434,652,0.405389913618,0.00455199160034,0.0799521492993,0.999999995708,6.01620552692e-05,-6.55693700881e-05,-2.57989172418e-05,1793248395433602048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.707477469,658,634,878,784,809.707477469,651,628.707477469,652,0.405829375698,0.00455779782914,0.0799472560473,0.999999996272,3.70803561979e-05,-7.25823998667e-05,-2.85150528442e-05,1793248395450268416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.114398044,658,634,878,784,809.114398044,651,628.114398044,652,0.406288000441,0.00456822022073,0.079940420514,0.999999992391,8.29148988621e-05,-8.67797629294e-05,-2.84977046213e-05,1793248395466935296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.467377195,679,658,634,878,784,809.467377195,651,628,652,0.406773481201,0.00457899037601,0.0799336017396,0.999999988011,0.000114523502527,-9.98403885744e-05,-2.99082203073e-05,1793248395483602176
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.954062168,679.045937832,658,634,878,784,810,651.045937832,628.045937832,652,0.40726785099,0.00458954095986,0.0799271270837,0.999999983187,0.000141509399472,-0.000112272295205,-3.15591083807e-05,1793248395500269312
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.381384061,679.618615939,658,634,878,784,810,651.618615939,628.618615939,652,0.407790552504,0.00459662088725,0.0799245522887,0.999999980282,0.00015447298197,-0.000120610087223,-3.20534218323e-05,1793248395516935936
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.197067273,784,810,651.802932727,628.802932727,652,0.408335532834,0.00460545368245,0.0799209263966,0.999999978301,0.000160301796543,-0.00012888354467,-3.30130800189e-05,1793248395533602560
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.787028688,784,810,651.212971312,628.212971312,652,0.408924930533,0.00461778117974,0.0799152049263,0.999999978465,0.00015190598309,-0.000137028737452,-3.49004986243e-05,1793248395550268928
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715.371078559,680,658.742157119,634,879,784,810,651.371078559,628,652,0.409571322617,0.00462624393593,0.0799346357182,0.999999980365,0.000164026792798,-0.000104982714815,-3.66507435672e-05,1793248395566935552
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.95178883,680,659.903577661,634,879,784,810,651.95178883,628,652,0.410249912258,0.00463252340121,0.0799682756626,0.999999980381,0.000187737964307,-5.02316522909e-05,-3.83234954524e-05,1793248395583602176
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.527401277,716,680,659.472598723,633.472598723,878.472598723,784,810,651.472598723,628,652,0.410936303026,0.00463853381271,0.0799883933475,0.999999983592,0.000176056895238,-1.8461610229e-05,-3.84530380887e-05,1793248395600269056
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.897907995,716,680,659,633.102092005,878.204184011,784,810,651,628.102092005,652,0.411618438007,0.00464071383512,0.0799985186528,0.999999985811,0.000163911663192,-3.17243031628e-06,-3.87340525139e-05,1793248395616935936
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.325338093,716,680,659,633.674661907,879.349323813,784,810,651,628.674661907,652,0.412277705664,0.00462535425704,0.0799682372563,0.999999984202,0.000164394130562,-5.42448083366e-05,-4.03569796149e-05,1793248395633602304
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,716,680.255913746,659,634,880,784,810.255913746,651,629,652,0.412972447229,0.00460701032142,0.0799391577938,0.999999983407,0.000148931926838,-9.612772285e-05,-4.20033861236e-05,1793248395650268416
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,716,680.848590431,659,634,880,784,810.848590431,651,629,652,0.413713869838,0.00458473919713,0.0799116599804,0.999999984792,0.000112487754233,-0.000125918012503,-4.36806900081e-05,1793248395666934784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.570327586,680.570327586,659.429672414,634,880,784,810.570327586,651.429672414,629,652,0.414500678038,0.00457683628307,0.0799214696616,0.999999988483,0.0001033307491,-0.000102488578162,-4.30514475735e-05,1793248395683601408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.00676571,745,715,680.00676571,660,634,879.99323429,784,810.00676571,652,628.99323429,652,0.415302965166,0.00457400169406,0.0799439026854,0.999999991888,0.000103574371376,-6.13386161593e-05,-4.16419372626e-05,1793248395700268288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.582998467,745,715,680.582998467,660,634,879.417001533,784,810.582998467,652,628.417001533,652,0.416097346023,0.00458280267553,0.0799513726876,0.999999991272,0.000106993814123,-6.56791448989e-05,-4.11721540483e-05,1793248395716934912
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.837499833,745,715,680.837499833,660,633.837499833,879,784,811,651.837499833,628.162500167,652,0.416898319304,0.00459071716854,0.0799547210992,0.999999990488,0.000112331571179,-6.84962789586e-05,-4.13935384982e-05,1793248395733601536
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.249437321,745,715,680.249437321,660,633.249437321,879,784,811,651.249437321,628.750562679,652,0.417716557058,0.00459631008734,0.0799472757139,0.999999989264,0.000122693091074,-6.73238820199e-05,-4.34249822318e-05,1793248395750268416
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.33491673,715.33491673,680,660,633,879,784,811,651,629,652.33491673,0.418608025529,0.00459816814399,0.0799620890554,0.999999990329,0.000127488075809,-3.15770548098e-05,-4.5741781506e-05,1793248395766935552
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.916539038,715.916539038,680,660,633,879,784,811,651,629,652.916539038,0.419553437003,0.00459727503497,0.0799932985685,0.99999999018,0.000128182651618,2.96379083627e-05,-4.82687784889e-05,1793248395783602432
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.506966188,715.506966188,680.493033812,660.493033812,633.493033812,879.493033812,784,811,651.493033812,629,653,0.420419306327,0.00459439368817,0.0799791517951,0.999999991601,0.000120241302388,4.73300072529e-06,-4.81505619139e-05,1793248395800268800
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.862782889,634,879.931391445,784,811,652,629,653,0.421279578195,0.00459162877957,0.0799612175517,0.99999999213,0.000112569052011,-2.81052175415e-05,-4.77269617821e-05,1793248395816935424
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.712534278,634,879.356267139,784,811,652,629,653,0.422196909536,0.00459218271409,0.0799714219451,0.999999991837,0.000117565095527,-1.29925339308e-05,-4.83206252177e-05,1793248395833602048
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.776170866,745,715,681,659.447658267,633.776170866,879.223829134,784,811,652,629,652.776170866,0.423115294641,0.00459578094377,0.0799873620406,0.999999991194,0.000123125045601,9.85700906678e-06,-4.85258452178e-05,1793248395850268672
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.187980872,745,715,681,660.624038256,633.187980872,879.812019128,784,811,652,629,652.187980872,0.424035395264,0.00460433483765,0.080012639016,0.999999989419,0.00012960295321,4.53010219249e-05,-4.80987365871e-05,1793248395866935040
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.380069495,745,715,681,660.619930505,633,879.619930505,784,811,652,629,652.380069495,0.424915770824,0.00461047044547,0.0799855135911,0.999999989202,0.000138307605141,-1.5656665628e-05,-4.71372362449e-05,1793248395883601664
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.938660112,745,715,681,660.061339888,633,879.061339888,784,811,652,629,652.938660112,0.425777487209,0.00461547016802,0.0799337744153,0.999999980556,0.000148058171764,-0.000121894862995,-4.59247282216e-05,1793248395900268288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.530522153,633,879.530522153,784,811.530522153,652,629,653,0.426747073261,0.00461345830835,0.0799204645401,0.999999982015,0.00014148445579,-0.000116379396963,-4.90783505891e-05,1793248395916934656
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,784,812,651.877665463,629,653,0.427717916305,0.00460984759573,0.0799145609244,0.999999984489,0.000133016071333,-0.000103201974421,-5.17414693249e-05,1793248395933601280
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,784,812,651.301271022,629,653,0.428644035713,0.00460351285597,0.0799185513698,0.999999984553,0.000124989605746,-0.000112753648956,-5.05849509559e-05,1793248395950267904
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.435213999,633,880,784,812,651,629.282393001,653,0.429592747486,0.00460110824944,0.0799395117937,0.999999987359,0.000121607958731,-8.93358292911e-05,-5.01320486634e-05,1793248395966934272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.251965069,633,880,784,812,651,629.874017466,653,0.430566198727,0.00460300729411,0.0799790550128,0.99999999068,0.000123312571321,-2.98151133453e-05,-5.04496336543e-05,1793248395983600896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.545201373,659.454798627,633,880,784,812,651,629.545201373,653,0.431559767967,0.0046071685185,0.0800161897668,0.99999999035,0.000126857022776,2.64051324035e-05,-5.00945054817e-05,1793248396000267776
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.967419037,745,715,680.032580963,660,633.032580963,880.032580963,784,812.032580963,651.032580963,629,653,0.432550115565,0.00461200685443,0.0800467966919,0.999999987545,0.000130983164956,7.27226149325e-05,-4.96433232244e-05,1793248396016934400
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.390724601,745,715,680.609275399,660,633.609275399,880.609275399,784,812.609275399,651.609275399,629,653,0.433395758382,0.00461793177084,0.0799792689288,0.999999988907,0.000136510632588,-3.14267662408e-05,-5.06275875113e-05,1793248396033601280
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.189021592,745,715,681,660,633.810978408,880.810978408,784,813,651.810978408,629.189021592,653,0.434255972353,0.00462117340014,0.0799273697125,0.999999983261,0.000138471565766,-0.00010759067246,-5.2228814799e-05,1793248396050267904
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.775179671,745,715,681,660,633.224820329,880.224820329,784,813,651.224820329,629.775179671,653,0.435146800637,0.00461877741421,0.079908306236,0.999999981837,0.000132939173657,-0.000124956801841,-5.51262894175e-05,1793248396066934528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.359260165,715,681,660,633.359260165,880.359260165,784,813,651.359260165,630,653,0.436066936855,0.00461467541918,0.0799272608886,0.999999985809,0.000124385304954,-9.92963166963e-05,-5.52242369519e-05,1793248396083601408
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.942047974,715,681,660,633.942047974,880.942047974,784,813,651.942047974,630,653,0.437005308087,0.00460951196458,0.0799698699955,0.999999990974,0.000113951507478,-4.68651535221e-05,-5.35803498539e-05,1793248396100268032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.481651331,715,681,660,633.481651331,880.481651331,784,813,651.481651331,630,653,0.437953766184,0.00460515145519,0.0800061446117,0.999999991931,0.000114924851308,1.17156264607e-05,-5.28504748505e-05,1793248396116934656
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.093743601,745.093743601,715,681,660,633,880.093743601,784,813.093743601,651.093743601,630,652.906256399,0.43888784255,0.00460185648645,0.080035636645,0.999999990199,0.000114780783005,6.0497038452e-05,-5.26039074979e-05,1793248396133601024
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.668167049,745.668167049,715,681,660,633,880.668167049,784,813.668167049,651.668167049,630,652.331832951,0.439742464056,0.00460357056923,0.0800339367968,0.999999991734,0.000102448503275,5.55493637344e-05,-5.43180488018e-05,1793248396150267648
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.751653984,746,715,681,660,633.248346016,880.751653984,784,813.751653984,651.751653984,630,652,0.440532975188,0.00460676895384,0.0799971803346,0.999999993147,0.00010294849562,-2.87325076225e-06,-5.56749104352e-05,1793248396166934528
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.163602247,746,715,681,660,633.836397753,880.163602247,784,813.163602247,651.163602247,630,652,0.441235791424,0.00461199767418,0.0799124708892,0.999999982043,0.000121001401631,-0.000134442772228,-5.65430581581e-05,1793248396183601152
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.418252823,745.581747177,715,681.418252823,660,633.581747177,880,784,813.418252823,651,630,652,0.441995226637,0.00461156246135,0.0798621657959,0.999999971508,0.000110136388638,-0.000203819831956,-5.75492077748e-05,1793248396200267520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.997719463,745.002280537,715,681.997719463,660,633.002280537,880,784,813.997719463,651,630,652,0.442776485458,0.0046089441094,0.0798251217105,0.999999963343,8.81250855103e-05,-0.000249225076545,-5.86085498422e-05,1793248396216934400
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.574721871,633,880,784,814,651.574721871,630,652.574721871,0.44364572972,0.00460742497775,0.0799015331892,0.999999984847,9.93694760786e-05,-0.000130668829487,-5.79366657042e-05,1793248396233601024
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.849205719,745.150794281,715,681.849205719,661,633,880.150794281,784,814,652,630,653,0.444485934441,0.00460635736222,0.0799681331829,0.999999992162,0.000107402027218,-2.91158030679e-05,-5.73901804488e-05,1793248396250267904
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.275712804,745.724287196,715,681.275712804,661,633,880.724287196,784,814,652,630,653,0.445243762748,0.00460654323817,0.0800059735645,0.999999992475,0.000106062997348,2.29587363632e-05,-5.72143829085e-05,1793248396266934528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.308670362,745.691329638,715,681.308670362,661,633,881,784,814,652,630,653,0.445971078571,0.00460390839093,0.0800259162425,0.999999992349,9.74654999086e-05,5.1130817341e-05,-5.64646480449e-05,1793248396283601152
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.90313671,745.09686329,715,681.90313671,661,633,881,784,814,652,630,653,0.446670143028,0.00459866185345,0.0800292875446,0.999999993469,8.21474323428e-05,5.71717562987e-05,-5.51835082566e-05,1793248396300267520
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.481688434,715.481688434,682,660.518311566,633,881,784,814,652,630,652.518311566,0.447311605471,0.00459988395393,0.0800057446337,0.999999993597,9.34569538504e-05,3.07893416208e-05,-5.58876287934e-05,1793248396316934400
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.790393262,745,715,683,659,632.790393262,880,784,814,651.790393262,630,652.209606738,0.449029044963,0.00461916402374,0.0798743459204,0.999999978245,0.000109553199143,-0.000167344518681,-5.91882129604e-05,1793248396366934528
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21491381,745,715,683,659,632.21491381,880,784,814,651.21491381,630,652.78508619,0.449555632013,0.00462354170151,0.0798411252605,0.999999970808,9.54246053863e-05,-0.000213832887708,-5.96068221058e-05,1793248396383601152
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682.628838801,659,632.371161199,880.371161199,784,814,651,630,653,0.450093482231,0.00462687474037,0.0798433340205,0.999999971132,0.000102887771848,-0.000208958759679,-5.90457856979e-05,1793248396400267776
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682.036448294,659,632.963551706,880.963551706,784,814,651,630,653,0.45063804587,0.00462958512636,0.0798666603568,0.999999975686,0.000123220628579,-0.000173470202855,-5.79008350693e-05,1793248396416934400
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.309837308,745,715,682.690162692,657.309837308,632.309837308,881,784,814,651.309837308,630,653,0.452072490323,0.00464382065441,0.0798943410764,0.999999976339,0.000148716138731,-0.000147814491812,-5.79419746672e-05,1793248396466934784
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,683,657,632,881,783.554623971,815,651.554623971,630,653,0.453136746596,0.00465341307651,0.0797932624246,0.999999938708,0.000168816108405,-0.00030095245274,-5.92700271852e-05,1793248396516934656
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,683,656.824542336,631.824542336,881,783.824542336,814.175457664,652,630,653,0.454107232412,0.00466175853936,0.0797775790601,0.999999933524,0.000147268135841,-0.000327652452153,-6.25080269369e-05,1793248396566935552
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,683,656.237037202,631.237037202,881,783.237037202,814.762962798,652,630,653,0.454381178492,0.0046633154083,0.0797726320089,0.999999934853,0.000120771080612,-0.000335472716017,-5.62746866621e-05,1793248396583602176
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.067918069,683,652,631,881,783,814,651.932081931,630,653,0.456423890155,0.00467539139532,0.0796808631707,0.999999866283,0.000150534048767,-0.000490417511854,-6.52966002729e-05,1793248397166934784
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,714.640672516,683,652,631,881,783,814,651.359327484,630,653,0.456423794519,0.00467658587102,0.0796805932422,0.999999866355,0.00015214166458,-0.000489780005482,-6.52541580968e-05,1793248397183601664
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,683.220620779,652.220620779,631,881,783,814.220620779,651.220620779,630,653,0.456423855979,0.00467702805977,0.0796805120895,0.999999866369,0.000152672837221,-0.000489579667469,-6.53008516842e-05,1793248397200268288
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,683.812680709,652.812680709,631,881,783,814.812680709,651.812680709,630,653,0.456424181926,0.00467620369156,0.0796807487614,0.999999866289,0.000151391700608,-0.000490115349979,-6.54976150468e-05,1793248397216935168
+248,4.133333333,HOLD_POSE2,766,745,715,683,653,631,881,783,814,652,630,653,0.45642389232,0.00468113677822,0.0796796421482,0.999999865243,0.000155756364482,-0.000490795714116,-6.61379858007e-05,1793248397251000576
+249,4.150000000,HOLD_POSE2,766,745,714.423387706,683,653,631,881,783,814,652,630,653,0.456423966662,0.00467885929233,0.0796799737999,0.999999865239,0.000154744719106,-0.00049120071271,-6.55568317571e-05,1793248397267666688
+250,4.166666667,HOLD_POSE2,766,745,714.1557061,683.1557061,653,631,881,783,814.1557061,652,630,653,0.45642383927,0.00467753846086,0.0796798099432,0.999999864899,0.000154338585278,-0.000492070855226,-6.5177727024e-05,1793248397284332800
+251,4.183333333,HOLD_POSE2,766,745,714.741656907,683.741656907,653,631,881,783,814.741656907,652,630,653,0.456423154452,0.00467886104173,0.0796782769054,0.999999863628,0.000155605591451,-0.00049422627639,-6.53569217171e-05,1793248397300999168
+252,4.200000000,HOLD_POSE2,766,745,714.676143396,684,653,631,881,783,814.676143396,652,630,653,0.456423867801,0.0046783919685,0.0796786623204,0.999999864036,0.000155835611788,-0.000493402704295,-6.47918789536e-05,1793248397317665792
+253,4.216666667,HOLD_POSE2,766,745,714.096901765,684,653,631,881,783,814.096901765,652,630,653,0.45642568371,0.00467651004264,0.0796805605783,0.999999865761,0.000155247891566,-0.000490229974244,-6.36399495726e-05,1793248397334332416
+254,4.233333333,HOLD_POSE2,765.517742377,745,714.482257623,683.517742377,653,631,881,783,814.482257623,652,630,653,0.456424310608,0.00467578678107,0.079679402155,0.999999865161,0.000153249447337,-0.000492061965036,-6.37760648991e-05,1793248397350999296
+255,4.250000000,HOLD_POSE2,765.060637523,745.060637523,715,683,653,631,881,783,814.939362477,652,630,653,0.456422553011,0.00467539940087,0.0796778190127,0.999999864146,0.000151280762234,-0.000494675591243,-6.41695750926e-05,1793248397367665920
+256,4.266666667,HOLD_POSE2,765.632583954,745.632583954,715,683,653,631,881,783,814.367416046,652,630,653,0.456422955533,0.00467588143704,0.0796778326474,0.99999986366,0.000151952817684,-0.000495402004724,-6.45515122904e-05,1793248397384332544
+257,4.283333333,HOLD_POSE2,766,745.788812912,715,683,653,631,881,783,814.211187088,652,630,653,0.456423843548,0.0046763740919,0.0796783692639,0.999999863643,0.000152847890756,-0.000495137272659,-6.47372167839e-05,1793248397400999424
+258,4.300000000,HOLD_POSE2,766,745.198251816,715,683,653,631,881,783,814.801748184,652,630,653,0.456425603698,0.00467688582198,0.0796798453585,0.999999864465,0.000154143589998,-0.000493092058293,-6.45704111091e-05,1793248397417666048
+259,4.316666667,HOLD_POSE2,766,745.385025188,715,683.385025188,653,630.614974812,881,783,815,652,630,653,0.456426401314,0.00467663131655,0.0796801568801,0.999999865036,0.000153849442688,-0.000492057058559,-6.43260687196e-05,1793248397434332672
+260,4.333333333,HOLD_POSE2,766,745.964621259,715,683.964621259,653,630.035378741,881,783,815,652,630,653,0.456426712519,0.00467598959724,0.0796798798897,0.999999865481,0.000152751873126,-0.000491532566423,-6.40425434574e-05,1793248397450998784
+261,4.350000000,HOLD_POSE2,766,745.460487511,714.460487511,683.460487511,652.460487511,630,881,783,815,652,630,653,0.456424641497,0.00467684751236,0.079677988107,0.999999864059,0.000152298225481,-0.000494498427279,-6.44885648134e-05,1793248397467665408
+262,4.366666667,HOLD_POSE2,766,745,714,683,652,630.114510362,881,783,815,652,630,653,0.45642324756,0.00467779177326,0.0796766851746,0.99999986302,0.000152113569404,-0.000496601438898,-6.48794359344e-05,1793248397484332032
+263,4.383333333,HOLD_POSE2,766,745,714,683,652,630.691173211,881,783,815,652,630,653,0.456425211284,0.00467869106168,0.0796781824521,0.999999864047,0.00015284559219,-0.000494306321187,-6.48563167854e-05,1793248397500998656
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,684,652,631,881,783,814,652,630,653,0.456423996706,0.00467915306239,0.0796769181255,0.999999863105,0.000153588919283,-0.000496008291904,-6.46228247562e-05,1793248397538187776
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.421161222,745,715,683.421161222,652.578838778,631,881,783.578838778,814,652,630,653,0.456424070183,0.00467946137261,0.0796767202643,0.999999862482,0.000154040709483,-0.000497122549404,-6.46198810599e-05,1793248397554854400
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.843779193,683,652.843779193,630.843779193,881,783.843779193,814.156220807,652,630.156220807,653,0.45642356966,0.0046796852931,0.0796759721644,0.999999861733,0.000154178706707,-0.000498573164099,-6.47182430213e-05,1793248397571520768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.270288054,683,652.270288054,630.270288054,881,783.270288054,814.729711946,652,630.729711946,653,0.456421535967,0.00467968380623,0.079673754361,0.999999860642,0.000153478553834,-0.000500922198919,-6.50871953484e-05,1793248397588187392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.304745163,683,652,630,881,783,814.695254837,652,630.695254837,653,0.456421365892,0.00467960640678,0.0796735312565,0.999999860406,0.000154161394389,-0.00050117914901,-6.51274130568e-05,1793248397604854272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.881153019,683,652,630,881,783,814.118846981,652,630.118846981,653,0.456422857123,0.00467946133563,0.0796750863109,0.99999986093,0.000156077093668,-0.000499571126374,-6.48745828363e-05,1793248397621520896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.470290867,745,714.529709133,683,652.470290867,630.470290867,881,783,814.470290867,651.529709133,630,653,0.456422354072,0.00467871367925,0.0796748217648,0.999999861149,0.000153669417161,-0.000499885131751,-6.48234752177e-05,1793248397638187520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.061117451,683,652.938882549,631,881.061117451,783,815,651.061117451,630,653,0.456421501049,0.00467801439519,0.0796742450483,0.999999861295,0.000150776663439,-0.000500477021357,-6.48020787553e-05,1793248397654854144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.638284444,683,652.361715556,631,881.638284444,783,815,651.638284444,630,653,0.456422066744,0.00467904509721,0.07967502313,0.999999861568,0.0001532698739,-0.000499199978684,-6.45891455849e-05,1793248397671521536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.785782601,683.214217399,652,631,881.785782601,783,814.785782601,652,630,653,0.456418943463,0.00467908751529,0.0796734190849,0.99999986044,0.000154053067194,-0.000501246019099,-6.4350863397e-05,1793248397688188160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.211921496,683.788078504,652,631,881.211921496,783,814.211921496,652,630,653,0.45640962686,0.00467747073052,0.0796678157526,0.999999856926,0.000151965359403,-0.000508871092504,-6.40700234594e-05,1793248397704854528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.372334427,683.627665573,652,630.627665573,881,783,814,651.627665573,630,653,0.456386858361,0.00467822448083,0.0796585881712,0.999999848651,0.000152839132182,-0.000524631485244,-6.40342947462e-05,1793248397721521152
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.962676741,683.037323259,652,630.037323259,881,783,814,651.037323259,630,653,0.456356213555,0.00468036621799,0.0796472385323,0.999999837264,0.000155446899943,-0.000545155240843,-6.41420826099e-05,1793248397738187776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.457295861,745,714.457295861,683.542704139,652,630.542704139,881,783,814.542704139,651,630,653,0.456299932845,0.00467923004574,0.0796276706921,0.999999817587,0.00015676058225,-0.000579867170806,-6.32888009322e-05,1793248397754854144
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.121117674,745,714,683.878882326,652.121117674,631,881,783,815,651.121117674,630.121117674,653,0.456240456297,0.00467850344278,0.0796097255396,0.99999979937,0.000158431709376,-0.000610133150031,-6.24245371534e-05,1793248397771521024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.696092498,745,714,683.303907502,652.696092498,631,881,783,815,651.696092498,630.696092498,653,0.456175487512,0.00468014058205,0.0795999393779,0.999999792714,0.000161769545405,-0.00062015088326,-6.17621765512e-05,1793248397788187648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.729895203,745,714.270104797,683.270104797,653,631,881,783,814.729895203,652,630.729895203,653,0.456103374201,0.00467990226727,0.0795944257167,0.999999788976,0.000162766357951,-0.000626027859078,-6.03690016177e-05,1793248397804854528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.156962073,745,714.843037927,683.843037927,653,631,881,783,814.156962073,652,630.156962073,653,0.4560232508,0.00467756128474,0.0795937021754,0.999999788597,0.000161138528891,-0.000627262418982,-5.81564733246e-05,1793248397821521920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.430782065,745,714.569217935,684,653,631,881,783,814,652,630,653,0.455929188813,0.00467678116197,0.0795957530778,0.999999790166,0.000162671198203,-0.000624588090973,-5.56390402194e-05,1793248397838188288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.023538583,684,653.023538583,631,881,783,814,652,630,653,0.455828877852,0.0046765409298,0.0795988150658,0.999999792421,0.000165368212032,-0.000620488029308,-5.2975864856e-05,1793248397854854656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.60269008,684,653.60269008,631,881,783,814,652,630,653,0.455705212652,0.00467514213576,0.0796010315441,0.999999794075,0.000167398769046,-0.000617550289447,-4.95882754592e-05,1793248397871521024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.819581848,684,653.819581848,631,881,783,814,651.819581848,630,653,0.455572342053,0.00467402860291,0.0796027556781,0.999999795541,0.000170199841456,-0.000614683638568,-4.59827937811e-05,1793248397888187648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.244963925,684,653.244963925,631,881,783,814,651.244963925,630,653,0.455419358381,0.00467353834395,0.0796034040773,0.99999979661,0.000174684430413,-0.000611972312037,-4.1901234692e-05,1793248397904854528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.330062239,684,653,631,881,783,814,651.330062239,630,653,0.455241860713,0.0046720078258,0.0796007878921,0.999999794714,0.000176829243106,-0.000614732549789,-3.75052041344e-05,1793248397921520896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.905391827,684,653,631,881,783,814,651.905391827,630,653,0.45504614682,0.004669704297,0.0795957458132,0.999999790586,0.000177235382006,-0.000621558675118,-3.28754912137e-05,1793248397938187520
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.505767126,683.505767126,653.494232874,631,881,783,814,652,630,653,0.454823317593,0.00466897506109,0.0795899878673,0.999999784259,0.000183645610473,-0.000630082263524,-2.74478250756e-05,1793248397954853888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.916058932,745,714,683,654,631,881,783,814,652,630,653,0.454591714477,0.00466833591431,0.079584835916,0.999999778312,0.000191024256612,-0.000637504993114,-2.17462198246e-05,1793248397971520512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.336921909,745,714,683,654,631,881,783,814,652,630,653,0.454339832509,0.00466640045523,0.079584090056,0.999999777907,0.000197145082891,-0.000636462618909,-1.53549909652e-05,1793248397988187648
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.239937196,745,714,683,654,631,881,783,814,652,630,653,0.454062370631,0.00466338065606,0.0795831500863,0.999999776444,0.000202460313489,-0.000637220298635,-8.45182508841e-06,1793248398004854528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.813627678,745,714,683,654,631,881,783,814,652,630,653,0.453749327043,0.00465885253704,0.0795819401098,0.999999773538,0.000206654957965,-0.000640481858308,-8.36553825065e-07,1793248398021521152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.60261587,745,714,683,654.39738413,631,881.39738413,783,814,651.60261587,630,653,0.45341418742,0.00465586594179,0.0795810071797,0.99999977238,0.000211995373882,-0.000640515131785,6.16490676233e-06,1793248398038187776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.014015826,745,714,683,654.985984174,631,881.985984174,783,814,651.014015826,630,653,0.45306841549,0.00465362110726,0.0795802075607,0.999999772022,0.000217887119522,-0.000638994997113,1.28710096632e-05,1793248398054854400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.565383686,683.565383686,655,631.565383686,881.434616314,783,813.434616314,651.565383686,630,653,0.452687006201,0.00465214139458,0.0795844016771,0.999999773929,0.0002216749439,-0.000634550002006,1.86453205248e-05,1793248398071521024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.143760132,745,715,683.856239868,655.143760132,632,881,783.143760132,813.143760132,651.856239868,630,652.856239868,0.452297173477,0.00464993131964,0.0795899237914,0.999999779661,0.000214849811814,-0.000627753636633,2.1040051892e-05,1793248398088187648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.719735365,745,715,683.280264635,655.719735365,632,881,783.719735365,813.719735365,651.280264635,630,652.280264635,0.451884629307,0.00464546929731,0.0795990723044,0.999999795814,0.000176271102242,-0.000614102374652,1.33424055934e-05,1793248398104854528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,656,632,881,784,813.705094159,651.294905841,630,652.294905841,0.45145590417,0.00464048588874,0.0796120761542,0.999999812165,0.000156683264446,-0.000592405620841,1.32898602378e-05,1793248398121521408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,656,632,881,784,813.130686336,651.869313664,630,652.869313664,0.4510118432,0.00463500832708,0.0796287339657,0.999999829232,0.000155094341036,-0.000563083615284,2.04830872592e-05,1793248398138188544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.543253746,745,715,683.456746254,656.456746254,632,881,784,813,652,630,653,0.450538443229,0.00463085896226,0.0796493636264,0.999999854063,0.000127841076254,-0.000524608501799,1.77759887645e-05,1793248398154854912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.95297005,657.04702995,632,880.95297005,784,813,651.95297005,630,653,0.450051387342,0.00462691465043,0.0796708583632,0.999999877757,9.59200936859e-05,-0.000484882615024,1.31929420405e-05,1793248398171521024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.373830391,657.626169609,632,880.373830391,784,813,651.373830391,630,653,0.449507591217,0.00462086438769,0.0796889053593,0.999999888622,9.67089903125e-05,-0.00046150618317,2.03759295792e-05,1793248398188187904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.796322632,658,632.203677368,880,784,813,651,630,653,0.448938540176,0.00461534619324,0.0796943342163,0.99999988649,0.000128586542728,-0.000458080326564,2.54506809993e-05,1793248398204854784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.221786295,658,632.778213705,880,784,813,651,630,653,0.448323504621,0.00461079679747,0.0796767877653,0.999999855553,0.000217070810072,-0.000490980791585,2.66867222351e-05,1793248398221521152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.36072008,715,682.36072008,658.36072008,632.63927992,880.36072008,784,812.63927992,651.36072008,630,652.63927992,0.44770033982,0.00460302009605,0.0796707354909,0.999999850212,0.000230553014463,-0.000495626817477,2.78444332933e-05,1793248398238188032
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.948237474,715,682.948237474,658.948237474,632.051762526,880.948237474,784,812.051762526,651.948237474,630,652.051762526,0.447072063903,0.00459321427501,0.0796719100073,0.999999863793,0.000196878799484,-0.000482508290766,2.89528954623e-05,1793248398254855168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.52801925,745.47198075,715,683,659,632.52801925,881,784,812,652,630,652,0.446455100805,0.00458468587074,0.0797250131397,0.999999904674,0.000165958890192,-0.000402640708164,3.14534653708e-05,1793248398271521792
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.892960186,745,715,683,659.107039814,633,881,784,812,651.892960186,630,652.107039814,0.445826086048,0.00457672793956,0.0797813149315,0.999999938857,0.000137238503403,-0.000319815480207,3.41875525902e-05,1793248398288188416
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.314000743,745,715,683,659.685999257,633,881,784,812,651.314000743,630,652.685999257,0.44513911899,0.00457074099336,0.0798295993543,0.999999960604,0.000117042203676,-0.000252383191089,3.73581899141e-05,1793248398304854784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.737744589,633,881,784,812,651,630,653,0.444416826913,0.0045642294547,0.0798505631529,0.999999967208,0.000107674171352,-0.000228814249696,4.04359760493e-05,1793248398321521152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.164692008,633,881,784,812,651,630,653,0.443652671296,0.00455709622417,0.0798391494653,0.999999959799,0.000111138645608,-0.000257227466507,4.34037254127e-05,1793248398338187520
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.582068417,784,812,651,630,653,0.442852962322,0.00454996562526,0.0798161727541,0.999999949821,0.000117682672715,-0.000290809144175,4.4041819018e-05,1793248398354854144
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.004372842,812,651,630,653,0.442038706319,0.00454284415653,0.0797886157544,0.999999937953,0.000125207320041,-0.00032635046688,4.37414367605e-05,1793248398371520768
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.585239094,812,651,630,653,0.441196976694,0.00453678638729,0.0797720119618,0.999999934557,9.82750221308e-05,-0.000345439423869,4.3582830043e-05,1793248398388187648
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.835711393,811.835711393,651,629.835711393,652.835711393,0.440334749681,0.00452974966071,0.0797433821036,0.999999920584,8.63314713001e-05,-0.00038655066052,4.42341742864e-05,1793248398404854272
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.261198267,811.261198267,651,629.261198267,652.261198267,0.439421341258,0.00452026850264,0.0796847234633,0.999999876173,0.000111814446132,-0.000482650972815,4.69079455354e-05,1793248398421521152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.685803886,683,659,632.685803886,880,784,811.314196114,651,629.314196114,652,0.438562608219,0.00450958698105,0.0796813541399,0.999999873995,0.000104677662825,-0.000488580921173,4.83855468542e-05,1793248398438187776
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.109674868,683,659,632.109674868,880,784,811.890325132,651,629.890325132,652,0.437749455938,0.00449790476422,0.0797240773417,0.999999908409,7.03470729307e-05,-0.000419339390271,4.88659484205e-05,1793248398454854144
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.479741647,683,659,632.479741647,880.479741647,784,812,651,630,652,0.436917115175,0.00448904750863,0.0797925918096,0.999999947061,6.1020026879e-05,-0.000315461860443,5.13559412457e-05,1793248398471520768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.070567394,659,633,880.858865212,784,811.929432606,651,630,652,0.436071398641,0.00448084831237,0.0798579262551,0.999999973141,5.69545652186e-05,-0.000218060947877,5.40616249492e-05,1793248398488187392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.649049077,659,633,879.701901846,784,811.350950923,651,630,652,0.435161882591,0.00447260479288,0.0798567249253,0.999999971805,4.84455771049e-05,-0.000225891538001,5.49188752107e-05,1793248398504854272
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.773667028,659,633,879.452665943,784,811,651,629.773667028,652,0.434236535786,0.00446254348069,0.0798423602596,0.999999966742,4.08435393815e-05,-0.000248456946926,5.58330479536e-05,1793248398521520896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.198230554,659,633,880.603538893,784,811,651,629.198230554,652,0.433286770955,0.00444967834333,0.0798076920266,0.99999995464,3.46404107538e-05,-0.00029374983136,5.68350198843e-05,1793248398538187520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.615353752,659,633,880.230707504,783.615353752,811,651,629.384646248,652,0.432291000707,0.00444190214711,0.0797532926918,0.999999920515,2.36086057882e-05,-0.000393942843034,5.67574650828e-05,1793248398554854400
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.02856692,659,633,879.05713384,783.02856692,811,651,629.97143308,652,0.431271053594,0.00443680030906,0.0796885242044,0.999999861618,1.00392187197e-05,-0.000522987145551,5.61125929683e-05,1793248398571521280
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.448782848,682,658.448782848,633,879.551217152,783.551217152,811,651,629.448782848,652,0.430362881572,0.00442415911993,0.0797225640267,0.999999895033,6.29828124288e-06,-0.000454468740733,5.78993822956e-05,1793248398588187904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.13041994,682.13041994,658.260839881,633,879.86958006,784,811,651,629,652,0.429467227301,0.00441193892252,0.0797676447453,0.999999929455,3.46040329807e-07,-0.000370860538001,5.95964641593e-05,1793248398604854272
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.708856937,682.708856937,659.417713875,633,879.291143063,784,811,651,629,652,0.428594924309,0.00440249029837,0.079833282928,0.999999961565,-1.49302448661e-05,-0.000270146752539,6.05579084813e-05,1793248398621521152
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.431400406,633,879,784,811,651,629,652,0.427677067991,0.00439371103447,0.0798509107241,0.999999968268,-2.17457940842e-05,-0.000243225234098,6.19002611157e-05,1793248398638187776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.286583261,633,879,784,811,651,629,652,0.426713048089,0.0043856100993,0.0798198848982,0.999999955411,-1.99872516573e-05,-0.000291084640884,6.36286256943e-05,1793248398654854400
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.557264011,658.442735989,633,879.442735989,784,811,651,629,652,0.425756103105,0.00440316248781,0.0797852381357,0.999999938876,-2.62395792105e-06,-0.000343960681043,6.27087334345e-05,1793248398671520768
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.96733355,633.03266645,880,784,811,651,629,652,0.424798520311,0.00442965811211,0.0797500139308,0.999999918785,2.12165377242e-05,-0.00039783381295,6.08880828668e-05,1793248398688187136
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.388191677,633.611808323,880,784,811,651,629,652,0.423790747238,0.00446246091841,0.0797253569207,0.999999899118,6.624305741e-05,-0.000440363435991,5.87922990782e-05,1793248398704854272
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.81085772,658.18914228,634,879.81085772,784,811,651.18914228,629.18914228,652,0.422841263277,0.00448633710002,0.0797223431698,0.999999895641,9.81086562446e-05,-0.000442640924169,5.62327374784e-05,1793248398721521152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.237199054,658.762800946,634,879.237199054,784,811,651.762800946,629.762800946,652,0.422010277857,0.00449206592541,0.079763329031,0.999999927366,0.000103218797943,-0.000363087931086,5.27303395453e-05,1793248398738187520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.663092624,634,879,784,811,651.663092624,629.663092624,652,0.421184189607,0.00448876625124,0.0798139658998,0.999999956106,9.48839323181e-05,-0.00027586678485,5.17934920028e-05,1793248398754854144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.088670562,634,879,784,811,651.088670562,629.088670562,652,0.420361553838,0.00447910161891,0.0798714065829,0.999999978855,7.70705359626e-05,-0.000183239708556,5.26653193132e-05,1793248398771520768
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.49789488,784,810.49789488,651,629,652.50210512,0.419474563349,0.00447562075784,0.0798547787427,0.999999972674,7.8186010379e-05,-0.000214076406977,5.20544073177e-05,1793248398788187392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.906625074,878.186749853,784,810.093374926,651,629.093374926,652.906625074,0.418575421845,0.00447347452099,0.0798254999786,0.999999960101,8.08738847563e-05,-0.000265762126117,5.12676418632e-05,1793248398804854272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.328293252,879.343413495,784,810.671706748,651,629.671706748,652.328293252,0.417674184667,0.00447239724036,0.0798007385009,0.999999948338,7.37824558681e-05,-0.000308678709823,5.0973288477e-05,1793248398821520896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.248872719,879.751127281,784,810.751127281,651.248872719,629.751127281,652.248872719,0.416803538625,0.00447506474687,0.0797903255386,0.999999940161,7.51357661395e-05,-0.000333742403759,5.14592237738e-05,1793248398838187520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.824507919,879.175492081,784,810.175492081,651.824507919,629.175492081,652.824507919,0.415973057906,0.00448264904765,0.0797987517522,0.999999938527,8.75767685348e-05,-0.000335365781434,5.29696550281e-05,1793248398854854144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.408002626,681,658.408002626,634,879,784,810,651.591997374,629,653,0.415177983259,0.00448619499635,0.0797871252121,0.999999930718,9.96587282405e-05,-0.000354662133481,5.33529012706e-05,1793248398871521280
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.994944354,681,658.994944354,634,879,784,810,651.005055646,629,653,0.414398436701,0.00448796983188,0.0797667040683,0.999999919506,0.000111583222375,-0.000381709381984,5.3241794237e-05,1793248398888188160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.425638824,681,658.425638824,634,878.425638824,784,810.574361176,651.574361176,629,652.425638824,0.413679230609,0.00448268582487,0.0797880098597,0.999999938471,8.48917757157e-05,-0.000336554529093,5.08088375951e-05,1793248398904854528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.846690114,878.153309886,784,810.846690114,651.846690114,629,652,0.412951856323,0.00447785271018,0.0798038757474,0.999999949839,6.92111979696e-05,-0.000305104090758,4.94295486441e-05,1793248398921520896
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.26885646,878.73114354,784,810.26885646,651.26885646,629,652,0.412200411976,0.00447443796661,0.0798036743458,0.999999945999,8.49493809634e-05,-0.000313339027544,5.10237855342e-05,1793248398938187520
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.307072926,745,715,680.692927074,658,633.307072926,878.692927074,784,810,651,628.692927074,652,0.411475767668,0.00447421164899,0.0797967905961,0.999999940105,9.05050149427e-05,-0.000329976134382,5.2108404149e-05,1793248398954854144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.881345278,745,715,680.118654722,658,633.881345278,878.118654722,784,810,651,628.118654722,652,0.410774443452,0.00447675973958,0.0797840922028,0.999999932176,8.72003055936e-05,-0.00035392438672,5.27495784461e-05,1793248398971520768
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.532526744,745,715,680,658,634,878,784,810,651,628,652,0.410146377621,0.00448271685565,0.0797901966346,0.999999935274,9.54277266849e-05,-0.000342874837658,5.27501949701e-05,1793248398988187904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.055722113,745,715,680,658,634,878.055722113,784,810,651,628.055722113,652,0.409540315341,0.00448874024435,0.0798028819367,0.999999941861,0.000105154727699,-0.00032006396343,5.27165686839e-05,1793248399004855040
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.634890576,745,715,680,658,634,878.634890576,784,810,651,628.634890576,652,0.408961731547,0.00448704631887,0.0798313876829,0.999999956372,0.000100756280058,-0.000272387659228,5.39283364033e-05,1793248399021521152
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.787375432,745,715,680,658,634,878.787375432,784,810,651,629,652,0.408373399016,0.00448527534674,0.0798409059583,0.999999960763,9.4993987289e-05,-0.00025782181488,5.45757717692e-05,1793248399038187776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.212088204,745,715,680,658,634,878.212088204,784,810,651,629,652,0.407768438632,0.00448337296032,0.0798180382898,0.999999949832,8.69054555027e-05,-0.000299730764408,5.42606547851e-05,1793248399054854912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.371159166,745,715.371159166,680,658,634,878,784,810,651.371159166,629,652,0.407202557421,0.00448284735461,0.07978918722,0.999999933011,9.32481338446e-05,-0.000349946559594,5.31075839768e-05,1793248399071521536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.959054875,745,715.959054875,680,658,634,878,784,810,651.959054875,629,652,0.406659496241,0.00448312571296,0.0797568421708,0.999999910824,0.000108017844424,-0.000405013099171,5.14651940797e-05,1793248399088187904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.461002722,745,716,680,658,634,878,784,810,651.461002722,629,652.538997278,0.406211163832,0.00448492459041,0.0797683388626,0.999999923858,9.68450688424e-05,-0.000374591704361,5.08502720783e-05,1793248399104854528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.118237845,745,716,680,658,634,878,784,810,651,628.881762155,652.881762155,0.405775846105,0.00448726651218,0.0797842222913,0.999999937285,9.1016400077e-05,-0.000338510695677,5.0571843295e-05,1793248399121521152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.697063938,745,716,680,658,634,878,784,810,651,628.302936062,652.302936062,0.405363601775,0.00449128042341,0.0798044090613,0.999999945627,0.000113570595294,-0.000305312598088,5.13045776952e-05,1793248399138188288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.726963594,745.273036406,715.726963594,680,658,634,878.273036406,784,810,651.273036406,628,652,0.404958702073,0.00449426482249,0.0798189925652,0.999999949843,0.000126847505911,-0.000285550560894,5.18077808251e-05,1793248399154855168
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.154124532,745.845875468,715.154124532,680,658,634,878.845875468,784,810,651.845875468,628,652,0.404561867031,0.00449611878425,0.0798274235035,0.999999950851,0.000129937661837,-0.000280541747648,5.20589513454e-05,1793248399171522048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.569083787,715,680.430916213,658,634,878.569083787,784,809.569083787,651.569083787,628.430916213,652,0.40419704033,0.00449709461259,0.0798303274808,0.99999995005,0.000125575239875,-0.000285160271804,5.30606981144e-05,1793248399188188416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.020099277,745,715,680.979900723,658,634,878,784,809.020099277,651,629,652,0.403845532027,0.00449774117385,0.0798311878157,0.999999948553,0.000118643345557,-0.000293042669303,5.42521789304e-05,1793248399204854784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.599569952,745,715,680.400430048,658,634,878,784,809.599569952,651,629,652,0.403536783719,0.00449821977457,0.0798317914259,0.999999948837,0.000116546852517,-0.000293136699795,5.3035065792e-05,1793248399221521408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.178072926,715,680,658,633.821927074,878,784,809.821927074,651,629,652,0.403239894867,0.00449739680133,0.079832403923,0.999999949064,0.000113394713821,-0.000293766657976,5.21047553235e-05,1793248399238188032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.754411532,715,680,658,633.245588468,878,784,809.245588468,651,629,652,0.402969530099,0.00449366281705,0.079833036296,0.99999994915,0.000107881590817,-0.000295595235215,5.18158881766e-05,1793248399254854656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.693258802,745.693258802,715,680,658,633,878,784,809,651,629,652,0.402726132159,0.00449000905897,0.0798342676457,0.999999950359,0.000102283201533,-0.00029333596851,5.26651933858e-05,1793248399271521024
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.158756188,745.158756188,715,680,658,633,878,784,809,651,629,652,0.402502757593,0.00448641487004,0.0798359437477,0.999999952371,9.66214997673e-05,-0.000288041396893,5.43596140813e-05,1793248399288187392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.449542574,745,715,680,658,633.449542574,878,784.449542574,809.449542574,651,628.550457426,652,0.402301806038,0.00448487093127,0.079837587507,0.999999953884,8.74251217701e-05,-0.000285776941809,5.40324086348e-05,1793248399304854016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.919414233,658,634,878,784.919414233,810,651,628.080585767,652,0.402115475837,0.00448418235484,0.0798393520534,0.99999995518,7.78566327902e-05,-0.000284170682918,5.31602796467e-05,1793248399321520896
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.340528912,658,634,878,784.340528912,810,651,628.659471088,652,0.401960974538,0.00448342646189,0.0798419479816,0.99999995686,7.52217922991e-05,-0.00027871796716,5.42002727199e-05,1793248399338187776
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715.237274509,679.237274509,658,634,878,784.237274509,810,651,629,652,0.401815158498,0.00448393029276,0.0798440142122,0.999999958027,7.57288500526e-05,-0.00027417978858,5.51135994956e-05,1793248399354854400
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.813532235,679.813532235,658,634,878,784.813532235,810,651,629,652,0.401681750699,0.00448623383339,0.0798453236881,0.999999958476,8.07245940141e-05,-0.00027094816769,5.58459638749e-05,1793248399371521024
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.603307765,745,715.603307765,680,658,634,878,784.603307765,810,651,629,652,0.401559892194,0.00449238072002,0.0798417680526,0.999999956376,8.42573424241e-05,-0.000277868797038,5.4198350718e-05,1793248399388187392
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.016845871,745,715.016845871,680,658,634,878,784.016845871,810,651,629,652,0.401443558644,0.0045003661867,0.0798358850448,0.999999952939,8.70902227711e-05,-0.000289646060593,5.14122037208e-05,1793248399404854016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.437869315,658,634,878,784,809.437869315,651,629,652,0.401351046188,0.00451558124938,0.0798296525344,0.999999943854,0.000146997620039,-0.000297759281963,4.49831948344e-05,1793248399421521152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,783.859197913,809.140802087,651.140802087,629,652,0.401266245835,0.00452611107257,0.0798247954206,0.999999934568,0.000192059133158,-0.000303873232302,4.04661667557e-05,1793248399438187776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,783.280787018,809.719212982,651.719212982,629,652,0.401203224966,0.00452141479307,0.0798242451252,0.999999935618,0.000185734031512,-0.000304110289634,4.22263564441e-05,1793248399454854656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.29548345,679.29548345,658,634,878,783.5909669,810,651.70451655,628.70451655,652,0.401149570635,0.00451724941416,0.0798238604098,0.999999936681,0.000179731147671,-0.000303965612744,4.40337276713e-05,1793248399471521280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.869734645,679.869734645,658,634,878,784.73946929,810,651.130265355,628.130265355,652,0.401104752963,0.00451358490186,0.0798236319074,0.999999937759,0.000174032252812,-0.000303460796631,4.58856115499e-05,1793248399488187904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.544301579,680,658,633.544301579,878,784.544301579,810,651,628,652,0.401068576661,0.00449795871018,0.0798230769507,0.999999940338,0.000155291794884,-0.000304652187209,4.89483138636e-05,1793248399504854528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.044298987,745,715,680,658,633.044298987,878,784,810,651,628.044298987,652,0.40103586769,0.00448015635081,0.0798223927142,0.999999942717,0.000134213660047,-0.000306327443741,5.21244305259e-05,1793248399521521152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.623248575,745,715,680,658,633.623248575,878,784,810,651,628.623248575,652,0.401014406571,0.00447844680395,0.0798213041831,0.999999942653,0.000131103016125,-0.00030783614013,5.23817553335e-05,1793248399538187776
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.797890887,745,715,680,658,634,878,784,809.797890887,651.202109113,629,652,0.400997149695,0.00447962779719,0.0798211252059,0.999999942676,0.000131480082276,-0.000307599745383,5.23749280742e-05,1793248399554854144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.219196309,745,715,680,658,634,878,784,809.219196309,651.780803691,629,652,0.400987726497,0.00448619467035,0.0798226409807,0.999999942841,0.000138355722102,-0.000304111760595,5.187591206e-05,1793248399571520768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.644337078,878,784,809.355662922,652,628.644337078,652,0.400980723602,0.00448511022255,0.0798243429957,0.999999943972,0.000135708952459,-0.000301538608025,5.20890189072e-05,1793248399588187904
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.071816387,878,784,809.928183613,652,628.071816387,652,0.400975196436,0.00447936054718,0.0798261585667,0.999999945655,0.000127256099504,-0.000299523254716,5.2736327271e-05,1793248399604855040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.484018906,658.515981094,633.515981094,878,784,810,652,628,652,0.400972799536,0.0044828462462,0.079827510709,0.999999945763,0.000131703192448,-0.00029731330711,5.22741773616e-05,1793248399621521664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.104073503,745.104073503,715,679.104073503,658.895926497,633.895926497,878,784,810,652,628.104073503,652,0.400971213867,0.00448617895055,0.0798287017513,0.999999945833,0.000136027137395,-0.000295197542875,5.18483973429e-05,1793248399638187776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.683504646,745.683504646,715,679.683504646,658.316495354,633.316495354,878,784,810,652,628.683504646,652,0.400971282795,0.00448276254559,0.0798294605691,0.999999946895,0.000131337554449,-0.000293639446774,5.23155687823e-05,1793248399654854144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.738921829,745.738921829,715,680,658,633.261078171,878,784,810,651.738921829,629,652,0.400971034305,0.00448199213744,0.0798298850002,0.999999947456,0.000129746612576,-0.000292409421986,5.24542153555e-05,1793248399671520768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.163584238,745.163584238,715,680,658,633.836415762,878,784,810,651.163584238,629,652,0.400970403738,0.00448440671139,0.0798299069309,0.999999947433,0.000131885499896,-0.000291574295967,5.21974170821e-05,1793248399688187392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.420016773,745,715,680,658,634,878.420016773,784,810,651.420016773,629,652,0.400968728626,0.00448404210068,0.0798293789288,0.999999947212,0.000131831718347,-0.000292374312139,5.20990670624e-05,1793248399704854016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.99318931,784,809.99318931,652,628.99318931,652,0.400966674583,0.00448257283332,0.0798286620056,0.999999946927,0.000130884598325,-0.000293776751859,5.20632847017e-05,1793248399721520896
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.413960306,784,809.413960306,652,628.413960306,652,0.400967650797,0.004481059617,0.0798304295072,0.999999948045,0.000128069971878,-0.000291212420689,5.19954158559e-05,1793248399738187520
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.834973853,745,715,680,658,634,878,784,809,652,628,652,0.400968540917,0.00448018955125,0.0798317466952,0.999999948774,0.000126653354141,-0.00028932398327,5.19904175227e-05,1793248399754854400
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.256594968,745,715,680,658,634,878,784,809,652,628,652,0.400969215392,0.00448093043061,0.0798319359504,0.999999948556,0.000128738428513,-0.000289128505208,5.21428954433e-05,1793248399771521280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.319726203,745.319726203,715,679.680273797,658,633.680273797,878,784,809.319726203,651.680273797,628.319726203,652,0.40096933038,0.00448116417093,0.0798319437721,0.999999948577,0.000128964944891,-0.00028894789229,5.21839548634e-05,1793248399788187904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.894406498,745.894406498,715,679.105593502,658,633.105593502,878,784,809.894406498,651.105593502,628.894406498,652,0.400968999227,0.00448099351155,0.0798318069162,0.999999948789,0.000127709421346,-0.000288779133055,5.21361676247e-05,1793248399804854784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.519489771,715,679.480510229,658,633.480510229,878,784,810,651,629,652,0.400968170836,0.00448241657375,0.0798320355752,0.999999948919,0.000127944599245,-0.000288263732068,5.19179015249e-05,1793248399821521408
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.931895889,745,715,679.931895889,658,634,878,784,809.931895889,651,629,652,0.400967407201,0.00448394560431,0.0798322766199,0.999999949009,0.000128395085181,-0.000287799352556,5.16538450088e-05,1793248399838187776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.352421554,745,715,679.352421554,658,634,878,784,809.352421554,651,629,652,0.400967970242,0.0044835765558,0.0798319928595,0.999999948938,0.00012794261441,-0.000288303980664,5.13341129069e-05,1793248399854854400
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809,651,628.774682145,652,0.40096859378,0.00448260439635,0.0798323061742,0.999999949133,0.000127227342496,-0.000287947064696,5.1316795555e-05,1793248399871520768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809,651,628.199635526,652,0.400969311219,0.00448069611379,0.0798335462434,0.999999949739,0.000126104161788,-0.000286252896848,5.17688734287e-05,1793248399888187648
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.383271588,651.383271588,628.383271588,652,0.400970035872,0.00448148815934,0.0798343084259,0.99999994988,0.000127834860393,-0.00028496134738,5.19141280884e-05,1793248399904854528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.97035871,651.97035871,628.97035871,652,0.400970764362,0.00448371618104,0.0798348164784,0.999999949767,0.000131083190303,-0.000283883901752,5.18962207777e-05,1793248399921520896
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.549750529,745.549750529,715,679.549750529,658,634,878,784,809.450249471,651.450249471,629,652,0.400969593944,0.0044826178946,0.0798341522297,0.99999994974,0.000129005576107,-0.000284930611434,5.18887554769e-05,1793248399938187776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.871693174,745.871693174,715.128306826,680,658,633.871693174,878,784,809,651.128306826,628.871693174,652,0.40096853079,0.00448171805155,0.0798334565836,0.999999949577,0.000127574610626,-0.000286158619348,5.18118165375e-05,1793248399954854400
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.294628038,745.294628038,715.705371962,680,658,633.294628038,878,784,809,651.705371962,628.294628038,652,0.400968195947,0.00448213088624,0.0798328691435,0.999999948938,0.000129395823687,-0.000287625682951,5.14899487751e-05,1793248399971521024
diff --git a/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de3806628c6148b5fed8dfa431bab07b197774b0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/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,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+1,0.016666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+2,0.033333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+3,0.050000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+4,0.066666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+5,0.083333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+6,0.100000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+7,0.116666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+8,0.133333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+9,0.150000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+10,0.166666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+11,0.183333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+12,0.200000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+13,0.216666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+14,0.233333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+15,0.250000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+16,0.266666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+17,0.283333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+18,0.300000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+376,6.266666667,pose2_to_pose3_retreat,0.58368210855,0.00992792408785,1.0700425201,0.554253898848,0.0186023783212,1.06966590156
+377,6.283333333,pose2_to_pose3_retreat,0.583596084565,0.0099278868907,1.07004227922,0.554167875878,0.0186023447668,1.0696656655
+378,6.300000000,pose2_to_pose3_retreat,0.583522506832,0.00992790391784,1.07004242862,0.55409429847,0.0186023629079,1.06966581508
+379,6.316666667,pose2_to_pose3_retreat,0.58346194715,0.00992793220655,1.0700425775,0.554033738819,0.0186023912085,1.06966596182
+380,6.333333333,pose2_to_pose3_retreat,0.583411556495,0.00992797682915,1.07004247912,0.553983347615,0.0186024341898,1.06966586847
+381,6.350000000,pose2_to_pose3_retreat,0.583370751314,0.00992807449112,1.07004259358,0.553942540262,0.0186025244162,1.06966598132
+382,6.366666667,pose2_to_pose3_retreat,0.583337483359,0.00992793103298,1.07004246456,0.55390927401,0.0186023867795,1.06966585334
+383,6.383333333,pose2_to_pose3_retreat,0.583310803896,0.00992785258945,1.07004246428,0.553882594029,0.0186023065642,1.06966585276
+384,6.400000000,pose2_to_pose3_retreat,0.583290638016,0.00992772542926,1.07004244582,0.553862430819,0.018602188688,1.0696658395
+385,6.416666667,pose2_to_pose3_retreat,0.583275669391,0.0099278758671,1.07004245924,0.553847461664,0.0186023372219,1.06966585056
+386,6.433333333,pose2_to_pose3_retreat,0.583265462769,0.00992801243025,1.07004240779,0.553837253663,0.0186024690863,1.06966579867
+387,6.450000000,pose2_to_pose3_retreat,0.583258582497,0.00992801406752,1.07004233446,0.553830372851,0.0186024689752,1.06966572724
+388,6.466666667,pose2_to_pose3_retreat,0.583254482182,0.00992790877081,1.07004244651,0.553826272546,0.0186023633717,1.0696658314
+389,6.483333333,pose2_to_pose3_retreat,0.583251925155,0.00992786491717,1.07004249599,0.553823715673,0.0186023198771,1.06966587715
+390,6.500000000,pose2_to_pose3_retreat,0.583250477498,0.00992787080079,1.07004249529,0.553822268311,0.018602326739,1.06966587601
+391,6.516666667,pose2_to_pose3_retreat,0.583249761432,0.00992787371106,1.07004249494,0.553821552389,0.0186023301331,1.06966587545
+392,6.533333333,pose2_to_pose3_retreat,0.583249153206,0.00992787618304,1.07004249465,0.553820944287,0.0186023330161,1.06966587497
+393,6.550000000,pose2_to_pose3_retreat,0.58324850208,0.00992787566632,1.07004251149,0.553820293136,0.0186023323712,1.06966589086
+394,6.566666667,pose2_to_pose3_retreat,0.583248018605,0.00992787071921,1.07004254874,0.553819809413,0.0186023265093,1.06966592632
+395,6.583333333,pose2_to_pose3_retreat,0.583247686696,0.00992786732299,1.07004257431,0.553819477335,0.018602322485,1.06966595066
+396,6.600000000,pose2_to_pose3_retreat,0.583247528509,0.00992786570436,1.07004258649,0.553819319067,0.0186023205671,1.06966596227
+397,6.616666667,pose2_to_pose3_retreat,0.583247448406,0.00992786488471,1.07004259266,0.553819238923,0.0186023195959,1.06966596814
+398,6.633333333,pose2_to_pose3_retreat,0.58324713896,0.00992786171834,1.0700426165,0.553818929319,0.018602315844,1.06966599084
+399,6.650000000,pose2_to_pose3_retreat,0.583247069734,0.00992786101,1.07004262184,0.553818860059,0.0186023150046,1.06966599591
+400,6.666666667,pose2_to_pose3_retreat,0.583246918819,0.00992785946577,1.07004263346,0.553818709066,0.0186023131749,1.06966600698
+401,6.683333333,pose2_to_pose3_retreat,0.583246753071,0.00992785776976,1.07004264623,0.553818543233,0.0186023111652,1.06966601914
+402,6.700000000,pose2_to_pose3_retreat,0.583246659067,0.00992785914219,1.07004266024,0.553818449219,0.0186023124935,1.069666033
+403,6.716666667,pose2_to_pose3_retreat,0.583246621357,0.00992786095871,1.07004266954,0.553818411524,0.0186023143648,1.06966604234
+404,6.733333333,pose2_to_pose3_retreat,0.583246395932,0.00992787181753,1.07004272508,0.553818186192,0.0186023255513,1.06966609819
+405,6.750000000,pose2_to_pose3_retreat,0.583245990155,0.00992789136399,1.07004282507,0.553817780583,0.0186023456875,1.06966619871
+406,6.766666667,pose2_to_pose3_retreat,0.5832457939,0.00992790081769,1.07004287343,0.553817584409,0.0186023554265,1.06966624733
+407,6.783333333,pose2_to_pose3_retreat,0.583245786286,0.00992790118444,1.0700428753,0.553817576798,0.0186023558043,1.06966624922
+408,6.800000000,pose2_to_pose3_retreat,0.583245678796,0.00992786812636,1.07004276627,0.553817470006,0.0186023252666,1.06966614369
+409,6.816666667,pose2_to_pose3_retreat,0.583245521515,0.00992778455181,1.07004248196,0.553817314349,0.0186022475564,1.06966586761
+410,6.833333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83c8b50fd3b4b38469983f78dfd217928ffdcc10
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9736fb6e4975acc1011f74239c19c332ec91dda7fc67d92074f2d01a8b7bd4aa
+size 25707444
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfc272f6fb2fab8681d2492e9a3aad9b509e8ae6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+37,0.616666667,BASELINE,765.543546431,745,714,679.543546431,658,635.456453569,878.456453569,787,805,652.543546431,631,652,0.400777271684,-0.00544627980991,0.0598677008727,0.999999930275,-9.64382177675e-05,-0.000358944827293,-3.61640383703e-05,1793242819553182464
+38,0.633333333,BASELINE,766,745,714,679.877252675,658.122747325,635,878.122747325,786.877252675,805,653,631,651.877252675,0.400776910772,-0.00544659800732,0.0598673624615,0.999999929756,-9.81647812317e-05,-0.000359922491452,-3.61484588928e-05,1793242819569848832
+39,0.650000000,BASELINE,766,745,714,679.29826415,658.70173585,635,878.70173585,786.29826415,805,653,631,651.29826415,0.400776651115,-0.00544807836111,0.0598683677195,0.999999930283,-9.95280774099e-05,-0.000358126933522,-3.56819832445e-05,1793242819586515712
+40,0.666666667,BASELINE,766,745,714,679,659,635,878.722263666,786.277736334,804.722263666,652.722263666,631,651.277736334,0.400777138969,-0.00544909680059,0.0598690051648,0.999999930676,-0.000101316195063,-0.000356540356557,-3.55317001321e-05,1793242819603182336
+41,0.683333333,BASELINE,766,745,714,679,659,635,878.149437953,786.850562047,804.149437953,652.149437953,631,651.850562047,0.40077842104,-0.00544962446511,0.0598692518161,0.999999930925,-0.000103555677076,-0.000355175817856,-3.57173653832e-05,1793242819619848960
+42,0.700000000,BASELINE,766,745,714,679.424197305,659,635,878.424197305,787,804.424197305,652,631,652,0.400778378893,-0.00544842166675,0.0598689454116,0.999999931058,-0.000100641343604,-0.000355619580043,-3.59158583846e-05,1793242819636515584
+43,0.716666667,BASELINE,766,745,714,679.998118285,659,635,878.998118285,787,804.998118285,652,631,652,0.400777869353,-0.0054466080883,0.0598684438016,0.999999931131,-9.59079315758e-05,-0.000356701595849,-3.61188790339e-05,1793242819653182208
+44,0.733333333,BASELINE,766,745,714,680,659,635,878.408816691,786.408816691,804.408816691,652,631,652,0.400775849966,-0.00544502335626,0.059867272964,0.999999930214,-9.49195609713e-05,-0.000359508568117,-3.62840356597e-05,1793242819669848832
+45,0.750000000,BASELINE,766,745,714,680,659,635,878.179063491,786.179063491,804,652.179063491,631,651.820936509,0.400774772487,-0.00544422542665,0.0598666926156,0.999999929702,-9.44620643086e-05,-0.000361042693085,-3.63514572331e-05,1793242819686515456
+46,0.766666667,BASELINE,766,745,714,680,659,635,878.75530354,786.75530354,804,652.75530354,631,651.24469646,0.400775795247,-0.00544517101563,0.0598674269003,0.999999930111,-9.51547618369e-05,-0.000359740958895,-3.62023712117e-05,1793242819703182080
+47,0.783333333,BASELINE,766,745,714,679.66739533,658.66739533,635,878.66739533,787,804,652.66739533,631,651.33260467,0.400775838126,-0.00544610872781,0.0598672569137,0.999999929746,-9.64094444569e-05,-0.000360428424861,-3.6132189631e-05,1793242819719848960
+48,0.800000000,BASELINE,766,745,714,679.089311008,658.089311008,635,878.089311008,787,804,652.089311008,631,651.910688992,0.400775157801,-0.00544704062661,0.0598664195275,0.999999928804,-9.80789015563e-05,-0.000362584024505,-3.61202436411e-05,1793242819736515584
+49,0.816666667,BASELINE,765.501118361,745,714,679.498881639,658.498881639,635,878.498881639,787,804,652,631,652,0.400776401427,-0.00544681824007,0.0598675877019,0.999999929775,-9.74088697417e-05,-0.000360108781342,-3.58305713645e-05,1793242819753182208
+50,0.833333333,BASELINE,765,745,714,679.912695729,659,635,878.912695729,786.912695729,804,652,631,652,0.400777409559,-0.00544658300884,0.059868647104,0.999999930691,-9.67007620662e-05,-0.000357774394204,-3.55726542683e-05,1793242819769848832
+51,0.850000000,BASELINE,765,745,714,679.33338583,659,635,878.33338583,786.33338583,804,652,631,652,0.40077510937,-0.00544746401702,0.0598670282909,0.999999929378,-9.81871666954e-05,-0.000361002417305,-3.57796830662e-05,1793242819786515456
+52,0.866666667,BASELINE,765.242145628,745,714,679.242145628,659.242145628,635,878.242145628,786.242145628,804,652.242145628,631,652,0.400774503281,-0.00544777079036,0.0598664367658,0.999999928913,-9.92974833925e-05,-0.000361966197191,-3.59835273457e-05,1793242819803182336
+53,0.883333333,BASELINE,765.812554826,745,714,679.812554826,659.812554826,635,878.812554826,786.812554826,804,652.812554826,631,652,0.400776193789,-0.00544729910492,0.059867237879,0.999999929606,-9.98979581819e-05,-0.000359860466325,-3.61830545363e-05,1793242819819849216
+54,0.900000000,BASELINE,765.602477118,745,714,679.602477118,659.602477118,635,879,787,804.397522882,652.602477118,631,652,0.400776376096,-0.00544802127651,0.0598673055998,0.999999929773,-9.99261287903e-05,-0.000359405462517,-3.59942561629e-05,1793242819836516096
+55,0.916666667,BASELINE,765.010383114,745,714,679.010383114,659.010383114,635,879,787,804.989616886,652.010383114,631,652,0.4007758202,-0.00544932779209,0.0598670143551,0.999999929685,-9.96741799945e-05,-0.000359758421854,-3.56153883723e-05,1793242819853182464
+56,0.933333333,BASELINE,765,745,714,679.569170976,659,635,878.430829024,787,804.430829024,652,631,651.430829024,0.400775258929,-0.00544778388188,0.0598669539664,0.999999929574,-9.88915457924e-05,-0.000360243281825,-3.60239111557e-05,1793242819869848832
+57,0.950000000,BASELINE,765,745,714,680,659,635,878,787,804.147333009,652,631,651,0.400775111104,-0.00544647096052,0.0598669947341,0.999999929633,-9.75174195782e-05,-0.000360424290468,-3.63024295278e-05,1793242819886515712
+58,0.966666667,BASELINE,765,745,714,680,659,635,878,787,804.722105699,652,631,651,0.400776163038,-0.00544597578613,0.0598673170199,0.999999930187,-9.44547492967e-05,-0.000359716941081,-3.6163007341e-05,1793242819903182592
+59,0.983333333,BASELINE,765.297635432,745,714,679.702364568,659,635,878,786.702364568,805,652,631,651.297635432,0.400776402261,-0.00544558610613,0.0598673475866,0.999999930302,-9.37881544931e-05,-0.00035957445573,-3.61275294133e-05,1793242819919849216
+60,1.000000000,BASELINE,765.873873867,745,714,679.126126133,659,635,878,786.126126133,805,652,631,651.873873867,0.40077588074,-0.00544529517458,0.0598671050883,0.999999930012,-9.53644167081e-05,-0.000359960713851,-3.61893489671e-05,1793242819936516096
+61,1.016666667,BASELINE,766,745,714,679,659,635,878.461075776,786,805,652,631,652,0.400775059033,-0.00544543061923,0.0598674479671,0.999999929963,-9.63799127835e-05,-0.000359822017981,-3.62318792477e-05,1793242819953182464
+62,1.033333333,BASELINE,765.949663566,745,714,679.050336434,659,635,878.949663566,786,805,652,631,652,0.400774380958,-0.00544579314353,0.0598679243056,0.99999992999,-9.7298170941e-05,-0.000359498586474,-3.62437906731e-05,1793242819969849088
+63,1.050000000,BASELINE,765.371037563,745,714,679.628962437,659,635,878.371037563,786,805,652,631,652,0.400776093137,-0.0054472849971,0.0598680798164,0.999999930106,-9.88450335144e-05,-0.000358780136558,-3.59910789274e-05,1793242819986515712
+64,1.066666667,BASELINE,765,745,714,679.793868763,659,635,878.206131237,786,804.793868763,652,631.206131237,651.793868763,0.400776906486,-0.00544805247138,0.0598679514747,0.999999930065,-9.97620079158e-05,-0.000358643250762,-3.59548972786e-05,1793242820003182336
+65,1.083333333,BASELINE,765,745,714,679.219304558,659,635,878.780695442,786,804.219304558,652,631.780695442,651.219304558,0.400776113291,-0.0054475252111,0.0598673157832,0.999999929749,-9.95531384558e-05,-0.000359545835773,-3.63057352322e-05,1793242820019849216
+66,1.100000000,BASELINE,765,745,714,679.364041328,659,635,878.635958672,786,804,652,632,651.364041328,0.40077569676,-0.00544717735368,0.0598670276266,0.999999929594,-9.88614002711e-05,-0.000360154954122,-3.64306722907e-05,1793242820036515840
+67,1.116666667,BASELINE,765,745,714,679.952808194,659,635,878.047191806,786,804,652,632,651.952808194,0.400775512748,-0.00544694024306,0.059866954006,0.999999929537,-9.78715834829e-05,-0.000360582913188,-3.64161589604e-05,1793242820053182464
+68,1.133333333,BASELINE,765,745,714,680,659,635,878,786.529529689,804,652,631.470470311,652,0.40077569066,-0.005446492635,0.0598670266155,0.999999929757,-9.71542587442e-05,-0.000360179339191,-3.63151055958e-05,1793242820069849600
+69,1.150000000,BASELINE,765,745,714,680,659,635,878.105946831,786.894053169,804,652,631,652,0.400775880415,-0.00544598021745,0.0598670849321,0.999999929943,-9.63134669308e-05,-0.000359898171862,-3.62025266478e-05,1793242820086516736
+70,1.166666667,BASELINE,765,745,714,680,659,635,878.685696653,786.314303347,804,652,631,652,0.400775982095,-0.00544525999509,0.059867022345,0.999999929879,-9.48143332894e-05,-0.000360488456414,-3.60721280401e-05,1793242820103183104
+71,1.183333333,BASELINE,765,745,714,680,659,635,878.736386292,786,804,652,631,652,0.400775716982,-0.0054457548234,0.0598669015584,0.999999929545,-9.57313078542e-05,-0.000361175461109,-3.6011485563e-05,1793242820119849472
+72,1.200000000,BASELINE,765,745,714,680,659,635,878.160639257,786,804,652,631,652,0.400775017564,-0.00544768833935,0.0598667118603,0.999999928886,-9.95090890288e-05,-0.00036197698792,-3.6033438216e-05,1793242820136516096
+73,1.216666667,BASELINE,765,745,714,679.574413915,659,635,878,786,804,652.425586085,631,651.574413915,0.40077522193,-0.0054474595136,0.0598672257319,0.999999929454,-9.83020582617e-05,-0.000360741207979,-3.59786263102e-05,1793242820153182720
+74,1.233333333,BASELINE,765,745,714,679,659,635,878.01552649,786.01552649,804,652.98447351,631,651.01552649,0.400775769652,-0.00544638471303,0.0598679872299,0.99999993046,-9.52536933691e-05,-0.000358772806828,-3.59037177719e-05,1793242820169849088
+75,1.250000000,BASELINE,765,745,714,679,659,635,878.593164383,786.593164383,804,652.406835617,631,651.593164383,0.400776086014,-0.00544497729511,0.05986785659,0.99999993042,-9.5380307308e-05,-0.000358823823128,-3.61767189467e-05,1793242820186515712
+76,1.266666667,BASELINE,765.169716866,745,714,679.169716866,659,635,878.830283134,786.830283134,804,652,631.169716866,652,0.400776293057,-0.00544440329536,0.0598678126894,0.999999930339,-9.57319173648e-05,-0.000358944119697,-3.62881367433e-05,1793242820203182592
+77,1.283333333,BASELINE,765.743683962,745,714,679.743683962,659,635,878.256316038,786.256316038,804,652,631.743683962,652,0.400776239712,-0.0054458144224,0.0598679753937,0.999999930161,-9.66194478265e-05,-0.000359229435601,-3.60146775244e-05,1793242820219849216
+78,1.300000000,BASELINE,766,745,714,680,659,635,878,786,804.319646303,652,631.680353697,652,0.400775816215,-0.00544627863359,0.0598677952828,0.999999929988,-9.66339749597e-05,-0.00035971157069,-3.59566678628e-05,1793242820236516096
+79,1.316666667,BASELINE,766,745,714,680,659,635,878,786,804.897218598,652,631.102781402,652,0.400775094037,-0.00544597876826,0.0598673385506,0.99999992982,-9.59440664024e-05,-0.000360352521256,-3.60725067476e-05,1793242820253182720
+80,1.333333333,BASELINE,766,745,714,680,659,635,878.486574765,786.486574765,804.513425235,652,631,652,0.400775656729,-0.00544616988148,0.0598676481217,0.999999930004,-9.6359652088e-05,-0.000359718374649,-3.61746487016e-05,1793242820269849088
+81,1.350000000,BASELINE,765.923372128,745,714,679.923372128,659,635,878.923372128,786.923372128,804,652,631,651.923372128,0.400776520286,-0.00544653065321,0.0598680979572,0.999999930255,-9.70035165532e-05,-0.000358840963631,-3.62377602402e-05,1793242820286515456
+82,1.366666667,BASELINE,765.345448089,745,714,679.345448089,659,635,878.345448089,786.345448089,804,652,631,651.345448089,0.40077753247,-0.00544730600718,0.059868380169,0.999999930443,-9.75751868434e-05,-0.000358177900568,-3.60649338479e-05,1793242820303182080
+83,1.383333333,BASELINE,765,745,714,679.23045412,659,635,878,786.23045412,804,652,631,651.23045412,0.400777266129,-0.00544748151994,0.0598681789734,0.99999993021,-9.7987167776e-05,-0.000358722992961,-3.59951475254e-05,1793242820319848960
+84,1.400000000,BASELINE,765,745,714,679.803352072,659,635,878,786.803352072,804,652,631,651.803352072,0.400775099962,-0.0054467656974,0.0598672594573,0.999999929348,-9.81618580242e-05,-0.000361063346639,-3.60784738063e-05,1793242820336515328
+85,1.416666667,BASELINE,765,745,714,679.622310213,659,635.377689787,878,787,804.377689787,652.377689787,631,652,0.400775404946,-0.00544617891676,0.0598673970665,0.999999929477,-9.85154939648e-05,-0.0003606126533,-3.60403625637e-05,1793242820353182208
+86,1.433333333,BASELINE,765,745,714,679.047220035,659,635.952779965,878,787,804.952779965,652.952779965,631,652,0.400777001484,-0.00544565958021,0.0598680871846,0.999999930123,-9.89626562504e-05,-0.000358703213019,-3.59387817297e-05,1793242820369849088
+87,1.450000000,BASELINE,765,745,714,679.545163242,659,635.454836758,878,786.454836758,805,652.454836758,631,652,0.400775414798,-0.00544710821141,0.0598676618188,0.999999929847,-9.8700180704e-05,-0.000359547590082,-3.5921679927e-05,1793242820386515968
+88,1.466666667,BASELINE,765,745,714,680,658.864976894,635.135023106,878.135023106,786.135023106,805,652.135023106,631,652,0.400774359297,-0.00544810099375,0.0598672913925,0.999999929657,-9.81791834492e-05,-0.000360216772746,-3.59144207844e-05,1793242820403182592
+89,1.483333333,BASELINE,765,745,714,680,658.288427127,635.711572873,878.711572873,786.711572873,805,652.711572873,631,652,0.400775971913,-0.00544702748659,0.059867426914,0.999999930026,-9.70203977753e-05,-0.000359507535539,-3.59146358422e-05,1793242820419848960
+90,1.500000000,BASELINE,765.286557352,745,714,680,658.286557352,635.713442648,879,787,805,652.713442648,631,652,0.400776330533,-0.00544672199458,0.0598674435839,0.999999929847,-9.76291501799e-05,-0.000359840033899,-3.58988693293e-05,1793242820436515584
+91,1.516666667,BASELINE,765.859974855,745,714,680,658.859974855,635.140025145,879,787,805,652.140025145,631,652,0.400775433831,-0.00544718532934,0.0598673412764,0.999999929118,-0.000100007308451,-0.000361215368645,-3.58671043581e-05,1793242820453182208
+92,1.533333333,BASELINE,765.554154593,745,714,680,659,635,878.554154593,787,804.554154593,652.445845407,631,652,0.400775589931,-0.00544659772216,0.0598674709529,0.999999929421,-9.88908736145e-05,-0.000360679870957,-3.58882664387e-05,1793242820469848832
+93,1.550000000,BASELINE,765,745,714,680,658.964797739,635,878,786.964797739,804,652.964797739,631,652,0.400776076901,-0.00544577817888,0.0598676583732,0.999999930021,-9.67522590145e-05,-0.000359590852193,-3.59226853946e-05,1793242820486515200
+94,1.566666667,BASELINE,765,745,714,680,658.383770602,635,878,786.383770602,804,652.383770602,631,652,0.400776419988,-0.00544662722971,0.0598675789753,0.999999930104,-9.62710436945e-05,-0.000359491878628,-3.58975112514e-05,1793242820503182336
+95,1.583333333,BASELINE,765.195557537,745,714,680,658.195557537,635,878.195557537,786,804.195557537,652,631,652,0.400776881774,-0.00544740258855,0.0598678422517,0.999999930248,-9.6707581867e-05,-0.0003589768536,-3.58717309017e-05,1793242820519849216
+96,1.600000000,BASELINE,765.771580307,745,714,680,658.771580307,635,878.771580307,786,804.771580307,652,631,652,0.400777574493,-0.00544803457673,0.0598687722151,0.999999930506,-9.89296471195e-05,-0.00035765238332,-3.58447711479e-05,1793242820536515840
+97,1.616666667,BASELINE,765.646874622,745,714,679.646874622,658.646874622,635,878.646874622,786,805,652,631,652,0.400776692186,-0.00544764377914,0.0598682134125,0.999999930245,-9.83829995811e-05,-0.00035852790049,-3.58956954083e-05,1793242820553182464
+98,1.633333333,BASELINE,765.061700726,745,714,679.061700726,658.061700726,635,878.061700726,786,805,652,631,652,0.400774774886,-0.00544658088052,0.0598666763002,0.999999929636,-9.6016953651e-05,-0.000360849090742,-3.59977994243e-05,1793242820569849088
+99,1.650000000,BASELINE,765,745,714,679.51821973,659.036439461,635,878.51821973,786.51821973,804.48178027,652,631,652,0.400775315743,-0.00544626969586,0.0598676267883,0.999999930039,-9.61203324137e-05,-0.000359716861727,-3.58612728492e-05,1793242820586515456
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+101,1.683333333,BASELINE,765,745,714,679.324351917,659.324351917,635,879,786.324351917,804.675648083,652,631,652,0.400777222983,-0.00544587646115,0.0598681533415,0.999999930488,-9.62372324071e-05,-0.000358417059365,-3.60624570847e-05,1793242820619848704
+102,1.700000000,BASELINE,765,745,714,679.252075266,659,635,878.747924734,786,804.747924734,652,631,652,0.400777951588,-0.00544614402025,0.0598681138328,0.999999930519,-9.69430312985e-05,-0.000358125572114,-3.62049703636e-05,1793242820636515584
+103,1.716666667,BASELINE,765,745,714,679.826115087,659,635,878.173884913,786,804.173884913,652,631,652,0.400778280941,-0.00544698084501,0.059868578973,0.99999993057,-9.87811417071e-05,-0.000357483264367,-3.61598703575e-05,1793242820653182464
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765.425201284,745,714,679.574798716,659,635,878,786,804.425201284,652,631,651.574798716,0.400775602096,-0.00544592100656,0.0598674134216,0.999999930027,-9.6079091997e-05,-0.000359727494061,-3.6218110634e-05,1793242820760996096
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+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.252484725,659,635,878,786.747515275,804,652,631,652,0.400776100965,-0.00544589733651,0.0598675570466,0.999999930095,-9.64850588977e-05,-0.000359442935694,-3.60714217094e-05,1793242820794329344
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482188861,679,658.482188861,635,878,787,804,652,631,652,0.400773972252,-0.00544615558645,0.0598659947046,0.999999929082,-9.61578041562e-05,-0.000362337559287,-3.60636503142e-05,1793242820844329472
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+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.366091455,679,659,635,878,786.366091455,804.633908545,652,631,651.366091455,0.400778446353,-0.00544681629606,0.0598684734792,0.999999929991,-9.62358205726e-05,-0.000359807553466,-3.60014173625e-05,1793242820877662464
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.216887201,745,714,679,659,635,878.216887201,786,804.783112799,652,631,651.216887201,0.400783902909,-0.00544695804256,0.059870420184,0.999999930469,-9.62481279345e-05,-0.000358479336558,-3.59357758677e-05,1793242820894329344
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.810405462,745,714,679,659,635,878.810405462,786,804.189594538,652,631,651.810405462,0.400794165298,-0.00544589679043,0.0598734053903,0.999999931334,-9.68650763835e-05,-0.000355903163211,-3.58162648568e-05,1793242820910995968
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608434123,745,714,679,659,635,878.608434123,786,804.391565877,652.391565877,631,652,0.40081444476,-0.00544680686915,0.0598764383602,0.999999932518,-9.7340873501e-05,-0.000352439377961,-3.57231921666e-05,1793242820927662336
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.033074207,745,714,679,659,635,878.033074207,786,804.966925793,652.966925793,631,652,0.400839426057,-0.00544864225533,0.0598794937498,0.999999933841,-9.77504167545e-05,-0.000348558963287,-3.56425291413e-05,1793242820944328960
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,786.540374322,804.459625678,652.459625678,631,651.459625678,0.400874298277,-0.0054487546041,0.0598810845504,0.999999934308,-9.81386628397e-05,-0.000347088211447,-3.5812122348e-05,1793242820960995584
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.117579941,659,635,878,787,804,652,631,651.117579941,0.400912760692,-0.00544907203278,0.0598816190702,0.999999934562,-9.8651654906e-05,-0.00034617770814,-3.61339134472e-05,1793242820977662464
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765.295116396,745,714.295116396,679.704883604,659,635,878,787,804,652,631,652,0.401023705993,-0.0054524710722,0.0598768005055,0.999999933937,-0.000100750217909,-0.000347207618962,-3.77135685698e-05,1793242821010995968
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.871968661,745,714.871968661,679.128031339,659,635,878,787,804,652,631,652,0.401093540026,-0.00545454391894,0.0598771982591,0.999999933871,-0.000101877434251,-0.000347009444292,-3.82546964693e-05,1793242821027662080
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.550440744,679,659,635,878,786.550440744,804.449559256,652.449559256,631,652,0.401184262535,-0.00545663381975,0.0598791995541,0.999999935545,-0.000104529327308,-0.000341251820607,-3.91176651897e-05,1793242821044328960
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.02714095,659,635,878.02714095,786,804.97285905,652.97285905,631,652,0.401282287624,-0.00545876003965,0.0598817923129,0.99999993776,-0.000107499728618,-0.000333644169734,-4.00684694308e-05,1793242821060995584
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.600306517,659,635,878.600306517,786,804.399693483,652.399693483,631,652,0.401407349539,-0.00546151905942,0.0598870816064,0.999999941885,-0.000108127913338,-0.000320722714084,-4.09393390916e-05,1793242821077662208
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714,679.820229672,659,635,878.820229672,786.179770328,804,652,631,651.820229672,0.401541096723,-0.0054644305068,0.0598923011611,0.999999945957,-0.000109082174551,-0.000307293264304,-4.19187924291e-05,1793242821094328576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714,679.226254293,659,635,878.226254293,786.773745707,804,652,631,651.226254293,0.401694855439,-0.00546769315907,0.0598973600313,0.999999950097,-0.000110787741719,-0.000292693357724,-4.31484310319e-05,1793242821110995456
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765.488945121,745,714,679,659,635,878,787,804.511054879,652,631,652,0.402230055288,-0.00547581888373,0.0598956973606,0.999999951532,-0.000121686318097,-0.000282354167379,-4.90440908786e-05,1793242821160995584
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.08869895,745,714,679,658.91130105,635,878,786.91130105,804.91130105,652,631,652,0.402443621452,-0.00547770800493,0.0598961677782,0.999999952377,-0.000125361047822,-0.000277273998174,-5.14730693127e-05,1793242821177662208
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.677059958,745,714,679,658.322940042,635,878,786.322940042,804.322940042,652,631,652,0.402696009985,-0.00548278972668,0.0598962097365,0.999999954033,-0.000132747979917,-0.000267246648795,-5.37758272895e-05,1793242821194328832
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.738482746,745,714,679,658,635,878,786.261517254,804.261517254,652,631,651.738482746,0.402961978048,-0.00548633022236,0.0598976607672,0.999999955328,-0.000139050106739,-0.000258520366275,-5.63636308176e-05,1793242821210995456
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.158775165,745,714,679,658,635,878,786.841224835,804.841224835,652,631,651.158775165,0.403244468427,-0.00548799549452,0.0599008262286,0.999999956274,-0.00014403234108,-0.000251377103795,-5.92982516243e-05,1793242821227661824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,878,786.582296694,805,652,631,651.417703306,0.403538990827,-0.00549002672077,0.0598929262786,0.999999952301,-0.000150550424307,-0.000262225181552,-6.30181766004e-05,1793242821244328704
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,878,786.007036252,805,652,631,651.992963748,0.403838051684,-0.00549219598438,0.05988085247,0.999999946166,-0.000157647827548,-0.000279859569189,-6.7034317187e-05,1793242821260995328
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+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.851472189,714,679,658.851472189,635,879,786,804.851472189,652.148527811,631,651.148527811,0.404519452088,-0.00548639770963,0.0598610476132,0.999999929172,-0.000200890249036,-0.000309365494167,-7.47776088736e-05,1793242821294328832
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.260707918,714,679,658.260707918,635,879,786,804.260707918,652.739292082,631,651.739292082,0.404900538208,-0.00547478655716,0.0598500453933,0.999999920039,-0.00021159327532,-0.000329799318022,-7.98878743271e-05,1793242821310995712
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.32205217,658.32205217,635,879,786,804,652.67794783,631,652,0.405319300329,-0.00547109217795,0.0598503656432,0.999999918844,-0.000215766716026,-0.00032981951623,-8.351617849e-05,1793242821327662336
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+162,2.700000000,POSE1_TO_POSE2_PRESS,765.076445947,744.076445947,714,679.923554053,659,635,878.923554053,787,805,652.923554053,631,652,0.418328401638,-0.00550667921397,0.0599551217618,0.999999970062,-0.000176857418854,-0.000148675822281,-8.05797547127e-05,1793242821660995584
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.724575932,714,679.275424068,660,634.275424068,879,787,805.275424068,652,631,651.275424068,0.426964318398,-0.00552443282912,0.0599794211371,0.999999981038,-0.000162518096943,-7.32436994426e-05,-7.84002829849e-05,1793242821827662336
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661116905,745,714,680.338883095,660,635,880,787,806,651.661116905,631,651.338883095,0.442966780145,-0.00555100029971,0.0599517876299,0.999999980412,-0.000151889874778,-0.000102826071067,-7.43853602835e-05,1793242822160995584
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+219,3.650000000,POSE1_TO_POSE2_PRESS,765.993716788,745.993716788,714.993716788,681.993716788,659,633.993716788,880,786,806.993716788,652,631,652,0.452225931875,-0.00557727674609,0.0598532437639,0.999999961906,-0.000138454420712,-0.000229547724916,-6.57693316431e-05,1793242822610995456
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.430340122,714.430340122,682,659,633.430340122,880,786,806.430340122,652,631,652,0.452300325411,-0.00557886742828,0.0598506498051,0.9999999612,-0.000138363456899,-0.000232890841416,-6.49474161509e-05,1793242822627662336
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.149438122,681.850561878,659,632.850561878,880,786,806,652,631,652,0.452369928098,-0.00558015090315,0.0598476148166,0.999999960444,-0.000138366420484,-0.000236274160688,-6.43598504307e-05,1793242822644328960
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714.740523978,681.259476022,659,632.259476022,880,786,806,652,631,652,0.452426238253,-0.00558048066002,0.0598434724765,0.999999959618,-0.000138645565011,-0.000239547097302,-6.44856123448e-05,1793242822660995584
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.675274228,745.324725772,714.675274228,681.324725772,659,632,880,786,806,652,631,652,0.452473177513,-0.0055795737891,0.0598416914144,0.999999959145,-0.000138373713064,-0.000241619393172,-6.46820086935e-05,1793242822677662208
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.09645897,745.90354103,714.09645897,681.90354103,659,632,880,786,806,652,631,652,0.452512784298,-0.00557769928907,0.0598417579907,0.999999958951,-0.000137670720712,-0.000242752219184,-6.4933674667e-05,1793242822694328832
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.52459916,714.47540084,681.52459916,659,632.47540084,880,786,806,652,631,651.52459916,0.452539462115,-0.00557751854881,0.0598377822427,0.999999957755,-0.000136567660493,-0.000248249917739,-6.48985667632e-05,1793242822710995712
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.047628772,745.047628772,714.952371228,681,658.952371228,632.952371228,879.952371228,786,806,652,631,651.047628772,0.452563103893,-0.00557778650275,0.0598333728714,0.999999956433,-0.00013559611019,-0.0002540705238,-6.47742286416e-05,1793242822727662336
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.639974729,745.639974729,714.360025271,681,658.360025271,632.360025271,879.360025271,786,806,652,631,651.639974729,0.452581592578,-0.00557931232934,0.0598332492784,0.999999956386,-0.000137043578564,-0.000253601441113,-6.42852562539e-05,1793242822744328960
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.772708291,745.772708291,714,681,658.227291709,632.227291709,879.454583419,786,806,652,631,652,0.45259709653,-0.00557985546217,0.0598327838041,0.999999956197,-0.000137877303798,-0.00025395968821,-6.4027719718e-05,1793242822760995584
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.193184705,745.193184705,714,681,658.806815295,632.806815295,880.61363059,786,806,652,631,652,0.452607975068,-0.00557887572339,0.0598317885194,0.999999955789,-0.000137759916833,-0.00025560004071,-6.41288372274e-05,1793242822777662464
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.3839378,745,714,681.3839378,658.6160622,633,880.2321244,786,806,651.6160622,631,652,0.452614528873,-0.00557839859381,0.059830773867,0.999999955574,-0.000136198509229,-0.000257383691024,-6.36760101498e-05,1793242822794329088
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.959859653,745,714,681.959859653,658.040140347,633,879.080280694,786,806,651.040140347,631,652,0.452618920141,-0.00557817278868,0.0598297495301,0.99999995545,-0.000133915034319,-0.000259238995849,-6.29461889132e-05,1793242822810995712
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.546057729,714,681.453942271,658.546057729,633,879.546057729,786,806.546057729,651,631,652,0.452620053013,-0.00557864423701,0.0598280749671,0.99999995509,-0.000132080441731,-0.00026168187582,-6.24338808938e-05,1793242822827662336
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.868704767,745.868704767,714,681.131295233,659,632.868704767,880,786,806.868704767,651.131295233,631,652,0.452621136411,-0.00557891659917,0.0598263852368,0.999999954672,-0.000131132368427,-0.000263823545012,-6.21105616225e-05,1793242822844328960
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.289372476,745.289372476,714,681.710627524,659,632.289372476,880,786,806.289372476,651.710627524,631,652,0.452622884021,-0.00557833133363,0.0598248099848,0.999999954141,-0.000133094728983,-0.000264787132114,-6.23765462906e-05,1793242822860995584
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.289062442,745,714,682,659,632.289062442,880,786,806.289062442,652,631,651.710937558,0.452623525305,-0.00557692574193,0.0598243327674,0.999999953849,-0.000132987201612,-0.000265855794174,-6.27480960837e-05,1793242822877662208
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.866601874,745,714,682,659,632.866601874,880,786,806.866601874,652,631,651.133398126,0.452623062507,-0.00557470148544,0.0598249513605,0.999999953793,-0.000130813978792,-0.000267029318493,-6.32249972277e-05,1793242822894328832
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,682,659,632.558626291,880,786,806.558626291,652,631,651.441373709,0.452623141599,-0.0055753377141,0.0598242436757,0.999999953372,-0.000131784619239,-0.000268203370075,-6.29007810893e-05,1793242822910995200
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.984234083,745.015765917,714.015765917,681.984234083,658.984234083,632.015765917,880,786,806,652,631,652,0.452623355631,-0.00557681383964,0.0598231415343,0.999999952845,-0.000133603152264,-0.000269393111581,-6.23432417012e-05,1793242822927662080
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.39336656,745.60663344,714.60663344,681.39336656,658.39336656,632.60663344,880,786,806,652,631,652,0.452622554984,-0.00557758771468,0.0598221813581,0.999999952614,-0.00013190639543,-0.00027114940861,-6.20517258214e-05,1793242822944328960
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.806414893,681,658.193585107,633,880,786,806,652,631,652,0.452622238453,-0.00557734615113,0.0598215889354,0.999999952537,-0.000130297067544,-0.000272219884252,-6.20044555303e-05,1793242822960995584
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.227262551,681,658.772737449,633,880,786,806,652,631,652,0.452622886145,-0.00557508211867,0.0598217289744,0.999999952776,-0.000128861873705,-0.000271924395949,-6.24436539634e-05,1793242822977661952
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.651164535,714.348835465,681.348835465,659,632.651164535,879.651164535,786,806.348835465,652,630.651164535,652,0.452622327443,-0.00557475070513,0.0598213578093,0.999999952564,-0.00012891655005,-0.000272659063257,-6.25240094527e-05,1793242822994328576
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.077039131,714.922960869,681.922960869,659,632.077039131,879.077039131,786,806.922960869,652,630.077039131,652,0.45262098961,-0.00557566744344,0.0598206564911,0.999999952059,-0.000129933435844,-0.000274059040493,-6.23726118125e-05,1793242823010995200
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.498009222,714.501990778,682,658.501990778,632.498009222,879.498009222,786,806.501990778,651.501990778,630.498009222,652,0.452622354437,-0.00557527766731,0.0598205833406,0.999999952367,-0.000128348037951,-0.000273778079538,-6.19534694879e-05,1793242823027662080
+245,4.083333333,HOLD_POSE2,765,746,714,682,658,633,880,786,806,652,631,652,0.452622278791,-0.00557955119737,0.0598197093476,0.999999951675,-0.000133119769189,-0.000274184261664,-6.12576881406e-05,1793242823070323200
+246,4.100000000,HOLD_POSE2,765,745.421990799,714,682,658,633,880,786,806,652,631,652,0.452623262396,-0.00557638637259,0.0598198446793,0.999999952049,-0.000131310490197,-0.000273586525848,-6.17298921866e-05,1793242823086990080
+247,4.116666667,HOLD_POSE2,765,745,714,681.845041673,658.154958327,632.845041673,880,786,806,652,631,651.845041673,0.452623745561,-0.00557388985937,0.0598197902106,0.999999952357,-0.000129107127601,-0.000273431239831,-6.20634380381e-05,1793242823103656704
+248,4.133333333,HOLD_POSE2,765,745,714,681.270959656,658.729040344,632.270959656,880,786,806,652,631,651.270959656,0.452622875162,-0.0055732009618,0.0598192223795,0.999999952491,-0.000125837866583,-0.000274472670214,-6.20219481062e-05,1793242823120323584
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+250,4.166666667,HOLD_POSE2,765,745,714,681,659,632,880,786,806,652,631,651.87826939,0.452623078871,-0.00557523626606,0.0598187015855,0.999999951865,-0.00012918023558,-0.000275287291598,-6.16442027601e-05,1793242823153656576
+251,4.183333333,HOLD_POSE2,765,745,714,681,658.533845397,632.466154603,880,786,806.466154603,652,631,651.533845397,0.45262206843,-0.00557382408561,0.0598175225828,0.999999951559,-0.000127626129072,-0.000277056775233,-6.19063791576e-05,1793242823170323200
+252,4.200000000,HOLD_POSE2,765,745,714,681,658,632.943790093,880,786,806.943790093,652,631,651.056209907,0.452620918577,-0.00557215700616,0.0598162791668,0.999999951324,-0.000125380292214,-0.000278861516767,-6.21956390573e-05,1793242823186989824
+253,4.216666667,HOLD_POSE2,765,745,714,681,658,632.366268567,880,786,806.366268567,652,631,651.633731433,0.452621995931,-0.00557549452359,0.0598169641237,0.99999995145,-0.000128559216165,-0.000277110676476,-6.14986424053e-05,1793242823203656448
+254,4.233333333,HOLD_POSE2,765,745,714,681,658,632.21053845,879.78946155,786.21053845,806.21053845,651.78946155,631,652,0.452621941264,-0.00557674663788,0.0598169248517,0.999999951205,-0.000130066215498,-0.000277377043009,-6.11168088897e-05,1793242823220323328
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+258,4.300000000,HOLD_POSE2,765,746,714,681.462514558,658.462514558,632.537485442,880,786,806,651.462514558,631,651.462514558,0.45262214936,-0.00557395293662,0.0598158392318,0.999999951047,-0.000126795176811,-0.000279378430663,-6.14507083746e-05,1793242823286990336
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+260,4.333333333,HOLD_POSE2,765,746,714,681,658,633,880,786,806,651.692340779,630.307659221,651.692340779,0.452620996088,-0.00557422023801,0.0598158578404,0.999999950825,-0.000127563202927,-0.00027987181018,-6.12265857984e-05,1793242823320323328
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+262,4.366666667,HOLD_POSE2,765,745.156837603,714,681.843162397,658.843162397,632.156837603,879.156837603,785.156837603,806,652,630.843162397,652,0.452622016086,-0.00557415046457,0.0598156526863,0.999999951079,-0.000127504309044,-0.000278960401072,-6.13644121864e-05,1793242823353656576
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.695773377,658.695773377,632,880,786,806.695773377,651.695773377,631,652,0.452315141706,-0.0055627862832,0.0597240231902,0.999999905764,-0.000119811242384,-0.000412186130709,-6.49580539637e-05,1793242823636347136
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.446259452,714,681.553740548,658.446259452,632.553740548,879.553740548,786.446259452,806,651.553740548,631,651.446259452,0.452046140056,-0.00555600981371,0.0597271736589,0.999999908131,-0.000114531825184,-0.000408229529071,-6.30071993333e-05,1793242823686347008
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.91419627,659,633,879.91419627,786,806.08580373,651.91419627,631,652,0.450541013854,-0.00551118271725,0.0596870513176,0.999999882294,-7.60333559471e-05,-0.000476090336084,-5.44839630903e-05,1793242823819681024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.339827048,659,633,879.339827048,786,806.660172952,651.339827048,631,652,0.450261338181,-0.00550191002807,0.0596888303235,0.999999883453,-6.86561704522e-05,-0.000474960645336,-5.28467385939e-05,1793242823836347392
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634.145667092,879.145667092,787,806,651,631.145667092,652,0.439010695291,-0.00543143926502,0.0597990550177,0.99999993484,0.000162550424156,-0.000320986347156,2.94098383794e-05,1793242824186347008
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.835398797,745,714,680.164601203,660,634.164601203,879,787,806,652,631,651.164601203,0.435654266741,-0.00541429630136,0.0597377719452,0.999999888793,0.000199526650088,-0.000426125890093,3.19266695794e-05,1793242824253014016
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.191159966,659,635,879,786.191159966,805,652,631,652,0.418794085784,-0.00539651943598,0.0597179870827,0.99999987832,0.000179225884284,-0.000458893188054,2.56106627666e-05,1793242824569681152
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.850007505,714,680.850007505,659,635,879,787,804.149992495,652,631,651.149992495,0.409840760386,-0.00537790356462,0.0598046088306,0.999999922536,0.000217975072157,-0.000326474117046,2.87883507023e-05,1793242824769681152
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.312225963,744,714,680,659,635,878.687774037,787,805,652,631,652,0.408653515165,-0.00537748838279,0.0598536262276,0.999999944261,0.000215816752547,-0.000252630378778,3.28402121822e-05,1793242824803014144
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.902714231,744,714,680,659,635,878.097285769,787,805,652,631,652,0.408062576976,-0.00537688419532,0.0598498770326,0.999999939935,0.000227140622891,-0.000259778554774,3.24467039329e-05,1793242824819680768
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.363582105,745,714,680,659,635,878.363582105,787,805,652,631,652,0.406468888763,-0.00537605548587,0.0598188946226,0.9999999271,0.000233624641217,-0.000300631331212,2.8978963289e-05,1793242824869681152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.21658451,745,714,680,659.21658451,634.78341549,878,787,805,652,631,652,0.405999578529,-0.0053753878206,0.0598221190538,0.999999931842,0.000226009815966,-0.000290531007319,2.87613419778e-05,1793242824886347776
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.146027377,745,714,679,658.853972623,635,878.146027377,787,804.146027377,652,631,651.146027377,0.400960947016,-0.00538136289704,0.0598375382653,0.999999933047,0.000240095424042,-0.000274929923777,2.59736104553e-05,1793242825536347136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,804.435283528,652,631,651.435283528,0.400961035006,-0.00538247760243,0.0598379594703,0.9999999333,0.000238986517088,-0.000274967798829,2.60272619057e-05,1793242825553014272
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.014590642,745,714,679,659,635,878.014590642,787,805,652,631,652,0.400961332928,-0.00538424218727,0.0598384613124,0.999999933704,0.000237496155298,-0.000274774909938,2.61909108343e-05,1793242825569680896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.589637102,745,714,679,659,635,878.589637102,787,805,652,631,652,0.400960304752,-0.0053834440416,0.0598385889632,0.999999933298,0.000238651307353,-0.000275254424476,2.61490133836e-05,1793242825586347520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.835126587,745,714,679.164873413,658.835126587,635,878.835126587,786.835126587,805,652,631,651.835126587,0.400960143162,-0.00538282371522,0.0598391155749,0.999999933233,0.000239414760991,-0.000274833704805,2.60923730928e-05,1793242825603014400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.259417235,745,714,679.740582765,658.259417235,635,878.259417235,786.259417235,805,652,631,651.259417235,0.400962140957,-0.00538264648371,0.059840636328,0.999999934015,0.000239202170055,-0.000272169757643,2.59989962049e-05,1793242825619681024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.324594244,805,652,631,651.324594244,0.400962279037,-0.00538252656759,0.059840336762,0.999999934136,0.000238964770629,-0.000271955599396,2.57764662963e-05,1793242825636347648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.915414954,805,652,631,651.915414954,0.400960891814,-0.00538245366055,0.0598385442024,0.999999933716,0.000238707023727,-0.00027375071487,2.54480073664e-05,1793242825653014272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.50277931,658.49722069,635,878,787,804.50277931,652,631,652,0.400961919854,-0.00538412386964,0.0598398689216,0.999999934398,0.00023793530021,-0.00027186650606,2.6068728885e-05,1793242825669680640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.923408787,635,878,787,804.076591213,652,631,651.923408787,0.400963070313,-0.00538559460097,0.0598413304074,0.999999935104,0.000237223682255,-0.000269827875077,2.66605216379e-05,1793242825686347520
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.350063402,635,878,787,804.649936598,652,631,651.350063402,0.400962397371,-0.00538388257112,0.0598403007806,0.999999934808,0.000237458885698,-0.000270774928061,2.60360747924e-05,1793242825703014400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.228827221,635,878,787,804.771172779,652,631,651.228827221,0.400961925211,-0.00538298736627,0.0598396908719,0.9999999347,0.000237285446003,-0.000271358825243,2.56798274784e-05,1793242825719681024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.816411808,635,878,787,804.183588192,652,631,651.816411808,0.400961767837,-0.00538337278671,0.0598397390009,0.999999934888,0.000236471331973,-0.000271373363659,2.57440656942e-05,1793242825736347648
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61d86fca789522085af1b73a272f7aaa41cdce91
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/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
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+67,1.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+68,1.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+69,1.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+70,1.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+71,1.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+72,1.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+73,1.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+74,1.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+75,1.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+76,1.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+77,1.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+78,1.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+79,1.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+80,1.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+81,1.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+82,1.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+83,1.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+84,1.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+85,1.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+86,1.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+87,1.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+88,1.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+89,1.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+90,1.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd869e120e369f60c7dbe420b98d5b29a9de2f56
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef25bbb010c858209a037ea932504f7353372d3182868254caddf17b7a3aabf7
+size 25778266
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b43957a4cf104c51067b9162d5c66ab09ee43bd
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+12,0.200000000,BASELINE,765,745,714,679,659,635,877.969031027,787,804,651.969031027,631,651.969031027,0.40096199647,-0.00538370742071,0.0598420572021,0.999999935278,0.000238727280262,-0.000267961052131,2.54883875175e-05,1793242826085234176
+13,0.216666667,BASELINE,765,745,714,679,659,635,878.543613251,787,804,652,631,652,0.400962713366,-0.00538520131779,0.0598422761298,0.999999935839,0.000236770476135,-0.000267600484732,2.55330111709e-05,1793242826101901056
+14,0.233333333,BASELINE,765,744.882375317,714,679.117624683,659.117624683,635,878.882375317,787,804,652,630.882375317,652,0.40096309102,-0.00538644386388,0.0598423496946,0.999999936199,0.000235197549304,-0.000267636427555,2.56040150605e-05,1793242826118567680
+15,0.250000000,BASELINE,765,744.30884234,714,679.69115766,659.69115766,635,878.30884234,787,804,652,630.30884234,652,0.400962085139,-0.00538627836915,0.0598416437742,0.999999935554,0.000236064096951,-0.000269267038847,2.57221161767e-05,1793242826135234048
+16,0.266666667,BASELINE,765,744.274394206,713.725605794,679.725605794,659.725605794,634.725605794,878,787,803.725605794,652,630.274394206,652,0.400961909654,-0.00538582809039,0.0598416770878,0.999999935694,0.000235455806256,-0.000269284113883,2.56525516685e-05,1793242826151900672
+17,0.283333333,BASELINE,765,744.868952888,713.131047112,679.131047112,659.131047112,634.131047112,878,787,803.131047112,652,630.868952888,652,0.400962703079,-0.00538504552428,0.0598425729432,0.999999936748,0.000233126667051,-0.00026741850697,2.53640180018e-05,1793242826168567552
+18,0.300000000,BASELINE,765.449066611,745,713.449066611,679,659,634.449066611,877.550933389,787,803.898133221,652,631,651.550933389,0.400963222619,-0.00538520572133,0.0598427909687,0.999999936885,0.000233850107943,-0.000266262177731,2.54814644364e-05,1793242826185234176
+19,0.316666667,BASELINE,766,745,714,679,659,635,877.025001344,787,805,652,631,651.025001344,0.400963634216,-0.00538563497719,0.0598427957756,0.999999936776,0.000235300549546,-0.000265371558281,2.56971918773e-05,1793242826201900800
+20,0.333333333,BASELINE,766,745,714,679,659,635,877.59885044,787,805,652,631,651.59885044,0.400963376067,-0.00538611943246,0.0598423268848,0.999999936996,0.000233764426057,-0.000265911774214,2.55506900811e-05,1793242826218567680
+21,0.350000000,BASELINE,765.822825309,745,714,679,659,635,878,787,805,652,631,652,0.400962953477,-0.0053863956315,0.0598421000281,0.999999936952,0.000233080128132,-0.000266679226104,2.55177875806e-05,1793242826235234304
+22,0.366666667,BASELINE,765.234106173,745,714,679,659,635,878,787,805,652,631,652,0.400962148921,-0.00538618808929,0.0598424353721,0.999999936298,0.000234374465619,-0.000267974505543,2.57487555155e-05,1793242826251900928
+23,0.383333333,BASELINE,765,745,714,679,659,635,878.350464296,787,805,652,631,652,0.400961596586,-0.00538587783969,0.0598422928329,0.999999936107,0.000234701911983,-0.000268417070473,2.55495145381e-05,1793242826268567552
+24,0.400000000,BASELINE,765,745,714,679,659,635,878.932295983,787,805,652,631,652,0.400961210759,-0.00538549978534,0.0598418348077,0.999999936225,0.000234391042168,-0.000268296695649,2.50662608774e-05,1793242826285234432
+25,0.416666667,BASELINE,765,745,714,679.507286087,659,635,878.492713913,787,804.492713913,652,631,652,0.400961214673,-0.00538505967553,0.0598421138341,0.999999936245,0.000234705811891,-0.000267923307449,2.52886343021e-05,1793242826301901056
+26,0.433333333,BASELINE,765,744.918991219,714,679.918991219,659,635,878.081008781,787,804,652,631,652,0.400961423672,-0.0053848467326,0.0598425490648,0.999999936293,0.00023505158118,-0.00026741344537,2.55988399812e-05,1793242826318567680
+27,0.450000000,BASELINE,765,744.347487146,714,679.347487146,659,635,878.652512854,787,804,652,631,652,0.400962563672,-0.00538605872843,0.0598433424033,0.99999993658,0.000235086197597,-0.000266278994391,2.58782279965e-05,1793242826335234304
+28,0.466666667,BASELINE,765,744.232732767,714,679.232732767,659,635,879,787,804.232732767,652,631,652,0.400962999033,-0.00538661519137,0.0598437097183,0.999999936659,0.000235319004673,-0.000265762063411,2.60178040825e-05,1793242826351900928
+29,0.483333333,BASELINE,765,744.826472346,714,679.826472346,659,635,879,787,804.826472346,652,631,652,0.400962341382,-0.00538615481486,0.0598434162007,0.999999936417,0.000235859238064,-0.000266203007613,2.59405088469e-05,1793242826368567552
+30,0.500000000,BASELINE,765,745,714,679.589145751,659,635,878.589145751,787.410854249,805,652,631,652,0.400963489487,-0.00538582993885,0.0598439278331,0.999999936621,0.00023630627777,-0.000265038419222,2.59187296448e-05,1793242826385234176
+31,0.516666667,BASELINE,765,745,714,679.00862814,659,635,878.00862814,787.99137186,805,652,631,652,0.400965383283,-0.00538556101813,0.0598447719544,0.999999937007,0.000236714832881,-0.000263210821836,2.59198759394e-05,1793242826401900800
+32,0.533333333,BASELINE,765,745,714,679.561870223,659,635,878,787.438129777,804.438129777,652.561870223,631,652,0.400963131068,-0.00538587309849,0.0598438040281,0.999999936772,0.000235542628322,-0.000265152910437,2.58893438768e-05,1793242826418567424
+33,0.550000000,BASELINE,765.136935882,745,714,680,659,635,878,787,804,652.863064118,631,652,0.400961405824,-0.00538618415282,0.0598429112821,0.999999936673,0.000234087705955,-0.000266822835858,2.575560287e-05,1793242826435234048
+34,0.566666667,BASELINE,765.727637004,745,714,680,659,635,878,787,804,652.272362996,631,652,0.400961634084,-0.00538646276049,0.0598423582533,0.999999937069,0.000231774968874,-0.000267402429957,2.52814415158e-05,1793242826451900928
+35,0.583333333,BASELINE,766,745,714,679.687651798,659,635,878,787,804.312348202,652.312348202,631,652,0.400962420525,-0.00538637778195,0.0598427085949,0.999999936959,0.000232986264622,-0.000266759321161,2.52727771185e-05,1793242826468567808
+36,0.600000000,BASELINE,766,745,714,679.108065381,659,635,878,787,804.891934619,652.891934619,631,652,0.400963684533,-0.00538598172714,0.0598438318402,0.999999936405,0.000237212644681,-0.000265070094868,2.56623815721e-05,1793242826485234432
+37,0.616666667,BASELINE,765.528995222,745,714,679,659,635,878,787,805,652.528995222,631,652,0.400963914733,-0.00538557120572,0.0598440768724,0.999999936791,0.0002357975831,-0.000264885811809,2.55669598631e-05,1793242826501901056
+38,0.633333333,BASELINE,765.049143882,745,714,679,659.049143882,635,878,787,804.950856118,652,631,652,0.400963878107,-0.00538520645699,0.0598441033757,0.999999937339,0.000233299561453,-0.000265047339573,2.53693401442e-05,1793242826518567680
+39,0.650000000,BASELINE,765.61867724,745,714,679,659.61867724,635,878,787,804.38132276,652,631,652,0.400963524946,-0.00538536150785,0.0598439471549,0.99999993736,0.000233024949498,-0.00026521840765,2.52666254941e-05,1793242826535234304
+40,0.666666667,BASELINE,765.803695578,745,714.196304422,679,659.803695578,635,878,787,804.196304422,652,631,652,0.400962659129,-0.00538602561655,0.0598434668436,0.999999937283,0.000232493898643,-0.000265972268065,2.52892747539e-05,1793242826551900672
+41,0.683333333,BASELINE,765.209669998,745,714.790330002,679,659.209669998,635,878,787,804.790330002,652,631,652,0.400960754651,-0.00538772109822,0.059842329911,0.999999937003,0.000231443291622,-0.000267906890688,2.55659166658e-05,1793242826568567296
+42,0.700000000,BASELINE,765.374484273,745,714.625515727,679.374484273,659,635,878.374484273,786.625515727,804.625515727,652,631,652,0.400961585502,-0.00538710016501,0.0598430738316,0.999999936889,0.000233152950574,-0.00026682695477,2.57714882839e-05,1793242826585233920
+43,0.716666667,BASELINE,765.953253622,745,714.046746378,679.953253622,659,635,878.953253622,786.046746378,804.046746378,652,631,652,0.400963908503,-0.00538521560328,0.0598448437773,0.999999936854,0.000236368363434,-0.000264102545667,2.59382903063e-05,1793242826601900800
+44,0.733333333,BASELINE,765.471219571,745,714,679.471219571,659,635,878.471219571,786.528780429,804.528780429,652,631,652,0.400963210464,-0.0053848663609,0.0598443088903,0.999999936754,0.000235905535265,-0.000264930340933,2.55619629919e-05,1793242826618567680
+45,0.750000000,BASELINE,765,745,714,679.106220666,659,635,878.106220666,787,804.893779334,652,631,652,0.400962637107,-0.00538444500349,0.059843752551,0.999999936619,0.000235659000882,-0.000265690006984,2.52019358807e-05,1793242826635234304
+46,0.766666667,BASELINE,765,745,714,679.693619164,659,635,878.693619164,787,804.306380836,652,631,652,0.400963831021,-0.00538308586536,0.0598440164224,0.999999936356,0.000237856318704,-0.000264727169942,2.51319294962e-05,1793242826651900928
+47,0.783333333,BASELINE,765,745,714,680,659,635,878.722895666,787,804.277104334,652,631,652,0.400963961571,-0.00538303593699,0.0598439998796,0.999999936211,0.000238937563889,-0.000264288955794,2.52588038983e-05,1793242826668567552
+48,0.800000000,BASELINE,765,745,714,680,659,635,878.143676949,787,804.856323051,652,631,652,0.400962932784,-0.00538441338095,0.059843677614,0.999999936199,0.000238802005585,-0.000264422714256,2.56003285526e-05,1793242826685234176
+49,0.816666667,BASELINE,765,745,714,680,659,635,878.435388218,787,805,652,631,652,0.400962946024,-0.00538392802925,0.0598438137647,0.999999935916,0.000239624073576,-0.00026473595269,2.57498898651e-05,1793242826701901056
+50,0.833333333,BASELINE,765,745,714,679.985777472,659,635,878.985777472,787,805,652,631,652,0.40096329001,-0.00538286918771,0.0598440909166,0.99999993557,0.000240676254704,-0.000265080720414,2.58196205697e-05,1793242826718567424
+51,0.850000000,BASELINE,765,745,714,679.414006048,659,635,878.414006048,787,805,652,631,652,0.400963124355,-0.00538341805069,0.0598439673543,0.999999936334,0.000238365331669,-0.000264340471413,2.5242303954e-05,1793242826735234304
+52,0.866666667,BASELINE,765,745,714,679,659,635,878,787,804.836937125,652,631,652,0.400962746164,-0.00538412883933,0.0598436556596,0.999999936838,0.000236278522331,-0.000264351171947,2.47971298598e-05,1793242826751901184
+53,0.883333333,BASELINE,765,745,714,679,659,635,878,787,804.245966599,652,631,652,0.400961810237,-0.0053852645513,0.0598428502701,0.999999936668,0.000234779829622,-0.000266332505337,2.46987226278e-05,1793242826768567808
+54,0.900000000,BASELINE,765.338091652,745,714,679,659,635,878,787,804.338091652,652,631,652,0.400961380968,-0.00538603803735,0.0598428409439,0.999999936847,0.000233418309986,-0.000266831035818,2.49538071908e-05,1793242826785234176
+55,0.916666667,BASELINE,765.917221853,745,714,679,659,635,878,787,804.917221853,652,631,652,0.400961312915,-0.00538655327856,0.0598433991618,0.999999937277,0.000232154586376,-0.000266272418965,2.54609096605e-05,1793242826801901056
+56,0.933333333,BASELINE,765.506239612,745,714,679.493760388,659,635,878.493760388,787,804.506239612,652,631,652,0.400961305705,-0.00538664438467,0.0598431119778,0.999999937423,0.000230879054335,-0.000266849967654,2.53108995745e-05,1793242826818567680
+57,0.950000000,BASELINE,765,745,714,679.930418666,659,635,878.930418666,786.930418666,804.069581334,652,631,652,0.400961301693,-0.00538671413149,0.0598427218386,0.999999937492,0.00022990347872,-0.000267451499573,2.50923535344e-05,1793242826835234048
+58,0.966666667,BASELINE,765,745,714,679.356665741,659,635,878.356665741,786.356665741,804.643334259,652,631,652,0.400961247328,-0.00538714163919,0.0598426072934,0.999999937371,0.000231115593742,-0.000266853863584,2.51712668797e-05,1793242826851900672
+59,0.983333333,BASELINE,765.22391971,745,714,679,659,635,878,786.22391971,805,652,631,652,0.400961499389,-0.00538723748609,0.0598427742406,0.999999937305,0.000232220157466,-0.000266128603591,2.52770284142e-05,1793242826868567296
+60,1.000000000,BASELINE,765.815730829,745,714,679,659,635,878,786.815730829,805,652,631,652,0.400962254898,-0.0053867884272,0.0598434036687,0.999999937334,0.000233148018763,-0.000265193662208,2.54269004956e-05,1793242826885234432
+61,1.016666667,BASELINE,765.60021675,745,714.39978325,679,659,635,878,787,804.60021675,652,631.39978325,652,0.400962426938,-0.00538613351612,0.059843364709,0.999999937079,0.000233833673728,-0.000265565490558,2.52742909553e-05,1793242826901901056
+62,1.033333333,BASELINE,765.019672441,745,714.980327559,679,659,635,878,787,804.019672441,652,631.980327559,652,0.400962335166,-0.00538538552948,0.0598430235392,0.999999936695,0.000234409815613,-0.000266528171832,2.49849150511e-05,1793242826918567680
+63,1.050000000,BASELINE,765,745,714.445891941,679,659,635,878.554108059,787,804,652,631.445891941,652,0.400962052691,-0.00538612436115,0.0598433075353,0.999999937306,0.000232796101223,-0.000265634389689,2.5155637562e-05,1793242826935234304
+64,1.066666667,BASELINE,765.130926508,745,714,679.130926508,659,635,878.869073492,787,804.130926508,652,631,651.869073492,0.400961988812,-0.00538663208068,0.0598437503494,0.999999937825,0.00023153443267,-0.000264770957418,2.5261870087e-05,1793242826951900928
+65,1.083333333,BASELINE,765.719185309,745,714,679.719185309,659,635,878.280814691,787,804.719185309,652,631,651.280814691,0.400962711866,-0.00538615035329,0.0598446713281,0.999999937915,0.000231770772639,-0.000264240988348,2.50864659193e-05,1793242826968567552
+66,1.100000000,BASELINE,766,745,714,679.697206301,659,635,878,787,805,652,631,651,0.400963283344,-0.00538572859692,0.0598450595214,0.999999937878,0.000232300573117,-0.000263915177071,2.50778487823e-05,1793242826985234176
+67,1.116666667,BASELINE,766,745,714,679.117845554,659,635,878,787,805,652,631,651,0.400963716375,-0.00538536161719,0.059844961077,0.999999937726,0.000233098415838,-0.000263775840372,2.52215723298e-05,1793242827001901056
+68,1.133333333,BASELINE,765.539963651,745,714,679,658.539963651,635,878,787,804.539963651,652,631,651.460036349,0.40096153867,-0.00538600658237,0.0598439278381,0.999999937303,0.00023263897874,-0.00026576066669,2.53907881452e-05,1793242827018567680
+69,1.150000000,BASELINE,765,745,714,679.037159493,658.037159493,635,878,787,804,652,631,652,0.400959033778,-0.00538684740435,0.0598428079502,0.999999936851,0.00023200471162,-0.000267992089189,2.55495799716e-05,1793242827035234304
+70,1.166666667,BASELINE,765,745,714,679.608799857,658.608799857,635,878,787,804,652,631,652,0.400961411359,-0.00538678871186,0.0598438750061,0.999999937051,0.000233473445974,-0.000265968919455,2.54648125763e-05,1793242827051901184
+71,1.183333333,BASELINE,765.187006144,745,714,679.812993856,659,635,878.187006144,787,804,652,631,652,0.400963303946,-0.00538662787201,0.0598447180575,0.999999937397,0.000234147496496,-0.000264079433323,2.53706385953e-05,1793242827068567552
+72,1.200000000,BASELINE,765.779447673,745,714,679.220552327,659,635,878.779447673,787,804,652,631,652,0.400964145053,-0.00538624557336,0.0598450754601,0.999999938066,0.000233098646978,-0.000262479777197,2.52560708152e-05,1793242827085234432
+73,1.216666667,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400964086327,-0.00538631993848,0.0598448801992,0.999999938166,0.000232349815236,-0.000262765246896,2.52290624863e-05,1793242827101901056
+74,1.233333333,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400963493949,-0.00538666513224,0.0598443571762,0.999999937928,0.000231778911844,-0.000264168707795,2.52539820973e-05,1793242827118567680
+75,1.250000000,BASELINE,766,745,714,679,659,635,878.480390841,787,804,652,631,652,0.400962501277,-0.00538634452572,0.0598443995103,0.999999937457,0.000233591337337,-0.000264346500156,2.53432926991e-05,1793242827135234304
+76,1.266666667,BASELINE,765.902956606,744.902956606,714,679,658.902956606,635,878,787,804.097043394,652,631,651.902956606,0.400961804389,-0.00538621376444,0.0598444153969,0.999999937198,0.000234668918747,-0.000264366219432,2.53912065523e-05,1793242827151901184
+77,1.283333333,BASELINE,765.3162594,744.3162594,714,679,658.3162594,635,878,787,804.6837406,652,631,651.3162594,0.400962817576,-0.00538740289788,0.0598439904573,0.999999938146,0.000230742891028,-0.000264254729572,2.51952352726e-05,1793242827168567552
+78,1.300000000,BASELINE,765,744.266999174,714,679,658.266999174,635,878,786.733000826,804.733000826,652,631,651.266999174,0.400962944564,-0.00538753612423,0.0598438661121,0.999999938395,0.000229394200577,-0.000264489795871,2.51587533332e-05,1793242827185234176
+79,1.316666667,BASELINE,765,744.846236452,714,679,658.846236452,635,878,786.153763548,804.153763548,652,631,651.846236452,0.400962035201,-0.00538643453608,0.0598440932924,0.999999937838,0.000231059538073,-0.000265130136984,2.53087837787e-05,1793242827201900800
+80,1.333333333,BASELINE,765.424071068,745,714,679.424071068,659,635,878,786.424071068,804.424071068,652,631,652,0.400961496425,-0.00538711383809,0.0598437733813,0.999999937351,0.000232344281673,-0.000265837281971,2.53882327999e-05,1793242827218567680
+81,1.350000000,BASELINE,766,745,714,679.998582967,659,635,878,787,805,652,631,652,0.400961094156,-0.00538843078673,0.059843257768,0.99999993689,0.000233486095378,-0.000266565598235,2.54411014327e-05,1793242827235234048
+82,1.366666667,BASELINE,766,745,714,679.413737788,659,635,878,787,805,652,631,652,0.400961753639,-0.00538729547883,0.0598435710905,0.999999937282,0.000232410467457,-0.000266070561546,2.50523095957e-05,1793242827251900672
+83,1.383333333,BASELINE,766,744.830511558,714,679.169488442,659,635,878.169488442,787,804.830511558,652,631,652,0.400961984147,-0.00538630266717,0.0598436809797,0.999999937338,0.000232327797613,-0.000265951158867,2.48470279247e-05,1793242827268567040
+84,1.400000000,BASELINE,766,744.251199827,714,679.748800173,659,635,878.748800173,787,804.251199827,652,631,652,0.400961177395,-0.00538565441137,0.059843298967,0.999999936581,0.000234646101571,-0.000266740039648,2.50854740107e-05,1793242827285233920
+85,1.416666667,BASELINE,765.671879314,744.328120686,714,680,659,635,879,787,804.328120686,652.328120686,631,652,0.400961809297,-0.00538614768607,0.0598437587567,0.999999936967,0.000233848210379,-0.000265969617365,2.53148746137e-05,1793242827301900544
+86,1.433333333,BASELINE,765.092552112,744.907447888,714,680,659,635,879,787,804.907447888,652.907447888,631,652,0.400963542619,-0.00538751490722,0.0598448630234,0.999999938221,0.000230664585507,-0.000264005405354,2.55373500544e-05,1793242827318567168
+87,1.450000000,BASELINE,765,745,714,680,659,635,878.51765559,786.51765559,805,652.51765559,631,651.51765559,0.400962730747,-0.00538643248652,0.0598440129097,0.999999937513,0.000232262806674,-0.000265284873757,2.55265248379e-05,1793242827335234048
+88,1.466666667,BASELINE,765.057815634,745,714,680,659,635,878,786.057815634,805,652,631,651,0.400961601253,-0.00538518179112,0.0598430283169,0.999999936592,0.000234432701839,-0.000266850696469,2.54710726823e-05,1793242827351900928
+89,1.483333333,BASELINE,765.646293981,745,714,680,659,635,878,786.646293981,805,652,631,651,0.40096199818,-0.00538666155845,0.0598442200776,0.9999999372,0.000233504715918,-0.000265384142356,2.54131539305e-05,1793242827368567808
+90,1.500000000,BASELINE,766,745,714,679.769044391,659,635,878.230955609,787,804.769044391,652,631,651.230955609,0.400962205994,-0.0053870487931,0.0598446651989,0.999999937428,0.000233161203413,-0.000264828917234,2.54108677695e-05,1793242827385234432
+91,1.516666667,BASELINE,766,745,714,679.190133052,659,635,878.809866948,787,804.190133052,652,631,651.809866948,0.400962128892,-0.00538579002726,0.0598439854398,0.999999937084,0.000233698253601,-0.000265646692651,2.54923971959e-05,1793242827401901056
+92,1.533333333,BASELINE,766,745,714,679.388691684,659,635,878.611308316,787,804.388691684,652,631,652,0.400962206049,-0.00538606673719,0.0598439759448,0.999999937108,0.000233443594704,-0.000265776547888,2.55116236929e-05,1793242827418567424
+93,1.550000000,BASELINE,766,745,714,679.967474118,659,635,878.032525882,787,804.967474118,652,631,652,0.400962358647,-0.0053870943757,0.0598442942444,0.999999937313,0.000232801748324,-0.000265569973921,2.55003807762e-05,1793242827435233792
+94,1.566666667,BASELINE,766,745,714,679.458384017,659,635,878,787,805,652.541615983,631,652,0.400961230159,-0.00538609494857,0.0598435290309,0.999999936997,0.000233230884741,-0.000266405241101,2.52370649475e-05,1793242827451900672
+95,1.583333333,BASELINE,766,745,714,679,659,635,878,787,805,652.881443729,631,651.881443729,0.400960556208,-0.00538558296417,0.0598431749733,0.999999936894,0.000233441895469,-0.00026662061445,2.50961148736e-05,1793242827468567552
+96,1.600000000,BASELINE,766,745,714,679,659,635,878,787,805,652.292298623,631,651.292298623,0.400961989241,-0.00538748489024,0.0598447090128,0.999999937757,0.000232533970513,-0.000264129189866,2.55004512413e-05,1793242827485234432
+97,1.616666667,BASELINE,766,745,714,679.293130272,659,635,878,787,805,652,631,651.293130272,0.400962756034,-0.0053880543944,0.0598451941839,0.999999938215,0.000231470463867,-0.000263323219219,2.55481596011e-05,1793242827501901312
+98,1.633333333,BASELINE,766,745,714,679.874899859,659,635,878,787,805,652,631,651.874899859,0.400962866794,-0.00538731189015,0.0598446465558,0.999999938278,0.000230253759206,-0.000264176880338,2.52447037173e-05,1793242827518567936
+99,1.650000000,BASELINE,766,745,714,680,659,635,878,787,805,652,631,651.552166656,0.400963450355,-0.00538619604201,0.0598445615259,0.999999937878,0.00023251063729,-0.000263715945436,2.52441926969e-05,1793242827535234560
+100,1.666666667,BASELINE,766,745,714,679.981454849,659.018545151,635,878.018545151,787.018545151,804.981454849,652,631,651.018545151,0.40096406581,-0.00538503439492,0.0598445685575,0.999999937367,0.000235483463618,-0.00026300610681,2.53049919203e-05,1793242827551901440
+101,1.683333333,BASELINE,766,745,714,679.404756976,659.595243024,635,878.595243024,787.595243024,804.404756976,652,631,651.595243024,0.400961743072,-0.00538557247293,0.0598435323465,0.999999937646,0.00023136527004,-0.000265643562955,2.47133327462e-05,1793242827568567808
+102,1.700000000,BASELINE,766,745,714.177474075,679,659.822525925,635,878.822525925,788,804.177474075,652.177474075,631,652,0.400960766985,-0.00538598110187,0.0598434106022,0.999999937764,0.000229682989699,-0.000266677129602,2.45279101174e-05,1793242827585234176
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+104,1.733333333,BASELINE,765.644047564,745,714.644047564,679.355952436,659,635,878,787.644047564,805,652.644047564,631,652,0.400963274747,-0.00538611232051,0.0598459349927,0.999999937394,0.000235403317297,-0.00026295226571,2.55615687551e-05,1793242827618567424
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+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,805,652,631,652,0.400961860697,-0.00538643791546,0.0598430336588,0.999999937602,0.000231152379754,-0.00026597401702,2.49642188838e-05,1793242827666256384
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,805,652,631,652,0.4009618058,-0.00538657502652,0.0598439399699,0.999999937139,0.000233398079704,-0.000265731325077,2.5187432075e-05,1793242827682923008
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.175208362,659,635,878.175208362,787,805,652,631,652,0.400962186937,-0.00538705487027,0.0598446138639,0.99999993724,0.000233722597388,-0.000265049529193,2.53424255652e-05,1793242827699589376
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.758218661,659,635,878.758218661,787,805,652,631,652,0.400963582954,-0.00538833243314,0.0598447468012,0.999999938651,0.000229575514733,-0.000263345707625,2.53386360038e-05,1793242827716256000
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.335187157,679.664812843,659,635,879,787,805,652,631,652,0.400963168837,-0.00538811883647,0.0598442957377,0.999999938329,0.000230356732694,-0.000263888196428,2.52969606519e-05,1793242827732922624
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.907874636,679.092125364,659,635,879,787,805,652,631,652,0.400961472128,-0.00538684866324,0.0598434308742,0.999999936772,0.000234629949209,-0.000266022331747,2.52284409321e-05,1793242827749589248
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.938961925,658,635,878,787,805,652,631,652,0.400962861143,-0.00538576156454,0.059845033432,0.999999937754,0.000232433190518,-0.000264252198914,2.52666844584e-05,1793242827782922752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.349834785,658,635,878,787,805,652,631,652,0.400964348457,-0.00538597551464,0.059846113199,0.999999938131,0.00023287629018,-0.000262411614888,2.54375622113e-05,1793242827799589632
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.2358146,745,714,679,658.2358146,635,878,787,805,652,631,652,0.400966751464,-0.0053861717951,0.0598471828795,0.999999938578,0.000232878990033,-0.00026069042155,2.55181848957e-05,1793242827816256256
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.81637961,745,714,679,658.81637961,635,878,787,805,652,631,652,0.400970493173,-0.00538634224331,0.0598482378138,0.999999939131,0.000232237845,-0.000259143772227,2.5466858687e-05,1793242827832922624
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.606500874,745,714,679.393499126,659,635,878.393499126,787,805,652,631,652,0.400989668976,-0.00538763319437,0.0598567554734,0.999999942883,0.000231882287304,-0.000244511960328,2.60446665162e-05,1793242827849589248
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.03097514,745,714,679.96902486,659,635,878.96902486,787,805,652,631,652,0.401015984352,-0.00538944247271,0.0598687252744,0.999999947756,0.000231658837751,-0.000223827154439,2.69135020041e-05,1793242827866255872
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.459337656,714,680,659,635,878.459337656,787,805,652,631,652,0.401067247353,-0.00539049344345,0.0598875933291,0.999999954838,0.000231445571029,-0.000189688672437,2.78550922787e-05,1793242827882922496
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679.883543717,659,635,878.116456283,787,805,652,631,652,0.401121765848,-0.00539156345312,0.0599056998383,0.999999960299,0.000231274235741,-0.000158396331055,2.8733380717e-05,1793242827899589120
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679.289808544,659,635,878.710191456,787,805,652,631,652,0.401183810664,-0.00539288826992,0.0599190771329,0.999999962758,0.000231272377297,-0.000141904822747,2.93352755427e-05,1793242827916256000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.296016856,714,679,659,635,878.703983144,787.296016856,804.703983144,652,631,652,0.401257203225,-0.00539518281163,0.0599300143173,0.999999965385,0.000229793811967,-0.000124714438238,2.95162507194e-05,1793242827932922624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.874299876,714,679,659,635,878.125700124,787.874299876,804.125700124,652,631,652,0.401341416397,-0.00539840203214,0.0599386247397,0.999999968118,0.000226907136308,-0.000106857642987,2.92958589348e-05,1793242827949589504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.450666939,745,713.549333061,679,659,635,878,787.549333061,804,652,631,652,0.401432635827,-0.00540166733601,0.0599419248589,0.999999969312,0.000224494763429,-0.000100689892559,2.89826158008e-05,1793242827966255872
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.973387479,744.973387479,713.026612521,679,659,635,878.026612521,787,804.026612521,652,631,652,0.401527111995,-0.00540484749052,0.0599437867169,0.99999997012,0.000222303308594,-9.75874092284e-05,2.8582466844e-05,1793242827982922496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.395148076,744.395148076,713.604851924,679,659,635,878.604851924,787,804.604851924,652,631,652,0.401648759105,-0.00540599735972,0.0599464076289,0.999999970889,0.000221960497432,-9.07281280336e-05,2.69154717088e-05,1793242827999589120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.186552677,744.186552677,714,679,659,635,879,787,805,652,631,652,0.401775226236,-0.00540786989785,0.0599477160548,0.999999971586,0.000220972647942,-8.57601233697e-05,2.54014926093e-05,1793242828016255744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.775723649,744.775723649,714,679,659,635,879,787,805,652,631,652,0.401912095931,-0.00541130210109,0.0599461918709,0.999999972214,0.000218592675737,-8.48738757205e-05,2.42177531878e-05,1793242828032922624
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.416866798,679,659,635,878.583133202,786.416866798,804.583133202,652.583133202,631,652,0.403756746453,-0.00545961097757,0.0599476211858,0.999999983411,0.000174303450954,-5.24662055061e-05,6.65818644613e-06,1793242828166255872
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.991502075,679,659,635,878.008497925,786.991502075,804.008497925,652.008497925,631,652,0.40406715217,-0.0054684745115,0.0599391307094,0.999999984326,0.00016427616561,-6.59665197432e-05,3.13702080025e-06,1793242828182922752
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.421176621,745,715,679.578823379,659,635,878,787,804,652,631,652,0.404387684774,-0.00547690262333,0.0599257544847,0.999999984136,0.000153171332005,-9.09214166017e-05,-6.57428801769e-07,1793242828199589376
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.836197275,679.836197275,659,635,878,787,804.163802725,652,631,652,0.404725205832,-0.00548536038816,0.0599140287632,0.999999983668,0.000141663774258,-0.000112146701958,-4.39144535377e-06,1793242828216256256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.257630246,679.257630246,659,635,878,787,804.742369754,652,631,652,0.40510535834,-0.00549390978531,0.0599066679729,0.999999984,0.000129177437178,-0.000123492885353,-7.96205211933e-06,1793242828232922880
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.320264873,787,804.679735127,652,631,652,0.405528645227,-0.00550286424547,0.0599114708881,0.999999988666,9.62482386333e-05,-0.000115193464658,-1.15697678394e-05,1793242828249589504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.897620683,787,804.102379317,652,631,652,0.40598655805,-0.00551214386874,0.0599260381528,0.999999994632,4.69086393689e-05,-9.11236399357e-05,-1.5207272939e-05,1793242828266255872
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.473699875,652,631,652,0.406503061576,-0.00551915268156,0.0599547333439,0.999999998941,-4.79100248318e-07,-4.28121552794e-05,-1.68749836947e-05,1793242828282922496
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.050641858,659,635,879,787,804.949358142,652,631,652,0.407031087371,-0.00552406018092,0.0599849412424,0.999999998952,-4.13458812184e-05,7.35154777552e-06,-1.82349131629e-05,1793242828299588864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.639682458,659,635,879,787,804.360317542,652,631,652,0.407547347381,-0.00551183131538,0.0599988562702,0.999999999398,-1.73579817765e-05,2.16555016151e-05,-2.08366045535e-05,1793242828316256000
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.775283699,659,635,879,787,804,652,631,652,0.408067597203,-0.00550240423965,0.0600034176715,0.999999999526,-1.28949106425e-06,1.90411068051e-05,-2.41549221741e-05,1793242828332923136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.196561913,659,635,879,787,804,652,631,652,0.408594132318,-0.00549739094751,0.0599932438923,0.999999999536,2.30320488127e-06,-1.02255085086e-05,-2.86021725037e-05,1793242828349589760
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.379613465,679.379613465,659,634.620386535,879,787,804.379613465,652,631,652,0.409156042969,-0.00550540516849,0.0599817600235,0.999999998667,-1.94311486375e-05,-3.54212342894e-05,-3.21377869718e-05,1793242828366256384
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.954479094,679.954479094,659,634.045520906,879,787,804.954479094,652,631,652,0.409736148823,-0.00552012002164,0.0599696023175,0.999999996199,-5.41923352692e-05,-5.85231187706e-05,-3.52045062147e-05,1793242828382923008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.524314916,745,714.475685084,678.951370167,659.524314916,634.524314916,879.524314916,787,805,652,631,652,0.410396207391,-0.00552563133792,0.0599793648219,0.999999997451,-5.2165188816e-05,-3.30824793895e-05,-3.5804657551e-05,1793242828399589632
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714,678.197221096,659.901389452,635,879.901389452,787,804.901389452,652,631,652,0.411064602014,-0.00552854522837,0.0599895402284,0.999999998555,-4.02544614913e-05,-7.37839362597e-06,-3.48569109162e-05,1793242828416256000
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679.395476082,659.302261959,635,879.302261959,787,804.302261959,652,631,652,0.411740409641,-0.00552229257013,0.0599922435869,0.999999999614,5.76479751498e-06,-1.52515019914e-06,-2.71291240517e-05,1793242828432922624
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.286505383,635,879,787,804.286505383,652,631,652,0.412402851241,-0.00551664296936,0.0599797219937,0.999999999251,1.29707677122e-05,-2.58502646585e-05,-2.57308536137e-05,1793242828449589248
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.864724318,635,879,787,804.864724318,652,631,652,0.413051683923,-0.00551160738782,0.059951698686,0.999999996067,-1.93421032645e-05,-8.09023261692e-05,-3.07771582045e-05,1793242828466255872
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.55986053,745,714,679.55986053,659.55986053,635,879,787,805,652,631,652,0.413741742098,-0.00551045364189,0.0599274136249,0.999999990899,-2.35798888668e-05,-0.000128208008749,-3.47796163325e-05,1793242828482922496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.015062318,745,714,679.015062318,659,635,879,787,805.015062318,652,631,652,0.414448060201,-0.00551074549525,0.0599061365489,0.999999984702,-1.92786256523e-05,-0.000169579961864,-3.83132466035e-05,1793242828499589376
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.60385042,745,714,679.60385042,659,635,879,787,805.60385042,652,631,652,0.415294155053,-0.00552094381581,0.0599559477146,0.999999996398,-1.63156015792e-05,-7.50475093125e-05,-3.61320238644e-05,1793242828516256000
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,787,805.810286071,652,631,652,0.416129362221,-0.00552808831593,0.0599967801299,0.999999999248,-1.78534085449e-05,-3.36328331394e-07,-3.44295705234e-05,1793242828532922880
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,787,805.230436846,652,631,652,0.416942179468,-0.00552895281716,0.0600191482814,0.999999998457,-2.86469045308e-05,3.3613591826e-05,-3.37116783405e-05,1793242828549589504
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.346515775,635,879,787,805,652,631,652,0.417744298247,-0.00552765269438,0.0600190384511,0.999999998385,-3.08433313576e-05,3.25409687392e-05,-3.49363780902e-05,1793242828566256128
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.921558068,635,879,787,805,652,631,652,0.418539361373,-0.00552492500602,0.0600041044321,0.999999998889,-2.73700064197e-05,8.37104128771e-06,-3.74422136876e-05,1793242828582922496
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,652,631,652,0.419355717107,-0.00552568625739,0.0599830976063,0.999999998367,-3.01172710196e-05,-2.81446867734e-05,-3.95945342493e-05,1793242828599589376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.925831742,745,714,680,660,635,879,787,805,651.925831742,631,652,0.420174656776,-0.0055267999921,0.0599601401344,0.999999996326,-3.36578166306e-05,-6.68829828541e-05,-4.17365627704e-05,1793242828616256000
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.334114731,745,714,680,660,635,879,787,805,651.334114731,631,652,0.420988157369,-0.0055265277339,0.0599302646586,0.999999992599,-3.58773486202e-05,-0.000107522438479,-4.41964292132e-05,1793242828632922624
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.251418638,745,714,680,659.748581362,635,879,786.748581362,805,651.251418638,631,652,0.421811290496,-0.00552653858456,0.059905242075,0.999999987245,-3.49592327519e-05,-0.000148919671334,-4.5932443791e-05,1793242828649589248
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.828931794,745,714,680,659.171068206,635,879,786.171068206,805,651.828931794,631,652,0.422646917305,-0.00552691663246,0.059886513776,0.999999980161,-2.9971531217e-05,-0.000191299760566,-4.67296097707e-05,1793242828666255872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.595578087,745,714,680,659.404421913,635,879,786.404421913,805,652,631,652,0.423565366254,-0.0055293205964,0.0599240667381,0.999999990083,-3.68959250041e-05,-0.000127764815164,-4.63539846506e-05,1793242828682922496
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.020939476,745,714,680,659.979060524,635,879,786.979060524,805,652,631,652,0.424518674073,-0.00553257724589,0.05998530786,0.99999999758,-4.88339875441e-05,-1.9651402592e-05,-4.54847442718e-05,1793242828699589376
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.554994226,745,714,680,660,635,879,787,805,651.445005774,631,652,0.425433588459,-0.00553529844527,0.0600162735182,0.999999997169,-5.26138471279e-05,3.0143348153e-05,-4.45466170322e-05,1793242828716256256
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.134921455,631,652,0.426344189771,-0.0055380935303,0.0600356535888,0.999999995423,-5.54108380097e-05,6.41829848045e-05,-4.4313079256e-05,1793242828732922624
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.728250617,631,652,0.427245070082,-0.00554120844726,0.0600195606237,0.999999995995,-5.59166765723e-05,5.21864632727e-05,-4.64822986341e-05,1793242828749589248
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.311353538,652,631,652,0.428120093404,-0.00554257825135,0.0599995589888,0.999999996714,-5.92536867041e-05,2.66321973576e-05,-4.84888871063e-05,1793242828766255872
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.885814797,652,631,652,0.428973266364,-0.00554247335654,0.059976254353,0.999999996567,-6.4983163857e-05,-1.03789707719e-05,-5.03580450025e-05,1793242828782922496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.461299516,635,879,787,805.538700484,652,631,652,0.429787663345,-0.00553895760716,0.05994333866,0.9999999942,-6.16830268069e-05,-7.16061154943e-05,-5.16413998179e-05,1793242828799589376
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.038056655,660.961943345,635,879.038056655,787,805.038056655,652,631,652,0.43060173391,-0.00553507582514,0.0599123594173,0.999999988512,-5.6863874019e-05,-0.000130238390978,-5.27290874774e-05,1793242828816256000
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.629627004,660.370372996,635,879.629627004,787,805.629627004,652,631,652,0.431550967094,-0.00553817730477,0.059944223351,0.999999994604,-6.25320078902e-05,-6.37538050262e-05,-5.30845902894e-05,1793242828832922624
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783520937,745,714,680.783520937,660,635,880,787,805.783520937,651.783520937,631,651.783520937,0.432481136535,-0.00554183797695,0.0599783645652,0.999999996389,-6.66483224475e-05,-1.41067935585e-06,-5.27056361374e-05,1793242828849589504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.204569097,745,714,680.204569097,660,635,880,787,805.204569097,651.204569097,631,651.204569097,0.433379385776,-0.00554643496226,0.0600163188652,0.999999994913,-6.81662702087e-05,5.39979910666e-05,-5.10969067125e-05,1793242828866256128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.372009699,745,714,680,660,635,879.627990301,787,805,651,631,651.372009699,0.434229382481,-0.00554864262311,0.0600148585323,0.999999994722,-7.45958971896e-05,4.78650145227e-05,-5.19589183617e-05,1793242828882922752
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.94729179,745,714,680,660,635,879.05270821,787,805,651,631,651.94729179,0.43505301313,-0.00554954471639,0.0599918613752,0.999999994996,-8.37093486466e-05,8.10463799437e-06,-5.41709848012e-05,1793242828899589120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.533736957,714.533736957,680,660,635,879,787,805.533736957,651,631,652,0.435835830099,-0.00554909533798,0.059963701895,0.999999994004,-8.34604686126e-05,-4.3562207643e-05,-5.59293759762e-05,1793242828916255744
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.880332847,714.880332847,680.119667153,660,635,879.119667153,787,806,651.119667153,631,651.880332847,0.43661717931,-0.00554827240155,0.0599379391816,0.999999990888,-8.21547398401e-05,-9.04487771256e-05,-5.73870796002e-05,1793242828932922368
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.30070972,714.30070972,680.69929028,660,635,879.69929028,787,806,651.69929028,631,651.30070972,0.437408709569,-0.00554653758393,0.0599233900702,0.999999988555,-8.04164547721e-05,-0.00011434585967,-5.78649328625e-05,1793242828949589248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.722860236,745,714,681,660,635,880,787.277139764,806,652,631.277139764,651.277139764,0.438183338665,-0.00554520843102,0.059911822747,0.999999985637,-7.96168063557e-05,-0.000137814659669,-5.82680936198e-05,1793242828966255872
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.146923039,745,714,681,660,635,880,787.853076961,806,652,631.853076961,651.853076961,0.43893974577,-0.00554431664444,0.0599034702308,0.999999982165,-7.98291464412e-05,-0.000160821706542,-5.85907248431e-05,1793242828982922752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.571438868,660,635,880,787.571438868,806,651.571438868,631.571438868,652,0.4397459358,-0.00554409815139,0.0599396844274,0.999999990071,-8.03024093393e-05,-9.99537232432e-05,-5.84640498406e-05,1793242828999589376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.003992961,745,714,680.003992961,660,635,880,787.003992961,806,651,631.003992961,651.996007039,0.440568474676,-0.00554414133092,0.0599909597305,0.999999994979,-8.08741420292e-05,-1.07925484071e-05,-5.81735423436e-05,1793242829016256000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.594519217,745,714,680.594519217,660,635,880,787.594519217,806,651,631.594519217,651.405480783,0.441288158338,-0.00554875167027,0.0600126348476,0.999999994869,-8.27844905732e-05,1.50264643006e-05,-5.64200401186e-05,1793242829032922624
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680.818374159,660,635,880,787.818374159,806,651,632,651.181625841,0.441994424515,-0.00555231369899,0.0600172806161,0.999999994575,-8.6068456011e-05,1.84020485098e-05,-5.57049187796e-05,1793242829049589504
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.238760692,660,635,880,787.238760692,806,651,632,651.761239308,0.442671289762,-0.00555357861792,0.059984610828,0.99999999372,-9.23623598375e-05,-2.74015253798e-05,-5.72651492282e-05,1793242829066256128
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.338133284,660,635,879.661866716,787,806,651.338133284,631.661866716,652,0.443323521942,-0.00555515436192,0.05996373109,0.999999991846,-9.85699602069e-05,-5.70083068383e-05,-5.78041361929e-05,1793242829082922752
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.913122276,660,635,879.086877724,787,806,651.913122276,631.086877724,652,0.443958499102,-0.00555694783267,0.0599511100517,0.999999990024,-0.000104717106398,-7.52695513793e-05,-5.76277621548e-05,1793242829099589376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.519230493,745,714,681,660,635,879.480769507,787,806,652,631,652,0.444576098467,-0.00555884430077,0.0599605341894,0.999999991176,-0.000103121466985,-6.00817317647e-05,-5.83467060269e-05,1793242829116256256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.049996385,745,714,681,660,635,880,787,806,651.950003615,631,651.950003615,0.445185234965,-0.00556044382333,0.0599719973661,0.999999992281,-0.000100391391827,-4.30520797041e-05,-5.92103131231e-05,1793242829132922880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.651036099,745,714,681,660,635,880,787,806,651.348963901,631,651.348963901,0.445735186992,-0.00555856846027,0.0599626877101,0.999999990626,-0.000100347115641,-7.13400262523e-05,-5.99119879091e-05,1793242829149589504
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.757600841,879.757600841,787,806,651,631,651.242399159,0.44627587434,-0.00555647978128,0.0599499894578,0.999999988377,-0.000100159499247,-9.71110082504e-05,-6.15178675956e-05,1793242829166256128
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.179633813,879.179633813,787,806,651,631,651.820366187,0.446803735987,-0.00555409579625,0.0599326001666,0.999999985823,-9.9773448362e-05,-0.000119397601119,-6.43754929849e-05,1793242829182922752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.605008196,745,713.605008196,681,660,634,879.394991804,787,806,651,631,651.605008196,0.447311938975,-0.00555585183715,0.059932628556,0.999999986286,-0.000101545864653,-0.000112991383721,-6.59516228718e-05,1793242829199589120
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.031889385,745,713.031889385,681,660,634,879.968110615,787,806,651,631,651.031889385,0.447811276664,-0.0055594748797,0.0599405116876,0.999999987936,-0.000104291671469,-9.36457492508e-05,-6.69498449034e-05,1793242829216255744
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.553475679,713,681,660,634.553475679,880,787,806,651,631,651,0.44826505578,-0.00556148655272,0.0599506368314,0.999999988778,-0.000106544908373,-8.06090734218e-05,-6.77788702584e-05,1793242829232922880
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.281225923,713.718774077,681,660,634.281225923,879.281225923,787,806,651,631,651.718774077,0.449069549327,-0.00556909418289,0.0599263199637,0.999999983885,-0.000110022219391,-0.000123312777584,-7.01378344637e-05,1793242829266256384
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.702113911,879,786.702113911,806.297886089,651,631,651.702113911,0.449422935107,-0.00557320632228,0.0598959374469,0.999999978947,-9.22405748083e-05,-0.000171327110179,-6.51517744378e-05,1793242829282923008
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.450271471,786.450271471,807,651,631,651.450271471,0.45007545978,-0.00557455929658,0.0598432769642,0.999999966378,-4.12380305871e-05,-0.000250568402129,-5.25169803145e-05,1793242829316256256
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.797744457,745,714,681,659.797744457,633,879.797744457,786.202255543,807,652,631,651,0.450973608092,-0.00556360920654,0.0598457039189,0.999999969475,-6.75400041195e-05,-0.000231146799237,-5.53183590714e-05,1793242829366258176
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.219622376,745,714,681,659.219622376,633,879.219622376,786.780377624,807,652,631,651,0.451232076083,-0.00555486120336,0.0598519461357,0.99999996646,-0.000114214426747,-0.000225397615434,-5.6840184053e-05,1793242829382923008
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.357350912,786.642649088,807,652,631,651.357350912,0.451466316974,-0.00555193683628,0.0598513559705,0.999999964266,-0.000130392472585,-0.000225931525956,-5.84898711168e-05,1793242829399589376
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.933620488,786.066379512,807,652,631,651.933620488,0.451685715996,-0.00555258011739,0.0598465801836,0.999999963487,-0.000127887973595,-0.000230314556344,-6.02178886582e-05,1793242829416256256
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.518501412,745,714,681,659,633,880,786,806.481498588,651.481498588,631,651.481498588,0.45187310066,-0.00555731684204,0.0598462246116,0.99999996295,-0.000131092128967,-0.000230656279402,-6.09340398754e-05,1793242829432922880
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.103590423,714,681,659,633,880,786,806.103590423,651.103590423,631,651.103590423,0.452052411963,-0.0055622037589,0.0598471890684,0.999999962897,-0.000133851837668,-0.000229178353059,-6.13804359014e-05,1793242829449589248
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,785,806.545126344,651,630.454873656,651.545126344,0.453102281422,-0.00556856740484,0.0598256646751,0.999999956296,-0.000117683531705,-0.000264350179871,-6.06502077631e-05,1793242829749589248
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+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880.00831228,786,806,651.00831228,630.00831228,651.99168772,0.453105527959,-0.0055653620421,0.0598205098582,0.999999954828,-0.00011500113365,-0.000271095470615,-6.02149124195e-05,1793242829849589504
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+258,4.300000000,HOLD_POSE2,765,745,714,681.036493905,658,632,879.963506095,786,806,651.963506095,630.963506095,652,0.453102253118,-0.00556424166696,0.0598123561677,0.999999951522,-0.000109993633607,-0.000285360250826,-5.85352777246e-05,1793242830221247232
+259,4.316666667,HOLD_POSE2,765,745,714,681,658,632,880,786,806,651.462570816,631,652,0.453102537369,-0.00556268741004,0.0598128371952,0.999999951576,-0.000109777933659,-0.000285184323081,-5.88834406328e-05,1793242830237913600
+260,4.333333333,HOLD_POSE2,765.115047686,745.115047686,714,681,658.115047686,632,880,786,806,651.115047686,631,652,0.453102835404,-0.0055612276717,0.0598131095127,0.99999995166,-0.000109118384406,-0.000285076959589,-5.92001455342e-05,1793242830254580224
+261,4.350000000,HOLD_POSE2,765.708275766,745.708275766,714,681,658.708275766,632,880,786,806,651.708275766,631,652,0.453102730161,-0.0055606986878,0.0598121398241,0.999999951711,-0.000106736690433,-0.000285794370551,-5.92158407271e-05,1793242830271247104
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,632,880,786,807,652,631,652,0.453104088573,-0.00556356246635,0.0598131678148,0.999999951688,-0.000111008007596,-0.000284318461753,-5.88573508591e-05,1793242830308402432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.421720758,745,714,681.578279242,658.421720758,632,879.421720758,786,806.421720758,652,631,652,0.453103796147,-0.00556381638011,0.0598125495526,0.99999995151,-0.000111695910358,-0.000284664249842,-5.89077083233e-05,1793242830325068800
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.158988354,745,714,681.841011646,658.158988354,632,879.158988354,786,806,652,631,651.841011646,0.453103027186,-0.00556356555038,0.0598117360227,0.99999995124,-0.000111733031992,-0.000285569192067,-5.90406663926e-05,1793242830341735424
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.746242924,745,714,681.253757076,658.746242924,632,879.746242924,786,806,652,631,651.253757076,0.453100974587,-0.00556195509545,0.0598103965012,0.999999950718,-0.000110017147583,-0.000287980325347,-5.93961253516e-05,1793242830358402304
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.670897557,632,880,785.670897557,806,651.670897557,630.670897557,651.329102443,0.453101019013,-0.00556137235599,0.0598103103308,0.999999950751,-0.000109544226968,-0.000288069560244,-5.92752226178e-05,1793242830375068928
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.091382254,632,880,785.091382254,806,651.091382254,630.091382254,651.908617746,0.453102659057,-0.00556157160161,0.0598111778308,0.99999995121,-0.000110017073124,-0.000286392070894,-5.87918579694e-05,1793242830391735552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.515328531,745,714,681,658.484671469,632,880,785.484671469,806,651,630,652,0.453100863888,-0.00556210744263,0.059810160343,0.999999950589,-0.000110685726509,-0.000288264543648,-5.89507983287e-05,1793242830408402432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.057871606,745.057871606,714,681.057871606,658.942128394,632,880,786,806,651,630.057871606,651.942128394,0.453098397411,-0.0055625359678,0.0598088141691,0.999999949805,-0.000111246172387,-0.000290700640078,-5.92222633109e-05,1793242830425068800
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,658,632,880,786,806.184757691,651,631,651.184757691,0.453088802529,-0.00556076240525,0.0598044977882,0.999999947957,-0.0001102690992,-0.000297284571605,-5.95766897465e-05,1793242830458402304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,658,632,880,786,806.800061425,651,631,651.800061425,0.453072179983,-0.00556070060097,0.0597965680924,0.999999943927,-0.000110876634818,-0.000310323346625,-5.95952177282e-05,1793242830475068928
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.608820937,714,681.608820937,658,632,880,786,806.608820937,651.391179063,630.608820937,652,0.453038980124,-0.0055595491489,0.0597819115768,0.999999936482,-0.00011027916505,-0.000333527906094,-6.02823744417e-05,1793242830491735552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.029345372,714,681.029345372,658,632,880,786,806.029345372,651.970654628,630.029345372,652,0.452997800672,-0.00555787318803,0.0597640170635,0.999999926783,-0.000109101658349,-0.000361625830777,-6.12913797636e-05,1793242830508402176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.454071961,745,714,681,658,632,879.454071961,786,806.545928039,652,630.545928039,652,0.452937551269,-0.00555663857401,0.0597446079318,0.999999916955,-0.000108944540204,-0.000387733982133,-6.23117261869e-05,1793242830525068800
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,879.694362403,786,806.305637597,652,631,652,0.452804993846,-0.00555346026096,0.0597196504542,0.999999903322,-0.000105671678305,-0.000422230533583,-6.25353275751e-05,1793242830558402048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.276630047,745,714,681,658,632,879.723369953,786,806,652,631,652,0.452732477671,-0.00555071263027,0.0597161996109,0.999999901994,-0.000102914860543,-0.000426090369143,-6.21870420514e-05,1793242830575068928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.868696398,745,714,681,658,632,879.131303602,786,806,652,631,652,0.452656577484,-0.00554692526772,0.0597178275351,0.999999904374,-0.000100021428556,-0.000421195457809,-6.19904404366e-05,1793242830591735552
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.020955139,658.979044861,632,879.979044861,786,807,651.020955139,630.979044861,652,0.452454695088,-0.00554087972833,0.0597207678701,0.999999906894,-9.31698083464e-05,-0.000416976071653,-6.05171340891e-05,1793242830625069056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.597887417,658.402112583,632,879.402112583,786,807,651.597887417,630.402112583,652,0.452311039994,-0.00553512487168,0.0597174141763,0.999999904252,-9.00057533615e-05,-0.000423983260806,-6.02833619711e-05,1793242830641735424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.820836456,658,632,879.179163544,786,806.820836456,652,630.179163544,652,0.452160685105,-0.00553006679773,0.0597146601582,0.999999901836,-8.63722227029e-05,-0.000430466925855,-5.97097379258e-05,1793242830658402048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.229568879,658,632,879.770431121,786,806.229568879,652,630.770431121,652,0.451994919663,-0.00552661143324,0.0597132854881,0.999999900026,-8.16588253813e-05,-0.00043574640307,-5.83544015989e-05,1793242830675068672
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,786,806,651.645669318,631,652,0.451811113073,-0.00552196665904,0.0597128674283,0.999999900256,-7.72481933782e-05,-0.000436223977627,-5.68323187553e-05,1793242830691735552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,786,806,651.066446152,631,652,0.451615855812,-0.00551656697017,0.0597130565257,0.999999901782,-7.30297250346e-05,-0.000433653801358,-5.52044023297e-05,1793242830708402176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.508558026,745,714,681.508558026,658.508558026,632.508558026,879.491441974,786,806,651.508558026,631,652,0.451379188221,-0.0055091471385,0.0597098712518,0.999999898344,-6.82660375181e-05,-0.000442485999212,-5.34588673794e-05,1793242830725069056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.083452413,681.916547587,659,633,879.083452413,786,806,652,631,651.916547587,0.451130752796,-0.00550131098387,0.0597056180234,0.999999894004,-6.32070212029e-05,-0.000453109756679,-5.18495010738e-05,1793242830741735680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.660933492,681.339066508,659,633,879.660933492,786,806,652,631,651.339066508,0.4508444191,-0.00549255990282,0.059697631121,0.99999988869,-5.68179305523e-05,-0.000465592532498,-5.11364624529e-05,1793242830758402560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.756409223,681,659,633,880,786.243590777,806.243590777,651.756409223,631,651,0.450547416405,-0.00548442396326,0.0596910367645,0.999999884566,-4.96843683038e-05,-0.000475322296025,-4.96887807448e-05,1793242830775069184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.16639052,681,659,633,880,786.83360948,806.83360948,651.16639052,631,651,0.45023524058,-0.00547716286111,0.059686422848,0.999999882279,-4.14920399591e-05,-0.000481136802519,-4.71963104298e-05,1793242830791735552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.58448662,745,714,681,659,633.41551338,880,787,807,651.41551338,631,651.41551338,0.449892812278,-0.00546805669767,0.0596827733141,0.999999881787,-3.13185479257e-05,-0.000483124324119,-4.51266382795e-05,1793242830808402432
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.005770024,745,714,681,659,633.994229976,880,787,807,651.994229976,631,651.994229976,0.449538501571,-0.00545822584068,0.0596795025657,0.99999988192,-2.03669047635e-05,-0.000483608702031,-4.32230306808e-05,1793242830825069312
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.568206778,745,714,681,659,634,880,787,806.431793222,652,631,651.431793222,0.449146340011,-0.00544869203948,0.0596828004623,0.999999884221,-8.32014625241e-06,-0.000479432205533,-4.04266485949e-05,1793242830841736192
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,787,806,651.857799359,631,651,0.448744489052,-0.00543978245118,0.0596882498056,0.999999887877,2.76620906966e-06,-0.000472061371816,-3.7375563009e-05,1793242830858402816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,787,806,651.283608762,631,651,0.44831436084,-0.00543276006687,0.0597000340467,0.999999895806,1.09014586789e-05,-0.000455129087347,-3.35780301456e-05,1793242830875069184
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.699032462,745,714,681,659.300967538,634,880,786.699032462,806,651,631,651.300967538,0.447879026871,-0.0054249334052,0.0597195733164,0.999999910325,1.91237772391e-05,-0.000422017041971,-2.97722798622e-05,1793242830891735552
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.104319613,745,714,681,659.895680387,634,880,786.104319613,806,651,631,651.895680387,0.447438612014,-0.00541632176534,0.0597466815211,0.99999992968,2.74310763177e-05,-0.000373113493904,-2.59585088518e-05,1793242830908402176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.475700261,880,786.475700261,806,651,631,651.524299739,0.446950486087,-0.00541770601593,0.0597761052317,0.999999943848,2.59232254598e-05,-0.000333318480432,-2.30520078629e-05,1793242830925068800
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.573070339,745,714,679.573070339,659,635,879,787,805,652.573070339,631,651.573070339,0.401099343172,-0.00537177583473,0.0598297680559,0.999999922021,0.000268795202486,-0.000288434316818,2.26375034351e-05,1793242832191735552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.848163868,787,804.848163868,652.848163868,631,652,0.401055988843,-0.00537076294103,0.0598271759199,0.999999920977,0.000266911159028,-0.000293769216125,2.24539672368e-05,1793242832208402176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.262067524,787,804.262067524,652.262067524,631,652,0.401029020837,-0.00537015813333,0.0598283374635,0.999999921733,0.000267191959373,-0.000290911774421,2.26353208681e-05,1793242832225069312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.679461407,745,714,680,659,635,878.320538593,787,804,652,631,652,0.401009065492,-0.00537003531323,0.0598299076138,0.999999922806,0.000266770656686,-0.000287582511877,2.273704925e-05,1793242832241735936
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.099678046,745,714,680,659,635,878.900321954,787,804,652,631,652,0.400994781836,-0.00537030231433,0.0598318082365,0.999999924129,0.000265781508093,-0.000283871650403,2.27743784506e-05,1793242832258402304
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.478319385,745,714,679.521680615,659,634.521680615,878.521680615,787,804,652,631,652,0.400984292385,-0.00536992768161,0.0598332154197,0.999999924718,0.000266279972402,-0.000281328945742,2.26312358371e-05,1793242832275068928
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.944266919,745,714,679.055733081,659,634.055733081,878.055733081,787,804.055733081,652,631,652,0.400975154483,-0.00536953174259,0.0598345139738,0.99999992516,0.000266910187371,-0.000279164369224,2.24875445942e-05,1793242832291735808
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.36883853,745,714,679.63116147,659,634.63116147,878.63116147,787,804.63116147,652,631,652,0.40097127392,-0.00537017931227,0.0598357548768,0.999999925679,0.00026588896593,-0.000278264212697,2.26881255437e-05,1793242832308402432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.210907011,745,714,680,659,635,878.789092989,787,804.789092989,652,630.789092989,652,0.400967944876,-0.00537080281551,0.0598363114383,0.999999926178,0.000264645158463,-0.000277647255349,2.27711492589e-05,1793242832325069056
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.798360216,745,714,680,659,635,878.201639784,787,804.201639784,652,630.201639784,652,0.400965600496,-0.00537138335132,0.0598356461997,0.999999926645,0.000263003953552,-0.000277535912223,2.26442902808e-05,1793242832341735936
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.619289857,745,714,679.619289857,659,635,878.380710143,787,804.380710143,652,630.380710143,652,0.40096387308,-0.00537228876913,0.0598358780702,0.999999927211,0.000260956393067,-0.000277425147456,2.27057309119e-05,1793242832358402816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.039607102,745,714,679.039607102,659,635,878.960392898,787,804.960392898,652,630.960392898,652,0.400962468112,-0.00537336398177,0.0598365788018,0.999999927825,0.00025869645681,-0.000277314684963,2.28655835956e-05,1793242832375069696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.462269468,787,804.462269468,652,631,652,0.400963435733,-0.00537336259865,0.0598375558603,0.999999928338,0.000259001287713,-0.000275160275567,2.29842248495e-05,1793242832391736064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.113537316,787.113537316,804,652,631,652,0.400964456838,-0.00537335282297,0.0598385699802,0.999999928949,0.000258859107715,-0.000273060225378,2.30508166233e-05,1793242832408402432
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.683876726,787.683876726,804,652,631,652,0.400964993071,-0.00537362693956,0.0598396516781,0.999999929995,0.000256161683456,-0.00027178196636,2.29201540734e-05,1793242832425069056
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.265199662,745,714.265199662,679,659,635,878.734800338,787.469600676,804.265199662,652,631,652,0.400964763125,-0.00537401085923,0.0598402471077,0.999999930567,0.00025443106358,-0.000271308061938,2.28835572829e-05,1793242832441735936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.860180928,745,714.860180928,679,659,635,878.139819072,786.279638143,804.860180928,652,631,652,0.400963580417,-0.00537453132148,0.059840237852,0.999999930556,0.00025390268583,-0.000271834389953,2.2963933313e-05,1793242832458402304
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.557585685,679.442414315,658.557585685,635,878.442414315,786.88482863,805,652,631,652,0.400963162301,-0.00537510136377,0.0598401642877,0.999999930527,0.0002543823417,-0.000271501980542,2.28648398367e-05,1793242832475068928
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.979416296,745,714,679.979416296,658.020583704,635,878.979416296,787.979416296,805,652,631,652,0.400963002307,-0.00537563457112,0.0598400931185,0.999999930492,0.000255177736805,-0.000270894597328,2.27135216309e-05,1793242832491735808
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.405227479,745,714,679.405227479,658.594772521,635,878.405227479,787.405227479,805,652,631,652,0.400963467659,-0.00537476747008,0.059840617674,0.999999930494,0.000256136825253,-0.000269986458775,2.26403512445e-05,1793242832508402432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.346612326,787,805.173306163,652,631,652,0.400964078051,-0.00537395189577,0.0598413134519,0.999999930567,0.000256986169329,-0.000268913364459,2.25971264286e-05,1793242832525069312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.524520317,787,805.762260159,652,631,652,0.400965036298,-0.00537325990035,0.0598424198799,0.999999930809,0.00025757230857,-0.000267444649493,2.26257214027e-05,1793242832541735936
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.654430683,635,879.308861366,787,805.654430683,652,631,652,0.400965008105,-0.00537421431299,0.0598425988222,0.999999931228,0.000255629292046,-0.000267728822101,2.27648756413e-05,1793242832558402816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.074942586,635,878.149885173,787,805.074942586,652,631,652,0.400964312182,-0.00537628319313,0.0598421499417,0.999999931756,0.000251974268668,-0.000269199539119,2.29788683753e-05,1793242832575069184
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.501427928,745,714.501427928,679,658.501427928,635,878,787,805,652,631,652,0.40096408081,-0.00537544604448,0.0598418348701,0.999999931303,0.000254078644301,-0.000268903778875,2.30009582373e-05,1793242832591735808
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.923690271,745,714.923690271,679,659,635,878,787,805,652,631.076309729,652,0.400963949703,-0.00537432930312,0.0598416100266,0.999999930853,0.000256366511428,-0.0002684088756,2.29542123563e-05,1793242832608402688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.355420928,745,714.355420928,679,659,635,878,787,805,652,631.644579072,652,0.400964020153,-0.00537419283486,0.0598418387387,0.999999931405,0.000254322203834,-0.000268321675708,2.26474542907e-05,1793242832625069312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.223818895,744.776181105,714,679,658.776181105,635,878.223818895,787,804.776181105,652,631.776181105,652,0.400964367413,-0.00537459148971,0.0598423154208,0.999999932058,0.000252539030336,-0.000267585174644,2.24998955452e-05,1793242832641735936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.821377665,744.178622335,714,679,658.178622335,635,878.821377665,787,804.178622335,652,631.178622335,652,0.4009651769,-0.00537588371005,0.0598432061711,0.99999993288,0.000251191906492,-0.000265764449923,2.26181728134e-05,1793242832658402816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.593963388,744.406036612,714,679,658.406036612,635,878.593963388,787,804.406036612,652,631,652,0.400964330579,-0.00537503363949,0.0598427355228,0.999999932413,0.000251935514906,-0.000266830214298,2.2436444656e-05,1793242832675069440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.014804585,744.985195415,714,679,658.985195415,635,878.014804585,787,804.985195415,652,631,652,0.40096277827,-0.00537327015837,0.0598416844137,0.999999931392,0.00025357055077,-0.000269126693701,2.21268029114e-05,1793242832691736320
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01cd246a7ee35b70019a8bb21beec449b06183f1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/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,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+395,6.583333333,pose2_to_pose3_retreat,0.580744101605,1.84390962094e-06,1.05004065777,0.551315820697,0.00867667061174,1.04967845851
+396,6.600000000,pose2_to_pose3_retreat,0.580743991748,1.84779391944e-06,1.05004072696,0.551315711254,0.00867667590097,1.04967852761
+397,6.616666667,pose2_to_pose3_retreat,0.580743940324,1.84961215516e-06,1.05004075934,0.551315660025,0.00867667837685,1.04967855996
+398,6.633333333,pose2_to_pose3_retreat,0.580743929559,1.84999275784e-06,1.05004076612,0.551315649301,0.00867667889512,1.04967856673
+399,6.650000000,pose2_to_pose3_retreat,0.580743844337,1.85300603048e-06,1.0500408198,0.5513155644,0.00867668299827,1.04967862034
+400,6.666666667,pose2_to_pose3_retreat,0.580743790603,1.85490593618e-06,1.05004085364,0.551315510869,0.00867668558536,1.04967865414
+401,6.683333333,pose2_to_pose3_retreat,0.58074371808,1.85747016775e-06,1.05004089931,0.551315438621,0.00867668907706,1.04967869976
+402,6.700000000,pose2_to_pose3_retreat,0.580743697132,1.85821083183e-06,1.0500409125,0.551315417752,0.00867669008562,1.04967871294
+403,6.716666667,pose2_to_pose3_retreat,0.580743616642,1.87103919888e-06,1.05004089767,0.551315337368,0.00867670321873,1.04967869681
+404,6.733333333,pose2_to_pose3_retreat,0.580743537809,1.88806158974e-06,1.05004085388,0.55131525855,0.008676720216,1.04967865119
+405,6.750000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976188,1.04967862557
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfd4c3f3eaa5d201400cc301f102d5ed567a98d2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0cbfa09ff3600c12b7bec4865c4caa91e63ca463fc70bc57b9f7d60d915050
+size 25837184
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec2e033c748bf594ffed748ba5a5759000ac784a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+51,0.850000000,BASELINE,765.592970886,745,714,679.592970886,659,635,879,787.407029114,804.407029114,652,631,651.407029114,0.400963702734,-0.00537494193355,0.0598453876788,0.999999933752,0.000250878901238,-0.00026280441438,2.21491615022e-05,1793242833657223680
+52,0.866666667,BASELINE,765.825805186,745,714.174194814,679.825805186,659,635,879,787,804.174194814,652,631,651.174194814,0.400963767559,-0.00537510679508,0.0598452611085,0.999999933567,0.000251149998788,-0.000263237813297,2.22672797425e-05,1793242833673890048
+53,0.883333333,BASELINE,765.240244262,745,714.759755738,679.240244262,659,635,879,787,804.759755738,652,631,651.759755738,0.400964001411,-0.00537646799597,0.0598447998128,0.999999933855,0.000249324744687,-0.000263888855087,2.2150497943e-05,1793242833690556672
+54,0.900000000,BASELINE,765.342424988,745,714.657575012,679,659,635,878.657575012,787,805,652,631,652,0.400964916771,-0.00537656848661,0.0598453060955,0.999999934112,0.0002495242821,-0.000262728398862,2.20773457894e-05,1793242833707223296
+55,0.916666667,BASELINE,765.923082414,745,714.076917586,679,659,635,878.076917586,787,805,652,631,652,0.400966306271,-0.00537579187393,0.0598464855433,0.999999934343,0.000251132510644,-0.000260307644433,2.20345477248e-05,1793242833723889920
+56,0.933333333,BASELINE,766,745,714.497594774,679,658.502405226,635,878,787,805,652,631,652,0.400965796088,-0.0053758028926,0.0598458531419,0.999999934376,0.000250373298353,-0.000260921154634,2.19185745318e-05,1793242833740556800
+57,0.950000000,BASELINE,766,745,714.927128135,679.072871865,658.072871865,635,878,787,805,652,631,652,0.400965133542,-0.00537597527511,0.059845156688,0.999999934386,0.000249458313981,-0.000261768678159,2.18266623552e-05,1793242833757223168
+58,0.966666667,BASELINE,766,745,714.339828991,679.660171009,658.660171009,635,878,787,805,652,631,652,0.400965443114,-0.00537643778216,0.0598459610807,0.99999993445,0.000249995575776,-0.000260997509474,2.19834815141e-05,1793242833773890048
+59,0.983333333,BASELINE,765.755152879,744.755152879,714,680,658.755152879,635,878.244847121,787,805,652,631,652,0.40096522364,-0.00537623891249,0.0598458954421,0.999999934016,0.000251224125132,-0.000261477287823,2.20080490686e-05,1793242833790556672
+60,1.000000000,BASELINE,765.174078663,744.174078663,714,680,658.174078663,635,878.825921337,787,805,652,631,652,0.400964277674,-0.00537513183221,0.0598446350659,0.999999932893,0.000253401959192,-0.000263674882001,2.18510071072e-05,1793242833807223296
+61,1.016666667,BASELINE,765,744.402218421,714,679.597781579,658.402218421,635,878.597781579,787,805,652,631,652,0.400964981826,-0.00537534061357,0.0598452500761,0.99999993333,0.000252618225857,-0.000262772524214,2.17978144639e-05,1793242833823890432
+62,1.033333333,BASELINE,765,744.976472212,714,679.023527788,658.976472212,635,878.023527788,787,805,652,631,652,0.40096639176,-0.00537611221045,0.0598466672198,0.999999934429,0.000250567781765,-0.000260544266337,2.17890398752e-05,1793242833840557824
+63,1.050000000,BASELINE,765.552731022,745,714,679,659,635,878.552731022,786.447268978,805,652.552731022,631,652,0.400965365603,-0.00537757908459,0.0598458258029,0.999999934048,0.000250467480563,-0.000262052812954,2.23181284272e-05,1793242833857224704
+64,1.066666667,BASELINE,765.867363471,745,714,679,659,635,879,786.132636529,805,652.867363471,631,652,0.400964586153,-0.00537853090052,0.0598451061789,0.999999933766,0.000250327831398,-0.000263232185269,2.26424812785e-05,1793242833873891328
+65,1.083333333,BASELINE,765.275118374,745,714,679,659,635,879,786.724881626,805,652.275118374,631,652,0.400965022213,-0.0053775950236,0.0598451429389,0.999999934053,0.000249763141288,-0.000262717725888,2.21777657179e-05,1793242833890557440
+66,1.100000000,BASELINE,765.310144871,745,714,679.310144871,659,635,878.689855129,787,805,652,631,652,0.400964782107,-0.00537680843324,0.0598449764488,0.999999933841,0.000250165346923,-0.00026315236629,2.20422023505e-05,1793242833907223808
+67,1.116666667,BASELINE,765.889351088,745,714,679.889351088,659,635,878.110648912,787,805,652,631,652,0.400963955404,-0.00537615135417,0.0598446336322,0.999999933195,0.000251406367914,-0.000264410383434,2.21921898596e-05,1793242833923890176
+68,1.133333333,BASELINE,766,744.536688859,714,679.536688859,659,635,878.463311141,786.536688859,805,652,631,652,0.400963477677,-0.00537725548595,0.0598447415256,0.999999933732,0.000249502582793,-0.000264182179315,2.21839543339e-05,1793242833940556800
+69,1.150000000,BASELINE,765.963984609,744.036015391,714,679.036015391,659,635,879,786.036015391,805,652,631,652,0.400963093712,-0.0053786102439,0.0598449108196,0.999999934477,0.000247035365743,-0.000263684256074,2.21368020126e-05,1793242833957223680
+70,1.166666667,BASELINE,765.391533196,744.608466804,714,679.608466804,659,635,879,786.608466804,805,652,631,652,0.400962878835,-0.00537750320929,0.0598444093543,0.999999934241,0.000247237389397,-0.000264396510361,2.20665224264e-05,1793242833973890816
+71,1.183333333,BASELINE,765,745,714.188550188,679.811449812,659,635,879,787,804.811449812,652,630.811449812,651.811449812,0.400962661867,-0.00537655281733,0.0598441870763,0.999999933966,0.000248042541183,-0.000264686188434,2.20219965426e-05,1793242833990557696
+72,1.200000000,BASELINE,765,745,714.785150376,679.214849624,659,635,879,787,804.214849624,652,630.214849624,651.214849624,0.400962440377,-0.00537594142261,0.0598445689999,0.999999933605,0.00025015294991,-0.000264061350316,2.2033205399e-05,1793242834007224320
+73,1.216666667,BASELINE,765.368105426,745,714.631894574,679,659,635,878.631894574,787,804,652,630.368105426,651.368105426,0.400962670311,-0.00537644796546,0.0598448330869,0.999999933802,0.000249951448138,-0.000263501080606,2.20960594857e-05,1793242834023890688
+74,1.233333333,BASELINE,765.943380944,745,714.056619056,679,659,635,878.056619056,787,804,652,630.943380944,651.943380944,0.400963154307,-0.0053775836847,0.0598450308553,0.999999934312,0.000248448800763,-0.000262977150094,2.21879795575e-05,1793242834040557312
+75,1.250000000,BASELINE,766,745,714,679,659,635,878,787,804,652,631,652,0.400964190599,-0.00537865077508,0.0598454646818,0.999999934642,0.000247608431522,-0.000262515883694,2.21897121834e-05,1793242834057223936
+76,1.266666667,BASELINE,765.905971278,744.905971278,714,679,659,635,878,787,804,652,631,652,0.40096500603,-0.00537926129419,0.059845812556,0.99999993483,0.00024714105322,-0.000262242417849,2.21436665133e-05,1793242834073890304
+77,1.283333333,BASELINE,765.313749371,744.313749371,714,679,659,635,878,787,804,652,631,652,0.400964331828,-0.00537749245197,0.0598455684949,0.999999934377,0.00024826684158,-0.000262927733067,2.18966401207e-05,1793242834090557184
+78,1.300000000,BASELINE,765.272325531,744.272325531,714,679,659,635,878.272325531,787,804,652,630.727674469,652,0.400963699857,-0.00537671745113,0.0598452296815,0.999999934077,0.000248963070049,-0.000263409044153,2.18806823476e-05,1793242834107224064
+79,1.316666667,BASELINE,765.851474688,744.851474688,714,679,659,635,878.851474688,787,804,652,630.148525312,652,0.400963115464,-0.00537706219124,0.0598447841125,0.999999933953,0.000249175322065,-0.000263660507893,2.2125064897e-05,1793242834123890944
+80,1.333333333,BASELINE,765.572798716,745,714,679,659,635,878.572798716,787,804.427201284,652,630,651.572798716,0.400964726927,-0.00537656658609,0.0598455955859,0.999999934268,0.000249942641639,-0.000261739478908,2.20387804843e-05,1793242834140557568
+81,1.350000000,BASELINE,765.001744536,745,714,679,659,635,878.001744536,787,804.998255464,652,630.001744536,651.001744536,0.400967084132,-0.00537578749583,0.0598468348418,0.999999934726,0.000250894785242,-0.000259081986578,2.18401960588e-05,1793242834157223936
+82,1.366666667,BASELINE,765.575329701,745,714,679,659,635,878.575329701,787,804.424670299,652,630.575329701,651.575329701,0.400965631227,-0.0053770918918,0.0598461792396,0.999999934619,0.000249676010302,-0.000260635111885,2.22150648751e-05,1793242834173890560
+83,1.383333333,BASELINE,765.845909572,745,714,679,659.154090428,635,879,787,804,652,631,652,0.400964805111,-0.00537803553262,0.0598458046159,0.999999934617,0.000248793289282,-0.000261467826941,2.2414046115e-05,1793242834190557184
+84,1.400000000,BASELINE,765.252389219,745,714,679,659.747610781,635,879,787,804,652,631,652,0.400965766453,-0.00537795038427,0.0598462312772,0.999999934924,0.000248868915311,-0.000260246100502,2.21114371372e-05,1793242834207223808
+85,1.416666667,BASELINE,765,745,714,679.331584705,659.668415295,635,878.668415295,787,804.331584705,652,631,652,0.400965046314,-0.00537799943814,0.0598461724002,0.999999934914,0.000247943470163,-0.000261174998777,2.19935807453e-05,1793242834223890432
+86,1.433333333,BASELINE,765,745,714,679.908495575,659.091504425,635,878.091504425,787,804.908495575,652,631,652,0.400963082113,-0.00537814778283,0.0598457542931,0.999999934664,0.000246277372774,-0.000263695057712,2.20124153669e-05,1793242834240557056
+87,1.450000000,BASELINE,765.485041106,745,714,679.514958894,659,635,878,787,804.514958894,652,631,652,0.400964722887,-0.00537715050738,0.0598464222699,0.999999934532,0.000248466851039,-0.000262131290418,2.20580967158e-05,1793242834257223936
+88,1.466666667,BASELINE,766,745,714,679,659,635,878.062688423,787,804.062688423,652,631,652,0.400966650117,-0.00537615383344,0.0598471201012,0.999999934414,0.00025098095084,-0.000260176780786,2.21110342194e-05,1793242834273891072
+89,1.483333333,BASELINE,766,745,714,679,659,635,878.650135209,787,804.650135209,652,631,652,0.400965286584,-0.0053769699898,0.059846353994,0.999999934308,0.000250128303782,-0.000261395708328,2.21823479635e-05,1793242834290557952
+90,1.500000000,BASELINE,765.765629795,745,714,679,659,635,878.765629795,787,805,652,631,652,0.400964825225,-0.00537753585041,0.0598459983007,0.999999934518,0.000249006424279,-0.000261656275503,2.22532883906e-05,1793242834307224320
+91,1.516666667,BASELINE,765.186124552,745,714,679,659,635,878.186124552,787,805,652,631,652,0.400965692412,-0.00537773312387,0.0598462469855,0.999999935194,0.000247488071457,-0.000260505555064,2.23236790626e-05,1793242834323890688
+92,1.533333333,BASELINE,765,745,714,679,659,635,878.391068255,787,805,652,631,652,0.400966227716,-0.00537818727751,0.0598468163271,0.999999935517,0.000247309979828,-0.000259434672826,2.23195883451e-05,1793242834340557056
+93,1.550000000,BASELINE,765,745,714,679,659,635,878.967167004,787,805,652,631,652,0.400966605992,-0.00537876297174,0.0598475373847,0.999999935672,0.000247766020821,-0.000258401565229,2.22802574217e-05,1793242834357223936
+94,1.566666667,BASELINE,765,745,714,679.540583969,659,635,879,787,805,652,631,652,0.400965532284,-0.00537855362137,0.0598466830167,0.999999935195,0.000247860065103,-0.000260164880376,2.21116662244e-05,1793242834373890304
+95,1.583333333,BASELINE,765.117626297,745,714,680,659,635,879,787,805,652,631,652,0.400964609141,-0.00537846144891,0.0598459570157,0.999999934773,0.00024794008861,-0.00026171690549,2.20116336064e-05,1793242834390557184
+96,1.600000000,BASELINE,765.709953666,745,714,680,659,635,879,787,805,652,631,652,0.400964647775,-0.00537903364128,0.0598461333094,0.999999934736,0.000248051820339,-0.000261734183154,2.22198075631e-05,1793242834407223808
+97,1.616666667,BASELINE,765.704521527,744.704521527,714,680,658.704521527,635,879,787,805,652,631,652,0.400965116493,-0.00537817622375,0.059846562894,0.999999934595,0.000249324553627,-0.000261070228992,2.21250372825e-05,1793242834423890432
+98,1.633333333,BASELINE,765.125523986,744.125523986,714,680,658.125523986,635,879,787,805,652,631,652,0.400965997888,-0.00537594705931,0.0598472355175,0.999999934349,0.000251711297272,-0.000259752615654,2.17395843297e-05,1793242834440557056
+99,1.650000000,BASELINE,765,744.451336229,714,679.548663771,658.451336229,635,879.451336229,787.451336229,804.548663771,652,631,652,0.400965494416,-0.00537626194142,0.0598466332082,0.999999934388,0.000250845910601,-0.000260418403472,2.19468951204e-05,1793242834457223936
+100,1.666666667,BASELINE,765.027431302,744.972568698,714,679,659,635,879.972568698,787.972568698,804,652,631,652,0.400964713175,-0.00537726725558,0.05984577825,0.99999993453,0.000249149563462,-0.00026147081914,2.23059149341e-05,1793242834473890560
+101,1.683333333,BASELINE,765.600077775,744.399922225,714,679,659,635,879.399922225,787.399922225,804,652,631,652,0.400966030182,-0.00537799880106,0.0598469160161,0.999999935174,0.000248829548962,-0.000259295655953,2.2419048004e-05,1793242834490556928
+102,1.700000000,BASELINE,765.821022821,744.178977179,714.178977179,679.178977179,659,635,878.821022821,787,804.178977179,652,631,652,0.400966603689,-0.0053786743907,0.0598474713988,0.999999935582,0.000248320837706,-0.000258202322588,2.24734856208e-05,1793242834507223552
+103,1.716666667,BASELINE,765.227645587,744.772354413,714.772354413,679.772354413,659,635,878.227645587,787,804.772354413,652,631,652,0.400965455714,-0.00537922042124,0.0598466783428,0.999999935452,0.000247375221933,-0.0002596138359,2.23920209853e-05,1793242834523890176
+104,1.733333333,BASELINE,765,745,714.643762855,679.643762855,659,635,878,787,804.643762855,652,631,652,0.400965517604,-0.00537903645518,0.059846768618,0.999999935399,0.000247560392056,-0.000259645479587,2.23592183051e-05,1793242834540556800
+105,1.750000000,BASELINE,765,745,714.065789815,679.065789815,659,635,878,787,804.065789815,652,631,652,0.400966332561,-0.00537839811081,0.059847408713,0.999999935393,0.000248449407345,-0.000258818238727,2.2356704716e-05,1793242834557223680
+106,1.766666667,BASELINE,765.505842376,745,714,679,659,635,878.505842376,787,804.505842376,652,631,652,0.400965749847,-0.00537738557532,0.0598469612082,0.999999934979,0.000249239437256,-0.000259663047596,2.22689997437e-05,1793242834573890560
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,787,804,652,631,652,0.400966070186,-0.00537943655898,0.0598463721146,0.999999935957,0.000245003743266,-0.000259918254069,2.24059081509e-05,1793242834616443648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.420647531,635,878,787,804.579352469,652,630.420647531,652,0.400965829507,-0.0053779268602,0.0598463774167,0.999999935262,0.000247716574193,-0.000260027297846,2.23032839639e-05,1793242834633110272
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.158016892,659,635,878.158016892,787,805,652,630.158016892,652,0.400965618929,-0.00537659203995,0.0598464075024,0.999999934602,0.000250300488517,-0.000260100054326,2.22277799128e-05,1793242834649776640
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.734857771,659,635,878.734857771,787,805,652,630.734857771,652,0.400965488134,-0.00537572073516,0.0598465032773,0.999999934044,0.000252542709807,-0.000260076631301,2.2224157797e-05,1793242834666443520
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.690479476,659,635,878.690479476,787,804.690479476,652,631,652,0.400965121438,-0.00537575091775,0.0598463545644,0.999999933793,0.000253260739735,-0.000260344506612,2.2212365712e-05,1793242834683109888
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.117669552,659,635,878.117669552,787,804.117669552,652,631,652,0.400964554075,-0.00537654793829,0.0598459978816,0.999999933806,0.000252682236995,-0.00026086017087,2.21936239545e-05,1793242834699776768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.468413209,787,804,652.468413209,631,652.468413209,0.4009654955,-0.00537686638159,0.0598465515663,0.999999934663,0.000250462745464,-0.000259731540264,2.19626696754e-05,1793242834716443648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057170137,745,714,679,659,635,878.942829863,787,804,652.942829863,631,652.942829863,0.400966734453,-0.00537712540201,0.0598473451017,0.999999935597,0.000248198429026,-0.000258322562407,2.17493236354e-05,1793242834733110528
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.638977355,745,714,679,659,635,878.361022645,787,804,652.361022645,631,652.361022645,0.40096712413,-0.00537797454286,0.0598481798332,0.999999935305,0.000249416030888,-0.000258242012728,2.22010411394e-05,1793242834749777152
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659.217548294,635,878,787,804.217548294,652,631,652,0.400970192122,-0.00537822624946,0.0598496240723,0.999999935523,0.000250402869199,-0.0002564083366,2.25161689534e-05,1793242834766443776
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659.790827277,635,878,787,804.790827277,652,631,652,0.400977639639,-0.00537750104325,0.0598520649664,0.999999936562,0.000251012367367,-0.000251707982612,2.26079479495e-05,1793242834783110400
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.62588352,745,714,679,659.62588352,635,878,787,805,652,631,651.62588352,0.401000607961,-0.00537709016683,0.0598615930319,0.999999940482,0.000251889330319,-0.000234634955809,2.31030664759e-05,1793242834799776768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.036843565,745,714,679,659.036843565,635,878,787,805,652,631,651.036843565,0.401032492718,-0.00537685986739,0.0598751925556,0.999999945586,0.000252919947121,-0.000210454040976,2.3829896615e-05,1793242834816443392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.543090074,745,714.543090074,679,659,635,878,787,805,652,631,651.543090074,0.401088348056,-0.00538085826154,0.0598941843945,0.999999953234,0.000248702230805,-0.000176251444659,2.47939868307e-05,1793242834833110272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.878377188,745,714.878377188,679,659,635,878.121622812,787,804.878377188,652,631,652,0.401147769058,-0.00538437700324,0.0599119888266,0.999999958928,0.000245198064479,-0.000146155001299,2.56898670602e-05,1793242834849777408
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.302805264,745,714.302805264,679,659,635,878.697194736,787,804.302805264,652,631,652,0.401214529168,-0.00538505238271,0.0599240184722,0.999999960517,0.000245664194133,-0.000133880241911,2.62720723533e-05,1793242834866444288
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.273401958,635,878.726598042,787,804.273401958,652,631,652,0.401288468638,-0.00538652737982,0.0599326600934,0.999999962202,0.000245642150688,-0.000120693564641,2.62429225146e-05,1793242834883110912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.850314406,635,878.149685594,787,804.850314406,652,631,652,0.401370378096,-0.00538889005283,0.0599375405815,0.999999963972,0.000245078173797,-0.000106494544798,2.55350917106e-05,1793242834899777024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.435914496,745,714,679,659.564085504,635,878,787,805,652.435914496,631,652,0.401464575424,-0.00539113273382,0.0599391159952,0.999999964997,0.000242536916603,-0.000102817575955,2.47015814791e-05,1793242834916448512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975834268,745,714.024165732,679.024165732,659,635,878,787,805.024165732,652.975834268,631,652,0.401564376048,-0.00539339095661,0.0599397280467,0.999999965826,0.000239378664039,-0.000102358040548,2.3828036407e-05,1793242834933120768
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396602863,745,714.603397137,679.603397137,659,635,878,787,805.603397137,652.396602863,631,652,0.401693991748,-0.00539697180853,0.0599448104025,0.99999996727,0.000237960909871,-9.11229702385e-05,2.30463423499e-05,1793242834949781504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818752135,714.818752135,679.818752135,659,635,878,787,805.637504271,652,631,652,0.40182938246,-0.00540061789609,0.0599484707632,0.999999968555,0.000235998720024,-8.19036959492e-05,2.20683829755e-05,1793242834966444032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.243899811,714.243899811,679.243899811,659,635,878,787,804.487799622,652,631,652,0.401977314379,-0.00540440565129,0.059949043067,0.999999969707,0.000232854214073,-7.70619991545e-05,2.06642068008e-05,1793242834983110400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,878.330039175,787,804.330039175,652,631,652.330039175,0.40214432948,-0.00540866035246,0.0599494917667,0.999999970692,0.000230396969343,-7.19063911624e-05,1.9041643025e-05,1793242834999777280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,878.903305125,787,804.903305125,652,631,652.903305125,0.402325408201,-0.00541325917608,0.0599498493747,0.999999971545,0.000228446210611,-6.65194416195e-05,1.7258135446e-05,1793242835016443904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.494725511,744.494725511,714,679.494725511,659,635,879,787,805.494725511,652,631,652.505274489,0.402540052005,-0.00541967914647,0.0599513464067,0.999999973658,0.000221024410857,-5.99437363069e-05,1.54308602162e-05,1793242835033110272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913007283,745.086992717,714,679.913007283,659,635,879.086992717,787,805.913007283,652,631,652,0.402766375751,-0.00542633450752,0.0599529072266,0.999999975791,0.000213102753381,-5.31454839482e-05,1.34634641747e-05,1793242835049776640
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.336695582,745.663304418,714,679.336695582,659,635,879.663304418,787,805.336695582,652,631,652,0.403020090731,-0.00543223549938,0.0599535264636,0.999999977103,0.000208613364779,-4.64521207887e-05,1.07578623912e-05,1793242835066443264
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.760685007,714,679,659,635,879.760685007,787,805,652,631,652,0.403286003549,-0.00543797420615,0.059954459796,0.999999978695,0.000202058853627,-4.14428605746e-05,7.9974547766e-06,1793242835083110144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.185097592,714,679,659,635,879.185097592,787,805,652,631,652,0.403569056091,-0.00544348487839,0.0599558344784,0.999999980686,0.000192602544788,-3.88000106833e-05,5.16003714968e-06,1793242835099776768
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,630.600082077,651.600082077,0.403870089323,-0.00545213274208,0.0599466797084,0.999999982092,0.000181779586347,-5.26230210974e-05,1.6643093282e-06,1793242835116443392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,630.010597529,651.010597529,0.404179645642,-0.00546226767773,0.0599325338324,0.999999982739,0.000170308817277,-7.42510770602e-05,-2.14346654964e-06,1793242835133110016
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.432165245,787,805,652,631.13566951,651.567834755,0.404521950827,-0.00546861507255,0.0599225532371,0.999999982439,0.000162245096318,-9.36166962876e-05,-5.93168865645e-06,1793242835149777152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.145622146,659,635,878,787,805,652,631.854377854,652,0.404877954057,-0.00547600106345,0.0599138426529,0.999999982091,0.000153196140489,-0.000110700488901,-9.67606763736e-06,1793242835166443776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.722100017,659,635,878,787,805,652,631.277899983,652,0.405272712132,-0.00548666512276,0.0599086640721,0.999999982625,0.000141047607046,-0.000121155527088,-1.32917853564e-05,1793242835183110400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.297393707,745,714,680,659,635,878.297393707,787,805,652,631,652,0.405703797315,-0.00549601575409,0.0599162955373,0.999999985527,0.000128237562482,-0.000110571418267,-1.65835445646e-05,1793242835199777024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.871585293,745,714,680,659,635,878.871585293,787,805,652,631,652,0.406168693839,-0.00550414391936,0.0599358498956,0.999999989985,0.000114811817872,-8.04052173693e-05,-1.95737812272e-05,1793242835216443648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.540280954,745,714,680,659,635,879,787,805,652,631,652,0.406687297446,-0.00551275140391,0.0599631174509,0.99999999894,2.59366882905e-05,-3.18535099047e-05,-2.07785570359e-05,1793242835233110272
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.949475832,659.050524168,635,879,787,805,652,630.949475832,652,0.407220251764,-0.00551957629891,0.0599907853844,0.999999996982,-7.25698389496e-05,1.74187873306e-05,-2.1603196691e-05,1793242835249777152
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.37267957,659.62732043,635,879,787,805,652,630.37267957,652,0.407741533372,-0.00550639506449,0.0599994795412,0.999999998522,-4.50058545467e-05,1.90293680439e-05,-2.38257058285e-05,1793242835266443776
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.203557008,659.796442992,635,879,787,805,652,630.203557008,652,0.408268945626,-0.00549783623593,0.0600003129445,0.99999999927,-2.53059953555e-05,9.33879753549e-06,-2.70650740433e-05,1793242835283110400
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.778771672,659.221228328,635,879,787,805,652,630.778771672,652,0.408807551277,-0.00549771707103,0.059986794057,0.999999999063,-1.99645840283e-05,-2.09855965585e-05,-3.21610397789e-05,1793242835299777280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.362320187,745,714,680,659,635,879.362320187,786.637679813,804.637679813,652,631,652,0.40937330025,-0.00550925296526,0.0599784009689,0.999999997844,-3.5562966526e-05,-4.2076465313e-05,-3.57298945331e-05,1793242835316444160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951077028,745,714,680,659,635,879.951077028,786.048922972,804.048922972,652,631,652,0.40995601277,-0.00552807283837,0.0599732113154,0.999999995554,-6.42479422453e-05,-5.73967226786e-05,-3.83443614625e-05,1793242835333110784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468061206,745,714.531938794,679.468061206,659,635,879.468061206,786.531938794,804.531938794,652,631,652,0.410638906701,-0.00553278217227,0.0599848969577,0.999999995627,-7.99094937653e-05,-2.33013964691e-05,-4.26273736292e-05,1793242835349777408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.888476478,679,659,635,879,787,804.888476478,652,631,652,0.411326335699,-0.0055350233108,0.0599944376612,0.99999999595,-7.88069096665e-05,5.0507802229e-06,-4.31836565215e-05,1793242835366443776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.311236867,679,659,635,879,787,804.311236867,652,631,652,0.411994789136,-0.00553229752124,0.0599886347746,0.999999999498,-1.26269172124e-05,-9.28141308991e-06,-2.7545862531e-05,1793242835383110144
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.264679242,659,635,879,787,804,652,631,652,0.412653450084,-0.00552255106086,0.0599696600263,0.999999998443,2.08783853456e-05,-4.75579160451e-05,-2.03918783522e-05,1793242835399776768
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.839046861,659,635,879,787,804,652,631,652,0.413300653403,-0.00550459005284,0.0599352735192,0.99999999312,1.61526225504e-05,-0.00011385049915,-2.31643876079e-05,1793242835416443392
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.575891557,659.424108443,635,879,786.575891557,804.424108443,652,631,652,0.414003771547,-0.00550267446697,0.0599192487953,0.999999989397,1.29345926595e-05,-0.000142341760297,-2.7873579434e-05,1793242835433110272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.012316411,659.987683589,635,879,786.012316411,805,652,631,652,0.414731103314,-0.00550725403169,0.0599117962524,0.999999987605,1.00980821832e-05,-0.00015357797737,-3.31899402012e-05,1793242835449777152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.556597716,659.443402284,635,879,786.556597716,805,652,631,652,0.415564019229,-0.00552255571124,0.0599658249374,0.999999997958,-1.61346591862e-06,-5.51943076675e-05,-3.21643881149e-05,1793242835466443776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.113625442,745,714,680.113625442,659,635,879,787,805.113625442,652,631,652,0.416397589152,-0.00553505572709,0.0600118106598,0.999999999027,-1.51490092219e-05,2.71498918542e-05,-3.12908625441e-05,1793242835483110144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.726678575,745,714,680.726678575,659,635,879,787,805.726678575,652,631,652,0.417234033645,-0.00553524134834,0.060022444453,0.999999998083,-3.67017150545e-05,3.89944190583e-05,-3.10855535163e-05,1793242835499776768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.673754328,745,714,680.347508656,659.326245672,635,879.326245672,787,805.673754328,652,631,652,0.418043771891,-0.00553358713272,0.0600168358822,0.999999998317,-3.86970900759e-05,2.88237396617e-05,-3.22226984253e-05,1793242835516443392
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.085037063,745,714,679.170074127,659.914962937,635,879.914962937,787,805.085037063,652,631,652,0.418832024352,-0.00553045272916,0.0599981599829,0.999999999095,-2.49581748278e-05,9.4135704443e-07,-3.44398761178e-05,1793242835533110016
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.495523962,745,714,679,660,635,879.504476038,787,805,652,631,652,0.419653070638,-0.00552807373765,0.0599747048663,0.999999998256,-2.66037698915e-05,-3.70359822257e-05,-3.75414037607e-05,1793242835549776384
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.074595099,659.925404901,635,879,787,805,652,631,652,0.420478960524,-0.00552624997137,0.0599491930901,0.99999999557,-3.04256767794e-05,-7.92791846573e-05,-4.06180533059e-05,1793242835566443264
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.652903878,659.347096122,635,879,787,805,652,631,652,0.421300170234,-0.00552731422768,0.0599152420315,0.999999988968,-3.140419802e-05,-0.000138819364068,-4.25184988332e-05,1793242835583109888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.770783801,745,714,680.229216199,659.229216199,635,879.229216199,787,805,652,631,652,0.422143110754,-0.00552930789831,0.0598961492259,0.999999983943,-3.20084490689e-05,-0.000170756539145,-4.39416425887e-05,1793242835599776768
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.197468473,745,714,680.802531527,659.802531527,635,879.802531527,787,805,652,631,652,0.423018673668,-0.00553269680495,0.0598993616097,0.999999985488,-3.20508463595e-05,-0.000161256121275,-4.46482618666e-05,1793242835616443648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.386328456,745,714,680.613671544,660,634.613671544,879.613671544,787,805.386328456,652,631,652,0.423936422614,-0.00553572610108,0.0599442693042,0.999999994345,-4.178127933e-05,-8.76779594637e-05,-4.33168346711e-05,1793242835633110528
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.975632342,745,714,680.024367658,660,634.024367658,879.024367658,787,805.975632342,652,631,652,0.424876335879,-0.00553856645908,0.0600110835484,0.99999999737,-5.66017672308e-05,1.95663939302e-05,-4.09146255193e-05,1793242835649777408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444330824,745,714,680,660,634.555669176,879,787,805.444330824,652,631,652,0.425788270251,-0.00553993109936,0.0600264452756,0.999999996712,-5.26888931478e-05,4.58296000988e-05,-4.12302691259e-05,1793242835666443520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134396401,745,714,680,660,635,879,786.865603599,805.134396401,651.865603599,631,652,0.426698966602,-0.00554171375575,0.0600318747887,0.999999996108,-5.01528133714e-05,5.91038941112e-05,-4.21444154504e-05,1793242835683109888
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710135625,745,714,680,660,635,879,786.289864375,805.710135625,651.289864375,631,652,0.427609560469,-0.0055450781592,0.0600119760328,0.999999996654,-5.4791469561e-05,4.11946604681e-05,-4.46390064605e-05,1793242835699776512
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,786.284216619,806,651.284216619,631,651.715783381,0.428483844356,-0.00554647843184,0.0599896360886,0.999999997079,-5.9187907767e-05,1.24608107531e-05,-4.67299669779e-05,1793242835716443392
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,786.856616207,806,651.856616207,631,651.143383793,0.429321311488,-0.00554588716327,0.0599648208896,0.999999996451,-6.33387474086e-05,-2.72487156057e-05,-4.84116639899e-05,1793242835733110272
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.444567507,660,634.555432493,879,787,806,652,631,651.444567507,0.430142224429,-0.00554264667327,0.0599349674759,0.999999993289,-6.19548349213e-05,-8.44087130055e-05,-4.95760067602e-05,1793242835749776896
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.963240976,660,634.036759024,879.036759024,787,806,651.963240976,631,651.963240976,0.430966812425,-0.00553902756044,0.0599083076408,0.999999987504,-5.90789538099e-05,-0.000137678136845,-5.04713872398e-05,1793242835766443776
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.385149456,660,634.614850544,879.614850544,787,806,651.385149456,631,651.385149456,0.431926997193,-0.00554287168248,0.0599534753943,0.999999995722,-6.14727013856e-05,-4.77645688267e-05,-4.99522214117e-05,1793242835783110656
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651.192564622,631,651,0.432866641994,-0.00554604522521,0.0599908358111,0.999999996574,-6.31729365943e-05,2.06917829132e-05,-4.93273874074e-05,1793242835799777536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651.769525355,631,651,0.433765285231,-0.00554788016304,0.0600126112867,0.999999995736,-6.34887886425e-05,4.63154096502e-05,-4.84916199076e-05,1793242835816443904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.647400181,787,805.647400181,651.647400181,631,651.352599819,0.434608205633,-0.00555037431609,0.0600041607286,0.999999995749,-7.19851713453e-05,2.90122898021e-05,-4.97791304126e-05,1793242835833110272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.060259038,787,805.060259038,651.060259038,631,651.939740962,0.435414060425,-0.00555330696392,0.0599756045039,0.99999999479,-8.59230555683e-05,-1.68447203954e-05,-5.24789967953e-05,1793242835849776896
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680.520475025,660.520475025,635,879.520475025,787,805.520475025,651,631,652,0.436212065464,-0.00555449996511,0.0599508372981,0.999999993071,-8.41193703189e-05,-6.24137622579e-05,-5.37292360371e-05,1793242835866443520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.900754371,745,714,680.900754371,660.900754371,635,880,787,806,651.099245629,631.099245629,652,0.437002909626,-0.00555464260407,0.0599279561543,0.999999989607,-8.08833330558e-05,-0.000106095638043,-5.46543214092e-05,1793242835883110144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.327857262,745,714,680.327857262,660.327857262,635,880,787,806,651.672142738,631.672142738,652,0.437763862975,-0.00555072191995,0.05991200812,0.999999985415,-7.94035699037e-05,-0.000140928161576,-5.48188525565e-05,1793242835899777024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.246613562,745,714,680,660,635,880,787,805.753386438,652,632,652,0.438550454906,-0.00554903658283,0.0599080507865,0.99999998385,-7.99015925604e-05,-0.000151234052069,-5.51657057627e-05,1793242835916443904
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.823189931,745,714,680,660,635,880,787,805.176810069,652,632,652,0.43937135056,-0.00555034208467,0.0599201367131,0.999999986712,-8.30458435775e-05,-0.000128723915544,-5.57565013806e-05,1793242835933110528
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680.409540547,660,635,880,787,805.409540547,652,632,652,0.440180205268,-0.005551243899,0.059959374903,0.999999992897,-8.23050754108e-05,-6.60561616057e-05,-5.53864783195e-05,1793242835949777408
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.000203006,635,880,787,806,651.999796994,631.999796994,652,0.440983693039,-0.00555196774569,0.0600106031812,0.999999995219,-7.98471301586e-05,1.43420664737e-05,-5.4591378252e-05,1793242835966444288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.560003672,635,880,787,806,651.439996328,631.439996328,652,0.441672796179,-0.00555428116039,0.0600096875478,0.999999995282,-8.04317229851e-05,1.04232399051e-05,-5.3459095988e-05,1793242835983110656
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.873150472,635,880,787,806,651,631,651.873150472,0.442362103391,-0.00555649022785,0.0600031686338,0.999999995031,-8.44789219326e-05,1.69743432172e-07,-5.2934448686e-05,1793242835999777280
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.280430114,635,880,787,806,651,631,651.280430114,0.443052160276,-0.00555831606764,0.0599760709679,0.999999992826,-0.000101242977095,-3.33486254291e-05,-5.46414167828e-05,1793242836016443648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.696703621,745,714,681,660.303296379,635,880,787,806,651.303296379,631.303296379,651.303296379,0.443725591983,-0.00556063696021,0.0599603851494,0.999999991291,-0.000106110585142,-5.51490015184e-05,-5.58357399773e-05,1793242836033110016
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.121053465,745,714,681,660.878946535,635,880,787,806,651.878946535,631.878946535,651.878946535,0.444384094588,-0.00556340239967,0.0599549469317,0.999999991164,-0.000100295432657,-6.64268642678e-05,-5.656971876e-05,1793242836049776640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.533026415,635,880,787,806,651.533026415,631.533026415,652,0.445005678687,-0.00556454976597,0.0599635792139,0.999999991896,-9.87574251287e-05,-5.68296767677e-05,-5.67893695544e-05,1793242836066443520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651.057192507,631.057192507,652,0.445610269232,-0.00556459218791,0.0599725020036,0.999999992414,-9.82189749298e-05,-4.74931712088e-05,-5.71733086844e-05,1793242836083110400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651.637317736,631.637317736,652,0.446149369342,-0.00555847131896,0.0599498226074,0.99999998936,-9.64059985035e-05,-9.13660888878e-05,-6.03116677368e-05,1793242836099777024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.78440355,880,787,806.21559645,651.78440355,631.78440355,652,0.446687413546,-0.00555470768876,0.0599337337341,0.999999986459,-9.56880790988e-05,-0.000118148936313,-6.2977411965e-05,1793242836116443136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.209204772,880,787,806.790795228,651.209204772,631.209204772,652,0.447223696507,-0.00555487579619,0.0599286374719,0.999999986435,-9.67966514891e-05,-0.00011642653735,-6.48548620254e-05,1793242836133109760
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.625115776,651,631,652,0.447746662478,-0.00555687830637,0.0599372596339,0.999999988026,-9.88103868292e-05,-9.91007820351e-05,-6.60587442075e-05,1793242836149776384
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.035945013,651,631,652,0.448262016412,-0.0055599293745,0.0599537233462,0.999999989975,-0.000101341519922,-7.28560348885e-05,-6.68776102467e-05,1793242836166443008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.878021593,745,714,680.121978407,660,634,879.121978407,787,807,651.878021593,631,651.121978407,0.449127611625,-0.00557015310498,0.0599337727523,0.999999985474,-0.000112882184927,-0.000106192046557,-7.09435530647e-05,1793242836199777280
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,681.562789797,659.562789797,633,879.562789797,786,806,651,631,651,0.45051454815,-0.00557963659782,0.0598319586132,0.999999961406,-7.91916777652e-05,-0.000259130502254,-6.13873720084e-05,1793242836266444288
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.025800067,714,681,659.025800067,633,879,786.025800067,806,651.025800067,631,651.025800067,0.450849379977,-0.00557870694964,0.0598322907242,0.999999967261,-2.94883676169e-05,-0.000250266936501,-4.4449512669e-05,1793242836283110400
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.60511416,714,681,659.60511416,633,879,786.60511416,806,651.60511416,631,651.60511416,0.451154944887,-0.00556850780418,0.0598431297285,0.999999968035,-8.38009047999e-05,-0.00023417557441,-4.54974890773e-05,1793242836299776768
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681.073398552,659,633,880,786,806,651.073398552,631,651.926601448,0.452155129799,-0.00556039619118,0.0598520469038,0.999999967936,-0.000112773117088,-0.000220496593421,-5.28352397551e-05,1793242836366444032
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507379366,745.507379366,714,681,659,633,880,786.507379366,806.507379366,651,631,652,0.452348141947,-0.00556481332814,0.0598511635637,0.999999967436,-0.000115469226209,-0.000221073579218,-5.40525489056e-05,1793242836383110400
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.048532161,714,681.048532161,658,632,880,785.951467839,806.951467839,651.048532161,631,651.951467839,0.453562240609,-0.00556809987591,0.059808862367,0.999999950764,-0.00010291908602,-0.00029078026143,-5.76795827593e-05,1793242836683110144
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,786,806.467195877,651.532804123,631,652,0.45356730476,-0.00556716136279,0.0598094617176,0.999999951376,-9.97385612467e-05,-0.000289884628034,-5.71629532197e-05,1793242836699777024
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.112294219,745,714,681,658,632,880,786,806,652,631,652,0.453572051379,-0.00556644549451,0.059810167383,0.999999952014,-9.68866235755e-05,-0.00028875040496,-5.66454514074e-05,1793242836716443648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.687180113,745,714,681,658,632,880,786,806,652,631,652,0.453574680248,-0.00556666509561,0.0598097161173,0.999999951997,-9.66877381412e-05,-0.00028891049986,-5.64711213676e-05,1793242836733110272
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.7398786,745,714,681.2601214,658,632,880,785.7398786,806.2601214,651.7398786,631,652,0.45357594638,-0.00556649409323,0.0598092858489,0.999999951796,-9.67841433685e-05,-0.00028960296243,-5.63143689217e-05,1793242836749776640
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.169258452,745,714,681.830741548,658,632,880,785.169258452,806.830741548,651.169258452,631,652,0.453575585855,-0.00556585683977,0.059808880644,0.999999951374,-9.72330277599e-05,-0.000290930895591,-5.61785982746e-05,1793242836766443520
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.581421341,658,632,879.581421341,785,807,651,630.581421341,651.581421341,0.45357527396,-0.00556546218061,0.0598077835036,0.999999951008,-9.716671807e-05,-0.000292220988317,-5.61268646417e-05,1793242836783110400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.013302589,658,632,879,785.013302589,807,651.013302589,630.013302589,651.013302589,0.453575002996,-0.00556518791876,0.0598064467024,0.999999950675,-9.69075523235e-05,-0.00029344628958,-5.61051530973e-05,1793242836799777024
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.592138592,658,632,879,785.592138592,807,651.592138592,630.592138592,651.592138592,0.453575600298,-0.00556568283307,0.0598073263402,0.999999950863,-9.76859891521e-05,-0.000292595523244,-5.58531396991e-05,1793242836816443648
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.169696694,745,714,682,658,632,879.169696694,786,806.830303306,652,631,652,0.453575932186,-0.00556581769245,0.0598076753899,0.999999950907,-9.75240895708e-05,-0.000292527899146,-5.57074026098e-05,1793242836833110272
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.744206314,745,714,682,658,632,879.744206314,786,806.255793686,652,631,652,0.453575630928,-0.00556509363766,0.0598067587168,0.999999950604,-9.51190093235e-05,-0.000294328467668,-5.58151885868e-05,1793242836849776640
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.68197794,745,714,681.68197794,658,632,880,785.68197794,806,652,631,652,0.453574600693,-0.00556455455771,0.059805283738,0.999999950018,-9.4373520149e-05,-0.000296508892845,-5.60363924364e-05,1793242836866443520
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.108719108,745,714,681.108719108,658,632,880,785.108719108,806,652,631,652,0.453572985399,-0.00556416393412,0.0598033606767,0.999999949205,-9.49599785218e-05,-0.000298994181648,-5.63486227066e-05,1793242836883110400
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.481650097,714,681.481650097,658.481650097,632,880,785,806.481650097,651.518349903,631,651.518349903,0.453573900394,-0.00556411662387,0.0598037718349,0.999999949393,-9.54103827503e-05,-0.00029823236891,-5.6283994115e-05,1793242836899777024
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.07388016,745.92611984,714,682,658.92611984,632,880,785,806.92611984,651,631,651.07388016,0.453575076604,-0.00556425769093,0.0598044724825,0.999999949698,-9.58213911104e-05,-0.000297107953722,-5.61144404862e-05,1793242836916443648
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.651494371,745.348505629,714,682,658.348505629,632,880,785,806.348505629,651,631,651.651494371,0.453573996212,-0.00556513533145,0.0598034221846,0.999999949207,-9.61808922625e-05,-0.00029869268467,-5.58308418495e-05,1793242836933110272
+247,4.116666667,HOLD_POSE2,766,745,714,681,658,632,880,786,807,651,631,652,0.453573187154,-0.00556084878342,0.0598028772484,0.999999948602,-9.27791548854e-05,-0.000301651816861,-5.65185141691e-05,1793242836972335616
+248,4.133333333,HOLD_POSE2,765.406618731,745,714,681.593381269,658,632,879.406618731,786,806.406618731,651.593381269,631,652,0.453573461333,-0.0055619715219,0.0598028952605,0.999999948925,-9.11676614994e-05,-0.000301191611364,-5.58790422144e-05,1793242836989002496
+249,4.150000000,HOLD_POSE2,765.182181694,745,714,681.817818306,658,632,879,785.817818306,806.182181694,652,630.817818306,652,0.453573579543,-0.00556257961792,0.0598026032149,0.999999948953,-9.08306102399e-05,-0.000301248084784,-5.56112960773e-05,1793242837005669120
+250,4.166666667,HOLD_POSE2,765.761008832,745,714,681.238991168,658,632,879,785.238991168,806.761008832,652,630.238991168,652,0.453573358178,-0.00556206723611,0.0598016361128,0.999999948342,-9.32682703001e-05,-0.000302429469928,-5.6152870169e-05,1793242837022335488
+251,4.183333333,HOLD_POSE2,765.661695256,745,714,681,658,632,879,785.338304744,806.661695256,651.661695256,630.338304744,651.661695256,0.453572392172,-0.00556214895035,0.0598007586264,0.999999947881,-9.33914258078e-05,-0.000303915807866,-5.61291079593e-05,1793242837039002112
+252,4.200000000,HOLD_POSE2,765.08547622,745,714,681,658,632,879,785.91452378,806.08547622,651.08547622,630.91452378,651.08547622,0.453570902494,-0.00556264846527,0.0597999441626,0.999999947526,-9.18868957104e-05,-0.000305616605119,-5.5707770488e-05,1793242837055668992
+253,4.216666667,HOLD_POSE2,765,745.499299506,714,681.499299506,658,632,879.499299506,785.500700494,806,651,631,651,0.453571321221,-0.00556166081484,0.0598004779331,0.999999947631,-9.14967107188e-05,-0.000305359354889,-5.58756588361e-05,1793242837072335616
+254,4.233333333,HOLD_POSE2,765,745.915418636,714,681.915418636,658,632,880,785,806,651,630.915418636,651,0.45357194597,-0.00556069011323,0.0598009960514,0.999999947753,-9.13774473136e-05,-0.000304953617188,-5.61098654943e-05,1793242837089002496
+255,4.250000000,HOLD_POSE2,765,745.33589626,714,681.33589626,658,632,880,785,806,651,630.33589626,651,0.453571831195,-0.0055613343465,0.0598000484244,0.999999947501,-9.17077552135e-05,-0.000305674673122,-5.61315903111e-05,1793242837105669120
+256,4.266666667,HOLD_POSE2,765,745,714,681.242432112,658,632,880,785,806.242432112,651,630.242432112,651.242432112,0.453571999703,-0.00556202283923,0.0597996348736,0.999999947316,-9.23505413174e-05,-0.000306107648962,-5.60157743344e-05,1793242837122335488
+257,4.283333333,HOLD_POSE2,765,745,714,681.819114216,658,632,880,785,806.819114216,651,630.819114216,651.819114216,0.453572558783,-0.00556277235403,0.0597999576733,0.999999947222,-9.34241524884e-05,-0.00030614343821,-5.57103258481e-05,1793242837139002112
+258,4.300000000,HOLD_POSE2,765,745.392586084,714,681.607413916,658.392586084,632,880,785,806.607413916,651,631,652,0.453572939264,-0.00556205288197,0.0597996613231,0.999999947298,-9.29136783216e-05,-0.000306039464816,-5.57836698352e-05,1793242837155668992
+259,4.316666667,HOLD_POSE2,765,745.964590868,714,681.035409132,658.964590868,632,880,785,806.035409132,651,631,652,0.453573238124,-0.00556066205731,0.0597990820106,0.999999947449,-9.16792495667e-05,-0.000305871617454,-5.60301285757e-05,1793242837172335616
+260,4.333333333,HOLD_POSE2,765,745.443752333,714,681,658.443752333,632,880,785.556247667,806,651.556247667,631,652,0.453573766768,-0.0055589272534,0.0597998624827,0.9999999477,-8.86151599686e-05,-0.000305928065974,-5.61781853e-05,1793242837189002240
+261,4.350000000,HOLD_POSE2,765,745.145706606,714,681,658,632,880,786,806.145706606,652,631,652,0.453573791977,-0.00555811778844,0.0598000005097,0.999999947727,-8.70424262941e-05,-0.000306268788712,-5.63009581197e-05,1793242837205668864
+262,4.366666667,HOLD_POSE2,765,745.724771895,714,681,658,632,880,786,806.724771895,652,631,652,0.453572274777,-0.00556012796419,0.0597979609107,0.999999947087,-9.02643562109e-05,-0.000307410975363,-5.63678444989e-05,1793242837222335744
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,785,807,652,631,652,0.45357003673,-0.00555824218645,0.059797160918,0.999999946227,-8.95303893014e-05,-0.0003104705146,-5.60175173025e-05,1793242837259406080
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,785.556160484,807,652,631,651.443839516,0.453571576013,-0.00555875936873,0.0597979113179,0.999999946836,-8.97581469868e-05,-0.000308429746555,-5.60511818681e-05,1793242837276072704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.125336786,745,714,681,658,632,880,786,807,652,631,651.125336786,0.453572536789,-0.00555951033447,0.0597984011014,0.999999947223,-9.02131962537e-05,-0.00030705152106,-5.5985591315e-05,1793242837292739328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.745945649,745,714,681,658,632,880,786,807,652,631,651.745945649,0.453571211579,-0.0055611851027,0.0597978610513,0.999999946744,-9.15663951079e-05,-0.000308291351768,-5.55277911861e-05,1793242837309405952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.338941739,714,681,658,632,880,785.661058261,806.661058261,652,631,652,0.45357103801,-0.00556217217469,0.0597975398805,0.999999946556,-9.27613755387e-05,-0.000308570031674,-5.53850764805e-05,1793242837326072832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.912799727,714,681,658,632,880,785.087200273,806.087200273,652,631,652,0.45357166263,-0.00556268261299,0.0597973704123,0.99999994657,-9.38466966929e-05,-0.000308182549999,-5.54607435385e-05,1793242837342739712
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.510630406,714,681,658,632,879.510630406,785.489369594,806.489369594,652,630.510630406,652,0.453571686696,-0.00556086376154,0.0597973956165,0.999999946502,-9.16002674302e-05,-0.00030903981075,-5.56808511936e-05,1793242837359406336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.932403569,745.067596431,714,681,658,631.932403569,879.067596431,785.932403569,806.932403569,652,630.067596431,652,0.453571348223,-0.00555904827433,0.0597972871424,0.999999946344,-8.93375379374e-05,-0.000310176789218,-5.58739679788e-05,1793242837376072960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.345174526,745.654825474,714,681,658,631.345174526,879.654825474,785.345174526,806.345174526,652,630.654825474,652,0.453569050033,-0.00556046706263,0.0597958829001,0.999999945667,-9.15387286799e-05,-0.000311749500797,-5.56606428432e-05,1793242837392739584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.238454383,745.761545617,714,681,658,631.238454383,880,785.238454383,806.238454383,651.761545617,631,652,0.453562776535,-0.00556076206034,0.0597927914713,0.999999944183,-9.17894276474e-05,-0.000316404947866,-5.56497874242e-05,1793242837409406208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.816949378,745.183050622,714,681,658,631.816949378,880,785.816949378,806.816949378,651.183050622,631,652,0.453550834172,-0.00555945451058,0.0597872940817,0.999999941492,-8.92586870103e-05,-0.000325456435875,-5.5927657795e-05,1793242837426073088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.394483392,714,681,658,632,880.394483392,786,807,651.394483392,631,652,0.453523888892,-0.00555757034774,0.0597747268413,0.999999934806,-8.8568523265e-05,-0.0003454524592,-5.66228730639e-05,1793242837442739712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.97157262,714,681,658,632,880.97157262,786,807,651.97157262,631,652,0.453489998781,-0.00555541927136,0.059758886976,0.999999925769,-8.87303598428e-05,-0.000370514693955,-5.75112767258e-05,1793242837459406080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.45864619,714,681.54135381,658,632,880.45864619,786,806.45864619,651.45864619,631,652,0.453433028636,-0.00555500499491,0.0597379077398,0.999999913133,-8.87964040834e-05,-0.00040304524307,-5.8344493469e-05,1793242837476073472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.116036677,714,681.883963323,658,632,880,786,806,651.116036677,631,651.883963323,0.453374178667,-0.00555449682867,0.0597188930236,0.999999901456,-8.85644179194e-05,-0.000430992150079,-5.90740308726e-05,1793242837492740608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.712585744,714,681.287414256,658,632,880,786,806,651.712585744,631,651.287414256,0.453312496225,-0.00555322721961,0.0597091161387,0.999999898364,-8.71188294861e-05,-0.000438355654469,-5.93860692872e-05,1793242837509407232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.699047497,745.699047497,714,681,658,632,879.699047497,786,806.300952503,652,631,651.300952503,0.453243299831,-0.00555136320566,0.0597048029971,0.999999896639,-8.52028242681e-05,-0.000442668868975,-5.92111033625e-05,1793242837526073856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.11828817,745.11828817,714,681,658,632,879.11828817,786,806.88171183,652,631,651.88171183,0.453167117437,-0.00554894655127,0.0597055697032,0.999999896219,-8.2849455022e-05,-0.000444146114214,-5.85833512322e-05,1793242837542739968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.456313908,658,632,879,785.543686092,806.543686092,652,631,651.543686092,0.453076901082,-0.00554517255818,0.0597070106646,0.999999897686,-7.92066640146e-05,-0.000441622142682,-5.76526516517e-05,1793242837559406336
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.488000837,658,632.488000837,880,786,806,651.488000837,630.488000837,651.488000837,0.451987988238,-0.00550905893877,0.059705293901,0.999999896839,-5.02694288009e-05,-0.000448497813646,-5.1431940862e-05,1793242837676072960
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633.094120746,879.094120746,786.905879254,806,651,631,651,0.448123309355,-0.00542037596012,0.0596962527643,0.99999989215,3.53028675824e-05,-0.000462324569249,-2.6627831157e-05,1793242837859405568
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.80642519,714,681,659.19357481,634,880,786.80642519,806,651,631,651.80642519,0.445462682337,-0.00542193676121,0.0597952185756,0.999999947828,2.94914385325e-05,-0.000321595334563,-7.16251818484e-06,1793242837942739200
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.732055124,634,879.267944876,787,805,652,631,652,0.425841053242,-0.00539214185775,0.059775450631,0.999999925895,0.000181922657034,-0.000338649735094,2.0741304392e-05,1793242838342738944
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.661028304,659,634.661028304,879,787,805,652,631,652,0.40970647183,-0.00537060294144,0.0598140307782,0.999999926077,0.000226281806403,-0.00030962370204,2.78497600367e-05,1793242838676072704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.087821261,659,634.087821261,879,787,805,652,631,652,0.409127692042,-0.00537281717256,0.0598531084746,0.999999944641,0.000214895433032,-0.000252155468859,3.09185949298e-05,1793242838692739584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.5103971,745,714,679,659,634,879,787,805,652,631,652,0.408538781469,-0.00537316248648,0.05985853212,0.999999946282,0.000215819205781,-0.000244764224293,3.08133394978e-05,1793242838709406208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.069223843,878.930776157,787,805,652,631,652,0.407950805601,-0.0053733581336,0.0598553361512,0.999999943914,0.000220485157204,-0.000250313570964,3.0020633963e-05,1793242838726072832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.659639819,878.340360181,787,805,652,631,652,0.40738366779,-0.00537497284715,0.0598330873955,0.999999930983,0.000236556868417,-0.00028507666066,2.83759428011e-05,1793242838742739456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.245359373,787,805,652,631,652,0.406851080149,-0.00537460998806,0.059821655016,0.999999925266,0.000242554533553,-0.000299821752124,2.72301930301e-05,1793242838759406080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.824686408,787,805,652,631,652,0.40636552006,-0.00537155538202,0.0598249452055,0.999999930791,0.000234840043309,-0.000287319607963,2.67635709003e-05,1793242838776072704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.400830618,659,635,879,787,805,652,631,652,0.405911651648,-0.005367962133,0.0598310079298,0.999999933879,0.000236637477711,-0.000274785482235,2.71703940971e-05,1793242838792739328
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.975593753,659,635,879,787,805,652,631,652,0.405471535172,-0.00536413515026,0.059838273741,0.999999935807,0.000242562422965,-0.000262237477635,2.79562315719e-05,1793242838809405952
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.450695671,659,635,878.450695671,787,805,652.549304329,631,652,0.405041895678,-0.00535890591941,0.0598237905569,0.999999927226,0.00025590859229,-0.000281611317072,2.7439205813e-05,1793242838826072832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.127118367,659,635,878,787,805,653,631,652,0.404617081874,-0.00535352424812,0.0598059750791,0.999999915866,0.000268719293925,-0.000308757305281,2.6972345908e-05,1793242838842739456
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.720143411,659,635,878,787,805,653,631,652,0.404208251909,-0.00534781177434,0.059779481248,0.999999896383,0.000278361225571,-0.000359200895877,2.69011117927e-05,1793242838859406080
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.881834802,745,714,679.118165198,659,635,878.881834802,787,804.118165198,653,631,652,0.403544641014,-0.00534196849425,0.0597762149668,0.999999896045,0.000285408114953,-0.000354487022983,2.81140724005e-05,1793242838892739584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.543244588,745,714,679.456755412,659,635,878.543244588,787,804,652.543244588,631,652,0.403278623814,-0.00534045539721,0.0597932749526,0.999999905352,0.000287358093348,-0.000325298007358,3.00372552927e-05,1793242838909405952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.031240588,745,714,680,658.968759412,634.968759412,878,787,804,652,631,652,0.403024933384,-0.00533917946677,0.0598130170765,0.999999914525,0.000289327285163,-0.000293600406302,3.22295906584e-05,1793242838926072576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.607850493,745,714,680,658.392149507,634.392149507,878,787,804,652,631,652,0.402797639708,-0.00533958656423,0.0598300674322,0.999999922081,0.000290211106765,-0.00026542352689,3.41428054859e-05,1793242838942738944
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.810204059,745,714,679.810204059,658.189795941,634.189795941,878.189795941,787,804,652.189795941,631,652,0.402572902359,-0.00534385183605,0.0598417859786,0.999999928253,0.000284510919626,-0.000247545576893,3.56300884357e-05,1793242838959405824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.216915709,745,714,679.216915709,658.783084291,634.783084291,878.783084291,787,804,652.783084291,631,652,0.402353599602,-0.00535631930676,0.0598421694831,0.999999932639,0.000264813607568,-0.000251562407924,3.62118708951e-05,1793242838976072704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.36456647,658.63543353,635,878.63543353,787,804.36456647,652.63543353,631,652,0.402153638875,-0.00536698558274,0.059838169903,0.999999943349,0.000209080944314,-0.000262483655974,2.62621267875e-05,1793242838992739328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.939244427,658.060755573,635,878.060755573,787,804.939244427,652.060755573,631,652,0.401964825567,-0.00537661377294,0.0598316442092,0.999999952688,0.000132579935982,-0.00027738414265,1.02427221191e-05,1793242839009405952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,787,805,652,631,652,0.401812478479,-0.00537987989808,0.0598295444011,0.999999951872,0.000125938794004,-0.000283354149478,1.02438134257e-05,1793242839026072576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.908753627,714,679.908753627,658,635,878,786.908753627,804.908753627,652,631,652,0.401669122598,-0.00538117027938,0.0598284055396,0.999999950343,0.00012922228003,-0.00028717869568,1.19736915424e-05,1793242839042739456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.320066576,714,679.320066576,658,635,878,786.320066576,804.320066576,652,631,652,0.401551281302,-0.00537578992365,0.0598296529672,0.999999949264,0.000141587293362,-0.00028506258382,1.28032574762e-05,1793242839059405824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.264726806,744.264726806,714,679,658.264726806,635,878.264726806,786.264726806,804,652,631,652,0.401447443891,-0.00537250793786,0.0598326083905,0.999999944434,0.000180150211226,-0.000280146216177,1.39918418015e-05,1793242839076072448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.844880771,744.844880771,714,679,658.844880771,635,878.844880771,786.844880771,804,652,631,652,0.401360292389,-0.00537172620116,0.0598375989239,0.999999931683,0.000249928442661,-0.000271893288235,1.56082034547e-05,1793242839092739328
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.001064279,745,714,679.998935721,658.001064279,635,878.001064279,787,804.998935721,652,631,652,0.401212835214,-0.00536998929535,0.05983829964,0.999999927546,0.000268744417084,-0.000269067172665,1.69433843661e-05,1793242839126072576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.57165845,744.42834155,714,679.42834155,658.57165845,635,878,787,805,652,631,652,0.401155697521,-0.00537037925463,0.0598344835492,0.999999925467,0.000266851594542,-0.000278478677148,1.74884288699e-05,1793242839142739200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.849820168,744.150179832,714,679,659,635,878.300359664,787,804.849820168,652,631,651.849820168,0.401103142736,-0.00537011274625,0.0598310795942,0.99999992368,0.000265876032472,-0.000285710448618,1.78958601092e-05,1793242839159406080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.254073975,744.745926025,714,679,659,635,879.491852051,787,804.254073975,652,631,651.254073975,0.40106410526,-0.00536789159525,0.0598289173315,0.999999923008,0.000267632766637,-0.000286421598688,1.78948775047e-05,1793242839176072704
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.669630786,714,679.330369214,659,635,879.339261572,787,804.330369214,652,631,651.330369214,0.401034510503,-0.00536773999751,0.0598286409891,0.999999923047,0.000267703995578,-0.000286200927505,1.81421320896e-05,1793242839192739328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.093592667,714,679.906407333,659,635,878.187185334,787,804.906407333,652,631,651.906407333,0.401011937532,-0.00536912735917,0.0598297670532,0.999999923616,0.000266521850581,-0.000285287336183,1.85739806254e-05,1793242839209405952
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.480874683,714,679.519125317,658.519125317,635,878.480874683,786.519125317,805,652,631,652,0.401000347133,-0.00536932728427,0.0598329683469,0.999999925062,0.000266330003737,-0.000280334579227,1.88947103693e-05,1793242839226072320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.944610615,714,679,658.055389385,635,878.944610615,786.055389385,805,652,630.944610615,651.944610615,0.400990866707,-0.00536934673305,0.0598361851875,0.999999926501,0.000266213016148,-0.000275247716509,1.91570526557e-05,1793242839242739200
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.366774697,714,679,658.633225303,635,878.366774697,786.633225303,805,652,630.366774697,651.366774697,0.400981191914,-0.00536983668186,0.0598357513722,0.999999926541,0.000264990050225,-0.000276286886463,1.9071997676e-05,1793242839259405824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.216225666,714,679.216225666,658.783774334,634.783774334,878,787,804.783774334,652,630.216225666,651.216225666,0.400974316851,-0.00536941782946,0.0598359319515,0.999999926765,0.000264531597754,-0.00027592285028,1.89704546004e-05,1793242839276072448
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.808200581,714,679.808200581,658.191799419,634.191799419,878,787,804.191799419,652,630.808200581,651.808200581,0.400972307062,-0.00536741969469,0.0598371802037,0.999999927306,0.000265401689562,-0.000273120372458,1.88402591048e-05,1793242839292739584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.388463154,878.388463154,787,804.388463154,652,631,652,0.400971448316,-0.00536780042891,0.0598387453063,0.999999927952,0.000265446624969,-0.000270689143733,1.89871586253e-05,1793242839309405952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.963112123,878.963112123,787,804.963112123,652,631,652,0.400971141251,-0.00536932132708,0.0598404622715,0.999999928648,0.00026509607261,-0.000268435850406,1.92668665263e-05,1793242839326072832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.46329737,658.53670263,635,878.46329737,787.53670263,805,652,631,652,0.400968871491,-0.00537098786334,0.0598395389819,0.99999992877,0.000262481590338,-0.00027050984507,1.97049847293e-05,1793242839342739200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.885549171,805,652,630.885549171,652,0.400967147915,-0.00537212409207,0.0598389368591,0.999999929033,0.000259912505583,-0.000271990947677,1.99876051476e-05,1793242839359405824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.290019637,805,652,630.290019637,652,0.400968286054,-0.00537098925182,0.0598404459858,0.9999999301,0.000258187005342,-0.00026973221575,1.95709367522e-05,1793242839376072448
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.295140577,745,714,679,658.704859423,635,878,787,805,652,630.295140577,652,0.400968796141,-0.0053699781695,0.0598410922959,0.999999930196,0.00025934214195,-0.000268286645491,1.93006637609e-05,1793242839392739072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.870457295,745,714,679,658.129542705,635,878,787,805,652,630.870457295,652,0.400968710019,-0.00536908457011,0.0598409195369,0.999999929362,0.000263231859017,-0.00026761300711,1.91693634764e-05,1793242839409405952
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.554928326,744.554928326,714,679,658.445071674,635,878.445071674,787,805,652.445071674,631,652,0.400969389942,-0.00536971322953,0.0598414728912,0.99999992959,0.000263517583502,-0.000266466628673,1.93211230492e-05,1793242839426072832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,713.980079301,679,659,635,878.980079301,787,805,652.980079301,631,652,0.400970237815,-0.00537077753886,0.0598422167234,0.999999930135,0.000262682651556,-0.000265227040216,1.95411171157e-05,1793242839442739456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,713.39273185,679,659,635,878.39273185,787,805,652.39273185,631,652,0.400969528653,-0.00537165040306,0.0598423757191,0.999999930898,0.000259758968754,-0.000265245573352,1.93616710151e-05,1793242839459406080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.192388005,713.192388005,679,658.807611995,635,878.192388005,787,805,652,631,652,0.400968948793,-0.00537194124598,0.0598425191486,0.999999931426,0.00025791184253,-0.00026506372838,1.92405555826e-05,1793242839476072704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.773012565,713.773012565,679,658.226987435,635,878.773012565,787,805,652,631,652,0.400968629865,-0.00537105757727,0.0598426311655,0.999999931498,0.000258237194018,-0.000264477522931,1.92371507102e-05,1793242839492739328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.350972639,745,714,679,658,635,879,787,804.649027361,652,631,652,0.400968237436,-0.00537057916143,0.0598424214069,0.999999931034,0.000259619132218,-0.000264885318727,1.91448878148e-05,1793242839509405696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.927222451,745,714,679,658,635,879,787,804.072777549,652,631,652,0.400967797831,-0.00537036086338,0.0598420051117,0.999999930222,0.000261679256795,-0.000265931129491,1.89955900342e-05,1793242839526072320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.499766935,745,714,679,658.500233065,635,878.499766935,787,804,652,631,651.499766935,0.400967495362,-0.00537159865163,0.0598419318011,0.999999930717,0.000259904225142,-0.00026579722379,1.91746936662e-05,1793242839542739456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.075419835,745,714,679,659,635,878,787,804.075419835,652,631,651.075419835,0.400967444602,-0.00537272804586,0.0598420056654,0.999999931272,0.000258121160319,-0.000265432863169,1.93586728086e-05,1793242839559406336
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.668765973,745,714,679,659,635,878,787,804.668765973,652,631,651.668765973,0.400968986261,-0.00537166766026,0.0598427497446,0.99999993097,0.000260089969912,-0.000264656980301,1.92501393988e-05,1793242839576072960
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.744059421,744.744059421,714,679,658.744059421,635,878.255940579,787,805,652,631,652,0.400970159892,-0.00537158180313,0.059843443979,0.999999931326,0.00025985993353,-0.000263539725448,1.91705474948e-05,1793242839592739328
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diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b989af9727e4cf5becb57ca17e770abd5f6318cd
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65e85900115443b03b2010a4c94dcc0f5f83177d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5b98dfc5177ce0c8d302dfcaf1d533995193c5f981caac70097a48faea55f5
+size 32846034
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e3a73de256079ab80dbea512cfd8acb262b87a6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,518 @@
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+20,0.333333333,BASELINE,765,745,714,679,658.619169833,635,877.380830167,787,805,652,631,652,0.400967720234,-0.00537226174753,0.059845620932,0.999999932957,0.000255973428524,-0.000261164702744,1.88990763086e-05,1793242840120156672
+21,0.350000000,BASELINE,765,745,714,679.197311941,659.197311941,635,877.394623883,786.802688059,805,652,631,651.802688059,0.400968784153,-0.00537285951875,0.0598461065636,0.999999933312,0.000255533268456,-0.000260223394708,1.90395562743e-05,1793242840136823040
+22,0.366666667,BASELINE,765,745,714,679.7720858,659.7720858,635,878.5441716,786.2279142,805,652,631,651.2279142,0.400969799015,-0.00537335389864,0.0598467013507,0.999999933678,0.000255440342647,-0.000258886305745,1.92779723107e-05,1793242840153489664
+23,0.383333333,BASELINE,765,745,714,679.646031106,659.292062211,635,878.646031106,786.353968894,805,652.353968894,631,651.353968894,0.400969691836,-0.00537264028932,0.0598465054184,0.999999933665,0.000255531995568,-0.000258864785658,1.90114745341e-05,1793242840170156288
+24,0.400000000,BASELINE,765,745,714,679.059476623,658.118953247,635,878.059476623,786.940523377,805,652.940523377,631,651.940523377,0.400968847388,-0.0053711329355,0.0598457899208,0.999999933404,0.00025574493132,-0.000259707698345,1.84132084314e-05,1793242840186822912
+25,0.416666667,BASELINE,765,744.477622077,714,679,658.522377923,635,878,787,804.477622077,652.477622077,631,651.477622077,0.400969014492,-0.00537065271431,0.0598460979708,0.999999933033,0.000257241363543,-0.000259648177561,1.85154300528e-05,1793242840203490048
+26,0.433333333,BASELINE,765,744.102820658,714,679,658.897179342,635,878,787,804.102820658,652.102820658,631,651,0.400969112149,-0.00537081773457,0.0598463431412,0.999999932933,0.000257683927842,-0.000259577955604,1.8757404058e-05,1793242840220156928
+27,0.450000000,BASELINE,765,744.67920383,714,679,658.32079617,635,878,787,804.67920383,652.67920383,631,651,0.40096836423,-0.00537342073197,0.0598457667492,0.999999934128,0.00025260562142,-0.000259927458737,1.92789809198e-05,1793242840236823296
+28,0.466666667,BASELINE,765.254147878,745,714,679,658.254147878,635,878.254147878,787,805,652.745852122,631,651.254147878,0.400967701785,-0.00537495134069,0.059845392039,0.999999934719,0.000249771088928,-0.000260371981975,1.9546489678e-05,1793242840253489664
+29,0.483333333,BASELINE,765.827285595,745,714,679,658.827285595,635,878.827285595,787,805,652.172714405,631,651.827285595,0.40096714662,-0.00537513595692,0.0598452704666,0.999999934578,0.000249752795428,-0.000260935768238,1.94951086942e-05,1793242840270156288
+30,0.500000000,BASELINE,765.587719696,745,714,679.412280304,659,635,878.587719696,786.587719696,805,652,631,652,0.400967307311,-0.00537451040329,0.0598450593104,0.999999934066,0.000251332727625,-0.000261395209414,1.92960936702e-05,1793242840286822912
+31,0.516666667,BASELINE,765,744.997654108,714,679.997654108,658.997654108,635,878.002345892,786.002345892,804.997654108,652,631,652,0.400967777801,-0.0053735317715,0.0598448120855,0.999999933391,0.000253601734939,-0.000261805502192,1.90336439445e-05,1793242840303489792
+32,0.533333333,BASELINE,765,744.418258492,714,679.418258492,658.418258492,635,878.581741508,786.581741508,804.418258492,652,631,652,0.400968501362,-0.00537166071556,0.0598451973714,0.999999932994,0.000255800198481,-0.000261197113163,1.88312669005e-05,1793242840320156416
+33,0.550000000,BASELINE,765,744.159542587,714,679,658.159542587,635,878.840457413,787,804,652,631,652,0.400968963594,-0.00537086062275,0.0598456045236,0.999999932974,0.000256407005694,-0.000260686528475,1.87229555599e-05,1793242840336823296
+34,0.566666667,BASELINE,765,744.733204688,714,679,658.733204688,635,878.266795312,787,804,652,631,652,0.400968747498,-0.00537284039447,0.0598460684329,0.999999933936,0.00025288240188,-0.000260429811437,1.88588075449e-05,1793242840353490176
+35,0.583333333,BASELINE,765,745.308833501,714,679.308833501,659,635,878,787,804,652,631,651.691166499,0.400968220641,-0.00537368063836,0.0598460094842,0.99999993418,0.000251765687041,-0.000260559175667,1.90399903927e-05,1793242840370156544
+36,0.600000000,BASELINE,765,745.886172271,714,679.886172271,659,635,878,787,804,652,631,651.113827729,0.400967423603,-0.00537353015697,0.0598454959536,0.999999933808,0.000252742432764,-0.000261024205701,1.9260584704e-05,1793242840386823168
+37,0.616666667,BASELINE,765,745.525683151,714,680,659,635,878.474316849,787,804.474316849,652,631,651.474316849,0.400968178084,-0.0053728277204,0.0598459208608,0.999999933869,0.000253524681821,-0.000260049381049,1.90057422711e-05,1793242840403489536
+38,0.633333333,BASELINE,765.063476081,745,714,679.936523919,659,635.063476081,878.936523919,787,805,652,631,652,0.400969107322,-0.00537217657023,0.0598464726814,0.999999933986,0.000254185835713,-0.000258976462771,1.8699518133e-05,1793242840420156416
+39,0.650000000,BASELINE,765.639403705,745,714,679.360596295,659,635.639403705,878.360596295,787,805,652,631,652,0.400968371389,-0.00537303375734,0.0598461885642,0.999999933707,0.000254254976468,-0.00025996624669,1.89210731922e-05,1793242840436823040
+40,0.666666667,BASELINE,765.784377091,745,714,679.215622909,659,635.784377091,878,787,804.784377091,652,631,652,0.400967674322,-0.00537333110951,0.0598458664597,0.99999993337,0.000254823133713,-0.000260700152344,1.90096416132e-05,1793242840453489664
+41,0.683333333,BASELINE,765.20766964,745,714,679.79233036,659,635.20766964,878,787,804.20766964,652,631,652,0.400967042338,-0.00537269095576,0.0598454807412,0.999999932934,0.000256226949572,-0.000261005561323,1.88755091042e-05,1793242840470156288
+42,0.700000000,BASELINE,765,745,714,679.623244914,659,635,878.376755086,787,804.376755086,652,631,651.623244914,0.400966636407,-0.00537258954293,0.0598454688635,0.999999932917,0.000256488827677,-0.000260800100179,1.90382497088e-05,1793242840486823168
+43,0.716666667,BASELINE,765,745,714,679.034477445,659,635,878.965522555,787,804.965522555,652,631,651.034477445,0.400966357683,-0.00537279129723,0.0598456673582,0.999999933137,0.000256108100092,-0.000260307155735,1.9368050507e-05,1793242840503489792
+44,0.733333333,BASELINE,765.546021904,745,714,679.546021904,658.453978096,635,879,787,804.453978096,652,631,651.546021904,0.400967558512,-0.00537430682689,0.0598459695845,0.999999934179,0.000252919565018,-0.000259424086316,1.93153029105e-05,1793242840520156416
+45,0.750000000,BASELINE,765.874843627,745,714,679.874843627,658,635,878.874843627,787,804,652,631,652,0.400968317663,-0.0053750988727,0.0598460396149,0.999999934898,0.000250419895069,-0.000259088289276,1.91491027037e-05,1793242840536823040
+46,0.766666667,BASELINE,765.298773811,745,714,679.298773811,658,635,878.298773811,787,804,652,631,652,0.400967153963,-0.00537298993558,0.0598452498434,0.999999934306,0.00025103129392,-0.000260811631931,1.86598837727e-05,1793242840553489664
+47,0.783333333,BASELINE,765,745,714,679,658.276246362,635,878,787,804.276246362,652,631,652,0.40096717711,-0.00537189837761,0.0598451986932,0.999999934008,0.000252006043278,-0.000261015476049,1.86257801992e-05,1793242840570156032
+48,0.800000000,BASELINE,765,745,714,679,658.850135664,635,878,787,804.850135664,652,631,652,0.40096847903,-0.00537190299932,0.0598459433736,0.999999934028,0.000253372286424,-0.000259582129545,1.90820427448e-05,1793242840586822912
+49,0.816666667,BASELINE,765,745,714,679,658.562800335,635,878,787,805,652,631,652,0.400969056676,-0.00537281355324,0.0598467111206,0.999999934122,0.000254143864024,-0.000258453514038,1.92168403442e-05,1793242840603489536
+50,0.833333333,BASELINE,765,745,714,679,658.028291437,635,878,787,805,652,631,652,0.400969399187,-0.00537391449967,0.0598474295112,0.999999934237,0.000254683759094,-0.000257473621649,1.92120590614e-05,1793242840620156416
+51,0.850000000,BASELINE,765,745,714,679,658.607151002,635,878,787,805,652,631,652,0.400970147402,-0.00537248958611,0.0598470287474,0.999999934263,0.000254805092221,-0.000257292024584,1.87020297764e-05,1793242840636823040
+52,0.866666667,BASELINE,765.18453482,744.81546518,714,679.18453482,658.81546518,635,878,787,804.81546518,652,631,652,0.400970110284,-0.0053716146967,0.0598465384348,0.999999934125,0.000254968925805,-0.000257685111735,1.84090373654e-05,1793242840653489664
+53,0.883333333,BASELINE,765.758801869,744.241198131,714,679.758801869,658.241198131,635,878,787,804.241198131,652,631,652,0.400968414564,-0.00537190144257,0.0598458589981,0.999999933642,0.00025522251912,-0.000259291915424,1.85744206161e-05,1793242840670156288
+54,0.900000000,BASELINE,765.659010348,744,714,679.659010348,658,635,878,787,804.340989652,652,631,652,0.400968836102,-0.0053729969165,0.0598463385836,0.999999934245,0.000253313370707,-0.000258820632927,1.88180653746e-05,1793242840686822912
+55,0.916666667,BASELINE,765.071086642,744,714,679.071086642,658,635,878,787,804.928913358,652,631,652,0.400970790893,-0.00537467804602,0.0598476574967,0.999999935623,0.000249838032279,-0.000256844465257,1.91183846652e-05,1793242840703489792
+56,0.933333333,BASELINE,765,744.511135669,714,679,658,635,878,787,805,652,631,651.488864331,0.400969646406,-0.00537500906557,0.0598464195001,0.999999935335,0.000249248277649,-0.000258549118487,1.89065059102e-05,1793242840720156416
+57,0.950000000,BASELINE,765,745,714,679.091480603,658.091480603,635,878,787,805,652,631,651.091480603,0.4009683932,-0.00537516800351,0.0598451687274,0.999999934869,0.000249339982558,-0.000260270389843,1.8728270518e-05,1793242840736823040
+58,0.966666667,BASELINE,765,745,714,679.666052369,658.666052369,635,878,787,805,652,631,651.666052369,0.400968816976,-0.00537539883855,0.0598457076493,0.999999934688,0.000250934453832,-0.000259405924123,1.90997244269e-05,1793242840753489664
+59,0.983333333,BASELINE,765,745,714,679.759137138,658.759137138,635,878.240862862,787,804.759137138,652,631,652,0.400968685873,-0.00537491403919,0.0598460307071,0.99999993447,0.000252103263855,-0.00025910989686,1.91131018918e-05,1793242840770156288
+60,1.000000000,BASELINE,765,745,714,679.183995249,658.183995249,635,878.816004751,787,804.183995249,652,631,652,0.400967784688,-0.00537343605409,0.0598460541802,0.999999934206,0.000252681324549,-0.000259602770895,1.86295267263e-05,1793242840786823168
+61,1.016666667,BASELINE,765,745,714,679,658.401087944,635,879,787,804,652,631,652,0.400967511655,-0.00537330883326,0.0598457306228,0.999999934366,0.000252370093988,-0.000259294493808,1.85198811237e-05,1793242840803490048
+62,1.033333333,BASELINE,765,745,714,679,658.990847486,635,879,787,804,652,631,652,0.400967534103,-0.00537381701147,0.0598452438225,0.999999934726,0.000251640541162,-0.000258609355542,1.85861318579e-05,1793242840820157184
+63,1.050000000,BASELINE,765,745,714,679.569968022,659,635,879,787,804.569968022,652,631,652,0.400968900518,-0.00537292814942,0.0598463245942,0.99999993457,0.000252921117668,-0.000257953314056,1.87601277115e-05,1793242840836823296
+64,1.066666667,BASELINE,765,745,714,679.851357362,659,635,878.851357362,787,805,652,631,652,0.400969861402,-0.00537233241556,0.0598471086098,0.999999934317,0.000254297486787,-0.000257568654437,1.89151655941e-05,1793242840853489408
+65,1.083333333,BASELINE,765,745,714,679.273486157,659,635,878.273486157,787,805,652,631,652,0.400969590072,-0.00537264672812,0.0598469643401,0.999999933814,0.000255858970472,-0.000257966327412,1.9010554829e-05,1793242840870156288
+66,1.100000000,BASELINE,765,745,714,679.30223636,658.69776364,635,878,787,804.69776364,652,631,652,0.400969553946,-0.00537260799886,0.0598469435819,0.999999933605,0.000256641902664,-0.000257993976097,1.90557075888e-05,1793242840886823168
+67,1.116666667,BASELINE,765,745,714,679.876028277,658.123971723,635,878,787,804.123971723,652,631,652,0.400969729145,-0.00537225206597,0.0598470337972,0.999999933663,0.000256725316075,-0.000257689162601,1.90557235042e-05,1793242840903489792
+68,1.133333333,BASELINE,765.462453966,745,714,680,658.462453966,635,878,787,804.462453966,652,631,652,0.400969816967,-0.00537310672782,0.0598475708521,0.999999934046,0.000255804223179,-0.000257117415735,1.90323591417e-05,1793242840920156160
+69,1.150000000,BASELINE,765.948694975,745,714,679.948694975,659,635,878,787,805,652.051305025,631,652,0.400969848355,-0.00537420731431,0.0598481313175,0.999999934487,0.000254617731542,-0.000256580019969,1.90227717401e-05,1793242840936823040
+70,1.166666667,BASELINE,765.370690806,745,714,679.370690806,659,635,878,787,805,652.629309194,631,652,0.400969547602,-0.00537440737672,0.0598476678497,0.999999934609,0.000253548746431,-0.000257150521728,1.92207700618e-05,1793242840953489664
+71,1.183333333,BASELINE,765,745,714,679,659,635,878,787,805,652.7934447,631,651.7934447,0.40096898282,-0.00537420661614,0.0598471608878,0.999999934411,0.000253518882827,-0.000257943312981,1.92497605861e-05,1793242840970156544
+72,1.200000000,BASELINE,765,745,714,679,659,635,878,787,805,652.217553971,631,651.217553971,0.400967945935,-0.00537328915587,0.0598465761552,0.999999933644,0.000255347041518,-0.000259133573603,1.89765532929e-05,1793242840986823168
+73,1.216666667,BASELINE,765,745,714,679.365800893,659,635,878,787,805,652.365800893,631,651.365800893,0.400968545603,-0.00537315556583,0.059846904705,0.999999933949,0.000254789164659,-0.00025851381344,1.88503146309e-05,1793242841003489792
+74,1.233333333,BASELINE,765,745,714,679.95368736,659,635,878,787,805,652.95368736,631,651.95368736,0.400970138858,-0.00537349788028,0.059847787728,0.999999934902,0.000252782674292,-0.000256795150735,1.88133037956e-05,1793242841020156416
+75,1.250000000,BASELINE,765,745,714,680,658.464437237,635,878.535562763,787,805,652.464437237,631,651.464437237,0.400968008334,-0.00537364220242,0.0598462712927,0.999999934497,0.000252522078344,-0.00025862896313,1.86993385173e-05,1793242841036823296
+76,1.266666667,BASELINE,765,745,714,679.885623902,658.114376098,635,878.885623902,787,805,652,631,651.114376098,0.40096648869,-0.00537371535604,0.0598451611153,0.999999934137,0.000252541691048,-0.000260002472377,1.86646559187e-05,1793242841053490176
+77,1.283333333,BASELINE,765,745,714,679.316931692,658.683068308,635,878.316931692,787,805,652,631,651.683068308,0.400968660411,-0.00537357307267,0.0598464796829,0.999999934425,0.000253081289177,-0.000258340909943,1.89710335744e-05,1793242841070156800
+78,1.300000000,BASELINE,765,745,714,679,658.742657083,635,878,786.742657083,804.742657083,652,631,651.742657083,0.400969661834,-0.00537276322484,0.0598471214779,0.999999934403,0.000253980485753,-0.000257542276176,1.89698975334e-05,1793242841086823680
+79,1.316666667,BASELINE,765,745,714,679,658.161355048,635,878,786.161355048,804.161355048,652,631,651.161355048,0.400969190015,-0.00537111300577,0.0598469113097,0.999999933992,0.000255332366966,-0.0002578299503,1.85816442839e-05,1793242841103490304
+80,1.333333333,BASELINE,765,745,714,679,658.425686847,635,878,786.425686847,804,652.425686847,631,651.425686847,0.400968798632,-0.00537105227301,0.0598466511542,0.99999993372,0.000255782749106,-0.000258439466189,1.85595910742e-05,1793242841120157184
+81,1.350000000,BASELINE,765,744.985318547,714,679,659,635,878,787,804.014681453,652.985318547,631,652,0.400968512933,-0.00537163751637,0.0598464249428,0.99999993355,0.000255810430598,-0.000259057922972,1.86846929886e-05,1793242841136823552
+82,1.366666667,BASELINE,765,744.406043764,714,679,659,635,878,787,804.593956236,652.406043764,631,652,0.40097110297,-0.00537357842769,0.0598482427056,0.999999935258,0.000252903124597,-0.000255264699305,1.90578800321e-05,1793242841153490176
+83,1.383333333,BASELINE,765,744,714,679,659,635,878,787,805,652,631,652,0.400972655117,-0.0053748050825,0.0598492550239,0.999999936127,0.00025157684328,-0.000253145842121,1.92898424258e-05,1793242841170156800
+84,1.400000000,BASELINE,765,744,714,679,659,635,878,787,805,652,631,652,0.400971774508,-0.00537435756014,0.0598483794253,0.999999935069,0.00025395639535,-0.000254951606135,1.9190782167e-05,1793242841186823680
+85,1.416666667,BASELINE,765,744.322470089,714,679,659,635,878.322470089,787,804.677529911,652,631,651.677529911,0.40097058986,-0.00537400184181,0.0598475364765,0.99999993453,0.00025473836378,-0.000256292021795,1.90340822084e-05,1793242841203490304
+86,1.433333333,BASELINE,765,744.897206591,714,679,659,635,878.897206591,787,804.102793409,652,631,651.102793409,0.400969167364,-0.00537371794124,0.0598467190695,0.999999934402,0.000254270551985,-0.000257268398126,1.8832291065e-05,1793242841220156928
+87,1.450000000,BASELINE,765,745,714,679,659,634.513720782,879,787,804,652,631,651,0.400969981179,-0.00537317808946,0.0598479026957,0.999999934905,0.000253356538365,-0.000256217840295,1.87843695243e-05,1793242841236823808
+88,1.466666667,BASELINE,765,744.923404567,714,679,659,634.076595433,878.923404567,787,804.076595433,652,631,651,0.400970868408,-0.00537286438154,0.059849081959,0.999999935423,0.000252270044176,-0.000255265271339,1.87815030826e-05,1793242841253490176
+89,1.483333333,BASELINE,765,744.345388585,714,679,659,634.654611415,878.345388585,787,804.654611415,652,631,651,0.400969047569,-0.00537439603952,0.0598473794819,0.999999935158,0.000250690650107,-0.000257844282942,1.88541876072e-05,1793242841270156800
+90,1.500000000,BASELINE,765,744,714,679.231759895,658.768240105,635,878.231759895,787,805,652,631,651.231759895,0.400968283439,-0.00537469942689,0.0598466326916,0.999999934911,0.000250565168091,-0.000258920198653,1.88262795812e-05,1793242841286823424
+91,1.516666667,BASELINE,765,744,714,679.807620319,658.192379681,635,878.807620319,787,805,652,631,651.807620319,0.400969088235,-0.00537317916571,0.059847304837,0.999999934702,0.000252598350926,-0.000257764424774,1.86490189183e-05,1793242841303490048
+92,1.533333333,BASELINE,765,744.391069475,714,679.608930525,658,635,879,786.608930525,805,652,631,652,0.400968947705,-0.00537342968628,0.0598477926877,0.999999934794,0.000252661735748,-0.000257322017303,1.89324437379e-05,1793242841320156672
+93,1.550000000,BASELINE,765,744.9783257,714,679.0216743,658,635,879,786.0216743,805,652,631,652,0.400968332937,-0.00537456854995,0.0598481880839,0.99999993504,0.000251736937589,-0.000257237482298,1.94469793633e-05,1793242841336823552
+94,1.566666667,BASELINE,765,745,714,679,658,635,878.43970042,786.56029958,804.43970042,652,631,651.43970042,0.400969891764,-0.00537434868519,0.0598482319696,0.999999935206,0.000251959812659,-0.000256382179462,1.9317713537e-05,1793242841353489920
+95,1.583333333,BASELINE,765.140165625,745,714,679,658.140165625,635,878.140165625,787,804.140165625,652,631,651,0.400970686707,-0.00537400750735,0.0598479892627,0.999999935108,0.000252519193478,-0.000256229719218,1.91010725339e-05,1793242841370156800
+96,1.600000000,BASELINE,765.714134713,745,714,679,658.714134713,635,878.714134713,787,804.714134713,652,631,651,0.400968859683,-0.0053734520246,0.0598469012612,0.999999934201,0.000253983918519,-0.000258343927229,1.8690368751e-05,1793242841386823168
+97,1.616666667,BASELINE,765.712352828,745,714,679,659,635,878.712352828,787,805,652,631,651.287647172,0.400968727967,-0.00537316289705,0.0598471400564,0.999999934097,0.000254588697919,-0.000258154982474,1.86264513843e-05,1793242841403490048
+98,1.633333333,BASELINE,765.139293483,745,714,679,659,635,878.139293483,787,805,652,631,651.860706517,0.400970278388,-0.00537313805518,0.0598486953394,0.99999993479,0.00025434021331,-0.000255680780179,1.89066259501e-05,1793242841420156928
+99,1.650000000,BASELINE,765.449404788,745,714,679,658.550595212,635,878,786.550595212,804.550595212,652,631,652,0.400969330705,-0.00537367316937,0.0598480109135,0.999999934653,0.000253810928586,-0.000256739812167,1.89541128318e-05,1793242841436823808
+100,1.666666667,BASELINE,765.958602379,745,714,679,658,635,878.041397621,786.041397621,804.041397621,652,631,651.958602379,0.400967778989,-0.00537421414241,0.0598467891558,0.999999934283,0.000253317730606,-0.000258662317562,1.89175273829e-05,1793242841453490176
+101,1.683333333,BASELINE,765.388665145,745,714,679,658,635,878.611334855,786.611334855,804.611334855,652,631,651.388665145,0.400968757406,-0.0053725341309,0.0598478897477,0.999999934399,0.000254436529961,-0.000257123074471,1.87615633472e-05,1793242841470156800
+102,1.700000000,BASELINE,765,745,714,679.183902702,658,635,878.816097298,787,804.816097298,652,631,651.183902702,0.400969631645,-0.00537212328335,0.0598485181504,0.999999934702,0.00025443934404,-0.000255938603104,1.87771982483e-05,1793242841486823424
+103,1.716666667,BASELINE,765,745,714,679.762110764,658,635,878.237889236,787,804.237889236,652,631,651.762110764,0.400970282513,-0.00537443364757,0.0598481341334,0.999999935408,0.00025204937651,-0.000255514797173,1.91607580558e-05,1793242841503490304
+104,1.733333333,BASELINE,765,745,714,679.651569315,658,635,878,787,804.348430685,652,631,652,0.400969691632,-0.00537382964552,0.0598477585342,0.999999935079,0.000252539789267,-0.000256316234401,1.91552230122e-05,1793242841520156928
+105,1.750000000,BASELINE,765,745,714,679.059578994,658,635,878,787,804.940421006,652,631,652,0.400968232744,-0.00537118844658,0.0598473888194,0.999999934023,0.000255043642064,-0.000257974139722,1.88777033495e-05,1793242841536823552
+106,1.766666667,BASELINE,765,745,714,679.523619188,658.523619188,635,878,787,805,652.523619188,631,652,0.400968145418,-0.00537425197628,0.059847135816,0.999999934871,0.000251878606019,-0.000257767854117,1.92500573287e-05,1793242841553490432
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,651,0.400966722234,-0.00537149178461,0.0598467454102,0.999999933238,0.000256476593375,-0.000259617171386,1.85066826374e-05,1793242841596225792
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.551103805,745,714,679,659,635,878,786.448896195,805,652,630.448896195,651.551103805,0.400966773941,-0.0053715419815,0.0598471790438,0.999999933384,0.000256482257629,-0.000259032140397,1.87616944768e-05,1793242841612892672
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,786.114867202,804.885132798,652,630.114867202,651.885132798,0.400967282335,-0.00537184610849,0.0598475992299,0.999999933725,0.000256072761625,-0.000258102785962,1.89781637793e-05,1793242841629559552
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,786.734231771,804.265768229,652,630.734231771,651.265768229,0.400969796502,-0.00537326549787,0.0598479603545,0.99999993492,0.000253839879542,-0.000255661160913,1.90253541356e-05,1793242841646225920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.668851763,745,714,679.331148237,659,635,878.331148237,787,804.331148237,652,631,651.331148237,0.400970188019,-0.00537392053885,0.0598476586304,0.999999935008,0.0002532005218,-0.000255948934868,1.90932452424e-05,1793242841662892544
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.088807656,745,714,679.911192344,659,635,878.911192344,787,804.911192344,652,631,651.911192344,0.400968984121,-0.00537400108429,0.0598468586995,0.999999934263,0.000253758880442,-0.000258288165263,1.91766953341e-05,1793242841679559424
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.514222874,635,879,787,804.514222874,652,631,652,0.400969110399,-0.00537321854874,0.0598469564519,0.999999934189,0.000254301420827,-0.000258048011878,1.90887395222e-05,1793242841696226048
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.939082888,787,804.060917112,652.060917112,631,652,0.400969667791,-0.0053723409565,0.0598473874688,0.999999934316,0.00025466865151,-0.000257202426296,1.89548563792e-05,1793242841712892672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.350586838,787,804.649413162,652.649413162,631,652,0.400971876242,-0.00537199144023,0.0598492992562,0.999999935132,0.000253542361034,-0.000255151968392,1.8691584702e-05,1793242841729559296
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.765978745,658.234021255,635,878.234021255,787,805,652.765978745,631,652,0.400977198392,-0.00537228687205,0.0598520260406,0.999999936164,0.000253313651013,-0.00025128594605,1.89621261888e-05,1793242841746225920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.187100059,658.812899941,635,878.812899941,787,805,652.187100059,631,652,0.40098710894,-0.00537353270963,0.0598559538171,0.999999937488,0.000254407629861,-0.000244744479357,2.00193032351e-05,1793242841762892544
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.609405945,787,804.609405945,652,631,651.609405945,0.401017660152,-0.00537580987114,0.0598683378878,0.99999994298,0.000252718048977,-0.000223014906692,2.09086657056e-05,1793242841779559424
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.03227749,787,804.03227749,652,631,651.03227749,0.401058068642,-0.0053785795579,0.0598847603967,0.999999949765,0.000249699134815,-0.000194032011857,2.17178857373e-05,1793242841796226048
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542483179,745,714,679.542483179,659,635,878.542483179,787,804.542483179,652,631,651.542483179,0.401119770495,-0.0053791974642,0.0599034993819,0.999999955328,0.000249486699728,-0.00016314873893,2.195752135e-05,1793242841812892672
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879623855,745,714,680,659,635,878.879623855,787,805,652,631,652,0.401184733891,-0.00538009541251,0.0599209769082,0.999999959501,0.000249543231769,-0.000135017387102,2.23007604408e-05,1793242841829559296
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.288944987,745,714,680,659,635,878.288944987,787,805,652,631,652,0.401257511591,-0.00538258550084,0.0599329898413,0.99999996151,0.000250001041321,-0.000118077469592,2.3180603419e-05,1793242841846225920
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.29524516,680,659,635,878,787.29524516,804.70475484,652,631,652,0.401338302318,-0.00538478086444,0.0599401414288,0.999999963205,0.000248861874069,-0.000105464409849,2.31174433274e-05,1793242841862892800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.873221574,680,659,635,878,787.873221574,804.126778426,652,631,652,0.401426766435,-0.005386693995,0.0599426377171,0.999999964745,0.000246193417563,-9.69948159134e-05,2.21512491114e-05,1793242841879559424
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.548969025,680,658.548969025,635,878,787.548969025,804,652,631,652,0.401528090954,-0.00538969124729,0.0599436849989,0.999999965362,0.000244409174467,-9.53314016155e-05,2.12391027431e-05,1793242841896226048
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.029210485,744.970789515,714,680,658.029210485,635,878,787,804.029210485,652,631,652,0.401634264713,-0.00539288817382,0.0599444542446,0.99999996576,0.000242925711302,-9.5152853279e-05,2.03362873332e-05,1793242841912892672
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.615341256,744.384658744,714,680,658.615341256,635,878,787,804.615341256,652,631,652,0.401763998069,-0.00539408425871,0.0599476850397,0.999999966656,0.000242439998289,-8.68227993433e-05,1.93218320169e-05,1793242841929559040
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.800961784,744.199038216,714.199038216,679.800961784,659,635,878,787.199038216,805,652,631,652,0.401902137695,-0.00539664373507,0.0599491444662,0.999999967593,0.000240619913232,-8.11789980535e-05,1.80756229974e-05,1793242841946225664
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.221911624,744.778088376,714.778088376,679.221911624,659,635,878,787.778088376,805,652,631,652,0.402056326906,-0.00540180625431,0.0599472219226,0.999999968705,0.000236252190299,-8.06639016973e-05,1.63869403993e-05,1793242841962892544
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.643833832,679,659,635,878,787.643833832,805,652,630.643833832,652,0.402237914454,-0.00540797297096,0.0599474970771,0.999999970477,0.000230531993872,-7.5403045507e-05,1.46782040061e-05,1793242841979559168
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.066360176,679,659,635,878,787.066360176,805,652,630.066360176,652,0.402436526254,-0.00541476365644,0.0599491377936,0.999999972577,0.000223971423772,-6.71933628826e-05,1.29570068167e-05,1793242841996226048
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.509187848,714,679,659,635,878,787,805,652,630.509187848,651.490812152,0.402664932721,-0.00542078313291,0.059951505857,0.999999974423,0.00021850733701,-5.73342377381e-05,1.09926069145e-05,1793242842012892672
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.826833556,714,679,659,635,878.086583222,787,805,652,631,651,0.402900766707,-0.00542668042561,0.0599539770879,0.999999976211,0.000212641905628,-4.77665548236e-05,8.95483437419e-06,1793242842029559296
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.647673488,714,679,659,635,878.676163256,787,805,652,631,651,0.403157277279,-0.00543244959895,0.0599564990518,0.999999978402,0.000203617864966,-4.11360833741e-05,6.67424815062e-06,1793242842046225920
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.260917843,714,679.260917843,658.739082157,635,878.739082157,787,805,652.260917843,631,651.260917843,0.403427890259,-0.0054387810738,0.0599549190167,0.999999979954,0.000195682750761,-4.22493819324e-05,4.01689931299e-06,1793242842062892544
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.839792071,714,679.839792071,658.160207929,635,878.160207929,787,805,652.839792071,631,651.839792071,0.403715688522,-0.00544579777299,0.0599483402556,0.999999980731,0.000189074610813,-5.27992954143e-05,9.00424947113e-07,1793242842079559168
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.583649749,714,679.583649749,658.416350251,635,878.416350251,787,805,652.583649749,631,652,0.404032108826,-0.0054532872702,0.0599373459316,0.999999981595,0.000179148226582,-6.86000485888e-05,-3.10296166494e-06,1793242842096225792
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.007977845,714,679.007977845,658.992022155,635,878.992022155,787,805,652.007977845,631,652,0.404359481707,-0.00546095768934,0.0599246619371,0.999999982135,0.000167952074598,-8.6410101238e-05,-7.44573631198e-06,1793242842112892416
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.565563078,744.565563078,714,679,659,635,879,787,805,652,631,652,0.404704236609,-0.00546936108637,0.0599117957591,0.999999980831,0.000159579837592,-0.000112910012843,-1.11153739495e-05,1793242842129559040
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765.262899467,745,714,679,659,635,878.262899467,787,805,652,631,651.262899467,0.405477603561,-0.00548472425382,0.0599064225437,0.999999981683,0.000139551038105,-0.000129675423268,-1.85367309715e-05,1793242842162892288
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.321307497,744.678692503,714,679,659,635,878.321307497,787,805,652,631,651.321307497,0.405935031963,-0.0054927639828,0.0599230544011,0.999999986868,0.000123939268082,-0.000102156590188,-2.16110434832e-05,1793242842179558912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.89832424,744.10167576,714,679,659,635,878.89832424,787,805,652,631,651.89832424,0.406428537056,-0.00550144395639,0.0599501203489,0.999999992721,0.000104688909663,-5.49155039189e-05,-2.41544086115e-05,1793242842196225536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.524856943,744.475143057,714,679,659,635,879,787,805,652,631,652,0.40696703097,-0.00550616603743,0.0599791372531,0.999999999525,1.74037946461e-05,-6.20265859692e-06,-2.46555828847e-05,1793242842212892160
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.052879823,659,635,879,787,805,652,631,652,0.407511045035,-0.00550891540938,0.0600055363674,0.999999996335,-7.32116440817e-05,3.67444801972e-05,-2.48814424096e-05,1793242842229559040
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.640324553,659,635,879,787,805,652,631,652,0.408013582143,-0.00550028084667,0.0600012535064,0.999999998207,-5.03797519245e-05,1.82233878274e-05,-2.67400305311e-05,1793242842246225920
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.223785437,745,714,679.776214563,659,635,879,787,805,652,631,652,0.408533316647,-0.00549999530697,0.0599926350441,0.999999998758,-3.98047951236e-05,-5.62121756065e-06,-2.94599705916e-05,1793242842262892800
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.800955309,745,714,679.199044691,659,635,879,787,805,652,631,652,0.409080207903,-0.00551289389104,0.05997717014,0.99999999754,-4.8585032057e-05,-3.78722966389e-05,-3.35400900681e-05,1793242842279559168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.621771913,745,714,679.378228087,659,635,879,787,805,652,631,652,0.409680770967,-0.00552544421244,0.0599746674724,0.99999999624,-6.46039962881e-05,-4.38117588685e-05,-3.77764601252e-05,1793242842296225536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044444982,745,714,679.955555018,659,635,879,787,805,652,631,652,0.410309586794,-0.00553781120835,0.059978988112,0.999999994905,-8.44334182167e-05,-3.59008143099e-05,-4.20950801839e-05,1793242842312892160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.470267486,659,635,878.470267486,787,805,652,631,651.470267486,0.410996037935,-0.00554189555247,0.0599899402671,0.999999993842,-0.000100605840692,-8.57214388603e-06,-4.60433070737e-05,1793242842329558784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107158662,659.107158662,635,878.107158662,786.892841338,805,652,631,651.107158662,0.411681355937,-0.00554351922731,0.0599968906369,0.99999999225,-0.000113709480883,1.02716911013e-05,-4.96401180287e-05,1793242842346225664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.700516207,659.700516207,635,878.700516207,786.299483793,805,652,631,651.700516207,0.412339721899,-0.00553711273676,0.0599831746324,0.99999999199,-0.000114273373263,-1.67298961745e-05,-5.17826537795e-05,1793242842362892288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.285695146,745,714,679.714304854,659.714304854,635,879,786.285695146,805,652,631,652,0.412992286553,-0.00552486985425,0.0599572035514,0.999999994225,-7.00845252643e-05,-6.92012400342e-05,-4.30015705638e-05,1793242842379559168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86253942,745,714,679.13746058,659.13746058,635,879,786.86253942,805,652,631,652,0.413638939231,-0.00550667916104,0.0599187434402,0.999999988642,1.97114034119e-05,-0.000147628566337,-2.30883339149e-05,1793242842396225792
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679.437131831,659,635,879.437131831,787,805,652,631,652,0.414389874521,-0.00550810485556,0.059920135899,0.99999998917,3.28542498462e-05,-0.000141737526326,-2.21482837998e-05,1793242842412892416
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988915045,745,714,680,659.011084955,635,879.988915045,787,805,652,631,652,0.415174984948,-0.00551578415258,0.0599347199139,0.999999993521,2.19300729053e-05,-0.000108371637972,-2.70632335957e-05,1793242842429559296
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411629568,745,714,680,659.588370432,635,879.411629568,787,805,652,631,652,0.416039292961,-0.00552942138532,0.0599862711052,0.999999999409,6.60225588412e-06,-1.90256529454e-05,-2.78543808659e-05,1793242842446225920
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.829813626,635,879,786.829813626,805,652,631,652,0.416881486903,-0.00554008204932,0.060022364915,0.999999998649,-1.28984088804e-05,4.14970564652e-05,-2.85130201251e-05,1793242842462892288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.236740209,635,879,786.236740209,805,652,631,652,0.41766873072,-0.00554334639557,0.0600200494989,0.999999998207,-4.27679594186e-05,3.03983398521e-05,-2.88423977166e-05,1793242842479558912
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.346139577,745,714,680,659.346139577,635,879,786.346139577,805,652,631,652,0.41847072241,-0.00553981378778,0.0600071583458,0.99999999862,-4.13231825752e-05,9.47128029312e-06,-3.10266600382e-05,1793242842496225792
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922246908,745,714,680,659.922246908,635,879,786.922246908,805,652,631,652,0.419282512242,-0.00553176542852,0.0599872408986,0.999999999063,-1.90738330725e-05,-1.79855203232e-05,-3.44432681954e-05,1793242842512892672
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.520453149,745,714,680,660,635,879,787,805,652,631,652,0.420098641659,-0.00553128194426,0.0599614551928,0.999999997263,-3.09265490334e-05,-5.59189866995e-05,-3.72851145151e-05,1793242842529559296
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.037553534,659.962446466,635,879,787,805,652,631,652,0.420914959685,-0.00553206794395,0.0599342124389,0.99999999337,-4.65146151648e-05,-9.74844684536e-05,-3.99172515815e-05,1793242842546226176
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.651438801,659.348561199,635,879,787,805,652,631,652,0.421723780582,-0.00553422310802,0.0598986595947,0.999999984058,-3.77740125297e-05,-0.000169704631716,-4.07072158294e-05,1793242842562892800
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.749792217,659.250207783,635,879,787,805,652,631,652,0.422587421495,-0.00553605754174,0.0598918445124,0.999999981872,-3.38669353903e-05,-0.000182733490024,-4.14465003841e-05,1793242842579559424
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.170881702,659.829118298,635,879,787,805,652,631,652,0.423523080621,-0.0055374706262,0.0599227827708,0.999999991492,-3.63097517023e-05,-0.000118001613314,-4.2119206268e-05,1793242842596226304
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.594772968,660,635,879,787,805,652,631,652,0.424459767814,-0.00554094473873,0.0599720370867,0.999999997341,-4.63596506021e-05,-3.86815549252e-05,-4.08907500952e-05,1793242842612892672
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.01983765,660,635,879,787,805,652,631,652,0.425396885503,-0.0055452820057,0.0600289621296,0.999999996376,-5.95953803979e-05,4.67480016647e-05,-3.88660907225e-05,1793242842629559296
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554873161,745,714,679.554873161,660,635,879,787,805,652,631,652,0.426302784908,-0.00554568811728,0.0600288874022,0.999999996095,-5.6419174417e-05,5.50215716394e-05,-4.0001692236e-05,1793242842646225664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.13367611,787,805.13367611,652,631,652,0.427204209938,-0.00554666704165,0.0600217908419,0.999999996265,-5.53459118801e-05,5.18204429986e-05,-4.14851074412e-05,1793242842662892288
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.726564143,787,805.726564143,652,631,652,0.428094096848,-0.00555009634022,0.0599975701417,0.999999996851,-6.35116399424e-05,1.86729409595e-05,-4.37753778654e-05,1793242842679558656
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.689756446,660,635,880,787,806,652,631,652,0.428951043486,-0.00555073254204,0.0599698762132,0.999999996465,-6.63759660918e-05,-2.46905317597e-05,-4.53216335979e-05,1793242842696225536
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.113959208,660,635,880,787,806,652,631,652,0.429779794777,-0.00554897798607,0.0599392093682,0.999999993889,-6.47025445368e-05,-7.67983864016e-05,-4.62310480596e-05,1793242842712892160
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679.924236786,660,635,879.537881607,787,806,652,631,651.537881607,0.430644523001,-0.00554593617988,0.0599248865813,0.999999992042,-6.21499197858e-05,-9.87288061284e-05,-4.80142782609e-05,1793242842729559040
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.960815971,745,714,680.960815971,660,635,879,787,806,651.960815971,631,651,0.431524435089,-0.00554311703403,0.059918949495,0.999999991374,-5.97632549332e-05,-0.000105844153692,-4.9766796663e-05,1793242842746225920
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.37083489,745,714,680.37083489,660,635,879,787,806,651.37083489,631,651,0.432492994719,-0.00554789258807,0.0599741980284,0.999999996832,-6.27589564929e-05,-9.37943721277e-06,-4.80567732011e-05,1793242842762892544
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,806,651,631,651,0.433420301736,-0.00555119017275,0.0600087487627,0.999999995539,-6.70050595472e-05,4.69765794225e-05,-4.71757069064e-05,1793242842779558912
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,806,651,631,651,0.434277802026,-0.00555198676677,0.0600082750869,0.999999995542,-7.33670693384e-05,3.54614381662e-05,-4.7697386382e-05,1793242842796225536
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.370336499,745,714,680,660,635,879.740672998,787,806,651.370336499,631,651,0.435113893534,-0.00555476363869,0.0599882947929,0.999999995657,-7.90810424777e-05,2.88517990616e-07,-4.93153301432e-05,1793242842812892416
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.944381229,745,714,680,660,635,880.888762457,787,806,651.944381229,631,651,0.435938208821,-0.00555862978722,0.0599575846393,0.99999999396,-8.44385544097e-05,-4.78976591436e-05,-5.15362876837e-05,1793242842829559296
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.530942572,714,680,660,635,880.469057428,787,806,652,631,651,0.436727881494,-0.0055585099303,0.059940880075,0.999999992334,-8.23125212884e-05,-7.59294135639e-05,-5.28320160515e-05,1793242842846226176
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.882908521,714,680.117091479,660,635,879.882908521,787,806,651.882908521,631,651,0.437512716447,-0.00555731432097,0.0599243560362,0.999999989529,-8.11553495304e-05,-0.000107040967704,-5.38336403245e-05,1793242842862892544
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.303687222,714,680.696312778,660,635,879.303687222,787,806,651.303687222,631,651,0.43829312658,-0.00555356075691,0.0599026142112,0.999999982139,-8.69907205693e-05,-0.000158841519625,-5.40662739952e-05,1793242842879559424
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680.725121496,660.274878504,634.725121496,879,787,806,651.274878504,631,651,0.439099579477,-0.00555152917084,0.0599070424797,0.999999982311,-8.80764009447e-05,-0.000157018878932,-5.4464184034e-05,1793242842896226048
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680.147278366,660.852721634,634.147278366,879,787,806,651.852721634,631,651,0.439934736043,-0.00555139550868,0.0599403148119,0.999999990346,-8.39270834737e-05,-9.60940121397e-05,-5.50442577598e-05,1793242842912892416
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.571761468,634,879,787,806,651.571761468,631,651,0.440739173214,-0.00555461296797,0.0599817512741,0.999999994708,-8.12961516158e-05,-3.36073064227e-05,-5.33406415157e-05,1793242842929559040
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.996963076,745,714,680.003036924,660.003036924,634.003036924,879,787,806,651,631,651.003036924,0.441532535148,-0.00555896055525,0.0600256362591,0.999999995145,-7.92808103521e-05,2.89330441981e-05,-5.08662889096e-05,1793242842946225920
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.407259944,745,714,680.592740056,660.592740056,634.592740056,879,787,806,651,631,651.592740056,0.442216274847,-0.00556018790559,0.0600030504301,0.999999994135,-9.58519095363e-05,-1.36796415791e-06,-5.04047897313e-05,1793242842962892544
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.820850493,660.820850493,635,879.179149507,787,806,651.179149507,631,651.820850493,0.442902861692,-0.00556132769594,0.0599807992478,0.999999992694,-0.000105252050546,-3.09135485932e-05,-5.07693969957e-05,1793242842979559168
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.241793271,660.241793271,635,879.758206729,787,806,651.758206729,631,651.241793271,0.443595804234,-0.00556227203015,0.0599592950785,0.999999992004,-9.86447744234e-05,-5.87728386764e-05,-5.29780860224e-05,1793242842996226048
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335967014,745,714,680.335967014,660.335967014,635,880,787,806,652,631,651,0.444265767255,-0.00556608577985,0.0599548738307,0.999999991575,-9.86417182583e-05,-6.47940736073e-05,-5.4048629663e-05,1793242843012892672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.912797458,745,714,680.912797458,660.912797458,635,880,787,806,652,631,651,0.444919255623,-0.00557195668757,0.0599626997718,0.999999991661,-0.000103373398372,-5.51590411533e-05,-5.43032073673e-05,1793242843029559552
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.513902461,635,880,787,806,651.513902461,631,651,0.445521873621,-0.0055692422403,0.0599603966603,0.999999990993,-0.000101011568913,-6.87505598942e-05,-5.55373473205e-05,1793242843046225920
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680.939725468,660,634.939725468,880,787,806,651,631,651,0.446109868386,-0.00556510790498,0.0599547074534,0.999999989771,-9.77801751361e-05,-8.73961836983e-05,-5.70875494811e-05,1793242843062892800
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680.352382192,660,634.352382192,880,787,806,651,631,651,0.446649215595,-0.00556192811923,0.0599351834925,0.999999986901,-9.79922396321e-05,-0.000114064553591,-5.98759907971e-05,1793242843079559424
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.231580894,660,634,880,786.768419106,806,651,631,651.231580894,0.447199000571,-0.00555934996531,0.0599277605678,0.99999998604,-9.81144957794e-05,-0.000119895879269,-6.26045483315e-05,1793242843096226048
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.810474498,660,634,880,786.189525502,806,651,631,651.810474498,0.447764439504,-0.00555767410711,0.0599384861355,0.999999988597,-9.81020621616e-05,-9.44769116718e-05,-6.52432951275e-05,1793242843112892672
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612891304,745,714,681,660,634,880,786,806,651.387108696,631,652,0.44828585809,-0.00556243819711,0.0599483251539,0.999999989524,-0.000102415939943,-7.81010626673e-05,-6.60490113149e-05,1793242843129559552
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037356826,745,714,681,660,634,880,786,806,651.962643174,631,652,0.448785849753,-0.00557033694216,0.0599577326439,0.999999989715,-0.000108835656793,-6.61269639905e-05,-6.59624971307e-05,1793242843146226432
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681.538575095,660,634,880,786.538575095,806,651.461424905,631,651.461424905,0.44918640498,-0.00557585032036,0.0599252236413,0.99999998304,-0.000119740901002,-0.000122131734189,-6.83010978915e-05,1793242843162893056
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.882209657,659.882209657,634,879.882209657,786.882209657,806.117790343,651,631,651,0.449574579263,-0.00558098665227,0.0598899844645,0.999999972832,-0.00012969862079,-0.000180319347267,-7.06984543579e-05,1793242843179559680
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.289877847,659.289877847,634,879.289877847,786.289877847,806.710122153,651,631,651,0.449940681617,-0.00558527103962,0.0598554680196,0.999999962246,-0.000134584697385,-0.000228290963668,-7.26543472936e-05,1793242843196226304
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806.706116707,651,631,651,0.450308778888,-0.00558808651647,0.0598331060875,0.999999959836,-0.000103120431202,-0.000256288658128,-6.33335840198e-05,1793242843212892928
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806.1305699,651,631,651,0.450678788105,-0.00558949416046,0.059822393281,0.999999963239,-3.68172829349e-05,-0.000265142950565,-4.32050519809e-05,1793242843229559808
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448064485,745,714,681.448064485,659,633.551935515,879,786.448064485,806.448064485,651.448064485,631,651.448064485,0.451027669711,-0.00558638090797,0.0598314979588,0.999999967331,-2.35837028784e-05,-0.000251418093803,-3.96389403256e-05,1793242843246226176
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714.02796058,682,659,633,879,786.97203942,807,652,631,652,0.451367705739,-0.0055816909151,0.0598458427101,0.999999971975,-2.59047657253e-05,-0.00023172974292,-4.0989288507e-05,1793242843262892800
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.614969127,682,659,633,879,786.385030873,807,652,631,652,0.451654835565,-0.00557199897676,0.0598486911225,0.999999973292,-2.78739424447e-05,-0.000225275953861,-4.34700389438e-05,1793242843279559680
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.800109638,745,714.800109638,681.800109638,659,633,879.199890362,786,806.800109638,652,631,652,0.451934698359,-0.00556380851403,0.0598525215284,0.999999974015,-4.72506253982e-05,-0.000218272702384,-4.57735920987e-05,1793242843296226304
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.21916752,745,714.21916752,681.21916752,659,633,879.78083248,786,806.21916752,652,631,652,0.452200707951,-0.00555848032107,0.0598582239121,0.999999971783,-9.98113031888e-05,-0.000210222008952,-4.77393530373e-05,1793242843312893184
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.357887849,745,714,681.357887849,659,633,880,786,806,651.642112151,631,652,0.45244048053,-0.00556033784357,0.0598590124293,0.99999996993,-0.000121085575908,-0.00020756565779,-4.89417545038e-05,1793242843329559552
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.932588634,745,714,681.932588634,659,633,880,786,806,651.067411366,631,652,0.452664358424,-0.00556654856186,0.0598568240652,0.999999969482,-0.000123406158306,-0.000208177266112,-4.96817035003e-05,1793242843346225920
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,681.493377946,659,632.493377946,880,786,806.506622054,651.506622054,630.493377946,652,0.452842790827,-0.00557089219089,0.0598482972296,0.999999966568,-0.000126077597691,-0.000219959985134,-5.08505687415e-05,1793242843362892544
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.916899082,745,714.083100918,681,658.916899082,632.083100918,880,786,806.916899082,652,630.083100918,652,0.453011341708,-0.00557437983464,0.0598400553873,0.999999963456,-0.000128172758719,-0.000232279638464,-5.20172204247e-05,1793242843379559680
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.32490138,745,714.67509862,681,658.32490138,632.67509862,880,786,806.32490138,652,630.67509862,652,0.453156361936,-0.00557414494228,0.0598387168479,0.999999962098,-0.000126453367578,-0.000238796692819,-5.28212784057e-05,1793242843396226048
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.261345467,745,714.738654533,681,658,632.738654533,880.261345467,786,806,652,631,652,0.45329364778,-0.00557452402528,0.0598369886596,0.999999961278,-0.000123914584218,-0.00024336531681,-5.35042321321e-05,1793242843412892672
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.840596821,745,714.159403179,681,658,632.159403179,880.840596821,786,806,652,631,652,0.453421525354,-0.00557564996029,0.0598347864949,0.999999961143,-0.000120379075771,-0.000245563830485,-5.40398721582e-05,1793242843429559296
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714.417299838,681.417299838,658.417299838,632,880.582700162,786,806.417299838,652,631,651.582700162,0.453531181958,-0.00557579088898,0.0598338978873,0.99999996062,-0.000117256061569,-0.000249228681746,-5.38076146171e-05,1793242843446226176
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.420162494,745,714.420162494,682,658.420162494,632,880.579837506,785.420162494,807,652,631,651,0.453710631266,-0.00557813451555,0.0598306389937,0.999999958774,-0.000115154750717,-0.000257559448172,-5.34191724804e-05,1793242843479559168
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.165150866,745,714,681.834849134,658,632,880.669698269,785.165150866,806.834849134,651.834849134,631,651,0.45378148051,-0.0055798301018,0.0598275814935,0.999999957483,-0.000115757763318,-0.000262233909707,-5.3544176699e-05,1793242843496225792
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,714,681,658,632,879,786,806.324366327,651,630.675633673,651,0.453886738686,-0.00557764453005,0.059820375213,0.999999954467,-0.000114247014149,-0.000274064002252,-5.38835259735e-05,1793242843529559296
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,681,658,632,879,786,806.899862789,651,630.100137211,651,0.453928520891,-0.00557532355326,0.0598163968623,0.999999953192,-0.000112013748381,-0.000279502537948,-5.42853635441e-05,1793242843546225920
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.933446349,714,681.066553651,658,632,879.933446349,785,807,652,630.933446349,652,0.453997112263,-0.00557804940484,0.0598172716514,0.999999954012,-0.000113266455085,-0.00027616360189,-5.36756002919e-05,1793242843579559168
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.353817542,714,681.646182458,658,632,879.353817542,785,807,652,630.353817542,652,0.454018575353,-0.00557636302029,0.0598173444334,0.999999954183,-0.000111065115799,-0.000276483200331,-5.34328624571e-05,1793242843596225792
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.224944485,714,682,658,632,879.224944485,785,806.775055515,652,630.224944485,652,0.454034334969,-0.00557442317021,0.0598160597651,0.999999953636,-0.000108777802991,-0.000279335518511,-5.35376362955e-05,1793242843612892672
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.802348345,714,682,658,632,879.802348345,785,806.197651655,652,630.802348345,652,0.454041157963,-0.00557208617202,0.0598126481451,0.999999951933,-0.000106355780743,-0.000286156286103,-5.4186916704e-05,1793242843629559552
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681.046783398,658,632,880,785.953216602,806,652,631,652,0.454057757655,-0.00557639455532,0.0598119692631,0.999999951307,-0.00011044296903,-0.000287004564637,-5.30820140456e-05,1793242843662892544
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714.541516262,681.541516262,658,632,880,785.458483738,806,652,631,652,0.454062161227,-0.00557509351793,0.0598119831192,0.999999951295,-0.000110078845864,-0.000287219482027,-5.28908019054e-05,1793242843679559168
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.871370781,714.871370781,681.871370781,658,632,880,785.128629219,806.128629219,652,631,651.871370781,0.4540646942,-0.00557342005579,0.0598111009556,0.999999950939,-0.000109153155602,-0.000288793882111,-5.29604008303e-05,1793242843696225792
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.283959478,745,714,681,658,632,879.716040522,786,806.716040522,651.716040522,631,651.283959478,0.454060868619,-0.00557155383087,0.059804963333,0.999999948468,-0.000105838071439,-0.000298296356297,-5.36894564062e-05,1793242843729559296
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.858033763,745,714,681,658,632,879.141966237,786,806.141966237,651.141966237,631,651.858033763,0.454061388123,-0.00557270640561,0.0598045190419,0.999999948333,-0.000104793735531,-0.000299283285153,-5.2748279195e-05,1793242843746226176
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.986928422,658,631.986928422,879.986928422,785,806.986928422,651.013071578,631,652,0.454061049221,-0.00557425949251,0.0598017558207,0.999999947103,-0.000107106092188,-0.000302591607225,-5.25481187269e-05,1793242843779559424
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.396558108,658,631.396558108,879.396558108,785,806.396558108,651.603441892,631,652,0.454060604997,-0.00557455535643,0.0598011317477,0.999999946796,-0.000108338317757,-0.000303197903657,-5.23674593065e-05,1793242843796226304
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.190277468,714,681,658,631.190277468,879.190277468,785,806.190277468,652,630.809722532,652,0.454060731864,-0.00557404501833,0.0598008190493,0.999999946823,-0.000107758989353,-0.000303310379536,-5.23824374932e-05,1793242843812892928
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.7698806,714,681,658,631.7698806,879.7698806,785,806.7698806,652,630.2301194,652,0.454062027236,-0.00557188511479,0.0598011434529,0.999999947526,-0.000103473050405,-0.000302412451893,-5.27977087057e-05,1793242843829559552
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,681.347146376,658,631.652853624,879.652853624,785,807,652,630.347146376,652,0.454062374811,-0.00557075432874,0.0598011896513,0.999999947621,-0.000102123802395,-0.000302543347383,-5.28869023055e-05,1793242843846226176
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,681.922873084,658,631.077126916,879.077126916,785,807,652,630.922873084,652,0.454062098303,-0.00557030117055,0.059801052664,0.999999947323,-0.000102708233945,-0.000303351676842,-5.27613883924e-05,1793242843862892544
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681.503468395,658,631.496531605,879,785,807,652,631,652,0.454061839173,-0.00557124432735,0.0598004944561,0.999999946919,-0.000105292333703,-0.000303767365077,-5.29219160287e-05,1793242843879559424
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.072171187,745.927828813,714,681.072171187,658,632,879.072171187,785,807,652,630.927828813,652,0.454061679892,-0.00557210250808,0.0598000189423,0.999999946585,-0.000107535940652,-0.000304052377577,-5.30908345317e-05,1793242843896226304
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+247,4.116666667,HOLD_POSE2,766,745,714,682,658,631,880,786,806,652,631,651,0.45406146424,-0.00557045648644,0.059799316121,0.999999946549,-0.000102079949191,-0.000306198624844,-5.21834329375e-05,1793242843951346432
+248,4.133333333,HOLD_POSE2,765.421200059,745,714,682,658,631,880,785.421200059,806,652,631,651.578799941,0.454060912956,-0.00557121475747,0.0597983459492,0.999999945944,-0.000103889328608,-0.000307531689245,-5.23687522953e-05,1793242843968013056
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+250,4.166666667,HOLD_POSE2,765,745,714,681.250906216,658,631.749093784,879.250906216,785,806,652,630.250906216,652,0.454060587204,-0.00557121059226,0.0597974179158,0.999999945751,-0.00010356649233,-0.000308279524413,-5.23082000672e-05,1793242844001346304
+251,4.183333333,HOLD_POSE2,765,745,714,681,658,632,879,785,806,652,630,652,0.454061137119,-0.00557099902184,0.0597979385159,0.999999945976,-0.000103408106456,-0.000307629227673,-5.21519826958e-05,1793242844018012928
+252,4.200000000,HOLD_POSE2,765,745,714,681,658,632,879,785,806,652,630,652,0.45406205138,-0.00557095484539,0.0597989753115,0.999999946221,-0.000104089072164,-0.000306625739097,-5.19938147346e-05,1793242844034679808
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+254,4.233333333,HOLD_POSE2,765,745.938501133,714,681.938501133,657.938501133,631.938501133,879.938501133,785.938501133,806.938501133,651.938501133,630,651.938501133,0.454059171965,-0.0055676797233,0.0597946359225,0.999999944712,-0.000101419329031,-0.000312162223611,-5.33421505557e-05,1793242844068013056
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+256,4.266666667,HOLD_POSE2,765,745,714,681,657.212062218,631,879.212062218,785,806,651.212062218,630,651.212062218,0.454060164994,-0.00556829074787,0.059796853319,0.999999945358,-0.000100152259372,-0.000310730286958,-5.19691800279e-05,1793242844101346304
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.806295637,657,631.806295637,880,785.193704363,806.806295637,652,630,651.193704363,0.454061853136,-0.0055687621936,0.0597973830127,0.999999945307,-0.000102288777113,-0.000310124722489,-5.24043588254e-05,1793242844272859904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.229762628,657,631.229762628,880,785.770237372,806.229762628,652,630,651.770237372,0.454059633172,-0.00556982811544,0.0597949554425,0.999999944633,-0.000100581646752,-0.000312951451227,-5.17576882818e-05,1793242844289526528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.354994404,657.354994404,631,879.645005596,785.645005596,806,652,630,652,0.454058506501,-0.00556933422208,0.0597934946321,0.999999943905,-0.000100736322043,-0.000315224846443,-5.17294259981e-05,1793242844306193664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.945200463,657.945200463,631,879.054799537,785.054799537,806,652,630,652,0.454058104222,-0.00556780682867,0.0597926743762,0.999999943141,-0.000102124589807,-0.000317131614604,-5.21109077617e-05,1793242844322860800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.475246749,658.524753251,631.524753251,879.524753251,785,806.524753251,652,630,652,0.454057542849,-0.00556766221784,0.0597931408822,0.999999943439,-9.93655236629e-05,-0.00031706550687,-5.21276396642e-05,1793242844339527168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.102444237,658.897555763,632,880.102444237,785,806.897555763,652,630.102444237,652,0.454056647566,-0.00556759853783,0.0597933733534,0.999999943624,-9.71545210945e-05,-0.000317157354035,-5.21860460312e-05,1793242844356193792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.676583254,658.323416746,632,880.676583254,785,806.323416746,652,630.676583254,652,0.454054289801,-0.00556725583677,0.0597919218261,0.999999942823,-9.94215258366e-05,-0.000318906240327,-5.26082329901e-05,1793242844372860160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.749449333,880.498898666,785,806.250550667,652,631,652,0.454045741847,-0.00556706640295,0.0597875468829,0.999999940565,-0.00010056530716,-0.000325519934234,-5.28437939542e-05,1793242844389526784
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.41263242,879.41263242,785,807,651.58736758,631,651.58736758,0.453995161385,-0.0055666900492,0.059763398434,0.999999927185,-0.000100333586454,-0.000364314856006,-5.32799388686e-05,1793242844422860032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.007205738,745,714,681.992794262,658,631.992794262,880.007205738,785.007205738,806.992794262,651.007205738,631,651.007205738,0.453953146205,-0.00556609666363,0.0597439188922,0.999999915109,-0.000100532416729,-0.000395938315458,-5.39278900505e-05,1793242844439526656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.585712218,745,714,681.414287782,658,631.414287782,880.585712218,785.585712218,806.414287782,651.585712218,631,651.585712218,0.453892390444,-0.00556270233043,0.0597237208318,0.999999903277,-9.74302507652e-05,-0.000425312921507,-5.53321674903e-05,1793242844456193280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.837432816,745,714,681.162567184,658,631,880.674865633,785.837432816,806,652,630.837432816,651.837432816,0.453829457272,-0.00556011222536,0.059706149798,0.999999892578,-9.55337358099e-05,-0.000450040668298,-5.63962542105e-05,1793242844472860160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.264744142,745,714,681.735255858,658,631,879.529488283,785.264744142,806,652,630.264744142,651.264744142,0.453761030955,-0.00555955101143,0.0596952061741,0.999999886519,-9.66788144881e-05,-0.00046304541127,-5.6602114457e-05,1793242844489526784
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.091411032,658,631.908588968,879.908588968,785.908588968,806.908588968,651.091411032,630.908588968,651.908588968,0.453605891336,-0.00555335901073,0.0596856579735,0.999999881877,-9.09374088874e-05,-0.000474239177176,-5.54425669648e-05,1793242844522860032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.489737733,745,714,681,658,632,880,786,806.510262267,651.489737733,631,652,0.453509629708,-0.005550682024,0.0596885401428,0.999999884269,-8.98032318635e-05,-0.000469476703002,-5.46664235196e-05,1793242844539526656
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.931409287,745.068590713,714,681.068590713,658.068590713,631.931409287,880,785.931409287,806,651.931409287,631,652,0.453407020753,-0.00554808062534,0.0596923721612,0.999999887231,-8.89114598083e-05,-0.000463386201485,-5.39047669658e-05,1793242844556193024
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.356372405,745.643627595,714,681.643627595,658.643627595,631.356372405,880,785.356372405,806,651.356372405,631,652,0.453279090297,-0.00554444133359,0.0596953775847,0.9999998898,-8.583142094e-05,-0.000458479716825,-5.31962719328e-05,1793242844572859648
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.781068037,714,682,658.781068037,631.218931963,879.781068037,785,806.218931963,651.218931963,631,652,0.453140541382,-0.0055405248847,0.0596979585205,0.99999989175,-8.23945881807e-05,-0.000454963129187,-5.21486426655e-05,1793242844589526272
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.380627316,745,714,681.619372684,658,632,879.761254632,785.380627316,806.619372684,652,631,651.619372684,0.452809155401,-0.00553016740731,0.0597001080675,0.999999893056,-7.15335327816e-05,-0.000454225470268,-4.94912425066e-05,1793242844622859776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.972244787,745,714,681.027755213,658,632,880.944489575,785.972244787,806.027755213,652,631,651.027755213,0.45262271657,-0.00552327942571,0.0596994656756,0.999999892981,-6.31251687488e-05,-0.000455717620707,-4.87353327577e-05,1793242844639526656
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.299830471,746,714,681,658,632.700169529,880,785.700169529,807,651.700169529,631,652,0.451889442992,-0.00550212441498,0.0596947593079,0.999999889396,-4.83098744262e-05,-0.000465752019855,-4.41485477009e-05,1793242844689526784
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.87205974,745.12794026,714,681.87205974,658,633,880,786,806.12794026,651.12794026,630.12794026,651.12794026,0.451312228302,-0.00548574529867,0.0597038389136,0.999999895767,-3.25117318673e-05,-0.000453689027101,-3.96862192865e-05,1793242844722859776
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.546228976,745,714,681.546228976,658.453771024,633,879.546228976,786,806,651.453771024,630.453771024,651.453771024,0.450971378612,-0.00547794340867,0.0596979453642,0.999999891153,-2.44433556584e-05,-0.000464434449101,-3.73787742512e-05,1793242844739526144
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.033194779,714,681.033194779,659,633,879.033194779,786,806.033194779,652,631.033194779,652,0.450615097211,-0.00547042554789,0.0596887052998,0.999999884015,-1.67575075622e-05,-0.000480057444281,-3.51378139171e-05,1793242844756193024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.611195085,714,681.611195085,659,633,879.611195085,786,806.611195085,652,631.611195085,652,0.450216371647,-0.00546457072102,0.0596794650904,0.999999878861,-9.13730922369e-06,-0.000491031092577,-3.28981794235e-05,1793242844772859392
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.187432575,745.812567425,714,681.812567425,659,633,880,786.187432575,806.812567425,652,631.812567425,652,0.449803534104,-0.00545762738381,0.0596717992018,0.999999874781,-1.11806528136e-06,-0.000499495774751,-3.06574486857e-05,1793242844789526272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.760047327,745.239952673,714,681.239952673,659,633,880,786.760047327,806.239952673,652,631.239952673,652,0.449361695872,-0.00544844711071,0.0596673686131,0.99999987316,7.72123397208e-06,-0.000502804420055,-2.84144654021e-05,1793242844806193152
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.656913839,745,714,681,659.343086161,633,879.656913839,786.656913839,806,652,631,651.656913839,0.448910702531,-0.00544005909871,0.059669987239,0.999999874999,1.58168486411e-05,-0.000499103966646,-2.54355866216e-05,1793242844822859776
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.091308371,745,714,681,660,634.091308371,880.908691629,786.091308371,807,651.091308371,631,651.908691629,0.447496825748,-0.00544341455806,0.0597328098628,0.999999920911,9.61084365961e-06,-0.000397296832069,-1.552953215e-05,1793242844872859904
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.164273411,745,714,681,660,634.164273411,880,787,806.164273411,651.164273411,631,651.835726589,0.445817728302,-0.00542790972875,0.0598141914472,0.99999995796,2.47651430276e-05,-0.000288888719623,-3.00136648897e-06,1793242844922859776
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.149561165,745,714,681,660.149561165,634,879.149561165,787,806,651,631,651.149561165,0.443149497,-0.00538342855904,0.0597858455044,0.999999944495,9.53901384555e-05,-0.000319123969834,8.41740490114e-06,1793242844989526784
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.116931495,659.883068505,635,879,787,806.883068505,651,631,651.883068505,0.433342522649,-0.00540241009754,0.0597868786739,0.999999941836,0.000148044438473,-0.000307107910586,9.78810790948e-06,1793242845189526528
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.267051229,745,714,680.732948771,659.267051229,635,879.267051229,787,805.732948771,651,631,651,0.431559233019,-0.00539130829456,0.0598114405961,0.99999994326,0.000174797678253,-0.000287281753368,1.98982373516e-05,1793242845222859776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.841034786,745,714,680.158965214,659.841034786,635,879.841034786,787,805.158965214,651,631,651,0.430682094178,-0.00539049322666,0.0598316647582,0.999999950543,0.000193588984361,-0.000246842072611,2.2522320493e-05,1793242845239526656
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,744.978508247,714,680,660.957016495,634.978508247,879,787,806,652,631,651.021491753,0.428765283144,-0.00538874422483,0.0598102414379,0.999999937161,0.000177633004969,-0.000306121929883,2.0359594463e-05,1793242845272859648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744.400854938,714,680,659.801709877,634.400854938,879,787,806,652,631,651.599145062,0.427812992487,-0.00538646807756,0.0597664218625,0.999999916379,0.000178573907912,-0.00036745010426,1.82467340652e-05,1793242845289526528
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.409115025195,-0.00538339408699,0.0598388251187,0.999999937704,0.000193408948874,-0.000294221474727,2.48573525103e-05,1793242846889526784
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+498,8.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.409791669,635,878.590208331,787,805,652.409791669,631,651.590208331,0.400964824312,-0.00538234164484,0.0598405769788,0.999999933899,0.000239938503056,-0.000269813400007,4.28061069278e-05,1793242848156193280
+499,8.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.988656427,635,878.011343573,787,805,652.988656427,631,651.011343573,0.400964924524,-0.00538348563379,0.0598412632602,0.999999934549,0.000238425663156,-0.000268772718515,4.26244100905e-05,1793242848172859904
+500,8.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.56562052,659,635,878.56562052,787,805,652.43437948,631.56562052,651.56562052,0.400965921336,-0.00538490982636,0.0598425078126,0.999999935676,0.000236304376347,-0.000266396410223,4.29045765374e-05,1793242848189526272
+501,8.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.855253547,659,635,879,787,805,652,631.855253547,652,0.400966288602,-0.00538570671204,0.0598430857585,0.999999936321,0.000234865830657,-0.000265220131598,4.30698993488e-05,1793242848206192896
+502,8.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.269424147,659,635,879,787,805,652,631.269424147,652,0.400964682857,-0.00538457495114,0.0598415983643,0.999999935487,0.000235544848121,-0.000267782030772,4.28571299054e-05,1793242848222859520
+503,8.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.687304725,787,805,652,630.687304725,652,0.400963936633,-0.00538428362407,0.0598409140079,0.999999935212,0.000235767062321,-0.000268660349261,4.25562333796e-05,1793242848239526400
+504,8.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.108344438,787,805,652,630.108344438,652,0.400963922306,-0.00538470793984,0.0598409134511,0.999999935416,0.000235600301226,-0.000268105071826,4.21802952493e-05,1793242848256193280
+505,8.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.468776468,659,635,878.468776468,787.468776468,805,652,630.937552937,652,0.400963827136,-0.00538490349996,0.0598411688903,0.99999993553,0.000235291985441,-0.000267907439985,4.24715365933e-05,1793242848272859904
+506,8.433333333,POSE2_TO_POSE3_RETREAT,765.04546762,745,714,680,659,635,879,787.95453238,805,652,631.95453238,652,0.400963701848,-0.00538500166681,0.0598414494282,0.999999935599,0.000235011689171,-0.000267833065078,4.28529287213e-05,1793242848289526784
+507,8.450000000,POSE2_TO_POSE3_RETREAT,765.622084742,745,714,680,659,635,879,787.377915258,805,652,631.377915258,652,0.400963442143,-0.00538457730682,0.0598413346938,0.999999935406,0.000235439411689,-0.000268236718651,4.24931462278e-05,1793242848306193408
+508,8.466666667,POSE2_TO_POSE3_RETREAT,765.797341551,745,714,680,659,635,879,787,805,652.202658449,631,652,0.400963641303,-0.00538435411204,0.0598416812509,0.999999935518,0.000235411161989,-0.000267879764434,4.22549175489e-05,1793242848322859776
+509,8.483333333,POSE2_TO_POSE3_RETREAT,765.209242628,745,714,680,659,635,879,787,805,652.790757372,631,652,0.40096471319,-0.00538451351764,0.0598429051483,0.99999993621,0.000234515688971,-0.000266076193938,4.22478746272e-05,1793242848339526400
+510,8.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652.624880263,631,652,0.400964799127,-0.00538491535939,0.0598428238458,0.999999936102,0.00023488031902,-0.000266156355955,4.22854385599e-05,1793242848356192768
+511,8.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652.042581637,631,652,0.400964340524,-0.00538545109877,0.0598420216806,0.999999935551,0.000235940904919,-0.000267276904851,4.23476388898e-05,1793242848372859392
+512,8.533333333,POSE2_TO_POSE3_RETREAT,765.531142022,745,714,679.468857978,659,635,879,787,805,652,631,652,0.400964560067,-0.005385926552,0.0598423647163,0.999999936028,0.000235202035907,-0.000266143691335,4.23148421315e-05,1793242848389526272
+513,8.550000000,POSE2_TO_POSE3_RETREAT,765.895260521,745,714,679.104739479,659,635,879,787,805,652,631,652,0.400964950239,-0.00538625050391,0.0598428791522,0.999999936548,0.000234420287809,-0.000264881810045,4.22868568935e-05,1793242848406193152
+514,8.566666667,POSE2_TO_POSE3_RETREAT,765.319186558,745,714,679.680813442,659,635,879,787,805,652,631,652,0.400965867485,-0.00538591409383,0.0598437583106,0.999999936901,0.000234084456285,-0.000263841087155,4.23142514068e-05,1793242848422859776
+515,8.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.735644367,635,879,787,805,652.264355633,631,652,0.400965554943,-0.00538527588458,0.0598435882683,0.999999936766,0.000233990571484,-0.000264452060346,4.22052598471e-05,1793242848439526400
+516,8.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.142822834,635,879,787,805,652.857177166,631,652,0.40096371437,-0.00538426268529,0.0598421145781,0.999999936022,0.000234197309197,-0.000267115291159,4.19268065117e-05,1793242848456192768
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b983b0454c173ff84f103f1ffa2a369eb7fb218
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,518 @@
+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,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+67,1.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+68,1.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+69,1.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+70,1.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+71,1.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+72,1.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+73,1.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+74,1.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+75,1.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+76,1.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+77,1.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbde8237c19751a5084114705464fdf98b308707
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020d8722e4de9b8d15be9a255139608df8a76318cff1a3ae6cfefeccd0006089
+size 25958479
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36552c7ed6805f254120ab3829d4a396a2de138d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+6,0.100000000,BASELINE,766,745,714,679,659,635,878.480519763,787,805,652,631,652,0.4009644576,-0.00538647925555,0.0598444795937,0.999999936979,0.000234447772198,-0.000263282627791,4.19421230789e-05,1793242848704113920
+7,0.116666667,BASELINE,766,745,714,679.05456332,659,635,878.94543668,787,805,652,631,652,0.400964919071,-0.00538638013388,0.0598444926916,0.999999936843,0.000235126087472,-0.000263190737146,4.19665722674e-05,1793242848720780800
+8,0.133333333,BASELINE,766,745,714,679.63125357,659,635,878.36874643,787,805,652,631,652,0.400965583875,-0.0053871175609,0.0598449909149,0.999999937275,0.00023412639718,-0.000262425521626,4.20540053731e-05,1793242848737447424
+9,0.150000000,BASELINE,765.786203248,745,714,680,659,635,878.213796752,787,805,652,631,652,0.400966267623,-0.00538707550421,0.0598454232338,0.999999937497,0.000233968561456,-0.000261712443472,4.20816585313e-05,1793242848754114048
+10,0.166666667,BASELINE,765.193281137,745,714,680,659,635,878.806718863,787,805,652,631,652,0.400966984962,-0.00538565119051,0.0598457386844,0.99999993735,0.000235303584888,-0.00026109182049,4.20033040172e-05,1793242848770780672
+11,0.183333333,BASELINE,765.387881343,745,714,680,659,635,878.612118657,787,805,652.387881343,631,652,0.400965912374,-0.00538641459252,0.05984533438,0.999999937666,0.000232879089939,-0.000262059909887,4.19529518736e-05,1793242848787447552
+12,0.200000000,BASELINE,765.963356483,745,714,680,659,635,878.036643517,787,805,652.963356483,631,652,0.400963974109,-0.00538823605481,0.0598445819754,0.99999993819,0.000228636352649,-0.000263796359425,4.19161427071e-05,1793242848804114432
+13,0.216666667,BASELINE,765.461559153,745,714,679.461559153,659,635,878,787.538440847,805,652.461559153,631,652,0.40096428807,-0.00538724177387,0.0598444582422,0.999999937985,0.000230756096609,-0.000262753621073,4.17349252734e-05,1793242848820781056
+14,0.233333333,BASELINE,765,745,714,679.113301788,658.886698212,635,878.113301788,787.886698212,805,652,631,652,0.40096486367,-0.00538657091938,0.0598445665525,0.999999937881,0.000232605788757,-0.000261522437453,4.16923396348e-05,1793242848837447680
+15,0.250000000,BASELINE,765,745,714,679.687362389,658.312637611,635,878.687362389,787.312637611,805,652,631,652,0.40096588041,-0.00538799403388,0.0598454446407,0.999999938412,0.000231597701479,-0.000260293509678,4.22534578285e-05,1793242848854114304
+16,0.266666667,BASELINE,765,745,714,679.728835949,658.271164051,635,878.728835949,787,805,652,631,652,0.400966669191,-0.00538827089555,0.0598459720261,0.999999938626,0.000231160174624,-0.000259861229539,4.22586138306e-05,1793242848870781184
+17,0.283333333,BASELINE,765,745,714,679.133384918,658.866615082,635,878.133384918,787,805,652,631,652,0.400967185355,-0.00538717694539,0.0598460800037,0.999999938461,0.000231404985016,-0.000260381665934,4.15988907393e-05,1793242848887447808
+18,0.300000000,BASELINE,765,745,714,679.447711229,659,635,878.447711229,787,804.552288771,652,631,652,0.400967107822,-0.00538688173022,0.0598461536081,0.999999938594,0.000230846729837,-0.000260387747707,4.14686448115e-05,1793242848904114432
+19,0.316666667,BASELINE,765,745,714,679.975456693,659,635,878.975456693,787,804,652,631,652,0.400966835847,-0.00538680881923,0.0598461911644,0.999999938759,0.000230238018321,-0.000260289472382,4.15017507118e-05,1793242848920781056
+20,0.333333333,BASELINE,765,745,714,679.401316866,659,635,878.401316866,787,804,652,631,652,0.400966047518,-0.0053865507826,0.0598456436907,0.999999937715,0.000233690602493,-0.000261179217286,4.17701462518e-05,1793242848937447424
+21,0.350000000,BASELINE,765,745,714,679,658.82166234,635,878.17833766,787,804.17833766,652,631,652,0.400965360106,-0.00538661875549,0.0598452113509,0.99999993717,0.000235230420744,-0.000261848325807,4.19771168149e-05,1793242848954114048
+22,0.366666667,BASELINE,765,745,714,679,658.229202068,635,878.770797932,787,804.770797932,652,631,652,0.400964907037,-0.00538744376377,0.059845046367,0.999999937805,0.000232328554011,-0.000262005088611,4.20414507723e-05,1793242848970780672
+23,0.383333333,BASELINE,765.353127524,745,714,679.353127524,658,635,878.646872476,787,805,652,631,652,0.400964880148,-0.00538791039169,0.0598452656213,0.999999938105,0.000231224585456,-0.000261850803006,4.19543169407e-05,1793242848987447552
+24,0.400000000,BASELINE,765.929065099,745,714,679.929065099,658,635,878.070934901,787,805,652,631,652,0.400965122164,-0.00538815089531,0.0598457273154,0.999999938197,0.000231255022062,-0.000261500257693,4.17716126955e-05,1793242849004114432
+25,0.416666667,BASELINE,766,745,714,680,658.499703028,635,878.499703028,787,805,652,631,652,0.400965416165,-0.00538804333635,0.0598458171819,0.999999937786,0.000232998947773,-0.000261512743995,4.18481620857e-05,1793242849020781056
+26,0.433333333,BASELINE,766,745,714.072827893,679.927172107,659,635,879.072827893,787.072827893,805,652,631,652,0.400965711741,-0.00538792700316,0.0598458091395,0.999999937442,0.000234391602276,-0.000261573778506,4.19056416424e-05,1793242849037447936
+27,0.450000000,BASELINE,766,745,714.669181693,679.330818307,659,635,879.669181693,787.669181693,805,652,631,652,0.400965966148,-0.00538809904649,0.0598454727218,0.999999938112,0.000231528964986,-0.000261617238441,4.15642600272e-05,1793242849054114304
+28,0.466666667,BASELINE,765.742009629,745,714.742009629,679.257990371,658.742009629,635,879.742009629,787.742009629,805,652,631,651.742009629,0.400966273221,-0.005388186305,0.0598455600352,0.999999938434,0.000230515450132,-0.000261310066007,4.1378239259e-05,1793242849070780672
+29,0.483333333,BASELINE,765.162601102,745,714.162601102,679.837398898,658.162601102,635,879.162601102,787.162601102,805,652,631,651.162601102,0.400966645908,-0.00538816793406,0.0598461752553,0.999999938329,0.000231805670742,-0.00026056605708,4.13857753363e-05,1793242849087447296
+30,0.500000000,BASELINE,765,745,714,679.587350684,658.412649316,635,878.587350684,787,805,652,631.412649316,651.412649316,0.400965986138,-0.00538681316156,0.0598456767693,0.99999993771,0.000233525017884,-0.000261389027354,4.14915038459e-05,1793242849104113920
+31,0.516666667,BASELINE,765,745,714,679.013722404,658.986277596,635,878.013722404,787,805,652,631.986277596,651.986277596,0.400964923595,-0.00538493704435,0.0598447438145,0.999999936886,0.000235411771899,-0.000262823293193,4.16355382858e-05,1793242849120780544
+32,0.533333333,BASELINE,765,745,714,679.562012604,659,635,878.562012604,787,805,652,631.437987396,652,0.40096696274,-0.00538733228383,0.0598463008962,0.999999938155,0.000232872563297,-0.000260212359798,4.18213712318e-05,1793242849137447424
+33,0.550000000,BASELINE,765,745,714,680,658.858287205,635,879,787,805,652,631,652,0.400967939529,-0.00538924035412,0.0598471435677,0.999999938966,0.000230843288506,-0.00025887386327,4.19891376309e-05,1793242849154114048
+34,0.566666667,BASELINE,765,745,714,680,658.266148121,635,879,787,805,652,631,652,0.400965298058,-0.00538926725073,0.0598455215547,0.99999993819,0.000230779587128,-0.000261894853045,4.20962244265e-05,1793242849170780672
+35,0.583333333,BASELINE,765,745,714,679.681620544,658.318379456,635,879,787.318379456,805,652,631,652,0.400964919544,-0.00538887990704,0.0598453738282,0.999999937965,0.000231254052515,-0.000262336285747,4.20900438415e-05,1793242849187447552
+36,0.600000000,BASELINE,765,745,714,679.10330715,658.89669285,635,879,787.89669285,805,652,631,652,0.400966388572,-0.00538815436593,0.0598464297503,0.999999938193,0.000232167892369,-0.000260671695873,4.19913885948e-05,1793242849204114432
+37,0.616666667,BASELINE,765.470887548,745,714,679.470887548,658.529112452,635,879,787.529112452,805,652,631,652,0.400965227391,-0.00538957669717,0.0598454973472,0.999999938432,0.000229857706376,-0.000261803028855,4.19698524488e-05,1793242849220780800
+38,0.633333333,BASELINE,765.954508913,745,714,680,658.045491087,635,879,787,805,652,631,652.045491087,0.400963908781,-0.0053911139303,0.0598444121659,0.999999938665,0.000227388255805,-0.000263069671077,4.19512726341e-05,1793242849237447168
+39,0.650000000,BASELINE,765.364282941,745,714,680,658.635717059,635,879,787,805,652,631,652.635717059,0.400967554855,-0.00538843337231,0.059846675717,0.999999938896,0.00023140799235,-0.00025867517691,4.17672527545e-05,1793242849254114048
+40,0.666666667,BASELINE,765,745,714,679.780411827,659,635,878.780411827,787,805,652,631,652.780411827,0.400969344241,-0.00538682398983,0.0598478733219,0.999999939068,0.00023321474746,-0.000256407537349,4.15838427265e-05,1793242849270780928
+41,0.683333333,BASELINE,765,745,714,679.206786543,659,635,878.206786543,787,805,652,631,652.206786543,0.40096814013,-0.00538694163985,0.0598473523257,0.999999939187,0.000231453561755,-0.000257568978286,4.14014159613e-05,1793242849287447552
+42,0.700000000,BASELINE,765,745,714.370693172,679.370693172,659,635,878.370693172,787,804.629306828,652,631,652,0.40096646735,-0.00538791189797,0.0598463523916,0.999999939023,0.000229740871437,-0.000259731906272,4.13855836297e-05,1793242849304114432
+43,0.716666667,BASELINE,765,745,714.950345606,679.950345606,659,635,878.950345606,787,804.049654394,652,631,652,0.400964530383,-0.00538936277016,0.0598450824808,0.999999938693,0.000228055517965,-0.00026245937117,4.14636603703e-05,1793242849320781056
+44,0.733333333,BASELINE,765,744.477488611,714.477488611,680,658.477488611,635,878.477488611,787,804.522511389,652,631,652,0.40096556847,-0.00538942661091,0.0598455157637,0.999999938753,0.000228945409505,-0.000261438183481,4.15725240584e-05,1793242849337447424
+45,0.750000000,BASELINE,765.097520796,744.097520796,714,680,658.097520796,635,878,787,804.902479204,652.097520796,631,652,0.400966493982,-0.00538936109268,0.0598459979363,0.999999938803,0.000229863703302,-0.000260425085228,4.16567748716e-05,1793242849354114048
+46,0.766666667,BASELINE,765.690542231,744.690542231,714,680,658.690542231,635,878,787,804.309457769,652.690542231,631,652,0.400965431306,-0.00538929856744,0.0598459177518,0.999999938631,0.000229700425009,-0.000261237544672,4.16013128878e-05,1793242849370780672
+47,0.783333333,BASELINE,765.72159649,745,714,679.72159649,659,635,878.27840351,787,804,652.72159649,631,652,0.400965508608,-0.00538934347524,0.0598461429521,0.999999938747,0.000229789154026,-0.00026070638787,4.16504359877e-05,1793242849387447296
+48,0.800000000,BASELINE,765.139366503,745,714,679.139366503,659,635,878.860633497,787,804,652.139366503,631,652,0.400966829987,-0.00538950562653,0.059846701424,0.999999939175,0.000230152902878,-0.000258708919951,4.18136945577e-05,1793242849404114176
+49,0.816666667,BASELINE,765,745,714.435563914,679,659,635,879,787,804.435563914,652,631,652,0.400968006789,-0.0053893556342,0.0598473646627,0.999999939326,0.000230914702784,-0.000257441557689,4.18309294843e-05,1793242849420780800
+50,0.833333333,BASELINE,765,745,714.991763713,679,659,635,879,787,805,652,631,652,0.400969094654,-0.00538909692045,0.0598480364914,0.999999939375,0.000231804256414,-0.000256453930161,4.18006856337e-05,1793242849437447424
+51,0.850000000,BASELINE,765,745,714.416397441,679,659,635,879,787,805,652,631,652,0.400967191347,-0.00538811577426,0.0598470296174,0.999999938502,0.000232865229262,-0.000258907439019,4.16653647664e-05,1793242849454114048
+52,0.866666667,BASELINE,765.164299609,745,714,679,659,635,879,787,805,652,631,652,0.400965954987,-0.00538738646479,0.0598462824735,0.999999937952,0.000233580875168,-0.000260408949854,4.15012460887e-05,1793242849470780672
+53,0.883333333,BASELINE,765.758959883,745,714,679,659,635,879,787,805,652,631,652,0.400966465606,-0.00538731680772,0.0598462156572,0.999999938264,0.000233391983672,-0.000259416830135,4.12616954404e-05,1793242849487447040
+54,0.900000000,BASELINE,765.657463051,745,714,679,659,635,879,787,804.657463051,652.342536949,631,652,0.400966541526,-0.00538817564328,0.0598462275152,0.999999938625,0.000232013386551,-0.000259248558971,4.13476176687e-05,1793242849504113920
+55,0.916666667,BASELINE,765.08144072,745,714,679,659,635,879,787,804.08144072,652.91855928,631,652,0.40096632114,-0.0053896673725,0.0598462930004,0.999999939016,0.000229823843717,-0.000259641852359,4.16553938099e-05,1793242849520780288
+56,0.933333333,BASELINE,765.493654599,745,714,679.493654599,659,635,879.987309198,787,804.493654599,652.506345401,631,652,0.400966613634,-0.00538948203665,0.0598463047601,0.999999938426,0.000232145381829,-0.000259847668446,4.1651486387e-05,1793242849537446912
+57,0.950000000,BASELINE,766,745,714,680,659,635,880.788484601,787,805,652,631,652,0.400967120167,-0.00538909351665,0.059846384889,0.999999937907,0.000234451769977,-0.000259781622654,4.16173694162e-05,1793242849554113792
+58,0.966666667,BASELINE,766,745,714,680,659,635,879.015685689,787,805,652,631,652,0.400968583225,-0.00538924362829,0.0598470349816,0.999999939145,0.000231163255203,-0.000257936723317,4.17391044883e-05,1793242849570780416
+59,0.983333333,BASELINE,765.752823199,745,714,679.752823199,659,635,878,787,805,652,631,652,0.400968481486,-0.0053889591395,0.0598470031375,0.999999939489,0.000230024840575,-0.000257625564689,4.17063519175e-05,1793242849587447296
+60,1.000000000,BASELINE,765.174052664,745,714,679.174052664,659,635,878,787,805,652,631,652,0.400966280532,-0.00538809162363,0.0598460564587,0.999999938645,0.000231770837511,-0.000259371956542,4.14663504063e-05,1793242849604114176
+61,1.016666667,BASELINE,765.401390144,745,714,679,659,635,878.401390144,787,805,652.401390144,631,652,0.400966463675,-0.00538898673529,0.0598465585337,0.999999939212,0.000230047954416,-0.000258721241547,4.14340796469e-05,1793242849620780800
+62,1.033333333,BASELINE,765.975401797,745,714,679,659,635,878.975401797,787,805,652.975401797,631,652,0.40096767212,-0.00539063988112,0.0598476836585,0.999999940378,0.000226833247569,-0.000257039628679,4.1491145415e-05,1793242849637447424
+63,1.050000000,BASELINE,766,745,714,679,659,635,879,787,805,653,631,652,0.400968292123,-0.00538952709916,0.05984825649,0.999999940135,0.000228591560764,-0.000256444322358,4.13730533479e-05,1793242849654114048
+64,1.066666667,BASELINE,765.850621512,745,714,679.149378488,659,635,878.850621512,787,805,652.850621512,631,652,0.400968490953,-0.00538876502892,0.0598484630232,0.999999939942,0.00022965292268,-0.000256258710259,4.13210350747e-05,1793242849670780928
+65,1.083333333,BASELINE,765.271243459,745,714,679.728756541,659,635,878.271243459,787,805,652.271243459,631,652,0.400967553232,-0.00538936898588,0.0598476863126,0.999999940079,0.000228067126214,-0.000257112437569,4.14817904978e-05,1793242849687447552
+66,1.100000000,BASELINE,765,745,714,679.69322486,659,635,878.30677514,787,804.69322486,652,631,652,0.400967361186,-0.00538875247309,0.0598476169833,0.999999939797,0.000229057614514,-0.000257324560074,4.15012606818e-05,1793242849704114176
+67,1.116666667,BASELINE,765,745,714,679.116402986,659,635,878.883597014,787,804.116402986,652,631,652,0.400967825541,-0.00538706161029,0.0598481703446,0.999999939141,0.000232315944051,-0.000256971893343,4.13963608788e-05,1793242849720780800
+68,1.133333333,BASELINE,765,745,714,679.459187908,659,635,878.540812092,787,804.459187908,652,631,652,0.40096741371,-0.00538684459202,0.0598477899131,0.999999939277,0.000231032261444,-0.000257650291004,4.10712462529e-05,1793242849737447424
+69,1.150000000,BASELINE,765,745,714,680,659,635,878,787,805,652.03432001,631,651.96567999,0.400966821824,-0.00538701737134,0.0598471956868,0.999999939552,0.000228899840027,-0.000258536148968,4.07347966991e-05,1793242849754114304
+70,1.166666667,BASELINE,765,745,714,680,659,635,878,787,805,652.607135874,631,651.392864126,0.400966880497,-0.00538745972143,0.0598469511456,0.999999938933,0.00023146782915,-0.00025858706862,4.10940571745e-05,1793242849770780672
+71,1.183333333,BASELINE,765,745,714,679.812971863,658.812971863,635,878,787,805,652.812971863,631,651,0.400967403165,-0.00538798332838,0.0598470890509,0.999999938699,0.000232888197389,-0.000258159458244,4.14672385077e-05,1793242849787447552
+72,1.200000000,BASELINE,765,745,714,679.217630549,658.217630549,635,878,787,805,652.217630549,631,651,0.400968938813,-0.00538868433248,0.0598480618998,0.999999939313,0.00023180312102,-0.000256687138139,4.18708114314e-05,1793242849804113920
+73,1.216666667,BASELINE,765.365100359,745,714,679.365100359,658,635,878,787,805,652,631,651.365100359,0.400968470624,-0.00538869784587,0.0598477759161,0.999999939446,0.000230969318121,-0.000256945558452,4.17077595853e-05,1793242849820780544
+74,1.233333333,BASELINE,765.940565331,745,714,679.940565331,658,635,878,787,805,652,631,651.940565331,0.400966847858,-0.00538831523876,0.0598467646145,0.999999939302,0.000230280294785,-0.000258201202023,4.12182281674e-05,1793242849837447168
+75,1.250000000,BASELINE,766,745,714,679.48288904,658.51711096,635,878,787,805,652,631,652,0.400967251555,-0.00538786539525,0.0598470134062,0.99999993913,0.000231987135059,-0.000257337598743,4.12184247732e-05,1793242849854114048
+76,1.266666667,BASELINE,765.904170685,745,714,679,658.904170685,635,878,787,805,652.095829315,631,651.904170685,0.400967709044,-0.00538765703239,0.0598473560214,0.999999939038,0.000233261147047,-0.00025652997465,4.12897665092e-05,1793242849870780672
+77,1.283333333,BASELINE,765.314905636,745,714,679,658.314905636,635,878,787,805,652.685094364,631,651.314905636,0.400967241709,-0.00538873195513,0.0598474344366,0.999999939394,0.000230885593242,-0.000257267429004,4.14370054672e-05,1793242849887447296
+78,1.300000000,BASELINE,765,745,714,679,658.269782128,635,878.269782128,787,805,652.730217872,631,651.269782128,0.400966399425,-0.00539005175732,0.0598469003565,0.99999993962,0.000228442047235,-0.0002585466949,4.15735336128e-05,1793242849904114176
+79,1.316666667,BASELINE,765,745,714,679,658.849216111,635,878.849216111,787,805,652.150783889,631,651.849216111,0.40096512678,-0.00539165262837,0.0598456632635,0.999999939694,0.000225920460966,-0.000260447843856,4.16977680395e-05,1793242849920781056
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400965693078,-0.00539152210642,0.0598464921283,0.999999939522,0.00022803955303,-0.000259220760537,4.19356017478e-05,1793242849937447680
+81,1.350000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400966906251,-0.00539078254181,0.0598480477237,0.999999939248,0.000231791071323,-0.000256893275943,4.22133956732e-05,1793242849954114304
+82,1.366666667,BASELINE,765,745,714,679.573231786,659,635.573231786,878.426768214,787,805,652,631,652,0.400966926113,-0.00538919548478,0.0598475991419,0.999999939031,0.000232051562462,-0.0002576285611,4.14371109725e-05,1793242849970780672
+83,1.383333333,BASELINE,765.152846999,745,714,679.847153001,659,635.847153001,878.152846999,787,805,652,631,652,0.400966932475,-0.00538820709342,0.0598473735921,0.999999939034,0.000231630658411,-0.000258078788588,4.0928151346e-05,1793242849987447296
+84,1.400000000,BASELINE,765.746055169,745,714,679.253944831,659,635.253944831,878.746055169,787,805,652,631,652,0.400966909935,-0.00538895058645,0.0598478073869,0.999999939668,0.000229275836343,-0.000257682111627,4.1198193868e-05,1793242850004113920
+85,1.416666667,BASELINE,765.671611369,745,714,679.328388631,659,635,879,787,805,652,631,652,0.400967306743,-0.00538974185655,0.0598483127168,0.999999940084,0.000228261807094,-0.000256932068655,4.1394607317e-05,1793242850020780800
+86,1.433333333,BASELINE,765.097417859,745,714,679.902582141,659,635,879,787,805,652,631,652,0.400968017442,-0.00539056888863,0.059848871592,0.999999940341,0.000228251385862,-0.000255917524807,4.15359080462e-05,1793242850037447680
+87,1.450000000,BASELINE,765.477654632,745,714,679.522345368,658.522345368,635,878.522345368,787.477654632,805,652,631,652,0.4009670335,-0.00539000747887,0.0598478272815,0.999999940123,0.000227801241742,-0.000257207819154,4.12823474537e-05,1793242850054114304
+88,1.466666667,BASELINE,765.945551328,745,714,679,658,635,878.054448672,787.945551328,805,652,631,652,0.40096586265,-0.00538923818646,0.0598466290617,0.999999939785,0.000227593935993,-0.000258745528691,4.10065101375e-05,1793242850070780928
+89,1.483333333,BASELINE,765.353533664,745,714,679,658,635,878.646466336,787.353533664,805,652,631,652,0.400966265078,-0.00538921738882,0.0598471454173,0.999999939241,0.000230671216103,-0.000258076395883,4.13072913021e-05,1793242850087447552
+90,1.500000000,BASELINE,765,745,714,679,658.233061695,635,879,787,805,652,631,652,0.400966705915,-0.00538865824553,0.0598474265843,0.999999938947,0.000232707075153,-0.000257373573476,4.13897410516e-05,1793242850104113920
+91,1.516666667,BASELINE,765,745,714,679,658.811618863,635,879,787,805,652,631,652,0.400967203693,-0.00538730104752,0.0598473591029,0.999999939035,0.000233199109832,-0.000256620808976,4.11485317735e-05,1793242850120780288
+92,1.533333333,BASELINE,765.386528227,745,714,679.386528227,658.613471773,635,879,787,805,652,631,652,0.400967745018,-0.00538849747689,0.0598476536588,0.999999939464,0.000231592728153,-0.000256389609991,4.12336655762e-05,1793242850137446912
+93,1.550000000,BASELINE,765.959676445,745,714,679.959676445,658.040323555,635,879,787,805,652,631,652,0.400968307367,-0.00539092682494,0.0598481230102,0.999999940052,0.0002289732085,-0.000256410228384,4.1476361311e-05,1793242850154113792
+94,1.566666667,BASELINE,766,745,714,679.465149598,658.534850402,635,879,787,805,652,631,652,0.400967843109,-0.00538861580523,0.0598479873248,0.999999939328,0.000231754687822,-0.000256810771302,4.10058561634e-05,1793242850170780416
+95,1.583333333,BASELINE,765.886291861,745,714,679,659,635,878.886291861,787,805,652,631,652,0.400967296857,-0.00538670544567,0.0598477955726,0.999999938776,0.000233725283194,-0.00025723582981,4.06125149702e-05,1793242850187447296
+96,1.600000000,BASELINE,765.292528937,745,714,679,659,635,878.292528937,787,805,652,631,652,0.400966732448,-0.00538800115609,0.0598475604276,0.999999939403,0.000230546846478,-0.00025764300207,4.0772814792e-05,1793242850204114176
+97,1.616666667,BASELINE,765,744.706867863,714,679,659,635,878.293132137,787,804.706867863,652,631,652,0.400966460841,-0.0053882115699,0.0598472738588,0.999999939657,0.0002288118655,-0.000258190000381,4.08499249012e-05,1793242850220780800
+98,1.633333333,BASELINE,765,744.129074548,714,679,659,635,878.870925452,787,804.129074548,652,631,652,0.400966473576,-0.00538736805003,0.0598469373525,0.999999939557,0.000228478627339,-0.000258872784015,4.08462493123e-05,1793242850237447424
+99,1.650000000,BASELINE,765,744.447038319,714,679,658.552961681,635,879.447038319,787,804.447038319,652,631,652,0.400967907449,-0.00538842679266,0.0598479760093,0.999999940217,0.000228123721338,-0.00025663034006,4.08170499636e-05,1793242850254114304
+100,1.666666667,BASELINE,765.023152469,745,714,679,658.023152469,635,879.953695063,787,805,652,631,652,0.400969629762,-0.00538993314025,0.0598493195796,0.999999941021,0.000227844573052,-0.000253733668165,4.07835498086e-05,1793242850270780928
+101,1.683333333,BASELINE,765.611089828,745,714,679,658.611089828,635,878.777820344,787,805,652,631,652,0.400968416175,-0.00538901023652,0.0598484517226,0.999999940201,0.000229565513556,-0.000255404011507,4.08242356167e-05,1793242850287447552
+102,1.700000000,BASELINE,765.802932766,745,714,679.197067234,659,635,878,787,805,652,631,652,0.40096761881,-0.00538828139624,0.0598479854077,0.999999939569,0.000230970861217,-0.000256600177109,4.08694637474e-05,1793242850304114176
+103,1.716666667,BASELINE,765.220785284,745,714,679.779214716,659,635,878,787,805,652,631,652,0.400967634767,-0.00538793176674,0.0598483037287,0.999999939315,0.000231759522859,-0.000256869773051,4.09235678228e-05,1793242850320781056
+104,1.733333333,BASELINE,765,745,714,679.644044992,658.644044992,635,878.355955008,787,805,652.355955008,631,652,0.400966977274,-0.00538756120642,0.0598478001259,0.999999939128,0.000231671456503,-0.000257691070122,4.08250829424e-05,1793242850337448192
+105,1.750000000,BASELINE,765,745,714,679.070608333,658.070608333,635,878.929391667,787,805,652.929391667,631,652,0.400965908318,-0.00538717785774,0.0598467943437,0.999999938981,0.000231047726309,-0.000258849445977,4.06333691549e-05,1793242850354115328
+106,1.766666667,BASELINE,765,745,714,679.500173827,658.500173827,635,879,787,805,652.499826173,631.500173827,651.499826173,0.400965812146,-0.00538779639104,0.0598466614193,0.99999993908,0.000230870843143,-0.000258611964199,4.0721011103e-05,1793242850370781440
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,635,879,787,804,652,631,652,0.400968359085,-0.00538864878988,0.0598482975656,0.999999939302,0.000232086797379,-0.000256556154912,4.13572558573e-05,1793242850413391360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.418928823,745,714,679.581071177,658.581071177,635,879,787.581071177,804.581071177,652,631,652,0.400967539441,-0.00538817118797,0.0598479156842,0.999999939898,0.000229515702267,-0.000256644341956,4.07567861266e-05,1793242850430057984
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765.692391155,745,714,679.692391155,659,635,879,787,805,652.307608845,631,652,0.400967749439,-0.00539050591494,0.0598479145056,0.999999939829,0.000229953239259,-0.000256432530281,4.12942023421e-05,1793242850480057600
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.116923222,745,714,679.116923222,659,635,879,787,805,652.883076778,631,652,0.400969097242,-0.00538959290254,0.0598484917635,0.9999999403,0.000229009034214,-0.000255474027658,4.10819310792e-05,1793242850496724480
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+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.061765639,635,878.938234361,787,805,652,631,652,0.400966445397,-0.00538844235848,0.0598462463304,0.999999939139,0.000230535732146,-0.000258718830492,4.05008894425e-05,1793242850530057984
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.640010458,635,878.359989542,787,805,652,631,652,0.400969734089,-0.0053895717707,0.0598485654747,0.999999940282,0.000228531978008,-0.000256050400434,4.05971540187e-05,1793242850546724608
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.216585254,659,635,878,787,805,652.216585254,631,652,0.400979308582,-0.0053902043525,0.059853486526,0.999999942152,0.000228551330316,-0.000248551924848,4.10202214598e-05,1793242850563391232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.79040546,659,635,878,787,805,652.79040546,631,652,0.40099925085,-0.00539001746385,0.0598626991532,0.999999945063,0.000231907587418,-0.000233086789442,4.19823163765e-05,1793242850580057856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.626131557,659,635,878,787,805,652.626131557,631,652,0.401036324406,-0.00539117335146,0.0598773550541,0.999999951058,0.000230867901824,-0.000206799169663,4.26323253874e-05,1793242850596724480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.037119559,659,635,878,787,805,652.037119559,631,652,0.401083256207,-0.00539310194311,0.0598951433016,0.999999958051,0.000227298559866,-0.000174283721867,4.3102743821e-05,1793242850613391104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.542495143,635,878,787,805,652,631,652,0.401148519066,-0.005394169533,0.0599130545157,0.999999962,0.00022888748594,-0.000147044230077,4.46000171401e-05,1793242850630057984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.121067095,659.878932905,635,878,787,804.878932905,652,631,652,0.40121719368,-0.00539550252151,0.0599291247677,0.999999964962,0.000230199629701,-0.00012242464556,4.579371976e-05,1793242850646724864
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.698092448,659.301907552,635,878,787,804.301907552,652,631,652,0.401294074149,-0.0053980531423,0.059938230516,0.99999996705,0.000229162741727,-0.00010633561114,4.5584016962e-05,1793242850663391488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.27190681,745,714.27190681,680,659,635,878,787,804,652,631.27190681,652,0.401376524634,-0.00540050696445,0.059943871269,0.99999996853,0.000227299889184,-9.61593130757e-05,4.5039119022e-05,1793242850680058112
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.569396697,680,658.569396697,635,878.430603303,787,804,652,631.569396697,652,0.401570398024,-0.00540495879002,0.0599478859346,0.999999970054,0.000224167361253,-8.81261961976e-05,4.330544355e-05,1793242850713391104
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.974778636,658.025221364,635,878.974778636,787.025221364,804.025221364,652,631,652,0.401683286483,-0.005407076762,0.0599500836211,0.999999970423,0.000224408893784,-8.36024216748e-05,4.24898346355e-05,1793242850730057984
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+128,2.133333333,POSE1_TO_POSE2_PRESS,765.818164818,745,714,679,659,635,878.181835182,787.818164818,805,652,631,652,0.401968587893,-0.00541597019927,0.0599494349825,0.999999973635,0.000212536775681,-7.74654182477e-05,3.94664032822e-05,1793242850763391232
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+131,2.183333333,POSE1_TO_POSE2_PRESS,765.926972352,745,714,679.926972352,658.073027648,635,878.073027648,787,805,652,631,652,0.402514039637,-0.00542949908441,0.059952887508,0.999999977137,0.00020320714237,-5.70808280788e-05,3.42680986646e-05,1793242850813391616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492954641,745,714,680,658.507045359,635,878,787,805,652,631,651.492954641,0.402745728561,-0.00543436776922,0.0599529816235,0.999999978415,0.000198629976119,-5.19847622439e-05,3.1836663852e-05,1793242850830057984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085597598,745,714,680,659,635,878,787,805,652,631,651.085597598,0.402987690115,-0.0054395640155,0.059952728847,0.9999999797,0.000193548077925,-4.7762487547e-05,2.92989916819e-05,1793242850846724608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.661421932,745,714,680,659,635,878,787,805,652,631,651.661421932,0.403260785616,-0.00544645555333,0.0599530269403,0.999999981349,0.000185909034202,-4.50139714098e-05,2.67243672328e-05,1793242850863391232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762182921,745,714,680,659,635,878.237817079,787,805,652,631,651.762182921,0.403543194752,-0.00545367094959,0.059949984225,0.999999982718,0.000177982986808,-4.81463039664e-05,2.38400627407e-05,1793242850880058112
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.184973191,745,714,680,659,635,878.815026809,787,805,652,631,651.184973191,0.403838895512,-0.00546134852909,0.0599421737868,0.999999983619,0.000169647352218,-5.96712922199e-05,2.05138089378e-05,1793242850896724736
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.600068767,659,635,878.600068767,787,804.600068767,652,631,651.399931233,0.404147256533,-0.00546969116666,0.05993162603,0.999999984124,0.000159408817217,-7.77928355822e-05,1.70072041808e-05,1793242850913391360
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.011535649,659,635,878.011535649,787,804.011535649,652,631,651.988464351,0.404461587944,-0.00547834743594,0.0599197873929,0.999999984015,0.000148272901604,-9.90252201936e-05,1.34155485648e-05,1793242850930057984
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.561870343,745,714,679,659,635,878.561870343,787,804.561870343,652,631,652,0.404825708671,-0.00548684135535,0.0599104382848,0.999999983701,0.000138564201947,-0.000115372476419,9.38431489516e-06,1793242850946725120
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.863831978,745,714,679.136168022,659,635,879,787,805,652,631,652,0.40520962125,-0.00549502045379,0.0599049278939,0.999999983701,0.000129512028296,-0.000125677933026,5.49836994189e-06,1793242850963392000
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.285658276,745,714,679.714341724,659,635,879,787,805,652,631,652,0.405654547584,-0.00550218816768,0.0599117165405,0.999999985687,0.000122498339525,-0.000116688542383,2.11256459184e-06,1793242850980058112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.701222367,659,635,879,787,805,652.298777633,631,651.701222367,0.406123894296,-0.00551125081109,0.0599297802434,0.999999989751,0.000113410826089,-8.73782779245e-05,-5.33497945989e-07,1793242850996724736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.110670981,659,635,879,787,805,652.889329019,631,651.110670981,0.406617088984,-0.00552216396433,0.0599588546961,0.999999994034,0.00010229810109,-3.82234959098e-05,-2.45715896265e-06,1793242851013391616
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.469880624,659,635,879,787,805,652.530119376,631,651,0.407141351638,-0.00552787311737,0.0599838561046,0.99999999647,8.39047010156e-05,9.42330848753e-07,-4.46964927592e-06,1793242851030058240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.951928831,658.951928831,635,879,787,805,652,631,651,0.40767194773,-0.00553063187195,0.0600052567342,0.999999997511,6.21871587335e-05,3.26543868505e-05,-6.67697905105e-06,1793242851046724864
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.374342505,658.374342505,635,879,787,805,652,631,651,0.40819338483,-0.00551411131087,0.0599973409394,0.999999999663,2.23489011347e-05,7.63693816459e-06,-1.08048545713e-05,1793242851063391488
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.20247074,658.20247074,635,879,787,804.79752926,652,631,651.20247074,0.408735126271,-0.00550210110079,0.059987779355,0.999999999725,1.79729759898e-06,-1.78549408441e-05,-1.50979511445e-05,1793242851080058112
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.777860058,658.777860058,635,879,787,804.222139942,652,631,651.777860058,0.409314265016,-0.00549839823371,0.0599751864911,0.999999998688,1.67686150334e-05,-4.42206427687e-05,-1.9695358137e-05,1793242851096724736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,804.360780275,652,631,652,0.409921351745,-0.00550024044611,0.0599744442652,0.999999998495,1.99794254267e-05,-4.51031002402e-05,-2.3992783625e-05,1793242851113391360
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,804.948436256,652,631,652,0.410546013468,-0.00550556966697,0.0599811542816,0.999999999032,1.57946720576e-05,-2.99604870363e-05,-2.81015663815e-05,1793242851130057984
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529669074,745,714,680,659,635,879,787,805,652,631,652,0.41122097453,-0.00551347427249,0.0599900675144,0.999999999423,1.18553532299e-05,-9.24132819365e-06,-3.04476997935e-05,1793242851146724352
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890772993,745,714,679.890772993,659,635,879,786.890772993,805,652,631,651.890772993,0.411897901773,-0.00552077478383,0.0599936725034,0.999999999507,4.9807092778e-06,1.08432858148e-06,-3.09757982034e-05,1793242851163390976
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.315723359,745,714,679.315723359,659,635,879,786.315723359,805,652,631,651.315723359,0.412562581254,-0.00552444257786,0.0599737355564,0.999999998976,-1.45129512369e-05,-3.52028972763e-05,-2.44735238044e-05,1793242851180057856
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.258735318,659,635,879,786.258735318,805,652,631,651.258735318,0.413236076228,-0.00552168950375,0.059946841263,0.99999999576,-1.49181647435e-05,-8.77489377996e-05,-2.36336936403e-05,1793242851196724480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.832474595,659,635,879,786.832474595,805,652,631,651.832474595,0.413920303938,-0.00551111917927,0.0599114765668,0.999999986714,7.91633933417e-06,-0.000160089694479,-2.96877507368e-05,1793242851213391104
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.420586872,745,714,680,659,635,879,787,804.579413128,652,631,652,0.414693143667,-0.00550679966289,0.059925160407,0.999999990366,1.88681739883e-05,-0.000133453481577,-3.32041139767e-05,1793242851230057728
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985812558,745,714,680,659,635,879,787,804.014187442,652,631,652,0.415502895782,-0.00550531537033,0.059959240979,0.999999996904,2.38706654018e-05,-6.60129698067e-05,-3.55560078254e-05,1793242851246724352
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.409610062,745,714,680,659,635,879,787,804.590389938,652,631,652,0.41632723469,-0.00551402551929,0.0600000074763,0.999999999367,-1.26754409862e-05,8.53827168856e-07,-3.32371978996e-05,1793242851263391232
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.162087754,745,714,680,659,635,878.837912246,787,805,652,631,652,0.417140220749,-0.00552145195311,0.0600264739614,0.999999997986,-3.37685083043e-05,4.34992121202e-05,-3.154001865e-05,1793242851280057856
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.722709627,745,714,680,659,635,878.277290373,787,805,652,631,652,0.417925292881,-0.00552572204503,0.0600177802138,0.999999999012,-1.68663322439e-05,2.6590068475e-05,-3.13712776379e-05,1793242851296724736
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.71866776,745,714,680,659.28133224,635,878.28133224,787,805,652,631,651.71866776,0.418729506213,-0.00552721913985,0.060002269081,0.999999999365,-1.32022147823e-05,9.05270800176e-07,-3.3103254533e-05,1793242851313391360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.162001812,745,714,680,659.837998188,635,878.837998188,787,805,652,631,651.162001812,0.419552452574,-0.00552600236284,0.0599800859229,0.999999998517,-2.24938966251e-05,-3.33680664808e-05,-3.66954224508e-05,1793242851330057728
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.5537276,660,635,879.4462724,787,805,652,631,651.4462724,0.420388581491,-0.00552219365482,0.0599525743168,0.999999996414,-2.09664379547e-05,-7.19770462401e-05,-3.93817894264e-05,1793242851346724352
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069503945,745,714,679,659.930496055,635,879.930496055,787,805.069503945,651.930496055,631,651.930496055,0.421225911731,-0.00551790157844,0.0599224886752,0.999999992283,-1.5247082112e-05,-0.000116034547608,-4.16901791905e-05,1793242851363391232
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.647205809,745,714,679,659.352794191,635,879.352794191,787,805.647205809,651.352794191,631,651.352794191,0.422032459903,-0.00551785449339,0.0598895747565,0.999999981501,-1.13494301376e-05,-0.000186917693736,-4.39534988443e-05,1793242851380057600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.222848063,659.222848063,634.777151937,879.222848063,787,805.777151937,651.222848063,631,651.222848063,0.422897127326,-0.00552088498531,0.0598905736829,0.999999980978,-1.87340781479e-05,-0.000188822068721,-4.51499509183e-05,1793242851396724480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.795259663,659.795259663,634.204740337,879.795259663,787,805.204740337,651.795259663,631,651.795259663,0.423852961793,-0.00552874302059,0.0599447689118,0.999999994637,-4.38163471616e-05,-8.2525094975e-05,-4.46728952953e-05,1793242851413391872
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.382594737,879.617405263,787,805.382594737,652,631,652,0.424811317409,-0.00553304627714,0.0599943297787,0.999999998042,-4.58816148139e-05,-9.90102859045e-07,-4.25390319196e-05,1793242851430058496
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.978240017,879.021759983,787,805.978240017,652,631,652,0.425771076888,-0.00553537002993,0.0600413099657,0.999999996375,-3.51297035372e-05,6.67560008071e-05,-3.94825636734e-05,1793242851446725120
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.442063195,745,714,680,660,635,879,786.442063195,806,652,631,651.442063195,0.426678177746,-0.00553501772396,0.0600314030037,0.999999996444,-3.80252144624e-05,6.22411835046e-05,-4.2335901284e-05,1793242851463392000
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.864314909,714,680,660,635,879.135685091,786.135685091,806,652,631,651.135685091,0.427573449571,-0.00553523622502,0.0600164542377,0.999999996977,-4.21744811527e-05,4.73656798139e-05,-4.49886641195e-05,1793242851480058624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.290901781,714,680,660,635,879.709098219,786.709098219,806,652,631,651.709098219,0.428437001525,-0.00553762352467,0.059992198886,0.999999997712,-4.86990527501e-05,7.90511948996e-06,-4.62714596608e-05,1793242851496725504
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.290203967,714,680,660,635,880,787,805.709796033,651.709796033,631,651.709796033,0.429288906433,-0.00553739447105,0.0599629216125,0.999999996667,-5.13829782997e-05,-4.17326200122e-05,-4.77900828129e-05,1793242851513392128
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.879230766,714,680,660,635,880,787,805.120769234,651.120769234,631,651.120769234,0.430128818331,-0.00553447136008,0.0599284732712,0.99999999233,-5.01121927016e-05,-0.000101849791593,-4.95515373487e-05,1793242851530058752
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460558229,745,714,680,660,635,879.539441771,787,805,651.460558229,631,651,0.431035905759,-0.00553589998225,0.0599297317818,0.999999993328,-4.95247760933e-05,-9.11119784546e-05,-5.08864638093e-05,1793242851546725376
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,713.960142545,680,660,635,879.039857455,787,805.039857455,651.960142545,631,651.039857455,0.431961389268,-0.00553852374666,0.0599427321531,0.999999995653,-5.00298569899e-05,-5.90907597555e-05,-5.19479266857e-05,1793242851563391744
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,713.381418313,680,660,635,879.618581687,787,805.618581687,651.381418313,631,651.618581687,0.432901347646,-0.00554213145788,0.0599899733693,0.999999996637,-6.29224792864e-05,1.36124183082e-05,-5.07994758363e-05,1793242851580058112
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,713.195852829,680,660,635,880,786.804147171,805.804147171,651,631,652,0.433810275757,-0.00554521638941,0.0600173698697,0.999999994773,-7.09270029151e-05,5.39471108247e-05,-5.01315130075e-05,1793242851596724736
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,713.770315058,680,660,635,880,786.229684942,805.229684942,651,631,652,0.434659218426,-0.00554729071933,0.0600064039203,0.999999995814,-6.94821886316e-05,3.17092560367e-05,-5.03923972463e-05,1793242851613390848
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.646874047,745,714,680,660,635,880,786.353125953,805.353125953,651,631,652,0.435497642251,-0.00554729355286,0.0599827544022,0.99999999624,-6.85240560593e-05,-1.11731482034e-05,-5.19510827802e-05,1793242851630057472
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058501443,745,714,680,660,635,880,786.941498557,805.941498557,651,631,652,0.436329058545,-0.00554591638972,0.0599506553019,0.999999993918,-6.78901426934e-05,-6.78086073753e-05,-5.4374341865e-05,1793242851646724096
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.521090024,745,714,680,660.521090024,635,879.478909976,787,806,651.521090024,631,652,0.437122872922,-0.00554399044585,0.0599287751088,0.999999990096,-7.66229189667e-05,-0.000103628363693,-5.65583451707e-05,1793242851663391232
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680.099434261,660.900565739,635,879.099434261,787,806,652,631.099434261,652,0.437912212051,-0.00554219858756,0.0599097885174,0.999999985635,-8.27427039288e-05,-0.000135899197345,-5.84309294465e-05,1793242851680057856
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.676444557,660.323555443,635,879.676444557,787,806,652,631.676444557,652,0.438699996273,-0.00554134173906,0.0598992808481,0.99999998257,-7.13455283833e-05,-0.000162162882729,-5.893466115e-05,1793242851696724992
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.742611807,745,714,681,660,635,880.257388193,787,806,651.742611807,632,652,0.439510970203,-0.00554430712139,0.0599160859356,0.999999986802,-6.52110127259e-05,-0.000137380646756,-5.7176510308e-05,1793242851713391616
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.156646991,745,714,681,660,635,880.843353009,787,806,651.156646991,632,652,0.440351547592,-0.00555215188726,0.0599677579433,0.999999995331,-6.57947040627e-05,-4.74342048628e-05,-5.2530885079e-05,1793242851730057984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.575292439,660,635,880.150584878,787,806,651,631.575292439,652,0.44115877665,-0.00555336699421,0.05999896189,0.99999999574,-7.68724871264e-05,-1.23086028948e-06,-5.10780225106e-05,1793242851746724608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.004343079,660,635,879.004343079,787,806,651,631,652,0.441953070388,-0.00555214844207,0.0600222955789,0.999999994107,-9.16141053909e-05,2.84609056419e-05,-5.0826606022e-05,1793242851763391232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.57913004,660,635,879.57913004,787,806,651,631,652,0.442646564267,-0.00554900336644,0.0599928293395,0.999999994783,-8.46588623496e-05,-1.41995555432e-05,-5.53679072276e-05,1793242851780057856
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.84537089,880,787,806,651,631,651.84537089,0.443337792506,-0.00554764771023,0.0599688357156,0.99999999383,-8.08001385144e-05,-4.80865604035e-05,-5.91542650076e-05,1793242851796724736
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.267924504,880,787,806,651,631,651.267924504,0.444022825737,-0.00555118503524,0.0599598063852,0.999999992819,-8.54085243595e-05,-5.79834677871e-05,-6.08763094886e-05,1793242851813391360
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.315892728,634.315892728,879.684107272,787,806,651,631,651,0.444685391881,-0.00555464805271,0.0599609583082,0.999999992279,-9.19112111021e-05,-5.58242157986e-05,-6.22684058638e-05,1793242851830057984
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.905224579,634.905224579,879.094775421,787,806,651,631,651,0.445328510304,-0.0055580467488,0.0599709232012,0.999999992052,-0.000100053618669,-4.32290609486e-05,-6.33748965668e-05,1793242851846724608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.514681782,879,787,806,651,631,651,0.445931456063,-0.00555680610301,0.0599540236763,0.999999989631,-0.000100229851307,-8.0103051091e-05,-6.53933430951e-05,1793242851863391232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.063344852,745,714,681,661,634,879,786.936655148,806,651,631,651.063344852,0.44652408753,-0.0055550588997,0.0599335841609,0.99999998543,-9.92482972929e-05,-0.000121318312128,-6.76106868399e-05,1793242851880057856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.638972681,745,714,681,661,634,879,786.361027319,806,651,631,651.638972681,0.447095565186,-0.0055564051591,0.0599261507504,0.999999985105,-0.000101249541388,-0.000120974558118,-7.00231964492e-05,1793242851896724480
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78548362,745,714,681,660.78548362,634,879.21451638,786.21451638,806,651.21451638,631,652,0.447661719405,-0.00555861271237,0.0599286265511,0.999999986048,-0.000103677954347,-0.000110075882315,-7.09787333523e-05,1793242851913391104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.210081514,745,714,681,660.210081514,634,879.789918486,786.789918486,806,651.789918486,631,652,0.448218917828,-0.00556226923952,0.059947772841,0.999999988566,-0.000106825002825,-8.14204243715e-05,-6.94831720493e-05,1793242851930057728
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.62442178,660,634,879.62442178,787,806,651.62442178,631,652,0.448716981229,-0.00556215575832,0.0599478886287,0.99999999245,-7.06705483484e-05,-8.27988684922e-05,-5.70045302111e-05,1793242851946724352
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.03286323,660,634,879.03286323,787,806,651.03286323,631,652,0.449181038446,-0.00555987429328,0.0599370607214,0.999999994053,-1.19153384067e-05,-0.000101448630785,-3.82099484709e-05,1793242851963391232
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.877285586,745,714,681,660,633.122714414,879.122714414,786.877285586,806,651,631,652,0.4499935965,-0.00554526604316,0.0598579449728,0.999999973408,-6.80789477246e-07,-0.000225575667796,-4.79463515696e-05,1793242851996724992
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.302727923,745,714,681,660,633.697272077,879.697272077,786.302727923,806,651,631,652,0.450376191663,-0.00554748260344,0.0598326855201,0.999999964816,-3.04084663444e-06,-0.000260213089555,-5.14656351159e-05,1793242852013391360
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.721029996,633.721029996,879.721029996,786,806,651,631,651.721029996,0.450753728009,-0.00555314787702,0.0598234815677,0.999999961778,-9.82775240353e-06,-0.000271029915213,-5.37628288895e-05,1793242852030058240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.131380225,633.131380225,879.131380225,786,806,651,631,651.131380225,0.451125630495,-0.00556265386962,0.0598321581022,0.999999965678,-2.15446944932e-05,-0.000255318520481,-5.46990210954e-05,1793242852046724864
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.449989985,786,806.449989985,651.449989985,631,651.449989985,0.451477945184,-0.00556715566215,0.0598416320493,0.999999966457,-8.88511994623e-05,-0.000236805855894,-5.58029366141e-05,1793242852063391488
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,786,806.971199183,652,631,652,0.451822750019,-0.00557024891195,0.059851256256,0.999999960583,-0.000167637064374,-0.000217932387337,-5.6895652175e-05,1793242852080057856
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,786,806.395912327,652,631,652,0.452131611708,-0.00557383739535,0.0598593938259,0.999999963769,-0.000161843709402,-0.00020745116426,-5.68634771564e-05,1793242852096724736
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.820684416,880,786,806,651.820684416,631,652,0.452420662422,-0.00557658927813,0.0598625361323,0.999999965444,-0.000157280612242,-0.000202734269352,-5.72095313984e-05,1793242852113391360
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.245586683,880,786,806,651.245586683,631,652,0.452665986664,-0.00557749463054,0.0598546529816,0.99999996401,-0.00015543291891,-0.000210740297824,-5.83904065111e-05,1793242852130057984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.661238684,632,879.661238684,785.661238684,806,651,631,651.661238684,0.452889547094,-0.00557828957619,0.0598480170707,0.999999962899,-0.000149689518668,-0.000219788727329,-5.9065362502e-05,1793242852146724864
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.06999634,632,879.06999634,785.06999634,806,651,631,651.06999634,0.453096886838,-0.00557900223506,0.0598423107351,0.99999996193,-0.00014104262235,-0.000229614065969,-5.93632537764e-05,1793242852163390976
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.913059818,745,714,682,658.913059818,632,879.913059818,785.913059818,806.913059818,652,630.086940182,651.913059818,0.453458743452,-0.00558291735361,0.0598339125424,0.999999959327,-0.000130316150669,-0.000247139578788,-5.73280763373e-05,1793242852196724992
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,785,806.569299509,651,631,652,0.454183151753,-0.0055801679591,0.0598270302151,0.999999957248,-0.000116969263111,-0.000261698520125,-5.77539088443e-05,1793242852296724480
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+222,3.700000000,POSE1_TO_POSE2_PRESS,765.715502268,745,714,682,658,632,880,785.715502268,806.284497732,651.715502268,631,652,0.454329615925,-0.00557766529762,0.0598300433729,0.9999999591,-0.000113122426078,-0.000256373649647,-5.72312912065e-05,1793242852330057984
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681.071605225,658,631.928394775,880,785,807,651.928394775,631,652,0.454552652962,-0.00555938370221,0.0598159511109,0.999999955426,-9.3936436371e-05,-0.000277526539797,-5.7468062185e-05,1793242852480057600
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+248,4.133333333,HOLD_POSE2,765.402211685,745,714,681,657.402211685,631.597788315,880,785,807,652,630.402211685,651.597788315,0.454561463412,-0.00555518227355,0.0598062338249,0.99999995175,-8.89983652832e-05,-0.000292343463226,-5.5807998235e-05,1793242852786041088
+249,4.150000000,HOLD_POSE2,765,745.187945004,714,681.187945004,657.187945004,631.812054996,880,785,807,651.812054996,630,651.812054996,0.454560356318,-0.00555471650292,0.0598051103208,0.99999995133,-8.87594760547e-05,-0.000293892159232,-5.55882930651e-05,1793242852802707712
+250,4.166666667,HOLD_POSE2,765,745.762407035,714,681.762407035,657.762407035,631.237592965,880,785,807,651.237592965,630,651.237592965,0.454558083258,-0.00555188109536,0.0598034918844,0.999999950789,-8.32321764251e-05,-0.000297282736158,-5.58421426977e-05,1793242852819374592
+251,4.183333333,HOLD_POSE2,765.337564763,745.662435237,714,681.662435237,657.662435237,631,880,785,807,651.337564763,630,651.337564763,0.454558078607,-0.00555181713544,0.059803273802,0.999999950542,-8.34916569101e-05,-0.000297995965402,-5.60708640574e-05,1793242852836041216
+252,4.200000000,HOLD_POSE2,765.91321313,745.08678687,714,681.08678687,657.08678687,631,880,785,807,651.91321313,630,651.91321313,0.454559673859,-0.00555370787095,0.059804043386,0.999999950508,-8.78325396122e-05,-0.000296820867662,-5.62818624928e-05,1793242852852707840
+253,4.216666667,HOLD_POSE2,766,745.501133947,714.501133947,681,657,631,879.498866053,785,807,652,630.501133947,651.498866053,0.454560512303,-0.00555322014583,0.0598045857812,0.999999951011,-8.62202857494e-05,-0.000295661887451,-5.59229185037e-05,1793242852869374464
+254,4.233333333,HOLD_POSE2,765.910154909,745.910154909,714.910154909,681.089845091,657,631,879.089845091,785,807,651.910154909,631,651.089845091,0.454561064622,-0.00555237115643,0.0598049068268,0.999999951459,-8.40106337096e-05,-0.000294850101573,-5.55651719344e-05,1793242852886041088
+255,4.250000000,HOLD_POSE2,765.329035467,745.329035467,714.329035467,681.670964533,657,631,879.670964533,785,807,651.329035467,631,651.670964533,0.454560787058,-0.00555185560857,0.0598042380678,0.999999951106,-8.43132804827e-05,-0.000295921133954,-5.57672324222e-05,1793242852902707712
+256,4.266666667,HOLD_POSE2,765,745,714.249150217,682,657.249150217,631,879.750849783,785,807,651,630.750849783,652,0.45456097474,-0.00555115250224,0.0598040368794,0.999999951044,-8.37771465379e-05,-0.00029625613459,-5.59064454351e-05,1793242852919374080
+257,4.283333333,HOLD_POSE2,765,745,714.823506533,682,657.823506533,631,879.176493467,785,807,651,630.176493467,652,0.45456176969,-0.00555020458315,0.0598044459926,0.999999951361,-8.21461846812e-05,-0.000295630421496,-5.59636260648e-05,1793242852936040704
+258,4.300000000,HOLD_POSE2,765,745,714.601688717,681.601688717,657.601688717,631,879.398311283,785,806.601688717,651.398311283,630.398311283,651.601688717,0.454561718977,-0.00554980790985,0.0598037959575,0.999999951317,-8.14893033835e-05,-0.000295932405847,-5.61261127954e-05,1793242852952707328
+259,4.316666667,HOLD_POSE2,765,745,714.026684991,681.026684991,657.026684991,631,879.973315009,785,806.026684991,651.973315009,630.973315009,651.026684991,0.454561293124,-0.00554965577125,0.0598026760801,0.999999951112,-8.12645278898e-05,-0.000296645920358,-5.63353137294e-05,1793242852969374208
+260,4.333333333,HOLD_POSE2,765.565017272,745,714,681.565017272,658.130034544,631,880,785,806,652,630.434982728,651.565017272,0.454559454778,-0.00555252936008,0.0598013444678,0.999999950147,-8.48590398063e-05,-0.000298977322239,-5.58424808191e-05,1793242852986040832
+261,4.350000000,HOLD_POSE2,765.846577491,745.153422509,714,681.846577491,658.693154981,631,880,785,806,652,630,651.846577491,0.454558153532,-0.00555429527625,0.0598005132635,0.999999949442,-8.74468971053e-05,-0.000300637352261,-5.5560303575e-05,1793242853002707712
+262,4.366666667,HOLD_POSE2,765.269519932,745.730480068,714,681.269519932,657.539039865,631,880,785,806,652,630,651.269519932,0.454558525161,-0.00555259605332,0.0598010922543,0.999999949605,-8.67419105582e-05,-0.000300226157011,-5.59541350261e-05,1793242853019374592
+263,4.383333333,HOLD_POSE2,765,745.693916448,714,681,657.306083552,631,879.693916448,785,806.306083552,652,630.306083552,651.306083552,0.454557976368,-0.00555174187264,0.0598007238249,0.999999949406,-8.62027351767e-05,-0.000300992454583,-5.62174068341e-05,1793242853036040960
+264,4.400000000,HOLD_POSE2,765,745.119587321,714,681,657.880412679,631,879.119587321,785,806.880412679,652,630.880412679,651.880412679,0.454556620935,-0.00555162827038,0.059799525095,0.999999948889,-8.58088734657e-05,-0.00030279068362,-5.63662587272e-05,1793242853052707584
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,657,632,880,785,807,651,630,652,0.454555399283,-0.00554849720421,0.0597993526926,0.999999948806,-8.11323194252e-05,-0.000304285573483,-5.6705758296e-05,1793242853084345344
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.423132326,657.576867674,632,879.423132326,785,806.423132326,651.576867674,630.576867674,652,0.45455909138,-0.00554844265558,0.0598015574259,0.999999949815,-8.21052278995e-05,-0.000300701949452,-5.66245297209e-05,1793242853101012224
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.846987533,745,714,681,657.846987533,631.846987533,879.306024934,785,806.153012467,652,630.846987533,652,0.454561309043,-0.00554880675809,0.0598027574738,0.999999950336,-8.29903480953e-05,-0.000298760166461,-5.64247754106e-05,1793242853117679104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.272832224,745,714,681,657.272832224,631.272832224,880.454335552,785,806.727167776,652,630.272832224,652,0.454559468558,-0.00555032313228,0.059801192283,0.999999949538,-8.36338450311e-05,-0.000301337292888,-5.58987975676e-05,1793242853134345728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.309685729,714,681,657,631,880.690314271,785,807,652,630.309685729,652,0.454557961396,-0.00555072024021,0.0598002134349,0.999999949038,-8.42715675585e-05,-0.000302836726935,-5.57847461785e-05,1793242853151012608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.899775583,714,681,657,631,880.100224417,785,807,652,630.899775583,652,0.454556756041,-0.00555010391138,0.0597997654894,0.999999948811,-8.49040616249e-05,-0.000303360367113,-5.6043672539e-05,1793242853167679232
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.518854378,714,681,657,631,879.518854378,785,806.518854378,652,630.518854378,652,0.454555765271,-0.00554983964319,0.0597992171866,0.999999948725,-8.22773521745e-05,-0.000304389463131,-5.59290000039e-05,1793242853184346112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.060556522,714,681.060556522,657,631.060556522,879.060556522,785,806.060556522,652,630,652,0.454554100135,-0.0055495734346,0.0597982765967,0.999999948475,-7.94507798227e-05,-0.000305983349894,-5.57804136918e-05,1793242853201012992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.638471489,714,681.638471489,657,631.638471489,879.638471489,785,806.638471489,652,630,652,0.454546298547,-0.00554867526617,0.0597941599604,0.999999946661,-8.06136023155e-05,-0.000311518960463,-5.59951182095e-05,1793242853217679104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.784520421,714,682,657.215479579,631.784520421,880,785,807,652,630.215479579,652,0.454530648757,-0.00554772367465,0.0597862498771,0.999999942742,-8.13774606658e-05,-0.000323567525882,-5.65468883699e-05,1793242853234345728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.209027556,714,682,657.790972444,631.209027556,880,785,807,652,630.790972444,652,0.454501886556,-0.0055466828264,0.0597720018791,0.999999934988,-8.14747480909e-05,-0.000346497633497,-5.76618121316e-05,1793242853251012608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.374595102,745,714,681.625404898,658,631,880,785,806.625404898,652,631,651.625404898,0.454456949589,-0.00554450020545,0.0597531068043,0.999999923526,-8.03571078564e-05,-0.000378183786233,-5.88936193745e-05,1793242853267679232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.962854956,745,714,681.037145044,658,631,880,785,806.037145044,652,631,651.037145044,0.454402786719,-0.00554166633034,0.0597315610889,0.999999909047,-7.85464867518e-05,-0.000414864288531,-6.01920956669e-05,1793242853284345856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.458740223,745.541259777,714,681.541259777,657.458740223,631,879.458740223,785,806.541259777,651.458740223,630.458740223,651.541259777,0.454340732151,-0.0055431952534,0.0597156293846,0.999999900911,-8.02838979195e-05,-0.000433750548708,-5.99419606946e-05,1793242853301012224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.880902964,714,682,657.119097036,631,879.119097036,785,807,651,630.119097036,651.880902964,0.454274706052,-0.00554356476005,0.0597016834971,0.999999893727,-8.06373237472e-05,-0.000449970559406,-5.97501956941e-05,1793242853317679104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.302692895,714,682,657.697307105,631,879.697307105,785,807,651,630.697307105,651.302692895,0.454195420328,-0.00553833122083,0.0596939341796,0.99999988935,-7.47336968256e-05,-0.000460535671124,-6.01858086231e-05,1793242853334345984
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.72677487,631,880,785,807,651.27322513,630.72677487,651.27322513,0.454109762296,-0.00553456637463,0.0596902190913,0.999999886881,-7.13327725783e-05,-0.000466394176,-6.02208489456e-05,1793242853351012608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.153374999,631,880,785,807,651.846625001,630.153374999,651.846625001,0.454017103425,-0.00553241508658,0.0596909361495,0.99999988663,-7.06814059126e-05,-0.000467081836413,-5.98158060892e-05,1793242853367679232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.56905839,657.43094161,631,879.56905839,785,806.56905839,652,630,652,0.453907699877,-0.00553026045553,0.0596905639858,0.999999886032,-6.92238609066e-05,-0.000468707159631,-5.8798636412e-05,1793242853384345856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.980979245,631,879.019020755,785,806.019020755,652,630.019020755,652,0.453791011099,-0.00552798961575,0.0596897059766,0.999999885255,-6.74129950991e-05,-0.000470776511785,-5.75789656846e-05,1793242853401012736
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.399517133,631,879.600482867,785,806.600482867,652,630.600482867,652,0.453639701988,-0.00552231859351,0.0596862426118,0.99999988312,-6.38593039674e-05,-0.000475851195203,-5.69808917647e-05,1793242853417679360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.178995686,657.178995686,631,879.821004314,785,806.821004314,651.821004314,630.821004314,652,0.453479971068,-0.00551650503923,0.0596836636995,0.999999881577,-5.96327059917e-05,-0.000479721317562,-5.61922774165e-05,1793242853434345984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.751032334,657.751032334,631,879.248967666,785,806.248967666,651.248967666,630.248967666,652,0.453301747453,-0.00551037851204,0.0596830268796,0.999999881379,-5.39285312441e-05,-0.000480946449074,-5.49852721002e-05,1793242853451012864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.674430813,658.325569187,631.325569187,879.325569187,785.325569187,806,651,630.325569187,652,0.453108700523,-0.00550542413454,0.0596845463163,0.999999882394,-4.95838979484e-05,-0.000479478132475,-5.34216159209e-05,1793242853467679744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.09796716,658.90203284,631.90203284,879.90203284,785.90203284,806,651,630.90203284,652,0.452904230234,-0.00550137305399,0.0596877274362,0.999999884342,-4.62869720051e-05,-0.000475934155112,-5.15831125708e-05,1793242853484346112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.50926394,681.49073606,658.50926394,632,880,786,806,651.49073606,631,651.50926394,0.452678968111,-0.00549395283958,0.0596919117723,0.99999988831,-3.9574183799e-05,-0.000468337191703,-4.97420380418e-05,1793242853501012480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.080204162,682,658,632,880,786,806,651.919795838,631,651.080204162,0.452441636999,-0.00548579341951,0.0596957927312,0.999999891978,-3.22224921319e-05,-0.000461203513654,-4.79306228482e-05,1793242853517679104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.658852484,682,658,632,880,786,806,651.341147516,631,651.658852484,0.452155756136,-0.00547732692378,0.0596965118114,0.999999891838,-2.52465292436e-05,-0.000462106000181,-4.63068020716e-05,1793242853534345472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.235256713,714,681.764743287,658,632.235256713,880,786,806,651,630.764743287,652,0.451851129125,-0.00546891406987,0.0596978368608,0.999999892459,-1.742881558e-05,-0.000461311561795,-4.43881499039e-05,1793242853551012352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.808437478,714,681.191562522,658,632.808437478,880,786,806,651,630.191562522,652,0.45151957506,-0.0054605782679,0.0597000323276,0.999999894162,-8.40200683121e-06,-0.000458079650948,-4.20460003804e-05,1793242853567678976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.607307672,714,681,658.392692328,632.607307672,880,786,806.392692328,651.392692328,630.392692328,652,0.45116560262,-0.00545512113311,0.0596982224423,0.999999892467,-2.36159562637e-06,-0.000462076822616,-3.93141245984e-05,1793242853584345344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.017493934,714,681,658.982506066,632.017493934,880,786,806.982506066,651.982506066,630.982506066,652,0.450800376745,-0.00545110901516,0.0596944019735,0.999999889025,2.17972084892e-06,-0.000469702807128,-3.63866163665e-05,1793242853601011968
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.562470628,880,786,807,652,631,652,0.450382960629,-0.00544409490901,0.0596823693637,0.999999881567,9.36428667297e-06,-0.000485333130366,-3.50743147247e-05,1793242853617678592
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.864454817,880,786,806,651,630.864454817,651.864454817,0.44851608877,-0.00546906723559,0.0596746750409,0.999999877511,-2.25972375038e-05,-0.000493928952364,-2.23933660845e-05,1793242853684345600
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,787,805.889047638,651.889047638,631,652,0.434845784263,-0.00541999025414,0.0597434890178,0.999999922014,0.000106746258215,-0.000380015443834,1.28781151184e-05,1793242854001012480
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,635,879.07230165,787,806,651,631.92769835,651.92769835,0.433080373609,-0.00541995469403,0.059787685184,0.99999994328,0.000141295416775,-0.000305352386651,1.53791582858e-05,1793242854034345728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,635,879.64682301,787,806,651,631.35317699,651.35317699,0.432172964236,-0.00542052898244,0.0597974761266,0.999999944384,0.000138243042249,-0.00030281278052,2.06038058069e-05,1793242854051012608
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.730835354,714,679.730835354,658.730835354,635,878,787,805,652,631,651,0.403789398438,-0.00537997499201,0.0597702973541,0.999999908467,0.00021049201105,-0.000371264759086,3.0350663238e-05,1793242854701012224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.161653007,714,679.161653007,658.161653007,635,878,787,805,652,631,651,0.403493793765,-0.0053804478917,0.0597788420095,0.999999921596,0.000179946231603,-0.000351912765397,2.41847920502e-05,1793242854717678848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.427235654,714,679,658,635,878,787,805,652,631,651.427235654,0.403234881841,-0.00538398465953,0.0597970526535,0.99999993431,0.000172417749274,-0.000317892499329,2.44110823382e-05,1793242854734345472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878,787,805,652,631,652,0.402991302153,-0.00538886173026,0.0598189120343,0.999999945438,0.000175429343562,-0.000278585229628,2.71920276705e-05,1793242854751012096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878,787,805,652,631,652,0.402766322475,-0.0053967285881,0.0598363351857,0.999999945279,0.000212171180166,-0.000251991098894,3.04299767947e-05,1793242854767678720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.821023125,878.178976875,787,805,652,631,652,0.402542111258,-0.00540159482579,0.0598469946087,0.999999943289,0.00023662106232,-0.000237362739511,3.30299455501e-05,1793242854784345856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.245109073,878.754890927,787,805,652,631,652,0.402319604375,-0.00539980624914,0.0598426533469,0.999999941013,0.000233809688449,-0.000249272223554,3.42149930645e-05,1793242854801013504
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.337336195,658.674672389,634.337336195,879,787,805,652,631.337336195,652,0.402119274214,-0.0053947941253,0.0598364276242,0.999999936519,0.000235461345017,-0.000265153517345,3.48253437786e-05,1793242854817680384
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.924620811,659.849241622,634.924620811,879,787,805,652,631.924620811,652,0.401935375816,-0.00538739352192,0.0598288056144,0.999999930165,0.00024041987264,-0.00028397771496,3.50098744314e-05,1793242854834346496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.991545028,635,878.495772514,787,805,652,631.495772514,652,0.401789535101,-0.00538625743178,0.0598295654472,0.999999929753,0.000241365363538,-0.000284488898715,3.60975937433e-05,1793242854851013120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.082546718,635,878.082546718,787,805,652,631,652,0.401653002225,-0.00538591208986,0.0598311865392,0.999999930216,0.000241566914239,-0.000282543957316,3.71792258308e-05,1793242854867679744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.659925949,635,878.659925949,787,805,652,631,652,0.401538671776,-0.00538477717234,0.0598305717429,0.999999930521,0.000240851224281,-0.000282040746343,3.74271105883e-05,1793242854884347392
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.763807017,713.763807017,679.763807017,658.763807017,634.763807017,878.763807017,787,804.763807017,652,631,652,0.401436585903,-0.00538343560567,0.0598330300046,0.999999931936,0.000240678794735,-0.000277036973403,3.81075757132e-05,1793242854901014272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.189133871,713.189133871,679.189133871,658.189133871,634.189133871,878.189133871,787,804.189133871,652,631,652,0.401352047326,-0.00538179789718,0.0598398921617,0.999999934847,0.000241284893302,-0.000265583597552,3.94079570923e-05,1793242854917679872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.394472506,713.394472506,679.394472506,658.394472506,634.394472506,878,787,804.394472506,652,631,652,0.40127764675,-0.00538166937083,0.0598414499791,0.999999935319,0.000241235507784,-0.000263741466593,4.00889226753e-05,1793242854934345984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.982461237,713.982461237,679.982461237,658.982461237,634.982461237,878,787,804.982461237,652,631,652,0.401208219572,-0.00538228120343,0.0598404056483,0.999999934632,0.000240864561681,-0.000266614320674,4.04660216537e-05,1793242854951012864
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.43552387,658.43552387,635,878,787,805,652,631,652,0.401150561646,-0.00537960515313,0.0598358099802,0.999999931317,0.000243690948693,-0.000276302923926,4.04534683615e-05,1793242854967679232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.144167713,787,804.855832287,652.144167713,631,652,0.401098120661,-0.00537757853287,0.0598318378604,0.999999928557,0.000245585132164,-0.000284495837695,4.04569808454e-05,1793242854984345856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.717489963,787,804.282510037,652.717489963,631,652,0.401060132189,-0.00537778603361,0.0598300469299,0.999999927949,0.000244411729565,-0.000287612628574,4.05439793968e-05,1793242855001013760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.709295332,787,804.290704668,652.709295332,631,651.709295332,0.401032107711,-0.00537893830391,0.0598306352293,0.999999928843,0.000242371465947,-0.000286196693908,4.07505010445e-05,1793242855017681152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.136185034,787,804.863814966,652.136185034,631,651.136185034,0.40101376277,-0.00538100837251,0.0598335348362,0.999999931173,0.00023948908832,-0.00028037743433,4.10731336519e-05,1793242855034348288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.453979734,658,635,878.453979734,787,805,652,631,651.453979734,0.400999645439,-0.00538008997819,0.0598345792649,0.999999931775,0.00024034812249,-0.000277516080319,4.08291609822e-05,1793242855051014144
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.952231784,658.047768216,635,879,787,805,652,631,652,0.400987323395,-0.00537849398806,0.0598351141645,0.999999931876,0.000242075711721,-0.00027569958087,4.04698164215e-05,1793242855067679488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.377121708,658.622878292,635,879,787,805,652,631,652,0.400980273706,-0.00537970069443,0.0598364076014,0.999999932365,0.000240517875762,-0.000275239916492,4.078645971e-05,1793242855084346112
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.801538899,878.801538899,786.801538899,804.801538899,652,631,652,0.400974532428,-0.00537977296815,0.0598373058913,0.999999932578,0.000240259966152,-0.000274687699964,4.08071480529e-05,1793242855101012736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.22505568,878.22505568,786.22505568,804.22505568,652,631,652,0.400971283365,-0.00537768441216,0.059837451518,0.999999932265,0.000242478113199,-0.0002739591932,4.02641112189e-05,1793242855117679360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.639654479,745,714,679.360345521,659,634.360345521,878.360345521,786.360345521,804.360345521,652,631,652,0.400969598034,-0.00537842485685,0.0598379392093,0.999999932643,0.000242019150421,-0.000272966862591,4.03637306749e-05,1793242855134345728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.048542188,745,714,679.951457812,659,634.951457812,878.951457812,786.951457812,804.951457812,652,631,652,0.400968914123,-0.00538097700542,0.0598386459601,0.999999933462,0.000239845755295,-0.000271805578123,4.08749099114e-05,1793242855151012352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.531934892,745,714,680,659,635,879,787,804.468065108,652,631,652,0.400969456325,-0.00538105488458,0.059839590151,0.999999934016,0.00023949915977,-0.000270084176944,4.07714261448e-05,1793242855167678976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.110623078,745,714,679.889376922,659,635,879,787,804.110623078,652,631,652,0.400969666995,-0.00538125186758,0.0598403864691,0.999999934616,0.000238624150436,-0.000268652745039,4.0656360975e-05,1793242855184345600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.685794581,745,714,679.314205419,659,635,879,787,804.685794581,652,631,652,0.400968024777,-0.00538287861218,0.0598404726056,0.999999935509,0.00023484378985,-0.000268649444514,4.07235940291e-05,1793242855201012480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.733680158,745,714,679.266319842,658.733680158,635,878.733680158,787,805,652,631,652,0.400967457518,-0.00538363778343,0.0598407871913,0.999999935958,0.000233514220862,-0.000268114095775,4.08580299983e-05,1793242855217679360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.14670885,745,714,679.85329115,658.14670885,635,878.14670885,787,805,652,631,652,0.400968184518,-0.00538335238885,0.0598413768321,0.999999935884,0.000235135426334,-0.00026693815624,4.10733788864e-05,1793242855234346240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.43390895,635,878,787,805,652.43390895,631,652,0.400967622599,-0.00538302084465,0.0598411584077,0.999999935541,0.00023589893032,-0.000267544115547,4.11111367766e-05,1793242855251012864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.012408738,787,805,652.987591262,631,652,0.400966649656,-0.00538266558478,0.0598406847884,0.999999935113,0.000236378733466,-0.000268720673224,4.10872792225e-05,1793242855267679488
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.590872351,787,805,652.409127649,631,652,0.400966519823,-0.00538193000129,0.0598408533193,0.99999993495,0.000236954854578,-0.000268839614164,4.09522647298e-05,1793242855284346112
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.168266774,745,714,680,659,635,879,787,805,652,631,652,0.400966505103,-0.00538150102271,0.059841076981,0.999999934979,0.000236975424115,-0.000268740780182,4.07909292401e-05,1793242855301012992
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.743077926,745,714,680,659,635,879,787,805,652,631,652,0.400966768502,-0.00538181282323,0.0598414338427,0.999999935468,0.000235653741888,-0.000268115786643,4.05660003759e-05,1793242855317679360
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.681946141,745,714,680,659,635,879,787,805,652,631,652,0.400967299046,-0.00538145127536,0.0598418907153,0.999999935627,0.000236217143427,-0.000267027504056,4.05488964052e-05,1793242855334346240
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.106837058,745,714,680,659,635,879,787,805,652,631,652,0.400968045498,-0.00538054551863,0.059842428418,0.999999935515,0.000238304094012,-0.00026556478532,4.06997592011e-05,1793242855351013632
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.517832642,659,635,879,787,805,652,631,652,0.400968211285,-0.00538257515129,0.0598425534293,0.999999936311,0.000235556120433,-0.000265002578685,4.08016508413e-05,1793242855367680000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631,652,0.400968180418,-0.0053846605076,0.0598425928354,0.999999937036,0.000232753818269,-0.000264733987921,4.08697315867e-05,1793242855384346112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631,652,0.400967702551,-0.00538246908718,0.0598426918042,0.99999993589,0.000237256751191,-0.00026507949688,4.07801260856e-05,1793242855401012736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.227870299,745,714,679,659,635,879,787,805,652,631,652,0.400967616874,-0.00538096390833,0.0598427267793,0.999999935342,0.000239512838808,-0.000265135629508,4.06602463519e-05,1793242855417679360
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.800566254,745,714,679,659,635,879,787,805,652,631,652,0.400968124679,-0.00538049718701,0.0598426649159,0.999999935723,0.000238368879302,-0.000264753862286,4.04945540001e-05,1793242855434346240
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.614541706,745,714,679.385458294,658.614541706,635,879,787,805,652,631,652,0.400968189798,-0.00538046651058,0.0598431187983,0.999999935912,0.000238165342476,-0.0002642250148,4.04864517498e-05,1793242855451012608
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.023133341,745,714,679.976866659,658.023133341,635,879,787,805,652,631,652,0.400968018388,-0.00538066881262,0.0598438482432,0.999999935998,0.000238464272831,-0.000263617582466,4.05625497793e-05,1793242855467678976
diff --git a/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41fcb67f52d0a37595a797819ff9926725e66917
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+372,6.200000000,pose2_to_pose3_retreat,0.581348305574,1.8447778114e-06,1.05004081985,0.551920026115,0.00867667621132,1.04967861565
+373,6.216666667,pose2_to_pose3_retreat,0.58124644662,1.92902801132e-06,1.05004065877,0.551818165011,0.00867675308272,1.04967845274
+374,6.233333333,pose2_to_pose3_retreat,0.581157142182,1.84872303642e-06,1.05004084109,0.551728863975,0.00867668424435,1.04967863396
+375,6.250000000,pose2_to_pose3_retreat,0.581079782439,1.9233832297e-06,1.05004076681,0.551651500174,0.00867674490566,1.04967855394
+376,6.266666667,pose2_to_pose3_retreat,0.581012353191,1.82521697442e-06,1.05004078582,0.551584070613,0.00867664627357,1.04967858705
+377,6.283333333,pose2_to_pose3_retreat,0.580953732101,1.78250173739e-06,1.05004087405,0.551525451135,0.00867660919684,1.04967867931
+378,6.300000000,pose2_to_pose3_retreat,0.580903483355,1.79693043571e-06,1.05004104307,0.551475203092,0.00867662549949,1.049678836
+379,6.316666667,pose2_to_pose3_retreat,0.580861479229,1.86878390877e-06,1.05004096787,0.551433198689,0.00867669626416,1.0496787572
+380,6.333333333,pose2_to_pose3_retreat,0.58082835477,1.93736570246e-06,1.05004098448,0.55140007345,0.00867676222699,1.04967877449
+381,6.350000000,pose2_to_pose3_retreat,0.580802874251,1.92858037444e-06,1.05004108538,0.551374592874,0.00867675294534,1.04967886814
+382,6.366666667,pose2_to_pose3_retreat,0.580784409965,1.86427679409e-06,1.05004102436,0.55135612963,0.00867669208418,1.04967880489
+383,6.383333333,pose2_to_pose3_retreat,0.580771189679,1.83075700198e-06,1.05004096406,0.551342910126,0.00867666177921,1.04967875808
+384,6.400000000,pose2_to_pose3_retreat,0.580761872401,2.01055082446e-06,1.05004093567,0.551333590584,0.0086768341858,1.0496787368
+385,6.416666667,pose2_to_pose3_retreat,0.58075519463,1.9014279296e-06,1.05004071833,0.551326912955,0.00867672547381,1.04967851779
+386,6.433333333,pose2_to_pose3_retreat,0.580750658596,1.7790634916e-06,1.05004067806,0.551322377986,0.00867660656068,1.04967847353
+387,6.450000000,pose2_to_pose3_retreat,0.580748025808,1.72745806772e-06,1.05004083711,0.551319746362,0.00867655876927,1.04967862913
+388,6.466666667,pose2_to_pose3_retreat,0.580746484929,1.822481795e-06,1.05004085372,0.55131820447,0.00867665032981,1.04967864522
+389,6.483333333,pose2_to_pose3_retreat,0.580745792711,1.88226730037e-06,1.05004085074,0.551317511566,0.00867670778193,1.04967864221
+390,6.500000000,pose2_to_pose3_retreat,0.580745329104,1.92230820328e-06,1.05004084875,0.551317047498,0.00867674626006,1.04967864019
+391,6.516666667,pose2_to_pose3_retreat,0.580745024567,1.9486104524e-06,1.05004084743,0.55131674266,0.00867677153575,1.04967863887
+392,6.533333333,pose2_to_pose3_retreat,0.580744943421,1.94760038399e-06,1.05004085331,0.551316661697,0.0086767711741,1.04967864546
+393,6.550000000,pose2_to_pose3_retreat,0.580744743646,1.94322672968e-06,1.05004086926,0.551316462432,0.00867676861378,1.04967866333
+394,6.566666667,pose2_to_pose3_retreat,0.580744414921,1.93603001777e-06,1.05004089549,0.551316134547,0.00867676440085,1.04967869273
+395,6.583333333,pose2_to_pose3_retreat,0.580744250963,1.93244052373e-06,1.05004090858,0.551315971009,0.00867676229957,1.0496787074
+396,6.600000000,pose2_to_pose3_retreat,0.580744147202,1.93016890083e-06,1.05004091686,0.551315867513,0.00867676096977,1.04967871668
+397,6.616666667,pose2_to_pose3_retreat,0.580743992933,1.92679153448e-06,1.05004092917,0.551315713639,0.00867675899268,1.04967873048
+398,6.633333333,pose2_to_pose3_retreat,0.580743957684,1.92601982215e-06,1.05004093198,0.551315678479,0.00867675854092,1.04967873363
+399,6.650000000,pose2_to_pose3_retreat,0.58074384447,1.9174735063e-06,1.0500409089,0.551315565093,0.00867674932862,1.04967870869
+400,6.666666667,pose2_to_pose3_retreat,0.580743713397,1.90629592871e-06,1.05004087538,0.551315433721,0.00867673702189,1.04967867239
+401,6.683333333,pose2_to_pose3_retreat,0.580743583806,1.8952960465e-06,1.05004084229,0.551315303839,0.00867672492247,1.04967863657
+402,6.700000000,pose2_to_pose3_retreat,0.580743535529,1.89653970492e-06,1.05004083533,0.551315255945,0.00867672751057,1.04967863069
+403,6.716666667,pose2_to_pose3_retreat,0.580743519102,1.89696288344e-06,1.05004083297,0.551315239649,0.00867672839121,1.04967862869
+404,6.733333333,pose2_to_pose3_retreat,0.58074351501,1.89706831058e-06,1.05004083238,0.551315235589,0.00867672861061,1.04967862819
+405,6.750000000,pose2_to_pose3_retreat,0.580743513899,1.89709691988e-06,1.05004083222,0.551315234487,0.00867672867015,1.04967862805
+406,6.766666667,pose2_to_pose3_retreat,0.580743505525,1.897312658e-06,1.05004083101,0.551315226179,0.00867672911911,1.04967862703
+407,6.783333333,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976187,1.04967862557
+408,6.800000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8cd525d37b3184ce67c7b03b2aa3e0a14d4d1f7f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3e9a3facdb0cdbe543caadc2ffc1afbf7374596e78b8ed0ad1bc1434e5a041
+size 25691539
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a7a03c2c0649c0448bbed465767fc57218b4a54
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+36,0.600000000,BASELINE,764.891744676,745,714,679,661,635,879,788,805,653,631.891744676,652,0.400945573564,-0.00542701163998,0.0499324995991,0.999999975819,7.17538279972e-05,-0.000205660569901,-3.0286898349e-05,1793242857332161536
+37,0.616666667,BASELINE,765,745,714,679,661.472130615,635,878.527869385,787.527869385,805,653,631.527869385,652,0.400945640239,-0.00542527855882,0.0499321386117,0.999999975493,7.48847530471e-05,-0.000206106378561,-3.04220536393e-05,1793242857348828160
+38,0.633333333,BASELINE,765,745,714,679,661.952027962,635,878.047972038,787,805,653,631,652,0.40094621883,-0.00542351985369,0.0499319869911,0.999999975219,7.83496312089e-05,-0.000206142929414,-3.04626691893e-05,1793242857365494528
+39,0.650000000,BASELINE,765,745,714,679,661.377857581,635,878.622142419,787,805,653,631,652,0.400946790806,-0.00542495832659,0.0499322399789,0.999999975517,7.77057080092e-05,-0.000204982318733,-3.01572123962e-05,1793242857382161408
+40,0.666666667,BASELINE,765,745,714,679,661.20143061,635,878.79856939,787.20143061,805,653,631,652,0.400946785681,-0.00542549603554,0.0499322065477,0.999999975588,7.73763190015e-05,-0.000204763368917,-3.01368313483e-05,1793242857398828032
+41,0.683333333,BASELINE,765,745,714,679,661.790569391,635,878.209430609,787.790569391,805,653,631,652,0.40094566977,-0.00542429997839,0.0499316218248,0.999999975223,7.76523369058e-05,-0.000206356902438,-3.06651563736e-05,1793242857415494656
+42,0.700000000,BASELINE,765,745,714.373209428,679,661.626790572,635,878.373209428,788,805,653,631,652,0.400945706776,-0.00542471765707,0.0499314626265,0.999999975304,7.65166708843e-05,-0.000206381060321,-3.0740079785e-05,1793242857432161280
+43,0.716666667,BASELINE,765,745,714.95226502,679,661.04773498,635,878.95226502,788,805,653,631,652,0.400946379682,-0.0054260254026,0.0499315381292,0.999999975627,7.46023811149e-05,-0.00020553961849,-3.05649264772e-05,1793242857448827904
+44,0.733333333,BASELINE,765,745,714.472110443,679,661,635,879,788,805,652.472110443,631,652,0.400945502738,-0.00542624163805,0.049930723196,0.999999975377,7.52738846096e-05,-0.000206548220293,-3.02811454792e-05,1793242857465494528
+45,0.750000000,BASELINE,765,745,714,679,661,635,878.89671686,787.89671686,805,652.10328314,631,652,0.40094480316,-0.00542640885454,0.0499301799871,0.999999975158,7.61239408799e-05,-0.00020733788178,-3.00070355145e-05,1793242857482161408
+46,0.766666667,BASELINE,765,745,714,679,661,635,878.320969846,787.320969846,805,652.679030154,631,652,0.400945551893,-0.0054268004234,0.049931245718,0.999999975318,7.67280723702e-05,-0.000206365682301,-2.98218089863e-05,1793242857498828032
+47,0.783333333,BASELINE,765,745,714,679,661,635,878.261179205,787,805.261179205,653,631,652,0.400945928116,-0.00542652012298,0.049931786141,0.99999997543,7.68332489173e-05,-0.000205761965678,-2.99713969667e-05,1793242857515494912
+48,0.800000000,BASELINE,765,745,714,679,661,635,878.851393659,787,805.851393659,653,631,652,0.40094583505,-0.00542539339735,0.0499316647778,0.999999975482,7.63098388836e-05,-0.000205622466008,-3.0542786404e-05,1793242857532161280
+49,0.816666667,BASELINE,765,745,714,679,661,635,878.568282802,787,805.568282802,653,631,652,0.400945965169,-0.00542545179057,0.0499315397956,0.999999975345,7.6561433453e-05,-0.000206178530146,-3.0644613608e-05,1793242857548827904
+50,0.833333333,BASELINE,765,745,713.991297187,679.008702813,661,635,878,787.008702813,805,653,631,652,0.400946183237,-0.0054258979625,0.0499314274364,0.999999975152,7.70590367553e-05,-0.000206936130746,-3.05874084627e-05,1793242857565494784
+51,0.850000000,BASELINE,765,745,713.414929781,679.585070219,661,635,878,787.585070219,805,653,631,652,0.400947239144,-0.00542562481914,0.0499322178839,0.999999975473,7.65919594715e-05,-0.000205571944403,-3.04637283861e-05,1793242857582161664
+52,0.866666667,BASELINE,765,745,713.161420337,679.838579663,661,635,878.161420337,787.838579663,805.161420337,653,631,652,0.400947462194,-0.00542569348975,0.0499325536665,0.999999975644,7.61562626403e-05,-0.000204919796948,-3.03367986148e-05,1793242857598828288
+53,0.883333333,BASELINE,765,745,713.737725986,679.262274014,661,635,878.737725986,787.262274014,805.737725986,653,631,652,0.400945544615,-0.00542664069649,0.0499317208612,0.999999975433,7.58012204127e-05,-0.000206097744102,-3.02015164301e-05,1793242857615494912
+54,0.900000000,BASELINE,765,745,714,679.321808495,661,635,879,787,805.678191505,653,631,652,0.40094621709,-0.00542546361794,0.0499321619766,0.999999975469,7.80730432834e-05,-0.000205053392085,-3.0325320511e-05,1793242857632161536
+55,0.916666667,BASELINE,765,745,714,679.912386081,661,635,879,787,805.087613919,653,631,652,0.400949052733,-0.00542251237169,0.0499336670494,0.999999975691,8.25387801014e-05,-0.000202153012791,-3.06655091273e-05,1793242857648827904
+56,0.933333333,BASELINE,765,745.491519268,714,679.508480732,661,635,878.508480732,787,805,653,631,652,0.400947868889,-0.00542362878749,0.0499337158505,0.999999975621,8.07783356514e-05,-0.000203238772603,-3.04512703613e-05,1793242857665494272
+57,0.950000000,BASELINE,765,746,714,679,661,635,878,787,805,653,631,652,0.400946205699,-0.00542521139505,0.0499334249608,0.999999975502,7.8181694461e-05,-0.000204866180154,-3.02087130303e-05,1793242857682160896
+58,0.966666667,BASELINE,765,746,714,679,661,635,878,787,805,653,631,652,0.400946177951,-0.00542499899129,0.0499324970522,0.999999975452,7.74244929576e-05,-0.000205362565738,-3.04716828207e-05,1793242857698827520
+59,0.983333333,BASELINE,765,745.776617697,714,679.223382303,661,635,878.223382303,787,805,653,631,652,0.400946351167,-0.00542515980635,0.0499318503034,0.999999975493,7.64353648362e-05,-0.000205501925122,-3.06597483338e-05,1793242857715494400
+60,1.000000000,BASELINE,765,745.187313379,714,679.812686621,661,635,878.812686621,787,805,653,631,652,0.400946853582,-0.00542593199024,0.0499316641218,0.999999975686,7.50663181584e-05,-0.000205056440827,-3.0725113372e-05,1793242857732161024
+61,1.016666667,BASELINE,765,745,714,679.604317857,661,635,878.604317857,787,805,653,631,652,0.400947975665,-0.00542532938972,0.049932427591,0.999999975927,7.61483185437e-05,-0.000203487924361,-3.06547039682e-05,1793242857748827904
+62,1.033333333,BASELINE,765,745,714,679.024262042,661,635,878.024262042,787,805,653,631,652,0.400949386489,-0.00542408618897,0.0499336335634,0.999999976183,7.8372418936e-05,-0.000201396115253,-3.05210285454e-05,1793242857765494528
+63,1.050000000,BASELINE,765,745,714,679,661.548362698,635,878.548362698,787,805,653,631,652,0.400948546662,-0.00542499181664,0.0499331400017,0.999999976087,7.67379241276e-05,-0.000202504308236,-3.04855317261e-05,1793242857782161152
+64,1.066666667,BASELINE,765,745.120851137,714,679,661.879148863,635,879,787.120851137,805,653,631,652,0.400947588008,-0.00542572846711,0.0499325032941,0.999999975938,7.53968283955e-05,-0.000203739399457,-3.04993678968e-05,1793242857798828288
+65,1.083333333,BASELINE,765,745.694043553,714,679,661.305956447,635,879,787.694043553,805,653,631,652,0.40094655233,-0.00542548154213,0.0499316084858,0.99999997566,7.57843757168e-05,-0.000204926613197,-3.0681814065e-05,1793242857815494912
+66,1.100000000,BASELINE,765,745.721459473,714,679,661,635,878.721459473,787.721459473,805,653,631,652,0.400945953603,-0.00542504671443,0.0499313233864,0.99999997542,7.66431258549e-05,-0.000205769067226,-3.07482992582e-05,1793242857832161536
+67,1.116666667,BASELINE,765,745.124020037,714,679,661,635,878.124020037,787.124020037,805,653,631,652,0.400945855138,-0.00542439675837,0.0499317363383,0.999999975221,7.80413524534e-05,-0.000206216808429,-3.06820216091e-05,1793242857848828160
+68,1.133333333,BASELINE,764.546528979,745,714,679,661.453471021,635,878.453471021,787,805,653,631,652,0.400947651534,-0.00542406267449,0.0499330482192,0.999999975663,7.83977250736e-05,-0.000203941734148,-3.05854086425e-05,1793242857865494528
+69,1.150000000,BASELINE,764.026110997,745,714,679,661.973889003,635,879,787,805.026110997,653,631,652,0.400949745404,-0.00542389697573,0.0499344442954,0.999999976222,7.83968699932e-05,-0.000201201678192,-3.04764442873e-05,1793242857882161152
+70,1.166666667,BASELINE,764.606707619,745,714,679,661.393292381,635,879,787,805.606707619,653,631,652,0.40094761513,-0.00542554984374,0.0499326275286,0.999999975854,7.66059115279e-05,-0.000203734557314,-3.02739463338e-05,1793242857898828288
+71,1.183333333,BASELINE,765,745,714,679,661.190931844,635,879,787.190931844,805.809068156,652.809068156,631,652,0.400946658932,-0.00542674178243,0.0499317759823,0.999999975748,7.49973909557e-05,-0.000204869449887,-3.01263608501e-05,1793242857915495168
+72,1.200000000,BASELINE,765,745,714,679,661.782773247,635,879,787.782773247,805.217226753,652.217226753,631,652,0.400948167998,-0.00542696588406,0.0499329511591,0.999999976208,7.37719444182e-05,-0.000203068917609,-3.00940779081e-05,1793242857932161536
+73,1.216666667,BASELINE,765.364774026,745.364774026,714,679,662,635,878.635225974,787.635225974,805,652.364774026,631,652,0.400947185197,-0.00542587256559,0.0499321268909,0.999999975737,7.5263950228e-05,-0.000204789577015,-3.03856990145e-05,1793242857948828416
+74,1.233333333,BASELINE,765.941068515,745.941068515,714,679,662,635,878.058931485,787.058931485,805,652.941068515,631,652,0.400944757443,-0.0054240153185,0.0499301432101,0.999999974709,7.8331717378e-05,-0.000208552059807,-3.08651414301e-05,1793242857965495040
+75,1.250000000,BASELINE,765.483343959,745.483343959,714,679,661.483343959,635,878,787,805,653,631,652,0.400945938472,-0.00542414605842,0.0499309575737,0.9999999751,7.84374658763e-05,-0.000206624050132,-3.08933406035e-05,1793242857982161920
+76,1.266666667,BASELINE,765,745,714,679,661,635,878.090991043,787,805,653,631,652,0.400947185923,-0.00542446968842,0.0499317732679,0.999999975538,7.81598859239e-05,-0.000204603774478,-3.08705812739e-05,1793242857998828544
+77,1.283333333,BASELINE,765,745,714,679,661,635,878.659179567,787,805,653,631,652,0.400946625901,-0.00542461733386,0.0499309244409,0.999999975395,7.76414152756e-05,-0.000205499008002,-3.08501371074e-05,1793242858015494912
+78,1.300000000,BASELINE,764.760617501,745,714,679,661,635,879.239382499,787.239382499,805,653,631,652,0.400946880652,-0.00542488977566,0.0499310171462,0.999999975507,7.68302907832e-05,-0.000205263200441,-3.08187522877e-05,1793242858032161280
+79,1.316666667,BASELINE,764.162405254,745,714,679,661,635,879.837594746,787.837594746,805,653,631,652,0.40094835673,-0.00542534928475,0.0499325211903,0.999999975998,7.55804838683e-05,-0.000203331984021,-3.07709676417e-05,1793242858048828160
+80,1.333333333,BASELINE,764.421086503,745,714,679.421086503,661,635,879.578913497,787.578913497,805,653,631,652,0.400948600491,-0.00542501283112,0.0499326654754,0.999999976011,7.62377246815e-05,-0.000203021265129,-3.07969980632e-05,1793242858065494784
+81,1.350000000,BASELINE,764.999092658,745,714,679.999092658,661,635,879.000907342,787.000907342,805,653,631,652,0.400948385022,-0.00542437975867,0.0499323030408,0.999999975844,7.76056347227e-05,-0.000203314431276,-3.08505359751e-05,1793242858082161408
+82,1.366666667,BASELINE,765,745,714,679.423950393,661,635,878.423950393,787,805.576049607,653,631,652,0.400948423816,-0.00542691193852,0.0499325753376,0.999999976111,7.50707756278e-05,-0.000203034750468,-3.03262577429e-05,1793242858098827776
+83,1.383333333,BASELINE,765,745,714,679,661,635,878,787,805.848542177,653,630.848542177,652,0.400948121712,-0.00542809440385,0.0499325323705,0.999999976211,7.34067743283e-05,-0.000203179209699,-3.01431714191e-05,1793242858115494400
+84,1.400000000,BASELINE,765,745,714,679,661,635,878,787,805.277420537,653,630.277420537,652,0.40094687393,-0.00542552325165,0.0499316130953,0.999999975861,7.41727731332e-05,-0.000204501384191,-3.09079868227e-05,1793242858132161024
+85,1.416666667,BASELINE,765,745.307493083,714,679.307493083,661.307493083,635,878.307493083,787,805,653,630.307493083,652,0.400947324844,-0.00542425346786,0.0499317879491,0.999999975793,7.58439525418e-05,-0.000204208466918,-3.09954705709e-05,1793242858148827904
+86,1.433333333,BASELINE,765,745.905434125,714,679.905434125,661.905434125,635,878.905434125,787,805,653,630.905434125,652,0.40094938029,-0.00542421291449,0.0499329962815,0.999999975985,7.83701360453e-05,-0.000202389986443,-3.04431688335e-05,1793242858165494784
+87,1.450000000,BASELINE,765,745.51884916,714,679.51884916,661.51884916,635,879,787.48115084,805,653,631,652,0.400948861048,-0.00542415731584,0.0499329843006,0.999999976002,7.75659533057e-05,-0.000202589870104,-3.06046865497e-05,1793242858182161152
+88,1.466666667,BASELINE,765,745,714,679.051701189,661.051701189,635,879.051701189,787.948298811,805,652.948298811,631,652,0.400947899876,-0.0054242007949,0.0499327266563,0.999999975972,7.63021116937e-05,-0.000203179712107,-3.08474929193e-05,1793242858198827776
+89,1.483333333,BASELINE,765,745,714,679.612491249,661.612491249,635,879.612491249,787.387508751,805,652.387508751,631,652,0.400947349917,-0.00542524769907,0.0499323074185,0.999999975811,7.66727891689e-05,-0.000203875713728,-3.05702721255e-05,1793242858215494656
+90,1.500000000,BASELINE,765.188134272,745,714,680,662,635,879.811865728,787.188134272,805,652.188134272,631,652,0.400946490792,-0.00542562725386,0.0499317541191,0.999999975568,7.73507581942e-05,-0.000204832693336,-3.03986433742e-05,1793242858232161280
+91,1.516666667,BASELINE,765.796992872,745,714,680,662,635,879.203007128,787.796992872,805,652.796992872,631,652,0.400944940281,-0.0054245144163,0.049930901018,0.999999975143,7.87159227034e-05,-0.000206373297442,-3.0463149952e-05,1793242858248827904
+92,1.533333333,BASELINE,765.614860514,745,714,679.614860514,662,635,879,787.614860514,805,653,631,652,0.400946199601,-0.00542467884489,0.0499315191353,0.999999975478,7.78009583822e-05,-0.000205071600619,-3.06010256916e-05,1793242858265494528
+93,1.550000000,BASELINE,765.037073995,745,714,679.037073995,662,635,879,787.037073995,805,653,631,652,0.400948864399,-0.00542548216279,0.049932873157,0.999999976185,7.57454721876e-05,-0.000202348183072,-3.07756007413e-05,1793242858282161152
+94,1.566666667,BASELINE,765,745,714,679,661.461207691,635,879,787,805,653,631,652,0.400948739742,-0.00542593455073,0.0499326402611,0.999999976133,7.50988659295e-05,-0.000202863155546,-3.06591830873e-05,1793242858298827776
+95,1.583333333,BASELINE,765,745,714,679,661,635,879,787,805,653,631.113838785,652,0.400948349096,-0.00542606740116,0.0499323454945,0.999999976003,7.51296510036e-05,-0.000203510724779,-3.05495437131e-05,1793242858315494656
+96,1.600000000,BASELINE,765,745,714,679,661,635,879,787,805,653,631.686114139,652,0.400947657504,-0.00542501034977,0.049932239744,0.999999975764,7.74993224711e-05,-0.00020379809836,-3.05475487067e-05,1793242858332161792
+97,1.616666667,BASELINE,765,745,714,679,661,635,878.731171988,787,805,653,631.731171988,652,0.400947311692,-0.00542446885863,0.0499323765341,0.999999975707,7.83215655256e-05,-0.000203754019546,-3.05982290017e-05,1793242858348828416
+98,1.633333333,BASELINE,765,745,714,679,661,635,878.135777668,787,805,653,631.135777668,652,0.400947385926,-0.0054245536587,0.0499328079572,0.999999975877,7.72640267209e-05,-0.000203307299697,-3.07128980853e-05,1793242858365495296
+99,1.650000000,BASELINE,765,745,714,679,661,635.442955572,878.442955572,787.442955572,805,653,631,652,0.400947536073,-0.00542439213867,0.049933092485,0.999999975896,7.81560880134e-05,-0.00020288320263,-3.0624975109e-05,1793242858382161920
+100,1.666666667,BASELINE,765,745,714,679,661,635.983061295,879,787.983061295,805,653,631,652,0.400947728093,-0.00542418573084,0.04993330122,0.999999975876,7.95035444886e-05,-0.000202479941458,-3.04843250905e-05,1793242858398828800
+101,1.683333333,BASELINE,765,745,714,679,661,635.4033693,879,787.4033693,805,653,631,652,0.400948566183,-0.00542490554003,0.0499324336061,0.999999976067,7.68461116118e-05,-0.000202546876955,-3.05802785975e-05,1793242858415494912
+102,1.700000000,BASELINE,765,745.178946432,714,679.178946432,661.178946432,635,878.821053568,787.178946432,805,653,631,652,0.400948462442,-0.00542484267921,0.0499316370078,0.999999975921,7.62888144811e-05,-0.000203466091568,-3.06567685012e-05,1793242858432161280
+103,1.716666667,BASELINE,765,745.767264345,714,679.767264345,661.767264345,635,878.232735655,787.767264345,805,653,631,652,0.400946204096,-0.00542298932279,0.0499310028701,0.999999974999,8.05359481242e-05,-0.000206335044754,-3.06887319712e-05,1793242858448827904
+104,1.733333333,BASELINE,765.350198828,745.649801172,714,679.649801172,661.649801172,635,878.350198828,787.649801172,805.350198828,653,631,652,0.400944749225,-0.00542295530128,0.0499301675914,0.999999974706,8.05967071924e-05,-0.00020773892086,-3.06218465849e-05,1793242858465494528
+105,1.750000000,BASELINE,765.929609807,745.070390193,714,679.070390193,661.070390193,635,878.929609807,787.070390193,805.929609807,653,631,652,0.400943820244,-0.00542411207074,0.0499292006618,0.999999974829,7.79174006237e-05,-0.000208183874942,-3.04902626444e-05,1793242858482161152
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879,788,805,653,631,652,0.400949966715,-0.00542650212914,0.049933220804,0.999999976369,7.62492564537e-05,-0.000201356377895,-3.00593690072e-05,1793242858513276928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.589929187,745,714,679,661.410070813,635,878.410070813,787.410070813,805.589929187,653,631,652,0.400948586275,-0.00542491954335,0.0499326334408,0.999999975998,7.7204879661e-05,-0.000202758270767,-3.05298013834e-05,1793242858529943552
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.176403734,714,679,661,635,878.176403734,787,805.823596266,653,631,652,0.40094749401,-0.00542420951196,0.0499320814699,0.999999975739,7.72600802121e-05,-0.000203972868692,-3.07868601438e-05,1793242858546610432
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.755001935,714,679,661,635,878.755001935,787,805.244998065,653,631,652,0.400947058773,-0.0054254888744,0.0499316101918,0.999999975737,7.52623481492e-05,-0.000204760440837,-3.05574344639e-05,1793242858563277056
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.679775951,714.320224049,679,661.320224049,635,879.320224049,787,805,653,631,652,0.400946808434,-0.00542546514737,0.0499313840201,0.999999975718,7.46217344124e-05,-0.000205075709372,-3.06598547338e-05,1793242858579943680
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.124377355,714.875622645,679,661.875622645,635,879.875622645,787,805,653,631,652,0.400946693885,-0.00542448442319,0.0499313378563,0.999999975687,7.49777969964e-05,-0.000205044115132,-3.1005984762e-05,1793242858596610048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.463517011,714.536482989,679.463517011,661.536482989,635,879.536482989,787.463517011,805,653,631,652,0.400949698665,-0.00542387810915,0.0499326630449,0.999999976077,7.68375163753e-05,-0.00020245049433,-3.09069328604e-05,1793242858613276928
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,746,714,679.939855216,661.060144784,635,879,788,805,653,631,652,0.400954040573,-0.00542360144352,0.0499344256422,0.999999976669,7.85941196498e-05,-0.0001988542992,-3.06944777535e-05,1793242858629943552
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,746,714,679.348908411,661.651091589,635,879,788,805,653,631,652,0.4009622392,-0.00542528054915,0.0499365561286,0.999999978061,7.56113238737e-05,-0.000192934685065,-3.06149369167e-05,1793242858646610176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.763656123,714,679,662,635,878.763656123,787.763656123,805,653,631,652,0.400975605033,-0.00542587342582,0.0499397744604,0.999999979845,7.49305083184e-05,-0.000183751268805,-3.0494518642e-05,1793242858663276800
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.18661277,714,679,662,635,878.18661277,787.18661277,805,653,631,652,0.400996419606,-0.00542490045835,0.0499445609664,0.999999982105,7.75680927368e-05,-0.000169862947256,-3.03151738536e-05,1793242858679943424
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.610135145,635,878,787.389864855,805,653,631,652,0.401026350924,-0.00542479574133,0.0499503147525,0.999999985092,7.78499748762e-05,-0.000151123195213,-3.02970630861e-05,1793242858696610048
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.033927867,635,878,787.966072133,805,653,631,652,0.401060639743,-0.00542510601903,0.0499565308666,0.999999988116,7.70059099593e-05,-0.000130064619625,-3.0356016788e-05,1793242858713276928
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.458711647,805,653,631,652,0.401110632839,-0.0054285909098,0.0499625067045,0.99999999131,7.43566031314e-05,-0.000104551696036,-3.03293402477e-05,1793242858729943552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.120136061,635,878,787.120136061,805.120136061,653,631,652,0.401162448344,-0.005431385463,0.0499675536838,0.999999993585,7.21128809532e-05,-8.18814139595e-05,-3.04288353394e-05,1793242858746610176
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.71353402,635,878,787.71353402,805.71353402,653,631,652,0.401217572416,-0.0054306780711,0.0499690007566,0.999999994376,7.19118466453e-05,-7.15072336642e-05,-3.10464739742e-05,1793242858763276544
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.70314946,635,878.29685054,787.70314946,805.70314946,653,631,652,0.401280263241,-0.00543166322851,0.0499708276114,0.999999994678,7.28235987244e-05,-6.62616774291e-05,-3.08134354868e-05,1793242858779943424
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.129242189,635,878.870757811,787.129242189,805.129242189,653,631,652,0.40135001627,-0.00543422807715,0.0499730089244,0.999999994596,7.4773937301e-05,-6.58027724079e-05,-2.97864424655e-05,1793242858796610304
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.401435793631,-0.00543779421469,0.0499738242638,0.999999994886,7.24634852845e-05,-6.4295942684e-05,-2.9049605093e-05,1793242858813276928
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.025956666,635,879,787.025956666,805,653,631,652,0.401527285305,-0.00544166806449,0.0499742306546,0.999999995259,6.89448401799e-05,-6.26340505751e-05,-2.8388810012e-05,1793242858829943808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.615729148,635,879,787.615729148,805,653,631,652,0.401641732882,-0.00544590438069,0.0499743779637,0.999999995375,6.60823637903e-05,-6.42198933791e-05,-2.75479086435e-05,1793242858846610176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.798455512,635,879,787.798455512,805,653,631,652,0.401766852113,-0.00545051777835,0.0499752454648,0.999999995593,6.32881306206e-05,-6.40160101294e-05,-2.66403075604e-05,1793242858863276544
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.220039759,635,879,787.220039759,805,653,631,652,0.401911926429,-0.00545583628618,0.049977459664,0.999999996007,6.06215068615e-05,-6.04654893035e-05,-2.56079837075e-05,1793242858879943168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.643327543,787,805,653,631,652,0.402072662212,-0.00546031010593,0.0499785161406,0.999999996228,5.90804280491e-05,-5.871044908e-05,-2.46410340652e-05,1793242858896609792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.067661227,787,805,653,631,652,0.402243014016,-0.00546426529489,0.0499788617855,0.999999996338,5.82304240145e-05,-5.80578183499e-05,-2.37142235328e-05,1793242858913276416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.507070531,805,653,631,652,0.402444112793,-0.00547143115821,0.0499770899174,0.999999996571,5.45518557125e-05,-5.81180301919e-05,-2.24444849614e-05,1793242858929943296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.08428511,714,679.08428511,661.08428511,635,878,787.91571489,805,653,630.91571489,652,0.402653972838,-0.0054789442312,0.0499750993247,0.999999996765,5.07105601627e-05,-5.87604315867e-05,-2.10923510543e-05,1793242858946610176
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.677235087,714,679.677235087,661.677235087,635,878,787.322764913,805,653,630.322764913,652,0.402891992977,-0.00548597196727,0.0499734907923,0.999999996706,4.81608203052e-05,-6.23433871644e-05,-1.95186051438e-05,1793242858963276800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.474377206,714,679.737188603,661.737188603,635,878,787,805,652.737188603,630.262811397,652,0.403154704077,-0.0054943067179,0.0499758433791,0.999999997274,4.48947578496e-05,-5.58669951385e-05,-1.77632181083e-05,1793242858979943424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.320841918,714,679.160420959,661.160420959,635,878,787,805,652.160420959,630.839579041,652,0.403446911148,-0.00550420283639,0.0499829279451,0.999999998346,4.07729717851e-05,-3.73736391791e-05,-1.57908414636e-05,1793242858996609792
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.586137999,744.413862001,714,679.413862001,661,635,878.413862001,787.413862001,805,652.413862001,631,652,0.403764937718,-0.00551367355398,0.0499925709565,0.999999999039,3.7839865599e-05,-1.78493900417e-05,-1.31196202199e-05,1793242859013276416
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.012812416,744.987187584,714,679.987187584,661,635,878.987187584,787.987187584,805,652.987187584,631,652,0.404092912692,-0.00552298036173,0.0500031997524,0.999999999321,3.53647651877e-05,2.07206817273e-06,-1.01791298837e-05,1793242859029943552
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.560049317,745,714.560049317,679.439950683,661,635,879,787.439950683,805.560049317,653,631,652,0.404452460964,-0.00553229262167,0.0500067553198,0.999999999429,3.06426853815e-05,1.18547255817e-05,-7.9088983542e-06,1793242859046610176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.861033393,679,661,635,879,787,805.861033393,653,631,652,0.404825225066,-0.00554041732742,0.0500105139427,0.99999999934,2.88650667031e-05,2.14424479651e-05,-5.20774242947e-06,1793242859063276544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.262034945,679,661,635,879,787,805.262034945,653,631,652,0.405239349327,-0.00554461036679,0.0500154799852,0.99999999883,3.70047535233e-05,3.11520611622e-05,-1.02934645611e-06,1793242859079943424
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.321661745,635,879,787,805,653,631,652,0.405642879284,-0.00554105575229,0.0500046568472,0.999999998633,5.13494545308e-05,9.75381937196e-06,1.32374941034e-06,1793242859096610304
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.893459297,635,879,787,805,653,631,652,0.406038170773,-0.00553147628236,0.0499815554717,0.999999996869,7.05193997946e-05,-3.58350146635e-05,2.25742633369e-06,1793242859113276672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.544576127,635,878.544576127,787.455423873,805,653,631,652,0.406467812339,-0.00552581195349,0.0499617960915,0.999999993816,8.7357076866e-05,-6.87539680873e-05,3.07981664455e-06,1793242859129943040
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.016377363,787.983622637,805,653,631,652,0.406907936593,-0.00552130692261,0.0499432618103,0.999999989834,0.000103453995819,-9.80443830218e-05,3.96104149848e-06,1793242859146609664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.621965314,787.378034686,805,653,631,652,0.407442205008,-0.00552625512106,0.0499412699279,0.999999988566,0.000112115043582,-0.000101171550123,7.87580380116e-06,1793242859163276288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.780817814,787,805,653,631,652,0.408003875602,-0.00553054703882,0.049951007074,0.999999989328,0.000121284914105,-8.05373259125e-05,1.21552051403e-05,1793242859179942912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.197507869,787,805,653,631,652,0.40861106945,-0.00553374867599,0.0499802296766,0.999999991026,0.000131300091985,-2.04282590793e-05,1.70403817069e-05,1793242859196609536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.366772444,714,679,661.366772444,635,878.366772444,787,805,653,631,652,0.409226883396,-0.00553677853433,0.0500035153409,0.999999990306,0.000136436364212,1.77771211774e-05,2.13812094032e-05,1793242859213276416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.921310691,714,679,661.921310691,635,878.921310691,787,805,653,631,652,0.409847110304,-0.00553972045198,0.0500237616431,0.999999989003,0.000139074925011,4.47691072133e-05,2.5443362526e-05,1793242859229943040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.489897793,714,679,662,635,879,787,805.510102207,652.489897793,631,652,0.410446763347,-0.00554033160033,0.0500175527387,0.999999991109,0.000128685204402,2.56588768108e-05,2.37586953227e-05,1793242859246609920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.895129889,679,661.790259777,635,879.104870111,787,805.895129889,652,631,652,0.41104814139,-0.00554068410433,0.0500019536837,0.999999992689,0.000118579927271,-9.98941378685e-06,2.14681761104e-05,1793242859263276800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.29890006,679,660.597800119,635,879.70109994,787,805.29890006,652,631,652,0.411673542378,-0.00554163065292,0.0499628556266,0.999999988776,0.000119901813986,-8.74049329171e-05,2.07916771839e-05,1793242859279943424
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.286477957,679,660,635,879.713522043,787.286477957,805,652.286477957,631,652,0.412355570635,-0.00554439237828,0.049951396063,0.99999998765,0.000118588749649,-0.000100965384003,2.10541815985e-05,1793242859296610048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.860946918,679,660,635,879.139053082,787.860946918,805,652.860946918,631,652,0.413094525316,-0.00554897886748,0.0499677209621,0.999999991916,0.000114626818106,-5.03335228253e-05,2.226064872e-05,1793242859313276672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.436324011,714,679,660.872648023,635,879.436324011,788,805,652.563675989,631,652,0.41384867674,-0.0055494656184,0.0499868501639,0.999999992623,0.000117332152996,-1.93826050626e-05,2.47172806793e-05,1793242859329943296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.987641973,714,678.987641973,661.975283946,635,879.987641973,787.987641973,805,652,631,652,0.414606722761,-0.00554861131563,0.0500057606181,0.999999992166,0.000122064971734,3.67631231788e-06,2.74744332512e-05,1793242859346610176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.394358903,714,678.394358903,660.788717807,635,879.394358903,787.394358903,805,652,631,652,0.415319709753,-0.0055462633891,0.0499722892136,0.999999991038,0.000122014564309,-4.8794878001e-05,2.5590587461e-05,1793242859363277056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.193110598,660.193110598,635,879,787.193110598,805,652.193110598,631,652,0.4160644123,-0.0055459677529,0.0499481847206,0.999999988919,0.000119978427873,-8.47026961434e-05,2.43331710818e-05,1793242859379943680
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.769054905,660.769054905,635,879,787.769054905,805,652.769054905,631,652,0.416871989571,-0.00554974069688,0.0499426497414,0.999999989354,0.000114005667007,-8.77743165021e-05,2.43176251239e-05,1793242859396610304
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.34710737,679.34710737,661,635,879,787.65289263,805,653,631,652,0.417704543599,-0.0055534739233,0.0499599327291,0.999999992048,0.000109564846528,-5.69132849438e-05,2.5704343173e-05,1793242859413276672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.926571027,679.926571027,661,635,879,787.073428973,805,653,631,652,0.418553817222,-0.00555718056235,0.049992490236,0.999999993968,0.000106149518472,-3.33748029923e-06,2.80297472544e-05,1793242859429943296
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.498566258,679.498566258,661,635,879,787,805,652.498566258,631,652,0.419355299693,-0.0055536398996,0.0499859791117,0.999999993138,0.000110510739789,-2.60802630135e-05,2.88229796384e-05,1793242859446609920
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.922172679,634.922172679,879,787,805,652,631,652,0.420157067382,-0.00554949996514,0.0499748718461,0.999999991511,0.00011520639089,-5.34402546819e-05,2.91444260588e-05,1793242859463276544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.331286302,634.331286302,879,787,805,652,631,652,0.421006431126,-0.0055483421114,0.0499708379318,0.999999992308,0.000114667781752,-3.82331128196e-05,2.78213785107e-05,1793242859479943168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.509103035,634.254551517,879,787,805,652,631,652,0.421890510506,-0.00554949450733,0.0499802476717,0.999999993302,0.000111877566495,-9.72936374376e-06,2.80259746726e-05,1793242859496609792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.66789349,634.833946745,879,787,805,652,631,652,0.422818892062,-0.00555359510816,0.0500068134137,0.999999993265,0.000106213983408,3.57427373593e-05,3.01800598844e-05,1793242859513276416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.409868475,661.590131525,635,879.409868475,787,805,652.409868475,631,652,0.423686917833,-0.00555486420888,0.0500016964275,0.99999999382,0.000104230813498,2.37423987013e-05,3.05172910832e-05,1793242859529943296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.984394751,661.015605249,635,879.984394751,787,805,652.984394751,631,652,0.424530696623,-0.00555499580156,0.0499838514337,0.999999994102,0.00010372618828,-1.13465335926e-05,3.01246314416e-05,1793242859546609920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.55761996,745,714,678.88476008,661,635,880,787.55761996,805,652.44238004,631,652,0.425428763354,-0.00555938491749,0.0499956892036,0.999999994592,9.84189048609e-05,1.12320757237e-05,3.16777622678e-05,1793242859563276544
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,678.135711122,661,635,879.864288878,787.864288878,805,652,631,652,0.426321245026,-0.00556276678594,0.0500078243538,0.999999994503,9.48627064863e-05,2.96129923257e-05,3.34296857065e-05,1793242859579943424
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,678.730381177,661,635,879.269618823,787.269618823,805,652,631,652,0.427189712598,-0.00556234025359,0.0500181624668,0.999999994191,9.7681953e-05,2.83526553806e-05,3.56701744452e-05,1793242859596610048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.684377263,745,714.315622737,679,660.684377263,635,879.315622737,787.315622737,805.315622737,651.684377263,631,652,0.428043970736,-0.00555960840316,0.0499986150439,0.999999994341,9.96761585169e-05,-1.1605937572e-05,3.53353972751e-05,1793242859613276672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.106956344,745,714.893043656,679,660.106956344,635,879.893043656,787.893043656,805.893043656,651.106956344,631,652,0.428886442595,-0.00555496437085,0.0499542785984,0.999999990861,0.000100986020425,-8.36633999858e-05,3.28645255422e-05,1793242859629943296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.532622367,679,660,635,880,787.532622367,806,651.467377633,631,652,0.429785458349,-0.00555746396626,0.049958167325,0.99999999261,9.63065746096e-05,-6.66264513757e-05,3.26346933592e-05,1793242859646609920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.041692542,745,714,679.041692542,660.041692542,635,880,787,806,652,631,651.958307458,0.430691021032,-0.00556121254823,0.0499716478606,0.999999994771,9.09091455344e-05,-3.32599456469e-05,3.29761468234e-05,1793242859663276544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.624873875,745,714,679.624873875,660.624873875,635,880,787,806,652,631,651.375126125,0.431514658307,-0.0055600899743,0.0499673119459,0.999999993718,9.38710749051e-05,-5.08745046283e-05,3.41202807676e-05,1793242859679943424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.209067648,745,714,679.790932352,660.790932352,635,880,787,806,652,631,651.209067648,0.432351225597,-0.00555926292147,0.0499592303999,0.999999992456,9.6877163966e-05,-6.71327663018e-05,3.45856612103e-05,1793242859696610048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.79508696,745,714,679.20491304,660.20491304,635,880,787,806,652,631,651.79508696,0.433211106007,-0.00555896869679,0.0499443954318,0.999999991155,9.99628740472e-05,-8.09456094236e-05,3.38272405444e-05,1793242859713276672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.626254912,745,714,679,660.373745088,635,880,787,805.626254912,652,631,652,0.434087602085,-0.0055609748291,0.0499576353763,0.999999992902,9.82979356952e-05,-5.75797330943e-05,3.49060350296e-05,1793242859729943296
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.051554777,745,714,679,660.948445223,635,880,787,805.051554777,652,631,652,0.434973032016,-0.00556421781608,0.0499859706249,0.99999999479,9.40786710363e-05,-1.422362291e-05,3.6972662316e-05,1793242859746609920
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.522902249,661,634.477097751,879.477097751,787,805.522902249,652,631,652,0.435751117076,-0.00556310367371,0.0499771613764,0.999999993562,9.58178541399e-05,-4.75523946931e-05,3.78636592976e-05,1793242859763276288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.899772,745.100228,714,680,660.899772,634,879,787,806,652,631,651.899772,0.436520962495,-0.00556153557107,0.0499649426856,0.99999999104,9.7882178524e-05,-8.28727319232e-05,3.83671563217e-05,1793242859779943168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.308267526,745.691732474,714,680,660.308267526,634,879,787,806,652,631,651.308267526,0.437302272454,-0.0055598470111,0.0499539546009,0.999999990296,9.86620415812e-05,-9.09130094693e-05,3.7539164906e-05,1793242859796609792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,680,660.554313752,634.277156876,879.277156876,787,806,652,631,651.277156876,0.438103081863,-0.00556083554494,0.0499616836377,0.999999992245,9.64750932043e-05,-6.91004736059e-05,3.77885362973e-05,1793242859813276416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,661.711927704,634.855963852,879.855963852,787,806,652,631,651.855963852,0.438925113898,-0.00556473775588,0.0499897838877,0.999999994976,9.10591466853e-05,-1.47969367282e-05,3.92104804052e-05,1793242859829943040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.431446742,746,714,679.568553258,661.568553258,635,879.568553258,787.431446742,806,652,631,652,0.439679301664,-0.00556517172442,0.0499845953491,0.999999994903,9.06661522371e-05,-2.18745029739e-05,3.86789550269e-05,1793242859846609664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.994016978,745.994016978,714,679.005983022,661,634.994016978,879.005983022,787.994016978,806,652,631,652,0.440410566099,-0.0055644851949,0.0499684420339,0.999999993867,9.18858983585e-05,-4.91528702367e-05,3.75147588313e-05,1793242859863276544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.404401028,745.404401028,714,679.595598972,661,634.404401028,879.595598972,787.404401028,806,652,631,652,0.441098214965,-0.00556657911803,0.0499584867274,0.999999993401,8.80990861435e-05,-6.33327871293e-05,3.77648473352e-05,1793242859879943168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.181798234,745,714,680,661,634.181798234,880,787,806,652,631.181798234,652,0.441793340946,-0.00556796009245,0.0499603124236,0.999999993903,8.61776677812e-05,-5.73793132172e-05,3.84092583232e-05,1793242859896609792
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.760537558,745,714,680,661,634.760537558,880,787,806,652,631.760537558,652,0.442504792705,-0.00556778440396,0.0499878609419,0.999999995275,8.83291785147e-05,-7.46628358146e-06,3.99146391507e-05,1793242859913276416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661.338222924,635,879.661777076,787,806.338222924,652,631.661777076,652,0.443169854275,-0.005568981269,0.0500012531767,0.999999995211,8.76678520003e-05,1.39702534415e-05,4.11977428817e-05,1793242859929943296
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661.915164369,635,879.084835631,787,806.915164369,652,631.084835631,652,0.443802173499,-0.0055711468855,0.0500046538722,0.999999995373,8.50212184379e-05,1.53080131938e-05,4.23239628841e-05,1793242859946609920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.501869103,745,714,680,661.501869103,634.501869103,879.498130897,787,806.501869103,652,631,652,0.44436561363,-0.00556779051208,0.0499744560558,0.999999994526,8.89728499533e-05,-3.72397955351e-05,4.05661115954e-05,1793242859963276544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.08165155,661,634,880,787,806,652,631.08165155,652,0.444920902974,-0.00556519987835,0.0499436409741,0.999999991113,9.2024643788e-05,-8.83737096506e-05,3.86822704155e-05,1793242859979943168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.66221145,661,634,880,787,806,652,631.66221145,652,0.445498943644,-0.00557310471122,0.0499444455427,0.999999993077,8.26279020865e-05,-7.41076145494e-05,3.9066565544e-05,1793242859996609792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.758712528,660.758712528,634.241287472,880,787.241287472,806,652,631.758712528,651.758712528,0.446072882734,-0.00557810199181,0.049956541802,0.999999995435,7.55515151486e-05,-4.32867830449e-05,3.93425226755e-05,1793242860013276416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.181701199,660.181701199,634.818298801,880,787.818298801,806,652,631.181701199,651.181701199,0.4466411149,-0.00557905374607,0.0499843491543,0.999999996595,7.17036365098e-05,1.05680652345e-05,3.94677398031e-05,1793242860029943296
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.786407221,634.60679639,880.39320361,788,806,652,631,651.39320361,0.447138434332,-0.00557565217224,0.0499874586487,0.999999996315,7.4722692708e-05,1.48387253486e-05,3.95854717099e-05,1793242860046609920
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.934280448,634.032859776,880.967140224,788,806,652,631,651.967140224,0.447603159325,-0.00557024962485,0.0499792159658,0.999999995933,8.08980821817e-05,-3.68159902079e-06,3.96997631259e-05,1793242860063276544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.443047495,634.556952505,880.443047495,787.443047495,806.556952505,652,631,652,0.44801085244,-0.00556288961447,0.0499474703721,0.999999994091,8.92451170532e-05,-4.93752090323e-05,3.76258733307e-05,1793242860079943424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.855150633,634.855150633,880,787,806.855150633,652,631,651.855150633,0.448412116248,-0.00555765772584,0.0499206110007,0.999999991031,9.47584189472e-05,-8.76093755658e-05,3.58155157553e-05,1793242860096609792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.27588958,634.27588958,880,787,806.27588958,652,631,651.27588958,0.44880448572,-0.00555916471664,0.0499126863611,0.999999990352,9.13776631737e-05,-9.85230746441e-05,3.51940480993e-05,1793242860113276160
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.301719791,634,880,787,806,652,631,651,0.4491829028,-0.00556283781553,0.0499145254451,0.999999990975,8.69852721948e-05,-9.60504012427e-05,3.54622342695e-05,1793242860129943040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877827068,634,880,787,806,652,631,651,0.449548631388,-0.00556848079823,0.0499252437734,0.999999992684,8.16728885912e-05,-8.14040043904e-05,3.65394820075e-05,1793242860146609920
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806,652,631,651.453456828,0.449881047881,-0.00557039630862,0.0499328360439,0.999999993558,7.92337586722e-05,-7.22807857933e-05,3.71797616259e-05,1793242860163276544
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.9703,787,806.0297,652,631,652,0.4502019722,-0.00557106938249,0.049938992205,0.99999999411,7.78536075838e-05,-6.55757147038e-05,3.76661198494e-05,1793242860179943168
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.380053746,787,806.619946254,652,631,652,0.450475212773,-0.00556722758551,0.0499339231932,0.999999993025,8.18649811994e-05,-7.6453800332e-05,3.74670869543e-05,1793242860196609792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.20602928,787.20602928,807,652,631,651.79397072,0.450734453662,-0.0055635527261,0.0499281011269,0.999999991666,8.57508561116e-05,-8.90217326928e-05,3.72875560213e-05,1793242860213276416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.78458462,787.78458462,807,652,631,651.21541538,0.450968381384,-0.00556017971058,0.0499209174465,0.999999989838,8.94098136324e-05,-0.000104645112812,3.71432870362e-05,1793242860229943040
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.361595243,680,660.638404757,633.638404757,879.638404757,787.638404757,806.638404757,651.638404757,631,651.361595243,0.451180768583,-0.00555952067182,0.0499161092327,0.999999988446,9.06185346517e-05,-0.00011612410144,3.75664134643e-05,1793242860246609664
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.93768959,680,660.06231041,633.06231041,879.06231041,787.06231041,806.06231041,651.06231041,631,651.93768959,0.451380377917,-0.00556047156981,0.0499127101504,0.999999987351,9.03737702599e-05,-0.000125144629278,3.83261201062e-05,1793242860263276288
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.487802557,680,660,633,879.512197443,787,806,651.512197443,631,652,0.451546542121,-0.0055617316309,0.049903535257,0.999999985489,8.71591649523e-05,-0.000141514856467,3.74067688733e-05,1793242860279942912
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806.089271947,651.910728053,631,652,0.45170420331,-0.00556291991491,0.0498939711085,0.99999998314,8.40917240595e-05,-0.000159119303344,3.64679753228e-05,1793242860296609536
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806.681903618,651.318096382,631,652,0.451836790864,-0.00556349207171,0.0498861617724,0.999999979854,8.38849129084e-05,-0.000178657011384,3.65677338523e-05,1793242860313276672
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.266744342,714,680,660,633,880,787,807,651.266744342,631,652,0.451963747584,-0.00556434649734,0.0498812775695,0.999999977971,8.19837735982e-05,-0.000189784946647,3.63197872778e-05,1793242860329943552
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.842557878,714,680,660,633,880,787,807,651.842557878,631,652,0.452084180007,-0.00556552797992,0.0498797826372,0.99999997804,7.81194637625e-05,-0.000191168712711,3.56689645475e-05,1793242860346609920
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.581040073,714.418959927,680,660.418959927,633,880,787,806.581040073,652,631,652,0.452190311608,-0.00556662160829,0.0498814302274,0.999999978707,7.72041213821e-05,-0.000187987795504,3.58665817174e-05,1793242860363276800
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.004416567,714.995583433,680,660.995583433,633,880,787,806.004416567,652,631,652,0.452291061501,-0.0055676821752,0.0498842604161,0.999999979582,7.73985385961e-05,-0.000183089090347,3.63834849771e-05,1793242860379943424
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.581418081,745,714.418581919,680,660.418581919,633,880,787,806.581418081,651.418581919,631,652,0.452362574946,-0.00556777233345,0.0498819830766,0.999999978885,7.80367819418e-05,-0.00018659316073,3.63901825532e-05,1793242860396609792
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.83466166,745,714,680,660,633,880,787,807,651.16533834,631,652,0.452428196702,-0.00556753800015,0.0498794452161,0.999999977998,7.84670009144e-05,-0.000191130664772,3.62809613964e-05,1793242860413276672
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.255708432,745,714,680,660,633,880,787,807,651.744291568,631,652,0.452479644154,-0.00556651064733,0.0498763542496,0.999999976665,7.83682506286e-05,-0.000198091186886,3.58916062199e-05,1793242860429943808
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.321058281,745,714.321058281,680,660,633,880,787.321058281,806.678941719,652,631,652,0.45252354625,-0.00556631402322,0.0498729822002,0.9999999758,7.74329401023e-05,-0.000202857336084,3.54108000266e-05,1793242860446610432
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.896095376,745,714.896095376,680,660,633,880,787.896095376,806.103904624,652,631,652,0.452561479464,-0.00556677456161,0.0498693877948,0.999999975322,7.58358538396e-05,-0.000205887588649,3.48576498528e-05,1793242860463276800
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.474814921,715,680,660,632.525185079,880,787.525185079,806.474814921,652,631,652,0.45258710464,-0.00556734046382,0.0498662985979,0.99999997443,7.39892776291e-05,-0.000210837530918,3.4823973823e-05,1793242860479943424
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.944942541,745.944942541,714.944942541,680,659.944942541,632.055057459,880.055057459,787,806.944942541,652,631,652,0.452609378654,-0.00556759910113,0.0498635013267,0.999999973458,7.26684024059e-05,-0.000215846673181,3.48396895802e-05,1793242860496610048
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.357830174,745.357830174,714.357830174,680,659.357830174,632.642169826,880.642169826,787,806.357830174,652,631,652,0.452625499659,-0.00556466388894,0.0498624483966,0.999999972835,7.69594284215e-05,-0.000217336588487,3.42255858696e-05,1793242860513276672
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.227033977,745.227033977,714,680,659.227033977,632.772966023,880.772966023,787,806.227033977,652,631,651.772966023,0.452637897706,-0.00556277056755,0.049860405904,0.99999997199,7.96811166033e-05,-0.000220283883101,3.38476751406e-05,1793242860529943296
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.808389406,745.808389406,714,680,659.808389406,632.191610594,880.191610594,787,806.808389406,652,631,651.191610594,0.452644485507,-0.00556250327722,0.0498568190471,0.999999970805,7.99536113929e-05,-0.000225505642253,3.38383799355e-05,1793242860546609664
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.614920417,746,714,680.385079583,660,632.385079583,880,787,807,652,631,651.385079583,0.452650538891,-0.00556371697773,0.0498553310056,0.99999997062,7.76317613157e-05,-0.000227124147711,3.38884587477e-05,1793242860563277056
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.040523839,746,714,680.959476161,660,632.959476161,880,787,807,652,631,651.959476161,0.452656329538,-0.00556565877901,0.0498548748067,0.999999970925,7.40344513039e-05,-0.000226971182401,3.3967727658e-05,1793242860579943936
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.534644529,746,714,681,660,632.465355471,879.465355471,787,806.465355471,652,631,652,0.452658491263,-0.00556383033377,0.0498541847679,0.9999999704,7.63030733373e-05,-0.000228536587965,3.38871131214e-05,1793242860596610560
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.886682706,746,714,680.886682706,660,632,879.226634588,787,806.113317294,652,631,652,0.452660179333,-0.00556175724239,0.0498534882052,0.999999969855,7.87873845214e-05,-0.000230113993173,3.36296171717e-05,1793242860613277184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.293415517,746,714,680.293415517,660,632,880.413168965,787,806.706584483,652,631,652,0.452661027934,-0.00555986007549,0.0498528391892,0.999999969518,8.02993753828e-05,-0.000231189776336,3.26743501416e-05,1793242860629944064
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.290334013,680,660,632,880.709665987,787,807,652,630.709665987,651.709665987,0.452660583201,-0.00555861969085,0.0498516288109,0.999999969011,8.1201647257e-05,-0.000233131406403,3.21462046074e-05,1793242860646610432
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.864770246,680,660,632,880.135229754,787,807,652,630.135229754,651.135229754,0.452658872896,-0.00555802199093,0.0498498691196,0.999999968336,8.1507287468e-05,-0.000235920298769,3.20360126241e-05,1793242860663276800
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.441050536,746,715,680,660,632,880,786.558949464,807,652,630.441050536,651,0.452659364577,-0.00555867760307,0.0498500345994,0.999999968433,8.01450826255e-05,-0.000235947129404,3.2253242599e-05,1793242860679943680
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.981675552,745.981675552,714.981675552,680,660,632,879.981675552,786.018324448,807,652,631,651.018324448,0.452660507558,-0.00555966932181,0.0498507601396,0.99999996875,7.83683423839e-05,-0.00023515393428,3.25618689667e-05,1793242860696610304
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.391101943,745.391101943,714.391101943,680,660,632,879.391101943,786.608898057,807,652,631,651.608898057,0.452660817289,-0.00555910639172,0.0498504647704,0.999999968609,7.96828302273e-05,-0.000235310121127,3.25764651118e-05,1793242860713277184
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.194738425,714.194738425,680,660,632,879.194738425,787,807,652,631,652,0.452660736939,-0.00555850477304,0.0498498538419,0.999999968398,8.0453914796e-05,-0.000235963479766,3.2430960488e-05,1793242860729944320
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.771298343,714.771298343,680,660,632,879.771298343,787,807,652,631,652,0.45265989176,-0.0055578272981,0.0498486241999,0.999999968051,8.01595544437e-05,-0.00023759163768,3.19715480412e-05,1793242860746611712
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.65170204,680,660,632,880,787,806.65170204,652,631,652,0.452660487259,-0.00555812255496,0.0498481219972,0.999999968117,7.92727699775e-05,-0.000237663897958,3.1571455759e-05,1793242860763278080
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.074413363,680,660,632,880,787,806.074413363,652,631,652,0.452662029941,-0.00555905734056,0.0498480980543,0.999999968455,7.79964925094e-05,-0.000236713223346,3.12103639156e-05,1793242860779944448
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.505888726,714,680,660,632.494111274,880,787,806.494111274,652,631,652,0.452661145279,-0.00555729397366,0.0498473135446,0.999999967902,7.8997171987e-05,-0.00023873684538,3.09950095399e-05,1793242860796610560
+244,4.066666667,HOLD_POSE2,765,745,714,680,660,632,880,787,806,652,631,652,0.452660063875,-0.00555988489429,0.0498468249451,0.999999967498,7.93904522884e-05,-0.000240136286157,3.21910323807e-05,1793242860839249664
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,880,786.423858773,806.576141227,652,631,652,0.452661176573,-0.00555828167073,0.0498476758848,0.999999967802,7.84402133718e-05,-0.000239201118117,3.20242353685e-05,1793242860855916288
+246,4.100000000,HOLD_POSE2,765,745.150473523,714,680,660,632,880,786.150473523,807,652,631,652,0.452661861495,-0.00555739843546,0.0498479551633,0.999999967927,7.79016325666e-05,-0.000238871723306,3.19148369574e-05,1793242860872582912
+247,4.116666667,HOLD_POSE2,765,745.719771021,714,680,660,632,880,786.719771021,807,652,631,652,0.452661355759,-0.00555851919593,0.0498466432956,0.999999967552,7.85088497053e-05,-0.000240228421262,3.19652002374e-05,1793242860889249792
+248,4.133333333,HOLD_POSE2,765.300717381,746,714.300717381,680,660,632,880,787,807,652,631,652,0.452661472698,-0.00555844989099,0.0498465194164,0.999999967569,7.82578321525e-05,-0.00024027033467,3.17425998502e-05,1793242860905916416
+249,4.150000000,HOLD_POSE2,765.892956355,746,714.892956355,680,660,632,880,787,807,652,631,652,0.452662193274,-0.0055572269122,0.0498475471978,0.999999967964,7.71748242666e-05,-0.000239037668915,3.12553828876e-05,1793242860922583040
+250,4.166666667,HOLD_POSE2,766,745.520672011,714.520672011,680,660,632,880,786.520672011,806.520672011,652,631,651.520672011,0.452662892587,-0.00555629228123,0.0498476262163,0.999999967871,8.00508460257e-05,-0.000238515194846,3.10011318916e-05,1793242860939249664
+251,4.183333333,HOLD_POSE2,765.936911037,745,714,680,659.936911037,632.063088963,880,786.063088963,806,652,631,651.063088963,0.452663351099,-0.00555549410955,0.0498473923214,0.999999967631,8.32311975476e-05,-0.000238452196929,3.0836090309e-05,1793242860955916288
+252,4.200000000,HOLD_POSE2,765.363790703,745,714,680,659.363790703,632.636209297,880,786.636209297,806,652,631,651.636209297,0.452661900822,-0.0055552848327,0.0498463209105,0.999999967172,8.18106806195e-05,-0.000240837081659,3.09767373407e-05,1793242860972582912
+253,4.216666667,HOLD_POSE2,765,745,714,680.210575454,659.210575454,632.789424546,879.789424546,787,806,652,631,652,0.452660784983,-0.00555541725439,0.049845668648,0.999999966835,8.08872447384e-05,-0.00024252666867,3.11028077083e-05,1793242860989249536
+254,4.233333333,HOLD_POSE2,765,745,714,680.787106648,659.787106648,632.212893352,879.212893352,787,806,652,631,652,0.452660250358,-0.00555614350857,0.0498457448173,0.99999996672,8.08276782663e-05,-0.000243007908565,3.12035455083e-05,1793242861005916160
+255,4.250000000,HOLD_POSE2,765,745,714,680.628686819,660,632,879.371313181,786.628686819,806,652,631,652,0.452659979207,-0.00555578437042,0.0498450967155,0.999999966536,8.10804855441e-05,-0.000243709140948,3.09784621407e-05,1793242861022582784
+256,4.266666667,HOLD_POSE2,765,745,714,680.039986668,660,632,879.960013332,786.039986668,806,652,631,652,0.452659862309,-0.00555478978452,0.049844024586,0.999999966311,8.15161734304e-05,-0.000244539168966,3.05626253173e-05,1793242861039249664
+257,4.283333333,HOLD_POSE2,765,745.540301234,714,680,660,632.540301234,880,786.540301234,806.540301234,652,631,652,0.45266204825,-0.00555546375285,0.0498462715869,0.999999966965,8.05457048759e-05,-0.000242127048929,3.09359376821e-05,1793242861055917056
+258,4.300000000,HOLD_POSE2,765,746,714.119040092,680,659.880959908,633,880,787,806.880959908,652,630.880959908,652,0.452663832483,-0.00555611103761,0.0498480333578,0.999999967476,7.97958900394e-05,-0.000240213216734,3.12623244229e-05,1793242861072583936
+259,4.316666667,HOLD_POSE2,765,746,714.694192699,680,659.305807301,633,880,787,806.305807301,652,630.305807301,652,0.45266343454,-0.00555619018646,0.0498470091566,0.999999967223,8.02841575254e-05,-0.000241113893524,3.11885645111e-05,1793242861089250304
+260,4.333333333,HOLD_POSE2,765,746,715,680,659.269975558,632.730024442,879.730024442,787,806.269975558,652,630.269975558,652,0.452663035051,-0.00555619395667,0.0498463459038,0.999999967049,8.03449291739e-05,-0.00024180433082,3.12683445778e-05,1793242861105916672
+261,4.350000000,HOLD_POSE2,765,746,715,680,659.846473952,632.153526048,879.153526048,787,806.846473952,652,630.846473952,652,0.452662633807,-0.00555611214405,0.049846092462,0.999999966966,7.99203337556e-05,-0.000242256067915,3.15224497252e-05,1793242861122583296
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786,807,652,631,652,0.452660325556,-0.00555555554124,0.0498447412536,0.999999966577,7.84512439003e-05,-0.000244454722206,3.05660034158e-05,1793242861155307520
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.579050361,679.420949639,660,632,880,786.579050361,806.420949639,652,631,652,0.452660880865,-0.00555628292994,0.0498451785644,0.999999966744,7.895734717e-05,-0.00024357696824,3.07805762876e-05,1793242861171974144
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.84908708,679.15091292,660,632,879.84908708,787,806,652,631,652,0.452661000685,-0.00555697956959,0.0498452135071,0.999999966719,7.93605561251e-05,-0.000243524695878,3.09844678592e-05,1793242861188640768
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.29636222,679.70363778,660,632,879.29636222,787,806,652,631,652,0.452659960999,-0.00555759433876,0.0498441771276,0.999999966178,7.94898047889e-05,-0.000245670302509,3.11599200706e-05,1793242861205307392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.284249169,786.715750831,806,652,631,651.715750831,0.45265928537,-0.00555785294142,0.049843323292,0.999999966002,7.86044905063e-05,-0.000246691397479,3.09824399718e-05,1793242861221974016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.897098111,786.102901889,806,652,631,651.102901889,0.452659030602,-0.00555769980586,0.0498426804822,0.999999966249,7.65463138427e-05,-0.000246412526241,3.03969605084e-05,1793242861238640896
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.484825587,714,680,660,632.484825587,879.515174413,786.484825587,806.484825587,652,630.515174413,651.484825587,0.452660235144,-0.00555666716139,0.0498435410575,0.999999966445,7.76851282685e-05,-0.000245241235612,3.05306772317e-05,1793242861255307520
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.933767544,714.066232456,680,659.933767544,632.933767544,879.066232456,787,807,652,630.066232456,652,0.452660468515,-0.00555561948963,0.0498439857156,0.999999966368,7.92738559845e-05,-0.000245016541528,3.07730261897e-05,1793242861271973888
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.361913621,714.638086379,680,659.361913621,632.361913621,879.638086379,787,807,652,630.638086379,652,0.452651039903,-0.00555581195494,0.0498389393249,0.999999964274,7.93723764894e-05,-0.000253392951119,3.07367791056e-05,1793242861288640512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.211213342,632,879.788786658,787,806.788786658,652,631,652,0.452634883322,-0.0055557294214,0.0498313965285,0.999999960945,7.8884947664e-05,-0.000266386005077,3.04303528563e-05,1793242861305307392
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.786534826,632,879.213465174,787,806.213465174,652,631,652,0.452607128477,-0.00555517282064,0.0498195502086,0.999999955284,7.73874078053e-05,-0.000287337635853,2.96581679891e-05,1793242861321975040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.37390835,659.62609165,632,879.37390835,787,806.37390835,652,631,652,0.452562818436,-0.00555281890541,0.0498006492585,0.999999945326,7.88670660355e-05,-0.000319867556676,2.85158424722e-05,1793242861338641664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.968391634,659.031608366,632,879.968391634,787,806.968391634,652,631,652,0.4525087422,-0.00554940472358,0.04977758666,0.999999931739,8.21030241245e-05,-0.000359227710531,2.71551645487e-05,1793242861355308032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.454149142,681,659.545850858,632,880,787,807,652,631,652,0.452441554246,-0.00554857288595,0.0497567098003,0.999999920483,8.30758059416e-05,-0.000389168186778,2.60965305277e-05,1793242861371974400
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,632,880,787,807,652,631,651.878211303,0.452371921112,-0.00554698066463,0.049738795706,0.999999910221,8.43697253917e-05,-0.000414503823706,2.5013755382e-05,1793242861388641024
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,632,880,787,807,652,631,651.304371912,0.452295944971,-0.00554202782908,0.0497314231022,0.999999905715,8.73273566258e-05,-0.000424710790023,2.37784174205e-05,1793242861405307648
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.277768899,681,660.277768899,632.277768899,880,787,806.722231101,652,631,651.277768899,0.452214039189,-0.00553859178515,0.0497290530493,0.999999904384,8.86783876141e-05,-0.000427596762132,2.29990805149e-05,1793242861421974272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.869286389,681,660.869286389,632.869286389,880,787,806.130713611,652,631,651.869286389,0.452125435699,-0.0055368690047,0.0497323335332,0.999999906719,8.82147136013e-05,-0.000422213443538,2.27348110276e-05,1793242861438641152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.54929387,680.54929387,660.54929387,633,880,787,806,652,631,652,0.452015926223,-0.00553273386478,0.0497350726831,0.999999907145,9.12606951809e-05,-0.00042057289709,2.23501560969e-05,1793242861455308032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.029060322,714,680,660,633,880.029060322,787,806.029060322,652,631,651.970939678,0.451898998663,-0.00552792843795,0.0497374602673,0.99999990697,9.53007353844e-05,-0.000420115493194,2.1934143526e-05,1793242861471975168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.603638174,714,680,660,633,880.603638174,787,806.603638174,652,631,651.396361826,0.451754142191,-0.00552338606701,0.0497361308542,0.99999990582,9.93125177357e-05,-0.000421937968654,2.15705309784e-05,1793242861488641536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.822800532,714,680,660,633,880.822800532,787,806.822800532,651.822800532,631,651.177199468,0.451600940562,-0.00551819742284,0.0497353070926,0.999999905139,0.000103802263746,-0.000422503200421,2.09423691702e-05,1793242861505307904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.251500195,714,680,660,633,880.251500195,787,806.251500195,651.251500195,631,651.748499805,0.451429178887,-0.00551157143386,0.0497356079263,0.999999905512,0.000109355025359,-0.000420272256329,1.97258360416e-05,1793242861521974528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,787,806,651.320779571,631,651.679220429,0.451240352558,-0.0055042485062,0.0497349295903,0.99999990549,0.000114420432776,-0.000419036425121,1.8367715737e-05,1793242861538640896
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,787,806,651.89382965,631,651.10617035,0.451038106063,-0.00549637748473,0.0497334812065,0.999999905159,0.000119102571089,-0.000418583179773,1.68982469747e-05,1793242861555307520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879.513850547,787,806.486149453,652,631,651,0.450808919843,-0.00548940782645,0.0497427925073,0.99999991211,0.000122904149481,-0.000400500481647,1.65251253562e-05,1793242861571974144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.076009042,714,680,660,633,879.076009042,787,806.923990958,652,631,651.076009042,0.45056783899,-0.00548222015953,0.0497532814031,0.999999919402,0.000127200804618,-0.0003804668565,1.61824567976e-05,1793242861588641024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.623432793,714,680,660,633,879.623432793,787,806.376567207,652,631,651.623432793,0.450290981724,-0.00547240911661,0.0497558986088,0.999999921035,0.000135809894782,-0.000373197628578,1.44823948155e-05,1793242861605307904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,633,880,786.811157274,806,652,631,651.811157274,0.449997966615,-0.00546237178127,0.0497580391956,0.999999922548,0.000142814560724,-0.000366533966266,1.27179935439e-05,1793242861621974528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,633,880,786.206105896,806,652,631,651.206105896,0.449669339695,-0.00545183569887,0.0497591293163,0.999999924008,0.000146283081284,-0.000361204968773,1.08117888278e-05,1793242861638640896
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.605930701,714,680,660,633.394069299,879.605930701,786.394069299,806,652,631,651.394069299,0.449306047766,-0.00544032679285,0.0497579231908,0.999999921656,0.000153297556042,-0.000364842250335,8.82257956297e-06,1793242861655307776
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.008274691,714,680,660,633.991725309,879.008274691,786.991725309,806,652,631,651.991725309,0.448924846977,-0.00542831530053,0.0497555307632,0.999999917225,0.000162143965189,-0.000373111750927,6.79048799261e-06,1793242861671974400
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,806,652,631,651.433595624,0.448518253662,-0.00542210216502,0.0497526066329,0.999999919316,0.000161801604879,-0.000367660086924,3.74772961177e-06,1793242861688641024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.140508235,634,879.140508235,787,806,651.859491765,631,651,0.448100062615,-0.00541611041108,0.0497502810882,0.999999921043,0.000161481830283,-0.000363094676742,6.4116923402e-07,1793242861705307648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.713833817,634,879.713833817,787,806,651.286166183,631,651,0.447647244498,-0.00541054983257,0.0497498224036,0.999999921466,0.000161629016966,-0.000361852659677,-2.61821578761e-06,1793242861721974272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.703620247,787,806.296379753,651.296379753,631.296379753,651.296379753,0.447170686937,-0.00541139960575,0.0497524306041,0.999999924406,0.000153549096556,-0.000357191693399,-4.91775599104e-06,1793242861738640896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.111885778,787,806.888114222,651.888114222,631.888114222,651.888114222,0.446670471981,-0.00541863755958,0.0497580950825,0.999999929615,0.000137270522721,-0.000349123602203,-6.26077141657e-06,1793242861755307520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.450378888,745.450378888,714,680,660.549621112,634,879.450378888,787,806.549621112,652,631.549621112,652,0.446144914117,-0.00542207035282,0.049765255995,0.999999935375,0.000124262386186,-0.000337247093775,-8.56393347687e-06,1793242861771974400
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.393950518,714,679.393950518,661.212098964,634,880,787,806,652,631,652,0.445048282204,-0.00542210022463,0.049797405512,0.999999949632,0.00010837044405,-0.000298091061245,-1.15444300432e-05,1793242861805307904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.802383407,744.802383407,714,679.197616593,661.604766814,634,880,787,806,652,631,651.802383407,0.444453119484,-0.00541690854385,0.0498089372935,0.999999952358,0.000106552839852,-0.000289399680068,-1.33280803468e-05,1793242861821974528
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.35830187,714,680,660,634,880,787,806,652,631.35830187,651,0.443114261435,-0.0053985588025,0.0497721207283,0.999999931933,0.000106377587102,-0.000352555453125,-2.28429410873e-05,1793242861855307520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,744.949123815,714,680,660,634,880,787,806,652,631.949123815,651,0.442407610505,-0.0053922271769,0.0497417782507,0.999999914623,0.000101834626347,-0.000399450957511,-2.86783068213e-05,1793242861871974400
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.890284843,661,634,879.109715157,787.109715157,805.890284843,652,631,651,0.441068926568,-0.00540852493973,0.0497913242467,0.99999994942,6.40864668387e-05,-0.000309897341067,-3.1897785631e-05,1793242861905307648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.315216935,661,634,879.684783065,787.684783065,805.315216935,652,631,651,0.440359396766,-0.00541646674792,0.0498202816396,0.999999963464,4.46201642044e-05,-0.000264548923752,-3.30961039507e-05,1793242861921974272
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.265770238,745,714,679.265770238,660.734229762,634.265770238,880.265770238,788,805.265770238,652,631.265770238,651.265770238,0.439615434326,-0.0054161070071,0.0498246910463,0.999999964784,3.4369058433e-05,-0.000260701889648,-3.58647166528e-05,1793242861938640896
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.85393796,745,714,679.85393796,660.14606204,634.85393796,880.85393796,788,805.85393796,652,631.85393796,651.85393796,0.438829702645,-0.00540567692035,0.0497993220697,0.99999995137,3.52966144653e-05,-0.000307198867302,-4.05382040693e-05,1793242861955307520
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.564420936,745,714,680,660.435579064,634.564420936,880.564420936,787.564420936,806,652,631.564420936,652,0.437993392088,-0.00539728694697,0.0497764547587,0.999999937496,3.54346280547e-05,-0.000348911911492,-4.48747822154e-05,1793242861971974144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634.015023397,880,787,806,652,631,651.984976603,0.437141604195,-0.00538983333156,0.0497558288305,0.999999923393,3.50306647609e-05,-0.000386763447239,-4.89999666119e-05,1793242861988640768
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634.592950823,880,787,806,652,631,651.407049177,0.43633600618,-0.00539220952607,0.0497882165421,0.99999994098,2.4093209563e-05,-0.000339149397349,-4.93750794507e-05,1793242862005307392
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.830504478,634.830504478,879.830504478,787,805.830504478,652,631,651.169495522,0.435511242918,-0.00539357456298,0.0498051799986,0.999999948158,1.94180101259e-05,-0.000317632391503,-4.91651644377e-05,1793242862021974016
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.257253607,634.257253607,879.257253607,787,805.257253607,652,631,651.742746393,0.434640826161,-0.00539253092083,0.0497854013294,0.999999934246,2.96601332825e-05,-0.000358281168387,-4.7561654515e-05,1793242862038640640
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.677882515,660,634,879,787,805,652,631,652,0.433797178302,-0.00539031384353,0.0497803553429,0.999999931241,5.34148785379e-05,-0.000364548213238,-4.20576997352e-05,1793242862055307776
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.093528973,660,634,879,787,805,652,631,652,0.432975323064,-0.00538714147196,0.0497873032442,0.999999936791,8.81702577742e-05,-0.000342825065391,-3.33783903074e-05,1793242862071974912
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.490736956,745,714,679,660.490736956,634,879.490736956,787.490736956,805,651.509263044,631,652,0.43208848942,-0.00538379410292,0.04980360652,0.999999944541,8.75991473156e-05,-0.000319487865931,-3.42245850506e-05,1793242862088641280
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.073677738,660.926322262,634.073677738,880,787.926322262,805.073677738,651.073677738,631,652,0.431185293822,-0.00538062637053,0.0498150021924,0.999999949413,8.02645577838e-05,-0.000305534960652,-3.71415970943e-05,1793242862105307648
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.647731993,660.352268007,634.647731993,880,787.352268007,805.647731993,651.647731993,631,652,0.430255068743,-0.00537890509869,0.0497809611128,0.999999932614,7.27136839932e-05,-0.000357403562119,-4.17950848119e-05,1793242862121974272
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,635,879.772202484,787,805.772202484,652,631,652,0.429344191427,-0.00537923411293,0.0497605824481,0.999999922615,6.45567548201e-05,-0.000385424053358,-4.52886325459e-05,1793242862138640640
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,635,879.182589036,787,805.182589036,652,631,652,0.428464044452,-0.00538281964251,0.0497619041,0.999999926837,5.5437213293e-05,-0.000375566062764,-4.69398223202e-05,1793242862155307264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.600073489,660.399926511,634.600073489,879,787,805,652,631,651.600073489,0.427543698069,-0.00537912715444,0.0497653230312,0.999999923748,6.50800769701e-05,-0.000382340444818,-4.56632437278e-05,1793242862171973888
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.020742059,660.979257941,634.020742059,879,787,805,652,631,651.020742059,0.426605318498,-0.00537216978589,0.0497696827908,0.99999991698,8.31396570164e-05,-0.000396576021809,-4.3073283597e-05,1793242862188640512
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.121903039,635,879.878096961,787.878096961,805.878096961,652,631,652,0.422193027185,-0.00537512241765,0.0498161397458,0.999999955554,7.24100312761e-05,-0.000285643684055,-4.53592132666e-05,1793242862271974144
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.818543083,745,714,679,660.818543083,634.181456917,879,787,805,652,631,652,0.418627619075,-0.00536748409812,0.0497978073198,0.999999935352,8.04896988305e-05,-0.000347206415641,-4.75863842047e-05,1793242862338640896
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.244624889,745,714,679,660.244624889,634.755375111,879,787,805,652,631,652,0.417769124927,-0.00536661532529,0.0497758739763,0.999999921423,8.48567598629e-05,-0.000384182392584,-4.85552549286e-05,1793242862355307776
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.31323999,634.31323999,879,788,805,652,631,652,0.408452815556,-0.00537512216115,0.0498029995004,0.999999940233,8.77425623153e-05,-0.000330529252127,-5.08486381248e-05,1793242862571974656
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.483047338,661,634.516952662,879,788,805,652.483047338,631,652,0.4073862046,-0.00537927232204,0.0498312668262,0.99999995093,8.69390873682e-05,-0.000296909671324,-4.9258106051e-05,1793242862605308416
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.783336758,635,878.783336758,787.783336758,805,653,631,652,0.405824020715,-0.00538224973405,0.0497780142548,0.999999918206,9.3505919527e-05,-0.000390262486437,-5.0398976305e-05,1793242862655308544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.195841627,635,878.195841627,787.195841627,805,653,631,652,0.40536476204,-0.00537636726121,0.0497691254475,0.999999912648,0.000102429078765,-0.000401823307387,-5.244820729e-05,1793242862671974912
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.793715025,787,805,652,631,652,0.400988007179,-0.00540809634276,0.0498473934213,0.999999958751,9.29481478903e-05,-0.000268308037405,-4.32299134429e-05,1793242863188641536
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..801b545e0ab383d3daec9f42f56c90a343d41c34
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6e5277dc0c239ebfaae812754ffa10744f40541
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad94bdd65e0871de69808540a9f2367d0f2c6e0679241f4631cc179a53b016e
+size 25762308
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..659ab9126c469e6766870ccd93a8f2a3fc68cf2d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+15,0.250000000,BASELINE,764.31893957,745,714,679,661,634.31893957,879,787.31893957,805,652.31893957,631,652,0.400986889872,-0.00541162394555,0.0498539026781,0.999999962159,9.15123359409e-05,-0.00025600035174,-4.20754689027e-05,1793242863904093952
+16,0.266666667,BASELINE,764,745,713.735561699,679,661,634.264438301,879,787.264438301,805,652.264438301,631,652,0.400986620588,-0.00541274730492,0.0498539943627,0.99999996223,9.04401450043e-05,-0.000256158128801,-4.17576204739e-05,1793242863920760832
+17,0.283333333,BASELINE,764,745,713.137420485,679,661,634.862579515,879,787.862579515,805,652.862579515,631,652,0.400986749031,-0.00541348890243,0.0498538899661,0.999999962365,8.97985507309e-05,-0.000255875946296,-4.16479015319e-05,1793242863937427456
+18,0.300000000,BASELINE,764.442822757,745,713.442822757,678.557177243,661.442822757,634.557177243,878.557177243,787.557177243,805,653,631,652,0.400988013013,-0.00541271754052,0.0498544358,0.99999996266,9.05682516195e-05,-0.000254397934458,-4.19354454698e-05,1793242863954094080
+19,0.316666667,BASELINE,764.9821645,744.9821645,714,678.0178355,661.964329001,634.0178355,878,787,805,653,631,652,0.400989465961,-0.00541156715898,0.0498551058443,0.999999962971,9.16476985222e-05,-0.000252718480263,-4.23254078109e-05,1793242863970760448
+20,0.333333333,BASELINE,764.403757655,744.403757655,714,678.596242345,660.80751531,634.596242345,878,787,805,653,631,652,0.400986212752,-0.00541268776056,0.0498535840867,0.999999962381,8.92319624526e-05,-0.000255918265774,-4.22101527901e-05,1793242863987427072
+21,0.350000000,BASELINE,764,744.177588653,714,679,660.177588653,635,878,787,805.177588653,652.822411347,631,652,0.400984732487,-0.00541347056533,0.0498529067757,0.999999962143,8.80088007582e-05,-0.00025729259669,-4.20613242543e-05,1793242864004093440
+22,0.366666667,BASELINE,764,744.765730389,714,679,660.765730389,635,878,787,805.765730389,652.234269611,631,652,0.400987350946,-0.00541347244433,0.0498541816737,0.999999962744,8.95426572612e-05,-0.000254446803858,-4.18348797953e-05,1793242864020760320
+23,0.383333333,BASELINE,764.349346731,745,714,679,661,635,878,787,806,652,630.650653269,652,0.400988489222,-0.00541332798777,0.0498551566166,0.999999963025,9.10714338205e-05,-0.000252821604206,-4.16816932604e-05,1793242864037426944
+24,0.400000000,BASELINE,764.929967239,745,714,679,661,635,878,787,806,652,630.070032761,652,0.40098864759,-0.00541308665446,0.0498559329841,0.999999963095,9.25968475193e-05,-0.000252004458767,-4.15770047578e-05,1793242864054093568
+25,0.416666667,BASELINE,765,745,714,679,661.504450552,635,878,787.504450552,804.991098896,652,630.504450552,652,0.400988717036,-0.00541167737296,0.0498557063361,0.999999962964,9.35638357448e-05,-0.000252130044956,-4.1817436624e-05,1793242864070760192
+26,0.433333333,BASELINE,765,745,714,679,661.921499013,635,878,788,804.078500987,652.078500987,631,652,0.400988712612,-0.00541045926214,0.0498553685425,0.999999962839,9.41967301683e-05,-0.000252350320262,-4.20581373475e-05,1793242864087426816
+27,0.450000000,BASELINE,765,745,714,679,661.344853522,635,878,788,804.655146478,652.655146478,631,652,0.400988316832,-0.00541147082817,0.0498551984589,0.999999962935,9.31956073693e-05,-0.00025235092649,-4.20001569115e-05,1793242864104093440
+28,0.466666667,BASELINE,765,745,714,678.761427635,661,635,878.238572365,787.761427635,804.761427635,653,631,652,0.400987713651,-0.00541263105461,0.0498550534498,0.999999962921,9.157108915e-05,-0.000253031822072,-4.17966560983e-05,1793242864120759808
+29,0.483333333,BASELINE,765,745,714,678.167914102,661,635,878.832085898,787.167914102,804.167914102,653,631,652,0.400986801905,-0.00541401245369,0.0498549457457,0.999999962739,8.90191010457e-05,-0.000254724832773,-4.13766542173e-05,1793242864137426432
+30,0.500000000,BASELINE,765,745,714,678.412124328,661,635,878.587875672,787,804.412124328,652.587875672,631,652,0.400985912292,-0.00541304237426,0.0498542505522,0.999999962405,9.02746973847e-05,-0.000255557219671,-4.16016876551e-05,1793242864154093056
+31,0.516666667,BASELINE,765,745,714,678.986846338,661,635,878.013153662,787,804.986846338,652.013153662,631,652,0.400985031411,-0.00541114455302,0.0498533235732,0.999999962006,9.30325210429e-05,-0.000256050059879,-4.20812104393e-05,1793242864170759680
+32,0.533333333,BASELINE,765,745,714,679,661,634.439603959,878,787,805,652.560396041,631,652,0.400986800628,-0.00541193402434,0.0498546244398,0.999999962559,9.29593237978e-05,-0.000253979751529,-4.1652921749e-05,1793242864187426816
+33,0.550000000,BASELINE,765,745,714,678.863429852,660.863429852,634.136570148,878,787,805,653,631,652,0.400988132479,-0.00541245064104,0.0498555626204,0.999999962956,9.27776558364e-05,-0.000252520100078,-4.14089921257e-05,1793242864204093440
+34,0.566666667,BASELINE,765,745,714,678.278550789,660.278550789,634.721449211,878,787,805,653,631,652,0.400987824854,-0.00541186495352,0.0498551389405,0.99999996278,9.24575940483e-05,-0.000253262086754,-4.18400456783e-05,1793242864220759808
+35,0.583333333,BASELINE,765,745,714,678.307010989,660.307010989,635,878.307010989,787,805,652.692989011,631,652,0.40098756428,-0.00541196444606,0.049855007846,0.999999962765,9.19872915209e-05,-0.000253477319175,-4.19334462879e-05,1793242864237426432
+36,0.600000000,BASELINE,765,745,714,678.893193642,660.893193642,635,878.893193642,787,805,652.106806358,631,652,0.400987346489,-0.00541268698744,0.0498551428056,0.999999962896,9.13803718372e-05,-0.000253213562763,-4.17198118992e-05,1793242864254093056
+37,0.616666667,BASELINE,764.530045344,745,714,678.530045344,660.530045344,635,879,787,805,652.469954656,631,652,0.400988581897,-0.00541266903794,0.0498555296899,0.999999963141,9.16969218536e-05,-0.000252143930135,-4.16212117497e-05,1793242864270759936
+38,0.633333333,BASELINE,764.089271522,745,714,678.044635761,660,635,879,787.044635761,804.955364239,652.955364239,631,652,0.400989901953,-0.00541261114834,0.0498559136691,0.999999963377,9.20561068608e-05,-0.000251092533458,-4.1530136345e-05,1793242864287426816
+39,0.650000000,BASELINE,765.239092172,745,714,678.619546086,660,635,879,787.619546086,804.380453914,652.380453914,631,652,0.400988381155,-0.00541403877773,0.0498555963149,0.999999963207,9.04774607601e-05,-0.000252390857664,-4.12239704035e-05,1793242864304093440
+40,0.666666667,BASELINE,765.800295449,745,714,679,660.199704551,635,879,787.800295449,804,652.199704551,631,652,0.400987033611,-0.00541478520103,0.0498550832347,0.99999996291,8.98270838108e-05,-0.000253813820254,-4.11002050839e-05,1793242864320760320
+41,0.683333333,BASELINE,765.209869037,745,714,679,660.790130963,635,879,787.209869037,804,652.790130963,631,652,0.400986025036,-0.00541419884481,0.0498541872165,0.999999962371,9.09928651264e-05,-0.000255480637707,-4.13333065158e-05,1793242864337426688
+42,0.700000000,BASELINE,765,745,714,678.626014778,661,634.626014778,878.626014778,787.373985222,804.373985222,653,631,652,0.400986503282,-0.00541386524878,0.0498545301965,0.999999962651,9.11879460267e-05,-0.000254281581292,-4.15153186412e-05,1793242864354093568
+43,0.716666667,BASELINE,765,745,714,678.045784938,661,634.045784938,878.045784938,787.954215062,804.954215062,653,631,652,0.400987801476,-0.00541367104445,0.0498555564569,0.999999963379,9.0847706972e-05,-0.000251502058452,-4.16691561307e-05,1793242864370760192
+44,0.733333333,BASELINE,765,745,714,678.529183732,661,634.529183732,878,788,805,653,631,652,0.40098685781,-0.00541291297739,0.0498551129023,0.999999963052,9.07887638126e-05,-0.000252807490321,-4.17448994334e-05,1793242864387426816
+45,0.750000000,BASELINE,765.103314654,745,714,679,661,635,878,788,805,652.896685346,631,652,0.400985828927,-0.00541214139169,0.0498544491596,0.999999962582,9.12106832363e-05,-0.000254493441546,-4.18318271137e-05,1793242864404093440
+46,0.766666667,BASELINE,765.675688236,745,714,679,661,635,878,788,805,652.324311764,631,652,0.400985285108,-0.00541152774034,0.0498533574144,0.999999961878,9.37063593174e-05,-0.000256318176814,-4.19999071059e-05,1793242864420760064
+47,0.783333333,BASELINE,765.752731148,745,714,679,661,635,878.247268852,787.752731148,805,652,631,652,0.400985119669,-0.00541208473369,0.04985282008,0.999999961718,9.35983409954e-05,-0.000256983820795,-4.19799601828e-05,1793242864437428480
+48,0.800000000,BASELINE,765.182187163,745,714,679,661,635,878.817812837,787.182187163,805,652,631,652,0.400985448918,-0.00541417220811,0.0498530075727,0.99999996227,9.0086296791e-05,-0.000256134088598,-4.17141900593e-05,1793242864454098688
+49,0.816666667,BASELINE,765,745,714,679,661,635,879,787.40878407,805,652.40878407,631,652,0.400985860977,-0.00541404222397,0.0498534997033,0.999999962354,9.07723943798e-05,-0.000255575571197,-4.16427623456e-05,1793242864470764032
+50,0.833333333,BASELINE,765,745,714,679,661,635,878.991072177,788,805,653,631,652,0.400986323432,-0.00541288296443,0.0498541426874,0.999999962228,9.33684611079e-05,-0.000255130755934,-4.16606971252e-05,1793242864487426816
+51,0.850000000,BASELINE,765,745,714,679,661,635,878.416907572,788,805,653,631,652,0.400987517012,-0.00541241922309,0.0498552884295,0.999999962822,9.21989897606e-05,-0.000253235246267,-4.15641627119e-05,1793242864504093440
+52,0.866666667,BASELINE,765,745,714,679,661,635,878,787.83810884,805,653,631,652,0.400988125556,-0.00541231438427,0.0498558651743,0.999999963201,9.11247754424e-05,-0.000252131741229,-4.15260008233e-05,1793242864520760064
+53,0.883333333,BASELINE,765,745,714,679,661,635,878,787.247024508,805,653,631,652,0.400987183099,-0.00541316103976,0.0498549334375,0.999999963019,9.03030991749e-05,-0.000253127936987,-4.16425916089e-05,1793242864537426688
+54,0.900000000,BASELINE,765,745,714,679,661,635,878,787.327524016,805,652.672475984,631,652,0.400987198735,-0.00541345364125,0.0498549803321,0.99999996305,9.01840643715e-05,-0.000253040809772,-4.16728582838e-05,1793242864554093568
+55,0.916666667,BASELINE,765,745,714,679,661,635,878,787.890200307,805,652.109799693,631,652,0.400987902254,-0.00541334844882,0.0498557298542,0.999999963235,9.05695047905e-05,-0.000252175889588,-4.16411468693e-05,1793242864570759936
+56,0.933333333,BASELINE,765,745,714,679,661,635,878.483752778,788,805,652,631,652,0.400987693313,-0.00541105384662,0.0498556323079,0.999999962869,9.35230816253e-05,-0.000252513959918,-4.18630945136e-05,1793242864587426560
+57,0.950000000,BASELINE,765,745,714,678.918286746,661,634.918286746,879,788,805,652,631,651.918286746,0.400987244518,-0.00540872999298,0.0498552761681,0.999999962399,9.65879084396e-05,-0.000253181638652,-4.20894068607e-05,1793242864604093440
+58,0.966666667,BASELINE,765,745,714,678.339066238,661,634.339066238,879,788,805,652,631,651.339066238,0.400986682296,-0.00540945992448,0.0498545959881,0.999999962181,9.65391396169e-05,-0.000254080337275,-4.19678565568e-05,1793242864620760064
+59,0.983333333,BASELINE,765,745,714,678.239818316,661,634.239818316,878.760181684,788,805,652,631,651.239818316,0.40098634396,-0.00541069946863,0.0498542348348,0.999999962201,9.51904815032e-05,-0.000254569338739,-4.16013913784e-05,1793242864637426688
+60,1.000000000,BASELINE,765,745,714,678.818228628,661,634.818228628,878.181771372,788,805,652,631,651.818228628,0.400986321722,-0.00541265851907,0.0498543241053,0.999999962551,9.20065502533e-05,-0.000254479901697,-4.08891385134e-05,1793242864654093312
+61,1.016666667,BASELINE,765,745,714,678.604167996,661.395832004,635,878,788,805,652.395832004,631,652,0.400986440527,-0.0054133168515,0.0498545416401,0.999999962726,9.04552196672e-05,-0.000254332539829,-4.10075031117e-05,1793242864670760192
+62,1.033333333,BASELINE,765,745,714,678.026934457,661.973065543,635,878,788,805,652.973065543,631,652,0.400986623967,-0.00541337909195,0.0498548179556,0.999999962822,8.96520760354e-05,-0.000254158632231,-4.15065223764e-05,1793242864687426816
+63,1.050000000,BASELINE,765,745,713.451924649,678.548075351,661.451924649,635,878,788,805,653,631,652,0.400987436353,-0.00541302926301,0.0498553127263,0.999999963052,8.98071880285e-05,-0.000253165777285,-4.16762318872e-05,1793242864704093184
+64,1.066666667,BASELINE,765,745,713.126510905,679,661.126510905,635,878.126510905,787.873489095,805,652.873489095,631,652,0.40098765731,-0.00541260121872,0.049855317612,0.999999963073,9.03645062472e-05,-0.000252855591026,-4.18541280047e-05,1793242864720759808
+65,1.083333333,BASELINE,765,745,713.71793566,679,661.71793566,635,878.71793566,787.28206434,805,652.28206434,631,652,0.400985591703,-0.00541195985966,0.0498534829298,0.999999962296,9.22275291471e-05,-0.000255201440602,-4.21213412996e-05,1793242864737426688
+66,1.100000000,BASELINE,764.697793671,745,714,679,662,635,878.697793671,787,805,652.302206329,631,652,0.400985774196,-0.00541111408113,0.0498536829702,0.999999962221,9.38701014344e-05,-0.000254877824545,-4.22448869301e-05,1793242864754093312
+67,1.116666667,BASELINE,764.120045888,745,714,679,662,635,878.120045888,787,805,652.879954112,631,652,0.400988006429,-0.0054100819199,0.0498557382016,0.999999962784,9.53116742469e-05,-0.000252120280364,-4.22374412543e-05,1793242864770760192
+68,1.133333333,BASELINE,764.456514668,745,714,678.543485332,661.543485332,635,878.456514668,787.456514668,805,652.543485332,631,652,0.400987491242,-0.00541163252166,0.0498557412026,0.999999963034,9.20115773564e-05,-0.000252402703237,-4.19387110477e-05,1793242864787427072
+69,1.150000000,BASELINE,764.96746035,745,714,678,661,635,878.96746035,787.96746035,804.96746035,652,630.96746035,652,0.400986312951,-0.0054136661988,0.0498552152843,0.999999963156,8.79071688584e-05,-0.00025343762542,-4.15974484855e-05,1793242864804093952
+70,1.166666667,BASELINE,764.39515491,745,714,678,661,635,878.39515491,787.39515491,804.39515491,652,630.39515491,652,0.400986088286,-0.00541247632568,0.0498548442797,0.999999962788,9.10903762245e-05,-0.000253729039125,-4.1817947744e-05,1793242864820760832
+71,1.183333333,BASELINE,764.184293911,744.815706089,714,678,661,635,878.184293911,787,804.184293911,652,630.184293911,652,0.40098646573,-0.00541186334306,0.0498550166403,0.999999962716,9.26973119207e-05,-0.000253420857548,-4.18650343557e-05,1793242864837427456
+72,1.200000000,BASELINE,764.779676994,744.220323006,714,678,661,635,878.779676994,787,804.779676994,652,630.779676994,652,0.400988186248,-0.00541253718212,0.0498564010407,0.999999963321,9.07881895084e-05,-0.000251775208474,-4.15253037754e-05,1793242864854093824
+73,1.216666667,BASELINE,765,744.362290898,714,678.362290898,660.637709102,634.637709102,878.637709102,787,805,652.362290898,631,652,0.400987719596,-0.00541268366646,0.049856223061,0.999999963179,9.11608875723e-05,-0.00025223423367,-4.13493052759e-05,1793242864870760448
+74,1.233333333,BASELINE,765,744.937403717,714,678.937403717,660.062596283,634.062596283,878.062596283,787,805,652.937403717,631,652,0.400985968126,-0.00541252036476,0.0498551272862,0.999999962595,9.28740042465e-05,-0.000253929615789,-4.12694885569e-05,1793242864887427072
+75,1.250000000,BASELINE,765,745,714,679,660.523290924,634.523290924,878,787,805,652.476709076,631,652,0.400986491342,-0.0054123035074,0.0498546705616,0.999999962593,9.24143047967e-05,-0.000254075218814,-4.14746692354e-05,1793242864904093952
+76,1.266666667,BASELINE,765,745,714,679,661,635,878,787.108992009,804.891007991,652.108992009,631,652,0.400987180463,-0.00541256970259,0.0498545120835,0.999999962733,9.14483799165e-05,-0.000253850267329,-4.16167745476e-05,1793242864920760576
+77,1.283333333,BASELINE,765,745,714,679,661,635,878,787.688212704,804.311787296,652.688212704,631,652,0.400987386751,-0.00541494817145,0.049855303607,0.999999963181,8.94433537446e-05,-0.000252843246572,-4.13365767795e-05,1793242864937427200
+78,1.300000000,BASELINE,764.732904344,745,714,679,661,635,878,788,804,652.732904344,631,652,0.40098822438,-0.00541531480082,0.0498561734376,0.999999963472,8.98130463172e-05,-0.000251569589192,-4.12681069992e-05,1793242864954093824
+79,1.316666667,BASELINE,764.154415192,745,714,679,661,635,878,788,804,652.154415192,631,652,0.400989798057,-0.00541333592676,0.0498571345626,0.999999963575,9.29513051103e-05,-0.000249985073549,-4.14464803336e-05,1793242864970760192
+80,1.333333333,BASELINE,764.42142008,745,714,679,661,635,878.42142008,787.57857992,804.42142008,652,631,651.57857992,0.400989703303,-0.0054134463661,0.0498573025404,0.999999963692,9.13707776007e-05,-0.000250103161884,-4.14214613338e-05,1793242864987426816
+81,1.350000000,BASELINE,764.99628906,745,714,679,661,635,878.99628906,787.00371094,804.99628906,652,631,651.00371094,0.400989001035,-0.00541431757311,0.049857181715,0.999999963807,8.80720299738e-05,-0.000250841207986,-4.1322382446e-05,1793242865004093184
+82,1.366666667,BASELINE,765,745,714,678.429772844,661,635,878.429772844,787.570227156,805,652,631,651.570227156,0.400989064278,-0.0054143053445,0.0498567510785,0.999999963853,8.91953336021e-05,-0.000250277562453,-4.12199760297e-05,1793242865020760064
+83,1.383333333,BASELINE,765,745,714,678,661,635,878,787.851111965,805,652,630.851111965,652,0.400988867594,-0.0054142059922,0.0498563202129,0.999999963809,9.0045374775e-05,-0.000250157048114,-4.11670774933e-05,1793242865037426688
+84,1.400000000,BASELINE,765,745,714,678,661,635,878,787.258353177,805,652,630.258353177,652,0.400987881183,-0.0054138640153,0.0498558946653,0.999999963503,8.99951015502e-05,-0.000251382826911,-4.12618381869e-05,1793242865054093824
+85,1.416666667,BASELINE,765,745,714,678.324636591,661,635,878.324636591,787,805,652,630.324636591,652,0.400987135762,-0.0054131842963,0.0498557359697,0.999999963227,9.08529835142e-05,-0.000252135256922,-4.14607770953e-05,1793242865070760448
+86,1.433333333,BASELINE,765,745,714,678.900079031,661,635,878.900079031,787,805,652,630.900079031,652,0.400986576525,-0.00541224364648,0.0498557834371,0.999999962975,9.24124827357e-05,-0.000252521989807,-4.17402013975e-05,1793242865087427072
+87,1.450000000,BASELINE,765,745,714,679,661,635,878.523746022,787.476253978,805,652,631,652,0.400987724309,-0.0054115789242,0.0498558678054,0.999999963052,9.26835658249e-05,-0.000252127927731,-4.16878324308e-05,1793242865104093696
+88,1.466666667,BASELINE,765,745,714,679,661,635,878,787.947560035,805,652,631,651.947560035,0.400988906879,-0.00541114456607,0.0498558420706,0.999999963138,9.27504183156e-05,-0.000251779040226,-4.15706326425e-05,1793242865120760320
+89,1.483333333,BASELINE,765,745,714,679,661,635,878,787.372797152,805,652,631,651.372797152,0.400986863196,-0.00541242721819,0.0498546424317,0.999999962635,9.34796702651e-05,-0.000253514290523,-4.15021257267e-05,1793242865137426944
+90,1.500000000,BASELINE,765,744.791796509,714,679,661,635,878.208203491,787,804.791796509,652,631,651,0.400985973682,-0.00541264426309,0.0498541865846,0.999999962389,9.41863813559e-05,-0.000254217448098,-4.15261401967e-05,1793242865154093824
+91,1.516666667,BASELINE,765,744.199282,714,679,661,635,878.800718,787,804.199282,652,631,651,0.400987214581,-0.00541089436389,0.0498551036609,0.999999962623,9.48514854736e-05,-0.000253015524058,-4.17209346535e-05,1793242865170760960
+92,1.533333333,BASELINE,765,744,714,679,661,635,878.614594872,787,804.385405128,652.385405128,631,651.385405128,0.400988307779,-0.00541119530342,0.049856036771,0.999999963084,9.40206717234e-05,-0.000251510560058,-4.16384568834e-05,1793242865187427584
+93,1.550000000,BASELINE,765,744,714,679,661,635,878.033874444,787,804.966125556,652.966125556,631,651.966125556,0.400989326125,-0.0054125355652,0.0498569780067,0.999999963658,9.24317579796e-05,-0.000249852021601,-4.14154633348e-05,1793242865204094208
+94,1.566666667,BASELINE,764.459688643,744.540311357,714,679,661,635,878.540311357,787.540311357,805,653,631,652,0.400990462587,-0.00541187773421,0.0498582195367,0.999999964118,9.36368393096e-05,-0.000247552029081,-4.14138358506e-05,1793242865220760576
+95,1.583333333,BASELINE,764.116931409,745,714,679,661,635,878.883068591,788,805,652.883068591,631,651.883068591,0.400991184247,-0.00541152606918,0.0498588769647,0.999999964426,9.4153512283e-05,-0.000246104175421,-4.14145405513e-05,1793242865237426944
+96,1.600000000,BASELINE,764.704990387,745,714,679,661,635,878.295009613,788,805,652.295009613,631,651.295009613,0.400990205151,-0.00541290666452,0.0498571060433,0.999999964172,9.1199191262e-05,-0.000248249763961,-4.13693927062e-05,1793242865254093568
+97,1.616666667,BASELINE,765,745,714,679,661.288801636,635,878,787.711198364,805,652.288801636,631,651.288801636,0.400989741522,-0.00541338538643,0.0498563638927,0.999999963906,9.05030703133e-05,-0.000249586002625,-4.12754504829e-05,1793242865270759936
+98,1.633333333,BASELINE,765,745,714,679,661.868336708,635,878,787.131663292,805,652.868336708,631,651.868336708,0.400989796809,-0.00541295620216,0.0498566573942,0.999999963638,9.2080254754e-05,-0.000250107477531,-4.11323874979e-05,1793242865287426560
+99,1.650000000,BASELINE,765,745,714,679,661.553708001,635,878.446291999,787.446291999,805,653,631,652,0.400989511676,-0.00541343792702,0.0498568151203,0.999999963783,9.10957141515e-05,-0.000249892351434,-4.109512431e-05,1793242865304093184
+100,1.666666667,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400989055467,-0.00541415004424,0.0498568797177,0.999999964007,8.94233886862e-05,-0.000249600110911,-4.10963777265e-05,1793242865320759808
+101,1.683333333,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400986946243,-0.00541399159657,0.0498557053998,0.999999963272,8.92713484687e-05,-0.00025255400928,-4.12702439605e-05,1793242865337426432
+102,1.700000000,BASELINE,765,745,714,679,661,635,879,788,805,652.821680119,631,652,0.400985810639,-0.00541367494613,0.0498549428058,0.999999962804,8.97311859325e-05,-0.000254212060903,-4.14207347308e-05,1793242865354092800
+103,1.716666667,BASELINE,765,745,714,679,661,635,879,788,805,652.232531703,631,652,0.400986918143,-0.00541299381467,0.0498551287768,0.999999962967,9.16007193593e-05,-0.000252884629961,-4.15173710921e-05,1793242865370759680
+104,1.733333333,BASELINE,765,745,714,679,661.351363665,635,879,788,805,652.351363665,631,652,0.400987310377,-0.00541245692791,0.0498556191985,0.999999963086,9.23245173533e-05,-0.000252157254868,-4.14808824158e-05,1793242865387426304
+105,1.750000000,BASELINE,765,745,714,679,661.931833844,635,879,788,805,652.931833844,631,652,0.400987236222,-0.00541201409578,0.0498563081372,0.999999963178,9.23012392814e-05,-0.000251821145778,-4.1357589631e-05,1793242865404093184
+106,1.766666667,BASELINE,765,745,714,678.49917954,661.49917954,635,878.49917954,788,804.49917954,653,631,652,0.400988073468,-0.00541271319062,0.0498558506369,0.99999996329,9.14335040015e-05,-0.000251696335486,-4.13360134216e-05,1793242865420759808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.400987483952,-0.0054127916925,0.0498562055213,0.999999963215,9.43563551414e-05,-0.000250923828621,-4.12898588468e-05,1793242865463468800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.582699659,805,652.417300341,631,652,0.400989214946,-0.00541351614684,0.0498569527129,0.999999963692,9.24312559565e-05,-0.000249725397822,-4.13517688338e-05,1793242865480135424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.836792882,787.836792882,805,652.163207118,631,652,0.400989929149,-0.00541365033829,0.0498571872575,0.99999996384,9.13188725685e-05,-0.000249516113317,-4.15087535223e-05,1793242865496802048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.261816193,787.261816193,805,652.738183807,631,652,0.400988078003,-0.00541229530382,0.0498561284002,0.999999963164,9.22569608252e-05,-0.000251802432604,-4.19056105374e-05,1793242865513468416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.687524464,630.687524464,652,0.400986765852,-0.00541148462172,0.0498553622664,0.999999962812,9.28867287379e-05,-0.00025295211229,-4.19835319373e-05,1793242865530135040
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.113805426,630.113805426,652,0.400985904325,-0.0054111290426,0.0498548408626,0.999999962735,9.32587270182e-05,-0.000253151510377,-4.17948088966e-05,1793242865546801664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.473305197,805,652,630.473305197,652,0.400987544765,-0.00541232840674,0.0498557178608,0.999999963212,9.20686766754e-05,-0.00025174582453,-4.15248770143e-05,1793242865563468544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.937430036,745,714,678.937430036,661,634.937430036,878,787.937430036,805,652.062569964,631,652,0.400989681696,-0.00541365424748,0.0498568449054,0.999999963753,9.07934359333e-05,-0.000250096330683,-4.12492036682e-05,1793242865580135168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.357748767,745,714,678.357748767,661,634.357748767,878,787.357748767,805,652.642251233,631,652,0.400990805241,-0.00541284541467,0.0498571786579,0.999999963744,9.20086107052e-05,-0.000249714362079,-4.10921562951e-05,1793242865596802304
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,678,660.77957776,634.22042224,878,787,805,652.77957776,631,652,0.400998436934,-0.00541300242079,0.0498602294172,0.999999965136,9.21690178949e-05,-0.000244072479905,-4.07552100936e-05,1793242865613469440
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,678,660.203841307,634.796158693,878,787,805,652.203841307,631,652,0.401016559571,-0.00541471633114,0.0498676599124,0.999999968649,9.06291704134e-05,-0.000229951770659,-4.01282722437e-05,1793242865630135808
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.370340366,745,714,678.370340366,660.370340366,634.629659634,878,787,805,652.370340366,631,652,0.401053272219,-0.00541593961517,0.0498807874857,0.999999974545,9.0139817778e-05,-0.00020309275952,-3.92245773273e-05,1793242865646802432
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.943669893,745,714,678.943669893,660.943669893,634.056330107,878,787,805,652.943669893,631,652,0.401100174333,-0.00541689397964,0.0498970377145,0.999999980878,9.02262570498e-05,-0.000169251690781,-3.81691875808e-05,1793242865663469312
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.534592693,878,787.534592693,805,652.465407307,631,652,0.401165843714,-0.00541928802114,0.04991377399,0.999999986396,8.85843384204e-05,-0.000134041191277,-3.73367775528e-05,1793242865680135936
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.124086172,788,805,652.124086172,631,652,0.40123463676,-0.00542177874271,0.0499287549076,0.99999999007,8.70649864104e-05,-0.000104670708741,-3.63900267608e-05,1793242865696802304
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.701358812,788,805,652.701358812,631,652,0.401307370036,-0.00542404967193,0.0499371315153,0.999999990912,8.66810322937e-05,-9.7174011782e-05,-3.49369517191e-05,1793242865713468928
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.722308297,787.722308297,805,652.722308297,631,652,0.401386779841,-0.00542674180295,0.0499419481163,0.999999991483,8.59075597729e-05,-9.22295236234e-05,-3.38880924115e-05,1793242865730135552
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.146982676,787.146982676,805,652.146982676,631,652,0.40147334564,-0.00542988538392,0.049942949051,0.999999991806,8.47165959136e-05,-9.00205296083e-05,-3.32724773649e-05,1793242865746802432
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.561470809,635,878,787,805,652.438529191,631,652,0.401572357474,-0.00543280359149,0.0499421839095,0.999999991698,8.27951850978e-05,-9.31687170203e-05,-3.26967087183e-05,1793242865763468800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678.972932028,660,635,878.027067972,787.027067972,805,653,631,652,0.401677524295,-0.00543585900896,0.0499410224954,0.999999991469,8.05429664561e-05,-9.76972411423e-05,-3.20835774183e-05,1793242865780135680
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678.393944181,660,635,878.606055819,787.606055819,805,653,631,652,0.40182111072,-0.00544328903318,0.0499441377782,0.999999992285,7.66562645486e-05,-9.2888303895e-05,-3.04298216953e-05,1793242865796802304
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.184157322,660,635,878.815842678,787.815842678,805,653,631,652,0.401973003378,-0.00544998171494,0.0499474800428,0.999999993007,7.32760534387e-05,-8.82331709236e-05,-2.88511691957e-05,1793242865813469184
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.760371791,660,635,878.239628209,787.239628209,805,653,631,652,0.402142579362,-0.00545510464888,0.049951305534,0.999999993585,7.09741238033e-05,-8.39054763557e-05,-2.7432406047e-05,1793242865830135808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.334326296,635,878,787,805,652.665673704,631,652,0.402323933654,-0.00546104597433,0.0499507208957,0.999999993635,6.85068966088e-05,-8.57060159514e-05,-2.62890749746e-05,1793242865846802432
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.906671907,635,878,787,805,652.093328093,631,652,0.402513673378,-0.00546756994364,0.0499469965229,0.999999993286,6.59219877006e-05,-9.18694727664e-05,-2.53418340881e-05,1793242865863468800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.503406724,634.503406724,878.496593276,787,805,652.496593276,630.503406724,652,0.402736903074,-0.00547544740076,0.0499477936195,0.999999993682,6.2173936066e-05,-9.06704365555e-05,-2.34270648794e-05,1793242865880135424
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678.912185057,660,634.087814943,878.912185057,787,805,653,630.087814943,652,0.402975886137,-0.00548361457039,0.0499503623852,0.999999994359,5.83048689768e-05,-8.61825875888e-05,-2.13449447749e-05,1793242865896801792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678.33285178,660,634.66714822,878.33285178,787,805,653,630.66714822,652,0.403266522771,-0.00549192732286,0.0499579168107,0.999999995755,5.50268783637e-05,-7.13154957911e-05,-1.93812321107e-05,1793242865913468672
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.243624476,660.243624476,635,878.243624476,787,805,652.756375524,631,652,0.403568700504,-0.00550150281793,0.0499658578162,0.99999999705,5.10411185762e-05,-5.47935340548e-05,-1.70847441256e-05,1793242865930135296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.816242539,660.816242539,635,878.816242539,787,805,652.183757461,631,652,0.403886463466,-0.00551278353616,0.0499743208636,0.999999998185,4.60995785016e-05,-3.60368158258e-05,-1.43388722381e-05,1793242865946802432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.599725634,635,878.599725634,787.400274366,805,652.400274366,630.599725634,652,0.404225897962,-0.00552178927393,0.04998164129,0.999999998772,4.35673344281e-05,-2.0519037454e-05,-1.17236964519e-05,1793242865963469568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.010300209,635,878.010300209,787.989699791,805,652.989699791,630.010300209,652,0.404575573408,-0.00552971996136,0.0499884217666,0.999999999047,4.21736117922e-05,-6.5318320357e-06,-9.17028164542e-06,1793242865980136448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.56845178,635,878.56845178,787.43154822,805,652.43154822,630.56845178,652,0.404975633915,-0.00553759408724,0.049994244394,0.999999999055,4.28213293658e-05,4.98837391115e-06,-5.69164296182e-06,1793242865996802560
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.853148604,635,879,787.146851396,805,652,631,652,0.405379043363,-0.00554031281177,0.0499938285494,0.999999998735,5.00251975944e-05,4.56247905874e-06,-2.66459149724e-06,1793242866013468928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.275226208,635,879,787.724773792,805,652,631,652,0.405789652756,-0.00552790120292,0.049975150156,0.999999996609,7.63675614311e-05,-3.08014806252e-05,-1.01144517139e-06,1793242866030135552
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.698974474,745,714,679,660,635,879,788,805,652,631,652,0.406215985832,-0.00551558611218,0.0499565260842,0.999999992708,0.000101563105025,-6.53311097028e-05,7.05692445773e-09,1793242866046801920
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.124241723,745,714,679,660,635,879,788,805,652,631,652,0.406656615702,-0.00550335877903,0.0499379514021,0.999999987187,0.000125715906204,-9.91021283508e-05,4.48509435343e-07,1793242866063468544
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.4620514,745,714,678.5379486,660,635,879,787.5379486,805,652.4620514,631,652,0.407131351666,-0.00550765477874,0.0499279286009,0.999999984349,0.000132247823254,-0.000117466838357,3.68491381394e-06,1793242866080135168
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,678.050705313,660,635,878.949294687,787.050705313,805,652.949294687,631,652,0.407625270363,-0.00551637694573,0.0499232219707,0.999999983061,0.000134350121228,-0.000125567535074,7.80672906511e-06,1793242866096802048
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,678.630721739,660,635,878.369278261,787.630721739,805,652.369278261,631,652,0.408221246502,-0.00552373336622,0.0499493899634,0.99999998747,0.000140941968968,-7.08770174744e-05,1.31247077814e-05,1793242866113468672
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.208905412,634.791094588,878.208905412,788,805,652,630.791094588,652,0.408831124643,-0.00552932722733,0.0499756181072,0.999999988561,0.000148564161608,-2.14536526735e-05,1.85885408145e-05,1793242866130135296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.783877504,634.216122496,878.783877504,788,805,652,630.216122496,652,0.409465363342,-0.0055318325406,0.0500019516526,0.999999987048,0.000157991836182,1.87400332182e-05,2.43079552934e-05,1793242866146801920
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.366552943,714,679,660.633447057,634.366552943,878.633447057,787.633447057,805,652,630.366552943,652,0.410073185449,-0.00552987937157,0.0500073827338,0.999999984608,0.000171759401925,2.21575003666e-05,2.81448617946e-05,1793242866163468800
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.953867815,714,679,660.046132185,634.953867815,878.046132185,787.046132185,805,652,630.953867815,652,0.41066509775,-0.00552524101554,0.0500002249958,0.99999998182,0.000188140730995,3.42594447415e-06,3.08479998249e-05,1793242866180135424
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.466535027,714,679,660,635,878.533464973,787,805,652,631,652,0.411261838214,-0.00552324113137,0.0499655445729,0.999999977874,0.000196285165651,-6.86994158547e-05,3.16919037786e-05,1793242866196801792
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.88812011,879,787,805,652,631,652,0.411884271395,-0.00552324765909,0.0499372449964,0.99999997398,0.000188700000553,-0.000124774756355,2.9387273643e-05,1793242866213468416
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.311881695,879,787,805,652,631,652,0.412611634058,-0.00553064831926,0.0499451668011,0.999999988297,0.000118743224503,-9.53434318435e-05,1.46724264021e-05,1793242866230135296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.263755423,634,879,787,805,652,631,652,0.413364902103,-0.00553843051275,0.0499615364556,0.999999994491,8.5191545962e-05,-6.05146693152e-05,9.9307012586e-06,1793242866246801920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.83868322,634,879,787,805,652,631,652,0.414148732795,-0.00554666283114,0.0499878726835,0.999999995196,9.45897267339e-05,-1.9318134355e-05,1.6955026445e-05,1793242866263468800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.42529289,745,714,678.57470711,660.57470711,634.42529289,879.42529289,787.42529289,805,652,631,652,0.414882493245,-0.00554480251969,0.0499781428594,0.999999993412,0.000107310541521,-3.56502761689e-05,1.97379828283e-05,1793242866280135424
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.983859128,745,714,678.016140872,660.016140872,634.983859128,879.983859128,787.983859128,805,652,631,652,0.415598615205,-0.00553920400056,0.0499547255972,0.999999989762,0.000120904591746,-7.36413704927e-05,2.08395359325e-05,1793242866296802048
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.404108903,745,714,678.595891097,660.595891097,634.404108903,879.404108903,787.404108903,805,652,631,652,0.416380731642,-0.00554052362518,0.0499445444237,0.999999989045,0.0001197401727,-8.4451869541e-05,2.09919310249e-05,1793242866313468416
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.825716504,661,634.174283496,879,787.174283496,805,652,631,652,0.417178222914,-0.00554243726599,0.0499446865118,0.999999989671,0.000117295038329,-8.02464031944e-05,2.14658586324e-05,1793242866330135040
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,678.250448174,661,634.749551826,879,787.749551826,805,652,631,652,0.418011087972,-0.00554571759657,0.0499685799679,0.999999992621,0.000111903282855,-4.14927744288e-05,2.26795559887e-05,1793242866346801664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,678,660.668599227,635,879,788,805,652,631,652,0.418830226913,-0.00554619308616,0.0499777354396,0.99999999297,0.00011120468734,-3.33546301568e-05,2.40981217613e-05,1793242866363468544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,678,660.081676412,635,879,788,805,652,631,652,0.41963878248,-0.00554450594123,0.0499755273884,0.999999991966,0.000114124689077,-4.88221391647e-05,2.56746484891e-05,1793242866380135424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,678,660,634.501226204,879.498773796,787.501226204,805,652,631,651.501226204,0.420488596609,-0.0055423536109,0.0499669547105,0.999999991449,0.000117898474768,-5.07195360754e-05,2.50980842986e-05,1793242866396802048
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,678.077873463,660.155746926,634.077873463,879.922126537,787.077873463,805.077873463,652,631,651.077873463,0.421350832306,-0.00554111763598,0.0499618430438,0.999999991496,0.000120161555585,-4.43404659871e-05,2.45482198011e-05,1793242866413468672
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,678.655022523,661.310045046,634.655022523,879.344977477,787.655022523,805.655022523,652,631,651.655022523,0.42224994486,-0.00554623889276,0.049985517761,0.999999993395,0.000111854050273,1.03748720153e-06,2.64010874065e-05,1793242866430136320
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.231327325,745,714,679,661.768672675,634.768672675,879,788,805.768672675,652,631,652,0.423129455289,-0.00554891446104,0.0499923392595,0.999999993845,0.000106681059657,1.37306341892e-05,2.72313614118e-05,1793242866446803456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.806377753,745,714,679,661.193622247,634.193622247,879,788,805.193622247,652,631,652,0.423979839578,-0.00554795604678,0.0499741190134,0.999999993767,0.000106165559769,-2.21416938592e-05,2.65421911789e-05,1793242866463469568
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.608975165,745,714,679,660.608975165,634.391024835,879.391024835,787.608975165,805,652,631,652,0.424867313876,-0.00554913366173,0.0499735322465,0.999999993864,0.000105108458714,-2.2342782793e-05,2.69252831139e-05,1793242866480135936
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.019456624,745,714,679,660.019456624,634.980543376,879.980543376,787.019456624,805,652,631,652,0.425773615912,-0.00555139557707,0.0499818966631,0.999999994218,0.000103776427795,-4.43628188435e-06,2.78526814242e-05,1793242866496802304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.560411292,745.560411292,714,679,661.120822585,634.439588708,880,787,805,651.439588708,631,652,0.426674131231,-0.00555380558509,0.0499974427359,0.999999994258,0.000102357629347,7.95633150058e-06,3.07326302937e-05,1793242866513468928
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.861160911,714,679,661.861160911,634,879.861160911,787.138839089,805.138839089,651,631,652,0.427553646494,-0.00555445619956,0.0500002881972,0.9999999942,0.000102642838222,-5.80928890437e-07,3.26258132015e-05,1793242866530136064
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.286222022,714,679,661.286222022,634,879.286222022,787.713777978,805.713777978,651,631,652,0.428367819964,-0.00554956460345,0.0499624705507,0.999999990892,0.000108289712263,-7.42687391667e-05,3.12101943635e-05,1793242866546802432
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.710941337,745,714,679,660.710941337,634,879.289058663,787.710941337,806,651,631,652,0.429234981976,-0.00554849152265,0.0499457973191,0.999999988982,0.000108044517833,-9.72420451664e-05,3.0107160846e-05,1793242866563469056
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.135321843,745,714,679,660.135321843,634,879.864678157,787.135321843,806,651,631,652,0.430154674592,-0.00555120396065,0.0499500857904,0.999999991927,0.000101958169884,-6.9939080143e-05,2.93140117091e-05,1793242866580135424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.449749603,660.899499206,634.449749603,880,787,805.550250397,651,631,652,0.431034037063,-0.00555355134427,0.0499510829512,0.999999992177,9.91819116036e-05,-6.99035386595e-05,3.03759529657e-05,1793242866596802048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.962599766,661.925199531,634.962599766,879.962599766,787,805.037400234,651,631,651.962599766,0.431898295442,-0.00555560244185,0.0499501892677,0.999999991643,9.75670937156e-05,-7.86200860631e-05,3.18446819105e-05,1793242866613468416
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.379701653,660.759403306,634.379701653,879.379701653,787,805.620298347,651,631,651.379701653,0.432723041596,-0.00555496851409,0.0499364708152,0.999999990412,9.80542063881e-05,-9.27576089894e-05,3.09307502924e-05,1793242866630135040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.199259748,714,679,660.398519497,634.199259748,879,787,806,651,631,651.199259748,0.43357577446,-0.00555577627379,0.0499379593856,0.999999991138,9.78257436073e-05,-8.47487348703e-05,3.11774065058e-05,1793242866646802176
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.770864941,714,679,661.541729882,634.770864941,879,787,806,651,631,651.770864941,0.434480804653,-0.00555927803339,0.0499678644589,0.999999994178,9.62601253217e-05,-3.53561409982e-05,3.35927874897e-05,1793242866663469312
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.660540749,714,679,661.321081498,635,879.339459251,787,806,651,631,651.660540749,0.435317283159,-0.00555849015245,0.0499772720387,0.999999994093,9.82038581563e-05,-3.08207489227e-05,3.49193257554e-05,1793242866680135936
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.093960951,714,679,660.187921903,635,879.906039049,787,806,651,631,651.093960951,0.436107896028,-0.00555483221989,0.0499729654465,0.999999992532,0.00010249557766,-5.62977756133e-05,3.55173565655e-05,1793242866696802304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.504886099,660,634.495113901,880,787,806,651,631,651,0.436912570464,-0.00555232852578,0.0499530752008,0.999999989303,0.000105738735652,-9.46526144961e-05,3.54151365559e-05,1793242866713468928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.104692286,745,714,679.895307714,660.104692286,634.104692286,879.895307714,787,806,651.104692286,631,651,0.437725161092,-0.00555118070037,0.0499396258776,0.999999986794,0.000107940117885,-0.00011618816363,3.55106869039e-05,1793242866730135296
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.679974357,745,714,679.320025643,660.679974357,634.679974357,879.320025643,787,806,651.679974357,631,651,0.43856076882,-0.00555509600091,0.0499690546016,0.99999999237,0.000106395778644,-5.06131632145e-05,3.71209856985e-05,1793242866746801920
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.745236387,745,714,679,661,634.745236387,879,787,806,651.745236387,631,651.254763613,0.439348526572,-0.00555777443099,0.0499804178325,0.999999993949,0.000100974223846,-2.34050020711e-05,3.68550192828e-05,1793242866763468800
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.171065037,745,714,679,661,634.171065037,879,787,806,651.171065037,631,651.828934963,0.440076292758,-0.00555890214484,0.0499691316013,0.99999999432,9.06916431558e-05,-4.42989482465e-05,3.42367011524e-05,1793242866780135680
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.413277496,679.413277496,661,634.413277496,879,787,806,651.413277496,631,651.586722504,0.440797363141,-0.00555992227994,0.0499566485751,0.999999993425,8.77321519452e-05,-6.58290823693e-05,3.34484566158e-05,1793242866796802048
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.998088468,679.998088468,660.998088468,634.998088468,879.001911532,787,806,651.998088468,631,651.001911532,0.441515636909,-0.00556090527647,0.0499437937956,0.999999991761,8.78757700659e-05,-8.73865069585e-05,3.34459230999e-05,1793242866813468672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.416987469,679.416987469,660.416987469,634.416987469,879.583012531,787,806,651.416987469,631,651.583012531,0.442247485473,-0.00556446806183,0.0499721855173,0.999999994965,8.66351293689e-05,-3.54098799395e-05,3.61970605894e-05,1793242866830135296
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.161320455,660.161320455,634,879.838679545,787,805.838679545,651,631,652,0.442954738985,-0.00556637805217,0.0499938783362,0.999999995381,8.79916080884e-05,2.85305551427e-06,3.85618367249e-05,1793242866846802176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.732531723,660.732531723,634,879.267468277,787,805.267468277,651,631,652,0.443599500358,-0.00556408854179,0.049998550265,0.99999999458,9.59469736595e-05,6.27159109439e-06,3.99449280447e-05,1793242866863468800
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.692269046,660.692269046,634,879.307730954,787,805.307730954,651,631,652,0.444203338063,-0.00556100889373,0.0499812362258,0.999999993675,0.000101904854766,-2.58730044331e-05,3.99610585406e-05,1793242866880135424
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.113558152,660.113558152,634,879.886441848,787,805.886441848,651,631,652,0.444771139401,-0.00555723347097,0.0499445619099,0.999999989629,0.000106103801793,-8.93335760449e-05,3.87734783895e-05,1793242866896802048
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.477279779,744.522720221,714,679,660.477279779,634,879.522720221,787,806,651.477279779,631,651.522720221,0.445373136918,-0.00556117627136,0.0499391760307,0.999999990306,0.000103830068566,-8.40901944261e-05,3.92055916062e-05,1793242866913468672
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.930988367,744.069011633,714,679,661,634,879.069011633,787,806,652,631,651,0.445979489809,-0.00556644837268,0.0499437849127,0.99999999235,0.000100610366462,-5.96838428346e-05,4.01819400454e-05,1793242866930135296
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.354455014,744.645544986,714,679,661,634,879.645544986,787,806,652,631,651,0.446556477846,-0.00556763924811,0.0499657222804,0.999999993743,0.000102054754591,-1.76995117056e-05,4.22527182662e-05,1793242866946801920
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,633.781030042,880,787,806,651.781030042,631,651.218969958,0.447092427471,-0.00556637615315,0.0499744549796,0.99999999337,0.000106549760427,-1.19285649934e-06,4.36595380039e-05,1793242866963468800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,633.212566351,880,787,806,651.212566351,631,651.787433649,0.447562876423,-0.00556119632321,0.0499621119599,0.999999991992,0.000115913798472,-2.53506331489e-05,4.40066262742e-05,1793242866980135168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.372290855,661,633.372290855,879.627709145,787,806,651,631,651.627709145,0.44800235668,-0.00555530786153,0.0499390883261,0.99999998989,0.000121590821957,-6.01354793091e-05,4.26654019036e-05,1793242866996802048
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.966939453,661,633.966939453,879.033060547,787,806,651,631,651.033060547,0.448423340343,-0.00554899615568,0.0499096854928,0.999999986239,0.000125065707142,-0.00010126754563,4.03158009167e-05,1793242867013468928
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,744.45274219,714,679.45274219,660.45274219,634,879,787,806,651,631,651,0.448845645372,-0.00555333669443,0.0499052884323,0.999999990377,7.9172561992e-05,-0.000110468596659,2.78239013739e-05,1793242867030135296
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,744.126150575,714,679.126150575,660,634,879.126150575,787,806,651,631,651,0.449259670281,-0.00555895813983,0.0499055068568,0.999999992729,4.06130107562e-05,-0.00011204738277,1.8363065823e-05,1793242867046801920
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,744.702964444,714,679.702964444,660,634,879.702964444,787,806,651,631,651,0.449643837317,-0.005566915279,0.0499169548425,0.99999999468,3.8634626575e-05,-9.31115500833e-05,2.1863474733e-05,1793242867063468800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.721184984,880,787,806,651.278815016,631,651.278815016,0.450008070228,-0.00557029437815,0.0499262527406,0.999999995663,4.07945299222e-05,-8.00451242882e-05,2.45566714627e-05,1793242867080135168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.14635716,880,787,806,651.85364284,631,651.85364284,0.45035113942,-0.00556881305541,0.0499332679291,0.999999995851,4.73479776436e-05,-7.32101416917e-05,2.63928655663e-05,1793242867096801792
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.4402865,745,714,680,660.4402865,633,880,787,806,651.5597135,631,651.5597135,0.450649045512,-0.00556891018583,0.0499320097486,0.999999995092,5.20078577824e-05,-7.95150043257e-05,2.80827503765e-05,1793242867113468672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.969710684,745,714,680,660.969710684,633,879.969710684,786.969710684,806,651,631,651.030289316,0.450929696903,-0.00556935096694,0.0499275556346,0.999999993851,5.60729737526e-05,-9.0964879882e-05,2.9643533368e-05,1793242867130135296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.391942666,745,714,680,660.391942666,633,879.391942666,786.391942666,806,651,631,651.608057334,0.451177309598,-0.00556625776666,0.0499164153461,0.999999991161,6.10787365204e-05,-0.000114284596268,2.97741263969e-05,1793242867146801920
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.184829229,745,713.815170771,680,660,633,879,786.184829229,806,651,631,652,0.45141168617,-0.00556364673026,0.0499051849154,0.999999988106,6.53719357099e-05,-0.000136435113887,3.00159661268e-05,1793242867163469312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.759500032,745,713.240499968,680,660,633,879,786.759500032,806,651,631,652,0.451618145094,-0.00556205267367,0.0498937643581,0.999999985025,6.81621961197e-05,-0.000156119556087,3.04924472623e-05,1793242867180137216
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.657111504,745,713.342888496,680,660,633,879.342888496,787,806,651,631,652,0.451804482449,-0.00556101025586,0.049883612373,0.999999981514,7.05359702349e-05,-0.000176178755471,3.09381209255e-05,1793242867196803840
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067448951,745,713.932551049,680,660,633,879.932551049,787,806,651,631,652,0.451976338497,-0.00556036484784,0.0498743733677,0.999999977564,7.26100028365e-05,-0.00019650766655,3.1361622747e-05,1793242867213469184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.51305727,745,714,680,660,633,879.48694273,786.48694273,806,651.51305727,631,651.48694273,0.452137581927,-0.00555831978903,0.0498718364703,0.999999976471,7.4882054331e-05,-0.000201159012041,3.14066586054e-05,1793242867230135552
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.908346275,745,714,679.908346275,660,633,879.091653725,786.091653725,806,652,631,651,0.452293906498,-0.00555658746982,0.0498704725335,0.999999975835,7.68682326591e-05,-0.000203551199497,3.14344405366e-05,1793242867246801920
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.333582367,745,714,679.333582367,660,633,879.666417633,786.666417633,806,652,631,651,0.452431528775,-0.00555745650189,0.0498707284831,0.999999975566,7.72127514151e-05,-0.000204708655842,3.16289381029e-05,1793242867263468800
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.242050806,660,632.757949194,879.757949194,786.757949194,806,652,631,651,0.452558800197,-0.00555891528238,0.0498720221865,0.99999997609,7.6191475717e-05,-0.000202467369098,3.19814216964e-05,1793242867280135680
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.818886241,660,632.181113759,879.181113759,786.181113759,806,652,631,651,0.452671755166,-0.00556118975398,0.0498747512251,0.99999997767,7.3281146225e-05,-0.00019552522233,3.25524184647e-05,1793242867296802304
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.402894738,879.402894738,786.402894738,806,652,631,651.402894738,0.452761316339,-0.0055628176393,0.0498735727412,0.999999977689,7.24130874057e-05,-0.000195762691721,3.24893578074e-05,1793242867313468672
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.990186184,879.990186184,786.990186184,806,652,631,651.990186184,0.452840170647,-0.00556414959518,0.0498706058639,0.999999976999,7.24797343148e-05,-0.000199286125238,3.21361019785e-05,1793242867330135296
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.4302841,880,786.4302841,806.5697159,652,630.4302841,651.4302841,0.452899928809,-0.00556430414113,0.049866779034,0.999999975748,7.14684472187e-05,-0.000205828087853,3.21176647519e-05,1793242867346802176
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806.85151863,651.85151863,630,651.14848137,0.452955492628,-0.00556395027646,0.0498629363239,0.999999974543,7.08782565177e-05,-0.000211840692175,3.18552873447e-05,1793242867363468544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806.274577949,651.274577949,630,651.725422051,0.452999889652,-0.00556218707588,0.049859089962,0.999999973597,7.15560465862e-05,-0.000216177748598,3.08725746203e-05,1793242867380135424
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806,651,630.307204916,652,0.453038867229,-0.00556219485472,0.0498580230308,0.999999973386,7.24994021861e-05,-0.000216834812848,3.08790109243e-05,1793242867396802048
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806,651,630.893385074,652,0.453072923368,-0.00556381087392,0.0498594801227,0.99999997385,7.3683920048e-05,-0.000214150047262,3.1783701263e-05,1793242867413468928
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.525868409,786,806.474131591,651,631,651.525868409,0.453095467244,-0.00556284859823,0.0498589729758,0.999999973443,7.49093703433e-05,-0.000215609637659,3.18518681103e-05,1793242867430135296
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,807,651,631,651,0.4531144251,-0.00556131795278,0.0498578445622,0.999999972789,7.60729610726e-05,-0.000218246806597,3.16832222659e-05,1793242867446801920
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,807,651,631,651,0.453123323563,-0.00555983459153,0.0498549075489,0.999999971637,7.65412797124e-05,-0.000223394490112,3.10164345755e-05,1793242867463469056
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.209364253,679.790635747,660,632,879.209364253,786.209364253,806.790635747,651.209364253,631,651,0.453131304904,-0.0055589011965,0.0498519528817,0.999999970649,7.58603775658e-05,-0.00022805899414,3.06130377979e-05,1793242867480135936
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.784426968,679.215573032,660,632,879.784426968,786.784426968,806.215573032,651.784426968,631,651,0.453137684302,-0.0055589284326,0.0498489673783,0.999999969969,7.31721208941e-05,-0.000231879523821,3.0669708387e-05,1793242867496802048
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.642560069,679.357439931,659.642560069,632,879.642560069,786.642560069,806,651.642560069,631,651,0.453142494684,-0.00555749028841,0.0498478091251,0.9999999696,7.41534703419e-05,-0.000233185447158,3.04362874018e-05,1793242867513468672
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.070776287,679.929223713,659.070776287,632,879.070776287,786.070776287,806,651.070776287,631,651,0.453146364182,-0.00555517340846,0.049847746608,0.999999969418,7.73353504772e-05,-0.000232983451524,3.00289089481e-05,1793242867530135296
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.522236416,632,879.522236416,786.522236416,806,651.522236416,631,651.522236416,0.453146797908,-0.00555619151874,0.0498465093509,0.99999996875,7.80867379357e-05,-0.000235535068055,3.04316881517e-05,1793242867546801920
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.885774308,660,632,880,786.885774308,806,652,631,652,0.453146894727,-0.00555730247023,0.0498452944849,0.999999968152,7.8263236534e-05,-0.000237954101497,3.07925171731e-05,1793242867563469056
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.310037059,660,632,880,786.310037059,806,652,631,652,0.453147591368,-0.00555688501452,0.0498448405957,0.999999968145,7.75042400457e-05,-0.000238265768758,3.0521437753e-05,1793242867580135424
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.264933143,660,632,879.735066857,786,806,651.735066857,630.735066857,652,0.453148498418,-0.00555608447076,0.0498446465581,0.999999968049,7.78059082234e-05,-0.00023859593278,3.0335069189e-05,1793242867596802048
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.839008377,660,632,879.160991623,786,806,651.160991623,630.160991623,652,0.453149650987,-0.00555483691365,0.0498447557331,0.999999967847,7.93452322945e-05,-0.000238947680125,3.0247547004e-05,1793242867613468672
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786.426550264,806,651.426550264,630,651.573449736,0.453150030205,-0.0055538514174,0.0498444280376,0.999999967684,8.05761793409e-05,-0.000239226573818,3.01683041812e-05,1793242867630135552
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.981158269,632,879,786.981158269,806,652,630,651,0.45315009348,-0.00555301313214,0.0498439387087,0.999999967534,8.16155595928e-05,-0.00023951004415,3.0093333051e-05,1793242867646802176
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.403655179,632,879,786.403655179,806,652,630,651,0.45314972555,-0.00555351140766,0.049843705217,0.99999996732,8.05384322695e-05,-0.000240771082233,3.00493452383e-05,1793242867663468800
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,879.173169613,786,806,652,630,651,0.453149058907,-0.00555334638498,0.0498428720867,0.999999966947,8.02327175313e-05,-0.000242432682582,2.99124190473e-05,1793242867680135680
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,879.748419438,786,806,652,630,651,0.453147698684,-0.00555164125901,0.0498406466631,0.999999966206,8.17181354353e-05,-0.000245024343027,2.955970048e-05,1793242867696802304
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.331567405,632,880,786.331567405,806,652,630.331567405,651.331567405,0.453148886854,-0.00555109767081,0.0498411215874,0.999999966465,8.13968119043e-05,-0.000244090232216,2.94041146301e-05,1793242867713469184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.920854387,632,880,786.920854387,806,652,630.920854387,651.920854387,0.45315205583,-0.00555145691878,0.049843695429,0.999999967494,7.96711505108e-05,-0.000240415621879,2.94017554394e-05,1793242867730135808
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.501226002,680,660,632,880,787,806.501226002,651.498773998,631,652,0.45315084183,-0.00555129120704,0.0498428577759,0.999999967178,7.9749321444e-05,-0.000241708187567,2.93603468129e-05,1793242867746802176
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,880,787,807,651,630,652,0.453149163978,-0.0055495326277,0.0498398960986,0.999999966248,8.09592077251e-05,-0.000245183930969,2.8879877775e-05,1793242867790297856
+246,4.100000000,HOLD_POSE2,765,745,714,680,659.422253018,632,880,787,807,651,630.577746982,652,0.453149169863,-0.00555247231136,0.049840036323,0.999999966413,7.90095350068e-05,-0.000245056124741,2.96426441169e-05,1793242867806964480
+247,4.116666667,HOLD_POSE2,765,745.159523949,714,680,659,632,879.840476051,787,807,651,631,652,0.45314929407,-0.00555381582919,0.0498402843375,0.999999966538,7.8079502631e-05,-0.000244799943597,2.99984800578e-05,1793242867823631104
+248,4.133333333,HOLD_POSE2,765,745.752244708,714,680,659,632,879.247755292,787,807,651,631,652,0.453149739589,-0.00555082486404,0.0498408250628,0.999999966563,7.99183640607e-05,-0.000244195152675,2.92492723647e-05,1793242867840297728
+249,4.150000000,HOLD_POSE2,765,746,714,680,659.33709314,632,879.33709314,786.66290686,806.66290686,651.33709314,631,652,0.453149639055,-0.00554984389072,0.0498406122325,0.9999999664,8.1332227328e-05,-0.000244411989,2.91022578524e-05,1793242867856964352
+250,4.166666667,HOLD_POSE2,765,746,714,680,659.916287607,632,879.916287607,786.083712393,806.083712393,651.916287607,631,652,0.453149146345,-0.00555030649988,0.0498398581963,0.999999966104,8.24408555e-05,-0.000245218920571,2.93877403762e-05,1793242867873630976
+251,4.183333333,HOLD_POSE2,765,745.509708383,714.490291617,680,660,632,880,786,806.490291617,652,631,652,0.453149341699,-0.00554933713467,0.0498398933713,0.999999966004,8.3014174361e-05,-0.000245478522874,2.89832031612e-05,1793242867890297600
+252,4.200000000,HOLD_POSE2,765,745,714.936567063,680,659.936567063,632.063432937,880,786.063432937,806.936567063,651.936567063,631,651.936567063,0.453149494755,-0.00554832509015,0.0498398861506,0.99999996591,8.3427027557e-05,-0.000245772275238,2.8564544771e-05,1793242867906964224
+253,4.216666667,HOLD_POSE2,765,745,714.363311243,680,659.363311243,632.636688757,880,786.636688757,806.363311243,651.363311243,631,651.363311243,0.453148373525,-0.00554891449506,0.0498384665219,0.999999965588,8.32770809766e-05,-0.000247083714177,2.89693663485e-05,1793242867923630848
+254,4.233333333,HOLD_POSE2,765,745,714,679.783382173,659.216617827,632.783382173,880,786.783382173,806,651,631,651.216617827,0.453148053616,-0.00554859227609,0.0498378413453,0.99999996541,8.33802339553e-05,-0.000247762885945,2.90050042287e-05,1793242867940297472
+255,4.250000000,HOLD_POSE2,765,745,714,679.191905037,659.808094963,632.191905037,880,786.191905037,806,651,631,651.808094963,0.453149120404,-0.00554669248285,0.0498385909763,0.999999965485,8.39213782615e-05,-0.000247347912927,2.84017659965e-05,1793242867956964352
+256,4.266666667,HOLD_POSE2,765,745,714,679.393071743,660,632,880,786,806.393071743,651.393071743,630.606928257,652,0.453149165684,-0.00554740583783,0.0498388450016,0.999999965481,8.30503440231e-05,-0.000247640336025,2.85559894164e-05,1793242867973631488
+257,4.283333333,HOLD_POSE2,765,745,714,679.974926606,660,632,880,786,806.974926606,651.974926606,630.025073394,652,0.453148720358,-0.00554937422633,0.0498388609991,0.999999965437,8.15010736633e-05,-0.000248272504815,2.90740038138e-05,1793242867990298368
+258,4.300000000,HOLD_POSE2,765,745,714,680,660,632,880,786.550252178,806.449747822,651.449747822,630,651.449747822,0.453148712969,-0.00554951340837,0.0498380566899,0.999999965356,8.10062871185e-05,-0.000248780051109,2.88770160882e-05,1793242868006964992
+259,4.316666667,HOLD_POSE2,765,745,714,680,660,632,880,787,806,651.12775223,630,651.12775223,0.453148914833,-0.00554955815321,0.0498375812095,0.999999965342,8.0651484876e-05,-0.000248968175371,2.87344115775e-05,1793242868023631872
+260,4.333333333,HOLD_POSE2,765,745,714,680,660,632,880,787,806,651.714113992,630,651.714113992,0.453149797086,-0.00554955959381,0.0498384187818,0.999999965572,8.06287351795e-05,-0.000248029773597,2.89026211589e-05,1793242868040297984
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,879,786,806,652,631,652,0.453150281931,-0.00555018114387,0.0498388760266,0.99999996576,7.97816165879e-05,-0.000247565638056,2.87444402975e-05,1793242868077261568
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.158522951,632,879.579261476,786.579261476,806.579261476,651.420738524,631,652,0.453149576449,-0.00554923970107,0.0498375703512,0.999999965386,8.08484624525e-05,-0.000248757186763,2.84818180074e-05,1793242868093928192
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.155613206,680,660.844386794,632,880,786.844386794,806.844386794,651,631,652,0.453148654058,-0.00554851725013,0.0498364285464,0.999999964989,8.16437573865e-05,-0.000250105754676,2.83342156451e-05,1793242868110594816
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.724242256,680,660.275757744,632,880,786.275757744,806.275757744,651,631,652,0.453147155967,-0.0055483760293,0.0498357216729,0.999999964536,8.17183242855e-05,-0.000251871070383,2.84918897094e-05,1793242868127261440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.693654876,680,659.693654876,632,880,786.306345124,806.306345124,651.306345124,630.693654876,652,0.453146127334,-0.00554840924263,0.0498352185801,0.999999964283,8.1711603477e-05,-0.000252849315266,2.87199417135e-05,1793242868143928064
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.098865552,680,659.098865552,632,880,786.901134448,806.901134448,651.901134448,630.098865552,652,0.453145540729,-0.00554860669729,0.0498349073603,0.999999964221,8.16283449097e-05,-0.000253086480794,2.9014259194e-05,1793242868160594432
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.484820971,632,880,786.515179029,806.515179029,651.515179029,630,652,0.453147532311,-0.00554910189878,0.0498361836851,0.999999964769,8.13571272113e-05,-0.000251021040295,2.88409295021e-05,1793242868177260800
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.934450031,659.934450031,632,879.934450031,786,806,651,630,651.934450031,0.453149273404,-0.00554949791154,0.0498373629649,0.999999965269,8.11321710893e-05,-0.000249120714984,2.86075955808e-05,1793242868193927424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.359503586,659.359503586,632,879.359503586,786,806,651,630,651.359503586,0.453145073733,-0.00554866184119,0.0498353286382,0.999999964494,8.15579094125e-05,-0.000252070765828,2.86324508237e-05,1793242868210594048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,632,879,786,806,651,630.219550623,651.219550623,0.45313598791,-0.00554827033682,0.0498310830703,0.999999962677,8.15930510188e-05,-0.000259166829889,2.86565539298e-05,1793242868227260672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,632,879,786,806,651,630.805459286,651.805459286,0.453118748701,-0.00554862066744,0.0498231476653,0.999999958996,8.09764146584e-05,-0.000273181230952,2.86794019603e-05,1793242868243927552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.389220988,745,714,679.389220988,659,632,879.389220988,786.389220988,806,651.389220988,631,652,0.45308288425,-0.0055466963514,0.0498068759853,0.999999951005,8.12127106129e-05,-0.000301077391142,2.7313946077e-05,1793242868260594176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.971915534,745,714,679.971915534,659,632,879.971915534,786.971915534,806,651.971915534,631,652,0.453037761581,-0.00554364135643,0.0497864605178,0.999999939924,8.18729811297e-05,-0.000335873882483,2.52583935256e-05,1793242868277261056
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.453561354,745,714,680,659.546438646,632,879.453561354,787,806,652,630.453561354,652,0.452975911643,-0.0055427443322,0.0497651011445,0.999999927796,8.131001062e-05,-0.000370447114287,2.37642797814e-05,1793242868293927424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.120933535,745,714,680,660,632,879,787,806.120933535,652,630.120933535,652,0.452911307877,-0.00554164428531,0.0497456430491,0.999999916076,8.11778465249e-05,-0.000400941891345,2.24554693977e-05,1793242868310594304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.69687927,745,714,680,660,632,879,787,806.69687927,652,630.69687927,652,0.4528395298,-0.00553936921589,0.0497335183414,0.999999909744,8.28996503455e-05,-0.000416134038072,2.17368934252e-05,1793242868327260672
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.721510402,745.278489598,714.278489598,680,660,632,879.278489598,787,807,652,631,652,0.452764223187,-0.00553647896627,0.0497273038579,0.999999905928,8.54028725122e-05,-0.000424730428048,2.13106536493e-05,1793242868343927296
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.133606495,745.866393505,714.866393505,680,660,632,879.866393505,787,807,652,631,652,0.452684996218,-0.00553290522428,0.0497276558966,0.999999905097,8.87742850706e-05,-0.000425998638575,2.12092124153e-05,1793242868360593920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.550920869,714.550920869,680,660,632,880,787,807,652,631,652,0.452582839084,-0.00552822203909,0.0497279082457,0.999999904509,9.196604782e-05,-0.000426731761044,2.06011542866e-05,1793242868377260544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.970176302,786.970176302,806.970176302,652,631,651.970176302,0.45247270313,-0.00552325138865,0.049728103897,0.99999990393,9.50954705613e-05,-0.000427439155017,1.98368022673e-05,1793242868393927680
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.396837717,786.396837717,806.396837717,652,631,651.396837717,0.452340056928,-0.00551898813325,0.0497278005773,0.999999902329,9.80516554259e-05,-0.000430545556502,1.89394036512e-05,1793242868410594816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.180981412,786.180981412,806,651.819018588,631,651.180981412,0.452198867531,-0.00551469660361,0.0497279219391,0.999999900958,0.000101076583624,-0.000433046517272,1.83920211803e-05,1793242868427261696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.768874343,786.768874343,806,651.231125657,631,651.768874343,0.452038469969,-0.00551034150387,0.0497289981382,0.999999900133,0.000104256071243,-0.000434186228445,1.86316014215e-05,1793242868443928064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.648381943,632.351618057,879.648381943,787,806,651.351618057,631,652,0.45185193227,-0.00550354585362,0.0497262871148,0.999999896844,0.000110174211961,-0.000440280921604,1.80728312647e-05,1793242868460594432
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.068974006,632.931025994,879.068974006,787,806,651.931025994,631,652,0.451648460105,-0.00549516913309,0.0497211226026,0.999999891846,0.000117866543609,-0.000449585617076,1.69968631695e-05,1793242868477260800
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.509697904,632.490302096,879,787,806,652,631,651.490302096,0.451421265073,-0.00548742961041,0.0497213817931,0.999999893173,0.000123025079626,-0.000445294944928,1.52014503801e-05,1793242868493927424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.087359633,879.087359633,786.912640367,806,652,631,651.087359633,0.451187416968,-0.00547965294509,0.0497232075255,0.999999895868,0.000127900127874,-0.000437866856202,1.3384742593e-05,1793242868510594048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.659962937,879.659962937,786.340037063,806,652,631,651.659962937,0.45093441976,-0.00547119170023,0.0497296637926,0.999999901514,0.000133102337897,-0.000423216184058,1.19897481917e-05,1793242868527260672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.239960048,714,680,660,633,880,786.239960048,806.239960048,651.760039952,631,652,0.450669722601,-0.00546180830407,0.0497382991804,0.999999908261,0.000139272500901,-0.000404925253159,1.08261995818e-05,1793242868543927296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.830767674,714,680,660,633,880,786.830767674,806.830767674,651.169232326,631,652,0.450387918861,-0.00545107662335,0.0497501206781,0.999999916467,0.000146857915665,-0.000381311870539,1.00010498663e-05,1793242868560594176
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.586591994,714,680,660,633,880,787,806.586591994,651,631,652,0.450062456125,-0.00544318084271,0.0497577466768,0.999999921971,0.000150373028225,-0.000365201230455,8.58039779544e-06,1793242868577261312
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.00723026,714,680,660,633,880,787,806.00723026,651,631,652,0.449719467433,-0.00543642347325,0.0497636884826,0.999999926397,0.000152254205575,-0.000352102405109,6.92069416841e-06,1793242868593927936
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.568688188,745,714.568688188,680,660,633,880,787,806,651.568688188,631.568688188,652,0.449310845018,-0.00542769087508,0.0497613838601,0.999999923207,0.000154853062253,-0.000359977276778,4.77984226086e-06,1793242868610594304
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.85580658,745,714.85580658,680,660,633.14419342,880,787,806,651.85580658,631.85580658,652,0.448896664038,-0.00542036950572,0.0497593021863,0.999999921343,0.000156570542273,-0.000364407774435,2.46573935662e-06,1793242868627260928
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.281404478,745,714.281404478,680,660,633.718595522,880,787,806,651.281404478,631.281404478,652,0.448468373533,-0.00541733308838,0.0497581966185,0.999999923889,0.00015563132841,-0.000357770998691,-3.47125252916e-07,1793242868643927808
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.698409887,660,634,879.698409887,787,806,651.301590113,631,651.698409887,0.44801783547,-0.00541738979073,0.0497569701217,0.999999926302,0.000148483729096,-0.000354029723247,-3.48426035256e-06,1793242868660594176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.107162719,660,634,879.107162719,787,806,651.892837281,631,651.107162719,0.44754593007,-0.0054204172265,0.0497556274804,0.999999928484,0.000135373392268,-0.000353069380614,-6.93283581656e-06,1793242868677260800
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.47293228,660,634,879.47293228,787,806.47293228,652,631,651.47293228,0.447031238801,-0.00542152686802,0.0497581692738,0.99999993119,0.000126186250653,-0.000348729654177,-9.19552226623e-06,1793242868693927680
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.050252271,660.050252271,634.050252271,879.949747729,787,807,651.949747729,631.050252271,652,0.446503728496,-0.00542162055438,0.0497620792975,0.999999934208,0.000118464645881,-0.000342670824998,-1.12534241135e-05,1793242868710594304
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.624380226,660.624380226,634.624380226,879.375619774,787,807,651.375619774,631.624380226,652,0.445941321009,-0.00541554884898,0.0497712885742,0.999999939765,0.000116967246613,-0.000326489378991,-1.39132407377e-05,1793242868727261184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.795992863,661,634.795992863,879.204007137,787.204007137,806.795992863,651.204007137,632,651.795992863,0.445369598616,-0.00541147604442,0.0497840539205,0.999999945153,0.000113382405874,-0.000310776748937,-1.59980233619e-05,1793242868743927808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.205960792,661,634.205960792,879.794039208,787.794039208,806.205960792,651.794039208,632,651.205960792,0.44478025047,-0.00541118558617,0.0498035481066,0.99999995046,0.000105847681597,-0.000295951219519,-1.69947190828e-05,1793242868760594176
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,787.62393004,806.37606996,651.62393004,631.62393004,651,0.444137954324,-0.00540899627322,0.0498033690205,0.999999948911,9.77393228582e-05,-0.000303710911655,-1.96368522335e-05,1793242868777260800
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,787.046190067,806.953809933,651.046190067,631.046190067,651,0.443467264481,-0.00540578868684,0.049792640011,0.99999994339,8.93233490443e-05,-0.000323582079185,-2.31613620921e-05,1793242868793927424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.532431885,745,714,680,660.467568115,634,880,787,806.467568115,651.532431885,631,651.532431885,0.442756143642,-0.00539962804037,0.0497676327834,0.999999931275,8.55006191008e-05,-0.000359598585319,-2.87863384292e-05,1793242868810594048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.220158636,634,880,787,806,652,631,652,0.442046281168,-0.00539612056376,0.0497527278017,0.999999924627,7.91974212428e-05,-0.000378605399815,-3.36531152827e-05,1793242868827260672
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661.366607923,634,880,787,806,652,631,652,0.44135649522,-0.00540485564133,0.0497855470323,0.99999994631,6.07786296136e-05,-0.000320143128478,-3.45619105545e-05,1793242868843927808
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.91886888,745,714,680,660.08113112,634.91886888,879.08113112,787.91886888,805.91886888,652,631,652,0.434038038941,-0.0053863190663,0.0497737848031,0.999999929999,-1.38181181841e-05,-0.000368535276259,-6.31862812131e-05,1793242868993927680
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.502516088,745,714,679.502516088,660.497483912,635,879,788,806,652,631,652,0.433191472227,-0.00538696194404,0.0497891026369,0.999999938909,-1.65943881337e-05,-0.000343436133475,-6.29155562919e-05,1793242869010594560
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.018699614,745,713.018699614,679.018699614,660.981300386,635,879,787,805,651.018699614,631,651.018699614,0.427762054517,-0.00537260142999,0.049780442181,0.999999930896,8.3163758345e-05,-0.000359735350794,-4.33921356469e-05,1793242869110594048
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.722003127,660.277996873,634.722003127,879.277996873,787,805,652,631,652,0.425053665705,-0.00537038993867,0.0497894218096,0.999999943791,8.20491648372e-05,-0.000321865149956,-4.57055466707e-05,1793242869160594944
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.652927704,634.115690765,879,787,805,652,631,652,0.423310097632,-0.00537268130971,0.0498454943147,0.999999970905,7.37127186729e-05,-0.000225198723642,-4.51959711288e-05,1793242869193927680
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.537218114,661.611654343,634,879,787,805,652,631,652,0.422384662398,-0.00537044823004,0.0498278713809,0.999999961383,7.79898206142e-05,-0.000262765014123,-4.58953531223e-05,1793242869210594048
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.193429241,660.386858481,634,879,787.193429241,805,652,631,652,0.419700446927,-0.00536834823296,0.0497972294122,0.999999940758,8.48901244708e-05,-0.000330191657408,-4.74396718707e-05,1793242869260593920
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.054015703,660.108031406,634.945984297,879,788,805,651.054015703,631,652,0.417109037031,-0.00536543237881,0.0497733075111,0.999999923419,8.71207199402e-05,-0.000378293137871,-4.96578111225e-05,1793242869310594560
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.984164793,661,634.015835207,878,788,804.984164793,652,630.984164793,652,0.400982611948,-0.00540641947317,0.0498498509387,0.999999959226,0.000106172846936,-0.000261803774249,-4.16540586974e-05,1793242870460593920
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98a287bd9910213ec5c56e10c3be325a82a9c20e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.580744775827,1.86188861123e-06,1.04004096376,0.55131649512,0.0086766889851,1.03967875764
+395,6.583333333,pose2_to_pose3_retreat,0.5807445923,1.89363913405e-06,1.04004095811,0.551316311137,0.00867671925093,1.03967875346
+396,6.600000000,pose2_to_pose3_retreat,0.58074431398,1.94178887848e-06,1.04004094953,0.551316032125,0.00867676514914,1.03967874712
+397,6.616666667,pose2_to_pose3_retreat,0.580744008137,1.97671286547e-06,1.04004092285,0.551315725759,0.00867679838094,1.03967872242
+398,6.633333333,pose2_to_pose3_retreat,0.580744006754,1.97599433809e-06,1.04004092189,0.551315724385,0.00867679769287,1.03967872145
+399,6.650000000,pose2_to_pose3_retreat,0.580743884538,1.91250405017e-06,1.04004083696,0.551315602978,0.00867673689342,1.03967863525
+400,6.666666667,pose2_to_pose3_retreat,0.58074376648,1.85117363206e-06,1.04004075491,0.551315485701,0.00867667816231,1.03967855197
+401,6.683333333,pose2_to_pose3_retreat,0.580743649697,1.79050545969e-06,1.04004067376,0.551315369691,0.00867662006537,1.0396784696
+402,6.700000000,pose2_to_pose3_retreat,0.580743586606,1.75773009552e-06,1.04004062991,0.551315307017,0.00867658867909,1.0396784251
+403,6.716666667,pose2_to_pose3_retreat,0.580743534687,1.7784584159e-06,1.04004072672,0.551315255262,0.00867660994154,1.03967852142
+404,6.733333333,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051294,1.03967877686
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eaf8ebcc5aa4fbea6a368c387d1c573d2e3f70b7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fb188180d3e252b679593c307d2b43bb1dd1fb99776db4da9a9e0a63e8b691
+size 25881968
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c67b79dcc59c09a3962bc7b704502f23769c71d4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+29,0.483333333,BASELINE,764.163840503,745,714,679,660.163840503,635,878.163840503,788,805,652.163840503,631,652,0.400982263429,-0.00540800175617,0.0498513295998,0.999999960349,0.000106076137183,-0.000257634584772,-4.09292221572e-05,1793242871059419136
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+51,0.850000000,BASELINE,765,745,714,679,660.401122606,635,878,787.401122606,805,652,631,652,0.400985624645,-0.00540798456964,0.0498540310467,0.999999961435,0.000105736410523,-0.000253562883146,-4.06830660641e-05,1793242871426085888
+52,0.866666667,BASELINE,765,745,713.816420831,678.816420831,660.183579169,635,878,787.183579169,805,652,631,652,0.400984949243,-0.00540834617978,0.0498537292574,0.999999961176,0.000106542892812,-0.000254271603341,-4.05200633148e-05,1793242871442752768
+53,0.883333333,BASELINE,765,745,713.237951832,678.237951832,660.762048168,635,878,787.762048168,805,652,631,652,0.400984621435,-0.00540907986085,0.0498534773829,0.99999996134,0.000104815047987,-0.000254372705774,-4.03635902421e-05,1793242871459419392
+54,0.900000000,BASELINE,765,745,713,678.340911966,660.659088034,635,878.340911966,788,805,652.340911966,630.659088034,652,0.400985775971,-0.00540879481163,0.0498539907497,0.999999961642,0.000104904944857,-0.000253120391261,-4.05059960396e-05,1793242871476085760
+55,0.916666667,BASELINE,765,745,713,678.920051625,660.079948375,635,878.920051625,788,805,652.920051625,630.079948375,652,0.400987966364,-0.0054077978784,0.0498550388635,0.999999962038,0.000106265071222,-0.000250922315293,-4.08572570041e-05,1793242871492752384
+56,0.933333333,BASELINE,765,745,713.495208255,679,660.495208255,635,879,788,805,653,630.495208255,652,0.400988027709,-0.0054085396878,0.0498548524768,0.999999962215,0.000104563224372,-0.000250932997404,-4.08450591504e-05,1793242871509419776
+57,0.950000000,BASELINE,765,745,714,679,661,635,878.928603589,787.928603589,805,652.928603589,631,652,0.400987545633,-0.00540948659815,0.0498544434824,0.999999962268,0.000102748709441,-0.000251486288785,-4.07682682155e-05,1793242871526087168
+58,0.966666667,BASELINE,765,745,714,679,661,635,878.340329803,787.340329803,805,652.340329803,631,652,0.400985597978,-0.00540990235182,0.049853854259,0.999999961693,0.000103668749475,-0.000253406868075,-4.0645266978e-05,1793242871542753280
+59,0.983333333,BASELINE,765,745,714,679,661,635,878.244329738,787.244329738,805,652,631,652,0.400984464623,-0.00540987060216,0.0498534082999,0.999999961308,0.000104789554382,-0.000254475096302,-4.05720538066e-05,1793242871559419904
+60,1.000000000,BASELINE,765,745,714,679,661,635,878.824028422,787.824028422,805,652,631,652,0.400984448985,-0.00540922460592,0.0498531589865,0.999999961187,0.000106185930885,-0.000254373380943,-4.05671801144e-05,1793242871576086784
+61,1.016666667,BASELINE,765,745,714,678.601531521,661,635,879,787.601531521,805,652.398468479,631,652,0.400985177835,-0.00540789033141,0.0498533994135,0.999999961231,0.000106719537636,-0.000253938051047,-4.07956041072e-05,1793242871592754176
+62,1.033333333,BASELINE,765,745,714,678.029383564,661,635,879,787.029383564,805,652.970616436,631,652,0.400986231184,-0.00540625605877,0.0498538533024,0.999999961348,0.000106877090966,-0.000253357309404,-4.11257149901e-05,1793242871609421312
+63,1.050000000,BASELINE,765,744.456613428,714,678,661,635,878.456613428,787.543386572,805,653,631,652,0.400985758273,-0.00540884445928,0.0498539098241,0.999999961718,0.000103402412683,-0.000253404557601,-4.07211450485e-05,1793242871626087680
+64,1.066666667,BASELINE,765,744.120774323,714,678.120774323,661,635,878.120774323,787.879225677,804.879225677,653,631,652,0.400985059407,-0.00541096344326,0.0498537029336,0.999999961841,0.000101183100105,-0.000253876376287,-4.03421044511e-05,1793242871642754304
+65,1.083333333,BASELINE,765,744.716176322,714,678.716176322,661,635,878.716176322,787.283823678,804.283823678,653,631,652,0.400983797279,-0.00541033930223,0.0498525454069,0.999999960975,0.000104669975521,-0.000255883097368,-4.02196950027e-05,1793242871659421440
+66,1.100000000,BASELINE,765.303622228,745,714,679,660.696377772,634.696377772,878.696377772,787,804.303622228,652.696377772,631,652,0.400983688341,-0.00540875866478,0.0498522086222,0.999999960619,0.000106475089417,-0.000256485202638,-4.04978422218e-05,1793242871676088320
+67,1.116666667,BASELINE,765.88382072,745,714,679,660.11617928,634.11617928,878.11617928,787,804.88382072,652.11617928,631,652,0.40098462987,-0.00540630673343,0.0498526194696,0.999999960737,0.000106748249017,-0.000255807811908,-4.11408654566e-05,1793242871692754944
+68,1.133333333,BASELINE,766,745,714,679,660.459706173,634.459706173,878.919412346,787,805,652.459706173,631,652,0.400984972695,-0.00540677606982,0.0498530208744,0.999999960887,0.000107184821527,-0.000255026840913,-4.12117247179e-05,1793242871709421312
+69,1.150000000,BASELINE,765.96469539,745,714,679,661,635,879.96469539,787,805,652.96469539,631,652,0.400985200176,-0.00540793383774,0.0498534154122,0.999999961053,0.000107611017879,-0.000254208852868,-4.11211555052e-05,1793242871726087424
+70,1.166666667,BASELINE,765.376685064,745,714,679,661,635,879.376685064,787,805,652.376685064,631,652,0.400985968655,-0.00540841867756,0.0498537394579,0.999999961361,0.000107234238242,-0.000253217357044,-4.07460922023e-05,1793242871742754304
+71,1.183333333,BASELINE,765,745,714,679,661,634.792097746,879,787,805,652,631,652,0.400986029845,-0.00540900593677,0.0498537645384,0.999999961513,0.000106057788784,-0.000253149440998,-4.05142494765e-05,1793242871759421184
+72,1.200000000,BASELINE,765,745,714,679,661,634.213611806,879,787,805,652,631,652,0.400984830297,-0.00540977575759,0.0498532567166,0.999999961384,0.000103455935822,-0.000254727796482,-4.05376959315e-05,1793242871776088064
+73,1.216666667,BASELINE,765,745,714,679,660.638462568,634.361537432,878.638462568,787,805,652,630.638462568,652,0.400984855142,-0.00541025047401,0.0498535539504,0.99999996148,0.000102858772513,-0.000254604583389,-4.04663689518e-05,1793242871792754688
+74,1.233333333,BASELINE,765,745,714,679,660.065266801,634.934733199,878.065266801,787,805,652,630.065266801,652,0.400985596794,-0.00541055242457,0.0498543224957,0.99999996171,0.000103435234097,-0.00025348520455,-4.03395578475e-05,1793242871809421312
+75,1.250000000,BASELINE,765,745,714,679,660,635,878,787.51212186,805,652.51212186,630.51212186,652,0.400985213485,-0.00540991962643,0.0498541092945,0.999999961625,0.000104873787766,-0.000253214866915,-4.04310486519e-05,1793242871826087936
+76,1.266666667,BASELINE,765,745,714,679,660.092111035,635,878,788,805,652.907888965,631,652,0.400984946182,-0.00540928617671,0.0498539648308,0.99999996158,0.00010610065396,-0.000252864224193,-4.0515879884e-05,1793242871842754560
+77,1.283333333,BASELINE,765,745,714,679,660.683270529,635,878,788,805,652.316729471,631,652,0.400986090564,-0.00540929994847,0.0498548762507,0.999999961987,0.000105580448679,-0.000251487412533,-4.04126531888e-05,1793242871859420928
+78,1.300000000,BASELINE,765,745,714,678.731939164,661,635,878,788,805.268060836,652,630.731939164,652,0.400986338825,-0.00540914732884,0.0498549888196,0.999999962068,0.000104659344347,-0.000251525831194,-4.05662968135e-05,1793242871876087040
+79,1.316666667,BASELINE,765,745,714,678.1544998,661,635,878,788,805.8455002,652,630.1544998,652,0.400985552839,-0.00540880267102,0.0498541794062,0.999999961771,0.000103275548227,-0.000253197617506,-4.10164036006e-05,1793242871892753152
+80,1.333333333,BASELINE,764.577940531,745,714,678,661,634.577940531,878,787.577940531,805.155881062,652,630.422059469,652,0.400985835317,-0.00540905771923,0.0498539643923,0.99999996182,0.000103029289624,-0.000253141581769,-4.08049470341e-05,1793242871909420032
+81,1.350000000,BASELINE,764.001702714,745,714,678,661,634.001702714,878,787.001702714,804.003405427,652,630.998297286,652,0.400986508105,-0.00540953184006,0.0498539665124,0.999999961994,0.000103198573432,-0.000252454372673,-4.03518213725e-05,1793242871926087168
+82,1.366666667,BASELINE,764,745.571893025,714,678.571893025,661,634.571893025,878.571893025,787.571893025,804.571893025,652.571893025,631,652,0.400985232174,-0.00540941993429,0.0498531018176,0.99999996162,0.000103128114905,-0.000253938226598,-4.0505086775e-05,1793242871942753280
+83,1.383333333,BASELINE,764.150825984,745.849174016,714,678.849174016,661,635,879,787.849174016,805,652.849174016,630.849174016,652,0.400984574365,-0.00540928172544,0.049852810989,0.999999961425,0.000103336348867,-0.000254607975839,-4.05701720007e-05,1793242871959419392
+84,1.400000000,BASELINE,764.74548797,745.25451203,714,678.25451203,661,635,879,787.25451203,805,652.25451203,630.25451203,652,0.400985752497,-0.00540907122525,0.0498542164377,0.999999961769,0.000104366782712,-0.000252863123463,-4.03704808362e-05,1793242871976086272
+85,1.416666667,BASELINE,765,745,714,678,661,635,878.670184153,787.329815847,805,652,630.329815847,652,0.400985722706,-0.00540932382741,0.04985408844,0.999999961777,0.000103743527983,-0.000253072991595,-4.04551864997e-05,1793242871992753152
+86,1.433333333,BASELINE,765,745,714,678,661,635,878.09358865,787.90641135,805,652,630.90641135,652,0.400984789105,-0.00540992293885,0.0498528130645,0.999999961532,0.000101882926045,-0.000254745449515,-4.07526877462e-05,1793242872009419776
+87,1.450000000,BASELINE,765,745,714,678.482303921,661,635,878.482303921,788,805,652.482303921,631,652,0.400984893834,-0.00541049124937,0.04985321744,0.999999961782,0.000102102496513,-0.000253685201015,-4.06877276148e-05,1793242872026086400
+88,1.466666667,BASELINE,765,745,714,679,660.94069325,635,879,787.94069325,805,653,631,652,0.400985110116,-0.0054108463802,0.0498538483345,0.999999962035,0.000102885271617,-0.000252387825797,-4.05552487557e-05,1793242872042752768
+89,1.483333333,BASELINE,765,745,714,679,660.352576309,635,879,787.352576309,805,653,631,652,0.400984527156,-0.00540935390302,0.0498535969039,0.999999961478,0.000105095984568,-0.000253697370886,-4.04469579364e-05,1793242872059419648
+90,1.500000000,BASELINE,765,745,714,678.767998612,660.232001388,635,878.767998612,787,805.232001388,653,631,652,0.40098405467,-0.00540921326698,0.0498532934293,0.999999961173,0.000105550388138,-0.000254731152673,-4.03088418347e-05,1793242872076086272
+91,1.516666667,BASELINE,765,745,714,678.188718795,660.811281205,635,878.188718795,787,805.811281205,653,631,652,0.400983747549,-0.00541109617616,0.0498529120509,0.999999961249,0.000103375805681,-0.000255352149548,-4.01260808498e-05,1793242872092752896
+92,1.533333333,BASELINE,765,745,714,678,660.611396969,635,878,787,805.611396969,652.611396969,631,652,0.400982533685,-0.00541140785237,0.0498520838954,0.99999996098,0.0001026276352,-0.000256696915062,-4.01718383224e-05,1793242872109419776
+93,1.550000000,BASELINE,765,745,714,678,660.035021191,635,878,787,805.035021191,652.035021191,631,652,0.400980881685,-0.00541096030993,0.0498510398575,0.999999960544,0.000102568705914,-0.000258391405195,-4.03280157569e-05,1793242872126086656
+94,1.566666667,BASELINE,765,745,714,678.540369408,660.540369408,635,878.540369408,787,805,652,630.459630592,652,0.400981715448,-0.00540995865985,0.0498517791199,0.99999996074,0.000103166881644,-0.000257375175391,-4.04391429007e-05,1793242872142753024
+95,1.583333333,BASELINE,765,745,714,679,661,635,878.881211596,787.118788404,805,652,630.118788404,651.881211596,0.400982718969,-0.00540937994186,0.0498525870896,0.999999960996,0.000103733509143,-0.000256143586909,-4.04704481879e-05,1793242872159419392
+96,1.600000000,BASELINE,765,745,714,679,661,635,878.290508213,787.709491787,805,652,630.709491787,651.290508213,0.400983758045,-0.00541062382865,0.0498532097011,0.999999961334,0.000104005925845,-0.000254753099014,-4.01962204145e-05,1793242872176086016
+97,1.616666667,BASELINE,764.705332106,745,714,679.294667894,661,634.705332106,878,787.705332106,805,652,631,651,0.40098505162,-0.00541083430305,0.0498538523316,0.999999961725,0.000103996138862,-0.000253214098618,-4.02154422074e-05,1793242872192752640
+98,1.633333333,BASELINE,764.12550495,745,714,679.87449505,661,634.12550495,878,787.12550495,805,652,631,651,0.400986591481,-0.00541004471216,0.049854514335,0.999999962167,0.000103713254605,-0.000251531378148,-4.05186442649e-05,1793242872209419520
+99,1.650000000,BASELINE,764.448541411,745,714,679.551458589,660.551458589,634.448541411,878,787.448541411,805,652,631,651.448541411,0.400987257451,-0.0054092844335,0.0498552997472,0.999999962205,0.000105395601304,-0.00025069363014,-4.04278520929e-05,1793242872226086656
+100,1.666666667,BASELINE,765,745,714,679,660,635,878,787.978375798,805,652,631,652,0.40098764468,-0.00540864864469,0.0498560735887,0.999999962144,0.000107401669059,-0.000250118959295,-4.02262442358e-05,1793242872242753280
+101,1.683333333,BASELINE,765,745,714,679,660,635,878,787.388653714,805,652,631,652,0.400987051154,-0.00541107064751,0.0498556478258,0.999999962499,0.000103649908854,-0.000250323403726,-3.99727205746e-05,1793242872259419648
+102,1.700000000,BASELINE,764.80240497,745,714,679,660.19759503,635,878.19759503,787,804.80240497,652,631,652,0.400986725371,-0.00541203945832,0.0498551320262,0.999999962629,0.000101932937788,-0.00025050589841,-3.99755394889e-05,1793242872276086016
+103,1.716666667,BASELINE,764.222870065,745,714,679,660.777129935,635,878.777129935,787,804.222870065,652,631,652,0.400986917119,-0.00541019933193,0.0498544421908,0.999999962346,0.000104149098022,-0.000250645965471,-4.04738539494e-05,1793242872292752640
+104,1.733333333,BASELINE,764.35407295,745,714,679,661,635,878.64592705,787.35407295,804.35407295,652,631,651.64592705,0.400986561063,-0.00540968784314,0.0498543754297,0.999999962163,0.000105067285745,-0.000250989713773,-4.04831184898e-05,1793242872309419264
+105,1.750000000,BASELINE,764.92939642,745,714,679,661,635,878.07060358,787.92939642,804.92939642,652,631,651.07060358,0.400985862699,-0.00541000658354,0.0498546980106,0.999999962045,0.000105174406098,-0.000251460736937,-4.01867891349e-05,1793242872326086144
+106,1.766666667,BASELINE,764.496687269,745,714,678.496687269,661,635,878.503312731,787.496687269,805,652.503312731,631,651.503312731,0.400984492577,-0.00540931710044,0.0498536890169,0.999999961551,0.00010602771747,-0.000253033060121,-4.03862761583e-05,1793242872342752768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,634,878,787,805,652,631,652,0.400985352433,-0.00540951773242,0.0498535042051,0.999999961758,0.000104519741148,-0.000252824517884,-4.04829419669e-05,1793242872385299456
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.577848319,660.422151681,634.577848319,878.577848319,787.577848319,805,652,631,652,0.400985144726,-0.0054094287571,0.0498536803583,0.999999961601,0.000104344360999,-0.000253497962003,-4.06037765787e-05,1793242872401966080
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845214684,745,714,679.154785316,660.154785316,635,879,787.845214684,805,652,631,652,0.400984813175,-0.00540934385497,0.0498537573222,0.999999961478,0.000104470324079,-0.000253924960499,-4.06392208847e-05,1793242872418632960
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.270748495,745,714,679.729251505,660.729251505,635,879,787.270748495,805,652,631,652,0.400984145837,-0.00540926999674,0.0498535653468,0.999999961448,0.000105413341305,-0.000253683752897,-4.04431401672e-05,1793242872435299840
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.311654505,745,714,679.688345495,661,635,878.688345495,787.311654505,804.688345495,652,631,652,0.400984068905,-0.00540996746004,0.0498535285514,0.999999961625,0.000104008910012,-0.000253574861485,-4.03983866014e-05,1793242872451966464
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901132721,745,714,679.098867279,661,635,878.098867279,787.901132721,804.098867279,652,631,652,0.400984518291,-0.00541135251621,0.0498536300908,0.999999961977,0.000100511850926,-0.000253583923053,-4.0488533298e-05,1793242872468633088
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.517643844,714,679,661,635,878,788,804.482356156,652,631,651.517643844,0.400983739643,-0.00541080784205,0.0498535017583,0.99999996161,0.000102717454126,-0.000254158499924,-4.03944547761e-05,1793242872485299712
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.061374348,714,679,661,635,878,788,805,652,631,651.061374348,0.400983099308,-0.00541010855654,0.0498534248702,0.999999961233,0.000105432777718,-0.000254555228545,-4.02525485582e-05,1793242872501966336
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.635863314,714,679,661,635,878,788,805,652,631,651.635863314,0.400985684291,-0.00541136782537,0.0498541653612,0.999999962034,0.000102801848448,-0.000252512305078,-4.00211619774e-05,1793242872518633216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.420598027,788,805,652,631,652,0.400991613234,-0.00541233049078,0.0498565691229,0.99999996337,0.000101460470417,-0.000247770464911,-3.96964317461e-05,1793242872535299840
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.56928489,788,805,652,631,652,0.401003330838,-0.00541277971178,0.049861852139,0.999999965586,0.000102351409019,-0.000238356584204,-3.92101162102e-05,1793242872551966720
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.62938438,635,879.62938438,787.62938438,805.37061562,652,631,652,0.401027593297,-0.00541270862078,0.0498714698352,0.99999996977,0.000103428125475,-0.000219681564249,-3.87683357307e-05,1793242872568633344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.036434404,635,879.036434404,787.036434404,805.963565596,652,631,652,0.401059381485,-0.00541232539177,0.0498836879304,0.999999974692,0.000104616291131,-0.000195450734714,-3.83532720138e-05,1793242872585299712
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.541236191,635,878.458763809,787,805.458763809,652,631,652,0.401119553933,-0.00541398998646,0.0499027447185,0.999999982002,0.000104017302829,-0.000154170141011,-3.7522873658e-05,1793242872601966336
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.117530623,787.117530623,805,652,631,652,0.401183098191,-0.00541608434749,0.0499208646444,0.999999987184,0.000103189090387,-0.000116846007863,-3.64764813419e-05,1793242872618632960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.692362863,787.692362863,805,652,631,652,0.401252531473,-0.00541932924386,0.0499335972809,0.999999989278,0.000101924234736,-9.92592592249e-05,-3.46954745773e-05,1793242872635299840
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,678.725991069,660.725991069,635,878.725991069,787.725991069,805,652.274008931,631,652,0.401325218255,-0.0054220709758,0.0499418646807,0.999999990369,0.000101236123544,-8.88557285366e-05,-3.34239876098e-05,1793242872651966720
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,678.136499884,660.136499884,635,878.136499884,787.136499884,805,652.863500116,631,652,0.401401650975,-0.00542423338534,0.0499449909959,0.999999990582,0.000101212051551,-8.67226512402e-05,-3.27391402304e-05,1793242872668633600
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.555324914,745,714,678.444675086,660,635,878.444675086,787.444675086,804.555324914,652.555324914,631,652,0.401492907206,-0.00542690105304,0.0499448439639,0.999999990542,0.000100367061412,-8.84135923518e-05,-3.20304357568e-05,1793242872685300224
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023198873,745,714,678.976801127,660,635,879,787.976801127,804.023198873,652,630.976801127,652,0.40158956919,-0.00542977163568,0.0499437122139,0.999999990432,9.91766409822e-05,-9.12145499838e-05,-3.13172030815e-05,1793242872701966592
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.598267342,745,714,678.401732658,660,635,879,787.401732658,804.598267342,652,630.401732658,652,0.40170856835,-0.00543384748217,0.049942619477,0.99999999063,9.56534349661e-05,-9.30098420845e-05,-3.06672635589e-05,1793242872718633216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.173773474,660,635,878.826226526,787.173773474,804.826226526,652,630.173773474,652,0.401839048812,-0.00543892241334,0.0499436300231,0.999999991175,9.12145910882e-05,-9.19300727763e-05,-2.96463851834e-05,1793242872735299840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.750293878,660,635,878.249706122,787.750293878,804.249706122,652,630.750293878,652,0.401996138954,-0.00544631287738,0.0499495152536,0.999999992488,8.46536151865e-05,-8.41869032626e-05,-2.77657986747e-05,1793242872751966464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,788,804,652.334177239,631,652,0.402164324189,-0.00545315045045,0.0499505320711,0.999999992716,8.21273328084e-05,-8.44698923198e-05,-2.62348415943e-05,1793242872768633344
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,788,804,652.923686412,631,652,0.402340986773,-0.00545956558165,0.0499478291228,0.99999999214,8.26838033706e-05,-9.08853586146e-05,-2.49710226704e-05,1793242872785300480
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.503678499,635,878,787.496321501,804,652.496321501,631,652,0.402552637835,-0.00546598528825,0.0499495915732,0.999999992603,8.0555672132e-05,-8.80788514183e-05,-2.33959514142e-05,1793242872801967104
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.081880761,714,678.918119239,660.918119239,635,878.081880761,787.081880761,804.081880761,652,631,652,0.402774650597,-0.00547283205387,0.0499522221458,0.999999993266,7.75489137687e-05,-8.35561948507e-05,-2.17185003094e-05,1793242872818633472
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.657822914,714,678.342177086,660.342177086,635,878.657822914,787.657822914,804.657822914,652,631,652,0.403027791316,-0.00548225155389,0.0499560842721,0.999999994278,7.16493788405e-05,-7.69529426978e-05,-1.97025714939e-05,1793242872835299840
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.765331156,714,678,660,635,878.765331156,788,805,652,631,651.765331156,0.403301137336,-0.00549166119383,0.0499609192138,0.999999995381,6.62987937522e-05,-6.73254909076e-05,-1.76006932859e-05,1793242872851966720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.187162341,714,678,660,635,878.187162341,788,805,652,631,651.187162341,0.403604059148,-0.00550105640037,0.0499671781282,0.999999996556,6.17517424096e-05,-5.3271322845e-05,-1.53730055113e-05,1793242872868633600
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.39892828,660.39892828,635,878,788,805,652,631,651.39892828,0.403932698411,-0.00550989514585,0.0499741186526,0.99999999734,6.11840700079e-05,-3.76494138225e-05,-1.26256926349e-05,1793242872885299968
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.988810802,660.988810802,635,878,788,805,652,631,651.988810802,0.404273647788,-0.00551846753091,0.0499813854418,0.999999997773,6.25211994778e-05,-2.12770776137e-05,-9.62965186124e-06,1793242872901966592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.4320281,635,878.5679719,787.4320281,805.5679719,652,631,652,0.404649542029,-0.00552700878021,0.049986974402,0.999999998052,6.09707958425e-05,-1.14358285474e-05,-6.92609991861e-06,1793242872918633472
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.146252167,635,879.146252167,787.146252167,805.707495666,652.146252167,631,652,0.405031718078,-0.00553337388496,0.0499896813255,0.999999998033,6.22311163232e-05,-6.76400955865e-06,-3.87350818542e-06,1793242872935300096
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.722551852,635,879.722551852,787.722551852,804.554896296,652.722551852,631,652,0.405430378642,-0.00553334190915,0.0499840091488,0.999999997271,7.19204064076e-05,-1.69213332693e-05,2.22047207699e-07,1793242872951966720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.695882794,788,804.304117206,652.695882794,631,652,0.405839437388,-0.00552340387508,0.0499707968667,0.999999994647,9.4024008428e-05,-4.31499769784e-05,1.98482765399e-06,1793242872968633344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.109428825,788,804.890571175,652.109428825,631,652,0.406258149659,-0.00550426924058,0.0499505844902,0.999999988298,0.000127652827931,-8.42989366651e-05,1.58190365305e-06,1793242872985300224
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.528664274,745.471335726,714,679,661,635,879,787.528664274,805,652.471335726,630.528664274,652,0.406722077515,-0.00550209340443,0.0499365562197,0.999999984504,0.00014058717967,-0.000105900763501,3.5769516762e-06,1793242873001966848
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.050570344,745.949429656,714,679,660.949429656,635,879,787.050570344,805,653,630.050570344,652,0.407202596547,-0.00550444185764,0.0499259344458,0.999999981809,0.000148329475222,-0.000119752035345,6.28239549874e-06,1793242873018633472
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.627465813,745.372534187,714,679,660.372534187,635,879,787.627465813,805,653,630.627465813,652,0.40774783974,-0.00551338850697,0.0499360020048,0.999999983515,0.000151442628705,-9.96065777796e-05,1.06562580091e-05,1793242873035300096
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798206777,745,714,679,660.201793223,635,879,788,804.798206777,652.798206777,631,652,0.408311589549,-0.00552087462013,0.0499527249761,0.999999985454,0.000155506966247,-6.83729839273e-05,1.53391560668e-05,1793242873051966720
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.228560765,745,714,679,660.771439235,635,879,788,804.228560765,652.228560765,631,652,0.408909075397,-0.00552569829295,0.0499815802277,0.999999986635,0.000161305235335,-1.6926611972e-05,2.05854007525e-05,1793242873068633344
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.356747428,745,714,678.643252572,661,635,879,788,804.356747428,652,631,652,0.409526016688,-0.00552611584158,0.0499981386659,0.999999984683,0.000172999066813,8.6636229129e-06,2.51218833205e-05,1793242873085299712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952550804,745,714,678.047449196,661,635,879,788,804.952550804,652,631,652,0.410155995019,-0.00552358085242,0.0500064570259,0.999999981638,0.000188643506238,1.69276948493e-05,2.91827551083e-05,1793242873101966336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529708772,745,714,678,661,635,879,787.470291228,805,652,631,652,0.410751572722,-0.0055197378055,0.0499864163336,0.999999977982,0.000205088344479,-3.07978975157e-05,3.20404177958e-05,1793242873118632960
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.894663593,745,714,678.105336407,660.894663593,635,879,787,805,652,631,652,0.411356151125,-0.00551736710424,0.049964261183,0.99999997214,0.000219524219301,-7.95083052551e-05,3.47574684956e-05,1793242873135299840
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.318665011,745,714,678.681334989,660.318665011,635,879,787,805,652,631,652,0.412014246517,-0.00552208084949,0.0499436227911,0.999999967907,0.000224674218272,-0.000110971600886,3.73114387708e-05,1793242873151966720
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,678.736399636,660.527200728,635,879,787,805,652,631,652,0.412715663273,-0.00552659002076,0.0499444660243,0.999999967754,0.000229577340121,-0.000100694200728,4.05824402516e-05,1793242873168633344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,678.146373796,661.707252407,635,879,787,805,652,631,652,0.413470726464,-0.00553084586164,0.0499719106963,0.99999997083,0.000234174745734,-3.8727852789e-05,4.4741366621e-05,1793242873185299968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,678.435131554,661.564868446,635,879,787.435131554,805,652,631,652,0.41422565404,-0.00553469691267,0.0499770064307,0.999999985857,0.000162014494121,-3.47378680071e-05,2.88284843491e-05,1793242873201966592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.986278771,634.986278771,879,787.986278771,805,652,631,652,0.414980336405,-0.00553842012527,0.0499742239953,0.999999996459,6.71097686512e-05,-5.03051889773e-05,6.91412524134e-06,1793242873218632960
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.411957763,634.411957763,879,787.411957763,805,652,631,652,0.415726830289,-0.00554237678377,0.0499508253837,0.999999993455,7.76193875997e-05,-8.34083807031e-05,1.03633763419e-05,1793242873235299840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.162803907,745,714,679,660,634.162803907,879,787.162803907,805,652,631,652,0.416493345457,-0.00554504897575,0.0499378995837,0.999999990916,8.96275611022e-05,-9.96877937206e-05,1.40771469204e-05,1793242873251966464
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.738683618,745,714,679,660,634.738683618,879,787.738683618,805,652,631,652,0.417310659778,-0.00554446214223,0.0499515460288,0.999999991586,0.000105437956301,-7.32809081342e-05,1.84620719403e-05,1793242873268633344
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.323562306,635,879,787.676437694,805,652,631,652,0.418134854449,-0.00554279730336,0.0499689872081,0.999999992288,0.00011501348586,-4.16214562598e-05,2.15157245201e-05,1793242873285299968
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.915916663,635,879,787.084083337,805,652,631,652,0.418964764774,-0.00554023693601,0.0499895807763,0.99999999258,0.000119409541294,-5.59855532632e-06,2.34634524723e-05,1793242873301966592
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504664426,745,714.495335574,678.504664426,660.504664426,634.504664426,879,787,805.495335574,652,631,652,0.419784790026,-0.00553941062841,0.0499720978313,0.999999991548,0.000119959403989,-4.3980528118e-05,2.40793265237e-05,1793242873318633216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.928179761,678.071820239,660,634.071820239,879,787,805.928179761,652,631,652,0.420613745147,-0.00553928962401,0.0499540604794,0.999999989295,0.000119252378814,-8.11791769457e-05,2.44508829596e-05,1793242873335299840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.357215917,678.642784083,660,634.642784083,879,787,805.357215917,652,631,652,0.421516126682,-0.00554207671928,0.049975947512,0.999999992869,0.000114232164598,-2.4608814165e-05,2.46557192737e-05,1793242873351966464
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.216307309,714,679.216307309,660.432614618,634.783692691,879,787,805,652,631,652,0.422409993592,-0.00554424249556,0.0499915333251,0.999999993479,0.000110527467403,1.38861765136e-05,2.51597977753e-05,1793242873368632832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.79410787,714,679.79410787,661.588215739,634.20589213,879,787,805,652,631,652,0.423289630984,-0.00554536992259,0.0499965885297,0.999999993469,0.000109021264848,2.21735744203e-05,2.6163970621e-05,1793242873385299456
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.619316358,713.619316358,679.619316358,661.238632716,634.380683642,879,787,805.380683642,651.619316358,631,651.619316358,0.424151557397,-0.00554584953497,0.0499876460171,0.999999993618,0.000109582084276,7.86021952841e-06,2.63318845403e-05,1793242873401966336
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.027882579,713.027882579,679.027882579,660.055765158,634.972117421,879,787,805.972117421,651.027882579,631,651.027882579,0.425003678787,-0.00554597051083,0.049970954233,0.999999993289,0.000111287227046,-1.89651306901e-05,2.60368373736e-05,1793242873418633216
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.553768417,679,660.553768417,635,879,787.553768417,805.446231583,651.553768417,631,651,0.42594054367,-0.00555090908577,0.0499903378979,0.999999994059,0.000105115661297,3.91315016446e-06,2.85759215956e-05,1793242873435300096
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.866598193,879,787.866598193,805,652,631,651.133401807,0.426858329902,-0.00555379750581,0.0500030093907,0.999999994261,0.000101872394401,1.23059895362e-05,3.07908966515e-05,1793242873451967232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.292036404,879,787.292036404,805,652,631,651.707963596,0.427699157308,-0.00554911780901,0.0499875810874,0.999999992874,0.000109601796515,-3.53370121343e-05,3.14703240944e-05,1793242873468633856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.283013479,879.283013479,787,805,651.716986521,631,652,0.428556406313,-0.00554727608705,0.0499669950228,0.999999990685,0.000111913572443,-7.17353442208e-05,3.09755923194e-05,1793242873485300224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.858567852,879.858567852,787,805,651.141432148,631,652,0.429430629684,-0.00554836787829,0.0499410775661,0.999999989015,0.000108625341927,-9.65104612644e-05,2.92671742223e-05,1793242873501966848
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.445273816,634.554726184,879.554726184,787,805.445273816,651.445273816,631,651.554726184,0.430323628065,-0.00554920776885,0.0499470197163,0.999999990891,0.000106531553463,-7.74968378092e-05,2.93798458028e-05,1793242873518633216
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.930153398,634,879.034923301,787,806,651.965076699,631,651,0.431221106521,-0.00554995444845,0.0499612229457,0.999999992873,0.000104865093918,-4.85123681426e-05,3.00566607919e-05,1793242873535299840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.772337234,634,879.613831383,787,806,651.386168617,631,651,0.432093091091,-0.00555052753374,0.0499424284185,0.99999999042,0.000103793554868,-8.6429779391e-05,3.02794628046e-05,1793242873551966720
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.8087951,787,806,651.1912049,631,651,0.432967445738,-0.00555122093217,0.0499349086078,0.999999989109,0.000103317437377,-0.000100826402379,3.06898687089e-05,1793242873568633344
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.234496098,787,806,651.765503902,631,651,0.433846549179,-0.00555215538758,0.0499499785774,0.999999991774,0.000104034293934,-6.8097277629e-05,3.14761539001e-05,1793242873585299968
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.348449346,634,879.348449346,787,805.651550654,651.651550654,631,651,0.434701541447,-0.0055540626588,0.0499689640621,0.99999999345,0.000102162912898,-3.96570345032e-05,3.30015576841e-05,1793242873601966848
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.937361616,634,879.937361616,787,805.062638384,651.062638384,631,651,0.435539894678,-0.00555664126466,0.0499906516207,0.999999994434,9.85054036793e-05,-1.41765263245e-05,3.5037022985e-05,1793242873618633216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879.481694202,787.518305798,805.518305798,651,631,651,0.43632334246,-0.00555311820653,0.049964623086,0.99999999146,0.000101254814772,-7.50614297719e-05,3.45509816493e-05,1793242873635299840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.902515958,634,879.097484042,787.902515958,806,651.097484042,631,651,0.43711516126,-0.00554969191077,0.0499407069289,0.999999986058,0.000104364867786,-0.000125872922641,3.38950580862e-05,1793242873651966208
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.327343894,634,879.672656106,787.327343894,806,651.672656106,631,651,0.437980021904,-0.00555029843782,0.0499549712114,0.9999999909,0.000105505422629,-7.69521641349e-05,3.38773013314e-05,1793242873668633088
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.488593972,634,879.755703014,787,806,651.755703014,631,651,0.438791014047,-0.00555208275894,0.0499670390584,0.999999993017,0.000103615110996,-4.53660369735e-05,3.42454782472e-05,1793242873685299968
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.62254731,634,879.188726345,787,806,651.188726345,631,651,0.439530853909,-0.00555542276934,0.0499762057425,0.999999993936,9.77214794251e-05,-3.66763623289e-05,3.51234157492e-05,1793242873701966848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.19964977,634,879.400175115,787,806,651,631,651.400175115,0.440276933847,-0.00555729028902,0.0499638137905,0.999999993649,9.26659952424e-05,-5.42422610064e-05,3.42399688253e-05,1793242873718633472
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.000015362,660.000015362,634,879.999984638,787,805.999984638,651,631,652,0.441026127225,-0.00555842313226,0.0499406663162,0.999999991993,8.80289053665e-05,-8.49067280193e-05,3.2477792026e-05,1793242873735300096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.57926955,660.57926955,634,879.42073045,787,805.42073045,651,631,652,0.441772110681,-0.0055601697998,0.049957752343,0.999999993589,9.11148951691e-05,-5.75838494705e-05,3.46885629151e-05,1793242873751966720
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.157603442,745,714,680,660.842396558,634,879,787,805.157603442,651,631,651.842396558,0.44251177939,-0.00556116768127,0.0499760232065,0.999999994457,9.45424127493e-05,-2.81074364014e-05,3.68382081259e-05,1793242873768633344
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.733494947,745,714,680,660.266505053,634,879,787,805.733494947,651,631,651.266505053,0.443234688585,-0.00556017824443,0.0499974386945,0.999999994333,9.88763642939e-05,7.08457974808e-06,3.88256229949e-05,1793242873785299968
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.684933184,745,714,679.684933184,660.315066816,634,879.315066816,787,806,651.315066816,631,651.315066816,0.44388102145,-0.00555881971087,0.049991507744,0.9999999938,0.000103838887265,-6.30695034822e-06,3.97243199207e-05,1793242873801966592
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098468292,745,714,679.098468292,660.901531708,634,879.901531708,787,806,651.901531708,631,651.901531708,0.444461391537,-0.00555714323801,0.0499620206116,0.999999991341,0.000109342860281,-6.15482752893e-05,3.96851966862e-05,1793242873818633216
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.515136609,634,879.515136609,787,806,651.515136609,631,652,0.445063453604,-0.00555860412443,0.0499432058888,0.999999989788,0.000110170826594,-8.18639844962e-05,3.97996106734e-05,1793242873835299584
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.933479535,745,714,679.066520465,660.066520465,634.066520465,879.066520465,787,806,651,631,652,0.445670832181,-0.0055607094013,0.0499312340139,0.999999989268,0.000110133916032,-8.78877967422e-05,4.01375692214e-05,1793242873851966464
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.359770194,745,714,679.640229806,660.640229806,634.640229806,879.640229806,787,806,651,631,652,0.446285373951,-0.00556290107906,0.0499550164288,0.999999992246,0.000110696683924,-3.8674902286e-05,4.19437400928e-05,1793242873868633344
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.213150779,745,714,680,661,635,880,787,806,651,631,652,0.446870434856,-0.00556348628097,0.049970659557,0.999999992556,0.000113563423865,-8.25865986475e-06,4.38636354425e-05,1793242873885300224
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.784745934,745,714,680,661,635,880,787,806,651,631,652,0.447405919291,-0.00556136995729,0.0499726152754,0.999999991662,0.000120304631904,-9.45175684946e-06,4.59747751816e-05,1793242873901966848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.368548657,714,680,660.631451343,634.631451343,880,787,806,651,631,651.631451343,0.447885204407,-0.00555641292126,0.0499530930212,0.999999989982,0.000128706837185,-3.67363004121e-05,4.6047082985e-05,1793242873918633472
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.959725632,714,680,660.040274368,634.040274368,880,787,806,651,631,651.040274368,0.448330541384,-0.00554973990261,0.0499205966191,0.999999986272,0.000138112397599,-7.97818425836e-05,4.48877985251e-05,1793242873935299840
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.4578199,714,680,660.5421801,634,879.4578199,787,806,651,631,651.5421801,0.448765733326,-0.0055489531847,0.0499083345881,0.999999984266,0.000141103524802,-9.78182818061e-05,4.45947098638e-05,1793242873951966464
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877666866,634,879.122333134,787,806,651,631,652,0.449195706032,-0.00555005031158,0.0499021931376,0.999999983145,0.000142033055901,-0.000107340876984,4.48733034884e-05,1793242873968633088
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.303656601,634,879.696343399,787,806,651,631,652,0.449609146813,-0.00555651410989,0.0499131883309,0.99999998525,0.000137082179125,-9.21792511938e-05,4.70288513827e-05,1793242873985299712
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.269803648,634,879.730196352,787,806.269803648,651.269803648,631,651.730196352,0.450008976497,-0.00555989353184,0.0499228446602,0.999999988205,0.000123854617269,-7.8958558245e-05,4.48981705102e-05,1793242874001966592
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.842646096,634,879.157353904,787,806.842646096,651.842646096,631,651.157353904,0.450393518408,-0.00555980863513,0.0499309971998,0.999999991839,0.000101330825881,-6.79178884445e-05,3.79532713422e-05,1793242874018633216
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.432735794,745,714,680,660.567264206,633.567264206,879,787,806.567264206,652,631,651.432735794,0.450724252744,-0.00556247218099,0.0499306646449,0.999999994586,6.49214386302e-05,-7.60225792739e-05,2.88818919126e-05,1793242874035300096
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.971763464,745,714,680,660,633,879.028236536,787,806,651.971763464,631,652,0.451032572648,-0.00556586174367,0.0499268497222,0.999999995294,2.56101946657e-05,-9.1519111919e-05,1.94972277491e-05,1793242874051966464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.397920137,745,714,680,660,633,879.602079863,787,806,651.397920137,631,652,0.451301543564,-0.00556316708669,0.0499178390901,0.999999993279,3.18406437383e-05,-0.00010974222547,1.96204286198e-05,1793242874068633088
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.824186009,660,633,880,787,806,651,631,651.824186009,0.45155799692,-0.00556201750297,0.0499072485186,0.9999999905,3.67666395686e-05,-0.000131318708296,2.01124977032e-05,1793242874085299712
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.250698955,660,633,880,787,806,651,631,651.250698955,0.451786136812,-0.00556436271553,0.0498930842886,0.999999986143,3.8742096253e-05,-0.000160480163089,2.14389085144e-05,1793242874101966592
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,880,787,806,651,631,651,0.452000982376,-0.00556409530893,0.0498804364796,0.999999981945,4.24763546644e-05,-0.000183850005568,2.24762101039e-05,1793242874118633216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,880,787,806,651,631,651,0.452205502691,-0.00556179876627,0.049868966424,0.999999978049,4.75766173749e-05,-0.000202721694316,2.32889701116e-05,1793242874135299584
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.534237478,745,714,679.465762522,660,633,880,787,806,651.465762522,631,651.465762522,0.452397695332,-0.0055593175476,0.0498707032147,0.999999978263,5.35397459828e-05,-0.000200036149427,2.4359033867e-05,1793242874151966464
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.000921027,745,714,679.999078973,660,633,880,787,806,651.999078973,631,651.999078973,0.452588099962,-0.00555680954376,0.0498743555195,0.999999979037,5.96280238559e-05,-0.000194223954639,2.54664167603e-05,1793242874168633088
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.626147324,745,714,680,660,632.373852676,880,786.373852676,806,652,630.373852676,651.373852676,0.452742791914,-0.00555617813586,0.0498748018829,0.999999979457,6.24333348494e-05,-0.00019107473503,2.60526687901e-05,1793242874185299712
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786.23213958,806.23213958,652,630.23213958,651.23213958,0.452885286611,-0.00555718926161,0.0498737110868,0.999999979442,6.32249188741e-05,-0.000190790910842,2.67720740213e-05,1793242874201966336
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786.806795251,806.806795251,652,630.806795251,651.806795251,0.453009875713,-0.00556061911429,0.0498703604339,0.999999978793,6.10536792811e-05,-0.00019472810814,2.76892736034e-05,1793242874218632960
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.605584041,660,632,880,786.605584041,806.605584041,652,631,651.605584041,0.45311908186,-0.00556176000496,0.0498687478549,0.999999978462,6.11895841358e-05,-0.000196328649419,2.80595921039e-05,1793242874235299328
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.011396563,660,632,880,786.011396563,806.011396563,652,631,651.011396563,0.453220496543,-0.00556174153721,0.0498680156098,0.999999978297,6.24940567538e-05,-0.000196745675286,2.81529155377e-05,1793242874251965952
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.560839246,660,632,879.439160754,786,806.560839246,651.439160754,631,651.560839246,0.453293027468,-0.00555977877671,0.0498635310971,0.999999976511,6.380027302e-05,-0.00020527389257,2.77441916814e-05,1793242874268632832
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.134320925,786.134320925,806.865679075,651,631,652,0.453361637261,-0.00555825729684,0.0498593270984,0.999999974842,6.53430336704e-05,-0.000212808578647,2.75617168181e-05,1793242874285299456
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.713348494,786.713348494,806.286651506,651,631,652,0.453419135057,-0.00555832267801,0.0498562947524,0.999999973872,6.76688269125e-05,-0.000216528761879,2.81608059487e-05,1793242874301966336
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.707559437,632,880,787,806.292440563,651.292440563,631,651.707559437,0.453467683459,-0.00555851363581,0.0498526746783,0.999999972737,6.8202964417e-05,-0.000221535627389,2.82255000206e-05,1793242874318633216
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.128404061,632,880,787,806.871595939,651.871595939,631,651.128404061,0.453507457696,-0.00555882771155,0.0498484783829,0.999999971424,6.69805256314e-05,-0.000227803983417,2.77662621283e-05,1793242874335299584
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.459898745,632,880,786.540101255,807,651.540101255,631,651,0.453540617114,-0.00555945856697,0.0498488051001,0.99999997145,6.53085013154e-05,-0.000228154346169,2.79250792459e-05,1793242874351966208
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.950647609,632,880,786.049352391,807,651.049352391,630.950647609,651.049352391,0.45357051898,-0.00555991224947,0.0498499822971,0.999999971704,6.38843814372e-05,-0.000227412060747,2.81905673214e-05,1793242874368633088
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.376660316,632,880,786.623339684,807,651.623339684,630.376660316,651.623339684,0.453585823123,-0.00555752323028,0.049846503641,0.999999970269,6.64570341471e-05,-0.000232975626344,2.7718388117e-05,1793242874385299712
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.197360691,632,880,787,806.802639309,652,630,652,0.45359986351,-0.00555528197645,0.0498436944485,0.999999969141,6.89629981283e-05,-0.00023709520337,2.73609161897e-05,1793242874401966592
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.771446014,632,880,787,806.228553986,652,630,652,0.453611491622,-0.00555332277918,0.0498421631372,0.999999968653,7.13416656527e-05,-0.000238458476062,2.72223990229e-05,1793242874418633216
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.357261545,714,680.357261545,659.642738455,632,880,787,806.357261545,651.642738455,630.357261545,652,0.453618602594,-0.00555340015339,0.0498401291933,0.999999968095,7.19492794086e-05,-0.000240621264541,2.71099483563e-05,1793242874435299840
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.950836075,714,680.950836075,659.049163925,632,880,787,806.950836075,651.049163925,630.950836075,652,0.453622725673,-0.00555482463119,0.0498377627799,0.999999967487,7.13854179748e-05,-0.000243312897911,2.70147395518e-05,1793242874451966464
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.53283189,745.46716811,714,680.46716811,659.53283189,632,880,786.46716811,806.46716811,651,631,652,0.45362271482,-0.00555284992304,0.0498355639205,0.999999966222,7.25164013576e-05,-0.000248123358513,2.70449325491e-05,1793242874468633088
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.887826808,745,714.112173192,680,659.887826808,632,880,786.112173192,806.112173192,651.112173192,631,652,0.453622562627,-0.00555087114943,0.0498336471028,0.999999965062,7.35211466508e-05,-0.000252468431045,2.70251506047e-05,1793242874485299712
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.315091414,745,714.684908586,680,659.315091414,632,880,786.684908586,806.684908586,651.684908586,631,652,0.453623362907,-0.00555013604294,0.0498328261702,0.999999964662,7.33791628091e-05,-0.000254117081649,2.67536840723e-05,1793242874501966848
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.264616556,714.735383444,679.735383444,659.264616556,632,880,787,806.735383444,651.735383444,630.735383444,652,0.453624923423,-0.00555017682377,0.0498330511961,0.999999964654,7.37456646219e-05,-0.00025405301496,2.66668802373e-05,1793242874518633472
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.852851869,714.147148131,679.147148131,659.852851869,632,880,787,806.147148131,651.147148131,630.147148131,652,0.453627413687,-0.0055511664933,0.0498345554004,0.999999965123,7.473403036e-05,-0.000251894342432,2.6805913757e-05,1793242874535299840
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.435682874,745.564317126,714.435682874,679.435682874,660,632,880,787,806.435682874,651.435682874,630.435682874,652,0.453627301088,-0.00555086021277,0.0498337886865,0.999999964887,7.36771973179e-05,-0.000253163882415,2.65626155805e-05,1793242874551966464
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.983461376,745,714.983461376,680,660,632,880,787.016538624,806.983461376,652,631,651.983461376,0.453626287189,-0.00555013558603,0.0498322538401,0.999999964405,7.19683609893e-05,-0.000255587285733,2.6201708009e-05,1793242874568633088
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.408424876,745,714.408424876,680,660,632,880,787.591575124,806.408424876,652,631,651.408424876,0.453624159649,-0.00554988328887,0.0498303628351,0.999999963743,7.12821143263e-05,-0.000258355154314,2.61763893572e-05,1793242874585300224
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.833251767,632,879.833251767,787.666503533,806.166748233,651.833251767,631,651.166748233,0.453623130416,-0.00554960829763,0.0498290342072,0.999999963254,7.11504626319e-05,-0.000260281662771,2.61472618752e-05,1793242874601966848
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.257743814,632,879.257743814,786.515487628,806.742256186,651.257743814,631,651.742256186,0.453624793527,-0.00554927767511,0.0498290841676,0.999999963202,7.23783221373e-05,-0.00026014569567,2.61087975866e-05,1793242874618632960
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.324827692,680,659,632,879.324827692,786.324827692,807,651,631,651.675172308,0.453626721872,-0.0055487432201,0.0498297629683,0.999999963293,7.44346120789e-05,-0.000259203125987,2.62100972469e-05,1793242874635299328
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.913128534,680,659,632,879.913128534,786.913128534,807,651,631,651.086871466,0.453628865353,-0.00554804343318,0.0498309518319,0.999999963493,7.71628556849e-05,-0.000257606307517,2.64247617756e-05,1793242874651965952
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.504992489,679.504992489,659.495007511,632,880,787,806.504992489,651.495007511,631,651.495007511,0.453627328293,-0.00554788507186,0.0498295287113,0.999999963192,7.60729984366e-05,-0.000259141913764,2.5972413771e-05,1793242874668632832
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,879,787,807,652,630,651,0.453629794869,-0.00554842612314,0.0498304913624,0.999999963874,7.35254208151e-05,-0.000257218407107,2.61642407848e-05,1793242874712713984
+246,4.100000000,HOLD_POSE2,765,745,714.582388353,680,659.417611647,632,879.582388353,786.417611647,806.417611647,652,630.582388353,651.582388353,0.453627964946,-0.00554768926793,0.0498291467885,0.999999963165,7.55004282269e-05,-0.000259419172102,2.58966559779e-05,1793242874729380864
+247,4.116666667,HOLD_POSE2,765,745,715,679.831365454,659.168634546,632,879.831365454,786,806.168634546,652,631,652,0.453626570273,-0.00554735891435,0.049828158803,0.999999962615,7.63953754569e-05,-0.000261288115683,2.5726547033e-05,1793242874746047488
+248,4.133333333,HOLD_POSE2,765,745,715,679.235341788,659.764658212,632,879.235341788,786,806.764658212,652,631,652,0.453626278701,-0.00554805880254,0.0498280745586,0.999999962483,7.45530075221e-05,-0.000262316088146,2.58034818546e-05,1793242874762714112
+249,4.150000000,HOLD_POSE2,765,745.351108025,715,679.351108025,660,631.648891975,879.351108025,786.351108025,806.648891975,652,630.648891975,652,0.453625649238,-0.00554794249,0.0498273107077,0.999999962275,7.40566659374e-05,-0.000263249174766,2.58021292515e-05,1793242874779380736
+250,4.166666667,HOLD_POSE2,765,745.931310945,715,679.931310945,660,631.068689055,879.931310945,786.931310945,806.068689055,652,630.068689055,652,0.453624799305,-0.00554729361364,0.0498261034196,0.999999962018,7.44385948118e-05,-0.000264120349149,2.5749694788e-05,1793242874796047104
+251,4.183333333,HOLD_POSE2,765,746,714.492889109,680,660,631.507110891,880,787,806,652,630.507110891,652,0.453626074744,-0.00554582610998,0.0498259928085,0.999999962064,7.48358583725e-05,-0.000263867843314,2.54140776195e-05,1793242874812713728
+252,4.200000000,HOLD_POSE2,765,745.916095282,714.083904718,680,660,632,880,786.916095282,806,652,631,652,0.453627439158,-0.00554482771957,0.0498260420875,0.999999962181,7.48353392415e-05,-0.000263451615023,2.51052055291e-05,1793242874829380352
+253,4.216666667,HOLD_POSE2,765,745.32981043,714.67018957,680,660,632,880,786.32981043,806,652,631,652,0.453627627438,-0.00554729635525,0.0498261669406,0.999999962485,7.24407635585e-05,-0.000262958578123,2.5184159262e-05,1793242874846046976
+254,4.233333333,HOLD_POSE2,765,745,715,680,660,632,880,786.253737052,806.253737052,651.746262948,630.746262948,652,0.453627116783,-0.00554786703882,0.0498261033911,0.999999962316,7.29351482958e-05,-0.000263439093909,2.54451288629e-05,1793242874862713600
+255,4.250000000,HOLD_POSE2,765,745,715,680,660,632,880,786.833764398,806.833764398,651.166235602,630.166235602,652,0.453625707341,-0.00554599707216,0.0498257975673,0.99999996153,7.71445592044e-05,-0.0002651715388,2.59401597049e-05,1793242874879380224
+256,4.266666667,HOLD_POSE2,765,745,714.588619626,680,659.588619626,632,880,786.588619626,806.588619626,651,630.411380374,651.588619626,0.453625622813,-0.0055453051433,0.049825876816,0.999999961511,7.63632587431e-05,-0.00026550361452,2.55697633895e-05,1793242874896046848
+257,4.283333333,HOLD_POSE2,765,745,714.011972339,680,659.011972339,632,880,786.011972339,806.011972339,651,630.988027661,651.011972339,0.453626070552,-0.00554508647621,0.0498261107628,0.999999961799,7.35770028467e-05,-0.000265273109608,2.48516925937e-05,1793242874912713728
+258,4.300000000,HOLD_POSE2,764.437928077,745,714.562071923,679.437928077,659,632,880,786.562071923,806.562071923,651,631,651.562071923,0.453625586016,-0.00554486335565,0.0498252196806,0.999999961306,7.66306680459e-05,-0.000266240972028,2.51474231638e-05,1793242874929381120
+259,4.316666667,HOLD_POSE2,764.140104294,745.140104294,715,679.140104294,659.140104294,632,880,787,807,651,630.859895706,652,0.453625106107,-0.00554435387627,0.0498245398358,0.999999960947,7.8870519113e-05,-0.000266917396337,2.53022133807e-05,1793242874946048512
+260,4.333333333,HOLD_POSE2,764.731150637,745.731150637,715,679.731150637,659.731150637,632,880,787,807,651,630.268849363,652,0.453624704716,-0.0055429230214,0.0498246166568,0.999999961109,7.80924889691e-05,-0.000266574014659,2.49341871552e-05,1793242874962714112
+261,4.350000000,HOLD_POSE2,765,745.685699113,714.685699113,680,659.685699113,631.685699113,880,786.685699113,807,651,630.314300887,652,0.453624754005,-0.00554329003736,0.049824296712,0.999999961098,7.78082993128e-05,-0.000266692412504,2.50087175821e-05,1793242874979380480
+262,4.366666667,HOLD_POSE2,765,745.109137599,714.109137599,680,659.109137599,631.109137599,880,786.109137599,807,651,630.890862401,652,0.453625179354,-0.00554515724239,0.0498236456958,0.999999960942,7.7936182724e-05,-0.00026719613091,2.54525285199e-05,1793242874996047104
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,660,631,879,786,806,652,631,651,0.453624683636,-0.00554564855853,0.049823859351,0.99999996052,7.77082713949e-05,-0.000268845902863,2.53705669337e-05,1793242875028139776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.588548123,745,713.588548123,679.411451877,659.411451877,631,879,786,806,651.411451877,630.411451877,651.588548123,0.453625223853,-0.00554657691745,0.0498239203576,0.999999960881,7.44816447936e-05,-0.00026839877519,2.55288365126e-05,1793242875044806400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.174563073,659.174563073,631.174563073,879.174563073,786.174563073,806.174563073,651,630.174563073,652,0.453625371127,-0.00554668177413,0.0498238108503,0.999999961031,7.28151650928e-05,-0.000268294881928,2.55827069879e-05,1793242875061472768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.754692759,659.754692759,631.754692759,879.754692759,786.754692759,806.754692759,651,630.754692759,652,0.453624605468,-0.00554487336829,0.049823305184,0.999999960705,7.47734118183e-05,-0.000268988433396,2.53940245297e-05,1793242875078139648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.667203465,631.667203465,879.667203465,786.667203465,806.667203465,651.332796535,631,652,0.45362418154,-0.00554414794882,0.0498228210247,0.999999960667,7.48411718398e-05,-0.000269134533314,2.5128536008e-05,1793242875094806016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.090584003,631.090584003,879.090584003,786.090584003,806.090584003,651.909415997,631,652,0.453624007981,-0.00554421597794,0.0498223526224,0.999999960841,7.35238692461e-05,-0.000268879543561,2.48067756405e-05,1793242875111472640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.493695501,714.493695501,680,659.493695501,631.493695501,879.987391003,786,806.493695501,652,630.506304499,651.506304499,0.453623238689,-0.00554430661548,0.0498221418888,0.999999960529,7.54874490083e-05,-0.000269481348721,2.49561663575e-05,1793242875128139520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.92142126,714.92142126,680,660,632,880.92142126,786,807,652,630.07857874,651,0.453622020884,-0.00554433642207,0.0498218012878,0.99999996006,7.77471607161e-05,-0.000270560199345,2.51326910281e-05,1793242875144805888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.3417915,714.3417915,680,660,632,880.3417915,786,807,652,630.6582085,651,0.453618651135,-0.00554395147734,0.0498203263858,0.999999959202,7.79961531476e-05,-0.000273662682106,2.4922320061e-05,1793242875161472512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.237498187,714.237498187,679.762501813,660,632,880,786,807,652,631,651.237498187,0.453608097754,-0.0055435695896,0.0498153289325,0.999999956905,7.75401439802e-05,-0.000282087395373,2.45981527619e-05,1793242875178139136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.816299112,714.816299112,679.183700888,660,632,880,786,807,652,631,651.816299112,0.453587220953,-0.00554319209502,0.0498052693085,0.999999952366,7.60709945098e-05,-0.000298160553449,2.41104515974e-05,1793242875194806016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.60776821,714.60776821,679.39223179,659.60776821,631.60776821,879.60776821,786,806.60776821,651.60776821,630.60776821,652,0.453547508007,-0.00554206364601,0.0497878476216,0.999999942986,7.56866119791e-05,-0.00032825835832,2.33700325525e-05,1793242875211472640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.033169068,714.033169068,679.966830932,659.033169068,631.033169068,879.033169068,786,806.033169068,651.033169068,630.033169068,652,0.453499037232,-0.00554058604226,0.049767002958,0.999999930306,7.58065893652e-05,-0.000364876894528,2.25121127891e-05,1793242875228139264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,631.554107048,880.108214097,786,806,651,630.554107048,651.445892952,0.4534357166,-0.00553766958171,0.0497472842313,0.999999917938,7.79804330959e-05,-0.000397014594272,2.05298608052e-05,1793242875244806144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.140084092,745,714.140084092,680,659,632,880.859915908,786.140084092,806.140084092,651.140084092,631,651.140084092,0.453368807814,-0.00553487176324,0.0497295056642,0.999999906487,7.98661419586e-05,-0.000424611117434,1.87793237526e-05,1793242875261472512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.719550752,745,714.719550752,680,659,632,880.280449248,786.719550752,806.719550752,651.719550752,631,651.719550752,0.453293497967,-0.00553272255155,0.0497175961739,0.999999900318,8.04534439282e-05,-0.000438824965098,1.7971617381e-05,1793242875278139136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.701230489,745,715,680,659.298769511,632,880,787,806.701230489,652,630.701230489,652,0.45321298441,-0.00552984356401,0.0497123729748,0.99999989746,8.26641688738e-05,-0.000444910280851,1.73412012956e-05,1793242875294806272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.122244272,745,715,680,659.877755728,632,880,787,806.122244272,652,630.122244272,652,0.453127590285,-0.00552628011791,0.0497134208662,0.999999897836,8.63975064587e-05,-0.000443371824422,1.68770662852e-05,1793242875311473408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,787,806,652,630.451077412,652,0.453026848219,-0.00552235270773,0.0497158881706,0.999999899497,9.03435979952e-05,-0.000438826035641,1.65802226935e-05,1793242875328140288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.976363024,680,660,632,880,786.976363024,806.023636976,652,630.976363024,652,0.452920588847,-0.00551835547392,0.0497186921402,0.999999901362,9.41894002526e-05,-0.000433748297612,1.63185861661e-05,1793242875344806912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.38571714,680,660,632,880,786.38571714,806.61428286,652,630.38571714,652,0.45278051753,-0.00551502005436,0.049720459046,0.999999900725,9.42634978591e-05,-0.000435218032008,1.58274425126e-05,1793242875361473792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.798948259,660,632,880,786,807,652,630.201051741,651.798948259,0.452628708129,-0.00551041792152,0.0497208752608,0.999999899073,9.63483135431e-05,-0.000438564225207,1.52352486767e-05,1793242875378140416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.219476744,660,632,880,786,807,652,630.780523256,651.219476744,0.45245480531,-0.00550343158015,0.0497187492036,0.999999895462,0.000102217704658,-0.000445442290734,1.44528581471e-05,1793242875394806272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357205544,659.642794456,632,879.642794456,786.357205544,806.642794456,651.642794456,631,651.357205544,0.452264522588,-0.00549607151371,0.0497179714806,0.999999893227,0.000108342854157,-0.000449022165038,1.36974270908e-05,1793242875411472896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.93218739,659.06781261,632,879.06781261,786.93218739,806.06781261,651.06781261,631,651.93218739,0.45206425357,-0.00548848359889,0.0497180157917,0.99999989183,0.000114623931579,-0.000450591242865,1.29584322501e-05,1793242875428139520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.503973642,745,714,680,659.503973642,632,879.503973642,787,806,651,631,651.496026358,0.451824315196,-0.00548045414608,0.0497144783063,0.999999887235,0.000119044993085,-0.000459579984318,1.20004965411e-05,1793242875444806656
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.824339594,635,879,787.175660406,804.175660406,652,631,652,0.410519532356,-0.00536688860149,0.0498156949039,0.999999944435,9.71207692115e-05,-0.000315007739903,-4.96795790847e-05,1793242876411472640
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.910358417,635,879,788,805,652,631,652,0.408655139612,-0.00536723406672,0.049796432006,0.999999939669,9.89368684559e-05,-0.000328763291134,-5.27970540375e-05,1793242876461472768
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.224531481,661,635,878.775468519,788,805,652.224531481,631,652,0.400998737461,-0.00540042490349,0.0498498665015,0.999999956359,0.000136830590645,-0.000259166068232,-3.73168712438e-05,1793242877044806144
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90712e06e8e6277f0ddc96e133f7e3ac6a5b6231
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..668d2f34780fd7ebe73eb86762235f5e117078fe
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f2a14e24e7b391acad90ea4e90597218680612aa5dd5ed3e9af60939d33a44
+size 25951778
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b15a1156780e44f975d57423b30692434ab90c0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,764.177758503,745.177758503,714,679,661,635,879,788,805,652,631,652,0.400990575702,-0.00540459766674,0.049856901592,0.999999960444,0.000127224372428,-0.000248058491759,-3.73342275378e-05,1793242877905177856
+22,0.366666667,BASELINE,764.765807688,745.765807688,714,679,661,635,879,788,805,652,631,652,0.400991286564,-0.0054052780616,0.0498580908772,0.999999960995,0.00012618477322,-0.000246410802311,-3.70128645489e-05,1793242877921844480
+23,0.383333333,BASELINE,765,745.651348231,714,679,661,635,878.651348231,788,805,652,631,652,0.400991514817,-0.00540541468406,0.0498581834489,0.99999996097,0.000126764355956,-0.000246223365897,-3.69477413321e-05,1793242877938511104
+24,0.400000000,BASELINE,765,745.071948975,714,679,661,635,878.071948975,788,805,652,631,652,0.400991423665,-0.00540519142282,0.049857550185,0.999999960563,0.000128415558464,-0.000247002365599,-3.70522047277e-05,1793242877955177728
+25,0.416666667,BASELINE,764.493861279,745,714,679,660.493861279,635,878.506138721,788,804.493861279,652,631,652,0.400991405188,-0.00540601836887,0.0498569992823,0.999999960643,0.000126422159354,-0.000247690825511,-3.71669460243e-05,1793242877971844608
+26,0.433333333,BASELINE,764,745,714,678.916817081,660,635,878.916817081,787.916817081,804,652,630.916817081,652,0.400991209399,-0.00540670938094,0.0498564083625,0.999999960707,0.00012443911311,-0.000248418211585,-3.72763504444e-05,1793242877988511232
+27,0.450000000,BASELINE,764,745,714,678.344811943,660,635,878.344811943,787.344811943,804,652,630.344811943,652,0.400989911088,-0.00540572655097,0.0498555136589,0.999999960308,0.000125553576731,-0.000249449784016,-3.734582938e-05,1793242878005178112
+28,0.466666667,BASELINE,764.226655363,745,714,678.226655363,660.226655363,635,878,787.226655363,804.226655363,652.226655363,630.226655363,652,0.400989702821,-0.0054046706524,0.0498555649466,0.999999960139,0.000127192018709,-0.000249282272823,-3.74584742454e-05,1793242878021844992
+29,0.483333333,BASELINE,764.797306365,745,714,678.797306365,660.797306365,635,878,787.797306365,804.797306365,652.797306365,630.797306365,652,0.400991148918,-0.0054035038574,0.0498570519686,0.999999960313,0.000129625704407,-0.00024729490814,-3.76366321897e-05,1793242878038511616
+30,0.500000000,BASELINE,765.387655623,745,714,679,661,635,878.387655623,788,805,652.612344377,631,652,0.400992276822,-0.00540381833066,0.0498576568611,0.999999960788,0.000129035385026,-0.000245677795793,-3.76242419583e-05,1793242878055178240
+31,0.516666667,BASELINE,765.988855876,745,714,679,661,635,878.988855876,788,805,652.011144124,631,652,0.400993229446,-0.00540494877789,0.0498577758224,0.999999961428,0.000126779257026,-0.000244264641337,-3.75068860316e-05,1793242878071844864
+32,0.533333333,BASELINE,764.868616447,745,714,679,661,635,879,787.434308223,804.434308223,652,631,652,0.400994525507,-0.00540425818467,0.0498592326095,0.999999961776,0.000127814067774,-0.000242299588915,-3.74463110943e-05,1793242878088511488
+33,0.550000000,BASELINE,764.282530479,745,714,678.858734761,661,635,879,787.141265239,804.141265239,652,631,652,0.400994966984,-0.00540386540886,0.0498600285722,0.999999961902,0.000128519932963,-0.000241401867845,-3.74595498685e-05,1793242878105178112
+34,0.566666667,BASELINE,765.428771965,745,714,678.285614017,661,635,879,787.714385983,804.714385983,652,631,652,0.400992776122,-0.005404488219,0.0498587271161,0.999999961375,0.000128030183916,-0.000243798902064,-3.76951628004e-05,1793242878121844736
+35,0.583333333,BASELINE,765.703264015,745,714,678,660.703264015,635,879,788,805,652,631,652,0.400992368138,-0.00540462189006,0.0498583687875,0.999999961341,0.000127134582232,-0.000244400344808,-3.77171528147e-05,1793242878138511616
+36,0.600000000,BASELINE,765.11174544,745,714,678,660.11174544,635,879,788,805,652,631,652,0.400993731297,-0.00540426964209,0.0498589473778,0.999999961801,0.000125835799556,-0.00024321801664,-3.7526926207e-05,1793242878155178240
+37,0.616666667,BASELINE,765,745,714,678.46825889,660.46825889,635,878.53174111,788,805,652.46825889,631,652,0.40099253754,-0.00540379284224,0.0498579823932,0.99999996131,0.000127205871389,-0.000244514566738,-3.75557933748e-05,1793242878171844864
+38,0.633333333,BASELINE,765,745,714,678.954376438,661,635,878,788,805,653,631,652,0.400990924483,-0.00540344291068,0.0498567778144,0.99999996068,0.00012885537835,-0.000246211917272,-3.76219981738e-05,1793242878188511488
+39,0.650000000,BASELINE,765,745,714,678.376519483,661,635,878,788,805,653,631,652,0.400991367394,-0.00540491141416,0.0498569722449,0.999999961072,0.000126513144771,-0.000245849531194,-3.75284734434e-05,1793242878205178112
+40,0.666666667,BASELINE,765,745,714,678.204414856,661.204414856,635,878.204414856,787.795585144,805,653,631,652,0.400991489786,-0.00540593786903,0.049857031203,0.999999961145,0.000125504075971,-0.000246086525656,-3.74091610461e-05,1793242878221844736
+41,0.683333333,BASELINE,765,745,714,678.791104152,661.791104152,635,878.791104152,787.208895848,805,653,631,652,0.400991012778,-0.00540613765255,0.049856836815,0.999999960629,0.00012698814715,-0.000247444416464,-3.72416233637e-05,1793242878238511360
+42,0.700000000,BASELINE,765,745,714,679,661.626902986,635,879,787.373097014,805,653,630.626902986,652,0.400991118272,-0.00540569260991,0.0498568798218,0.999999960617,0.00012724506332,-0.000247370189068,-3.71937998601e-05,1793242878255177984
+43,0.716666667,BASELINE,765,745,714,679,661.047506973,635,879,787.952493027,805,653,630.047506973,652,0.400991545853,-0.00540489101929,0.049857054093,0.999999960883,0.000126823440509,-0.000246504091042,-3.72121707146e-05,1793242878271844352
+44,0.733333333,BASELINE,765,745,714,679,660.470872774,635,879,787.470872774,805.529127226,653,630.529127226,652,0.40099047772,-0.00540485047209,0.0498565915034,0.999999960677,0.000127139495829,-0.000247151189547,-3.73749888637e-05,1793242878288510976
+45,0.750000000,BASELINE,765,745,714,678.894809884,660.105190116,635,879,787.105190116,805.894809884,653,631,652,0.400990054671,-0.00540500554578,0.0498564590406,0.999999960632,0.00012725678595,-0.000247253089117,-3.7515409808e-05,1793242878305177856
+46,0.766666667,BASELINE,765,745,714,678.320195864,660.679804136,635,879,787.679804136,805.320195864,653,631,652,0.400993106566,-0.00540573025742,0.049858053656,0.999999961489,0.000126193030421,-0.000244318825511,-3.74983051318e-05,1793242878321844736
+47,0.783333333,BASELINE,765,745,714,678.261313366,661,634.738686634,878.738686634,788,805,653,631,652,0.400993910806,-0.00540577732215,0.0498581576763,0.999999961629,0.000126582325141,-0.000243541680907,-3.75133679145e-05,1793242878338511616
+48,0.800000000,BASELINE,765,745,714,678.851500588,661,634.148499412,878.148499412,788,805,653,631,652,0.400991886276,-0.00540497153987,0.0498563857202,0.999999960869,0.000128800344528,-0.000245479360841,-3.75689147944e-05,1793242878355178240
+49,0.816666667,BASELINE,765,745,714,679,661,634.433528177,878.433528177,787.566471823,805,652.566471823,631,652,0.400990999811,-0.00540507802342,0.0498562655974,0.999999960854,0.000127275264765,-0.000246336307104,-3.75709058919e-05,1793242878371844864
+50,0.833333333,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.400990550646,-0.00540549187164,0.0498567164029,0.999999961086,0.000124594325782,-0.000246768307562,-3.75476028912e-05,1793242878388511488
+51,0.850000000,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.400992518783,-0.00540593457872,0.0498578554739,0.999999961429,0.000126449807583,-0.000244477090027,-3.72020696108e-05,1793242878405178112
+52,0.866666667,BASELINE,765,745,714,678.836438909,661,635,878.836438909,787.163561091,805,652,631,652,0.400993674611,-0.00540647617349,0.0498586879442,0.999999961706,0.000127209149292,-0.000242985434528,-3.6943408962e-05,1793242878421844736
+53,0.883333333,BASELINE,765,745,714,678.258254009,661,635,878.258254009,787.741745991,805,652,631,652,0.400992771252,-0.00540726844638,0.0498587431887,0.999999961832,0.000125189799588,-0.000243520651547,-3.6904968567e-05,1793242878438511360
+54,0.900000000,BASELINE,765,745,714,678.325671583,661,635,878.325671583,788,805,652,631,652,0.400991801079,-0.00540756548489,0.0498580878163,0.99999996178,0.00012352670116,-0.000244571253029,-3.69622970635e-05,1793242878455177984
+55,0.916666667,BASELINE,765,745,714,678.914231137,661,635,878.914231137,788,805,652,631,652,0.400990776973,-0.00540746276126,0.0498568588211,0.999999961584,0.000122151175281,-0.000246037882112,-3.70969319367e-05,1793242878471845120
+56,0.933333333,BASELINE,765,745,714,679,661,635,878.505660249,788,805,652.494339751,631,652,0.400990776987,-0.00540725960722,0.0498570562455,0.999999961535,0.000122470760462,-0.000246102934227,-3.69486580808e-05,1793242878488512000
+57,0.950000000,BASELINE,765,745,714,678.927502171,661,635,878.072497829,787.927502171,805,652.927502171,631,652,0.400991040003,-0.00540693420665,0.0498575034906,0.999999961493,0.000123344230872,-0.000245857427008,-3.68114225793e-05,1793242878505178624
+58,0.966666667,BASELINE,765,745,714,678.35286931,661,635,878.64713069,787.35286931,805,652.35286931,631,652,0.400991914609,-0.00540588076098,0.0498579957151,0.999999961327,0.000126051232011,-0.000245116900666,-3.70849010209e-05,1793242878521845248
+59,0.983333333,BASELINE,765,745,714,678.226640582,661,635,879,787.226640582,804.773359418,652,631,652,0.400992482041,-0.0054049887812,0.0498584247678,0.999999961284,0.000127779189943,-0.00024436314153,-3.73095375299e-05,1793242878538511872
+60,1.000000000,BASELINE,765,745,714,678.813910878,661,635,879,787.813910878,804.186089122,652,631,652,0.4009925607,-0.00540435372526,0.0498587533017,0.999999961445,0.000127949298109,-0.000243588326308,-3.74564569668e-05,1793242878555178240
+61,1.016666667,BASELINE,765,745,713.603321203,678.603321203,661,635,879,787.603321203,804.396678797,652.396678797,631,652,0.400993027923,-0.00540593836453,0.0498593699431,0.999999961943,0.00012529405792,-0.000242956149816,-3.72595860828e-05,1793242878571844864
+62,1.033333333,BASELINE,765,745,713.022641761,678.022641761,661,635,879,787.022641761,804.977358239,652.977358239,631,652,0.400993675382,-0.0054085526161,0.0498601202242,0.999999962582,0.000121328271438,-0.000242390136767,-3.69032470218e-05,1793242878588511488
+63,1.050000000,BASELINE,765,745,713.552954245,678.552954245,661,635,879,787.552954245,805,652.447045755,631,652,0.400994208686,-0.00540600832647,0.0498601867423,0.999999962335,0.000124405633021,-0.000241814074085,-3.71501619138e-05,1793242878605178112
+64,1.066666667,BASELINE,765,745,714,679,661,635,878.871589077,788,805,652,631,652,0.400994287095,-0.00540380823957,0.0498600257637,0.999999962036,0.000127189919061,-0.000241564228438,-3.73814837792e-05,1793242878621844736
+65,1.083333333,BASELINE,765,745,714,679,661,635,878.295899312,788,805,652,631,652,0.40099279715,-0.00540353611183,0.049859169006,0.99999996172,0.000127957986746,-0.000242452076981,-3.74732365918e-05,1793242878638511360
+66,1.100000000,BASELINE,765,745,714.286761497,678.713238503,661,635,878,787.713238503,805,652,630.713238503,652,0.400992678563,-0.00540491024485,0.0498586698797,0.999999961954,0.000125854756226,-0.000242583147193,-3.74970646084e-05,1793242878655177984
+67,1.116666667,BASELINE,765,745,714.876794668,678.123205332,661,635,878,787.123205332,805,652,630.123205332,652,0.40099401029,-0.00540802542146,0.0498585489754,0.999999962752,0.000120714913613,-0.000241913867803,-3.74490570795e-05,1793242878671844608
+68,1.133333333,BASELINE,765,745,714.541471134,678,661,634.541471134,878.458528866,787,805,652,630.458528866,651.541471134,0.400994074959,-0.00540719898438,0.0498592817782,0.999999962569,0.000122758161902,-0.000241671821011,-3.72428386283e-05,1793242878688511488
+69,1.150000000,BASELINE,765,745,714,678,660.962366518,634,879,787.037633482,805,652.037633482,631,651.037633482,0.400993670735,-0.0054054011785,0.0498600820642,0.999999962094,0.000126521745356,-0.000241729050224,-3.7029936353e-05,1793242878705178112
+70,1.166666667,BASELINE,765,745,714,678,660.38951043,634,879,787.61048957,805,652.61048957,631,651.61048957,0.400991353789,-0.00540458331114,0.0498586377295,0.999999961263,0.000127790388949,-0.000244438972578,-3.73158168852e-05,1793242878721845504
+71,1.183333333,BASELINE,765,745,714,678.188510858,660.377021717,634,879.188510858,787.811489142,804.811489142,652.811489142,631,652,0.400990406992,-0.00540409615753,0.0498579256234,0.999999960893,0.000128147447839,-0.000245737546003,-3.74931805259e-05,1793242878738512384
+72,1.200000000,BASELINE,765,745,714,678.777505517,661.555011034,634,879.777505517,787.222494483,804.222494483,652.222494483,631,652,0.40099237102,-0.00540431159199,0.0498587691074,0.999999961512,0.000126567881624,-0.000244037765429,-3.74400044126e-05,1793242878755179264
+73,1.216666667,BASELINE,765,745,714,679,661.650249346,634.349750654,879.650249346,787,804.349750654,652.349750654,631,652,0.400993206933,-0.00540512281268,0.0498589639048,0.999999961822,0.000125438272052,-0.000243361230041,-3.73835709481e-05,1793242878771845632
+74,1.233333333,BASELINE,765,745,714,679,661.088172523,634.911827477,879.088172523,787,804.911827477,652.911827477,631,652,0.400993357991,-0.00540629572251,0.0498587648983,0.999999961944,0.000124581821666,-0.000243305885107,-3.73251600185e-05,1793242878788512256
+75,1.250000000,BASELINE,765,745,714,679,661,635,878.49868324,787,805,652.49868324,631,652,0.400993519056,-0.00540728876585,0.0498590323329,0.999999962254,0.000123855990689,-0.000242416003285,-3.72219454413e-05,1793242878805178880
+76,1.266666667,BASELINE,764.90778585,744.90778585,714,679,661,635,878.09221415,787.09221415,805,652.09221415,631,652,0.400993414464,-0.00540764592096,0.0498592252679,0.99999996239,0.000123984787619,-0.000241805305034,-3.71309014682e-05,1793242878821845248
+77,1.283333333,BASELINE,764.336086421,744.336086421,714,679,661,635,878.663913579,787.663913579,805,652.663913579,631,652,0.400991918864,-0.00540487066099,0.0498585795779,0.999999961428,0.000128431022029,-0.00024345363314,-3.71464853722e-05,1793242878838512128
+78,1.300000000,BASELINE,764.244794144,744.244794144,714,679,661,635,878.755205856,787.755205856,805,653,630.755205856,652,0.400991214357,-0.0054035076451,0.0498584226663,0.999999960963,0.000130101735411,-0.000244467744282,-3.71957170761e-05,1793242878855179008
+79,1.316666667,BASELINE,764.838770941,744.838770941,714,679,661,635,878.161229059,787.161229059,805,653,630.161229059,652,0.400991638292,-0.0054041591022,0.0498589629647,0.999999961227,0.000127813351264,-0.000244577186744,-3.72929451401e-05,1793242878871845376
+80,1.333333333,BASELINE,765,745,714,679,661,635,878,787,805.421935598,652.578064402,630.421935598,652,0.400991166297,-0.00540505433019,0.0498586169568,0.999999961167,0.000127181444368,-0.000245168614711,-3.71903555805e-05,1793242878888512512
+81,1.350000000,BASELINE,765,745,714,679,661,635,878.001065176,787.001065176,805.998934824,652.001065176,631,652,0.400990363933,-0.0054060410839,0.0498579432833,0.999999960988,0.000127163594113,-0.000245935479911,-3.70133698988e-05,1793242878905179648
+82,1.366666667,BASELINE,765,745,714,679,661,635,878.576506479,787.576506479,805.423493521,652.576506479,631,652,0.400991409994,-0.00540740734547,0.0498586424606,0.999999961565,0.000125475215901,-0.000244471853372,-3.68633739085e-05,1793242878921845248
+83,1.383333333,BASELINE,765,745,714,678.848192575,661,634.848192575,879,787.848192575,805,652.848192575,631,652,0.400991844094,-0.0054079946455,0.0498588677336,0.99999996186,0.000124809205386,-0.000243608938233,-3.68304553985e-05,1793242878938511360
+84,1.400000000,BASELINE,765,745,714,678.273282686,661,634.273282686,879,787.273282686,805,652.273282686,631,652,0.400990572597,-0.0054064109022,0.0498577721881,0.999999961377,0.000126992635422,-0.000244420265456,-3.7123843492e-05,1793242878955177984
+85,1.416666667,BASELINE,764.689351391,745,714,678.621297219,661,634,878.689351391,787.310648609,805,652,631,652,0.400990904066,-0.00540600931444,0.0498578076069,0.999999961374,0.000127309438054,-0.000244241618839,-3.72976815334e-05,1793242878971845120
+86,1.433333333,BASELINE,764.097246485,745,714,679.805507031,661,634,878.097246485,787.902753515,805,652,631,652,0.400992687866,-0.00540667879262,0.049858867711,0.999999961807,0.000125935024113,-0.000243166028285,-3.73632038787e-05,1793242878988512512
+87,1.450000000,BASELINE,764.482308703,745,714,679.035382595,661,634.482308703,878,788,805,652.482308703,631,652,0.400990935923,-0.00540720403921,0.0498581508694,0.999999961649,0.000124563924323,-0.000244566901735,-3.70609634664e-05,1793242879005179392
+88,1.466666667,BASELINE,765,745,714,678.059248901,660.940751099,635,878.059248901,787.940751099,805,652.940751099,631,652,0.400988933846,-0.00540739537834,0.0498572506381,0.99999996137,0.000123675722495,-0.000246194621446,-3.67873306935e-05,1793242879021846016
+89,1.483333333,BASELINE,765,745,714,678.634892257,660.365107743,635,878.634892257,787.365107743,805,652.365107743,631,652,0.400990807524,-0.00540492351976,0.0498577955055,0.999999961088,0.000126990628378,-0.000245557894539,-3.73929189515e-05,1793242879038512128
+90,1.500000000,BASELINE,765,745,714,679,660.210016177,634.789983823,878.789983823,787.210016177,805,652,631,652,0.400991622604,-0.0054033846969,0.0498579808264,0.999999960865,0.000129033728878,-0.000245346030628,-3.77614281817e-05,1793242879055178496
+91,1.516666667,BASELINE,765,745,714,679,660.784239238,634.215760762,878.215760762,787.784239238,805,652,631,652,0.400990601877,-0.00540346393076,0.0498575426271,0.999999960758,0.000128871283348,-0.00024587095778,-3.77187984793e-05,1793242879071845120
+92,1.533333333,BASELINE,765,745,714,679,660.630751795,634.369248205,878.369248205,788,805,652.369248205,631,652,0.400991407575,-0.00540387686149,0.0498580614375,0.999999961163,0.000128213176573,-0.000244567404841,-3.7700965307e-05,1793242879088511744
+93,1.550000000,BASELINE,765,745,714,679,660.039250666,634.960749334,878.960749334,788,805,652.960749334,631,652,0.40099331261,-0.00540449064657,0.0498591562783,0.999999961871,0.000127256728016,-0.000242163277748,-3.7698057325e-05,1793242879105178624
+94,1.566666667,BASELINE,764.463364251,745,714,679.536635749,660.536635749,634.463364251,878.463364251,788,805.536635749,652.463364251,631,652,0.40099432571,-0.00540586185164,0.0498599274834,0.999999962462,0.000125126008383,-0.000240868012869,-3.74443602729e-05,1793242879121845248
+95,1.583333333,BASELINE,764.110993355,745,714,679.889006645,661,634.110993355,878,788,805.889006645,652.110993355,631,652,0.400994733825,-0.00540706488743,0.0498603134548,0.999999962803,0.000123480253879,-0.000240343854591,-3.71798296512e-05,1793242879138511872
+96,1.600000000,BASELINE,764.683608481,745,714,679.316391519,661,634.683608481,878,788,805.316391519,652.683608481,631,652,0.40099288946,-0.00540734461575,0.049859192904,0.999999962154,0.000124198581636,-0.000242698954625,-3.69443746243e-05,1793242879155178496
+97,1.616666667,BASELINE,765,745,714,678.73251927,661,635,878,788,805,652.73251927,630.73251927,652,0.400992475096,-0.00540715830658,0.0498588480848,0.999999961989,0.000124108061959,-0.000243426451037,-3.6919154713e-05,1793242879171844864
+98,1.633333333,BASELINE,765,745,714,678.134746471,661,635,878,788,805,652.134746471,630.134746471,652,0.400993826534,-0.00540639652233,0.0498594611588,0.999999962426,0.000123018756677,-0.000242144140596,-3.71535385303e-05,1793242879188511488
+99,1.650000000,BASELINE,765,745,714,678.448342685,661,635,878,787.551657315,805,652.448342685,630.448342685,652,0.400993579969,-0.00540743805907,0.0498598516287,0.9999999625,0.000122837055415,-0.000241950873471,-3.70304877694e-05,1793242879205178112
+100,1.666666667,BASELINE,765,745,714,679,661,635,878,787.026679153,805,653,631,652,0.400992834683,-0.00540886488448,0.0498601094179,0.999999962431,0.000123065503191,-0.000242152777169,-3.68139016786e-05,1793242879221844992
+101,1.683333333,BASELINE,765,745,714,679,661,635,878,787.595274725,805,653,631,652,0.400991405259,-0.00540745812967,0.049858987996,0.999999961597,0.000126260060132,-0.000243944032355,-3.6810242142e-05,1793242879238511616
+102,1.700000000,BASELINE,765,745,714,678.832158216,661,635,878.167841784,788,805,653,631,652,0.400990923511,-0.0054066743928,0.049858376298,0.999999961279,0.000127468874931,-0.000244604597907,-3.69066128715e-05,1793242879255178240
+103,1.716666667,BASELINE,765,745,714,678.2497825,661,635,878.7502175,788,805,653,631,652,0.400992782328,-0.0054074293795,0.0498590235114,0.99999996225,0.000123773323519,-0.000242472597447,-3.72500373362e-05,1793242879271845120
+104,1.733333333,BASELINE,765,745,714,678.338077907,661,635,878.661922093,788,805,653,631,652,0.400992622995,-0.00540673200035,0.0498589001468,0.999999962186,0.000123657426286,-0.0002427527249,-3.75174431315e-05,1793242879288511744
+105,1.750000000,BASELINE,765,745,714,678.930057463,661,635,878.069942537,788,805,653,631,652,0.400990948002,-0.00540494387244,0.0498581980664,0.999999961347,0.000126229903375,-0.000244844396866,-3.77277577863e-05,1793242879305178368
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,879,787,805,652,631,652,0.400991131945,-0.0054065002194,0.0498588084388,0.999999961741,0.000124387868724,-0.000244269585107,-3.71200913788e-05,1793242879337350656
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,879,787.599027319,805,652,631,652,0.400991428417,-0.00540631416083,0.0498585921421,0.999999961899,0.00012460880475,-0.000243474648812,-3.73370309892e-05,1793242879354017280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.19606505,661,635,878.80393495,788,805,652.19606505,631,652,0.400991715137,-0.00540660646231,0.0498585270633,0.999999962065,0.000124112716291,-0.000243039852212,-3.73978222771e-05,1793242879370683904
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.78907486,661,635,878.21092514,788,805,652.78907486,631,652,0.400991982114,-0.00540786723067,0.0498587681337,0.999999962242,0.000122164971339,-0.000243334178605,-3.7142482513e-05,1793242879387350784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,653,631,652,0.400991982105,-0.00540765064518,0.0498587389345,0.999999962138,0.000122368474598,-0.000243648177457,-3.72118227772e-05,1793242879404017408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,653,631,652,0.400991834711,-0.00540661850475,0.0498585605363,0.999999961879,0.000123759547881,-0.000243973036226,-3.74603986417e-05,1793242879420684032
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,652.477376052,631,652.522623948,0.400993285863,-0.00540806784753,0.0498591682349,0.99999996235,0.00012259492488,-0.000242697506279,-3.69955274525e-05,1793242879437350656
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.098570093,788,805,652.098570093,631,653,0.400994163927,-0.00540905346181,0.049859556703,0.999999962636,0.000121946480012,-0.000241895381016,-3.66579070157e-05,1793242879454017024
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.675806431,788,805,652.675806431,631,653,0.400991470949,-0.00540656382069,0.0498584930292,0.999999961672,0.000125064577398,-0.000244181129971,-3.72899503582e-05,1793242879470683648
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.259683283,714,678.740316717,661,635,878.740316717,788,805.259683283,653,630.740316717,652.740316717,0.400991556886,-0.00540570798073,0.0498586181198,0.99999996149,0.000126306715194,-0.000244264884331,-3.74317153124e-05,1793242879487350272
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.852067789,714,678.147932211,661,635,878.147932211,788,805.852067789,653,630.147932211,652.147932211,0.400995203117,-0.00540694533554,0.0498602662322,0.999999962319,0.000125145409434,-0.000241527485426,-3.69453449842e-05,1793242879504016896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.567165807,714,678,661,635,878,788,805.567165807,653,630.432834193,652,0.401010310666,-0.00540851452702,0.0498662181299,0.999999965196,0.000123643348826,-0.000230212470578,-3.63798030085e-05,1793242879520683264
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,878.009698042,788,805,653,631,652,0.401029702161,-0.00541015766004,0.0498737601149,0.999999968645,0.000122095043263,-0.000215690216868,-3.57859471465e-05,1793242879537350144
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,878.584486788,788,805,653,631,652,0.401076429772,-0.00540967354731,0.0498904856877,0.999999975324,0.00012446078529,-0.000180642853665,-3.50777558735e-05,1793242879554017024
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,678.158787251,661,635,879,788,805,652.841212749,631,652,0.401127487477,-0.00541046149317,0.049906603201,0.999999980662,0.000125642208112,-0.000147403724568,-3.41035039975e-05,1793242879570683904
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,678.731814022,661,635,879,788,805,652.268185978,631,652,0.40118984142,-0.00541456794806,0.0499211344297,0.999999984752,0.000123734014528,-0.000118881856373,-3.24351609538e-05,1793242879587350528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.682690925,805,652,631,652,0.401258817615,-0.00541748735534,0.0499331477003,0.999999987026,0.000121928056345,-0.00010052172383,-3.12432172656e-05,1793242879604017152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.086226843,805,652,631,652,0.401333619783,-0.00541936244847,0.0499429457776,0.999999988161,0.000120212040684,-9.11014552189e-05,-3.0470389552e-05,1793242879620683776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.491409074,805,652.491409074,631,652,0.401416523612,-0.00542145129165,0.049943728051,0.999999988568,0.000119042537249,-8.83236945914e-05,-2.98701931484e-05,1793242879637350400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.934104882,788,805,653,631,652,0.401503222231,-0.00542389842823,0.0499430431792,0.999999988822,0.000117758236306,-8.7373493536e-05,-2.92539233564e-05,1793242879654017280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.359371988,788,805,653,631,652,0.401608651646,-0.0054288333483,0.0499427943519,0.999999988782,0.00011487430113,-9.18673954643e-05,-2.82882593361e-05,1793242879670684160
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.77980882,635,878,788,805,653,631,652,0.401723143674,-0.00543339833333,0.0499427031576,0.999999988846,0.000112223206773,-9.47072517903e-05,-2.72858314459e-05,1793242879687350528
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.192185451,635,878,788,805,653,631,652,0.40185275844,-0.00543734600869,0.0499428750048,0.999999989118,0.000109960653303,-9.4787008042e-05,-2.62220559229e-05,1793242879704016896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.391770855,635,878.391770855,787.608229145,805,652.608229145,631,652,0.402011810528,-0.00544314083175,0.0499458992747,0.999999989746,0.000107518561684,-9.12869414151e-05,-2.48070565561e-05,1793242879720683520
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.973944995,635,878.973944995,787.026055005,805,652.026055005,631,652,0.402185169365,-0.00544983338145,0.0499503098412,0.999999990517,0.000104989213107,-8.60470566563e-05,-2.32213599294e-05,1793242879737349888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.549299421,631,652,0.402377042338,-0.00545688104799,0.0499490164369,0.999999990704,0.000101934346119,-8.79316086007e-05,-2.16662968875e-05,1793242879754016768
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.875835366,745.124164634,714,679,661,635,879.124164634,787.124164634,805,653,631,652,0.4025768232,-0.00546400605248,0.0499481191055,0.999999990941,9.84090167592e-05,-8.959813672e-05,-2.01378987601e-05,1793242879770683648
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.301585141,745.698414859,714,679,661,635,879.698414859,787.698414859,805,653,631,652,0.4028021252,-0.00547135109172,0.0499496262213,0.999999991492,9.32675529662e-05,-8.92643886518e-05,-1.8700955535e-05,1793242879787350528
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.280646674,745.719353326,714,679,660.719353326,635,879.438706651,787.719353326,805,652.719353326,631,652,0.403049744583,-0.00547955905838,0.0499530384771,0.999999992338,8.91686702791e-05,-8.41967557503e-05,-1.68237140609e-05,1793242879804017408
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.871706607,745.128293393,714,679,660.128293393,635,878.256586787,787.128293393,805,652.128293393,631,652,0.403322048412,-0.00548872147779,0.04995855794,0.999999993448,8.62229495992e-05,-7.38931420149e-05,-1.44594745126e-05,1793242879820684032
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.451576034,635,878.451576034,787.451576034,805,652,631,652,0.403641083171,-0.0054987417958,0.049968425122,0.999999995116,8.32769326281e-05,-5.19393651047e-05,-1.16485660735e-05,1793242879837350656
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.971741264,635,879,787.971741264,805,652,631,652,0.403973970068,-0.00550889591509,0.0499792077417,0.999999996355,8.03333562712e-05,-2.75584698936e-05,-8.73817918954e-06,1793242879854017024
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.396690891,635,879,787.396690891,805,652,631,652,0.404324210802,-0.00551703701227,0.0499843812141,0.999999996807,7.74385940028e-05,-1.87088525087e-05,-6.29899342906e-06,1793242879870683648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.183550814,805,652.183550814,631,652,0.404685893894,-0.00552508323921,0.0499893331761,0.999999997063,7.60711379895e-05,-8.68799607273e-06,-3.50654375979e-06,1793242879887350272
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.775338524,805,652.775338524,631,652,0.405073025984,-0.00553291846335,0.049993792474,0.999999996942,7.81005769576e-05,3.93782173014e-06,7.16027917141e-08,1793242879904016896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.64026777,745,714,679,660.35973223,635,879,788,804.64026777,652.64026777,631,652,0.405469752276,-0.00552833342489,0.0499865141792,0.999999995481,9.45442563029e-05,-9.56787871318e-06,2.84898482174e-06,1793242879920683520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.06039874,745,714,679,660.93960126,635,879,788,804.06039874,652.06039874,631,652,0.405872349741,-0.00551614785366,0.0499720531085,0.999999992047,0.000119808676544,-3.90646633594e-05,5.13634232307e-06,1793242879937350400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.511041678,745,714,679,660.488958322,634.488958322,879,787.488958322,804.511041678,652,631,652,0.406310918681,-0.00550328048677,0.0499515040527,0.99999998661,0.000144842031217,-7.59734297492e-05,5.45146939432e-06,1793242879954017280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.916029388,745,714,679,660.083970612,634,879,787.083970612,805,652,631,652,0.406759585125,-0.00549343226246,0.0499322204377,0.999999980094,0.000166108007234,-0.000110384592769,5.99315667861e-06,1793242879970683904
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.328290783,745,714,679,660.671709217,634,879,787.671709217,805,652,631,652,0.407243738463,-0.00550217246733,0.0499247752449,0.999999978588,0.000164933399439,-0.000124641639266,9.26976880571e-06,1793242879987350528
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.25607952,745,714,679.25607952,660.74392048,634.25607952,879,787.74392048,804.74392048,652,631,652,0.407769937007,-0.00551041930841,0.0499301688688,0.999999979899,0.000165555359624,-0.000112363446475,1.29941211689e-05,1793242880004017152
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.836187727,745,714,679.836187727,660.163812273,634.836187727,879,787.163812273,804.163812273,652,631,652,0.408349337173,-0.00551804187405,0.0499518080129,0.999999983451,0.000168450596202,-6.6509046471e-05,1.72850187469e-05,1793242880020683776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.582235106,660.417764894,635,879,787.417764894,804.417764894,652,631,652,0.408957121223,-0.005522308249,0.0499772938908,0.999999983725,0.000177531304633,-2.24794907236e-05,2.29508379162e-05,1793242880037350144
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.000079918,660.999920082,635,879,787.999920082,804.999920082,652,631,652,0.409576074305,-0.00552525396427,0.0500042934563,0.999999981489,0.000189045993119,2.08319885768e-05,2.91576879707e-05,1793242880054017024
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.430172866,805,652,631,652,0.410204379805,-0.00552184915708,0.0500024227643,0.999999978448,0.000204730062251,1.11242959206e-05,3.26430243915e-05,1793242880070683904
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.856230826,660.856230826,635,879,787.143769174,805,652,631,652,0.41082130182,-0.00551902531321,0.049992281828,0.999999975134,0.000219616218707,-1.47173243402e-05,3.58335673868e-05,1793242880087350784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,678.269861822,660.269861822,635,879,787.730138178,805,652,631,652,0.411403175194,-0.00551799267577,0.0499566927784,0.999999968283,0.000232044199522,-9.02055499073e-05,3.81177252377e-05,1793242880104017664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,678.315449821,660,634.684550179,879,787.684550179,805,652,631,652,0.412059593485,-0.00551996621856,0.0499423473918,0.9999999638,0.000240870389787,-0.000112765598849,4.08047591539e-05,1793242880120684544
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,678.899859998,660,634.100140002,879,787.100140002,805,652,631,652,0.41277957069,-0.00552450290519,0.049946114876,0.999999964559,0.000246625606075,-9.01977781291e-05,4.38352955906e-05,1793242880137351168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.455312305,634.455312305,879,787.455312305,805,652,631,652,0.413516452066,-0.00552672639642,0.0499683506679,0.999999985014,0.000164074413335,-4.94467342791e-05,2.46431757807e-05,1793242880154017536
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,678.994766777,660.994766777,635,879,788,805,652.005233223,631,651.994766777,0.414257173837,-0.00552856830477,0.0499940058273,0.99999999793,6.40907644926e-05,-5.62991827454e-06,1.09626859058e-06,1793242880170684160
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,678.392765247,660.392765247,635,879,788,805,652.607234753,631,651.392765247,0.415037226624,-0.00554144331507,0.0499740919525,0.999999997435,5.85295489594e-05,-4.0981688037e-05,4.97836327634e-06,1793242880187350528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.206443533,660,635,879,788,805,652.793556467,631,651,0.415810521615,-0.00554849370052,0.0499548503561,0.999999995322,6.23383361389e-05,-7.34521748983e-05,8.69722674618e-06,1793242880204017152
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.800409901,660,635,879,788,805,652.199590099,631,651,0.416571131251,-0.00554461046521,0.04993687072,0.999999991369,8.37359044029e-05,-0.000100514096344,1.2109682599e-05,1793242880220684032
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.383610674,634.616389326,879,787.616389326,805,652,630.616389326,651.383610674,0.41738237644,-0.00554155431892,0.0499482391777,0.999999991708,0.000101046624586,-7.81590031846e-05,1.62861005619e-05,1793242880237350912
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.961363064,634.038636936,879,787.038636936,805,652,630.038636936,651.961363064,0.418219247778,-0.00553891675463,0.0499744604274,0.999999992547,0.000116289028983,-3.07944277299e-05,2.08491523552e-05,1793242880254017280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.465246097,714,679,661,634,879.534753903,787,805,652,630.534753903,651.465246097,0.419035824695,-0.00553928214607,0.0499779172497,0.999999991914,0.00011965307533,-3.61450090829e-05,2.34357998417e-05,1793242880270683904
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.107844201,714,678.892155799,660.892155799,634.107844201,879.892155799,787,805,652,631,651.107844201,0.419860206219,-0.0055394473071,0.0499768072122,0.999999991296,0.000121633601696,-4.45186651416e-05,2.51394720061e-05,1793242880287350528
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.680986289,714,678.319013711,660.319013711,634.680986289,879.319013711,787,805,652,631,651.680986289,0.420724536052,-0.00553782001882,0.0499630323,0.99999999113,0.000121317799088,-4.96353733347e-05,2.36446393532e-05,1793242880304017152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,678.264776713,660.264776713,635,879,787.264776713,805,651.735223287,631,652,0.421608702529,-0.00553844986728,0.0499675349527,0.999999992121,0.000119557859022,-3.01100898688e-05,2.36154080973e-05,1793242880320683776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,678.861934341,660.861934341,635,879,787.861934341,805,651.138065659,631,652,0.422517770566,-0.00554191315643,0.0499949818938,0.999999992743,0.000115985056365,2.03489093028e-05,2.54259831548e-05,1793242880337350144
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.44126213,745,714,679,661,635,879,787.55873787,805,651.44126213,631.44126213,652,0.423381646568,-0.00554251547424,0.0499906585671,0.999999993025,0.000114693471434,1.16361436547e-05,2.5703825849e-05,1793242880354017024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.984721236,745,714,679,660.984721236,635,879,787,805.015278764,652,631.984721236,652,0.424233258285,-0.00554233905962,0.0499772025661,0.999999993078,0.000113988740131,-1.40486921879e-05,2.55455416386e-05,1793242880370683392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.408834725,745,714,679,660.408834725,635,879,787,805.591165275,652,631.408834725,652,0.425133547658,-0.0055451591203,0.0499792232466,0.999999993598,0.000109644476155,-9.53491568885e-06,2.62980060468e-05,1793242880387350272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.171523899,634.828476101,879,787,806,652,631,651.828476101,0.426038428588,-0.0055480210436,0.049986662522,0.999999994007,0.000105946911399,-6.2854965248e-07,2.75933146671e-05,1793242880404017152
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.762827332,634.237172668,879,787,806,652,631,651.237172668,0.42695454663,-0.00555098541938,0.0500073630117,0.999999993972,0.000103832048175,1.90280333942e-05,3.02171546606e-05,1793242880420684032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.346730032,879,787,806,651.653269968,631,651,0.427820165461,-0.00554789787842,0.0499913704616,0.999999993468,0.00010839358945,-1.95001935562e-05,3.05644561708e-05,1793242880437350656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.925676201,879,787,806,651.074323799,631,651,0.428651963328,-0.00554075717608,0.049950803414,0.99999998797,0.000117426530888,-9.69966403316e-05,2.93870871548e-05,1793242880454017280
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.500649702,745,714,679,660.499350298,635,879.500649702,787,805.499350298,651,631,651,0.429559459733,-0.00554301848113,0.0499490828491,0.999999989616,0.000112930695272,-8.48301763737e-05,2.86134440638e-05,1793242880470683904
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.924846556,745,714,679,660.150306888,634.924846556,880,787.075153444,805.075153444,651.075153444,631,651.075153444,0.430472742329,-0.00554665851566,0.0499524358671,0.999999991859,0.000106787936225,-6.39245106868e-05,2.8127643885e-05,1793242880487350784
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.349575412,745,714,679,661.300849176,634.349575412,880,787.650424588,805.650424588,651.650424588,631,651.650424588,0.431350334827,-0.00555025825904,0.0499514769603,0.99999999163,0.000102945521222,-7.27443025563e-05,2.91616247392e-05,1793242880504017664
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.536433717,634.231783142,880,787.768216858,806,651.768216858,631,652,0.432226387771,-0.00555188631432,0.0499462804566,0.999999990956,0.00010153187398,-8.30029915728e-05,2.98279367722e-05,1793242880520684032
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.354859106,634.822570447,880,787.177429553,806,651.177429553,631,652,0.433100056267,-0.00555046046282,0.0499345204254,0.999999989598,0.000103880094819,-9.54903602752e-05,2.99247742521e-05,1793242880537350400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.405394919,634.594605081,880,787,806,651,631,652,0.433989632515,-0.00555333398199,0.0499509764917,0.999999992057,0.000101529918945,-6.76163492414e-05,3.17137992203e-05,1793242880554017280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.984801391,634.015198609,880,787,806,651,631,652,0.434886036948,-0.00555805296141,0.0499795440251,0.999999994443,9.7163004818e-05,-2.24176347598e-05,3.42291780129e-05,1793242880570683904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.557805685,661,634,879.442194315,787,805.442194315,651,631,652,0.435690986251,-0.00555294774819,0.0499757848632,0.999999992789,0.000104856227384,-4.69766048179e-05,3.49316114941e-05,1793242880587350784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865888239,660.865888239,634,879,787,805.134111761,651,631,651.865888239,0.43649717806,-0.00554852231615,0.0499678623168,0.999999990529,0.000110803857449,-7.36514543226e-05,3.5203149441e-05,1793242880604017664
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.277822241,660.277822241,634,879,787,805.722177759,651,631,651.277822241,0.437315914653,-0.00554729366354,0.0499487947696,0.999999988281,0.000109743170438,-0.00010112767549,3.41814595312e-05,1793242880620684032
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.308433521,745.308433521,714,679,660.308433521,634.308433521,879.308433521,787,806.308433521,651,631,651,0.438153852575,-0.0055491435478,0.0499526602047,0.999999990222,0.000105206285169,-8.56000164513e-05,3.40553902086e-05,1793242880637350656
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.893068193,745.893068193,714,679,660.893068193,634.893068193,879.893068193,787,806.893068193,651,631,651,0.439008985178,-0.00555375025124,0.0499770620469,0.99999999414,9.75564762596e-05,-3.15625298784e-05,3.4731346017e-05,1793242880654017280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.531673369,745.531673369,714,679.468326631,660.531673369,635,880,787,806.531673369,651,631.468326631,651,0.439776819032,-0.00555641882469,0.0499701944191,0.999999994191,9.37241709468e-05,-4.10196187108e-05,3.39265221813e-05,1793242880670683648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.041657683,745,714,680,660,634.958342317,880,787,806,651,631.958342317,651.041657683,0.440524205092,-0.00555868804788,0.0499569620922,0.999999993311,9.09092199295e-05,-6.34654764132e-05,3.29628573476e-05,1793242880687350016
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.617185364,745,714,680,660,634.382814636,880,787,806,651,631.382814636,651.617185364,0.44125997524,-0.00556139930744,0.0499518656894,0.999999992883,9.01809395873e-05,-7.02220322872e-05,3.42114990513e-05,1793242880704016896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.80249896,745,714,679.80249896,660.19750104,634,880.19750104,787,806,651,631,651.80249896,0.442003274393,-0.00556250977448,0.0499572310374,0.999999993526,9.13382354403e-05,-5.7777156183e-05,3.5586316195e-05,1793242880720683520
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.212672072,745,714,679.212672072,660.787327928,634,880.787327928,787,806,651,631,651.212672072,0.442761529664,-0.00556044034843,0.0499833781243,0.999999994651,9.62411329494e-05,-7.18960576818e-06,3.72117746477e-05,1793242880737350144
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.37061716,714,679,661,634,880.25876568,787,806.37061716,651,631,651,0.443456159293,-0.00555831394536,0.0499906870174,0.999999993986,0.000102508389907,1.05525049547e-06,3.89774457143e-05,1793242880754017024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.950219869,714,679,661,634,879.099560262,787,806.950219869,651,631,651,0.444114911316,-0.00555615541391,0.0499873733293,0.99999999306,0.000109544988808,-1.45763168002e-05,4.0822180536e-05,1793242880770683648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.477689258,714,679.522310742,661,634,879.522310742,787,807,651.522310742,631,651,0.444717730893,-0.00555675035912,0.0499546358257,0.999999990716,0.000110960199611,-6.79193176232e-05,4.05202266614e-05,1793242880787350016
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.9030425,660.9030425,634,880,787,806.9030425,651.9030425,631,651.0969575,0.445320454434,-0.00555777300961,0.0499273611852,0.999999987014,0.000112095587119,-0.000108534328414,4.03229664638e-05,1793242880804016640
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.3117668,660.3117668,634,880,787,806.3117668,651.3117668,631,651.6882332,0.445949480923,-0.00555965726733,0.0499420323505,0.999999990385,0.000114497093095,-6.61938443065e-05,4.16877663664e-05,1793242880820683776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.273766697,660.273766697,634,880,787,806,651.273766697,631,651.726233303,0.446566543743,-0.00556093152336,0.0499578711308,0.999999991724,0.000117149636768,-3.09067815234e-05,4.32811563964e-05,1793242880837350656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.852895247,660.852895247,634,880,787,806,651.852895247,631,651.147104753,0.447170262135,-0.00556152537783,0.0499750122782,0.999999991766,0.000120082190111,-3.48717167926e-06,4.5129517874e-05,1793242880854017536
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.396397031,745,714,680,661,634,880,787,806,652,631,651.396397031,0.447678611035,-0.00555843768445,0.0499595562782,0.999999990844,0.000125095108286,-2.4690131128e-05,4.53261254e-05,1793242880870684160
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.927767891,745,714,680,661,634,880,787,806,652,631,651.927767891,0.448154486519,-0.00555409641814,0.0499330008982,0.999999988483,0.000130816394135,-6.24491515659e-05,4.49603081415e-05,1793242880887350528
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.483574912,745,714,680,660.483574912,634,880.516425088,787,806,651.483574912,631,652,0.448607359792,-0.00555363715957,0.0499148788566,0.999999985774,0.00013512633939,-9.02327575288e-05,4.52932374011e-05,1793242880904017152
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.118491888,634,881,787,806,651,631,651.881508112,0.449057765294,-0.00555395981013,0.0499025689705,0.999999983248,0.000138712391122,-0.000110249083227,4.59210463685e-05,1793242880920683776
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.739196116,634,881,787,806,651,631,651.260803884,0.449513049123,-0.00555500801983,0.0499092699246,0.999999983648,0.000140171375763,-0.000103996263711,4.73327516266e-05,1793242880937350656
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.664358088,745,714,679.664358088,660.664358088,633.664358088,880.664358088,787,806,651,631,651,0.449950311567,-0.0055573428882,0.0499175551397,0.999999985022,0.000137724968807,-9.31198598221e-05,4.81401157103e-05,1793242880954017280
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.08549134,745,714,679.08549134,660.08549134,633.08549134,880.08549134,787,806,651,631,651,0.450374514684,-0.00556061014111,0.0499269883983,0.99999998694,0.000132448497323,-7.88929493639e-05,4.85095404037e-05,1793242880970683904
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.487643542,745,714,679.487643542,660,633.487643542,879.512356458,787,806.487643542,651,630.512356458,651.487643542,0.450732422195,-0.0055622823396,0.0499277514741,0.999999992853,7.55628916852e-05,-8.68394787525e-05,3.22886494958e-05,1793242880987350528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.939393724,660.060606276,633.878787449,879,787,806.939393724,651,630.060606276,652,0.451074262208,-0.00556385551117,0.0499261207787,0.999999994804,1.66451468285e-05,-9.93937201429e-05,1.53726234987e-05,1793242881004017152
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.359394531,660.640605469,632.718789062,879,787,806.359394531,651,630.640605469,652,0.451376852735,-0.00556694866397,0.0499168506982,0.999999992687,1.69510295812e-05,-0.00011850853877,1.71357489248e-05,1793242881020684032
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.21636632,660.78363368,632.21636632,879,787,806,651,631,652,0.451657576852,-0.00556713846792,0.0499034852583,0.999999989162,2.09477121756e-05,-0.000144571367048,1.83333641306e-05,1793242881037350656
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.78522229,660.21477771,632.78522229,879,787,806,651,631,652,0.451902677639,-0.00556259832831,0.0498834479314,0.999999982794,3.09572008708e-05,-0.00018195342956,1.86096874364e-05,1793242881054017280
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.629046758,879.370953242,787,806.370953242,651.370953242,631,652,0.452147896943,-0.00556142509386,0.0498712349608,0.999999978673,3.59723801858e-05,-0.000202428627681,1.95589015988e-05,1793242881070683904
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.033079677,879.966920323,787,806.966920323,651.966920323,631,652,0.452393188162,-0.00556229416557,0.0498637681079,0.999999976451,3.7958098545e-05,-0.000212648417146,2.09162797869e-05,1793242881087350784
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.545626123,632.545626123,880,787,807,651.454373877,631,652,0.452616330891,-0.00556201868664,0.0498682912409,0.999999978264,4.38448587359e-05,-0.000202628569639,2.21842794791e-05,1793242881104017408
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.125839551,714,680,660.874160449,633,880,787,806.874160449,651.125839551,631,651.874160449,0.452828404909,-0.00556171002092,0.0498723791385,0.99999997983,4.86894442173e-05,-0.00019345026771,2.33544219497e-05,1793242881120684032
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.715345805,714,680,660.284654195,633,880,787,806.284654195,651.715345805,631,651.284654195,0.453004491297,-0.00556152691103,0.0498722671218,0.999999980129,4.88493358412e-05,-0.000191755303659,2.41833549858e-05,1793242881137350400
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660,632.703109263,880.296890737,787,806.296890737,651.703109263,631,651,0.453166364047,-0.00556063836292,0.0498709135909,0.999999979675,5.12971217125e-05,-0.000193377824175,2.49663624318e-05,1793242881154017536
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,660,632.128998211,880.871001789,787,806.871001789,651.128998211,631,651,0.45331496487,-0.00555909111525,0.0498684008018,0.999999978487,5.58812179452e-05,-0.000198098030226,2.57064870259e-05,1793242881170685184
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.550511789,714.449488211,680,660,632,880.550511789,787,806.550511789,651.449488211,631,651.449488211,0.453443445364,-0.00555961935888,0.0498641645667,0.999999977242,5.62278606713e-05,-0.000204164250515,2.59242715894e-05,1793242881187351808
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.028980577,715,680,660,632,880,787,806.028980577,652,631,652,0.453564719699,-0.00556063185964,0.0498595769416,0.999999975986,5.55837384571e-05,-0.000210388317124,2.59973663425e-05,1793242881204018176
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.603539196,715,680,660,632,880,787,806.603539196,652,631,652,0.45366010722,-0.00555943721779,0.0498577770575,0.999999975369,5.94067913567e-05,-0.000212240275623,2.61963975982e-05,1793242881220684800
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.816633749,714.816633749,680,660,632,880.183366251,787,806.816633749,652,630.816633749,652,0.453746474109,-0.00555834383606,0.049854149224,0.999999974071,6.24671515082e-05,-0.000217391386218,2.6406541989e-05,1793242881237351168
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.22507879,714.22507879,680,660,632,880.77492121,787,806.22507879,652,630.22507879,652,0.453812760297,-0.00555747586802,0.0498464522216,0.999999971184,6.38296928934e-05,-0.000229886686799,2.6641425125e-05,1793242881254017792
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.35815189,679.64184811,659.64184811,632,880.28369622,787,806.35815189,651.64184811,630.35815189,651.64184811,0.453874111168,-0.00555865336737,0.0498416251231,0.999999969821,6.27018263162e-05,-0.000236021329359,2.68351344056e-05,1793242881270684416
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.9362701,679.0637299,659.0637299,632,879.1274598,787,806.9362701,651.0637299,630.9362701,651.0637299,0.453932430918,-0.00556108713234,0.049838560634,0.999999969451,6.0044424806e-05,-0.000238249444713,2.70035559438e-05,1793242881287351552
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.488550278,679.511449722,659,631.488550278,879,787,806.488550278,651.511449722,631,651.511449722,0.453973605526,-0.00556095768428,0.0498361351639,0.999999968441,6.04454696632e-05,-0.000242325549517,2.72370782154e-05,1793242881304018688
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.088351804,680,659.088351804,631.088351804,879.088351804,787,806,651.911648196,631,652,0.454011206181,-0.00556014035915,0.0498340561893,0.999999967486,6.14318990304e-05,-0.000245982870415,2.73095577378e-05,1793242881320685568
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.677070899,680,659.677070899,631.677070899,879.677070899,787,806,651.322929101,631,652,0.454040596341,-0.00555722584407,0.0498334911668,0.999999967378,6.35875826035e-05,-0.000245971815693,2.64243172572e-05,1793242881337352192
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.261721184,714.738278816,680,659.738278816,631.738278816,880,786.738278816,806,651.261721184,631,652,0.454064749167,-0.00555537898788,0.049832828019,0.999999967023,6.55007034484e-05,-0.000246956971536,2.59924124666e-05,1793242881354018560
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.841427918,714.158572082,680,659.158572082,631.158572082,880,786.158572082,806,651.841427918,631,652,0.454082538746,-0.00555482931421,0.0498320456513,0.999999966368,6.71191157204e-05,-0.000249152501565,2.61113007404e-05,1793242881370684928
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.581067428,714,680,659,631.418932572,880,786,806.418932572,651.581067428,631,652,0.454093470188,-0.00555432226398,0.0498295257535,0.999999965383,6.67673947519e-05,-0.000253160442084,2.61831202438e-05,1793242881387351808
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.004391949,714,680,659,631.995608051,880,786,806.995608051,651.004391949,631,652,0.454101819299,-0.00555383126299,0.0498263516143,0.999999964256,6.56738490052e-05,-0.000257850819103,2.62372166897e-05,1793242881404018688
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.568454233,631.431545767,880,786,807,651,630.431545767,652,0.454103539108,-0.00555363600844,0.0498228061737,0.999999962835,6.70176797607e-05,-0.000262978594324,2.60955070158e-05,1793242881420685312
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.145931795,714.145931795,680,659.854068205,631,880,786,807,651,630,651.854068205,0.454105425649,-0.00555322540238,0.0498199453578,0.999999961618,6.85706308428e-05,-0.000267191110921,2.59177404298e-05,1793242881437352192
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.737646662,714.737646662,680,659.262353338,631,880,786,807,651,630,651.262353338,0.454107976925,-0.0055521500211,0.0498191845943,0.9999999611,7.07052487485e-05,-0.000268597499257,2.56344198835e-05,1793242881454018816
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.679194475,715,679.679194475,659,631,880.320805525,786,806.679194475,651,630.320805525,651.320805525,0.454108208461,-0.00555087358857,0.0498173992725,0.999999960337,7.12693158186e-05,-0.000271297737199,2.53806337711e-05,1793242881470684672
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.102850847,715,679.102850847,659,631,880.897149153,786,806.102850847,651,630.897149153,651.897149153,0.454106592204,-0.00554943700824,0.0498147978373,0.999999959372,7.05823585881e-05,-0.00027502859306,2.51503733238e-05,1793242881487350528
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.471505047,659.471505047,631,880.056989907,786.471505047,806.471505047,651.471505047,630.528494953,652,0.454109159369,-0.00555069558961,0.0498157885671,0.999999959935,6.85846001379e-05,-0.000273469339711,2.52919160017e-05,1793242881504017152
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.04576341,715,679.95423659,660,631,879.04576341,787,806.95423659,652,630.04576341,652,0.454112328063,-0.00555210882554,0.0498173338081,0.999999960692,6.68556365552e-05,-0.000271107065322,2.54585746178e-05,1793242881520684032
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.623910558,715,679.376089442,660,631,879.623910558,787,806.376089442,652,630.623910558,652,0.454111923174,-0.00554851061459,0.0498162525866,0.999999959925,7.15660292652e-05,-0.000272770902205,2.49778798543e-05,1793242881537350912
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.80602555,715,679,660,631,880,786.80602555,806,651.80602555,631,652,0.454111304909,-0.00554631321226,0.0498153156358,0.999999959302,7.42492026592e-05,-0.000274362594816,2.46683882461e-05,1793242881554017536
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.251007034,715,679,660,631,880,786.251007034,806,651.251007034,631,652,0.454110289485,-0.00554672313105,0.0498146472156,0.999999958981,7.31591185029e-05,-0.000275820005414,2.46775565899e-05,1793242881570684160
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.338018043,745,715,679.338018043,660,631,880,786.338018043,806.338018043,651,630.661981957,652,0.454109286253,-0.00554670524039,0.0498136574431,0.999999958476,7.27349129618e-05,-0.00027775340883,2.47319050959e-05,1793242881587350784
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.9551206,745,715,679.9551206,660,631,880,786.9551206,806.9551206,651,630.0448794,652,0.454108293088,-0.00554633412895,0.049812402346,0.999999957815,7.2860489992e-05,-0.000280079815528,2.48235565912e-05,1793242881604017408
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.47009507,745,714.47009507,680,659.47009507,631,880,786.47009507,807,651.52990493,630.52990493,652,0.454108678182,-0.00554690266738,0.0498123721121,0.999999957891,7.16567555986e-05,-0.000280122594501,2.48056109936e-05,1793242881620684032
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.894827857,659,631,880,786.105172143,806.894827857,652,630.894827857,652,0.454109234122,-0.00554736191144,0.0498125595544,0.999999958034,7.10259246966e-05,-0.000279766880759,2.48475016111e-05,1793242881637350912
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.301929876,659,631,880,786.698070124,806.301929876,652,630.301929876,652,0.454110081056,-0.00554697255183,0.0498133109529,0.999999958227,7.35353652165e-05,-0.000278393775822,2.52067386971e-05,1793242881654017536
+246,4.100000000,HOLD_POSE2,765,745,714,680,659,632,879,786,806,651,630,651,0.454108868911,-0.00554486132603,0.0498099811423,0.999999957339,7.22398370763e-05,-0.000281991985177,2.41603459867e-05,1793242881698854400
+247,4.116666667,HOLD_POSE2,765,745,714.784720614,680,659.784720614,632,879,786,806.784720614,651,630,651.784720614,0.454111166214,-0.00554619845676,0.0498121721777,0.999999957961,7.3242196506e-05,-0.000279463746294,2.47512440207e-05,1793242881715520768
+248,4.133333333,HOLD_POSE2,765,745.416165249,714.583834751,680,660,631.583834751,879.416165249,786,807,651,630,652,0.454111231738,-0.00554566339111,0.0498120853105,0.999999957779,7.50508768596e-05,-0.000279648914577,2.46010081422e-05,1793242881732187648
+249,4.150000000,HOLD_POSE2,765,745.989663373,714.010336627,680,660,631.010336627,879.989663373,786,807,651,630,652,0.454110453531,-0.00554442053454,0.0498111372736,0.99999995729,7.7164390028e-05,-0.000280859896686,2.41705837808e-05,1793242881748854272
+250,4.166666667,HOLD_POSE2,765,746,714.581819166,680,659.418180834,631,879.418180834,786.581819166,806.418180834,651.581819166,630,652,0.454109898339,-0.00554397670668,0.0498105007668,0.999999957213,7.58650352488e-05,-0.000281465637348,2.44196152959e-05,1793242881765521152
+251,4.183333333,HOLD_POSE2,765,745.829873663,715,680,659,631,879,786.829873663,806,651.829873663,630,651.829873663,0.454109483125,-0.0055437802896,0.0498098989511,0.999999957115,7.49597307682e-05,-0.000282041581966,2.45706073658e-05,1793242881782187776
+252,4.200000000,HOLD_POSE2,765,745.251620603,715,680,659,631,879,786.251620603,806,651.251620603,630,651.251620603,0.454109393893,-0.00554414221876,0.0498093666406,0.999999956954,7.5150013672e-05,-0.000282572697162,2.44564886601e-05,1793242881798854912
+253,4.216666667,HOLD_POSE2,765,745,714.676749465,680,659.323250535,631,879.323250535,786.323250535,806,651.323250535,630.323250535,651.323250535,0.454108675353,-0.00554385827847,0.0498089383143,0.999999956499,7.61642379065e-05,-0.000283903495169,2.44813790952e-05,1793242881815521792
+254,4.233333333,HOLD_POSE2,765,745,714.104483616,680,659.895516384,631,879.895516384,786.895516384,806,651.895516384,630.895516384,651.895516384,0.454107472028,-0.00554307679411,0.049808590092,0.999999955814,7.78131834564e-05,-0.000285850326974,2.4613354912e-05,1793242881832188928
+255,4.250000000,HOLD_POSE2,765,745,714,680,660,631,880.470831485,786.529168515,806,652,631,652,0.454106978876,-0.00554352158333,0.0498086384223,0.999999955731,7.6830598938e-05,-0.00028642441703,2.43950099005e-05,1793242881848855552
+256,4.266666667,HOLD_POSE2,765,745,714.048363662,680,660,631,880.951636338,786,806.048363662,652,630.951636338,652,0.454106870434,-0.00554415525222,0.0498088393204,0.999999955833,7.53580599502e-05,-0.000286482184691,2.41307735029e-05,1793242881865522176
+257,4.283333333,HOLD_POSE2,765,745,714.643253171,680,660,631,880.356746829,786,806.643253171,652,630.356746829,652,0.454109316859,-0.00554382816363,0.0498097633715,0.999999956518,7.49909520969e-05,-0.000284170186781,2.42321720988e-05,1793242881882188800
+258,4.300000000,HOLD_POSE2,765,745.230680073,714.769319927,680,659.769319927,631,879.769319927,786,806.769319927,651.769319927,630.230680073,651.769319927,0.454110072227,-0.00554347172672,0.0498097180724,0.999999956634,7.55131149489e-05,-0.000283614655782,2.43290799852e-05,1793242881898855168
+259,4.316666667,HOLD_POSE2,765,745.806927653,714.193072347,680,659.193072347,631,879.193072347,786,806.193072347,651.193072347,630.806927653,651.193072347,0.45410829433,-0.00554307132492,0.0498082206495,0.999999955899,7.73674391126e-05,-0.000285690379108,2.44192606092e-05,1793242881915522304
+260,4.333333333,HOLD_POSE2,765,745.618876008,714.381123992,680,659,631,879.381123992,786.381123992,806,651,630.618876008,651.381123992,0.454109064516,-0.00554309381812,0.0498088213848,0.999999956118,7.62881446008e-05,-0.000285222549435,2.43242103807e-05,1793242881932188928
+261,4.350000000,HOLD_POSE2,765,745.045713185,714.954286815,680,659,631,879.954286815,786.954286815,806,651,630.045713185,651.954286815,0.454111118618,-0.00554332939747,0.0498104793292,0.999999956812,7.37306733092e-05,-0.000283473087324,2.41358269746e-05,1793242881948855808
+262,4.366666667,HOLD_POSE2,765,745,714.454589046,680,659,631,880,786.454589046,806.545410954,651.545410954,630,651.454589046,0.454109714314,-0.0055433462487,0.049809597323,0.999999956431,7.45426638488e-05,-0.000284582251824,2.4373923662e-05,1793242881965522432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,631,880,786,807,652,630,652,0.454109082165,-0.00554493286737,0.0498068922624,0.999999956259,7.36814332695e-05,-0.000285416715148,2.428650647e-05,1793242882007233024
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.576956479,631.576956479,880,786,806.423043521,652,630,651.423043521,0.454107060528,-0.00554383823936,0.0498055370573,0.999999955372,7.4302525248e-05,-0.000288355297068,2.42034030082e-05,1793242882023899648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.847276012,680,660,632,879.847276012,786.152723988,806.152723988,652,630.152723988,651.152723988,0.454105876346,-0.00554257609976,0.0498049270183,0.999999954745,7.52982787691e-05,-0.000290282712066,2.39928500322e-05,1793242882040566272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.274776364,680,660,632,879.274776364,786.725223636,806.725223636,652,630.725223636,651.725223636,0.454106993983,-0.00554085353915,0.0498063651351,0.999999954851,7.73238234874e-05,-0.000289430844212,2.34319905482e-05,1793242882057233152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.691962096,632,879,786.691962096,806.691962096,652,630.691962096,651.691962096,0.454107691338,-0.00554084770096,0.049807262354,0.999999955108,7.76845833547e-05,-0.00028844092714,2.34548857973e-05,1793242882073899520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.099628237,632,879,786.099628237,806.099628237,652,630.099628237,651.099628237,0.454108000803,-0.00554242626929,0.0498076603645,0.999999955507,7.65088711576e-05,-0.000287323601016,2.40165430518e-05,1793242882090565376
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,879.48264386,786,806,651.51735614,630,651,0.454108227499,-0.00554179297794,0.0498073386105,0.999999955467,7.67650585416e-05,-0.000287409849652,2.38381876185e-05,1793242882107232000
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.062136897,680,659.062136897,631.937863103,880,786.062136897,806,651.062136897,630,651,0.454108158821,-0.00554092444883,0.0498067436328,0.999999955294,7.71859039477e-05,-0.000287924793166,2.354874829e-05,1793242882123898624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.635504536,680,659.635504536,631.364495464,880,786.635504536,806,651.635504536,630,651,0.454105797647,-0.00554180026669,0.0498050981461,0.99999995475,7.65792899907e-05,-0.000289964490981,2.35764903718e-05,1793242882140565248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631.214943583,880,786.785056417,806.214943583,652,630,651,0.454099366527,-0.00554179325524,0.0498018618284,0.999999953336,7.63451003734e-05,-0.000294876035212,2.34171712897e-05,1793242882157232128
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631.804977569,880,786.195022431,806.804977569,652,630,651,0.454085833087,-0.00554024564968,0.0497958494083,0.99999995034,7.67608152881e-05,-0.000304799136277,2.2931418417e-05,1793242882173899264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.626067302,632,880,786.373932698,806.626067302,652,630,651.373932698,0.454057903913,-0.00553948645208,0.049782735493,0.9999999433,7.60313884614e-05,-0.000327315278062,2.2019866445e-05,1793242882190566400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.067519034,632,880,786.932480966,806.067519034,652,630,651.932480966,0.454022867372,-0.00553911650188,0.049766115474,0.999999933603,7.47365898404e-05,-0.000356048773017,2.08980917091e-05,1793242882207233792
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.514323576,659.485676424,631.514323576,879.514323576,786.514323576,806.485676424,652,630.485676424,651.514323576,0.45396751262,-0.00553754019567,0.0497445305295,0.999999920032,7.59714682628e-05,-0.000392122566216,2.00965838257e-05,1793242882223899904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.956900314,679.043099686,659.956900314,631,879,786.043099686,806.956900314,652,631,651,0.453908272727,-0.00553572594143,0.049722686438,0.999999905194,7.7569255366e-05,-0.00042804604429,1.92731938946e-05,1793242882240565760
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.332531031,679.667468969,659.332531031,631,879,786.667468969,806.332531031,652,631,651,0.453834315073,-0.00553293973243,0.0497065546664,0.999999896196,7.93702229874e-05,-0.000448329873082,1.75607597366e-05,1793242882257231872
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.276598568,631,879,786.723401432,806,651.723401432,630.723401432,651.276598568,0.453758302214,-0.00553036677226,0.0496955803779,0.999999889903,8.12432379359e-05,-0.000461867886131,1.6496564285e-05,1793242882273898752
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.868363486,631,879,786.131636514,806,651.131636514,630.131636514,651.868363486,0.453679947586,-0.00552803679562,0.0496904827119,0.999999887028,8.31983461173e-05,-0.000467719473169,1.61709954255e-05,1793242882290565376
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.549898207,660,631,879.450101793,786,806,651.450101793,630.450101793,651.549898207,0.453583390691,-0.00552404526872,0.0496907897046,0.999999886059,8.75678694212e-05,-0.000469000950635,1.58661304469e-05,1793242882307232000
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.028576104,679.028576104,659.971423896,631,880,786,806,651.971423896,631,651.028576104,0.453480748919,-0.00551955217623,0.0496928043403,0.999999885777,9.2549506406e-05,-0.000468656084891,1.55472459544e-05,1793242882323898368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.599543416,679.599543416,659.400456584,631,880,786,806,651.400456584,631,651.599543416,0.453361452532,-0.00551456143957,0.0496978832637,0.999999888437,9.60389322353e-05,-0.000462258373563,1.48498388816e-05,1793242882340564992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.166548395,745,715,679.833451605,659,631,880,786,806.166548395,651.166548395,631,652,0.453231058362,-0.00550972152463,0.0497021674185,0.99999989005,9.89149389188e-05,-0.000458161667015,1.4305181521e-05,1793242882357231616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.724247479,745,715,679.275752521,659,631,880,786,806.724247479,651.724247479,631,652,0.453074600277,-0.00550523582586,0.0497045850026,0.999999889309,0.000100350286865,-0.000459469033908,1.41192677642e-05,1793242882373898496
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.688825627,745,715,679.311174373,659.311174373,631.311174373,880,786.311174373,806.688825627,651.688825627,630.688825627,651.688825627,0.452905937478,-0.00549993270652,0.0497069093134,0.999999889074,0.000103393071194,-0.000459309396799,1.40307362863e-05,1793242882390565120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.07331295,745,715,679.92668705,659.92668705,631.92668705,880,786.92668705,806.07331295,651.07331295,630.07331295,651.07331295,0.452725338064,-0.00549383012368,0.0497091424002,0.999999889317,0.000108007978929,-0.000457714983873,1.40374477117e-05,1793242882407231744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.505669403,745,714.494330597,680,659.494330597,632,880,786.494330597,806.505669403,651,630.505669403,651,0.452500810685,-0.00548455039281,0.0497075970973,0.999999885188,0.000114194444109,-0.000465221239802,1.23931572485e-05,1793242882423898624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.919882386,745,714,680,659.080117614,632.080117614,880,786,806.919882386,651,631,651.080117614,0.452266115665,-0.00547488570717,0.0497057692996,0.999999880672,0.000120814289141,-0.000473229938159,1.06179340006e-05,1793242882440565248
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.342920694,745,714,680,659.657079306,632.657079306,880,786,806.342920694,651,631,651.657079306,0.452005201085,-0.00546549784853,0.0497053578838,0.999999878028,0.000128803930844,-0.000476723409654,9.4151373372e-06,1793242882457232384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.768135189,660,632.768135189,880,786,806,651,631,652,0.451730886352,-0.00545667433809,0.0497055223125,0.999999877119,0.000134698578709,-0.000477026315859,7.95487501639e-06,1793242882473899264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.196538304,660,632.196538304,880,786,806,651,631,652,0.451436937513,-0.00544867772034,0.0497065304778,0.999999878824,0.00013752360721,-0.00047265435396,6.11736991808e-06,1793242882490565632
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.392234607,660,632.392234607,880.392234607,786,806.392234607,651,631,652,0.451125165989,-0.00544106922854,0.0497088791643,0.999999883446,0.000141607542014,-0.000461558998925,4.2672479662e-06,1793242882507231744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.990008085,660,632.990008085,880.990008085,786,806.990008085,651,631,652,0.450804055028,-0.00543366412284,0.0497119303112,0.99999988941,0.000146351169079,-0.000446940449891,2.41051458472e-06,1793242882523897856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879.932408244,786,806.466204122,651,631,652,0.450460971713,-0.00542787181398,0.0497310700372,0.999999903563,0.000147762080858,-0.00041356973916,1.1661992446e-06,1793242882540564736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.086180728,806,651.086180728,631,652,0.450105975505,-0.00542321884069,0.0497489206527,0.999999916104,0.000147852356337,-0.000382009124689,-1.82801225297e-07,1793242882557231360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.696424534,806,651.696424534,631,652,0.449680808728,-0.00542532742444,0.0497572690883,0.999999924134,0.000140256384444,-0.000363394143125,-2.23169651567e-06,1793242882573898496
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.700840198,660,633,879.299159802,787,806,651.700840198,631,652,0.449236507597,-0.00542751960227,0.0497610366981,0.999999927833,0.000131241174805,-0.00035650344572,-3.91576368098e-06,1793242882590565120
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.105537671,660,633,879.894462329,787,806,651.105537671,631,652,0.448773265035,-0.00542979453136,0.0497602696815,0.999999927448,0.00012082103979,-0.000361218788966,-5.23868231874e-06,1793242882607231744
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.473028872,660,633.473028872,879.526971128,787,806,651,631,652,0.448275776487,-0.00542637485184,0.0497601676115,0.999999930913,0.000115159465298,-0.000353313450968,-9.05448085349e-06,1793242882623898368
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.047877752,787,806,651,631,651.952122248,0.447766049879,-0.00542144822565,0.0497603818997,0.999999934743,0.000111043391417,-0.000343523581971,-1.32523193065e-05,1793242882640565248
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.621505005,787,806,651,631,651.378494995,0.447202971149,-0.00541344869505,0.0497624966958,0.999999934741,0.000112638525363,-0.000342903505137,-1.57465358982e-05,1793242882657231872
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.228480059,660,634,879.228480059,787,806,651,631,651,0.446031642187,-0.00540590308373,0.0497610679165,0.999999933569,0.000105651418339,-0.0003482018748,-2.13299888441e-05,1793242882690565120
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.719848439,634,879.359924219,787,806,651,631,651,0.445427764972,-0.00540696337579,0.049774916649,0.999999939951,9.49954437007e-05,-0.000332475282644,-2.31188352249e-05,1793242882707231744
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.913394197,634,879.956697099,787,806,651,631,651,0.444819220381,-0.00540983468498,0.0497992652889,0.99999995032,8.12749033003e-05,-0.000303597280195,-2.41513450289e-05,1793242882723898368
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.53498032,660.930039361,634,880,787,805.46501968,651,631,651,0.444131227931,-0.00540779588332,0.0498020294866,0.999999950564,7.61402233531e-05,-0.000303933195721,-2.64551233351e-05,1793242882740565248
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.890425343,660,634,880,787,805.109574657,651.109574657,631,651.109574657,0.44342754836,-0.00540430401264,0.0497975930079,0.999999947622,7.1706719299e-05,-0.000314233259833,-2.9520845518e-05,1793242882757232128
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.253697672,660.253697672,634,880,787,806,651.746302328,631,651.746302328,0.441957882792,-0.00539296429614,0.049765303692,0.999999932232,6.0557733164e-05,-0.000361003180355,-3.93094004516e-05,1793242882790566656
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.498518173,660.501481827,634,879,787.498518173,805.501481827,651,631,652,0.434580633344,-0.00538907642992,0.0497876092227,0.999999938999,-3.14897600314e-05,-0.00034145905286,-6.64565973431e-05,1793242882940566016
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.925889505,660.074110495,634,879,788,805.074110495,651,631,652,0.433695271042,-0.00538891183248,0.0497703080602,0.999999929602,-2.76739689584e-05,-0.000368276165614,-6.63484467595e-05,1793242882957232640
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72b9ad0c6a9739b4b8d39550a07dcd8709848766
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+401,6.683333333,pose2_to_pose3_retreat,0.580744600662,1.75335225877e-06,1.04004094173,0.55131631991,0.00867658043841,1.03967873879
+402,6.700000000,pose2_to_pose3_retreat,0.580744195158,1.78086583282e-06,1.04004088278,0.551315914537,0.00867660838746,1.03967867972
+403,6.716666667,pose2_to_pose3_retreat,0.580743866041,1.83470615428e-06,1.04004077618,0.551315585653,0.00867666304065,1.03967857365
+404,6.733333333,pose2_to_pose3_retreat,0.580743668596,1.86566327076e-06,1.04004072514,0.551315388371,0.00867669455339,1.03967852278
+405,6.750000000,pose2_to_pose3_retreat,0.580743651258,1.8638491883e-06,1.04004076424,0.551315371121,0.00867669301754,1.0396785614
+406,6.766666667,pose2_to_pose3_retreat,0.580743584542,1.8568688263e-06,1.04004091469,0.551315304743,0.00867668710778,1.03967870999
+407,6.783333333,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051295,1.03967877686
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b666a83b6b0fb1bcc0970875f4192fc20ab0b70
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a402c8ffa75f5d7011b85f89fb7bf5d22523872c509c96f12f88adda512882aa
+size 26061272
diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..419c4ba0ff91caaec15cce03cf882b458534dba7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+54,0.900000000,BASELINE,765,745,714,679,661,634.64769184,879,787,805,652.64769184,631,652,0.401001015083,-0.00540466371996,0.0498630906158,0.999999962562,0.000136411235616,-0.000234588240144,-3.51682675018e-05,1793242885435327744
+55,0.916666667,BASELINE,765,745,714,679,661,634.074591435,879,787,805,652.074591435,631,652,0.400997803467,-0.00540446021593,0.0498612570753,0.999999961437,0.000137716296667,-0.000238573090026,-3.52555308364e-05,1793242885451994624
+56,0.933333333,BASELINE,765,745,714,679,661.497725147,634.497725147,879,787.497725147,805,652,631,652,0.400997773262,-0.0054026418222,0.0498613375251,0.999999961318,0.000139511310953,-0.000238012033806,-3.53779751629e-05,1793242885468660736
+57,0.950000000,BASELINE,765,745,714,679,661.926591344,635,879,787.926591344,805,652.073408656,631,652,0.400998327376,-0.00540108967479,0.0498617669473,0.999999961408,0.000140829101174,-0.000236838733509,-3.54638096314e-05,1793242885485327104
+58,0.966666667,BASELINE,765,745,714,679,661.325880677,635,879,787.325880677,805,652.674119323,631,652,0.400999659328,-0.00540318568874,0.0498626459145,0.999999961946,0.000138192338074,-0.000236153566225,-3.52488590483e-05,1793242885501993728
+59,0.983333333,BASELINE,765,745,714,679,661,635,879,787.262424787,805,653,631,652,0.400999238759,-0.00540446820065,0.0498624353496,0.999999961914,0.00013678097635,-0.000237114180832,-3.52060823843e-05,1793242885518660352
+60,1.000000000,BASELINE,765,745,714,679,661,635,879,787.836020808,805,653,631,652,0.400996740133,-0.00540478609957,0.0498609328677,0.999999961208,0.000136822638843,-0.00024002628778,-3.5367461602e-05,1793242885535326976
+61,1.016666667,BASELINE,765,745.408345675,714,679,661,635,879,787.591654325,805,653,630.591654325,652,0.400996591378,-0.00540431616897,0.049860862646,0.999999961029,0.000137775745175,-0.000240209576943,-3.54783098879e-05,1793242885551993856
+62,1.033333333,BASELINE,765,745.980161634,714,679,661,635,879,787.019838366,805,653,630.019838366,652,0.400997383333,-0.00540353085184,0.0498613657914,0.999999961062,0.0001390937237,-0.000239300456617,-3.55689294553e-05,1793242885568660480
+63,1.050000000,BASELINE,765,745.424200697,714,679,661,635,878.424200697,787.575799303,805,653,630.575799303,652,0.400998239841,-0.00540379372857,0.0498617325785,0.999999961587,0.00013699782135,-0.000238321398526,-3.55096194406e-05,1793242885585327360
+64,1.066666667,BASELINE,765,745,714,679,661,635,878.16700439,788,805,653,631,652,0.400998810212,-0.00540441015139,0.0498619711425,0.999999962003,0.000135061658584,-0.000237704287651,-3.53428022548e-05,1793242885601994240
+65,1.083333333,BASELINE,765,745,714,679,661,635,878.745188086,788,805,653,631,652,0.400998670377,-0.00540580428209,0.049861906076,0.999999962118,0.000133820878555,-0.000237984511004,-3.49245601577e-05,1793242885618660864
+66,1.100000000,BASELINE,765,745,714,679,661.320598133,635,879,787.679401867,805,652.679401867,631,652,0.400998838311,-0.00540526812236,0.0498619775831,0.999999961982,0.00013550066456,-0.000237598253434,-3.49664217761e-05,1793242885635327232
+67,1.116666667,BASELINE,765,745,714,679,661.893822559,635,879,787.106177441,805,652.106177441,631,652,0.400999248762,-0.00540321092401,0.0498621567082,0.999999961637,0.000139481810791,-0.000236686819345,-3.53708379159e-05,1793242885651993600
+68,1.133333333,BASELINE,765,745,714,679,661.53297944,634.53297944,879,787,805,652,631,652,0.400998821556,-0.00540377777391,0.0498619690026,0.99999996194,0.00013710280293,-0.000236769668825,-3.55244016633e-05,1793242885668660480
+69,1.150000000,BASELINE,765,745.041612844,714,679,661,634.041612844,879,787,805,652.041612844,631,652,0.400998388349,-0.00540481410065,0.0498617981661,0.99999996234,0.000133780441979,-0.000236970128396,-3.56032963867e-05,1793242885685327360
+70,1.166666667,BASELINE,765,745.634764076,714,679,661,634.634764076,879,787,805,652.634764076,631,652,0.40100039958,-0.00540416625419,0.0498629562272,0.999999962186,0.000137118909558,-0.00023573347624,-3.54483792571e-05,1793242885701993984
+71,1.183333333,BASELINE,765,745.777906233,714,679,661,635,879,787.222093767,805.222093767,653,630.777906233,652,0.401001033121,-0.00540342923262,0.049863536975,0.99999996198,0.000139380218124,-0.000235291362925,-3.53712273391e-05,1793242885718660608
+72,1.200000000,BASELINE,765,745.199905511,714,679,661,635,879,787.800094489,805.800094489,653,630.199905511,652,0.400999458902,-0.00540254930717,0.0498631925739,0.999999961708,0.000139915371689,-0.000236122503968,-3.54186947413e-05,1793242885735327744
+73,1.216666667,BASELINE,765,745,714,679,661,635,879,788,805.625777736,652.625777736,630.374222264,652,0.400998173938,-0.00540251744481,0.0498621515118,0.999999961342,0.000139700555005,-0.000237783212843,-3.54947049682e-05,1793242885751994368
+74,1.233333333,BASELINE,765,745,714,679,661,635,879,788,805.053697689,652.053697689,630.946302311,652,0.400997041909,-0.00540293396813,0.0498607421131,0.999999960922,0.00013908921605,-0.000239882528523,-3.55858062771e-05,1793242885768660736
+75,1.250000000,BASELINE,765,745.535712105,714,678.464287895,661,635,878.464287895,788,805.535712105,652.535712105,631,652,0.400998007397,-0.00540305765201,0.0498620844854,0.999999961554,0.00013752997647,-0.000238158848428,-3.54658062679e-05,1793242885785331712
+76,1.266666667,BASELINE,765,745.875443217,714,678.124556783,661,635,878.124556783,787.875443217,805.875443217,653,631,652,0.400999068159,-0.00540331349688,0.0498633110573,0.99999996218,0.000136183375717,-0.000236316811646,-3.53259611658e-05,1793242885802000896
+77,1.283333333,BASELINE,765,745.295232843,714,678.704767157,661,635,878.704767157,787.295232843,805.295232843,653,631,652,0.400999682616,-0.00540416378223,0.0498630712467,0.999999962408,0.000135973849736,-0.00023549049641,-3.5193513922e-05,1793242885818662912
+78,1.300000000,BASELINE,765,745,714,679,661,635,878.718354988,787.281645012,804.718354988,652.718354988,631,652,0.401000017293,-0.00540500517743,0.0498629615851,0.999999962454,0.000135694436236,-0.000235468048109,-3.51373270375e-05,1793242885835327488
+79,1.316666667,BASELINE,765,745,714,679,661,635,878.144929614,787.855070386,804.144929614,652.144929614,631,652,0.40100006212,-0.00540583736248,0.0498629867562,0.999999962309,0.00013534262024,-0.000236278394961,-3.51601448458e-05,1793242885851994368
+80,1.333333333,BASELINE,765,745,714,679,661,635,878.4290573,788,804.4290573,652,631,652,0.401000257473,-0.00540445130112,0.0498630626063,0.999999962248,0.00013716159854,-0.000235447379629,-3.5432610079e-05,1793242885868660992
+81,1.350000000,BASELINE,765,745,714,678.996646307,661,635,878.996646307,788,805,652.003353693,631,652,0.401000493901,-0.00540232815303,0.0498631482775,0.999999962205,0.000139698858411,-0.000234081006437,-3.578857213e-05,1793242885885327872
+82,1.366666667,BASELINE,765,745,714,678.40125344,661,635,878.40125344,788,805,652.59874656,631,652,0.400998993694,-0.00540253318326,0.0498619417145,0.999999961736,0.000139421500648,-0.000236209685295,-3.59783873672e-05,1793242885901994496
+83,1.383333333,BASELINE,765,745,714,678.188259546,661,635,878,788,805,653,630.811740454,652,0.400998321049,-0.00540305356297,0.0498613643897,0.999999961651,0.000138336447358,-0.000237202984965,-3.60047303839e-05,1793242885918660864
+84,1.400000000,BASELINE,765,745,714,678.765619916,661,635,878,788,805,653,630.234380084,652,0.400999358835,-0.00540422571702,0.0498620875939,0.999999962359,0.000135582023179,-0.000235849647165,-3.56932038443e-05,1793242885935326720
+85,1.416666667,BASELINE,765,745,714,679,661,635,878,788,805,653,630.341527066,652,0.400999816339,-0.00540458404059,0.0498623332203,0.999999962461,0.000135085951808,-0.000235725541253,-3.55283281797e-05,1793242885951993600
+86,1.433333333,BASELINE,765,745,714,679,661,635,878,788,805,653,630.916441105,652,0.4009998773,-0.00540438622242,0.0498622524876,0.999999962153,0.000136133155434,-0.000236441447059,-3.5463668321e-05,1793242885968660480
+87,1.450000000,BASELINE,765,745,714,678.496959627,661,635,878,788,805,652.496959627,631,652,0.401000529487,-0.005404163822,0.0498628622316,0.999999962459,0.000135962260319,-0.000235240764193,-3.54804917694e-05,1793242885985327360
+88,1.466666667,BASELINE,765,745,714,678.090267442,661,635,878.090267442,787.909732558,805,652,631,652,0.401001362261,-0.00540404043164,0.0498635588521,0.99999996283,0.000135759907867,-0.000233776817938,-3.54681965546e-05,1793242886001994496
+89,1.483333333,BASELINE,765,745,714,678.67012167,661,635,878.67012167,787.32987833,805,652,631,652,0.401002629178,-0.00540447671918,0.0498640898068,0.999999962998,0.000136510452452,-0.00023265276602,-3.52228132693e-05,1793242886018661120
+90,1.500000000,BASELINE,765,745.249245968,714,679,660.750754032,634.750754032,879,787.249245968,805,652,631,652,0.401001874922,-0.00540401053115,0.0498636558871,0.999999962679,0.000137444138677,-0.000233458042628,-3.53206667574e-05,1793242886035327488
+91,1.516666667,BASELINE,765,745.827406975,714,679,660.172593025,634.172593025,879,787.827406975,805,652,631,652,0.400998453446,-0.00540235339992,0.04986194868,0.99999996171,0.000138619505937,-0.00023680933911,-3.58714693628e-05,1793242886051993856
+92,1.533333333,BASELINE,765,745.600081924,714,678.600081924,660.399918076,634.399918076,879,788,805,652,631,652,0.400999073801,-0.00540271542143,0.0498621155723,0.999999962015,0.00013818082238,-0.000235785239437,-3.57842589748e-05,1793242886068660224
+93,1.550000000,BASELINE,765,745.029975142,714,678.029975142,660.970024858,634.970024858,879,788,805,652,631,652,0.401001414193,-0.00540393671126,0.0498630800043,0.999999962859,0.000137055265192,-0.000232899151165,-3.542553651e-05,1793242886085326592
+94,1.566666667,BASELINE,765,745,714,678.563060839,661,635,879,788,805,652,631,652,0.401000572322,-0.00540379590768,0.0498627192215,0.99999996247,0.000137813217945,-0.000234175527415,-3.50679642339e-05,1793242886101993216
+95,1.583333333,BASELINE,765,745,714,679,661,635,878.847048092,787.847048092,804.847048092,652.152951908,631,652,0.401000009921,-0.00540381166074,0.0498624839418,0.999999962247,0.000137925309078,-0.00023508084433,-3.49271414665e-05,1793242886118659840
+96,1.600000000,BASELINE,765,745,714,679,661,635,878.26942187,787.26942187,804.26942187,652.73057813,631,652,0.401000713819,-0.00540447197599,0.0498628013212,0.99999996268,0.000135953929308,-0.0002343145304,-3.53879511334e-05,1793242886135326720
+97,1.616666667,BASELINE,765,745,714,679,661,635,878.306511469,787.306511469,804.306511469,652.693488531,631,652,0.401000714029,-0.00540471362012,0.0498630908234,0.999999962863,0.000135378030093,-0.000233861101625,-3.54474203677e-05,1793242886151993600
+98,1.633333333,BASELINE,765,745,714,679,661,635,878.880964912,787.880964912,804.880964912,652.119035088,631,652,0.401000099097,-0.00540458927605,0.0498633559562,0.999999962828,0.000136022012968,-0.000233681186531,-3.5156051323e-05,1793242886168660224
+99,1.650000000,BASELINE,765,745.454064121,714,679,661.454064121,635,879,788,805,652.454064121,631,652,0.401000135526,-0.00540389102801,0.0498632618886,0.999999962531,0.000137696457178,-0.000233986694851,-3.50284991776e-05,1793242886185326848
+100,1.666666667,BASELINE,765,745.972095776,714,678.972095776,661.972095776,635,878.972095776,788,805,652.972095776,631,652,0.401000345889,-0.00540308187133,0.0498631108444,0.999999962187,0.000139528400232,-0.00023438150102,-3.49591650165e-05,1793242886201993216
+101,1.683333333,BASELINE,765,745.375960222,714,678.375960222,661.375960222,635,878.375960222,788,805,652.375960222,631,652,0.401000631251,-0.00540306884414,0.0498637114124,0.999999962328,0.000139082910919,-0.000234011045764,-3.5203436881e-05,1793242886218660096
+102,1.700000000,BASELINE,765,745,714,678.212208451,660.787791549,635,878,787.787791549,805,652.212208451,631,652,0.401000669467,-0.00540336332877,0.0498638243612,0.99999996247,0.000138086009208,-0.00023397243826,-3.53354914297e-05,1793242886235326720
+103,1.716666667,BASELINE,765,745,714,678.786773225,660.213226775,635,878,787.213226775,805,652.786773225,631,652,0.40100028567,-0.0054041829049,0.0498631046765,0.999999962614,0.000136147543866,-0.000234500477082,-3.52759293905e-05,1793242886251993344
+104,1.733333333,BASELINE,765,745,714,679,660.363549317,635,878,787.363549317,805.363549317,652.636450683,631,652,0.401000498242,-0.00540331995769,0.049863303442,0.999999962488,0.000137728689324,-0.000234094070375,-3.54332632094e-05,1793242886268659968
+105,1.750000000,BASELINE,765,745,714,679,660.941630371,635,878,787.941630371,805.941630371,652.058369629,631,652,0.401001062735,-0.00540146414757,0.0498640441882,0.999999962191,0.000141386769364,-0.000233136244111,-3.57185880345e-05,1793242886285326848
+106,1.766666667,BASELINE,764.468444508,745,714,679,661,635,878.531555492,787.468444508,805.468444508,652,631,652,0.401000525334,-0.00540078841257,0.0498637131732,0.999999962012,0.000141431833598,-0.00023386853793,-3.57454189692e-05,1793242886301993472
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.400998533702,-0.00540186791475,0.0498624051859,0.9999999616,0.000139106378133,-0.000236996090076,-3.58197262872e-05,1793242886344120320
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.424350823,661,635,878.424350823,787.575649177,805,653,631,652,0.400998029429,-0.00540292134521,0.0498615881549,0.99999996155,0.000138903868264,-0.00023734003997,-3.57239978587e-05,1793242886360786432
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.150546269,661.150546269,635,878.150546269,788,805,653,631,652,0.40099771939,-0.00540370260216,0.0498611726353,0.99999996156,0.000138800635864,-0.000237378527823,-3.55889620139e-05,1793242886377452288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.723334101,661.723334101,635,878.723334101,788,805,653,631,652,0.400997954128,-0.00540372048624,0.0498618832462,0.999999961738,0.000138975849856,-0.000236560277348,-3.53436794768e-05,1793242886394118912
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713.693010315,679,661.693010315,635,878.693010315,787.693010315,805,652.693010315,631,652,0.400998885215,-0.0054036413511,0.0498626625882,0.999999962063,0.000138603931022,-0.00023540958285,-3.52995754681e-05,1793242886410786048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.099201055,679,661.099201055,635,878.099201055,787.099201055,805,652.099201055,631,652,0.4010004669,-0.00540347157118,0.0498635061455,0.999999962522,0.000137720827561,-0.00023394828691,-3.54434319911e-05,1793242886427452928
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.481081407,679,661,635,878.481081407,787.481081407,805.481081407,652.481081407,631,652,0.401001325364,-0.00540318487839,0.0498637195682,0.999999962754,0.000137230146027,-0.000233229072662,-3.55634643912e-05,1793242886444119808
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.941600077,788,805.941600077,653,631,652,0.401001872745,-0.0054030319167,0.0498638550907,0.9999999629,0.000136916680553,-0.000232771543208,-3.56464822263e-05,1793242886460786432
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.366501784,788,805.366501784,653,631,652,0.40100095116,-0.00540426961622,0.0498644195679,0.999999962705,0.000137474790693,-0.000233312457154,-3.54442867753e-05,1793242886477453056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.786592075,745,714,679,661,635,878.213407925,788,805,652.786592075,630.786592075,652,0.401001891658,-0.00540473722864,0.0498649890578,0.999999962801,0.000137451522501,-0.000232927495,-3.53469503468e-05,1793242886494119680
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.198228824,745,714,679,661,635,878.801771176,788,805,652.198228824,630.198228824,652,0.401006103815,-0.00540385180654,0.0498655673553,0.999999963408,0.000136406779055,-0.000230915778888,-3.54338500633e-05,1793242886510786048
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.384556289,745,714,679,661,635,879,788,804.615443711,652.384556289,630.384556289,652,0.401024769624,-0.00540388649226,0.0498726327852,0.999999966394,0.000136479735832,-0.000217648796032,-3.48561157154e-05,1793242886527452416
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.96450718,745,714,679,661,635,879,788,804.03549282,652.96450718,630.96450718,652,0.401050779393,-0.00540438868841,0.0498829943533,0.999999970289,0.000137120600472,-0.000198662966446,-3.39406781126e-05,1793242886544119040
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.461853404,745,714,679,661,635,879,788,804.538146596,653,630.461853404,652,0.401105592009,-0.00540868432609,0.0499004383381,0.999999977212,0.000135346805319,-0.000161798106466,-3.28294541027e-05,1793242886560785664
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.11152653,745,714,679,661,635,878.88847347,788,805,653,630.11152653,652,0.401165143771,-0.00541265449019,0.0499177624641,0.999999982514,0.000133721433596,-0.000126850314842,-3.16204150204e-05,1793242886577452800
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.685536795,745,714,679,661,635,878.314463205,788,805,653,630.685536795,652,0.401236561808,-0.00541424948446,0.0499326749687,0.999999985176,0.000133364306692,-0.000104685545542,-3.00586783203e-05,1793242886594119680
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.259379696,788,805,653,631,652,0.401310214153,-0.00541562383132,0.0499424675162,0.999999986642,0.000133360110158,-8.99726018121e-05,-2.89241686074e-05,1793242886610786560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.833019787,788,805,653,631,652,0.40138657355,-0.00541673084512,0.0499460568025,0.999999987098,0.000133783518639,-8.4288175161e-05,-2.830728056e-05,1793242886627453440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.574670911,661,635,879,788,805,653,631,652,0.4014734509,-0.00542066757484,0.0499465160615,0.999999987383,0.000131470372673,-8.48544327624e-05,-2.73592404679e-05,1793242886644119808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678.024282752,661,635,878.975717248,787.975717248,805,652.975717248,631,652,0.401565745959,-0.00542567995567,0.0499456333341,0.999999987574,0.000128091676064,-8.80530253783e-05,-2.63004214599e-05,1793242886660786176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678.600038484,661,635,878.399961516,787.399961516,805,652.399961516,631,652,0.401682997385,-0.00542873311338,0.0499434617047,0.999999987424,0.000126032836949,-9.27440834655e-05,-2.58138317211e-05,1793242886677453056
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.179401787,631,651.820598213,0.401810856541,-0.00543260553281,0.0499435742396,0.99999998766,0.000123848867907,-9.33631189418e-05,-2.50148032228e-05,1793242886694119680
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.766972848,631,651.233027152,0.401962850055,-0.00543834191018,0.0499488836333,0.999999988769,0.000121380207489,-8.47176167115e-05,-2.35049240059e-05,1793242886710785792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.349847393,635,878.349847393,787.349847393,804.650152607,652.650152607,630.650152607,651.349847393,0.40212803041,-0.00544414987599,0.0499501801205,0.999999989208,0.000117944961596,-8.47739485526e-05,-2.20387738999e-05,1793242886727452672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.929635171,635,878.929635171,787.929635171,804.070364829,652.070364829,630.070364829,651.929635171,0.402301877951,-0.00545000489454,0.0499488390891,0.999999989204,0.000113874418357,-9.05496391899e-05,-2.06013649999e-05,1793242886744119296
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.4941073,745,714,678.4941073,660.988214601,635,879,788,804.5058927,652,630.5058927,651.4941073,0.402504556562,-0.00545699620746,0.0499494804022,0.999999989757,0.000110475733555,-8.89437907763e-05,-1.92273064959e-05,1793242886760785920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,678,660.081685275,635,879,787.918314725,805,652.081685275,631,651.081685275,0.402716808929,-0.00546419029463,0.0499504203126,0.999999990332,0.000107330436033,-8.65976062903e-05,-1.77851068875e-05,1793242886777452544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,678,660.657615248,635,879,787.342384752,805,652.657615248,631,651.657615248,0.402962892819,-0.00547166163435,0.049951510174,0.999999990652,0.000105156777108,-8.59410522244e-05,-1.58776673574e-05,1793242886794119168
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,678.239251127,661,635,879,787.239251127,805,653,630.760748873,652,0.403231220071,-0.00548075285459,0.0499561316492,0.999999991822,0.00010145738636,-7.66415770277e-05,-1.36988419281e-05,1793242886810786048
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,678.829252014,661,635,879,787.829252014,805,653,630.170747986,652,0.403532156786,-0.00549221887072,0.0499659305823,0.999999993882,9.55212243466e-05,-5.46713046901e-05,-1.11221562522e-05,1793242886827453440
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.411612332,745,714,679,661,635,879,788,805,653,630.411612332,652,0.403856550081,-0.00550242314376,0.0499744766371,0.999999995049,9.18383429786e-05,-3.74265122888e-05,-8.17895273578e-06,1793242886844120064
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990860883,745,714,679,661,635,879,788,805,653,630.990860883,652,0.404190496466,-0.0055121135499,0.0499825124353,0.999999995776,8.90731491396e-05,-2.21062535964e-05,-5.08647857258e-06,1793242886860786688
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.435235866,635,878.435235866,788,805,653,631,652,0.404555198446,-0.00552025413743,0.0499882900435,0.999999996122,8.74168354525e-05,-1.03514432121e-05,-2.49593906592e-06,1793242886877453056
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.860788487,745,714,679,660,635,878.278423026,787.860788487,805,653,630.860788487,652,0.404929587772,-0.00552606274627,0.0499920048321,0.999999995968,8.97649300791e-05,-2.33017217693e-06,3.49370401982e-07,1793242886894119680
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.284363193,745,714,679,660,635,879.431273615,787.284363193,805,653,630.284363193,652,0.405332853111,-0.00552462546618,0.0499893547292,0.999999994501,0.000104633617695,-5.85511479111e-06,4.02009147002e-06,1793242886910786816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.299615,745,714,679,660.299615,634.700385,880,787,805,653,630.299615,652,0.405736858536,-0.00551580721599,0.0499762585536,0.999999991533,0.000126039283505,-3.18315925127e-05,5.96094795316e-06,1793242886927453440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.890947063,745,714,679,660.890947063,634.109052937,880,787,805,653,630.890947063,652,0.406141584586,-0.00549980256,0.0499529916666,0.999999984978,0.000153809612392,-7.96677768041e-05,6.21753999981e-06,1793242886944120064
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,678.52823025,660.52823025,634.47176975,879.52823025,787.47176975,805,652.52823025,630.52823025,652,0.40660090596,-0.00549714995701,0.04993911905,0.999999980928,0.000167355832253,-0.000100364303678,7.98123058789e-06,1793242886960786688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049689144,745,714,678.099378289,660,635,879,787.950310856,805,652,630.049689144,652,0.40707698953,-0.00549828903902,0.049928754644,0.999999977954,0.000176730570583,-0.000112933828148,1.02153758822e-05,1793242886977453312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.622066264,745,714,679.244132528,660,635,879,787.377933736,805,652,630.622066264,652,0.407599537631,-0.0055075543743,0.0499329485192,0.999999978939,0.000176058188163,-0.000104568300148,1.3813538153e-05,1793242886994120192
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.799271233,745,714,679.799271233,660,635,878.799271233,787.200728767,804.799271233,652,630.799271233,652,0.408150627949,-0.00551559913142,0.0499447987209,0.999999980748,0.000177061208047,-8.26811779818e-05,1.78306242444e-05,1793242887010786816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.208392056,745,714,679.208392056,660,635,878.208392056,787.791607944,804.208392056,652,630.208392056,652,0.408757194877,-0.00552127148729,0.0499715302918,0.999999982709,0.000181320656309,-3.45125440918e-05,2.26619596078e-05,1793242887027452928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.345795867,635,878.345795867,788,804.345795867,652.345795867,630.345795867,652,0.409360862235,-0.00552218616518,0.049989527936,0.999999980936,0.000193228247322,-5.84885909939e-06,2.74951834009e-05,1793242887044119296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.879993123,635,878.879993123,788,804.879993123,652.879993123,630.879993123,652,0.409962949788,-0.00552050869756,0.050002767038,0.999999977499,0.000209302807454,1.21878624668e-05,3.23294359249e-05,1793242887060785920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.514234664,635,879,787.514234664,805,652.514234664,631,652,0.410579704735,-0.00551608857141,0.0499933715253,0.999999973444,0.000227404357046,-1.13558294348e-05,3.56371902455e-05,1793242887077452544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.102836679,714,679,660,635,879,787,805.102836679,652,631,651.897163321,0.411201455643,-0.00551239743544,0.0499747911971,0.999999968226,0.000243864041416,-5.09798037477e-05,3.84560741253e-05,1793242887094118912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.676676662,714,679,660,635,879,787,805.676676662,652,631,651.323323338,0.411826624255,-0.00551568475756,0.0499441803116,0.99999996193,0.000250113912715,-0.000109074607229,4.10615916635e-05,1793242887110786048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.740843351,714,679,660.259156649,634.740843351,879.259156649,787,805.740843351,652,631,651.259156649,0.412518183281,-0.00551992510452,0.0499386781021,0.999999960871,0.000251883521558,-0.000113617496258,4.36351562054e-05,1793242887127452928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.147212266,714,679,660.852787734,634.147212266,879.852787734,787,805.147212266,652,631,651.852787734,0.413295427619,-0.00552539545104,0.0499655818108,0.999999967012,0.000247870785994,-4.90448743541e-05,4.61674817359e-05,1793242887144119808
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.434834687,634,879.565165313,787.434834687,805,652,630.565165313,652,0.41404988205,-0.00553254493043,0.0499772927041,0.999999985709,0.000163649020746,-3.13462632904e-05,2.86176247332e-05,1793242887160786176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,678.987058604,661.974117207,634.012941396,879,787.987058604,805,652,630.012941396,652,0.414796463932,-0.00554012656312,0.0499831821674,0.999999997974,5.57506778686e-05,-3.02995886894e-05,5.06248361583e-06,1793242887177452800
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.414152598,660.828305195,634.585847402,879,787.414152598,805,652,630.585847402,652,0.415527588246,-0.00554244831638,0.049953962686,0.999999994388,6.7853642744e-05,-8.09439765289e-05,8.20746127366e-06,1793242887194119424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.163495485,678.163495485,660,634.836504515,879.163495485,787,805.163495485,652,631,652,0.416275618379,-0.00554367580776,0.0499339977437,0.99999999011,8.20741009356e-05,-0.000113619522131,1.16373440028e-05,1793242887210787328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.753514564,678.753514564,660,634.246485436,879.753514564,787,805.753514564,652,631,652,0.417067752014,-0.00554204861152,0.0499381758505,0.999999989749,0.000101818630956,-9.94183262569e-05,1.58104809665e-05,1793242887227458560
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.662070798,679,660.675858404,634.337929202,880,787,806,652,631,652,0.417914146396,-0.00553962714938,0.049958564263,0.999999991268,0.000115482257704,-6.1116061959e-05,1.98342243516e-05,1793242887244124416
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.081677372,679,661.836645255,634.918322628,880,787,806,652,631,652,0.418799472833,-0.00553663580149,0.0499905835706,0.999999991917,0.000124782834853,-5.52127997503e-06,2.37507776112e-05,1793242887260786432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494592508,745,714.494592508,679,661.010814985,635,880,787,805.505407492,652,631,652,0.419605152024,-0.00553657364576,0.0499759488517,0.999999990587,0.000128705746505,-4.04635026509e-05,2.49638463421e-05,1793242887277452544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929904657,745,714.929904657,679,660,634.929904657,879.929904657,787.070095343,805,652,631,652,0.420410766496,-0.00553730901152,0.0499577088711,0.999999988064,0.000130240859022,-7.91105824237e-05,2.5501600755e-05,1793242887294119168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.355062504,745,714.355062504,679,660,634.355062504,879.355062504,787.644937496,805,652,631,652,0.421309844374,-0.00554033275422,0.0499685280876,0.999999991683,0.000120923767687,-3.76634112926e-05,2.43647925577e-05,1793242887310785536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.677941494,634.225980498,879,788,805.225980498,652,631,652,0.422199449086,-0.00554325679092,0.0499797932838,0.999999993269,0.000113348356577,-5.2620660823e-06,2.42209689821e-05,1793242887327452672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.451123912,634.817041304,879,788,805.817041304,652,631,652,0.423073749669,-0.00554601974915,0.0499917789796,0.999999993696,0.00010858669659,1.25254009902e-05,2.56813506628e-05,1793242887344119296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.800111526,634.600037175,879,787.600037175,805.600037175,652,631,652,0.423964670228,-0.00554443915666,0.0499841551798,0.999999993487,0.00011116573824,-1.65234442099e-06,2.58102333702e-05,1793242887360786176
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.062293984,634.020764661,879,787.020764661,805.020764661,652,631,652,0.424863041734,-0.00554091128119,0.0499677401309,0.999999992375,0.000117035733292,-3.01606035657e-05,2.53421838272e-05,1793242887377453056
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554123142,745,714,679,660.554123142,634.554123142,879.554123142,787.554123142,805,652,631,652,0.425779745866,-0.00554523390111,0.0499877726843,0.999999993333,0.000112081357877,1.18508320609e-06,2.77542516111e-05,1793242887394119680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,880,787.87176457,805.12823543,652,631,652,0.426683299602,-0.00554885839646,0.0500028927113,0.999999993463,0.000108710285184,1.85267686953e-05,3.02251094496e-05,1793242887410786048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,880,787.299771854,805.700228146,652,631,652,0.427538987875,-0.00554905701894,0.0499963237585,0.999999992969,0.000112210844409,-2.02928614541e-05,3.2528862634e-05,1793242887427452672
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+175,2.916666667,POSE1_TO_POSE2_PRESS,765.458320859,745,714,679.458320859,660.458320859,635,879,787,806,652,631,651.458320859,0.430194380118,-0.00554450444841,0.0499494048035,0.999999990661,0.000110037522777,-7.58398688259e-05,2.86154049555e-05,1793242887477452544
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.932047281,660.966023641,635,879,787,806,651.966023641,631,652,0.431138843038,-0.00554881876303,0.0499623749634,0.99999999314,0.00010335059259,-4.64699994974e-05,2.96470354335e-05,1793242887494119424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,678.784169745,660.392084873,635,879,787,806,651.392084873,631,652,0.431988962458,-0.00555145797459,0.0499445292711,0.999999990632,0.000101598538698,-8.65940112683e-05,3.02392080157e-05,1793242887510786304
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.812407978,745,714,678.187592022,660,635,879.187592022,787.187592022,806,651.187592022,631,652,0.43284804759,-0.00555319896448,0.0499360319337,0.999999988941,0.000101220310872,-0.000104522558608,3.07890216173e-05,1793242887527452672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.220359321,745,714,678.779640679,660,635,879.779640679,787.779640679,806,651.779640679,631,652,0.433726463353,-0.00555300334952,0.0499476900564,0.999999991342,0.000103804112257,-7.45967181202e-05,3.12475075796e-05,1793242887544119296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363515428,745,714,679,660.363515428,635,879.636484572,787.636484572,806,652,631,652,0.434613314663,-0.00555239046975,0.0499682902259,0.999999993012,0.000105375743732,-4.24043402713e-05,3.27764193572e-05,1793242887560785920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.942544169,745,714,679,660.942544169,635,879.057455831,787.057455831,806,652,631,652,0.43550516701,-0.00555153021088,0.0499941917658,0.999999993695,0.000106347301176,-8.86822762393e-06,3.49399424324e-05,1793242887577452544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.50556458,745,714,679,661,635,879.49443542,787,805.50556458,652,631,652,0.436293641526,-0.00554942368588,0.0499700133578,0.999999991248,0.000108294881307,-6.7390275333e-05,3.51272313864e-05,1793242887594119424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.047095392,745,714,679,660.952904608,635,880,787,805.047095392,651.952904608,631,652,0.437078936214,-0.00554762813384,0.0499437466039,0.999999985375,0.00010955945598,-0.000126579362923,3.49860291879e-05,1793242887610786304
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.643597323,745,714,679,660.356402677,635,880,787,805.643597323,651.356402677,631,652,0.437959985705,-0.0055510619052,0.0499574749558,0.999999991445,0.000101601934903,-7.52467444015e-05,3.35523530827e-05,1793242887627452672
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.759260534,745,714,679.240739466,660.481478932,634.759260534,880,787,805.759260534,651.240739466,631,651.759260534,0.438806043845,-0.00555427494804,0.0499686957705,0.99999999392,9.60208148502e-05,-4.28347639297e-05,3.32568180869e-05,1793242887644119040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.161168116,745,714,679.838831884,661.677663768,634.161168116,880,787,805.161168116,651.838831884,631,651.161168116,0.439600160851,-0.00555716034182,0.0499761944034,0.999999994243,9.39672184812e-05,-3.85085274266e-05,3.46507366221e-05,1793242887660785920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.158993587,634.420503207,880,787,805.841006413,651.579496793,631,651.420503207,0.440364583505,-0.00555742758091,0.0499631106814,0.99999999326,9.48139695279e-05,-5.73435482326e-05,3.4680105048e-05,1793242887677452288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.007765334,634.996117333,880,787,806.992234666,651.003882667,631,651.996117333,0.441118052875,-0.00555672906213,0.0499424347516,0.999999991148,9.67305708193e-05,-8.47220562262e-05,3.42061322854e-05,1793242887694118912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.568421415,745,714,680,660.568421415,634.431578585,880,787,806.431578585,651.568421415,631,652,0.44189697169,-0.00556017055465,0.0499614324418,0.999999993512,9.48927577743e-05,-5.18047059127e-05,3.58962291589e-05,1793242887710785536
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,652,631,652,0.442660527575,-0.0055621270607,0.0499803527509,0.999999994565,9.52445347411e-05,-1.93771445706e-05,3.77261305024e-05,1793242887727452416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,652,631,652,0.443376430778,-0.00555944242729,0.0499982093012,0.999999993908,0.000102390651927,1.02921155069e-05,3.99397768251e-05,1793242887744119040
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.674135898,745,714,680,661,634,880,787,806,651.674135898,631,651.674135898,0.444036451525,-0.00555706356597,0.0499861632583,0.99999999321,0.000108407477247,-1.36109973523e-05,4.05291925603e-05,1793242887760785920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095285475,745,714,680,661,634,880,787,806,651.095285475,631,651.095285475,0.44465308759,-0.00555492209258,0.0499509021775,0.99999998963,0.000113547570111,-7.91053074259e-05,3.9857628028e-05,1793242887777453056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.476325579,745,714,679.523674421,660.523674421,634,880,787,806,651,631,651.476325579,0.445292183843,-0.00555745291714,0.0499406597794,0.999999989547,0.000112116303178,-8.19603305426e-05,4.02299584458e-05,1793242887794119424
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.045419443,634,880,787,806,651,631,651.954580557,0.445935512894,-0.00556069154725,0.0499378232421,0.999999990715,0.000109957161095,-6.9293935074e-05,4.09708817583e-05,1793242887810786304
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.602232911,634,880,787,806,651,631,651.397767089,0.446576669667,-0.00556153349703,0.0499628646736,0.999999992316,0.000114182051748,-2.08399172567e-05,4.3545905086e-05,1793242887827452928
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,679.176569271,661,634,880,787,806,651,631,651.176569271,0.447188275738,-0.00556079308848,0.0499758229063,0.999999991799,0.000119676630376,5.20101687497e-06,4.5297156693e-05,1793242887844119552
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,679.794729418,661,634,880,787,806,651,631,651.794729418,0.447725976887,-0.00555609528108,0.0499585616621,0.999999990444,0.000128346634733,-2.48120529074e-05,4.49881964104e-05,1793242887860786176
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612918992,745,714,680,661,634,880,787,806,651.387081008,631,652,0.448228187963,-0.0055530388364,0.0499339542195,0.999999988224,0.000133190025612,-6.20400150261e-05,4.43164631781e-05,1793242887877452800
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.033398233,745,714,680,661,634,880,787,806,651.966601767,631,652,0.448712754975,-0.00555079840507,0.0499056945667,0.9999999845,0.000136130992236,-0.000102854908741,4.34643750234e-05,1793242887894119424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.458370494,634,880,787,806.541629506,651.458370494,631,652,0.449190717066,-0.00555227565174,0.049909139409,0.999999984959,0.000134544520292,-9.9902151034e-05,4.47172858115e-05,1793242887910785792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.118895429,634,880,787.118895429,806.881104571,651.118895429,631,651.881104571,0.449661622229,-0.00555452805587,0.0499156017839,0.99999998599,0.000131896037528,-9.22445513378e-05,4.59740063677e-05,1793242887927452672
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.706058761,634,880,787.706058761,806.293941239,651.706058761,631,651.293941239,0.450106324778,-0.00555893797109,0.0499263123599,0.999999988016,0.000126155313832,-7.6598825432e-05,4.67387243904e-05,1793242887944119552
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.713432804,880,787.426865607,806.286567196,651.713432804,631,651.286567196,0.450522526815,-0.00556163016849,0.0499310346098,0.999999990885,0.000105786200231,-7.2696078171e-05,4.18868896484e-05,1793242887960786176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.139595621,880,786.279191242,806.860404379,651.139595621,631,651.860404379,0.450910158418,-0.0055626004352,0.0499297538471,0.999999993759,7.0752821671e-05,-8.05651094283e-05,3.140472778e-05,1793242887977452800
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786.43989828,806.56010172,651,631,652,0.451257148081,-0.00556468244764,0.0499234800209,0.999999993973,4.24224530839e-05,-9.838702424e-05,2.39831046229e-05,1793242887994119424
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.02105576,680,660.97894424,633,880,787.02105576,806,651.02105576,630.97894424,652,0.451589093822,-0.00556687876935,0.0499150172463,0.999999992455,1.75672125793e-05,-0.000120272382675,1.77782732217e-05,1793242888010785792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.598123493,680,660.401876507,633,880,787.598123493,806,651.598123493,630.401876507,652,0.45186878731,-0.00556265607005,0.0498911375176,0.999999985855,2.75769628455e-05,-0.000164970201231,1.77240876051e-05,1793242888027452672
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.821549276,680,660.178450724,632.821549276,880,787.821549276,806.178450724,652,630.178450724,652,0.452145036125,-0.00556051618795,0.0498718243844,0.999999979211,3.4720484443e-05,-0.000200101372836,1.82408590781e-05,1793242888044119296
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.233745065,680,660.766254935,632.233745065,880,787.233745065,806.766254935,652,630.766254935,652,0.452413383066,-0.00556315414347,0.0498629867053,0.99999997643,3.52890765834e-05,-0.000213287319641,2.00673662777e-05,1793242888060785920
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.650860422,632.349139578,880,786.650860422,807,651.650860422,631,652,0.452673533466,-0.00556467668497,0.0498619916176,0.999999976864,3.7405823315e-05,-0.000210717513635,2.17101634852e-05,1793242888077452800
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.071223551,632.928776449,880,786.071223551,807,651.071223551,631,652,0.452928272645,-0.00556546284527,0.0498661741031,0.999999979356,4.05446411087e-05,-0.000197745971115,2.32316779873e-05,1793242888094119680
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.505158768,679.494841232,660,632.494841232,880,786.505158768,807,651.505158768,631,652,0.453145585137,-0.0055650548813,0.0498717987055,0.999999980946,4.41607851387e-05,-0.000188563847543,2.45337398021e-05,1793242888110786304
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.91930274,745,715,679.08069726,660,632,880,787,807,652,631,652,0.453351731826,-0.0055642500354,0.0498760799171,0.99999998193,4.80071051279e-05,-0.000182146509087,2.56649096453e-05,1793242888127452928
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.346131244,745,715,679.653868756,660,632,880,787,807,652,631,652,0.453521733892,-0.00556204401756,0.0498709298584,0.999999980338,5.28500489316e-05,-0.000189362231681,2.59407881773e-05,1793242888144119296
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.23496494,745,715,680,660,632,880,786.76503506,807,652,630.76503506,651.76503506,0.453679880512,-0.00556029594124,0.0498645254725,0.999999978301,5.6979140218e-05,-0.000198665684905,2.61436014352e-05,1793242888160785920
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.828142566,745,715,680,660,632,880,786.171857434,807,652,630.171857434,651.171857434,0.453819953059,-0.00555924601374,0.049856208819,0.999999975562,6.00199368111e-05,-0.000211151959776,2.62350239802e-05,1793242888177452544
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,652,630.408115025,651,0.453940144727,-0.00555776163006,0.0498488243233,0.99999997282,6.36085886182e-05,-0.000222759931821,2.63146896495e-05,1793242888194119936
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,652,630.982701054,651,0.454052226939,-0.00555610003079,0.0498418200569,0.999999969999,6.74207116744e-05,-0.000234009641919,2.63895596596e-05,1793242888210787328
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.85806851,679,660,631.14193149,880,787,807,651,630,652,0.454231710145,-0.00555841167724,0.0498341619801,0.999999968343,6.37564500562e-05,-0.000241956834285,2.65546011245e-05,1793242888244120576
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.270493307,679,660,631.729506693,880,787,807,651,630,652,0.454305271982,-0.00555947331343,0.0498336475687,0.999999967748,6.24610746035e-05,-0.000244698950155,2.69093996475e-05,1793242888260787456
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.686880379,631.686880379,880,786.686880379,807.313119621,651,630,652,0.454369170555,-0.00555881730879,0.0498328342876,0.999999967102,6.35532116945e-05,-0.000247067572237,2.67152843175e-05,1793242888277454080
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.106647488,631.106647488,880,786.106647488,807.893352512,651,630,652,0.454424825685,-0.00555669603467,0.0498317660494,0.999999966408,6.66820663632e-05,-0.000249117577904,2.60529065352e-05,1793242888294120704
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.468424064,679.468424064,659,631,880,786,807.063151872,651,630,652,0.454463824674,-0.00555476523756,0.0498278432609,0.999999964931,6.90178271958e-05,-0.000254380364196,2.5788210409e-05,1793242888310787328
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+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.380079091,679.380079091,659,631,880,786,806,651.619920909,630.619920909,652,0.454525430869,-0.00555373459979,0.0498234808945,0.999999963556,6.81838855315e-05,-0.000259924578628,2.60510848751e-05,1793242888344120320
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.892678723,631.107321277,880,786.107321277,806.107321277,651.107321277,630.892678723,652,0.454588826064,-0.0055513344615,0.0498124883193,0.999999958372,7.03685098738e-05,-0.000278597041344,2.62393131484e-05,1793242888444119296
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.305424401,631.694575599,880,786.694575599,806.694575599,651.694575599,630.305424401,652,0.454589894849,-0.00554908160664,0.0498110019273,0.999999957532,7.29978402907e-05,-0.000280967619137,2.57924533807e-05,1793242888460785664
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.278105485,680,659,631.721894515,880,786.721894515,806.721894515,652,630.278105485,652,0.45458964694,-0.00554713845285,0.0498087040683,0.99999995641,7.49496928067e-05,-0.000284461458987,2.5396325962e-05,1793242888477452032
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.857599203,680,659,631.142400797,880,786.142400797,806.142400797,652,630.857599203,652,0.454587972104,-0.00554553092774,0.0498055268066,0.999999954975,7.61673498937e-05,-0.000289172599701,2.50551781043e-05,1793242888494118656
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.564752912,745,714.564752912,680,659,631,880.435247088,786.435247088,806,652,630.564752912,652,0.454588131097,-0.00554585351577,0.0498052407526,0.9999999547,7.53499616155e-05,-0.00029032448606,2.51647180238e-05,1793242888510786048
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.012236575,745,714,680,659.012236575,631,880.987763425,786.987763425,806.012236575,652,630.012236575,652,0.454588893339,-0.00554674586761,0.0498058894528,0.999999954803,7.39561499599e-05,-0.000290306874938,2.54068068017e-05,1793242888527453952
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.586607162,745,714,680,659.586607162,631,880.413392838,786.413392838,806.586607162,652,630.586607162,652,0.45458992222,-0.00554492557781,0.0498062085775,0.999999954757,7.65395082698e-05,-0.000289833292522,2.49928430567e-05,1793242888544119552
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.16548738,680,660,631,880,786,807,652,630.83451262,652,0.454590488382,-0.00554467402621,0.0498060740331,0.999999954727,7.70738263474e-05,-0.000289805400187,2.48764193371e-05,1793242888560785408
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.755948348,680,660,631,880,786,807,652,630.244051652,652,0.454589866277,-0.00554845101333,0.0498047744609,0.999999954739,7.23461842481e-05,-0.000290922045385,2.5524082015e-05,1793242888577452032
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.339218597,714.660781403,680,660,631,879.660781403,786,807,652,630.339218597,652,0.454589734591,-0.00554885292425,0.0498038046171,0.999999954383,7.22220158257e-05,-0.000292163106729,2.56583255839e-05,1793242888594118656
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.917422828,714.082577172,680,660,631,879.082577172,786,807,652,630.917422828,652,0.454589948414,-0.0055468770328,0.0498030670731,0.99999995377,7.53410780429e-05,-0.000293491821449,2.54308560803e-05,1793242888610785536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506038212,714,680,659.506038212,631,879.493961788,786,806.506038212,652,631,651.506038212,0.454589676466,-0.0055453634544,0.0498026803309,0.999999953409,7.6645690277e-05,-0.000294389975276,2.53484023651e-05,1793242888627452672
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631,880,786,806,652,630.930026064,651,0.454589377106,-0.0055442620023,0.0498024037211,0.999999953144,7.72403742543e-05,-0.000295137246998,2.52831939571e-05,1793242888644120064
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631,880,786,806,652,630.355811115,651,0.454589463449,-0.00554557532119,0.0498024995585,0.999999953273,7.48976965018e-05,-0.000295314184368,2.51681480673e-05,1793242888660786688
+247,4.116666667,HOLD_POSE2,765,745,714,680,659,631,880,786,807,651,630,652,0.454590832622,-0.0055462080018,0.049803306428,0.999999953471,7.5804017679e-05,-0.000294375603011,2.55960184754e-05,1793242888700554496
+248,4.133333333,HOLD_POSE2,765,745,714,679.396027874,659,631,880,786,807,651.603972126,630.603972126,652,0.454588514117,-0.00554487523323,0.0498013559589,0.999999952335,7.65362280036e-05,-0.000298059325425,2.51672580575e-05,1793242888717220352
+249,4.150000000,HOLD_POSE2,765,745,714.198234556,679,659,631,879.801765444,786.198234556,807,652,631,652,0.454587425902,-0.00554443102833,0.0498003113657,0.999999951697,7.66817761597e-05,-0.000300161981533,2.50595778548e-05,1793242888733886464
+250,4.166666667,HOLD_POSE2,765,745,714.774005061,679,659,631,879.225994939,786.774005061,807,652,631,652,0.454588680764,-0.0055456790848,0.049800992005,0.999999952031,7.57100315678e-05,-0.000299253511585,2.556339199e-05,1793242888750553088
+251,4.183333333,HOLD_POSE2,765,745,715,679.69428181,659.347140905,631,879.347140905,786.652859095,806.652859095,652,630.652859095,652,0.45458974983,-0.00554445476548,0.0498011539057,0.999999952198,7.66140226899e-05,-0.000298485350713,2.53328226145e-05,1793242888767219456
+252,4.200000000,HOLD_POSE2,765,745,715,680.837148847,659.918574423,631,879.918574423,786.081425577,806.081425577,652,630.081425577,652,0.45459069885,-0.00554163300937,0.0498009806422,0.999999952253,7.87299530562e-05,-0.000297807845556,2.46277577096e-05,1793242888783885824
+253,4.216666667,HOLD_POSE2,765,745,714.486369383,681,659.486369383,631,880,786,806,652,630,652,0.454589020684,-0.00554306376127,0.0497995815842,0.999999951975,7.64593182347e-05,-0.000299332308928,2.45810395259e-05,1793242888800552192
+254,4.233333333,HOLD_POSE2,765,745,714.108079578,680.891920422,659,631,880,786.108079578,806.108079578,652,630,652,0.454587558003,-0.00554456096541,0.0497985537643,0.999999951722,7.44963045762e-05,-0.000300665528958,2.46437778711e-05,1793242888817219072
+255,4.250000000,HOLD_POSE2,765,745,714.682952093,680.317047907,659,631,880,786.682952093,806.682952093,652,630,652,0.454588911507,-0.00554329318229,0.0498000090559,0.999999951852,7.70101034931e-05,-0.00029959243774,2.47067657163e-05,1793242888833885696
+256,4.266666667,HOLD_POSE2,765,745.25721736,715,680,659,631,880,786.74278264,807,652,630,651.74278264,0.454589844719,-0.00554245619744,0.0498006702705,0.999999951962,7.83607995904e-05,-0.00029886381948,2.48092031461e-05,1793242888850552576
+257,4.283333333,HOLD_POSE2,765,745.830735851,715,680,659,631,880,786.169264149,807,652,630,651.169264149,0.454590261097,-0.00554214896689,0.0498003550055,0.999999952056,7.82812237024e-05,-0.000298558800958,2.49601518704e-05,1793242888867219200
+258,4.300000000,HOLD_POSE2,765,745.598486669,715,680,659,631,880,786,807,652,630.401513331,651.401513331,0.454589563307,-0.00554167681334,0.0498000889295,0.999999951836,7.83898759722e-05,-0.000299285121687,2.47425260909e-05,1793242888883885568
+259,4.316666667,HOLD_POSE2,765,745.028856821,715,680,659,631,880,786,807,652,630.971143179,651.971143179,0.454588399006,-0.0055411356053,0.0497998434491,0.999999951483,7.85773407176e-05,-0.000300443271544,2.43705755309e-05,1793242888900552192
+260,4.333333333,HOLD_POSE2,765,745.568698894,715,680,659.568698894,631,880,786,807,651.431301106,631,652,0.454588640735,-0.00554259663049,0.049799008091,0.999999951395,7.69850422367e-05,-0.000301125605614,2.46275897141e-05,1793242888917218816
+261,4.350000000,HOLD_POSE2,765,746,714.838697561,680,659.838697561,631,879.838697561,786,806.838697561,651,630.838697561,652,0.454589190824,-0.00554332459627,0.0497986087627,0.999999951402,7.63076641775e-05,-0.000301259308976,2.48240059102e-05,1793242888933885440
+262,4.366666667,HOLD_POSE2,765,746,714.262658307,680,659.262658307,631,879.262658307,786,806.262658307,651,630.262658307,652,0.454590340845,-0.00554189302492,0.0497994114763,0.999999951619,7.82268960556e-05,-0.000300047670453,2.47783179844e-05,1793242888950552320
+263,4.383333333,HOLD_POSE2,765,745.680577179,714.319422821,679.680577179,659,631,879.319422821,786,806,651,630,652,0.45458988559,-0.00554171491282,0.0497993512516,0.999999951417,7.79415334735e-05,-0.000300822682682,2.44439752538e-05,1793242888967218688
+264,4.400000000,HOLD_POSE2,765,745.093432126,714.906567874,679.093432126,659,631,879.906567874,786,806,651,630,652,0.454588084883,-0.0055425873798,0.0497985677604,0.999999950858,7.58084037765e-05,-0.000303262793833,2.38676983141e-05,1793242888983885312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,879,786,807,651,631,652,0.454588957226,-0.00554126558898,0.0497989709171,0.999999951048,7.67601329412e-05,-0.000302356656181,2.43224838549e-05,1793242889015209216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.422165524,659,631,879.577834476,786,806.422165524,651,630.422165524,651.422165524,0.45458995713,-0.00554024278928,0.0497989575651,0.999999951326,7.79420091964e-05,-0.000301169024664,2.38793904768e-05,1793242889031876608
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.845156801,680,659,631,880,786,806.154843199,651,630,651,0.454590399739,-0.00553940448447,0.0497987675779,0.999999951356,7.90020914478e-05,-0.000300822546751,2.35222932052e-05,1793242889048544000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.270387342,680,659,631,880,786,806.729612658,651,630,651,0.454589330992,-0.00553906651945,0.0497980985656,0.999999950717,7.97318753087e-05,-0.000302757230992,2.33984125563e-05,1793242889065210112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.313153661,659.313153661,630.686846339,880.313153661,786,806.686846339,651,630.313153661,651.313153661,0.454588745082,-0.00553997353677,0.0497980581628,0.999999950628,7.87748090259e-05,-0.000303274180793,2.3716101951e-05,1793242889081876480
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.904486528,659.904486528,630.095513472,880.904486528,786,806.095513472,651,630.904486528,651.904486528,0.454588588083,-0.00554198649105,0.0497985761636,0.999999951027,7.63192878111e-05,-0.000302531735203,2.44260448039e-05,1793242889098543104
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.48566329,745,714.48566329,680.51433671,659.51433671,630.48566329,880.51433671,786,806.48566329,651,631,652,0.454587296523,-0.00554187926686,0.0497970006675,0.999999950617,7.56769468096e-05,-0.000304066942562,2.41184425963e-05,1793242889115209728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.935668216,745,715,680,659,631,880,786,807,651.064331784,631,652,0.454585278732,-0.00554111420508,0.0497950371968,0.999999949931,7.5833229186e-05,-0.000306313635797,2.36556472342e-05,1793242889131876352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.361374018,745,715,680,659,631,880,786,807,651.638625982,631,652,0.4545792366,-0.00553837204202,0.0497931951018,0.999999948285,7.95514335874e-05,-0.000310722232422,2.35164689484e-05,1793242889148542720
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.787325159,745,714.787325159,680,659,631,880,786,806.787325159,652,630.787325159,651.787325159,0.454567334008,-0.00553779471616,0.0497878657182,0.999999945216,8.10407283425e-05,-0.000320080921214,2.34309076473e-05,1793242889165209088
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.213692752,745,714.213692752,680,659,631,880,786,806.213692752,652,630.213692752,651.213692752,0.454545484881,-0.00554089161158,0.0497766176131,0.999999939557,7.87470562139e-05,-0.00033784104149,2.34363465708e-05,1793242889181875968
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.370707427,745,714.370707427,680,659,631,880,786,806,652,630,651.370707427,0.45450545529,-0.00553925404693,0.0497583237528,0.99999992867,7.90957734611e-05,-0.000368644874791,2.24597836151e-05,1793242889198542336
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.961500387,745,714.961500387,680,659,631,880,786,806,652,630,651.961500387,0.454454632126,-0.00553480567789,0.0497358468924,0.999999913597,8.10132522667e-05,-0.000407192639842,2.09002153028e-05,1793242889215208960
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.543440449,714.456559551,680,659.543440449,631,880,786,806,652,630.543440449,652,0.454388310256,-0.00553284241126,0.0497139504953,0.999999899506,8.17325983649e-05,-0.000440387720424,1.91426619772e-05,1793242889231875840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.877161925,714,680,659.877161925,631,880,786,806,651.877161925,630.877161925,652,0.454319682956,-0.00553132667045,0.0496949543873,0.999999886738,8.22247219645e-05,-0.000468454973017,1.77063340343e-05,1793242889248542720
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.304809631,714,680,659.304809631,631,880,786,806,651.304809631,630.304809631,652,0.454246572729,-0.00553081467729,0.0496864235324,0.99999988169,8.21909811103e-05,-0.000479122866221,1.74960037128e-05,1793242889265209088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.274659199,745,714,680,659,631,879.725340801,786,806.274659199,651,630,651.725340801,0.454165140466,-0.00552842647377,0.0496806450489,0.999999878901,8.37580313996e-05,-0.000484662815815,1.68445069281e-05,1793242889281875712
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.862235817,745,714,680,659,631,879.137764183,786,806.862235817,651,630,651.137764183,0.454074226969,-0.00552390071617,0.0496780023244,0.999999878777,8.7148852518e-05,-0.000484360532386,1.56903921079e-05,1793242889298542336
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.559689634,745.440310366,714,680,659.440310366,631.440310366,879,786,806.559689634,651,630,651.440310366,0.453968257277,-0.00551984566192,0.0496790978101,0.999999879005,8.99447263413e-05,-0.000483394515034,1.51294778968e-05,1793242889315208960
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.984351578,714.015648422,680,659.984351578,631.984351578,879.015648422,786,806,651.015648422,630,652,0.453856818113,-0.00551583871167,0.0496813233927,0.999999879327,9.26420157768e-05,-0.000482230990811,1.47391519578e-05,1793242889331875840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.402730523,714.597269477,680,659.402730523,631.402730523,879.597269477,786,806,651.597269477,630,652,0.453714339166,-0.00550835751337,0.049683013478,0.999999879252,9.83640498381e-05,-0.000481276340309,1.39476699474e-05,1793242889348542464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.17648806,714.82351194,680,659.17648806,631.17648806,880,786.17648806,806.17648806,652,630,652,0.453562342232,-0.00550236455436,0.0496845489802,0.999999878716,0.000102741764376,-0.000481489515571,1.33991648042e-05,1793242889365208832
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.750297954,714.249702046,680,659.750297954,631.750297954,880,786.750297954,806.750297954,652,630,652,0.45338891778,-0.00549972202113,0.0496857364743,0.999999877204,0.000104093055284,-0.000484331779189,1.33976656946e-05,1793242889381875456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.665987696,714.334012304,679.665987696,660,631.665987696,879.665987696,786.665987696,806.665987696,652,630,651.665987696,0.453197067857,-0.00549278592349,0.0496880804476,0.999999875929,0.000110108170202,-0.000485646882537,1.2837239619e-05,1793242889398542336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.074642604,714.925357396,679.074642604,660,631.074642604,879.074642604,786.074642604,806.074642604,652,630,651.074642604,0.452991022396,-0.00548254193874,0.0496913154062,0.99999987477,0.000119716430846,-0.000485785417491,1.18461999604e-05,1793242889415208960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.494122593,679,660,631.505877407,879.505877407,786.505877407,806,652,630.505877407,651.505877407,0.452755408184,-0.00547393537779,0.0496943408139,0.999999874389,0.000125722752218,-0.000485072402481,1.09493721022e-05,1793242889431875840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.084125999,714,679.084125999,660,632,880,787,806.084125999,652,631,652,0.452510811558,-0.00546553742962,0.0496977064708,0.99999987447,0.000131180474927,-0.000483476134107,1.00990209164e-05,1793242889448542720
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.658253144,714,679.658253144,660,632,880,787,806.658253144,652,631,652,0.452238775529,-0.00545697680418,0.0497032302683,0.999999876663,0.0001364735721,-0.000477451770532,9.44010612662e-06,1793242889465210112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.762587449,714.237412551,680,659.762587449,632,880,786.762587449,806.762587449,652,631,651.762587449,0.451942906797,-0.00544813321486,0.049704862424,0.99999987597,0.000141791154433,-0.000477374531822,8.25311403695e-06,1793242889481876992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.176027449,714.823972551,680,659.176027449,632,880,786.176027449,806.176027449,652,631,651.176027449,0.451611988851,-0.00543887348917,0.0497007713907,0.999999871035,0.000147144745205,-0.000486043349516,6.28951248816e-06,1793242889498543616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.406948496,745,714.593051504,679.593051504,659.406948496,632,880,786.406948496,806.406948496,652,631,651.406948496,0.451266042963,-0.00543155306056,0.0496995167724,0.999999872874,0.000150069606852,-0.000481368919312,3.80460878836e-06,1793242889515210240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.98838766,745,714.01161234,679.01161234,659.98838766,632,880,786.98838766,806.98838766,652,631,651.98838766,0.45091365343,-0.00542506416062,0.0496994783474,0.999999877547,0.000151953082096,-0.000470973194202,1.09618210825e-06,1793242889531876608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.376478325,660,634,879.376478325,787,807,651.623521675,631,652,0.447150313207,-0.00541103779765,0.0497615506512,0.99999993475,0.000110185074638,-0.000343592690197,-1.7406849072e-05,1793242889665211136
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.196671943,660,634,879,787,806.803328057,651.803328057,631,652,0.446563124726,-0.00540426059643,0.0497607591838,0.999999933866,0.000108549508398,-0.000346478291887,-2.09011489749e-05,1793242889681877760
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.951379905,745,714,679.048620095,660.951379905,634,879.951379905,787,806,651,631,652,0.444662401848,-0.00541241740839,0.0498010670618,0.999999951068,7.26580973401e-05,-0.000303190553063,-2.56881655693e-05,1793242889731877120
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.891803985,745.891803985,714,679.108196015,660.108196015,634,880.891803985,787,806,651.108196015,631,651.891803985,0.443221867449,-0.00540394365656,0.0497877033226,0.999999942119,6.16319167604e-05,-0.000333003424194,-3.27386414461e-05,1793242889765210624
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.083741996,660.916258004,634,880,787,806,651,631,651.916258004,0.435114928852,-0.00538616315375,0.0497950448395,0.99999993977,-2.76235732837e-05,-0.000339535042607,-6.64285903659e-05,1793242889931875840
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.92856404,660.142871921,634,880,787,806,651.07143596,631,651.07143596,0.433308598678,-0.00538532729879,0.049775740516,0.999999933356,-3.07715454675e-05,-0.00035737557065,-6.79991883071e-05,1793242889965209088
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787.273597103,805,652,631,651.726402897,0.410366928226,-0.00536408039008,0.0498069214389,0.999999937735,0.00010631421512,-0.000332935921882,-4.88033930261e-05,1793242890415209472
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.380974852,635,879,787.309512574,805,652.309512574,631,652,0.409717414388,-0.00536378400229,0.0497980549955,0.99999993345,0.000109734717843,-0.000344410339675,-4.93989876287e-05,1793242890431876352
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.482267177,745,714,679,659.964534353,635,879,788,805.482267177,652.517732823,631,652,0.408561593027,-0.00536622699537,0.04981437669,0.999999945115,0.000104723263422,-0.000310317525055,-5.00602397112e-05,1793242890465209600
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.939441191,745,714,679,661,635,879,788,806,652,631,652,0.408018471265,-0.00536820437584,0.0498379150609,0.999999956244,0.000102707552195,-0.000273004690947,-4.93180101225e-05,1793242890481875968
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.783297931,679,661,635,879,788,805.216702069,652.783297931,631,652,0.406383071272,-0.00537373357985,0.0498011896666,0.999999932286,0.00010082274844,-0.000350328416805,-5.03232556057e-05,1793242890531876096
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.460640724,679,660.539359276,635,879,788,805,653,631,652,0.405025117743,-0.00536861659696,0.0497776240641,0.999999920163,0.000102657686011,-0.000382210662872,-5.52378600209e-05,1793242890581876224
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.948392844,714,679,661,634.051607156,878.051607156,788.948392844,805,652.051607156,631,652,0.401018353811,-0.00539731627996,0.0498505393081,0.99999995457,0.000147335768491,-0.000260565554915,-3.54514371412e-05,1793242890998543616
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.796584315,661,635,879.203415685,787.796584315,805,653,631,652,0.401006442099,-0.00539583094198,0.0498527951698,0.999999955206,0.000151255848016,-0.0002558003187,-3.57171729595e-05,1793242891031876608
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.374815584,745,714,678.374815584,661,635,879.625184416,787.374815584,805,653,631,652,0.401002398799,-0.00539472124,0.0498541442226,0.999999956202,0.000151068450713,-0.000251949285403,-3.59993772191e-05,1793242891065209856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.956591663,745,714,678.956591663,661,635,879.043408337,787.956591663,805,653,631,652,0.401002706968,-0.00539586787998,0.0498559333102,0.99999995715,0.000151154128127,-0.000248216901954,-3.52272818643e-05,1793242891081876480
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.14639913,788,805,652.85360087,631,652,0.400997135511,-0.00539725830046,0.0498565483083,0.999999957845,0.000145773104517,-0.00024858841945,-3.55529362111e-05,1793242891165209856
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.435557113,787.564442887,805,652.564442887,631,652,0.400997865263,-0.00539849746448,0.049857511955,0.999999958543,0.000143513085559,-0.000247096557507,-3.55096202208e-05,1793242891181876736
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.98574472,787.01425528,805,652.01425528,631,652,0.40099865504,-0.00539969301073,0.0498583504075,0.999999959189,0.000141278699659,-0.000245744570106,-3.56656083801e-05,1793242891198543616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.410785745,787.589214255,805,652.589214255,631,652,0.400997295153,-0.00539955959306,0.0498579355614,0.999999958773,0.000142631611816,-0.000246689325056,-3.54264331361e-05,1793242891215210240
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.716521812,714,679,661.716521812,635,878.283478188,788,805,653,631,652,0.400997638765,-0.0054007654252,0.0498581140993,0.999999959036,0.000143294605335,-0.000245198697734,-3.56763896506e-05,1793242891265209856
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diff --git a/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b9afe3719d3dc6638d8595a22a5de4b782a5f90
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.581006698347,1.70802905955e-06,1.04004083879,0.551578419458,0.00867654138964,1.03967863499
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+381,6.350000000,pose2_to_pose3_retreat,0.580810427933,1.81523463788e-06,1.04004092382,0.551382148052,0.00867664528592,1.03967872115
+382,6.366666667,pose2_to_pose3_retreat,0.580791454061,1.89047462759e-06,1.04004095054,0.551363173779,0.00867671922963,1.03967874946
+383,6.383333333,pose2_to_pose3_retreat,0.580776544466,1.84782361506e-06,1.04004094795,0.551348264844,0.00867667886293,1.03967874797
+384,6.400000000,pose2_to_pose3_retreat,0.580765307589,1.81562165404e-06,1.04004092619,0.551337027954,0.00867664648662,1.03967872311
+385,6.416666667,pose2_to_pose3_retreat,0.580757482784,1.88731992991e-06,1.04004086721,0.551329201489,0.00867671224266,1.03967865665
+386,6.433333333,pose2_to_pose3_retreat,0.58075245973,1.83008137104e-06,1.04004085946,0.551324178684,0.00867665589648,1.03967865022
+387,6.450000000,pose2_to_pose3_retreat,0.580750086574,1.82012123843e-06,1.04004082954,0.551321805787,0.00867664689972,1.03967862226
+388,6.466666667,pose2_to_pose3_retreat,0.580748491801,1.84192628443e-06,1.04004076563,0.551320211428,0.00867667025597,1.03967856192
+389,6.483333333,pose2_to_pose3_retreat,0.580747370508,1.85725753222e-06,1.0400407207,0.551319090426,0.00867668667788,1.03967851949
+390,6.500000000,pose2_to_pose3_retreat,0.580746542941,1.86823174042e-06,1.04004072741,0.551318262874,0.00867669769763,1.03967852614
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+392,6.533333333,pose2_to_pose3_retreat,0.580745158524,1.88479283099e-06,1.04004094887,0.551316877423,0.00867671033165,1.03967873739
+393,6.550000000,pose2_to_pose3_retreat,0.580744812985,1.88892633976e-06,1.04004100414,0.551316531626,0.00867671348499,1.03967879011
+394,6.566666667,pose2_to_pose3_retreat,0.580744807232,1.88899515614e-06,1.04004100506,0.551316525869,0.00867671353749,1.03967879099
+395,6.583333333,pose2_to_pose3_retreat,0.580744805477,1.88901614732e-06,1.04004100534,0.551316524113,0.0086767135535,1.03967879126
+396,6.600000000,pose2_to_pose3_retreat,0.58074477133,1.889424638e-06,1.04004101081,0.551316489939,0.00867671386513,1.03967879647
+397,6.616666667,pose2_to_pose3_retreat,0.580744756834,1.88959804111e-06,1.04004101313,0.551316475433,0.00867671399741,1.03967879868
+398,6.633333333,pose2_to_pose3_retreat,0.58074473027,1.88925434354e-06,1.0400410079,0.551316448888,0.00867671372841,1.03967879372
+399,6.650000000,pose2_to_pose3_retreat,0.580744695972,1.88848761502e-06,1.04004099653,0.551316414633,0.0086767131314,1.03967878291
+400,6.666666667,pose2_to_pose3_retreat,0.580744596747,1.88626948989e-06,1.04004096365,0.551316315533,0.00867671140425,1.03967875164
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+402,6.700000000,pose2_to_pose3_retreat,0.580744276882,1.87911903873e-06,1.04004085762,0.55131599607,0.00867670583651,1.03967865082
+403,6.716666667,pose2_to_pose3_retreat,0.580744010915,1.87317347866e-06,1.04004076947,0.551315730439,0.00867670120698,1.03967856699
+404,6.733333333,pose2_to_pose3_retreat,0.580743946973,1.87174408063e-06,1.04004074828,0.551315666577,0.00867670009397,1.03967854684
+405,6.750000000,pose2_to_pose3_retreat,0.580743862846,1.869863448e-06,1.04004072039,0.551315582555,0.00867669862961,1.03967852033
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+408,6.800000000,pose2_to_pose3_retreat,0.580743503453,1.81354051939e-06,1.04004070237,0.55131522485,0.00867664810854,1.03967850421
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diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c06a1edfcefccb0ffe8443b1051a120d7b9d7f58
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42db219ed9f183b211bcdc1bd50d71c9bb6c20e7314087b07d040709b6f44b40
+size 25653103
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c581960e2a759e9c731d6d4aa271eeb00207c67
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+22,0.366666667,BASELINE,765,745,714.229485667,680,658.770514333,635,879,787.770514333,804.458971334,652,631,651.770514333,0.401017895938,-0.00549490914062,0.06984999914,0.999999986194,4.01722694179e-05,-0.00016054969469,1.48951314789e-05,1793242893345720320
+23,0.383333333,BASELINE,765,745,714,679.645262916,659,634.645262916,879,787.645262916,804.354737084,652,631,651.645262916,0.401017965001,-0.00549435821073,0.0698499058333,0.999999986191,4.11609864555e-05,-0.000160316661874,1.49411540448e-05,1793242893362386944
+24,0.400000000,BASELINE,765,745,714,679.067781096,659,634.067781096,879,787.067781096,804.932218904,652,631,651.067781096,0.401017848061,-0.00549369643573,0.0698495681646,0.999999986076,4.32223198858e-05,-0.000160486730895,1.49651625712e-05,1793242893379053568
+25,0.416666667,BASELINE,765,745,714,679,659,634,879,787,805,652,631,651.507996159,0.401018071829,-0.00549405631291,0.0698497429983,0.999999986179,4.24611202667e-05,-0.000160054602598,1.49064917896e-05,1793242893395720448
+26,0.433333333,BASELINE,765,745,714,678.914491922,659,634.085508078,878.914491922,787,805,652,631,652,0.401018186441,-0.0054945172358,0.0698499699164,0.999999986281,4.16021104863e-05,-0.000159647962405,1.48472502903e-05,1793242893412387328
+27,0.450000000,BASELINE,765,745,714,678.325429482,659,634.674570518,878.325429482,787,805,652,631,652,0.401017391417,-0.0054947731298,0.0698501022039,0.999999986214,4.23775029339e-05,-0.000159863018,1.48493962756e-05,1793242893429053696
+28,0.466666667,BASELINE,765,745,714,678.517994932,659,635,878.258997466,787,805,652,631,652,0.401017197799,-0.00549437026052,0.0698503301757,0.999999986207,4.27126658894e-05,-0.00015981867694,1.48283674909e-05,1793242893445720064
+29,0.483333333,BASELINE,765,745,714,679.675404624,659,635,878.837702312,787,805,652,631,652,0.401017746558,-0.00549315421154,0.0698506762604,0.999999986275,4.25044079697e-05,-0.000159454135724,1.47787316886e-05,1793242893462386688
+30,0.500000000,BASELINE,765,745,714,680,658.582973942,635,879,787,805,652,631,652,0.401017309627,-0.00549373169533,0.0698505387353,0.99999998622,4.1228711987e-05,-0.000160114780309,1.4969199668e-05,1793242893479054336
+31,0.516666667,BASELINE,765,745,714,680,658.003408989,635,879,787,805,652,631,652,0.401016488516,-0.00549500822141,0.0698502127197,0.999999986113,3.95369743735e-05,-0.000161174998417,1.52532498183e-05,1793242893495721984
+32,0.533333333,BASELINE,765,745,714,679.43479448,658,635,879,787,805,652,631,652,0.401016624714,-0.00549487386051,0.0698499547163,0.999999986143,3.92205483096e-05,-0.000161091034479,1.50374908834e-05,1793242893512388352
+33,0.550000000,BASELINE,765,745,714,679.139946431,658.139946431,635,879,787,805,652,631,652,0.401016668538,-0.00549458090935,0.0698498138856,0.999999986115,3.98237259286e-05,-0.000161125623507,1.48882345381e-05,1793242893529054976
+34,0.566666667,BASELINE,765,745,714,679.734812768,658.734812768,635,879,787,805,652,631,652,0.401016393674,-0.00549379956961,0.069850052637,0.999999985895,4.33897812083e-05,-0.000161567595959,1.49647694084e-05,1793242893545721600
+35,0.583333333,BASELINE,765.319092598,745,714,679.680907402,659,635,879,787.319092598,805,652,631,652,0.401016109112,-0.00549345032829,0.0698500314177,0.999999985832,4.47404969298e-05,-0.000161581924209,1.50015069212e-05,1793242893562387968
+36,0.600000000,BASELINE,765.894856916,745,714,679.105143084,659,635,879,787.894856916,805,652,631,652,0.40101581675,-0.00549344865823,0.0698498010831,0.999999985905,4.43092380863e-05,-0.000161252264043,1.5006232242e-05,1793242893579054336
+37,0.616666667,BASELINE,765.530494001,745,714,679,659,635,879,787.530494001,805,652,631,652,0.401016075248,-0.00549315814012,0.0698501848635,0.999999985997,4.46571622159e-05,-0.000160588230409,1.49184766872e-05,1793242893595720960
+38,0.633333333,BASELINE,765.044905636,745,714.044905636,679,659,635,878.955094364,787,805,652,631,652,0.401016461992,-0.00549281415282,0.0698507064614,0.999999986092,4.51391375127e-05,-0.000159869069075,1.48384104632e-05,1793242893612387584
+39,0.650000000,BASELINE,765.63238478,745,714.63238478,679,659,635,878.36761522,787,805,652,631,652,0.401016911278,-0.00549260383819,0.0698512355018,0.999999986165,4.51374649369e-05,-0.000159386432387,1.51008933857e-05,1793242893629054464
+40,0.666666667,BASELINE,765.781669296,745,714.781669296,679,658.781669296,635,878.218330704,787,805,652,631,652,0.401017126801,-0.00549290481638,0.0698514048938,0.999999986182,4.47228625202e-05,-0.000159380763291,1.5252866459e-05,1793242893645721600
+41,0.683333333,BASELINE,765.19828697,745,714.19828697,679,658.19828697,635,878.80171303,787,805,652,631,652,0.401016951473,-0.00549406068247,0.0698509729496,0.999999986105,4.36178363325e-05,-0.000160172589903,1.52200656896e-05,1793242893662387968
+42,0.700000000,BASELINE,765,745,714,679,658,635,879,787.378218673,805,652,631,652,0.401016203195,-0.0054941598553,0.0698504113704,0.999999985917,4.3508482523e-05,-0.000161389909927,1.50677259395e-05,1793242893679054336
+43,0.716666667,BASELINE,765,745,714,679,658,635,879,787.951183469,805,652,631,652,0.401015159905,-0.00549371493303,0.0698497830417,0.999999985669,4.39118039545e-05,-0.000162826317977,1.48538351489e-05,1793242893695720704
+44,0.733333333,BASELINE,765,745,714,679,658.52663195,635,879,788,805,652,631,652,0.401016603283,-0.00549331390255,0.0698509365265,0.999999985863,4.53142757529e-05,-0.000161227746101,1.50542012865e-05,1793242893712387328
+45,0.750000000,BASELINE,765,745,714,679,658.894482229,635,879,787.894482229,805,652,631,652,0.401017807488,-0.00549312983002,0.0698518346335,0.999999986036,4.61761264265e-05,-0.000159883253977,1.52725436547e-05,1793242893729053952
+46,0.766666667,BASELINE,765,745,714,679,658.300763215,635,879,787.300763215,805,652,631,652,0.401016833577,-0.00549393064797,0.0698507833778,0.999999985945,4.41061304306e-05,-0.000161022119998,1.53955497161e-05,1793242893745720576
+47,0.783333333,BASELINE,765,744.716174757,714,679,658.283825243,635,879,787,805,652,631,652,0.401016510719,-0.00549390119039,0.0698503239347,0.999999985867,4.36921292553e-05,-0.000161627651592,1.52570071041e-05,1793242893762387456
+48,0.800000000,BASELINE,765,744.140960118,714,679,658.859039882,635,879,787,805,652,631,652,0.401016856267,-0.00549301932992,0.0698504720763,0.999999985807,4.49782561372e-05,-0.000161685635139,1.48499453676e-05,1793242893779054848
+49,0.816666667,BASELINE,765,744,714,679,658.564777058,635,879,787,805,652,631,652,0.401016152407,-0.00549265380862,0.0698501030123,0.999999985827,4.48383622066e-05,-0.000161599514973,1.48498105143e-05,1793242893795721728
+50,0.833333333,BASELINE,765,744,714,679,658.011631954,635,879,787,805,652,631,652,0.40101517008,-0.00549245357073,0.069849607665,0.999999985879,4.42548122995e-05,-0.000161430113756,1.49711138795e-05,1793242893812388352
+51,0.850000000,BASELINE,765,744,714,679,658.583782872,635,879,787,805,652,631,652,0.401017183777,-0.00549214145945,0.0698511170694,0.999999986179,4.45981055368e-05,-0.000159501632548,1.4579155297e-05,1793242893829054464
+52,0.866666667,BASELINE,765,744.162618054,714,679,659,634.837381946,879.162618054,787,805,652,631,652,0.401018461361,-0.00549206302708,0.0698520603287,0.999999986383,4.44952465928e-05,-0.000158272597888,1.42923685167e-05,1793242893845720576
+53,0.883333333,BASELINE,765,744.759294777,714,679,659,634.240705223,879.759294777,787,805,652,631,652,0.401017774116,-0.00549260832842,0.0698514924382,0.999999986338,4.32015221775e-05,-0.000158910519881,1.42863054025e-05,1793242893862386944
+54,0.900000000,BASELINE,765,745,714.343259435,679.343259435,658.656740565,634.343259435,879.656740565,787,805,652.343259435,631,652,0.401017130262,-0.00549332740261,0.0698509831922,0.999999986181,4.28564692761e-05,-0.000159955929397,1.46505370397e-05,1793242893879053568
+55,0.916666667,BASELINE,765,745,714.918628269,679.918628269,658.081371731,634.918628269,879.081371731,787,805,652.918628269,631,652,0.401016515748,-0.00549416398064,0.0698505136011,0.999999985947,4.31529008321e-05,-0.000161276878824,1.52651591489e-05,1793242893895720448
+56,0.933333333,BASELINE,765,745,715,679.506742845,658.493257155,635,879.493257155,787.493257155,805.493257155,652.506742845,631,652,0.401017482173,-0.00549496688044,0.0698513556233,0.999999986134,4.30721467656e-05,-0.000160118515459,1.54669175283e-05,1793242893912387328
+57,0.950000000,BASELINE,765,745,715,679,659,635,879.930430134,787.930430134,805.930430134,652,631,652,0.401018339093,-0.00549551254065,0.0698521455144,0.999999986334,4.30099601578e-05,-0.000158870595279,1.55510826596e-05,1793242893929054208
+58,0.966666667,BASELINE,765,745,715,679,659,635,879.340614559,787.340614559,805.340614559,652,631,652,0.401016429744,-0.00549417603895,0.0698509299343,0.999999986134,4.35512349646e-05,-0.000160006958591,1.52644428136e-05,1793242893945721088
+59,0.983333333,BASELINE,765,745,714.754637847,679.245362153,659,635,879,787,805,652,631,652,0.401016680949,-0.00549355038479,0.0698511816338,0.99999998626,4.34598238248e-05,-0.00015925458167,1.5123967132e-05,1793242893962387456
+60,1.000000000,BASELINE,765,745,714.173908111,679.826091889,659,635,879,787,805,652,631,652,0.401019885259,-0.00549389633598,0.0698534388501,0.999999986826,4.2503640611e-05,-0.000155920624012,1.51832725164e-05,1793242893979053824
+61,1.016666667,BASELINE,765,745,714,679.597977566,658.597977566,635,879,787,805,652,631,652,0.401020153003,-0.00549345214112,0.0698533128828,0.999999986766,4.39946804878e-05,-0.000155878990288,1.52945934625e-05,1793242893995720448
+62,1.033333333,BASELINE,765,745,714,679.024098613,658.024098613,635,879,787,805,652,631,652,0.401019165425,-0.00549267017469,0.0698521681521,0.999999986435,4.65318591538e-05,-0.000157244759136,1.54281500129e-05,1793242894012387072
+63,1.050000000,BASELINE,765,745,714.549206284,679,658,635,879,787,805,652,631,652,0.401017930663,-0.0054926187575,0.0698520582866,0.999999986205,4.58302978293e-05,-0.000158924374313,1.52749906412e-05,1793242894029053696
+64,1.066666667,BASELINE,765,745,715,679,658.126910474,635,879,787,804.873089526,652,631,652,0.401016909586,-0.00549268432404,0.0698519378765,0.999999986042,4.50526003455e-05,-0.000160179605018,1.51035791996e-05,1793242894045720320
+65,1.083333333,BASELINE,765,745,715,679,658.720898265,635,879,787,804.279101735,652,631,652,0.401016714827,-0.00549306257998,0.0698516117117,0.999999986126,4.45171744565e-05,-0.000159822314003,1.49112470677e-05,1793242894062387712
+66,1.100000000,BASELINE,765,745,714.69383084,679,659,635,879,787.30616916,804.30616916,652,631,652,0.401016677469,-0.00549300753375,0.0698511296697,0.999999986112,4.47689889207e-05,-0.000159845678491,1.48973132815e-05,1793242894079054592
+67,1.116666667,BASELINE,765,745,714.116286265,679,659,635,879,787.883713735,804.883713735,652,631,652,0.401016779626,-0.00549256842676,0.0698505094646,0.999999986009,4.57185800209e-05,-0.000160206439962,1.50415042664e-05,1793242894095721472
+68,1.133333333,BASELINE,764.542663234,745,714.457336766,679,659,635,879,787.542663234,805,652,631,652,0.401016979038,-0.00549242977557,0.0698509283893,0.999999986023,4.55028758467e-05,-0.00016016723867,1.51654281373e-05,1793242894112388096
+69,1.150000000,BASELINE,764.030992855,745,715,678.969007145,659,635,879.030992855,787,805.030992855,652,631,652,0.401017189501,-0.00549242137128,0.0698515490335,0.999999986064,4.495574969e-05,-0.000160054138168,1.52645728455e-05,1793242894129054208
+70,1.166666667,BASELINE,764.623147317,745,715,678.376852683,659,635,879.623147317,787,805.623147317,652,631,652,0.401017156134,-0.00549339975324,0.0698510787444,0.999999986063,4.37270476433e-05,-0.000160428709926,1.50075748343e-05,1793242894145720576
+71,1.183333333,BASELINE,765.210484236,745,714.789515764,678.420968472,659,634.789515764,880,787,805.789515764,652,631,652,0.401017027709,-0.00549372618615,0.069850805786,0.999999986017,4.3486910984e-05,-0.000160783011986,1.49416337226e-05,1793242894162386944
+72,1.200000000,BASELINE,765.78938888,745,714.21061112,679.578777759,659,634.21061112,880,787,805.21061112,652,631,652,0.4010167329,-0.00549291148232,0.0698508782247,0.999999985896,4.49771063758e-05,-0.000161101835106,1.52101083994e-05,1793242894179053568
+73,1.216666667,BASELINE,765.633718392,745,714,680,659,634.366281608,879.633718392,787,805.366281608,652,631,652,0.401016592715,-0.00549253694687,0.0698511749537,0.999999985858,4.61733712792e-05,-0.000160991426357,1.52703047621e-05,1793242894195720448
+74,1.233333333,BASELINE,765.057976225,745,714,680,659,634.942023775,879.057976225,787,805.942023775,652,631,652,0.401016540951,-0.00549241412468,0.0698515999445,0.999999985868,4.72015500004e-05,-0.000160635558505,1.52113957783e-05,1793242894212387072
+75,1.250000000,BASELINE,765,745,714.51594549,680,658.48405451,635,879,787,805.48405451,652,631,652,0.401016522593,-0.00549204587989,0.0698518790312,0.999999985984,4.66090982463e-05,-0.000160101622069,1.50407588832e-05,1793242894229053952
+76,1.266666667,BASELINE,765,745.092688598,714.907311402,679.907311402,658.092688598,635,879,787,805,652,631,652,0.401016618416,-0.00549193838117,0.0698520474309,0.9999999861,4.56009972421e-05,-0.000159687952659,1.48688662705e-05,1793242894245720832
+77,1.283333333,BASELINE,765,745.685763661,714.314236339,679.314236339,658.685763661,635,879,787,805,652,631,652,0.401017310464,-0.00549338689772,0.0698517064772,0.999999986147,4.33286518252e-05,-0.000160031196293,1.47577340036e-05,1793242894262387200
+78,1.300000000,BASELINE,765,745.728540499,714,679,659,635,879,787,805,652,631,652,0.401017478945,-0.00549417435106,0.0698516036103,0.999999986128,4.25572318834e-05,-0.000160356147648,1.47676763187e-05,1793242894279053824
+79,1.316666667,BASELINE,765,745.151160688,714,679,659,635,879,787,805,652,631,652,0.401017057393,-0.00549421682148,0.0698517690547,0.999999986038,4.3477274673e-05,-0.000160660484563,1.4914063207e-05,1793242894295720704
+80,1.333333333,BASELINE,765,745,714,679,659,634.575153294,879,787.424846706,805,652,631,652,0.401017944827,-0.0054935563464,0.0698527323418,0.999999986203,4.48558305888e-05,-0.000159217721878,1.52410005233e-05,1793242894312387072
+81,1.350000000,BASELINE,765.000375911,745,714,679,659,634.000375911,879.000375911,787.999624089,805,652,631,652,0.401019295382,-0.00549264676834,0.069853977412,0.999999986452,4.63960277697e-05,-0.000157157137291,1.56314312411e-05,1793242894329053696
+82,1.366666667,BASELINE,765.589209195,745,714,679,659,634.589209195,879.589209195,787.410790805,805,652,631,652,0.401018895638,-0.00549205048721,0.0698533818444,0.99999998634,4.64134309251e-05,-0.000157907491034,1.51769774572e-05,1793242894345720576
+83,1.383333333,BASELINE,766,745,714,679,659,635,879.824959379,787.175040621,805,652,631,652,0.401018172739,-0.00549210851005,0.0698526412966,0.999999986221,4.57862077414e-05,-0.000158872539796,1.48828314431e-05,1793242894362387712
+84,1.400000000,BASELINE,766,745,714,679,659,635,879.246053911,787.753946089,805,652,631,652,0.401016704234,-0.00549367618448,0.0698515662411,0.999999986081,4.3671661696e-05,-0.000160332946704,1.49585576149e-05,1793242894379054592
+85,1.416666667,BASELINE,765.668966989,745,714,678.668966989,659,635,879,788,805,652,631,652,0.401016840781,-0.00549415468928,0.0698514368245,0.999999986032,4.31896409661e-05,-0.000160765902383,1.50251977055e-05,1793242894395721472
+86,1.433333333,BASELINE,765.093224424,745,714,678.093224424,659,635,879,788,805,652,631,652,0.401018163831,-0.00549382804706,0.0698520064527,0.999999986052,4.39144321516e-05,-0.000160439335138,1.50851210871e-05,1793242894412387840
+87,1.450000000,BASELINE,765,745,714.482917463,678.482917463,659,635,879,787.517082537,805,652,630.517082537,652,0.401017732524,-0.00549241394615,0.0698522339527,0.999999985978,4.69826854e-05,-0.000160026447699,1.51118810063e-05,1793242894429054208
+88,1.466666667,BASELINE,765,745,714.939462576,679.060537424,658.939462576,635,879,787,805,652.060537424,630.060537424,652,0.401016824649,-0.00549109236983,0.0698522160302,0.999999985866,4.97308863142e-05,-0.000159893752698,1.51131136836e-05,1793242894445720576
+89,1.483333333,BASELINE,765,745,714.349593075,679.650406925,658.349593075,635,879,787,805,652.650406925,630.650406925,652,0.401014713446,-0.00549241691871,0.0698506301372,0.999999985663,4.57216536314e-05,-0.000162356852458,1.49471639659e-05,1793242894462386944
+90,1.500000000,BASELINE,765,745,714,679.764675338,658.235324662,635,879,787.235324662,805,653,631,652,0.401014473899,-0.00549247127929,0.0698501765621,0.999999985604,4.48718318966e-05,-0.000162965975407,1.48651585702e-05,1793242894479053824
+91,1.516666667,BASELINE,765,745,714,679.186962281,658.813037719,635,879,787.813037719,805,653,631,652,0.401016957537,-0.00549067756431,0.0698513704663,0.999999985766,4.86188327889e-05,-0.000160877632684,1.49052889721e-05,1793242894495720448
+92,1.533333333,BASELINE,765,745,714,679,659,635,879,788,805,652.609412969,631,652,0.401018813473,-0.00549196540826,0.0698528476099,0.999999986211,4.687886814e-05,-0.000158595542573,1.51071432789e-05,1793242894512387328
+93,1.550000000,BASELINE,765,745,714,679,659,635,879,788,805,652.031941954,631,652,0.401020369072,-0.00549472768405,0.0698544602749,0.999999986775,4.25135581233e-05,-0.000156220750057,1.5386377546e-05,1793242894529054208
+94,1.566666667,BASELINE,765,745,714,679,659,635,879,787.459994523,805,652,631.540005477,652,0.401018810854,-0.00549387880708,0.0698532512686,0.999999986351,4.55823877224e-05,-0.000158058122763,1.54245316649e-05,1793242894545721600
+95,1.583333333,BASELINE,765,745,714,679,659,634.884017435,879,787.115982565,805.115982565,652,631.884017435,651.884017435,0.401016932974,-0.00549294248558,0.0698519706244,0.99999998587,4.82271681505e-05,-0.000160305225216,1.5380768891e-05,1793242894562388736
+96,1.600000000,BASELINE,765,745,714,679,659,634.290102337,879,787.709897663,805.709897663,652,631.290102337,651.290102337,0.401014489151,-0.00549251711995,0.069851075586,0.999999985445,4.73308653255e-05,-0.0001632244107,1.50576162435e-05,1793242894579055104
+97,1.616666667,BASELINE,765,745,714,679.296271092,659,634.296271092,879,787.703728908,805.407457816,652,630.703728908,651.296271092,0.401014370379,-0.00549214384393,0.0698508446067,0.999999985453,4.70083264477e-05,-0.00016328940396,1.48426760803e-05,1793242894595721472
+98,1.633333333,BASELINE,765,745,714,679.875443158,659,634.875443158,879,787.124556842,804.249113684,652,630.124556842,651.875443158,0.401016471733,-0.00549182030685,0.0698512477189,0.999999985875,4.72336587584e-05,-0.000160629008775,1.47310650095e-05,1793242894612387584
+99,1.650000000,BASELINE,765,745,714,680,658.549769251,635,879,787,804.450230749,652,630,652,0.401017823786,-0.00549207781863,0.069852040494,0.999999986005,4.74054670099e-05,-0.000159753446033,1.49116238788e-05,1793242894629053952
+100,1.666666667,BASELINE,765,745,714,679.975571527,658.024428473,634.975571527,879,787,805.024428473,652,630.024428473,652,0.401018925226,-0.00549249576137,0.0698529390821,0.999999986064,4.75519166702e-05,-0.000159315052628,1.51640837256e-05,1793242894645720320
+101,1.683333333,BASELINE,765,745,714,679.387260544,658.612739456,634.387260544,879,787,805.612739456,652,630.612739456,652,0.40101898061,-0.00549294217618,0.0698538157851,0.999999986327,4.74515188502e-05,-0.000157679934529,1.52284490643e-05,1793242894662387712
+102,1.700000000,BASELINE,765,745,714.198090089,679,659,634.198090089,879,787,805.801909911,652,631,652,0.401019220364,-0.00549346673151,0.069854384773,0.999999986544,4.65149665072e-05,-0.000156576047253,1.52619535356e-05,1793242894679054848
+103,1.716666667,BASELINE,765,745,714.77773847,679,659,634.77773847,879,787,805.22226153,652,631,652,0.401019815249,-0.00549414179993,0.0698543610444,0.999999986672,4.39678253073e-05,-0.000156495409372,1.52360142391e-05,1793242894695721472
+104,1.733333333,BASELINE,765.355635077,745,715,679,659,635,879,787,805,652,631,652,0.401019454646,-0.00549343501605,0.0698537347055,0.999999986515,4.45519142017e-05,-0.000157338349695,1.51414426833e-05,1793242894712387840
+105,1.750000000,BASELINE,765.932442298,745,715,679,659,635,879,787,805,652,631,652,0.40101849982,-0.00549186884784,0.0698527335987,0.999999986177,4.70833385337e-05,-0.000158755670281,1.50041882035e-05,1793242894729053952
+106,1.766666667,BASELINE,765.495732927,745,715,679,659,635,879,787,805,652,631,651.495732927,0.401018218784,-0.00549241934194,0.0698527679127,0.999999986209,4.66923441526e-05,-0.000158679054589,1.48979984401e-05,1793242894745720832
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,635,879,788,805,652,631,652,0.401019886036,-0.00549066364497,0.0698542854214,0.999999986385,4.79428795089e-05,-0.000157223498353,1.45905221469e-05,1793242894788233728
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.421376067,635,879,787.421376067,805,652,631,652,0.401018053346,-0.00549083681112,0.0698528667199,0.999999986079,4.73624765717e-05,-0.000159315897995,1.47478646435e-05,1793242894804901120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.843545381,679.156454619,659,635,879,787.156454619,805,652,631,652,0.401016814357,-0.00549108705731,0.0698519542203,0.999999985874,4.70303638762e-05,-0.000160681863975,1.48536681778e-05,1793242894821568256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.26784023,679.73215977,659,635,879,787.73215977,805,652,631,652,0.401017166305,-0.0054915438545,0.0698523981867,0.999999985952,4.73635929693e-05,-0.00016010121036,1.48213630896e-05,1793242894838235136
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.313717148,679.686282852,659,635,879,787.686282852,805,652,631,652,0.401016982008,-0.00549183159447,0.0698524245458,0.999999985885,4.74299060524e-05,-0.000160498091658,1.48729884015e-05,1793242894854902272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.900365886,679.099634114,659,635,879,787.099634114,805,652,631,652,0.401016331184,-0.00549197225588,0.0698520875897,0.99999998569,4.72640041687e-05,-0.000161745421107,1.49976325404e-05,1793242894871568896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.518616,679,659,635,878.518616,787,805,652,631,652,0.401016672769,-0.00549231923838,0.0698522028407,0.999999985769,4.61834742665e-05,-0.000161576091021,1.48919407522e-05,1793242894888234496
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.060706437,679.060706437,659,635,878.060706437,787,805,652,631,652,0.401017228067,-0.00549272572978,0.0698524054916,0.99999998582,4.50969223817e-05,-0.000161581693515,1.47757445394e-05,1793242894904900352
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.635424824,679.635424824,659,635,878.635424824,787,805,652,631,652,0.401017873843,-0.00549327869869,0.0698525648476,0.999999985152,4.55437236427e-05,-0.000165522454915,1.49695993984e-05,1793242894921566976
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,805,652,631,652,0.401024117197,-0.00549333425454,0.0698556124711,0.999999985009,4.54489170836e-05,-0.000166385606968,1.5219245061e-05,1793242894938233600
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,805,652,631,652,0.401040071728,-0.00549252685398,0.0698636709175,0.999999985785,4.44144811096e-05,-0.000161909448464,1.55656815468e-05,1793242894954900480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.627553694,658.627553694,635,879,787,805.372446306,652,631,652,0.401072621682,-0.00549388775639,0.0698775247883,0.999999987911,4.49767236656e-05,-0.00014792743339,1.65311628929e-05,1793242894971567360
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.037463825,658.037463825,635,879,787,805.962536175,652,631,652,0.401114869375,-0.00549651573312,0.0698947652872,0.999999990519,4.64720047679e-05,-0.000128390554114,1.78583907142e-05,1793242894988233728
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.466567512,679,658.533432488,635,879,787,805.466567512,652,631,652,0.401173330381,-0.00549851174616,0.0699079105074,0.99999999268,4.50348943288e-05,-0.000110887997869,1.77440404281e-05,1793242895004900352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.894388931,879.105611069,787,805,652,631,652,0.401235290547,-0.00549991332355,0.0699192953709,0.999999994316,4.38100823433e-05,-9.56464578229e-05,1.73549401206e-05,1793242895021566976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.31051086,879.68948914,787,805,652,631,652,0.401308119385,-0.00549881697321,0.0699239656024,0.99999999483,4.44469292356e-05,-9.0019537707e-05,1.6164183286e-05,1793242895038233600
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.275651501,745,714,679.275651501,659,634.275651501,880,787.275651501,805,652,631,652,0.401387227682,-0.00549934932371,0.0699265692054,0.999999995171,4.31935937235e-05,-8.7043193122e-05,1.46843294216e-05,1793242895054900224
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.864408494,745,714,679.864408494,659,634.864408494,880,787.864408494,805,652,631,652,0.40147346865,-0.00550173167391,0.069926825378,0.999999995334,3.97932483203e-05,-8.70775698357e-05,1.28760977061e-05,1793242895071567104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.553903231,745.446096769,714.446096769,680,659,635,879.553903231,788,805.446096769,652.446096769,630.553903231,652,0.401576399526,-0.00550337413917,0.0699244344493,0.999999994757,3.81035846843e-05,-9.44821106156e-05,1.03689605525e-05,1793242895088233728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.974513736,715,680,659,635,879,787.974513736,805.974513736,653,630.025486264,652,0.401685857851,-0.00550487508134,0.069921502945,0.999999993926,3.67878096436e-05,-0.000103618194732,7.64784863964e-06,1793242895104900864
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.399089017,715,680,659,635,879,787.399089017,805.399089017,653,630.600910983,652,0.401828409435,-0.00550809917975,0.0699239974632,0.999999994204,3.24950701479e-05,-0.000102533266455,4.82196515693e-06,1793242895121567744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.824062334,679.824062334,659,635,879,787,805,652.824062334,631,652,0.401979320711,-0.00551090573874,0.0699260353559,0.999999994367,2.92724522656e-05,-0.00010200683654,1.79031168034e-06,1793242895138234112
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.249936573,679.249936573,659,635,879,787,805,652.249936573,631,652,0.402149151905,-0.00551276730791,0.0699270397979,0.999999994315,2.84717704962e-05,-0.000102744419213,-1.70704704097e-06,1793242895154900480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.665661257,879,787.334338743,805,652,631,652,0.402336598239,-0.00551351062139,0.0699291082465,0.999999994522,2.71523071406e-05,-0.000100922930316,-5.70555456117e-06,1793242895171567104
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.073560985,879,787.926439015,805,652,631,652,0.402537625144,-0.00551339180556,0.0699319970007,0.999999994909,2.54328842652e-05,-9.71285017356e-05,-1.00904277276e-05,1793242895188233728
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505189669,745,714,679.505189669,659,634.505189669,879,787.494810331,805,652.505189669,631,652,0.402771827102,-0.00551672544715,0.069933002001,0.999999995067,1.89019190483e-05,-9.63479734901e-05,-1.50531271959e-05,1793242895204900352
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918233764,745,714,679.918233764,659,635,879,787,805,652.918233764,631,652,0.403017616044,-0.00552040814454,0.0699343665998,0.999999995245,1.19597531398e-05,-9.46905217443e-05,-2.00030675468e-05,1793242895221566976
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.343347315,745,714,679.343347315,659,635,879,787,805,652.343347315,631,652,0.403304901626,-0.00552324220294,0.0699395115277,0.999999996054,6.65420110844e-06,-8.51659343612e-05,-2.43817031931e-05,1793242895238233600
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.232601635,679,659,635,879,787,805,652,631,652,0.403606139842,-0.0055249258275,0.0699459965488,0.999999996809,-1.12557981607e-05,-7.39160262453e-05,-2.81209447233e-05,1793242895254900480
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.810126123,679,659,635,879,787,805,652,631,652,0.403928068275,-0.00552490348399,0.0699544687817,0.999999996571,-4.78568174644e-05,-6.01076561818e-05,-3.09120342372e-05,1793242895271567104
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787.395816405,805,652,630.604183595,652,0.404264980968,-0.00552614008532,0.0699584340306,0.999999996906,-4.65680427122e-05,-5.52735444012e-05,-3.10391729596e-05,1793242895288233472
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787.98550633,805,652,630.01449367,652,0.404609233042,-0.00552799332624,0.0699601917283,0.999999997694,-2.67205925435e-05,-5.48350847198e-05,-2.98614907043e-05,1793242895304899840
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.438400134,679,659,635,879,787.438400134,805,652,630.561599866,652,0.405006881078,-0.00552875636893,0.0699656659662,0.9999999983,-2.13467548214e-05,-4.421964028e-05,-3.14473645213e-05,1793242895321566976
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.137745913,787,805,652,631,652,0.405415773523,-0.00552976245464,0.0699702513059,0.999999998631,-2.03910320975e-05,-3.49892262097e-05,-3.31352074679e-05,1793242895338233600
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.715152968,787,805,652,631,652,0.405856261624,-0.00553163197284,0.0699717005254,0.999999998386,-3.23731010192e-05,-3.09980958149e-05,-3.49262535066e-05,1793242895354900224
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.29918212,679.29918212,659.29918212,635,879.70081788,787,805,652,631,652,0.406293931049,-0.00552970938425,0.0699640254847,0.999999997693,-3.60382020052e-05,-4.51477883543e-05,-3.5731352348e-05,1793242895371566848
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.889658855,679.889658855,659.889658855,635,879.110341145,787,805,652,631,652,0.406728856163,-0.00552409466252,0.0699474667321,0.999999995906,-3.16056013225e-05,-7.69600466774e-05,-3.55764972574e-05,1793242895388233472
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.558770591,679.558770591,659.558770591,635,879.441229409,787.441229409,805,652,631,652,0.407230600075,-0.0055229417478,0.0699363472775,0.999999994945,-2.61537400284e-05,-8.97836726176e-05,-3.69334898252e-05,1793242895404900096
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.016141196,679.016141196,659.016141196,635,879.983858804,787.983858804,805,652,631,652,0.407747699749,-0.00552281421197,0.0699264778419,0.999999994218,-2.04676402794e-05,-9.82434735666e-05,-3.86379237351e-05,1793242895421566976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.804786384,787.402393192,805,652,631,652,0.40832253641,-0.00552784018078,0.0699407476155,0.99999999646,-2.97861860276e-05,-6.8460455581e-05,-3.88093894015e-05,1793242895438233856
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.199765715,787,805,652,631,652,0.40891387556,-0.00553258933997,0.0699533070727,0.999999997654,-3.760598254e-05,-4.18390747351e-05,-3.90889639553e-05,1793242895454900480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.775976922,787,805,652,631,652,0.409532976879,-0.00553651913344,0.0699612489436,0.999999998069,-4.17346131678e-05,-2.33850143334e-05,-3.96608275645e-05,1793242895471566848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.360955089,659,635,879,787,805,652,631,652,0.410135633887,-0.00553960756222,0.0699563320857,0.999999997711,-4.5081319882e-05,-3.00050790374e-05,-4.05522058883e-05,1793242895488233216
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.951509802,659,635,879,787,805,652,631,652,0.410727830823,-0.00554216080789,0.0699432359292,0.999999996602,-4.79306530897e-05,-5.25745239885e-05,-4.16468240307e-05,1793242895504900096
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.531812938,679.468187062,659,635,879,787,805,652,631,652,0.411388681835,-0.00554171120736,0.0699471910184,0.999999996866,-4.50379922607e-05,-5.02686289329e-05,-4.13847393652e-05,1793242895521566720
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.890030138,679,659,635,879,787,805,652,631,652,0.412070226195,-0.00554087162923,0.0699580204679,0.999999997618,-4.260832338e-05,-3.56091047817e-05,-4.09930457009e-05,1793242895538233344
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.317048579,679,659,635,879,787,805,652,631,652,0.412813039062,-0.00553952108736,0.0699913712802,0.999999997961,-4.42906527595e-05,2.16945941863e-05,-4.05666351664e-05,1793242895554899968
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.263210568,652,631,652,0.413558999475,-0.00553922398841,0.070016858599,0.999999996137,-4.5964126514e-05,6.299526252e-05,-4.05536650227e-05,1793242895571566592
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.852485237,652,631,652,0.414308859151,-0.00554023188977,0.0700326046607,0.999999994455,-4.76266303109e-05,8.44714543321e-05,-4.10528630822e-05,1793242895588233216
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.434304272,659,635,879,787,805.565695728,652,631,652,0.415014727071,-0.00553775998717,0.0699982042351,0.999999997661,-4.81550485728e-05,2.16474400206e-05,-4.34828380253e-05,1793242895604900096
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.415707826281,-0.0055342667901,0.0699475607979,0.999999995418,-4.84954893355e-05,-6.81394237621e-05,-4.6564392217e-05,1793242895621566720
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.416480644764,-0.00553661158459,0.0699177533376,0.999999991239,-5.67495093482e-05,-0.000108670071871,-4.99299506888e-05,1793242895638233600
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.16854686,635,879,787,805,652,631,652,0.417275148682,-0.00553865053656,0.069907967032,0.999999989516,-6.24821847194e-05,-0.000119939233639,-5.1755298834e-05,1793242895654900224
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.740507129,635,879,787,805,652,631,652,0.418121556191,-0.00553995746068,0.0699461009459,0.999999994951,-6.21800736352e-05,-6.11716333645e-05,-4.98941854151e-05,1793242895671566848
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805,652,631,652,0.418974364972,-0.00554109857966,0.0699761277591,0.999999996626,-6.3644660272e-05,-1.64575440973e-05,-4.92683236204e-05,1793242895688233728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805,652,631,652,0.419832489735,-0.0055421020034,0.0699994219173,0.999999996413,-6.65764253853e-05,1.65856109458e-05,-4.96682936553e-05,1793242895704900608
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.493074376,680,659.506925624,635,879,787,805,652,631,652,0.420714184217,-0.00554392921887,0.0700216917449,0.999999995157,-6.92110555977e-05,4.98848650233e-05,-4.90725265538e-05,1793242895721566976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.928447127,680,659,635,879,787,805.071552873,652,631,652,0.421592616543,-0.00554548875083,0.0700376640192,0.999999993545,-7.18537341902e-05,7.33400193809e-05,-4.86566247218e-05,1793242895738233344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.351272464,680,659,635,879,787,805.648727536,652,631,652,0.422419086144,-0.00554414625995,0.0700103916432,0.999999995544,-7.49177499619e-05,2.69186019011e-05,-5.07330937891e-05,1793242895754900224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.775490447,879,787,805.775490447,651.775490447,631,652,0.423227369412,-0.00554199871058,0.0699632272778,0.999999994433,-7.70887143091e-05,-4.7161729894e-05,-5.44736731151e-05,1793242895771567104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.201873875,879,787,805.201873875,651.201873875,631,652,0.42400737349,-0.00553859931419,0.0698851313372,0.99999998163,-7.78710048487e-05,-0.000164251023283,-6.08019043115e-05,1793242895788233472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.383863223,745,714.383863223,680,659,634.383863223,879.383863223,787,805.383863223,651.383863223,631,651.616136777,0.424880618333,-0.00553955257227,0.0698676608247,0.999999977899,-8.06626032127e-05,-0.000183560384675,-6.32487180258e-05,1793242895804900096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976182304,745,714.976182304,680,659,634.976182304,879.976182304,787,805.976182304,651.976182304,631,651.023817696,0.425804497267,-0.00554286952748,0.0698831127872,0.999999983189,-8.45453508824e-05,-0.000149770619356,-6.35877386332e-05,1793242895821566976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444621992,745,714.444621992,680,659.555378008,635,880,787.555378008,806,652,631,651.555378008,0.426736742535,-0.00554372895277,0.0699390605398,0.999999991675,-8.83817792278e-05,-7.20043611442e-05,-6.04535121064e-05,1793242895838233344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.133198074,680,660,635,879.866801926,787.866801926,806,651.866801926,631,652,0.427663528524,-0.00554475177248,0.0699893049027,0.999999994207,-9.0950983007e-05,-1.79232894655e-06,-5.75405348121e-05,1793242895854899712
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.708278449,680,660,635,879.291721551,787.291721551,806,651.291721551,631,652,0.428571040582,-0.0055466582172,0.0700149999429,0.999999993758,-8.93226304243e-05,3.72464853153e-05,-5.58442884211e-05,1793242895871566592
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.71018087,680,660,635,879.28981913,787,806,651,630.71018087,652,0.429475109358,-0.00554869113592,0.0700302910245,0.999999992493,-8.90840422493e-05,6.31411275288e-05,-5.55930214386e-05,1793242895888233472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.121989256,680,660,635,879.878010744,787,806,651,630.121989256,652,0.430375633176,-0.00555085426111,0.0700348710967,0.99999999146,-9.02762344153e-05,7.55036749693e-05,-5.68293793114e-05,1793242895904900096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.458926406,680,660,635,880,787,806,651,630.458926406,651.541073594,0.431169489844,-0.00554903465263,0.0699808532463,0.999999994074,-8.86638597071e-05,-2.26873519966e-05,-5.89654405702e-05,1793242895921566976
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.962365876,680.037634124,660,635,880,787,806,651.037634124,631,651.037634124,0.431940075929,-0.00554643012076,0.0699148563471,0.999999984154,-8.66091305136e-05,-0.000142961976253,-6.12570236348e-05,1793242895938233600
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.387995506,680.612004494,660,635,880,787,806,651.612004494,631,651.612004494,0.432776844813,-0.00554749408317,0.0698966945393,0.999999980403,-8.87118532184e-05,-0.000165620471752,-6.24090871788e-05,1793242895954900224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.187622839,745,714,681,660,634.812377161,880,787,806,652,631,652,0.433637895619,-0.00554840725921,0.0699035980096,0.999999983307,-9.07653190544e-05,-0.000145635683547,-6.27578571214e-05,1793242895971566848
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.765839327,745,714,681,660,634.234160673,880,787,806,652,631,652,0.434549496737,-0.00554900652807,0.0699626824289,0.999999993135,-9.27162415954e-05,-3.68760143302e-05,-6.14343284128e-05,1793242895988233728
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.649409586,745,714,681,660,634.350590414,880,787,806,651.649409586,631,652,0.435426065135,-0.00555199858271,0.070002300254,0.999999993385,-9.45789976744e-05,2.78541918775e-05,-5.923276796e-05,1793242896004900352
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.060211156,745,714,681,660,634.939788844,880,787,806,651.060211156,631,652,0.43627879059,-0.00555661914124,0.0700286693236,0.999999991802,-9.63817489395e-05,6.26184187342e-05,-5.64336290359e-05,1793242896021566976
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.497707682,660,635,880,787,806,651,631,652,0.437088233454,-0.00555872187758,0.0700211407367,0.999999991404,-0.000100917023526,6.01207207885e-05,-5.82583639099e-05,1793242896038233600
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.065865872,680.065865872,660,634.934134128,880,787,806,651,631,652,0.437883787139,-0.00556023101132,0.0700064992019,0.999999991496,-0.000104969915331,4.81559986552e-05,-6.05785506017e-05,1793242896054900224
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.662550948,680.662550948,660,634.337449052,880,787,806,651,631,652,0.438607110343,-0.00555926587944,0.0699656285453,0.999999992754,-0.000102628657829,-5.92347641433e-06,-6.26500863683e-05,1793242896071566848
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.745046384,680.745046384,660,634.254953616,880,787,806,651,631,652,0.439297299305,-0.00555745162924,0.0699216496318,0.999999989999,-0.000101059737155,-7.51711918707e-05,-6.43350216596e-05,1793242896088233472
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.158218195,680.158218195,660,634.841781805,880,787,806,651,631,652,0.439944357176,-0.00555453207697,0.0698736246857,0.999999979329,-0.000100496171637,-0.000164163487639,-6.55167165758e-05,1793242896104900096
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.423255465,680.423255465,660,634.576744535,880,787,806,651,631,652,0.440680422139,-0.00555492630742,0.0698756042121,0.999999980785,-9.86881618318e-05,-0.000156211367869,-6.54858942259e-05,1793242896121566976
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.99725971,681.00274029,660,634.00274029,880.00274029,787,806,651,631.00274029,652,0.4414492819,-0.00555655590567,0.0698962936434,0.999999986943,-9.64809695829e-05,-0.000112160994693,-6.50000181208e-05,1793242896138233600
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.420351641,681.579648359,660,634.579648359,880.579648359,787,806,651,631.579648359,652,0.442205240829,-0.0055607227611,0.0699696005119,0.999999992302,-0.000106886338018,-2.75062888784e-06,-6.29506455376e-05,1793242896154900224
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.844010333,659.844010333,635,880.844010333,787,806,651,631.844010333,652,0.44292903428,-0.00556439122068,0.0700250620255,0.999999988792,-0.000112988643102,7.70611518724e-05,-6.09253631648e-05,1793242896171566592
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.269190642,659.269190642,635,880.269190642,787,806,651,631.269190642,652,0.443566464051,-0.00556672149545,0.0700326090327,0.999999989484,-0.000107537289973,7.74011795203e-05,-5.89647639728e-05,1793242896188233216
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.313870161,634.686129839,880,787,806,651.313870161,631,652,0.444168364158,-0.00556892282648,0.0700204168533,0.999999991526,-0.000104212162203,5.22026600093e-05,-5.79970261687e-05,1793242896204900096
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.904189502,634.095810498,880,787,806,651.904189502,631,652,0.444738970564,-0.00557101058688,0.0699908388796,0.999999993034,-0.000102759761996,4.51041120902e-06,-5.79037764657e-05,1793242896221566720
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.483958683,651.516041317,631,651.516041317,0.445299305038,-0.0055702849402,0.0699665991401,0.999999992601,-0.000101943378313,-2.97033689271e-05,-5.93589139293e-05,1793242896238233600
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.93857904,745.06142096,714,681.06142096,660,634.06142096,880,787,806.93857904,651,631,651.06142096,0.445851713952,-0.00556897799387,0.0699444857335,0.999999991244,-0.00010129253647,-5.94402417207e-05,-6.09737434855e-05,1793242896254900224
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363315495,745.636684505,714,681.636684505,660,634.636684505,880,787,806.363315495,651,631,651.636684505,0.446354467956,-0.00556736815623,0.0699315083779,0.999999990308,-0.000100995693806,-7.35707496051e-05,-6.14147846225e-05,1793242896271566848
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.212172888,745.787827112,714,682,660,634.787827112,880,787,806.212172888,651,631,652,0.446835914122,-0.00556683324283,0.0699176083296,0.999999988298,-0.000102333425632,-9.5402376601e-05,-6.18932942855e-05,1793242896288233472
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.788046624,745.211953376,714,682,660,634.211953376,880,787,806.788046624,651,631,652,0.447280834935,-0.00556814093474,0.0699021266283,0.999999983876,-0.000106473099437,-0.000130435045726,-6.24360313704e-05,1793242896304900096
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.374250409,745,714,681.625749591,660,634,880,787,806.625749591,651,631,652,0.447700458933,-0.00556983374151,0.0698824667343,0.999999978112,-0.000108543815943,-0.000167607355143,-6.2463367452e-05,1793242896321566720
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.966470647,745,714,681.033529353,660,634,880,787,806.033529353,651,631,652,0.448105349677,-0.00557175084588,0.069860373388,0.999999970858,-0.000109409536707,-0.000206025830798,-6.21905251965e-05,1793242896338233344
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.455762127,745,714,681.544237873,659.455762127,633.455762127,880,787,806,651,631,651.455762127,0.448516551915,-0.00557288924109,0.0698599218952,0.999999970548,-0.000110319121729,-0.000207177690842,-6.17277207597e-05,1793242896354899968
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.120703312,880,787,806.120703312,651,631,651.120703312,0.448920333277,-0.00557403599352,0.0698631671912,0.999999971474,-0.000111775146163,-0.000201996484194,-6.12897638891e-05,1793242896371566848
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.695534541,880,787,806.695534541,651,631,651.695534541,0.449294769735,-0.005575390017,0.0698754344916,0.999999975042,-0.000115277161984,-0.00018140265587,-6.09881844005e-05,1793242896388233216
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.277323924,745,714,682,659,634,880.277323924,786.722676076,806.722676076,651,631,652,0.44964016088,-0.00557801356436,0.0698817714772,0.999999976358,-0.000118811989809,-0.000171736830522,-6.06172953438e-05,1793242896404899840
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.866949017,745,714,682,659,634,880.866949017,786.133050983,806.133050983,651,631,652,0.449952843375,-0.00558206675313,0.0698814301915,0.999999975497,-0.000122383767856,-0.000174377294601,-6.01683551484e-05,1793242896421566720
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.551375961,745,714,682,659,633.551375961,880.551375961,786.448624039,806.448624039,651,631,652,0.45022338412,-0.00558316274305,0.0698665690403,0.999999970745,-0.00012421572901,-0.000198633387962,-6.02121796993e-05,1793242896438233600
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.604335845,714,682,658.395664155,633,880,786.395664155,806.395664155,651.604335845,631,652,0.450695397206,-0.00558237114832,0.0698202348517,0.99999995277,-0.000124771321436,-0.000274386115619,-6.00305575995e-05,1793242896471566848
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.058504096,745.941495904,714,682.058504096,657.941495904,632,880.058504096,785.058504096,806,651.058504096,630.058504096,652,0.452500923306,-0.00558006731682,0.0697095782924,0.999999898286,-0.000124539957335,-0.000429446152119,-5.91066673171e-05,1793242897518681856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.63001084,745.36998916,714,682.63001084,657.36998916,632,880.63001084,785.63001084,806,651.63001084,630.63001084,652,0.452497519042,-0.00557892100836,0.0697074842846,0.999999897447,-0.000122360394284,-0.000432097165734,-5.85271572708e-05,1793242897535348224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.209144622,714,682.790855378,657.209144622,632,880.790855378,786,806.209144622,652,631,652,0.452489002938,-0.00557794236188,0.0697031731604,0.99999989478,-0.000120921091,-0.000438635775679,-5.84590696572e-05,1793242897552014592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.802281689,714,682.197718311,657.802281689,632,880.197718311,786,806.802281689,652,631,652,0.452471101427,-0.00557727154529,0.0696947913796,0.999999888646,-0.000120840915208,-0.000452312066428,-5.93299608282e-05,1793242897568681216
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.385893119,657.614106881,632,880,786,807,651.614106881,631,652,0.452435066308,-0.00557589561397,0.0696788955598,0.999999876366,-0.000120644597253,-0.000478673786348,-5.98737782338e-05,1793242897585347584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.964741566,657.035258434,632,880,786,807,651.035258434,631,652,0.452389963972,-0.0055741671092,0.069659242549,0.999999860184,-0.00012039020547,-0.00051137850997,-6.02540513524e-05,1793242897602014208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.458902102,714,682.458902102,657.541097898,632,880,786,806.458902102,651,631,652,0.452325621659,-0.00557343567937,0.069638052389,0.999999843758,-0.000119543422477,-0.000542698055714,-6.05912418236e-05,1793242897618681088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.116518316,682,657.883481684,632,880.116518316,786,806,651.116518316,631,652,0.452258588886,-0.00557264192071,0.0696196526656,0.999999828914,-0.000118358806277,-0.000569624675028,-6.0745694904e-05,1793242897635347968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.688909609,682,657.311090391,632,880.688909609,786,806,651.688909609,631,652,0.45218591232,-0.00557135127467,0.0696125604842,0.999999823425,-0.000116002763511,-0.000579715683951,-6.01961290752e-05,1793242897652014592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.271114564,714.728885436,682,657.271114564,632,880.728885436,785.728885436,806,651.728885436,630.728885436,652,0.452105561493,-0.00556954640625,0.0696079367688,0.999999819726,-0.000114445104323,-0.0005864568167,-5.93138537328e-05,1793242897668681472
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.444853682,785.444853682,806,651.444853682,630.444853682,652,0.451904019064,-0.00556290146436,0.0696055883269,0.999999816031,-0.000109130010268,-0.000594024608123,-5.62524128466e-05,1793242897702014976
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.020575202,632,880.979424798,786,806,652,631,652.020575202,0.451784512844,-0.00555824713085,0.0696053044132,0.999999813625,-0.000103351351644,-0.000599268411849,-5.42837426388e-05,1793242897718681600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.596313371,632,880.403686629,786,806,652,631,652.596313371,0.451643091802,-0.00555645927192,0.0696071566799,0.999999813727,-0.000101233143031,-0.0005997202706,-5.13128643569e-05,1793242897735347968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.824592194,632,880.175407806,786,806,652,631,652.824592194,0.451493248186,-0.00555359526314,0.0696079101205,0.999999812872,-9.87745278822e-05,-0.000601779427131,-4.85946528603e-05,1793242897752014848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.237622995,632,880.762377005,786,806,652,631,652.237622995,0.451323642607,-0.00554820627157,0.0696060853719,0.999999809764,-9.5517213182e-05,-0.000607609805244,-4.64692768253e-05,1793242897768681472
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.070564648,714,682,658.929435352,632.929435352,879.141129296,785.070564648,806,651.070564648,631,652,0.450925279179,-0.00553746188649,0.0696104391344,0.99999981107,-8.35591294983e-05,-0.000607707625741,-3.96093389195e-05,1793242897802015488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.506283337,714,682.506283337,659,633,879.506283337,785.506283337,806.506283337,651,631,652,0.450687230966,-0.00553302425784,0.0696160168781,0.999999814123,-7.63459764167e-05,-0.000603933383183,-3.4494722995e-05,1793242897818681856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.917818805,714,683,659.082181195,633,880.082181195,786,806.917818805,651,631,652,0.450440665129,-0.0055282527232,0.069621986052,0.999999817485,-6.83799586334e-05,-0.000599579300003,-2.93000283124e-05,1793242897835348224
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.761099588,659.522199176,633,880.761099588,786,806,651,631,652,0.449887712216,-0.00551300074539,0.0696359436313,0.999999828153,-4.50319336339e-05,-0.000584181314933,-1.99789231964e-05,1793242897868680704
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.410797278,633,880,786,806,651,631,651.589202722,0.449258991585,-0.00549868278743,0.0696583686892,0.999999848285,-2.2626557367e-05,-0.000550316731966,-8.37399051045e-06,1793242897902014208
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.138885991,880,786,806,651,631,652,0.448090485383,-0.00547476002459,0.0696838874211,0.999999867827,3.26075833684e-05,-0.000513037450038,8.62341389008e-06,1793242897952014080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.727013552,880,786,806,651,631,652,0.447643388544,-0.00546589237237,0.0696768287422,0.999999858713,8.93446109287e-05,-0.000523850995801,1.3090382077e-05,1793242897968680960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.311732054,634,880,786.311732054,806.311732054,651,631,652,0.44716788155,-0.00545600911499,0.0696680224587,0.999999852397,0.000104748744973,-0.000533013039664,1.14428862979e-05,1793242897985347328
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,787,806.529891354,651,631,652,0.44617523686,-0.00543391345959,0.0696763743477,0.999999870355,8.28317257621e-05,-0.00050241609609,2.49652559673e-06,1793242898018680832
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.619570493,714,682,660,634.619570493,880,787,806,651,631,652,0.445147507908,-0.0054211359161,0.0697490526229,0.999999921657,0.000107068270836,-0.000381034802966,5.86382128488e-06,1793242898052013824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.799916574,714,681.799916574,660,635,880.200083426,787,806,651.200083426,631,652,0.444593326351,-0.00542118664324,0.0697882512623,0.999999941775,0.000118575133336,-0.000319840858912,9.59753025485e-06,1793242898068680448
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.374959522,745,714,681,660,634.625040478,880.625040478,787,806,651.625040478,631,652,0.443351914467,-0.00542467280946,0.0698215038155,0.999999956542,0.000109709939158,-0.000273265195823,1.43573128331e-05,1793242898102013696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.950702917,745,714,681,660,634.049297083,880.049297083,787,806,651.049297083,631,652,0.442677479678,-0.00542132885902,0.069818522062,0.999999952443,0.00010739406367,-0.000288735542106,1.45440671584e-05,1793242898118680320
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.899836127,660,634.899836127,880,787,806,652,631,652,0.441269218001,-0.00541140695516,0.0698066120881,0.999999946213,0.000130933604778,-0.000300329715218,1.52329435022e-05,1793242898152014080
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.329405244,660,634.329405244,880,787,806,652,631,652,0.440551090433,-0.0054134064469,0.0698206891918,0.999999955984,0.000128795337553,-0.000266714330057,1.75254918229e-05,1793242898168680704
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.8491323,681,660,634,880,787,806,651.1508677,631,651.1508677,0.438985848123,-0.00540881305888,0.0697875346358,0.999999938904,0.000127381326601,-0.000325024037639,1.80409423559e-05,1793242898202013696
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.879919462,680,659,635,879.120080538,787,806,652,631,652,0.422267262032,-0.00538937384555,0.0697213275451,0.999999871421,0.000171427613163,-0.000476553939962,2.58309479564e-05,1793242898518680576
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.393677521,680,659,634.393677521,880,787,806,652,631,651.606322479,0.419728642414,-0.00539217240693,0.0697771988235,0.999999921412,0.000152877600273,-0.000364981033693,2.43745450989e-05,1793242898568680448
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.844585843,745,714,679.155414157,658.310828314,634.155414157,879.844585843,787,805,652,631,651,0.412525211027,-0.00537804809184,0.0697915116585,0.999999928719,0.00018485097401,-0.000328115615791,2.70769143231e-05,1793242898718680576
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.996193978,634.996193978,879.003806022,787.996193978,805.996193978,652,631,651.996193978,0.411247222052,-0.00538002402363,0.0698939644867,0.999999967555,0.000190101337992,-0.000166436797703,3.24112115199e-05,1793242898752014080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.570444783,659,635,879,787.429555217,805.429555217,652,631,652,0.410562950421,-0.00537820417831,0.0698746383899,0.999999961509,0.00018978502879,-0.000199873680355,3.18355389071e-05,1793242898768680704
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.703311797,787,805,652,631,652,0.409240883686,-0.00537322136967,0.0698061141557,0.999999929291,0.000197936625913,-0.000318587374089,2.72069169262e-05,1793242898802014208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,880,787,805,651.712247702,631,652,0.408609637127,-0.00537086721477,0.0697780826941,0.99999991363,0.000201914993461,-0.000362443492041,2.45804523748e-05,1793242898818680832
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.521009235,787,805,651.478990765,631,652,0.407462476299,-0.00537017526768,0.069782780522,0.999999918686,0.000202556721503,-0.000347901622074,2.37262176955e-05,1793242898852014080
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.422802781,745,715,679.78859861,658.21140139,635,879,787,805,652,631,652,0.405966683432,-0.00536680227152,0.0698074582368,0.999999926176,0.000201621403713,-0.000326088834286,2.57481435155e-05,1793242898902014208
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.607063614,745,715,679.196468193,658.803531807,635,879,787,805,652,631,652,0.4055172243,-0.00536606921978,0.0698029154339,0.999999922524,0.000207614068246,-0.000333454700552,2.56305870813e-05,1793242898918681088
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.536078954,679.536078954,658.536078954,635,879.536078954,787,804.536078954,652,631,652,0.404371600842,-0.00536329553717,0.0698399503101,0.999999943772,0.000206454674108,-0.00026309067353,2.47995582792e-05,1793242898968680704
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.295130834,680,659,635,879.295130834,787.704869166,805,652,631,652,0.403712350671,-0.00536390362379,0.0698492561754,0.999999947553,0.000210104439016,-0.000245213098439,2.49083366731e-05,1793242899002013952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.288228711,680,659,635,879.288228711,787.711771289,805,652,631,652,0.403402714553,-0.0053640394412,0.0698432305969,0.999999944554,0.000212852479991,-0.000254981891798,2.38760582938e-05,1793242899018680832
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.407464917,679,659,635,878.592535083,787,805.592535083,652,631.592535083,652,0.402340335245,-0.0053589270172,0.0698066167125,0.999999926226,0.000209429349671,-0.00032130754237,2.11694407677e-05,1793242899085347328
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805.234222187,652,631.234222187,652,0.401967426421,-0.0053564690566,0.0698051504772,0.999999925,0.000211246757814,-0.000323926328312,2.1108375521e-05,1793242899118680832
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.076069902,635,879,787,805,652,631,652,0.401664249464,-0.00535158802987,0.0698049213829,0.999999925026,0.000214547843631,-0.000321795036805,1.91313657192e-05,1793242899152014080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,879,787,805,652,631,652,0.401542827025,-0.00535327669983,0.069804219539,0.999999923077,0.000223820617511,-0.000321546683505,1.89028960988e-05,1793242899168680960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.075448197,635,878.924551803,787,805,652,631,652.075448197,0.401429004779,-0.00535515588688,0.0698033245681,0.999999920991,0.000232726548704,-0.000321730895571,1.85968386024e-05,1793242899185347584
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.642789735,635,878.357210265,787,805,652,631,652.642789735,0.401339739334,-0.00535374113794,0.0698012890324,0.999999920415,0.000232166587728,-0.000324013620145,1.68612586167e-05,1793242899202014720
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.777302671,635,878.222697329,787,805,652,631,652.777302671,0.401258339485,-0.00535323438999,0.0698003667247,0.999999920651,0.000230012454257,-0.000324874961685,1.57507027326e-05,1793242899218681344
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.136626298,679.863373702,659,635,879.863373702,787,805,652,631,652,0.40103434127,-0.00535573102873,0.0698126506274,0.999999930349,0.000218978786508,-0.000301792817462,1.64720722036e-05,1793242899302013952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.730447252,679.269552748,659,635,879.269552748,787,805,652,631,652,0.401011536189,-0.00535555917153,0.0698138303992,0.999999931189,0.000216394277171,-0.000300883795767,1.62561893163e-05,1793242899318680832
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.6237811,787,805,652,631,652,0.400969812346,-0.00535988526553,0.0698260327657,0.999999937213,0.000214512275135,-0.000281560431987,1.68193053334e-05,1793242899452013824
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.527607805,787,804.472392195,652,631,652,0.400968929894,-0.00535989508799,0.0698269449461,0.999999937579,0.000213571916177,-0.000280973187004,1.68430751878e-05,1793242899485347584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.10513226,787,804,652,631,652,0.400967969331,-0.00535921589545,0.0698264797075,0.999999937193,0.000214249952882,-0.000281842599676,1.6612555958e-05,1793242899502014720
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.692640438,787,804,652,631,652,0.400969670382,-0.00535781162882,0.0698288532172,0.999999938021,0.000216042008809,-0.000277504561429,1.65705979485e-05,1793242899518681088
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.276201759,635,879.723798241,787,804.276201759,652,631,652,0.400970019171,-0.00535813484842,0.0698296171703,0.999999938511,0.000215728984167,-0.000275979838027,1.65657504501e-05,1793242899535347712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.855432937,635,879.144567063,787,804.855432937,652,631,652,0.400968884352,-0.00536035334595,0.0698286152298,0.99999993864,0.000213106411318,-0.000277541688053,1.66016180263e-05,1793242899552014336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.432295186,679,659.567704814,635,879.432295186,787,805,652,631,652,0.400968981199,-0.00536153475115,0.0698292977058,0.999999938989,0.000212202477945,-0.000276974926445,1.66693135964e-05,1793242899568681216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.99163195,714.99163195,678.99163195,659,635,879.99163195,787,805,652,631,652,0.400969500651,-0.00536235477923,0.0698305276734,0.999999939413,0.000211863059661,-0.000275695612775,1.67487976861e-05,1793242899585347840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.415657912,714.415657912,678.415657912,659,635,879.415657912,787,805,652,631,652,0.400970899141,-0.00536205930979,0.06983089372,0.999999940021,0.000211042343273,-0.000274105176488,1.6909860822e-05,1793242899602014208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.164314886,714,678.164314886,659,635,879,787,804.835685114,652,631,652,0.40097114083,-0.00536159504624,0.0698305601406,0.999999940081,0.000211058613329,-0.000273877805316,1.6847321012e-05,1793242899618680832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.754655387,714,678.754655387,659,635,879,787,804.245344613,652,631,652,0.400968383237,-0.0053606931436,0.0698284126134,0.999999938716,0.000213244970839,-0.000277184506339,1.62050371103e-05,1793242899635347200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.340618386,652,631,652,0.400968440063,-0.00536035567617,0.069829067486,0.99999993867,0.00021415413113,-0.000276642159371,1.63162309938e-05,1793242899652013824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.923468289,652,631,652,0.400970498369,-0.00536041960812,0.0698317152916,0.999999939561,0.000214155009704,-0.00027336255328,1.69632622957e-05,1793242899668680704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.495187171,787,805,652,631,652,0.400970581163,-0.00535984985543,0.0698314469484,0.999999939541,0.000214110313945,-0.000273483364986,1.67933630775e-05,1793242899685347584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.067389223,659.067389223,635,879.932610777,787.067389223,804.932610777,652,631,652,0.400970291412,-0.00535947951831,0.0698308166731,0.999999939465,0.000213729770459,-0.000274073089055,1.65295417976e-05,1793242899702014208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.656352599,659.656352599,635,879.343647401,787.656352599,804.343647401,652,631,652,0.400969429385,-0.00536139394214,0.0698307967035,0.999999940021,0.000210803174245,-0.000274313965386,1.64945050987e-05,1793242899718681088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.241329156,680,659.758670844,635,879,787.758670844,804.241329156,652,631.241329156,652,0.40096867977,-0.00536189891079,0.0698306257654,0.999999939934,0.000210745999842,-0.000274675842267,1.64777694386e-05,1793242899735347712
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.820720919,680,659.179279081,635,879,787.179279081,804.820720919,652,631.820720919,652,0.400968087625,-0.00536042946391,0.0698302433453,0.999999938945,0.000214708414824,-0.000275207221127,1.64866705302e-05,1793242899752014080
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83837a3f3723898a1cb6cdda7ba18ef76af226eb
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+49,0.816666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+50,0.833333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+51,0.850000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+52,0.866666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+53,0.883333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+54,0.900000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+55,0.916666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+56,0.933333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+60,1.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+61,1.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+62,1.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+63,1.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+64,1.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+65,1.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+66,1.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+68,1.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+70,1.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+71,1.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+72,1.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+76,1.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+80,1.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+81,1.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+82,1.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+84,1.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..011cc25e2e70429a429ff782cff291461c7c0ef5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a24f810cb01481e67b551e660203440e340d9fde7e6ff0aadaa5c02dcf1f5ba
+size 25788106
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..128e3f0d4a0e64c3740aed704293d29da3dcbc87
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+10,0.166666667,BASELINE,765,745,714,679.193074846,658.806925154,635,879,787.806925154,804.193074846,652,631,652,0.400968905069,-0.00536209722259,0.0698314001664,0.999999939971,0.000212160860333,-0.000273443530154,1.65437505311e-05,1793242900067681280
+11,0.183333333,BASELINE,765,745,714.382562047,679,659,635,879,787.617437953,804.382562047,652,631,652,0.40096899354,-0.00536151784423,0.0698317277142,0.999999939822,0.000213325749884,-0.000273076136929,1.66395118026e-05,1793242900084347904
+12,0.200000000,BASELINE,765,745,714.958159832,679,659,635,879,787.041840168,804.958159832,652,631,652,0.40096965106,-0.00536056367064,0.0698326300398,0.999999939892,0.000214567057874,-0.000271852406766,1.6515598002e-05,1793242900101014528
+13,0.216666667,BASELINE,765,745,715,679,659,635,879,787,805,652,631,651.465873692,0.400969064287,-0.00536104203746,0.0698321460039,0.999999940006,0.00021314431329,-0.000272566060392,1.62899415002e-05,1793242900117681408
+14,0.233333333,BASELINE,765,745,715,679.113622918,659,635,879,787,805,652,631,651.113622918,0.400968953795,-0.00536161860722,0.0698320123125,0.999999940263,0.000211959683785,-0.000272555266736,1.61705940885e-05,1793242900134348032
+15,0.250000000,BASELINE,765,745,715,679.707931802,659,635,879,787,805,652,631,651.707931802,0.400971270862,-0.0053621355648,0.0698338205162,0.999999941113,0.000212665869929,-0.00026883719097,1.65347313842e-05,1793242900151014400
+16,0.266666667,BASELINE,765,745.294438191,714.705561809,679.705561809,659,635,879,787,805,652,631,652,0.400971947109,-0.00536215196507,0.06983413949,0.999999941131,0.000213285945781,-0.000268278400341,1.65576642253e-05,1793242900167681024
+17,0.283333333,BASELINE,765,745.873404658,714.126595342,679.126595342,659,635,879,787,805,652,631,652,0.40097103776,-0.00536168465528,0.0698330193567,0.999999940349,0.000213822809518,-0.000270772562923,1.62508765183e-05,1793242900184347648
+18,0.300000000,BASELINE,765,745.550246345,714,679,659,635,879.449753655,787.449753655,805,652,631,652,0.400970666369,-0.00536102714323,0.0698326729068,0.999999940532,0.000212741205677,-0.000270974646356,1.57796551991e-05,1793242900201014272
+19,0.316666667,BASELINE,765,745,714,679,659,635,879.97413237,787.97413237,805,652,631,652,0.400970423166,-0.00536038780044,0.0698325469915,0.999999940945,0.000211311168067,-0.000270596611141,1.53031566277e-05,1793242900217680640
+20,0.333333333,BASELINE,765,745,714,679,659,635,879.387228646,787.387228646,805,652,631,652,0.400969695017,-0.00536129696903,0.0698325082762,0.999999940504,0.000212147424973,-0.000271548443568,1.57102402082e-05,1793242900234347520
+21,0.350000000,BASELINE,765,745,714.197108141,679,659,635,879,787,805,652,631,652,0.400969599626,-0.00536184679879,0.0698329119028,0.999999940292,0.000213000428937,-0.000271636972732,1.61097763844e-05,1793242900251014400
+22,0.366666667,BASELINE,765,745,714.776466813,679,659,635,879,787,805,652,631,652,0.40097073134,-0.00536169976498,0.06983417336,0.999999940527,0.000213885910267,-0.0002700513034,1.6494675881e-05,1793242900267681024
+23,0.383333333,BASELINE,765,745,714.645865094,679,658.645865094,635,879,787,805,652.354134906,631,652,0.400970289442,-0.00536179418014,0.0698337036727,0.999999940404,0.000213525645882,-0.000270794652728,1.63897460087e-05,1793242900284347648
+24,0.400000000,BASELINE,765,745,714.069258984,679,658.069258984,635,879,787,805,652.930741016,631,652,0.400968858985,-0.00536204027603,0.0698321464626,0.999999940054,0.000212382791262,-0.000273001115472,1.59771003064e-05,1793242900301014272
+25,0.416666667,BASELINE,765,745,714.505742595,679,658.505742595,635,879,787,805,652.494257405,631,652,0.400968763358,-0.00536167359167,0.0698321081482,0.999999939935,0.000213789890767,-0.000272340116417,1.59833622574e-05,1793242900317680640
+26,0.433333333,BASELINE,765,745,714.917306869,679,659,635,879,787,805,652,631,652,0.400968909479,-0.00536120514748,0.0698323034121,0.999999939881,0.000215253608032,-0.000271379970559,1.60488355321e-05,1793242900334347520
+27,0.450000000,BASELINE,765,745,714.327049083,679,659,635,879,787,805,652,631,652,0.400969420977,-0.00536062555766,0.0698326596792,0.999999940056,0.00021492823211,-0.000270986331971,1.61267405438e-05,1793242900351015424
+28,0.466666667,BASELINE,765,745,714,679.25812876,659,635,879,787,805,652,631,652,0.40096939316,-0.00536000135406,0.0698325311634,0.999999940062,0.0002148349154,-0.000271039227501,1.60949262092e-05,1793242900367682304
+29,0.483333333,BASELINE,765,745,714,679.836994503,659,635,879,787,805,652,631,652,0.400968695219,-0.00535932171581,0.0698318002826,0.999999939858,0.000215029943066,-0.000271646962453,1.5926780482e-05,1793242900384348160
+30,0.500000000,BASELINE,765,745,714,679.587026752,659,635,879.412973248,787,805,652,631,652,0.400968490781,-0.00536060846977,0.069831914333,0.999999939872,0.000214596559405,-0.000271928965359,1.60919538303e-05,1793242900401014784
+31,0.516666667,BASELINE,765,745,714,679.012179642,659,635,879.987820358,787,805,652,631,652,0.400968479781,-0.005362665994,0.0698323595725,0.999999939971,0.00021391685623,-0.000272083290476,1.63877788559e-05,1793242900417681408
+32,0.533333333,BASELINE,765,745,714,679.5755788,659,635,879.4244212,787,805.5755788,652,631,652,0.400970747177,-0.00536148632649,0.0698333899473,0.999999940308,0.000215579726478,-0.000269532948953,1.61593839263e-05,1793242900434348288
+33,0.550000000,BASELINE,765,745,714.161247984,679.838752016,659,635,879.161247984,787,805.838752016,652.161247984,631,652,0.400971670132,-0.00536089180121,0.069833753378,0.999999940442,0.000216440012039,-0.000268348758892,1.60882480001e-05,1793242900451015168
+34,0.566666667,BASELINE,765,745,714.740772572,679.259227428,659,635,879.740772572,787,805.259227428,652.740772572,631,652,0.400968977678,-0.00536199690188,0.0698323539029,0.999999940051,0.000215086859806,-0.000270860228293,1.64544764171e-05,1793242900467681792
+35,0.583333333,BASELINE,765,744.681349477,714.681349477,679,659,635,879.681349477,787,805,652.681349477,631,652,0.400968383447,-0.00536209211352,0.0698322956043,0.999999940109,0.000214350437701,-0.0002712292106,1.64205734065e-05,1793242900484347904
+36,0.600000000,BASELINE,765,744.104804143,714.104804143,679,659,635,879.104804143,787,805,652.104804143,631,652,0.400969487381,-0.00536136998742,0.0698333227656,0.999999940535,0.000214113156323,-0.0002698642048,1.60628303299e-05,1793242900501014272
+37,0.616666667,BASELINE,765,744.470638891,714,679.470638891,659,635,879,787,805,652,631,652,0.400970778344,-0.00536164766221,0.069833889163,0.999999941219,0.000212671237632,-0.000268462284199,1.61528568125e-05,1793242900517681152
+38,0.633333333,BASELINE,765,745,714,679.952982583,659,635,879.047017417,787,805,652,631,652,0.400971884377,-0.00536214856892,0.0698342699954,0.99999994186,0.000211046622837,-0.000267344195724,1.63302750059e-05,1793242900534347776
+39,0.650000000,BASELINE,765,745,714,679.362971636,659,635,879.637028364,787,805,652,631,652,0.400970374837,-0.00536266231417,0.0698336899742,0.99999994139,0.000210402861916,-0.000269598732654,1.63681057631e-05,1793242900551014656
+40,0.666666667,BASELINE,765,745,714.222818895,679.222818895,659,635,879.777181105,787,805,652,631,652,0.400969816709,-0.00536270627936,0.0698335206569,0.999999941153,0.000210692441614,-0.000270255149822,1.62822253611e-05,1793242900567681536
+41,0.683333333,BASELINE,765,745,714.801862141,679.801862141,659,635,879.198137859,787,805,652,631,652,0.400970779619,-0.00536199919916,0.0698340079389,0.999999941292,0.000212474168842,-0.000268356625664,1.59985658269e-05,1793242900584348160
+42,0.700000000,BASELINE,765,745,714.621757654,679.621757654,659,635,879,787,805,652,631,652,0.400970818847,-0.00536198303524,0.0698338629977,0.999999941229,0.000212963042395,-0.000268200371073,1.60616659346e-05,1793242900601014784
+43,0.716666667,BASELINE,765,745,714.046762716,679.046762716,659,635,879,787,805,652,631,652,0.400970377598,-0.00536232626942,0.0698333891893,0.999999941062,0.000212779404434,-0.000268950403361,1.6305142096e-05,1793242900617681152
+44,0.733333333,BASELINE,764.460362768,745,714,679,659,635,879,787,805,652,631,652,0.400969553204,-0.00536204081149,0.069832665272,0.999999940639,0.000213306462586,-0.000270103052793,1.63324776789e-05,1793242900634348032
+45,0.750000000,BASELINE,764,745,714,679,659,635,879,787.125263526,805,652,631,652,0.400969297679,-0.00536221561761,0.0698324987843,0.999999940552,0.000213172193791,-0.000270531275771,1.63511769507e-05,1793242900651014656
+46,0.766666667,BASELINE,764,745,714,679,659,635,879,787.704427757,805,652,631,652,0.400971226396,-0.00536425989479,0.0698344324107,0.999999941761,0.000210413583654,-0.000268205338434,1.6407916152e-05,1793242900667681280
+47,0.783333333,BASELINE,764.282675425,745,714,679.282675425,659,635,879,787.717324575,805,652,631,652,0.400971678116,-0.00536451952364,0.0698349579631,0.999999942233,0.000209316458936,-0.000267314342843,1.62490803415e-05,1793242900684347904
+48,0.800000000,BASELINE,764.859967881,745,714,679.859967881,659,635,879,787.140032119,805,652,631,652,0.400970590443,-0.00536291911205,0.069834015958,0.999999941944,0.00020995100865,-0.00026791890774,1.58655625735e-05,1793242900701014528
+49,0.816666667,BASELINE,765,745,714.435490763,679.564509237,659.435490763,635,879,787,805,652,631,652,0.400970655608,-0.00536117367777,0.0698339482796,0.999999941292,0.000212975466288,-0.000267971053493,1.5761912906e-05,1793242900717681408
+50,0.833333333,BASELINE,765,745,715,679.010700951,659.989299049,635,879,787,804.989299049,652,631,652,0.400971076968,-0.00535941646782,0.0698341543879,0.999999940529,0.000216672835072,-0.000267854460105,1.57480437281e-05,1793242900734348288
+51,0.850000000,BASELINE,765,745,715,679.599638687,659.400361313,635,879,787,804.400361313,652,631,652,0.400970795882,-0.00535953255556,0.0698340246444,0.999999940723,0.000215374364308,-0.000268179473361,1.5742444852e-05,1793242900751014912
+52,0.866666667,BASELINE,765,745,714.814501623,679.814501623,659,635,879,787,804.185498377,652,631,652,0.400970722456,-0.00535987837684,0.069833801903,0.999999940926,0.000214059891719,-0.000268478649716,1.56886110906e-05,1793242900767681536
+53,0.883333333,BASELINE,765,745,714.235176878,679.235176878,659,635,879,787,804.764823122,652,631,652,0.400971089909,-0.00536071193892,0.0698333817206,0.99999994115,0.000212711446186,-0.000268722972455,1.55323712063e-05,1793242900784348160
+54,0.900000000,BASELINE,765,745,714,679.343430305,659,635,879,787.343430305,805,652,631,652,0.400971967373,-0.00536092417964,0.0698335580604,0.999999941339,0.000212540292012,-0.000268156025365,1.55032753205e-05,1793242900801014784
+55,0.916666667,BASELINE,765,745,714,679.921547111,659,635,879,787.921547111,805,652,631,652,0.400973193356,-0.00536071183421,0.0698341420396,0.999999941504,0.000213173651605,-0.000267034688988,1.55610645521e-05,1793242900817681152
+56,0.933333333,BASELINE,765,745,714,679.506062212,659,635,879,787.506062212,805,652,631,651.506062212,0.400972504327,-0.00536174001214,0.0698343435836,0.999999941596,0.00021317643303,-0.000266682734107,1.5597582562e-05,1793242900834347520
+57,0.950000000,BASELINE,765,745,714.067778934,679,659,635,879,787,805,652,631,651.067778934,0.400971383547,-0.00536267972941,0.0698343056138,0.999999941555,0.000213191779516,-0.00026682295247,1.56264322341e-05,1793242900851014400
+58,0.966666667,BASELINE,765,745,714.659792197,679,659,635,879,787,805,652,631,651.659792197,0.400969248995,-0.00536142875817,0.0698328795609,0.999999940559,0.000214070084151,-0.000269835534855,1.56218031023e-05,1793242900867681280
+59,0.983333333,BASELINE,765,745,714.754286971,679,659,635,879,787,805,652,631,652,0.400968212626,-0.00536062692272,0.0698323430543,0.999999940197,0.000214026246504,-0.000271209980931,1.55874101338e-05,1793242900884348160
+60,1.000000000,BASELINE,765,745,714.176597382,679,659,635,879,787,805,652,631,652,0.400968659986,-0.00536043190293,0.0698330083905,0.999999940701,0.000212736526241,-0.000270371183559,1.55128040098e-05,1793242900901014784
+61,1.016666667,BASELINE,765,745,714,679.400978574,659,635,879,787,805,652,631.400978574,652,0.400970293846,-0.0053611194769,0.0698339820135,0.999999941347,0.00021201308666,-0.000268537929739,1.5593096217e-05,1793242900917681408
+62,1.033333333,BASELINE,765,745,714,679.978504462,659,635,879,787,805,652,631.978504462,652,0.400972450112,-0.00536219564911,0.0698350913725,0.999999942053,0.000211538975526,-0.000266266825603,1.57415887924e-05,1793242900934348032
+63,1.050000000,BASELINE,765,745,714.564644826,679.435355174,659,635,879,787,805,652,630.870710349,652,0.400973179824,-0.00536205860459,0.0698361956856,0.999999942267,0.000212286861359,-0.000264855989759,1.58583814914e-05,1793242900951014656
+64,1.066666667,BASELINE,765,745,714.850677142,679,659,635,879,787,805,652,630.149322858,652,0.400973121861,-0.00536189777785,0.0698365358192,0.999999942133,0.000213216315999,-0.000264612998986,1.59120744648e-05,1793242900967681280
+65,1.083333333,BASELINE,765,745,714.271171369,679,659,635,879,787,805,652,630.728828631,652,0.400970953569,-0.00536180355569,0.0698346749963,0.999999941048,0.000214532754123,-0.000267638632982,1.57875144686e-05,1793242900984347904
+66,1.100000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400970541452,-0.00536178387242,0.0698338944188,0.999999940822,0.000214579965873,-0.000268447661898,1.57564154595e-05,1793242901001014528
+67,1.116666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400971673841,-0.00536182974399,0.0698340638865,0.999999941355,0.000213510929061,-0.000267307249528,1.5807512737e-05,1793242901017681152
+68,1.133333333,BASELINE,765,745.461050807,714,679,659,635,879,787,805,652,631,652,0.400971631831,-0.00536111455268,0.06983419049,0.999999941398,0.000212938975353,-0.000267609713046,1.56610634565e-05,1793242901034347776
+69,1.150000000,BASELINE,765,745.961855969,714,679.038144031,659,635,879,787,804.961855969,652,631.038144031,652,0.400971366496,-0.00536032417587,0.0698343397857,0.999999941355,0.000212475766705,-0.000268150602801,1.54753271691e-05,1793242901051014400
+70,1.166666667,BASELINE,765,745.373618185,714,679.626381815,659,635,879,787,804.373618185,652,631.626381815,652,0.400972114855,-0.00536119359229,0.0698349708867,0.999999941829,0.000211788547316,-0.000266927537106,1.54352854701e-05,1793242901067680768
+71,1.183333333,BASELINE,765,745,714.211302071,679.788697929,659,635,879.211302071,787,804.211302071,652,631.788697929,652,0.400972123239,-0.00536180196351,0.0698349584027,0.999999941865,0.000211769950884,-0.000266802434028,1.54748334048e-05,1793242901084347392
+72,1.200000000,BASELINE,765,745,714.790447144,679.209552856,659,635,879.790447144,787,804.790447144,652,631.209552856,652,0.400970843444,-0.00536195589707,0.0698338255409,0.999999941141,0.00021291531962,-0.000268588707484,1.56529341145e-05,1793242901101014016
+73,1.216666667,BASELINE,765,745,715,679,659,635,879.633458652,787.366541348,805,652,631,652,0.400970402258,-0.00536287380659,0.0698335705629,0.999999941388,0.000211622865198,-0.000268677793664,1.58913581992e-05,1793242901117680896
+74,1.233333333,BASELINE,765,745,715,679,659,635,879.059094274,787.940905726,805,652,631,652,0.400970436549,-0.00536422487813,0.0698338133309,0.99999994218,0.000208948204317,-0.00026780460194,1.61639846534e-05,1793242901134347520
+75,1.250000000,BASELINE,765,745,714.47231503,679,658.47231503,635,879,787.47231503,805,652,631,652,0.400971222135,-0.00536268186578,0.0698354682941,0.999999942231,0.000210517955405,-0.000266386476028,1.60987587594e-05,1793242901151014144
+76,1.266666667,BASELINE,765,745,714.114083756,679,658.114083756,635,879.114083756,787,805,651.885916244,631,652,0.400971796738,-0.00536145169118,0.0698367372676,0.9999999422,0.00021172282312,-0.000265550828961,1.59780335221e-05,1793242901167680768
+77,1.283333333,BASELINE,765,745,714.693129013,679,658.693129013,635,879.693129013,787,805,651.306870987,631,652,0.40097116029,-0.00536284926426,0.0698357730122,0.999999942203,0.000209456660145,-0.000267343852633,1.57890319326e-05,1793242901184347648
+78,1.300000000,BASELINE,765,745,714.728404074,679,659,635,880,787,805,651.271595926,631,652,0.400971357791,-0.00536298277144,0.069835425368,0.999999942177,0.000209319394215,-0.000267561110776,1.55747767792e-05,1793242901201014272
+79,1.316666667,BASELINE,765,745,714.150589271,679,659,635,880,787,805,651.849410729,631,652,0.400972495552,-0.00536169106996,0.0698357729403,0.99999994212,0.000211582416518,-0.000266001725246,1.53320487594e-05,1793242901217680896
+80,1.333333333,BASELINE,765,745,714,679,659,635,879.57594951,787,805,652,631,652,0.400971815911,-0.00536184986859,0.0698348236314,0.999999941979,0.000210954146295,-0.000267017214868,1.55339987024e-05,1793242901234347520
+81,1.350000000,BASELINE,765,745,714,679,659,635,879.002428848,787,805,652,631,652,0.400970495668,-0.00536251994231,0.0698334171952,0.999999941805,0.000209306747636,-0.00026894030155,1.58926896108e-05,1793242901251014144
+82,1.366666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631.58786713,652,0.400971607181,-0.00536182569709,0.0698345066845,0.999999941593,0.000212103391269,-0.000267560271154,1.5434689537e-05,1793242901267680768
+83,1.383333333,BASELINE,765,745,714.17492445,679,658.82507555,635,879,787,805,652,631.82507555,652,0.400971935043,-0.00536113336698,0.0698350222669,0.999999941425,0.000213660527599,-0.000266964410465,1.51605220821e-05,1793242901284347648
+84,1.400000000,BASELINE,765,745,714.754328137,679,658.245671863,635,879,787,805,652,631.245671863,652,0.400970426948,-0.00536045888206,0.0698341862544,0.999999941376,0.000212307837887,-0.000268214275144,1.53194637302e-05,1793242901301014272
+85,1.416666667,BASELINE,765,745,715,679,658.331238794,635,879,787,805,652,631,652,0.400971345682,-0.00536077343663,0.0698351159867,0.999999941927,0.000211187252742,-0.000267028359878,1.55626370524e-05,1793242901317680640
+86,1.433333333,BASELINE,765,745,715,679,658.906314208,635,879,787,805,652,631,652,0.400974050891,-0.00536181605827,0.0698373455465,0.999999942913,0.000210237528082,-0.000264049380555,1.58678162868e-05,1793242901334347264
+87,1.450000000,BASELINE,765,745,715,679.48134272,659,635,879.48134272,787,804.51865728,652,631,652,0.400973178831,-0.00536217263323,0.0698360707523,0.999999942382,0.000210816444798,-0.000265594832816,1.58947212655e-05,1793242901351014144
+88,1.466666667,BASELINE,765,745,715,679.941667705,659,635,879.941667705,787,804,652,631,652,0.400971658202,-0.00536236564497,0.069834240639,0.999999941607,0.000211589628398,-0.000267891978284,1.58287533883e-05,1793242901367680768
+89,1.483333333,BASELINE,765,745,715,679.346547956,659,635,879.346547956,787,804,652,631,652,0.400970575803,-0.00536228214766,0.0698335762835,0.999999941352,0.00021141286411,-0.000269003595705,1.54065079001e-05,1793242901384347648
+90,1.500000000,BASELINE,765,745,714.759158448,679,659,635,879,787,804.240841552,652,631,652,0.400969086898,-0.00536182710813,0.0698326485047,0.999999940826,0.000211887921657,-0.000270592421314,1.52271614389e-05,1793242901401014272
+91,1.516666667,BASELINE,765,745,714.182546154,679,659,635,879,787,804.817453846,652,631,652,0.400967031259,-0.00536085408073,0.069831353473,0.999999939917,0.000213271720672,-0.000272846549585,1.53864541975e-05,1793242901417680896
+92,1.533333333,BASELINE,765,745,714.391652934,679,659.391652934,635,879,787,805,652,631,652,0.400968504564,-0.00536174571697,0.0698327719012,0.999999940823,0.000211608277651,-0.000270796964284,1.56331123427e-05,1793242901434347520
+93,1.550000000,BASELINE,765,745,714.964734185,679,659.964734185,635,879,787,805,652,631,652,0.400971612608,-0.00536350113522,0.0698354473056,0.999999942551,0.000208533238039,-0.000266753737764,1.59202414228e-05,1793242901451014400
+94,1.566666667,BASELINE,765,745,714.444843144,679,659.444843144,635,879,787,805,652,631,652,0.400970107427,-0.00536219420246,0.0698344047819,0.999999941971,0.000210003645864,-0.000267785651723,1.57492062536e-05,1793242901467681024
+95,1.583333333,BASELINE,765,745,714.143340931,679,659,635,879,787.143340931,805,652,631,652,0.400968805811,-0.00536119960934,0.0698333837911,0.999999941377,0.000211597183915,-0.000268756258863,1.55945924555e-05,1793242901484347648
+96,1.600000000,BASELINE,765,745,714.721290021,679,659,635,879,787.721290021,805,652,631,652,0.400969038579,-0.00536176086644,0.0698331672664,0.999999941212,0.00021266035052,-0.000268531972597,1.55808577805e-05,1793242901501014272
+97,1.616666667,BASELINE,765,745,714.701339048,679,659,635,879,787.701339048,805,652,631,652,0.400969765828,-0.00536193521428,0.0698336104977,0.999999941243,0.000213108100213,-0.000268061405141,1.55666300368e-05,1793242901517680896
+98,1.633333333,BASELINE,765,745,714.124506648,679,659,635,879,787.124506648,805,652,631,652,0.400970953634,-0.00536174919659,0.0698346682226,0.999999941457,0.000212982653337,-0.000267361452521,1.5551943052e-05,1793242901534347520
+99,1.650000000,BASELINE,765,745,714.448987697,679,659,635,879,787,805,652,631,652,0.40097035232,-0.00536245791968,0.0698345801544,0.99999994163,0.000211370482726,-0.000267996645175,1.54789271793e-05,1793242901551014144
+100,1.666666667,BASELINE,765,745,714.977636804,679,659,635,879,787.022363196,805,652,631,652,0.400969368151,-0.00536330786036,0.0698342139955,0.999999941776,0.000209525640204,-0.000268905485233,1.54020179026e-05,1793242901567681024
+101,1.683333333,BASELINE,765,745,714.383818869,679,659,635,879,787.616181131,805,652,631,652,0.400971185057,-0.00536147296902,0.0698348009526,0.999999941609,0.000212192546134,-0.000267415808515,1.56358920093e-05,1793242901584347648
+102,1.700000000,BASELINE,765,745,714,679,659,635,879,788,805,652,631,651.796058331,0.400972162969,-0.00536101734576,0.0698351886687,0.999999941663,0.000212912675475,-0.000266623883748,1.59063394923e-05,1793242901601014528
+103,1.716666667,BASELINE,765,745,714,679,659,635,879,788,805,652,631,651.219369064,0.40097160744,-0.00536308263405,0.0698352122289,0.999999942129,0.000210074648391,-0.000267107252058,1.62436327209e-05,1793242901617681152
+104,1.733333333,BASELINE,765,745,714.356312098,679.356312098,659,635,879,787.643687902,805,652,631.356312098,651.356312098,0.400971281164,-0.00536396719187,0.0698353363718,0.999999942346,0.000209008404362,-0.000267137628816,1.61395972411e-05,1793242901634347776
+105,1.750000000,BASELINE,765,745,714.931374411,679.931374411,659,635,879,787.068625589,805,652,631.931374411,651.931374411,0.400971095633,-0.00536412686559,0.0698355222653,0.999999942414,0.000209029908482,-0.000266889901118,1.57646174448e-05,1793242901651014400
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.400967474088,-0.00536479929394,0.069832671736,0.999999941282,0.000208860948864,-0.00027121102131,1.6040946559e-05,1793242901682431744
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.600270215,659,635,879,787,805,652,631,652,0.400969016257,-0.00536213888597,0.069834108867,0.99999994133,0.000210701128414,-0.000269633257202,1.55839137516e-05,1793242901699099648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.192023793,745,714.192023793,679.807976207,659,634.807976207,879.192023793,787.192023793,805,652,631,652,0.400970040304,-0.00536114906766,0.0698350589991,0.999999941471,0.000211632627088,-0.000268392673914,1.53256459747e-05,1793242901715766784
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.343706898,715,679,659,634.343706898,879.656293102,787.656293102,805.343706898,652,631.343706898,652,0.400970419313,-0.00536362328407,0.0698348925517,0.999999941823,0.00021090850301,-0.00026763812651,1.55203346288e-05,1793242901749099776
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.922064668,715,679,659,634.922064668,879.077935332,787.077935332,805.922064668,652,631.922064668,652,0.40097107767,-0.0053622513464,0.0698346611608,0.999999941621,0.000211770966077,-0.000267713166313,1.55216931835e-05,1793242901765765632
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.191869536,745,714,679.904065232,659,635,879,787,805,652,631,652,0.400970247674,-0.00536482318612,0.0698338600012,0.999999941784,0.000209512843566,-0.000268861017906,1.5819487314e-05,1793242901799098368
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.357002212,745,714,679.321498894,659,635,879,787,805,652,631,652,0.400970113247,-0.00536334350129,0.0698336645595,0.999999941772,0.000209254538595,-0.00026914079027,1.52250135211e-05,1793242901815764992
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765.167091635,745,714.832908365,679,659,635,879,787,805,652,631,652,0.400975852388,-0.00536346465063,0.0698376239888,0.999999943462,0.00020781250394,-0.000263902598175,1.56513531414e-05,1793242901849098240
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.59265282,679,659,635,879.40734718,787,805,652,631,652,0.40099183067,-0.00536445934607,0.0698451021042,0.999999946459,0.000208385760645,-0.000251782905304,1.62383146746e-05,1793242901865764864
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.01850924,679,659,635,879.98149076,787,805,652,631,652,0.401012707819,-0.00536559618742,0.0698544922288,0.999999949999,0.000209561187009,-0.000236225355249,1.68523046486e-05,1793242901882431488
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.426404365,744.426404365,714,679.573595635,659,635,879.426404365,787,805,652,631,652,0.401059988143,-0.00536591354445,0.0698722890246,0.999999956929,0.000210128715095,-0.000204190953222,1.71495441643e-05,1793242901899098112
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.323373887,744.161686944,714,679.838313056,659,635,879,787,805,652,631,652,0.40111168972,-0.00536624486181,0.0698890879406,0.999999962163,0.000210736114898,-0.000175963817324,1.73527894758e-05,1793242901915764736
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.475906186,744.737953093,714,679.262046907,659,635,879,787,805,652,631,652,0.401172472561,-0.00536668197062,0.0699026101586,0.999999964858,0.000211497673151,-0.000158906195767,1.73420807861e-05,1793242901932431360
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787.312303266,805,652,631,652,0.401236982272,-0.00536843095974,0.0699104220642,0.999999966798,0.000209553441447,-0.000149038021418,1.67132082502e-05,1793242901949098496
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787.885055553,805,652,631,652,0.401304600048,-0.005371274007,0.0699134717862,0.999999968257,0.00020535268403,-0.000145165573077,1.55688106298e-05,1793242901965765888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.526373222,745,714,679.473626778,659,635,879,788,805,652,630.526373222,652,0.401389111562,-0.00537282771315,0.0699136551058,0.999999968775,0.000203818314875,-0.000143921185632,1.39347544534e-05,1793242901982432512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.935384534,659,635,879,787.935384534,805,652,630.064615466,652,0.401479878782,-0.00537402173728,0.0699128797176,0.999999968935,0.000203130478184,-0.000143955724227,1.20711584208e-05,1793242901999099136
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.356760013,659,635,879,787.356760013,805,652,630.643239987,652,0.401586667945,-0.00537492970562,0.0699102029207,0.999999968091,0.000203851190548,-0.000148915006621,9.35958298267e-06,1793242902015765248
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.220827524,679,659,635,879,787.220827524,805,652,631,652,0.401706934058,-0.00537744021047,0.0699099197863,0.999999968501,0.000201459086535,-0.000149559683684,6.59603322219e-06,1793242902032431872
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.796747526,679,659,635,879,787.796747526,805,652,631,652,0.401848871208,-0.00538252760713,0.0699134856811,0.9999999709,0.000194061548084,-0.000143266439366,3.74890858488e-06,1793242902049098752
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.62003047,679,659,634.62003047,879.37996953,787.62003047,805,652,631,652,0.402009657497,-0.00538615529728,0.0699162744416,0.999999972361,0.000188617787706,-0.00014035889939,3.69257908645e-07,1793242902065765632
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.874281168,679,659,635,879,788,805,652,631,652,0.402600071053,-0.00539616177621,0.0699286043024,0.999999978005,0.000172787229526,-0.000118307103527,-1.17842093549e-05,1793242902115765248
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765.439266711,745,714,679,659,635,879.560733289,787,805,652,631,652,0.403688323403,-0.00542617651642,0.069946187893,0.999999987871,0.000130461425169,-7.97542590592e-05,-2.96105588058e-05,1793242902182431744
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.971031257,745,714,679,659,635,879,787,805,652,631,652,0.404020294245,-0.00543976379056,0.0699570592151,0.999999991585,0.000110384072214,-5.98756404367e-05,-3.25628101418e-05,1793242902199098624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.391700672,745,714,679,659,635,879,787,805,652,631,652,0.404368844342,-0.00545434786858,0.0699585027197,0.999999995796,6.33795855092e-05,-6.18469041798e-05,-2.38055529389e-05,1793242902215765504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.186243179,787,805,652,630.813756821,652,0.40473369422,-0.00546616410147,0.0699618126156,0.999999997489,3.54046616963e-05,-5.85046827205e-05,-1.8619930249e-05,1793242902232432128
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.76129198,787,805,652,630.23870802,652,0.405132571859,-0.00547220211425,0.0699690188338,0.999999997699,4.71563051016e-05,-4.40699051172e-05,-2.08905365888e-05,1793242902249098496
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.336283324,679,659,635,879.663716676,787,805,652,630.336283324,652,0.405544382824,-0.00547830411828,0.0699718818598,0.99999999795,4.56568786334e-05,-3.79309092406e-05,-2.40182334755e-05,1793242902265765120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.91123395,679,659,635,879.08876605,787,805,652,630.91123395,652,0.405965372882,-0.00548445153884,0.0699716624322,0.999999998301,3.47528922509e-05,-3.76796014887e-05,-2.77542256633e-05,1793242902282431744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.499097036,679.500902964,659,635,879,787,805,652,631,652,0.406411223305,-0.00549062429199,0.0699583904524,0.999999997499,1.49674827884e-05,-6.26080237004e-05,-2.92855975493e-05,1793242902299098368
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.090845258,679.909154742,659,635,879,787,805,652,631,652,0.406869955819,-0.00549604368925,0.0699434665442,0.999999995546,-1.6614577922e-06,-8.92678838968e-05,-3.06081339722e-05,1793242902315764992
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.667868953,679.332131047,659,635,879,787,805,652,631,652,0.407373338777,-0.00549740658625,0.0699324556236,0.999999994371,7.28017411012e-06,-0.000100590806179,-3.29671771211e-05,1793242902332431616
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.243841408,745,714.756158592,679,659,635,879,787,805,652,631,652,0.407907583652,-0.00550163504071,0.0699312164382,0.99999999477,6.29076821735e-06,-9.59634163003e-05,-3.48053975498e-05,1793242902349097984
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.818388103,745,714.181611897,679,659,635,879,787,805,652,631,652,0.408483684387,-0.00550974985308,0.0699432299841,0.999999996892,-8.16741999542e-06,-6.9703717151e-05,-3.593726188e-05,1793242902365764608
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.605749266,745,714,679.394250734,659,634.605749266,879,787,805,652,631,652,0.409078638733,-0.00551757586529,0.0699533136141,0.999999998076,-2.02504497057e-05,-4.55858227154e-05,-3.68887925414e-05,1793242902382431744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.029278434,745,714,679.970721566,659,634.029278434,879,787,805,652,631,652,0.409682307078,-0.00552526839573,0.0699625052493,0.999999998547,-3.12356963644e-05,-2.24578570551e-05,-3.77569741252e-05,1793242902399098624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.563022975,879,787,805,652,631,652,0.410296209527,-0.00552907008549,0.0699528799235,0.999999997934,-3.16612142603e-05,-4.02820383632e-05,-3.88248601477e-05,1793242902415764992
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.151840397,787,805,652,631,652,0.410923460033,-0.00553309452804,0.0699458333815,0.99999999714,-3.34834865459e-05,-5.493597355e-05,-3.97487873848e-05,1793242902432431360
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.728539243,787,805,652,631,652,0.411586526889,-0.00553832476192,0.0699488196092,0.999999996868,-4.07949082431e-05,-5.45882260265e-05,-4.02400105245e-05,1793242902449098240
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.696473409,787,805,652,631,652,0.412289784168,-0.00553852919714,0.0699685769243,0.999999997975,-4.4046754717e-05,-2.40171783595e-05,-3.91613103425e-05,1793242902465764864
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.1230081,787,805,652,631,652,0.413028784525,-0.00553426398291,0.0700032494594,0.999999997814,-4.36882542162e-05,3.34326968918e-05,-3.66864125516e-05,1793242902482431488
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.461725632,680,659,635,879.461725632,787,805,652,631,652,0.413759524149,-0.00551300351708,0.0700211984023,0.999999997309,-1.56498231938e-05,6.09208471517e-05,-3.77682242194e-05,1793242902499098112
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.048978047,635,880,787,805,652,631,652,0.414486746194,-0.00548981559403,0.070029242784,0.999999996557,1.55464199486e-05,7.10724467381e-05,-3.99091416678e-05,1793242902515764736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.630162856,635,880,787,805,652,631,652,0.415200257876,-0.00549611319316,0.069979285572,0.999999998908,-1.07800723706e-06,-1.82539580162e-05,-4.30047820726e-05,1793242902532431360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.209121373,745,714.790878627,680,659.790878627,634.790878627,879.790878627,787,805,652,631,652,0.415935579441,-0.00550405860534,0.069937785903,0.99999999485,-1.74670234342e-05,-8.8742862653e-05,-4.60401161387e-05,1793242902549098240
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.784184068,745,714.215815932,680,659.215815932,634.215815932,879.215815932,787,805,652,631,652,0.416709066063,-0.00551488752386,0.0699110860848,0.99999999027,-3.34440931527e-05,-0.000126268035978,-4.89699204669e-05,1793242902565764864
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.640762151,745,714,680,659.718475698,634.359237849,879,787,805,652,631,652,0.417526384235,-0.00552113833909,0.0699223923719,0.999999992136,-4.07604782519e-05,-0.000107999740816,-4.90248759852e-05,1793242902582431232
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.065713747,745,714,680,660.868572506,634.934286253,879,787,805,652,631,652,0.41837003399,-0.00552463887854,0.0699565306603,0.99999999638,-4.28739945767e-05,-5.62137637115e-05,-4.73527785653e-05,1793242902599097856
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.525673147,714,680,660.474326853,635,879,787,805,652,631,652,0.419213238744,-0.00552381410977,0.0699808628831,0.99999999779,-4.19732255959e-05,-2.09844112082e-05,-4.70902500472e-05,1793242902615764480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.884371706,714,680,659.884371706,635,879.115628294,787,805,652,631,652,0.420068214059,-0.00552230828146,0.0700032498342,0.999999997975,-4.11106992504e-05,1.16193912633e-05,-4.71660485771e-05,1793242902632431104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.308505929,714,680,659.308505929,635,879.691494071,787,805,652,631,652,0.42097026826,-0.00552031282068,0.0700229297443,0.999999997081,-4.19483351663e-05,4.22750807022e-05,-4.78646324404e-05,1793242902649097984
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.267610115,680,659.267610115,635,880,787,805.267610115,652,631,652,0.421842001963,-0.0055172601461,0.0700245277495,0.999999996993,-4.26829589421e-05,4.23066255597e-05,-4.90147788697e-05,1793242902665764864
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.844015015,680,659.844015015,635,880,787,805.844015015,652,631,652,0.422678749018,-0.00551298755433,0.0700052610824,0.999999997754,-4.32987173166e-05,7.00103407672e-06,-5.06859825431e-05,1793242902682431488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879.572220014,787.427779986,805.572220014,652,631,652,0.423456024592,-0.00551495272221,0.0699420143379,0.999999993109,-5.03526364329e-05,-9.04340581394e-05,-5.53891138223e-05,1793242902699098112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.985813903,745.014186097,714.985813903,680,659.985813903,635,879.014186097,787.985813903,805,651.985813903,631,652,0.42421532837,-0.0055192170936,0.0698645539684,0.99999997483,-5.97434653764e-05,-0.000207449608103,-6.1122405338e-05,1793242902715764736
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.402998119,745.597001881,714.402998119,680,659.402998119,635,879.597001881,787.402998119,805,651.402998119,631,652,0.425138713169,-0.0055228745393,0.0698714270971,0.999999978588,-6.70584679045e-05,-0.000185337526919,-6.3057769165e-05,1793242902732431360
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.176834164,745.823165836,714.176834164,680.176834164,659.176834164,635,880,787,805.176834164,651,631,652.176834164,0.426071488989,-0.00552529734147,0.0698952286698,0.999999985221,-7.09596723924e-05,-0.000143423643845,-6.28735264895e-05,1793242902749097984
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.749979943,745.250020057,714.749979943,680.749979943,659.749979943,635,880,787,805.749979943,651,631,652.749979943,0.427025311426,-0.005524953124,0.0699569693982,0.999999994431,-6.72100479499e-05,-5.71309836828e-05,-5.79389306054e-05,1793242902765764864
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.675695108,660,635,879.675695108,787,806,651.324304892,631,652.675695108,0.427961446773,-0.00552609590807,0.0700016408443,0.999999996361,-6.50316347258e-05,6.59881672319e-06,-5.4825768181e-05,1793242902782431488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.100457797,660,635,879.100457797,787,806,651.899542203,631,652.100457797,0.428883896606,-0.00552838926651,0.0700331048509,0.999999995139,-6.40689538341e-05,5.28704952545e-05,-5.31219487444e-05,1793242902799098368
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879.487275204,787,806,651.512724796,631,652,0.429765822968,-0.00553119170397,0.070039484963,0.999999993963,-6.68911845903e-05,6.83712514032e-05,-5.40787897545e-05,1793242902815764992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.924209111,680,660,635,879.924209111,787,805.924209111,651.075790889,631,652,0.430626557829,-0.00553335356583,0.0700315152035,0.999999994225,-6.96102457767e-05,6.00110161181e-05,-5.57006547726e-05,1793242902832431872
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.347983287,680,660,635,879.347983287,787,805.347983287,651.652016713,631,652,0.4314039829,-0.00553057458385,0.06996383986,0.999999994138,-6.6360255817e-05,-6.29099360833e-05,-5.79963998586e-05,1793242902849098496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.228439921,660.228439921,635,879.228439921,787,805,652,631,652,0.432215247714,-0.00552925955082,0.0699119099432,0.999999984654,-6.58944564188e-05,-0.00015071710052,-6.02890120809e-05,1793242902865765120
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.80516415,660.80516415,635,879.80516415,787,805,652,631,652,0.433078105432,-0.00553017648472,0.0698839858249,0.999999978504,-6.96734931977e-05,-0.000184989065373,-6.25768492497e-05,1793242902882431744
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.611578938,660.611578938,635,879.611578938,787,805.388421062,651.611578938,631,652,0.433969373784,-0.00553452886126,0.0699200008565,0.999999988222,-7.54919657342e-05,-0.00011877779211,-6.12217034245e-05,1793242902899098624
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.024989148,660.024989148,635,879.024989148,787,805.975010852,651.024989148,631,652,0.434875136919,-0.00554063396786,0.0699886370352,0.999999994926,-8.23509379125e-05,-1.30092408033e-06,-5.80079415431e-05,1793242902915764992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.557025112,660,635,879.557025112,787,806,651,631,651.442974888,0.435730149299,-0.00554289270624,0.070014710107,0.999999994401,-8.16074685379e-05,3.70310306962e-05,-5.62837257119e-05,1793242902932431616
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.137334586,681,660,635,880.137334586,787,806,651,631,651.137334586,0.436573836911,-0.00554465810272,0.0700311038554,0.999999993065,-8.24880594326e-05,6.3027855354e-05,-5.56240972542e-05,1793242902949098240
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.712854264,681,660,635,880.712854264,787,806,651,631,651.712854264,0.437388596394,-0.00554539549831,0.0700226571288,0.999999992438,-8.96297716204e-05,6.0904061937e-05,-5.81497097917e-05,1793242902965764864
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.711914464,681,660,635,880.711914464,787,806,651,631,652,0.438172484716,-0.00554566680989,0.0699976500405,0.999999993605,-9.03989846177e-05,3.13883256962e-05,-6.02760303454e-05,1793242902982431488
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.136970404,681,660,635,880.136970404,787,806,651,631,652,0.438925633312,-0.00554547402256,0.0699561531246,0.999999994158,-8.48228394639e-05,-2.54026858535e-05,-6.20047592812e-05,1793242902999098112
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.438620333,635,880,787,806,651,631,652,0.439613424418,-0.00554450326056,0.0699055898739,0.99999998831,-8.41388870116e-05,-0.000110877779895,-6.3301969214e-05,1793242903015764992
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.014849636,681.014849636,660.985150364,635,880,787,806.014849636,651,631,652,0.440283001404,-0.00554336868995,0.0698542526635,0.999999973997,-8.49156787481e-05,-0.000201602904528,-6.44274453191e-05,1793242903032431616
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.60807151,681.60807151,660.39192849,635,880,787,806.60807151,651,631,652,0.441039258811,-0.00554533024525,0.0698832048168,0.999999983634,-8.29963280692e-05,-0.000147418312419,-6.41203275245e-05,1793242903049097984
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.805194588,681.805194588,660.194805412,635,880,787,806.805194588,651.194805412,631,652,0.44179846709,-0.00554752396576,0.0699268078542,0.999999991593,-8.47966132875e-05,-7.51127934733e-05,-6.31034968685e-05,1793242903065764608
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.231092995,681.231092995,660.768907005,635,880,787,806.231092995,651.768907005,631,652,0.442563421006,-0.00555016972424,0.0699989369234,0.999999993227,-9.38392208157e-05,3.24751142164e-05,-6.07048184263e-05,1793242903082431488
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.655249233,634.655249233,880,787.344750767,805.655249233,651.655249233,631.344750767,652,0.443270431613,-0.00555521050501,0.0700308104378,0.999999990832,-9.75105197008e-05,7.38753713108e-05,-5.80591283308e-05,1793242903099098112
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.078231766,634.078231766,880,787.921768234,805.078231766,651.078231766,631.921768234,652,0.443938404406,-0.00556186486846,0.0700355628337,0.999999991217,-9.75630416072e-05,7.06834453579e-05,-5.52470211477e-05,1793242903115764992
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.512163749,660,634,880,787.487836251,805.512163749,651,631.487836251,652,0.444529867637,-0.00556144134324,0.0700087221339,0.999999993573,-9.49474065799e-05,2.44628974688e-05,-5.6928004428e-05,1793242903132431360
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806,651,631,652,0.445105062833,-0.00556033753828,0.069978597482,0.999999993697,-9.25480297013e-05,-2.36792774572e-05,-5.90005472457e-05,1793242903149098496
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806,651,631,652,0.445660364055,-0.00556123736656,0.0699562629634,0.999999992672,-9.31073610282e-05,-4.93207300154e-05,-5.96133849003e-05,1793242903165765888
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.743401048,660,634,880,787,806,651,631,651.743401048,0.446198467124,-0.00556303733636,0.069938765396,0.999999991098,-9.62048651769e-05,-7.04852120158e-05,-5.98423645068e-05,1793242903182433024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.169115741,660,634,880,787,806,651,631,651.169115741,0.446715277708,-0.00556595174041,0.0699272562939,0.999999989269,-0.000102444793991,-8.61069085213e-05,-5.95961026168e-05,1793242903199099136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.404801144,714,681,660,634,880.404801144,787,806,651,631,651.404801144,0.447192275726,-0.0055688908127,0.0699106585263,0.999999985067,-0.000106326048911,-0.000122469276646,-5.96880251535e-05,1793242903215765504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.978564301,714,681,660,634,880.978564301,787,806,651,631,651.978564301,0.447652656219,-0.00557184018164,0.0698919367738,0.999999978214,-0.000109222805272,-0.000167488700486,-5.99211040907e-05,1793242903232432128
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.428880081,714,681.571119919,659.428880081,634,880.428880081,787,806,651,631,652,0.448079131495,-0.00557150556177,0.0698715272206,0.999999973108,-0.000105390636318,-0.000197715217061,-5.98867856253e-05,1793242903249098752
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.734385758,633.265614242,880,786.265614242,806.734385758,651,631,652,0.448918360879,-0.00556871693688,0.0698642232796,0.999999971023,-0.00010724423629,-0.000207356060823,-5.87928592661e-05,1793242903282432000
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.787856853,714,682.212143147,659,633,880,786,806.212143147,651.212143147,631,652,0.450865949818,-0.00557141144072,0.0698151102569,0.999999951339,-0.000108479484796,-0.000285865231064,-6.19367703975e-05,1793242903382431744
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682.06337275,659,633,880,786,807,652,631,652,0.451541713661,-0.00558289926892,0.0697761091912,0.999999930303,-0.000145191031962,-0.000339453844974,-5.55439574415e-05,1793242903432432128
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.702958613,632.297041387,880.297041387,786,806,651,631,651.297041387,0.452087068535,-0.00558129635816,0.069774404764,0.999999933819,-0.000123646824909,-0.000337703759536,-5.50405814842e-05,1793242903482432512
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.760958846,714,682,658,632,880,785.239041154,806,651.760958846,631,651.239041154,0.452761736118,-0.00558742588879,0.0697341452325,0.999999912144,-0.00012761751503,-0.000394774991284,-5.98202517684e-05,1793242903599098624
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880.331166377,785,806,651.331166377,631,652,0.452935237278,-0.00558722716989,0.0697230394329,0.999999904623,-0.000128112557711,-0.000413182224077,-6.01740169832e-05,1793242903682431744
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.243358167,714,682,657.756641833,632,880,785.243358167,806,651,630.756641833,652,0.452951033833,-0.00558655034059,0.0697220321378,0.999999903654,-0.000127731128663,-0.000415695843627,-5.97854613759e-05,1793242903699098368
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,682.726914376,657.726914376,632,880,785.273085624,806.273085624,651,631,652,0.45297957876,-0.00558314195802,0.0697114911131,0.999999897911,-0.000122011250544,-0.00043110963028,-5.86186720852e-05,1793242903799099648
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.367361924,714,682,657,632,880,785,806.632638076,651.367361924,630.367361924,652,0.452979962378,-0.00558308170523,0.0697070215648,0.999999895009,-0.00012343982144,-0.00043751052883,-5.77042038337e-05,1793242903882432256
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.789936168,745,714,682,657.210063832,632,880,785,806.789936168,651,630.210063832,652,0.452979726709,-0.00558141904211,0.0697064139704,0.99999989485,-0.000121629719498,-0.000438355963729,-5.7873220988e-05,1793242903899098880
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+246,4.100000000,HOLD_POSE2,765,746,714,682,657,632,880,785,806,652,630,651,0.452978452452,-0.00558183936517,0.0697020605523,0.999999891937,-0.000121613782687,-0.000445088789369,-5.68594228391e-05,1793242904036546304
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+258,4.300000000,HOLD_POSE2,765,745.949469367,714,682,657.050530633,632,880,785,807,651.050530633,630,652,0.452977562549,-0.00558016366033,0.0696989943867,0.999999890192,-0.00012185377238,-0.000448948310093,-5.6675809902e-05,1793242904236546560
+259,4.316666667,HOLD_POSE2,765,746,714,681.461403559,657,632,879.461403559,785,807,651,630.538596441,652,0.452977688682,-0.00558007411265,0.0696994932979,0.99999989005,-0.000120545022311,-0.000449643629731,-5.64793885461e-05,1793242904253213184
+260,4.333333333,HOLD_POSE2,765,746,714,681.253393801,657,632,879.1266969,785,806.8733031,651.1266969,631,652,0.452978044824,-0.00558018507981,0.0697000104701,0.999999890015,-0.000119720340096,-0.000449975587225,-5.62097190213e-05,1793242904269880320
+261,4.350000000,HOLD_POSE2,765,746,714,682.41271923,657,632,879.706359615,785,806.293640385,651.706359615,631,652,0.452978871971,-0.00558085438192,0.0697000432486,0.9999998903,-0.000120827790595,-0.000449091266336,-5.58274115765e-05,1793242904286546688
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,806,651,631,652,0.452978373097,-0.00557995174747,0.069699067037,0.999999889686,-0.000119847872336,-0.000450652649611,-5.63536232292e-05,1793242904323969280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.426398865,714,682,657,632,880.426398865,785,806,651,630.426398865,651.426398865,0.452979115164,-0.00558024439067,0.0696995736272,0.999999890106,-0.000119865042342,-0.000449747623713,-5.61066702902e-05,1793242904340635904
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.678701037,714,682,657,632,880,785,806,651.678701037,630.678701037,652,0.452975119877,-0.00557888327573,0.0696959392623,0.999999887923,-0.000117484097293,-0.000455174578117,-5.62835537536e-05,1793242904390636032
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.097627505,714,682,657,632,880,785,806,651.097627505,630.097627505,652,0.452976516766,-0.00557864051622,0.0696974746247,0.99999988859,-0.000116955836383,-0.000453847080664,-5.62485701502e-05,1793242904407302656
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.057054865,745,714,682,657,631.057054865,880.942945135,785,806,651,631,651.057054865,0.452977007275,-0.00557680718222,0.069697749565,0.999999889659,-0.000113516828473,-0.000452452551865,-5.55196000373e-05,1793242904440635904
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,880,785,806,651,630.77027067,652,0.452972040126,-0.00557774298112,0.0696945886374,0.999999887212,-0.000116557780261,-0.000456966893663,-5.63207587519e-05,1793242904473969152
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,880,785,806,651,630.190899269,652,0.452965251253,-0.00557601952436,0.0696915027819,0.999999885367,-0.000115238091038,-0.00046123078536,-5.70343350803e-05,1793242904490635776
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.961676718,714,682,657,632,880.961676718,785,806,651.961676718,630.961676718,652,0.452915687575,-0.00557607324827,0.0696696321001,0.999999868714,-0.000115720643917,-0.000495857867929,-5.7491205157e-05,1793242904523969024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.463727446,785.536272554,806,651.463727446,631,652,0.452861117088,-0.00557460329879,0.0696497797705,0.999999851394,-0.000114800339917,-0.000529783917106,-5.79807646735e-05,1793242904540635904
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.293350461,745.293350461,714,682,657.706649539,632,880,785.293350461,806.706649539,651,631,652,0.45274093562,-0.00557079186979,0.0696207549383,0.999999830565,-0.000113590971207,-0.00056793747504,-5.84342541311e-05,1793242904573969408
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.23144304,746,714,682.76855696,657,632,880,785,806,651.76855696,631,652.23144304,0.451968774663,-0.00555279240622,0.0696008273347,0.999999811563,-9.75871179685e-05,-0.000604317433195,-4.63889726094e-05,1793242904690636544
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,746,714,682.075449727,657,632,880.924550273,785.924550273,806,651.075449727,630.075449727,651.075449727,0.451600521022,-0.00554637715957,0.0696017179794,0.999999807329,-8.84554861595e-05,-0.000613189311656,-3.89528562845e-05,1793242904723969536
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.921630261,682,657.078369739,632.078369739,880,785,806.078369739,652,631,652,0.451154454839,-0.00553718932796,0.069600905551,0.999999802943,-7.68778714661e-05,-0.000622254332134,-3.16863629451e-05,1793242904757302528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.333150881,682,657.666849119,632.666849119,880,785,806.666849119,652,631,652,0.450898239644,-0.00553036437688,0.069607951345,0.999999809102,-6.57434921309e-05,-0.000613805179063,-2.67705992052e-05,1793242904773969152
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.252617454,714,682,658,633,880,785.252617454,806.747382546,651.747382546,631,652,0.450624853077,-0.00552330846789,0.0696144690053,0.999999814194,-5.4081408487e-05,-0.000606811199339,-2.16064692536e-05,1793242904790636032
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.834848403,714,682,658,633,880,785.834848403,806.165151597,651.165151597,631,652,0.450329061437,-0.00551595120704,0.0696202975599,0.999999817968,-4.1730780611e-05,-0.000601715920216,-1.61182730966e-05,1793242904807302912
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.589479951,714,682,658,633,880,786,806,651.410520049,630.589479951,652,0.450014858058,-0.00550844949839,0.0696283872759,0.999999824172,-2.92821533817e-05,-0.000592190309584,-1.04100781507e-05,1793242904823969792
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.016405616,714,682,658,633,880,786,806,651.983594384,630.016405616,652,0.44969336416,-0.00550089059271,0.0696373723474,0.99999983112,-1.67947214777e-05,-0.000580910413437,-4.61477005809e-06,1793242904840636672
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.556480613,633,880,786.556480613,806,651.443519387,630.556480613,652,0.449337246759,-0.00549746399624,0.0696524441296,0.999999844285,-9.29034572509e-06,-0.000557980162224,1.37460701314e-06,1793242904857303296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.865115873,633,880,786.865115873,806,651,631,652,0.448965092613,-0.00549324360198,0.0696667937083,0.999999856368,8.87546393765e-07,-0.000535921561273,7.14702707418e-06,1793242904873969920
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.267777289,633,880,786.267777289,806,651,631,652,0.448541454506,-0.00548588410919,0.0696780521702,0.999999865534,2.0735171794e-05,-0.000518028626687,1.21559927516e-05,1793242904890636800
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.31757804,633,880.31757804,786,806,651,631,652,0.448091541048,-0.00547954808976,0.06968256054,0.999999867223,5.66690254493e-05,-0.000511907510245,1.71352655011e-05,1793242904907303424
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.893196719,633,880.893196719,786,806,651,631,652,0.447620278119,-0.00547404366898,0.0696815842808,0.999999861379,0.000105673371229,-0.000515351307723,2.20904124736e-05,1793242904923969792
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,787,805.239432198,651.239432198,631,652,0.436144920722,-0.00540962657648,0.0697401289077,0.999999917387,0.000124323993503,-0.000386662862223,1.61828493721e-05,1793242905207302400
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.338775671,880,787,805.338775671,651,631,651.661224329,0.43531728001,-0.00540908191538,0.0697815225468,0.9999999369,0.000130463816261,-0.000329817019181,1.99804696752e-05,1793242905223968768
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.915703929,880,787,805.915703929,651,631,651.084296071,0.434479847546,-0.00540871737175,0.0698293840678,0.999999954296,0.000139804985385,-0.000266951137471,2.44907345377e-05,1793242905240635392
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.486071725,745,714,681,659.513928275,634.513928275,880,787,806,651,631,651.486071725,0.433626788236,-0.00540965658647,0.0698388317675,0.999999958114,0.000133753214044,-0.000255454703475,2.50037006644e-05,1793242905257302528
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.115744045,634,879.942127977,787,806,651,631,652,0.432768481283,-0.00541083874529,0.0698412925675,0.999999959718,0.000126243207831,-0.00025299269098,2.4926050751e-05,1793242905273969408
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.306820519,634,879.34658974,787,806,651,631,652,0.43188626387,-0.00541220535261,0.0698399091726,0.99999995931,0.00012965623568,-0.000252801396716,2.57159221273e-05,1793242905290636032
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.757575104,745,714,680.757575104,660.515150208,634,879.242424896,787,806,651.242424896,631,652,0.430952099921,-0.00540926437273,0.0698082674668,0.999999944294,0.000136691469481,-0.000303457556066,2.53237379208e-05,1793242905307302912
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.177642637,745,714,680.177642637,659.355285273,634,879.822357363,787,806,651.822357363,631,652,0.429945615099,-0.00540032630563,0.0697344996874,0.999999898391,0.000148769591741,-0.000424904299027,2.32858780683e-05,1793242905323969280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.398974243,659.398974243,634.398974243,879.601025757,787,806,652,631,652,0.429019452765,-0.00539957029664,0.0697251668814,0.999999893821,0.000149643396712,-0.000435257753132,2.26924764216e-05,1793242905340635648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.974126994,659.974126994,634.974126994,879.025873006,787,806,652,631,652,0.428128759188,-0.00540242731039,0.0697442871885,0.999999910518,0.000145569614088,-0.000396554776558,2.27369168738e-05,1793242905357302272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,880.09849576,787.54924788,806,652,631,652,0.42728377986,-0.00540550660259,0.0698137878967,0.999999946966,0.000139898180394,-0.000292890026928,2.66782760191e-05,1793242905373969152
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.127760561,680.872239439,660,634.872239439,880.872239439,787.872239439,805.872239439,652,631,652,0.426430059828,-0.00540778226224,0.0698694982696,0.99999996782,0.000136582081109,-0.000211630251973,3.02928589311e-05,1793242905390635776
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.718571747,680.281428253,660,634.281428253,880.281428253,787.281428253,805.281428253,652,631,652,0.425536856009,-0.00540710731837,0.0698666265073,0.999999964604,0.000142075324905,-0.000222664538154,3.20578041385e-05,1793242905407302400
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.303107904,745,714.696892096,680.303107904,659.696892096,634.303107904,879.696892096,787,805,652,631,652,0.424621425673,-0.00540456269447,0.0698493604123,0.999999957694,0.000145185621302,-0.000250099241621,3.13549733938e-05,1793242905423969280
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.881935987,745,714.118064013,680.881935987,659.118064013,634.881935987,879.118064013,787,805,652,631,652,0.423685777178,-0.00540031732804,0.0698190006044,0.999999946156,0.000146128284249,-0.000292452479568,2.84073457957e-05,1793242905440635904
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.543564537,745,714,680.543564537,659,635,879,787,805,651.543564537,631,652,0.422679591927,-0.00539429422238,0.0697535309485,0.999999902043,0.000160255657815,-0.000411728259243,2.66772143194e-05,1793242905457302784
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,651.030664546,631,652,0.421665507157,-0.00538822312208,0.0696838561793,0.999999837728,0.000176188259341,-0.000541170492527,2.52371816345e-05,1793242905473969152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,651.620178723,631,652,0.420836849928,-0.00538957901574,0.0697015005515,0.999999863023,0.000163450643704,-0.000496680265014,2.33986472489e-05,1793242905490635776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.793232075,879,787,805,651.793232075,631.206767925,652,0.420031078733,-0.00539196150538,0.0697431103176,0.999999900209,0.000154752431131,-0.000418404428837,2.38983920928e-05,1793242905507302400
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.211940847,879,787,805,651.211940847,631.788059153,652,0.419266761375,-0.00539620349118,0.0698281291334,0.999999948927,0.000153370874755,-0.000278931962266,2.86335131583e-05,1793242905523969024
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,787,805,651.364897713,631.635102287,652,0.418460595795,-0.00539861876509,0.0698696741875,0.999999963647,0.000155280085089,-0.000218082853718,3.21511174354e-05,1793242905540635648
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,787,805,651.939181205,631.060818795,652,0.417630416892,-0.00539998583404,0.0698862731019,0.999999966263,0.000159077605961,-0.000202349448072,3.49700855879e-05,1793242905557302272
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.485876459,714,680,659,634,879,787,805.514123541,651.485876459,631,652,0.416762857232,-0.00539972617231,0.0698488242255,0.999999955343,0.000159159758539,-0.000250906360375,3.20691770407e-05,1793242905573969152
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.092002784,714,679.907997216,659,634,879.092002784,787,805.907997216,651,631.092002784,652,0.415898172933,-0.00539799791459,0.0698076549222,0.999999940126,0.00016076270014,-0.000305072707376,2.88704584859e-05,1793242905590636032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.685464202,714,679.314535798,659,634,879.685464202,787,805.314535798,651,631.685464202,652,0.415073293638,-0.0053893153271,0.069781100616,0.999999923982,0.000173053292337,-0.000348307502321,2.77412692888e-05,1793242905607302656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.271114273,879.728885727,787,805,651,631.728885727,652,0.414262585044,-0.00538271708386,0.0697583924601,0.999999906209,0.000182824195472,-0.000391672760143,2.73832970938e-05,1793242905623969280
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.847955692,879.152044308,787,805,651,631.152044308,652,0.413467856368,-0.00537846929148,0.0697400214904,0.999999886915,0.000189753722722,-0.000435185134049,2.78950024457e-05,1793242905640635904
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.422956461,679.422956461,659,635,879,787,805,651.422956461,631,652,0.412782703824,-0.00537641794635,0.0697718799284,0.999999912488,0.000189422449181,-0.000371951778695,2.81864164987e-05,1793242905657302528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.997298468,679.997298468,659,635,879,787,805,651.997298468,631,652,0.412136770956,-0.00537515275831,0.0698217165896,0.999999945619,0.000186492372143,-0.000270511747792,2.83989831871e-05,1793242905673968896
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.419168389,659,635,880.161663221,787,805,652,631,652,0.411499287312,-0.0053697306278,0.0698644683444,0.999999958486,0.000200403446203,-0.000204804890509,3.03501075208e-05,1793242905690635520
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.835051155,679,659,634.835051155,880.670102309,787,805,652,631,652,0.410843616867,-0.00536449169895,0.0698872800952,0.999999962447,0.00021074265622,-0.000172315291055,3.1624463546e-05,1793242905707302400
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.249555363,679,659,634.249555363,879.499110726,787,805,652,631,652,0.410141476143,-0.0053597699397,0.0698593389884,0.999999951984,0.000211772270127,-0.000224084514362,3.11524110041e-05,1793242905723969280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.670421275,634.329578725,879,787,805,652,631,652.329578725,0.40946625834,-0.0053559818703,0.0698216788173,0.999999933806,0.000216902256629,-0.000290683992191,2.9072419857e-05,1793242905740635904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.096013051,634.903986949,879,787,805,652,631,652.903986949,0.408811040428,-0.00535288739821,0.0697767987835,0.999999906515,0.000225078228286,-0.000368300207902,2.579796197e-05,1793242905757302528
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.479193385,745,714.479193385,679.479193385,658.479193385,635,879.479193385,787,805,652,631,652.520806615,0.408230460167,-0.00535407058731,0.0697690715992,0.999999905378,0.000223211713113,-0.000372622428839,2.39362047518e-05,1793242905773969152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.943893972,745,714.943893972,679.943893972,659,635,879.943893972,787,805,652,631,652,0.407669261852,-0.00535787851082,0.0697708496371,0.999999911071,0.000217467431195,-0.000360625483128,2.26802515178e-05,1793242905790635776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.352223778,745,714.352223778,679.352223778,659,635,879.352223778,787,805,652,631,652,0.407150086015,-0.0053785459729,0.0697921838068,0.999999925358,0.000193946831293,-0.00033326785836,2.45006213572e-05,1793242905807302656
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.766284257,714,679,659,635,879,787,805,652,631,652,0.406639637435,-0.00539047217658,0.0698046138421,0.999999932709,0.000177666672314,-0.000319947498111,2.55035222825e-05,1793242905823969536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.188774563,714,679,659,635,879,787,805,652,631,652,0.406142026622,-0.00538954005866,0.0698039459665,0.999999931327,0.000172037145217,-0.000327275842347,2.530393298e-05,1793242905840636416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.38689058,714,679,658.61310942,635,879.38689058,787,805,652,631,652,0.405686705741,-0.00538492544841,0.0698023013523,0.999999927937,0.000182166367823,-0.000332136207199,2.50555309564e-05,1793242905857303040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.961660039,714,679,658.038339961,635,879.961660039,787,805,652,631,652,0.405251921332,-0.00537852257399,0.0698001824215,0.999999923323,0.000199948234744,-0.000335798091137,2.47834248441e-05,1793242905873969408
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.536357951,635,879.463642049,787,804.463642049,652,631,652,0.404875513572,-0.0053784246348,0.0698152200421,0.999999933045,0.000196532223605,-0.000307649193913,2.52279624756e-05,1793242905890636288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.114762999,679.114762999,658.885237001,635,879,787,804,652,631,652,0.404508830184,-0.00537784889356,0.0698314996654,0.99999994252,0.000193056253039,-0.000277541537081,2.56849073044e-05,1793242905907302656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.708667049,679.708667049,658.291332951,635,879,787,804,652,631,652,0.404165326746,-0.00537339690587,0.0698478451801,0.999999949584,0.000195655419495,-0.000248748330087,2.59798056797e-05,1793242905923969280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.707000173,714.707000173,679.707000173,658.292999827,635,879,787,804.292999827,652,631,652,0.403830192411,-0.00537053884024,0.0698511353134,0.99999995002,0.000201330975018,-0.000242455469478,2.53197697381e-05,1793242905940635904
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.443114454,714,679,659,635,879,787,804.556885546,652,631,652,0.403205997685,-0.00536734255907,0.0698326181454,0.999999939848,0.000210274037602,-0.00027491094218,2.26635124209e-05,1793242905973969408
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.018590585,679.018590585,659,634.981409415,879,787,804.018590585,652,631,652,0.402918712961,-0.00536523767929,0.0698233774224,0.999999935312,0.000208157602417,-0.000292529775805,2.17523273184e-05,1793242905990636288
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.609900941,679.609900941,659,634.390099059,879,787,804.609900941,652,631,652,0.402659776378,-0.00536102515873,0.069813617727,0.999999929837,0.000207810692374,-0.000310942027942,2.13334179544e-05,1793242906007302656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.802933224,714.802933224,679.802933224,659,634.197066776,879,787,805,652,631,652,0.402418650195,-0.00535848553828,0.0698057585497,0.999999925759,0.000206472505506,-0.000324649832564,2.12774415352e-05,1793242906023969024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.223802662,714.223802662,679.223802662,659,634.776197338,879,787,805,652,631,652,0.402212054006,-0.00535918925828,0.0698015840085,0.999999924914,0.000203212477946,-0.000329236873835,2.1925102483e-05,1793242906040635648
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.353016162,714,679,659,634.646983838,878.646983838,787,805,652,631.353016162,652,0.402029433668,-0.00535839588492,0.0698014903072,0.999999924844,0.000204216568099,-0.000328779299102,2.26176693881e-05,1793242906057302272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.928378997,714,679,659,634.071621003,878.071621003,787,805,652,631.928378997,652,0.401861914461,-0.00535665956975,0.0698039669162,0.999999925256,0.000207906405753,-0.000325144381375,2.33385203028e-05,1793242906073968896
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.673503127,679.673503127,659,635,879,787,805,652,631,652,0.401472241192,-0.00535467129241,0.0698015428125,0.999999921728,0.000225529143773,-0.000324784024448,1.39642229772e-05,1793242906123968512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.742383233,679.742383233,659,635,879,787,805,652,631,652,0.401370991572,-0.005355822591,0.0698005278631,0.999999920625,0.000229984718823,-0.000325183075641,1.06504673294e-05,1793242906140635392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.165005076,679.165005076,659,635,879,787,805,652,631,652,0.401283008597,-0.0053564700759,0.0697990548521,0.999999920858,0.000224846277689,-0.000328008103684,1.17566019012e-05,1793242906157302272
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.573805039,679,659,635,879.426194961,787,804.426194961,652,631,652,0.401107220911,-0.00535453549243,0.0698022072213,0.999999923747,0.000221997453356,-0.00032097791614,1.4026391723e-05,1793242906207302400
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.159454489,635,879,787,804.159454489,652,631,652,0.401068589547,-0.00535536975476,0.0698054554458,0.999999926102,0.000219025894431,-0.000315603898742,1.47464350604e-05,1793242906223969024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.739138413,635,879,787,804.739138413,652,631,652,0.401042335586,-0.00535462734206,0.0698098034059,0.999999928227,0.000220705070118,-0.000307565707326,1.54369899195e-05,1793242906240635648
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.684769604,635,879,787,805,652,631,652,0.401019875049,-0.00535427510021,0.0698125386363,0.999999929475,0.000221354298326,-0.000302986009834,1.58427882304e-05,1793242906257302272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.111616498,635,879,787,805,652,631,652,0.401000518303,-0.00535424209755,0.0698139543258,0.999999930044,0.000221160819781,-0.000301236064365,1.60155977259e-05,1793242906273969152
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.536179293,679,659,635,879,787,805,652,631,652,0.40098854301,-0.00535356827367,0.0698156637193,0.999999930435,0.000222843075706,-0.000298694442617,1.58797475148e-05,1793242906290635520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.959063555,745,714.040936445,679,659,635,879,787,805,652,631,652,0.400978812107,-0.00535289952474,0.069817503054,0.999999930876,0.000224654634185,-0.000295858742744,1.56928881385e-05,1793242906307302144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.366779865,745,714.633220135,679,659,635,879,787,805,652,631,652,0.400975267013,-0.00535438637527,0.0698201358501,0.999999932684,0.000222098146892,-0.000291640892917,1.5824368159e-05,1793242906323968768
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.220343376,745,715,679.220343376,659,635,879,787,805,652,631.220343376,652,0.400972655902,-0.0053556118072,0.0698225010944,0.999999934013,0.000220920931933,-0.000287937325351,1.61019300296e-05,1793242906340635392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.79907316,745,715,679.79907316,659,635,879,787,805,652,631.79907316,652,0.400971563905,-0.00535641204416,0.069824431168,0.99999993459,0.000221987090485,-0.000285070233255,1.66170926339e-05,1793242906357302016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.624181979,680,659,635,879,787,805,652,631.624181979,652,0.400969226058,-0.00535681522451,0.0698244689201,0.999999934844,0.000220688835434,-0.000285198995337,1.64511318993e-05,1793242906373968640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.048492776,680,659,635,879,787,805,652,631.048492776,652,0.400966225632,-0.00535700723833,0.0698235002795,0.99999993492,0.000218133114995,-0.000286921041705,1.59229295345e-05,1793242906390635264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.462333575,659,635,879,787,805.537666425,652,631,652,0.400967289009,-0.00535646114863,0.0698255573597,0.999999935023,0.000221464217165,-0.000283973366546,1.63458033902e-05,1793242906407302144
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.876863871,659,635,879,787,805.876863871,652,631,652,0.400968240278,-0.00535590726886,0.0698271378689,0.999999935005,0.000224482892758,-0.0002816368731,1.66514473141e-05,1793242906423968768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.297516899,659,635,879,787,805.297516899,652,631,652,0.400967391295,-0.00535557606456,0.0698259215843,0.999999934616,0.000224337888227,-0.000283156152996,1.61986466659e-05,1793242906440635648
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.280209116,678.280209116,659,635,879,787,804.719790884,652,631,652,0.400967150828,-0.00535586937307,0.0698258475423,0.999999934727,0.000223954677104,-0.000283071960545,1.61299582688e-05,1793242906457302272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.856224021,678.856224021,659,635,879,787,804.143775979,652,631,652,0.400967552748,-0.00535682195526,0.0698269793209,0.999999935365,0.000223320000593,-0.000281295045322,1.64667620775e-05,1793242906473969152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.567351324,679,659,635,879,787,804,652,631,652,0.400967638397,-0.00535668200817,0.0698280263311,0.99999993589,0.000222967576776,-0.000279708974269,1.63948828035e-05,1793242906490635776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.990590801,804.018818398,652,631,652,0.400967623578,-0.00535617851451,0.0698290217868,0.999999936363,0.000222723489059,-0.000278218553951,1.61875335079e-05,1793242906507302144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.401533587,805.196932826,652,631,652,0.400967900266,-0.00535566653641,0.0698285782895,0.999999936085,0.000223369593774,-0.000278709946558,1.60091718655e-05,1793242906523968768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.184327329,679,659,635,879,786.184327329,805.815672671,652,631,652,0.400967725145,-0.00535576878257,0.0698281171142,0.999999935903,0.000223441570563,-0.000279308504267,1.5978656826e-05,1793242906540635648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.763344161,679,659,635,879,786.763344161,805.236655839,652,631,652,0.400966582592,-0.00535718623182,0.0698276180858,0.999999935924,0.000222284200227,-0.000280136528415,1.62647172198e-05,1793242906557302272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.659995439,745,714.659995439,679,659,635,879,787,805,652,631,652,0.40096664206,-0.00535739913877,0.0698282839793,0.999999936336,0.000221773268795,-0.000279060518686,1.64009004227e-05,1793242906573968640
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.084963939,745,714.084963939,679,659,635,879,787,805,652,631,652,0.400967532421,-0.00535677941009,0.069829755121,0.999999937015,0.000221709185996,-0.000276668352304,1.64334815404e-05,1793242906590635264
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.489722875,745,714,679,658.510277125,635,878.510277125,787,804.510277125,651.510277125,631,652,0.400967849895,-0.00535662339671,0.0698294742841,0.999999937145,0.000220627155456,-0.000277082019397,1.60740785465e-05,1793242906607302144
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.066283454,679,658.066283454,635,878.066283454,787,804.066283454,651.066283454,631,652,0.400968003474,-0.00535664925481,0.0698289314518,0.999999937174,0.000219546888837,-0.000277858347051,1.5694208814e-05,1793242906623969280
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.658176015,679,658.658176015,635,878.658176015,787,804.658176015,651.658176015,631,652,0.400967645,-0.0053574797913,0.0698287196723,0.999999937158,0.0002198800749,-0.000277653037852,1.56909397703e-05,1793242906640635648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.75648133,679,659,635,879,787,804.75648133,652,631,652,0.400967824352,-0.00535756656258,0.0698289830278,0.99999993729,0.000219922114895,-0.000277140252095,1.57120051008e-05,1793242906657302272
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.180091799,679,659,635,879,787,804.180091799,652,631,652,0.400968738869,-0.00535663666544,0.0698298958555,0.999999937626,0.000219566181169,-0.000276207170046,1.57663336057e-05,1793242906673969152
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.603774892,745,714,679,659,635,879,787,804.396225108,652,631,651.603774892,0.400968910241,-0.00535630524454,0.0698301884994,0.99999993769,0.000220157319993,-0.000275498956442,1.58165285899e-05,1793242906690636032
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.027491024,745,714,679,659,635,879,787,804.972508976,652,631,651.027491024,0.4009687439,-0.00535624579257,0.0698301993096,0.999999937631,0.000221178842241,-0.000274892931102,1.58648451524e-05,1793242906707302656
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c117941e89b9752ad9a9218d3659485fd8344d88
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/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,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+38,0.633333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+43,0.716666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+46,0.766666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+49,0.816666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+50,0.833333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+51,0.850000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+52,0.866666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+53,0.883333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+54,0.900000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+55,0.916666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+403,6.716666667,pose2_to_pose3_retreat,0.58074352342,1.83684802995e-06,1.06004082232,0.551315242431,0.0086766629915,1.05967861617
+404,6.733333333,pose2_to_pose3_retreat,0.58074354103,1.82676076104e-06,1.06004091435,0.55131526008,0.00867665276818,1.05967870186
+405,6.750000000,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120695,1.05967878877
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28797766ecc06e1224e8181f6b184143ade03b70
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af901084df8650d95de224d222c31cd6ad7e84bd07d6e4a99f854a04cf13272
+size 25905709
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efc4b6e738bebcc6091921601761ddcb05efebc0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+55,0.916666667,BASELINE,765,745,714,679,659,635,878.081517001,787,804.918482999,651,631,652,0.400969941207,-0.00535737691266,0.0698345981968,0.999999938819,0.000222250716376,-0.000269670843388,1.56295771726e-05,1793242907768011520
+56,0.933333333,BASELINE,765,744.50092171,714,679,658.50092171,635,878.49907829,786.50092171,805,651.49907829,631,652,0.400970379263,-0.00535856060681,0.0698343806876,0.999999939333,0.000220796906236,-0.000268950122198,1.57693015595e-05,1793242907784678400
+57,0.950000000,BASELINE,765,744.077856497,714,679,658,635,879,786.077856497,805,652,631,652,0.400970522739,-0.00535960120229,0.0698338989964,0.999999939695,0.000219411363658,-0.000268732159895,1.58790265097e-05,1793242907801345280
+58,0.966666667,BASELINE,765,744.654074731,714,679,658,635,879,786.654074731,805,652,631,652,0.400968865817,-0.00535831430026,0.0698331342527,0.999999938914,0.000220366007758,-0.00027085697283,1.56986697271e-05,1793242907818012160
+59,0.983333333,BASELINE,765.229947329,745,714,679,658.459894657,635,879,787,805,652,631.229947329,652,0.40096804634,-0.00535734911871,0.0698326492332,0.99999993832,0.000221613433659,-0.000272041925012,1.54866078514e-05,1793242907834678784
+60,1.000000000,BASELINE,765.805300828,745,714,679,659.610601657,635,879,787,805,652,631.805300828,652,0.400968484799,-0.0053568671965,0.0698325843901,0.999999938011,0.000223300650163,-0.000271815103323,1.52269214125e-05,1793242907851345408
+61,1.016666667,BASELINE,765.609929412,745,714,679,659.609929412,635,878.609929412,787,805,652,631.219858823,652,0.400968771781,-0.00535722546312,0.069832726467,0.999999938388,0.000222034546285,-0.000271467447535,1.5149518315e-05,1793242907868012032
+62,1.033333333,BASELINE,765.020343407,745,714,679,659.020343407,635,878.020343407,787,805,652,630.040686813,652,0.400968981283,-0.00535801347409,0.0698329743805,0.999999939112,0.000219257862003,-0.000271057986883,1.51653505036e-05,1793242907884678656
+63,1.050000000,BASELINE,765,744.440976052,714,679,659,635,878,787,805,652,630.559023948,651.440976052,0.400969029135,-0.0053580192125,0.0698331123062,0.999999938778,0.000221278691487,-0.000270636830734,1.53380954248e-05,1793242907901345280
+64,1.066666667,BASELINE,765,744.136936467,714.136936467,679,659,635,878.136936467,787,805,651.863063533,631,651.136936467,0.400968987194,-0.00535797486193,0.0698330504808,0.999999938559,0.0002224283455,-0.000270500359914,1.53840140662e-05,1793242907918011904
+65,1.083333333,BASELINE,765,744.711367676,714.711367676,679,659,635,878.711367676,787,805,651.288632324,631,651.711367676,0.40096867683,-0.0053578598012,0.0698323630337,0.999999938838,0.000220246936176,-0.000271274758194,1.50068228474e-05,1793242907934678784
+66,1.100000000,BASELINE,764.707472956,745,715,679,659,635,878.707472956,787,805,651.292527044,631.292527044,652,0.400968483488,-0.00535731667181,0.0698319781482,0.999999938759,0.000219960671592,-0.000271804346923,1.4913529958e-05,1793242907951345920
+67,1.116666667,BASELINE,764.119518762,745,715,679,659,635,878.119518762,787,805,651.880481238,631.880481238,652,0.400968408325,-0.0053563412299,0.0698318988239,0.99999993832,0.000221588340311,-0.000272086699018,1.51069499835e-05,1793242907968013312
+68,1.133333333,BASELINE,764.461331862,745,714.538668138,679,659,635,878,787,805,652,631.538668138,652,0.400969116412,-0.00535586331479,0.0698329283277,0.999999938453,0.000222129491029,-0.000271167294598,1.4836940908e-05,1793242907984679424
+69,1.150000000,BASELINE,765,744.959733749,714,679,658.959733749,635,878.040266251,787,804.959733749,652,631,652,0.400969989931,-0.00535558352377,0.0698341232551,0.99999993871,0.000222427224514,-0.000269992577117,1.45089941245e-05,1793242908001345536
+70,1.166666667,BASELINE,765,744.382184951,714,679,658.382184951,635,878.617815049,787,804.382184951,652,631,652,0.40097040431,-0.00535625354335,0.0698337505126,0.999999938668,0.000223175985458,-0.000269502484225,1.49856951246e-05,1793242908018011904
+71,1.183333333,BASELINE,765,744.194552315,714,679,658.194552315,635,878.805447685,787,804,652,631,652,0.400970032933,-0.00535648768935,0.0698332029782,0.999999938384,0.000223967193062,-0.000269886355054,1.52549232814e-05,1793242908034678272
+72,1.200000000,BASELINE,765,744.769702104,714,679,658.769702104,635,878.230297896,787,804,652,631,652,0.400968124403,-0.00535586914767,0.0698323135028,0.999999937622,0.00022484143806,-0.000271979937579,1.51182779648e-05,1793242908051345152
+73,1.216666667,BASELINE,765,745,714.353065446,679,659,635,878,787,804.353065446,652,631,651.646934554,0.400968199417,-0.00535700445026,0.0698329683672,0.999999938109,0.000223246985549,-0.000271494462484,1.52799243011e-05,1793242908068012032
+74,1.233333333,BASELINE,765,745,714.941913901,679,659,635,878,787,804.941913901,652,631,651.058086099,0.400969599076,-0.00535931099943,0.0698346545675,0.999999939419,0.000220003895494,-0.000269286649446,1.56407748003e-05,1793242908084678656
+75,1.250000000,BASELINE,765,745,714.477564236,678.477564236,659,635,878.522435764,787,805,651.477564236,631,651.522435764,0.400970534379,-0.00535882671768,0.0698347711467,0.99999993944,0.000221101617247,-0.000268312376475,1.56057397957e-05,1793242908101345280
+76,1.266666667,BASELINE,765,745,714,678.101404323,659,635,879,787,805,651.101404323,631,652,0.400971036168,-0.00535796974064,0.0698345500149,0.999999939231,0.000222360081218,-0.000268053246508,1.55180362368e-05,1793242908118011648
+77,1.283333333,BASELINE,765,745,714,678.677368156,659,635,879,787,805,651.677368156,631,652,0.400969746986,-0.00535679795055,0.0698335523366,0.999999938619,0.000222147605057,-0.000270509125276,1.53866074762e-05,1793242908134678272
+78,1.300000000,BASELINE,765,745,714,678.742117574,659,635,879,787,804.742117574,652,631,652,0.400968560061,-0.00535669072497,0.0698328579822,0.999999938305,0.000221884875464,-0.000271888349962,1.5275403126e-05,1793242908151345152
+79,1.316666667,BASELINE,765,745,714,678.155808122,659,635,879,787,804.155808122,652,631,652,0.400967503367,-0.00535793927919,0.0698325499273,0.999999938377,0.000221558145462,-0.00027189639806,1.51899556513e-05,1793242908168011776
+80,1.333333333,BASELINE,765,745,714,678.425546589,659,635,879,787,804.425546589,652,631,652,0.400968404947,-0.00535743416714,0.0698332605313,0.999999938675,0.000221680152038,-0.000270699460639,1.51550818404e-05,1793242908184678400
+81,1.350000000,BASELINE,764.994898735,745,714,679,659,635,878.994898735,787,805,652,631,652,0.400969996049,-0.00535631270122,0.0698343276487,0.999999939046,0.000221970708207,-0.000269088035539,1.5141546589e-05,1793242908201345024
+82,1.366666667,BASELINE,764.416114533,745,714,679,659,635,878.416114533,787,805,652,631,652,0.400969425331,-0.00535725345316,0.0698340270005,0.999999938601,0.000222951953687,-0.000269908405024,1.54693033228e-05,1793242908218011904
+83,1.383333333,BASELINE,764.161308467,745,714,679,659,635,878.161308467,787,805,652,631,652,0.400969429215,-0.00535814695312,0.0698340494434,0.999999938671,0.000222459564879,-0.00027004875238,1.55926307317e-05,1793242908234678528
+84,1.400000000,BASELINE,764.735249587,745,714,679,659,635,878.735249587,787,805,652,631,652,0.400970902952,-0.00535891958107,0.0698348983647,0.999999940047,0.000218197568665,-0.00026844957972,1.51930209087e-05,1793242908251345152
+85,1.416666667,BASELINE,765,745,714,679,659,635,879,787,804.682664781,652,631,652,0.400971660439,-0.00535915540228,0.0698351373994,0.999999940522,0.00021686875443,-0.000267758440406,1.51293992632e-05,1793242908268011776
+86,1.433333333,BASELINE,765,745,714,679,659,635,879,787,804.093605291,652,631,652,0.400971804625,-0.00535893157255,0.0698348542072,0.999999940238,0.000218051532878,-0.00026784482188,1.535347386e-05,1793242908284678400
+87,1.450000000,BASELINE,765,745,714,679,659,634.512940534,879,787,804,652,631,652,0.400970210466,-0.00535922141371,0.0698341945782,0.999999940121,0.000217186276304,-0.000268992447262,1.51800384981e-05,1793242908301344768
+88,1.466666667,BASELINE,765,745,714,679,659,634.065686232,878.934313768,787,804.065686232,652,631,652,0.400968656475,-0.00535945093731,0.0698335646525,0.999999939977,0.000216521242061,-0.000270072852051,1.49762561743e-05,1793242908318011648
+89,1.483333333,BASELINE,765,745,714,679,659,634.640807566,878.359192434,787,804.640807566,652,631,652,0.400969961116,-0.00535846000727,0.0698337166657,0.999999939394,0.000220409929973,-0.000269076935446,1.51195664542e-05,1793242908334678272
+90,1.500000000,BASELINE,765,745,714,679,659,635,878.215102058,787,805,652,631,652,0.400970216105,-0.00535743734528,0.0698333755797,0.999999938844,0.000222714027005,-0.000269227236933,1.50519933855e-05,1793242908351345152
+91,1.516666667,BASELINE,765,745,714,679,659,635,878.788021061,787,805,652,631,652,0.400968725022,-0.00535636189807,0.0698322142353,0.999999938368,0.000222382195963,-0.000271284243939,1.46336210747e-05,1793242908368011776
+92,1.533333333,BASELINE,764.625637141,744.625637141,714,679,659,635,878.625637141,787,804.625637141,652,631,652,0.400968820223,-0.00535564691093,0.0698326071329,0.999999938524,0.000222159196313,-0.000270898883221,1.45119536517e-05,1793242908384678656
+93,1.550000000,BASELINE,764.031412124,744.031412124,714,679,659,635,878.031412124,787,804.031412124,652,631,652,0.400969847044,-0.00535514362077,0.0698339128319,0.99999993905,0.000222000112976,-0.000269079127627,1.45645400595e-05,1793242908401345280
+94,1.566666667,BASELINE,764,744,714,679,659,635,878,787,804.548918822,652,631,652,0.400969786175,-0.00535611342223,0.0698339369457,0.999999939044,0.000222219474199,-0.000268914674179,1.46952511066e-05,1793242908418011904
+95,1.583333333,BASELINE,764.127617154,744.127617154,714,679,659,635,878,787,804.872382846,652,630.872382846,652,0.40096952459,-0.00535703622792,0.069833806331,0.999999938983,0.000222317933388,-0.000269051969014,1.48173007881e-05,1793242908434678272
+96,1.600000000,BASELINE,764.703306138,744.703306138,714,679,659,635,878,787,804.296693862,652,630.296693862,652,0.400968771423,-0.00535750535886,0.0698333835969,0.999999938836,0.000221917737269,-0.000269924344661,1.48936304484e-05,1793242908451344896
+97,1.616666667,BASELINE,765,744.715847074,714,679,658.715847074,635,878.284152926,787,804.284152926,652,630.284152926,651.715847074,0.400968487981,-0.00535729212109,0.0698333613464,0.999999938725,0.000222046523044,-0.000270216458338,1.50840792207e-05,1793242908468011520
+98,1.633333333,BASELINE,765,744.129515319,714,679,658.129515319,635,878.870484681,787,804.870484681,652,630.870484681,651.129515319,0.40096870406,-0.00535635322694,0.0698337649853,0.999999938655,0.000222737847939,-0.000269891499723,1.5395886512e-05,1793242908484678144
+99,1.650000000,BASELINE,764.548349731,744.451650269,714,679,658.451650269,635,879,786.548349731,805,652,631,651.451650269,0.400969464391,-0.00535732123072,0.0698343125773,0.999999939319,0.00022106016211,-0.000268807376919,1.53987615882e-05,1793242908501345024
+100,1.666666667,BASELINE,764.031162674,744.968837326,714,679,659,635,878.968837326,786.031162674,804.968837326,652,631,651.968837326,0.400970317603,-0.00535872695068,0.0698348249514,0.999999940116,0.000218861870726,-0.000267643631237,1.53152815518e-05,1793242908518012160
+101,1.683333333,BASELINE,764.607378483,744.392621517,714,679,659,635,878.392621517,786.607378483,804.392621517,652,631,651.392621517,0.400970096464,-0.00535833250241,0.069834007502,0.999999939696,0.000219305525905,-0.000268851838862,1.5253358379e-05,1793242908534678784
+102,1.700000000,BASELINE,765,744,714.183690012,679,659.183690012,635,878.183690012,787,804,652,631,651.183690012,0.400969809106,-0.00535731068633,0.0698334907674,0.999999939169,0.000220789594816,-0.000269604140545,1.5083799209e-05,1793242908551345152
+103,1.716666667,BASELINE,765,744,714.760206169,679,659.760206169,635,878.760206169,787,804,652,631,651.760206169,0.400969380135,-0.00535494722696,0.0698336171196,0.999999938409,0.000224498617063,-0.000269381474677,1.46840575064e-05,1793242908568011776
+104,1.733333333,BASELINE,765,744.344180162,714.655819838,679,659.655819838,635,879,787,804.344180162,652,631,651.655819838,0.400969663559,-0.0053552049675,0.0698338965782,0.999999938404,0.000224942642919,-0.000269031079315,1.46548469811e-05,1793242908584678400
+105,1.750000000,BASELINE,765,744.933465248,714.066534752,679,659.066534752,635,879,787,804.933465248,652,631,651.066534752,0.40097045431,-0.00535732937263,0.0698342850701,0.999999938941,0.000223061530233,-0.00026858972248,1.4889506986e-05,1793242908601345024
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,652,631,652,0.400967723671,-0.00535840610058,0.0698324024525,0.999999938836,0.000219689651713,-0.00027173037568,1.50731415659e-05,1793242908632176128
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.42230098,714,679,659,635,878.42230098,787,804.57769902,652,631,652,0.400968686978,-0.00535979666236,0.0698331937734,0.999999939799,0.000216997137025,-0.000270340817674,1.5183520718e-05,1793242908648843008
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.845648101,744.154351899,714,679,659,635,878.154351899,787,805,652,631,652,0.400969235722,-0.00535983432639,0.0698336970689,0.999999940112,0.000216637759178,-0.000269471125277,1.5162888037e-05,1793242908665509888
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.034208239,679,659,634.034208239,878,787,805,652,631,652,0.401024993661,-0.00535757252493,0.0698599076337,0.999999948917,0.00022439062851,-0.00022702671322,1.65171265642e-05,1793242908832176384
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.542525575,878,787,804.457474425,652,631,652,0.401075647652,-0.00536030540797,0.0698786681747,0.999999956786,0.000220357067273,-0.000193874986393,1.68131735522e-05,1793242908848843008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804,652,631,651.880914999,0.401129350114,-0.00536258132902,0.0698959115732,0.999999962687,0.000217195323523,-0.000164820620541,1.69096460169e-05,1793242908865509632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804,652,631,651.305110241,0.401189255521,-0.00536245246207,0.0699060312081,0.999999963955,0.000219160566486,-0.000154232311595,1.6456068362e-05,1793242908882176256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.277248385,679,658.722751615,635,878.277248385,787,804.277248385,652,631,651.277248385,0.401253595888,-0.00536311787113,0.0699128326386,0.999999965323,0.000218546173996,-0.000146113990254,1.55895965812e-05,1793242908898842880
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.866994091,679,658.133005909,635,878.866994091,787,804.866994091,652,631,651.866994091,0.401322935065,-0.00536467853925,0.0699158939924,0.999999966871,0.00021502417503,-0.000140779687624,1.42577359727e-05,1793242908915509504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.551128296,679,658.448871704,635,879,787,805,652,631,652,0.401407860902,-0.00536629097661,0.0699142330726,0.999999966451,0.000215470158599,-0.000143219783887,1.26032715098e-05,1793242908932176384
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401498371929,-0.00536786625646,0.0699112645484,0.999999965484,0.000216919867326,-0.00014785552309,1.07984566679e-05,1793242908948843264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401609144883,-0.00536842997357,0.0699096043246,0.999999965338,0.000215430157526,-0.000151168197519,7.901267481e-06,1793242908965509888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.820385714,744.820385714,714,679,659,635,879,786.820385714,804.820385714,652,631,652,0.401729860116,-0.00537005486608,0.069909781387,0.999999966039,0.000212545169381,-0.000150737943514,4.94730014868e-06,1793242908982176512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.23152992,744.23152992,714,679,659,635,879,786.23152992,804.23152992,652,631,652,0.401873228283,-0.00537409758966,0.0699141446073,0.99999996863,0.000206481114639,-0.000141779627575,1.86396725657e-06,1793242908998843392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.353078058,744.353078058,714,679,659,635,878.646921942,786.353078058,804.353078058,652,631,652,0.402037789587,-0.00537777253254,0.0699184002027,0.999999970563,0.000201025995042,-0.000135867352432,-1.43436007875e-06,1793242909015510016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.934933713,744.934933713,714,679,659,635,878.065066287,786.934933713,804.934933713,652,631,652,0.402216083037,-0.00538120917164,0.0699225860629,0.999999972084,0.000195965435529,-0.000131928764324,-4.87199377659e-06,1793242909032176384
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.511098992,745,714,679,659,635,878.511098992,787,805,652,631,652,0.402424763457,-0.00538445984257,0.0699247981496,0.999999973869,0.000190683317572,-0.000125742916452,-9.48708114721e-06,1793242909048843008
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.913503045,744.913503045,714,679,658.913503045,635,879,787,804.913503045,652,631,651.913503045,0.402642060569,-0.00538788796397,0.0699268573661,0.9999999757,0.000184864259095,-0.000119249748381,-1.43095998767e-05,1793242909065509632
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.338392215,744.338392215,714,679,658.338392215,635,879,787,804.338392215,652,631,651.338392215,0.402886420738,-0.00539245075434,0.0699294568317,0.999999977951,0.000176169645698,-0.000112618861194,-1.94664471679e-05,1793242909082176000
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.757763741,744.242236259,714,679,658.242236259,635,878.757763741,787,804,652,631,651.242236259,0.403145931771,-0.00539806789797,0.0699347318659,0.999999980542,0.000167526108827,-0.000101291501017,-2.43033235217e-05,1793242909098843136
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.169247762,744.830752238,714,679,658.830752238,635,878.169247762,787,804,652,631,651.830752238,0.403427101138,-0.00540519225232,0.0699438316583,0.99999998349,0.000158955586982,-8.32504751439e-05,-2.86827971602e-05,1793242909115509760
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.412902313,745,714,679,659,634.587097687,878.412902313,787,804.412902313,652,631,652,0.403739818449,-0.00540996091083,0.0699510737752,0.999999985378,0.000151944084589,-7.09363648457e-05,-3.35307654432e-05,1793242909132176384
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.992482623,745,714,679,659,634.007517377,878.992482623,787,804.992482623,652,631,652,0.404065270843,-0.00541377863562,0.0699575659964,0.999999986806,0.00014556191828,-6.09340628603e-05,-3.85678528045e-05,1793242909148843008
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.568627812,879,787,805,652,630.431372188,652,0.404427330434,-0.0054203314988,0.0699581327608,0.999999995337,6.06430615738e-05,-6.24578902897e-05,-4.18116714758e-05,1793242909165509632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.852674594,714,679,659,635,879,787,805,652,630.147325406,652,0.404797691582,-0.0054259920645,0.0699605410673,0.999999997269,1.12400800199e-05,-5.99634707953e-05,-4.1715123971e-05,1793242909182176000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.266234925,714,679,659,635,879,787,805,652,630.733765075,652,0.405191362268,-0.00542888594273,0.0699686703097,0.999999995978,7.07708679935e-05,-4.50409239425e-05,-3.17326055444e-05,1793242909198842880
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.316118857,714,679,659,635,879,787,805,652,631,651.683881143,0.405601383572,-0.00543420024228,0.069971241305,0.999999994339,9.43013964803e-05,-3.93220521365e-05,-2.97301639466e-05,1793242909215509504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.895075484,714,679,659,635,879,787,805,652,631,651.104924516,0.40602499968,-0.00544152700715,0.0699691908837,0.999999994695,8.78994310459e-05,-4.12555961102e-05,-3.43627750193e-05,1793242909232176384
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.526579017,745,714,679,659,634.526579017,879,786.526579017,805,652,631,651,0.406469440526,-0.00545915135262,0.0699537461085,0.999999995418,5.56136771919e-05,-7.0230630003e-05,-3.37446347084e-05,1793242909248843008
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.051379747,745,714,679,659,634.051379747,879,786.051379747,805,652,631,651,0.406925894031,-0.00547896931592,0.0699364324941,0.999999994088,1.96551223158e-05,-0.000101993612175,-3.21863281364e-05,1793242909265509632
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.626774245,745,714,679,659,634.626774245,879,786.626774245,805,652,631,651,0.407457852157,-0.00549791327574,0.0699302961077,0.999999994333,4.669877625e-06,-0.000101145328435,-3.28927791261e-05,1793242909282176512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.20675494,679,659,635,879,787,805,651.79324506,631,651.20675494,0.408002971634,-0.00550972295636,0.0699311282413,0.999999995245,-5.23070846998e-06,-9.13243044511e-05,-3.38045253072e-05,1793242909298842880
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.795202224,679,659,635,879,787,805,651.204797776,631,651.795202224,0.408572388382,-0.00550836197224,0.069944825029,0.999999997259,-5.74445499023e-06,-6.49386157353e-05,-3.50952689304e-05,1793242909315509504
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.622179127,679,659,634.622179127,879,787,805,651.377820873,630.622179127,652,0.40916257936,-0.00551520922632,0.0699527651456,0.999999998168,-1.60808588591e-05,-4.56441861978e-05,-3.63532182926e-05,1793242909332176128
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.042671909,679,659,634.042671909,879,787,805,651.957328091,630.042671909,652,0.409763859911,-0.00552643815886,0.0699576322661,0.999999998338,-3.16607418299e-05,-3.01351760628e-05,-3.75936615486e-05,1793242909348842752
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.532393575,879,787,805,652,630.532393575,652,0.410374115116,-0.0055344704852,0.0699476133448,0.999999997225,-4.17798367619e-05,-4.75424353774e-05,-3.92952727295e-05,1793242909365509632
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.106456198,659,634.893543802,879,787,805.106456198,652,631,652,0.411000011387,-0.00554150181759,0.0699405476933,0.999999996037,-5.02605105672e-05,-6.12379256244e-05,-4.0619840738e-05,1793242909382176512
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.677681757,659,634.322318243,879,787,805.677681757,652,631,652,0.411691079195,-0.0055452723008,0.0699515414192,0.999999996645,-5.34831777577e-05,-4.73055214538e-05,-4.01382636976e-05,1793242909398843136
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.740219755,659,634.259780245,879,787,805.740219755,652,631,652,0.412404142135,-0.00555320347816,0.0699738987131,0.999999997046,-6.45799149281e-05,-1.34071230667e-05,-3.9459586686e-05,1793242909415509760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.144041475,659,634.855958525,879,787,805.144041475,652,631,652,0.413145687395,-0.00556652247655,0.0700109710686,0.999999994497,-8.58730461581e-05,4.63459039109e-05,-3.8525678227e-05,1793242909432176128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.436885772,659,635,879,787,805,652,631,651.563114228,0.413880339323,-0.00556998104601,0.0700254308623,0.99999999301,-8.95070313363e-05,6.75794523876e-05,-3.74286879465e-05,1793242909448843008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.987076021,659,635,879.012923979,787,805,651.987076021,631,651.012923979,0.41461189802,-0.00556928388312,0.0700312594296,0.999999992843,-8.65465280338e-05,7.4127255556e-05,-3.64543094246e-05,1793242909465509632
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.412356628,659,635,879.587643372,787,805,651.412356628,631,651.587643372,0.415304459979,-0.00552449141483,0.0699750430897,0.999999997918,-4.14796237157e-05,-2.42697573767e-05,-4.30681876319e-05,1793242909482176512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.166904208,679,659,635,879.833095792,787,805,651,630.833095792,652,0.416026541677,-0.00549124419198,0.0699298368025,0.999999993754,-5.93520122849e-06,-0.000100734327657,-4.80635765481e-05,1793242909498842880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.757699017,679,659,635,879.242300983,787,805,651,630.242300983,652,0.416823595318,-0.00548731870741,0.0699125930127,0.999999991407,5.42474301613e-06,-0.000121496544323,-4.89484502559e-05,1793242909515509504
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.659069042,679,659,634.659069042,879,786.659069042,805,651,630,651.659069042,0.417650560055,-0.00549660080892,0.0699253002154,0.999999993845,-6.36094686603e-06,-9.96711810551e-05,-4.83252351547e-05,1793242909532176384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.08109544,679,659,634.08109544,879,786.08109544,805,651,630,651.08109544,0.418498321358,-0.00551506588756,0.0699588317596,0.999999997162,-3.42393450913e-05,-4.82355031462e-05,-4.66534751689e-05,1793242909548843264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.493009178,634.493009178,879,786,805,651.493009178,630.493009178,651.493009178,0.419347643275,-0.00551982102634,0.0699817282524,0.9999999978,-4.35055728959e-05,-1.73593681045e-05,-4.69652502973e-05,1793242909565509888
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.935505445,745,714,679,660,634.935505445,879,786.064494555,805.064494555,651.935505445,631,652,0.420201746499,-0.00552253489093,0.0700029822569,0.999999997578,-4.975925951e-05,1.07193764646e-05,-4.74737649727e-05,1793242909582176512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.379179107,745,714,679,660,634.379179107,879,786.620820893,805.620820893,651.379179107,631,652,0.421090368853,-0.00552674590866,0.0700249474258,0.999999996389,-5.62047311995e-05,4.30543787513e-05,-4.70138377758e-05,1793242909598843136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.196180199,745,714,679,660,634.196180199,879,787,805.803819801,651.196180199,631,652,0.421965226095,-0.00552793598223,0.0700309510035,0.999999995877,-5.88562953887e-05,5.02791763355e-05,-4.7465550047e-05,1793242909615509760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.812279198,745,714,679,660,634.812279198,879,787,805.187720802,651.812279198,631,652,0.42281061963,-0.00552265980128,0.0700027891993,0.999999997324,-5.33870968524e-05,3.75621587816e-06,-4.98686036996e-05,1793242909632176384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.402630161,745,714,679.402630161,660,635,879,787,805,652,631,652,0.423617937404,-0.00551448819106,0.06993726899,0.999999992598,-4.77883193632e-05,-9.72154647841e-05,-5.54053488796e-05,1793242909648843008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.98169797,745,714,679.98169797,660,635,879,787,805,652,631,652,0.424408569844,-0.0055050477673,0.0698553778549,0.999999972518,-4.21327584552e-05,-0.000222047261971,-6.23153166314e-05,1793242909665509632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.444075912,745,714,680,660,635,879,787,805,651.444075912,631,652,0.425323254606,-0.00551580470137,0.069875954475,0.999999980707,-5.5588937734e-05,-0.000177999586036,-6.17376739272e-05,1793242909682176512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.133201102,680.133201102,660,635,879,787,805.133201102,651,631,651.866798898,0.426248748946,-0.00552584791664,0.0699079634525,0.999999988472,-6.81442179483e-05,-0.000121581016219,-6.02500373423e-05,1793242909698842880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.721440303,680.721440303,660,635,879,787,805.721440303,651,631,651.278559697,0.427197339347,-0.00553120102763,0.0699676026445,0.999999994684,-7.54909951272e-05,-4.17306438917e-05,-5.64885393783e-05,1793242909715509760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.305214286,745,714.694785714,680.694785714,660,635,879,787,806,651,631,651.305214286,0.428135464123,-0.00553411273312,0.0700096968459,0.999999995352,-7.79628935297e-05,1.70162289799e-05,-5.41085716147e-05,1793242909732176640
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.884971731,745,714.115028269,680.115028269,660,635,879,787,806,651,631,651.884971731,0.429064174918,-0.0055348283708,0.0700360091576,0.999999994093,-7.60497918648e-05,5.67802986025e-05,-5.2971303804e-05,1793242909748843264
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.537752887,745,714,680,660.462247113,635,879,787,806,651,631,652,0.429961277868,-0.00553240509642,0.0700376836456,0.999999994066,-7.07802114707e-05,6.28960336106e-05,-5.38667357715e-05,1793242909765509632
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.038826569,660.961173431,635,879,787,806,651,631,652,0.430841570056,-0.00552936884317,0.070028161224,0.999999995027,-6.51201538566e-05,5.13529622201e-05,-5.53939848084e-05,1793242909782176000
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.614277985,660.385722015,635,879,787,806,651,631,652,0.431597647331,-0.00552859862062,0.0699481702056,0.999999992156,-6.55456249456e-05,-8.9144574106e-05,-5.86998623158e-05,1793242909798842624
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.805698999,879.194301001,787,806,651,631,651.805698999,0.43239782603,-0.0055295162655,0.0698937103973,0.999999979548,-6.78136062602e-05,-0.000180487339042,-6.10649771997e-05,1793242909815509248
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.216381762,879.783618238,787,806,651,631,651.216381762,0.433287663583,-0.00553386536475,0.0698911558269,0.999999980608,-7.38274349618e-05,-0.000171897900303,-6.15175130987e-05,1793242909832176128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.633560045,660,634,879.633560045,787,806,651.366439955,631,651.366439955,0.434201054218,-0.00553643295502,0.0699340796498,0.999999990489,-7.73497993127e-05,-9.74670786134e-05,-5.94959480822e-05,1793242909848843008
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.098832987,681,660.098832987,635,880,787,806,651.901167013,631,652,0.436834884223,-0.00554318271445,0.0700358786294,0.99999999275,-7.97218542062e-05,7.16954376614e-05,-5.48183042199e-05,1793242909898843136
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.954591488,633.045408512,880,786.045408512,805.045408512,651,631,652,0.446670828229,-0.0054591129448,0.0696618637038,0.999999856742,3.75207539239e-05,-0.00053394700853,3.06360968626e-06,1793242911936427264
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.491281462,659,634.508718538,879.508718538,787,805.508718538,651,631,652,0.433439536492,-0.00540295235109,0.0698457741745,0.999999959217,0.000145569568748,-0.00024435396147,2.58159622798e-05,1793242912236427008
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.631323227,714,679,658.368676773,635,879,787,805,652,631,652,0.405544730977,-0.00538335175154,0.0698005863004,0.999999925188,0.000185383317495,-0.000338557242767,2.52059370371e-05,1793242912836427776
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.035001091,714,679,658.964998909,635,879,787,805,652,631,652,0.405129352207,-0.00537409923481,0.0698039871201,0.999999922989,0.000211006033524,-0.000329992048254,2.45798599536e-05,1793242912853094656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.541626802,714,679,659,634.458373198,879.541626802,787,804.458373198,652,631,652,0.404756493519,-0.00537636903439,0.0698219942125,0.999999936268,0.000197826939783,-0.000296142611747,2.5060067505e-05,1793242912869761024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.882898479,714,679,659,634.117101521,879.882898479,787,804.117101521,652,631,652,0.404392686877,-0.00537752985212,0.0698390517212,0.99999994712,0.00018738038644,-0.000264576468198,2.54710098959e-05,1793242912886427392
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.307130381,714,679,659,634.692869619,879.307130381,787,804.692869619,652,631,652,0.404053950619,-0.00537153284606,0.0698488225412,0.999999949468,0.000197113414285,-0.000248128835559,2.53404613039e-05,1793242912903094016
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.724404562,744.275595438,714,679,659,635,879,787,805,652,631,652,0.403726397426,-0.00536790211782,0.0698486362265,0.999999947691,0.000206404309902,-0.00024780907136,2.46013060904e-05,1793242912919760640
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.133724097,744.866275903,714,679,659,635,879,787,805,652,631,652,0.403411629719,-0.00536697672757,0.0698370660361,0.999999941219,0.000215189720356,-0.00026592811074,2.31663380824e-05,1793242912936427520
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.447356084,745,714,679,659,635,879,787,805,652,631,652,0.403117783718,-0.00536487638425,0.0698283475211,0.999999937349,0.000211371450541,-0.000283072363749,2.2247020457e-05,1793242912953094400
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.974554377,745,714,679,658.974554377,635,879.025445623,787,805,652,631,652,0.402832006884,-0.00536233837667,0.0698205460042,0.999999934001,0.000204465114534,-0.000299547121273,2.1519923812e-05,1793242912969761024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.40037238,745,714,679,658.40037238,635,879.59962762,787,805,652,631,652,0.402588208964,-0.00535777702666,0.0698145232,0.999999930258,0.000210503968186,-0.000307735873993,2.16839086247e-05,1793242912986427392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,658.178553637,635,879.821446363,787,804.821446363,651.821446363,631,652,0.40235629001,-0.00535461991557,0.0698076095426,0.999999926031,0.000214613348907,-0.000318425477454,2.20093694591e-05,1793242913003093504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,658.768407474,635,879.231592526,787,804.231592526,651.231592526,631,652,0.402151734415,-0.00535469748439,0.0697986437966,0.999999920714,0.000214278167393,-0.000334875816048,2.27067920033e-05,1793242913019760128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.351842436,745,714,679,658.648157564,634.648157564,878.648157564,786.648157564,804.351842436,651.351842436,631,651.648157564,0.401973461479,-0.00535399060327,0.0697968160997,0.999999919585,0.000213933612965,-0.000338382421762,2.36747357614e-05,1793242913036427008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.931128072,745,714,679,658.068871928,634.068871928,878.068871928,786.068871928,804.931128072,651.931128072,631,651.068871928,0.40181217855,-0.00535277662643,0.0697996026854,0.999999921265,0.000213582999549,-0.000333521749565,2.48175539215e-05,1793242913053093632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.492006596,714,679,658.507993404,634.507993404,878,786.507993404,804.492006596,652,631,651,0.401678986084,-0.00535009405557,0.0698013654019,0.999999921789,0.000218443623477,-0.000328787970385,2.45669653929e-05,1793242913069760768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.084137497,713.915862503,679,659,635,878,787,804.084137497,652,631,651.084137497,0.401552300444,-0.0053483172219,0.0698025627043,0.999999921891,0.000223627711545,-0.000325100354643,2.27500210028e-05,1793242913086427648
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.657984771,713.342015229,679,659,635,878,787,804.657984771,652,631,651.657984771,0.401441425623,-0.00535296547144,0.0698012732049,0.999999920646,0.000226601776413,-0.000327402118816,1.29106620058e-05,1793242913103094272
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.761038343,745,713.238961657,679,659,635,878.238961657,787,805,652,631,652,0.401343216274,-0.00535606980939,0.0698003761041,0.999999920291,0.000226897116793,-0.000328442001591,7.88257314067e-06,1793242913119760640
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.169543379,745,713.830456621,679,659,635,878.830456621,787,805,652,631,652,0.401263691939,-0.00535689645839,0.0698000578975,0.999999921365,0.00022324061128,-0.000327620266675,9.95241429826e-06,1793242913136427008
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.410296354,744.589703646,714,679,658.589703646,634.589703646,878.589703646,787,805.410296354,652,631,651.589703646,0.401197826556,-0.00535516234685,0.0698000502532,0.999999921399,0.000224292868458,-0.000326760235601,1.1095036512e-05,1793242913153093632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.985452911,744.014547089,714,679,658.014547089,634.014547089,878.014547089,787,805.985452911,652,631,651.014547089,0.401137449447,-0.00535239930218,0.0698001673952,0.999999921011,0.000227237142477,-0.000325884816859,1.18650950338e-05,1793242913169760512
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.563672676,714,679,658,634.563672676,878,787,805.436327324,652,631,651.563672676,0.401095747537,-0.00535286655355,0.0698036353262,0.999999922641,0.000226315483771,-0.000321455570185,1.28668019197e-05,1793242913186427392
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.144272884,635,878,787,805,652,630.855727116,651.855727116,0.401058756779,-0.00535336490288,0.0698072386747,0.999999924481,0.000225653823733,-0.000316111611677,1.38510827213e-05,1793242913203094272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.731944592,635,878,787,805,652,630.268055408,651.268055408,0.401034755646,-0.00535370121351,0.0698109909842,0.999999926825,0.000226099531201,-0.000308239853041,1.47633334115e-05,1793242913219760896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.684806468,635,878,787,805,651.684806468,630.315193532,651.315193532,0.401015030224,-0.00535443244654,0.0698139320887,0.999999928531,0.000226435968055,-0.000302375690907,1.53078553309e-05,1793242913236427520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.105266747,635,878,787,805,651.105266747,630.894733253,651.894733253,0.400998890749,-0.00535549489273,0.0698161928531,0.999999929727,0.000226680761996,-0.000298195256895,1.55439709607e-05,1793242913253094400
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.471392491,634.528607509,878.471392491,787.471392491,805,651.471392491,631,652,0.400986966845,-0.0053551286252,0.0698171554917,0.999999930191,0.000225986950416,-0.000297174078466,1.53268141655e-05,1793242913269761024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.047442848,679,659,634.047442848,879,787.952557152,805,652,631,652,0.400976665274,-0.00535449594438,0.0698179550719,0.999999930575,0.000225116796611,-0.000296557101183,1.50465055318e-05,1793242913286427392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.623833177,679,659,634.623833177,879,787.376166823,805,652,631,652,0.40097401949,-0.00535442847293,0.0698201490306,0.999999931846,0.000224603247197,-0.000292628736419,1.51837742244e-05,1793242913303093760
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.795269912,679,659,634.795269912,879,787,804.795269912,652,631,651.795269912,0.400971519572,-0.00535499675028,0.0698219606973,0.99999993282,0.000224066671929,-0.000289678454873,1.55019827443e-05,1793242913319760640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.205906364,679,659,634.205906364,879,787,804.205906364,652,631,651.205906364,0.400969293694,-0.00535675943077,0.0698230541387,0.999999933261,0.000223486837233,-0.000288565732162,1.61601291348e-05,1793242913336427264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.623221814,714,679,659,634.376778186,878.623221814,787,804.376778186,651.623221814,631,651.376778186,0.400968834565,-0.00535607151182,0.0698246524355,0.99999993387,0.000223844799352,-0.000286181507807,1.59483977029e-05,1793242913353094144
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.044123729,714,679,659,634.955876271,878.044123729,787,804.955876271,651.044123729,631,651.955876271,0.400969324132,-0.00535406768585,0.0698265218263,0.99999993456,0.00022470633352,-0.000283114520802,1.5269564915e-05,1793242913369760768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.469299183,744.530700817,714.530700817,679,659,635,878,787,804.469299183,651.530700817,631,651.469299183,0.400969763824,-0.00535546652912,0.0698269145928,0.999999935051,0.000223529520134,-0.000282307533775,1.53581544824e-05,1793242913386427392
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,744.894580939,714.894580939,678.894580939,659,634.894580939,878,786.894580939,804,652,631,651.105419061,0.400969937265,-0.00535677764584,0.0698271660795,0.999999935487,0.000222227899928,-0.00028178376928,1.54229444875e-05,1793242913403094016
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,744.318764404,714.318764404,678.318764404,659,634.318764404,878,786.318764404,804,652,631,651.681235596,0.400968941,-0.00535644502184,0.0698273305969,0.999999935764,0.000221119547486,-0.000281692039902,1.50991011641e-05,1793242913419760640
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.264224593,744.264224593,714,678.264224593,658.735775407,634,878,786.264224593,804.264224593,652,631,652,0.40096873325,-0.00535662052745,0.069827900845,0.999999936266,0.000220395099865,-0.000280473852779,1.51195186821e-05,1793242913436427520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.856108074,744.856108074,714,678.856108074,658.143891926,634,878,786.856108074,804.856108074,652,631,652,0.400969503319,-0.00535742615295,0.0698289742304,0.999999937044,0.000220146723701,-0.000277858771099,1.55668461685e-05,1793242913453094144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.563489905,745,714,679,658.436510095,634.436510095,878.436510095,787,805,652,631,652,0.400969099138,-0.00535708004951,0.0698288151072,0.99999993679,0.000220453717252,-0.000278532533948,1.55142793186e-05,1793242913469760768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.013173767,745,714,679,658.986826233,635,879,787,805,652,631,652,0.400968359615,-0.0053563782851,0.0698282871411,0.999999936223,0.000220940257525,-0.00028018851699,1.53021581779e-05,1793242913486427392
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.587683779,745,714,679,658.412316221,635,879,787,805,652,631,652,0.400969402073,-0.00535628442652,0.0698289109603,0.999999936527,0.000221476467197,-0.000278685603868,1.51330073488e-05,1793242913503094528
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.837597798,745,714,679,658.162402202,634.837597798,878.837597798,786.837597798,805,651.837597798,631,652,0.400969988169,-0.00535647805015,0.0698294604774,0.999999936816,0.000221413843877,-0.000277699559129,1.50459594999e-05,1793242913519761408
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.262349601,745,714,679,658.737650399,634.262349601,878.262349601,786.262349601,805,651.262349601,631,652,0.400969414136,-0.00535740248825,0.0698298211097,0.999999937073,0.0002198289148,-0.000278027456285,1.51676273439e-05,1793242913536428288
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.323497566,744.676502434,714,679,659,634.323497566,878,786.323497566,804.676502434,651,631,652,0.400969189507,-0.00535750405118,0.0698298598375,0.999999937004,0.000220152658813,-0.000278016421823,1.52491314567e-05,1793242913553095168
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.918231402,744.081768598,714,679,659,634.918231402,878,786.918231402,804.081768598,651,631,652,0.400969257835,-0.00535691567506,0.0698296286647,0.999999936659,0.000222076728303,-0.000277721210405,1.52969603154e-05,1793242913569761792
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.495433956,714,679,658.504566044,634.504566044,878,787,804,651.495433956,631,652,0.40096887402,-0.00535667361576,0.069829492098,0.999999936411,0.000223493432975,-0.000277485442245,1.52098508611e-05,1793242913586427904
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.929967135,745,714,679,658.070032865,634.070032865,878,787,804.070032865,652,631,651.929967135,0.400968316715,-0.00535658827292,0.069829341935,0.999999936213,0.00022438137571,-0.000277488699238,1.50986881484e-05,1793242913603094016
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.353989314,745,714,679,658.646010686,634.646010686,878,787,804.646010686,652,631,651.353989314,0.400967026734,-0.00535723629468,0.0698289845995,0.999999936276,0.000222033612721,-0.000279150313447,1.4969149658e-05,1793242913619760640
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.22806222,745,714,679,658.77193778,635,878,787,805,652,631,651.22806222,0.400966809702,-0.00535752760526,0.0698291139497,0.99999993651,0.000221017435164,-0.000279121626881,1.49254667597e-05,1793242913636427520
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.819799168,745,714,679,658.180200832,635,878,787,805,652,631,651.819799168,0.400968303625,-0.00535725009381,0.0698300193833,0.99999993702,0.000222124642564,-0.000276397537216,1.50186916951e-05,1793242913653093888
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.402621138,635,878.402621138,786.597378862,805,652,631,652,0.400969345933,-0.00535642004562,0.0698310072995,0.999999937357,0.000222947361044,-0.000274510777205,1.50045836367e-05,1793242913669760768
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.981539441,635,878.981539441,786.018460559,805,652,631,652,0.400970190491,-0.00535534805621,0.0698320313325,0.999999937618,0.000223645509274,-0.0002729906619,1.49434772892e-05,1793242913686427904
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c04d903bf2f546df9fa346a6587d55595cb3fa76
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+359,5.983333333,pose2_to_pose3_retreat,0.583705555654,1.83065954934e-06,1.0600409405,0.554277273686,0.00867665391006,1.0596787434
+360,6.000000000,pose2_to_pose3_retreat,0.583407959741,1.75780311875e-06,1.06004082686,0.553979679072,0.00867658546195,1.05967862976
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+362,6.033333333,pose2_to_pose3_retreat,0.582854155014,1.99203553324e-06,1.06004082205,0.553425872839,0.00867681431383,1.05967861933
+363,6.050000000,pose2_to_pose3_retreat,0.582600649298,1.89607502101e-06,1.06004082231,0.553172368386,0.00867672258428,1.059678618
+364,6.066666667,pose2_to_pose3_retreat,0.582363746615,1.88021277871e-06,1.06004082052,0.552935467154,0.0086767116597,1.05967861684
+365,6.083333333,pose2_to_pose3_retreat,0.582146073671,1.79337671284e-06,1.06004096741,0.552717794879,0.00867662666108,1.0596787533
+366,6.100000000,pose2_to_pose3_retreat,0.581948477854,1.860895454e-06,1.06004090189,0.552520197258,0.00867668811822,1.0596786892
+367,6.116666667,pose2_to_pose3_retreat,0.581772587892,1.9525589715e-06,1.06004084962,0.552344305817,0.00867677488486,1.05967863964
+368,6.133333333,pose2_to_pose3_retreat,0.581615913393,1.86604897298e-06,1.06004089876,0.552187633058,0.00867669439638,1.05967869167
+369,6.150000000,pose2_to_pose3_retreat,0.581477547823,1.71770664494e-06,1.06004091404,0.552049269732,0.0086765535976,1.05967870543
+370,6.166666667,pose2_to_pose3_retreat,0.581355490559,1.68265141943e-06,1.06004082304,0.551927212444,0.00867651833865,1.0596786115
+371,6.183333333,pose2_to_pose3_retreat,0.581247288894,1.74474953495e-06,1.06004072397,0.551819009221,0.00867657527444,1.0596785156
+372,6.200000000,pose2_to_pose3_retreat,0.581153315975,1.8101286813e-06,1.06004077977,0.551725034414,0.00867663399883,1.05967856613
+373,6.216666667,pose2_to_pose3_retreat,0.58107116262,1.78677204824e-06,1.06004107199,0.551642884392,0.00867662216459,1.05967886333
+374,6.233333333,pose2_to_pose3_retreat,0.58100046532,1.84099928464e-06,1.06004086624,0.551572184777,0.00867666853331,1.0596786573
+375,6.250000000,pose2_to_pose3_retreat,0.580941830119,1.86325379021e-06,1.06004092934,0.551513551168,0.00867669641718,1.05967872579
+376,6.266666667,pose2_to_pose3_retreat,0.580893772646,1.95955140124e-06,1.06004085127,0.551465492081,0.0086767872563,1.05967864809
+377,6.283333333,pose2_to_pose3_retreat,0.58085528673,1.83999372327e-06,1.0600409391,0.5514270072,0.00867667084882,1.05967872718
+378,6.300000000,pose2_to_pose3_retreat,0.580824788983,1.85330507604e-06,1.06004099664,0.551396508804,0.00867668176982,1.05967878015
+379,6.316666667,pose2_to_pose3_retreat,0.580801870072,1.9430419616e-06,1.0600409845,0.551373588024,0.00867676531135,1.0596787715
+380,6.333333333,pose2_to_pose3_retreat,0.580784045702,1.93699566069e-06,1.06004095742,0.551355763498,0.00867675899009,1.05967875051
+381,6.350000000,pose2_to_pose3_retreat,0.580770756353,1.771143153e-06,1.06004094728,0.551342477934,0.00867660600575,1.05967874105
+382,6.366666667,pose2_to_pose3_retreat,0.580761208503,1.76423905111e-06,1.06004103226,0.551332928921,0.0086765953444,1.05967883059
+383,6.383333333,pose2_to_pose3_retreat,0.580754534573,1.87532327609e-06,1.06004101776,0.551326253724,0.00867670173497,1.05967880664
+384,6.400000000,pose2_to_pose3_retreat,0.580750141332,1.88533243542e-06,1.06004093749,0.551321859907,0.00867670970067,1.05967872423
+385,6.416666667,pose2_to_pose3_retreat,0.580747552801,1.79148178543e-06,1.06004083761,0.551319271439,0.00867661634189,1.05967863103
+386,6.433333333,pose2_to_pose3_retreat,0.580746563445,1.80494398715e-06,1.06004086183,0.551318281803,0.00867662889241,1.05967865609
+387,6.450000000,pose2_to_pose3_retreat,0.580746001793,1.82316963284e-06,1.06004088896,0.551317719928,0.00867664636459,1.05967868333
+388,6.466666667,pose2_to_pose3_retreat,0.580745792964,1.82994614367e-06,1.06004089904,0.551317511016,0.00867665286095,1.05967869345
+389,6.483333333,pose2_to_pose3_retreat,0.580745746416,1.83145661838e-06,1.06004090129,0.551317464449,0.00867665430898,1.05967869571
+390,6.500000000,pose2_to_pose3_retreat,0.580745733045,1.83189051787e-06,1.06004090194,0.551317451073,0.00867665472494,1.05967869636
+391,6.516666667,pose2_to_pose3_retreat,0.580745709396,1.83265791803e-06,1.06004090308,0.551317427415,0.00867665546061,1.05967869751
+392,6.533333333,pose2_to_pose3_retreat,0.580745621673,1.83550455391e-06,1.06004090732,0.551317339656,0.00867665818957,1.05967870176
+393,6.550000000,pose2_to_pose3_retreat,0.580745413458,1.84226112031e-06,1.06004091737,0.551317131359,0.00867666466681,1.05967871186
+394,6.566666667,pose2_to_pose3_retreat,0.580745352607,1.84423574735e-06,1.06004092031,0.551317070483,0.0086766665598,1.05967871481
+395,6.583333333,pose2_to_pose3_retreat,0.580745186986,1.8496101609e-06,1.06004092831,0.551316904796,0.00867667171203,1.05967872284
+396,6.600000000,pose2_to_pose3_retreat,0.580745175216,1.84999210294e-06,1.06004092888,0.551316893022,0.00867667207818,1.05967872342
+397,6.616666667,pose2_to_pose3_retreat,0.580745163289,1.85037912424e-06,1.06004092946,0.55131688109,0.0086766724492,1.05967872399
+398,6.633333333,pose2_to_pose3_retreat,0.580745044744,1.85422591096e-06,1.06004093519,0.551316762498,0.00867667613696,1.05967872974
+399,6.650000000,pose2_to_pose3_retreat,0.580744975053,1.85648739175e-06,1.06004093855,0.551316692779,0.00867667830495,1.05967873312
+400,6.666666667,pose2_to_pose3_retreat,0.580744787718,1.85279330441e-06,1.06004094329,0.551316505743,0.00867667562039,1.05967873777
+401,6.683333333,pose2_to_pose3_retreat,0.580744545403,1.83927373731e-06,1.06004094556,0.551316264148,0.00867666453437,1.05967873983
+402,6.700000000,pose2_to_pose3_retreat,0.580744303858,1.8257971911e-06,1.06004094783,0.551316023322,0.00867665348363,1.05967874187
+403,6.716666667,pose2_to_pose3_retreat,0.580744207008,1.82039361595e-06,1.06004094874,0.55131592676,0.0086766490527,1.05967874269
+404,6.733333333,pose2_to_pose3_retreat,0.58074415911,1.81772123003e-06,1.06004094919,0.551315879004,0.00867664686135,1.0596787431
+405,6.750000000,pose2_to_pose3_retreat,0.580743968927,1.80711026449e-06,1.06004095097,0.551315689386,0.00867663816038,1.05967874471
+406,6.766666667,pose2_to_pose3_retreat,0.580743599384,1.82196252709e-06,1.06004092825,0.551315319439,0.00867665184785,1.05967872693
+407,6.783333333,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120694,1.05967878877
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..666928883f5f2aef3e449ed014d5e8808c56f092
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0ecc550ed0a1b51557b22908102cc3286817d0eea8dea6bec7a018e9c79afa
+size 25909894
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf44a38b6ff5b60531c5b0c69260de628cba6b90
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+29,0.483333333,BASELINE,764.912668466,745,714,679,658.087331534,634.912668466,879,787,805,652,631,652,0.400970753313,-0.00535683063491,0.0698338907192,0.99999993849,0.000223117812923,-0.000270226054181,1.47031024464e-05,1793242914287712000
+30,0.500000000,BASELINE,765,745,714,678.50684569,658,634.50684569,879,787,805,652,631,651.50684569,0.400971157222,-0.00535767172073,0.0698344292843,0.999999938669,0.000222882487493,-0.000269747526142,1.48709629125e-05,1793242914304378624
+31,0.516666667,BASELINE,765,745,714.071351888,678.071351888,658.071351888,634.071351888,879,787,805,651.928648112,631,651.071351888,0.400971722545,-0.00535867936065,0.0698349900691,0.999999938944,0.000222215010957,-0.000269268842103,1.50535818037e-05,1793242914321045248
+32,0.533333333,BASELINE,765,745,714.645191421,678.645191421,658.645191421,634.645191421,879,787,805,651.354808579,631,651.645191421,0.400971859845,-0.0053588361282,0.0698347596712,0.999999939101,0.000220935901537,-0.000269734906002,1.51064737498e-05,1793242914337711872
+33,0.550000000,BASELINE,765,745,715,679,659,635,879,787,804.775109088,651.224890912,631,652,0.400971554984,-0.00535828871319,0.0698345444388,0.999999939094,0.000220474310935,-0.000270147253494,1.4965608886e-05,1793242914354378496
+34,0.566666667,BASELINE,765,745,715,679,659,635,879,787,804.1859171,651.8140829,631,652,0.400970533869,-0.00535660059191,0.069834353773,0.999999938822,0.00022133702023,-0.000270472585664,1.45108771141e-05,1793242914371045120
+35,0.583333333,BASELINE,765,745,715,679.397636774,659,635,879,787,804.397636774,652,631,652,0.400970725124,-0.00535694098974,0.0698342588673,0.999999938986,0.000220961863175,-0.000270171295277,1.45215534272e-05,1793242914387712000
+36,0.600000000,BASELINE,765,745,715,679.978591426,659,635,879,787,804.978591426,652,631,652,0.400971475304,-0.0053582165721,0.0698342081088,0.999999939351,0.000220016027002,-0.000269581120376,1.47467914016e-05,1793242914404378368
+37,0.616666667,BASELINE,764.445879714,744.445879714,714.445879714,679.445879714,659,635,878.445879714,787,804.445879714,652,631,652,0.400969919096,-0.00535719249748,0.0698334516844,0.999999938663,0.000221231109423,-0.000271121191544,1.49423600108e-05,1793242914421044992
+38,0.633333333,BASELINE,764.131612096,744.131612096,714,679,658.868387904,635,878.131612096,787,804,652,631,652,0.400969242146,-0.00535645370875,0.0698332924605,0.999999938289,0.000222388811229,-0.000271549751785,1.50559362051e-05,1793242914437711872
+39,0.650000000,BASELINE,764.716580806,744.716580806,714,679,658.283419194,635,878.716580806,787,804,652,631,652,0.40097189789,-0.00535700070885,0.0698352833809,0.999999939133,0.000223064061324,-0.000267868800826,1.48909881455e-05,1793242914454378496
+40,0.666666667,BASELINE,765,745,714,679,658.298902302,635,879,787,804.298902302,652,631,652,0.400972709297,-0.00535721310989,0.069835571037,0.999999939395,0.000222894730042,-0.000267044544048,1.46887472012e-05,1793242914471045120
+41,0.683333333,BASELINE,765,745,714,679,658.878735712,635,879,787,804.878735712,652,631,652,0.400971787254,-0.00535711102925,0.0698342578357,0.999999939114,0.000221931596934,-0.00026890522586,1.44514555788e-05,1793242914487711744
+42,0.700000000,BASELINE,765,744.542627315,714,679,659,635,879,787,805,652,631,651.542627315,0.400971960934,-0.00535703792302,0.0698343575629,0.999999939155,0.000222216342644,-0.000268506006989,1.46169961259e-05,1793242914504378624
+43,0.716666667,BASELINE,765,744,714,679,659,635,878.96464557,787,804.96464557,651.96464557,630.96464557,651.03535443,0.40097240717,-0.0053569767547,0.0698348087115,0.99999993927,0.000222779839774,-0.000267595147751,1.48731612332e-05,1793242914521045248
+44,0.733333333,BASELINE,765,744,714,679,659,635,878.391814975,787,804.391814975,651.391814975,630.391814975,651.608185025,0.400972591954,-0.00535698059087,0.0698349221459,0.999999939212,0.000222564384755,-0.000267991234643,1.48875970799e-05,1793242914537712128
+45,0.750000000,BASELINE,765,744.186579665,714,679,659,634.813420335,878.186579665,786.813420335,804,651.186579665,630.186579665,652,0.400972485566,-0.00535641190958,0.069834997894,0.99999993899,0.000223041534467,-0.00026842446862,1.48544062294e-05,1793242914554378752
+46,0.766666667,BASELINE,765,744.777017805,714,679,659,634.222982195,878.777017805,786.222982195,804,651.777017805,630.777017805,652,0.400971748923,-0.00535460399344,0.0698349920688,0.999999938411,0.000225017852355,-0.000268938108761,1.47181256577e-05,1793242914571045376
+47,0.783333333,BASELINE,764.639476118,745,714,679,659,634,878.639476118,786,804,652,631.360523882,652,0.400970537603,-0.00535472062066,0.0698343387555,0.999999938049,0.0002252829728,-0.000270064592263,1.4672203311e-05,1793242914587711744
+48,0.800000000,BASELINE,764.060176549,745,714,679,659,634,878.060176549,786,804,652,631.939823451,652,0.400969038235,-0.00535600511291,0.0698332925289,0.999999937817,0.000224509692333,-0.000271562965817,1.46811127772e-05,1793242914604378368
+49,0.816666667,BASELINE,764.511522013,745,714,679,659,634.511522013,878,786.511522013,804,652,631.488477987,652,0.400969969273,-0.00535634360669,0.0698340885254,0.999999938293,0.000223678904463,-0.000270487383493,1.47784322844e-05,1793242914621045248
+50,0.833333333,BASELINE,765,745,714.083439009,679,659,635,878,787,804.083439009,652,631,652,0.400970823036,-0.00535659148271,0.0698348013778,0.999999938733,0.000222865827062,-0.000269525678941,1.48825866758e-05,1793242914637711872
+51,0.850000000,BASELINE,765,745,714.661879252,679,659,635,878,787,804.661879252,652,631,652,0.400969546997,-0.00535695232549,0.0698337540967,0.999999938479,0.00022219736392,-0.00027100964231,1.49664901063e-05,1793242914654378752
+52,0.866666667,BASELINE,765,745,714.753893082,679,659,634.753893082,878,786.753893082,805,651.753893082,631,651.753893082,0.400968366707,-0.00535736209468,0.0698328551636,0.999999938256,0.000221452977684,-0.000272443369603,1.48901849263e-05,1793242914671045632
+53,0.883333333,BASELINE,765,745,714.16152276,679,659,634.16152276,878,786.16152276,805,651.16152276,631,651.16152276,0.400967321132,-0.00535784070149,0.0698321649508,0.999999938076,0.00022060177048,-0.000273806416492,1.45884721047e-05,1793242914687712512
+54,0.900000000,BASELINE,765,744.578819923,714,679,659,634.421180077,878,786,805,651.421180077,631,651.421180077,0.400968953903,-0.00535736439573,0.0698331937448,0.999999938224,0.000222267900802,-0.000271910275257,1.45958411072e-05,1793242914704379136
+55,0.916666667,BASELINE,765,744.000256172,714,679,658.999743828,635,878.000256172,786.000256172,804.999743828,652,631,652,0.400971589747,-0.00535653068935,0.0698348664033,0.999999938482,0.000224875549369,-0.00026879353648,1.47190433759e-05,1793242914721045760
+56,0.933333333,BASELINE,765,744.573887537,714,679,658.426112463,635,878.573887537,786.573887537,804.426112463,652,631,652,0.400971926995,-0.00535702128811,0.0698352341467,0.999999939091,0.000222514538097,-0.000268490160618,1.47525414808e-05,1793242914737712384
+57,0.950000000,BASELINE,765,745,714,678.849201926,658.150798074,634.849201926,878.849201926,787,804.150798074,652,631,652,0.400972208049,-0.00535730378413,0.0698355285857,0.99999993949,0.000221073099203,-0.000268194548645,1.47707014553e-05,1793242914754379008
+58,0.966666667,BASELINE,765,745,714,678.262819513,658.737180487,634.262819513,878.262819513,787,804.737180487,652,631,652,0.400972326783,-0.00535698516962,0.0698356112829,0.999999939294,0.000222287870548,-0.000267921362932,1.47445568168e-05,1793242914771045632
+59,0.983333333,BASELINE,765,744.678833202,714,678.321166798,659,634.321166798,878,786.678833202,805,651.678833202,631,651.678833202,0.400971966379,-0.00535673333349,0.0698356281744,0.999999939033,0.000223321746996,-0.000268040621345,1.46611571803e-05,1793242914787712256
+60,1.000000000,BASELINE,765,744.096793103,714,678.903206897,659,634.903206897,878,786.096793103,805,651.096793103,631,651.096793103,0.400971216787,-0.00535653573923,0.0698355916141,0.999999938719,0.000224208688557,-0.000268478649274,1.45312511763e-05,1793242914804378880
+61,1.016666667,BASELINE,765,744.480337058,714,679,659,635,878,786.480337058,805,651,631,651.480337058,0.400972368654,-0.00535547926263,0.0698357356441,0.999999938543,0.000225665991399,-0.000267912462733,1.45495369181e-05,1793242914821045248
+62,1.033333333,BASELINE,765,745,714,679,659,635,878.055804144,786.944195856,805,651.055804144,631,651.944195856,0.400973546552,-0.00535454116322,0.0698358213079,0.999999938436,0.000226779887586,-0.00026736877234,1.45974453063e-05,1793242914837711616
+63,1.050000000,BASELINE,765,745,714,679,659,635,878.624982015,786.375017985,805,651.624982015,631,651.375017985,0.400971474654,-0.00535626817654,0.0698350386351,0.999999938728,0.000223687950134,-0.000268874823584,1.46459293272e-05,1793242914854378240
+64,1.066666667,BASELINE,764.796583204,745,714,679,658.796583204,634.796583204,878.796583204,786.203416796,804.796583204,652,631,651.203416796,0.400970091227,-0.0053567959538,0.0698343095572,0.999999938712,0.00022218132365,-0.000270182498805,1.45867357073e-05,1793242914871044864
+65,1.083333333,BASELINE,764.200268828,745,714,679,658.200268828,634.200268828,878.200268828,786.799731172,804.200268828,652,631,651.799731172,0.400970037574,-0.00535500741808,0.0698336839975,0.999999938119,0.000223736710209,-0.000271107012567,1.43195637595e-05,1793242914887711488
+66,1.100000000,BASELINE,764.384615419,744.615384581,714,679,658.384615419,634.384615419,878,787,804,652,631,652,0.400970067164,-0.00535424655348,0.0698341406879,0.999999937958,0.000224863068438,-0.000270768633343,1.43497390552e-05,1793242914904378112
+67,1.116666667,BASELINE,764.963719762,744.036280238,714,679,658.963719762,634.963719762,878,787,804,652,631,652,0.400970138848,-0.00535400535259,0.0698351446411,0.999999938014,0.000225772479368,-0.000269791645535,1.45302742834e-05,1793242914921044992
+68,1.133333333,BASELINE,765,744.518494819,714,679,659,635,878.518494819,787,804.518494819,652,631,652,0.400970255356,-0.0053545374728,0.069835527941,0.999999938215,0.000225364956786,-0.00026937308116,1.47611874662e-05,1793242914937711872
+69,1.150000000,BASELINE,765,745,714.077552734,679,659,635,879,787,805,651.922447266,631,652,0.400970396614,-0.00535518228954,0.0698356816914,0.999999938423,0.000224711928443,-0.000269140303992,1.49298419811e-05,1793242914954378496
+70,1.166666667,BASELINE,765,745,714.676323266,679,659,635,879,787,805,651.323676734,631,652,0.400970684084,-0.00535623714842,0.0698345714745,0.999999938604,0.000223000458319,-0.00026990532898,1.4657437796e-05,1793242914971045120
+71,1.183333333,BASELINE,764.728325551,744.728325551,714.728325551,678.728325551,659,634.728325551,878.728325551,786.728325551,804.728325551,651.271674449,631,652,0.400970211901,-0.00535692802221,0.0698338248677,0.999999938375,0.000222927928477,-0.00027081005996,1.46925733917e-05,1793242914987711744
+72,1.200000000,BASELINE,764.136997516,744.136997516,714.136997516,678.136997516,659,634.136997516,878.136997516,786.136997516,804.136997516,651.863002484,631,652,0.400968845905,-0.00535719062938,0.0698335060864,0.999999937663,0.000224783784172,-0.000271879169845,1.50895618765e-05,1793242915004378112
+73,1.216666667,BASELINE,764.444792302,744.444792302,714,678,659,634.444792302,878.444792302,786.444792302,804,651.555207698,631,651.555207698,0.400968512411,-0.00535564564781,0.0698336268172,0.999999937567,0.000225327129013,-0.000271803216109,1.47255263215e-05,1793242915021045760
+74,1.233333333,BASELINE,765.023598901,744.976401099,714,678,659,635,878.976401099,786.976401099,804.023598901,651.023598901,631,651.023598901,0.400968591169,-0.00535370805985,0.0698339171103,0.999999937702,0.000225364954945,-0.000271305491167,1.41581378419e-05,1793242915037713408
+75,1.250000000,BASELINE,765.599898168,744.400101832,714,678,659,635,878.400101832,786.400101832,804.599898168,651.599898168,631,651.599898168,0.400971033391,-0.00535534090868,0.0698350747402,0.999999938887,0.000222832413484,-0.000269016276828,1.42025898882e-05,1793242915054379264
+76,1.266666667,BASELINE,765.641410292,744,714,678.358589708,659,635,878.179294854,786.179294854,804.820705146,652,631,652,0.400972258696,-0.00535666099859,0.0698355814874,0.999999939633,0.00022085553415,-0.000267870208014,1.42038477163e-05,1793242915071045376
+77,1.283333333,BASELINE,764.468550008,744,714,679.531449992,659,635,878.765724996,786.765724996,804.234275004,652,631,652,0.400970720681,-0.00535727088845,0.0698346102376,0.999999939403,0.000220140429395,-0.000269319946596,1.41070219095e-05,1793242915087712000
+78,1.300000000,BASELINE,764.349833344,744.349833344,714,679.650166656,659.349833344,635,879,787.349833344,804.349833344,652,631,652,0.400969360536,-0.00535686934873,0.0698338519924,0.999999938639,0.00022185185073,-0.000270742732356,1.4217001719e-05,1793242915104378624
+79,1.316666667,BASELINE,764.93239707,744.93239707,714,679.06760293,659.93239707,635,879,787.93239707,804.93239707,652,631,652,0.400968118721,-0.0053557949446,0.0698332354509,0.999999937511,0.000225177544589,-0.000272147587401,1.44645611855e-05,1793242915121045248
+80,1.333333333,BASELINE,765,745,714,679.489317069,659.510682931,635,879,787.510682931,804.510682931,652,631,652,0.400968895719,-0.00535528985243,0.0698340521053,0.999999937802,0.000225356713781,-0.000270934026945,1.43432359717e-05,1793242915137712384
+81,1.350000000,BASELINE,765,745,714.046017677,679.953982323,659,635,878.953982323,786.953982323,804.046017677,652,631,651.953982323,0.400969962863,-0.00535503756802,0.0698350362097,0.999999938298,0.000224975650188,-0.000269422420698,1.42059100307e-05,1793242915154379008
+82,1.366666667,BASELINE,765,745,714.640206193,679.359793807,659,635,878.359793807,786.359793807,804.640206193,652,631,651.359793807,0.400971329251,-0.00535690648261,0.0698357737698,0.999999939032,0.000222841544113,-0.000268455131884,1.44548443886e-05,1793242915171045632
+83,1.383333333,BASELINE,764.764981532,745,714.764981532,679,659,635,878,786.235018468,805,652,631,651.235018468,0.400972229942,-0.00535773892194,0.0698359941319,0.999999939244,0.000222748461102,-0.000267731716484,1.46412367566e-05,1793242915187712256
+84,1.400000000,BASELINE,764.1692117,745,714.1692117,679,659,635,878,786.8307883,805,652,631,651.8307883,0.400972415793,-0.00535698038079,0.0698354205995,0.999999938655,0.000225788330929,-0.000267382644565,1.47316277362e-05,1793242915204378880
+85,1.416666667,BASELINE,764,745,714.41303102,679,659,635,878.41303102,787,805,651.58696898,631,652,0.400971748894,-0.00535628160446,0.0698353221237,0.999999938439,0.000225879645896,-0.000268098118941,1.49393320297e-05,1793242915221045504
+86,1.433333333,BASELINE,764,745,714.989907624,679,659,635,878.989907624,787,805,651.010092376,631,652,0.400970743717,-0.00535560653632,0.0698354120985,0.999999938373,0.000224801296248,-0.000269235889004,1.51935734242e-05,1793242915237712128
+87,1.450000000,BASELINE,764,744.436829293,714.436829293,679,659,635,879,787,805,651.563170707,630.436829293,652,0.400970098615,-0.00535569149813,0.0698342744594,0.999999938046,0.00022480420238,-0.000270475404384,1.46082556759e-05,1793242915254379008
+88,1.466666667,BASELINE,764.14074792,744.14074792,714,679,659.14074792,634.85925208,878.85925208,787,805,652,630.14074792,651.85925208,0.400969582525,-0.00535565358763,0.0698335135581,0.999999937792,0.000225203162616,-0.000271107555975,1.41818040568e-05,1793242915271045632
+89,1.483333333,BASELINE,764.732350572,744.732350572,714,679,659.732350572,634.267649428,878.267649428,787,805,652,630.732350572,651.267649428,0.40096945916,-0.00535517873171,0.0698340294744,0.999999937784,0.000226809120763,-0.000269788348936,1.43121323018e-05,1793242915287712512
+90,1.500000000,BASELINE,765,745,714,678.682965046,659.682965046,634.317034954,878,787,805,652,631,651.317034954,0.400968702376,-0.00535513456164,0.0698336180059,0.999999937698,0.00022634119642,-0.000270496070438,1.4358621549e-05,1793242915304379136
+91,1.516666667,BASELINE,765,745,714,678.103996553,659.103996553,634.896003447,878,787,805,652,631,651.896003447,0.400967422262,-0.00535544622324,0.0698324403343,0.999999937542,0.000224159835122,-0.000272878435638,1.43358432052e-05,1793242915321045760
+92,1.533333333,BASELINE,765,745,714,678.470649642,659,635,878.470649642,787,804.529350358,652,631,652,0.400968651706,-0.0053557098656,0.0698334144371,0.999999937829,0.000224434221457,-0.000271594153272,1.44377766004e-05,1793242915337712384
+93,1.550000000,BASELINE,765,745,714,679,659,635,878.955452503,787,804.044547497,651.955452503,631,652,0.400970427713,-0.00535600530693,0.0698348579855,0.999999938266,0.000225003153552,-0.000269499767859,1.45710096849e-05,1793242915354379008
+94,1.566666667,BASELINE,765,745,714,679,659,635,878.379191375,787,804.620808625,651.379191375,631,652,0.400972168963,-0.00535680578996,0.0698362813376,0.999999939371,0.000222669903269,-0.000267318498347,1.47519106741e-05,1793242915371045376
+95,1.583333333,BASELINE,765,745,714,679,659,635,878.405000314,787,805,651.202500157,631,652,0.400973265849,-0.00535675419196,0.0698372389622,0.999999939904,0.000221968251678,-0.000265897150806,1.48425757937e-05,1793242915387711744
+96,1.600000000,BASELINE,765,745,714,679,659,635,879.589281385,787,805,651.794640692,631,652,0.400973122883,-0.00535506306365,0.0698373004581,0.999999939351,0.000224406037897,-0.000265938005625,1.47596137297e-05,1793242915404378368
+97,1.616666667,BASELINE,765,744.62310394,714,679,659,635,879.62310394,787,804.62310394,652,631,652,0.400971607227,-0.00535560151311,0.0698359699932,0.999999939085,0.000223327849917,-0.00026785085177,1.45258319205e-05,1793242915421045248
+98,1.633333333,BASELINE,765,744.04609708,714,679,659,635,879.04609708,787,804.04609708,652,631,652,0.400969362748,-0.00535732374418,0.0698339004747,0.99999993896,0.000220382875476,-0.000270757620954,1.42119732384e-05,1793242915437712128
+99,1.650000000,BASELINE,765,744.529915247,714,679,659,635,879,787,805.059830495,652,631,652,0.400968990981,-0.00535616646644,0.0698342354484,0.999999938163,0.000223873883457,-0.000270827999372,1.43724030023e-05,1793242915454378752
+100,1.666666667,BASELINE,765,745,714.105390166,679,659,635,879,787,805.789219668,652,631,652,0.400968763805,-0.0053551918931,0.0698345330864,0.999999937611,0.000226469639321,-0.000270700657279,1.44920883709e-05,1793242915471045376
+101,1.683333333,BASELINE,765,745,714.678861735,679,659,635,879,787,804.64227653,652,631,652,0.400968456643,-0.00535613921883,0.0698337376497,0.999999938458,0.000222607283357,-0.000270788961849,1.42479097986e-05,1793242915487712000
+102,1.700000000,BASELINE,765,745,714.738407387,678.738407387,659,635,879,787,804,652,631,652,0.400968749967,-0.00535669997251,0.0698335131944,0.999999938808,0.000221301779019,-0.000270565870966,1.42976329158e-05,1793242915504378624
+103,1.716666667,BASELINE,765,745,714.143892465,678.143892465,659,635,879,787,804,652,631,652,0.400969807515,-0.00535676874561,0.0698340154128,0.999999938536,0.000223250315448,-0.000269946474951,1.47213973073e-05,1793242915521045248
+104,1.733333333,BASELINE,765,745,714,678.435609195,659,635,879,787,804.435609195,652,631,652,0.400970906399,-0.00535601662278,0.0698348787137,0.999999938675,0.000223797988271,-0.000268981198114,1.46253824769e-05,1793242915537711872
+105,1.750000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400971958548,-0.00535501142529,0.0698358179127,0.999999938924,0.000223920100458,-0.000267966884361,1.43685455593e-05,1793242915554378752
+106,1.766666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400969731971,-0.00535450149773,0.0698346015711,0.999999937997,0.000225232726548,-0.000270312019241,1.4393633409e-05,1793242915571045120
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,635,878,787,805,652,631,652,0.400972933768,-0.00535413409809,0.0698371879878,0.999999939151,0.000225129479215,-0.000266093250231,1.44391533899e-05,1793242915611393280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.418707555,679,658.581292445,635,878.581292445,786.418707555,805,652,631,652,0.40097155694,-0.00535361539026,0.0698360824526,0.999999938483,0.000226676897469,-0.000267303016842,1.41670330161e-05,1793242915628059904
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.839707199,879,786,805,652,631,652,0.400970396375,-0.00535363111593,0.0698352635701,0.999999938082,0.000227096584736,-0.000268452673696,1.40200461465e-05,1793242915644726272
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.266609572,879,786,805,652,631,652,0.400969792758,-0.00535502317731,0.0698351829089,0.999999938373,0.000224612007202,-0.000269447529112,1.41953176981e-05,1793242915661392896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.307603718,659,634.307603718,879,786.307603718,804.692396282,652,631,652,0.400969837535,-0.00535622839158,0.0698352267966,0.999999938616,0.000223210713854,-0.000269701119503,1.43403914967e-05,1793242915678059776
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.882787474,659,634.882787474,879,786.882787474,804.117212526,652,631,652,0.40097044634,-0.00535727107015,0.0698353790276,0.999999938822,0.000222751753947,-0.000269309894082,1.4459196695e-05,1793242915694726400
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.526327854,659.473672146,635,879,787,804.473672146,651.526327854,631,652,0.400969967783,-0.00535662667403,0.0698347004096,0.999999938578,0.000223173000579,-0.00026987013159,1.44173431767e-05,1793242915711393024
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.066150815,745,714,679,659.933849185,635,878.933849185,787,804.933849185,651.066150815,631,652,0.40096922405,-0.00535571968076,0.0698338912572,0.999999938293,0.00022351447599,-0.000270649227615,1.43029280845e-05,1793242915728059904
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.640021231,745,714,679,659.359978769,635,878.359978769,787,804.359978769,651.640021231,631,652,0.400968581021,-0.00535611125484,0.0698337123281,0.999999938583,0.000221514636347,-0.000271239072141,1.39471837233e-05,1793242915744726528
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.785254314,745,714,679.214745686,659,635,878.214745686,787,804.214745686,651.785254314,631,652,0.400970777349,-0.0053561242965,0.0698347712549,0.999999939089,0.000221107009393,-0.00026970780984,1.38233720289e-05,1793242915761393152
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.209092572,745,714,679.790907428,659,635,878.790907428,787,804.790907428,651.209092572,631,652,0.400977752299,-0.00535550026969,0.0698379134879,0.999999939943,0.00022337906966,-0.000264606733923,1.40899020388e-05,1793242915778059776
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.623312963,659,635,879,786.623312963,804.623312963,651.376687037,631,652,0.400996846657,-0.00535532500269,0.0698466279067,0.999999943393,0.000224872311055,-0.000249868062651,1.45458659015e-05,1793242915794726656
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.0320547,659,635,879,786.0320547,804.0320547,651.9679453,631,652,0.401022844561,-0.00535540536146,0.0698585163951,0.999999947998,0.000225921916087,-0.000229639553237,1.51097364821e-05,1793242915811393280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.451983138,714,679,659,635,879,786.548016862,804.548016862,652,631,652,0.401074474272,-0.00535809578096,0.0698769384898,0.999999955799,0.0002227839451,-0.000196280987787,1.56003134167e-05,1793242915828059392
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.126417473,714,679,659,635,878.873582527,787,805,652,631,652,0.401129077538,-0.00536074864404,0.069894412633,0.999999961777,0.000220226152578,-0.000166399694489,1.60349857718e-05,1793242915844726016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.701166456,714,679,659,635,878.298833544,787,805,652,631,652,0.401189015681,-0.00536273771979,0.0699071967209,0.999999964061,0.000220577214098,-0.000151519512894,1.62862960788e-05,1793242915861392896
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.275623954,679,659,635,878,787,805,652,631,652,0.401253072322,-0.005364461811,0.0699145342939,0.999999965648,0.000219635784033,-0.000142191530764,1.57007632808e-05,1793242915878059776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.849765719,679,659,635,878,787,805,652,631,652,0.401321589547,-0.00536589890742,0.0699159729532,0.999999966647,0.000217294505552,-0.000138876925429,1.42088775607e-05,1793242915894726656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.562112945,679,659,635,878.437887055,787,804.562112945,652,631,651.562112945,0.401406436062,-0.00536691937933,0.0699157457515,0.9999999667,0.00021678262726,-0.000139468440241,1.23870962822e-05,1793242915911393280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.969787413,878.969787413,787,804,651.969787413,631,651.030212587,0.401498211894,-0.00536780085381,0.0699148591324,0.99999996643,0.000216814617698,-0.000141502692397,1.04035435036e-05,1793242915928059392
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.391081402,878.391081402,787,804,651.391081402,631,651.608918598,0.401610723064,-0.00536883946903,0.0699127193003,0.999999966415,0.000214949883264,-0.000144597072261,7.60566471303e-06,1793242915944726016
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.18530588,878,787,804.18530588,651.18530588,631,652,0.401732612468,-0.00537095626082,0.0699125755828,0.999999967035,0.000211742859826,-0.000145161490999,4.71714989531e-06,1793242915961392896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.756859969,878,787,804.756859969,651.756859969,631,652,0.401874049675,-0.00537532038412,0.0699165925307,0.999999968971,0.000205737993797,-0.000140452504329,1.63971533857e-06,1793242915978059776
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.332099314,787,804.667900686,652,631,652,0.402035108179,-0.00537822850213,0.0699193838918,0.999999970606,0.000200843877236,-0.000135815844997,-1.70271576423e-06,1793242915994726656
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.910067084,787,804.089932916,652,631,652,0.402210693248,-0.00538005867266,0.0699212678946,0.999999972016,0.00019677209916,-0.000131232732444,-5.2413363661e-06,1793242916011393280
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.501003025,804.498996975,652,631,652,0.402414916232,-0.00538417774403,0.0699238780043,0.99999997412,0.000190024380153,-0.000124720823014,-9.80926206187e-06,1793242916028059904
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.913033307,786.086966693,805,652,631.086966693,651.913033307,0.402629148294,-0.00538828775727,0.0699265943127,0.99999997616,0.000183136056283,-0.000118005792782,-1.46753426322e-05,1793242916044726528
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.341663167,786.658336833,805,652,631.658336833,651.341663167,0.402869736555,-0.00538999796125,0.0699291568623,0.99999997763,0.000178211182543,-0.000112139121468,-2.01456521562e-05,1793242916061393152
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631.76701577,651.23298423,0.403129177604,-0.00539329867209,0.0699341092567,0.999999979704,0.000172015569244,-0.000101772498295,-2.53852014317e-05,1793242916078059776
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631.187493856,651.812506144,0.403416660029,-0.00539896508183,0.0699426162747,0.999999982517,0.000163929874894,-8.47127061942e-05,-3.02815206137e-05,1793242916094726656
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.400608072,787,805,652,631,652,0.403731576614,-0.00540532382422,0.0699506549767,0.99999998478,0.000155739204245,-7.03494471054e-05,-3.51685718287e-05,1793242916111393280
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.992813516,787,805,652,631,652,0.404059614027,-0.00541201368588,0.0699584696986,0.99999998668,0.000147498327181,-5.72758495828e-05,-4.00511903426e-05,1793242916128060160
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.429899878,787,805,651.429899878,631,651.429899878,0.404411441336,-0.00541886203132,0.0699575486735,0.999999995938,4.89063170386e-05,-6.04956850543e-05,-4.55219833311e-05,1793242916144726528
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.146042676,679,659,635,878.292085351,787,805,651.146042676,631,651.146042676,0.404774751971,-0.00542474460388,0.069958716797,0.999999997138,-5.96815226078e-06,-6.00857761954e-05,-4.55818431913e-05,1793242916161393152
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.71859511,679,659,635,879.437190221,787,805,651.71859511,631,651.71859511,0.405170745505,-0.00542780100196,0.0699662995642,0.999999995925,7.00734933535e-05,-4.84908633952e-05,-2.98182636638e-05,1793242916178059776
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.705050842,678.705050842,659,635,879.705050842,787,805,652,631,652,0.405584619371,-0.00543020975958,0.0699705963081,0.999999993307,0.0001054680145,-3.97913398747e-05,-2.60547251017e-05,1793242916194726400
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.125022325,678.125022325,659,635,879.125022325,787,805,652,631,652,0.406015775291,-0.00543199254892,0.0699717169891,0.999999993693,0.00010157558371,-3.38903168765e-05,-3.38896717976e-05,1793242916211393024
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.464015325,745,714.464015325,678.464015325,659,635,879,787,805,652,631,652,0.406461018647,-0.00544185101329,0.0699552641475,0.999999994591,7.40152686775e-05,-6.27911043075e-05,-3.73796554193e-05,1793242916228059904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.945876996,745,715,679.054123004,659,635,878.945876996,787,805,652,631,652,0.406915897058,-0.00545531655164,0.0699352514336,0.999999993547,4.15262244548e-05,-9.82373060593e-05,-3.91401588255e-05,1793242916244726528
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.369334654,745,715,679.630665346,659,635,878.369334654,787,805,652,631,652,0.407426414786,-0.00548218081049,0.0699274858742,0.999999993601,2.42350282619e-05,-0.00010456113964,-3.57306979801e-05,1793242916261393152
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878.207271336,787,805,652,631,651.792728664,0.407964084413,-0.00550387670115,0.069928010992,0.999999994678,4.01038787356e-06,-9.73287356745e-05,-3.39956097268e-05,1793242916278059776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878.783990742,787,805,652,631,651.216009258,0.408550150554,-0.00551636030026,0.0699433137191,0.999999996975,-2.14429305332e-05,-6.59331938115e-05,-3.52449850796e-05,1793242916294726656
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.642432785,679.642432785,659,635,879,787,805,651.642432785,631.357567215,651.357567215,0.409139203068,-0.00552004735629,0.0699515657598,0.99999999791,-2.71859892408e-05,-4.58493296471e-05,-3.65807947979e-05,1793242916311393536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.070738459,679.070738459,659,635,879,787,805,651.070738459,631.929261541,651.929261541,0.409730043934,-0.00551846665164,0.0699555955362,0.999999998527,-2.11256691609e-05,-3.25394010503e-05,-3.79683652215e-05,1793242916328060160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651.523026788,631.476973212,652,0.410350437086,-0.00552993724019,0.0699459864186,0.999999997415,-3.38807526261e-05,-5.00803636256e-05,-3.89196586591e-05,1793242916344726784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.884468452,879,787,805,652,631,652,0.410984701288,-0.00554149399239,0.0699384854153,0.99999999594,-4.72972976455e-05,-6.56147315805e-05,-3.97229965341e-05,1793242916361393408
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.309374926,879,787,805,652,631,652,0.411657542314,-0.00554606265281,0.0699470309646,0.999999996241,-5.27765083387e-05,-5.58384974618e-05,-4.01828499427e-05,1793242916378059776
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.256185491,879,787,804.743814509,651.743814509,631,652,0.412365907907,-0.00555293923378,0.0699691229917,0.99999999692,-6.41126983007e-05,-2.1323076977e-05,-3.99291512212e-05,1793242916394726400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.810646625,879,787,804.189353375,651.189353375,631,652,0.413115634685,-0.00556250291713,0.0700069871249,0.99999999498,-8.22681440818e-05,4.19960711353e-05,-3.884466682e-05,1793242916411393024
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.594671448,804.405328552,651,631.405328552,652,0.413851355417,-0.00556891491155,0.070024925468,0.999999992815,-8.95459340826e-05,6.97588716224e-05,-3.85371153044e-05,1793242916428059648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.980393409,879,786,805,651,631.980393409,652,0.41457917097,-0.00557202940374,0.0700303801511,0.999999992389,-8.96230184841e-05,7.53954753969e-05,-3.87959455704e-05,1793242916444726528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.40211182,879,786,805,651,631.40211182,652,0.415288713927,-0.00552775902738,0.0699745812863,0.999999997732,-4.52690153413e-05,-2.39933622739e-05,-4.3712053678e-05,1793242916461393408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.825364309,714,679.174635691,659.349271381,634,879,786.174635691,805,651,631,652,0.416020832454,-0.00549473332389,0.069930357944,0.999999993762,-1.00234729729e-05,-0.000100630517106,-4.74143112982e-05,1793242916478060032
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.252118407,714,679.747881593,660.495763185,634,879,786.747881593,805,651,631,652,0.416804480225,-0.00548737386234,0.0699125560168,0.999999990967,4.43178251124e-06,-0.000125336397175,-4.83459263489e-05,1793242916494726656
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.330670446,714,679.669329554,660.338659108,634.330670446,879,787,805,651.330670446,631,652,0.417613264666,-0.00549468910355,0.0699239789011,0.999999993175,-6.33908685637e-06,-0.000106235593429,-4.82143702821e-05,1793242916511393280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.920951478,714,679.079048522,659.158097044,634.920951478,879,787,805,651.920951478,631,652,0.418441783962,-0.00551352550837,0.0699583462936,0.999999996812,-3.69150805608e-05,-5.27419992014e-05,-4.72481144849e-05,1793242916528059648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.501760907,787,805,652,631,652,0.419307251518,-0.00551834253256,0.0699822615961,0.999999997821,-4.25472878014e-05,-1.78611228543e-05,-4.72059580974e-05,1793242916544726528
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.080380977,659,635,879.919619023,786.919619023,805,652,631,652,0.42018334902,-0.00552171237067,0.0700047594686,0.999999997752,-4.53667733063e-05,1.44895253281e-05,-4.72005986711e-05,1793242916561393152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.654548134,659,635,879.345451866,786.345451866,805,652,631,652,0.42108965089,-0.00552950852832,0.0700284780097,0.999999996227,-5.46006823028e-05,4.8976315188e-05,-4.65435179639e-05,1793242916578060032
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.229834008,680,659.229834008,635,879,786.229834008,805.229834008,652,631,652,0.421965751457,-0.00553159405473,0.0700309852194,0.999999995898,-5.92758828277e-05,4.96728569277e-05,-4.71503107963e-05,1793242916594726656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.806809681,680,659.806809681,635,879,786.806809681,805.806809681,652,631,652,0.422796236062,-0.00552505423547,0.0700014548025,0.999999997138,-5.70656039338e-05,-6.67442626764e-07,-4.96660601963e-05,1793242916611393024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.607258447,680,660,635,879.392741553,787,805.607258447,652,631,652,0.423585417248,-0.00551596688038,0.0699362141582,0.999999992085,-5.04452553671e-05,-0.000101399971746,-5.47961917058e-05,1793242916628059648
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.01681823,680,660,635,879.98318177,787,805.01681823,652,631,652,0.424353807024,-0.00550559714437,0.069852997663,0.999999971381,-4.16049606959e-05,-0.000227498991203,-6.12423528536e-05,1793242916644726272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.438028178,787,805,652,631,652,0.425288346596,-0.00551366626597,0.0698737200157,0.999999979828,-5.09919074157e-05,-0.000184412412092,-6.11231166289e-05,1793242916661393152
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.860221615,745,714,680,660,635,879,787,805,652,631.139778385,652,0.426233475193,-0.0055221822337,0.0699064962036,0.999999988089,-6.11821487411e-05,-0.000128445386836,-5.98443449868e-05,1793242916678060032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.284417468,745,714,680,660,635,879,787,805,652,631.715582532,652,0.427196439326,-0.00553040569604,0.0699673670691,0.999999994709,-7.2211146991e-05,-4.77725542983e-05,-5.55489747438e-05,1793242916694726656
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.29085303,745,714,680,660,635,879,787,805.29085303,652,631.70914697,652,0.428142603469,-0.00553424035074,0.0700108304815,0.999999995568,-7.65415847223e-05,1.38638806962e-05,-5.30463244868e-05,1793242916711393024
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.865602608,745,714,680,660,635,879,787,805.865602608,652,631.134397392,652,0.429072369379,-0.00553379116671,0.0700373027804,0.99999999425,-7.43336744585e-05,5.69192165827e-05,-5.22935172522e-05,1793242916728059648
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.546913986,635,879.453086014,787,806.453086014,652,631,652,0.42996022113,-0.00553102748601,0.0700405254816,0.999999994034,-6.87172717479e-05,6.62930759394e-05,-5.30522211736e-05,1793242916744726528
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.043372126,659.043372126,634.956627874,879.956627874,787,806.956627874,651.956627874,631,652,0.430827778919,-0.00552780913111,0.0700310023344,0.999999995049,-6.26548310201e-05,5.49120010275e-05,-5.4422718522e-05,1793242916761393152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.620325389,659.620325389,634.379674611,879.379674611,787,806.379674611,651.379674611,631,652,0.431603048451,-0.00552768754138,0.0699519710071,0.999999992655,-6.39030786186e-05,-8.53391728037e-05,-5.76444009936e-05,1793242916778059776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.803020744,660,634,879,787,806,651,631,652,0.432422923689,-0.00552911983229,0.0698986032866,0.999999980614,-6.67068105811e-05,-0.000175238297514,-6.01193775105e-05,1793242916794726400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.226942984,660,634,879,787,806,651,631,652,0.433328645444,-0.00553354266055,0.0698946267171,0.99999998135,-7.25041686158e-05,-0.000168231882356,-6.11572755825e-05,1793242916811393024
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.356832471,660,634,879,787.356832471,805.643167529,651.356832471,631,652,0.434236948806,-0.00553567430734,0.0699330890324,0.999999990344,-7.41282239518e-05,-0.000101202276869,-5.9796869878e-05,1793242916828059648
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.945611511,660,634,879,787.945611511,805.054388489,651.945611511,631,652,0.435146930197,-0.00553631665085,0.0699991372725,0.999999995703,-7.30395676429e-05,4.84332159574e-06,-5.68775294082e-05,1793242916844726528
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.474797228,660,634.525202772,879.525202772,787.474797228,805.525202772,651.474797228,631,651.474797228,0.436013316194,-0.0055387952458,0.0700218619183,0.999999994602,-7.62771550408e-05,4.37185897261e-05,-5.53684111178e-05,1793242916861393152
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.103325084,660,635,880,787,806,651,631,651.103325084,0.436868574602,-0.00554142213182,0.0700348596783,0.999999992876,-8.01324552606e-05,6.95137006602e-05,-5.47162041079e-05,1793242916878059776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.679006855,660,635,880,787,806,651,631,651.679006855,0.437693246532,-0.00554387257167,0.0700235479238,0.999999992533,-8.47987598257e-05,6.67649817903e-05,-5.7325272065e-05,1793242916894726400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651,631,652,0.43848101963,-0.00554405203425,0.0699920543838,0.999999994308,-8.46823156355e-05,2.52167122777e-05,-5.98117131917e-05,1793242916911393280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651,631,652,0.439222287761,-0.00554136930352,0.0699351250253,0.999999992857,-7.85380028253e-05,-6.52320060675e-05,-6.21436028325e-05,1793242916928059904
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.416741913,681,660,634.583258087,880,787,806,651,631,651.583258087,0.439931974841,-0.00554210192369,0.0698898510111,0.999999985027,-7.96301164855e-05,-0.000140063906885,-6.31404468537e-05,1793242916944726528
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.992346516,681,660,634,879.992346516,786.992346516,805.992346516,651,631,651,0.440629956257,-0.00554426238791,0.0698507310992,0.999999973218,-8.37330477123e-05,-0.000206186704135,-6.35630046564e-05,1793242916961393408
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.416655921,681,660,634,879.416655921,786.416655921,805.416655921,651,631,651,0.441439900286,-0.00554633231542,0.0699064067303,0.999999988129,-8.6568689528e-05,-0.000110907306738,-6.2822437557e-05,1793242916978060032
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.159518499,786.159518499,805.159518499,651,631,651.159518499,0.442235135926,-0.00554865447047,0.069961791143,0.999999993898,-8.9212188091e-05,-2.17100838347e-05,-6.14310745962e-05,1793242916994726656
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.736960624,786.736960624,805.736960624,651,631,651.736960624,0.442991837131,-0.00555163743863,0.0700164126031,0.999999992797,-9.13522912999e-05,5.15524264557e-05,-5.83346879444e-05,1793242917011393024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.311082926,787,806,651.311082926,631,652,0.443700065346,-0.00555382841777,0.0700351980908,0.999999991821,-8.93108658985e-05,7.24126593939e-05,-5.60117869869e-05,1793242917028059648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.882427726,787,806,651.882427726,631,652,0.44436773947,-0.0055553567935,0.0700240020604,0.999999993793,-8.37710407642e-05,4.94314757787e-05,-5.43360091186e-05,1793242917044726784
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.473705905,880.526294095,787,806,651.526294095,631,652,0.44498355684,-0.00555778148424,0.0699964744519,0.999999994438,-8.8902042362e-05,6.77636574097e-06,-5.63476597481e-05,1793242917061393408
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.06778348,660,634.93221652,880,787,806,651.06778348,631,652,0.4455820606,-0.00556040993675,0.0699663521457,0.999999992973,-9.58419683106e-05,-3.73702489731e-05,-5.89208435662e-05,1793242917078060032
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.644115076,660,634.355884924,880,787,806,651.644115076,631,652,0.446151472958,-0.00556282476902,0.0699485100469,0.999999992233,-9.56103516652e-05,-5.44627034227e-05,-5.85389436372e-05,1793242917094726656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.779889976,660,634,880,787,806,651.779889976,631,652,0.446700665294,-0.00556536070695,0.0699310355327,0.999999990167,-9.9373022626e-05,-7.96681259452e-05,-5.86853474697e-05,1793242917111393024
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.20443856,660,634,880,787,806,651.20443856,631,652,0.447217214757,-0.00556809215528,0.0699141544416,0.999999985256,-0.000109583994674,-0.000117970966468,-5.96846347354e-05,1793242917128059648
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.380902395,634,880,787,805.619097605,651,631,652,0.447709368319,-0.00556896549261,0.069891338559,0.99999997898,-0.00011001791014,-0.000162134749641,-6.03965143519e-05,1793242917144726272
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.971692821,634,880,787,805.028307179,651,631,652,0.448188079097,-0.00556881495829,0.0698652524363,0.999999970672,-0.000105064390738,-0.000209528081908,-6.09500242118e-05,1793242917161393152
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.901720861,633.45086043,880,787,805.54913957,651,631,652,0.448661663821,-0.00557269331709,0.0698651522225,0.999999970455,-0.000110426878773,-0.000208330894914,-5.91032812582e-05,1793242917178060032
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.125551711,659,633,880,786.874448289,806,651,631,652,0.449129521611,-0.00557544960008,0.0698693093397,0.999999971618,-0.000115158025908,-0.000200475012785,-5.75616845094e-05,1793242917194726912
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.70066393,659,633,880,786.29933607,806,651,631,652,0.449577796921,-0.00557346208696,0.069884027961,0.999999975884,-0.000115769610004,-0.000177532438508,-5.75452414302e-05,1793242917211393536
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.282729717,714,682,659,633,880,786,806,651,631,652,0.449996916796,-0.00557205415788,0.0698897865175,0.999999977812,-0.000113453469753,-0.000167826641607,-5.77884026526e-05,1793242917228060160
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.872343087,714,682,659,633,880,786,806,651,631,652,0.450384390426,-0.00557127532752,0.0698858195392,0.999999977596,-0.00010795948618,-0.000172488457217,-5.83133465058e-05,1793242917244726784
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.546244716,745.546244716,714,682,658.546244716,633,880,786,806,651,631,652,0.450702196381,-0.00557068339292,0.0698554458781,0.999999967577,-0.000108055910446,-0.000222424537156,-6.08050047163e-05,1793242917261393408
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.032871601,745,714,682.032871601,658,633,880,786,806,651,631,652,0.451000206056,-0.00557016466011,0.0698185520532,0.999999951853,-0.000109655121724,-0.000283227051366,-6.3649770004e-05,1793242917278059776
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.611497106,745,714,682.611497106,658,633,880,786,806,651,631,652,0.451289178424,-0.00557000379737,0.0697945592874,0.999999941726,-0.000110555956755,-0.000316724252163,-6.33338334425e-05,1793242917294726400
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682.623411009,658,632.811705504,880,786,806,651.188294496,631,652,0.45157160214,-0.00557060080936,0.0697769246913,0.999999933456,-0.000114792764437,-0.000340607583718,-6.24283042266e-05,1793242917311393024
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.720735194,745,714,679.720735194,658.720735194,634.279264806,879,787,805.279264806,651.279264806,631,651.279264806,0.414842697195,-0.00538914620832,0.0697735072511,0.999999919928,0.000172130375382,-0.000360227582271,2.73968888631e-05,1793242919583111168
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.143681072,745,714,679.143681072,658.143681072,634.856318928,879,787,805.856318928,651.856318928,631,651.856318928,0.413997079003,-0.0053817179916,0.0697444486604,0.999999892518,0.000184923127139,-0.000424241106829,2.80369124787e-05,1793242919599777280
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.604066086,745,714,679,658.395933914,635,879.604066086,787,805,651.604066086,631,652,0.411942315773,-0.0053688084705,0.0698414360844,0.999999947863,0.000202346686308,-0.000249738704866,3.10028875039e-05,1793242919649777152
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.511113341,714,679,658.488886659,634.488886659,879,786,804,651,631,651.488886659,0.400999905816,-0.00535816482,0.0698168834872,0.999999931405,0.000217777282381,-0.000299246141143,1.46299114642e-05,1793242920249776896
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.078928235,714,679,659,635,878.921071765,786.078928235,804.078928235,651,631,652,0.400987608179,-0.00535841801552,0.0698188534221,0.999999932182,0.00021815254182,-0.000296339260213,1.51348253621e-05,1793242920266443520
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.657224693,714,679,659,635,878.342775307,786.657224693,804.657224693,651,631,652,0.400981518568,-0.00535745975793,0.0698215816776,0.999999933002,0.000219647552642,-0.000292440410167,1.51332764436e-05,1793242920283110656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.76590606,878.23409394,786.76590606,805,651.23409394,631,651.76590606,0.400976697679,-0.00535714283263,0.0698238730149,0.999999933858,0.000220407551994,-0.000288918952227,1.51540920359e-05,1793242920299777792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.191113999,878.808886001,786.191113999,805,651.808886001,631,651.191113999,0.400973723276,-0.00535775929636,0.0698255284656,0.99999993478,0.000220097822464,-0.000285946747452,1.52074567272e-05,1793242920316444672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.382595123,879,786.382595123,805,652,631,651.382595123,0.400971586663,-0.00535798928723,0.0698262892884,0.999999935229,0.00021950022556,-0.000284836505133,1.51652125035e-05,1793242920333110784
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.955764805,879,786.955764805,805,652,631,651.955764805,0.400969867362,-0.00535802677198,0.0698266044878,0.999999935445,0.00021875923897,-0.000284653725522,1.50753444959e-05,1793242920349776896
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.450624727,787,804.450624727,652,631,652,0.400969032091,-0.005356365712,0.0698269149326,0.999999934941,0.000221151204943,-0.000284596540416,1.46917575846e-05,1793242920366443520
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.139925888,787,804,652,631,652,0.400968357337,-0.00535553595346,0.0698272666385,0.999999934639,0.000222881130185,-0.000284315066539,1.45548989466e-05,1793242920383110144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.715623243,787,804,652,631,652,0.400967952231,-0.00535773750741,0.0698277480827,0.999999935171,0.000221733278106,-0.000283302378448,1.52629262534e-05,1793242920399776768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.290744928,679,658.709255072,635,878.709255072,787,804.290744928,652,631,652,0.400967708971,-0.00535838641395,0.0698281211455,0.999999935395,0.000221582753629,-0.000282621695696,1.5381685113e-05,1793242920416443904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.86530473,679,658.13469527,635,878.13469527,787,804.86530473,652,631,652,0.4009676237,-0.00535751968147,0.0698283884103,0.99999993532,0.000222405784807,-0.000282265104645,1.49252211217e-05,1793242920433111040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634.558724446,878.441275554,786.558724446,805,652,631,652,0.400967111331,-0.0053582681171,0.0698281024615,0.999999935823,0.000219876299546,-0.000282464808797,1.48840641312e-05,1793242920449777664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.981841321,679,658.018158679,634,878.981841321,786.018158679,805,652,631,651.981841321,0.400966490534,-0.005359398753,0.0698276775546,0.999999936455,0.000216555438682,-0.000282789882391,1.4961597796e-05,1793242920466444288
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.389779835,679,658.610220165,634,878.389779835,786.610220165,805,652,631,651.389779835,0.400966576345,-0.00535697711904,0.0698282149187,0.999999935868,0.000220669037149,-0.000281693394315,1.47709765944e-05,1793242920483110912
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.803022609,714,679,658.803022609,634.196977391,878,787,805,652,631,651.196977391,0.40096773502,-0.00535587503637,0.0698293254306,0.999999936011,0.000222605361017,-0.000279658129138,1.47227079139e-05,1793242920499777536
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.226486285,714,679,658.226486285,634.773513715,878,787,805,652,631,651.773513715,0.400970961015,-0.00535731561863,0.0698315403505,0.999999937575,0.000220346258846,-0.000275813919184,1.49487406303e-05,1793242920516443648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.651083255,744.348916745,714,678.651083255,658.348916745,635,878.348916745,787,804.651083255,652,631,652,0.400970941859,-0.00535918548525,0.069831648904,0.999999938139,0.000218140001355,-0.000275500046932,1.53851832902e-05,1793242920533110016
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.076413502,744.923586498,714,678.076413502,658.923586498,635,878.923586498,787,804.076413502,652,631,652,0.400968823055,-0.00536133310356,0.0698303946151,0.999999938057,0.000215967935047,-0.000277470342522,1.59577635114e-05,1793242920549776640
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,678.511722675,658.488277325,635,879,787,804.511722675,652,631,652,0.400968179215,-0.00535902021387,0.0698303858855,0.999999937705,0.000217458019387,-0.000277622585325,1.51086795777e-05,1793242920566443776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.10002806,745,714,679,658,635,878.89997194,787,805,652,631,652,0.400968143512,-0.00535689017956,0.0698306730592,0.999999937413,0.000219190692683,-0.000277353792861,1.43215379225e-05,1793242920583110912
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.679250139,745,714,679,658,635,878.320749861,787,805,652,631,652,0.400969937506,-0.00535891324399,0.0698314626806,0.999999937623,0.000219394948389,-0.000276403704296,1.48756261353e-05,1793242920599778048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.255508849,635,878,787,805,652,631,652,0.400970789916,-0.00535982096934,0.0698320857015,0.99999993784,0.000219542423367,-0.000275485088209,1.51352890886e-05,1793242920616444928
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.828090257,635,878,787,805,652,631,652,0.400970473873,-0.00535934461993,0.0698325019803,0.999999938067,0.000219619436584,-0.000274605527626,1.50295864106e-05,1793242920633111296
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.413563922,787,805,651.586436078,631,651.586436078,0.400970381266,-0.00535895927815,0.0698326170964,0.999999938018,0.000220485121569,-0.000274085587647,1.50833011605e-05,1793242920649777408
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f93382a53c742af907973a6765a706d71631def
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+38,0.633333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+43,0.716666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+46,0.766666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+49,0.816666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+50,0.833333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+51,0.850000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+52,0.866666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+53,0.883333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+54,0.900000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+55,0.916666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+56,0.933333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+57,0.950000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+58,0.966666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+59,0.983333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+60,1.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+61,1.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+62,1.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+63,1.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+64,1.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+65,1.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+66,1.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+67,1.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8d355a1561949e8057f23c0a71bd90ff1a56c54
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26039928
diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14401830dfe13daf95f43e6cf0508eb2f4ce4463
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400969318971,-0.00535764234277,0.0698329297231,0.999999938214,0.0002211752638,-0.000272831983372,1.46994938374e-05,1793242920810094848
+1,0.016666667,BASELINE,765,745,714,679,659,635,878.422485103,787,805,652,631,652,0.400968899759,-0.00535898744666,0.0698325274804,0.999999938565,0.00021839952556,-0.000273795607537,1.44337997009e-05,1793242920826761472
+2,0.033333333,BASELINE,765,745,714.157822126,679,658.842177874,635,878.157822126,787,804.842177874,652,631,651.842177874,0.400968713021,-0.00535958937353,0.0698323052331,0.999999938685,0.000217265338291,-0.000274264310365,1.43242865674e-05,1793242920843428096
+3,0.050000000,BASELINE,765,745,714.745739113,679,658.254260887,635,878.745739113,787,804.254260887,652,631,651.254260887,0.400969159818,-0.00535816600413,0.0698325735071,0.99999993819,0.000220604684341,-0.000273384260051,1.46403958681e-05,1793242920860094720
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+6,0.100000000,BASELINE,765,745,714,679,658.514352549,634.485647451,879,787,804.514352549,651.514352549,631,651,0.400970023638,-0.00535916858191,0.0698333132565,0.999999938668,0.000218580150211,-0.000273251485422,1.48547874998e-05,1793242920910094592
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+8,0.133333333,BASELINE,765,745,714,679,658.635501876,635,879,786.364498124,804,651,631,651.635501876,0.400967974092,-0.00536059813377,0.0698319667962,0.999999938167,0.000218150399345,-0.00027540075379,1.5181337499e-05,1793242920943428352
+9,0.150000000,BASELINE,764.7845033,744.7845033,714,679,658.7845033,635,879,786.2154967,804,651.2154967,631,652,0.40096740727,-0.00536023700329,0.0698317115593,0.999999937732,0.000219605084862,-0.000275832856192,1.50046554988e-05,1793242920960094976
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+18,0.300000000,BASELINE,765,745,714,678.549705398,659,635,879,787,805,651.450294602,631,652,0.4009714748,-0.00535880730449,0.0698354923301,0.999999939347,0.000219650941476,-0.000269881881283,1.4939242647e-05,1793242921110095104
+19,0.316666667,BASELINE,765,745,714,678.026282104,659,635,879,787,804.973717896,652,631,652,0.40097229694,-0.00535875443276,0.0698360998858,0.999999939524,0.000220743469965,-0.000268327812106,1.4993683e-05,1793242921126761472
+20,0.333333333,BASELINE,765,745,714,678.60114407,659,635,879,787,804.39885593,652,631,652,0.400971384362,-0.0053597368221,0.0698360623807,0.999999939725,0.000218317307602,-0.000269552743413,1.51555756842e-05,1793242921143428352
+21,0.350000000,BASELINE,765,745,714,679,659,635,879,787,804.179755751,652,631,651.820244249,0.400970900467,-0.00535987264212,0.069835836035,0.999999939734,0.000217135279377,-0.000270473547073,1.50867927138e-05,1793242921160094976
+22,0.366666667,BASELINE,765,745,714,679,659,635,879,787,804.766864768,652,631,651.233135232,0.400971388034,-0.00535809001,0.0698351817485,0.999999939324,0.000218772644473,-0.000270705152094,1.4495264382e-05,1793242921176761856
+23,0.383333333,BASELINE,765,745,714,679,659,635,878.648590425,787,805,651.648590425,631,651.351409575,0.400971705476,-0.00535719680808,0.0698348911483,0.999999939028,0.000220443666728,-0.000270454250701,1.42802970522e-05,1793242921193428480
+24,0.400000000,BASELINE,765,745,714,679,659,635,878.065734407,787,805,651.065734407,631,651.934265593,0.400971910869,-0.00535688940522,0.0698348400804,0.999999938806,0.000222136856526,-0.000269885559491,1.43133414159e-05,1793242921210095104
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+26,0.433333333,BASELINE,765,745,714,679.91686155,659,635,879,787,804.91686155,651.08313845,631,651.08313845,0.400969956112,-0.00535886274306,0.0698345386724,0.999999939304,0.000217543461928,-0.000271740683299,1.49331507025e-05,1793242921243428352
+27,0.450000000,BASELINE,765,745,714,679.342254702,659,635,879,787,804.342254702,651.657745298,631,651.657745298,0.400969489095,-0.00535953693775,0.0698343806939,0.999999939156,0.00021743896873,-0.000272373114574,1.48422700293e-05,1793242921260094976
+28,0.466666667,BASELINE,765,745,714,679,659,635,879,786.759963482,804.240036518,652,631,652,0.400969494834,-0.00535960970469,0.0698345319147,0.999999939165,0.000217504944496,-0.000272294073575,1.47770637999e-05,1793242921276761600
+29,0.483333333,BASELINE,765,745,714,679,659,635,879,786.166353217,804.833646783,652,631,652,0.400970196943,-0.00535879656861,0.0698351385858,0.999999939402,0.000217822021018,-0.00027116703401,1.47496760268e-05,1793242921293428224
+30,0.500000000,BASELINE,765,745,714,679,659,635,878.585906636,786.414093364,804.585906636,652,631,652,0.400971936268,-0.00535899469798,0.0698358535579,0.999999939692,0.000218488110099,-0.00026955473514,1.47897262012e-05,1793242921310094592
+31,0.516666667,BASELINE,765,745,714,679,659,635,878.01058537,786.98941463,804.01058537,652,631,652,0.400974079436,-0.00535958656517,0.069836610697,0.99999994,0.000219290087762,-0.000267753499822,1.48560334469e-05,1793242921326761472
+32,0.533333333,BASELINE,765,744.434793253,714,679,659,635,878,787,804,651.434793253,631,652,0.400972063094,-0.00535951350872,0.069835382365,0.99999993969,0.000218298092348,-0.00026971155809,1.485649889e-05,1793242921343428096
+33,0.550000000,BASELINE,765,744.144661791,714,679,659,635,878.144661791,787,804,651.144661791,631,652,0.400970098098,-0.00535909834398,0.0698342527245,0.999999939237,0.000217908401127,-0.00027170349951,1.48047095718e-05,1793242921360094976
+34,0.566666667,BASELINE,765,744.735384037,714,679,659,635,878.735384037,787,804,651.735384037,631,652,0.400968531836,-0.00535766672835,0.0698335421497,0.999999938384,0.000219479582814,-0.00027358264475,1.4595599623e-05,1793242921376761600
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+37,0.616666667,BASELINE,764,745,714,679,659,635,878,787,804.526155326,652,631.526155326,652,0.400971603823,-0.00535871363946,0.0698358159106,0.9999999396,0.000219462387435,-0.000269112692315,1.46412871407e-05,1793242921426761472
+38,0.633333333,BASELINE,764.047374301,745,714,679,659,634.952625699,878.047374301,787,804.047374301,652,631,652,0.400971589342,-0.00535882129896,0.0698360493493,0.999999939106,0.000221856125718,-0.000268991135056,1.45145490209e-05,1793242921443428352
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+40,0.666666667,BASELINE,765,745,714,679,658.797049182,634.202950818,879,787,805,651.797049182,631,651.797049182,0.400968879577,-0.00535881766235,0.0698336301919,0.999999938747,0.00021997866864,-0.000271845868448,1.46763678382e-05,1793242921476761344
+41,0.683333333,BASELINE,765,745,714,679,658.203580157,634.796419843,879,787,805,651.203580157,631,651.203580157,0.400968207816,-0.00535875006961,0.0698333411505,0.999999938611,0.000218693837654,-0.000273401394459,1.42578234676e-05,1793242921493428224
+42,0.700000000,BASELINE,765.379284838,745,714,679,658.379284838,635,879,787,805,651.379284838,631,651,0.400969421405,-0.00535918076797,0.0698345341556,0.999999939176,0.00021782709805,-0.000272009781969,1.44746379055e-05,1793242921510094848
+43,0.716666667,BASELINE,765.956612929,745,714,679,658.956612929,635,879,787,805,651.956612929,631,651,0.400971619428,-0.00535987164861,0.0698365010099,0.999999940102,0.000217178664542,-0.000269079323586,1.5023204413e-05,1793242921526761472
+44,0.733333333,BASELINE,765.466673875,745,714,679,659,635,878.466673875,787,805,652,631,651.533326125,0.40097043959,-0.00535987229836,0.069834822031,0.999999939368,0.000218669696344,-0.00027060443646,1.4875290541e-05,1793242921543428352
+45,0.750000000,BASELINE,765,745,714.10915595,679.10915595,658.89084405,635,878,787,804.89084405,652,631,652,0.400969772182,-0.0053598755311,0.0698336094994,0.999999938908,0.000219642115019,-0.000271526064722,1.46855030146e-05,1793242921560095232
+46,0.766666667,BASELINE,765,745,714.68144956,679.68144956,658.31855044,635,878,787,804.31855044,652,631,652,0.400972443543,-0.00536012769425,0.0698356330321,0.999999940196,0.00021767648628,-0.000268351020058,1.45581755472e-05,1793242921576761600
+47,0.783333333,BASELINE,765,745,714.735977821,679.735977821,658.264022179,635,878.264022179,787,804.264022179,652,631,652,0.400972999575,-0.00535984212958,0.0698362382915,0.999999940576,0.000217090240253,-0.000267417197899,1.44237111659e-05,1793242921593428224
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+50,0.833333333,BASELINE,764.013392036,745,714,679,658.986607964,635,878,787,805,652,631,651.986607964,0.400969925054,-0.00535865845685,0.0698350202701,0.999999939955,0.000217003677916,-0.000269819699937,1.40246943251e-05,1793242921643428352
+51,0.850000000,BASELINE,764.588051486,745,714,679,658.411948514,635,878,787,805,652,631,651.411948514,0.400970095462,-0.00535941458287,0.0698345505586,0.999999939883,0.000217112533671,-0.00026999646677,1.41031328048e-05,1793242921660094976
+52,0.866666667,BASELINE,765,745,714,679,658.166872535,635,878.166872535,787,804.833127465,652,631,651.166872535,0.400969992716,-0.00535992252037,0.0698341617411,0.999999939727,0.000217282486964,-0.000270432241735,1.41917581422e-05,1793242921676761856
+53,0.883333333,BASELINE,765,745,714,679,658.75622981,635,878.75622981,787,804.24377019,652,631,651.75622981,0.400969198401,-0.00535980209878,0.0698339777297,0.999999939359,0.000217607125843,-0.000271523768597,1.4306174369e-05,1793242921693428480
+54,0.900000000,BASELINE,765,745,714,679,658.66032214,635,878.66032214,787,804.33967786,652,631,652,0.400969613304,-0.00535921282848,0.0698346070598,0.999999939235,0.000219027045498,-0.000270824622269,1.45591492919e-05,1793242921710095104
+55,0.916666667,BASELINE,765,745,714,679,658.081042363,635,878.081042363,787,804.918957637,652,631,652,0.400970881164,-0.00535829284173,0.0698358101046,0.999999939276,0.000221219554121,-0.000268862371114,1.49098607215e-05,1793242921726761728
+56,0.933333333,BASELINE,765,745,714,679,658.495732935,635,878.495732935,787,805,652,631,652,0.400971042366,-0.0053592397266,0.0698359759203,0.999999939691,0.000219557731207,-0.000268697537801,1.46323673636e-05,1793242921743428352
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+58,0.966666667,BASELINE,765,744.355007955,714.644992045,679,659,635,879,787,804.355007955,652,631,652,0.400968560973,-0.00536011886034,0.0698346174637,0.999999939462,0.000217626941366,-0.000271129074421,1.42587285051e-05,1793242921776762624
+59,0.983333333,BASELINE,765,744.225500198,714.774499802,679,659,635,878.774499802,787,804,651.774499802,631,652,0.400968357191,-0.00536010909397,0.0698344816237,0.999999939452,0.000217467508065,-0.000271291102093,1.43200528416e-05,1793242921793429504
+60,1.000000000,BASELINE,765,744.817768482,714.182231518,679,659,635,878.182231518,787,804,651.182231518,631,652,0.400971385341,-0.00536039421674,0.0698360849967,0.999999940352,0.0002169451711,-0.000268362874388,1.4541052473e-05,1793242921810096128
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+62,1.033333333,BASELINE,764.020319709,745,714,679,659,635,878,787,804,651.979680291,631,652,0.400967940197,-0.00536028596851,0.0698336734352,0.999999939338,0.000216900586181,-0.00027215947429,1.4425481458e-05,1793242921843429632
+63,1.050000000,BASELINE,764.549725082,745,714,678.450274918,658.450274918,635,878.549725082,787.549725082,804,652,631,651.450274918,0.400967831096,-0.00536059850041,0.0698332885256,0.999999938815,0.000218951933599,-0.000272416108935,1.48251920101e-05,1793242921860095744
+64,1.066666667,BASELINE,764.875457257,745,714,678,658.124542743,635,878.875457257,787.750914515,804.124542743,652,630.875457257,651.124542743,0.400968205995,-0.00536079329973,0.0698333592047,0.999999938726,0.000219747048833,-0.000272089725434,1.5044168998e-05,1793242921876761856
+65,1.083333333,BASELINE,764.281433434,745,714,678,658.718566566,635,878.281433434,786.562866868,804.718566566,652,630.281433434,651.718566566,0.400970065695,-0.00536048555227,0.0698349646846,0.999999940241,0.000215534732144,-0.000269911030468,1.45121587746e-05,1793242921893428224
+66,1.100000000,BASELINE,764.304714897,745,714,678.304714897,658.695285103,635,878,786.304714897,805,651.695285103,630.304714897,652,0.40097077104,-0.00535991476018,0.0698351289268,0.999999940363,0.000215368075307,-0.000269605210778,1.43026786557e-05,1793242921910095360
+67,1.116666667,BASELINE,764.883772682,745,714,678.883772682,658.116227318,635,878,786.883772682,805,651.116227318,630.883772682,652,0.400970437088,-0.00535910714205,0.0698339955844,0.999999939234,0.000218843833365,-0.000270985590397,1.43835809568e-05,1793242921926762496
+68,1.133333333,BASELINE,765,745,714,679,658.458475042,635,878.458475042,787,804.541524958,651,631,651.541524958,0.400969686687,-0.00535973973011,0.0698345267322,0.999999939683,0.00021696547043,-0.000270827830031,1.45639781982e-05,1793242921943429376
+69,1.150000000,BASELINE,764.967733358,745,714,679,659,634.967733358,878.967733358,786.967733358,804,651.032266642,631,651,0.400968924813,-0.00536062521834,0.0698354435745,0.999999940448,0.000214121417317,-0.000270257626794,1.47568599062e-05,1793242921960096000
+70,1.166666667,BASELINE,764.390853944,745,714,679,659,634.390853944,878.390853944,786.390853944,804,651.609146056,631,651,0.400969734453,-0.00535967485461,0.0698358152908,0.999999939954,0.000217671826279,-0.000269245532541,1.47387433121e-05,1793242921976761856
+71,1.183333333,BASELINE,764.190836415,745,714,679,659,634.190836415,878.190836415,786,804,652,631,651.190836415,0.400970166092,-0.00535860459977,0.0698358118341,0.999999939406,0.000220659923873,-0.000268857115922,1.45686767369e-05,1793242921993427968
+72,1.200000000,BASELINE,764.782635052,745,714,679,659,634.782635052,878.782635052,786,804,652,631,651.782635052,0.400969803521,-0.0053572824442,0.0698350201101,0.999999938765,0.000222466562001,-0.000269779094568,1.40793513734e-05,1793242922010094592
+73,1.216666667,BASELINE,765,744.633856918,714.366143082,679,659,635,879,786.366143082,804.366143082,652,631,652,0.400969859755,-0.00535751297608,0.0698350352999,0.999999938843,0.00022203882604,-0.000269838265235,1.4179468591e-05,1793242922026761472
+74,1.233333333,BASELINE,765,744.055161757,714.944838243,679,659,635,879,786.944838243,804.944838243,652,631,652,0.400970159114,-0.00535864486864,0.0698355189166,0.999999939337,0.000220313999077,-0.000269396561628,1.4621766948e-05,1793242922043428096
+75,1.250000000,BASELINE,765,744.5209214,714.4790786,679,659,635,878.4790786,786.4790786,805,652,631,652,0.400970403964,-0.00535980355207,0.0698356883044,0.99999993972,0.000218334907411,-0.000269582569858,1.46487754281e-05,1793242922060094720
+76,1.266666667,BASELINE,765,745,714,679,659,634.901290441,878,786.098709559,805,652,631,652,0.400970637741,-0.00536076610365,0.0698357544986,0.999999940046,0.000216720942918,-0.000269676049215,1.46279772082e-05,1793242922076761344
+77,1.283333333,BASELINE,765,745,714,679,659,634.313694744,878,786.686305256,805,652,631,652,0.40097084512,-0.00536074327782,0.0698354735774,0.999999940163,0.000217048057849,-0.000268983685171,1.45871204927e-05,1793242922093427968
+78,1.300000000,BASELINE,765,745,714,679,659,634.270077553,878.270077553,787,804.729922447,652,631,652,0.40097077478,-0.00536073609818,0.0698355181731,0.999999940442,0.000216574145091,-0.000268326361955,1.45532746057e-05,1793242922110094848
+79,1.316666667,BASELINE,765,745,714,679,659,634.849470928,878.849470928,787,804.150529072,652,631,652,0.400970386373,-0.00536074683789,0.0698359355785,0.999999940909,0.000215182827163,-0.000267709170529,1.45274581196e-05,1793242922126761472
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,786.571568919,804,652,631,652,0.400971598568,-0.00536017895355,0.0698369303781,0.99999994087,0.000216769244809,-0.000266570378882,1.45367589952e-05,1793242922143428096
+81,1.350000000,BASELINE,765,745,714,679,659,635,879,786,804,652,631,652,0.400973336791,-0.00535942679695,0.0698380989253,0.999999940647,0.000219359617592,-0.000265283133414,1.45575815924e-05,1793242922160094720
+82,1.366666667,BASELINE,765,745,714,679,659,635,879,786,804,652,631,652,0.400972250405,-0.00536016070163,0.0698369845285,0.999999940408,0.000218695936974,-0.000266729699535,1.45149022221e-05,1793242922176761344
+83,1.383333333,BASELINE,765,745,714,679,659,635,878.845236498,786.154763502,804.154763502,651.845236498,631,652,0.40097159582,-0.00536036829965,0.0698361815579,0.999999940193,0.00021849531791,-0.000267702373377,1.44585397817e-05,1793242922193427968
+84,1.400000000,BASELINE,765,745,714,679,659,635,878.253037156,786.746962844,804.746962844,651.253037156,631,652,0.400972161708,-0.00535908830294,0.0698362588271,0.99999994005,0.000219603532613,-0.000267335600804,1.43635024165e-05,1793242922210094592
+85,1.416666667,BASELINE,765,745,714.331505284,679.331505284,659,635,878,787,805,651,631,652,0.400972488331,-0.00535916422545,0.0698365953123,0.999999940285,0.000219090926493,-0.000266878647586,1.4295740044e-05,1793242922226761216
+86,1.433333333,BASELINE,765,745,714.910335142,679.910335142,659,635,878,787,805,651,631,652,0.400972636447,-0.00536025175225,0.0698371251895,0.999999940801,0.000217369082212,-0.000266354413744,1.42483266016e-05,1793242922243428096
+87,1.450000000,BASELINE,765,745,714.512693178,679.512693178,659.487306822,635,878.487306822,787,805,651.487306822,631,652,0.400972586654,-0.00536032308027,0.0698369430392,0.999999940714,0.000217421279147,-0.000266632206739,1.43812412532e-05,1793242922260094720
+88,1.466666667,BASELINE,765,745,714,679,659.93500153,635,878.93500153,787,805,651.93500153,631,652,0.400972491875,-0.00536017770617,0.0698365902729,0.999999940502,0.00021780084104,-0.000267108035106,1.45366066464e-05,1793242922276761344
+89,1.483333333,BASELINE,765,745,714,679,659.348805532,635,878.348805532,787,805,651.348805532,631,652,0.400972327258,-0.00535978831778,0.0698359159604,0.999999940178,0.000218197882632,-0.000267992991961,1.46069448054e-05,1793242922293428224
+90,1.500000000,BASELINE,764.765204562,745,714,678.765204562,658.765204562,635,878,787,804.765204562,651.234795438,631,652,0.400972172043,-0.0053602362559,0.0698357263763,0.999999940171,0.000217893130747,-0.000268261921214,1.46837362231e-05,1793242922310094848
+91,1.516666667,BASELINE,764.185416603,745,714,678.185416603,658.185416603,635,878,787,804.185416603,651.814583397,631,652,0.40097203064,-0.00536191450494,0.0698362490193,0.999999940631,0.000216557211006,-0.000267625701134,1.4770009616e-05,1793242922326761472
+92,1.533333333,BASELINE,764,745,714,678.391452883,658,634.608547117,878,787,804,652,631,652,0.400971450071,-0.00536157473689,0.0698361398913,0.999999940776,0.00021612095193,-0.000267446027608,1.4602223306e-05,1793242922343428352
+93,1.550000000,BASELINE,764,745,714,678.966950279,658,634.033049721,878,787,804,652,631,652,0.400970663024,-0.0053602861831,0.0698357337316,0.999999940773,0.000216107674955,-0.000267481002817,1.43149889265e-05,1793242922360094720
+94,1.566666667,BASELINE,764.541737011,745,714,679,658.541737011,634.541737011,878,787,804.541737011,652,631,652,0.40097154147,-0.00535956623762,0.0698360632518,0.999999940517,0.000217353836611,-0.000267431931849,1.42699924586e-05,1793242922376761600
+95,1.583333333,BASELINE,764.883014326,745,714,679,659,635,878.116985674,787,805,652,631,652,0.400972342394,-0.00535932229002,0.0698363970635,0.999999940382,0.000218080054927,-0.000267345247849,1.43004113986e-05,1793242922393428224
+96,1.600000000,BASELINE,764.305777794,745,714,679,659,635,878.694222206,787,805,652,631,652,0.400972439107,-0.00536081474012,0.0698365714147,0.999999940787,0.000216458796578,-0.000267130730814,1.45694684382e-05,1793242922410094848
+97,1.616666667,BASELINE,764.279359956,745,714,679,659,635,878.720640044,786.720640044,804.720640044,652,631,652,0.400972340071,-0.0053611968524,0.0698367175668,0.999999940976,0.000215816123544,-0.000266938923131,1.46367640671e-05,1793242922426761728
+98,1.633333333,BASELINE,764.873397795,745,714,679,659,635,878.126602205,786.126602205,804.126602205,652,631,652,0.400972020538,-0.00536032825292,0.0698368319546,0.999999940924,0.000216275753026,-0.000266772695832,1.4476790695e-05,1793242922443428352
+99,1.650000000,BASELINE,765,745,714,679,658.547996278,635,878,786.452003722,804.452003722,652,631,652,0.400970599507,-0.00535938181007,0.069836207643,0.999999940452,0.000217409318866,-0.000267634425518,1.41874969045e-05,1793242922460094976
+100,1.666666667,BASELINE,764.973541315,744.973541315,714,679,658.026458685,634.973541315,878.026458685,787,804.973541315,652,631,652,0.40096906165,-0.00535850154058,0.0698354575104,0.999999939908,0.000218665115251,-0.000268656854133,1.38972655958e-05,1793242922476761600
+101,1.683333333,BASELINE,764.398491557,744.398491557,714,679,658.601508443,634.398491557,878.601508443,787,804.398491557,652,631,652,0.400971287179,-0.00535943044181,0.0698362468981,0.999999940281,0.000218670634996,-0.000267238549208,1.43138138673e-05,1793242922493428224
+102,1.700000000,BASELINE,764.180788914,744.180788914,714,679.180788914,659,634.180788914,879,787,804.180788914,652,631,652,0.400972367184,-0.0053596024296,0.0698366287761,0.999999940264,0.000219379221001,-0.000266707578111,1.45246386293e-05,1793242922510095104
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+104,1.733333333,BASELINE,765,745,714.353931649,679.646068351,659,635,879,786.646068351,805,652,631,652,0.400970374241,-0.00535826916276,0.0698361103227,0.999999939248,0.000221747700091,-0.000268567155436,1.42855102031e-05,1793242922543428352
+105,1.750000000,BASELINE,765,745,714.935343147,679.064656853,659,635,879,786.064656853,805,652,631,652,0.400970540995,-0.00535959025153,0.0698364879209,0.999999939628,0.000220392432163,-0.00026825834509,1.44720324205e-05,1793242922560094976
+106,1.766666667,BASELINE,765,745,715,679,659,635,879,786.511322396,805,652,631,652,0.400969800816,-0.00536025041047,0.0698358114325,0.999999939912,0.000218032513575,-0.000269124839503,1.4473111911e-05,1793242922576761600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,786,804,651,631,652,0.400971149317,-0.00536069044288,0.0698370611271,0.999999940432,0.000218587048569,-0.000266737149283,1.43985049268e-05,1793242922620094464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.404915552,635,878.595084448,786.595084448,804.595084448,651.595084448,631,652,0.400971525344,-0.00536054999244,0.0698368985027,0.999999940339,0.00021864695477,-0.000267018616406,1.47340190508e-05,1793242922636761344
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.333358362,744.333358362,713.333358362,679,659,635,878,786.333358362,804.333358362,651.666641638,631.333358362,651.333358362,0.400972385851,-0.00536284739883,0.0698373838348,0.999999941119,0.00021630716132,-0.000265977765064,1.51343285191e-05,1793242922686761728
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.906623232,744.906623232,713.906623232,679,659,635,878,786.906623232,804.906623232,651.093376768,631.906623232,651.906623232,0.400972683181,-0.00536095402029,0.0698378948053,0.999999940251,0.000220597561168,-0.000265695917156,1.55070924721e-05,1793242922703428352
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714.085234609,679,658.085234609,635,878.085234609,787,804.914765391,652,631,652,0.400973270437,-0.00536013767491,0.0698377312601,0.999999940802,0.000218334472767,-0.000265538337338,1.46553738604e-05,1793242922736761600
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.148141845,714,679.148141845,659,635,879.851858155,787,805,652,631,652,0.401189639615,-0.00536590971363,0.0699108734598,0.999999966041,0.000216860915903,-0.000143546573,1.6822026079e-05,1793242922853428224
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.405540943,659,635,878.702770472,787,805,652,631,652,0.401327829983,-0.00536696849348,0.0699186108868,0.999999967637,0.000214557135492,-0.000135994692588,1.39946454427e-05,1793242922886761984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,678.253437379,659,635,878.126718689,787,805,652,631,652,0.40140542482,-0.00536781773631,0.0699163532173,0.999999967491,0.000214462032198,-0.0001374105038,1.19453441218e-05,1793242922903428096
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.460441362,659,635,878.460441362,786.539558638,805,652,631,652,0.401494939603,-0.00537078844434,0.0699126129804,0.999999967218,0.000211171935173,-0.000144478691612,9.77332479162e-06,1793242922920094976
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.950193753,745,714,678.950193753,659,634.950193753,879,786.049806247,805,652,631,651.950193753,0.401590937387,-0.00537415395638,0.0699089340064,0.999999966856,0.000207406798564,-0.000152359952067,7.53663711057e-06,1793242922936761856
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.370696665,745,714,678.370696665,659,634.370696665,879,786.629303335,805,652,631,651.370696665,0.401720131344,-0.00537535544187,0.0699103531354,0.999999966778,0.000208172148524,-0.000151935442089,4.98025994068e-06,1793242922953428480
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.206375969,744.793624031,714,678.206375969,659,634.206375969,878.793624031,787,805,652,631,651.206375969,0.40186258336,-0.0053774234215,0.0699127839798,0.999999967822,0.000205643380012,-0.000148532341016,2.02572864232e-06,1793242922970095104
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.779144254,744.220855746,714,678.779144254,659,634.779144254,878.220855746,787,805,652,631,651.779144254,0.402028573234,-0.00538102974287,0.0699170109863,0.999999970764,0.000197266354463,-0.000139841158758,-1.63567059848e-06,1793242922986761728
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.353461745,714,679,659,635,878,787,804.646538255,652,631,652,0.402210541983,-0.00538462127584,0.0699207441734,0.999999973007,0.000191177537371,-0.000131936129636,-5.51171387175e-06,1793242923003428352
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.928751555,714,679,659,635,878,787,804.071248445,652,631,652,0.402402538886,-0.00538820352817,0.0699241674462,0.999999974806,0.000186524769781,-0.000124524479303,-9.52246534807e-06,1793242923020094976
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.479164229,714,679,659,635,878,787,804,652,631,651.479164229,0.4026200435,-0.00539094266151,0.0699261360378,0.999999976672,0.000179588367944,-0.000119127874494,-1.46078521548e-05,1793242923036761600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.112229101,714,679,659,635,878.112229101,786.887770899,804.112229101,652,631,651.112229101,0.402849330107,-0.00539360271325,0.0699283332847,0.99999997843,0.000172705493692,-0.000113653680652,-1.98716085178e-05,1793242923053428224
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.690885037,714,679,659,635,878.690885037,786.309114963,804.690885037,652,631,651.690885037,0.403112597956,-0.00539642940967,0.0699323354137,0.999999979983,0.000167386650598,-0.000106673240331,-2.52453563689e-05,1793242923070094848
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.266545362,635,879,786.266545362,805,652,630.733454638,652,0.40340049415,-0.00540078357092,0.0699395075193,0.999999982227,0.0001609918258,-9.32754368013e-05,-3.04681502384e-05,1793242923086761472
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.838770225,635,879,786.838770225,805,652,630.161229775,652,0.403716634602,-0.00540688945891,0.0699503150165,0.99999998498,0.00015336304414,-7.25180744048e-05,-3.55178267601e-05,1793242923103428096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.42493874,745,714,679,659.57506126,635,878.57506126,787,804.57506126,652,630.42493874,652,0.404043181257,-0.00541271415313,0.0699557821964,0.999999990021,0.000118944568974,-6.42710252097e-05,-4.09859013422e-05,1793242923120094720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.98377509,745,714,678.98377509,659,635,878,787,804.01622491,651.98377509,631,652,0.404374969099,-0.00541841957615,0.0699590923862,0.999999994343,7.3628177846e-05,-6.09912875026e-05,-4.66043281846e-05,1793242923136761344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.404710299,745,714,678.404710299,659,635,878,787,804.595289701,651.404710299,631,652,0.404746960079,-0.00542381413614,0.0699602507533,0.999999996764,1.48328832312e-05,-5.97799388552e-05,-5.17446784682e-05,1793242923153428224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,678.17266287,659,635,878.17266287,787,805,651,631,652,0.405132397695,-0.00542778843708,0.0699625335546,0.999999997213,4.42291301148e-07,-5.53946224578e-05,-5.00579257068e-05,1793242923170095104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,678.746109375,659,635,878.746109375,787,805,651,631,652,0.405549047479,-0.00542846604366,0.0699674263829,0.999999994547,8.91235390391e-05,-4.36419184379e-05,-3.25241567558e-05,1793242923186761472
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.321207425,659,635,879,786.678792575,805,651,631,651.678792575,0.405983162009,-0.00543357439747,0.0699649774,0.999999992025,0.000113848544112,-4.65305475406e-05,-2.86863508127e-05,1793242923203428352
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.897617708,659,635,879,786.102382292,805,651,631,651.102382292,0.406431152519,-0.00544220302912,0.0699566952672,0.999999993647,8.77596158425e-05,-6.10518769116e-05,-3.57301374364e-05,1793242923220094976
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.53358633,659,635,878.53358633,786.46641367,805,651.46641367,631,651.46641367,0.40689455868,-0.00545134937379,0.069940642434,0.999999993613,6.31498839598e-05,-8.53379690863e-05,-3.87660439548e-05,1793242923236761856
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.035614669,786.964385331,805,652,631,651.964385331,0.407366315265,-0.00546170542849,0.0699242409006,0.999999992439,3.9206585947e-05,-0.000109250297965,-4.05999512179e-05,1793242923253428480
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.637399029,786.362600971,805,652,631,651.362600971,0.407917889964,-0.005489514791,0.0699289768235,0.999999994707,2.07787867614e-05,-9.3693475192e-05,-3.70866721092e-05,1793242923270095104
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.770484509,714,679.229515491,659,635,878.770484509,786.229515491,805,651.770484509,631,651.229515491,0.408492105456,-0.00551035567971,0.0699377939396,0.999999996778,-3.97242018417e-06,-7.19080690517e-05,-3.54556772362e-05,1793242923286761728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.193024572,714,679.806975428,659,635,878.193024572,786.806975428,805,651.193024572,631,651.806975428,0.409100644255,-0.00552063239207,0.0699527981257,0.999999997766,-3.83098835213e-05,-4.06801596375e-05,-3.66782169167e-05,1793242923303428096
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.382785069,714.382785069,679.617214931,659,635,878.382785069,786.617214931,805,651.382785069,631,652,0.409707591042,-0.00552329983016,0.0699522972339,0.999999997888,-3.56490730234e-05,-3.86504391216e-05,-3.82133896459e-05,1793242923320095488
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.957766082,714.957766082,679.042233918,659,635,878.957766082,786.042233918,805,651.957766082,631,652,0.410313738464,-0.00552214666005,0.0699440112599,0.999999997785,-1.44114706674e-05,-5.12810966926e-05,-3.99055350407e-05,1793242923336763136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.450164672,679,659,635,879,786.549835328,805,651.450164672,631,652,0.41094776077,-0.00553496533604,0.0699436476475,0.999999996773,-4.22854102334e-05,-5.51743761928e-05,-4.02748421091e-05,1793242923353429248
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.861663254,879,787,805,651,631,652,0.411601542509,-0.00554727788226,0.0699491505199,0.999999995829,-6.63113659024e-05,-4.80951007998e-05,-4.03998784469e-05,1793242923370095104
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.288630002,879,787,805,651,631,652,0.412310470447,-0.00555451950226,0.0699711141581,0.99999999698,-6.60116568469e-05,-8.71324695015e-06,-4.0086871727e-05,1793242923386761472
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.286918761,879,786.713081239,805,651.286918761,631,652,0.41304290313,-0.00556158897473,0.0699953495187,0.999999995889,-7.52716600038e-05,3.08625378616e-05,-4.00513701146e-05,1793242923403428608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.865020487,879,786.134979513,805,651.865020487,631,652,0.413799189974,-0.00556848374208,0.0700218903667,0.999999992253,-9.42334523817e-05,7.06351405806e-05,-4.02974978603e-05,1793242923420096256
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.547241293,745,714,679,659,635,879,786,805,651.547241293,631,651.547241293,0.414522297403,-0.00556081751553,0.0700103886757,0.999999994779,-8.33650885023e-05,4.35859670619e-05,-3.98949807418e-05,1793242923436762880
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.042425158,745,714,679.042425158,659,634.957574842,879,786.042425158,805,651.042425158,630.957574842,651,0.415236675444,-0.00554674027628,0.0699852243824,0.999999997275,-6.18342470986e-05,-6.3416279417e-06,-3.98196219423e-05,1793242923453429760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.619402229,745,714,679.619402229,659,634.380597771,879,786.619402229,805,651.619402229,630.380597771,651,0.415968409103,-0.00550777087302,0.0699339221252,0.999999994838,-2.04471143835e-05,-8.80692413894e-05,-4.63559512661e-05,1793242923470095872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.195883066,679.804116934,659,634,879,786.804116934,805,651.804116934,630,651.195883066,0.416734714142,-0.00548522496201,0.0699073880949,0.999999990153,3.24539869382e-06,-0.000131052087647,-5.00941206466e-05,1793242923486761984
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.771402127,679.228597873,659,634,879,786.228597873,805,651.228597873,630,651.771402127,0.417568021052,-0.00549450900666,0.0699288567392,0.999999993906,-7.35558401279e-06,-9.89446805974e-05,-4.84092474896e-05,1793242923503428352
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,879,786,805,651,630.355205218,652,0.41841899446,-0.00550695209956,0.0699551134289,0.999999996859,-2.44993647462e-05,-5.85818467423e-05,-4.74279905457e-05,1793242923520094976
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,879,786,805,651,630.944466907,652,0.419281608875,-0.00552147679352,0.0699845251192,0.999999997762,-4.59544111133e-05,-1.27792402156e-05,-4.69103695989e-05,1793242923536761856
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.475330162,679.524669838,659,634.524669838,879.524669838,786,805,651,630.475330162,652,0.420160706684,-0.00552653431857,0.0700066419328,0.999999997478,-5.02645029185e-05,1.93988397388e-05,-4.62746726709e-05,1793242923553428480
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.896781852,786.103218148,805,651,630.103218148,652,0.421039507972,-0.00553022693822,0.0700245184832,0.999999996489,-5.39268878243e-05,4.47516843974e-05,-4.59518192999e-05,1793242923570095360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.321490454,786.678509546,805,651,630.678509546,652,0.421909108956,-0.00553218219923,0.07002647336,0.99999999589,-6.27856546975e-05,4.53724217722e-05,-4.71159599359e-05,1793242923586762240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.745622969,659,635,879,787,805.254377031,651,631,652,0.422741960176,-0.00552844919684,0.0699981714362,0.999999996791,-6.25612137012e-05,-2.61518421175e-06,-4.99719272632e-05,1793242923603428864
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.169025676,659,635,879,787,805.830974324,651,631,652,0.423528260464,-0.00551751085184,0.0699315431188,0.999999990906,-5.08310425843e-05,-0.000112175146633,-5.49709370355e-05,1793242923620094976
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.414581091,659,634.585418909,879,787,805.585418909,651,631,651.585418909,0.42437674959,-0.00551214562916,0.0698846660534,0.999999981785,-5.05064596079e-05,-0.000174067611135,-5.98363976962e-05,1793242923636761600
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.00108748,634,879,786.99891252,805.00108748,651,631,651.00108748,0.425251186112,-0.00550912119573,0.06984616574,0.999999973086,-5.49166107688e-05,-0.000215951283938,-6.46280167672e-05,1793242923653428480
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.583705478,634,879,786.416294522,805.583705478,651,631,651.583705478,0.426209505894,-0.00552189165987,0.0699069301214,0.999999987959,-6.18276195026e-05,-0.000129276460317,-5.9549902522e-05,1793242923670095104
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.163851349,879,786.163851349,805.836148651,651,631,652,0.42716285833,-0.00553212564427,0.0699627067594,0.999999994851,-6.79559426783e-05,-5.15095291475e-05,-5.50221810145e-05,1793242923686761728
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.73780965,879,786.73780965,805.26219035,651,631,652,0.428103777833,-0.00553601102001,0.0700059994671,0.999999996046,-7.2125266347e-05,3.96164552151e-06,-5.1872050103e-05,1793242923703428352
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.688320394,634.688320394,879.311679606,787,805,651,631,651.688320394,0.429034094965,-0.00553612136197,0.0700353783619,0.999999994639,-7.449252137e-05,5.02002611735e-05,-5.15049888e-05,1793242923720095488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.114524763,634.114524763,879.885475237,787,805,651,631,651.114524763,0.429955495678,-0.00553305697935,0.0700530560293,0.9999999918,-7.53442742296e-05,8.86744851515e-05,-5.34784309757e-05,1793242923736762368
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.526837872,745,714,680,659.473162128,634.473162128,879.526837872,787,805,651,631,651.473162128,0.430803404321,-0.00552951251607,0.0700132141322,0.999999996037,-6.81950665058e-05,1.77440487316e-05,-5.44130112937e-05,1793242923753428736
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.063058066,745,714,680.063058066,660,635,879.063058066,787,805,651,631,651.936941934,0.431631678221,-0.00552638059005,0.0699585061905,0.999999993443,-6.04618502468e-05,-7.98990023348e-05,-5.54526917891e-05,1793242923770094848
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.642673709,745,714,680.642673709,660,635,879.642673709,787,805,651,631,651.357326291,0.432449231828,-0.00552760874922,0.0698995152661,0.999999981221,-6.42882893872e-05,-0.000172882798581,-5.94754350429e-05,1793242923786761728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.779257927,787,805,651.220742073,631,651.220742073,0.433318006036,-0.00553072736373,0.0698861816902,0.999999978322,-6.87655354293e-05,-0.000186787134684,-6.11356607465e-05,1793242923803428352
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.2036767,787,805,651.7963233,631,651.7963233,0.434269116623,-0.00553688485345,0.0699462415213,0.999999992794,-7.42889433083e-05,-7.35725887458e-05,-5.89981801425e-05,1793242923820094720
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.370453048,745,714,681,660,634.629546952,879,787,805.370453048,651.629546952,631,652,0.435174127217,-0.00554204210782,0.0699929784797,0.999999995169,-8.04684264564e-05,3.03622060417e-06,-5.63710047631e-05,1793242923836761856
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943787846,745,714,681,660,634.056212154,879,787,805.943787846,651.056212154,631,652,0.436053890702,-0.00554665157445,0.0700324190503,0.999999993009,-8.70072146035e-05,5.95975812167e-05,-5.34756441445e-05,1793242923853429248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.465275882,745,714,680.465275882,660,634.534724118,879.534724118,787,806,651,631,652,0.436924103923,-0.00554949046432,0.0700350593945,0.999999991622,-9.30540079271e-05,7.12167960163e-05,-5.49944010733e-05,1793242923870095872
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764.642711453,745.357288547,714,682.642711453,656,631,880.357288547,784,806,651.357288547,631,651.642711453,0.454448467436,-0.00557893819474,0.0697061210438,0.999999890048,-0.000122436669918,-0.000449171475685,-5.61966695249e-05,1793242924870095104
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.188176513,744.188176513,714,679,658,634,878.188176513,786.811823487,804,652,631,651.188176513,0.406517107659,-0.00540007581473,0.0698100098759,0.999999936588,0.000160856513848,-0.000316554389267,2.72490585837e-05,1793242926807619072
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.952535237,745,714,678.047464763,659,635,878.047464763,786.047464763,804.047464763,652,631,651.047464763,0.403140615034,-0.00537172904582,0.0698308033146,0.999999940068,0.000203055522181,-0.000279374205067,2.41557322766e-05,1793242926957617920
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.617051886,714,679,658.382948114,634.617051886,878.382948114,786,804,651,631,652,0.400973067905,-0.00535944092983,0.0698249979121,0.999999936001,0.000215563311793,-0.000285184993186,1.41537036251e-05,1793242927340951040
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.551752016,714,679,659,634.551752016,878.448247984,786.551752016,804,651,631,652,0.400969563724,-0.00535860214201,0.0698254077609,0.999999936011,0.000215467410035,-0.000285232873435,1.39545318031e-05,1793242927374284288
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.69617799,658.69617799,635,878.30382201,787,804.30382201,652,631,651.30382201,0.400967467899,-0.00536063822058,0.0698277008875,0.999999937108,0.000215810830922,-0.000281086116579,1.41290067329e-05,1793242927540951040
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diff --git a/Obstacle_avoidance/ball_15A_15/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52cffc34fb173d36c9f44dd6915dd59f345222d9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_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,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+385,6.416666667,pose2_to_pose3_retreat,0.580758168193,1.95130333721e-06,1.06004082825,0.551329885603,0.00867677208373,1.05967862349
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+388,6.466666667,pose2_to_pose3_retreat,0.580749110771,1.80550209146e-06,1.06004082997,0.551320829538,0.00867663103386,1.059678629
+389,6.483333333,pose2_to_pose3_retreat,0.580747829423,1.81405907934e-06,1.06004084172,0.551319548383,0.0086766402014,1.05967863971
+390,6.500000000,pose2_to_pose3_retreat,0.580747115058,1.8380828588e-06,1.06004087764,0.551318833988,0.00867666405631,1.05967867399
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+392,6.533333333,pose2_to_pose3_retreat,0.580746730257,1.8510235538e-06,1.06004089699,0.551318449171,0.00867667690604,1.05967869245
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3ff487b57278ec1f5db63a804c5ff9e5e7fca3d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44e0ff5e9455b1355fc3e3eed9b610f6438c02b83d2b6003f36d5ed64ea3640
+size 25610207
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b95012071f65347d4447ea07dc8ecae0b9270de
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+26,0.433333333,BASELINE,764,745,714.922921707,679,658.077078293,634.077078293,878,787,804.077078293,651.922921707,631,652,0.401018468812,-0.00550180198467,0.0798579381098,0.999999979744,0.000112695735877,-0.000160383965313,4.57068381227e-05,1793242929400477184
+27,0.450000000,BASELINE,764,745,714.344546842,679,658.655453158,634.655453158,878,787,804.655453158,651.344546842,631,652,0.401020286489,-0.00550220302614,0.0798599682865,0.999999980187,0.000113885132946,-0.000156726890757,4.57402605084e-05,1793242929417143808
+28,0.466666667,BASELINE,764,744.760038294,714,679,658.760038294,635,878,787,805,651,631,652,0.401021770737,-0.00550169325018,0.0798613622058,0.999999980454,0.000114905491461,-0.000154273300902,4.5697553334e-05,1793242929433810688
+29,0.483333333,BASELINE,764,744.166491766,714,679,658.166491766,635,878,787,805,651,631,652,0.401022763676,-0.00549984137998,0.0798618185963,0.999999980477,0.000115676770721,-0.000153593052232,4.55426688562e-05,1793242929450477312
+30,0.500000000,BASELINE,764,744.412322955,714.412322955,679,658,635,878.412322955,786.587677045,804.587677045,651.412322955,631,652,0.401021839177,-0.0055002528915,0.0798609246442,0.999999980223,0.000116190801102,-0.000154776551012,4.57966911313e-05,1793242929467143936
+31,0.516666667,BASELINE,764,744.985394314,714.985394314,679,658,635,878.985394314,786.014605686,804.014605686,651.985394314,631,652,0.401020167145,-0.00550154680605,0.079859504247,0.999999979859,0.000116604540307,-0.000156686651188,4.62101299722e-05,1793242929483810560
+32,0.533333333,BASELINE,764,744.437047533,714.437047533,679,658.562952467,635,878.437047533,786.562952467,804,651.437047533,631,651.437047533,0.401019408515,-0.00550212929437,0.0798591134358,0.999999980086,0.000113679540259,-0.000157451261432,4.5978968327e-05,1793242929500477184
+33,0.550000000,BASELINE,764,744.143985925,714.143985925,679,659,635,878,787,804.143985925,651,631,651.143985925,0.401019507718,-0.00550208852729,0.0798592430418,0.999999980242,0.000112481909634,-0.000157365108377,4.58300979969e-05,1793242929517144064
+34,0.566666667,BASELINE,764,744.735455232,714.735455232,679,659,635,878,787,804.735455232,651,631,651.735455232,0.401022198679,-0.0055001686145,0.0798609063301,0.999999980136,0.000116924017251,-0.000154728034942,4.59893678723e-05,1793242929533810688
+35,0.583333333,BASELINE,764,745,715,679,659,635,878,787,805,651.320238695,631,652,0.401022652264,-0.00550073110459,0.0798612913465,0.999999980293,0.000116041624654,-0.00015436280124,4.60468709186e-05,1793242929550477312
+36,0.600000000,BASELINE,764,745,715,679,659,635,878,787,805,651.89961209,631,652,0.401021295382,-0.00550330233587,0.0798606419953,0.999999980655,0.000110850687752,-0.000155835922556,4.60220250433e-05,1793242929567143680
+37,0.616666667,BASELINE,764,745,714.523609131,679,659,635,878,786.523609131,805,651.523609131,631,652,0.401020521039,-0.00550250941536,0.0798599854999,0.999999980366,0.000112432988405,-0.000156619639161,4.57848059309e-05,1793242929583810304
+38,0.633333333,BASELINE,764,745,714,679,658.947534741,635,878,786,805,651,631,652,0.401019803537,-0.00550118386068,0.0798593015395,0.999999979965,0.000115098969687,-0.000157321321243,4.55243178098e-05,1793242929600477184
+39,0.650000000,BASELINE,764,745,714,679,658.373057879,635,878,786,805,651,631,652,0.401018436828,-0.00550157402222,0.0798583592106,0.999999979836,0.000114423014122,-0.000158644399821,4.5475171473e-05,1793242929617143808
+40,0.666666667,BASELINE,764,745,714.207172282,679,658.207172282,635,878,786.207172282,805,651,631,652,0.401018259806,-0.00550174410284,0.0798583236479,0.999999979876,0.00011377601039,-0.00015885705721,4.5464738826e-05,1793242929633810176
+41,0.683333333,BASELINE,764,745,714.798058372,679,658.798058372,635,878,786.798058372,805,651,631,652,0.40102028626,-0.00550150656092,0.0798599675511,0.999999980232,0.00011318262979,-0.000157013049706,4.552600968e-05,1793242929650476800
+42,0.700000000,BASELINE,764.380093138,745,715,679,658.619906862,635,878.380093138,787,805,651.380093138,631,652,0.401020596461,-0.00550074219142,0.0798598349726,0.99999998012,0.000114384700623,-0.000156842352251,4.55802649674e-05,1793242929667143680
+43,0.716666667,BASELINE,764.957532242,745,715,679,658.042467758,635,878.957532242,787,805,651.957532242,631,652,0.401020015575,-0.00549970429082,0.0798587800372,0.999999979761,0.000116518977452,-0.000157540444508,4.56308777407e-05,1793242929683810304
+44,0.733333333,BASELINE,764.467708728,745,714.467708728,679,658.532291272,635,878.467708728,787,805,651.467708728,631,651.467708728,0.401019981814,-0.00550076031597,0.0798597912454,0.999999980223,0.00011367167304,-0.000156652411048,4.57447033103e-05,1793242929700477184
+45,0.750000000,BASELINE,764.1097001,745,714,679,659,635,878,787,805,651,631,651.1097001,0.401019989423,-0.00550167133046,0.079860669233,0.99999998059,0.000111297600458,-0.000155986789583,4.58268080063e-05,1793242929717143552
+46,0.766666667,BASELINE,764.699640312,745,714,679,659,635,878,787,805,651,631,651.699640312,0.401019988002,-0.00550121984171,0.0798602459865,0.9999999803,0.000112726422375,-0.000156846044468,4.57480787388e-05,1793242929733810176
+47,0.783333333,BASELINE,764.716152681,745,714,679,659,635,878,787,805,651,631,652,0.401019215288,-0.00550060159369,0.0798593757192,0.999999979992,0.000113742941812,-0.000158134119794,4.55183132554e-05,1793242929750476800
+48,0.800000000,BASELINE,764.137892218,745,714,679,659,635,878,787,805,651,631,652,0.401017642572,-0.00549981037896,0.0798580417915,0.999999979667,0.00011433181155,-0.000159866977913,4.51318894318e-05,1793242929767143424
+49,0.816666667,BASELINE,764,745,714,679,659,634.574146507,878.425853493,787,805,651.425853493,631,652,0.401018040281,-0.00549985404922,0.0798585495359,0.99999997978,0.00011424192379,-0.000159211509795,4.51824192401e-05,1793242929783810048
+50,0.833333333,BASELINE,764,745,714,679,659,634.014945824,878.985054176,787,805,651.985054176,631,652,0.401019054987,-0.00550015914645,0.0798596339618,0.999999980028,0.000113939497159,-0.000157808186739,4.53697720402e-05,1793242929800476928
+51,0.850000000,BASELINE,764.574740869,745,714,679,658.425259131,634.574740869,879,787,804.425259131,651.425259131,631,652,0.401019564371,-0.00550166662316,0.0798595523932,0.999999980089,0.000113821427795,-0.000157390613306,4.57607438655e-05,1793242929817143808
+52,0.866666667,BASELINE,765,745,714,678.833875755,658,635,878.833875755,787,804.166124245,651.166124245,631,652,0.40101982158,-0.00550262198075,0.0798594088549,0.999999980093,0.000113921550735,-0.000157253568599,4.58988263681e-05,1793242929833810432
+53,0.883333333,BASELINE,765,745,714,678.240280733,658,635,878.240280733,787,804.759719267,651.759719267,631,652,0.401019465601,-0.00550207166221,0.0798591882489,0.999999979962,0.000114570098743,-0.000157768724358,4.53717859498e-05,1793242929850477056
+54,0.900000000,BASELINE,764.655584924,745,714,678.344415076,658.344415076,635,878,786.655584924,805,652,631.344415076,652,0.401019044745,-0.00550107539956,0.0798594048604,0.999999979871,0.000115351165025,-0.000157762686467,4.54292080555e-05,1793242929867143680
+55,0.916666667,BASELINE,764.076941283,745,714,678.923058717,658.923058717,635,878,786.076941283,805,652,631.923058717,652,0.401018579767,-0.00549977586088,0.0798599188134,0.999999979806,0.00011622235383,-0.000157402197055,4.58841093504e-05,1793242929883810560
+56,0.933333333,BASELINE,764.499446637,744.500553363,714,679,659,634.500553363,877.500553363,786.499446637,804.500553363,652,631.500553363,651.500553363,0.401018339956,-0.00550008129032,0.0798591745952,0.999999979678,0.000115869191623,-0.000158497241421,4.5800565693e-05,1793242929900477184
+57,0.950000000,BASELINE,764.923118351,744.076881649,714,679,659,634.076881649,877.153763298,786.923118351,804,652,631,651.076881649,0.401018142423,-0.00550056417838,0.0798584690528,0.999999979587,0.000115344126173,-0.000159489926156,4.56531253511e-05,1793242929917143808
+58,0.966666667,BASELINE,764.336446636,744.663553364,714,679,659,634.663553364,878.327106728,786.336446636,804,652,631,651.663553364,0.401017996252,-0.0055005916602,0.0798592994091,0.999999979822,0.00011492425092,-0.000158323734794,4.56295456218e-05,1793242929933810432
+59,0.983333333,BASELINE,764,745,714,679,658.753070902,635,878.753070902,786.246929098,804,651.753070902,631,651.753070902,0.401017960537,-0.00550021243038,0.079859551671,0.999999979898,0.000114978978903,-0.00015782685824,4.55528099624e-05,1793242929950477056
+60,1.000000000,BASELINE,764,745,714,679,658.174126784,635,878.174126784,786.825873216,804,651.174126784,631,651.174126784,0.401018073341,-0.00549928634571,0.0798590266409,0.999999979761,0.000115671847104,-0.000158229926366,4.54046020946e-05,1793242929967143936
+61,1.016666667,BASELINE,764,745,714,679,658,635,878,787,804.402299403,651.402299403,631,651.402299403,0.401018770131,-0.00549961755316,0.0798596204131,0.999999979866,0.000115633426502,-0.000157580134297,4.54502237229e-05,1793242929983810560
+62,1.033333333,BASELINE,764,745,714,679,658,635,878,787,804.9776425,651.9776425,631,651.9776425,0.401019718115,-0.00550048956802,0.0798606954231,0.999999980074,0.000115280451783,-0.000156477468507,4.55792185194e-05,1793242930000477440
+63,1.050000000,BASELINE,764,745,714,679,658.55484879,635,878,786.44515121,805,651.44515121,631,652,0.401021130431,-0.00550085347769,0.0798614108051,0.999999980416,0.000114330050422,-0.00015493123521,4.57583295095e-05,1793242930017143808
+64,1.066666667,BASELINE,764.134851293,745,714.134851293,679,658.865148707,634.865148707,878.134851293,786.134851293,804.865148707,651,631,652,0.401021846701,-0.00550103077792,0.0798616855106,0.999999980557,0.000114085187547,-0.000154166974414,4.58564615414e-05,1793242930033810432
+65,1.083333333,BASELINE,764.7240205,745,714.7240205,679,658.2759795,634.2759795,878.7240205,786.7240205,804.2759795,651,631,652,0.401020154718,-0.00550064859534,0.0798605245501,0.999999980011,0.000116298680798,-0.00015609762078,4.56749466973e-05,1793242930050476800
+66,1.100000000,BASELINE,765,745,714.691903681,679,658,634.308096319,878.691903681,787,804.308096319,651.308096319,631,652,0.401018833196,-0.00550081833147,0.0798597208664,0.99999997982,0.000116045675987,-0.000157517729491,4.56333653471e-05,1793242930067143424
+67,1.116666667,BASELINE,765,745,714.112316135,679,658,634.887683865,878.112316135,787,804.887683865,651.887683865,631,652,0.401017838118,-0.00550147441256,0.0798592320114,0.999999979941,0.00011361921897,-0.000158487957701,4.57150919259e-05,1793242930083810048
+68,1.133333333,BASELINE,765,745,714.462596424,679,658,635,878,787,805,651.537403576,631,652,0.401018290878,-0.00550091049016,0.0798590381412,0.999999979772,0.000114655292097,-0.000158858249151,4.55416665573e-05,1793242930100476928
+69,1.150000000,BASELINE,764.963467694,745,714.963467694,679,658,635,878,786.963467694,805,651.036532306,630.963467694,652,0.401019047673,-0.00550013262142,0.0798589815266,0.999999979556,0.000116384266876,-0.000159020011061,4.5345016795e-05,1793242930117143552
+70,1.166666667,BASELINE,764.38736084,745,714.38736084,679,658,635,878,786.38736084,805,651.61263916,630.38736084,652,0.401019154942,-0.00550052601223,0.0798599049064,0.999999979702,0.00011605473407,-0.000158231703356,4.57111767879e-05,1793242930133810176
+71,1.183333333,BASELINE,764.193757793,745,714,678.806242207,658.193757793,635,878,786.193757793,804.806242207,652,630.193757793,652,0.401019293219,-0.00550062278349,0.0798604526422,0.999999979796,0.000115835125841,-0.000157759840709,4.58566420612e-05,1793242930150476800
+72,1.200000000,BASELINE,764.785162143,745,714,678.214837857,658.785162143,635,878,786.785162143,804.214837857,652,630.785162143,652,0.401019495135,-0.00550011080644,0.0798602294485,0.999999979781,0.000115841114307,-0.000157937413924,4.55491785485e-05,1793242930167143424
+73,1.216666667,BASELINE,764.631151299,745,714,678.368848701,659,634.631151299,878,787,804,651.631151299,631,652,0.401019566034,-0.00550028743982,0.0798599826266,0.999999979869,0.000115148313261,-0.000157886464374,4.55525024234e-05,1793242930183810304
+74,1.233333333,BASELINE,764.051867913,745,714,678.948132087,659,634.051867913,878,787,804,651.051867913,631,652,0.401019562186,-0.00550085693762,0.0798597223243,0.999999980014,0.000114056840481,-0.000157705138549,4.57331359995e-05,1793242930200477184
+75,1.250000000,BASELINE,764,745,714,679,658.477041237,634.522958763,878.522958763,786.477041237,804,651,631,651.477041237,0.401019072702,-0.00550050439729,0.0798602239071,0.999999979745,0.000116300893251,-0.000157767851788,4.57587099968e-05,1793242930217143552
+76,1.266666667,BASELINE,764.099682953,745,714,679,658,635,878.900317047,786.099682953,804,651.099682953,631,651.099682953,0.401018739274,-0.00550022699761,0.0798607063094,0.999999979546,0.000118105239359,-0.000157690810777,4.57470818054e-05,1793242930233810176
+77,1.283333333,BASELINE,764.687853524,745,714,679,658,635,878.312146476,786.687853524,804,651.687853524,631,651.687853524,0.401019404625,-0.00550076217049,0.0798607275488,0.999999979919,0.000116147371351,-0.000156811307947,4.56278744675e-05,1793242930250477056
+78,1.300000000,BASELINE,764.728027708,745,714,679,658,635,878.271972292,787,804,651.728027708,631,652,0.401019600044,-0.00550096319467,0.0798605150406,0.999999980017,0.000115456467169,-0.000156690448998,4.56463448895e-05,1793242930267143936
+79,1.316666667,BASELINE,764.148491029,745,714,679,658,635,878.851508971,787,804,651.148491029,631,652,0.401019264031,-0.0055007863412,0.0798600381951,0.999999979808,0.000116198330218,-0.000157427515148,4.58205105022e-05,1793242930283810816
+80,1.333333333,BASELINE,764,745,714.428003827,679,658,635,878.571996173,786.571996173,804,651,630.571996173,652,0.401018918689,-0.00550116556666,0.079859794956,0.999999979818,0.000115359554745,-0.000157980104749,4.5810847235e-05,1793242930300477184
+81,1.350000000,BASELINE,764,745,714.996548711,679,658.003451289,634.996548711,878.003451289,786.003451289,804,651,630.003451289,651.996548711,0.401018580563,-0.00550172568073,0.0798596391028,0.999999979902,0.000114001209508,-0.000158455091823,4.57376490918e-05,1793242930317143296
+82,1.366666667,BASELINE,764,745,714.42102882,679,658.57897118,634.42102882,878.57897118,786.57897118,804,651,630.57897118,651.42102882,0.401019971251,-0.00550051632615,0.0798606287325,0.999999979879,0.000116777612237,-0.000156600857039,4.56300383947e-05,1793242930333810176
+83,1.383333333,BASELINE,764,745,714,679,658.841461528,634,878.841461528,787,804.158538472,651.158538472,631,651.158538472,0.401020943014,-0.00549933872929,0.0798613970089,0.999999979853,0.000118981549641,-0.00015511204817,4.55736748275e-05,1793242930350476800
+84,1.400000000,BASELINE,764,745,714,679,658.250863873,634,878.250863873,787,804.749136127,651.749136127,631,651.749136127,0.401020773097,-0.00549824768034,0.0798615620391,0.999999979849,0.000119625368554,-0.000154619120963,4.56569731931e-05,1793242930367143680
+85,1.416666667,BASELINE,764,744.668802464,714,679,658,634,878,787,805,651.668802464,631,652,0.401019674193,-0.005497986995,0.0798608149829,0.999999979676,0.000119034165581,-0.000156234600108,4.55028097677e-05,1793242930383810304
+86,1.433333333,BASELINE,764,744.093044366,714,679,658,634,878,787,805,651.093044366,631,652,0.401017889312,-0.00549833946099,0.0798593944301,0.999999979368,0.000117531006364,-0.000159406953919,4.51733014658e-05,1793242930400477184
+87,1.450000000,BASELINE,764.482401701,744.482401701,714,679,658,634.482401701,878,786.517598299,804.517598299,651,631,651.517598299,0.401018273864,-0.00550043046022,0.0798597733327,0.999999979767,0.000114633556739,-0.000158996321823,4.5234574132e-05,1793242930417144064
+88,1.466666667,BASELINE,765,745,714,678.942052618,658,635,878,786.057947382,804,651.057947382,631,651.057947382,0.40101906389,-0.00550241743148,0.079860425811,0.999999980204,0.000112184043034,-0.000157946766019,4.53890112246e-05,1793242930433810944
+89,1.483333333,BASELINE,765,745,714,678.365075981,658,635,878,786.634924019,804,651.634924019,631,651.634924019,0.401019740246,-0.0055004711127,0.0798604219804,0.999999979829,0.000116153846491,-0.00015736033986,4.57032426366e-05,1793242930450477568
+90,1.500000000,BASELINE,764.562470334,744.781235167,714,678,658,635,878,787,804.218764833,651.781235167,631,651.781235167,0.401019245579,-0.00549926488056,0.0798599658498,0.999999979516,0.000118028906402,-0.000157956953001,4.56705359609e-05,1793242930467143936
+91,1.516666667,BASELINE,763.371136742,744.185568371,714,678,658,635,878,787,804.814431629,651.185568371,631,651.185568371,0.401016733398,-0.00549933371693,0.079858730468,0.999999979329,0.000116295008551,-0.000160591781521,4.50401022598e-05,1793242930483810560
+92,1.533333333,BASELINE,763.396354695,744.396354695,714,678,658.396354695,635,878,786.603645305,805,651.396354695,631,651.396354695,0.401016571354,-0.0054992616191,0.0798591184253,0.999999979292,0.000117054989635,-0.000160183288751,4.53360379774e-05,1793242930500477440
+93,1.550000000,BASELINE,763.972058811,744.972058811,714,678,658.972058811,635,878,786.027941189,805,651.972058811,631,651.972058811,0.40101747274,-0.00549912574894,0.0798602409391,0.999999979321,0.000118943444009,-0.000158397701593,4.60511532849e-05,1793242930517144064
+94,1.566666667,BASELINE,764,745,714.545970602,678.545970602,659,634.454029398,878,786,805,652,631,652,0.4010183389,-0.00549961876958,0.0798600783302,0.999999979366,0.000118361802146,-0.000158619041173,4.58106130227e-05,1793242930533810432
+95,1.583333333,BASELINE,764,744.877029396,715,679,659,634.122970604,878,786.122970604,804.877029396,651.877029396,630.877029396,651.877029396,0.401018853957,-0.00549991545188,0.0798597542162,0.999999979395,0.000117650470074,-0.000159054095568,4.55043492844e-05,1793242930550477056
+96,1.600000000,BASELINE,764,744.287977824,715,679,659,634.712022176,878,786.712022176,804.287977824,651.287977824,630.287977824,651.287977824,0.401018045076,-0.00549934638918,0.079859066428,0.99999997936,0.000116925146356,-0.000159911157295,4.51337439707e-05,1793242930567143936
+97,1.616666667,BASELINE,764.296185557,744.296185557,714.703814443,679,659,634.703814443,878,787,804,651,630.296185557,651,0.401017950003,-0.00549994402764,0.0798590274721,0.999999979413,0.000116227613266,-0.000160062546379,4.521289628e-05,1793242930583811072
+98,1.633333333,BASELINE,764.875673337,744.875673337,714.124326663,679,659,634.124326663,878,787,804,651,630.875673337,651,0.401018537688,-0.0055016576187,0.0798596091257,0.999999979552,0.000115556662025,-0.000159538957773,4.57222428966e-05,1793242930600477440
+99,1.650000000,BASELINE,764.548267728,745,714.451732272,679,659,634.451732272,878,787,804,651.451732272,631,651.451732272,0.401018595445,-0.00550116211074,0.0798599693885,0.999999979579,0.000116032807981,-0.000159059483711,4.55955448354e-05,1793242930617144064
+100,1.666666667,BASELINE,764.027242653,745,714.972757347,679,659,635,878.054485307,786.972757347,804,651.972757347,631,652,0.401018473107,-0.00550009280349,0.0798602467282,0.999999979569,0.000116799178366,-0.000158641716048,4.53006912642e-05,1793242930633810176
+101,1.683333333,BASELINE,764.610675299,745,714.389324701,679,659,635,879.221350597,786.389324701,804,651.389324701,631,652,0.40101762917,-0.00549962808357,0.0798600657145,0.999999979448,0.000117093861103,-0.000159237744022,4.51197446069e-05,1793242930650476800
+102,1.700000000,BASELINE,764.805935988,745,714,679,658.805935988,635,879.805935988,786,804.194064012,651.194064012,630.805935988,652,0.401017001086,-0.00549927776255,0.0798595257289,0.999999979284,0.000117535536293,-0.000159973057699,4.50038695997e-05,1793242930667143424
+103,1.716666667,BASELINE,764.22263546,745,714,679,658.22263546,635,879.22263546,786,804.77736454,651.77736454,630.22263546,652,0.401016805943,-0.00549915689284,0.0798582657492,0.999999979034,0.000118272035974,-0.000160987738306,4.50185096031e-05,1793242930683810304
+104,1.733333333,BASELINE,764,745,714.356207934,679.356207934,658,635,878.643792066,786.356207934,805,651.643792066,630.356207934,652,0.401017320913,-0.00549945398937,0.0798586195895,0.999999979225,0.000117367561737,-0.000160493185567,4.48983719296e-05,1793242930700476928
+105,1.750000000,BASELINE,764,745,714.932300032,679.932300032,658,635,878.067699968,786.932300032,805,651.067699968,630.932300032,652,0.40101827423,-0.00550000909294,0.0798599696273,0.999999979686,0.000115450128164,-0.000159066995865,4.469503713e-05,1793242930717143808
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,715,680,659,635,878,787,805,652,631,652,0.401020663567,-0.00550084123864,0.0798612552075,0.999999980213,0.000114019506137,-0.000156614279891,4.52198955861e-05,1793242930748076544
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714.409646081,679.409646081,658.409646081,634.409646081,878,786.409646081,805,652,631,652,0.401019115194,-0.00550064662414,0.0798605049501,0.999999979684,0.00011602808574,-0.000158428054638,4.54917268435e-05,1793242930764743168
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714.17735345,678.82264655,658.17735345,634,878,786.17735345,805,651.82264655,631,652,0.401017770111,-0.0055003817918,0.0798597917948,0.999999979285,0.000117378725418,-0.00015990099277,4.56460878614e-05,1793242930781409792
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714.75674904,678.24325096,658.75674904,634,878,786.75674904,805,651.24325096,631,652,0.401016885866,-0.00549995778279,0.0798591627461,0.999999979195,0.000117237882949,-0.000160601289497,4.55341559096e-05,1793242930798076416
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.334706186,745,715,678,658.665293814,634.334706186,878,787,805,651,631,652,0.401017071701,-0.00549980514985,0.0798589364922,0.999999979307,0.000116459105947,-0.000160546367145,4.52636277832e-05,1793242930814743040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.911622368,745,715,678,658.088377632,634.911622368,878,787,805,651,631,652,0.4010180319,-0.00549984889812,0.0798590017208,0.999999979564,0.00011521868789,-0.000159944930771,4.48783316061e-05,1793242930831409664
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.513694507,745,714.513694507,678.486305493,658.486305493,635,878,787,805,651.486305493,631,652,0.401017970774,-0.00549955011559,0.0798589900753,0.999999979336,0.000116920042188,-0.000160079756633,4.50872808981e-05,1793242930848076288
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,678.937955467,658.937955467,635,878,787,805,651.937955467,631,652,0.401017912423,-0.00549927085795,0.0798591712435,0.999999979099,0.00011874735341,-0.00016013220841,4.53836289628e-05,1793242930864742912
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,678.349838152,658.349838152,635,878,787,805,651.349838152,631,652,0.401019444168,-0.00549968254538,0.0798611051844,0.999999979566,0.000117130379609,-0.000158356890568,4.5509537678e-05,1793242930881410048
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,678,658,634.7643327,878,786.7643327,804.7643327,651.2356673,631,652,0.401020608456,-0.00549974109555,0.0798623205536,0.999999979578,0.000116540951497,-0.000158683370614,4.5633576978e-05,1793242930898076928
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,678,658,634.182662,878,786.182662,804.182662,651.817338,631,652,0.401021233251,-0.00549928117455,0.0798624809259,0.999999978917,0.000117460151593,-0.000162095680791,4.57548716178e-05,1793242930914743808
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714.394116238,678,658.394116238,634.394116238,878,786.394116238,804.394116238,651.605883762,631,652,0.401034900937,-0.00549990843168,0.0798679928481,0.999999979343,0.000118050858378,-0.000158940033789,4.60032323552e-05,1793242930931410176
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714.968654808,678,658.968654808,634.968654808,878,786.968654808,804.968654808,651.031345192,631,652,0.401054539523,-0.00550103338766,0.0798759546544,0.999999980237,0.000118491184403,-0.000152777644308,4.63097626455e-05,1793242930948076800
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.539643783,745,715,678.539643783,659,635,878,787,804.460356217,651.539643783,631,652,0.401101255454,-0.00550289723589,0.0798932968483,0.999999983565,0.000116658745703,-0.000130771979534,4.64597828914e-05,1793242930964743680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.884541663,744.884541663,715,679.115458337,658.884541663,634.884541663,878.115458337,787,804.115458337,652,631,652,0.401152113946,-0.00550429840346,0.0799100236471,0.999999986335,0.000115256167429,-0.000109061823531,4.63867216458e-05,1793242930981410560
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.287755963,744.287755963,715,679.712244037,658.287755963,634.287755963,878.712244037,787,804.712244037,652,631,652,0.401213728275,-0.00550359297854,0.0799219283789,0.99999998795,0.000116192354948,-9.23949207274e-05,4.54213201988e-05,1793242930998077184
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764.877384452,744.877384452,714.122615548,679.122615548,658.877384452,634,878.122615548,786.122615548,805,652,631,652,0.401358025686,-0.00550584871451,0.07993748116,0.999999990173,0.000112814105174,-7.15692030343e-05,4.24898921905e-05,1793242931031410176
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.547462985,745,714.452537015,678.547462985,659,634.452537015,878,786.452537015,805,652,631,652,0.401448176174,-0.00550629437611,0.0799402658283,0.999999990726,0.000111311447641,-6.77244528092e-05,3.96441779571e-05,1793242931048076544
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.027620923,745,714.972379077,678.027620923,659,635,878,787,805.027620923,652,630.972379077,652,0.401543503907,-0.0055064515016,0.0799421871483,0.999999991168,0.000110023579305,-6.50379641473e-05,3.64576061239e-05,1793242931064742912
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.617202318,745,714.382797682,678.617202318,659,635,878,787,805.617202318,652,630.382797682,652,0.401663890747,-0.00550766508386,0.0799467018312,0.999999991825,0.000107516081313,-6.08224648164e-05,3.30245117536e-05,1793242931081409536
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.797117945,635,878.202882055,786.797117945,805.797117945,651.797117945,630.202882055,652,0.40179439979,-0.00550923402669,0.079951513564,0.999999992472,0.000105769273856,-5.48572653168e-05,2.93322539797e-05,1793242931098076416
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.218661018,635,878.781338982,786.218661018,805.218661018,651.218661018,630.781338982,652,0.401943647023,-0.00551146081219,0.0799568751943,0.999999993084,0.000105430655538,-4.56530246834e-05,2.51602337906e-05,1793242931114743040
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.642572931,745,714,679,658.357427069,635,878.642572931,786.357427069,805,651.357427069,630.642572931,652,0.40210880073,-0.00551343487821,0.0799624315527,0.999999993963,0.000100985289664,-3.83684966436e-05,2.01081282535e-05,1793242931131409408
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+131,2.183333333,POSE1_TO_POSE2_PRESS,764.517789776,745,714.517789776,679,659,634.482210224,878,787,805,652,630.517789776,652,0.402482889542,-0.00551634804687,0.0799694940774,0.999999995652,8.73810311597e-05,-3.16050022916e-05,7.83497416697e-06,1793242931164743936
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.895734883,679,659,634.104265117,878,787,805,652,631,652,0.402688904945,-0.00551725114823,0.0799686827668,0.999999996177,8.01748042595e-05,-3.48783570367e-05,7.87774421277e-07,1793242931181411584
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.312576282,679,659,634.687423718,878,787,805,652,631,652,0.402910859021,-0.00551773155073,0.0799604100996,0.99999999611,7.03026190483e-05,-5.27826978515e-05,-7.24079861229e-06,1793242931198078208
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.839780081,805,652,631,652,0.403420849643,-0.00552250925848,0.0799506234226,0.999999997178,-6.38285381093e-06,-7.10785048631e-05,-2.34841746717e-05,1793242931231410688
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.95244359,658.95244359,635,878.95244359,787.90488718,805,652,631,652,0.406949094945,-0.00552526154784,0.0799303615926,0.999999994416,2.23828828864e-05,-9.84202393257e-05,-3.13006506827e-05,1793242931381410560
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.361221255,658.361221255,635,878.361221255,786.72244251,805,652,631,652,0.407438568039,-0.00552694154618,0.0799290906592,0.999999994134,5.22073428916e-06,-0.000101910411876,-3.63316520847e-05,1793242931398076928
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.226307713,635,878.226307713,786.226307713,805,652,631,652,0.407957798194,-0.00552894727561,0.0799254967673,0.999999993139,-7.5161022919e-06,-0.000110030109326,-3.94926628303e-05,1793242931414743552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.808036139,635,878.808036139,786.808036139,805,652,631,652,0.408523762368,-0.00553146457202,0.0799182546232,0.999999991258,-1.33028982953e-05,-0.000125420566483,-3.97168161826e-05,1793242931431410688
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.617442729,745,714.382557271,679,659,635,878.617442729,787.382557271,805,652,631,652,0.409122496255,-0.00554270554014,0.0799264986116,0.999999992613,-2.33196550717e-05,-0.000112945271069,-3.83918513263e-05,1793242931448077824
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.046471296,745,714.953528704,679,659,635,878.046471296,787.953528704,805,652,631,652,0.409737369613,-0.00555824302385,0.079942369711,0.999999994951,-3.5419719392e-05,-8.67457491091e-05,-3.63039266609e-05,1793242931464744704
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714.469968708,679,659,635,878.530031292,787.469968708,805,651.469968708,631,651.469968708,0.410389367075,-0.00556690074017,0.0799767963162,0.999999997716,-4.97315994307e-05,-2.88141963287e-05,-3.55619869827e-05,1793242931481411584
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.889960085,879,787,805,651.110039915,631,651.110039915,0.411048688354,-0.00557137998862,0.0800031706969,0.999999997515,-5.91758131278e-05,1.44597820055e-05,-3.54801287118e-05,1793242931498077952
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.296707763,879,787,805,651.703292237,631,651.703292237,0.411725726287,-0.00556018725823,0.0799869663847,0.999999998031,-4.63843501912e-05,-1.89772422623e-05,-3.77731698938e-05,1793242931514744576
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.287997792,745,714,679,659,634,879,787,805,651.712002208,631,652,0.412395917687,-0.00555313692459,0.0799601945474,0.999999996343,-4.30154919455e-05,-6.13941787351e-05,-4.11730781211e-05,1793242931531410944
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.864151945,745,714,679,659,634,879,787,805,651.135848055,631,652,0.413059258865,-0.00555023126711,0.0799228493645,0.999999991391,-4.90744248196e-05,-0.000112795975614,-4.56804630559e-05,1793242931548077824
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.561063329,745,714,679,659,634,878.561063329,786.561063329,805,651.438936671,631,652,0.413785420372,-0.00554932527696,0.0799156037578,0.999999991167,-4.91991124773e-05,-0.000113847346169,-4.77933898581e-05,1793242931564744448
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.013716332,745,714,679,659,634.013716332,878,786.013716332,805,651.986283668,631,652,0.414531694297,-0.00554905897209,0.0799182969626,0.999999992796,-4.76155047238e-05,-9.86345542498e-05,-4.91181047516e-05,1793242931581410560
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.60610905,745,714,679,659,634.60610905,878,786.60610905,805,651.39389095,631,652,0.415308784955,-0.00554975145243,0.0799485041023,0.999999996134,-5.12043661076e-05,-5.26450321125e-05,-4.83566894074e-05,1793242931598077184
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.80645938,745,714.19354062,679,659,635,878.19354062,787,805,651,630.80645938,652,0.416084728879,-0.00555025675918,0.0799643328565,0.999999996878,-5.33096360588e-05,-3.30477405172e-05,-4.80642580601e-05,1793242931614744064
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.228872348,745,714.771127652,679,659,635,878.771127652,787,805,651,630.228872348,652,0.416858397267,-0.00555039065372,0.0799516302994,0.999999995271,-5.24709866301e-05,-6.5821067716e-05,-4.87024409511e-05,1793242931631410944
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.347847321,745,714.652152679,679,659,635,879.347847321,787,805,651.347847321,630.347847321,652,0.417676474863,-0.00555063802785,0.079954553562,0.999999995745,-5.60073380826e-05,-5.35922336876e-05,-5.00182881974e-05,1793242931648077312
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.92399769,745,714.07600231,679,659,635,879.92399769,787,805,651.92399769,630.92399769,652,0.418523699577,-0.00555095988218,0.0799677325381,0.999999996642,-6.2415139064e-05,-1.182707614e-05,-5.17789076261e-05,1793242931664743680
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.489576574,745,714,679.510423426,659.510423426,634.489576574,879.489576574,787,805,651.489576574,631,652,0.419358940804,-0.00555030797229,0.0799820014669,0.999999996415,-6.46854848628e-05,1.4585770676e-05,-5.2652579651e-05,1793242931681410304
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.096977673,745,714,680,659.903022327,634,879,787,805.096977673,651,631,652,0.420192067902,-0.0055497390679,0.0799904399766,0.999999996015,-6.5624246214e-05,2.85627368071e-05,-5.33642789369e-05,1793242931698076672
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.676403135,745,714,680,659.323596865,634,879,787,805.676403135,651,631,652,0.421023736475,-0.00555031924259,0.0799690491407,0.999999996527,-6.30664038214e-05,-7.72079770461e-06,-5.39406996202e-05,1793242931714743296
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.745292742,745,714,680,659,634.254707258,879,787,805.745292742,651,631,652,0.421892247338,-0.00555174596368,0.0799669025427,0.999999996621,-6.14600075551e-05,-1.15237578006e-05,-5.33702927366e-05,1793242931731410176
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.168406918,745,714,680,659,634.831593082,879,787,805.168406918,651,631,652,0.422807360032,-0.00555424347925,0.0799890979295,0.999999996486,-6.10570927539e-05,2.57578734078e-05,-5.13492666656e-05,1793242931748077568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.403034043,714,680,659,634.596965957,879.403034043,786.596965957,805,651,631,652,0.423681907374,-0.00555235537381,0.0800016025006,0.999999996183,-5.97515888944e-05,3.8767743398e-05,-5.05962047763e-05,1793242931764744192
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.972230172,714,680,659,634.027769828,879.972230172,786.027769828,805,651,631,652,0.424539730459,-0.00554865917298,0.0800101117598,0.999999996173,-5.80739674326e-05,4.17708970065e-05,-5.0365896815e-05,1793242931781410816
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.566378384,745.433621616,714,679.433621616,659.566378384,634,879.433621616,786,805,651,631,651.433621616,0.425342192337,-0.00554767759898,0.0799603145454,0.99999999548,-5.96474777513e-05,-5.24317576176e-05,-5.22779641215e-05,1793242931798077696
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.842584819,745,714,679.157415181,659.842584819,634,879.157415181,786,805,651,631,651.157415181,0.426172761689,-0.00554736840414,0.0799197033564,0.999999989271,-6.30967552829e-05,-0.000120342810835,-5.4725554717e-05,1793242931814744320
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.263315969,745,714,679.736684031,659.263315969,634,879.736684031,786,805,651,631,651.736684031,0.427086265109,-0.00554848797514,0.0799117239131,0.999999990317,-7.11259910678e-05,-0.000104434473222,-5.83138116723e-05,1793242931831410688
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.314319675,714,680,659,634.314319675,879.685680325,786.314319675,805,651,631,652,0.42798625679,-0.00554903354633,0.0799120406393,0.999999990326,-7.3766731169e-05,-0.000102112924962,-5.89793204952e-05,1793242931848076800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.890594173,714,680,659,634.890594173,879.109405827,786.890594173,805,651,631,652,0.428874987708,-0.00554910074457,0.079919271415,0.999999989604,-7.19166847671e-05,-0.000111114642574,-5.72090033631e-05,1793242931864743680
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.474394028,745.525605972,714,680,659.474394028,635,879,787,805.474394028,651,631,652,0.429766807528,-0.00554921004158,0.0799463399836,0.999999993485,-6.96417760238e-05,-7.06687068521e-05,-5.64454044597e-05,1793242931881410560
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.059324533,680.059324533,660,635,879.059324533,787,806,651,631,652,0.430660984393,-0.00554964266644,0.0799790346417,0.999999995987,-6.79198331428e-05,-1.7673123536e-05,-5.56902953029e-05,1793242931898076928
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.638706991,680.638706991,660,635,879.638706991,787,806,651,631,652,0.431569477777,-0.00555282320374,0.0800202966801,0.999999995055,-7.19181627483e-05,4.37565319993e-05,-5.29415137028e-05,1793242931914743808
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.782128668,745,714.782128668,681,660,634.782128668,879.782128668,787,805.782128668,651,631,652,0.432432226472,-0.00555361448646,0.0800265052245,0.999999994761,-7.361901183e-05,4.8289407902e-05,-5.22128465761e-05,1793242931931410432
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.203325571,745,714.203325571,681,660,634.203325571,879.203325571,787,805.203325571,651,631,652,0.433219193374,-0.00555044766351,0.0799746431736,0.999999995081,-7.15137907882e-05,-4.14345086174e-05,-5.48307573294e-05,1793242931948077312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.372840354,745,714,681,659.627159646,634.372840354,879,787,805,651,631,652,0.434038481845,-0.0055488337552,0.0799299215536,0.999999990434,-7.28771876384e-05,-0.000102081940534,-5.83160022249e-05,1793242931964743936
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.947578183,745,714,681,659.052421817,634.947578183,879,787,805,651,631,652,0.43487527278,-0.00554806076878,0.0798890665649,0.999999984362,-7.61188824553e-05,-0.000146984105629,-6.22709187616e-05,1793242931981410560
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.534064528,635,879.534064528,787,805,651,631,652,0.435703091404,-0.00555086442312,0.0799167204363,0.999999989277,-8.29547101578e-05,-0.000104053739106,-6.11361288864e-05,1793242931998076928
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.120023901,714,681,660,635,880,787,805.120023901,651,631,652,0.436529742326,-0.00555408059041,0.0799515684099,0.999999992775,-8.93931103627e-05,-5.41125831483e-05,-5.94117489273e-05,1793242932014743552
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.699452954,714,681,660,635,880,787,805.699452954,651,631,652,0.437355370471,-0.00555750171231,0.0799876345853,0.999999993974,-9.29296066247e-05,-1.10781688491e-05,-5.73858840567e-05,1793242932031410176
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.723003108,714.276996892,681.276996892,660,635,879.723003108,786.723003108,806,651,631,652,0.438167639556,-0.00555988888624,0.0800133532269,0.999999993335,-9.69795626128e-05,2.71750863469e-05,-5.64563562933e-05,1793242932048077056
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.147490769,714.852509231,681.852509231,660,635,879.147490769,786.147490769,806,651,631,652,0.438965511727,-0.00556116178954,0.0800279204825,0.999999991416,-0.000101582866377,6.0275754395e-05,-5.67083349627e-05,1793242932064743936
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.571972699,681.571972699,660,634.571972699,879.428027301,786.428027301,806,651,631,652,0.439712519252,-0.00556035404939,0.0800129535939,0.999999992753,-9.80658255784e-05,3.96616726831e-05,-5.74882018046e-05,1793242932081411072
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.003637667,660,634.003637667,880,787,805.996362333,651,631.003637667,652,0.440441215619,-0.0055588368574,0.0799874898313,0.999999994078,-9.17894032074e-05,4.22766612592e-08,-5.84623428752e-05,1793242932098078208
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.593803906,660,634.593803906,880,787,805.406196094,651,631.593803906,652,0.441043516391,-0.00555853079649,0.0799104650374,0.999999986758,-9.17667582093e-05,-0.000119533895777,-6.14311039367e-05,1793242932114744320
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.243001431,745,714,682,660,634.243001431,880.756998569,786.243001431,805.756998569,651,631.243001431,652,0.442347049042,-0.005559392443,0.0798498979556,0.999999973778,-9.15494794658e-05,-0.000198861076968,-6.72086480812e-05,1793242932148077312
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.334053618,745,714,682,660,634,880.665946382,786,806,651,631.334053618,651.665946382,0.443049505899,-0.00556208826149,0.0798899141025,0.999999983824,-9.93232453077e-05,-0.000134796240701,-6.57048517555e-05,1793242932164743936
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.91107508,745,714,682,660,634,880.08892492,786,806,651,631.91107508,651.08892492,0.443769953629,-0.0055661502606,0.0799632232453,0.999999991436,-0.000112862953062,-2.57840380835e-05,-6.1036726015e-05,1793242932181410560
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.63241065,805,651,631,651.36758935,0.400969894002,-0.00539103750011,0.0798275230163,0.999999924002,0.000246934825182,-0.00029821806975,4.56564205541e-05,1793242935389955072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.784019546,878,786.784019546,805,651,631,651.215980454,0.40096770375,-0.00538993316008,0.0798287258987,0.999999924005,0.000249345035742,-0.000296203009905,4.56209076092e-05,1793242935406621696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.20462238,878,786.20462238,805,651,631,651.79537762,0.400965077387,-0.005389819514,0.0798276537723,0.999999923606,0.000250478043127,-0.000296586484978,4.5654296365e-05,1793242935423288576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.374720917,786.374720917,804.625279083,651,631,652,0.400965110559,-0.00539124483059,0.0798281396601,0.999999924451,0.00024884010086,-0.000295111836803,4.56623352198e-05,1793242935439954944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.954034783,786.954034783,804.045965217,651,631,652,0.400966595804,-0.0053935104016,0.0798294762043,0.999999925962,0.000245689254593,-0.000292622676487,4.5656533343e-05,1793242935456621568
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,635,878,786.897882903,805,651,631,652,0.400965501222,-0.00539117260194,0.0798299634326,0.999999925279,0.00024830203853,-0.000292873061356,4.48691347078e-05,1793242935489955328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,635,878,786.325756005,805,651,631,652,0.400965311246,-0.0053926118868,0.0798314642179,0.999999926411,0.000246080369414,-0.000290828083321,4.51858702735e-05,1793242935506622208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.256770999,745,714,679,658.743229001,634.743229001,878,786.256770999,804.743229001,651.256770999,631,651.743229001,0.400965236967,-0.00539303203231,0.0798321742531,0.999999927034,0.000244805940068,-0.000289748591067,4.52445067067e-05,1793242935523288576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.853049293,745,714,679,658.146950707,634.146950707,878,786.853049293,804.146950707,651.853049293,631,651.146950707,0.400965315665,-0.00539210465339,0.0798318387444,0.999999926995,0.0002447839681,-0.000289945681421,4.49618798086e-05,1793242935539954944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.56626217,745,714,678.56626217,658.43373783,634,878,786.56626217,804.43373783,651.56626217,631,651.43373783,0.400966384105,-0.00539335409487,0.07983226857,0.999999927528,0.000243940406114,-0.000288798890693,4.50749657711e-05,1793242935556621824
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.009320597,745,714,678.009320597,659,634.009320597,878,786.009320597,805,651,631,652,0.400967709268,-0.00539524034865,0.0798329173557,0.999999928221,0.000242853851383,-0.000287277935229,4.53030434951e-05,1793242935573288448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.584468004,745,714,678.584468004,659,634.584468004,878,786.584468004,805,651,631,652,0.400964968923,-0.00539256703644,0.0798316636251,0.999999927429,0.000243327759525,-0.000289723939892,4.46554535142e-05,1793242935589955072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.836973342,805,651,631,652,0.400963022873,-0.00539069305408,0.079830979697,0.999999926641,0.000244837463426,-0.000291217351625,4.43402438394e-05,1793242935606621952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.249534114,805,651,631,652,0.400963144636,-0.00539089999311,0.0798317791543,0.999999925864,0.000249043687889,-0.000290230847236,4.48903306017e-05,1793242935623288576
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.66571588,745,714,678.66571588,659,634.66571588,878.33428412,786.33428412,804.66571588,651.33428412,631,652,0.400963176047,-0.00539181595799,0.0798317611767,0.999999926205,0.000247639777016,-0.000290252648358,4.49179391173e-05,1793242935639955200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.084571682,745,714,678.084571682,659,634.084571682,878.915428318,786.915428318,804.084571682,651.915428318,631,652,0.400963140737,-0.0053932555199,0.0798311395448,0.999999927357,0.000242092927766,-0.000291019056761,4.45597110904e-05,1793242935656621824
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.93499405,744.93499405,714,679,659,634.06500595,879,786,804.93499405,651,631,652,0.400964785664,-0.00539287509394,0.0798326455662,0.999999927106,0.000245660061332,-0.000288881355123,4.45656191416e-05,1793242935689955072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.359293314,744.359293314,714,679,659,634.640706686,879,786,804.359293314,651,631,652,0.40096546979,-0.0053933408281,0.0798339520703,0.999999927438,0.000246064148508,-0.000287307864094,4.50662657145e-05,1793242935706621696
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.223038005,714,679,659,634.776961995,878.776961995,786.223038005,804.223038005,651.223038005,631,652,0.400965657817,-0.00539362603651,0.0798345248541,0.999999927669,0.000245945729379,-0.000286599364904,4.5091012101e-05,1793242935723288320
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,744.816377933,714,679,659,634.183622067,878.183622067,786.816377933,804.816377933,651.816377933,631,652,0.400965022189,-0.00539361152462,0.0798338794691,0.999999927737,0.000244959812021,-0.000287326980089,4.4325638723e-05,1793242935739955200
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5ebbb05c129227effd0492fb97ebbe184b8fa91
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+2,0.033333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+4,0.066666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+6,0.100000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+7,0.116666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+8,0.133333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+16,0.266666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+17,0.283333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..978f7c906ae76d67849e12c59a6360590c764bfc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cd7b2fc02318037a71acda11e1e8a2becd97fff
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+61,1.016666667,BASELINE,764.599291673,745,714.400708327,679,659,635,878.400708327,787,805,651.400708327,631,651.599291673,0.400965445339,-0.00539284664399,0.0798363565653,0.999999929026,0.000245691629643,-0.000282211039873,4.40509546395e-05,1793242936905690880
+62,1.033333333,BASELINE,764.024296789,745,714.975703211,679,659,635,878.975703211,787,805,651.975703211,631,651.024296789,0.400964844092,-0.00539263753089,0.0798355745592,0.99999992849,0.000246187254343,-0.000283776256784,4.3397756111e-05,1793242936922357504
+63,1.050000000,BASELINE,764,745,715,678.510012924,659,635,878.510012924,786.510012924,805,651.510012924,631,651.489987076,0.400965141354,-0.00539342645085,0.0798355947428,0.999999928853,0.000245076518746,-0.0002834175322,4.36597311133e-05,1793242936939024128
+64,1.066666667,BASELINE,764,745,714.998130626,678.001869374,659,635,878.001869374,786.001869374,804.998130626,651,631,652,0.400965479359,-0.00539425318621,0.0798356530971,0.999999929252,0.000243907237486,-0.000282971188879,4.39605224111e-05,1793242936955691008
+65,1.083333333,BASELINE,764,745,714.397528665,678.602471335,659,635,878.602471335,786.602471335,804.397528665,651,631,652,0.400966170098,-0.00539308845569,0.0798366012239,0.999999928952,0.000246686085838,-0.000281649033532,4.3761303062e-05,1793242936972357376
+66,1.100000000,BASELINE,764,745,714.219803448,679,659,635,878.780196552,786.780196552,804,651.219803448,631,652,0.400966505449,-0.00539273537498,0.0798370055789,0.999999928995,0.000247426529777,-0.00028087136996,4.36004898481e-05,1793242936989024000
+67,1.116666667,BASELINE,764,745,714.869885799,679,659,635,878.130114201,786.130114201,804,651.869885799,631,652,0.400966145105,-0.00539397114936,0.0798363454667,0.999999929717,0.000244176670128,-0.000281159583021,4.35148590533e-05,1793242937005690368
+68,1.133333333,BASELINE,764.458792256,745,714.541207744,679,659,635,878,786,804.458792256,652,631,652,0.400965225545,-0.00539481598766,0.0798360201273,0.9999999297,0.000243190271811,-0.000282092232329,4.33837856589e-05,1793242937022357504
+69,1.150000000,BASELINE,764.966668854,745,714.033331146,679,659,635,878.033331146,786.033331146,805,652,630.966668854,652,0.400964337202,-0.00539543789151,0.0798358616991,0.999999929524,0.00024288726828,-0.00028299402028,4.32668556498e-05,1793242937039024640
+70,1.166666667,BASELINE,764.376411319,745,714.623588681,679,659,635,878.623588681,786.623588681,805,652,630.376411319,652,0.400966308645,-0.00539396936909,0.0798370924375,0.999999929759,0.000244539166204,-0.000280685664787,4.35762482839e-05,1793242937055691008
+71,1.183333333,BASELINE,764.208603108,745,715,679,659,635,879,787,805,651.791396892,630.208603108,652,0.400966754761,-0.00539326399125,0.079837225997,0.999999929637,0.00024552451427,-0.00028024018905,4.36964167793e-05,1793242937072357632
+72,1.200000000,BASELINE,764.784388729,745,715,679,659,635,879,787,805,651.215611271,630.784388729,652,0.400964515998,-0.00539390189779,0.0798354283059,0.999999928894,0.000245336603713,-0.000283073747843,4.34835136106e-05,1793242937089024256
+73,1.216666667,BASELINE,764.637106653,745,714.637106653,679,659,635,878.637106653,787,805,651.362893347,631,651.637106653,0.400964785956,-0.00539293632309,0.0798356063648,0.999999928785,0.000246176753007,-0.000282755610717,4.33081563969e-05,1793242937105690880
+74,1.233333333,BASELINE,764.056974397,745,714.056974397,679,659,635,878.056974397,787,805,651.943025603,631,651.056974397,0.400966557708,-0.00539101085608,0.0798369671675,0.999999929054,0.000247632329964,-0.000280550773129,4.31552753376e-05,1793242937122357504
+75,1.250000000,BASELINE,764.516940536,745,714,679,659,634.483059464,878.516940536,787,805,652,631,651,0.400966884889,-0.00539244016691,0.0798368641011,0.999999929275,0.000246452782177,-0.000280773107366,4.33324462422e-05,1793242937139024128
+76,1.266666667,BASELINE,764.911764646,745,714.088235354,679,659,634.088235354,879,787,805,651.911764646,631,651.088235354,0.400966992568,-0.0053938619842,0.0798366604128,0.999999929522,0.00024500237824,-0.000281133751761,4.35083936931e-05,1793242937155690752
+77,1.283333333,BASELINE,764.350878035,745,714.649121965,679,659,634.649121965,879,787,805,651.350878035,631,651.649121965,0.400966767157,-0.0053932865792,0.0798367717013,0.999999929945,0.000243638332865,-0.000280819340912,4.34852445606e-05,1793242937172357376
+78,1.300000000,BASELINE,764.229355972,745,714.770644028,679,659,635,879,787,805,651.229355972,631,652,0.400966111771,-0.00539333421276,0.0798365704907,0.999999930144,0.00024250033002,-0.000281099255124,4.34668381873e-05,1793242937189024256
+79,1.316666667,BASELINE,764.841915153,745,714.158084847,679,659,635,879,787,805,651.841915153,631,652,0.400964737992,-0.00539442280632,0.0798358471633,0.99999992997,0.000241739994495,-0.000282372155371,4.34563559202e-05,1793242937205690880
+80,1.333333333,BASELINE,765,745,714.426611723,679,659,635,879,787,805,651.573388277,631,652,0.400965192175,-0.00539306802191,0.0798359698357,0.999999929606,0.000243603248681,-0.000282071415696,4.33771700717e-05,1793242937222358016
+81,1.350000000,BASELINE,765,745,715,679.001549786,659.001549786,635,878.998450214,787,804.998450214,651.001549786,631,652,0.400966279931,-0.00539087017662,0.0798363863827,0.999999929172,0.000246366296265,-0.000281224211958,4.32742845853e-05,1793242937239025152
+82,1.366666667,BASELINE,765,745,715,679.552796331,659.552796331,635,878.447203669,787,804.447203669,651.552796331,631,652,0.400966563899,-0.00539110075118,0.0798366614819,0.999999929757,0.000244589592772,-0.000280700712773,4.32417343216e-05,1793242937255691264
+83,1.383333333,BASELINE,765,745,715,679.883048553,659.883048553,635,878.116951447,787,804.116951447,651.883048553,631.116951447,652,0.400966293512,-0.00539166220743,0.0798365175591,0.999999930143,0.000242852195821,-0.000280841463657,4.31860456143e-05,1793242937272357888
+84,1.400000000,BASELINE,765,745,715,679.263408812,659.263408812,635,878.736591188,787,804.736591188,651.263408812,631.736591188,652,0.400963640357,-0.00539364588092,0.0798345725692,0.999999929683,0.000241283748241,-0.0002838373371,4.30309017385e-05,1793242937289024512
+85,1.416666667,BASELINE,764.671385071,745,714.671385071,679,659,634.671385071,878.671385071,787,804.671385071,651,631.671385071,652,0.400962892392,-0.00539409742209,0.0798342777786,0.999999929204,0.000242051239851,-0.00028486546585,4.30577596096e-05,1793242937305690880
+86,1.433333333,BASELINE,764.09978154,745,714.09978154,679,659,634.09978154,878.09978154,787,804.09978154,651,631.09978154,652,0.400963553186,-0.00539341605452,0.0798352031991,0.999999928712,0.000244546001224,-0.000284438579781,4.3219195521e-05,1793242937322357504
+87,1.450000000,BASELINE,764.478402124,745,714,679,659,634.478402124,878,786.521597876,804.478402124,651,631,652,0.400965147534,-0.00539452574819,0.0798362036252,0.999999929028,0.00024550476892,-0.000282410475831,4.37681580449e-05,1793242937339023872
+88,1.466666667,BASELINE,764.940907164,745,714,679,659,634.940907164,878,786.059092836,805,651,630.940907164,652,0.400966620659,-0.00539569181206,0.079837013714,0.999999929395,0.00024619810539,-0.000280417941368,4.43006961386e-05,1793242937355690496
+89,1.483333333,BASELINE,764.350180975,745,714,679,659,634.350180975,878,786.649819025,805,651,630.350180975,652,0.400965227,-0.00539395732681,0.0798359687118,0.999999928721,0.000247425863455,-0.000281791901077,4.39481592003e-05,1793242937372357120
+90,1.500000000,BASELINE,764.235941819,745,714,679,659,634.235941819,878.235941819,786.764058181,804.764058181,651.235941819,630.235941819,652,0.400964261995,-0.0053927743719,0.0798352386708,0.99999992841,0.000247445154759,-0.000282927221298,4.36330005521e-05,1793242937389023744
+91,1.516666667,BASELINE,764.815363031,745,714,679,659,634.815363031,878.815363031,786.184636969,804.184636969,651.815363031,630.815363031,652,0.400963921016,-0.005392394324,0.079834967144,0.999999928627,0.000245705184159,-0.000283715134793,4.33722565038e-05,1793242937405690368
+92,1.533333333,BASELINE,764.610352565,745,714,679.389647435,659.389647435,634.610352565,879,786.389647435,804,651.610352565,631,651.610352565,0.400964509607,-0.0053930847278,0.0798356463064,0.999999929049,0.000245001618813,-0.000282828146035,4.34104183157e-05,1793242937422357248
+93,1.550000000,BASELINE,764.038470548,745,714,679.961529452,659.961529452,634.038470548,879,786.961529452,804,651.038470548,631,651.038470548,0.400965532949,-0.00539427577215,0.0798367700974,0.999999929566,0.000244782770677,-0.000281157820707,4.35883756723e-05,1793242937439023872
+94,1.566666667,BASELINE,764,745,714,679.44896932,659.44896932,634.55103068,879,786.44896932,804,651,631,651.55103068,0.400966125212,-0.00539368308138,0.0798368953483,0.999999929307,0.000246114683921,-0.000280915174683,4.35857846813e-05,1793242937455690496
+95,1.583333333,BASELINE,764,745,714.139062734,679,658.860937266,635,878.860937266,786,804.139062734,651.139062734,631,652,0.400966380053,-0.00539319235372,0.0798367598101,0.999999929065,0.000247023201704,-0.000280983688379,4.35513401584e-05,1793242937472357120
+96,1.600000000,BASELINE,764,745,714.718419976,679,658.281580024,635,878.281580024,786,804.718419976,651.718419976,631,652,0.400965665003,-0.00539343177074,0.0798360265875,0.999999929059,0.000246237068823,-0.000281711374002,4.34572703141e-05,1793242937489023744
+97,1.616666667,BASELINE,764,745,714.704192841,679,658.591614319,635,878,786,805,651.704192841,631,652,0.400965273895,-0.00539372679564,0.079836031974,0.999999929264,0.000245309401916,-0.000281799046607,4.34199848349e-05,1793242937505690368
+98,1.633333333,BASELINE,764,745,714.128668592,679,659.742662817,635,878,786,805,651.128668592,631,652,0.40096518911,-0.00539407440368,0.0798367357939,0.999999929668,0.000244247899603,-0.000281281518877,4.34363950097e-05,1793242937522356992
+99,1.650000000,BASELINE,764,745,714,679,659.55667335,635,878.44332665,786.44332665,805,651.44332665,630.55667335,652,0.400965234079,-0.00539456005305,0.0798361828986,0.999999929494,0.000244691659618,-0.000281486886669,4.36359456041e-05,1793242937539023872
+100,1.666666667,BASELINE,764,745,714.014508419,678.985491581,659,635,878.985491581,787,805,651.985491581,630.014508419,652,0.400965310685,-0.00539504909097,0.0798352929127,0.999999929154,0.000245559274487,-0.000281897711208,4.38784739662e-05,1793242937555690752
+101,1.683333333,BASELINE,764,745,714.593577235,678.406422765,659,635,878.406422765,787,805,651.406422765,630.593577235,652,0.400965164519,-0.00539412329152,0.0798353668178,0.999999928953,0.000246054353803,-0.000282203652309,4.37413678482e-05,1793242937572357376
+102,1.700000000,BASELINE,764.177642692,745,714.822357308,678.177642692,659,635,878.177642692,787,805,651.177642692,631,652,0.400965224222,-0.00539369407791,0.0798355519418,0.99999992904,0.00024562107752,-0.000282308379222,4.34902566347e-05,1793242937589023744
+103,1.716666667,BASELINE,764.773470562,745,714.226529438,678.773470562,659,635,878.773470562,787,805,651.773470562,631,652,0.400965768559,-0.00539443386745,0.0798359988844,0.999999929807,0.000243002377449,-0.000281939431716,4.2970768279e-05,1793242937605690624
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+106,1.766666667,BASELINE,765,745,714,679.492695701,659,635,878.492695701,786.507304299,804.507304299,651,631,652,0.400967314684,-0.00539351478537,0.0798379300238,0.999999929996,0.000245068238388,-0.000279389176048,4.34920674578e-05,1793242937655690752
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.400967476345,-0.00539227660322,0.079837400785,0.99999992999,0.000246555205076,-0.000278091153665,4.35320431416e-05,1793242937698972416
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,877.815112056,787,805,651.592443972,631,652,0.400966115107,-0.00539132083901,0.0798370959579,0.999999929297,0.000247348002896,-0.000279917720255,4.32464044767e-05,1793242937715639296
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764.242573623,745,714,679,659.757426377,635,877.757426377,786.242573623,805,652,631,652,0.40096514555,-0.00539188201125,0.079835665092,0.999999928889,0.000246063433601,-0.000282584615492,4.26595930987e-05,1793242937748972800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.666477112,635,878.333522888,786.333522888,804.666477112,651.666477112,630.666477112,652,0.400965204565,-0.005392068693,0.079835638415,0.999999928887,0.000245984490099,-0.000282648947697,4.27407833941e-05,1793242937765638912
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.396390763,659,635,879,786,804.396390763,652,631,652,0.401027833076,-0.00539421499565,0.0798631220476,0.999999940766,0.000246167474427,-0.000236497772313,4.4021216359e-05,1793242937882306048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.987406611,659,635,879,786,804.987406611,652,631,652,0.401072200338,-0.00539667385728,0.0798813162861,0.99999994857,0.000243620511272,-0.000203797927823,4.44462229476e-05,1793242937898972416
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.566806379,745,714,679.433193621,659,635,879,786.566806379,805,652,631,652,0.401139878987,-0.00539739282773,0.0798994663866,0.999999956017,0.000241660170258,-0.000166277975877,4.38042523117e-05,1793242937915638784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.855554915,787,805,651.855554915,631,652,0.401208108851,-0.0053982101206,0.0799150038258,0.999999960942,0.000240055465734,-0.000136524856962,4.30094570049e-05,1793242937932305408
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.282392329,787,805,651.282392329,631,652,0.401276468375,-0.00539943166913,0.0799227896614,0.999999961985,0.000239468394334,-0.00013013540613,4.18300212272e-05,1793242937948972032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.707304572,745,714,679,659,634.707304572,878,787,805,651.292695428,631,652,0.401355547891,-0.00540046604129,0.0799279198526,0.999999963227,0.000238473850017,-0.000122822381351,3.98825156618e-05,1793242937965638656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.130347149,745,714,679,659,634.130347149,878,787,805,651.869652851,631,652,0.401445038518,-0.00540131863009,0.0799304709159,0.999999964636,0.00023708357333,-0.000114612393943,3.71890707727e-05,1793242937982305280
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.458233984,745,714,679,659,634.458233984,878,787,804.541766016,651.541766016,631,652,0.401550379096,-0.00540185896225,0.0799331559957,0.999999965813,0.000235009102852,-0.000109591054542,3.36800163696e-05,1793242937998971904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.950849802,635,878,787,804,651,630.950849802,652,0.401663303194,-0.0054025009474,0.079936169385,0.999999966965,0.000232765449665,-0.000104859735008,2.99230874501e-05,1793242938015638784
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.371343425,635,878,787,804,651,630.371343425,652,0.401808141053,-0.00540522321372,0.0799423033472,0.99999996867,0.000230850964116,-9.32158440858e-05,2.60600690832e-05,1793242938032305408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.206222233,635,878,787,804.206222233,651,630.206222233,652,0.401962190024,-0.00540704097316,0.0799489277323,0.999999970341,0.000228505344895,-8.14570663815e-05,2.16220268984e-05,1793242938048972288
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.780325764,635,878,787,804.780325764,651,630.780325764,652,0.402132670748,-0.00540724517608,0.0799564269859,0.999999972054,0.0002253906235,-6.94933425906e-05,1.61581960765e-05,1793242938065638912
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,651,631,652,0.402314231421,-0.00540796703481,0.0799603750264,0.999999973571,0.000221016703438,-6.24872891554e-05,1.02405144394e-05,1793242938082305536
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,651,631,652,0.402502659432,-0.00540900973519,0.0799621220356,0.999999974979,0.000215862335246,-5.85539848606e-05,4.04153679821e-06,1793242938098972160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.468892626,745,714,679,659,635,878,787,805,651,631,651.468892626,0.402716695836,-0.005412289894,0.079958177522,0.999999976838,0.000204525891795,-6.69195255093e-05,-3.79125981646e-06,1793242938115639040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786.889644657,804.889644657,651.110355343,631,651,0.402942048728,-0.00541565258989,0.0799541428915,0.9999999785,0.000192958488392,-7.50162176522e-05,-1.1842833152e-05,1793242938132305920
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786.310283991,804.310283991,651.689716009,631,651,0.40320563671,-0.00541850461675,0.0799519165729,0.999999980107,0.000182789687059,-7.72351116593e-05,-2.01951599381e-05,1793242938148972544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786,804.262592069,652,631,651.262592069,0.403487058785,-0.00542098157165,0.079952110365,0.999999985148,0.000152681028827,-7.58095192868e-05,-2.54045246974e-05,1793242938165639168
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786,804.827990415,652,631,651.827990415,0.403789046107,-0.0054230260147,0.0799550948915,0.999999992215,9.9578859122e-05,-7.01813116956e-05,-2.69896034026e-05,1793242938182305792
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.583956493,635,878.416043507,786,804.583956493,651.583956493,631,652,0.404116833975,-0.00542355594712,0.0799576263407,0.999999991659,0.000107536625246,-6.66250631541e-05,-2.60565396985e-05,1793242938198972160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.013564893,745,714,679,658,635,878.986435107,786.013564893,804.013564893,651.013564893,631,651.986435107,0.404457195885,-0.00542349518489,0.0799599317658,0.999999987712,0.000141126887571,-6.38467228709e-05,-2.41568213971e-05,1793242938215638528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.592840789,745,714,679,658,635,878.407159211,786.592840789,804.592840789,651.592840789,631,651.407159211,0.404851470291,-0.00542641736578,0.0799610729925,0.999999989575,0.000130260041851,-5.57278561862e-05,-2.78623514517e-05,1793242938232305152
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.828464115,745,714.171535885,679,658.171535885,635,878,787,804.828464115,652,631,651,0.405255877458,-0.00542955566985,0.0799599895534,0.999999990994,0.000119422126738,-5.27014568462e-05,-3.1183236112e-05,1793242938248971776
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.251143044,745,714.748856956,679,658.748856956,635,878,787,804.251143044,652,631,651,0.405684254619,-0.00543320523437,0.0799536434462,0.999999991628,0.000108652651435,-6.17217963764e-05,-3.35942033387e-05,1793242938265638400
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714.675852074,679,658.675852074,635,878,787,804.324147926,651.675852074,630.675852074,651.324147926,0.406128421285,-0.00543643905566,0.0799462381389,0.999999990578,0.000110268129563,-7.4289637396e-05,-3.415092964e-05,1793242938282305024
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714.102124134,679,658.102124134,635,878,787,804.897875866,651.102124134,630.102124134,651.897875866,0.406584745237,-0.00543935277288,0.0799380172923,0.999999988062,0.000121419489993,-8.95889035021e-05,-3.32799701307e-05,1793242938298971648
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.514533261,714,679,658.485466739,635,878.485466739,786.514533261,805,651,630.485466739,651.514533261,0.407060155407,-0.00544219913603,0.0799344439195,0.999999988785,0.000107750831872,-9.7802487449e-05,-3.54199807968e-05,1793242938315638784
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.074527432,714.074527432,679,659,635,878.925472568,786,804.925472568,651,631,651.074527432,0.407545598261,-0.00544511510471,0.0799311549461,0.999999989465,9.18902895422e-05,-0.000105757349448,-3.79728690573e-05,1793242938332305408
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.653223613,714.653223613,679,659,635,878.346776387,786,804.346776387,651,631,651.653223613,0.408070951614,-0.00544860061495,0.0799229817681,0.999999987,9.75610014656e-05,-0.000122341877463,-3.89080245913e-05,1793242938348972032
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.769896309,714.769896309,679,659,635,878,786.230103691,804.230103691,651,630.769896309,652,0.408629720876,-0.00545323351634,0.079920956041,0.999999986457,9.65898802444e-05,-0.000127180417289,-3.97610202586e-05,1793242938365638656
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.195731778,714.195731778,679,659,635,878,786.804268222,804.804268222,651,630.195731778,652,0.409238455001,-0.00545958204566,0.0799281222448,0.999999988959,8.56876068713e-05,-0.000114455854275,-4.0491166944e-05,1793242938382305280
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634.61152847,878,786.61152847,805,651,630.38847153,652,0.409878467021,-0.00547247256058,0.079953523788,0.999999994359,6.79799796905e-05,-7.18583053378e-05,-3.86862164668e-05,1793242938398971648
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634.022132956,878,786.022132956,805,651,630.977867044,652,0.410534656473,-0.00548874669987,0.079988356954,0.999999998179,4.67525096359e-05,-1.38099477791e-05,-3.55700711239e-05,1793242938415638272
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.557358948,714,679,659,634.557358948,878,786,805,651,631,652,0.411192586446,-0.00550951557855,0.0799953397122,0.999999999241,1.58961002461e-05,-4.82604102235e-06,-3.52289996787e-05,1793242938432305408
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.135900929,745,714,679,659,634.864099071,878.135900929,786.135900929,805,651,631,652,0.411849599107,-0.00552365847108,0.079991681489,0.999999999264,-5.98613757097e-06,-1.20436927232e-05,-3.59318818214e-05,1793242938448972288
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.712614961,745,714,679,659,634.287385039,878.712614961,786.712614961,805,651,631,652,0.412503415933,-0.00551574023187,0.0799570324714,0.999999997058,2.45918726917e-06,-6.56038322218e-05,-3.96697631561e-05,1793242938465638912
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.70609055,745,714,679,659,634,878.70609055,787,805,651,631,651.70609055,0.4131892892,-0.00551507649687,0.0799306723227,0.999999994023,-5.91975255337e-07,-0.00010047137716,-4.31196965899e-05,1793242938482305536
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.120246309,745,714,679,659,634,878.120246309,787,805,651,631,651.120246309,0.413907003613,-0.00552161852508,0.0799125453491,0.999999991998,-1.50623838941e-05,-0.000116771922032,-4.62836172486e-05,1793242938498972160
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714.460497091,679,659,634.460497091,878.460497091,786.539502909,805,651,631,651.460497091,0.414677777019,-0.00552752311603,0.0799295885029,0.999999994982,-2.39667730816e-05,-8.53693539874e-05,-4.66175716409e-05,1793242938515638528
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.039829253,745,714.960170747,679,659.039829253,634.960170747,879.039829253,786.039829253,805,651,631.039829253,652,0.415460609209,-0.00553299823586,0.0799541877369,0.999999997434,-3.07697471792e-05,-4.53170568832e-05,-4.6174022516e-05,1793242938532304896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.617893204,745,714.382106796,679,659.617893204,634.382106796,879.617893204,786.617893204,805,651,631.617893204,652,0.416221221162,-0.00553489436086,0.0799581513729,0.999999997069,-2.86007685805e-05,-5.48618667389e-05,-4.51003313095e-05,1793242938548971520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.804900193,745,714,679.195099807,659.804900193,634.195099807,880,787,805,651,631.804900193,652,0.417000995889,-0.00553840950414,0.0799588057226,0.999999996748,-3.31669497749e-05,-5.78528942601e-05,-4.53610140999e-05,1793242938565638400
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.229365411,745,714,679.770634589,659.229365411,634.770634589,880,787,805,651,631.229365411,652,0.417818137032,-0.00554508165289,0.0799530071273,0.999999996388,-5.08663596196e-05,-4.80643697516e-05,-4.82236602541e-05,1793242938582305024
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.353929684,745,714,680,659,634.646070316,879.646070316,786.646070316,805,651,631,652,0.418669737595,-0.00555060707377,0.0799669260797,0.999999996745,-6.16008866734e-05,-1.5470792012e-05,-4.97616143912e-05,1793242938598971904
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.942366595,745,714,680,659,634.057633405,879.057633405,786.057633405,805,651,631,652,0.419544170298,-0.00555537269381,0.0799939095127,0.999999995916,-6.77206110966e-05,3.22329895775e-05,-5.0421852034e-05,1793242938615638784
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.477294438,659,634,879,786,805,651,631,652,0.420376942664,-0.00555560150516,0.0799807097107,0.999999996381,-6.73033690391e-05,1.14470238527e-05,-5.07702943526e-05,1793242938632305152
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.10158197,679.10158197,659.10158197,634.10158197,879,786.10158197,805.10158197,651,631,652,0.421211942111,-0.0055525001825,0.0799672712573,0.999999996652,-6.31238303873e-05,-1.0204007567e-05,-5.10547386738e-05,1793242938648971776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.677733136,679.677733136,659.677733136,634.677733136,879,786.677733136,805.677733136,651,631,652,0.422078478018,-0.005536142491,0.0799731008896,0.99999999769,-4.46835354286e-05,-1.15489953624e-06,-5.11983567568e-05,1793242938665638400
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.746000585,745,714.746000585,679.746000585,659.746000585,635,879,786.746000585,805.746000585,651,631,652,0.422962582033,-0.00552082877078,0.0799898963461,0.999999998199,-2.41181669827e-05,2.25087509043e-05,-5.01298092612e-05,1793242938682304768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.169588109,745,714.169588109,679.169588109,659.169588109,635,879,786.169588109,805.169588109,651,631,652,0.423868986171,-0.0055068402088,0.0800206112251,0.999999996776,-8.55343132863e-07,6.47233088864e-05,-4.7522604576e-05,1793242938698971392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.41586606,659,635,879,786.41586606,805.41586606,651,631,652,0.424707582358,-0.00551081838415,0.0799956637456,0.99999999877,-8.54769477068e-06,6.48920424344e-06,-4.84248986848e-05,1793242938715638272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.004973701,745,714,680,659.004973701,635,879.004973701,786.995026299,805.995026299,651,631,652,0.425518647112,-0.00552222989908,0.0799477345114,0.999999993984,-2.90305979271e-05,-9.27829987609e-05,-5.07990182559e-05,1793242938732304640
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.580813533,745,714,680,659.580813533,635,879.580813533,786.419186467,805.419186467,651,631,652,0.426414064142,-0.00552718600059,0.0799252350209,0.999999993234,-3.65013947275e-05,-9.62447878837e-05,-5.41903300446e-05,1793242938748971776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.843698905,786.156301095,805,651,631,652,0.427301683729,-0.00553107064427,0.0799091320343,0.999999992367,-4.26677926173e-05,-0.00010130880287,-5.6412163541e-05,1793242938765638656
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.269154012,786.730845988,805,651,631,652,0.4281684382,-0.00553208818946,0.0799101453594,0.999999991309,-4.5343768228e-05,-0.000110660190255,-5.55046071017e-05,1793242938782305280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.314097351,786.685902649,805,651.314097351,631,652,0.429062375526,-0.00553442412931,0.0799242577739,0.999999992403,-4.9081638922e-05,-9.89249896525e-05,-5.4759407424e-05,1793242938798971904
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.905022067,786.094977933,805,651.905022067,631,652,0.429980270212,-0.00553792202644,0.0799499149734,0.999999994735,-5.37554027742e-05,-6.86052810383e-05,-5.41572996821e-05,1793242938815638528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.486072765,660,634.513927235,879.513927235,786,805.486072765,651.513927235,631,652,0.430911990451,-0.00554053024351,0.079993014782,0.999999996997,-5.6902731272e-05,-8.81057437952e-07,-5.26005690106e-05,1793242938832305152
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+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.638863803,879.638863803,786,805.361136197,651,631,652,0.432649538694,-0.00553933765642,0.0800077626388,0.999999997113,-5.37479656499e-05,1.44939431721e-05,-5.17151167194e-05,1793242938865638400
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.239607518,880,786.760392482,805.760392482,651,631,651.239607518,0.434260872056,-0.00553288749404,0.079910899264,0.999999989469,-5.23688456283e-05,-0.000122042979255,-5.85204422618e-05,1793242938898971648
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.350050512,660,634,880.350050512,787,805.649949488,651,631,651,0.435102349902,-0.00553054335512,0.0799011883329,0.999999988576,-5.18005740873e-05,-0.000128780187586,-5.98293020919e-05,1793242938915638528
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+237,3.950000000,POSE1_TO_POSE2_PRESS,764.446246819,745.446246819,713.553753181,682,656.553753181,631.553753181,880.553753181,784.553753181,806,651,630.553753181,652,0.452946925927,-0.00558337850433,0.0797027873019,0.999999890762,-0.000138714086076,-0.000441793308502,-6.36673311379e-05,1793242939865638400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.95653439,713.04346561,682,656.04346561,631,880,784.04346561,806.04346561,651,630,652,0.452945914981,-0.00558367779813,0.0797013825842,0.999999889822,-0.000138987817287,-0.000443842130269,-6.35869039727e-05,1793242939882305024
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.378794077,713.621205923,682,656.621205923,631,880,784.621205923,806.621205923,651,630,652,0.452947789587,-0.00558430317363,0.0797021483418,0.999999890265,-0.000140721697878,-0.000442339563418,-6.32772737557e-05,1793242939898971904
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.197286272,657,631,880,785,806.605427457,651,630,652,0.452949189132,-0.00558461473614,0.0797028070776,0.999999890616,-0.000141743334336,-0.000441241627215,-6.31074882916e-05,1793242939915638784
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.770206009,657,631,880,785,805.459587982,651,630,652,0.45294968416,-0.005584328798,0.0797032620438,0.999999890802,-0.000141408856397,-0.00044091410869,-6.32039675435e-05,1793242939932305664
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.354409893,714,683,657.354409893,631.354409893,880,785,805.708819786,651,630,652,0.452948936819,-0.00558284691102,0.0797024450185,0.999999890473,-0.000140111466408,-0.000442082689516,-6.312989287e-05,1793242939948972288
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.946170834,714,683,657.946170834,631.946170834,880,785,806.892341668,651,630,652,0.452947357456,-0.00558056408784,0.0797007761307,0.999999889793,-0.000138169206778,-0.000444253219668,-6.29415969083e-05,1793242939965638912
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.476074287,714,683,657.476074287,631.476074287,880,785,806.476074287,651,630.523925713,652,0.452947183315,-0.00558226477885,0.0797001659042,0.999999889274,-0.000138439086896,-0.0004453297278,-6.29899444954e-05,1793242939982305792
+245,4.083333333,HOLD_POSE2,765,746,714,683,657,631,880,785,807,652,630,652,0.452948042944,-0.00558302064955,0.0796997008864,0.999999889203,-0.00013825873335,-0.000445565619018,-6.28409644877e-05,1793242940024975360
+246,4.100000000,HOLD_POSE2,765,745.411295296,713.411295296,683,657,631,880,785,806.411295296,651.411295296,630,652,0.452948620416,-0.00558302441219,0.0796997978932,0.999999889069,-0.000138388210166,-0.000445849264432,-6.2682575168e-05,1793242940041642240
+247,4.116666667,HOLD_POSE2,765,745,713.174509867,683.174509867,657,631,880,785,805.825490133,651,630,652,0.452949001161,-0.00558324395597,0.0796995462458,0.999999888742,-0.000138910833457,-0.000446421342581,-6.26705441112e-05,1793242940058309120
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+250,4.166666667,HOLD_POSE2,764.091646829,745,714,683.091646829,657,631,880,784.091646829,805.908353171,651,630.908353171,652,0.452948943838,-0.00558010251371,0.079697744645,0.99999988904,-0.000132603025033,-0.000447703166205,-6.24415220062e-05,1793242940108308736
+251,4.183333333,HOLD_POSE2,764.483063296,745,714,683,657,631.483063296,880,784.483063296,806,651,630.516936704,652,0.452949467616,-0.00558011290903,0.0796982896352,0.999999889366,-0.000131933729569,-0.000447170409755,-6.24567294173e-05,1793242940124975104
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+253,4.216666667,HOLD_POSE2,765,745.649542011,714,683,657,631.350457989,880,785,806,651,630,652,0.452949557037,-0.00558256851668,0.0796985729418,0.999999888746,-0.00013610918066,-0.000447315476153,-6.23866378588e-05,1793242940158308352
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.91467255,714,683,657.91467255,631,880.91467255,784.91467255,806,651,631,652,0.452947174174,-0.00558210089304,0.0796944682521,0.999999885568,-0.000137133300856,-0.000454064051411,-6.23295226434e-05,1793242940395735296
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.356599186,745,713.356599186,683.643400814,656.356599186,631,880.356599186,785,806,651,630.356599186,652,0.452945602278,-0.00557938310273,0.0796930066278,0.999999885276,-0.000134071856646,-0.000455630791165,-6.22383780602e-05,1793242940445735424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.223493291,745,713.223493291,683.776506709,656.223493291,631,880,785,806,651,630,652,0.452944029932,-0.00557957752073,0.0796920032529,0.999999884919,-0.000133734350497,-0.000456486304687,-6.24256801646e-05,1793242940462402304
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.396446309,714,683.396446309,657.396446309,631.396446309,880,785,806,651,630,652,0.452918688055,-0.00558150059138,0.0796788556179,0.999999874807,-0.000136449012485,-0.000477278901277,-6.30335025773e-05,1793242940495735040
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.86921162,714,683.86921162,657,631.13078838,880,785,805.86921162,651,630.13078838,652,0.452778222156,-0.00557478993538,0.0796232786699,0.999999825051,-0.000132166695824,-0.000573033369168,-6.37324087057e-05,1793242940545734912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745.281485306,714,683.281485306,657,631.718514694,880,785,805.281485306,651,630.718514694,652,0.452709744752,-0.00557217785099,0.079605466015,0.999999809748,-0.000130384072679,-0.000599542258225,-6.36653980508e-05,1793242940562401536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,683,657,631.697667235,880,785,805.302332765,651,631,652,0.45263617321,-0.00557076672755,0.0795940889694,0.999999800203,-0.000129070937225,-0.00061562743762,-6.27521256403e-05,1793242940579068416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,683,657,631.117441509,880,785,805.882558491,651,631,652,0.452557919331,-0.00557045948263,0.0795886272959,0.999999796396,-0.000128189337448,-0.000622131531967,-6.1061001135e-05,1793242940595735040
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.67152899,633,880,786,806,651,631,652,0.448097450468,-0.00549989101701,0.0796178501241,0.999999828648,3.97205444508e-08,-0.000585372788148,6.54749856446e-06,1793242940895735040
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.515048644,745.484951356,714,683,658.484951356,633,880,786,806,651,630.515048644,652,0.447165226906,-0.00548970871247,0.0796287795978,0.999999840024,2.54262880903e-05,-0.000564845845472,1.59309750596e-05,1793242940929068544
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.061404465,745.938595535,714,682.938595535,659,633.061404465,880,786,805.938595535,651,630.061404465,651.938595535,0.446682268534,-0.00548238449627,0.0796487955902,0.999999856772,4.44003261174e-05,-0.000533066347002,1.80195465004e-05,1793242940945734912
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.19334023,745,714,682.80665977,659,634,880,786,805,651.80665977,631,651.80665977,0.445058002123,-0.00546857757954,0.0797435530826,0.99999992093,4.55995363855e-05,-0.000394199904094,2.58343966588e-05,1793242940995734784
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.966498326,745,714,683,659,634,880.966498326,786.966498326,805.966498326,651.033501674,631,652,0.443855887315,-0.00543921474338,0.0797900650208,0.999999937706,0.000111046722033,-0.000334260804541,2.29493741169e-05,1793242941029068288
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.889872885,634.889872885,879,787,805,651,631,652,0.423661832441,-0.00540844320737,0.07971677128,0.999999874957,0.0001958324132,-0.000457678821875,4.76075420619e-05,1793242941429068800
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.820366812,634.820366812,878.179633188,786.820366812,805,651.820366812,631,652,0.40621163625,-0.00539635243166,0.079770911383,0.999999902201,0.000229082936502,-0.000375366873762,4.70945820602e-05,1793242941829068288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.596926951,659.596926951,634.596926951,878.403073049,786.596926951,805,651.596926951,631,652,0.405767596401,-0.00539489513499,0.0797841842832,0.999999912087,0.000232194105071,-0.000345992878767,4.69044630402e-05,1793242941845735168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.018314709,659.018314709,634.018314709,878.981685291,786.018314709,805,651.018314709,631,652,0.405333876037,-0.00539243618778,0.0798032300751,0.999999923199,0.000238189479491,-0.000307693505141,4.68322530836e-05,1793242941862401792
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.554418261,659,634.554418261,878.445581739,786.554418261,804.445581739,651,631,652,0.404943654632,-0.00539309936417,0.0798176240777,0.999999929704,0.000232914515521,-0.0002898794368,4.80829432262e-05,1793242941879068672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.869940936,745,714,679.869940936,659,634.869940936,878.130059064,787,804,651.130059064,631.130059064,652,0.404561007238,-0.00539349322713,0.0798286261754,0.999999933398,0.000230885534465,-0.000278325773327,4.9306256971e-05,1793242941895735296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.283420017,745,714,679.283420017,659,634.283420017,878.716579983,787,804,651.716579983,631.716579983,652,0.404199951598,-0.0053925837193,0.0798282575375,0.999999928554,0.000241541768718,-0.00028639383146,5.02817243095e-05,1793242941912402176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.301541133,745,714.301541133,679,659,634,879,787,804.301541133,651.698458867,631.698458867,652,0.403852590096,-0.0053922630414,0.079828847151,0.999999927911,0.000237720711054,-0.000291938880883,4.93849225435e-05,1793242941929068800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.885043758,745,714.885043758,679,659,634,879,787,804.885043758,651.114956242,631.114956242,652,0.403518033565,-0.00539249295962,0.0798303327949,0.999999931079,0.000220362399005,-0.000295124744849,4.67374216162e-05,1793242941945735168
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.538619316,679.461380684,659,634.461380684,879,787,805,651,631,652,0.403224190851,-0.00539389294037,0.0798332075189,0.999999930948,0.000224219144765,-0.000292585035507,4.71573524898e-05,1793242941962402048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.963935768,659,635,879,786.963935768,805,651,631,652,0.402943112403,-0.00539541460463,0.0798362175746,0.999999929934,0.000232986575192,-0.000288994663403,4.82827221014e-05,1793242941979068416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.38768386,659,635,879,786.38768386,805,651,631,652,0.402703603279,-0.0053944590175,0.0798361499381,0.999999928392,0.000237344988502,-0.00029070797792,4.87019296982e-05,1793242941995735040
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.806675693,786.193324307,804.806675693,651,631,652,0.402477756298,-0.00539417741872,0.0798354827703,0.999999927833,0.000238488471446,-0.0002916798435,4.87827681297e-05,1793242942012402176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.215889037,786.784110963,804.215889037,651,631,652,0.402279997835,-0.00539528149675,0.0798335830046,0.999999929313,0.000233022263665,-0.000291127337516,4.81679412552e-05,1793242942029069568
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.36806741,659,635,878,787,804.36806741,651,631,652,0.402103903374,-0.00539472131819,0.0798353391708,0.999999931257,0.000229839175673,-0.000286949110391,4.81720107239e-05,1793242942045736192
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.948090658,659,635,878,787,804.948090658,651,631,652,0.401940284359,-0.00539320275849,0.0798392006472,0.999999933445,0.000227970847866,-0.00028068297012,4.85324786883e-05,1793242942062402048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.52045883,680,659,635,878.52045883,787,805,651.52045883,631,652,0.401797388581,-0.00539236779819,0.0798431018217,0.999999934815,0.000229398716398,-0.000274369124213,4.96671783467e-05,1793242942079068672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.904923529,679.904923529,659,634.904923529,879.095076471,786.904923529,805,651.904923529,631,652,0.401659970921,-0.00539197512245,0.0798454402219,0.99999993555,0.000230433326382,-0.000270675889973,5.03451710824e-05,1793242942095735296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.31467122,679.31467122,659,634.31467122,879.68532878,786.31467122,805,651.31467122,631,652,0.401540475568,-0.00539353599619,0.0798396190835,0.999999933521,0.00022773237637,-0.00028065570511,4.82482034673e-05,1793242942112401920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.730614242,745,714.269385758,679.269385758,659,634,879.730614242,786,805,651,631,651.730614242,0.401431834393,-0.00539395234305,0.0798345279793,0.999999930004,0.00023305337111,-0.000289137615532,4.55821686098e-05,1793242942129068544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.153631412,745,714.846368588,679.846368588,659,634,879.153631412,786,805,651,631,651.153631412,0.401335587025,-0.00539306181629,0.0798302704621,0.999999924689,0.000247534192119,-0.000295909148708,4.22663466766e-05,1793242942145734912
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.425788935,745,714.574211065,679.574211065,659,634.425788935,879,786,805,651,631,651.425788935,0.401255761397,-0.0053937616306,0.0798265935285,0.999999922044,0.000250588947617,-0.000302238555325,4.20626783623e-05,1793242942162401536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.006006878,679,659,635,878.993993122,786.006006878,805,651,631,652,0.401182164954,-0.00539501634139,0.0798231560689,0.999999920418,0.00024949738876,-0.00030833155235,4.29834138812e-05,1793242942179068416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.578031633,679,659,635,878.421968367,786.578031633,805,651,631,652,0.401133995235,-0.00539417657509,0.0798224308754,0.999999920995,0.000248417963129,-0.000307266526497,4.34352704082e-05,1793242942195735040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.84472658,745,714.84472658,679,659,634.84472658,878.15527342,787,805,651.15527342,631,652,0.401090251103,-0.0053936345938,0.0798224958551,0.999999921864,0.000246931022685,-0.000305565006589,4.39019853443e-05,1793242942212401664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.252814259,745,714.252814259,679,659,634.252814259,878.747185741,787,805,651.747185741,631,652,0.401058952016,-0.00539393000338,0.0798247828527,0.999999923549,0.000244298124409,-0.000302073624411,4.44104830115e-05,1793242942229069312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.328868508,745,714.328868508,679,659,634.328868508,878.671131492,787,805,652,631,652,0.401031673166,-0.00539482616592,0.0798250833791,0.999999924312,0.000241237937149,-0.000301969924011,4.46538344476e-05,1793242942245736448
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.9029247,745,714.9029247,679,659,634.9029247,878.0970753,787,805,652,631,652,0.401007391597,-0.00539617021943,0.0798239028935,0.999999924385,0.000237859184612,-0.000304391907001,4.46995063512e-05,1793242942262403840
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.518976181,679.481023819,659,635,878,787,805.481023819,651.518976181,631,652,0.400992741184,-0.00539485795475,0.0798238223047,0.99999992378,0.000240658752258,-0.000304194600128,4.45934233926e-05,1793242942279069696
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.939049671,659,635,878,786.939049671,805.939049671,651,631,652,0.4009807455,-0.00539347162948,0.0798240348547,0.99999992317,0.000244141156308,-0.000303437600206,4.45120906129e-05,1793242942295735040
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.350425805,659,635,878,786.350425805,805.350425805,651,631,652,0.400974763204,-0.00539612446536,0.0798248472571,0.999999923814,0.000242649197312,-0.000302450187805,4.49124174364e-05,1793242942312401664
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.468393692,786.234196846,805,651.234196846,631,652,0.400971096491,-0.00539670209927,0.079826504179,0.999999924543,0.000242567779132,-0.000300077942598,4.50293341409e-05,1793242942329068288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.625866121,786.81293306,805,651.81293306,631,652,0.400970836352,-0.00539422679361,0.0798294035183,0.999999925385,0.000244561482247,-0.000295668396653,4.47293112027e-05,1793242942345734656
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.609988616,745,714.390011384,679,659,635,879.219977233,786.609988616,805,651.609988616,631,652,0.400968955522,-0.00539483831982,0.0798301484552,0.999999925931,0.000243783196605,-0.000294456037365,4.47648378955e-05,1793242942362401536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.033702143,745,714.966297857,679,659,635,878.067404286,786.033702143,805,651.033702143,631,652,0.400966300627,-0.00539692416173,0.0798298644183,0.99999992634,0.000241680968898,-0.000294770700898,4.49606279647e-05,1793242942379068160
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.538983642,745,714.461016358,679,659,634.461016358,878,786,804.461016358,651,631,652,0.400967161584,-0.0053984022057,0.079831186637,0.99999992763,0.000239574126481,-0.000292100884496,4.49551033836e-05,1793242942395735040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.115414459,714.115414459,679,659,634.115414459,878,786.115414459,804.115414459,651,631,652,0.400967777812,-0.00539892398004,0.0798322201185,0.999999928479,0.000238591233282,-0.000290003173947,4.48921838127e-05,1793242942412401408
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745.708262331,714.708262331,679,659,634.708262331,878,786.708262331,804.708262331,651,631,652,0.400966478292,-0.00539564613816,0.0798316464621,0.999999927307,0.000242258951707,-0.000291038938543,4.4643566293e-05,1793242942429068288
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745.705846379,715,679.294153621,659,635,878.294153621,787,805,651,631,652,0.400965379626,-0.00539475267749,0.0798314988792,0.999999926762,0.000243783900651,-0.000291673873645,4.44073164509e-05,1793242942445735168
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745.126695069,715,679.873304931,659,635,878.873304931,787,805,651,631,652,0.400964475563,-0.00539616938052,0.0798317641076,0.999999926834,0.000243232777156,-0.000291920455741,4.41830492967e-05,1793242942462401792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.548498684,679.548498684,659,635,879,787,805,651,631,652,0.400965072092,-0.00539648954205,0.0798321643136,0.999999927034,0.000243368866212,-0.000291101534178,4.43203997915e-05,1793242942479068416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.02913246,659,635,879,787,805,651.02913246,631,652,0.40096605522,-0.00539655484614,0.0798326034333,0.999999927312,0.000243492240628,-0.000290007340214,4.45365139468e-05,1793242942495735040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.601213287,659,635,879,787,805,651.601213287,631,652,0.400966412287,-0.00539759286298,0.0798330633887,0.999999928407,0.000239792275739,-0.000289343401499,4.43333814229e-05,1793242942512401664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.820888271,714,679.820888271,659,634.820888271,878.820888271,787,804.820888271,652,631,652,0.400966243759,-0.0053978015227,0.0798332372215,0.999999928894,0.000238194710449,-0.000289007681238,4.41562131661e-05,1793242942529068288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.229602291,714,679.229602291,659,634.229602291,878.229602291,787,804.229602291,652,631,652,0.400964865725,-0.00539610165493,0.0798327526248,0.999999928001,0.000241435214791,-0.000289427261614,4.40387942329e-05,1793242942545735168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.353553896,714,679,659,634,878,787,804,652,631,652,0.40096511708,-0.0053955101365,0.0798332103249,0.99999992775,0.000243083773692,-0.000288922882606,4.39817309905e-05,1793242942562402048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.931549145,714,679,659,634,878,787,804,652,631,652,0.400966402795,-0.00539562221503,0.0798342662091,0.99999992791,0.000243721741455,-0.000287831960209,4.39629824572e-05,1793242942579068672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.509600666,659,634.509600666,878.509600666,787,804,651.490399334,631,652,0.4009679983,-0.00539706668031,0.079836055156,0.999999928905,0.000242312464524,-0.000285483978042,4.44336636711e-05,1793242942595735040
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.088764899,680,659,635,879,787,804.088764899,651,631,652,0.400969181273,-0.00539850620569,0.0798373781883,0.999999929822,0.000240643483633,-0.000283615341548,4.48291812083e-05,1793242942612401664
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.674111526,680,659,635,879,787,804.674111526,651,631,652,0.400967823584,-0.00539891676636,0.0798355438132,0.999999929719,0.000239060194869,-0.000285373050584,4.4436385649e-05,1793242942629068288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.743244379,679.743244379,659,635,878.743244379,786.743244379,804.743244379,651,631,652,0.400966530929,-0.00539847537439,0.0798343951486,0.999999929378,0.000239045825728,-0.000286625895078,4.41287551708e-05,1793242942645734912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.163994681,679.163994681,659,635,878.163994681,786.163994681,804.163994681,651,631,652,0.400965319962,-0.00539696390006,0.0798341077605,0.999999928739,0.000241002074519,-0.000287244612211,4.39280949722e-05,1793242942662401536
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786,804,651.413979162,631,652,0.400965488246,-0.00539660930849,0.0798343665451,0.999999928346,0.000242911686707,-0.000286987067819,4.40509579149e-05,1793242942679068160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786,804,651.991449102,631,652,0.400966201231,-0.0053967115991,0.0798348410271,0.999999928047,0.000244802880807,-0.000286383465685,4.43015882914e-05,1793242942695734784
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abfddd695620376e26aefa2e9832e59b2bf68bf1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_02/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,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+1,0.016666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+2,0.033333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+3,0.050000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+4,0.066666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+5,0.083333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+6,0.100000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+7,0.116666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+8,0.133333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+9,0.150000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+360,6.000000000,pose2_to_pose3_retreat,0.582696279138,1.95643245675e-06,1.0700410353,0.553267997435,0.00867678023199,1.06967882988
+361,6.016666667,pose2_to_pose3_retreat,0.582459042783,1.92626137596e-06,1.07004091369,0.553030760941,0.00867675006115,1.0696787202
+362,6.033333333,pose2_to_pose3_retreat,0.582245644122,1.82357371969e-06,1.0700408428,0.552817363958,0.00867665267492,1.06967863999
+363,6.050000000,pose2_to_pose3_retreat,0.582052620137,1.79726345381e-06,1.07004088552,0.552624340238,0.00867662716106,1.0696786803
+364,6.066666667,pose2_to_pose3_retreat,0.581880007944,1.81921811884e-06,1.07004092109,0.552451728005,0.00867664918629,1.06967872083
+365,6.083333333,pose2_to_pose3_retreat,0.581724194921,1.79775190088e-06,1.0700408734,0.552295915712,0.00867663035456,1.06967867693
+366,6.100000000,pose2_to_pose3_retreat,0.581583553889,1.69747180815e-06,1.0700407901,0.552155274985,0.00867653109902,1.06967859329
+367,6.116666667,pose2_to_pose3_retreat,0.581456680344,1.79231081089e-06,1.07004092233,0.552028400865,0.00867662359511,1.06967871604
+368,6.133333333,pose2_to_pose3_retreat,0.581341508545,1.92049356122e-06,1.07004086879,0.551913227203,0.00867674530625,1.06967865893
+369,6.150000000,pose2_to_pose3_retreat,0.581238010649,1.89729103969e-06,1.07004088541,0.551809729319,0.00867672237848,1.06967868191
+370,6.166666667,pose2_to_pose3_retreat,0.581145551253,1.88959135274e-06,1.07004099544,0.551717269551,0.00867671337033,1.06967879105
+371,6.183333333,pose2_to_pose3_retreat,0.581064182935,1.90858023844e-06,1.07004094946,0.551635901137,0.0086767319685,1.06967874329
+372,6.200000000,pose2_to_pose3_retreat,0.580995079011,1.87944890012e-06,1.07004097635,0.551566798028,0.00867670544056,1.06967876626
+373,6.216666667,pose2_to_pose3_retreat,0.58093720605,1.85442700192e-06,1.07004116368,0.551508925533,0.00867668166681,1.0696789455
+374,6.233333333,pose2_to_pose3_retreat,0.580890615998,1.89882933943e-06,1.07004094979,0.551462335482,0.0086767263478,1.06967873818
+375,6.250000000,pose2_to_pose3_retreat,0.580853019613,1.86667977164e-06,1.07004081712,0.551424739336,0.00867669534052,1.06967861336
+376,6.266666667,pose2_to_pose3_retreat,0.580823979038,1.95289707665e-06,1.07004091598,0.551395697373,0.0086767768523,1.06967871229
+377,6.283333333,pose2_to_pose3_retreat,0.580800694897,1.86651720664e-06,1.07004100874,0.551372413892,0.00867669287757,1.06967880901
+378,6.300000000,pose2_to_pose3_retreat,0.580782906679,1.85588713055e-06,1.07004098302,0.551354625943,0.00867668292057,1.0696787776
+379,6.316666667,pose2_to_pose3_retreat,0.580769344259,1.83495455003e-06,1.07004089083,0.551341064028,0.00867666365294,1.06967868428
+380,6.333333333,pose2_to_pose3_retreat,0.580759732461,1.81342235556e-06,1.0700408059,0.551331452463,0.00867664317325,1.0696786057
+381,6.350000000,pose2_to_pose3_retreat,0.580754135517,1.84447871557e-06,1.07004076711,0.551325854845,0.00867667220659,1.06967857323
+382,6.366666667,pose2_to_pose3_retreat,0.580750640055,1.89310471125e-06,1.07004080928,0.551322358418,0.0086767171463,1.06967860552
+383,6.383333333,pose2_to_pose3_retreat,0.580748531697,1.92543390935e-06,1.07004084153,0.551320249423,0.00867674700342,1.0696786304
+384,6.400000000,pose2_to_pose3_retreat,0.580747476051,1.92236359114e-06,1.07004082825,0.551319193646,0.00867674364289,1.0696786208
+385,6.416666667,pose2_to_pose3_retreat,0.580747021501,1.91866750696e-06,1.07004081891,0.551318739063,0.00867673993866,1.06967861395
+386,6.433333333,pose2_to_pose3_retreat,0.580746424591,1.91381384181e-06,1.07004080664,0.551318142108,0.00867673507429,1.06967860495
+387,6.450000000,pose2_to_pose3_retreat,0.580745934811,1.90983128953e-06,1.07004079657,0.551317652292,0.00867673108296,1.06967859757
+388,6.466666667,pose2_to_pose3_retreat,0.580745684837,1.9077986765e-06,1.07004079143,0.551317402301,0.00867672904586,1.0696785938
+389,6.483333333,pose2_to_pose3_retreat,0.580745398646,1.90547156432e-06,1.07004078555,0.551317116088,0.00867672671362,1.06967858948
+390,6.500000000,pose2_to_pose3_retreat,0.580745199753,1.90663684602e-06,1.07004078766,0.551316917208,0.00867672789771,1.069678591
+391,6.516666667,pose2_to_pose3_retreat,0.580745192904,1.90674575791e-06,1.07004078789,0.55131691036,0.00867672800782,1.06967859116
+392,6.533333333,pose2_to_pose3_retreat,0.580745103236,1.90817162502e-06,1.07004079085,0.551316820707,0.00867672944941,1.06967859331
+393,6.550000000,pose2_to_pose3_retreat,0.580745062751,1.90881541384e-06,1.07004079218,0.551316780228,0.0086767301003,1.06967859427
+394,6.566666667,pose2_to_pose3_retreat,0.580745058083,1.90888964652e-06,1.07004079234,0.551316775561,0.00867673017535,1.06967859439
+395,6.583333333,pose2_to_pose3_retreat,0.580745022016,1.90946316444e-06,1.07004079353,0.5513167395,0.00867673075519,1.06967859525
+396,6.600000000,pose2_to_pose3_retreat,0.580744857442,1.91208017336e-06,1.07004079896,0.551316574953,0.00867673340106,1.06967859918
+397,6.616666667,pose2_to_pose3_retreat,0.580744552629,1.91692723347e-06,1.07004080901,0.55131627019,0.00867673830157,1.06967860647
+398,6.633333333,pose2_to_pose3_retreat,0.580744245704,1.92180786395e-06,1.07004081914,0.551315963316,0.00867674323602,1.0696786138
+399,6.650000000,pose2_to_pose3_retreat,0.580744098995,1.92414079277e-06,1.07004082398,0.551315816631,0.00867674559467,1.06967861731
+400,6.666666667,pose2_to_pose3_retreat,0.580744016703,1.93227432954e-06,1.07004082486,0.551315734556,0.00867675445386,1.06967861794
+401,6.683333333,pose2_to_pose3_retreat,0.580743829069,1.95178706973e-06,1.0700408266,0.551315547445,0.00867677572197,1.06967861919
+402,6.700000000,pose2_to_pose3_retreat,0.58074362616,1.9460780686e-06,1.07004082249,0.551315344618,0.00867677032774,1.06967861599
+403,6.716666667,pose2_to_pose3_retreat,0.580743556768,1.91626350721e-06,1.07004074392,0.551315274771,0.00867673916697,1.0696785421
+404,6.733333333,pose2_to_pose3_retreat,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.00867674001497,1.06967847325
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6862d83f2ce3c21ee7eb3154c528d8723b65e7a5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f63acdd901c92e53b4081b53dde53126c7f9f73845496d9babd4fdd6ac5b98
+size 25805797
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a34b2458600890c391964b1d82e74ad6c1f806e8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+31,0.516666667,BASELINE,765,745,714,680,659,635,878,787,805,651.011758365,631,652,0.400966638293,-0.00539851776528,0.0798371727584,0.999999930517,0.000240137478457,-0.000281815174808,4.33669429331e-05,1793242943356613120
+32,0.533333333,BASELINE,765,745,714,680,659,635,878,787,805,651.591040101,631,652,0.400968055485,-0.00539715715663,0.0798375839773,0.999999931238,0.000239067175005,-0.000280230513505,4.29074687871e-05,1793242943373279744
+33,0.550000000,BASELINE,765,745,714.169333722,679.830666278,659,635,878,787,804.830666278,651.830666278,631,652,0.400968956355,-0.00539659013492,0.0798379204575,0.999999931661,0.000238359392645,-0.000279364773777,4.26480238077e-05,1793242943389946368
+34,0.566666667,BASELINE,765,745,714.745254699,679.254745301,659,635,878,787,804.254745301,651.254745301,631,652,0.400968617485,-0.00539792859524,0.0798380774822,0.999999931372,0.000238522059951,-0.000280225237106,4.28688689917e-05,1793242943406612992
+35,0.583333333,BASELINE,765,745,714.68211583,679.31788417,659,635,878,787,804.31788417,651,631,652,0.400968722414,-0.00539830376533,0.0798384510315,0.999999931443,0.000238474355536,-0.000279964477624,4.31648466794e-05,1793242943423279616
+36,0.600000000,BASELINE,765,745,714.112097004,679.887902996,659,635,878,787,804.887902996,651,631,652,0.400969179349,-0.00539791488731,0.0798389963204,0.9999999318,0.000238259791613,-0.000278814403344,4.35204168763e-05,1793242943439946240
+37,0.616666667,BASELINE,764.521432548,745,714,679.521432548,659.478567452,634.521432548,878,786.521432548,804.521432548,651,631,652,0.400968401161,-0.00539790610847,0.0798383857647,0.999999931314,0.000239043856732,-0.000279894497563,4.34640549531e-05,1793242943456612864
+38,0.633333333,BASELINE,764.072126677,745,714,679,659.927873323,634.072126677,878,786.072126677,804.072126677,651.072126677,631,652,0.400967446712,-0.00539786161248,0.0798376815146,0.999999930698,0.000240035070199,-0.000281265152354,4.33260728819e-05,1793242943473279488
+39,0.650000000,BASELINE,764.650530305,745,714,679,659.349469695,634.650530305,878,786.650530305,804.650530305,651.650530305,631,652,0.400967377329,-0.00539691328981,0.0798383056669,0.999999930641,0.000240764387186,-0.00028084326992,4.33229928001e-05,1793242943489946112
+40,0.666666667,BASELINE,765,745,714,679,659,635,878,787,804.772307344,651.772307344,631,652,0.400967748562,-0.00539678345919,0.0798385268706,0.999999930721,0.000241205734806,-0.00028019160595,4.32388805245e-05,1793242943506612736
+41,0.683333333,BASELINE,765,745,714,679,659,635,878,787,804.197039848,651.197039848,631,652,0.400968792402,-0.00539790306392,0.0798381329696,0.99999993101,0.000241207494612,-0.00027918917847,4.30310718933e-05,1793242943523279360
+42,0.700000000,BASELINE,765,744.622963251,714,679,659,634.622963251,878,786.622963251,804,651,631,652,0.400968600807,-0.0053971355188,0.0798378921752,0.999999930801,0.000241367926967,-0.000279810441061,4.29564221013e-05,1793242943539945984
+43,0.716666667,BASELINE,765,744.049507078,714,679,659,634.049507078,878,786.049507078,804,651,631,652,0.400967765605,-0.00539538485227,0.0798377311425,0.999999930331,0.000241611020683,-0.0002812775742,4.29511421654e-05,1793242943556612864
+44,0.733333333,BASELINE,765,744.542701965,714,679,659,634,878,786,804,651,631,652,0.400967447926,-0.00539568389273,0.0798381562864,0.999999930286,0.000242029152114,-0.000281067974792,4.3030885451e-05,1793242943573279488
+45,0.750000000,BASELINE,764.867876052,745,714,679,659,634.132123948,878,786,804.132123948,651.132123948,631,652,0.40096724883,-0.00539607638183,0.0798383654798,0.999999930247,0.000242372972936,-0.000280900611312,4.30915353878e-05,1793242943589946112
+46,0.766666667,BASELINE,764.293707135,745,714,679,659,634.706292865,878,786,804.706292865,651.706292865,631,652,0.400967282869,-0.00539613355048,0.0798376668638,0.999999930097,0.000242412839513,-0.000281404618267,4.3061426764e-05,1793242943606612736
+47,0.783333333,BASELINE,764.281479137,745,714,679.281479137,659,634.718520863,878,786,804.718520863,651.718520863,631,652,0.400967220408,-0.00539678433494,0.0798376263098,0.999999930246,0.000242162708611,-0.000281073769591,4.31649655398e-05,1793242943623279360
+48,0.800000000,BASELINE,764.857730881,745,714,679.857730881,659,634.142269119,878,786,804.142269119,651.142269119,631,652,0.400967056889,-0.00539805677,0.0798382748961,0.999999930707,0.000241608884468,-0.000279868637454,4.34084635035e-05,1793242943639946240
+49,0.816666667,BASELINE,765,745,714,680,659,634,878,786,804,651,630.554913364,652,0.400968255275,-0.00539845760642,0.079838646663,0.999999931201,0.000240241402937,-0.000279293422537,4.3317248356e-05,1793242943656613120
+50,0.833333333,BASELINE,765,745,714,679.964621937,659,634.035378063,878.035378063,786,804.035378063,651.035378063,630.070756126,652,0.400969767114,-0.00539855063899,0.0798389312114,0.999999931678,0.000238726207762,-0.000278917673508,4.31207866599e-05,1793242943673280000
+51,0.850000000,BASELINE,765,745,714,679.385163981,659,634.614836019,878.614836019,786,804.614836019,651.614836019,631.229672039,652,0.400969233421,-0.00539830418742,0.0798392700315,0.999999931743,0.000239041441392,-0.000278433733745,4.29932200751e-05,1793242943689946368
+52,0.866666667,BASELINE,765,745,714,679.193048392,659,635,878.806951608,786,804.806951608,651.806951608,631.806951608,652,0.400968769144,-0.00539825497965,0.0798393210417,0.999999931715,0.000239226903639,-0.000278375280325,4.29843518384e-05,1793242943706612992
+53,0.883333333,BASELINE,765,745,714,679.768791514,659,635,878.231208486,786,804.231208486,651.231208486,631.231208486,652,0.400968442475,-0.00539859678351,0.0798388015038,0.999999931504,0.000239155110039,-0.000279160301354,4.3210788508e-05,1793242943723279616
+54,0.900000000,BASELINE,764.657259467,745,714,679.657259467,659.342740533,635,878.342740533,786.342740533,804.342740533,651,631,652,0.400969004549,-0.00539851275123,0.0798389570193,0.999999931473,0.000239543872129,-0.00027891891294,4.3320764634e-05,1793242943739945984
+55,0.916666667,BASELINE,764.084514448,745,714,679.084514448,659.915485552,635,878.915485552,786.915485552,804.915485552,651,631,652,0.400970163036,-0.00539814295108,0.0798395655459,0.999999931563,0.000240241701475,-0.000277988727122,4.33525870311e-05,1793242943756612352
+56,0.933333333,BASELINE,764,745,714,679,659.494770208,635,878.494770208,786.494770208,805,651,631,652,0.400969341398,-0.0053980265695,0.0798388198903,0.999999931582,0.000238646412214,-0.000279356961132,4.2940885296e-05,1793242943773279232
+57,0.950000000,BASELINE,764.095574996,745,714,679,659.095574996,635,878,786,805,651.095574996,630.904425004,652,0.40096824668,-0.00539794120053,0.0798379640577,0.999999931427,0.000237587619752,-0.000280857953154,4.26314594897e-05,1793242943789946112
+58,0.966666667,BASELINE,764.674087642,745,714,679,659.674087642,635,878,786,805,651.674087642,630.325912358,652,0.400967504096,-0.0053977908755,0.0798377359907,0.99999993048,0.000241245492038,-0.000281019368526,4.32267759969e-05,1793242943806612736
+59,0.983333333,BASELINE,765,745,714,679.250196106,659.749803894,634.749803894,878,786.250196106,805,651.749803894,630.250196106,652,0.400967429055,-0.00539776412394,0.0798380739912,0.999999930429,0.000242235656586,-0.000280334384987,4.33083171837e-05,1793242943823279616
+60,1.000000000,BASELINE,765,745,714,679.823202703,659.176797297,634.176797297,878,786.823202703,805,651.176797297,630.823202703,652,0.400968215299,-0.00539789681054,0.0798391423489,0.999999931542,0.000239783865403,-0.000278557352309,4.27269701827e-05,1793242943839946496
+61,1.016666667,BASELINE,765,745,714,680,659.393812241,634.393812241,878,786.606187759,805,651,631,652,0.400968579578,-0.00539826185504,0.079839526498,0.999999931728,0.00023930506011,-0.000278272612956,4.29021979834e-05,1793242943856613120
+62,1.033333333,BASELINE,765,745,714,680,659.963352123,634.963352123,878,786.036647877,805,651,631,652,0.400968755569,-0.0053987305827,0.0798396053382,0.999999931504,0.000239706644458,-0.000278653767655,4.34150260567e-05,1793242943873279744
+63,1.050000000,BASELINE,765,745,714,679.437920835,659.437920835,635,878,786.562079165,805,651,631,651.437920835,0.400968252302,-0.00539723215098,0.0798390379909,0.999999930976,0.000241988431608,-0.000278631522706,4.30540678949e-05,1793242943889946368
+64,1.066666667,BASELINE,765,744.843537792,714,679,659,634.843537792,878,787,804.843537792,651,631,651.156462208,0.400967699678,-0.00539623269317,0.0798386004302,0.999999930658,0.000243138663738,-0.000278817957766,4.27656094129e-05,1793242943906613248
+65,1.083333333,BASELINE,765,744.266237793,714,679,659,634.266237793,878,787,804.266237793,651,631,651.733762207,0.400967139942,-0.00539693920688,0.0798386314872,0.999999930967,0.000240897550145,-0.000279640300481,4.28337832859e-05,1793242943923279872
+66,1.100000000,BASELINE,764.692341627,744.307658373,714,679,659,634,878,786.692341627,804,651,631,652,0.400967217089,-0.00539729139022,0.0798383303495,0.999999931231,0.000239370600034,-0.000280030733454,4.26864527484e-05,1793242943939946240
+67,1.116666667,BASELINE,764.121358828,744.878641172,714,679,659,634,878,786.121358828,804,651,631,652,0.400967839343,-0.0053973403026,0.0798377448867,0.999999931458,0.000238454901691,-0.000280051495366,4.23546722452e-05,1793242943956612864
+68,1.133333333,BASELINE,764.467761076,745,714,679,659,634.467761076,878,786,804.467761076,651.467761076,631,652,0.400968216669,-0.00539722950295,0.0798382520373,0.999999931113,0.000240300054051,-0.000279655070262,4.26931329202e-05,1793242943973279744
+69,1.150000000,BASELINE,764.939788025,745,714,679.060211975,659,635,878.060211975,786.060211975,805,651.939788025,631,652,0.400968477261,-0.00539716080374,0.0798389632811,0.999999930684,0.000242484852414,-0.000279234278315,4.31530161332e-05,1793242943989946624
+70,1.166666667,BASELINE,764.360815912,745,714,679.639184088,659,635,878.639184088,786.639184088,805,651.360815912,631,652,0.400968301684,-0.00539782622478,0.0798388920918,0.999999930908,0.000241175690955,-0.000279573697107,4.31004152278e-05,1793242944006613248
+71,1.183333333,BASELINE,764.217134295,744.782865705,714,679.782865705,659,634.782865705,878.782865705,786.782865705,804.782865705,651,631,652,0.400967768654,-0.00539796807299,0.079838434331,0.999999930778,0.000240727912791,-0.000280427872027,4.30511340577e-05,1793242944023279872
+72,1.200000000,BASELINE,764.793394427,744.206605573,714,679.206605573,659,634.206605573,878.206605573,786.206605573,804.206605573,651,631,652,0.400966644419,-0.00539724396628,0.079837337206,0.999999930065,0.000241704805715,-0.000282133419769,4.30073435031e-05,1793242944039946496
+73,1.216666667,BASELINE,764.623963774,744.376036226,714,679,659,634,878,786.376036226,804.376036226,651,631,652,0.40096694134,-0.00539669223973,0.0798376421077,0.999999930177,0.000241674460365,-0.000281774425168,4.2928210502e-05,1793242944056613120
+74,1.233333333,BASELINE,764.037755199,744.962244801,714,679,659,634,878,786.962244801,804.962244801,651,631,652,0.400968032565,-0.00539623685911,0.0798387306236,0.999999930749,0.000241081154212,-0.000280261526446,4.28293240743e-05,1793242944073279744
+75,1.250000000,BASELINE,764,745,714.542228179,679.542228179,659,634.542228179,878,787,805,651,631,652,0.400967170438,-0.00539762801432,0.0798383396113,0.999999930879,0.000240092092494,-0.000280620258853,4.30055401654e-05,1793242944089946368
+76,1.266666667,BASELINE,764.121338095,745,714.878661905,679.878661905,659,635,878,787,804.878661905,651,631,652,0.400966469803,-0.00539883133776,0.0798379260283,0.999999930981,0.00023930759764,-0.000280908195219,4.31381314996e-05,1793242944106612992
+77,1.283333333,BASELINE,764.698775563,745,714.301224437,679.301224437,659,635,878,787,804.301224437,651,631,652,0.400966881655,-0.00539885080576,0.0798378104488,0.999999931094,0.000239394458159,-0.000280445709663,4.30355552582e-05,1793242944123279616
+78,1.300000000,BASELINE,765,745,714,679,659,635,878,786.725500031,804.274499969,651,631,652,0.40096733555,-0.00539901442397,0.0798382199657,0.999999931397,0.000238819689699,-0.000279846919783,4.3102483934e-05,1793242944139946240
+79,1.316666667,BASELINE,765,745,714,679,659,635,878,786.151643847,804.848356153,651,631,652,0.400967835297,-0.00539933524531,0.079839202127,0.999999931903,0.000237523381086,-0.000279099483116,4.33542663736e-05,1793242944156612864
+80,1.333333333,BASELINE,765,745,714,679.43446868,659,635,878.43446868,786.43446868,804.56553132,651,631,652,0.400968070316,-0.00539811509936,0.0798394377585,0.999999931293,0.000240103507606,-0.000279113209352,4.31365475548e-05,1793242944173279232
+81,1.350000000,BASELINE,765,745,714,679.975544586,659,634.975544586,878.975544586,787,804.024455414,651,631,651.975544586,0.400968209727,-0.00539648311121,0.0798393833707,0.999999930346,0.000243766219129,-0.000279386467365,4.27674487261e-05,1793242944189945856
+82,1.366666667,BASELINE,765,745,714,679.39750736,659,634.39750736,878.39750736,787,804.60249264,651,631,651.39750736,0.400968337199,-0.0053980568701,0.079838833423,0.999999931167,0.000240418566467,-0.000279346183792,4.27887908168e-05,1793242944206612992
+83,1.383333333,BASELINE,765,745,714,679.180581726,659,634,878.180581726,786.819418274,804.819418274,651,631,651.180581726,0.40096795805,-0.00539905047632,0.0798383166837,0.999999931495,0.000238455244542,-0.000279833227553,4.29338057867e-05,1793242944223279872
+84,1.400000000,BASELINE,765,745,714,679.758785115,659,634,878.758785115,786.241214885,804.241214885,651,631,651.758785115,0.400966463378,-0.00539876664864,0.0798378730657,0.999999930755,0.00023954007032,-0.000281481389739,4.33511352246e-05,1793242944239946496
+85,1.416666667,BASELINE,765,745,714,679.666475005,659,634.333524995,878.666475005,786.333524995,804.333524995,651,631,652,0.40096596925,-0.00539815382908,0.0798379608196,0.999999930523,0.000240213252045,-0.000281754935158,4.31991859859e-05,1793242944256612864
+86,1.433333333,BASELINE,765,745,714,679.094214324,659,634.905785676,878.094214324,786.905785676,804.905785676,651,631,652,0.400966191306,-0.00539730551862,0.0798384289271,0.999999930656,0.000240591780748,-0.000281044536003,4.26397496147e-05,1793242944273279232
+87,1.450000000,BASELINE,765,745,714.495160353,679,659,635,878,787,805,651,631,652,0.400965844774,-0.00539750712049,0.0798380085776,0.999999930746,0.000239551275378,-0.000281575075317,4.28872651029e-05,1793242944289946112
+88,1.466666667,BASELINE,765,745,714.914290297,679.085709703,659,634.914290297,878.085709703,787,804.914290297,651,631,652,0.400965821654,-0.00539799659326,0.0798377314344,0.999999930896,0.000238506463798,-0.000281878277694,4.32067845231e-05,1793242944306612992
+89,1.483333333,BASELINE,765,745,714.336364749,679.663635251,659,634.336364749,878.663635251,787,804.336364749,651,631,652,0.400968299377,-0.00539895095985,0.0798392822617,0.999999931451,0.000239042995651,-0.00027947142044,4.30264958662e-05,1793242944323279872
+90,1.500000000,BASELINE,765,745,714.24052601,679.75947399,659,634.24052601,878.75947399,786.75947399,804.24052601,651.24052601,631,651.75947399,0.400969245825,-0.00539943032176,0.0798399265145,0.999999931724,0.000239265189191,-0.000278319419492,4.29233807184e-05,1793242944339946496
+91,1.516666667,BASELINE,765,745,714.815975817,679.184024183,659,634.815975817,878.184024183,786.184024183,804.815975817,651.815975817,631,651.184024183,0.400968060028,-0.00539924825671,0.0798393083947,0.99999993161,0.000239049677922,-0.000278914760901,4.29277269142e-05,1793242944356613120
+92,1.533333333,BASELINE,765,745,714.600318601,679.399681399,659,635,878,786,804.600318601,652,631,651.399681399,0.400967550586,-0.00539776242126,0.0798388231317,0.999999931242,0.000239931020969,-0.000279485055241,4.28539147566e-05,1793242944373279488
+93,1.550000000,BASELINE,765,745,714.012731611,679.987268389,659,635,878,786,804.012731611,652,631,651.987268389,0.400967359126,-0.00539566363321,0.0798384003297,0.999999930755,0.000241328037381,-0.000280043574042,4.27433573526e-05,1793242944389946368
+94,1.566666667,BASELINE,765,745,714,680,659,634.432712207,879.134575587,786.567287793,804.567287793,651.432712207,631,652,0.400968437137,-0.00539746867044,0.0798389461412,0.999999931929,0.000238411863338,-0.000278357501857,4.26525249476e-05,1793242944406612736
+95,1.583333333,BASELINE,765,745,714.140672908,679.859327092,659,634.140672908,879.718654183,787,805,651.140672908,631,652,0.400969336947,-0.00539860685789,0.079839484797,0.999999932619,0.00023686967837,-0.000277185818478,4.26844755681e-05,1793242944423279360
+96,1.600000000,BASELINE,765,745,714.695040742,679.304959258,659,634.695040742,878.609918516,787,805,651.695040742,631,652,0.400969630015,-0.00539752969086,0.0798399393212,0.999999931805,0.000239649085966,-0.000277673058787,4.30762252842e-05,1793242944439945984
+97,1.616666667,BASELINE,765,745,714.73112809,679.26887191,659.26887191,635,878,786.73112809,804.73112809,651.73112809,631,652,0.400969488766,-0.00539715699437,0.0798398941442,0.999999931496,0.000240792805816,-0.000277784139711,4.3162607228e-05,1793242944456612608
+98,1.633333333,BASELINE,765,745,714.133498561,679.866501439,659.866501439,635,878,786.133498561,804.133498561,651.133498561,631,652,0.400968816464,-0.00539764567489,0.0798392379678,0.999999931811,0.000239936521827,-0.000277435279428,4.28756069626e-05,1793242944473279488
+99,1.650000000,BASELINE,764.540967023,745,714,680,659.540967023,635,878.459032977,786.459032977,804,651.459032977,631,652,0.400968587202,-0.00539752252739,0.0798390338105,0.999999931372,0.000240959891885,-0.000278149360355,4.27518628605e-05,1793242944489946112
+100,1.666666667,BASELINE,764.049027911,745,714,680,659.049027911,635,878.950972089,787,804.049027911,652,631,652,0.400968362158,-0.00539720213328,0.079838877143,0.999999930733,0.000242364694005,-0.000279229388799,4.27049907941e-05,1793242944506612736
+101,1.683333333,BASELINE,764.627466073,745,714,680,659.627466073,635,878.372533927,787,804.627466073,652,631,652,0.400966806643,-0.00539665210845,0.0798378293582,0.999999930313,0.000242050268918,-0.000280959599619,4.29811392931e-05,1793242944523279360
+102,1.700000000,BASELINE,765,744.795087833,714.204912167,679.795087833,659.795087833,635,878,787,805,651.795087833,631,652,0.400966339669,-0.0053967892283,0.0798374228391,0.999999930422,0.000240985528114,-0.000281480518441,4.30104530158e-05,1793242944539945984
+103,1.716666667,BASELINE,765,744.219436708,714.780563292,679.219436708,659.219436708,635,878,787,805,651.219436708,631,652,0.400967842148,-0.00539816957016,0.0798381765351,0.999999931489,0.000238563272696,-0.000279813515968,4.25931789375e-05,1793242944556612864
+104,1.733333333,BASELINE,765,744.35629873,714.64370127,679,659,635,878,787,804.64370127,651.35629873,631,651.64370127,0.400967489879,-0.00539814023115,0.0798383875187,0.999999931494,0.000238316689684,-0.000280035592691,4.23882345432e-05,1793242944573279488
+105,1.750000000,BASELINE,765,744.932086162,714.067913838,679,659,635,878,787,804.067913838,651.932086162,631,651.067913838,0.400965995038,-0.0053972424945,0.0798382641782,0.999999930847,0.000239410373668,-0.000281421388085,4.23140903693e-05,1793242944589946112
+106,1.766666667,BASELINE,765,744.479168814,714,679.520831186,659,634.479168814,878.520831186,786.479168814,804.520831186,651.479168814,631.520831186,651.520831186,0.400968641486,-0.0053973535778,0.0798396429539,0.999999931443,0.000240111052541,-0.000278662747925,4.25192022256e-05,1793242944606612736
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,786,804,651,631,652,0.400967090304,-0.00539893109543,0.079838757455,0.999999932327,0.000236501637634,-0.000278560579781,4.26229603142e-05,1793242944648965120
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.574226602,745,714.574226602,679,659.425773398,634,878.574226602,786.574226602,804,651,630.425773398,652,0.40096736586,-0.00539924462319,0.0798384481631,0.999999931863,0.000237580679587,-0.000279246278267,4.30248634864e-05,1793242944665632000
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.847699882,679,659,634,878.847699882,786.847699882,804,651,630.152300118,652,0.400967457956,-0.00539974897195,0.0798383701205,0.999999931564,0.000238109749729,-0.00027982774,4.3275162171e-05,1793242944682298880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.25859303,679,659,634,878.25859303,786.25859303,804,651,630.74140697,652,0.400967023878,-0.00540080060792,0.0798389553164,0.999999931742,0.000237061464884,-0.000280110244048,4.309064933e-05,1793242944698965248
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.675006157,745,714.324993843,679,659,634,878,786.324993843,804.324993843,651.324993843,631,651.675006157,0.400967271984,-0.00540043684229,0.0798392765698,0.999999931816,0.000236933435313,-0.000279987218226,4.28617516877e-05,1793242944715631872
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095738133,745,714.904261867,679,659,634,878,786.904261867,804.904261867,651.904261867,631,651.095738133,0.40096805383,-0.00539896567074,0.0798393913154,0.99999993181,0.000237525410697,-0.000279546907067,4.25981275246e-05,1793242944732298496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.480932498,744.519067502,714.519067502,679.480932498,659.480932498,634.480932498,878,787,805,652,631,651.480932498,0.40096789413,-0.00539818189009,0.0798389376349,0.999999931487,0.000238616866821,-0.000279771222477,4.26152728302e-05,1793242944748965376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.943108946,744.056891054,714,680,659.943108946,635,878,786.943108946,804.943108946,651.943108946,631,652,0.400967983275,-0.00539767663631,0.0798386894115,0.999999931248,0.000239600293794,-0.000279776087146,4.26738099114e-05,1793242944765632000
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.368948766,744.631051234,714,680,659.368948766,635,878,786.368948766,804.368948766,651.368948766,631,652,0.400972030007,-0.00539846634608,0.0798413325718,0.999999932352,0.000238702296977,-0.000276589147496,4.26032355719e-05,1793242944782298624
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.211153996,745,714,679.788846004,659.211153996,635,878,786,804,651.211153996,631,652,0.400981374931,-0.00539915267047,0.0798460021125,0.999999934397,0.000238537248297,-0.000269211461854,4.27985729503e-05,1793242944798965248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.801940841,745,714,679.198059159,659.801940841,635,878,786,804,651.801940841,631,652,0.401000245448,-0.00539965311866,0.0798543148732,0.999999937995,0.000239689963939,-0.00025429925259,4.34719918472e-05,1793242944815631616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.614401683,634.614401683,878,786,804,651.614401683,631,652,0.401036780667,-0.00539993197796,0.0798682291048,0.999999944294,0.000239590861992,-0.000228248613869,4.37218783995e-05,1793242944832298240
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.034339616,634.034339616,878,786,804,651.034339616,631,652,0.401082224496,-0.0054000990863,0.0798849682536,0.999999951193,0.00023886044719,-0.000196580675324,4.37581704569e-05,1793242944848965120
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.459132405,745,714,679,659,634,878.540867595,786.540867595,804,651,631,651.459132405,0.401149628421,-0.00540169884151,0.0799028050315,0.999999957697,0.000238450127727,-0.000160854713058,4.32851934448e-05,1793242944865632000
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.118089162,745,714,679.118089162,659,634.118089162,878.881910838,787,804.118089162,651,631,651.118089162,0.401218866576,-0.0054031773781,0.0799185945138,0.999999962316,0.000237656602764,-0.000130673952174,4.25572439261e-05,1793242944882298624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.704511251,745,714,679.704511251,659,634.704511251,878.295488749,787,804.704511251,651,631,651.704511251,0.401289898899,-0.00540381764524,0.0799259906578,0.999999963861,0.000235263432142,-0.000123497746521,4.09451834717e-05,1793242944898965248
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.711402204,745,714,679.711402204,659,634.711402204,878.288597796,786.711402204,805,651,631,652,0.401370187261,-0.00540428349507,0.0799298941084,0.999999964819,0.000234467156023,-0.000117898534946,3.85728503634e-05,1793242944915632128
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.129687808,745,714,679.129687808,659,634.129687808,878.870312192,786.129687808,805,651,631,652,0.401459876588,-0.00540457219656,0.0799302501772,0.999999965204,0.0002352927784,-0.000113901010131,3.54283405084e-05,1793242944932298752
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,804.554298659,651.445701341,631,652,0.401566486447,-0.00540661051604,0.079933562554,0.999999966521,0.000232029262916,-0.000109916438855,3.22419413431e-05,1793242944948965632
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.019402912,745,714,679,659,634,878.980597088,786.019402912,804,651.980597088,631,652,0.401679150739,-0.00540907318319,0.0799378126806,0.999999968075,0.000227724544431,-0.000105593244988,2.90196647944e-05,1793242944965632768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.596761207,745,714,679,659,634,878.403238793,786.596761207,804,651.403238793,631,652,0.401826319188,-0.00540930370101,0.0799446386805,0.999999969692,0.000227215167045,-9.14256563364e-05,2.51112849019e-05,1793242944982299392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.822551505,745,714,679,659,634.177448495,878.177448495,786.822551505,804.177448495,651,631,651.822551505,0.401981655616,-0.00541003456637,0.0799517955307,0.99999997137,0.000225316791901,-7.78818940215e-05,2.06533652689e-05,1793242944998965760
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.23415477,745,714,679,659,634.76584523,878.76584523,786.23415477,804.76584523,651,631,651.23415477,0.402155908028,-0.0054119241732,0.0799597185874,0.999999973481,0.000220201674019,-6.57828364831e-05,1.49227817538e-05,1793242945015632128
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.349510726,745,714,679.349510726,659,635,878.650489274,786.349510726,804.650489274,651,631,651.349510726,0.40234376156,-0.00541435777022,0.0799636455359,0.999999975728,0.000212195900802,-5.86863778897e-05,8.51053491917e-06,1793242945032298496
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.930048922,745,714,679.930048922,659,635,878.069951078,786.930048922,804.069951078,651,631,651.930048922,0.402540605483,-0.0054171509463,0.0799649310477,0.999999978033,0.000202279396621,-5.48966485745e-05,1.64770634444e-06,1793242945048965120
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.494862854,659,635,878,786.494862854,804,651,631,652,0.402751932723,-0.00541896577286,0.0799593148088,0.99999997867,0.000195653137323,-6.59375037147e-05,-5.67517431424e-06,1793242945065631744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920249246,745,714,679,659,634.920249246,878.079750754,786.079750754,804.079750754,651,631,651.920249246,0.402971698678,-0.00542065461894,0.0799533572472,0.99999997904,0.000189021995951,-7.75656946602e-05,-1.31661386114e-05,1793242945082298368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.34394159,745,714,679,659,634.34394159,878.65605841,786.65605841,804.65605841,651,631,651.34394159,0.403231652658,-0.00542239361687,0.0799511618095,0.999999980437,0.000179553812723,-8.02000829859e-05,-2.1311222115e-05,1793242945098965248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237884696,745,714,679.237884696,659,634.237884696,878.762115304,786.762115304,805,651,631,651.237884696,0.403513950455,-0.00542501869856,0.0799514504306,0.999999986175,0.000144243542865,-7.81609112689e-05,-2.71125242748e-05,1793242945115632128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.827879463,745,714,679.827879463,659,634.827879463,878.172120537,786.172120537,805,651,631,651.827879463,0.40382932091,-0.00542895533576,0.0799554158841,0.999999994674,7.06825611239e-05,-6.92040702172e-05,-2.94446282528e-05,1793242945132299008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.589908062,659,634.589908062,878.410091938,786,805,651.410091938,631,652,0.40416987657,-0.00542916637729,0.0799598103848,0.999999994469,8.03657767966e-05,-6.20984975915e-05,-2.73410100651e-05,1793242945148965376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.010901091,659,634.010901091,878.989098909,786,805,651.989098909,631,652,0.404520805895,-0.00542784286255,0.0799643816081,0.999999990442,0.000124336906096,-5.57554543465e-05,-2.34103377349e-05,1793242945165632000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.564869487,659,634.564869487,878.435130513,786.564869487,804.435130513,651.435130513,631,652,0.40490310294,-0.00543156664917,0.0799599652953,0.999999990293,0.00012304617707,-5.92596570908e-05,-2.7598846068e-05,1793242945182298624
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+142,2.366666667,POSE1_TO_POSE2_PRESS,764.313943704,745,714,679.686056296,659,635,878.686056296,787,805,651,631,652,0.40617695529,-0.00543968196678,0.0799483345677,0.99999999152,0.000104058643669,-7.05974158566e-05,-3.38750094939e-05,1793242945232298240
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+148,2.466666667,POSE1_TO_POSE2_PRESS,765.792691989,744.207308011,714,679,659.207308011,634.207308011,878,787,805,651.207308011,631,652,0.409301558072,-0.00546461078955,0.0799271566761,0.999999989538,7.60729744502e-05,-0.000116335973,-4.00394874211e-05,1793242945332298496
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.624283076,744.375716924,714,679.375716924,659.375716924,634,878.375716924,786.624283076,805,651,631,652,0.409950156796,-0.00547979079709,0.0799512779646,0.999999994792,5.68089896357e-05,-7.58167025911e-05,-3.79625377557e-05,1793242945348965120
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.0447361,744.9552639,714,679.9552639,659.9552639,634,878.9552639,786.0447361,805,651,631,652,0.410619111524,-0.00549985214707,0.0799834363562,0.999999998623,3.29949140623e-05,-2.20690352838e-05,-3.43303965057e-05,1793242945365631744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.47055885,659.47055885,634,879,786,805,651,631,652,0.411273079666,-0.00551675778776,0.0799878123261,0.999999999193,8.69174530319e-06,-1.85458875567e-05,-3.45641499123e-05,1793242945382298368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.105839697,659,634.105839697,879,786,805,651,631,652,0.411923654292,-0.0055289690315,0.0799830185346,0.999999998904,-1.01660731963e-05,-2.85810977376e-05,-3.567207341e-05,1793242945398965248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.694418164,659,634.694418164,879,786,805,651,631,652,0.412564468513,-0.00552097292987,0.0799470007734,0.999999995916,-4.00083983463e-06,-8.12946370781e-05,-3.92921885784e-05,1793242945415631872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.721503632,786,805,651,631,652,0.413260502926,-0.00552028348179,0.0799233495603,0.999999993099,-8.09481538669e-06,-0.000109111774253,-4.27958645664e-05,1793242945432298496
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.142284774,786,805,651,631,652,0.414016164599,-0.0055274838126,0.0799130518351,0.999999992608,-2.32667617375e-05,-0.000110045594394,-4.61738091817e-05,1793242945448965120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.436032406,680,659.436032406,635,878.436032406,786.436032406,805,651,631,652,0.414791552752,-0.0055339307466,0.0799315444725,0.999999995505,-2.95238414804e-05,-7.75968231945e-05,-4.58044229882e-05,1793242945465631744
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.986006995,680,660,635,879,786.986006995,805,651.013993005,631,652,0.415572843528,-0.00553999144929,0.0799586979219,0.999999997843,-3.27533363522e-05,-3.5804554595e-05,-4.42580839659e-05,1793242945482298368
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.410570917,680,660,635,879,786.410570917,805,651.589429083,631,652,0.416333224923,-0.00554039912072,0.0799571800842,0.999999997003,-3.09868741969e-05,-5.52933811818e-05,-4.44507339025e-05,1793242945498964992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.168454988,805,651.831545012,631,652,0.417107586321,-0.00554362331491,0.0799561977649,0.999999996322,-3.63950572676e-05,-6.30877847046e-05,-4.52851371741e-05,1793242945515631616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.756420763,805,651.243579237,631,652,0.41791676268,-0.00555386161824,0.0799565490708,0.999999996209,-5.96705716312e-05,-4.17590564704e-05,-4.77177266951e-05,1793242945532298240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.339206333,680,659.660793667,634.660793667,879,786.660793667,805,651,631,652,0.418773449592,-0.0055600693201,0.0799693488063,0.999999996217,-7.10404063282e-05,-1.11789054546e-05,-4.89220105071e-05,1793242945548965120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.918328002,680,659.081671998,634.081671998,879,786.081671998,805,651,631,652,0.419663739942,-0.00556342624015,0.0799909531214,0.999999995713,-7.39895389605e-05,2.59446313044e-05,-4.92575327681e-05,1793242945565632000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.505877371,680,659.494122629,634.494122629,879,786.494122629,805,651,631,652,0.420495405027,-0.00556630648909,0.0799766863696,0.999999995723,-7.7481503128e-05,3.49291837253e-06,-5.03868905352e-05,1793242945582298880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.929215999,879,787,805.070784001,651,631,652,0.421321858898,-0.00556801307105,0.0799604557462,0.999999995271,-7.95481720154e-05,-2.25341187829e-05,-5.12144938511e-05,1793242945598965248
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.342250975,879,787,805.657749025,651,631,652,0.422180500488,-0.00556173157503,0.0799728511524,0.999999996309,-7.05711870616e-05,-3.30614813665e-06,-4.88911677045e-05,1793242945615631616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805.758647245,651,631,652,0.42305897514,-0.00554496894292,0.0799906870921,0.99999999741,-4.93537799872e-05,2.1688197311e-05,-4.76850735098e-05,1793242945632298496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805.179744451,651,631,652,0.42396518795,-0.00551354765029,0.0800161320303,0.999999997287,-1.10172176973e-05,5.47472557239e-05,-4.80415120964e-05,1793242945648965376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.601445108,634.398554892,879,786.601445108,805.398554892,651,631,652,0.424822990757,-0.00550813890869,0.0799890825799,0.999999998797,-5.34372349047e-06,-4.3655367526e-06,-4.85730518186e-05,1793242945665632000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.023417539,634.976582461,879,786.023417539,805.976582461,651,631,652,0.425658994072,-0.00551444384323,0.0799383944557,0.999999993176,-1.43786905148e-05,-0.000104984104108,-4.91834406766e-05,1793242945682298880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.447174492,879,786.552825508,805.447174492,651,631,652,0.426562458178,-0.00552262850195,0.0799212349574,0.999999992873,-3.12246206552e-05,-0.000102131053898,-5.33705544607e-05,1793242945698965760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.868312076,745,714,680.131687924,659.131687924,634,879,786.868312076,805,651,631,652,0.427457098426,-0.00552908146376,0.0799098041068,0.99999999256,-4.37098389709e-05,-9.89678386908e-05,-5.63373265385e-05,1793242945715632384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.280108042,745,714,680.719891958,659.719891958,634,879,786.280108042,805,651,631,652,0.42831127489,-0.00552925609327,0.0799133247642,0.999999991679,-3.99346679892e-05,-0.000109874935905,-5.45500600514e-05,1793242945732298752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.303316466,745,714,681,660,634,879,786.303316466,805,651,631,652,0.429202003009,-0.00553214957951,0.0799291597856,0.999999993172,-4.23242736705e-05,-9.48153745155e-05,-5.36116055602e-05,1793242945748965376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.882395598,745,714,681,660,634,879,786.882395598,805,651,631,652,0.43012596232,-0.00553751493676,0.0799561905124,0.99999999573,-5.03186370346e-05,-5.61480106944e-05,-5.34448555308e-05,1793242945765632000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.458872459,634,879,787,805.458872459,651,631,651.541127541,0.431072837948,-0.00554079058541,0.0799982309852,0.999999997216,-5.31747349103e-05,8.37264682658e-06,-5.16676523691e-05,1793242945782298624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.034752493,714,681,660.965247507,634.034752493,879.034752493,786.965247507,805.965247507,651,631,651.034752493,0.4320166768,-0.00554307161264,0.0800389146756,0.999999994792,-5.41602626192e-05,7.08125032642e-05,-4.96777898191e-05,1793242945798965504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.611666912,714,681,660.388333088,634.611666912,879.611666912,786.388333088,805.388333088,651,631,651.611666912,0.432822029331,-0.00553814403524,0.0799987566599,0.999999997633,-4.63920994047e-05,-1.99574610349e-06,-5.07730593437e-05,1793242945815632128
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.80758943,714,681,660,635,879.80758943,786.19241057,805,651,631,652,0.4336248759,-0.00553373893051,0.0799547890518,0.999999995104,-4.2598003409e-05,-7.19398013603e-05,-5.29415381264e-05,1793242945832298496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.218960366,714,681,660,635,879.218960366,786.781039634,805,651,631,652,0.434422562255,-0.00553040971869,0.0799029765919,0.999999988007,-4.69874428208e-05,-0.000135985822437,-5.7320007023e-05,1793242945848965376
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.363640811,660,635,879,787,805,651,631,652,0.4352718273,-0.00553036978948,0.0799058247371,0.999999989239,-5.10374042196e-05,-0.000124388702312,-5.86916858168e-05,1793242945865632000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.942671543,660,635,879,787,805,651,631,652,0.436151643131,-0.00553227815206,0.0799410491841,0.999999994484,-5.48862873712e-05,-6.79870079565e-05,-5.82823972896e-05,1793242945882298880
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.481789969,660,635,879,787,805.518210031,651,631,652,0.437016591646,-0.00553516678013,0.0799765402021,0.999999996372,-5.85264701967e-05,-2.70451570116e-05,-5.56648963307e-05,1793242945898965504
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.095498593,681,660,635,879.095498593,787,805.904501407,651,631,652,0.437870470412,-0.00553842558558,0.0800092391727,0.999999996503,-6.31988928607e-05,1.21147617551e-05,-5.34134947888e-05,1793242945915631872
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.68379832,681,660,635,879.68379832,787,805.31620168,651,631,652,0.438675656485,-0.00554303875555,0.0800273791884,0.999999994545,-7.3316323997e-05,5.08459017269e-05,-5.43034448938e-05,1793242945932298752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.267911827,660.267911827,635,879.732088173,787,805,651,631,652,0.439450693555,-0.00554602177946,0.0800268639004,0.999999993913,-7.78144210354e-05,5.54936263367e-05,-5.51380282574e-05,1793242945948965376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.847160539,660.847160539,635,879.152839461,787,805,651,631,652,0.440190694798,-0.0055471104313,0.0800046695229,0.999999995355,-7.57823615799e-05,2.05334499855e-05,-5.590827061e-05,1793242945965632000
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,634.576960526,879.423039474,787,805.423039474,651,631,652.423039474,0.440855086897,-0.0055437910438,0.0799386157372,0.999999992258,-7.19407362537e-05,-8.27496278546e-05,-5.88221925507e-05,1793242945982298880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,634.002289386,879.997710614,787,805.997710614,651,631,652.997710614,0.44149237818,-0.00553889166589,0.0798568412531,0.999999973612,-6.74505001011e-05,-0.000210521947904,-6.25044810595e-05,1793242945998966016
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.429251002,682,661,634,880,787,806,651,631,652.429251002,0.4422155497,-0.00554259485759,0.0798514536943,0.999999974315,-6.76966051244e-05,-0.000206605198788,-6.40456747738e-05,1793242946015632384
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.850912685,745,714,682,661,634,880,787,805.850912685,651,631,652,0.442942315124,-0.00554794408873,0.079866796139,0.999999980026,-7.27236687686e-05,-0.000174804720763,-6.40456082998e-05,1793242946032298496
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.256732028,745,714,682,661,634,880,787,805.256732028,651,631,652,0.44367878465,-0.005558104772,0.0799431149147,0.999999992122,-9.19675075525e-05,-6.1331156269e-05,-5.94697470391e-05,1793242946048965120
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.328471022,745.328471022,714,682,660.671528978,634,880,786.671528978,805.328471022,651,631,652,0.444357607215,-0.00556488692399,0.0799877619861,0.999999993762,-9.59379830223e-05,2.65333413163e-06,-5.71377175644e-05,1793242946065632000
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.906843845,745.906843845,714,682,660.093156155,634,880,786.093156155,805.906843845,651,631,652,0.444992571742,-0.005569098678,0.0800083131193,0.999999994086,-8.82884344743e-05,2.89863721315e-05,-5.65128031289e-05,1793242946082298624
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.520123945,714,682.479876055,660,634,880,786.479876055,806,651,631,652,0.445560209329,-0.00556903778697,0.0799883430061,0.99999999298,-0.000103745211849,-6.51241244772e-06,-5.68715898828e-05,1793242946098965248
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.94637604,660,634,880,787,806,651,631,652,0.446112203384,-0.00556843467751,0.0799606564066,0.99999998967,-0.000120605687256,-5.30010929456e-05,-5.74956864605e-05,1793242946115632384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.355174335,660,634,880,787,806,651,631,652,0.446636954523,-0.00557061932215,0.0799336027631,0.999999988425,-0.000107065920924,-9.06565879373e-05,-5.88861944099e-05,1793242946132299008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682.231288453,659.768711547,633.768711547,880,786.768711547,806,651,631,652,0.447149909649,-0.00556961101663,0.0799085299627,0.999999985912,-9.84312332461e-05,-0.000121884855738,-6.02614032789e-05,1793242946148965888
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.810620059,659.189379941,633.189379941,880,786.189379941,806,651,631,652,0.447645114076,-0.00556379795552,0.0798864379401,0.999999983092,-9.71777154649e-05,-0.00014344142075,-6.16135900411e-05,1793242946165632512
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.613553947,745,714,683,659,633,880,786,806,651,631,652,0.448094869552,-0.00555573784417,0.0798639918144,0.999999977757,-9.55890339424e-05,-0.000177058814003,-6.32335401843e-05,1793242946182299136
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.039430402,745,714,683,659,633,880,786,806,651,631,652,0.448522552795,-0.00554658645255,0.0798413737167,0.999999970042,-9.3837579955e-05,-0.000216533549176,-6.49835296379e-05,1793242946198965760
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.534709554,745,714,683,659,633,880.534709554,786,806,651,631,652,0.448924832393,-0.00554929745766,0.0798213278056,0.999999963742,-8.62186081283e-05,-0.000246725222092,-6.4882179708e-05,1793242946215632384
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.88732184,745.11267816,714,683,659,633,880.88732184,786,806,651,631,652,0.449325251483,-0.00555345705992,0.0798058404795,0.999999958143,-8.37395146485e-05,-0.000269283267118,-6.47167399675e-05,1793242946232298752
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.292992378,745.707007622,714,683,659,633,880.292992378,786,806,651,631,652,0.44972572566,-0.0055600694864,0.0798090283469,0.999999958018,-0.00010508080077,-0.000262137049468,-6.48609306313e-05,1793242946248965120
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745.706987239,714,683,659,633,880,785.706987239,806,651,630.706987239,652,0.450107672026,-0.00556461910469,0.0798169660224,0.999999959784,-0.00011651558413,-0.000250472902595,-6.41810055516e-05,1793242946265631744
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745.129075939,714,683,659,633,880,785.129075939,806,651,630.129075939,652,0.450471603636,-0.00556716303846,0.079829521972,0.999999963559,-0.000118318198139,-0.0002344159392,-6.26997864598e-05,1793242946282298368
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,805,651.023743455,630.976256545,652,0.45111003282,-0.0055720774127,0.0798411378306,0.999999968233,-0.000108830093016,-0.000218473326732,-6.29189328506e-05,1793242946315631872
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+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880.19715189,785,805.394303779,651.80284811,630,652,0.451610545635,-0.00557955353263,0.0798192253316,0.999999956122,-0.000120425482923,-0.000262842570967,-6.45575255586e-05,1793242946348964864
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,631,880,785,806,651,630.307225856,652,0.453134637402,-0.00557096303232,0.0795845830733,0.999999791372,-0.000124290431074,-0.000630922567353,-6.11966405743e-05,1793242947541213440
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.506815293,713.493184707,683.493184707,657.493184707,631.506815293,880,785,806.506815293,651,630.493184707,652,0.451698548272,-0.00554488159736,0.0795887277172,0.999999794066,-8.63534430356e-05,-0.000635466619032,-2.43412105058e-05,1793242947707880192
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.661742896,683,657.661742896,632,880,785,806.338257104,651,630,652,0.451202978464,-0.00553807341121,0.0796008945418,0.999999805567,-6.7854805854e-05,-0.000619803904469,-1.02781159346e-05,1793242947741213184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.762871217,714,683,658,632,880,785,806,651,630.237128783,652,0.450929403821,-0.00553296313751,0.079610116067,0.999999815837,-5.60712137423e-05,-0.000604294953791,-3.07721295128e-06,1793242947757880064
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.049217353,745,714,683,658,632,880.950782647,785.950782647,806,651,631,652,0.449975504612,-0.00551523960424,0.0796427660644,0.999999852332,8.32367448908e-06,-0.000543209913508,1.37726410257e-05,1793242947807880192
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.540410612,786.540410612,805,651.540410612,631,652,0.422565344108,-0.00539838314615,0.0797414194963,0.99999989221,0.000207969954223,-0.000412477809096,4.68043603481e-05,1793242948424546560
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.996919646,879.003080354,787,805.003080354,651.003080354,630.996919646,652,0.412017978204,-0.00541295512822,0.0798121611513,0.999999932305,0.00020004775919,-0.000305211435264,4.70883476128e-05,1793242948641212928
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.903581973,787,804.096418027,651,631,652,0.408798511837,-0.0054063353983,0.0798432608365,0.99999994191,0.000220755609207,-0.000254569928601,5.13868493338e-05,1793242948724546560
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.359644556,659,634.359644556,879,787,805,651.359644556,631,652,0.407066801302,-0.00539891068989,0.0797902965965,0.999999910959,0.000227663280995,-0.000352048391467,4.80916030221e-05,1793242948774547200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.783209641,679.216790359,659,634.216790359,879,786.783209641,805,651.216790359,631,652,0.406543757197,-0.00539859511756,0.079770656318,0.999999900264,0.000226728108853,-0.000381985415425,4.64036236437e-05,1793242948791213824
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.338372333,658.338372333,635,878.661627667,787,805,651.661627667,631,652,0.401508325664,-0.00539679721296,0.0798392548907,0.999999933727,0.000223100911345,-0.000283984972377,4.61023987303e-05,1793242949091213568
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.167279678,714.167279678,679.832720322,659,635,878,787,804.832720322,651,631,652,0.400964076499,-0.00540171060781,0.0798332129443,0.999999929357,0.000234147744958,-0.00029084555347,4.32328916018e-05,1793242949507880192
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.496381624,744.496381624,715,679.503618376,659,635,878.503618376,786.496381624,804.496381624,651,631,652,0.400964165411,-0.00540130209505,0.0798335570693,0.999999929555,0.000234240098467,-0.000290162288106,4.27585538757e-05,1793242949574547200
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.018344419,878.018344419,786.018344419,805,651,631,652,0.400962992164,-0.00540045325792,0.0798338120573,0.999999929607,0.000233539591179,-0.000290558908226,4.26627522036e-05,1793242949674546944
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..883ef0e3fec8eaa279d17edfcbb85109a952867c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b62cb4558e5bd418103fdc943fcd764e0b6283e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ce1dd7a47bff71e3e70b06c2a31678c2497e9c0eb1f459fd58a79359987c30
+size 26000785
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9abc9b77b59cedbcabaff597505a86874b2ecb92
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+4,0.066666667,BASELINE,764.395515397,745,714.604484603,680,659,635,878.604484603,787,805,651.395515397,631,651.395515397,0.400962890527,-0.0054019000757,0.0798340318343,0.999999930489,0.00023226346316,-0.00028862568402,4.20877559205e-05,1793242949859088640
+5,0.083333333,BASELINE,764.987022117,745,714.012977883,680,659,635,878.012977883,787,805,651.987022117,631,651.987022117,0.400961926122,-0.00540192987255,0.0798337887504,0.99999993014,0.00023234334365,-0.000289757595555,4.21463621649e-05,1793242949875755520
+6,0.100000000,BASELINE,765.565513051,745,714,679.434486949,659,634.434486949,878.565513051,786.434486949,805,651.434486949,631,652,0.400963947345,-0.00540246587564,0.079834936325,0.999999930842,0.000232307538678,-0.000287309863535,4.2443456563e-05,1793242949892422656
+7,0.116666667,BASELINE,765.857133841,744.857133841,714,679.142866159,659,634.142866159,878.857133841,786.142866159,805,651.142866159,631,652,0.400965369165,-0.00540286966785,0.07983583775,0.999999931244,0.000232703903456,-0.000285552644158,4.26583331918e-05,1793242949909089280
+8,0.133333333,BASELINE,765.282338034,744.282338034,714,679.717661966,659,634.717661966,878.282338034,786.717661966,805,651.717661966,631,652,0.400964776314,-0.00540283941339,0.0798359006707,0.999999930683,0.000234414700152,-0.000286125837405,4.26084650049e-05,1793242949925755392
+9,0.150000000,BASELINE,765,744.292485901,714,680,659,635,878.292485901,787,805,652,631,652,0.400964859176,-0.00540245986671,0.079835903335,0.999999930806,0.000234452975875,-0.000285679468661,4.25055598238e-05,1793242949942421760
+10,0.166666667,BASELINE,765,744.867336957,714,680,659,635,878.867336957,787,805,652,631,652,0.400965594367,-0.00540174311419,0.0798358478279,0.999999931589,0.000232876603957,-0.000284248817297,4.23514528646e-05,1793242949959088640
+11,0.183333333,BASELINE,765.455874244,745,714,679.544125756,659,635,878.544125756,786.544125756,805,651.544125756,631,651.544125756,0.400964388062,-0.00540160417964,0.0798352154147,0.999999931312,0.000232266949079,-0.000285723104957,4.23195835925e-05,1793242949975755520
+12,0.200000000,BASELINE,765.952639843,744.952639843,714,679.047360157,659,634.952639843,878,786,805,651,631,651.047360157,0.400962839068,-0.00540158731436,0.0798344993342,0.999999930766,0.00023205125172,-0.000287804236468,4.22920257942e-05,1793242949992422144
+13,0.216666667,BASELINE,765.37413525,744.37413525,714,679.62586475,659,634.37413525,878,786,805,651,631,651.62586475,0.400963979314,-0.00540099528959,0.0798347860227,0.999999930817,0.000233001106526,-0.000286916961617,4.19015317003e-05,1793242950009088512
+14,0.233333333,BASELINE,765,744.202457008,714,679.797542992,659,634.202457008,878,786.202457008,805,651,631,652,0.400964792277,-0.00540042270275,0.0798352233465,0.999999930746,0.000234184546756,-0.00028622049368,4.17512422812e-05,1793242950025754880
+15,0.250000000,BASELINE,765,744.775548486,714,679.224451514,659,634.775548486,878,786.775548486,805,651,631,652,0.400965006086,-0.00539988570047,0.0798359364354,0.999999930455,0.000235795607859,-0.000285873332439,4.20406912524e-05,1793242950042421504
+16,0.266666667,BASELINE,765,745,714,679.357210009,659,634.642789991,878.357210009,787,805,651.357210009,631,652,0.400964488029,-0.00540019602417,0.0798357207136,0.999999930325,0.000235612863522,-0.000286471697549,4.2077772092e-05,1793242950059088384
+17,0.283333333,BASELINE,765,745,714,679.944388821,659,634.055611179,878.944388821,787,805,651.944388821,631,652,0.400963498802,-0.00540105184924,0.079834907031,0.999999930298,0.000234275282222,-0.000287678784599,4.19523804317e-05,1793242950075755008
+18,0.300000000,BASELINE,765,745,714,679.47252966,659,634,878.47252966,787,805,651.47252966,631,652,0.400962962567,-0.00540145300045,0.0798346054996,0.999999930011,0.000234975165935,-0.000288061956065,4.22429875407e-05,1793242950092421632
+19,0.316666667,BASELINE,764.891446265,745,714,679,659,634,878,787,805,651,631,652,0.400962830422,-0.00540169928882,0.0798345375505,0.999999929846,0.000235662943978,-0.000288032589756,4.2511371e-05,1793242950109088256
+20,0.333333333,BASELINE,764.317097386,745,714,679,659,634,878,787,805,651,631,652,0.400964228844,-0.00540148517853,0.0798352419766,0.999999930324,0.000235384150763,-0.000286602917033,4.24976509615e-05,1793242950125754880
+21,0.350000000,BASELINE,764.25775844,745,714,679,659,634,878,787,805,651,631,652,0.400964318257,-0.00540090314186,0.0798353648582,0.999999930226,0.000236025695254,-0.000286427296976,4.24272207315e-05,1793242950142421760
+22,0.366666667,BASELINE,764.833239104,745,714,679,659,634,878,787,805,651,631,652,0.400962794142,-0.00539986758608,0.0798347709072,0.999999929417,0.000237801680763,-0.000287797466958,4.22868875031e-05,1793242950159088640
+23,0.383333333,BASELINE,765,745,714,679,659,634,878.420375964,787,804.579624036,651,631,652,0.400963026098,-0.00540020685041,0.0798354776906,0.999999929919,0.000236589534705,-0.000287076567931,4.21157398246e-05,1793242950175755008
+24,0.400000000,BASELINE,765,745,714.011943888,679.011943888,659.011943888,634.011943888,878.988056112,787,804.011943888,651,631,652,0.400963954474,-0.0054010791168,0.0798366767832,0.999999930917,0.000234238499386,-0.000285550139126,4.19444601753e-05,1793242950192421376
+25,0.416666667,BASELINE,765,745,714.588166684,679.588166684,659.588166684,634.588166684,878.411833316,787,804.588166684,651,631,652,0.400963934569,-0.00540063159501,0.0798360616653,0.999999930353,0.000235680803229,-0.000286274565399,4.23609254061e-05,1793242950209088256
+26,0.433333333,BASELINE,765,745,714.835936809,679.835936809,659.835936809,635,878,786.835936809,805,651,631,652,0.400963977002,-0.00540037552355,0.0798355541407,0.999999930156,0.000236063398561,-0.00028662481008,4.25210346408e-05,1793242950225755136
+27,0.450000000,BASELINE,765,745,714.26085761,679.26085761,659.26085761,635,878,786.26085761,805,651,631,652,0.400964175608,-0.00540059907909,0.0798353161617,0.999999930878,0.000233791180785,-0.000286037644007,4.20389132635e-05,1793242950242421760
+28,0.466666667,BASELINE,765,745,714,679,659,635,878,786.322430441,805,651,631,652.322430441,0.400964170969,-0.00540097007211,0.0798355973236,0.999999931037,0.000233564702025,-0.000285671667415,4.2003719608e-05,1793242950259088384
+29,0.483333333,BASELINE,765,745,714,679,659,635,878,786.912533206,805,651,631,652.912533206,0.400963997602,-0.0054014634634,0.0798363094611,0.999999930731,0.00023503653612,-0.000285489315895,4.23395523084e-05,1793242950275755008
+30,0.500000000,BASELINE,765,745,714,679,659.492339157,635,878.492339157,787,804.507660843,651,631,652.507660843,0.400963611659,-0.00540142368729,0.0798359022492,0.999999930318,0.000235953769991,-0.000286196721636,4.22126003285e-05,1793242950292421632
+31,0.516666667,BASELINE,764.930041085,745,714,679,659.930041085,634.930041085,879,787,804.069958915,651,631,652,0.400963412097,-0.00540127491886,0.0798354601997,0.999999930047,0.000236440599981,-0.000286769299203,4.20117493553e-05,1793242950309088512
+32,0.533333333,BASELINE,764.355267122,745,714,679,659.355267122,634.355267122,879,787,804.644732878,651,631,652,0.400964824372,-0.00540100916245,0.0798361723095,0.99999993094,0.000234518087983,-0.000285251722919,4.18587615239e-05,1793242950325755136
+33,0.550000000,BASELINE,764.220991456,745,714,679,659,634.220991456,878.779008544,787,805,651.220991456,631,652,0.400965441304,-0.00540117074802,0.0798365315254,0.999999931489,0.000233023414276,-0.000284551589067,4.18540884406e-05,1793242950342421760
+34,0.566666667,BASELINE,764.799652796,745,714,679,659,634.799652796,878.200347204,787,805,651.799652796,631,652,0.40096477099,-0.00540202397736,0.0798363195903,0.999999931489,0.000232221187762,-0.000285174468235,4.20894595798e-05,1793242950359088640
+35,0.583333333,BASELINE,764.61497088,745,714,679,659.38502912,635,878.38502912,787,805,651.61497088,631,652,0.400963741629,-0.00540164352614,0.0798357640636,0.999999931163,0.000232523563743,-0.000286057343944,4.21693017848e-05,1793242950375755008
+36,0.600000000,BASELINE,764.026038389,745,714,679,659.973961611,635,878.973961611,787,805,651.026038389,631,652,0.400962522124,-0.00540060974357,0.0798350265779,0.999999930664,0.000233410914037,-0.000287077908441,4.21667791397e-05,1793242950392421632
+37,0.616666667,BASELINE,764.551166154,745,714,679.551166154,659.448833846,635,878.448833846,787,804.448833846,651,631,652,0.400963438077,-0.00540046958437,0.0798357767711,0.999999930458,0.000235755377904,-0.000285872310924,4.22020873775e-05,1793242950409088512
+38,0.633333333,BASELINE,765,745,714,680,659,634.871776161,878.128223839,786.871776161,804.128223839,651,631,651.871776161,0.400964138042,-0.00540081778153,0.0798363276808,0.999999930462,0.000236784845925,-0.000285007928175,4.21851185547e-05,1793242950425755136
+39,0.650000000,BASELINE,765,745,714,680,659,634.293329092,878.706670908,786.293329092,804.706670908,651,631,651.293329092,0.400963732776,-0.00540273556491,0.079835937228,0.99999993117,0.000232960395134,-0.000285703207274,4.19784484327e-05,1793242950442421760
+40,0.666666667,BASELINE,765,745,714,679.711082608,659,634.288917392,879,786,804.711082608,651,630.711082608,651.288917392,0.400964534361,-0.00540198264857,0.0798366198487,0.999999931298,0.000233490247078,-0.000284840417834,4.18704258706e-05,1793242950459088384
+41,0.683333333,BASELINE,765,745,714,679.124927327,659,634.875072673,879,786,804.124927327,651,630.124927327,651.875072673,0.400966577553,-0.00539848211923,0.0798384064462,0.999999930815,0.000238499801038,-0.000282374689181,4.18638918198e-05,1793242950475755008
+42,0.700000000,BASELINE,765,745,714,679,659,635,878.543931411,786,804.456068589,651.456068589,630.456068589,652,0.400965761447,-0.00539920252925,0.0798378089968,0.999999930913,0.000237089029598,-0.000283201444638,4.19418301228e-05,1793242950492421632
+43,0.716666667,BASELINE,765,745,714.035525662,679,659,635,878.035525662,786,804.964474338,651.964474338,631,652,0.4009642646,-0.00540096367508,0.0798366197957,0.999999931159,0.000234085126531,-0.000284816605095,4.20242737759e-05,1793242950509088000
+44,0.733333333,BASELINE,765,745,714.612826661,679,659,635,878.612826661,786,804.387173339,651.387173339,631,652,0.40096419706,-0.00540116106342,0.0798362539067,0.999999931338,0.000233305708812,-0.000284855027132,4.18264990617e-05,1793242950525754880
+45,0.750000000,BASELINE,765,745,714.810568353,679.189431647,659,635,878.810568353,786.189431647,804.189431647,651.189431647,631,652,0.400964482767,-0.00540147777244,0.079836312984,0.999999931606,0.000232700813866,-0.000284416862313,4.17834642825e-05,1793242950542421504
+46,0.766666667,BASELINE,765,745,714.235380792,679.764619208,659,635,878.235380792,786.764619208,804.764619208,651.764619208,631,652,0.400965487822,-0.00540203746438,0.0798372374564,0.999999932052,0.000232451314708,-0.000283008182786,4.20555397332e-05,1793242950559087872
+47,0.783333333,BASELINE,765,745,714,679.652086288,659,635,878,787,805,652,631,652,0.400964833927,-0.00540146303167,0.079836665281,0.999999931752,0.000232880715479,-0.000283733601598,4.19319881354e-05,1793242950575754496
+48,0.800000000,BASELINE,765,745,714,679.063176126,659,635,878,787,805,652,631,652,0.400963030895,-0.00540010300187,0.0798350563921,0.999999930931,0.000233780383612,-0.000285937289462,4.15343895502e-05,1793242950592421376
+49,0.816666667,BASELINE,765,745,714,679,659,634.482982412,878.517017588,787,805,651.482982412,631,652,0.400964857963,-0.0054016320755,0.0798358943762,0.999999931622,0.000232432170953,-0.000284589382859,4.17201334424e-05,1793242950609088000
+50,0.833333333,BASELINE,765,745,714,679,659.095694382,634.095694382,878.904305618,786.904305618,804.904305618,651.095694382,630.904305618,652,0.400966538271,-0.00540305471669,0.0798367825807,0.999999932237,0.000231454480846,-0.000283181852427,4.19746981806e-05,1793242950625754624
+51,0.850000000,BASELINE,765,745,714,679,659.672013397,634.672013397,878.327986603,786.327986603,804.327986603,651.672013397,630.327986603,652,0.400965290565,-0.00540219911088,0.07983644623,0.999999931582,0.000233694425417,-0.000283618392315,4.2222844565e-05,1793242950642421504
+52,0.866666667,BASELINE,764.751999148,745,714,679,659.751999148,635,878,786.248000852,804,652,630.248000852,652,0.400964861229,-0.00540109217707,0.0798367961943,0.999999931046,0.00023592370975,-0.000283660479501,4.22408634046e-05,1793242950659088128
+53,0.883333333,BASELINE,764.176449639,745,714,679,659.176449639,635,878,786.823550361,804,652,630.823550361,652,0.400965512758,-0.00539965330028,0.0798380526135,0.999999930669,0.000238138914371,-0.000283181590818,4.19549398524e-05,1793242950675754752
+54,0.900000000,BASELINE,764.408719997,745,714,679,659,635,878,786.591280003,804.408719997,651.591280003,631,652,0.400964491357,-0.00540017261614,0.0798374405704,0.99999993054,0.000237033483273,-0.000284566829825,4.19029910125e-05,1793242950692421376
+55,0.916666667,BASELINE,764.998142858,745,714,679,659,635,878,786.001857142,804.998142858,651.001857142,631,652,0.400962730322,-0.00540155768614,0.0798360024446,0.999999930514,0.000234459936071,-0.000286776235056,4.19544868388e-05,1793242950709088256
+56,0.933333333,BASELINE,765,745,714.576969542,679,659,634.423030458,878,786.576969542,804.423030458,651,630.423030458,652,0.400963617423,-0.00540094027059,0.0798366898065,0.999999931051,0.00023455094771,-0.000284804467082,4.20655591266e-05,1793242950725754624
+57,0.950000000,BASELINE,765,745,714.845290273,679,659.154709727,634.154709727,878.154709727,786.845290273,804.154709727,651.154709727,630.154709727,652,0.400964578034,-0.00540051063822,0.079837330291,0.999999931453,0.000234891602453,-0.000283105799858,4.20912008752e-05,1793242950742421504
+58,0.966666667,BASELINE,765,745,714.270410011,679,659.729589989,634.729589989,878.729589989,786.270410011,804.729589989,651.729589989,630.729589989,652,0.400965715558,-0.00540060818906,0.0798378252168,0.999999931487,0.000235887380898,-0.000282184729149,4.18843134905e-05,1793242950759089152
+59,0.983333333,BASELINE,765,745,714,679,659.688543561,634.688543561,878.688543561,786.311456439,805,652,631,652,0.400965183687,-0.00540039259747,0.0798372897177,0.999999931217,0.000236092647741,-0.000282990746518,4.17469987236e-05,1793242950775755776
+60,1.000000000,BASELINE,765,745,714,679,659.100472382,634.100472382,878.100472382,786.899527618,805,652,631,652,0.400963169172,-0.00539989889377,0.0798358390643,0.999999930672,0.000235595835257,-0.00028533064769,4.16714736703e-05,1793242950792421888
+61,1.016666667,BASELINE,765,745,714,679.479951742,659,634,878,787,805,651.520048258,631,652,0.400964253403,-0.00540024829278,0.0798364389257,0.999999930982,0.000235554859617,-0.000284247881385,4.18766948946e-05,1793242950809088256
+62,1.033333333,BASELINE,764.941427665,745,714,679.941427665,659,634.058572335,878,787,805,651,631,652,0.400965792763,-0.0054008116322,0.0798373324072,0.999999931453,0.000235436997606,-0.00028265090405,4.20893933521e-05,1793242950825754880
+63,1.050000000,BASELINE,764.364821594,745,714,679.364821594,659,634.635178406,878,787,805,651,631,652,0.400965710198,-0.00540173064282,0.0798370858565,0.999999931819,0.000233808398019,-0.000282743621216,4.18565842371e-05,1793242950842421760
+64,1.066666667,BASELINE,764.211097194,745,714,679.211097194,659,635,878,787,805,651.211097194,631,652,0.400965582674,-0.00540225407734,0.0798367541965,0.999999932076,0.000232507629763,-0.00028293322728,4.16838569448e-05,1793242950859088384
+65,1.083333333,BASELINE,764.785832032,745,714,679.785832032,659,635,878,787,805,651.785832032,631,652,0.400965377704,-0.0054020960894,0.0798362759267,0.999999932149,0.000231771586367,-0.000283289734894,4.16146270738e-05,1793242950875755264
+66,1.100000000,BASELINE,765,745,714,679.629028847,659.370971153,634.629028847,878.370971153,786.629028847,804.629028847,651.629028847,631,652,0.400964965059,-0.00540237623312,0.0798361047297,0.999999931876,0.000232394137707,-0.000283729588519,4.17023569802e-05,1793242950892421888
+67,1.116666667,BASELINE,765,745,714,679.037709854,659.962290146,634.037709854,878.962290146,786.037709854,804.037709854,651.037709854,631,652,0.400964429061,-0.0054029166164,0.0798361159265,0.999999931396,0.000233823661292,-0.000284218947633,4.1883317178e-05,1793242950909088512
+68,1.133333333,BASELINE,765,745,714,679,660,634.541881572,879,786.541881572,804.541881572,651,631,652,0.400965913405,-0.00540214562371,0.0798371763044,0.999999931944,0.000233643299642,-0.000282460471208,4.16895160898e-05,1793242950925754880
+69,1.150000000,BASELINE,765,745,714,679.120041481,660,635,879,787,805,651,631,652,0.4009667392,-0.00540128200984,0.0798378534478,0.999999932262,0.00023359425691,-0.000281397733359,4.15242707862e-05,1793242950942421760
+70,1.166666667,BASELINE,765,745,714,679.695799395,660,635,879,787,805,651,631,652,0.400964542487,-0.00540040588736,0.0798368043981,0.999999931448,0.000234460046802,-0.000283557517593,4.15643428049e-05,1793242950959088640
+71,1.183333333,BASELINE,765,745,714,680,659.723143095,635,878.723143095,787,805,651,631,652,0.400964036779,-0.00540032539073,0.0798364506034,0.999999931129,0.000235120043766,-0.00028412558758,4.16200230612e-05,1793242950975755264
+72,1.200000000,BASELINE,765,745,714,680,659.136148861,635,878.136148861,787,805,651,631,652,0.40096542535,-0.00540113616046,0.0798368756388,0.99999993137,0.000235549509947,-0.000282910606759,4.16931877959e-05,1793242950992422144
+73,1.216666667,BASELINE,764.556769378,745,714,680,659,635,878,787,805,651,631,652,0.400965410426,-0.00540201291605,0.0798371777374,0.999999931979,0.000233391855782,-0.00028256447579,4.15609284412e-05,1793242951009089024
+74,1.233333333,BASELINE,764,745,714,680,659.020380042,635,878.020380042,787,805,651.020380042,631,652,0.40096500031,-0.00540284399781,0.0798374314051,0.999999932656,0.000230610151876,-0.000282480301402,4.13649543337e-05,1793242951025755648
+75,1.250000000,BASELINE,764,745,714,680,659.599435171,635,878.599435171,787,805,651.599435171,631,652,0.400965375349,-0.00540187678092,0.079837375149,0.99999993234,0.000232138391331,-0.000282384513179,4.11229369168e-05,1793242951042422272
+76,1.266666667,BASELINE,764.177597197,745,714.177597197,680,659.822402803,635,878.822402803,787,804.822402803,652,631,652,0.400965235094,-0.00540153852057,0.079837182722,0.999999932066,0.000232897894842,-0.000282725461377,4.11394370981e-05,1793242951059088640
+77,1.283333333,BASELINE,764.753754901,745,714.753754901,680,659.246245099,635,878.246245099,787,804.246245099,652,631,652,0.400963938424,-0.00540261175349,0.0798366847031,0.999999931892,0.000231932214574,-0.000284046525778,4.1736097943e-05,1793242951075755264
+78,1.300000000,BASELINE,765,745,714.663000677,680,659,635,878,787,804.336999323,651.663000677,631,652,0.400964175885,-0.00540320974921,0.0798370128211,0.999999932234,0.000231002142962,-0.00028357500026,4.19009635404e-05,1793242951092421888
+79,1.316666667,BASELINE,765,745,714.074466791,680,659,635,878,787,804.925533209,651.074466791,631,652,0.400965558413,-0.00540345303028,0.0798379575633,0.99999993296,0.000230098649509,-0.000281765494773,4.17435393558e-05,1793242951109088512
+80,1.333333333,BASELINE,765,745,714.506136669,680,659,635,878.506136669,787,805,651,631,652,0.400965059441,-0.00540189469654,0.0798378091474,0.999999932303,0.000232235442226,-0.000282350332672,4.17074598384e-05,1793242951125754880
+81,1.350000000,BASELINE,765,745,714.915254233,680,659,635,879,787,805,651,631,652,0.400964534878,-0.00540030839057,0.0798376065928,0.999999931552,0.000234704121894,-0.000282965946174,4.17117813549e-05,1793242951142421760
+82,1.366666667,BASELINE,765,745,714.341524337,680,659,635,879,787,805,651,631,652,0.400965435278,-0.00540006653454,0.0798380053554,0.999999931453,0.000236546620472,-0.000281757863417,4.18477934539e-05,1793242951159088384
+83,1.383333333,BASELINE,765,745,714.233199212,679.766800788,659,634.766800788,878.766800788,787,805,651,631,652,0.400965080769,-0.00540072019843,0.0798375789607,0.999999931426,0.000236041640491,-0.00028226103734,4.19529497657e-05,1793242951175755008
+84,1.400000000,BASELINE,765,745,714.809384299,679.190615701,659,634.190615701,878.190615701,787,805,651,631,652,0.400962880559,-0.00540269097943,0.0798359389372,0.999999931493,0.00023208402483,-0.000285281101514,4.20127238717e-05,1793242951192421632
+85,1.416666667,BASELINE,765,745,714.603928449,679.396071551,659,634.396071551,878.396071551,787,805,651,631,652,0.400963552017,-0.00540270832204,0.0798364971145,0.999999931396,0.000233460002607,-0.000284484628982,4.21006348168e-05,1793242951209088256
+86,1.433333333,BASELINE,765,745,714.012049229,679.987950771,659,634.987950771,878.987950771,787,805,651,631,652,0.400965643155,-0.00540175993442,0.0798381420263,0.999999931207,0.000237472773136,-0.00028180135789,4.22024558932e-05,1793242951225754880
+87,1.450000000,BASELINE,765,745,714,680,659,634.433762478,878.433762478,787,804.433762478,651.566237522,631,652,0.400965155942,-0.00540027462018,0.0798378940575,0.99999993098,0.000238138098587,-0.000282087491595,4.19034564784e-05,1793242951242421760
+88,1.466666667,BASELINE,765,745,714,680,659,634.143260456,878,787,804.143260456,652,631,652,0.400964618791,-0.00539987044637,0.0798375369294,0.999999930973,0.000237707016392,-0.000282502058531,4.1734297994e-05,1793242951259088384
+89,1.483333333,BASELINE,765,745,714,680,659,634.717332235,878,787,804.717332235,652,631,652,0.400964092591,-0.00540275101984,0.0798369698268,0.999999931619,0.000234188014829,-0.000283117286612,4.19806435756e-05,1793242951275755008
+90,1.500000000,BASELINE,765,745,714.299244838,679.700755162,659,635,878.299244838,786.700755162,804.700755162,652,631,652,0.400964844743,-0.00540295032263,0.0798373482348,0.999999932112,0.000233081780324,-0.000282286784948,4.1999674461e-05,1793242951292421888
+91,1.516666667,BASELINE,765,745,714.888763164,679.111236836,659,635,878.888763164,786.111236836,804.111236836,652,631,652,0.400966836921,-0.00540054873896,0.0798386438068,0.999999932459,0.000234315978416,-0.000280053896426,4.1798205522e-05,1793242951309088768
+92,1.533333333,BASELINE,765,745,714.530872707,679.469127293,659.469127293,634.530872707,878.530872707,786.469127293,804.469127293,651.530872707,631,652,0.400965975631,-0.00540023986034,0.079837803882,0.999999931813,0.000235549521311,-0.000281330401667,4.17682884628e-05,1793242951325755136
+93,1.550000000,BASELINE,764.952820287,745,714,679.952820287,659.952820287,634.047179713,878,787,804.952820287,651,631,652,0.400964657925,-0.00540056441986,0.0798366668674,0.999999931074,0.000236509755267,-0.00028313999689,4.17919308035e-05,1793242951342421760
+94,1.566666667,BASELINE,764.376815753,745,714,679.376815753,659.376815753,634.623184247,878,787,804.376815753,651,631,652,0.40096566301,-0.00540253358066,0.0798377668445,0.999999931947,0.000234408249171,-0.000281776273833,4.19686904424e-05,1793242951359088128
+95,1.583333333,BASELINE,764.20264259,745,714,679.20264259,659,635,878.20264259,787,804.20264259,651.20264259,631,652,0.400965890463,-0.00540363403821,0.0798381616182,0.999999932457,0.000232695839387,-0.000281382014165,4.19840007231e-05,1793242951375755008
+96,1.600000000,BASELINE,764.788634787,745,714,679.788634787,659,635,878.788634787,787,804.788634787,651.788634787,631,652,0.400964646826,-0.00540309112462,0.0798372223219,0.99999993229,0.000231719503119,-0.000282821738956,4.16938888245e-05,1793242951392421376
+97,1.616666667,BASELINE,765,745,714.37148597,679.62851403,659,635,879,787,805,651.62851403,631,652,0.400964304451,-0.00540268604267,0.0798369122502,0.999999931992,0.000232909571785,-0.000282884825542,4.17780626941e-05,1793242951409088256
+98,1.633333333,BASELINE,765,745,714.952564952,679.047435048,659,635,879,787,805,651.047435048,631,652,0.400964470569,-0.00540235872561,0.0798369571881,0.999999931616,0.000235321929837,-0.000282171210438,4.20734092443e-05,1793242951425755136
+99,1.650000000,BASELINE,765,745,714.470169804,679.529830196,659,635,878.470169804,787,805,651.529830196,631,652,0.400964948397,-0.00540201859029,0.0798372129702,0.999999931766,0.000234800150812,-0.000282088344111,4.19903972505e-05,1793242951442422016
+100,1.666666667,BASELINE,765.106571819,745,714.106571819,680,659,635,878.106571819,787,805,651.893428181,631,652,0.400965285736,-0.00540172529196,0.0798374024252,0.999999931911,0.000234078873739,-0.000282188919753,4.18947431965e-05,1793242951459088640
+101,1.683333333,BASELINE,765.682500324,745,714.682500324,680,659,635,878.682500324,787,805,651.317499676,631,652,0.400964882314,-0.00540164328816,0.0798372172254,0.999999931829,0.000233627633204,-0.000282850473743,4.18915312061e-05,1793242951475755264
+102,1.700000000,BASELINE,765.744811933,745,714.744811933,679.744811933,659,635,879,786.744811933,805,651,631,652,0.400964923693,-0.00540122807748,0.0798373839516,0.999999931589,0.000234652159996,-0.000282843745253,4.19387227433e-05,1793242951492421888
+103,1.716666667,BASELINE,765.176105756,745,714.176105756,679.176105756,659,635,879,786.176105756,805,651,631,652,0.400965511541,-0.00540040349661,0.0798379830459,0.999999931149,0.000237489780146,-0.000282015980439,4.20478388787e-05,1793242951509088768
+104,1.733333333,BASELINE,764.587914691,745,714,679,659,635,879,786,804.587914691,651,631,652,0.400966256449,-0.00540065678921,0.0798381944175,0.999999931511,0.000237359954613,-0.000280853035193,4.19517078145e-05,1793242951525755392
+105,1.750000000,BASELINE,764.008744824,745,714,679,659,635,878.991255176,786.008744824,804.008744824,651,631,652,0.400967063194,-0.00540139784938,0.079838233606,0.999999932228,0.00023588698811,-0.000279564737808,4.17627568161e-05,1793242951542421504
+106,1.766666667,BASELINE,764.587682869,745,714,679,659,635,878.412317131,786.587682869,804.587682869,651,631,652,0.400967308335,-0.00540241759353,0.0798383858988,0.999999932673,0.000233627894118,-0.000279906351452,4.15246581835e-05,1793242951559088384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,651,631,652,0.400965888698,-0.00540070079321,0.0798382627629,0.999999931842,0.000235452869338,-0.000281299405694,4.18251088393e-05,1793242951600256000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.594825447,679.594825447,659,635,878.405174553,787,804.594825447,651,631,652,0.400965107075,-0.0054005400749,0.0798372574427,0.999999931778,0.000234380865742,-0.000282465709373,4.15103216755e-05,1793242951616922880
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.814178886,679.814178886,659,635,878.185821114,787,804.814178886,651,631,652,0.400964844911,-0.00540068583077,0.0798368970809,0.999999931839,0.000233711026775,-0.00028282837461,4.13523723793e-05,1793242951633589504
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.23136514,679.23136514,659,635,878.76863486,787,804.23136514,651,631,652,0.400965692532,-0.00540148634529,0.0798379146236,0.999999932169,0.000233900381652,-0.000281474127853,4.15294951619e-05,1793242951650256128
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.654412932,744.654412932,714,679,659,634.654412932,878.654412932,787,804.345587068,651,631,652,0.40096528063,-0.00540204227292,0.0798377717242,0.999999932251,0.000232852069095,-0.000282050678356,4.154854143e-05,1793242951666922752
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.081319517,744.081319517,714,679,659,634.081319517,878.081319517,787,804.918680483,651,631,652,0.400964039559,-0.00540243718442,0.0798368648844,0.999999932163,0.000230988977208,-0.000283898308416,4.1463523e-05,1793242951683589376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.494360601,744.494360601,714,679,659,634.494360601,878.494360601,787,805,651,631,652,0.400964869325,-0.00540203887132,0.0798372724325,0.999999931825,0.000233986303244,-0.00028258485516,4.17931009927e-05,1793242951700255744
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.072080697,659,635,878.927919303,787,805,651.072080697,631,652,0.400966000432,-0.00540169509759,0.0798378543548,0.999999931579,0.000236859932894,-0.000281012496616,4.20832688329e-05,1793242951716922624
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.661369269,659,635,878.338630731,787,805,651.661369269,631,652,0.400966836692,-0.00540268384348,0.0798381279337,0.999999932398,0.000233079002986,-0.000281333081037,4.15987256381e-05,1793242951733589504
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.246751288,787,804.753248712,652,631,652,0.400970558363,-0.00540274633531,0.0798401524418,0.999999933475,0.000231854010015,-0.000278529877491,4.14109832552e-05,1793242951750256384
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.826855633,787,804.173144367,652,631,652,0.400978178132,-0.00540155748761,0.0798445423989,0.999999934879,0.000234082005969,-0.000271506536805,4.1624209265e-05,1793242951766923008
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.598238802,659,635,879,787,804.401761198,651.598238802,631,652,0.401000692031,-0.00540180734617,0.0798545844921,0.99999993921,0.000234897129719,-0.000254224174782,4.21223667871e-05,1793242951783589632
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.02554505,659,635,879,787,804.97445495,651.02554505,631,652,0.40102954276,-0.00540266931385,0.0798670313328,0.999999944402,0.000235111135656,-0.000232577028401,4.27417507293e-05,1793242951800256000
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.401083582877,-0.00540397210801,0.0798855186548,0.999999952568,0.000233530455379,-0.00019630112912,4.23548075491e-05,1793242951816922624
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.85049808,787,805,651,631,652,0.401142399069,-0.00540503053484,0.0799029997248,0.999999958905,0.000232507301641,-0.000162415493394,4.18478167798e-05,1793242951833589248
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.268603786,787,805,651,631,652,0.401211627392,-0.00540532267283,0.0799167548466,0.999999962489,0.000233338975162,-0.000137418347882,4.11295071449e-05,1793242951850255872
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.309396448,787,805,651,631.309396448,652,0.401285090917,-0.00540651931774,0.0799260441548,0.999999964772,0.000231871375237,-0.000122855567562,3.99780310471e-05,1793242951866922496
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.884058023,787,805,651,631.884058023,652,0.401362185545,-0.00540849145356,0.0799315046379,0.999999966297,0.000228432462924,-0.000117238829454,3.84551740251e-05,1793242951883589376
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.458935408,679,659,635,879,787,804.541064592,651,631.541064592,652,0.40145482575,-0.00540974081216,0.0799335379496,0.999999967414,0.000226310099829,-0.000112750439508,3.52666282241e-05,1793242951900256512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787,804.034702622,651,631,652,0.401552876566,-0.00541084352527,0.0799349021076,0.999999968423,0.000224515851508,-0.000108363142759,3.16770401387e-05,1793242951916923136
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787,804.623814436,651,631,652,0.401674594996,-0.0054125219722,0.0799394146291,0.999999969707,0.000222647398222,-0.00010103469076,2.84063760097e-05,1793242951933589504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.790409095,679,659,634.790409095,879,786.790409095,805,651,631,651.790409095,0.401810255269,-0.00541392517291,0.0799451766847,0.999999971143,0.000221012503317,-9.09212617788e-05,2.44943363927e-05,1793242951950256128
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.210525376,679,659,634.210525376,879,786.210525376,805,651,631,651.210525376,0.40197054715,-0.00541484208472,0.0799531463425,0.999999972778,0.000219790245727,-7.58875009878e-05,1.94491528505e-05,1793242951966923008
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.367582385,879,786.367582385,804.632417615,651,631,651.367582385,0.402144104549,-0.005416295802,0.0799600737286,0.999999974729,0.000215149725775,-6.36141990837e-05,1.4313490265e-05,1793242951983589632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.944677947,879,786.944677947,804.055322053,651,631,651.944677947,0.402325222993,-0.00541805548567,0.0799664070455,0.99999997681,0.000208560877811,-5.29142913798e-05,9.12625631028e-06,1793242952000256256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.528637406,679.528637406,659,635,878.471362594,787,804.528637406,651,631,652,0.402517852954,-0.00541924670543,0.0799655450928,0.999999978252,0.000200887415429,-5.59874688885e-05,2.27286549255e-06,1793242952016922880
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.887704756,680,659,635,878.112295244,787,804.887704756,651,631,652,0.402718012929,-0.00542073555433,0.0799627275346,0.99999997947,0.000192739979265,-6.23474086235e-05,-4.93563130943e-06,1793242952033589760
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.30832834,680,659,635,878.69167166,787,804.30832834,651,631,652,0.402944416652,-0.00542371306065,0.0799549490021,0.999999980243,0.000183099417291,-7.63042664512e-05,-1.28863693214e-05,1793242952050256384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.271195606,635,878.728804394,787,804.271195606,651,631,652,0.403197618467,-0.00542593428854,0.0799501473859,0.999999980921,0.000175193165172,-8.38651146801e-05,-2.08045495307e-05,1793242952066923008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.850887339,635,878.149112661,787,804.850887339,651,631,652,0.403481304196,-0.00542729521851,0.0799487321344,0.999999981724,0.000169259762277,-8.41502387866e-05,-2.86856934298e-05,1793242952083589376
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.572807863,714,680,660,635,878.427192137,787,805,651.427192137,631,652,0.40379818466,-0.00542940806929,0.0799538689699,0.999999986685,0.00014366110181,-7.3975229676e-05,-2.27676711617e-05,1793242952100256256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.002372253,714,679.997627747,659.997627747,634.997627747,879,787,805.002372253,652,631,652,0.404126636706,-0.00543176900498,0.0799612419875,0.999999991905,0.000111415280077,-6.02379712079e-05,-1.21477269129e-05,1793242952116922624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.58944434,714,679.41055566,659.41055566,634.41055566,879,787,805.58944434,652,631,652,0.404473823745,-0.00543109567154,0.0799605175568,0.999999990786,0.000119359548672,-6.13312277685e-05,-2.04642559486e-05,1793242952133589504
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.174218224,659,634,878.825781776,787,805.825781776,652,631,652,0.404839104197,-0.00543302779151,0.0799588101347,0.999999990252,0.000122032236444,-6.22465218204e-05,-2.69963711566e-05,1793242952150256384
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.753646688,659,634,878.246353312,787,805.246353312,652,631,652,0.405246467661,-0.00544101987693,0.0799548163949,0.999999991278,0.000112443872177,-6.27478967466e-05,-2.93781573275e-05,1793242952166923008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.332006357,878,787,805,651.667993643,631,652,0.405674935282,-0.00544368781465,0.0799507035194,0.99999999164,0.000105000183972,-6.84254957413e-05,-3.18392462081e-05,1793242952183589888
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.909575569,878,787,805,651.090424431,631,652,0.406119012277,-0.00544241783788,0.0799465025267,0.999999991458,9.91427679426e-05,-7.79316009036e-05,-3.43589902363e-05,1793242952200256512
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.48333845,787,805,651,631,652,0.406586769083,-0.00544758476659,0.0799416632779,0.999999990582,0.000101699498602,-8.56027530142e-05,-3.41474909609e-05,1793242952216922880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.058262514,745,714,679.941737486,659,635,878.941737486,787,805,651,631,652,0.407060714585,-0.00545362727494,0.0799365244484,0.999999989637,0.00010398717975,-9.36683996731e-05,-3.37370862787e-05,1793242952233589504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.650298068,745,714,679.349701932,659,635,878.349701932,787,805,651,631,652,0.407551089001,-0.00545674500122,0.0799297264022,0.999999989459,8.95010954222e-05,-0.000108468690175,-3.61490829605e-05,1793242952250255872
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.763091955,745,714,679.236908045,659,635,878,787,805.236908045,651,631,652,0.408064049666,-0.00546160667095,0.0799222316523,0.999999988673,7.76536086838e-05,-0.00012335717809,-3.74998413927e-05,1793242952266922752
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.184311445,745,714,679.815688555,659,635,878,787,805.815688555,651,631,652,0.408609603607,-0.00546898495507,0.0799137315176,0.999999987307,6.96137768217e-05,-0.000138372939283,-3.73191694871e-05,1793242952283589376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.390954683,680,659,635,878.390954683,787,805.609045317,651,631,652,0.409221449095,-0.00548652385327,0.0799265154439,0.999999991111,5.00360514135e-05,-0.000118235001308,-3.59937476617e-05,1793242952300256256
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.964578738,680,659,635,878.964578738,787,805.035421262,651,631,652,0.409864268579,-0.00550881018895,0.0799492441191,0.999999995768,2.50673694479e-05,-8.16718747625e-05,-3.41334536934e-05,1793242952316923392
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.447034165,680,659,634.447034165,878.447034165,787,805,651.552965835,631,652,0.410528385429,-0.00551817542276,0.0799797822299,0.999999998955,7.94713825071e-06,-2.97766580511e-05,-3.37538235878e-05,1793242952333590016
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.860015754,745,714,680,659,634,878,786.860015754,804.860015754,651.860015754,631,652,0.411188215802,-0.00552391537733,0.0799990504053,0.999999999418,-2.70404672815e-06,1.87191366215e-06,-3.39439155702e-05,1793242952350256640
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.280348221,745,714,680,659,634,878,786.280348221,804.280348221,651.280348221,631,652,0.411830179889,-0.00552093954322,0.0799813059362,0.999999998799,5.34129355908e-06,-3.32426150532e-05,-3.56173952257e-05,1793242952366923008
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.296511413,745,714,680,659,634,878,786,804.296511413,651.296511413,631,652,0.412487621608,-0.00552247316038,0.0799532523444,0.999999996321,-1.93238040001e-08,-7.65071529542e-05,-3.88013792359e-05,1793242952383589632
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.870741181,745,714,680,659,634,878,786,804.870741181,651.870741181,631,652,0.413159560054,-0.00552823041693,0.0799155430258,0.999999990781,-1.79362208268e-05,-0.000127405151895,-4.34001311371e-05,1793242952400256256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.446484721,878.446484721,786.446484721,805,651.553515279,631,652,0.413912735766,-0.00553177005675,0.0799135598108,0.999999991341,-2.6636154177e-05,-0.000120668862177,-4.52421577795e-05,1793242952416922624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.976729663,714,680,659.023270337,634.976729663,878.976729663,786.976729663,805,651,631,652,0.414689582367,-0.00553479924415,0.079922798445,0.999999993765,-3.26873914559e-05,-9.62656678528e-05,-4.61935722154e-05,1793242952433589248
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.385234914,714,680,659.614765086,634.385234914,878.385234914,786.385234914,805,651,631,652,0.415468198538,-0.00554109413156,0.0799526422422,0.999999996998,-3.94400153198e-05,-4.92797495524e-05,-4.49518254413e-05,1793242952450256128
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.201418833,714,680,660,634.201418833,878.201418833,786,805.201418833,651,631,652,0.416237240887,-0.00554677273525,0.0799660467293,0.999999997506,-4.37738686494e-05,-3.33866595228e-05,-4.42328166528e-05,1793242952466923008
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.779030927,714,680,660,634.779030927,878.779030927,786,805.779030927,651,631,652,0.416988402004,-0.00555130029538,0.0799487472454,0.999999995205,-4.35901442086e-05,-7.55661584549e-05,-4.44901343628e-05,1793242952483589632
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.35485376,680,660,635,879,786.35485376,805.64514624,651,631,652,0.417811420729,-0.0055548099985,0.0799546484221,0.999999996017,-4.94331116924e-05,-5.8555908791e-05,-4.5754556507e-05,1793242952500256512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.929567981,680,660,635,879,786.929567981,805.070432019,651,631,652,0.418678960998,-0.00555768905713,0.0799749242759,0.999999997112,-5.90100997446e-05,-4.87284492727e-06,-4.76429608097e-05,1793242952516923136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879,786.48268124,805,651,630.48268124,652,0.419533144473,-0.00556451754184,0.0799825097708,0.999999995967,-7.42474333249e-05,1.15352124192e-05,-4.92007549304e-05,1793242952533589504
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.894953543,680.105046457,659.894953543,635,879,786,805,651,630.105046457,652,0.420383987154,-0.0055713358026,0.0799842066386,0.999999994727,-8.79824342635e-05,1.53890052043e-05,-5.06866010927e-05,1793242952550256128
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.315552333,680.684447667,659.315552333,635,879,786,805,651,630.684447667,652,0.421228167703,-0.00557561701583,0.0799673161558,0.999999994374,-9.13634541905e-05,-1.39389718009e-05,-5.20560674975e-05,1793242952566922752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.261720527,680.738279473,659.261720527,634.738279473,879,786.261720527,805,651,631,652,0.422095419476,-0.00557376540272,0.0799708358689,0.999999994891,-8.66299260268e-05,-1.15488138678e-05,-5.07972843469e-05,1793242952583589376
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.836448046,680.163551954,659.836448046,634.163551954,879,786.836448046,805,651,631,652,0.422990263595,-0.00556457918198,0.079998765335,0.999999995904,-7.21917323239e-05,2.87749257061e-05,-4.63952229245e-05,1793242952600256000
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.591445171,680.408554829,660,634,879.408554829,787,805.408554829,651,631,652,0.423863375001,-0.00553663645408,0.0800052002794,0.999999997701,-3.66688622521e-05,3.27866431764e-05,-4.66714257366e-05,1793242952616922880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.020380863,680.979619137,660,634,879.979619137,787,805.979619137,651,631,652,0.424727841805,-0.00550123301406,0.0800030854186,0.999999998533,7.24078768709e-06,2.23546474722e-05,-4.88084861585e-05,1793242952633589760
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.425033766,787,805.425033766,651,631,651.425033766,0.425573813668,-0.00550554542985,0.0799503730734,0.999999996287,-2.09502370269e-06,-6.95696853952e-05,-5.08103041342e-05,1793242952650256128
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.16524361,879,786.83475639,805,651,631,651.16524361,0.426439277834,-0.00551271292828,0.0799108260973,0.999999989896,-1.55013861292e-05,-0.000131035024627,-5.28832902339e-05,1793242952666923008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.740704329,879,786.259295671,805,651,631,651.740704329,0.427354830852,-0.00552331916883,0.0799086109161,0.999999991913,-3.41208218626e-05,-0.000109398615598,-5.51453777141e-05,1793242952683589376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.314982297,714,680.685017703,660,634.685017703,879,786.314982297,805.314982297,651,631,652,0.428245065508,-0.00552740816488,0.0799113908133,0.999999992039,-3.90174395019e-05,-0.000106572295093,-5.51487128494e-05,1793242952700256000
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.888290229,714,680.111709771,660,634.111709771,879,786.888290229,805.888290229,651,631,652,0.429114535836,-0.00552615218915,0.0799182673116,0.999999990945,-3.26595961323e-05,-0.000119172646029,-5.32995830426e-05,1793242952716922624
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.535866394,714,680.464133606,660,634,879,787,806,651,631,652,0.430045282772,-0.00553344837662,0.079952723632,0.999999995205,-4.50319481957e-05,-6.91092599594e-05,-5.27918406677e-05,1793242952733589504
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.95809709,745,714,681,660,634.04190291,879.04190291,787,805.95809709,651,631,652,0.430989479793,-0.00554223924505,0.0799931103076,0.999999996768,-6.06714664344e-05,-5.15553655716e-06,-5.25041651074e-05,1793242952750256128
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.363003293,745,714,681,660,634.636996707,879.636996707,787,805.363003293,651,631,652,0.431915467318,-0.00554343913063,0.0800236729809,0.999999996051,-5.96020232085e-05,4.19699218755e-05,-5.08361498089e-05,1793242952766922752
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.225123749,745,714,681,660,635,879.774876251,787,805,651,631,652,0.43278778612,-0.00554002045036,0.0800155641297,0.99999999682,-5.44287300658e-05,2.80643601532e-05,-5.10785986882e-05,1793242952783589632
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.802354464,745,714,681,660,635,879.197645536,787,805,651,631,652,0.433576163979,-0.00552937805796,0.0799469707132,0.999999994303,-4.28367705005e-05,-8.12973488177e-05,-5.43091269048e-05,1793242952800256256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.377411398,660,635,879.377411398,786.622588602,805.377411398,651,631,652,0.434405330592,-0.00552494751304,0.0799130961159,0.999999989521,-3.87665182563e-05,-0.000127287196241,-5.70347267194e-05,1793242952816922880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.951336435,660,635,879.951336435,786.048663565,805.951336435,651,631,652,0.43525573538,-0.00552375140408,0.0798972992002,0.999999987645,-3.86127306724e-05,-0.000140280060776,-5.94974163356e-05,1793242952833589504
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.461595415,660,634.461595415,879.461595415,786.538404585,805.461595415,651,631,652,0.436126891363,-0.0055293588387,0.0799329466927,0.999999992759,-5.0618402833e-05,-9.26666146468e-05,-5.77319869104e-05,1793242952850256128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.125341964,634,879,787,805,651,631,652,0.436998374722,-0.00553597604252,0.0799720778966,0.99999999581,-6.12404778847e-05,-3.90808882442e-05,-5.56989003546e-05,1793242952866923008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.707366316,634,879,787,805,651,631,652,0.437864046141,-0.00554397575306,0.0800065365915,0.999999996444,-6.27169268647e-05,1.58067496427e-05,-5.41178357919e-05,1793242952883589632
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.285999144,660.714000856,634.285999144,879.285999144,787,805.285999144,651,631,652,0.43869865173,-0.00554962612078,0.0800275651476,0.999999994693,-7.18918126861e-05,5.06974253377e-05,-5.36259680936e-05,1793242952900256256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.861202408,660.138797592,634.861202408,879.861202408,787,805.861202408,651,631,652,0.439501843306,-0.00555290081789,0.0800350130615,0.999999992446,-8.88514059075e-05,6.53670448023e-05,-5.423550326e-05,1793242952916923136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.433787531,634.566212469,880,787,806,651,631,652,0.440216312045,-0.00555075272593,0.0799956673219,0.999999994949,-8.31595189894e-05,4.51440340316e-06,-5.62694026582e-05,1793242952933589760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.994258948,634.005741052,879.994258948,787,806,651,631,652,0.440902431278,-0.00554685272353,0.0799412634413,0.999999992549,-7.03875636572e-05,-8.0577138271e-05,-5.87730505909e-05,1793242952950256128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.401757794,634.598242206,879.401757794,787,806,651,631,652,0.441575109224,-0.00554017200938,0.0798689178769,0.999999977858,-7.03065622762e-05,-0.000188077148352,-6.29869514303e-05,1793242952966922752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.186746503,660.186746503,635,879.186746503,786.813253497,806,651,631,652,0.442275429293,-0.00553726211218,0.0798344500838,0.99999996743,-7.14746161838e-05,-0.000236187785107,-6.51720000188e-05,1793242952983589632
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682.766832434,660.766832434,635,879.766832434,786.233167566,806,651,631,652,0.443033971392,-0.00554229458994,0.0798797632673,0.999999982504,-7.52735247454e-05,-0.000159208112477,-6.30837303329e-05,1793242953000256000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.343543834,683,660.656456166,634.656456166,880,786.343543834,806,651.343543834,631,652,0.443764481181,-0.00554870810852,0.0799332854542,0.999999992161,-7.64605405385e-05,-7.87199015283e-05,-6.02976804608e-05,1793242953016922624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.91798714,683,660.08201286,634.08201286,880,786.91798714,806,651.91798714,631,652,0.444476150112,-0.00555604983905,0.0799923249972,0.999999995485,-7.58920749306e-05,4.12643091941e-06,-5.70426450551e-05,1793242953033589248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.496449994,682.496449994,660,634,880,787,806,651.496449994,631,652,0.445091339847,-0.00556042462982,0.0799958392948,0.999999994331,-9.02343122292e-05,6.26824811672e-06,-5.61838751147e-05,1793242953050256128
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.090090218,660.090090218,634,880,786.909909782,806,651,631,652,0.445686729807,-0.00556415294241,0.0799865352827,0.999999992869,-0.000104917060741,-1.03441337427e-05,-5.60995415213e-05,1793242953066923008
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.671857286,660.671857286,634,880,786.328142714,806,651,631,652,0.446261755012,-0.00556704982708,0.0799577435732,0.999999990927,-0.000107905126507,-5.59532990508e-05,-5.8063694239e-05,1793242953083589632
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660.750342115,634,880,786.249657885,806,651,631,652,0.446812960615,-0.00557034536061,0.0799307761403,0.9999999882,-0.00010666516426,-9.31066516682e-05,-5.96144398052e-05,1793242953100256256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660.177673433,634,880,786.822326567,806,651,631,652,0.447333348047,-0.00557415667129,0.0799061689839,0.999999986048,-9.99549212914e-05,-0.000119319754342,-6.06303134659e-05,1793242953116922880
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.601213592,659.601213592,633.601213592,880,786.601213592,806,651,631,652,0.447825792307,-0.00557358084189,0.0798828204777,0.999999980875,-0.000108818858961,-0.000150057146936,-6.23762320938e-05,1793242953133589760
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682.023048393,659.023048393,633.023048393,880,786.023048393,806,651,631,652,0.448305667447,-0.0055710316259,0.0798600381248,0.999999973436,-0.000124688244547,-0.000182829620189,-6.44505335179e-05,1793242953150256128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.565363385,659,633,880,786,805.434636615,651,631,652,0.448722621255,-0.00556399375445,0.0798345023569,0.999999966152,-0.000107931377687,-0.000227625216398,-6.50712949909e-05,1793242953166922752
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880,786.151621696,805.151621696,651.151621696,631,652,0.449142500058,-0.00555691873547,0.0798134905061,0.999999958941,-9.42217676684e-05,-0.000262511121494,-6.57895305666e-05,1793242953183589632
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880,786.730611127,805.730611127,651.730611127,631,652,0.449577987151,-0.00555026431584,0.0798055521975,0.999999957514,-9.29195348812e-05,-0.000268058072702,-6.69526190933e-05,1793242953200256256
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.306671918,714,683,659,632.693328082,880,786.693328082,805.693328082,652,630.693328082,652,0.449994860889,-0.00555179792842,0.0798102230091,0.999999959251,-9.99764644183e-05,-0.000259038152157,-6.63474825039e-05,1793242953216923136
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.880184414,714,683,659,632.119815586,880,786.119815586,805.119815586,652,630.119815586,652,0.450395538796,-0.00556045609086,0.0798258652364,0.99999996324,-0.00011430684676,-0.000237343342242,-6.42037823309e-05,1793242953233590016
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.53358575,714,683.46641425,659,632,880.46641425,785.53358575,805.46641425,651.53358575,630.46641425,652,0.450753354736,-0.00556430288328,0.0798359063398,0.999999966108,-0.000112112109411,-0.000226255487255,-6.34306849856e-05,1793242953250256384
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.055029203,714,683.944970797,658.944970797,632,880.944970797,785,806,651,631,652,0.451095463972,-0.00556661264555,0.0798429384796,0.99999996815,-0.000106149011416,-0.000220098231055,-6.31645943822e-05,1793242953266922752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.634370058,714,683.365629942,658.365629942,632,880.365629942,785,806,651,631,652,0.451395770596,-0.00556638409986,0.0798353950773,0.999999964899,-0.000105861798362,-0.000234229993061,-6.42805033106e-05,1793242953283589376
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.786859719,714,683,658,632,880,785.213140281,806,651,631,652,0.451673680588,-0.00556738218066,0.079820817034,0.999999958581,-0.000107657987869,-0.000258958915397,-6.47088512885e-05,1793242953300255744
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.209065829,714,683,658,632,880,785.790934171,806,651,631,652,0.451913273001,-0.00557047885016,0.0797942036914,0.999999946021,-0.000113018591598,-0.000301818115078,-6.39608771759e-05,1793242953316922368
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.367087093,714,683,658,632,880,785.632912907,806,651,631,652,0.45213676517,-0.00557122098687,0.0797734494406,0.999999935864,-0.000113249148642,-0.000333815481238,-6.33495944828e-05,1793242953333589248
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.942309654,714,683,658,632,880,785.057690346,806,651,631,652,0.452351128651,-0.00557062812248,0.0797560172456,0.999999927239,-0.000110571010481,-0.000359654278124,-6.28158146797e-05,1793242953350256128
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.529072596,785,805.470927404,651,630.470927404,652,0.452545889773,-0.00556992676262,0.0797512067059,0.999999923479,-0.000119315529334,-0.000367073503319,-6.37475910972e-05,1793242953366922752
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,631.884423121,881,785,805.115576879,651,630.115576879,652,0.452735065236,-0.00557023287383,0.0797488022741,0.99999992086,-0.000128582433029,-0.000370910195758,-6.45941980105e-05,1793242953383589376
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,631.304131199,881,785,805.695868801,651,630.695868801,652,0.452910567746,-0.00557463848395,0.079750415241,0.999999920902,-0.000134830011767,-0.000368597968802,-6.44414761965e-05,1793242953400255744
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,683.274575563,657.725424437,631.274575563,880.725424437,785,806,651,631,652,0.453068520395,-0.00557784747136,0.0797478859961,0.999999919188,-0.000137557446104,-0.000372208199498,-6.45193177028e-05,1793242953416922368
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.574245534,714,683.574245534,657.425754466,631.574245534,880.425754466,785,806,651,630.574245534,652,0.453322740096,-0.00557880884248,0.0797335151687,0.999999911392,-0.00013324926116,-0.000393894947675,-6.56378722243e-05,1793242953450255872
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657.176844625,631,880.823155375,785,806.176844625,651.823155375,630,652,0.453597957725,-0.00558158795887,0.0797215795305,0.999999903488,-0.000135205885353,-0.000412774586901,-6.60337069102e-05,1793242953500256000
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657.755025709,631,880.244974291,785,806.755025709,651.244974291,630,652,0.453663047503,-0.00558204474475,0.0797157155195,0.999999900204,-0.000132983276859,-0.000421462321398,-6.53921012327e-05,1793242953516922880
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.949692634,714,683.949692634,657,631,880,785,806.949692634,651,630,652.949692634,0.453842789761,-0.00558070596748,0.0797057807635,0.999999894217,-0.000127662849739,-0.000437441075271,-6.25499378901e-05,1793242953583589376
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,683.923796482,657,631,880,784.923796482,806,651,630,652,0.453919740174,-0.0055770427186,0.0796813114841,0.999999877627,-0.000124962571448,-0.000474791714034,-6.08601453248e-05,1793242953866922496
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683.486162443,657,631,880,785,806,651,630,652,0.453919513289,-0.00557681963099,0.0796814956327,0.999999877678,-0.000124489105877,-0.000474899519073,-6.01454038053e-05,1793242953883589376
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.896620781,745,714,683,656.896620781,631,880,785,806,651,630,652,0.45391880126,-0.00557629740754,0.0796811169061,0.999999877213,-0.000124262990076,-0.000475999441315,-5.96477970222e-05,1793242953900256512
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.3207979,745,714,683,656.3207979,631,880,785,806,651,630,652,0.453916757646,-0.00557543979405,0.0796785231428,0.999999874768,-0.000124837532523,-0.000480859984362,-6.04482815329e-05,1793242953916923392
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,745.257343746,714,683,656.257343746,631,880.257343746,785,806,651,630,652,0.453915924244,-0.00557582203111,0.0796768813954,0.999999873264,-0.000126479287948,-0.000483513184284,-6.07449899184e-05,1793242953933590016
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,745.838402261,714,683,656.838402261,631,880.838402261,785,806,651,630,652,0.45391661318,-0.00557776388606,0.0796764371964,0.999999872962,-0.000129463499254,-0.000483389750181,-6.04079943695e-05,1793242953950256640
+249,4.150000000,HOLD_POSE2,765,746,714,684,657,631,881,784,806,651,630,652,0.453915903844,-0.00557581195714,0.0796763797092,0.999999872834,-0.000126695216105,-0.00048435282069,-6.06897116756e-05,1793242953984093440
+250,4.166666667,HOLD_POSE2,765,745.406802893,714,683.406802893,657,631,880.406802893,784,806,651,630.593197107,652,0.453916713393,-0.00557658824982,0.0796759245053,0.999999872995,-0.000126007369999,-0.000484258380215,-6.02084670609e-05,1793242954000760576
+251,4.183333333,HOLD_POSE2,765,745,714,683,657,631,880,784.182324749,806,651,630.817675251,652,0.453917149838,-0.00557709923728,0.0796755988841,0.999999873067,-0.000125561581815,-0.000484271131624,-5.98510843057e-05,1793242954017427456
+252,4.200000000,HOLD_POSE2,765,745,714,683,657,631,880,784.762570953,806,651,630.237429047,652,0.453916771988,-0.00557703119962,0.0796755560755,0.999999872942,-0.000125644081843,-0.000484517827941,-5.97640283966e-05,1793242954034093824
+253,4.216666667,HOLD_POSE2,764.660856619,745,714,683,657,631,880.339143381,785,805.660856619,651,630,652,0.453915658275,-0.00557789280148,0.0796744804528,0.99999987199,-0.000126998296528,-0.000486141585946,-5.96416199148e-05,1793242954050760192
+254,4.233333333,HOLD_POSE2,764.086828616,745,714,683,657,631,880.913171384,785,805.086828616,651,630,652,0.453914034917,-0.005579398255,0.0796726895215,0.999999870456,-0.000129233277969,-0.000488719072156,-5.94947268801e-05,1793242954067426560
+255,4.250000000,HOLD_POSE2,764.49871906,745.49871906,714,683,657,631,881,785,805.49871906,651,630,652,0.453916173615,-0.00557753555572,0.0796739622838,0.999999871834,-0.000127493233198,-0.000486320037897,-5.97560178715e-05,1793242954084093440
+256,4.266666667,HOLD_POSE2,765,746,714,683.085057977,657,631,880.914942023,785,806,651,630,652,0.453918292719,-0.0055755178109,0.0796753446756,0.999999873318,-0.000125151499842,-0.000483840472574,-5.99961963136e-05,1793242954100760320
+257,4.283333333,HOLD_POSE2,765,746,714,683.664069337,657,631,880.335930663,785,806,651,630,652,0.453916404424,-0.00557608560856,0.079674192888,0.999999872482,-0.000123429633525,-0.000486043783916,-5.96913112552e-05,1793242954117426944
+258,4.300000000,HOLD_POSE2,765,745.757685833,714,683.757685833,657,631,880.242314167,784.757685833,806,651,630,652,0.453915331669,-0.00557691499503,0.0796735198244,0.999999871664,-0.000123495633294,-0.000487728010044,-5.95202503566e-05,1793242954134093568
+259,4.316666667,HOLD_POSE2,765,745.180500376,714,683.180500376,657,631,880.819499624,784.180500376,806,651,630,652,0.453915385968,-0.00557810588977,0.0796735083442,0.999999870874,-0.000126032413306,-0.000488694874981,-5.95341306678e-05,1793242954150760192
+260,4.333333333,HOLD_POSE2,765,745,714,683.39539903,657,630.60460097,880.60460097,784,806,651,630,652,0.453916259549,-0.00557691653007,0.0796736683103,0.999999871081,-0.000126007022288,-0.000488248135041,-5.9775842061e-05,1793242954167426816
+261,4.350000000,HOLD_POSE2,765,745,714,683.970713305,657,630.029286695,880.029286695,784,806,651,630,652,0.453917505922,-0.00557464410241,0.0796739062882,0.999999871742,-0.000124815787385,-0.000487158173913,-6.0121221603e-05,1793242954184093184
+262,4.366666667,HOLD_POSE2,765,745,714,683.440393077,656.440393077,630.559606923,880,784,806,651,630,652,0.453915385665,-0.00557357262199,0.0796723573579,0.999999870599,-0.000123898092234,-0.000489721310413,-6.01999605417e-05,1793242954200759808
+263,4.383333333,HOLD_POSE2,765,745,714,683.146612795,656.146612795,631,880,784.146612795,806,651,630.146612795,652,0.453914105778,-0.00557304099084,0.079671450424,0.999999869927,-0.000123162712574,-0.000491278216612,-6.01869700992e-05,1793242954217426688
+264,4.400000000,HOLD_POSE2,765,745,714,683.725898411,656.725898411,631,880,784.725898411,806,651,630.725898411,652,0.453915838821,-0.00557391242905,0.0796727209453,0.999999870947,-0.000122922071058,-0.0004892873756,-5.99454802927e-05,1793242954234093568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,657,631,881,785,806,651,630,652,0.453915578201,-0.00557698472749,0.0796716647083,0.999999869941,-0.000126427563384,-0.000490479672123,-5.97047127584e-05,1793242954271046144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.410366966,656.410366966,631,880.410366966,784.410366966,806,651.589633034,630,652,0.453914939413,-0.00557472077213,0.0796707139523,0.999999869628,-0.00012449088043,-0.000491579345495,-5.99707087918e-05,1793242954287712512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.176083015,713.823916985,683,656,631,880.176083015,784,806,651.823916985,630,652,0.453914683273,-0.00557355672738,0.079670364951,0.999999869547,-0.000123372734283,-0.000492036202583,-5.98795592091e-05,1793242954304379136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.755246623,713.244753377,683,656,631,880.755246623,784,806,651.244753377,630,652,0.453915303071,-0.00557491054352,0.0796713934568,0.999999870006,-0.000124128342018,-0.000491021556424,-5.89708494733e-05,1793242954321045504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.666312036,713.333687964,683,656.333687964,631,881,784,806,651,630,652,0.453915396294,-0.00557514689645,0.0796716276277,0.999999870214,-0.000123995914489,-0.000490616407644,-5.90933536884e-05,1793242954337712384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.088399354,713.911600646,683,656.911600646,631,881,784,806,651,630,652,0.453915104119,-0.00557456538299,0.0796712804285,0.999999870239,-0.000123213537898,-0.000490657347315,-5.99705988078e-05,1793242954354379008
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.485445321,745.485445321,714,683,657,631,880.514554679,784,806,651,630,652,0.45391500413,-0.00557390181908,0.0796715072195,0.99999987029,-0.000123058130479,-0.000490591619256,-5.99664970501e-05,1793242954371045888
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.939645329,745.939645329,714,683.060354671,657,630.939645329,880,784,806,651,630,651.939645329,0.453914679866,-0.00557352049112,0.0796715709982,0.999999870145,-0.000123207328777,-0.000490871549429,-5.97971331973e-05,1793242954387712768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.348924604,745.348924604,714,683.651075396,657,630.348924604,880,784,806,651,630,651.348924604,0.453912079804,-0.00557574951452,0.0796692914426,0.999999868213,-0.000125038309679,-0.000494358218712,-5.95741392143e-05,1793242954404379136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.76270554,657,630.23729446,880,784,806.23729446,651,630,651.23729446,0.453907199065,-0.00557625371754,0.0796662512117,0.999999866041,-0.000125170541925,-0.000498694099374,-5.96276778185e-05,1793242954421045760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.18298266,657,630.81701734,880,784,806.81701734,651,630,651.81701734,0.45389902719,-0.00557426891359,0.0796621132863,0.999999863512,-0.000122851390117,-0.000504255436528,-6.00802675481e-05,1793242954437712384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.605889405,745,714,683.394110595,656.605889405,631,880,784,806.605889405,651,630,652,0.453871954003,-0.00557288397508,0.0796489904765,0.999999852823,-0.000121570064961,-0.000525291288905,-6.03681699249e-05,1793242954454379008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.030008924,745,714,683.969991076,656.030008924,631,880,784,806.030008924,651,630,652,0.453836163238,-0.00557177570359,0.0796317236991,0.999999837711,-0.000120767401185,-0.000553464226574,-6.05801159537e-05,1793242954471045632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.556043585,745,714,683.443956415,656.556043585,631,880,784.556043585,806,651,630,652,0.453777995196,-0.00557085868643,0.0796093324172,0.999999815152,-0.000121101643388,-0.00059270700978,-6.10602930948e-05,1793242954487712256
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.140768171,714,683,656.859231829,631,880,784.859231829,806,651,630,652,0.453716609919,-0.00556988130616,0.0795892062861,0.999999794312,-0.000121216754971,-0.000626843786353,-6.12373724395e-05,1793242954504378880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.719619996,714,683,656.280380004,631,880,784.280380004,806,651,630,652,0.453649040717,-0.00556868334932,0.0795770062367,0.999999784069,-0.000120455404412,-0.000643196319912,-6.04252932018e-05,1793242954521045760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.70163625,714,683.29836375,656.29836375,631,880,784,806,651,630,652,0.453572836064,-0.00556720584141,0.0795700159082,0.999999778042,-0.000119675367847,-0.00065275862962,-5.91652866711e-05,1793242954537712384
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.12299405,714,683.87700595,656.87700595,631,880,784,806,651,630,652,0.453488519399,-0.00556546572748,0.0795679195143,0.999999776152,-0.000118877777992,-0.000655942303616,-5.74845039923e-05,1793242954554379264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,657,631,880.451754599,784,806,651,630,652,0.453390726445,-0.00556362958521,0.0795678254553,0.999999777464,-0.000115842073115,-0.000654708143695,-5.48667836282e-05,1793242954571045632
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.97386466,684,656.97386466,631,880.97386466,784,806,651,630,652.02613534,0.453288127396,-0.00556169572201,0.0795682398691,0.999999779504,-0.000112222195112,-0.000652452964875,-5.1987784848e-05,1793242954587712000
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.384769962,684,656.384769962,631,880.384769962,784,806,651,630,652.615230038,0.453160360554,-0.00555821527908,0.0795679645351,0.999999779072,-0.00010903238482,-0.000653891840264,-4.89285181828e-05,1793242954604378880
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.201025849,713,683.798974151,656.201025849,631,880.201025849,784,806,651,630,652.798974151,0.453021752599,-0.00555591528828,0.0795686343582,0.999999779907,-0.000107181739185,-0.00065317243024,-4.54361300733e-05,1793242954621045504
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.780609364,713,683.219390636,656.780609364,631,880.780609364,784,806,651,630,652.219390636,0.45286272944,-0.00555583824187,0.0795710840344,0.999999783134,-0.000107852914115,-0.000648388689555,-4.11281186272e-05,1793242954637712384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.642093474,713.357906526,683.357906526,657,631,881,784,806,651,630.357906526,652,0.452676787273,-0.00555206121357,0.0795716421921,0.999999782053,-0.000102106206469,-0.000651263184229,-3.63962919252e-05,1793242954654379264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.066188855,713.933811145,683.933811145,657,631,881,784,806,651,630.933811145,652,0.452474448929,-0.00554603055495,0.0795710482409,0.999999778223,-9.24504163209e-05,-0.000658802250187,-3.14063222137e-05,1793242954671045888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.490717091,657,631,880.490717091,784,806,651,631,652,0.45225637071,-0.00554340088729,0.0795753397399,0.999999781885,-8.51702344835e-05,-0.000654477435058,-2.52185072375e-05,1793242954687712768
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.913049026,683,657,631,880,784,806,651,630.913049026,652,0.452031477679,-0.00554073817502,0.0795801932638,0.999999786323,-7.74053677937e-05,-0.000648851894571,-1.88046053499e-05,1793242954704379392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.32233036,683,657,631,880,784,806,651,630.32233036,652,0.45177894329,-0.00553532531866,0.0795846274863,0.999999790048,-6.50451215773e-05,-0.00064461598358,-1.19820053946e-05,1793242954721046016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.26263207,713.26263207,683,657.26263207,631.26263207,880.26263207,784.26263207,806,651,630,652,0.451505253598,-0.00552985990518,0.0795890818821,0.99999979377,-5.25049913728e-05,-0.00064006159767,-4.83264660326e-06,1793242954737712640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.840681311,713.840681311,683,657.840681311,631.840681311,880.840681311,784.840681311,806,651,630,652,0.451206156722,-0.00552433137171,0.0795935605057,0.999999797515,-3.97488239454e-05,-0.000635124728439,2.70914423054e-06,1793242954754379264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.584322901,714,683.415677099,658,632,881,785,806,651,630.415677099,652,0.450887205442,-0.00551919056274,0.0796051178997,0.999999812643,-2.01044266215e-05,-0.000611737899024,9.33257287625e-06,1793242954771045888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.010488905,714,683.989511095,658,632,881,785,806,651,630.989511095,652,0.450560699963,-0.00551419727538,0.0796193686255,0.999999830903,2.16080539835e-06,-0.000581331224784,1.56065827263e-05,1793242954787712512
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.375597443,745.624402557,714,683,658.624402557,633,880,786.248805114,805.624402557,651,631,652,0.446892496201,-0.00542095408914,0.0796295178943,0.99999983848,9.91438255426e-05,-0.000559615438447,6.3485016267e-06,1793242954921045504
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.213817746,745.786182254,714,683,659.213817746,633.213817746,880,787,806,651,631,652,0.446361286661,-0.00540508355023,0.0796590208725,0.999999859223,0.000123290603119,-0.000516042945468,7.32955310123e-06,1793242954937712128
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.870968021,659.129031979,634,880,787,805,651,631,652,0.443251035023,-0.00544476093959,0.0798146676419,0.999999951927,9.38547611476e-05,-0.000294423544345,2.55187654872e-05,1793242955021045504
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.346445705,745,714,682,659,634,879.653554295,786.653554295,805.346445705,651,631,652,0.43616564012,-0.0054292694446,0.0798506536864,0.99999996409,0.000126877818076,-0.000232986135516,3.79344890756e-05,1793242955171045632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.921570427,745,714,682,659,634,879.078429573,786.078429573,805.921570427,651,631,652,0.43533310316,-0.00542609238546,0.0798744681523,0.999999970794,0.000131148831384,-0.000199003228263,4.01099602862e-05,1793242955187712768
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.074344133,745,714,682,659,634,879.074344133,787,805.074344133,651,631,652,0.43351979226,-0.00541272495926,0.0798179372295,0.999999948477,0.000154852093869,-0.000278353911003,3.98144235949e-05,1793242955221045760
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.665477578,745,714,682,659,634,879.665477578,787,805.665477578,651,631,652,0.432532125408,-0.00541059931058,0.0797659681857,0.999999914477,0.000163543902608,-0.000377787941533,3.97070375906e-05,1793242955237712640
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.722377234,714,678.277622766,659,634,878.722377234,786.277622766,805,651,631,652,0.404402727102,-0.00539893133206,0.0798297396091,0.999999931884,0.000230221153437,-0.000284410452515,4.83831841758e-05,1793242955871046144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.601043095,659,634.300521547,879,786.300521547,805.300521547,651,630.699478453,651.699478453,0.404036425789,-0.00539841838243,0.0798325757014,0.999999931329,0.000231362621938,-0.00028540839737,4.85339640021e-05,1793242955887712512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.754760643,659,634.877380321,879,786.877380321,805.877380321,651,630.122619679,651.122619679,0.403684173847,-0.00539767427753,0.0798334626814,0.999999932115,0.000222853896163,-0.000289404207701,4.8495115066e-05,1793242955904379136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.547527139,745,714,680,659,634.547527139,878.547527139,787,805.547527139,651,630.452472861,651.452472861,0.403381107285,-0.0053995421485,0.0798343381346,0.999999931883,0.000223154406648,-0.000290016478276,4.82263552844e-05,1793242955921046016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.027819664,744.972180336,714,680,659,634.027819664,878,786.972180336,804.972180336,651.027819664,631,652,0.403093354966,-0.00540182683562,0.0798352129036,0.99999993135,0.000225942013218,-0.000289745873145,4.7924192244e-05,1793242955937712640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.617942947,744.382057053,714,680,659,634.617942947,878,786.382057053,804.382057053,651.617942947,631,652,0.402846772965,-0.00539828479326,0.079836136737,0.999999930096,0.000230934490575,-0.000290091641071,4.82013195606e-05,1793242955954379264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.796202921,744,714,680,659,635,878.203797079,786,804.203797079,651.796202921,631,652,0.40260925864,-0.00539675509064,0.0798350091168,0.999999929085,0.000231180812445,-0.000293376746039,4.81212545426e-05,1793242955971045888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.218187986,744,714,680,659,635,878.781812014,786,804.781812014,651.218187986,631,652,0.402388394659,-0.00539892050252,0.0798301145605,0.999999928457,0.00022271211129,-0.000302059143222,4.73853030107e-05,1793242955987712512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.358476704,744,714,680,659,635,878.641523296,786.358476704,805,651,631,652,0.402195069856,-0.0054000792578,0.0798307063668,0.999999930163,0.000218141715701,-0.000299669537535,4.78157500879e-05,1793242956004379392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.934322704,744,714,680,659,635,878.065677296,786.934322704,805,651,631,652,0.402018443945,-0.00540062760754,0.079834624935,0.999999933273,0.000215935132409,-0.000290566209205,4.8953465491e-05,1793242956021046272
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,635,878,787,805,651,631,652,0.401876562254,-0.00539956202881,0.0798424211851,0.999999936044,0.000218293577905,-0.00027867889911,5.09690124897e-05,1793242956037712640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.107275205,714.107275205,679.892724795,659,635,878.107275205,787,805,651.107275205,631,652,0.401741665154,-0.00539882925274,0.0798489578941,0.999999938253,0.000220097841494,-0.000268832256181,5.27212582838e-05,1793242956054379520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.685345171,714.685345171,679.314654829,659,635,878.685345171,787,805,651.685345171,631,652,0.401617791204,-0.00540046887376,0.0798477760881,0.999999938765,0.000216890834502,-0.000269514307073,5.28220064049e-05,1793242956071046144
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.736132084,679,659,634.736132084,879,787,804.736132084,651.736132084,631,652,0.401501428581,-0.00540090179133,0.0798447863127,0.999999935839,0.000224605039884,-0.000274698883704,4.91385018518e-05,1793242956087712768
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.15706852,679,659,634.15706852,879,787,804.15706852,651.15706852,631,652,0.401394038398,-0.00539989327674,0.0798396368807,0.999999928373,0.000245364858019,-0.000285261819715,4.09346296692e-05,1793242956104379136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.418367986,659,634.418367986,879,786.581632014,804,651,631,652,0.401305475275,-0.00540084405282,0.0798347456272,0.999999926265,0.000244741413715,-0.00029331315681,3.92182542999e-05,1793242956121045760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.992454471,659,634.992454471,879,786.007545529,804,651,631,652,0.401223919673,-0.00540252408597,0.0798299504691,0.999999926189,0.000236159019809,-0.000300429664952,3.99165554253e-05,1793242956137712640
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.417572706,659,635,878.417572706,786,804.582427294,651.582427294,631,652,0.401169113554,-0.00540074560426,0.079828074078,0.999999925559,0.000236265058529,-0.00030236898893,4.04112067738e-05,1793242956154379520
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.169010524,659,635,878,786,805,651.830989476,631,652,0.401119163675,-0.00540002039928,0.0798266688325,0.999999925365,0.000235656677704,-0.000303397112828,4.10536400429e-05,1793242956171046144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.746881904,659,635,878,786,805,651.253118096,631,652,0.401080099891,-0.005401954655,0.0798263093149,0.999999926242,0.000233040075019,-0.000302387718722,4.20601405523e-05,1793242956187712512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.675537784,745,714,680,659.324462216,634.675537784,878.324462216,786.324462216,805,651,631,652,0.401048254488,-0.00540269225006,0.0798270565218,0.99999992649,0.000233100035469,-0.000301404465068,4.28829603018e-05,1793242956204379392
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.098184274,745,714,680,659.901815726,634.098184274,878.901815726,786.901815726,805,651,631,652,0.401022035207,-0.00540249714794,0.0798286663284,0.999999926248,0.000235246153846,-0.000300441585615,4.35626162934e-05,1793242956221046016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.48363091,745,714,679.51636909,659.51636909,634.48363091,878.51636909,787,805,651,631.48363091,652,0.401004170223,-0.00540160650193,0.0798282119372,0.999999926078,0.000235095938142,-0.000301156088152,4.33368973114e-05,1793242956237712384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.066284747,659.066284747,634.933715253,878,786.933715253,804.933715253,651,631.933715253,652,0.400989222396,-0.00540099694321,0.079827818499,0.999999926172,0.000234271297712,-0.000301530451063,4.30424452111e-05,1793242956254379264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.648350885,659.648350885,634.351649115,878,786.351649115,804.351649115,651,631.351649115,652,0.400983653493,-0.0054036836031,0.0798311905706,0.999999928187,0.000231860097669,-0.000296583620879,4.36567157275e-05,1793242956271045888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.771657892,659.771657892,634.228342108,878.228342108,786.228342108,804.228342108,651,631,652,0.400978047271,-0.00540461933959,0.0798327973897,0.999999929293,0.000230352849263,-0.000294008211441,4.3707463437e-05,1793242956287712512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.194833317,659.194833317,634.805166683,878.805166683,786.805166683,804.805166683,651,631,652,0.400972384096,-0.00540288291832,0.0798317101824,0.99999992905,0.000230225159505,-0.000295051926949,4.28981953255e-05,1793242956304379392
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.617637089,879,786.617637089,805,651,631,652,0.400969693129,-0.00540222271279,0.0798318663891,0.999999929223,0.000230441400079,-0.000294323803688,4.27015651376e-05,1793242956321046016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.040251317,879,786.040251317,805,651,631,652,0.400968518126,-0.00540211142737,0.0798326567947,0.999999929607,0.000230833061116,-0.000292691960249,4.28174087971e-05,1793242956337712384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.5326954,659,634.5326954,878.4673046,786,805,651.5326954,631,652,0.400968899998,-0.00540341825813,0.0798334305376,0.99999993005,0.000230839757333,-0.000291159191801,4.28974633933e-05,1793242956354379008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.109381917,804.890618083,652,631,652,0.400969090337,-0.00540437036882,0.0798340388414,0.999999930333,0.000231086168476,-0.000289977524353,4.29721335502e-05,1793242956371045888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.704139524,804.295860476,652,631,652,0.400967913058,-0.00540327686528,0.0798339185595,0.999999929897,0.000232524312196,-0.000290320901637,4.30348114621e-05,1793242956387712768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.289372688,680,659,634.710627312,878.289372688,786.710627312,804.289372688,651.710627312,631,652,0.400966764631,-0.0054021043973,0.0798336878566,0.999999929601,0.000233272227419,-0.000290777516969,4.27917960516e-05,1793242956404379648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.865178242,680,659,634.134821758,878.865178242,786.134821758,804.865178242,651.134821758,631,652,0.400965644763,-0.00540085376696,0.0798333478544,0.999999929443,0.000233336926547,-0.00029134621997,4.22461929536e-05,1793242956421046016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.559673265,680,659,634,878.559673265,786,805,651.440326735,631,652,0.400965242476,-0.00540163265268,0.079833631365,0.99999992946,0.000233467494206,-0.000291172500682,4.2323913904e-05,1793242956437712384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.015717044,805,651.984282956,631,652,0.400965127956,-0.00540301141791,0.079834130383,0.999999929558,0.000233566316352,-0.000290717595563,4.25851440841e-05,1793242956454379264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.607329791,805,651.392670209,631,652,0.400967519016,-0.00540363524657,0.0798355410882,0.999999930684,0.000231764052063,-0.000288276522553,4.25877108125e-05,1793242956471045888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.805444657,659,634.194555343,878,787,804.805444657,651,631,652,0.400968656895,-0.0054037166102,0.0798364869307,0.999999931288,0.000231139263523,-0.000286687115327,4.25246659372e-05,1793242956487712512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.226878526,659,634.773121474,878,787,804.226878526,651,631,652,0.400967321262,-0.00540272726341,0.0798365152334,0.999999930876,0.000232838561301,-0.000286778715017,4.23321177385e-05,1793242956504379136
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.650407307,878,786.650407307,804.349592693,651,630.650407307,652,0.400967809092,-0.00540242044132,0.07983724167,0.999999931237,0.000232960623083,-0.000285422751412,4.23078174948e-05,1793242956521045504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.075287566,878,786.075287566,804.924712434,651,630.075287566,652,0.400969473263,-0.00540255392532,0.0798384184826,0.999999932092,0.000232065188193,-0.000283132944836,4.23920563252e-05,1793242956537712128
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878,786.511055442,804.488944558,651,630.511055442,652,0.400968492016,-0.00540240181206,0.0798377672688,0.999999931864,0.00023173600783,-0.000284245162189,4.21307443176e-05,1793242956554379008
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.902299299,659,634.097700701,878,787,804.097700701,651,631,652,0.400967509246,-0.0054021927889,0.0798370725451,0.999999931528,0.000231737931989,-0.000285454600817,4.19226465805e-05,1793242956571045888
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.322504483,659,634.677495517,878,787,804.677495517,651,631,652,0.400968485163,-0.00540191521905,0.0798375218015,0.999999931472,0.000232952790613,-0.000284615223041,4.22339589712e-05,1793242956587712512
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.510787197,659,634.744606402,878,787,804.744606402,651,631,652,0.400968095818,-0.00540246718349,0.0798372489692,0.999999931405,0.000232705704883,-0.000285042590353,4.22896533172e-05,1793242956604379136
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.661828529,659,634.169085735,878,787,804.169085735,651,631,652,0.400965995165,-0.00540405894053,0.0798360710236,0.999999931322,0.000230626122486,-0.000287057778836,4.20249393013e-05,1793242956621045760
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.594164868,714,679.594164868,659,634.405835132,878,786.594164868,804.405835132,651.405835132,631,652,0.400966049662,-0.00540434435933,0.0798364989425,0.999999931542,0.000229945750378,-0.000286811203066,4.21927713937e-05,1793242956637712384
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.019493564,714,679.019493564,659,634.980506436,878,786.019493564,804.980506436,651.980506436,631,652,0.400967000748,-0.00540408631314,0.0798375949357,0.99999993189,0.000229847480065,-0.000285623684446,4.25405520163e-05,1793242956654379008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.571413256,714,679,659,635,878,786.571413256,804.428586744,652,631,652,0.400967475392,-0.00540400331086,0.0798375683789,0.99999993206,0.00022994355893,-0.000284967255981,4.2410349221e-05,1793242956671045632
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d256583a67b2d7b0d0502648eb039aa6fe127c8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+1,0.016666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+2,0.033333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+3,0.050000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+4,0.066666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+5,0.083333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+6,0.100000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+7,0.116666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+8,0.133333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+9,0.150000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+10,0.166666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+11,0.183333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+12,0.200000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+13,0.216666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+14,0.233333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+15,0.250000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+16,0.266666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+369,6.150000000,pose2_to_pose3_retreat,0.581836066339,1.75116036577e-06,1.07004092136,0.552407786656,0.0086765817734,1.06967871568
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+371,6.183333333,pose2_to_pose3_retreat,0.581547320056,1.80452146955e-06,1.07004081021,0.552119040348,0.0086766351889,1.06967860783
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+375,6.250000000,pose2_to_pose3_retreat,0.58112486908,1.92660011604e-06,1.07004083572,0.551696588508,0.00867675407436,1.06967862796
+376,6.266666667,pose2_to_pose3_retreat,0.581046519886,2.03856409752e-06,1.07004106622,0.551618236724,0.00867685717311,1.06967885635
+377,6.283333333,pose2_to_pose3_retreat,0.580979889864,1.85192974718e-06,1.07004107401,0.551551609283,0.00867667936409,1.06967886578
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+379,6.316666667,pose2_to_pose3_retreat,0.580881075405,1.83279408884e-06,1.07004082041,0.551452795407,0.00867666266604,1.069678623
+380,6.333333333,pose2_to_pose3_retreat,0.580846448008,1.93350398321e-06,1.07004088489,0.551418166429,0.00867675768998,1.06967867976
+381,6.350000000,pose2_to_pose3_retreat,0.58081829369,2.037178062e-06,1.07004095684,0.551390010996,0.00867685742239,1.06967874786
+382,6.366666667,pose2_to_pose3_retreat,0.580796315327,1.93874377811e-06,1.07004087491,0.551368033771,0.00867676298917,1.06967866928
+383,6.383333333,pose2_to_pose3_retreat,0.580780303552,1.8324903673e-06,1.07004068745,0.551352022867,0.00867665991044,1.06967848714
+384,6.400000000,pose2_to_pose3_retreat,0.580768761735,1.91790660081e-06,1.07004083036,0.551340480133,0.00867674177829,1.06967861956
+385,6.416666667,pose2_to_pose3_retreat,0.580760758561,1.83573874072e-06,1.07004091504,0.551332478534,0.00867666495077,1.0696787042
+386,6.433333333,pose2_to_pose3_retreat,0.580755283244,1.75058716426e-06,1.07004090858,0.551327004684,0.00867658489561,1.06967870068
+387,6.450000000,pose2_to_pose3_retreat,0.580752084086,1.71928571519e-06,1.07004077084,0.551323805953,0.00867655521437,1.069678567
+388,6.466666667,pose2_to_pose3_retreat,0.580749815989,1.70942714539e-06,1.07004068628,0.55132153796,0.00867654581662,1.0696784851
+389,6.483333333,pose2_to_pose3_retreat,0.580748519061,1.78956809642e-06,1.070040729,0.551320239699,0.00867662143703,1.06967852783
+390,6.500000000,pose2_to_pose3_retreat,0.580747871672,1.82957210197e-06,1.07004075032,0.551319591645,0.00867665918451,1.06967854916
+391,6.516666667,pose2_to_pose3_retreat,0.580747447637,1.85577444027e-06,1.07004076429,0.551319167175,0.00867668390885,1.06967856313
+392,6.533333333,pose2_to_pose3_retreat,0.580747031585,1.88148346565e-06,1.070040778,0.551318750696,0.0086767081677,1.06967857683
+393,6.550000000,pose2_to_pose3_retreat,0.58074650199,1.91420864722e-06,1.07004079544,0.551318220557,0.00867673904694,1.06967859428
+394,6.566666667,pose2_to_pose3_retreat,0.580745978812,1.92193913114e-06,1.07004082257,0.551317697316,0.00867674657209,1.06967862153
+395,6.583333333,pose2_to_pose3_retreat,0.580745930238,1.92081418985e-06,1.07004082583,0.551317648772,0.00867674554931,1.06967862481
+396,6.600000000,pose2_to_pose3_retreat,0.580745696976,1.91541200962e-06,1.07004084149,0.551317415652,0.00867674063773,1.06967864056
+397,6.616666667,pose2_to_pose3_retreat,0.580745490311,1.91062581184e-06,1.07004085535,0.551317209115,0.00867673628619,1.06967865452
+398,6.633333333,pose2_to_pose3_retreat,0.58074517392,1.90329843986e-06,1.07004087659,0.551316892918,0.00867672962425,1.06967867588
+399,6.650000000,pose2_to_pose3_retreat,0.580744638267,1.89089312455e-06,1.07004091253,0.551316357593,0.00867671834552,1.06967871205
+400,6.666666667,pose2_to_pose3_retreat,0.580744518324,1.88811532961e-06,1.07004092058,0.551316237724,0.00867671581999,1.06967872015
+401,6.683333333,pose2_to_pose3_retreat,0.580744397999,1.87615399373e-06,1.07004091066,0.551316117466,0.00867670407013,1.06967870988
+402,6.700000000,pose2_to_pose3_retreat,0.580744284293,1.86060587787e-06,1.07004089297,0.551316003819,0.00867668870262,1.06967869167
+403,6.716666667,pose2_to_pose3_retreat,0.580744256281,1.85677561303e-06,1.07004088861,0.551315975823,0.00867668491685,1.06967868718
+404,6.733333333,pose2_to_pose3_retreat,0.580743916491,1.81031300951e-06,1.07004083573,0.551315636211,0.00867663899396,1.06967863275
+405,6.750000000,pose2_to_pose3_retreat,0.580743705818,1.80184322162e-06,1.07004081188,0.551315425507,0.00867663037997,1.06967860804
+406,6.766666667,pose2_to_pose3_retreat,0.580743672422,1.80913076676e-06,1.0700408119,0.551315392045,0.00867663744147,1.06967860796
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+408,6.800000000,pose2_to_pose3_retreat,0.580743565356,1.83249395446e-06,1.07004081195,0.551315284769,0.00867666007996,1.06967860771
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c357a5baa6241ea70d7863ea736156c48bc1479
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5202f1842f6c81eb7f521b5e2022b069db5f01fa2c7e124828001f3d43076d6f
+size 25998523
diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf49e3bf2bab52e745b5079dcb498d6fc491f963
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+32,0.533333333,BASELINE,765,744.432017455,713.567982545,679,659,634.432017455,878.432017455,786,804.567982545,651,631,652,0.400968935186,-0.0054044103107,0.0798410157664,0.999999933201,0.000232271106499,-0.000279097659765,4.18625604458e-05,1793242957331505920
+33,0.550000000,BASELINE,765,744.145891537,714,679,659,634,878.145891537,786,804.854108463,651,631,652,0.400968588126,-0.00540502644587,0.0798406441018,0.999999933041,0.000232742698638,-0.000279247923033,4.20577798205e-05,1793242957348172544
+34,0.566666667,BASELINE,765,744.720794644,714,679,659,634,878.720794644,786,804.279205356,651,631,652,0.400968026352,-0.00540408802459,0.0798406441708,0.999999933101,0.000231887477301,-0.000279765714513,4.19194600266e-05,1793242957364838912
+35,0.583333333,BASELINE,765,744.697379915,714,679,659,634,878.697379915,786.302620085,804,651,631,652,0.400968916116,-0.00540382910044,0.0798410807384,0.999999933456,0.000231151444815,-0.000279110319292,4.18890979508e-05,1793242957381505280
+36,0.600000000,BASELINE,765,744.109018159,714,679,659,634,878.109018159,786.890981841,804,651,631,652,0.400971176462,-0.00540421177484,0.079841929459,0.999999934087,0.000230527953409,-0.000277347171064,4.19606723137e-05,1793242957398172160
+37,0.616666667,BASELINE,765,744.474100535,714,679.474100535,659,634.474100535,878,786.525899465,804.474100535,651,631,651.525899465,0.400969568707,-0.005404107434,0.0798410793146,0.999999933877,0.000229703226399,-0.000278844869746,4.15614239226e-05,1793242957414838528
+38,0.633333333,BASELINE,764.944186339,744.944186339,714,680,659,635,878,786,805,651.055813661,631,651.055813661,0.400967357872,-0.00540392127267,0.0798399602981,0.99999993352,0.000228886972892,-0.000280853968197,4.11393732103e-05,1793242957431505152
+39,0.650000000,BASELINE,764.36447338,744.36447338,714,680,659,635,878,786,805,651.63552662,631,651.63552662,0.400967743837,-0.00540400678178,0.0798399442462,0.999999933617,0.000228579855822,-0.000280702073534,4.15084035166e-05,1793242957448172032
+40,0.666666667,BASELINE,764,744,714,680,659,634.789092309,878.210907691,786,805,651.789092309,631,652,0.400968153064,-0.00540407426436,0.0798400117758,0.999999933604,0.00022876977028,-0.000280566588143,4.1695003285e-05,1793242957464838912
+41,0.683333333,BASELINE,764,744,714,680,659,634.221046625,878.778953375,786,805,651.221046625,631,652,0.400968601683,-0.00540411122195,0.0798402208371,0.999999933403,0.000229801327097,-0.000280458889201,4.15726864816e-05,1793242957481505792
+42,0.700000000,BASELINE,764.361344476,744.361344476,714,680,659,634.361344476,878.638655524,786,805,651,631,652,0.40096830443,-0.00540412050617,0.0798400142334,0.999999932972,0.000231119499264,-0.00028090219408,4.16376330408e-05,1793242957498172416
+43,0.716666667,BASELINE,764.952873926,744.952873926,714,680,659,634.952873926,878.047126074,786,805,651,631,652,0.400967532037,-0.0054041121618,0.0798395428413,0.999999932393,0.000232620252146,-0.000281696501422,4.18218707934e-05,1793242957514838784
+44,0.733333333,BASELINE,765,744.466851484,714,679.466851484,659,634.466851484,878,786,805,651,631,652,0.400966505325,-0.0054042406427,0.0798390197297,0.999999932754,0.000230334656209,-0.000282366298624,4.1330017244e-05,1793242957531505408
+45,0.750000000,BASELINE,765,744.111652687,714,679,659,634,878,786.111652687,804.888347313,651.111652687,631,652,0.400965833669,-0.00540412245044,0.079838739727,0.999999933131,0.000228573454573,-0.000282516114177,4.09413845706e-05,1793242957548171776
+46,0.766666667,BASELINE,765,744.686851366,714,679,659,634,878,786.686851366,804.313148634,651.686851366,631,652,0.400966727496,-0.00540293097719,0.0798394876216,0.999999933265,0.00023035013983,-0.00028055188076,4.1224271268e-05,1793242957564838400
+47,0.783333333,BASELINE,765,745,714,679,659.267568399,634,878.267568399,786.732431601,804,651.732431601,631,652,0.40096670058,-0.00540324902911,0.0798396505781,0.999999933362,0.000230238601655,-0.000280255162011,4.15058825208e-05,1793242957581505280
+48,0.800000000,BASELINE,765,745,714,679,659.854879919,634,878.854879919,786.145120081,804,651.145120081,631,652,0.40096557338,-0.00540537095716,0.0798391145362,0.999999933416,0.000227870644585,-0.000281951116081,4.178596966e-05,1793242957598171904
+49,0.816666667,BASELINE,765,745,714,679,659.56356988,634.43643012,879,786.43643012,804,651,631,652,0.400967106073,-0.00540530333658,0.0798398714109,0.999999933421,0.000229158348359,-0.00028087861751,4.18568534022e-05,1793242957614838784
+50,0.833333333,BASELINE,765,745,714,679,659,635,879,786.984030293,804.015969707,651.015969707,631,652,0.400969456665,-0.00540452760044,0.079841041793,0.999999933422,0.000231552275383,-0.000278904774861,4.18534489762e-05,1793242957631505408
+51,0.850000000,BASELINE,765,745,714,679,659,635,879,786.408687161,804.591312839,651.591312839,631,652,0.400969879555,-0.00540411820843,0.0798418336454,0.999999934113,0.000230670974857,-0.000277183730138,4.16528067894e-05,1793242957648171776
+52,0.866666667,BASELINE,765,745,714,679.167475222,659,635,879,786,804.832524778,651.832524778,631,652,0.400970167031,-0.00540388317631,0.079842349938,0.999999934509,0.000230385685603,-0.000276003633967,4.15545998526e-05,1793242957664838400
+53,0.883333333,BASELINE,765,745,714,679.745646603,659,635,879,786,804.254353397,651.254353397,631,652,0.400970122436,-0.00540407572349,0.0798421904809,0.99999993419,0.000231561983001,-0.000276150095287,4.17075928566e-05,1793242957681505024
+54,0.900000000,BASELINE,765,745,714,680,659,634.670714797,879,786.329285203,804.329285203,651,631,652,0.400970364718,-0.00540481603168,0.0798423310553,0.999999934344,0.000230962160391,-0.000276092012178,4.17307617838e-05,1793242957698171648
+55,0.916666667,BASELINE,765,745,714,680,659,634.08278182,879,786.91721818,804.91721818,651,631,652,0.400970832338,-0.00540598659658,0.0798427072993,0.999999934867,0.000228967226489,-0.000275873262986,4.16519561598e-05,1793242957714838528
+56,0.933333333,BASELINE,765,745,714,680,659,634,878.503295891,786.503295891,804.503295891,651,631,651.503295891,0.400969696597,-0.00540528898742,0.0798417536911,0.999999934227,0.000229566107926,-0.000277721849705,4.14272533587e-05,1793242957731505664
+57,0.950000000,BASELINE,764.925470512,745,714,680,659,634,878,786,804.074529488,651,631,651.074529488,0.400968442378,-0.00540441328179,0.0798406832423,0.999999933494,0.000230518190547,-0.000279595029378,4.12247824627e-05,1793242957748172544
+58,0.966666667,BASELINE,764.349504276,745,714,680,659,634,878,786,804.650495724,651,631,651.650495724,0.400968158822,-0.00540439910916,0.0798402929267,0.999999933449,0.000230986788282,-0.000279354311457,4.1332748816e-05,1793242957764839168
+59,0.983333333,BASELINE,764,745,714,679.768825163,659,634,878,786,805,651,631,652,0.400968789675,-0.00540411528623,0.0798407926143,0.999999933729,0.000231140564318,-0.000278208215398,4.1427693586e-05,1793242957781505792
+60,1.000000000,BASELINE,764,745,714,679.180872462,659,634,878,786,805,651,631,652,0.400970831759,-0.00540341530533,0.0798426658661,0.999999934507,0.00023080846828,-0.000275664826745,4.15025418401e-05,1793242957798172160
+61,1.016666667,BASELINE,764.400127062,745,714,679.400127062,659,634,878,786,805,651,631,652,0.400970597329,-0.00540309135936,0.0798425738132,0.999999934223,0.000231428109573,-0.000276159484773,4.15969633698e-05,1793242957814838784
+62,1.033333333,BASELINE,764.978037139,745,714,679.978037139,659,634,878,786,805,651,631,652,0.400969351408,-0.00540293449194,0.0798416085432,0.999999933466,0.00023247062339,-0.000278003996921,4.17000816223e-05,1793242957831505408
+63,1.050000000,BASELINE,765,744.443452617,714,680,659,634,878,786,805,651,630.443452617,652,0.400969031304,-0.0054038388129,0.0798414009338,0.999999933671,0.000230965721892,-0.000278572407684,4.13432850988e-05,1793242957848171776
+64,1.066666667,BASELINE,764.866209334,744.133790666,714,679.866209334,659,634,878,786.133790666,804.866209334,651,630.133790666,652,0.400968536521,-0.00540444372768,0.0798411294944,0.999999933751,0.000229890476564,-0.000279209997931,4.11084254745e-05,1793242957864838400
+65,1.083333333,BASELINE,764.293203166,744.706796834,714,679.293203166,659,634,878,786.706796834,804.293203166,651,630.706796834,652,0.400967348225,-0.00540392810923,0.0798405502493,0.9999999333,0.000230556105525,-0.000280240192299,4.13335136082e-05,1793242957881505280
+66,1.100000000,BASELINE,764,745,714,679,659,634.288648342,878.288648342,786.711351658,804,651,631,652,0.400967306918,-0.00540447272801,0.0798404608878,0.999999933351,0.000230251747476,-0.000280281046415,4.15352052356e-05,1793242957898171904
+67,1.116666667,BASELINE,764,745,714,679,659,634.879768768,878.879768768,786.120231232,804,651,631,652,0.400968467534,-0.00540612836018,0.0798408848711,0.999999933925,0.00022893094845,-0.000279285179432,4.17123798537e-05,1793242957914838528
+68,1.133333333,BASELINE,764.461454423,744.538545577,714,679.461454423,659,634.538545577,879,786.461454423,804,651,631,652,0.400969401185,-0.00540435723213,0.079841302504,0.99999993379,0.000230784258668,-0.000278278218026,4.14771579081e-05,1793242957931505408
+69,1.150000000,BASELINE,764.959470716,744.040529284,714,679.959470716,659,634.040529284,878.959470716,787,804.040529284,651,631,652,0.400970173391,-0.00540202496523,0.079841651691,0.999999933492,0.000233141151724,-0.000277428686296,4.11756070962e-05,1793242957948172032
+70,1.166666667,BASELINE,764.383065038,744.616934962,714,679.383065038,659,634.616934962,878.383065038,787,804.616934962,651,631,652,0.40096957721,-0.00540384187281,0.0798411173261,0.999999933525,0.000231440800866,-0.000278698137859,4.13892839074e-05,1793242957964838656
+71,1.183333333,BASELINE,764.192585889,745,714,679,659,635,878,786.807414111,804.807414111,651,630.807414111,651.807414111,0.400969088622,-0.00540504306497,0.0798407927135,0.999999933599,0.000230362387842,-0.000279302967899,4.15319536788e-05,1793242957981505024
+72,1.200000000,BASELINE,764.766741534,745,714,679,659,635,878,786.233258466,804.233258466,651,630.233258466,651.233258466,0.400968813208,-0.00540502434261,0.0798408836823,0.999999933762,0.000230516217794,-0.000278590985847,4.15339374865e-05,1793242957998171648
+73,1.216666667,BASELINE,765,744.648955619,714,679,659,634.648955619,878,786,804.351044381,651,630.351044381,651,0.400969084936,-0.00540452152397,0.0798407744939,0.99999993361,0.000231680081932,-0.000278173338897,4.15098599231e-05,1793242958014838272
+74,1.233333333,BASELINE,765,744.057709599,714,679,659,634.057709599,878,786,804.942290401,651,630.942290401,651,0.400969731046,-0.0054036874631,0.0798405283483,0.999999933241,0.000233535060581,-0.000277957090383,4.14679499019e-05,1793242958031504896
+75,1.250000000,BASELINE,764.47782335,744.52217665,714,679,659,634,878,786.52217665,804.47782335,651,631,651.52217665,0.400968367338,-0.00540351478381,0.0798401444389,0.999999933025,0.000233362078778,-0.00027891665128,4.12055646272e-05,1793242958048171776
+76,1.266666667,BASELINE,764,745,714,679,659,634.100309907,878,787,804,651,631,652,0.400967410921,-0.00540369816321,0.0798400763745,0.99999993306,0.000232546679022,-0.000279492434844,4.10650657783e-05,1793242958064838400
+77,1.283333333,BASELINE,764,745,714,679,659,634.675958791,878,787,804,651,631,652,0.400969414687,-0.00540522980263,0.0798415756174,0.999999934203,0.000229726499353,-0.000277646939827,4.16151571529e-05,1793242958081506048
+78,1.300000000,BASELINE,764.256655781,744.743344219,714,679,659,634.743344219,878.256655781,786.743344219,804.256655781,651,631,652,0.400969295602,-0.00540600385985,0.0798416660262,0.999999934314,0.000228732630737,-0.000278022016238,4.19086361287e-05,1793242958098172928
+79,1.316666667,BASELINE,764.843854095,744.156145905,714,679,659,634.156145905,878.843854095,786.156145905,804.843854095,651,631,652,0.400966442536,-0.00540580223999,0.0798399420219,0.9999999331,0.000230090836691,-0.000281256928249,4.1871628401e-05,1793242958114839040
+80,1.333333333,BASELINE,764.574704512,744.425295488,714,679,659,634,878.574704512,786,804.574704512,651,631,652,0.400967968952,-0.00540530740329,0.0798412465892,0.999999933642,0.000230824507841,-0.00027871962482,4.18601802754e-05,1793242958131505408
+81,1.350000000,BASELINE,764.004624131,744.995375869,714,679.004624131,659,634,878,786.004624131,804,651,631,652,0.400971042435,-0.00540470615604,0.0798436194116,0.999999934791,0.000231322780897,-0.000274146747608,4.18542777573e-05,1793242958148172032
+82,1.366666667,BASELINE,764.580568613,744.419431387,714,679.580568613,659,634,878,786.580568613,804,651,631,652,0.400969251605,-0.00540408086221,0.0798424308212,0.999999934332,0.00023068876219,-0.000276415403803,4.13896035049e-05,1793242958164838912
+83,1.383333333,BASELINE,765,744,714,679.843581928,659,634.156418072,878,787,804.156418072,651,631,652,0.400968302711,-0.00540366135946,0.0798417416595,0.999999934047,0.000230397720817,-0.000277736128321,4.1045132963e-05,1793242958181505536
+84,1.400000000,BASELINE,765,744,714,679.267986985,659,634.732013015,878,787,804.732013015,651,631,652,0.40096961008,-0.00540379334565,0.0798423908913,0.999999934241,0.000231025806899,-0.000276516539245,4.10227901557e-05,1793242958198171904
+85,1.416666667,BASELINE,765,744.315434843,714,679,659,635,878,787,804.684565157,651,631,651.684565157,0.400969368237,-0.00540433862976,0.0798421373615,0.999999933933,0.000231669610836,-0.000277067495398,4.1196285011e-05,1793242958214838528
+86,1.433333333,BASELINE,765,744.90567539,714,679,659,635,878,787,804.09432461,651,631,651.09432461,0.400967776726,-0.00540524397753,0.079841097349,0.999999933184,0.000232327108073,-0.000279160944276,4.15403929372e-05,1793242958231505152
+87,1.450000000,BASELINE,765,744.51311301,714,679,659,634.51311301,878,786.51311301,804,651,631,651,0.400967219677,-0.00540456927654,0.079840723383,0.999999932885,0.000232641935434,-0.00027996018528,4.15915832451e-05,1793242958248171520
+88,1.466666667,BASELINE,765,744,714,679,659,634,878,786,804.065917364,651,631,651,0.400967195296,-0.0054036609581,0.0798406666623,0.999999932804,0.000232858250362,-0.000280073927287,4.15670366224e-05,1793242958264838400
+89,1.483333333,BASELINE,765,744,714,679,659,634,878,786,804.64136195,651,631,651,0.400969767427,-0.00540326985741,0.0798420829401,0.999999933735,0.000232816887759,-0.000276791687568,4.13877151241e-05,1793242958281505024
+90,1.500000000,BASELINE,765,744,714,679,659,634,878,786,804.778914588,651,631,651,0.400970516013,-0.00540312739207,0.079842666171,0.999999934232,0.00023216524693,-0.000275555547606,4.12736568508e-05,1793242958298171648
+91,1.516666667,BASELINE,765,744,714,679,659,634,878,786,804.192113135,651,631,651,0.40096824812,-0.00540339621549,0.0798418713886,0.999999934023,0.000230504093381,-0.000277704034286,4.12675560048e-05,1793242958314838272
+92,1.533333333,BASELINE,765,744.389938302,714,679,659,634.389938302,878.389938302,786.389938302,804,651,631,651.389938302,0.400967081619,-0.00540351671773,0.0798407249595,0.999999933486,0.000230644588173,-0.00027952177409,4.12087638734e-05,1793242958331505152
+93,1.550000000,BASELINE,765,744.969677738,714,679,659,634.969677738,878.969677738,786.969677738,804,651,631,651.969677738,0.400966451218,-0.00540356502516,0.0798394073674,0.99999993279,0.000231662028979,-0.000281178524177,4.11243244387e-05,1793242958348171776
+94,1.566666667,BASELINE,765,745,714,679,659,634.453564802,878.453564802,786.453564802,804,651,631,651.453564802,0.40096771428,-0.00540386879433,0.0798409310865,0.9999999334,0.000232160814411,-0.000278540392297,4.14249119549e-05,1793242958364838400
+95,1.583333333,BASELINE,765,744.877276644,713.877276644,679,659,634,878,786.122723356,804.122723356,651,631,651,0.40096886122,-0.00540446817297,0.0798422537431,0.999999934088,0.000231850614958,-0.000276282895671,4.16788470769e-05,1793242958381505024
+96,1.600000000,BASELINE,765,744.30211175,713.30211175,679,659,634,878,786.69788825,804.69788825,651,631,651,0.400969194802,-0.00540610539063,0.0798422570338,0.999999934816,0.000228663478014,-0.00027630254599,4.1682449529e-05,1793242958398171904
+97,1.616666667,BASELINE,764.719896488,744.280103512,713.280103512,679,659,634.280103512,878,787,804.719896488,651,630.719896488,651,0.400969385679,-0.00540603339217,0.0798422730171,0.99999993484,0.000228530918692,-0.000276331304499,4.16482680696e-05,1793242958414838272
+98,1.633333333,BASELINE,764.129880584,744.870119416,713.870119416,679,659,634.870119416,878,787,804.129880584,651,630.129880584,651,0.400969418666,-0.00540407028111,0.0798423030437,0.999999934085,0.000231778008203,-0.000276370140497,4.15722816993e-05,1793242958431504896
+99,1.650000000,BASELINE,764,744.549318922,714,679,659,634.549318922,878.450681078,786.549318922,804.450681078,651,630.450681078,651.450681078,0.400969662215,-0.00540374916464,0.0798422010349,0.999999933616,0.000233737044178,-0.000276389940409,4.17516933294e-05,1793242958448171776
+100,1.666666667,BASELINE,764.02848426,744.02848426,714,679.02848426,659.02848426,634,879,786,805,651,631,652,0.400969967574,-0.00540394873241,0.0798420620521,0.999999933282,0.000235106626172,-0.000276402802695,4.19830125975e-05,1793242958464838656
+101,1.683333333,BASELINE,764.604559955,744.604559955,714,679.604559955,659.604559955,634,879,786,805,651,631,652,0.400970318602,-0.00540524802757,0.0798419287456,0.999999933988,0.000232133808406,-0.000276385590685,4.18263355043e-05,1793242958481505280
+102,1.700000000,BASELINE,765,745,714,679.820122339,659.640244679,634,878.820122339,786.179877661,804.820122339,651,631,651.820122339,0.400970350488,-0.00540577373123,0.0798419152355,0.9999999344,0.000230388749667,-0.000276383576395,4.16382820115e-05,1793242958498171904
+103,1.716666667,BASELINE,765,745,714,679.246464068,658.492928136,634,878.246464068,786.753535932,804.246464068,651,631,651.246464068,0.400969683723,-0.00540460592075,0.0798421639785,0.999999934184,0.000231331449751,-0.000276414832321,4.13815406454e-05,1793242958514838528
+104,1.733333333,BASELINE,765,745,714,679,658.337669545,634,878.337669545,787,804,651,631,651,0.400968594129,-0.00540383840844,0.0798418699915,0.999999933726,0.000232435434661,-0.000277153220475,4.13265647472e-05,1793242958531505152
+105,1.750000000,BASELINE,765,745,714,679,658.929693932,634,878.929693932,787,804,651,631,651,0.400967186032,-0.00540337242684,0.0798411671848,0.999999933083,0.000233660909976,-0.000278424266994,4.14235718023e-05,1793242958548172032
+106,1.766666667,BASELINE,765,745,714,679,659,634.509787051,878.490212949,787,804,651,631,651.509787051,0.400967996288,-0.00540233337967,0.0798410416463,0.999999932618,0.000235948928231,-0.000278154268503,4.1500162268e-05,1793242958564838656
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,804,651,631,652,0.400966036138,-0.00540517863956,0.0798395803721,0.999999933758,0.000228260823509,-0.000280474775525,4.14204731315e-05,1793242958607991040
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.590228856,744.409771144,714,679,659,634,878.409771144,786,804,651,631,651.409771144,0.400967652378,-0.00540553920606,0.0798403737593,0.999999933923,0.000229674926296,-0.000278702182824,4.15660526492e-05,1793242958624658176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.177012379,714,679,659,634,878,786.177012379,804,651,631,651.177012379,0.400969116234,-0.00540543239292,0.0798412341434,0.999999934228,0.000230437148508,-0.000276984142447,4.15073631484e-05,1793242958641325312
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.755972585,714,679,659,634,878,786.755972585,804,651,631,651.755972585,0.400970234068,-0.00540426428552,0.0798422466598,0.999999934855,0.000229719124342,-0.000275389975484,4.09848332997e-05,1793242958657991424
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.666326272,745,714,679.333673728,659,634,878,787,804.333673728,651.333673728,631,652,0.40096998006,-0.00540474704588,0.0798422376528,0.999999935148,0.000228125825352,-0.000275658230283,4.09166359274e-05,1793242958674657792
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.0895425,745,714,679.9104575,659,634,878,787,804.9104575,651.9104575,631,652,0.400968726547,-0.00540643260564,0.0798414843781,0.999999935195,0.000225894813322,-0.000277283419805,4.1179458918e-05,1793242958691324160
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.484500068,878,787,804.515499932,652,631,651.515499932,0.400969358253,-0.00540562464004,0.07984206647,0.99999993491,0.000228219035723,-0.000276363968238,4.14630968726e-05,1793242958707990784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.059900465,745,714,679.940099535,659.059900465,634.940099535,878.059900465,787,804,651.940099535,631,651.059900465,0.400970332305,-0.00540451681952,0.0798428367447,0.9999999346,0.00023100650281,-0.000275129575562,4.17101028394e-05,1793242958724657664
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.651835497,745,714,679.348164503,659.651835497,634.348164503,878.651835497,787,804,651.348164503,631,651.651835497,0.400971269855,-0.00540481582726,0.0798430987632,0.999999934694,0.000230473078272,-0.000275251451241,4.15977684807e-05,1793242958741324544
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.762031396,745,714,679,659.762031396,634,878.762031396,787,804,651,631,652,0.400976019113,-0.00540492135326,0.0798452085651,0.999999935491,0.000230468352387,-0.000272347732165,4.15724931418e-05,1793242958757991168
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.18418492,745,714,679,659.18418492,634,878.18418492,787,804,651,631,652,0.400986212428,-0.0054047505396,0.0798499574577,0.999999937256,0.000231218738647,-0.00026512271736,4.16715595681e-05,1793242958774658048
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.391790099,745,714,679,659,634.391790099,878,786.608209901,804.391790099,651.391790099,631,652,0.401012363098,-0.00540518787177,0.079859967955,0.99999994238,0.000230703223927,-0.000245502811532,4.17745759276e-05,1793242958791324672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966889558,745,714,679,659,634.966889558,878,786.033110442,804.966889558,651.966889558,631,652,0.401045979839,-0.00540590974103,0.0798724402335,0.999999948548,0.000229595423894,-0.000220083627335,4.18794403545e-05,1793242958807991296
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.555073571,659,635,878,786,805.555073571,652,631,652,0.401104538684,-0.00540822575823,0.0798907857982,0.999999956226,0.000227537116388,-0.000184418739419,4.20015081566e-05,1793242958824657920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.858295148,659.141704852,635,878,786,805.716590297,651.858295148,631,652,0.401167325337,-0.0054099954609,0.0799080266829,0.999999962024,0.00022594630831,-0.000152169305059,4.17763598363e-05,1793242958841324288
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.278928219,659.721071781,635,878,786,804.557856438,651.278928219,631,652,0.401238463681,-0.00540977706032,0.0799207475373,0.999999964883,0.000225978737253,-0.000132401822773,4.0475572452e-05,1793242958857990912
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.700153311,714,679,659.700153311,635,878,786,804.299846689,651,630.700153311,652,0.401313331634,-0.00540982691734,0.079928222852,0.999999966616,0.000225180503866,-0.000120709466982,3.86246094592e-05,1793242958874657792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.121928071,714,679,659.121928071,635,878,786,804.878071929,651,630.121928071,652,0.401391662164,-0.00541012582551,0.0799308281912,0.999999967554,0.000223611081183,-0.000116514083643,3.62628618984e-05,1793242958891324416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.451598756,714,679,659,635,878,786,804.548401244,651,630.451598756,652,0.401486051327,-0.00541206036209,0.0799317885794,0.999999968216,0.000221953493222,-0.000114866483137,3.33329602437e-05,1793242958907991040
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.975450536,744.975450536,714,679,659,635,878.024549464,786,804,651,631,652,0.401586205278,-0.00541438218204,0.0799325914343,0.999999968871,0.000220202365294,-0.000113387535511,3.02068782375e-05,1793242958924658176
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.386891911,744.386891911,714,679,659,635,878.613108089,786,804,651,631,652,0.401720217275,-0.00541556042598,0.079939873466,0.999999971136,0.000216843462109,-0.000100142359258,2.60615873602e-05,1793242958941324800
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.198968781,744.198968781,714,679,659,635,878.801031219,786.198968781,804.198968781,651,631,652,0.401864270888,-0.00541702335439,0.0799471864592,0.99999997326,0.000213297876271,-8.66962478137e-05,2.16228686689e-05,1793242958957991168
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.779653498,744.779653498,714,679,659,635,878.220346502,786.779653498,804.779653498,651,631,652,0.402027589043,-0.00541903244171,0.0799545588502,0.999999975284,0.000209394145509,-7.28646494716e-05,1.66212175588e-05,1793242958974657792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.358404636,659,635,878,787,804.641595364,651.358404636,631,652,0.402202801197,-0.00541971536994,0.0799597916055,0.999999976888,0.000205185745418,-6.32235096514e-05,1.12236283488e-05,1793242958991324416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.935973449,659,635,878,787,804.064026551,651.935973449,631,652,0.40238528654,-0.00541958735303,0.0799637159757,0.99999997825,0.00020079103988,-5.61448308569e-05,5.58392279327e-06,1793242959007991040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.492895892,659.507104108,635,878,786.492895892,804.507104108,652,631,652,0.402587620674,-0.00542211353637,0.07996211172,0.999999979491,0.00019298866776,-6.14194203086e-05,-1.18975476438e-06,1793242959024657920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.919484341,744.919484341,714,679,659.919484341,634.919484341,878.080515659,786,805,651.919484341,631,652,0.402796874882,-0.00542498506977,0.0799592004504,0.99999998053,0.000184800631561,-6.87053232e-05,-8.26988606578e-06,1793242959041324544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.326443936,744.326443936,714,679,659.326443936,634.326443936,878.673556064,786,805,651.326443936,631,652,0.403034426504,-0.00542794848569,0.0799523570321,0.999999981106,0.000176862064553,-7.89903710262e-05,-1.64008056693e-05,1793242959057991168
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.260421181,744.260421181,714,679,659,634,879,786,804.739578819,651,630.739578819,652,0.403295897283,-0.00543089163877,0.0799496033468,0.999999982409,0.000166979037665,-8.20131889296e-05,-2.39571040122e-05,1793242959074657792
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.839724702,744.839724702,714,679,659,634,879,786,804.160275298,651,630.160275298,652,0.403586656746,-0.0054338099801,0.0799518574865,0.999999984658,0.0001547150455,-7.61435003958e-05,-3.08097856283e-05,1793242959091324672
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.584962396,744.584962396,714,679.415037604,659,634.415037604,878.584962396,786,804.415037604,651,630.415037604,652,0.403903897006,-0.00543533723524,0.0799558214974,0.999999988139,0.000134827653333,-7.03818367664e-05,-2.42888001162e-05,1793242959107991040
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.011175892,744.011175892,714,679.988824108,659,634.988824108,878.011175892,786,804.988824108,651,630.988824108,652,0.404231265975,-0.00543633240983,0.0799604395217,0.999999991555,0.000112024365658,-6.46614919837e-05,-1.26524828656e-05,1793242959124657664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.577614087,744.577614087,714,679.422385913,659,635,878,786,804.422385913,651.577614087,631,652,0.404606327713,-0.00543634681877,0.0799607758555,0.999999991462,0.000114152831012,-5.99876064056e-05,-2.11098927619e-05,1793242959141324288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.163889856,786,804,651.836110144,631,652,0.404991151458,-0.00543772978036,0.0799597134804,0.999999991342,0.000114945425763,-5.76185505469e-05,-2.79898144746e-05,1793242959157990912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.743039939,786,804,651.256960061,631,652,0.405398309421,-0.00544262971184,0.0799553225951,0.99999999152,0.000111098362689,-6.10367480557e-05,-2.98613790802e-05,1793242959174657536
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.320108987,659.320108987,635,879,786.320108987,804,651,631,652,0.405824493783,-0.0054470020663,0.0799502353726,0.999999991779,0.000103690521978,-6.85765371657e-05,-3.14143084409e-05,1793242959191324416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.895518384,659.895518384,635,879,786.895518384,804,651,631,652,0.406265852544,-0.00545095365637,0.0799445927914,0.999999991947,9.34428105885e-05,-7.94034696558e-05,-3.27131129606e-05,1793242959207991296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.462703086,679.537296914,660,635,878.537296914,787,804.462703086,651,631,652,0.406728606507,-0.00545678225657,0.0799394415038,0.999999991895,8.54906714294e-05,-8.82546401002e-05,-3.33577917615e-05,1793242959224658176
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+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.128239185,680,659,634.128239185,878,786.871760815,804.128239185,651,631,652,0.411397424505,-0.00552127392372,0.0799968504057,0.999999999415,3.44789382116e-06,-2.60956589731e-06,-3.39233246358e-05,1793242959357991680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.707918613,680,659,634.707918613,878,786.292081387,804.707918613,651,631,652,0.41206235294,-0.00552652051604,0.0799715781968,0.999999998277,-2.76316748113e-06,-4.58834748312e-05,-3.65183840504e-05,1793242959374658304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.713541628,714.713541628,679.713541628,659.286458372,635,878.572916743,786,804.713541628,651.286458372,631,652,0.412739761934,-0.00552889232964,0.0799435686422,0.999999995461,-9.52010416117e-06,-8.5824848482e-05,-4.02655892333e-05,1793242959391324928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.136159237,714.136159237,679.136159237,659.863840763,635,879.727681527,786,804.136159237,651.863840763,631,652,0.41342984613,-0.00552834454975,0.0799127790659,0.999999991349,-1.68314267125e-05,-0.00012238174062,-4.51829015088e-05,1793242959407991296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.439602897,714,679.439602897,659.560397103,635,879.120794207,786.439602897,804.439602897,651.560397103,630.560397103,652,0.414179381707,-0.00553395685989,0.0799188937473,0.999999992909,-2.56312870358e-05,-0.000106806029628,-4.60150268881e-05,1793242959424657664
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.01519861,635,878.01519861,787,805,651,630.01519861,652,0.414947295459,-0.0055413623156,0.0799364851435,0.999999995535,-3.47519225166e-05,-7.51421308797e-05,-4.55610602306e-05,1793242959441324544
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.60337148,635,878.60337148,787,805,651,630.60337148,652,0.415716409067,-0.00554470280176,0.0799574034261,0.999999997334,-3.86482328669e-05,-4.34657281594e-05,-4.41486313133e-05,1793242959457991424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.188466626,680,660,635,879,786.811533374,805,651,631,652,0.416493253555,-0.00554760445051,0.079965799336,0.99999999759,-4.26213513579e-05,-3.29097577384e-05,-4.38315267558e-05,1793242959474658048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.767188733,680,660,635,879,786.232811267,805,651,631,652,0.417286106235,-0.00554959740393,0.0799482653243,0.999999995675,-4.67535153081e-05,-6.60876038896e-05,-4.57824967611e-05,1793242959491324672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.655748542,680,659.655748542,634.655748542,879.344251458,786,805,651,631,652,0.41813223566,-0.00555626740873,0.0799596676055,0.999999996497,-5.68243266686e-05,-3.97968826383e-05,-4.6824704507e-05,1793242959507991552
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.079802667,680,659.079802667,634.079802667,879.920197333,786,805,651,631,652,0.419014222343,-0.00556608524815,0.0799905451209,0.999999996019,-7.08920748379e-05,2.65184635438e-05,-4.72552802216e-05,1793242959524658176
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.50073106,634,878.998537881,786,804.49926894,651,631,652,0.41982861209,-0.00556980522851,0.0799907019994,0.999999995276,-7.9637122463e-05,2.77017377466e-05,-4.83663698289e-05,1793242959541324800
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.082449256,878.082449256,786,804.082449256,651,631,652,0.420641084472,-0.00557243685086,0.0799847364334,0.999999994851,-8.69534523597e-05,1.64553821701e-05,-4.9652634749e-05,1793242959557991168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.666885889,878.666885889,786,804.666885889,651,631,652,0.421508080533,-0.00557441371167,0.0799715794963,0.999999994539,-9.07836446164e-05,-6.68409443037e-06,-5.13390152298e-05,1793242959574657792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.750676309,634.750676309,879,786,805,651,630.750676309,652,0.422404589519,-0.00556309755578,0.0799763643588,0.999999995638,-7.80182704895e-05,-1.24321345141e-06,-5.13441685474e-05,1793242959591324416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.170887765,634.170887765,879,786,805,651,630.170887765,652,0.423340216388,-0.00553416223695,0.0800049300889,0.999999996973,-4.32563854096e-05,4.20793578567e-05,-4.91209477907e-05,1793242959607991296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.405347551,634,879,786,805,651,630.405347551,652,0.424210146374,-0.00551577267243,0.0800003260009,0.999999998482,-1.54835939341e-05,2.21674713249e-05,-4.80016225104e-05,1793242959624657920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.980097867,634,879,786,805,651,630.980097867,652,0.425052620276,-0.00550179038914,0.0799818595875,0.999999998543,9.3683148983e-06,-2.41713495243e-05,-4.73436370629e-05,1793242959641324544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.568197683,786,805,651,630.431802317,652,0.425896401923,-0.00551269566594,0.0799397549211,0.999999995424,-1.23393092603e-05,-7.99276698172e-05,-5.11090046768e-05,1793242959657991424
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.154150005,660,634,880,786.154150005,805,651,630.154150005,652,0.426758862302,-0.00552199979197,0.0799075432648,0.99999999091,-3.03410231497e-05,-0.000119686136878,-5.41800051729e-05,1793242959674658048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.732868696,660,634,880,786.732868696,805,651,630.732868696,652,0.427672639462,-0.00552443519949,0.0799049148144,0.999999991381,-3.35359125858e-05,-0.000114452016072,-5.4901540563e-05,1793242959691324672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.311244936,714,681,660,634,879.688755064,786.688755064,805,651,631,652,0.428594475818,-0.0055283033903,0.0799143743722,0.999999992224,-3.85419216149e-05,-0.000105367023174,-5.44427239867e-05,1793242959707991040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.889327553,714,681,660,634,879.110672447,786.110672447,805,651,631,652,0.429523221466,-0.00553339994017,0.0799341972669,0.999999993257,-4.51006463543e-05,-9.29805863459e-05,-5.29719635673e-05,1793242959724657664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.537581606,714,681,660,634,879,786.462418394,805,651,631,652,0.430465867946,-0.00554064382954,0.079977833094,0.999999996881,-5.29874275251e-05,-2.76411862368e-05,-5.16288269973e-05,1793242959741324544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,787,805,651,631,652,0.431406734477,-0.00554763558958,0.0800244481521,0.999999995853,-6.04900773312e-05,4.58091871714e-05,-5.03592686473e-05,1793242959757990912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,787,805,651,631,652,0.432268180135,-0.00554271643731,0.0800294196996,0.999999995888,-5.70525504101e-05,4.99287087708e-05,-4.97687486605e-05,1793242959774657792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786.786530495,805.213469505,651,631,652,0.433107136539,-0.00553450229324,0.0800049259981,0.999999997411,-4.93412450664e-05,1.12084667427e-05,-5.11583316476e-05,1793242959791324672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786.21025781,805.78974219,651,631,652,0.433907871355,-0.00552068812831,0.0799303544841,0.999999992814,-3.43664168823e-05,-0.000100320312775,-5.59132081711e-05,1793242959807991040
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.365594538,681,660,634.365594538,879,786.365594538,806,651,631,651.634405462,0.434771882439,-0.00551941790111,0.079907824421,0.999999989597,-3.48714225547e-05,-0.000127255843266,-5.8274724352e-05,1793242959824657664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.94120539,681,660,634.94120539,879,786.94120539,806,651,631,651.05879461,0.435672242618,-0.00552535355795,0.0799151896493,0.999999991689,-4.42688422716e-05,-0.000105596653074,-5.92613711867e-05,1793242959841324544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.511686868,714.488313132,681,660.511686868,635,879.511686868,787,805.488313132,651,631,651.511686868,0.436529629996,-0.00553248181423,0.0799502383602,0.999999994922,-5.42555538226e-05,-6.32840986289e-05,-5.66304662327e-05,1793242959857991168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.914106126,714,681,660.914106126,635,879.914106126,787,805.085893874,651,631,652,0.437382360246,-0.00553944464164,0.079986859212,0.99999999639,-6.29748806372e-05,-1.81646134292e-05,-5.40774480907e-05,1793242959874657792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.314107926,714,681,660.314107926,635,879.314107926,787,805.685892074,651,631,652,0.43823647663,-0.00554460526606,0.0800140398753,0.999999996047,-6.37072195956e-05,2.96922091356e-05,-5.44538411201e-05,1793242959891324416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.725320066,879.274679934,787,805.725320066,651,631,652,0.439062782278,-0.00554909830414,0.0800258993225,0.999999994645,-7.08070801594e-05,5.14802777167e-05,-5.51907953375e-05,1793242959907991040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.148849055,879.851150945,787,805.148849055,651,631,652,0.439858532189,-0.00555285786419,0.0800209253347,0.999999993814,-8.49029421833e-05,4.46265810524e-05,-5.63238985082e-05,1793242959924657664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.426501747,660.426501747,634,879.573498253,787,805.426501747,651,631,652,0.440574628723,-0.00554831268008,0.0799625539973,0.999999994083,-7.87313878813e-05,-4.682443297e-05,-5.86724409196e-05,1793242959941324544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.99849629,681.99849629,660.99849629,634.00150371,879.00150371,787,806,651,631,651.99849629,0.441263016717,-0.00554088152087,0.0798856965282,0.999999981932,-6.55262546177e-05,-0.000167534530126,-6.14442714167e-05,1793242959957991680
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.407401504,681.407401504,660.407401504,634.592598496,879.592598496,787,806,651,631,651.407401504,0.441958304996,-0.00553532751419,0.0798483321578,0.999999973085,-6.06410381241e-05,-0.000214517421673,-6.42991030223e-05,1793242959974658304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.179669213,681.179669213,660,634.820330787,879.820330787,786.820330787,805.820330787,651,631,651.179669213,0.442680402309,-0.0055338943964,0.0798448219299,0.999999973369,-6.29292394116e-05,-0.000212267209302,-6.51543246498e-05,1793242959991324928
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.757815318,681.757815318,660,634.242184682,879.242184682,786.242184682,805.242184682,651,631,651.757815318,0.443461957803,-0.0055416007343,0.0799163946394,0.999999989731,-8.11269055189e-05,-0.000100826042308,-6.15747390515e-05,1793242960007991296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,786.335267089,805.335267089,651,631,651.664732911,0.444194260918,-0.00554890030622,0.0799699201285,0.999999994382,-8.5024435795e-05,-2.28660695847e-05,-5.90276428198e-05,1793242960024657920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,786.912218301,805.912218301,651,631,651.087781699,0.444891059404,-0.00555590665213,0.0800104359064,0.999999994793,-7.86134206536e-05,3.0958294054e-05,-5.72248380863e-05,1793242960041324288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.501765221,745,714,682,660,634,879,786.501765221,806,651,631,651.498234779,0.445506938143,-0.00555819377401,0.0799968456115,0.999999993886,-9.45686375655e-05,6.92186150464e-06,-5.68944555657e-05,1793242960057991168
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.084533146,745,714,682,660,634,879.084533146,786.084533146,806,651,631,651.915466854,0.446101885192,-0.00556036340992,0.0799723039297,0.999999991751,-0.000110441513929,-3.21163396539e-05,-5.71826330813e-05,1793242960074657792
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.662973717,745,714,682,660,634,879.662973717,786.662973717,806,651,631,651.337026283,0.446659376588,-0.00556679464863,0.0799405053764,0.999999990009,-0.000102382586846,-7.71703235135e-05,-5.95410969123e-05,1793242960091324672
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.758767859,745,714,682.241232141,660,633.758767859,880.241232141,786.758767859,805.758767859,651,631,651.241232141,0.447202552728,-0.00557161670728,0.0799119048628,0.999999986305,-0.000101984694297,-0.000114923005208,-6.14896605635e-05,1793242960107991296
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.18076377,745,714,682.81923623,660,633.18076377,880.81923623,786.18076377,805.18076377,651,631,651.81923623,0.447725744022,-0.00557419227077,0.079887768973,0.99999998157,-0.000112281984115,-0.000142482705842,-6.28659832798e-05,1793242960124657920
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.394192812,745,714,683,660,633,881,786,805.394192812,651,630.605807188,652,0.448213184896,-0.00557284579773,0.079861898022,0.999999974994,-0.000113609841614,-0.000181622163798,-6.41749483086e-05,1793242960141324544
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.967762678,745,714,683,660,633,881,786,805.967762678,651,630.032237322,652,0.448684357621,-0.00556971460602,0.0798352375309,0.999999966168,-0.000110856168414,-0.000226030981187,-6.54532623168e-05,1793242960157991168
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659.445383685,633.554616315,881,786,805.445383685,651,630.554616315,652,0.44912660945,-0.00556287978796,0.0798141246182,0.999999959397,-9.98051567571e-05,-0.000258651797102,-6.59168698451e-05,1793242960174657792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.859047445,880.859047445,785.859047445,805.140952555,651,631,652,0.449570009627,-0.00555636375432,0.0798012851573,0.999999955088,-9.34097565371e-05,-0.000276945706282,-6.63279853288e-05,1793242960191324416
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.276807553,880.276807553,785.276807553,805.723192447,651,631,652,0.450022397168,-0.00555153626436,0.0798133135073,0.999999960556,-0.00010313688428,-0.000252583424212,-6.67266569183e-05,1793242960207991296
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.698751637,632.698751637,880,785,805.698751637,651,631,652,0.450446517941,-0.00555230491339,0.0798267306779,0.999999965137,-0.000104603773259,-0.000233440464945,-6.54982825773e-05,1793242960224657920
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658.124487616,632.124487616,880,785,805.124487616,651,631,652,0.450845021055,-0.00555814523698,0.0798414065095,0.999999969182,-9.85845644729e-05,-0.000219027680145,-6.27953474648e-05,1793242960241324544
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.550408105,745,714,683,658,632,880,785.449591895,805.449591895,651,631,652,0.451203202263,-0.00556256007869,0.0798445842589,0.999999969073,-0.000101895147635,-0.000217830255375,-6.34185338046e-05,1793242960257991424
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.024299243,745.024299243,714,683,658.024299243,632,880,785.975700757,806,651.024299243,630.975700757,652,0.45154697287,-0.00556647046896,0.07984334899,0.999999967407,-0.000107652285422,-0.000222246268614,-6.483246216e-05,1793242960274658048
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.614826845,745.614826845,714,683,658.614826845,632,880,785.385173155,806,651.614826845,630.385173155,652,0.451815000876,-0.00556781967379,0.079813437501,0.999999954868,-0.000110246973282,-0.000272235406477,-6.32205680097e-05,1793242960291324416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.798249083,714,683,658.798249083,631.798249083,880,785,806,651.798249083,630,652,0.452076129376,-0.00556873775626,0.079785733429,0.999999941639,-0.000111274643612,-0.000316918646497,-6.24676271904e-05,1793242960307991040
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765.35745763,745,714,683,658,631.35745763,880,785,806,651,630.35745763,652,0.452562052168,-0.00556986983888,0.0797503688422,0.999999923659,-0.000113952420781,-0.000367996225381,-6.53826576103e-05,1793242960341324544
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.930214655,745,714,683,658,631.930214655,880,785,806,651,630.930214655,652,0.452793492243,-0.00557144249348,0.0797456528422,0.999999920514,-0.000122457178081,-0.000373269232565,-6.81615303675e-05,1793242960357991424
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683.104009549,657,631,880,785,806.895990451,651,630,652,0.453206069506,-0.00557463908191,0.0797454471496,0.999999917524,-0.00014809932847,-0.000371702874615,-6.96885351882e-05,1793242960391324672
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.304239551,659,634.304239551,879,786.304239551,805.304239551,651,631,652,0.425696879644,-0.00542144955976,0.0797762259945,0.999999920124,0.000168019742773,-0.000359645499031,4.66607015909e-05,1793242962378963200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.883490054,659,634.883490054,879,786.883490054,805.883490054,651,631,652,0.424732697142,-0.00541951567364,0.0797466471286,0.999999901192,0.000174891930136,-0.000406032142656,4.6545331357e-05,1793242962395630080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.542435037,659,634.542435037,879,786.542435037,805.542435037,651,631,652,0.423767834197,-0.00541084370335,0.0797272223497,0.999999884943,0.000188975467563,-0.000438485797105,4.6176687175e-05,1793242962412296704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786,805,651,630.968775802,652,0.422811821479,-0.00540090880987,0.0797143149054,0.999999872136,0.000204322591174,-0.000460299521468,4.58728439091e-05,1793242962428963072
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786,805,651,630.379249343,652,0.422017119284,-0.00539872703182,0.0797722267715,0.999999913979,0.000209797814286,-0.000354592656147,4.78679042768e-05,1793242962445629696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.205560726,879,786,805,651.205560726,630.205560726,652,0.421210276036,-0.0053963739365,0.0798241197643,0.999999941567,0.000213477407668,-0.000262346473576,4.96789598368e-05,1793242962462296576
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.781864556,879,786,805,651.781864556,630.781864556,652,0.420381535417,-0.00539371185818,0.0798651573092,0.99999995692,0.000213918461344,-0.000194377558206,5.11581508719e-05,1793242962478963200
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.641416577,714,680.641416577,659,634.641416577,879,786.358583423,805,652,631,652,0.419498330978,-0.00539036424953,0.0798564088496,0.99999995244,0.000217965369064,-0.000212303197493,5.03740539561e-05,1793242962495629824
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.511594772,714,680.511594772,659,634,879,787,805,651.488405228,631,652,0.41769831934,-0.00538753967224,0.0798017179499,0.999999926304,0.000218215260718,-0.000312432735588,4.64721178562e-05,1793242962528963328
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,635,878.731607458,786.731607458,806,652,631,652,0.415212048409,-0.00540169722627,0.079792242255,0.999999916076,0.00020827801273,-0.000349568623433,4.76515926412e-05,1793242962578963712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,635,878.153201622,786.153201622,806,652,631,652,0.414437718117,-0.00542141840731,0.0797810093032,0.999999917795,0.000180208212036,-0.000360214340977,4.66997155394e-05,1793242962595630336
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.000162636,659,635,878.999837364,786.999837364,805.000162636,651.000162636,631,652,0.412987322687,-0.0054310062393,0.0798117962174,0.999999940746,0.000172627784433,-0.000294166350886,4.66325590872e-05,1793242962628963584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,651.58730996,631,652,0.412253142222,-0.00541940282121,0.0798069396275,0.999999931595,0.000195914002299,-0.000310195901399,4.69800168786e-05,1793242962645630208
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.249759745,879,787,805,652,631,652,0.410823881557,-0.00541390386554,0.0797865499901,0.999999915887,0.000203173262486,-0.000353265376814,4.63640109759e-05,1793242962678963200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.328397503,879,787,805,651.671602497,631,652,0.410169884924,-0.00541330909975,0.0797892951843,0.999999917315,0.000204016943066,-0.000348687574908,4.6511842212e-05,1793242962695630080
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.906513834,879,787,805,651.093486166,631,652,0.409553944681,-0.00541070608291,0.079804075052,0.999999924816,0.000210837300585,-0.000321993408555,4.72761725823e-05,1793242962712297216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.48231909,679.51768091,659,635,879,787,804.51768091,651,631,652,0.408978215871,-0.00541162642872,0.0798298040623,0.999999937884,0.000209683998906,-0.000278982885584,4.9329228255e-05,1793242962728963584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.940869177,679.059130823,659.059130823,635,879,787,804,651.059130823,631,652,0.408407430752,-0.00541252861469,0.0798524258499,0.999999947638,0.00020840346016,-0.00024220210738,5.1283533723e-05,1793242962745630208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.351022723,679.648977277,659.648977277,635,879,787,804,651.648977277,631,652,0.407811396553,-0.00540716763735,0.079828202651,0.999999932661,0.000219786130756,-0.000289584351188,5.01202948892e-05,1793242962762296832
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.185617043,659.185617043,634.185617043,878.185617043,787,804.814382957,652,631,652,0.406691313692,-0.00540018350151,0.0797714586926,0.999999900962,0.000220820318293,-0.000383658302607,4.60408452627e-05,1793242962795629824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390939586,659,634.390939586,878,787,805,651.609060414,631,652,0.406220376966,-0.00540141037823,0.0797722688878,0.999999904315,0.000221552142075,-0.000374476797764,4.52925205892e-05,1793242962812296448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.966026543,659,634.966026543,878,787,805,651.033973457,631,652,0.405784230226,-0.00540448715205,0.0797876527992,0.99999991634,0.0002245531258,-0.000338883152483,4.53273798194e-05,1793242962828963328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.541895404,787,805,651,631,652,0.405375608553,-0.00540263644274,0.079807338402,0.999999928169,0.000219074322872,-0.000305788023102,4.6489803977e-05,1793242962845630208
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.709977438,659,634.290022562,879,787,804.290022562,651,631,652,0.404579146759,-0.00540228273521,0.079828648753,0.99999993368,0.000226821915292,-0.000280873577369,4.79876125007e-05,1793242962878963200
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.872034893,745,714,679.255930214,659,634.872034893,878.127965107,787,804.872034893,651,630.127965107,652,0.403849574655,-0.00539895186273,0.0798328115837,0.999999931716,0.000224342823912,-0.000289548447037,4.89887043886e-05,1793242962912296704
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.976150225,745,714.023849775,680,659,635,879.023849775,787,805,651.976150225,631,652,0.40323331055,-0.0054032079818,0.0798337432212,0.999999931203,0.000223365282984,-0.000292401223718,4.69460796926e-05,1793242962945629696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.386735133,745,714.613264867,680,659,635,879.613264867,787,805,651.386735133,631,652,0.402967806382,-0.00540071683252,0.0798350840348,0.999999930196,0.000227628003233,-0.000292466548292,4.74986795284e-05,1793242962962296320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.801166853,680,659,635,879.801166853,787,805,651.198833147,631,652,0.402716306179,-0.00539896755664,0.0798354378006,0.99999992952,0.000229706419741,-0.000293120755675,4.7700349634e-05,1793242962978962944
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,786.065592376,805,651.065592376,631,652,0.402104969294,-0.00540526907324,0.0798368980317,0.999999934609,0.000214838970352,-0.000286720477955,4.91697131267e-05,1793242963028963584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.515470586,745,714,679.515470586,659,635,879,786,805,651.484529414,631,652,0.401956605306,-0.00540349658128,0.0798448265736,0.999999938215,0.000213990117217,-0.000274234340702,5.07333380614e-05,1793242963045630208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.035250456,745,714,679,659,635,878.964749544,786.035250456,805,651.964749544,631,652,0.401813515665,-0.00540118831639,0.0798528842649,0.999999941436,0.00021410986138,-0.000261816037813,5.23113075209e-05,1793242963062296576
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.163732145,878,786.163732145,805,651.836267855,631,652,0.401444271133,-0.0053996542379,0.0798437024017,0.99999993197,0.000236838926224,-0.000278669578223,4.80685519962e-05,1793242963112296448
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.141611443,745,714,680,659.141611443,635,879,786.141611443,805,651.141611443,631,652,0.401143835764,-0.00540606331714,0.0798287672502,0.999999927506,0.000230288939834,-0.000300589587143,4.00235900942e-05,1793242963178963456
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.20101475,679.20101475,659,634.20101475,879,787,805,651.79898525,631,652,0.400975487328,-0.00540745478258,0.079830763749,0.999999929978,0.000225299138259,-0.000295775400296,4.24456795864e-05,1793242963312296704
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diff --git a/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01ee8a094293c63be25f4b6fde7ee1deaa5efc4e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b651f3098b6c40b6d762693ed53aa1778d88b504
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25659209
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b10d039640a5edc55bf538a3997ec36bbe8d8d5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/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,766,745,714,679,659,635,878,787,804,652,631,652,0.400930833893,-0.015440914329,0.0599351527322,0.999999972823,-0.000108666789912,-0.000201851116874,-4.24394103396e-05,1793242965273250816
+1,0.016666667,BASELINE,766,745,714,679,658.37004572,635,878,787,804.62995428,652,631,652,0.400929646908,-0.0154399229113,0.0599339603369,0.9999999726,-0.000107726658578,-0.000203434172639,-4.25388064261e-05,1793242965289917440
+2,0.033333333,BASELINE,765.762136103,745,714,679,658.475727795,635,878,787,804.762136103,652,631,652,0.400928977211,-0.015439614672,0.059933407286,0.999999972458,-0.000107273844625,-0.000204352115744,-4.26195263529e-05,1793242965306584064
+3,0.050000000,BASELINE,765.185612567,745,714,679,659.628774866,635,878,787,804.185612567,652,631,652,0.400929044004,-0.0154402791105,0.059933764504,0.999999972436,-0.000107514850528,-0.000204323102378,-4.26736560401e-05,1793242965323251200
+4,0.066666667,BASELINE,765.399339279,745,714,679.399339279,659.600660721,635,878,787,804.399339279,652,631.399339279,652,0.400927816956,-0.015439490114,0.0599328132621,0.99999997225,-0.000106384973155,-0.00020580095533,-4.27524553177e-05,1793242965339917824
+5,0.083333333,BASELINE,765.988293024,745,714,679.988293024,659.011706976,635,878,787,804.988293024,652,631.988293024,652,0.400925975565,-0.0154380109966,0.0599312407366,0.99999997198,-0.000104604172316,-0.000207994299268,-4.28429682186e-05,1793242965356584448
+6,0.100000000,BASELINE,766,745,714,679.433382992,659,635,878.566617008,787,805,652,631.433382992,652,0.400927630292,-0.0154381988809,0.0599332027675,0.999999972541,-0.000104245597869,-0.000205515842635,-4.25878352943e-05,1793242965373250560
+7,0.116666667,BASELINE,766,744.855745424,714,679,659,635,878.855745424,786.855745424,805,652,631,652,0.400929249475,-0.0154382548932,0.0599347589218,0.999999973041,-0.000103861649001,-0.000203288946131,-4.24766371572e-05,1793242965389917440
+8,0.133333333,BASELINE,766,744.279517822,714,679,659,635,878.279517822,786.279517822,805,652,631,652,0.4009305499,-0.0154378147735,0.0599348850144,0.999999973324,-0.000103315342775,-0.000202099074287,-4.28174458575e-05,1793242965406584064
+9,0.150000000,BASELINE,765.705493352,744.294506648,714,679,659,635,878,786,805,652,631,652,0.400930626559,-0.0154382808965,0.0599343941004,0.9999999733,-0.000103615648109,-0.000202059018655,-4.28527413988e-05,1793242965423250688
+10,0.166666667,BASELINE,765.133544394,744.866455606,714,679,659,635,878,786,805,652,631,652,0.40092955036,-0.0154396007528,0.0599333219305,0.999999972985,-0.000104713510572,-0.000203102156521,-4.26002258393e-05,1793242965439917312
+11,0.183333333,BASELINE,765,745,714,679.456442464,659,635,878,786,804.543557536,652,631,652,0.400928463604,-0.0154406109076,0.0599324349162,0.999999972516,-0.000106651505547,-0.000204407607104,-4.25607302893e-05,1793242965456583936
+12,0.200000000,BASELINE,765,745,714,680,659,635,878.049956416,786.049956416,804.049956416,652,631,652,0.400927567933,-0.0154413760215,0.0599317438784,0.999999972078,-0.000108512561158,-0.000205565089102,-4.25764767239e-05,1793242965473250816
+13,0.216666667,BASELINE,765,745,714,680,659,635,878.622873312,786.622873312,804.622873312,652,631,652,0.400928706278,-0.0154405635424,0.0599325139616,0.999999972508,-0.000106889167796,-0.000204337120757,-4.24912350891e-05,1793242965489917440
+14,0.233333333,BASELINE,765.197980793,745,714,679.802019207,659,635.197980793,878.802019207,787,805.197980793,652,631,652,0.400929373156,-0.0154398532123,0.0599330041816,0.999999972822,-0.000105276513168,-0.000203637070407,-4.24924850033e-05,1793242965506584064
+15,0.250000000,BASELINE,765.777307828,745,714,679.222692172,659,635.777307828,878.222692172,787,805.777307828,652,631,652,0.400929131905,-0.0154393396391,0.0599329553354,0.999999972916,-0.000103684542967,-0.000203953883858,-4.26603330196e-05,1793242965523250432
+16,0.266666667,BASELINE,765.63700062,744.63700062,714,679,659,635.63700062,878,787,805.63700062,652,631,652,0.400928305667,-0.0154404031107,0.0599321778822,0.999999972548,-0.000105255859964,-0.000204962183075,-4.25994867453e-05,1793242965539917056
+17,0.283333333,BASELINE,765.047334932,744.047334932,714,679,659,635.047334932,878,787,805.047334932,652,631,652,0.400927114147,-0.0154424513303,0.0599309454677,0.999999971881,-0.000108802416331,-0.000206402264073,-4.2395837763e-05,1793242965556583680
+18,0.300000000,BASELINE,765,744.532021588,714,679,659,635,878,786.467978412,804.467978412,652,631,652,0.400928287668,-0.0154413797909,0.05993161132,0.999999972404,-0.000105884726289,-0.00020541519905,-4.2260506962e-05,1793242965573250560
+19,0.316666667,BASELINE,765.10982563,745,714.10982563,679.10982563,659,635,878,786.10982563,804.10982563,652.10982563,631.10982563,652,0.400929346781,-0.0154402024412,0.0599322615971,0.999999972901,-0.000103087974413,-0.000204432137373,-4.21787311582e-05,1793242965589917184
+20,0.333333333,BASELINE,765.684864913,745,714.684864913,679.684864913,659,635,878,786.684864913,804.684864913,652.684864913,631.684864913,652,0.400929046877,-0.015439730306,0.0599321440823,0.999999972899,-0.00010319343268,-0.000204363384273,-4.22985523569e-05,1793242965606584064
+21,0.350000000,BASELINE,766,744.739938478,715,679.739938478,659.260061522,635,878,787,804.739938478,652.739938478,631.739938478,652,0.400928509677,-0.0154392477072,0.0599320144623,0.999999972838,-0.000103032214464,-0.000204721839425,-4.23977916349e-05,1793242965623250688
+22,0.366666667,BASELINE,766,744.164551152,715,679.164551152,659.835448848,635,878,787,804.164551152,652.164551152,631.164551152,652,0.400927684755,-0.0154387524215,0.0599318701645,0.999999972705,-0.000102547649765,-0.000205598286573,-4.24720752296e-05,1793242965639917312
+23,0.383333333,BASELINE,766,744.422594124,714.577405876,679,659.577405876,635,878.422594124,786.577405876,804.422594124,652,631,651.577405876,0.400927208725,-0.0154390992694,0.0599315643316,0.999999972539,-0.000102781879377,-0.000206283496583,-4.24865746788e-05,1793242965656583936
+24,0.400000000,BASELINE,765.985836851,745,714,679.014163149,659,635,879,786.014163149,805,652,631,651.014163149,0.400926894051,-0.0154397796532,0.0599312159151,0.999999972368,-0.00010331135134,-0.000206851188227,-4.24691117634e-05,1793242965673250304
+25,0.416666667,BASELINE,765.405684245,745,714,679.594315755,659,635,879,786.594315755,805,652,631,651.594315755,0.400927443137,-0.0154403097036,0.0599317512885,0.999999972517,-0.000104134364205,-0.000205783522087,-4.21312655737e-05,1793242965689917184
+26,0.433333333,BASELINE,765.171920584,745,714,679.828079416,659,635,878.828079416,787,805,652,631,652,0.400928011398,-0.0154407453168,0.0599322113483,0.999999972649,-0.000104716663789,-0.000204880192189,-4.19598827149e-05,1793242965706584064
+27,0.450000000,BASELINE,765.743601281,745,714,679.256398719,659,635,878.256398719,787,805,652,631,652,0.400928624251,-0.0154409613386,0.0599324962841,0.999999972744,-0.000104739242499,-0.00020435898662,-4.21755703694e-05,1793242965723250688
+28,0.466666667,BASELINE,766,744.673983214,714,679,659.326016786,635,878,786.673983214,805,652,631,652,0.400928036395,-0.0154410597635,0.0599317027491,0.999999972346,-0.000106530475506,-0.000205344489632,-4.23330712626e-05,1793242965739917312
+29,0.483333333,BASELINE,766,744.082837812,714,679,659.917162188,635,878,786.082837812,805,652,631,652,0.400926472081,-0.0154410625543,0.0599300321626,0.999999971536,-0.000109760042022,-0.000207555302472,-4.24432525679e-05,1793242965756583936
+30,0.500000000,BASELINE,765.502230233,744,714,679,659.502230233,635,878,786.497769767,805,652,631,652,0.400926953902,-0.015441526072,0.0599307309562,0.999999971954,-0.000107666212572,-0.000206696498621,-4.21599924109e-05,1793242965773250816
+31,0.516666667,BASELINE,765,744,714,679,659,635,878.0762115,787,804.9237885,652,631,652,0.400927791106,-0.0154418434881,0.0599316721095,0.999999972509,-0.000104938317522,-0.000205463464985,-4.18938707447e-05,1793242965789917184
+32,0.533333333,BASELINE,765,744,714,679,659,635,878.651714803,787,804.348285197,652,631,652,0.400928771975,-0.0154407118313,0.0599316713477,0.999999972706,-0.000103740022793,-0.000205056032828,-4.21600947301e-05,1793242965806583808
+33,0.550000000,BASELINE,765,744.22667528,714,679.22667528,659,635,879,787,804.22667528,652,631,652,0.400929270475,-0.0154405616094,0.0599315007101,0.99999997272,-0.000103735454134,-0.000204989840857,-4.21719250573e-05,1793242965823250432
+34,0.566666667,BASELINE,765,744.800803651,714,679.800803651,659,635,879,787,804.800803651,652,631,652,0.400929029591,-0.0154419157537,0.0599310696831,0.999999972451,-0.000105560656398,-0.000205446709736,-4.1793814902e-05,1793242965839917312
+35,0.583333333,BASELINE,765,745,714,679.612904227,659,635,878.612904227,787,805,652,631,652,0.400928598155,-0.0154417250018,0.0599310005775,0.999999972407,-0.000105612848445,-0.000205664073878,-4.16417917693e-05,1793242965856583936
+36,0.600000000,BASELINE,765,745,714,679.020149614,659,635,878.020149614,787,805,652,631,652,0.400928065481,-0.0154407134673,0.059931123756,0.999999972483,-0.000104723063889,-0.000205754192377,-4.16098856332e-05,1793242965873250560
+37,0.616666667,BASELINE,765,745,714,679.557800256,659,635,878.557800256,787,805,652,631,652,0.400927632685,-0.015440914375,0.0599314825807,0.999999972522,-0.000104653457726,-0.000205545484324,-4.18842566903e-05,1793242965889917440
+38,0.633333333,BASELINE,765,745,714,680,659,635,878.867199193,787,804.867199193,652,631,652,0.400927465852,-0.0154411693972,0.0599317685776,0.999999972564,-0.000104668933768,-0.00020528875781,-4.20992024678e-05,1793242965906584064
+39,0.650000000,BASELINE,765,745,714,680,659,635,878.300139208,787,804.300139208,652,631,652,0.400928157233,-0.0154414618591,0.059931789312,0.999999972622,-0.000104868251517,-0.000204909396471,-4.2084584278e-05,1793242965923250688
+40,0.666666667,BASELINE,765.281621645,744.718378355,714,679.718378355,659,635,878,786.718378355,804.281621645,652,631,652,0.400928773968,-0.0154414567627,0.059932064821,0.999999972732,-0.000104718580575,-0.000204446531202,-4.20944913351e-05,1793242965939917312
+41,0.683333333,BASELINE,765.879912861,744.120087139,714,679.120087139,659,635,878,786.120087139,804.879912861,652,631,652,0.400929306768,-0.0154411170767,0.0599326268115,0.999999972901,-0.000104176489152,-0.000203889769928,-4.21319758167e-05,1793242965956584192
+42,0.700000000,BASELINE,766,744.462191307,714.462191307,679.462191307,659,635,878,786.462191307,805,652,631,652,0.400929663608,-0.0154410740379,0.0599328222628,0.999999973119,-0.000104333092152,-0.000202732447069,-4.21444763377e-05,1793242965973250816
+43,0.716666667,BASELINE,765.959628002,744.959628002,714.959628002,679.959628002,659,635,878.040371998,787,805,652,631,652,0.400929952228,-0.0154411141443,0.0599328995975,0.999999973324,-0.000104669411508,-0.00020154398619,-4.21531087543e-05,1793242965989917184
+44,0.733333333,BASELINE,765.382465845,744.382465845,714.382465845,679.382465845,659,635,878.617534155,787,805,652,631,652,0.40092992133,-0.0154412692739,0.0599326302914,0.9999999732,-0.000105062364783,-0.000201946744955,-4.21937302026e-05,1793242966006584064
+45,0.750000000,BASELINE,765.194075815,744,714,679.194075815,659,635,879,787,804.805924185,652,631,652,0.400929967402,-0.0154418123595,0.0599322948544,0.999999973006,-0.000105744833003,-0.000202563367253,-4.21179279439e-05,1793242966023250688
+46,0.766666667,BASELINE,765.769398491,744,714,679.769398491,659,635,879,787,804.230601509,652,631,652,0.400930164678,-0.0154431175544,0.0599318295087,0.999999972675,-0.000106996030799,-0.000203600107801,-4.1813420353e-05,1793242966039917312
+47,0.783333333,BASELINE,766,744.353572825,714.353572825,680,659,635,879,787,804.353572825,652,631,652,0.400929183111,-0.0154431788902,0.0599312327273,0.999999972401,-0.000106954505231,-0.000204931239764,-4.1980514543e-05,1793242966056583936
+48,0.800000000,BASELINE,766,744.943668543,714.943668543,680,659,635,879,787,804.943668543,652,631,652,0.400927412955,-0.0154424081454,0.0599305480219,0.999999972163,-0.000106048211211,-0.000206459305258,-4.2463087182e-05,1793242966073250816
+49,0.816666667,BASELINE,765.476560545,744.476560545,714.476560545,680,659,635,879,786.476560545,805,651.476560545,631,652,0.400928479362,-0.0154406944032,0.0599314088886,0.999999972815,-0.000102437787482,-0.000205174516635,-4.2181322286e-05,1793242966089917440
+50,0.833333333,BASELINE,765,744,714,679.89792113,659,635,878.89792113,786,804.89792113,651.10207887,631,652,0.400929605288,-0.0154390475662,0.0599321197201,0.999999973393,-9.92395193158e-05,-0.000203976396211,-4.1948437512e-05,1793242966106584064
+51,0.850000000,BASELINE,765,744,714,679.319476851,659,635,878.319476851,786,804.319476851,651.680523149,631,652,0.400929611961,-0.0154381773767,0.0599313691983,0.999999973251,-9.92964144828e-05,-0.00020456805405,-4.23200944931e-05,1793242966123250688
+52,0.866666667,BASELINE,765,744,714,679,659,635,878.255301602,786,804.255301602,652,631,651.744698398,0.400929826702,-0.0154387800337,0.0599312605272,0.999999973154,-0.000100827380284,-0.000204272405173,-4.24158967815e-05,1793242966139917312
+53,0.883333333,BASELINE,765,744,714,679,659,635,878.825557652,786,804.825557652,652,631,651.174442348,0.400930298127,-0.0154411996771,0.0599319436795,0.999999973104,-0.000104176842707,-0.000202882124677,-4.21713891485e-05,1793242966156583936
+54,0.900000000,BASELINE,765,744,714,679,659,635,878.587821177,786.412178823,804.587821177,651.587821177,631,651.412178823,0.400930143249,-0.0154410336658,0.0599324388195,0.999999973169,-0.000103395467344,-0.000203009039655,-4.19269650197e-05,1793242966173250560
+55,0.916666667,BASELINE,765,744.005849632,714,679,659,635,878,787,804.005849632,651.005849632,631,652,0.400929710954,-0.0154397599058,0.0599328399803,0.999999973279,-0.000100844919192,-0.000203802324397,-4.16861203838e-05,1793242966189917184
+56,0.933333333,BASELINE,765,744.583608156,714,679,659,635,878,787,804.583608156,651.583608156,631,652,0.400929142499,-0.0154415948422,0.0599321540673,0.999999972906,-0.000103316048212,-0.000204372106071,-4.17916382053e-05,1793242966206584064
+57,0.950000000,BASELINE,765.160579324,744.839420676,714,679.160579324,659,635,878,787,805,652,631,652,0.400928827825,-0.01544252197,0.0599316537767,0.999999972712,-0.000104767081115,-0.000204571647824,-4.18408390249e-05,1793242966223250688
+58,0.966666667,BASELINE,765.735518703,744.264481297,714,679.735518703,659,635,878,787,805,652,631,652,0.400929168012,-0.0154411065811,0.0599316324673,0.999999972993,-0.00010358585019,-0.000203815819706,-4.17447190274e-05,1793242966239917312
+59,0.983333333,BASELINE,765.690017001,744,714,679.690017001,659,635,878.309982999,787.309982999,804.690017001,652,631,652,0.400928706958,-0.0154405900731,0.0599312863595,0.999999972849,-0.00010374433546,-0.000204417411858,-4.1860059273e-05,1793242966256584192
+60,1.000000000,BASELINE,765.115957368,744,714,679.115957368,659,635,878.884042632,787.884042632,804.115957368,652,631,652,0.40092756332,-0.0154408393276,0.0599306635537,0.99999997234,-0.000105044133972,-0.000206175399523,-4.21555439328e-05,1793242966273250560
+61,1.016666667,BASELINE,765,744,714,679,659,635,879,787.52536946,804.47463054,652,631,652,0.400928935704,-0.0154418623765,0.0599314686248,0.99999997264,-0.000104591976907,-0.000205006045602,-4.18637499089e-05,1793242966289917184
+62,1.033333333,BASELINE,765,744,714,679,659,635,878.932737012,787,805,652,631,652,0.400930620297,-0.0154427936184,0.0599323511009,0.999999973064,-0.000103825330583,-0.000203393008235,-4.15122988163e-05,1793242966306584064
+63,1.050000000,BASELINE,765,744,714,679,659,635,878.356297762,787,805,652,631,652,0.400929847244,-0.0154415471884,0.0599310835118,0.999999972899,-0.00010403501873,-0.000204030521184,-4.18345574319e-05,1793242966323250432
+64,1.066666667,BASELINE,765.219250869,744.219250869,714,679,659,635,878.219250869,787,805,652,631,652,0.400928947868,-0.0154406571167,0.0599303387612,0.999999972774,-0.000103667050531,-0.000204781677105,-4.20600037013e-05,1793242966339917056
+65,1.083333333,BASELINE,765.793358005,744.793358005,714,679,659,635,878.793358005,787,805,652,631,652,0.400927844037,-0.0154403438089,0.0599304402217,0.999999972714,-0.000102364148858,-0.000205716763483,-4.2128759728e-05,1793242966356583680
+66,1.100000000,BASELINE,765.619180694,745,714,679.380819306,659,635,879,786.619180694,804.619180694,652,631,652,0.400928137847,-0.015440540535,0.0599307998676,0.99999997263,-0.000103170096881,-0.00020571005908,-4.21843760944e-05,1793242966373250560
+67,1.116666667,BASELINE,765.024209771,745,714,679.975790229,659,635,879,786.024209771,804.024209771,652,631,652,0.400929217612,-0.0154410240758,0.0599313047026,0.999999972531,-0.000105161944831,-0.000205173743844,-4.22326034439e-05,1793242966389917440
+68,1.133333333,BASELINE,765,744.448185518,714,679.448185518,659,635,878.448185518,786.551814482,804.551814482,652,631,652,0.400928640238,-0.0154421286097,0.059931067185,0.99999997256,-0.000104389122518,-0.000205535771962,-4.16978883868e-05,1793242966406583808
+69,1.150000000,BASELINE,765,744,714,679,659,635,878,787,804.872810322,652,631,652,0.400928431255,-0.0154430287053,0.0599310484085,0.999999972675,-0.000103703875591,-0.000205405612718,-4.1275952531e-05,1793242966423250432
+70,1.166666667,BASELINE,765,744,714,679,659,635,878,787,804.296889822,652,631,652,0.40092976996,-0.0154431146032,0.0599319124515,0.999999973078,-0.000103741325495,-0.000203404559468,-4.13391428598e-05,1793242966439917056
+71,1.183333333,BASELINE,765.277419903,744.277419903,714,679.277419903,659,635,878,787,804,652,631,652,0.400930306155,-0.0154426506461,0.0599319920476,0.999999973236,-0.000103635741092,-0.000202648696233,-4.14822177469e-05,1793242966456583936
+72,1.200000000,BASELINE,765.850015829,744.850015829,714,679.850015829,659,635,878,787,804,652,631,652,0.400929988476,-0.0154416016408,0.0599312369889,0.999999973138,-0.000103377967549,-0.000203217720518,-4.17102901704e-05,1793242966473250816
+73,1.216666667,BASELINE,766,745,714,680,659,635,878.440251834,787,804.440251834,652,631,652,0.400929414084,-0.0154408733878,0.0599310575792,0.999999973159,-0.000101800301245,-0.000203897768306,-4.17648012653e-05,1793242966489917440
+74,1.233333333,BASELINE,765.964504861,744.964504861,714,679.964504861,659,635,878.964504861,787,804.964504861,652,631,652,0.400928830472,-0.0154403304666,0.0599310995946,0.999999973212,-9.99858125884e-05,-0.000204535250389,-4.17653090066e-05,1793242966506584320
+75,1.250000000,BASELINE,765.388348656,744.388348656,714,679.388348656,659,635,878.388348656,787,804.388348656,652,631,652,0.400929494133,-0.0154408765896,0.0599314025074,0.999999973159,-0.000101699127619,-0.000203924202467,-4.18814770468e-05,1793242966523250688
+76,1.266666667,BASELINE,765,744.187708624,714.187708624,679.187708624,659,635,878,787,804.187708624,652,631.187708624,652,0.400930275948,-0.0154414980029,0.0599318486049,0.999999973235,-0.000102774965923,-0.000203024713147,-4.18132126255e-05,1793242966539917312
+77,1.283333333,BASELINE,765,744.763561314,714.763561314,679.763561314,659,635,878,787,804.763561314,652,631.763561314,652,0.400931302081,-0.0154422751014,0.0599325907802,0.999999973581,-0.000102532629162,-0.000201528784476,-4.13635785847e-05,1793242966556583936
+78,1.300000000,BASELINE,765,745,714.663487708,679.663487708,659,635,878.336512292,787,805,652,631.663487708,652,0.400930145807,-0.0154419640992,0.059932015049,0.999999973374,-0.000102683250301,-0.000202435231106,-4.15686794001e-05,1793242966573250560
+79,1.316666667,BASELINE,765,745,714.092558111,679.092558111,659,635,878.907441889,787,805,652,631.092558111,652,0.40092746925,-0.0154408951166,0.0599305212529,0.999999972777,-0.000103107609239,-0.000205015192719,-4.22298740645e-05,1793242966589917184
+80,1.333333333,BASELINE,765,745,714.499968727,679,659,635,878.500031273,787,805,652,631,652,0.400928786229,-0.0154420726291,0.0599311070854,0.999999972531,-0.000106095474075,-0.000204689463435,-4.22473761809e-05,1793242966606583808
+81,1.350000000,BASELINE,765.093177755,745,714.906822245,679.093177755,659,635,878.093177755,787,805,652,631,651.906822245,0.400930584546,-0.0154433354257,0.0599318986921,0.999999972461,-0.000108555231978,-0.000203773025256,-4.20826619402e-05,1793242966623250688
+82,1.366666667,BASELINE,765.668301167,745,714.331698833,679.668301167,659,635,878.668301167,787,805,652,631,651.331698833,0.400930875883,-0.0154427911099,0.0599316733955,0.999999973,-0.000105717963549,-0.000202709182171,-4.16196547743e-05,1793242966639917312
+83,1.383333333,BASELINE,765.756548698,744.756548698,714,680,659,635,878.756548698,787,805,652,631,651.243451302,0.400929537987,-0.015441976249,0.0599308094194,0.99999997299,-0.000103472681007,-0.000203934399939,-4.15298513637e-05,1793242966656584192
+84,1.400000000,BASELINE,765.181362069,744.181362069,714,680,659,635,878.181362069,787,805,652,631,651.818637931,0.400925980039,-0.0154407927337,0.0599290751561,0.999999972225,-0.000102034058907,-0.000208278772575,-4.19485884817e-05,1793242966673250816
+85,1.416666667,BASELINE,765,744,714.40545382,679.59454618,659,635,878,787,805,652,631,652,0.400926538016,-0.0154410014615,0.0599296014258,0.999999972446,-0.000101825767947,-0.000207332636941,-4.18735530775e-05,1793242966689917440
+86,1.433333333,BASELINE,765,744,714.997625121,679.002374879,659,635,878,787,805,652,631,652,0.400928991438,-0.015441851338,0.0599311687045,0.999999973117,-0.00010218406276,-0.000203950143735,-4.15711280984e-05,1793242966706584064
+87,1.450000000,BASELINE,765,744.575826575,714.424173425,679,659,635,878,787,805,651.424173425,631,652,0.400928281106,-0.0154422504681,0.0599304765676,0.999999972785,-0.000104139845911,-0.000204548369827,-4.17715359009e-05,1793242966723250432
+88,1.466666667,BASELINE,765,744.846928914,714,679,659,635,878,787,805,651.153071086,631,652,0.400928222168,-0.015442188638,0.0599301879146,0.999999972648,-0.000105142779099,-0.000204663872711,-4.19745440804e-05,1793242966739917312
+89,1.483333333,BASELINE,765,744.272165734,714,679,659,635,878,787,805,651.727834266,631,652,0.400929992834,-0.015440861919,0.0599310358735,0.999999973067,-0.000103503006582,-0.000203405374858,-4.21791381382e-05,1793242966756584192
+90,1.500000000,BASELINE,765,744.302227271,714,679.302227271,659,635,878,787,805,652,631,652,0.400930269934,-0.0154402297448,0.0599313513423,0.999999973162,-0.000102909909772,-0.000203233155791,-4.22024030334e-05,1793242966773251072
+91,1.516666667,BASELINE,765,744.876287299,714,679.876287299,659,635,878,787,805,652,631,652,0.400929203674,-0.0154402222662,0.0599311878728,0.999999972968,-0.000103258226252,-0.000204037970253,-4.20625747398e-05,1793242966789917952
+92,1.533333333,BASELINE,765,744.533278752,714,679.533278752,659,635,878.466721248,787,804.533278752,652,631,652,0.400928443121,-0.0154414039583,0.0599303894304,0.999999972685,-0.000104102254862,-0.000205045816666,-4.18244402571e-05,1793242966806584320
+93,1.550000000,BASELINE,765.059970375,744.059970375,714.059970375,679.059970375,659,635,878.940029625,787,804.059970375,652,631,652,0.400927944201,-0.0154426026686,0.0599296623034,0.999999972455,-0.00010483773131,-0.000205830042076,-4.1631918393e-05,1793242966823250688
+94,1.566666667,BASELINE,765.6386633,744.6386633,714.6386633,679.6386633,659,635,878.3613367,787,804.6386633,652,631,652,0.400928981917,-0.0154411229872,0.0599310607887,0.999999972915,-0.000103456406733,-0.000204197599527,-4.20675152621e-05,1793242966839917056
+95,1.583333333,BASELINE,766,744.785698678,715,679.785698678,659,635,878.214301322,787,804.785698678,652,631,652,0.400929828998,-0.0154407594928,0.0599319225141,0.999999973176,-0.00010345901193,-0.000202875810869,-4.22563313885e-05,1793242966856583936
+96,1.600000000,BASELINE,766,744.215139086,715,679.215139086,659,635,878.784860914,787,804.215139086,652,631,652,0.400930359165,-0.015442251567,0.0599318919206,0.999999973107,-0.000105762285981,-0.000202070458418,-4.2034894959e-05,1793242966873250560
+97,1.616666667,BASELINE,765.630873916,744.369126084,714.630873916,679.369126084,659,635,879,787,804.369126084,652,631,652,0.400930340013,-0.0154424293884,0.0599317069125,0.999999973103,-0.000105445858431,-0.000202303054346,-4.18155075466e-05,1793242966889917184
+98,1.633333333,BASELINE,765.038312677,744.961687323,714.038312677,679.961687323,659,635,879,787,804.961687323,652,631,652,0.400929988354,-0.0154418116812,0.0599314284359,0.999999973136,-0.0001035437031,-0.000203163929298,-4.15973604348e-05,1793242966906584064
+99,1.650000000,BASELINE,765,745,714,679.458620444,659,635,879,787,805,652,631,651.458620444,0.400930005032,-0.015441993051,0.0599312387016,0.999999973033,-0.00010314964641,-0.000203905491881,-4.14211091103e-05,1793242966923250944
+100,1.666666667,BASELINE,765,744.880390158,714,679,659,635,878.880390158,787,805,652,631,651.119609842,0.400930102482,-0.0154424160574,0.0599311144364,0.999999972917,-0.000103539287144,-0.000204313242553,-4.12463410585e-05,1793242966939917568
+101,1.683333333,BASELINE,765,744.30434409,714,679,659,635,878.30434409,787,805,652,631,651.69565591,0.400930410993,-0.0154435503743,0.059931216595,0.999999972782,-0.000106521735756,-0.000203478625668,-4.10661817389e-05,1793242966956584192
+102,1.700000000,BASELINE,765,744.271309848,714.271309848,679.271309848,659,635,878,787,804.728690152,652,631,652,0.400930369842,-0.015443609367,0.0599316190117,0.999999972902,-0.000106858007711,-0.000202679842309,-4.12069748398e-05,1793242966973250560
+103,1.716666667,BASELINE,765,744.846524507,714.846524507,679.846524507,659,635,878,787,804.153475493,652,631,652,0.400929937018,-0.0154424638469,0.0599323577594,0.999999973312,-0.000104230193113,-0.000201921197542,-4.17072793589e-05,1793242966989917440
+104,1.733333333,BASELINE,765,745,714.564639523,679.564639523,659,635,878,787,804.435360477,652,631,651.564639523,0.400929091286,-0.0154423665743,0.059931406942,0.999999973165,-0.000102955256802,-0.00020332805163,-4.15600915437e-05,1793242967006584064
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.028324193,786.971675807,804.971675807,652,631,651,0.400928177144,-0.0154426331684,0.0599299420244,0.999999972825,-0.000102275009264,-0.000205406906207,-4.12155401287e-05,1793242967023250688
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.60522717,786.39477283,804.39477283,652,631,651,0.400928848289,-0.0154425588472,0.0599304284381,0.999999972709,-0.000103577286785,-0.00020523815251,-4.16121183885e-05,1793242967039917312
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,635,879,787,805,652,631,652,0.400929892984,-0.0154425727833,0.0599310529968,0.999999972974,-0.000103809232017,-0.000203834665973,-4.15467717695e-05,1793242967080902400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.601243239,714.601243239,679.398756761,659.398756761,635,879,786.398756761,804.398756761,652,631,652,0.400931637066,-0.0154430919765,0.059932136515,0.999999973544,-0.000104198930055,-0.000200887517794,-4.12082926256e-05,1793242967097569024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.804246909,714.804246909,679.195753091,659,635,879,786,804.195753091,652,631,652,0.400932376796,-0.0154431405447,0.0599325621534,0.999999973846,-0.000103920382949,-0.000199551153638,-4.10809951288e-05,1793242967114235904
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.222997017,714.222997017,679.777002983,659,635,879,786,804.777002983,652,631,652,0.400931138652,-0.0154422623102,0.0599316922287,0.999999973631,-0.00010232585993,-0.000201386907912,-4.13695778486e-05,1793242967130902272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.354666977,714,679.645333023,659,635,878.645333023,786.354666977,805,652,631,652,0.400931624333,-0.0154422333596,0.0599317810837,0.999999973599,-0.000102973841156,-0.00020118758974,-4.14998967876e-05,1793242967147568896
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,652,0.400935028523,-0.0154438678627,0.0599333071461,0.999999973916,-0.000105700893845,-0.000198203265251,-4.13574682493e-05,1793242967180902144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.079283341,659,635,878,787,805,652,631,651.920716659,0.400937742387,-0.015444539571,0.0599343604691,0.999999974282,-0.000105879019754,-0.000196279890156,-4.12337153478e-05,1793242967197569024
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.46971896,659.53028104,635,878.53028104,787,804.93943792,652,631,652,0.40145603595,-0.0154672469213,0.0599708435394,0.999999989663,-0.000114233724258,-7.61992305313e-05,-4.26404312184e-05,1793242967380902400
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.954656786,745,714,680,659,635,878.045343214,787,806,652,631,652,0.401557102155,-0.0154716350501,0.0599738351022,0.9999999901,-0.000115479451824,-6.78535524741e-05,-4.31436264041e-05,1793242967397569024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.364581368,745,714,680,659,635,878.635418632,787,806,652,631,652,0.401674069299,-0.0154769059907,0.0599725515851,0.999999989882,-0.000117402057239,-6.73793756434e-05,-4.37292019727e-05,1793242967414235648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.778416929,787,805.778416929,652,631,652,0.401805014816,-0.0154836084183,0.0599722993931,0.999999989708,-0.000120520964027,-6.39547996627e-05,-4.43587406863e-05,1793242967430902528
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+130,2.166666667,POSE1_TO_POSE2_PRESS,765.379174981,745,714,679.620825019,659,635,878.379174981,787,805,652,631,652,0.402137132249,-0.0155009603242,0.0599761025815,0.999999989591,-0.000128774266476,-4.61844919504e-05,-4.58477231545e-05,1793242967464235264
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764.301579008,745,714,679.301579008,658.301579008,635,878.301579008,787,804.603158016,652,631,652,0.403005848088,-0.015540022962,0.0599776833891,0.999999982122,-0.000181693186807,-2.08818073618e-05,-4.80425656923e-05,1793242967530902016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.567328876,745,714,679,658.283664438,635,878,787,804.283664438,652,631,651.716335562,0.403269578007,-0.015549466203,0.0599768326491,0.999999979277,-0.000196871072429,-1.87274684466e-05,-4.83329919181e-05,1793242967547568896
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,879,787,805,652,631,652,0.40416707079,-0.015559025181,0.0599498235437,0.999999980843,-0.000178556602918,-6.17430967543e-05,-5.11846956733e-05,1793242967597568768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,879,787,805,652,631,652,0.404500828223,-0.0155504293672,0.0599368082355,0.999999981728,-0.000164357933762,-8.19874477178e-05,-5.29867816275e-05,1793242967614235392
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679.812919709,659,635,879,787,805,652,631,652,0.404857953168,-0.0155455993391,0.0599292150049,0.99999998166,-0.000157582632967,-9.4527935716e-05,-5.39620815504e-05,1793242967630902016
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679.231425427,659,635,879,787,805,652,631,652,0.405264342875,-0.0155487085696,0.0599330529277,0.999999980606,-0.000166457728618,-9.08266710534e-05,-5.31943009469e-05,1793242967647568640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.346393902,714.346393902,679,659,635,879,787,805,652,631,652,0.405711633982,-0.0155533172317,0.0599491193604,0.999999982233,-0.000169237411451,-6.47314752433e-05,-5.19953025974e-05,1793242967664235520
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+159,2.650000000,POSE1_TO_POSE2_PRESS,765.217383116,744.217383116,714,679.782616884,659.217383116,635,879,787,805.217383116,651.782616884,631,652,0.416434935074,-0.0155748004579,0.060031110122,0.999999986495,-0.000147899433644,5.29179346996e-05,-4.83345903621e-05,1793242967947568896
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659.052414869,635,879.947585131,787,805.052414869,651,631,652,0.418823585863,-0.0155760277187,0.0600025663915,0.999999987056,-0.000151572527696,1.08358872862e-05,-5.28843479305e-05,1793242967997569024
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.456807835,660,633.543192165,880.543192165,785,807,651,630,652,0.452639868193,-0.0156225564269,0.0598225578634,0.999999940185,-0.000207983723709,-0.000269330576653,-6.19105726356e-05,1793242969364235520
+245,4.083333333,HOLD_POSE2,765,745,714,681,660,634,880,785,806,651,630,652,0.452638843498,-0.0156206539783,0.0598220783627,0.999999940571,-0.000204122127231,-0.000270859875263,-6.18649988537e-05,1793242969405892864
+246,4.100000000,HOLD_POSE2,765,745,714,681,660,634,880,784.424355615,806.575644385,651,630,652,0.452639814032,-0.0156205405695,0.0598220037708,0.999999940972,-0.000202565551695,-0.00027058504369,-6.17059521504e-05,1793242969422559744
+247,4.116666667,HOLD_POSE2,765,745,714,681,660,634,880,784.151259166,807,651,630.151259166,652,0.452640656664,-0.015620563071,0.0598219157252,0.999999941318,-0.000201341181864,-0.000270270865041,-6.14819731053e-05,1793242969439226368
+248,4.133333333,HOLD_POSE2,765,745,714,681,660,634,880,784.726791042,807,651,630.726791042,652,0.452641140543,-0.0156209667923,0.059821789943,0.999999941516,-0.000201048628362,-0.000269846320194,-6.10758627779e-05,1793242969455892736
+249,4.150000000,HOLD_POSE2,765,745.310346357,714,681,660,633.689653643,880,785,807,651,631,652,0.452640604105,-0.0156203437748,0.0598213206951,0.999999941361,-0.000201147764181,-0.000270323576936,-6.11844082226e-05,1793242969472559104
+250,4.166666667,HOLD_POSE2,765,745.901152412,714,681,660,633.098847588,880,785,807,651,631,652,0.452639145608,-0.0156187928945,0.0598205410575,0.999999940884,-0.000201600869273,-0.000271615790917,-6.17580476089e-05,1793242969489225472
+251,4.183333333,HOLD_POSE2,765.481876404,745.518123596,714,681,660,633,879.518123596,785,807,651,630.518123596,652,0.452637948383,-0.0156197754755,0.0598194714116,0.999999940412,-0.000201981371931,-0.00027307191434,-6.17386017305e-05,1793242969505892352
+252,4.200000000,HOLD_POSE2,765.939778214,744.939778214,714,681,659.939778214,633.060221786,879.060221786,784.939778214,806.879556428,651,630,652,0.452637260892,-0.0156210878146,0.0598186758076,0.999999940038,-0.000202436060116,-0.000274133329837,-6.16002115456e-05,1793242969522558976
+253,4.216666667,HOLD_POSE2,765.364450945,744.364450945,714,681,659.364450945,633.635549055,879.635549055,784.364450945,805.728901891,651,630,652,0.452640484373,-0.0156208666693,0.0598207226276,0.999999940508,-0.000203650068381,-0.000271536923159,-6.14637232557e-05,1793242969539225600
+254,4.233333333,HOLD_POSE2,765,744.209587233,714,681,659.209587233,633.790412767,879.790412767,784.209587233,805.419174466,651,630.209587233,652,0.452641339828,-0.0156207113166,0.0598212800046,0.999999940689,-0.000203301052271,-0.000271179638775,-6.12504661439e-05,1793242969555892480
+255,4.250000000,HOLD_POSE2,765,744.781397458,714,681,659.781397458,633.218602542,879.218602542,784.781397458,806.562794917,651,630.781397458,652,0.452638102696,-0.0156206696712,0.0598192632241,0.999999940367,-0.000200250710399,-0.000274692158966,-6.09045319167e-05,1793242969572559104
+256,4.266666667,HOLD_POSE2,765,745,714.368616542,681.368616542,660,633.368616542,879.368616542,785,807,651,630.631383458,652,0.452638307222,-0.0156197054771,0.0598194669544,0.999999940596,-0.000199135753884,-0.000274638400191,-6.10454344556e-05,1793242969589225728
+257,4.283333333,HOLD_POSE2,765,745,714.965372327,681.965372327,660,633.965372327,879.965372327,785,807,651,630.034627673,652,0.452640641814,-0.0156181703115,0.0598210449736,0.999999941171,-0.000199218620011,-0.000272377447863,-6.14876434908e-05,1793242969605892352
+258,4.300000000,HOLD_POSE2,765,745,714.457076805,682,659.457076805,633.457076805,879.457076805,785,806.457076805,651,630,651.457076805,0.452640566439,-0.0156194417109,0.0598206452152,0.999999940739,-0.000200803694368,-0.000272899490339,-6.10463822841e-05,1793242969622559232
+259,4.316666667,HOLD_POSE2,765,745,714,681.88158157,659.11841843,633.11841843,879.11841843,785,806,651,630,651.11841843,0.452640269691,-0.0156205376848,0.0598201346474,0.999999940316,-0.000202156995594,-0.000273523370062,-6.07156441574e-05,1793242969639226112
+260,4.333333333,HOLD_POSE2,765,745,714,681.309429591,659.690570409,633.690570409,879.690570409,785,806,651,630,651.690570409,0.45263969356,-0.0156202990596,0.0598196663186,0.999999940177,-0.000202267664301,-0.000273880577001,-6.10169141405e-05,1793242969655892736
+261,4.350000000,HOLD_POSE2,765,745,714,681.272605557,660,634,879.727394443,785,806,651,630.272605557,651.727394443,0.452639327386,-0.0156193946411,0.0598193853969,0.999999940281,-0.000201153015828,-0.000274261719076,-6.12787022167e-05,1793242969672559104
+262,4.366666667,HOLD_POSE2,765,745,714,681.866280885,660,634,879.133719115,785,806,651,630.866280885,651.133719115,0.452639208495,-0.0156177060635,0.0598193251998,0.999999940667,-0.0001985952115,-0.000274671051489,-6.14939892169e-05,1793242969689225728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,785,807,651,630,652,0.452640238956,-0.0156207431177,0.0598192116134,0.999999939743,-0.000203362297753,-0.0002747859089,-6.04164875402e-05,1793242969721851392
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,785,806.423004572,651,630,652,0.452639655411,-0.0156213446819,0.059818433779,0.999999939518,-0.000203636458712,-0.00027540846712,-6.03851129625e-05,1793242969738518016
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.843084775,880,784.843084775,806,651,630,652,0.452638773803,-0.015621267751,0.0598176725376,0.999999939343,-0.000203096187661,-0.00027641098491,-6.0521313845e-05,1793242969755184640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.255131763,880,784.255131763,806,651,630,652,0.452637073433,-0.0156193270303,0.0598169568763,0.999999939299,-0.000200318715206,-0.000278457231589,-6.11178356073e-05,1793242969771851264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,744.671852858,714,681,660,633,879.671852858,784.328147142,806.328147142,651,630,652,0.452636660914,-0.0156192647573,0.0598168432178,0.999999939082,-0.000201033055179,-0.000278677197044,-6.13265896975e-05,1793242969788517632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,744.092157032,714,681,660,633,879.092157032,784.907842968,806.907842968,651,630,652,0.452637235625,-0.0156206424514,0.0598171910384,0.999999938728,-0.000204424123853,-0.000277497184807,-6.12380915898e-05,1793242969805184256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,744.485545524,714,681,660,633.485545524,879,785,806.514454476,651,630.485545524,652,0.452638682854,-0.0156195959844,0.0598178241651,0.999999939597,-0.000202476273079,-0.000275803524116,-6.11768287451e-05,1793242969821850880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.062360575,745,714,681,660,633.937639425,879.062360575,784.937639425,806.062360575,651,631,652,0.452639408042,-0.0156182231414,0.0598181129941,0.999999940414,-0.000199810399648,-0.000274787207909,-6.11612052296e-05,1793242969838517504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.634996541,745,714,681,660,633.365003459,879.634996541,784.365003459,806.634996541,651,631,652,0.452632875477,-0.0156179291909,0.0598151432619,0.999999938975,-0.000199527044415,-0.000280107845591,-6.1476907306e-05,1793242969855184384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.786458924,660,633,880,784.213541076,806.786458924,651,630.786458924,652,0.452619549188,-0.0156176377119,0.059808918643,0.999999935962,-0.00019993538261,-0.000290283955062,-6.19445281585e-05,1793242969871851520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.197527598,660,633,880,784.802472402,806.197527598,651,630.197527598,652,0.452594280007,-0.0156173505777,0.0597969721615,0.999999929983,-0.000201559669371,-0.0003089956431,-6.26792115286e-05,1793242969888518144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.612652122,745,714,680,660,633,880,785,806,651,630,652,0.452552552739,-0.015614999774,0.0597805539588,0.999999921486,-0.000200845685111,-0.000335527894301,-6.41168336876e-05,1793242969905184768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.029823436,745,714,680,660,633,880,785,806,651,630,652,0.452502519651,-0.0156116075091,0.0597618790351,0.999999911057,-0.000198951657984,-0.00036600690926,-6.59092042749e-05,1793242969921851136
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.543504337,660,633,879.456495663,785,806,651,630,652,0.452436428552,-0.0156078084026,0.0597445350296,0.999999904054,-0.000196578058732,-0.000385699584632,-6.69764642964e-05,1793242969938517504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.116140726,745,714,681,660,633,879.116140726,784.883859274,806.116140726,651,630,652,0.452367775454,-0.0156040485986,0.0597294744023,0.999999897717,-0.00019453763208,-0.000402646872604,-6.77973785462e-05,1793242969955183872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.688074787,745,714,681,660,633,879.688074787,784.311925213,806.688074787,651,630,652,0.452292466421,-0.0156005291423,0.0597230931844,0.999999894399,-0.000193906238054,-0.000411102811192,-6.78049785821e-05,1793242969971850496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.730480991,745,714,680.730480991,660,633,880,784.269519009,807,651,630.269519009,652,0.452208293574,-0.0155958611148,0.0597189504632,0.999999892241,-0.00019212175266,-0.000417150351328,-6.77687925313e-05,1793242969988517632
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.137627735,745,714,680.137627735,660,633,880,784.862372265,807,651,630.862372265,652,0.452113487065,-0.0155898151796,0.0597174932029,0.999999891528,-0.000188953936584,-0.000420308604242,-6.76800775679e-05,1793242970005184768
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.446363569,680.446363569,660,633.446363569,880,785,806.553636431,651,631,652,0.451999032635,-0.0155844733555,0.0597186636419,0.999999892241,-0.000187247346466,-0.000419534909722,-6.66778315136e-05,1793242970021851392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.972655109,681,660,634,880,785,806,651,631,651.972655109,0.451877006098,-0.0155792443853,0.0597205096034,0.999999893309,-0.000185884884387,-0.000417793568317,-6.53984310641e-05,1793242970038518272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.398290256,681,660,634,880,785,806,651,631,651.398290256,0.451722332721,-0.015572014585,0.0597199769036,0.99999989288,-0.000182569136066,-0.000420475086373,-6.40996711462e-05,1793242970055185152
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.180151857,745,714,681,660,634,880,785,806,651,631,651.180151857,0.451560862061,-0.0155636114436,0.0597203310371,0.999999893267,-0.000178158906888,-0.000421626016256,-6.29045459148e-05,1793242970071851776
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.767816872,745,714,681,660,634,880,785,806,651,631,651.767816872,0.451384015605,-0.0155525541427,0.0597226912356,0.999999895502,-0.000171272903789,-0.000419314673265,-6.19438480767e-05,1793242970088517888
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.649969966,745,714,681,660,634,880,785,806,651,630.649969966,652,0.451177035124,-0.0155414901153,0.0597188516704,0.999999892783,-0.000165260872645,-0.000428266464325,-6.09110612018e-05,1793242970105184256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.071317626,745,714,681,660,634,880,785,806,651,630.071317626,652,0.450950372572,-0.0155304216934,0.0597109627265,0.999999886616,-0.000159819676038,-0.000444574777167,-5.98311892252e-05,1793242970121850880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.507679376,714,681.507679376,660,634,879.492320624,785.507679376,806.507679376,651,630.507679376,652,0.45069649536,-0.0155193927902,0.0597045676508,0.99999988356,-0.000154614847356,-0.00045334150804,-5.87835153833e-05,1793242970138517760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.085923727,745.914076273,714,681.914076273,660,634,879.085923727,786,807,651,631,652,0.450431890904,-0.0155082060189,0.0596986547247,0.999999881115,-0.000148829116388,-0.000460754504426,-5.76669181984e-05,1793242970155184896
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,786,807,651,631,652,0.44981441104,-0.0154848857616,0.0596904152413,0.999999879268,-0.000132441590974,-0.000470034891359,-5.46931870934e-05,1793242970188518400
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,786,807,651,631,652,0.449486253681,-0.0154750057378,0.0596872680009,0.999999879712,-0.000128472201168,-0.000470341498328,-5.33892466048e-05,1793242970205185024
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.388211591,714,679,659,635,878.388211591,787,804.388211591,652,631,652,0.402285239032,-0.0153736079391,0.0598419677723,0.999999943121,0.000220632879451,-0.00025397396104,2.39920693491e-05,1793242971405184256
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.809535393,744.190464607,714,679.190464607,659,635,878,787.190464607,804,652,631,652,0.402089577516,-0.0153695772008,0.0598409578663,0.99999994047,0.000226615281474,-0.000259125143475,2.36626725617e-05,1793242971421850880
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.637872101,714,679.637872101,659,635,878,787.637872101,804.362127899,652,631,652,0.40176323208,-0.0153690699398,0.0598296031915,0.999999934864,0.000224069914594,-0.000282026305049,2.29243030438e-05,1793242971455184128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.057520894,714,679.057520894,659,635,878,787.057520894,804.942479106,652,631,652,0.401621568028,-0.0153733055145,0.0598282615158,0.999999934865,0.000215689219406,-0.000288462079078,2.31895778638e-05,1793242971471850752
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.061782029,744.061782029,714,679,659.938217971,635,878.938217971,787.061782029,804.061782029,652,631,652,0.400976901524,-0.0153734151777,0.0598376179856,0.999999938476,0.000215979143308,-0.000275679635053,2.00595952434e-05,1793242971705184256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.638894976,744.638894976,714,679,659.361105024,635,878.361105024,787.638894976,804.638894976,652,631,652,0.400973371527,-0.0153753031723,0.0598373268946,0.999999938499,0.00021470557514,-0.000276549294288,2.05982137906e-05,1793242971721850880
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.455978638,744.455978638,714,680,659,635,879,787,804.455978638,652,631,652,0.400974794524,-0.0153773178294,0.0598421881769,0.999999941066,0.000213835971887,-0.000267789385629,2.07663922427e-05,1793242971805185024
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.119774267,714,679.880225733,659,635,878.880225733,787,804.119774267,652,631,652,0.400974178768,-0.0153771451972,0.0598421783715,0.999999940952,0.000214129150966,-0.000267981568948,2.07605885483e-05,1793242971821851136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.694102281,714,679.305897719,659,635,878.305897719,787,804.694102281,652,631,652,0.400975995496,-0.0153782213961,0.0598438319314,0.999999941847,0.000213436330257,-0.000265180984284,2.0737938437e-05,1793242971838517760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.277110396,744.722889604,714,679,659,635,878.277110396,787,805,652,631,652,0.400976536291,-0.0153784614685,0.0598445950046,0.999999942282,0.000213114828562,-0.000263806173722,2.06200877834e-05,1793242971855184384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.870010254,744.129989746,714,679,659,635,878.870010254,787,805,652,631,652,0.400975623058,-0.0153777487082,0.0598443432974,0.999999942199,0.0002132164745,-0.00026405614644,2.03937484941e-05,1793242971871851008
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744,714,679,659,635,879,787,805,652,631,651.548352545,0.400974867427,-0.0153778333989,0.0598440384104,0.999999941919,0.000214377906148,-0.000264189885164,2.0198104906e-05,1793242971888517888
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.970090645,744,714,679,659,635,879,787,805,652,631,651.029909355,0.400974168505,-0.0153781355616,0.059843711199,0.999999941584,0.000215750663206,-0.000264352407436,2.00191752817e-05,1793242971905184512
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.395698976,744,714,679,659,635,879,787,805,652,631,651.604301024,0.400973696294,-0.0153783201222,0.059843249438,0.999999941288,0.000215552873943,-0.000265633103334,1.99875975603e-05,1793242971921851136
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.183398199,744.183398199,714,679,659,635,879,787,805,652,631,652,0.400973450277,-0.0153779948713,0.0598431920795,0.999999940985,0.000216039669371,-0.000266378919917,1.99757388559e-05,1793242971938518016
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.77291526,744.77291526,714,679,659,635,879,787,805,652,631,652,0.400973705145,-0.0153765406883,0.0598440302343,0.999999940666,0.000218042416208,-0.000265940294159,2.00075461478e-05,1793242971955184384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.64364776,745,714,679.35635224,659,635,879,787,805,652,631,652,0.400973763239,-0.0153763123477,0.059844515809,0.999999940847,0.000218231816681,-0.000265105748588,1.99789997153e-05,1793242971971851008
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.064020324,745,714,679.935979676,659,635,879,787,805,652,631,652,0.400973698043,-0.0153768520682,0.059844780472,0.999999941341,0.00021728505117,-0.000264023136475,1.99126381982e-05,1793242971988517632
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.48840394,714,679.48840394,659,635,878.48840394,787,805,652,631,652,0.40097340045,-0.0153771700897,0.0598443485887,0.999999941105,0.000218172572316,-0.000264191297085,1.98632006233e-05,1793242972005184256
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.088418947,744,714,679,659,635,878.088418947,787,805,652,631,652,0.40097306861,-0.0153776229328,0.0598439338778,0.999999940989,0.000218328578215,-0.000264499435437,1.98476521959e-05,1793242972021850880
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.674842109,744,714,679,659,635,878.674842109,787,805,652,631,652,0.400972706404,-0.0153789901761,0.0598441030081,0.999999942059,0.000213081667399,-0.000264721261825,2.00111429235e-05,1793242972038518016
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.741408293,744.258591707,714,679.258591707,659,635,879,787,805,652,631,652,0.40097193618,-0.0153796375849,0.05984385882,0.999999942272,0.000211325798517,-0.000265319980379,2.0086302354e-05,1793242972055185152
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.160986004,744.839013996,714,679.839013996,659,635,879,787,805,652,631,652,0.400970658156,-0.015379389123,0.059843100236,0.999999941438,0.000213914708875,-0.000266387760514,2.00515289975e-05,1793242972071852288
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d864338c457d3522cf954229e767115857b0278
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/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
+0,0.000000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+1,0.016666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+2,0.033333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+4,0.066666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+12,0.200000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+15,0.250000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+16,0.266666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+17,0.283333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+18,0.300000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+390,6.500000000,pose2_to_pose3_retreat,0.5807452609,-0.00999823387721,1.05004090765,0.55131698108,-0.00132340343957,1.04967870928
+391,6.516666667,pose2_to_pose3_retreat,0.580745251768,-0.00999823401131,1.05004090799,0.551316971952,-0.00132340355758,1.04967870965
+392,6.533333333,pose2_to_pose3_retreat,0.580745250482,-0.00999823403019,1.05004090804,0.551316970667,-0.0013234035742,1.0496787097
+393,6.550000000,pose2_to_pose3_retreat,0.580744962461,-0.00999823825947,1.0500409187,0.551316682786,-0.00132340729604,1.04967872115
+394,6.566666667,pose2_to_pose3_retreat,0.580744651203,-0.00999823288612,1.05004092913,0.551316371698,-0.00132340140574,1.04967873017
+395,6.583333333,pose2_to_pose3_retreat,0.580744480894,-0.00999822615321,1.05004093443,0.551316201489,-0.00132339440194,1.04967873381
+396,6.600000000,pose2_to_pose3_retreat,0.580744382842,-0.00999822227691,1.05004093747,0.551316103496,-0.00132339036969,1.04967873591
+397,6.616666667,pose2_to_pose3_retreat,0.580744341066,-0.00999822062533,1.05004093877,0.551316061744,-0.00132338865167,1.0496787368
+398,6.633333333,pose2_to_pose3_retreat,0.580744314795,-0.00999821958676,1.05004093959,0.551316035488,-0.00132338757131,1.04967873737
+399,6.650000000,pose2_to_pose3_retreat,0.580744280903,-0.0099982182469,1.05004094064,0.551316001616,-0.00132338617755,1.04967873809
+400,6.666666667,pose2_to_pose3_retreat,0.580744192215,-0.00999821474078,1.0500409434,0.551315912981,-0.00132338253037,1.04967873999
+401,6.683333333,pose2_to_pose3_retreat,0.580744029974,-0.00999820832681,1.05004094844,0.551315750835,-0.00132337585835,1.04967874346
+402,6.700000000,pose2_to_pose3_retreat,0.580743749593,-0.00999821219807,1.05004096898,0.551315470558,-0.00132337955045,1.0496787599
+403,6.716666667,pose2_to_pose3_retreat,0.580743489185,-0.00999822610299,1.05004099621,0.551315210204,-0.00132339347286,1.04967878237
+404,6.733333333,pose2_to_pose3_retreat,0.580743494332,-0.00999826110908,1.05004098777,0.551315215191,-0.00132342890642,1.04967877662
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd4e4f1cfa5308e88805849b196cd235d45547db
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b8e0bc9a5c8bf76c7efecbc766d0cde2ae49305e989b1d215a28366d7e14e0
+size 25667148
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5017c134ba1622cf2cfc955021ef80f041114642
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+51,0.850000000,BASELINE,766,745,715,679,659,635,878.408956405,787,805,652,631,652,0.4009722201,-0.0153816745866,0.0598462088915,0.999999942873,0.000213560069199,-0.000261290901073,1.93216740824e-05,1793242973041324800
+52,0.866666667,BASELINE,766,744.830053242,714.830053242,679.169946758,659,635,878.169946758,787,805,652,631,652,0.400972571985,-0.0153811907091,0.0598463485354,0.999999942725,0.000214549417037,-0.000261044349037,1.93268481329e-05,1793242973057991424
+53,0.883333333,BASELINE,766,744.240976513,714.240976513,679.759023487,659,635,878.759023487,787,805,652,631,652,0.400974130317,-0.0153819337591,0.0598472151958,0.999999943783,0.00021174125022,-0.00025929223112,1.91751321519e-05,1793242973074658304
+54,0.900000000,BASELINE,766,744.34272703,714,680,658.65727297,635,878.65727297,787,805,652,631.34272703,652,0.400975301979,-0.0153819757861,0.0598479581941,0.999999944115,0.000211729354039,-0.000258013322357,1.9238205217e-05,1793242973091324928
+55,0.916666667,BASELINE,766,744.922710899,714,680,658.077289101,635,878.077289101,787,805,652,631.922710899,652,0.400976205962,-0.0153815325216,0.0598486155859,0.999999943947,0.000213653209381,-0.0002570619983,1.94499685449e-05,1793242973107991552
+56,0.933333333,BASELINE,766,745,714,679.501761433,658.498238567,635,878.498238567,787,804.501761433,652,631.003522865,652,0.400976570396,-0.0153825639797,0.0598491229945,0.999999944369,0.000212427929919,-0.000256418104712,1.96308878872e-05,1793242973124658176
+57,0.950000000,BASELINE,766,744.926665222,714,679,659,635,879,787,804.073334778,652,630.073334778,652,0.400976566276,-0.0153835947049,0.0598494325527,0.999999944797,0.000210740703433,-0.000256134054771,1.97441486562e-05,1793242973141325056
+58,0.966666667,BASELINE,766,744.349827556,714,679,659,635,879,787,804.650172444,652,630.650172444,652,0.400974601281,-0.0153830636564,0.0598485420309,0.999999944647,0.000209206112192,-0.000257996095905,1.94254376165e-05,1793242973157991680
+59,0.983333333,BASELINE,765.76767478,744,714,679,659,635,879,787,805,652,631,651.76767478,0.400972972579,-0.0153822226685,0.0598476337701,0.999999944075,0.000210001344196,-0.000259571885925,1.92924006182e-05,1793242973174658048
+60,1.000000000,BASELINE,765.177331211,744,714,679,659,635,879,787,805,652,631,651.177331211,0.400971862111,-0.0153809040566,0.0598466981728,0.999999942846,0.000214386885576,-0.000260706556871,1.94454914123e-05,1793242973191324672
+61,1.016666667,BASELINE,765.405348593,744,714,679,659,635,878.594651407,787,805,652,631,651.405348593,0.400972667817,-0.0153811674158,0.0598471465521,0.999999943033,0.000214325305907,-0.00026003109695,1.95742784466e-05,1793242973207991296
+62,1.033333333,BASELINE,765.984737844,744,714,679,659,635,878.015262156,787,805,652,631,651.984737844,0.400974296253,-0.0153821100109,0.0598481891562,0.999999943828,0.000212354308038,-0.000258578438341,1.96926303983e-05,1793242973224657920
+63,1.050000000,BASELINE,766,744.560116423,714,679,659,635,878,787,805,652,631,652,0.400975100247,-0.0153818176342,0.0598485510068,0.999999943933,0.000213053238801,-0.000257604973371,1.95457322763e-05,1793242973241324544
+64,1.066666667,BASELINE,765.861711844,744.861711844,714,679.138288156,659,635,878.138288156,787,804.861711844,652,631,652,0.400975627968,-0.0153818533205,0.059848747087,0.999999944092,0.000213065092309,-0.000256990063859,1.93649352112e-05,1793242973257991168
+65,1.083333333,BASELINE,765.274112377,744.274112377,714,679.725887623,659,635,878.725887623,787,804.274112377,652,631,652,0.400975330522,-0.0153830634721,0.0598484644038,0.999999944487,0.000210609873271,-0.000257498012707,1.90973134267e-05,1793242973274657792
+66,1.100000000,BASELINE,765,744,714,679.690672246,659,635,879,787,804.309327754,652,631,652,0.400975118407,-0.015383236074,0.0598484754246,0.999999944407,0.00021087821961,-0.000257580754091,1.92010008541e-05,1793242973291324416
+67,1.116666667,BASELINE,765,744,714,679.110869059,659,635,879,787,804.889130941,652,631,652,0.400974980905,-0.0153825014448,0.0598487432595,0.999999943911,0.000213528044997,-0.000257291695079,1.96293601643e-05,1793242973307991296
+68,1.133333333,BASELINE,765.465229672,744,714,679.465229672,659,635,878.534770328,787,805,652,631,652,0.400974345901,-0.015383734828,0.0598484786978,0.999999944093,0.000212247560092,-0.0002576276518,1.98164178895e-05,1793242973324657920
+69,1.150000000,BASELINE,765.959464681,744,714,680,659,635,878.040535319,787,804.959464681,652,631,652,0.400973626202,-0.0153851866997,0.0598480645954,0.99999994439,0.000210171083657,-0.000258169323647,1.98986652677e-05,1793242973341324544
+70,1.166666667,BASELINE,765.383065641,744,714,680,659,635,878.616934359,787,804.383065641,652,631,652,0.400973341807,-0.0153833758983,0.0598473376181,0.999999944129,0.000209856038972,-0.000259476996368,1.93495415741e-05,1793242973357991168
+71,1.183333333,BASELINE,765.196985198,744,714,679.803014802,659,635,879,787,804,652,631,652,0.400972978732,-0.015382541653,0.0598468914653,0.999999943908,0.000209983309392,-0.000260243581542,1.90889079668e-05,1793242973374658048
+72,1.200000000,BASELINE,765.784271718,744,714,679.215728282,659,635,879,787,804,652,631,652,0.400972459759,-0.0153836423306,0.0598470017304,0.99999994377,0.000210986971344,-0.000259938070222,1.93998809792e-05,1793242973391324672
+73,1.216666667,BASELINE,766,744,714,679,659,635,879,787,804.368050264,652,631,652,0.400973180455,-0.015383589749,0.0598476153197,0.999999943927,0.000211372636715,-0.000259016699965,1.94551143644e-05,1793242973407991296
+74,1.233333333,BASELINE,766,744,714,679,659,635,879,787,804.94979203,652,631,652,0.400974620906,-0.0153828675804,0.059848521141,0.999999944253,0.000211399490661,-0.000257737759487,1.93618642479e-05,1793242973424657920
+75,1.250000000,BASELINE,766,744,714,679.524899448,659,635,878.475100552,787,805,652,630.475100552,652,0.400974144161,-0.0153837121784,0.0598479001632,0.999999944359,0.000210099481466,-0.000258386994738,1.94101526687e-05,1793242973441324800
+76,1.266666667,BASELINE,766,744.0998361,714,680,659,635,878.0998361,787,805,651.9001639,630.0998361,652,0.400973430678,-0.0153844112927,0.059847272561,0.999999944357,0.00020911161734,-0.000259191303315,1.94535272856e-05,1793242973457991424
+77,1.283333333,BASELINE,766,744.67695225,714,680,659,635,878.67695225,787,805,651.32304775,630.67695225,652,0.400972451192,-0.015383707393,0.0598473027499,0.999999943951,0.000210215180064,-0.000259866249923,1.9409495888e-05,1793242973474658048
+78,1.300000000,BASELINE,765.740983362,745,714,679.740983362,659,635,878.740983362,787,805,651.259016638,631,652,0.4009727706,-0.0153825503144,0.0598475716431,0.999999943786,0.000211782205547,-0.000259235468748,1.93152292116e-05,1793242973491324672
+79,1.316666667,BASELINE,765.152627339,745,714,679.152627339,659,635,878.152627339,787,805,651.847372661,631,652,0.400974741548,-0.0153808170191,0.0598481440483,0.999999943921,0.000213938523359,-0.000256944456012,1.91570884343e-05,1793242973507991552
+80,1.333333333,BASELINE,765.429123864,745,714,679.429123864,659,635,878.858247729,787,805,652,631,652,0.400974974024,-0.0153812279313,0.0598482139479,0.999999943895,0.000214074794168,-0.000256916222507,1.93678899539e-05,1793242973524657920
+81,1.350000000,BASELINE,765.99148507,745,714,679.99148507,659,635,879.99148507,787.00851493,805,652,631,652,0.400974611915,-0.0153823534397,0.0598481159226,0.99999994382,0.000213513481686,-0.000257650375945,1.96999272982e-05,1793242973541324800
+82,1.366666667,BASELINE,765.415204216,745,714,679.415204216,659,635,879.415204216,787.584795784,805,652,631,652,0.400975207877,-0.0153810466145,0.0598485575462,0.999999944131,0.000213618970664,-0.000256369429488,1.94986962866e-05,1793242973557991424
+83,1.383333333,BASELINE,765.160975019,744.839024981,714,679,659,635,878.839024981,787.839024981,805,652,631,651.839024981,0.400974926041,-0.0153807996099,0.0598485012519,0.999999944245,0.000213079632192,-0.00025638241237,1.93831865841e-05,1793242973574658048
+84,1.400000000,BASELINE,765.736892434,744.263107566,714,679,659,635,878.263107566,787.263107566,805,652,631,651.263107566,0.400972381521,-0.0153832844851,0.0598471614836,0.999999943845,0.000210878133688,-0.000259730733239,1.94886391067e-05,1793242973591324672
+85,1.416666667,BASELINE,765.680247665,744,714,679,659,635,878,787,805,652,631,651,0.400972210578,-0.0153848870087,0.0598469978372,0.999999944068,0.000209182405679,-0.000260226731355,1.97280985607e-05,1793242973607991040
+86,1.433333333,BASELINE,765.091548402,744,714,679,659,635,878,787,805,652,631,651,0.400974036076,-0.0153857473774,0.0598478234389,0.999999944819,0.00020791208649,-0.000258323611715,2.00802725958e-05,1793242973624657920
+87,1.450000000,BASELINE,765.489485404,744,714,679,659,635.489485404,878,787,805,651.510514596,631,651,0.400974320842,-0.0153847021707,0.0598476604607,0.999999944675,0.000208996101142,-0.000258024335874,1.98747181917e-05,1793242973641324544
+88,1.466666667,BASELINE,766,744.068650947,714,679,659,635.931349053,878.068650947,787,805,651.068650947,631,651.068650947,0.400974146474,-0.0153833314154,0.0598473838805,0.999999944317,0.000210621061899,-0.000258110879665,1.96042636001e-05,1793242973657991168
+89,1.483333333,BASELINE,766,744.64444276,714,679,659,635.35555724,878.64444276,787,805,651.64444276,631,651.64444276,0.400972676284,-0.0153821479692,0.059847612892,0.999999943609,0.000213039446459,-0.00025886580609,1.96130712711e-05,1793242973674658048
+90,1.500000000,BASELINE,766,744.775544126,714,679,659,635.224455874,878.775544126,787,805,652,631.224455874,652,0.400972192429,-0.0153820797073,0.0598479250056,0.999999943469,0.000213357985763,-0.000259151932093,1.95316040599e-05,1793242973691324416
+91,1.516666667,BASELINE,766,744.188716,714,679,659,635.811284,878.188716,787,805,652,631.811284,652,0.40097330096,-0.0153838118521,0.0598483712834,0.999999944245,0.000210286434647,-0.000258681204298,1.93043927787e-05,1793242973707991040
+92,1.533333333,BASELINE,766,744.393592481,714,679,659,635.606407519,878,787,805.393592481,652,631.606407519,651.606407519,0.400973341916,-0.0153841880721,0.059848246967,0.99999994475,0.00020794786109,-0.000258631724762,1.9158510692e-05,1793242973724657664
+93,1.550000000,BASELINE,766,744.973758577,714,679,659,635.026241423,878,787,805.973758577,652,631.026241423,651.026241423,0.400972876813,-0.0153839215469,0.0598478521734,0.999999945125,0.000205956738698,-0.000258781928395,1.90511808507e-05,1793242973741324544
+94,1.566666667,BASELINE,765.448954029,745,714,679.551045971,659,635,878.551045971,787,804.897908058,652,631,651.551045971,0.400974658951,-0.0153834790241,0.059848771631,0.999999944697,0.000209884669183,-0.000257247660469,1.94544126169e-05,1793242973757991168
+95,1.583333333,BASELINE,765.127329368,745,714,680,659,635,879,787,804.127329368,652,631,652,0.400975757644,-0.0153831633174,0.0598494122685,0.999999944323,0.000212865172361,-0.000256230635262,1.96864414618e-05,1793242973774658048
+96,1.600000000,BASELINE,765.700574457,745,714,680,659,635,879,787,804.700574457,652,631,652,0.400974090041,-0.0153833209273,0.0598488584189,0.999999944336,0.000211545721106,-0.000257304490385,1.92342016773e-05,1793242973791324672
+97,1.616666667,BASELINE,766,745,714,679.717624672,659,635,879,787,805,652,631,652,0.400973881478,-0.0153834146638,0.0598488499638,0.999999944579,0.000210497720817,-0.000257233041637,1.90604781702e-05,1793242973807991296
+98,1.633333333,BASELINE,766,745,714,679.126467968,659,635,879,787,805,652,631,652,0.400975268393,-0.0153834385538,0.0598494379052,0.999999945074,0.000209746556038,-0.000255909186997,1.9191316141e-05,1793242973824658176
+99,1.650000000,BASELINE,766,745,714,679.455194663,659,635,879.455194663,787,805.455194663,652,631,652,0.400975494415,-0.0153830764511,0.0598496208619,0.999999944738,0.000211228966318,-0.000255990330222,1.93953992664e-05,1793242973841324800
+100,1.666666667,BASELINE,766,745,714,679.965904241,659,635,879.965904241,787,805.931808483,652,631,652,0.400975371032,-0.0153826468759,0.0598496189571,0.999999944197,0.000213159099072,-0.00025648801752,1.95801022105e-05,1793242973857991168
+101,1.683333333,BASELINE,766,745,714,679.389827132,659,635,879.389827132,787,804.779654265,652,631,652,0.400974715787,-0.015382814631,0.0598484305487,0.999999944069,0.000212543366651,-0.000257528787772,1.91398704717e-05,1793242973874658048
+102,1.700000000,BASELINE,766,745,714.189828855,679.189828855,659,635,879,787,804.189828855,652,631,652,0.400974416106,-0.0153832562323,0.0598478938549,0.999999944087,0.000211920405278,-0.000257987143569,1.89542839274e-05,1793242973891324928
+103,1.716666667,BASELINE,766,745,714.776975473,679.776975473,659,635,879,787,804.776975473,652,631,652,0.400974860634,-0.0153842710028,0.0598487212202,0.999999944411,0.000211282313556,-0.000257226487465,1.93016778407e-05,1793242973907991552
+104,1.733333333,BASELINE,766,745,714.638818079,679.638818079,659,635,879,787.361181921,805,652,631,652,0.400975588453,-0.0153839925992,0.0598495696549,0.999999944743,0.00021106790564,-0.000256104495154,1.93382014834e-05,1793242973924657920
+105,1.750000000,BASELINE,766,745,714.056412428,679.056412428,659,635,879,787.943587572,805,652,631,652,0.400976489788,-0.0153829221273,0.0598504309946,0.99999994508,0.000211113003764,-0.00025476118454,1.91843172878e-05,1793242973941324288
+106,1.766666667,BASELINE,766,745,714,679,659,635,879,787.482430728,805,652,631,652,0.400975284485,-0.0153812567443,0.0598495440049,0.999999943832,0.000215232965377,-0.00025619742231,1.93374084054e-05,1793242973957991424
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,652,632,652,0.400974104884,-0.0153812634907,0.059848416365,0.999999943287,0.000215645711498,-0.000257983446606,1.91509570022e-05,1793242974000968448
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.594292333,744.594292333,714,679.594292333,659,635,878.405707667,787,805,652,631.405707667,652,0.400974559773,-0.0153820938252,0.0598486085047,0.999999944029,0.000213034203515,-0.000257271611488,1.92259866726e-05,1793242974017635072
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.816488092,659,635,878.367023816,787,805,652,631,652,0.400974520444,-0.0153827099897,0.0598485341378,0.999999944475,0.00021097876819,-0.000257230897061,1.92476781344e-05,1793242974034301440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.238181581,659,635,879.523636838,787,805,652,631,652,0.400973417886,-0.0153828654041,0.0598478864277,0.999999944296,0.000210119627955,-0.000258633984321,1.91546215424e-05,1793242974050968064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.336433173,659,635,879.663566827,787.336433173,805,652,631,652,0.40097381885,-0.0153824843009,0.0598482145801,0.99999994439,0.00021020509343,-0.000258196245819,1.91709153161e-05,1793242974067635456
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.90846264,659,635,879.09153736,787.90846264,805,652,631,652,0.400975272696,-0.015381727487,0.0598492261063,0.999999944676,0.000210952044277,-0.000256469419937,1.92637846029e-05,1793242974084303104
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.50625188,659,635,879,787.50625188,805,652,631,652,0.400974053999,-0.0153833370808,0.0598487657275,0.99999994477,0.000208908550381,-0.000257776408263,1.91822440667e-05,1793242974100969472
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,805,652,631,652,0.400972609126,-0.0153849435107,0.0598480834037,0.999999944693,0.000207172311577,-0.000259479689812,1.90954343281e-05,1793242974117635328
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,805,652,631,652,0.400972920654,-0.0153837319871,0.0598477639777,0.999999943816,0.00021064300861,-0.000260055304063,1.9182160072e-05,1793242974134301952
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.756815777,714,679,659.243184223,635,879,787,805,652,631,652,0.400977299518,-0.0153835155656,0.0598495809693,0.999999944396,0.000211645196605,-0.000256981921361,1.93436183864e-05,1793242974150968576
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.182289803,714,679,659.817710197,635,879,787,805,652,631,652,0.400987220179,-0.0153846549844,0.0598543088588,0.999999946923,0.000209284007789,-0.000248936731541,1.9606900818e-05,1793242974167634944
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.393327428,714,679.393327428,659.606672572,635,879,787.393327428,805,652,631,652,0.401014026532,-0.0153852760587,0.0598650945408,0.999999951406,0.000209977764189,-0.000229496070345,2.07055260389e-05,1793242974184301824
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.969451866,714,679.969451866,659.030548134,635,879,787.969451866,805,652,631,652,0.401048680429,-0.015385656235,0.059878695553,0.999999956299,0.000212091291213,-0.000204759418411,2.21923727726e-05,1793242974200968704
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.444508919,745,714.555491081,679.444508919,659,635,879,787.444508919,805,652,631,652,0.401108999105,-0.0153908026698,0.0598986900095,0.999999963838,0.000208392457417,-0.00016827725441,2.40699273842e-05,1793242974217635072
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.140916827,745,714.859083173,679,659,635,878.859083173,787,804.859083173,652,631,652,0.401173481559,-0.0153957902263,0.0599172614579,0.999999969281,0.000205504632114,-0.000136176430724,2.57196616705e-05,1793242974234301696
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.722686733,745,714.277313267,679,659,635,878.277313267,787,804.277313267,652,631,652,0.401246494545,-0.0153994458333,0.0599302611426,0.999999971212,0.000206172168947,-0.000119839923024,2.65882286835e-05,1793242974250968576
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.699425237,744.699425237,714.300574763,679,659.300574763,635,878.300574763,787,804.300574763,652,631,652,0.401326141724,-0.0154027510745,0.0599400057405,0.999999972754,0.000206725565347,-0.000105051533296,2.68462333346e-05,1793242974267635200
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.125073032,744.125073032,714.874926968,679,659.874926968,635,878.874926968,787,804.874926968,652,631,652,0.401411831628,-0.0154057371859,0.0599467854534,0.999999973985,0.000207174997314,-9.16732422349e-05,2.65481094054e-05,1793242974284302080
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.450602293,744.450602293,714.549397707,679,659.549397707,635,879,787,805,652,631,652,0.401509148094,-0.0154111786485,0.0599483267679,0.999999974899,0.000204583862739,-8.75627455113e-05,2.60681924877e-05,1793242974300968704
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972725139,745,714,679,659.027274861,635,878.972725139,787.027274861,804.972725139,652,631,652,0.401610685374,-0.0154173008575,0.0599482815081,0.999999975728,0.000201150388665,-8.62110431062e-05,2.54908258116e-05,1793242974317635072
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.383085381,745,714,679,659.616914619,635,878.383085381,787.616914619,804.383085381,652,631,652,0.401732514154,-0.0154233655671,0.0599455913661,0.99999997623,0.000197801689489,-8.85453000907e-05,2.39476681667e-05,1793242974334301696
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.202818685,787.797181315,804.202818685,652,631,652,0.401867155354,-0.0154296130088,0.0599441617935,0.999999976734,0.000195717180057,-8.78655294039e-05,2.25196849663e-05,1793242974350968320
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.781794297,787.218205703,804.781794297,652,631,652,0.402025559045,-0.0154361993531,0.0599450701316,0.999999977241,0.000195977295859,-8.15958031215e-05,2.13053097974e-05,1793242974367635200
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.642833887,635,879,787,804.642833887,652,631,652,0.402203731724,-0.0154452978196,0.0599461845833,0.999999978837,0.000190632247577,-7.48218253274e-05,1.96735308891e-05,1793242974384301824
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.069641713,635,879,787,804.069641713,652,631,652,0.402393861364,-0.0154559157025,0.0599474236996,0.999999981004,0.000181897007813,-6.77428586731e-05,1.77892920619e-05,1793242974400968704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.500771141,714,679.499228859,659,635,879,787.499228859,804.499228859,652,631,651.500771141,0.402612638551,-0.0154667990692,0.0599492137499,0.99999998314,0.000172906132767,-5.97382004679e-05,1.5936687683e-05,1793242974417635072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.928142512,659,635.071857488,879,787.928142512,805,652,631,651.071857488,0.402840875574,-0.0154779271728,0.0599513489948,0.999999985163,0.000163830784826,-5.13450675874e-05,1.40683011917e-05,1793242974434301440
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679.323199916,659,635.676800084,879,787.323199916,805,652,631,651.676800084,0.403109899243,-0.0154905985086,0.0599554798538,0.999999987168,0.000154391042114,-4.1019742813e-05,1.20503746959e-05,1793242974450968320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.26627248,744,714,679,659,635.73372752,878.73372752,787.26627248,805,652,631,652,0.403381172586,-0.0155010196103,0.0599530765762,0.999999988568,0.000144406926692,-4.38951614876e-05,9.17586397876e-06,1793242974467635200
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.837998267,744,714,679,659,635.162001733,878.162001733,787.837998267,805,652,631,652,0.403655026616,-0.0155088593651,0.0599431776923,0.999999989118,0.000133798337048,-6.19137557039e-05,5.31872655039e-06,1793242974484301568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.420882279,714.420882279,679,659.420882279,635,878.420882279,787.579117721,805,652,631,652,0.403950084576,-0.015509085281,0.0599313752634,0.999999991637,9.99576657742e-05,-8.20354340931e-05,2.11576864341e-06,1793242974500968192
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.991911337,745,715,679.008088663,659.991911337,635,879,787,805,652,631,652,0.404254353957,-0.015506182908,0.0599188311559,0.99999999303,5.77853682837e-05,-0.000102961004348,-8.74775646433e-07,1793242974517634816
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.411042042,745,715,679.588957958,659.411042042,635,879,787,805,652,631,652,0.404617225064,-0.0154949362618,0.0599070637229,0.999999989646,7.60984312301e-05,-0.000121928546821,-7.13998458126e-06,1793242974534301696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.831364648,715,679.831364648,659,635,879,787,805,652,631,652,0.404998178109,-0.015489858497,0.0599015559056,0.999999987881,8.30596892895e-05,-0.000131109933952,-1.22382838276e-05,1793242974550968576
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.254572159,715,679.254572159,659,635,879,787,805,652,631,652,0.405422895782,-0.0154997116064,0.0599111985716,0.99999999114,6.25455658286e-05,-0.000116605364634,-1.45122484016e-05,1793242974567635200
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.322332271,744.322332271,715,679.322332271,659,635,879,787,805,652,631,652,0.405883377867,-0.0155090446949,0.0599317869851,0.999999995476,4.36505578444e-05,-8.30105551356e-05,-1.58733331152e-05,1793242974584301824
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.899325202,744.899325202,715,679.899325202,659,635,879,787,805,652,631,652,0.406372115899,-0.0155179669385,0.059961023157,0.999999998935,2.60347400581e-05,-3.43333782807e-05,-1.65131915069e-05,1793242974600968448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.51415676,745,714.51415676,679.51415676,659,635,878.51415676,787,805,652,631,652,0.406875827154,-0.0155224130017,0.0599834123012,0.99999999975,1.3048665209e-05,6.74537961484e-07,-1.81483324744e-05,1793242974617634816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.073332225,745,714.073332225,679,659.073332225,635,878.073332225,787,805.073332225,652,631,652,0.407385074032,-0.0155253410667,0.0600009287953,0.999999999456,1.96657879262e-08,2.59909312261e-05,-2.03309357705e-05,1793242974634301440
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.653616106,745,714.653616106,679,659.653616106,635,878.653616106,787,805.653616106,652,631,652,0.407910711217,-0.0155243154673,0.0599947648195,0.999999999481,-2.00708375332e-05,4.28191512389e-06,-2.48439328577e-05,1793242974650968320
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.76822482,745,714.76822482,679,659.76822482,635,879,787,805.76822482,652,631,652,0.408446243935,-0.0155229692691,0.0599861901289,0.999999998908,-3.11658425496e-05,-1.86637695789e-05,-2.93949343864e-05,1793242974667634944
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.19321242,745,714.19321242,679,659.19321242,635,879,787,805.19321242,652,631,652,0.408996430976,-0.0155211482943,0.059974045397,0.99999999806,-2.89393602516e-05,-4.34408427452e-05,-3.4002216659e-05,1793242974684301824
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.380751679,744.619248321,714,679.380751679,659,635,879.380751679,787,805,652,631,652,0.409599052417,-0.0155227699728,0.0599775663665,0.999999997912,-3.73543695814e-05,-3.80698765074e-05,-3.64965423155e-05,1793242974700968960
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.954185261,744.045814739,714,679.954185261,659,635,879.954185261,787,805,652,631,652,0.410228208617,-0.0155261338287,0.0599890150681,0.99999999782,-5.11545761079e-05,-1.74422949942e-05,-3.79215921664e-05,1793242974717635584
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.45394358,744,714,679.45394358,659.54605642,635,878.90788716,787,805,651.45394358,631,652,0.410883791192,-0.0155311843604,0.0599941443932,0.99999999948,-1.65729343709e-05,4.99887421995e-07,-2.7660736659e-05,1793242974734301696
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.136201428,744.136201428,714.136201428,679,660,635,878.272402855,787,805,651.136201428,631,652,0.411544989472,-0.01553397582,0.0599932386239,0.999999999718,1.0363777884e-05,5.56320448995e-06,-2.06207295731e-05,1793242974750968064
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.715521757,744.715521757,714.715521757,679,660,635,879.431043514,787,805,651.715521757,631,652,0.412216992256,-0.0155289411019,0.0599744834702,0.999999999159,-1.23962987855e-06,-3.05150598812e-05,-2.73607679811e-05,1793242974767634944
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.707202398,714.707202398,679.292797602,660,635,879.707202398,787,805,652,631,652,0.412878245939,-0.0155238936255,0.0599460383429,0.99999999571,-9.95340910839e-06,-8.55344610252e-05,-3.41322690838e-05,1793242974784301568
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.131899105,714.131899105,679.868100895,660,635,879.131899105,787,805,652,631,652,0.413529128436,-0.0155188338386,0.0599082438448,0.999999986423,-1.58791323288e-05,-0.000158829217121,-4.09341276506e-05,1793242974800968192
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.547325112,744,714.452674888,679.547325112,659.547325112,635,879,787,805,652,631,651.547325112,0.414269957216,-0.0155219614383,0.0599157735314,0.999999988728,-2.33259484841e-05,-0.000142413536003,-4.14462924406e-05,1793242974817635072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.039497375,744,714.960502625,679,659,635,879,787,805,652,631,651.039497375,0.415042686078,-0.0155276418131,0.0599387997166,0.99999999408,-3.09269614891e-05,-9.63826997764e-05,-3.99238940898e-05,1793242974834301952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.619353332,744,714.380646668,679,659,635,879,787,805,652,631,651.619353332,0.415885787695,-0.0155349266789,0.0599893784882,0.9999999987,-3.44472301649e-05,-1.02797261909e-05,-3.61636766445e-05,1793242974850968576
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659.198341035,635,879,787,805,652,631,652,0.416716204928,-0.0155396792282,0.0600194388363,0.999999998009,-3.67460998047e-05,3.84074990607e-05,-3.40159253326e-05,1793242974867635200
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659.775669651,635,879,787,805,652,631,652,0.417522384945,-0.0155395930583,0.0600102928332,0.999999998594,-3.67111355456e-05,1.56011726279e-05,-3.49492548856e-05,1793242974884301568
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.351319116,714,679,660,635,879,787,805,652,631,652,0.418329116501,-0.0155401909305,0.0599939177378,0.999999998505,-3.86561597905e-05,-9.33724981449e-06,-3.75207989611e-05,1793242974900968192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.92590146,714,679,660,635,879,787,805,652,631,652,0.41913619853,-0.0155412235114,0.059972948556,0.999999997643,-4.18594663177e-05,-3.56306179657e-05,-4.1133427986e-05,1793242974917635072
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.514092032,660.514092032,635,879,787.514092032,805,652,631,652,0.419937567289,-0.0155422665708,0.0599528052706,0.999999995908,-4.60313871751e-05,-6.44302350346e-05,-4.37589091752e-05,1793242974934301696
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.795778186,635,879,787.897889093,805,652,631,651.897889093,0.420737147285,-0.0155427454867,0.0599299007031,0.999999992511,-4.9555161572e-05,-0.000101804795563,-4.64498234044e-05,1793242974950968064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.640113562,635,879,787.320056781,805,652,631,651.320056781,0.421532334212,-0.0155405889033,0.0598935620157,0.999999981789,-4.93911899228e-05,-0.000177400171651,-5.01264793333e-05,1793242974967634944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.741852992,714,679.741852992,659.258147008,635,879,787,805.258147008,652,631,651.258147008,0.42240188044,-0.0155418140485,0.0598899869569,0.999999980194,-5.17767683146e-05,-0.000185132709876,-5.15402053544e-05,1793242974984302080
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.163187894,714,679.163187894,659.836812106,635,879,787,805.836812106,652,631,651.836812106,0.423363752078,-0.0155472379837,0.0599270915651,0.999999991202,-5.73278953669e-05,-0.000108606032487,-5.0144253932e-05,1793242975000968704
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.41047976,714.41047976,679.41047976,660,635,879,787,806,651.58952024,631,652,0.424296427045,-0.0155524480234,0.0599748109469,0.999999996475,-6.22132717521e-05,-3.24677698821e-05,-4.61072654437e-05,1793242975017635328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.982184524,714.982184524,679.982184524,660,635,879,787,806,651.017815476,631,652,0.425217634317,-0.0155575740504,0.0600266995137,0.999999995978,-6.68371592854e-05,4.35179296998e-05,-4.10329511695e-05,1793242975034301696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.424453934,680,660,634.424453934,879.575546066,787,805.424453934,651,631,652,0.426097108454,-0.0155573081133,0.0600227843526,0.999999995605,-6.8772599726e-05,4.72690662233e-05,-4.27349485316e-05,1793242975050968576
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.835219198,745,714,679.835219198,660,634.164780802,879.835219198,787,805.164780802,651,631,652,0.426976076863,-0.0155573960558,0.0600130074614,0.99999999551,-7.28395762116e-05,4.06047724131e-05,-4.50060027768e-05,1793242975067634944
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.258055563,745,714,679.258055563,660,634.741944437,879.258055563,787,805.741944437,651,631,652,0.427857138883,-0.0155588036485,0.0599930528357,0.999999995347,-8.24573720011e-05,1.36891856721e-05,-4.81557283163e-05,1793242975084301568
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.636010199,744.6819949,714,679.3180051,660,635,879.3180051,787,806,651,631,651.6819949,0.428716462196,-0.0155585292925,0.0599678798824,0.999999995043,-8.16589714121e-05,-2.60286366875e-05,-5.06737602191e-05,1793242975100968448
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.786347569,744.106826216,714,679.893173784,660,635,879.893173784,787,806,651,631,651.106826216,0.429558205862,-0.0155568947823,0.0599384869858,0.999999993093,-7.24372260623e-05,-7.6099338239e-05,-5.26809554291e-05,1793242975117635072
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.519586944,744.480413056,714,680,660.480413056,635,879.519586944,787,806,651,631,651.480413056,0.430409543374,-0.0155558577644,0.0599233288799,0.999999990393,-7.93975858395e-05,-9.92309895668e-05,-5.53540595473e-05,1793242975134301952
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.069168421,661,635,879.069168421,787,806,651.069168421,631,651.930831579,0.431273591148,-0.0155557967961,0.0599189630282,0.999999989104,-8.86385060055e-05,-0.000103107288066,-5.74771482482e-05,1793242975150968576
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680.198071367,661,635,880,787,806,651.198071367,631,651.801928633,0.433969134643,-0.0155642052026,0.0600045997191,0.999999993393,-9.56677969242e-05,3.67689909983e-05,-5.20546685224e-05,1793242975200968448
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787.551756289,806,651,631,652,0.436406369092,-0.0155632954714,0.0599367665404,0.999999990045,-9.98660200926e-05,-7.96011452674e-05,-6.00034860026e-05,1793242975250969344
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765.767164518,745,714,680.232835482,661,635,880.232835482,787.232835482,806.767164518,651,631.767164518,652,0.443116462955,-0.015569332832,0.0599529331708,0.999999988582,-0.000123095146053,-6.23501850144e-05,-6.16078336528e-05,1793242975400968704
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.658790319,745,714,680.341209681,661,635,880,787,806.658790319,651.341209681,631.658790319,652,0.443760010291,-0.0155689695917,0.0599472865211,0.99999998801,-0.000123775047365,-6.955111605e-05,-6.18188496237e-05,1793242975417635584
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680.672206796,661,634.672206796,879.672206796,787.672206796,806.672206796,651,631,652,0.446131006136,-0.0155685987863,0.0599475697801,0.999999985994,-0.000123316786355,-9.37732598491e-05,-6.33296091575e-05,1793242975484301824
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714.439768312,682,660,633.439768312,880,785,807,651,630.560231688,652,0.453116933385,-0.0155996513272,0.0598208363322,0.99999994589,-0.000173236203503,-0.000271815323985,-6.57630074165e-05,1793242976084301824
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714.147112828,682,660,633.147112828,880.147112828,785,806.852887172,651.147112828,630.852887172,652,0.453118239772,-0.015598720974,0.0598204148485,0.999999945985,-0.000170914738937,-0.000272990108982,-6.55303659519e-05,1793242976100968704
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,714.719734329,682,660,633.719734329,880.719734329,785,806.280265671,651.719734329,630.280265671,652,0.45311982859,-0.0155985994314,0.0598204265711,0.999999945941,-0.000171576750787,-0.00027278715739,-6.53160170039e-05,1793242976117635328
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.705574979,745,714.705574979,682,660,634,880.705574979,784.705574979,806,651.705574979,630.294425021,652,0.453120359007,-0.0155976768185,0.0598196869749,0.999999945769,-0.000170746828577,-0.000273907299452,-6.54361798344e-05,1793242976134301952
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.128900597,745,714.128900597,682,660,634,880.128900597,784.128900597,806,651.128900597,630.871099403,652,0.453119874794,-0.015595986263,0.05981822713,0.999999945467,-0.000168486669866,-0.000276295819891,-6.58770210084e-05,1793242976150968576
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.458689369,745,714.458689369,681.541310631,660,633.541310631,880,784,806.458689369,651.458689369,630.541310631,652,0.453121186581,-0.0155955971105,0.0598182470773,0.999999945609,-0.00016794534248,-0.000276154561657,-6.56845416791e-05,1793242976167635200
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714.95138813,681,660,633.04861187,880,784.04861187,806.95138813,651.95138813,630,651.95138813,0.453122691799,-0.0155955307885,0.0598185579898,0.9999999458,-0.000167963986103,-0.000275528369138,-6.53630289414e-05,1793242976184302080
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714.370334153,681,660,633.629665847,880,784.629665847,806.370334153,651.370334153,630,651.370334153,0.453120652848,-0.0155948970592,0.0598173900135,0.999999945096,-0.000168696444904,-0.000277567163204,-6.56250932399e-05,1793242976200968192
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.791440357,745,714,681,660.208559643,633.791440357,880,784.791440357,806.208559643,651,630,651.208559643,0.453119370802,-0.0155947355016,0.0598166060736,0.999999944606,-0.00016906679989,-0.00027912551045,-6.55207363226e-05,1793242976217634816
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.216343056,745,714,681,660.783656944,633.216343056,880,784.216343056,806.783656944,651,630,651.783656944,0.453119418996,-0.0155954037727,0.0598164970668,0.9999999445,-0.000168800767646,-0.000279839485914,-6.47724044928e-05,1793242976234301696
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.643077,633.356923,880,784.356923,807,651,630,652,0.453118634714,-0.0155944716364,0.0598151911608,0.999999944408,-0.000166533517832,-0.000281480935597,-6.49601838201e-05,1793242976250968320
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.070915279,633.929084721,880,784.929084721,807,651,630,652,0.453117348415,-0.015592574391,0.0598131634771,0.999999944309,-0.000163059454477,-0.000283681688983,-6.57124753199e-05,1793242976267635200
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.52013196,785,806.47986804,651,630,652,0.453117498825,-0.0155925793878,0.0598130823209,0.999999943891,-0.000165071324682,-0.000284007592499,-6.5640534112e-05,1793242976284301824
+245,4.083333333,HOLD_POSE2,765,745,715,681,660,634,880,784,806,651,630,652,0.453119441615,-0.0155946718303,0.0598140012965,0.999999943429,-0.000170761944309,-0.000282362762047,-6.52248115556e-05,1793242976327650816
+246,4.100000000,HOLD_POSE2,765,745,714.392113423,681.607886577,660.607886577,634,880,784.607886577,806.607886577,651,630,652,0.453119634549,-0.0155927898216,0.0598133593761,0.999999943589,-0.000168698858191,-0.000282945731642,-6.56013967421e-05,1793242976344317440
+247,4.116666667,HOLD_POSE2,765.205416933,745,714,681.794583067,660.794583067,633.794583067,880,784.794583067,807,651,630,652,0.453119331778,-0.0155915474198,0.0598128173014,0.999999943559,-0.000167148959332,-0.000283937128562,-6.57523777194e-05,1793242976360984064
+248,4.133333333,HOLD_POSE2,765.78412756,745,714,681.21587244,660.21587244,633.21587244,880,784.21587244,807,651,630,652,0.453118128186,-0.0155914673425,0.0598124566709,0.999999943185,-0.000166531649109,-0.000285670739691,-6.54933797595e-05,1793242976377650688
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+250,4.166666667,HOLD_POSE2,766,745,714,681,660,633.943551362,880,784,806.056448638,651,630.943551362,652,0.45312037073,-0.0155932303079,0.0598126497447,0.999999943557,-0.000167107332809,-0.000284072584277,-6.5298919066e-05,1793242976410983936
+251,4.183333333,HOLD_POSE2,765.480959102,745,714,681.519040898,660,634,880,784.519040898,806,651,630.480959102,652,0.453119841215,-0.0155936305022,0.059812231419,0.999999943182,-0.000167825010994,-0.000285046880449,-6.49516354154e-05,1793242976427650816
+252,4.200000000,HOLD_POSE2,765.093923887,745,714,682,660,633.906076113,879.906076113,785,806,651,630,652,0.453119247465,-0.0155936915726,0.0598119434374,0.999999942857,-0.000168220330576,-0.000286011499681,-6.46930008752e-05,1793242976444317440
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+257,4.283333333,HOLD_POSE2,765,745,714,681,660,633,880,784.99810929,806.00189071,651,630.99810929,652,0.453118472562,-0.0155926800898,0.0598107477043,0.999999942727,-0.000165962119969,-0.000287814081205,-6.4549231912e-05,1793242976527650304
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+262,4.366666667,HOLD_POSE2,765.910427129,745,714.910427129,681.089572871,660,633,880,784.910427129,806.910427129,651,630.089572871,652,0.453118181976,-0.0155934945371,0.0598101627882,0.999999941881,-0.000170049043859,-0.000288382592129,-6.44686800866e-05,1793242976610983936
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,879,784,806,651,631,652,0.4531166189,-0.0155927996691,0.0598085418999,0.99999994115,-0.000168583182246,-0.000291580691846,-6.52715506046e-05,1793242976642552576
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,633.744352775,880,784,806.744352775,651,630.255647225,652,0.453118354617,-0.0155913712677,0.0598096721512,0.999999942121,-0.000165242586363,-0.000290278229726,-6.47385423132e-05,1793242976692552448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,784,806.671190409,651,630,652,0.453117709626,-0.0155920646876,0.0598091208713,0.999999941888,-0.000165385743425,-0.000291042703444,-6.45370926321e-05,1793242976709219072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,784,806.091958602,651,630,652,0.453117136467,-0.0155930014228,0.059809200313,0.999999941786,-0.000165666763309,-0.000291327341474,-6.41198881803e-05,1793242976725885696
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.630793172,880,784.630793172,806,651,630,652,0.453112476689,-0.0155898293211,0.0598074907896,0.999999941099,-0.000164866391353,-0.000293956499669,-6.48889500073e-05,1793242976775885824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.786856672,880,784.786856672,806,651,630,652,0.453100928332,-0.015589122776,0.0598019558536,0.999999938654,-0.00016391472097,-0.000302573262199,-6.53722821714e-05,1793242976792552704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.189914444,880,784.189914444,806,651,630,652,0.453076835276,-0.0155894704091,0.0597902308734,0.999999932658,-0.000164552870425,-0.000321298649122,-6.61279591129e-05,1793242976809219072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880,784,806,651,630,652,0.453036964882,-0.0155869030062,0.0597734564588,0.999999923394,-0.000163482875352,-0.00034919742497,-6.74301698742e-05,1793242976825885696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880,784,806,651,630,652,0.45298973296,-0.0155829754808,0.059754326035,0.999999911837,-0.000161615879561,-0.000381376400274,-6.89873870633e-05,1793242976842552320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.543305913,660,633,880,784.543305913,806,651,630,652,0.452929260179,-0.0155795101044,0.0597375563911,0.999999903356,-0.000162323541038,-0.000402446144763,-7.05351821448e-05,1793242976859219200
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744.50379596,714.49620404,680,659.50379596,635,879,787,805,652,631,652,0.407705752026,-0.0153766259123,0.0598514411055,0.999999944163,0.000207441778935,-0.000260460841378,2.83356616592e-05,1793242978092552960
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.072280105,714.927719895,680,659.072280105,635,879,787,805,652,631,652,0.407156335042,-0.0153766704752,0.0598380380829,0.999999939933,0.0002047795584,-0.000278355787429,2.67685270844e-05,1793242978109219328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.659184284,714.340815716,680,659.659184284,635,879,787,805,652,631,652,0.406641208885,-0.015374139709,0.0598248726646,0.999999934735,0.00020839231334,-0.000294120610202,2.44233991153e-05,1793242978125886720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.243182182,680,659.756817818,635,878.756817818,787.243182182,805.243182182,652,631,652,0.406154074995,-0.0153735004405,0.0598205303994,0.999999934026,0.000206882713909,-0.000297666284158,2.32976066703e-05,1793242978142553344
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.82315503,680,659.17684497,635,878.17684497,787.82315503,805.82315503,652,631,652,0.405705708518,-0.0153754807669,0.0598284075982,0.999999939648,0.000198279004195,-0.000284289272534,2.38605106193e-05,1793242978159219200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.597584033,714.597584033,680,659,635,878.402415967,787.597584033,805.597584033,652,631,652,0.405273849002,-0.0153751207336,0.0598293687627,0.999999940747,0.000197315946399,-0.000281026648183,2.44300074759e-05,1793242978175885824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.01863535,714.01863535,680,659,635,878.98136465,787.01863535,805.01863535,652,631,652,0.404849230758,-0.0153737340265,0.0598272959869,0.999999939928,0.000199704705762,-0.000282201024221,2.50023965738e-05,1793242978192552704
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.867553393,714,679,659.867553393,635,878.867553393,787,805,652,631.132446607,651.132446607,0.404061039809,-0.0153706041108,0.0597878006472,0.999999909959,0.00024366006811,-0.00034672244987,2.22335732564e-05,1793242978225885952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.278029457,714,679,659.278029457,635,878.278029457,787,805,652,631.721970543,651.721970543,0.403705295103,-0.0153683134673,0.0597703901238,0.999999901556,0.00023515001915,-0.000375694020621,2.11164115684e-05,1793242978242552320
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.461524482,744,714,680,659.538475518,635,879,787,805,652,631.538475518,652,0.402897161942,-0.0153705297469,0.0598041307418,0.999999925255,0.000230509925866,-0.000309450721816,2.43924301073e-05,1793242978292552704
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.611127145,714.611127145,679.388872855,659,635,879,787,805,652,631,652,0.40247034108,-0.0153708240245,0.0598350744319,0.999999946858,0.000194878935885,-0.000260743336076,1.78908758727e-05,1793242978325886464
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714.215765029,679.784234971,659,635,879,787,805,652,631,652,0.402076452689,-0.0153694431575,0.0598384111011,0.999999950404,0.000175653427418,-0.000261028973658,1.42382890191e-05,1793242978359219456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.633104082,659,635,878.633104082,787,805,652,631,652,0.401900202491,-0.0153686765146,0.0598327615062,0.999999946083,0.000179140637036,-0.000274817452458,1.47901567559e-05,1793242978375885824
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.056182114,659,635,878.056182114,787,805,652,631,652,0.401734642296,-0.0153683521486,0.0598260842022,0.999999941039,0.000182621999007,-0.000290416320165,1.51651133562e-05,1793242978392552704
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.10002933,659,635,879,787,805,652,631,652,0.401492890064,-0.0153776981517,0.0598277204293,0.999999935453,0.000210003648451,-0.00029104101153,1.69615960577e-05,1793242978425885952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.687155782,659,635,879,787,805,652,631,652,0.401403618215,-0.0153790549314,0.0598298757878,0.999999934728,0.00021861184339,-0.00028713174539,1.75799189856e-05,1793242978442552576
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.003660463,745,714,679.996339537,659,635,879,787,805,652,631,652,0.401134232231,-0.0153769431952,0.0598349147981,0.999999938083,0.000214252675774,-0.000278501571306,1.91718839669e-05,1793242978509219072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.579248414,745,714,679.420751586,659,635,879,787,805,652,631,652,0.401096671782,-0.0153746498307,0.0598364561918,0.999999937755,0.000217987228225,-0.000276781508343,1.90446433464e-05,1793242978525885696
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.252165308,744.252165308,714,679,659,635,878.252165308,787,804.252165308,652,631,652,0.401031849661,-0.0153734592606,0.0598338244372,0.999999936231,0.000218630558673,-0.000281755773414,1.87485763302e-05,1793242978559218944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.331799559,714,679,659,635,878.663599119,787,804.331799559,652,631,652,0.401010565773,-0.0153747631156,0.0598322338032,0.999999936035,0.000217202508721,-0.000283551920498,1.87552546481e-05,1793242978575885568
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.911768372,714,679,659,635,879.823536744,787,804.911768372,652,631,652,0.400995385845,-0.0153767558192,0.0598316687104,0.999999936458,0.000215936191274,-0.000283018590098,1.8886608095e-05,1793242978592552192
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.486492001,745,714,679,659,635,879.513507999,787,805,652,631,652,0.400986174492,-0.0153759222841,0.0598321375939,0.999999936488,0.000216461987592,-0.000282524045109,1.86851801996e-05,1793242978609219072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.939295026,714,679,659,635,879.060704974,787,805,652,631,652,0.400978614156,-0.0153747902753,0.0598329120307,0.999999936598,0.000217002077457,-0.000281732269707,1.84618575689e-05,1793242978625885952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.361414269,714,679,659,635,879.638585731,787,805,652,631,652,0.400975995848,-0.0153754357219,0.0598347090515,0.999999937992,0.000214924445293,-0.000278348951788,1.85607054647e-05,1793242978642552576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744.219180037,714,679.219180037,659,635,879.780819963,787,805,652,631,652,0.400973741154,-0.0153754337438,0.059835619065,0.99999993841,0.000215438784842,-0.000276437369381,1.8678414517e-05,1793242978659219200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.804304874,714,679.804304874,659,635,879.195695126,787,805,652,631,652,0.400972093553,-0.0153743508198,0.0598350481237,0.999999937201,0.000220280701887,-0.000276983008943,1.88276143064e-05,1793242978675885824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.61098013,714,680,659,635,879,787,805,652,631,652,0.400972560605,-0.0153759725882,0.0598365046587,0.999999938333,0.000218191670169,-0.000274537591287,1.88574180236e-05,1793242978692552448
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.026471104,714,680,659,635,879,787,805,652,631,652,0.400974090306,-0.015378953511,0.0598389800353,0.99999994061,0.000212619717667,-0.000270589116052,1.88272231618e-05,1793242978709219072
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.454144767,744,714,679.454144767,659,635,879,787,805,652,631,651.454144767,0.400972798261,-0.0153767202781,0.0598388953341,0.9999999396,0.000216514899551,-0.000271246875369,1.85880557603e-05,1793242978725885440
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.121586384,744,714,679.121586384,659,635,879,787,805,652,631,651.121586384,0.400971512366,-0.0153750194092,0.0598387375925,0.99999993875,0.000219518264602,-0.000271979056228,1.84335352775e-05,1793242978742552064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.712697249,744,714,679.712697249,659,635,879,787,805,652,631,651.712697249,0.400970767115,-0.0153763294827,0.0598387667533,0.999999939173,0.000217343537035,-0.000272154850092,1.86441718314e-05,1793242978759218944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.702060573,744.297939427,714,680,659,635,879,787,804.702060573,652,631.297939427,652,0.400970235377,-0.0153775217328,0.0598388676765,0.999999939723,0.000214790576148,-0.000272156060828,1.86966885062e-05,1793242978775885568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.122368181,744.877631819,714,680,659,635,879,787,804.122368181,652,631.877631819,652,0.400969905553,-0.0153786025608,0.0598390364637,0.999999940391,0.000211879930354,-0.000271992173211,1.85996756673e-05,1793242978792552448
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.452607509,745,714.452607509,679.547392491,659,635,879,787.452607509,804.905215019,652,631.547392491,652,0.400970785964,-0.0153791523034,0.0598399173623,0.999999940677,0.000212173472077,-0.000270689653945,1.88720991076e-05,1793242978809219072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.973486026,744.973486026,714.973486026,679,659,635.026513974,879,787.973486026,805.973486026,652,631,652,0.400971896878,-0.0153795197685,0.0598409027436,0.999999940843,0.000213298545175,-0.000269163860296,1.92036788158e-05,1793242978825885696
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.395568319,744.395568319,714.395568319,679,659,635.604431681,879,787.395568319,805.395568319,652,631,652,0.400971066943,-0.0153790517733,0.0598400983623,0.999999940682,0.00021388650952,-0.000269330795409,1.87097255457e-05,1793242978842552320
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.1862361,744,714,679,659,635.8137639,879,787,805,652,631,652,0.400970229541,-0.015378528468,0.0598395556067,0.999999940453,0.000214693455348,-0.000269565826995,1.83205022657e-05,1793242978859218944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.776471881,744,714,679,659,635.223528119,879,787,805,652,631,652,0.400969375944,-0.0153778851792,0.0598395803923,0.999999940076,0.000215975434976,-0.000269948579412,1.81584684946e-05,1793242978875885824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.641554114,744,714,679,659,635,879,787,805,652,631,651.641554114,0.400969628636,-0.0153784690526,0.0598398875844,0.99999994014,0.000215838472616,-0.000269812254464,1.82839266953e-05,1793242978892552448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.06461613,744,714,679,659,635,879,787,805,652,631,651.06461613,0.400970555672,-0.0153798009476,0.0598403669184,0.999999940473,0.000214836588539,-0.000269359523852,1.85846267638e-05,1793242978909219072
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,878.487218742,787,805,651.487218742,631,651.512781258,0.400971059036,-0.0153801045686,0.0598409766086,0.999999941038,0.000213659770878,-0.000268194954461,1.85566884394e-05,1793242978925885696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.091803119,659.091803119,635,878.091803119,787,805,651.091803119,631,652,0.40097143034,-0.0153802476751,0.0598415560466,0.999999941532,0.000212727255973,-0.000267096636678,1.8510466886e-05,1793242978942552576
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.679283009,659.679283009,635,878.679283009,787,805,651.679283009,631,652,0.400971377124,-0.0153802243498,0.0598418833711,0.999999941491,0.000213232944132,-0.000266840788059,1.85893265488e-05,1793242978959219200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.263070535,714,679.736929465,659.736929465,635,879,787,805,652,631,652,0.400971286202,-0.0153805328732,0.0598419144795,0.999999941544,0.000212803302634,-0.00026698663304,1.85497458919e-05,1793242978975885568
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.842418977,714,679.157581023,659.157581023,635,879,787,805,652,631,652,0.400971149947,-0.0153812403635,0.0598415894609,0.999999941709,0.000211249156298,-0.000267615416187,1.83677697607e-05,1793242978992552192
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5acce00056c576d5ffbbcde226ade488b937e21
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_02/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,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+1,0.016666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+2,0.033333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+363,6.050000000,pose2_to_pose3_retreat,0.582147357184,-0.00999826983335,1.05004066862,0.552719078545,-0.00132343562766,1.04967846376
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+365,6.083333333,pose2_to_pose3_retreat,0.581808256936,-0.00999828239264,1.05004086778,0.552379978096,-0.00132344908181,1.049678658
+366,6.100000000,pose2_to_pose3_retreat,0.581653761259,-0.00999818398149,1.05004085332,0.552225480961,-0.00132335557682,1.04967864468
+367,6.116666667,pose2_to_pose3_retreat,0.581511734352,-0.00999807460617,1.05004070205,0.5520834538,-0.00132324696876,1.04967849572
+368,6.133333333,pose2_to_pose3_retreat,0.581383633194,-0.00999810722078,1.05004067683,0.551955352936,-0.00132327873412,1.0496784669
+369,6.150000000,pose2_to_pose3_retreat,0.581273150478,-0.00999812977792,1.05004077689,0.551844868461,-0.00132330721125,1.04967856817
+370,6.166666667,pose2_to_pose3_retreat,0.581178076512,-0.00999814807902,1.05004086465,0.551749793913,-0.00132332723937,1.04967866205
+371,6.183333333,pose2_to_pose3_retreat,0.581097792805,-0.00999835687893,1.05004097703,0.551669515799,-0.00132351734686,1.04967876815
+372,6.200000000,pose2_to_pose3_retreat,0.581028867818,-0.00999820946061,1.05004098191,0.551600587791,-0.00132338025771,1.04967877102
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+374,6.233333333,pose2_to_pose3_retreat,0.58092065133,-0.00999807171448,1.05004089341,0.551492369284,-0.00132324921245,1.04967868593
+375,6.250000000,pose2_to_pose3_retreat,0.580878855948,-0.0099981210509,1.05004097243,0.551450574504,-0.00132329658257,1.04967876307
+376,6.266666667,pose2_to_pose3_retreat,0.580844763138,-0.00999816033,1.05004098755,0.551416482269,-0.00132333384998,1.04967877964
+377,6.283333333,pose2_to_pose3_retreat,0.58081677236,-0.00999818207614,1.05004074136,0.5513884913,-0.00132335617788,1.04967853505
+378,6.300000000,pose2_to_pose3_retreat,0.58079486046,-0.00999828507329,1.05004084076,0.55136658248,-0.00132344872573,1.04967863442
+379,6.316666667,pose2_to_pose3_retreat,0.580777731838,-0.00999822607942,1.05004073603,0.551349450889,-0.00132339988525,1.04967852778
+380,6.333333333,pose2_to_pose3_retreat,0.5807651194,-0.00999817893397,1.05004100557,0.55133683873,-0.00132335175372,1.04967879828
+381,6.350000000,pose2_to_pose3_retreat,0.580756795499,-0.00999828465862,1.05004107289,0.551328516347,-0.00132345221302,1.04967886836
+382,6.366666667,pose2_to_pose3_retreat,0.580751438968,-0.00999828536076,1.05004088914,0.551323159549,-0.00132345381611,1.04967868485
+383,6.383333333,pose2_to_pose3_retreat,0.580748123401,-0.00999817354662,1.05004060533,0.551319842263,-0.00132334791562,1.04967839908
+384,6.400000000,pose2_to_pose3_retreat,0.580746437972,-0.0099981067066,1.05004053405,0.551318157784,-0.00132327784939,1.04967832792
+385,6.416666667,pose2_to_pose3_retreat,0.580745878238,-0.00999808449394,1.05004051049,0.551317598368,-0.00132325455596,1.0496783044
+386,6.433333333,pose2_to_pose3_retreat,0.580745482602,-0.0099980687934,1.05004049384,0.551317202958,-0.0013232380915,1.04967828777
+387,6.450000000,pose2_to_pose3_retreat,0.580745219866,-0.00999808708934,1.05004052245,0.551316940483,-0.00132325553352,1.04967831552
+388,6.466666667,pose2_to_pose3_retreat,0.580745071551,-0.00999811604354,1.05004056432,0.55131679239,-0.00132328378089,1.04967835634
+389,6.483333333,pose2_to_pose3_retreat,0.580744811559,-0.00999816679985,1.05004063773,0.551316532785,-0.00132333329816,1.04967842789
+390,6.500000000,pose2_to_pose3_retreat,0.580744343645,-0.00999825814686,1.05004076985,0.55131606557,-0.00132342241524,1.04967855666
+391,6.516666667,pose2_to_pose3_retreat,0.580744118642,-0.00999830207235,1.05004083338,0.551315840903,-0.00132346526844,1.04967861858
+392,6.533333333,pose2_to_pose3_retreat,0.580744075649,-0.00999831046568,1.05004084551,0.551315797973,-0.00132347345688,1.04967863042
+393,6.550000000,pose2_to_pose3_retreat,0.580744042124,-0.00999831701048,1.05004085498,0.551315764498,-0.00132347984191,1.04967863964
+394,6.566666667,pose2_to_pose3_retreat,0.580744041471,-0.00999831713787,1.05004085516,0.551315763846,-0.00132347996619,1.04967863982
+395,6.583333333,pose2_to_pose3_retreat,0.58074398627,-0.00999832565784,1.05004086807,0.551315708712,-0.00132348827475,1.04967865234
+396,6.600000000,pose2_to_pose3_retreat,0.580743888744,-0.00999832678443,1.05004087437,0.551315611211,-0.00132348934665,1.04967865796
+397,6.616666667,pose2_to_pose3_retreat,0.580743775723,-0.00999832809002,1.05004088167,0.551315498218,-0.00132349058887,1.04967866448
+398,6.633333333,pose2_to_pose3_retreat,0.580743775056,-0.00999832809772,1.05004088171,0.551315497552,-0.00132349059619,1.04967866452
+399,6.650000000,pose2_to_pose3_retreat,0.580743673867,-0.00999832926663,1.05004088825,0.551315396388,-0.00132349170836,1.04967867035
+400,6.666666667,pose2_to_pose3_retreat,0.580743519807,-0.00999832453745,1.05004090634,0.551315242208,-0.00132348739846,1.04967868812
+401,6.683333333,pose2_to_pose3_retreat,0.580743498647,-0.00999827185298,1.05004097397,0.551315219767,-0.00132343881416,1.04967876163
+402,6.700000000,pose2_to_pose3_retreat,0.580743470165,-0.009998250148,1.05004092178,0.5513151906,-0.00132341924328,1.04967871405
+403,6.716666667,pose2_to_pose3_retreat,0.580743461592,-0.00999824625927,1.05004089837,0.551315181876,-0.00132341581504,1.04967869185
+404,6.733333333,pose2_to_pose3_retreat,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524144,1.04967862338
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37df8aff6011de33ddaed4127e13687663a4fd24
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6426d1635f18d11d2f3719346670891433b05e5f928cbaa75c1d0074fcea1ce7
+size 25792459
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..403a00576d5111e27b24016f97f19ea72999ff0c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+36,0.600000000,BASELINE,765.935135298,744.064864702,714.064864702,679.935135298,659.064864702,635,878.935135298,787,805,652,631,652,0.400972431962,-0.0153829348757,0.0598449611529,0.999999944181,0.000206967558697,-0.000261698047929,1.78182132487e-05,1793242979741975296
+37,0.616666667,BASELINE,766,744,714,679.488913645,659,635,878.488913645,787,805,652,631.511086355,652,0.400971585045,-0.0153815743472,0.0598442823958,0.999999943411,0.000209436231552,-0.000262669812472,1.786708022e-05,1793242979758641664
+38,0.633333333,BASELINE,766,744,714,679,659,635,878,787,805.088677733,652,631.911322267,652,0.400970801931,-0.0153804407203,0.0598437142999,0.999999942674,0.000211830105329,-0.000263544380319,1.79938762905e-05,1793242979775308544
+39,0.650000000,BASELINE,766,744,714,679,659,635,878,787,805.676889337,652,631.323110663,652,0.400971106067,-0.0153819079997,0.0598443390342,0.999999942987,0.000211069561603,-0.000262935806308,1.84407737897e-05,1793242979791975424
+40,0.666666667,BASELINE,766,744,714,679,659,635,878.261288739,787,805.738711261,652,631,652,0.400971679812,-0.0153823899466,0.0598449705629,0.999999943278,0.000210783828305,-0.000262047787406,1.85680404272e-05,1793242979808642048
+41,0.683333333,BASELINE,766,744,714,679,659,635,878.841041712,787,805.158958288,652,631,652,0.400972582163,-0.0153816709494,0.059845610373,0.999999943542,0.000211076804032,-0.000260819175202,1.83057341912e-05,1793242979825308672
+42,0.700000000,BASELINE,765.582332786,744,714,679,659,635,879,787.417667214,804.582332786,652,631.417667214,652,0.40097244128,-0.0153817059318,0.059845156797,0.999999943402,0.00021098183436,-0.000261454957059,1.79988978995e-05,1793242979841975040
+43,0.716666667,BASELINE,765.006888721,744,714,679,659,635,879,787.993111279,804.006888721,652,631.993111279,652,0.400971906307,-0.0153820257356,0.0598442901865,0.999999943107,0.000210740315465,-0.000262795027457,1.76752400589e-05,1793242979858641664
+44,0.733333333,BASELINE,765.565611266,744,714,679.565611266,658.434388734,635,879,787.434388734,804.565611266,652,631.434388734,652,0.400973959864,-0.0153819225666,0.0598460547776,0.999999943958,0.000209868752058,-0.00026021837754,1.80655307598e-05,1793242979875309056
+45,0.750000000,BASELINE,765.856643417,744,714,679.856643417,658.143356583,635,878.856643417,787,805,652,631,652,0.400974802379,-0.0153817006338,0.059846626862,0.999999944293,0.000209418844807,-0.000259282892667,1.81891751641e-05,1793242979891976192
+46,0.766666667,BASELINE,765.26228407,744,714,679.26228407,658.73771593,635,878.26228407,787,805,652,631,652,0.40097173626,-0.0153811211904,0.0598433470001,0.999999942972,0.000210319492569,-0.000263659843974,1.74467306255e-05,1793242979908642560
+47,0.783333333,BASELINE,765.323533483,744,714,679.323533483,659,635.323533483,878.323533483,787,805,652,631,652,0.400969396786,-0.015380906977,0.0598416414304,0.999999942041,0.000211291678635,-0.000266413963911,1.72458578781e-05,1793242979925309184
+48,0.800000000,BASELINE,765.902604506,744,714,679.902604506,659,635.902604506,878.902604506,787,805,652,631,652,0.40096763124,-0.0153809812344,0.0598411792889,0.999999941426,0.00021232036814,-0.000267886317957,1.74727365225e-05,1793242979941975808
+49,0.816666667,BASELINE,765.522783737,744,714,679.522783737,659,635.522783737,879,787,805,652,631,652,0.400969404262,-0.0153819323657,0.0598430168964,0.999999942597,0.000210517276002,-0.000264903054387,1.7724085185e-05,1793242979958642688
+50,0.833333333,BASELINE,765.052286877,744,714,679,659,635,878.947713123,787,805,652,631,652,0.400971725396,-0.015383027125,0.0598451015447,0.999999944009,0.000208240384612,-0.000261332467088,1.79558129332e-05,1793242979975309568
+51,0.850000000,BASELINE,765.641324355,744,714,679,659,635,878.358675645,787,805,652,631,652,0.400972328179,-0.0153837761727,0.0598449486052,0.999999944364,0.000206977631287,-0.000260981224758,1.79353301262e-05,1793242979991975680
+52,0.866666667,BASELINE,766,744.226757001,714,679,659,635,878,787.226757001,804.773242999,652,631,652,0.40097214394,-0.015383794543,0.0598448223454,0.99999994436,0.000206588471383,-0.000261310284753,1.78219226684e-05,1793242980008642048
+53,0.883333333,BASELINE,766,744.806576855,714,679,659,635,878,787.806576855,804.193423145,652,631,652,0.400970734303,-0.0153826752414,0.059844737626,0.9999999438,0.000207559504994,-0.000262698582097,1.75638306282e-05,1793242980025308416
+54,0.900000000,BASELINE,765.615224758,744.615224758,714,679.384775242,659,635,878,787.615224758,804.769550483,652,631,652,0.400971116859,-0.0153829146106,0.059844918931,0.999999943863,0.000207434227516,-0.000262551350304,1.76812400072e-05,1793242980041975040
+55,0.916666667,BASELINE,765.037838066,744.037838066,714,679.962161934,659,635,878,787.037838066,805.924323868,652,631,652,0.400972396554,-0.0153838341054,0.0598452334028,0.999999944237,0.000206760156721,-0.000261635460659,1.79866185384e-05,1793242980058641920
+56,0.933333333,BASELINE,765.535126879,744,714,680,659.535126879,635,878,787,804.929746242,652,631,652,0.400971949064,-0.0153827835368,0.0598449684671,0.999999943761,0.000208624266082,-0.000261965794021,1.81103127061e-05,1793242980075308800
+57,0.950000000,BASELINE,765.88863325,744,714,679.88863325,659.88863325,635,878,787,804,652,631,652,0.400971412095,-0.0153820202043,0.059844640402,0.999999943411,0.000209695923108,-0.000262442413453,1.81545087289e-05,1793242980091975936
+58,0.966666667,BASELINE,765.296931007,744,714,679.296931007,659.296931007,635,878,787,804,652,631,652,0.40097101162,-0.0153830916411,0.0598442153092,0.999999943872,0.000206581924034,-0.000263173029088,1.79107763074e-05,1793242980108642816
+59,0.983333333,BASELINE,765.288558298,744.288558298,714.288558298,679,659,635,878.288558298,787,804.288558298,652,631,652,0.400971483136,-0.0153833909583,0.0598445162955,0.99999994409,0.000206251767,-0.000262608128264,1.77842756486e-05,1793242980125309696
+60,1.000000000,BASELINE,765.867789214,744.867789214,714.867789214,679,659,635,878.867789214,787,804.867789214,652,631,652,0.400972833032,-0.0153829124985,0.0598455486808,0.999999944067,0.000208725849359,-0.000260738218582,1.77758657021e-05,1793242980141976320
+61,1.016666667,BASELINE,766,745,714.557392396,679,659,635,878.557392396,787,805,652,631,652,0.40097194278,-0.0153825330009,0.0598446332943,0.999999943601,0.000209305098561,-0.000262062885697,1.76670527525e-05,1793242980158642432
+62,1.033333333,BASELINE,766,744.983427919,714.016572081,679,659,635,878,787.016572081,805,652,631,652,0.400970417427,-0.0153822179035,0.0598432034456,0.999999943022,0.000209319410754,-0.000264261375432,1.75390403272e-05,1793242980175308544
+63,1.050000000,BASELINE,766,744.393863819,714.606136181,679,659,635,878,787.606136181,805,652,631,652,0.400969840991,-0.0153831174939,0.0598439038526,0.999999943115,0.000209177417213,-0.000264004777177,1.7773925687e-05,1793242980191975168
+64,1.066666667,BASELINE,765.80758269,744,714.80758269,679,659,635,878.19241731,787.80758269,805,652,631,652,0.400970105068,-0.0153837301153,0.0598444257314,0.999999943399,0.000208908198022,-0.00026313037492,1.79256703229e-05,1793242980208641792
+65,1.083333333,BASELINE,765.227908861,744,714.227908861,679,659,635,878.772091139,787.227908861,805,652,631,652,0.40097206075,-0.0153837651869,0.059844588307,0.999999944064,0.000208382926189,-0.000261012588552,1.79100870287e-05,1793242980225308672
+66,1.100000000,BASELINE,765,744.350153242,714,679.350153242,659,635,878.649846758,787,805,652,631,652,0.400972930869,-0.0153838255488,0.059845162209,0.999999944316,0.000208217623768,-0.000260174408161,1.79715869769e-05,1793242980241975552
+67,1.116666667,BASELINE,765,744.927171083,714,679.927171083,659,635,878.072828917,787,805,652,631,652,0.400973097651,-0.0153839022963,0.0598460026098,0.999999944302,0.000208285545872,-0.000260165285714,1.80830292278e-05,1793242980258642176
+68,1.133333333,BASELINE,765.503777449,744.496222551,714,680,659,635,878.503777449,787,804.496222551,652,631,652,0.400971593524,-0.0153836740274,0.0598454222151,0.999999943823,0.000208624197416,-0.000261737925456,1.79976357858e-05,1793242980275308800
+69,1.150000000,BASELINE,765.917985517,744,714,679.917985517,659,635,878.917985517,787,804.082014483,652,631,652,0.40097054187,-0.0153835192248,0.0598449545739,0.999999943528,0.000208719072447,-0.000262789480919,1.79596790224e-05,1793242980291975424
+70,1.166666667,BASELINE,765.329307719,744,714,679.329307719,659,635,878.329307719,787,804.670692281,652,631,652,0.400973776521,-0.0153840904608,0.0598464513527,0.999999944798,0.00020706637413,-0.00025921041851,1.83904213294e-05,1793242980308642304
+71,1.183333333,BASELINE,765.255499153,744.255499153,714.255499153,679,659,635,878.255499153,787.255499153,805,652,631,652,0.400974725112,-0.0153841286461,0.0598467561408,0.999999944993,0.000207319816413,-0.000258245096113,1.84990777261e-05,1793242980325308928
+72,1.200000000,BASELINE,765.835391406,744.835391406,714.835391406,679,659,635,878.835391406,787.835391406,805,652,631,652,0.400972771219,-0.0153834900466,0.0598455475245,0.99999994383,0.000209993379446,-0.000260598293915,1.81987995701e-05,1793242980341975552
+73,1.216666667,BASELINE,766,745,714.588970142,679,659,635,879,788,805,652,631,652,0.400972171904,-0.015383202208,0.0598449598754,0.999999943693,0.000209425300873,-0.000261606454647,1.77801478367e-05,1793242980358642432
+74,1.233333333,BASELINE,766,745,714.01501783,679,659,635,879,788,805,652,631,652,0.400972109511,-0.0153830534029,0.059844618363,0.999999943964,0.000207572312549,-0.000262081474551,1.73145756523e-05,1793242980375309056
+75,1.250000000,BASELINE,766,744.441989441,714,679,659,635,878.441989441,787.441989441,805,652,631,652,0.400971583784,-0.0153834064319,0.0598446419041,0.999999943875,0.000207880101046,-0.000262142617245,1.77813308041e-05,1793242980391975680
+76,1.266666667,BASELINE,766,744,714,679,659,635,878,787,805,652,631,652,0.400971169484,-0.0153837902376,0.0598447431683,0.999999943833,0.000208172492826,-0.000262048477482,1.81178102172e-05,1793242980408642560
+77,1.283333333,BASELINE,766,744,714,679,659,635,878,787,805,652,631,652,0.40097117309,-0.0153842323834,0.0598450735494,0.999999943979,0.000208217080304,-0.000261467992196,1.79302811395e-05,1793242980425309184
+78,1.300000000,BASELINE,766,744,714,679,659,635,878.318391196,787.318391196,805,652,631,651.681608804,0.400971621845,-0.0153842417162,0.0598454466131,0.999999944313,0.000207761691835,-0.000260553283305,1.79132670372e-05,1793242980441975552
+79,1.316666667,BASELINE,766,744,714,679,659,635,878.896827284,787.896827284,805,652,631,651.103172716,0.400972434173,-0.0153838975507,0.0598458545376,0.999999944799,0.000206897949763,-0.000259365598485,1.8035520452e-05,1793242980458642176
+80,1.333333333,BASELINE,766,744.471002863,714,679.471002863,659,635,879,787.528997137,805.471002863,652,631,651.471002863,0.400972035117,-0.0153832244299,0.0598456434522,0.99999994432,0.000207779116413,-0.000260523684743,1.77541306545e-05,1793242980475308800
+81,1.350000000,BASELINE,765.95578294,744.95578294,714,679.95578294,659,635,878.95578294,787,805.95578294,652,631,652,0.400971476493,-0.0153825693938,0.0598453698926,0.999999943714,0.000208903604687,-0.000261968277901,1.74378386605e-05,1793242980491975424
+82,1.366666667,BASELINE,765.383005423,744.383005423,714,679.383005423,659,635,878.383005423,787,805.383005423,652,631,652,0.400972153969,-0.0153829841735,0.0598459558538,0.99999994413,0.000208408685091,-0.000260750459125,1.77517834657e-05,1793242980508642304
+83,1.383333333,BASELINE,765,744.197913167,714,679,659,635,878.197913167,787,805,652,631,652,0.400972218917,-0.0153832383364,0.0598461721595,0.999999944247,0.000208270533728,-0.000260397502891,1.79633681303e-05,1793242980525309184
+84,1.400000000,BASELINE,765,744.795262499,714,679,659,635,878.795262499,787,805,652,631,652,0.400971047637,-0.0153831683359,0.0598456424118,0.999999943762,0.000208852426003,-0.000261790046153,1.79683655766e-05,1793242980541975808
+85,1.416666667,BASELINE,765.377421349,745,714,679.377421349,659,635,878.622578651,787,804.622578651,652,631,652,0.400970603343,-0.0153839215167,0.0598449798373,0.99999994397,0.00020752906551,-0.000262047907494,1.79746093488e-05,1793242980558642432
+86,1.433333333,BASELINE,765.9516587,745,714,679.9516587,659,635,878.0483413,787,804.0483413,652,631,652,0.400970538155,-0.0153851039664,0.0598442479969,0.999999944535,0.000205212162274,-0.000261714059887,1.79815030493e-05,1793242980575308800
+87,1.450000000,BASELINE,766,744.473367621,714,679.473367621,659,635,878,787,804,652,631,652,0.400970519097,-0.0153857717597,0.0598443369224,0.999999944686,0.00020444462394,-0.000261736799865,1.79870834906e-05,1793242980591975168
+88,1.466666667,BASELINE,765.895863383,744,714,679,659,635,878.208273235,787,804.104136617,652,631,652,0.400970534127,-0.0153859962093,0.0598445326259,0.999999944624,0.000204595243529,-0.000261860960595,1.79526268497e-05,1793242980608642048
+89,1.483333333,BASELINE,765.306892633,744,714,679,659,635,879.386214734,787,804.693107367,652,631,652,0.400970688118,-0.0153843768159,0.0598448742019,0.999999943734,0.000208357503782,-0.0002623047041,1.77323295642e-05,1793242980625308672
+90,1.500000000,BASELINE,765.278283555,744,714,679.278283555,659.278283555,635,879.721716445,787,805,652,631,652,0.400970926967,-0.0153829938537,0.0598448277799,0.999999943261,0.000210331023119,-0.000262546480884,1.75765245867e-05,1793242980641975296
+91,1.516666667,BASELINE,765.859331334,744,714,679.859331334,659.859331334,635,879.140668666,787,805,652,631,652,0.400971258137,-0.0153818681216,0.0598443592278,0.999999943251,0.000210358445336,-0.000262568523864,1.74908853353e-05,1793242980658642176
+92,1.533333333,BASELINE,766,744.434457982,714,679.565542018,659.565542018,635,879,787,805,652,631,652,0.400970806076,-0.0153817378886,0.0598442451518,0.999999943127,0.000210606373921,-0.000262838052109,1.7501076517e-05,1793242980675308800
+93,1.550000000,BASELINE,765.992105753,745,714,679.007894247,659,635,878.992105753,787,805,652,631,652,0.400970138231,-0.0153819274321,0.0598442593328,0.99999994298,0.000210915123953,-0.000263149455863,1.75433226205e-05,1793242980691975680
+94,1.566666667,BASELINE,765.403898487,745,714,679.596101513,659,635,878.403898487,787,805,652,631,652,0.400971999335,-0.015382248403,0.0598453782247,0.999999943695,0.000210517132485,-0.000260727885736,1.7691730118e-05,1793242980708642048
+95,1.583333333,BASELINE,765.182766771,744.817233229,714,679.817233229,659,635,878,787,804.817233229,652,631,652,0.400972976416,-0.0153828419811,0.0598459274026,0.999999944165,0.000209879933102,-0.000259425538232,1.78485751345e-05,1793242980725308672
+96,1.600000000,BASELINE,765.766052948,744.233947052,714,679.233947052,659,635,878,787,804.233947052,652,631,652,0.400972016231,-0.0153840329569,0.0598452280958,0.999999944106,0.000208718527785,-0.00026057588109,1.80239103569e-05,1793242980741975040
+97,1.616666667,BASELINE,766,744,714,679,659,635,878,787,804,652,631,652,0.400971810746,-0.0153846730177,0.0598451926583,0.999999944164,0.000208297598983,-0.000260686704236,1.80867224642e-05,1793242980758641920
+98,1.633333333,BASELINE,766,744,714,679,659,635,878,787,804,652,631,652,0.400972110672,-0.0153849441393,0.0598456018036,0.999999944301,0.000208372555937,-0.000260101377018,1.80741795687e-05,1793242980775308800
+99,1.650000000,BASELINE,766,744,714.495745095,679.495745095,659,635,878.99149019,787,804.495745095,652,631,652,0.400971145941,-0.0153845402056,0.0598451951225,0.999999944494,0.000206730346008,-0.000260679192163,1.78906481482e-05,1793242980791975424
+100,1.666666667,BASELINE,766,744,714.925609436,680,659,635,879.925609436,787,805,652,631,652,0.400970032159,-0.0153841897758,0.0598446487404,0.999999944587,0.000205257312086,-0.00026149621141,1.77304655101e-05,1793242980808641792
+101,1.683333333,BASELINE,766,744,714.335194946,680,659,635,879.335194946,787,805,652,631,652,0.400969321409,-0.0153849775094,0.0598440602702,0.999999943941,0.000206908910405,-0.000262650906813,1.79265298134e-05,1793242980825308416
+102,1.700000000,BASELINE,766,744.249657232,714,679.750342768,659,635,879,787,805,652,631,652,0.400969142779,-0.0153842246605,0.0598439040882,0.999999943382,0.000208757919008,-0.000263317850144,1.78909358289e-05,1793242980841975296
+103,1.716666667,BASELINE,766,744.827204049,714,679.172795951,659,635,879,787,805,652,631,652,0.400969663015,-0.0153814484735,0.0598443156555,0.999999942939,0.000210866198067,-0.000263344199787,1.75510913196e-05,1793242980858641920
+104,1.733333333,BASELINE,765.597978454,745,714,679.402021546,659.402021546,635,879,787,805,652,631,652,0.400971162386,-0.0153821399649,0.0598449660456,0.999999943599,0.0002098833602,-0.000261598081388,1.7802988746e-05,1793242980875308544
+105,1.750000000,BASELINE,765.024326106,745,714,679.975673894,659.975673894,635,879,787,805,652,631,652,0.400973079769,-0.0153843118752,0.0598457183938,0.999999944722,0.000207580864696,-0.000259095261979,1.83075122612e-05,1793242980891975168
+106,1.766666667,BASELINE,765.547853312,744.452146688,714,679.452146688,659.452146688,635,879,787.547853312,805,652,631,651.452146688,0.400972018301,-0.0153841657021,0.0598454265959,0.99999994462,0.000206991917467,-0.000259973244338,1.81060891714e-05,1793242980908642048
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659,636,879,787,805,652,631,652,0.400972783614,-0.0153847207822,0.0598455471129,0.999999944079,0.000209805294872,-0.000259817160235,1.7853558262e-05,1793242980949679360
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744,714.576146087,680,659,635.423853913,879,787.576146087,805,651.423853913,631,652,0.400971692795,-0.0153834048066,0.0598451094175,0.999999943873,0.000209733813847,-0.000260681995968,1.76270120463e-05,1793242980966346240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.847892428,744.152107572,715,679.847892428,659,635,879,787.847892428,805,651.152107572,631,652,0.400970908191,-0.0153826938277,0.0598448393549,0.999999943731,0.000209672580995,-0.000261277800226,1.75920065791e-05,1793242980983012864
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.272444589,744.727555411,715,679.272444589,659,635,879,787.272444589,805,651.727555411,631,652,0.400970975835,-0.0153836666533,0.0598450358415,0.999999943769,0.000209639870467,-0.000261124846047,1.80900903122e-05,1793242980999679232
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.297938685,744.702061315,714.702061315,679,659,635.297938685,878.702061315,787.297938685,805,652,631,652,0.400970674018,-0.0153843587252,0.059844951428,0.999999943663,0.000209516811922,-0.000261616753554,1.82476511156e-05,1793242981016346624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.863768135,744.136231865,714.136231865,679,659,635.863768135,878.136231865,787.863768135,805,652,631,652,0.400970040001,-0.015384798358,0.0598446144439,0.999999943428,0.0002093125172,-0.000262688486708,1.80990316166e-05,1793242981033014272
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635.541726381,878.458273619,787.541726381,804.541726381,652,631,652,0.400971262114,-0.0153850578811,0.0598452884634,0.999999944216,0.000206896283137,-0.000261603486312,1.80461306271e-05,1793242981049680128
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,879,787,804.058989631,652,631,652,0.400973080106,-0.0153852870634,0.0598462881871,0.999999945202,0.000204266311635,-0.000259894594973,1.80722233456e-05,1793242981066345984
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,879,787,804.634462948,652,631,652,0.40097496177,-0.0153857506714,0.059847332561,0.999999945164,0.000205906413034,-0.000258711398995,1.85241829174e-05,1793242981083012352
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.790956257,879,787,805,652,631,652,0.400984067047,-0.0153861028446,0.0598514454641,0.999999946642,0.000207270368997,-0.000251783954361,1.89788059654e-05,1793242981099679232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.217929565,879,787,805,652,631,652,0.40100574994,-0.0153862609898,0.0598609012315,0.999999950569,0.00020815350562,-0.000234854734412,1.94380665562e-05,1793242981116346112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.632800638,744,714,679,659,634.367199362,879,787,804.632800638,652,631,652,0.401042381158,-0.0153882956747,0.0598755862381,0.99999995656,0.000207377740807,-0.000208413733357,2.09200618618e-05,1793242981133012736
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.040244293,744,714,679,659,634.959755707,879,787,804.040244293,652,631,652,0.401088186441,-0.0153914820264,0.0598934805257,0.999999963091,0.000205583877691,-0.000176135175982,2.30297282501e-05,1793242981149679616
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.539167315,744.539167315,714,679.539167315,659,635,879,787,804.539167315,652,631,652,0.401156796676,-0.0153936331089,0.0599129244261,0.999999967635,0.000207307087412,-0.0001454800906,2.4285239905e-05,1793242981166346240
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.882750583,745,714,679.882750583,659,635,878.882750583,787,805,651.882750583,631,652,0.40122813844,-0.0153963517628,0.0599303904159,0.999999971007,0.000208424017647,-0.000117904081173,2.53653538174e-05,1793242981183012608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.306124663,745,714,679.306124663,659,635,878.306124663,787,805,651.306124663,631,652,0.401303671805,-0.01540158968,0.0599396646858,0.999999973216,0.000206161521746,-0.000101928235359,2.6002115154e-05,1793242981199679232
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.275274493,745,714,679.275274493,659,635,878.275274493,787,804.724725507,651,631,651.724725507,0.401384593901,-0.0154065507624,0.0599464887012,0.999999974783,0.000203755023387,-9.07107896579e-05,2.627512247e-05,1793242981216345856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.862075456,745,714,679.862075456,659,635,878.862075456,787,804.137924544,651,631,651.137924544,0.401471614388,-0.0154111985521,0.0599505397781,0.999999975818,0.0002011855585,-8.4878397433e-05,2.6136471538e-05,1793242981233012480
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.556428968,714,679.556428968,659,635,878.556428968,787,804.443571032,651.443571032,631,651.443571032,0.401572532162,-0.0154163343828,0.0599485448324,0.999999976314,0.000198323201778,-8.61448348245e-05,2.48961947649e-05,1793242981249679104
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,878.02329277,787,805.02329277,652,631,652,0.401679109913,-0.0154216757061,0.0599448560538,0.999999976645,0.000195435455147,-8.92778386441e-05,2.33273790455e-05,1793242981266345984
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,878.59960368,787,805.59960368,652,631,652,0.401818684648,-0.0154283355233,0.0599450587233,0.999999977317,0.000194081582758,-8.49400786279e-05,2.19948773626e-05,1793242981283012864
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.824407421,744,714,679,659,635.175592579,879,787,805.824407421,652,631,652,0.401967286991,-0.0154353470708,0.0599458605502,0.999999978176,0.000191932407185,-7.98812474317e-05,2.06955592525e-05,1793242981299679488
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.249151526,744,714,679,659,635.750848474,879,787,805.249151526,652,631,652,0.402136436904,-0.0154431591846,0.0599480261093,0.999999979466,0.00018797305559,-7.31811988359e-05,1.94717698968e-05,1793242981316345856
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.33522978,714,679.33522978,659,635.66477022,878.66477022,787.33522978,805,652,631,652,0.40232386399,-0.0154531550755,0.0599500609878,0.999999981326,0.00018099358238,-6.53320097772e-05,1.79297438999e-05,1793242981333012480
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.926583181,714,679.926583181,659,635.073416819,878.073416819,787.926583181,805,652,631,652,0.402525255293,-0.0154648194255,0.0599519960234,0.999999983526,0.000171706663122,-5.66048490292e-05,1.61445773176e-05,1793242981349679360
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507283779,744.492716221,714,680,659,635,878.507283779,788,805,652,631,652,0.402761035332,-0.0154767152389,0.0599552406466,0.999999985484,0.000162997301434,-4.74260163894e-05,1.46521636503e-05,1793242981366345728
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.914103985,744.085896015,714,679.914103985,659,635,878.914103985,787.914103985,805,652,631,652,0.403005764475,-0.0154881649023,0.0599577490049,0.999999987068,0.00015519326439,-4.0126532974e-05,1.29691652289e-05,1793242981383012352
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.338786811,744.661213189,714,679.338786811,659,635,878.338786811,787.338786811,805,652,631,652,0.403273709796,-0.015496885538,0.0599550045476,0.999999987422,0.000152081142473,-4.3900061633e-05,9.96380121485e-06,1793242981399679232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.758326555,714,679,659,635,878.241673445,787,804.758326555,652,631,652,0.403547211043,-0.0155040507625,0.0599476245915,0.999999987521,0.00014784195022,-5.5311248291e-05,6.35946049345e-06,1793242981416345856
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.170499803,714,679,659,635,878.829500197,787,804.170499803,652,631,652,0.403828670128,-0.0155089881424,0.0599336051253,0.999999986902,0.000141988434598,-7.76619922686e-05,1.89719463158e-06,1793242981433012480
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411393781,744,714,679,659,635,879,787,804.411393781,652,631,652,0.404141095523,-0.0155032709836,0.0599229460835,0.999999990361,9.97955960818e-05,-9.65108027392e-05,-2.12758128279e-06,1793242981449679104
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990863341,744,714,679,659,635,879,787,804.990863341,652,631,652,0.404466172261,-0.0154932008907,0.0599136599504,0.999999992578,4.27562518764e-05,-0.000113928890202,-5.97361965836e-06,1793242981466345728
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.431003551,744,714,679,659.568996449,635,879,787,805,652,631,652,0.40484592202,-0.0154867091767,0.0599086622046,0.999999990638,6.23468252205e-05,-0.000121301684318,-1.11111813962e-05,1793242981483012352
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679.146054458,659.853945542,635,879,787,804.853945542,652,631,652,0.405245798191,-0.0154856982675,0.0599093704762,0.999999989999,7.27085101887e-05,-0.00012033799077,-1.52829918545e-05,1793242981499678976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679.720025227,659.279974773,635,879,787,804.279974773,652,631,652,0.405702075356,-0.0155005772909,0.0599265951931,0.999999993936,5.24343415713e-05,-9.54211969395e-05,-1.65646853937e-05,1793242981516345600
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,878.697571415,787,804.302428585,652,631,652,0.406177152354,-0.0155116280762,0.0599486494217,0.999999997547,3.51867518536e-05,-5.79105670813e-05,-1.7730450346e-05,1793242981533011968
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,878.107137562,787,804.892862438,652,631,652,0.406670132642,-0.0155190332002,0.0599753028369,0.999999999571,2.08213960738e-05,-8.40671904267e-06,-1.87858156645e-05,1793242981549678848
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.47236385,714,679.52763615,658.52763615,635,878.47236385,787,804.52763615,652,631,652,0.407178583308,-0.0155180147839,0.0599890308036,0.999999999732,-2.85492866424e-06,8.0792358724e-06,-2.15251152147e-05,1793242981566345728
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.950540308,714,679.049459692,658.098919383,635,879,787,804.049459692,652,631,652,0.407691231486,-0.0155153549523,0.0599979655818,0.999999999255,-2.62214354266e-05,1.37175028883e-05,-2.47864656784e-05,1793242981583012352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.373252572,714,679.626747428,659.253494857,635,879,787,804.626747428,652,631,652,0.408212076286,-0.0155151061393,0.059986326436,0.999999999099,-2.42541684818e-05,-1.82973084518e-05,-2.96353126227e-05,1793242981599678976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679.79710421,659.79710421,635,879,787,805,652,631,651.79710421,0.408755822079,-0.0155149774423,0.0599756957092,0.999999997996,-2.69351441637e-05,-4.55926244246e-05,-3.46870007328e-05,1793242981616345600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679.223040202,659.223040202,635,879,787,805,652,631,651.223040202,0.409341461864,-0.0155150684799,0.0599669097383,0.999999996405,-3.811940105e-05,-6.42543109575e-05,-4.01097568787e-05,1793242981633012224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.360929765,744,714,679,659.360929765,635,879,787,805,652,630.639070235,651.360929765,0.409964175524,-0.0155195835143,0.0599724811079,0.999999996215,-5.62824310195e-05,-4.98040325738e-05,-4.38385388714e-05,1793242981649678848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951193948,744,714,679,659.951193948,635,879,787,805,652,630.048806052,651.951193948,0.410610445865,-0.015526909552,0.0599871751178,0.999999995706,-7.88797660411e-05,-1.43144435061e-05,-4.64909710946e-05,1793242981666345472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469057874,744,714,679,659.469057874,635,879,787,805,651.469057874,630.530942126,652,0.411274292069,-0.0155300957356,0.0599902408139,0.999999995137,-8.56808658914e-05,-6.6350080607e-06,-4.8379127378e-05,1793242981683012096
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+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01556908,745,714.98443092,679.01556908,659.01556908,635,879,787,805,652,631,651,0.415585598195,-0.0155264741256,0.0599819520621,0.999999998837,-1.8765316357e-05,-2.53197552891e-05,-3.65042706896e-05,1793242981783012352
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.593787293,745,714.406212707,679.593787293,659.593787293,635,879,787,805,652,631,651,0.416390129616,-0.0155294877675,0.0600063737169,0.999999999125,-1.86414525554e-05,1.37834250381e-05,-3.4824374882e-05,1793242981799679232
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.829239567,631,651.170760433,0.417192907268,-0.0155314347607,0.0600190641318,0.999999998647,-1.95006489315e-05,3.39425574342e-05,-3.42657855408e-05,1793242981816345856
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.255206859,631,651.744793141,0.417991543124,-0.0155308627285,0.0600040497446,0.999999999038,-2.26814658296e-05,9.36293158145e-06,-3.63553028861e-05,1793242981833012480
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.6722687,714,679.6722687,659.6722687,635,879,787.3277313,805,651,631,652,0.41880527461,-0.0155312231954,0.0599874115017,0.999999998701,-2.71064344013e-05,-1.81878249187e-05,-3.91557103016e-05,1793242981849679360
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.082202126,714,679.082202126,659.082202126,635,879,787.917797874,805,651,631,652,0.419631089481,-0.0155323300892,0.0599694734305,0.999999997409,-3.25272944725e-05,-4.81168467232e-05,-4.25251555329e-05,1793242981866345728
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.498421675,714,679.498421675,659.498421675,635,879,787.501578325,805,651.498421675,631,652,0.420440393643,-0.0155308391125,0.0599391372646,0.999999994188,-3.2799826881e-05,-9.19183354553e-05,-4.58260461761e-05,1793242981883012352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.077213155,680,660,635,879,787,805,651.922786845,631,652,0.421249442608,-0.0155291525916,0.0599084086569,0.99999998877,-3.23713798079e-05,-0.000137856623441,-4.90650243406e-05,1793242981899678976
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.654037784,680,660,635,879,787,805,651.345962216,631,652,0.422074131808,-0.0155289215761,0.0598881254318,0.99999998135,-3.27991200807e-05,-0.000183092345247,-5.19751918685e-05,1793242981916345600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.765600944,714.765600944,680,660,635,879,787,805,651,631,652,0.422959199811,-0.0155322322822,0.0599014583088,0.999999984452,-3.58830650724e-05,-0.000164652167808,-5.19490448151e-05,1793242981933012736
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.179939695,714.179939695,680,660,635,879,787,805,651,631,652,0.423934749491,-0.0155408504879,0.0599651670927,0.999999996659,-4.29475049922e-05,-5.07895298443e-05,-4.75226399489e-05,1793242981949680384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.598584005,744,714,680,660.401415995,635,879,787.401415995,805,651,631,652,0.424871261854,-0.0155449700493,0.0600085933284,0.999999997726,-4.66314666983e-05,2.08227313293e-05,-4.40489248015e-05,1793242981966347008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.019137889,744,714,680,660.980862111,635,879,787.980862111,805,651,631,652,0.425790460903,-0.0155470944375,0.0600430241427,0.999999995252,-4.88161680388e-05,7.36967195785e-05,-4.0997732927e-05,1793242981983012864
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.558746446,744.558746446,714,680,660.441253554,635,879,787.441253554,805.558746446,651.558746446,631,652,0.426682257439,-0.0155473548141,0.0600263163538,0.999999995835,-5.27697224878e-05,6.01753877176e-05,-4.38715186217e-05,1793242981999679488
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.864541464,631,652,0.427563351883,-0.0155474948222,0.0600067088388,0.99999999653,-5.66251857767e-05,3.91956245374e-05,-4.68832110948e-05,1793242982016346112
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.291444345,631,652,0.428412893923,-0.0155474516394,0.0599833761038,0.999999996966,-5.99685418287e-05,1.44599906437e-06,-4.96866245574e-05,1793242982033012480
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.289871774,787,806,651,631,652,0.429253264084,-0.0155462042655,0.0599537679161,0.999999995473,-6.07512324107e-05,-5.09612554315e-05,-5.25918524184e-05,1793242982049679360
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.879692588,787,806,651,631,652,0.430084143459,-0.0155437108372,0.0599176661136,0.999999989695,-5.88842367607e-05,-0.000118535702545,-5.56024339157e-05,1793242982066346240
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538010171,745,714,680,660.461989829,635,879.538010171,787,806,651,631,651.538010171,0.4310002693,-0.0155455224434,0.059931399603,0.999999992632,-6.44512625384e-05,-8.63245667344e-05,-5.59459100743e-05,1793242982083012864
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.042056194,745,714,680,660.957943806,635,879.042056194,787,806,651,631,651.042056194,0.43193591056,-0.0155485620017,0.0599587784274,0.999999995502,-7.14071141583e-05,-2.86736506472e-05,-5.54556745446e-05,1793242982099679488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.618272953,745,714,680,660.381727047,635,879.618272953,787,806,651,631,651.618272953,0.432841982611,-0.0155531871213,0.059997278504,0.999999995641,-7.18084647188e-05,2.73371342651e-05,-5.30565063194e-05,1793242982116345856
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.807020191,787,806,651,631,651.807020191,0.433720401166,-0.0155560898992,0.0600157187216,0.999999994621,-7.31759626914e-05,5.1984691984e-05,-5.19647862796e-05,1793242982133012224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.235276737,787,806,651,631,651.235276737,0.434544544056,-0.0155556122188,0.0599947872351,0.999999995537,-7.64397294399e-05,1.50753006717e-05,-5.34392093094e-05,1793242982149678848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.649624193,714.350375807,680,660,635,879.350375807,787,806,651,631.350375807,651.350375807,0.435370732192,-0.0155548658833,0.0599683487019,0.999999994834,-7.85910172447e-05,-3.15723674565e-05,-5.61936898614e-05,1793242982166345472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.054245655,714.945754345,680,660,635,879.945754345,787,806,651,631.945754345,651.945754345,0.436198350431,-0.015553931689,0.059938059329,0.999999991397,-7.99643960499e-05,-8.50295914383e-05,-5.98432594037e-05,1793242982183012096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.524621944,714.475378056,680,660,635,880,787,806,651,631.475378056,651.475378056,0.436979418316,-0.0155501854862,0.0599223994885,0.99999998823,-8.21718513371e-05,-0.000113632071319,-6.22474651834e-05,1793242982199678976
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.437755732689,-0.0155464243034,0.0599093914466,0.999999984842,-8.37572247082e-05,-0.000138501426675,-6.41758253967e-05,1793242982216345600
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.438531640486,-0.0155439090898,0.0599019164056,0.999999982141,-8.20483164587e-05,-0.000157574947866,-6.44656446191e-05,1793242982233012224
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.740258006,744.740258006,714,680,660.259741994,635,880.259741994,787,806,651,631,651.259741994,0.43932934233,-0.0155444551773,0.0599209978002,0.999999986192,-8.39419981678e-05,-0.000128670677569,-6.33543514939e-05,1793242982249678848
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15281514,744.15281514,714,680,660.84718486,635,880.84718486,787,806,651,631,651.84718486,0.440154540353,-0.0155488635248,0.0599735838551,0.999999993317,-9.03808509259e-05,-3.92357071836e-05,-6.04753587045e-05,1793242982266345472
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.429014531,744.429014531,714,680,661,635,880.570985469,787,806,651,631,652,0.440938768741,-0.0155543725425,0.0600024250919,0.99999999347,-9.85841457329e-05,1.83832722876e-06,-5.77748785552e-05,1793242982283012096
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991176894,745,714,680,660.991176894,635,880,787,806.008823106,651,631,652,0.441707118109,-0.0155601782379,0.0600221202819,0.999999992423,-0.000107180230004,2.48694249372e-05,-5.5209331179e-05,1793242982299678976
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.414428635,745,714,680,660.414428635,635,880,787,806.585571365,651,631,652,0.442380579079,-0.0155601703217,0.0599904905058,0.999999993065,-0.000101126859379,-1.8992572442e-05,-5.72890799113e-05,1793242982316345600
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.161436876,745,714,680,660,635,880,787,806.838563124,651,631,652,0.443049017255,-0.0155603456849,0.0599646717766,0.999999991892,-9.89441326867e-05,-5.39058433169e-05,-5.9332803732e-05,1793242982333012480
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.73504871,745,714,680,660,635,880,787,806.26495129,651,631,652,0.443704631551,-0.0155609889903,0.0599536896017,0.99999999026,-0.000106643797231,-6.5971549498e-05,-6.12845506969e-05,1793242982349680128
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.681378794,745,714.318621206,680.318621206,660.318621206,634.681378794,880.318621206,787,806,651,631,651.681378794,0.444349225825,-0.0155618930306,0.059956764578,0.999999989998,-0.000112142633652,-6.00763754551e-05,-6.17953431812e-05,1793242982366346752
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.089256197,745,714.910743803,680.910743803,660.910743803,634.089256197,880.910743803,787,806,651,631,651.089256197,0.444984360577,-0.0155630208831,0.0599719060788,0.999999990685,-0.000115752299807,-3.87637531337e-05,-6.10692340109e-05,1793242982383012608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.49187881,745,714.50812119,681,661,634.49187881,880.50812119,787,806,651,631,651.49187881,0.445568596957,-0.0155609436403,0.0599586263772,0.999999989,-0.000113422375266,-7.13056828332e-05,-6.36446164876e-05,1793242982399678976
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.929442487,714,681,661,635,880,787,806,651,631,652,0.446140689582,-0.0155587164593,0.0599416106816,0.999999985557,-0.000112481633779,-0.000108543714207,-6.67216214941e-05,1793242982416345600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.354382252,714,681,661,635,880,787,806,651,631,652,0.446690548157,-0.0155594848678,0.0599339519468,0.999999983122,-0.00012901198821,-0.000111011560872,-6.91953245398e-05,1793242982433012480
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.7744787,744.2255213,714,681,661,635,879.7744787,787,806,651,631,651.7744787,0.447232509011,-0.0155611976797,0.0599366310015,0.999999982955,-0.000138599477357,-9.94672561095e-05,-7.06213551868e-05,1793242982449679104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.186797418,744.813202582,714,681,661,635,879.186797418,787,806,651,631,651.186797418,0.447761787025,-0.0155644270893,0.0599559112989,0.999999985995,-0.000137037561415,-6.54211275535e-05,-7.03649501776e-05,1793242982466345472
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.604565422,714,680.604565422,660.604565422,635,879,787,806,651,631,651.395434578,0.448260430369,-0.0155665082514,0.0599673091798,0.999999986772,-0.000138522543999,-4.69346510285e-05,-7.11652395435e-05,1793242982483012096
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,744.024872546,714,680.024872546,660.024872546,635,879,787,806,651,631,651.975127454,0.448744799105,-0.0155680543718,0.0599750341398,0.999999986737,-0.000141427271667,-3.56984100545e-05,-7.24579104983e-05,1793242982499678720
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.579436461,681.579436461,660,633,880.420563539,784.579436461,806.420563539,651,630,652,0.453155273665,-0.0155899846134,0.0598321190971,0.999999955647,-0.00014640767007,-0.000251091824678,-6.49950490263e-05,1793242982799679744
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.000691273,745,714,681,659.999308727,633,880.999308727,784,806.999308727,651,630,652,0.453241117882,-0.0155918899011,0.0598293147016,0.99999995351,-0.000150159977109,-0.000257168092554,-6.55523040341e-05,1793242982816345856
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.578195589,745,714,681,659.421804411,633,880.421804411,784,806.421804411,651,630,652,0.453310363751,-0.0155938581907,0.0598287854822,0.999999952683,-0.000152378701781,-0.000259217151284,-6.49653332786e-05,1793242982833012736
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.844875577,744.844875577,714,681,659.155124423,633,879.844875577,784,806.155124423,651,630,652,0.453373892697,-0.0155948911095,0.0598274865617,0.999999951698,-0.000153686067325,-0.000262308178843,-6.46483552184e-05,1793242982849679616
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.26950587,744.26950587,714,681,659.73049413,633,879.26950587,784,806.73049413,651,630,652,0.453421934003,-0.0155933900293,0.0598241024556,0.99999995028,-0.000152524482943,-0.000268221988455,-6.50628104816e-05,1793242982866346496
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.313265095,744.313265095,714,681,660,633.313265095,879.313265095,784,806.686734905,651,630,651.686734905,0.453462858877,-0.015592426576,0.0598212903918,0.999999949009,-0.000151819040417,-0.00027322152515,-6.54469133074e-05,1793242982883013120
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.902557599,744.902557599,714,681,660,633.902557599,879.902557599,784,806.097442401,651,630,651.097442401,0.453497513253,-0.0155919368421,0.0598189823715,0.999999947877,-0.000151515518232,-0.000277415468826,-6.58042717246e-05,1793242982899679488
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.948801102,660,633.948801102,880,784,806.948801102,651,630,651.051198898,0.453546458502,-0.0155900773142,0.0598148304166,0.999999947118,-0.000149555822524,-0.00028125792811,-6.55024461478e-05,1793242982933012224
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.368483681,660,633.368483681,880,784,806.368483681,651,630,651.631516319,0.453559003713,-0.0155904000605,0.0598135966688,0.999999945548,-0.000151655052546,-0.000285621842511,-6.57602463892e-05,1793242982949678848
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.214948223,745,714.214948223,680.214948223,660,633,880,784,806,651,630,652,0.453569486421,-0.0155902934621,0.059811604236,0.999999944107,-0.00015309374215,-0.000289846523035,-6.5865432118e-05,1793242982966345728
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.803797719,745,714.803797719,680.803797719,660,633,880,784,806,651,630,652,0.453576381414,-0.0155894400211,0.0598082920749,0.99999994291,-0.000153383425138,-0.000293829006724,-6.57051457123e-05,1793242982983012608
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.541611364,745,714,681,660,633,880.541611364,784,806.458388636,651,630,652,0.453588988487,-0.0155896292029,0.0598058261663,0.999999941323,-0.000156186906038,-0.000297626720244,-6.61710763646e-05,1793242983033012736
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.882972595,745,714,681,660,633,880.76594519,784,806,651,630,652,0.453591655221,-0.0155893527001,0.0598053534735,0.999999941107,-0.000156417284203,-0.00029826915816,-6.59929393592e-05,1793242983049679104
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.275625468,745,714,681,660,633,879.275625468,784,806,651,630,652,0.453592007914,-0.0155857815363,0.0598041139577,0.999999941473,-0.000150955261382,-0.000299976959223,-6.54189582952e-05,1793242983083012352
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.866492971,745,714,681,660,633,879.866492971,784,806,651,630,652,0.453590302718,-0.015587783844,0.0598016710446,0.999999940024,-0.000154578142974,-0.000303017718068,-6.5098204284e-05,1793242983099678976
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880,784,806.248850241,651,630.248850241,652,0.453592144859,-0.0155851761522,0.0598006215676,0.999999939673,-0.000152460685051,-0.000305122048615,-6.56515176232e-05,1793242983183013632
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diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b007646898b901c2a6a1ec8e0ace05bdc0e6ad1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4e2b96befa86ff702d516212bae59c410a3b90b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183c4fb2984d888d81585b40b424a47e5da73abf01b4a43979a8a17019f6948c
+size 25856562
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61a1bc17da0a5d91710cdd0bd15db5319669b506
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+19,0.316666667,BASELINE,765.943757075,744,714,679,658.943757075,635,878.943757075,787.943757075,805,652,631,652,0.400970993187,-0.0153826461174,0.0598427362968,0.999999944909,0.000201076761319,-0.000263646971306,1.55058322134e-05,1793242986407481856
+20,0.333333333,BASELINE,765.36472765,744,714,679,658.36472765,635,878.36472765,787.36472765,805,652,631,652,0.400971908439,-0.0153834997865,0.0598432756726,0.999999944626,0.000202717698535,-0.000263464227069,1.55047390212e-05,1793242986424148736
+21,0.350000000,BASELINE,765,744,714,679,658.213944129,635,878.213944129,787,805,651.786055871,631,652,0.400972756878,-0.0153841373946,0.0598438002794,0.999999944495,0.000203888323812,-0.000263050916671,1.5606102517e-05,1793242986440815360
+22,0.366666667,BASELINE,765,744,714,679,658.792007157,635,878.792007157,787,805,651.207992843,631,652,0.400973491607,-0.0153844072812,0.0598442997501,0.999999944627,0.000204258508797,-0.000262245197782,1.58818405884e-05,1793242986457481728
+23,0.383333333,BASELINE,765.374554451,744,714,679,659,635,879,787,804.625445549,651.374554451,631,652,0.400973226749,-0.0153842004173,0.0598440667086,0.999999944811,0.000203043120362,-0.00026249233663,1.57596426123e-05,1793242986474148352
+24,0.400000000,BASELINE,765.959622117,744,714,679,659,635,879,787,804.040377883,651.959622117,631,652,0.400972400086,-0.0153837256025,0.0598434219685,0.999999945022,0.000200936582063,-0.000263331219721,1.54137901379e-05,1793242986490814976
+25,0.416666667,BASELINE,765.460602465,744,714,679,659,635,879.539397535,787,804.539397535,652,631,652,0.400973342528,-0.0153829543174,0.0598446264862,0.999999945126,0.000202575012075,-0.000261660038137,1.56833593401e-05,1793242986507481600
+26,0.433333333,BASELINE,765.11884239,744,714,679.11884239,659,635,879.88115761,787,805,652,631,652,0.40097398858,-0.0153824104589,0.0598456006346,0.999999945176,0.000203936341991,-0.000260392213274,1.59263364689e-05,1793242986524147968
+27,0.450000000,BASELINE,765.698526879,744,714,679.698526879,659,635,879.301473121,787,805,652,631,652,0.40097297676,-0.015382833728,0.0598451498823,0.999999945072,0.000203146622404,-0.000261410047157,1.58892878888e-05,1793242986540814848
+28,0.466666667,BASELINE,766,744,714,679.725437883,659,635,879,787,805,652,631,652,0.400972929992,-0.0153829593196,0.0598451330064,0.999999945092,0.000203013664747,-0.000261447462476,1.57228338478e-05,1793242986557481984
+29,0.483333333,BASELINE,766,744,714,679.153357051,659,635,879,787,805,652,631,652,0.400973928966,-0.0153827623443,0.059845586284,0.999999945246,0.000203592382029,-0.000260422484733,1.54161545413e-05,1793242986574149376
+30,0.500000000,BASELINE,765.567892201,744,714,679,659,635,879,787,804.567892201,652,631,652,0.400973349021,-0.0153831001907,0.0598448840905,0.999999944934,0.000204096114451,-0.000261229457413,1.53684673275e-05,1793242986590816000
+31,0.516666667,BASELINE,765,744,714,679,659,635,879,787,804.022067835,652,631,652,0.400972244032,-0.0153835456588,0.0598438164686,0.99999994446,0.000204631784619,-0.000262619349105,1.54199801677e-05,1793242986607481600
+32,0.533333333,BASELINE,765,744,714,679,659,635,879,787,804.601751684,652,631,652,0.40097248412,-0.0153817610468,0.0598442083775,0.999999944257,0.00020666841198,-0.000261784863192,1.55812717927e-05,1793242986624148224
+33,0.550000000,BASELINE,765,744,714,679,659,635,878.819557904,787,805,652,631,651.819557904,0.400972510227,-0.0153810137762,0.0598444234346,0.999999944174,0.000207378816559,-0.000261534518262,1.5669387315e-05,1793242986640815104
+34,0.566666667,BASELINE,765,744,714,679,659,635,878.243048149,787,805,652,631,651.243048149,0.400972066648,-0.0153825434544,0.0598442503048,0.999999944359,0.000205178182011,-0.000262566354023,1.55968823824e-05,1793242986657481984
+35,0.583333333,BASELINE,765,744,714,679,659,635,878.33161931,787,805,652,631,651,0.400972253959,-0.0153830731059,0.059844262807,0.999999944622,0.000203818052777,-0.000262628791092,1.55141052077e-05,1793242986674148608
+36,0.600000000,BASELINE,765,744,714,679,659,635,878.904944045,787,805,652,631,651,0.400972901104,-0.015382873874,0.0598444106098,0.999999944944,0.000203070537501,-0.00026198466832,1.54238409566e-05,1793242986690815232
+37,0.616666667,BASELINE,765.49424541,744.49424541,714,679.49424541,659,635,879,787.49424541,805,652,631,651.49424541,0.400973323519,-0.0153833225443,0.0598444813339,0.999999945008,0.000203550073769,-0.000261365869129,1.54448444505e-05,1793242986707482112
+38,0.633333333,BASELINE,765.91524565,744.91524565,714,680,659,634.91524565,879.08475435,787.91524565,805,652,631,652,0.400973734909,-0.015383717454,0.0598446579925,0.999999945054,0.000204193807163,-0.000260686599101,1.54905046908e-05,1793242986724148224
+39,0.650000000,BASELINE,765.336212368,744.336212368,714,680,659,634.336212368,879.663787632,787.336212368,805,652,631,652,0.400974342486,-0.0153830478608,0.059845541792,0.999999945292,0.00020437285819,-0.000259625316593,1.55509912383e-05,1793242986740814848
+40,0.666666667,BASELINE,765,744.24129112,714,679.75870888,659,634.24129112,879.75870888,787,805,652,631,652,0.400974294997,-0.0153825710206,0.0598455938992,0.999999945197,0.000204586246857,-0.00025982149312,1.55848838377e-05,1793242986757481728
+41,0.683333333,BASELINE,765,744.816676406,714,679.183323594,659,634.816676406,879.183323594,787,805,652,631,652,0.400973340499,-0.0153823610684,0.0598444944367,0.999999944639,0.000204847179769,-0.000261758760412,1.55819541793e-05,1793242986774148352
+42,0.700000000,BASELINE,765,744.607483288,714,679,659,635,879,787,804.607483288,652,631,652,0.40097243166,-0.0153825852389,0.0598439590212,0.999999944422,0.000204418474142,-0.000262918900443,1.55484553573e-05,1793242986790815232
+43,0.716666667,BASELINE,765,744.031430237,714,679,659,635,879,787,804.031430237,652,631,652,0.400971544171,-0.0153830124003,0.0598436873476,0.999999944367,0.000203667301389,-0.000263715664571,1.5500662743e-05,1793242986807482368
+44,0.733333333,BASELINE,765,744,714,679,659,635,878.441180879,787,804.558819121,652,631,652,0.400971788868,-0.0153828403688,0.0598438872097,0.999999944348,0.000204294057942,-0.000263300973353,1.54976248248e-05,1793242986824148736
+45,0.750000000,BASELINE,765,744,714,679,659,635,878.146170449,787,804.853829551,651.853829551,631,652,0.400972085628,-0.0153828514848,0.0598441150843,0.999999944386,0.00020473300347,-0.000262811219457,1.55683306856e-05,1793242986840815360
+46,0.766666667,BASELINE,765,744,714,679,659,635,878.722580134,787,804.277419866,651.277419866,631,652,0.400972343314,-0.0153835034601,0.0598443453143,0.999999944585,0.000204385083361,-0.000262306308665,1.58484923302e-05,1793242986857481984
+47,0.783333333,BASELINE,765,744,714,679,659,635,878.701611943,787,804.298388057,651.298388057,631,651.701611943,0.400971984752,-0.0153837659681,0.0598437890974,0.999999944343,0.000204697048947,-0.000262989312381,1.57961750957e-05,1793242986874148608
+48,0.800000000,BASELINE,765,744,714,679,659,635,878.126362302,787,804.873637698,651.873637698,631,651.126362302,0.400971054398,-0.0153836671061,0.0598425031702,0.999999943688,0.000205621294353,-0.000264774531369,1.54353648867e-05,1793242986890815232
+49,0.816666667,BASELINE,765,744.460344304,714,679,658.539655696,635,878.460344304,787.460344304,805,652,631,651.460344304,0.400973594485,-0.0153831761,0.0598447449068,0.999999944763,0.000205326151458,-0.000260904754219,1.56322338162e-05,1793242986907481856
+50,0.833333333,BASELINE,765,744.950605646,714,679,658.049394354,634.950605646,878.950605646,787.950605646,804.950605646,652,631,652,0.400976689501,-0.015382617294,0.0598475672578,0.99999994609,0.000204818601966,-0.000256154610533,1.59416522162e-05,1793242986924148480
+51,0.850000000,BASELINE,765,744.371019289,714,679,658.628980711,634.371019289,878.371019289,787.371019289,804.371019289,652,631,652,0.400975254794,-0.0153825156309,0.0598459626766,0.999999945165,0.000205715605486,-0.000259041832818,1.57740813003e-05,1793242986940815360
+52,0.866666667,BASELINE,765,744.206309668,714,679,658.793690332,634.206309668,878.206309668,787,804.206309668,652,631,652,0.400974208609,-0.0153823179695,0.0598449492955,0.999999944683,0.000205764396183,-0.000260870913441,1.55649666842e-05,1793242986957482496
+53,0.883333333,BASELINE,765,744.77962291,714,679,658.22037709,634.77962291,878.77962291,787,804.77962291,652,631,652,0.400973853562,-0.0153819495373,0.0598449875985,0.999999945,0.000204304303891,-0.000260817669252,1.52819501296e-05,1793242986974148864
+54,0.900000000,BASELINE,765,744.64486203,714,679,658.710275941,635,879,787,805,652,630.64486203,652,0.400974081877,-0.015382829917,0.059845184318,0.99999994539,0.000202885423508,-0.000260421063077,1.54658390054e-05,1793242986990815232
+55,0.916666667,BASELINE,765,744.067972152,714,679,659.864055695,635,879,787,805,652,630.067972152,652,0.400974674449,-0.015384490068,0.0598454799544,0.999999945823,0.00020149227633,-0.000259810058048,1.59412685836e-05,1793242987007481856
+56,0.933333333,BASELINE,765,744,714.522904903,679.522904903,659.477095097,635,878.477095097,787.522904903,805,652,630.522904903,652,0.400973669779,-0.0153838652071,0.0598447303051,0.999999945162,0.000202731783775,-0.000261410439548,1.54732808948e-05,1793242987024148480
+57,0.950000000,BASELINE,765.112400558,744,714.887599442,679.887599442,659.112400558,635,878,787.887599442,805,652,631,651.887599442,0.40097269096,-0.0153830857926,0.0598441267183,0.999999944608,0.000203933483161,-0.000262621215193,1.50321171651e-05,1793242987040815360
+58,0.966666667,BASELINE,765.688490545,744,714.311509455,679.311509455,659.688490545,635,878,787.311509455,805,652,631,651.311509455,0.400972698853,-0.0153829278084,0.0598447016284,0.99999994511,0.000203528650156,-0.000261006289934,1.52214229255e-05,1793242987057481984
+59,0.983333333,BASELINE,765.735168903,744,714,679,659.735168903,635,878.264831097,787,805,652,631,651.264831097,0.400972023562,-0.0153825160999,0.0598446587057,0.999999944967,0.000204057353562,-0.00026113651935,1.5279586978e-05,1793242987074148608
+60,1.000000000,BASELINE,765.158533267,744,714,679,659.158533267,635,878.841466733,787,805,652,631,651.841466733,0.40097054391,-0.0153818056639,0.0598438883643,0.999999944062,0.000205685175915,-0.000263321443617,1.51833485692e-05,1793242987090815232
+61,1.016666667,BASELINE,765,744,714,679,659,635,879,787,804.573020588,652,631,652,0.400970925861,-0.0153817297286,0.059844110543,0.999999944278,0.000205293885651,-0.000262813475338,1.51100220218e-05,1793242987107482112
+62,1.033333333,BASELINE,765,744.015604175,714,679.015604175,659,635,879,787,804.015604175,652,631,652,0.400972030706,-0.0153819161118,0.0598447155471,0.999999944918,0.000204136395224,-0.000261276013634,1.50565705077e-05,1793242987124148736
+63,1.050000000,BASELINE,765,744.595057336,714,679.595057336,659,635,879,787,804.595057336,652,631,652,0.400973750742,-0.0153828877978,0.0598455550008,0.999999945632,0.000202956986407,-0.00025943428204,1.54073723101e-05,1793242987140815104
+64,1.066666667,BASELINE,765,744.828098798,714,679.828098798,659,635,879,787,805,652,631,652,0.400974832017,-0.0153835593076,0.0598462022523,0.999999946103,0.000202013034698,-0.000258338328173,1.56802196622e-05,1793242987157481728
+65,1.083333333,BASELINE,765,744.257309702,714,679.257309702,659,635,879,787,805,652,631,652,0.400974431082,-0.0153835342741,0.0598464035082,0.999999946018,0.000201615449164,-0.000258972913249,1.5772177704e-05,1793242987174148608
+66,1.100000000,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400974060384,-0.0153828100266,0.0598462820011,0.999999945692,0.000202882722437,-0.000259248669555,1.56641756969e-05,1793242987190815232
+67,1.116666667,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400973714507,-0.0153815118512,0.0598458955643,0.999999945163,0.000205516542581,-0.000259229892547,1.53920427846e-05,1793242987207481600
+68,1.133333333,BASELINE,765.487589291,744,714,679.487589291,659,635,879,787,805,652,631,652,0.40097402397,-0.0153820521361,0.0598460145489,0.999999945323,0.000204722654643,-0.000259242665979,1.5389181652e-05,1793242987224148480
+69,1.150000000,BASELINE,766,744.076852234,714,679.923147766,659,635,878.923147766,787,804.923147766,652,631,652,0.400974463455,-0.0153828367741,0.0598462997924,0.999999945655,0.00020330724533,-0.00025907263119,1.54006546898e-05,1793242987240815616
+70,1.166666667,BASELINE,766,744.655093095,714,679.344906905,659,635,878.344906905,787,804.344906905,652,631,652,0.400974844862,-0.0153826729546,0.0598469707098,0.999999946171,0.000202577590367,-0.000257666309511,1.51332358206e-05,1793242987257482240
+71,1.183333333,BASELINE,765.768210563,745,714,679.231789437,658.768210563,635,878.231789437,787,804.231789437,652,631,652,0.400974921191,-0.0153829982855,0.0598471029975,0.999999946422,0.000201805933646,-0.000257295196331,1.51480527252e-05,1793242987274149120
+72,1.200000000,BASELINE,765.193797197,745,714,679.806202803,658.193797197,635,878.806202803,787,804.806202803,652,631,652,0.400974546563,-0.0153840466632,0.0598464390997,0.999999946284,0.000200972191123,-0.000258454295919,1.5580061725e-05,1793242987290815488
+73,1.216666667,BASELINE,765,744.618529375,714,679.618529375,658.381470625,635,879,787,805,652,631,652,0.400973900963,-0.0153836088065,0.0598457574516,0.999999945817,0.000202119881438,-0.000259367042559,1.55549214297e-05,1793242987307481856
+74,1.233333333,BASELINE,765,744.042826525,714,679.042826525,658.957173475,635,879,787,805,652,631,652,0.400973117392,-0.0153824142082,0.0598450667657,0.999999945178,0.000204276451862,-0.000260154354358,1.5297015809e-05,1793242987324148736
+75,1.250000000,BASELINE,765,744,714,679,659,635,879,787.546363112,804.453636888,652,631,652,0.400973250385,-0.015384244056,0.0598453400871,0.999999945578,0.000201990286851,-0.000260396718453,1.54175437326e-05,1793242987340815104
+76,1.266666667,BASELINE,765,744.134416993,714,679,659,635,878.865583007,787.865583007,804.134416993,652,631,652,0.40097328731,-0.0153856034012,0.0598455005247,0.999999945822,0.000200532701932,-0.000260576187427,1.55492910526e-05,1793242987357481728
+77,1.283333333,BASELINE,765,744.715101493,714,679,659,635,878.284898507,787.284898507,804.715101493,652,631,652,0.400972760727,-0.0153845936676,0.0598450289636,0.999999945291,0.000203011457672,-0.000260692249156,1.56173112611e-05,1793242987374148608
+78,1.300000000,BASELINE,765,744.706913653,714,679,659,635,878.293086347,787,805,652,631,652,0.400972263919,-0.0153841480731,0.0598448590471,0.999999945155,0.000203212147007,-0.000261058671218,1.56064648119e-05,1793242987390814976
+79,1.316666667,BASELINE,765,744.131529107,714,679,659,635,878.868470893,787,805,652,631,652,0.400971795789,-0.0153842458526,0.0598449796722,0.9999999454,0.000201218622627,-0.000261666238154,1.55196546859e-05,1793242987407481600
+80,1.333333333,BASELINE,765,744.451790985,714,679,659,635,879,787,805,652,631,652,0.400971141673,-0.01538292777,0.0598442614302,0.999999944745,0.000203651607768,-0.000262293518365,1.54185186669e-05,1793242987424147968
+81,1.350000000,BASELINE,765.037081163,745,714,679,659,635,879,787,805,652,631,651.962918837,0.40097062287,-0.015381384043,0.0598434406278,0.999999943942,0.000207020402735,-0.000262724033436,1.53217639e-05,1793242987440814592
+82,1.366666667,BASELINE,765.616788295,745,714,679,659,635,879,787,805,652,631,651.383211705,0.400972890672,-0.0153826780798,0.0598447566589,0.999999945043,0.000204888298428,-0.0002601897074,1.53512447132e-05,1793242987457481472
+83,1.383333333,BASELINE,765.804778586,745,714,679,659.195221414,635,878.804778586,787,805,652,631,651.195221414,0.400973960836,-0.015384117968,0.0598454369157,0.999999945871,0.000202555822283,-0.000258829471644,1.5405525289e-05,1793242987474148608
+84,1.400000000,BASELINE,765.228829984,745,714,679,659.771170016,635,878.228829984,787,805,652,631,651.771170016,0.400972695326,-0.0153858423002,0.0598448772651,0.999999946176,0.000199832574047,-0.000259758984704,1.55081711784e-05,1793242987490816256
+85,1.416666667,BASELINE,765,745,714.345803566,679,659.654196434,635,878.345803566,787,805,652,631,652.345803566,0.400972338496,-0.0153851964941,0.0598449013127,0.999999946077,0.000200017496281,-0.000259998163165,1.54718665711e-05,1793242987507482880
+86,1.433333333,BASELINE,765,745,714.919570164,679,659.080429836,635,878.919570164,787,805,652,631,652.919570164,0.400972580694,-0.0153829882287,0.0598453101499,0.999999945713,0.000202119563051,-0.000259782254394,1.53439620445e-05,1793242987524148992
+87,1.450000000,BASELINE,765.509187732,745,715,679,659,635,878.490812268,787,805,652,631,652.490812268,0.400973310739,-0.0153832600607,0.0598456853786,0.999999945915,0.000202066920923,-0.000259047413787,1.52501004524e-05,1793242987540815872
+88,1.466666667,BASELINE,766,744.900322149,714.900322149,679,659,635,878,787.099677851,805,652,631,652,0.400973750023,-0.0153839124323,0.059845834944,0.999999946137,0.000201447462936,-0.000258679219922,1.5171134411e-05,1793242987557482496
+89,1.483333333,BASELINE,766,744.318117986,714.318117986,679,659,635,878,787.681882014,805,652,631,652,0.400972396754,-0.0153844496092,0.0598449186303,0.999999946,0.000199784661292,-0.000260495460281,1.51374083753e-05,1793242987574148864
+90,1.500000000,BASELINE,766,744.258318443,714.258318443,679,659.258318443,634.741681557,878.258318443,787.741681557,805,652,631,652,0.400972515077,-0.0153846536646,0.0598450846542,0.999999945913,0.000200432957006,-0.000260318871857,1.5314479564e-05,1793242987590815232
+91,1.516666667,BASELINE,766,744.827807022,714.827807022,679,659.827807022,634.172192978,878.827807022,787.172192978,805,652,631,652,0.400974406078,-0.0153844564422,0.0598465544608,0.99999994588,0.000203865198395,-0.00025774172375,1.57454768801e-05,1793242987607481600
+92,1.533333333,BASELINE,765.587682908,744.587682908,714.587682908,679,659.587682908,634.412317092,879,787.412317092,805,652,631,652,0.400974579209,-0.0153853465121,0.0598467216663,0.999999946417,0.00020165777902,-0.000257393838284,1.57613703089e-05,1793242987624148224
+93,1.550000000,BASELINE,765.003272291,744.003272291,714.003272291,679,659,635,879,788,805.003272291,652,631,652,0.400974007696,-0.0153866933565,0.0598463256303,0.99999994718,0.000197044325509,-0.000258011914001,1.55977773634e-05,1793242987640814848
+94,1.566666667,BASELINE,765.582707482,744.582707482,714.582707482,679,659,635,879,788,805.582707482,652,631,652,0.400973419051,-0.0153854920906,0.0598461624159,0.999999946611,0.000199168690815,-0.000258589542968,1.55090078902e-05,1793242987657481984
+95,1.583333333,BASELINE,766,744.838181227,714.838181227,679,658.838181227,635,879,787.838181227,805.838181227,652,631,652,0.40097283355,-0.015384700452,0.0598459087308,0.99999994611,0.000200705977617,-0.00025933927767,1.54708750708e-05,1793242987674148864
+96,1.600000000,BASELINE,766,744.259903409,714.259903409,679,658.259903409,635,879,787.259903409,805.259903409,652,631,652,0.400972256141,-0.015384963036,0.0598454222086,0.999999945794,0.000200732351474,-0.00026053194621,1.55630614289e-05,1793242987690815488
+97,1.616666667,BASELINE,765.685638538,744.314361462,714,679,658.314361462,635,879,787,805,652,631,652,0.400972187506,-0.0153848154698,0.0598452812085,0.999999945854,0.000200390533227,-0.000260572749509,1.54294912803e-05,1793242987707482368
+98,1.633333333,BASELINE,765.114649651,744.885350349,714,679,658.885350349,635,879,787,805,652,631,652,0.400972534206,-0.0153843330797,0.0598454222738,0.999999946221,0.000199748143174,-0.000259673233242,1.51116259178e-05,1793242987724148992
+99,1.650000000,BASELINE,765,744.525808991,714,679,659,635,879,787.474191009,805,652,631,652,0.400973850795,-0.0153847308892,0.0598462763519,0.999999946473,0.000200297867972,-0.00025826005943,1.53704327473e-05,1793242987740815616
+100,1.666666667,BASELINE,765,744.066020868,714,679,659,635,878.933979132,788,805,652,631,652,0.40097506968,-0.0153851728119,0.0598470807186,0.999999946635,0.000201010868475,-0.000257057681451,1.56753616305e-05,1793242987757481984
+101,1.683333333,BASELINE,765,744.64620139,714,679,659,635,878.35379861,788,805,652,631,652,0.400973629976,-0.0153842360837,0.0598461028615,0.99999994634,0.000200662943341,-0.000258501968181,1.5211165615e-05,1793242987774148608
+102,1.700000000,BASELINE,765.224875841,744.775124159,714.224875841,679,659,635,878.224875841,787.775124159,805,652,631,652,0.400972860329,-0.0153838642741,0.0598456481536,0.999999946207,0.000200434093289,-0.000259201192042,1.50779260334e-05,1793242987790815232
+103,1.716666667,BASELINE,765.80119649,744.19880351,714.80119649,679,659,635,878.80119649,787.19880351,805,652,631,652,0.400973137872,-0.0153843753416,0.0598460110441,0.99999994633,0.000200391338491,-0.000258736002209,1.54619182276e-05,1793242987807481856
+104,1.733333333,BASELINE,765.616310783,744.383689217,714.616310783,679,659,635,879,787,805,652,631,652,0.40097302347,-0.015385337587,0.0598460535174,0.999999946409,0.00019970713431,-0.000258929772496,1.59493893114e-05,1793242987824148480
+105,1.750000000,BASELINE,765.030567738,744.969432262,714.030567738,679,659,635,879,787,805,652,631,652,0.400972702667,-0.0153865374263,0.0598459272563,0.999999946464,0.000198685137717,-0.000259470556442,1.64913532465e-05,1793242987840815616
+106,1.766666667,BASELINE,765,744.450499266,714,679.549500734,659,635,879,787,805,652,631,652,0.400974019622,-0.0153845239249,0.0598459569647,0.999999945947,0.000201969378495,-0.000258971575987,1.57815000931e-05,1793242987857482240
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,652,631,652,0.400973507916,-0.0153832585672,0.0598462695828,0.999999945925,0.000203304654601,-0.000258045870797,1.51578442896e-05,1793242987899288832
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.424743172,714.575256828,679,659,635,878.424743172,787.424743172,805,652,631,652,0.400974223876,-0.0153834194045,0.0598463543346,0.999999945671,0.000204483935249,-0.000258077328044,1.54993745398e-05,1793242987915955456
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.154138427,744.154138427,714.845861573,679.154138427,659,635,878.154138427,787,804.845861573,652,631,652,0.400974356577,-0.0153837630897,0.0598461449098,0.999999945516,0.000204773917187,-0.000258434004977,1.57032809251e-05,1793242987932622080
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+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,787,804.905780187,652,631,652,0.400972159999,-0.0153829173057,0.0598451345673,0.999999945348,0.000203360001764,-0.000260221434445,1.53114005907e-05,1793242987982623232
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.483870222,679.516129778,659,635,879,787,805,652,631,652,0.400972855408,-0.0153823964471,0.0598457884253,0.999999945484,0.000203908581425,-0.000259275874715,1.51159500224e-05,1793242987999289088
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765.790247921,744.790247921,714,679.790247921,659,635,878,787,805,652,631,652,0.400979509102,-0.015383178143,0.0598492510109,0.999999946948,0.00020266302267,-0.000254536980444,1.55838625618e-05,1793242988049288704
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.194418432,744.194418432,714,679.194418432,659,635,878,787,805,652,631,652,0.400988043527,-0.0153855599335,0.0598532664261,0.999999948628,0.000201573902905,-0.000248697616067,1.61750613076e-05,1793242988065955328
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.388907918,744.388907918,714,679.388907918,659,635,878.388907918,787,805,652,631,652,0.401014180652,-0.0153869227251,0.0598639463225,0.999999953079,0.000201708361465,-0.000229918187401,1.71398294749e-05,1793242988082621952
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.966178579,744.966178579,714,679.966178579,659,635,878.966178579,787,805,652,631,652,0.401048843428,-0.0153877919773,0.0598778540782,0.999999958357,0.000202435444864,-0.00020487139789,1.82855314182e-05,1793242988099288832
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765.11601037,744.88398963,714,680,659.11601037,635,878.11601037,787,805,652,631,652,0.401171357448,-0.015396412068,0.0599156715752,0.999999970845,0.000197176532295,-0.000137668896583,2.18882211469e-05,1793242988132622080
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.691537435,744.308462565,714,680,659.691537435,635,878.691537435,787,805,652,631,652,0.40124500934,-0.015399953804,0.05992806758,0.999999972681,0.000198086124057,-0.000121981933627,2.28222323742e-05,1793242988149288960
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.275745521,714,679.724254479,659.724254479,635,879,787,805,652,631,652,0.401325043309,-0.0154037455441,0.0599380179361,0.999999974539,0.000197497155642,-0.000106665414505,2.32171268466e-05,1793242988165955584
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,804.548762535,652,631.451237465,652,0.40150586778,-0.0154125141116,0.059944891697,0.999999976807,0.000193901549807,-9.10804204663e-05,2.22131521043e-05,1793242988199288832
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+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.601067891,679,659,635,879.601067891,787,804.601067891,652,631.398932109,652,0.401723435724,-0.0154249937782,0.059939964281,0.999999977472,0.000188557078941,-9.54203781375e-05,1.99512844217e-05,1793242988232622080
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.178486175,659,635,879.821513825,787,805.178486175,652,631,652,0.40185658644,-0.0154322463215,0.0599392689098,0.999999978382,0.000184943499435,-9.31859681265e-05,1.86642883574e-05,1793242988249288704
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765.679069969,744.320930031,714,679,659,635,878.320930031,787.320930031,804.679069969,652,631,652,0.405832844682,-0.0154983816222,0.0599306143809,0.999999994933,4.572803039e-05,-8.75336671226e-05,-1.9501045972e-05,1793242988482622208
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.101652251,744.898347749,714,679,659,635,878.898347749,787.898347749,804.101652251,652,631,652,0.40634057923,-0.0155096981666,0.0599615900156,0.999999998694,3.24595312075e-05,-3.41098973716e-05,-1.98608328803e-05,1793242988499288832
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.474879826,659,635,879,787.525120174,804.474879826,652,631,652,0.406854074736,-0.0155138585732,0.0599832311981,0.999999999621,1.70306221582e-05,-6.06023525644e-07,-2.16264361433e-05,1793242988515955456
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.051031589,679.948968411,659,635,879,787,805,652,631,652,0.40736768273,-0.0155160473888,0.0600005778945,0.999999999421,7.64419901924e-07,2.42074206991e-05,-2.39082923414e-05,1793242988532621824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.625224758,679.374775242,659,635,879,787,805,652,631,652,0.407869825535,-0.015513698717,0.0599943447951,0.999999999403,-1.93533553429e-05,3.56130962745e-06,-2.84033490482e-05,1793242988549288704
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205158203,745,714.794841797,679.205158203,659,635,879,787,805,652,631,652,0.408391754684,-0.0155120156792,0.0599859638882,0.999999998792,-3.08880117094e-05,-1.88779167449e-05,-3.32359604069e-05,1793242988565955840
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.795879576,745,714.204120424,679.795879576,659,635,879,787,805,652,631,652,0.408950869179,-0.0155115835979,0.0599735465088,0.999999997907,-2.62920199791e-05,-4.46870252648e-05,-3.87029533765e-05,1793242988582622976
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714.37906089,680,659,635,879,787,805,652,631,652,0.40955410629,-0.0155136577119,0.0599741077799,0.999999996992,-4.58186668266e-05,-4.51071172757e-05,-4.33798130144e-05,1793242988599289344
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.958261129,680,659,635,879,787,805,652,631,652,0.410180639565,-0.0155170550653,0.0599815216144,0.999999995301,-7.80817614038e-05,-3.21221293067e-05,-4.76394920546e-05,1793242988615955200
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.533016128,635,879,787,805,652,631,652,0.41084679709,-0.0155242859376,0.0599921362623,0.999999994629,-9.00960997083e-05,-6.403844394e-06,-5.082592896e-05,1793242988632621824
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.890155705,680,660,635,879,787,805,652,631,652,0.411511264305,-0.0155298794059,0.0599981330135,0.999999994357,-9.22544292974e-05,9.75249791189e-06,-5.17663683325e-05,1793242988649288704
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714.302814919,680,660,635,879,787,805,652,631,652,0.412155006861,-0.0155270608793,0.0599829750704,0.999999997158,-5.84041099652e-05,-1.99558220318e-05,-4.33057003079e-05,1793242988665955328
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.717455876,714,680,660,635,879,787,805.282544124,652,631,652,0.412811334618,-0.0155176214442,0.0599547130897,0.999999996505,-9.2515858116e-06,-7.49446882693e-05,-3.58785189924e-05,1793242988682622208
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.134205889,714,680,660,635,879,787,805.865794111,652,631,652,0.413481056625,-0.0155011355128,0.0599125047513,0.999999985686,5.61867625261e-05,-0.000156839119957,-2.95512549086e-05,1793242988699288832
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.441968749,714.441968749,680,659.558031251,635,879.441968749,787,806,652,631,652,0.414238426652,-0.0155027303571,0.0599195786268,0.999999988435,4.64138000415e-05,-0.000141471446264,-3.10083981259e-05,1793242988715955712
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714.983964336,679.983964336,659.016035664,635,879.983964336,787,806,652,631,652,0.415023329576,-0.0155099162746,0.0599420461572,0.999999994682,1.45584792574e-05,-9.60483389189e-05,-3.46357614845e-05,1793242988732622592
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714.409656429,679.409656429,659.590343571,635,879.409656429,787,806,652,631,652,0.415854799104,-0.0155236218542,0.0599876538609,0.999999999323,-3.50833239844e-06,-1.62740691269e-05,-3.2821395491e-05,1793242988749289728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679.169263956,660,635,879.169263956,787,806,652,631,652,0.416670182181,-0.0155329366766,0.060018326373,0.999999998731,-1.63569080147e-05,3.53018470077e-05,-3.20164584754e-05,1793242988765956352
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679.759660251,660,635,879.759660251,787,806,652,631,652,0.417445541773,-0.0155313272004,0.0600118398064,0.99999999916,-1.6222399837e-05,1.67196517382e-05,-3.37230028948e-05,1793242988782622464
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,631.343427777,652,0.418260507493,-0.015529459401,0.0599985785743,0.999999999202,-1.58907510896e-05,-3.91200345707e-06,-3.64444748113e-05,1793242988799288832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,631.922644139,652,0.419102665718,-0.0155274142436,0.0599806660333,0.99999999875,-1.54237507532e-05,-2.59507637992e-05,-3.98627694882e-05,1793242988815955456
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.501433903,745,714,680,660,635,879.501433903,787,806,652,631.501433903,652,0.419920797752,-0.0155286325787,0.0599568412721,0.999999997059,-2.19051724598e-05,-5.93632936142e-05,-4.33308139254e-05,1793242988832622080
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075541873,745,714,680,660,635,879,787,805.924458127,652,631,652,0.420729382331,-0.0155296638431,0.0599305605253,0.999999993509,-2.83772458914e-05,-9.98904455585e-05,-4.68844361036e-05,1793242988849288704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.663101893,745,714,680,660,635,879,787,805.336898107,652,631,652,0.421498355568,-0.0155260176552,0.059893809998,0.999999982701,-2.75266662463e-05,-0.000176757429407,-5.0966121943e-05,1793242988865955328
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.247184954,651.752815046,631,652,0.422342144311,-0.0155262686491,0.0598871347492,0.999999979904,-2.89655969218e-05,-0.000191239802457,-5.2731455681e-05,1793242988882621952
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.826594946,651.173405054,631,652,0.423286487762,-0.0155317575881,0.059920881699,0.999999990693,-3.34817077824e-05,-0.000121875134769,-5.13835336326e-05,1793242988899288832
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.403907769,631,652,0.424246173011,-0.0155377170223,0.0599717083747,0.999999997266,-3.96051547639e-05,-4.06062264352e-05,-4.74296947014e-05,1793242988915955456
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.980324855,631,652,0.425212410697,-0.015543877405,0.0600298298125,0.999999996979,-4.6415095756e-05,4.57469881713e-05,-4.23628665217e-05,1793242988932622080
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.444452267,714,680,660,634.444452267,879.555547733,787,805.444452267,651.444452267,631,652,0.426113130307,-0.0155448732858,0.0600294780093,0.999999996421,-4.75474524181e-05,5.48896158735e-05,-4.34114149907e-05,1793242988949288704
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866062244,744.133937756,714,680.133937756,660,634.133937756,879.866062244,787,805,651,631.133937756,652,0.427002950886,-0.0155456128046,0.0600224532816,0.999999996339,-5.003370023e-05,5.28144214035e-05,-4.50364512055e-05,1793242988965955584
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.276761066,744.723238934,714,680.723238934,660,634.723238934,879.276761066,787,805,651,631.723238934,652,0.427863588655,-0.0155461012482,0.0599997673385,0.999999996943,-5.78050801168e-05,2.18774733395e-05,-4.78866836309e-05,1793242988982622720
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.308737152,745,714,680.691262848,660.308737152,635,879.308737152,787,805.308737152,651,631.691262848,652,0.428714065956,-0.0155441780735,0.0599727007086,0.99999999706,-5.38024979102e-05,-2.12466637301e-05,-5.03354442589e-05,1793242988999289600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.890867737,745,714,680.109132263,660.890867737,635,879.890867737,787,805.890867737,651,631.109132263,652,0.429555545897,-0.0155401193585,0.059941754887,0.999999995026,-3.93738168675e-05,-7.51628188238e-05,-5.2428692681e-05,1793242989015955712
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532715742,745,714,680,660.532715742,635,880,787.467284258,806,651.467284258,631,652,0.430453751672,-0.0155405577,0.0599327733246,0.999999993547,-5.0006195695e-05,-8.61352019131e-05,-5.4649116579e-05,1793242989032622336
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.042323595,745,714,680,660,635,880,787.957676405,806,651.957676405,631,652,0.431367036606,-0.0155422845871,0.0599326534891,0.999999992994,-6.49638033827e-05,-8.12300478148e-05,-5.65115606569e-05,1793242989049289216
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61662321,745,714,680,660,635,880,787.38337679,806,651.38337679,631,652,0.432305347639,-0.0155471659133,0.059980221858,0.99999999667,-6.16083742249e-05,-1.294485215e-06,-5.35056498234e-05,1793242989065955584
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.196486226,635,879.803513774,787,806,651,631,652,0.433209967593,-0.015550236744,0.0600101509213,0.999999995682,-6.14228570874e-05,4.67634069907e-05,-5.172906362e-05,1793242989082621952
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.787520769,635,879.212479231,787,806,651,631,652,0.434046935345,-0.0155496720642,0.0600046599106,0.999999995866,-6.76025874359e-05,3.0810306817e-05,-5.24209861543e-05,1793242989099288576
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680.371018242,661,635,879.371018242,787,806,651,631,652,0.434882903226,-0.0155512254608,0.0599816768606,0.99999999583,-7.24139245878e-05,-8.18910544079e-06,-5.50399250621e-05,1793242989115955200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680.950285199,661,635,879.950285199,787,806,651,631,652,0.43571830984,-0.015553967712,0.0599488757095,0.999999993544,-7.6457196217e-05,-6.01241741885e-05,-5.87404782425e-05,1793242989132621824
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680.474871414,661,635,880,787,806,651,631,652,0.436543310308,-0.0155509456116,0.0599345559003,0.999999991366,-7.87221573771e-05,-8.59632501133e-05,-6.06775002136e-05,1793242989149288704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.898207691,745,714,680,661,635,879.898207691,787,806,651,631,652,0.437353603741,-0.0155469157575,0.0599205890052,0.999999988386,-7.99529336965e-05,-0.000113684734872,-6.2539137575e-05,1793242989165955584
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.310880373,745,714,680,661,635,879.310880373,787,806,651,631,652,0.438098406519,-0.0155406603273,0.0599000295458,0.999999981797,-7.70471182196e-05,-0.000162070788475,-6.48309073661e-05,1793242989182622208
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.273394928,745,714.273394928,680,661,635,879.273394928,787,806,651,631,652,0.438890308676,-0.0155391553491,0.0599064333828,0.999999982875,-7.63363967879e-05,-0.000155690298197,-6.46847128333e-05,1793242989199288832
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.854238021,745,714.854238021,680,661,635,879.854238021,787,806,651,631,652,0.439735176717,-0.0155429925252,0.0599431589833,0.999999991194,-7.80941837134e-05,-8.77217068514e-05,-6.17968883303e-05,1793242989215955456
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714.568114183,680.431885817,661,635,880,787,806,651,631,652,0.440545168104,-0.0155483277094,0.0599827703576,0.999999994439,-8.30706192667e-05,-2.8867443085e-05,-5.82027226197e-05,1793242989232622080
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991554295,745,714,681,661,634.991554295,880,787.008445705,806,651.008445705,631,652,0.441342290227,-0.0155541189692,0.0600223803904,0.999999994225,-8.90643194452e-05,2.55778068064e-05,-5.44389109534e-05,1793242989249288704
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.416166332,745,714,681,661,634.416166332,880,787.583833668,806,651.583833668,631,652,0.442059874921,-0.0155568363465,0.0599970009635,0.999999994281,-9.09594910372e-05,-1.09696647559e-05,-5.51723094504e-05,1793242989265955072
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.163355303,745,714,681,661,634.163355303,880.163355303,787.836644697,806.163355303,651.836644697,631,652,0.44276295019,-0.0155580166857,0.0599733066403,0.999999993129,-9.26631701808e-05,-4.38580048929e-05,-5.68448338733e-05,1793242989282621952
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.753681475,745,714,681,661,634.753681475,880.753681475,787.246318525,806.753681475,651.246318525,631,652,0.44342810152,-0.0155551795838,0.0599540167607,0.999999991479,-9.38663354808e-05,-6.71822770267e-05,-6.09720044278e-05,1793242989299289088
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.662811478,634.662811478,880.662811478,787.337188522,806.662811478,651,631,652,0.444092788876,-0.0155562806477,0.0599535527237,0.999999990654,-0.000101981079731,-6.62610971642e-05,-6.24658173677e-05,1793242989315955712
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.084187137,634.084187137,880.084187137,787.915812863,806.084187137,651,631,652,0.444757143975,-0.0155602015418,0.0599665684844,0.999999990305,-0.000115044695552,-4.79795368854e-05,-6.20740769902e-05,1793242989332622336
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.492332311,634.492332311,880,787.507667689,806,651.492332311,631.492332311,652,0.445366148715,-0.0155592009362,0.0599622173816,0.999999989804,-0.000109381001765,-6.63741177158e-05,-6.3415399343e-05,1793242989349288704
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787,806,651.93011981,631.93011981,652,0.445962222625,-0.0155574565041,0.0599538859074,0.999999988502,-0.00010322147935,-8.99408317944e-05,-6.52068829966e-05,1793242989365955328
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787,806,651.342292851,631.342292851,652,0.446532307372,-0.0155564099076,0.0599379695166,0.99999998526,-0.000117021119649,-0.000105557052337,-6.8147772122e-05,1793242989382621952
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.758971706,787,806,651,631,652,0.447101183237,-0.0155576225107,0.0599357530617,0.999999984303,-0.00012732656807,-0.000101432376924,-6.99556263837e-05,1793242989399288576
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.181932049,787,806,651,631,652,0.447668373783,-0.0155619846063,0.0599526353375,0.999999986289,-0.000132760852033,-6.97874234754e-05,-7.01839455404e-05,1793242989415955200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.605232918,744.605232918,714,681,660.605232918,634.605232918,879,787,806,651,631.394767082,652,0.448196725753,-0.0155655169131,0.0599669334701,0.999999987102,-0.000136519036943,-4.64520560201e-05,-7.07129967565e-05,1793242989432622080
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.028690536,744.028690536,714,681,660.028690536,634.028690536,879,787,806,651,631.971309464,652,0.448707194079,-0.015568667134,0.0599800417041,0.999999987359,-0.000139505442155,-2.6942935629e-05,-7.1380523722e-05,1793242989449288960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.129601683,714,681.870398317,660.129601683,634,880.870398317,787,806.129601683,651,631,652,0.449510788729,-0.0155643778948,0.0599062157366,0.999999972945,-0.000157755771294,-0.000151240269161,-7.96848504699e-05,1793242989482621952
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.719655285,714,681.280344715,660.719655285,634,880.280344715,787,806.719655285,651,631,652,0.449885626383,-0.0155641803934,0.0598673669349,0.999999960159,-0.000170348393642,-0.0002089673751,-8.36400956404e-05,1793242989499288576
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.116481287,714,681,661,634,880,786.116481287,806.116481287,651,631,652,0.450638373429,-0.0155673691314,0.0598400596286,0.999999958498,-0.000147383228318,-0.000234253598179,-8.00438287274e-05,1793242989532621568
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.459043721,745.459043721,714,681,660.540956279,634,880.459043721,786,806.459043721,651,631,652,0.450984100319,-0.0155706036881,0.0598466427668,0.999999967371,-0.000102706709768,-0.000224453557368,-6.58091497049e-05,1793242989549288448
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.966468984,745.966468984,714,681,660.033531016,634.033531016,881,786,806.966468984,651,631,652,0.451320067435,-0.0155739704565,0.059856027213,0.999999974613,-5.52951458735e-05,-0.000212651545703,-4.99625850972e-05,1793242989565955072
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.392986325,745.392986325,714,681,660.607013675,634.607013675,881,786,806.392986325,651,631,652,0.451624988479,-0.0155750825582,0.059860332109,0.999999975847,-6.79450948979e-05,-0.000202631627198,-5.12878621319e-05,1793242989582621696
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.186994975,745,714,681,660.813005025,634.813005025,880.813005025,785.813005025,806,651,630.813005025,651.813005025,0.451917530792,-0.0155759833806,0.0598649527171,0.999999976208,-8.46467484522e-05,-0.000194032328382,-5.26404741238e-05,1793242989599288832
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.094970618,745,714,681,660,633,880,784.905029382,806,651,630,652,0.452991756645,-0.015585345688,0.0598457962908,0.99999996318,-0.000135755452384,-0.000226915320578,-6.09961294869e-05,1793242989682621696
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,744.38712649,714,681,660.38712649,633,880,784,807,651.38712649,630,652,0.454087041815,-0.0155826668368,0.0597996397202,0.999999940076,-0.000149090657626,-0.000305745603359,-6.43465650061e-05,1793242990674315008
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744,714,679.968788667,659,635,879,787,805,652,631,652,0.400972874121,-0.0153809822177,0.0598387415088,0.999999944334,0.000197331068648,-0.000268751895589,1.28289324225e-05,1793242992724315392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744,714,679.392818829,659,635,879,787,805,652,631,652,0.400974117094,-0.0153819659288,0.0598403428655,0.999999945184,0.00019635965315,-0.000266281275215,1.30186073344e-05,1793242992740981760
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.248265212,744,714,679,659,635,878.248265212,787,805,652,631,652,0.400974838522,-0.0153807857693,0.059842422909,0.999999945086,0.000199448178906,-0.000264346106349,1.30395592938e-05,1793242992774315264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.334874467,714,679.334874467,659,635,878.334874467,787,805.334874467,652,631,652,0.400974213572,-0.0153805731446,0.0598421718002,0.999999944852,0.000199915305892,-0.000264877896148,1.29834192059e-05,1793242992790981888
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.510202237,744.489797763,714,679.489797763,659,635,879,787,805.489797763,652,631,652,0.400973422066,-0.0153821951971,0.0598412141649,0.999999945221,0.000196585473939,-0.000265970839815,1.3088386013e-05,1793242992824315392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.909836524,744.090163476,714,679,659,635,879,787.090163476,805,652,631,652,0.400973816937,-0.015383126414,0.0598414248837,0.999999945669,0.000194601819137,-0.000265736737878,1.32425182992e-05,1793242992840982016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.334753753,744.665246247,714,679,659,635,879,787.665246247,805,652,631,652,0.400974088782,-0.0153839827635,0.0598416108249,0.999999946177,0.000192953690329,-0.000265023648688,1.3335543833e-05,1793242992857648640
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.239971741,744.760028259,714,679,659,635,879,787.760028259,805,652,631,652,0.400974272909,-0.0153839746429,0.059841953882,0.999999946334,0.00019325389957,-0.000264208581758,1.33695683886e-05,1793242992874315264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.814199669,744.185800331,714,679,659,635,879,787.185800331,805,652,631,652,0.400974334854,-0.0153827624035,0.0598425157858,0.999999946,0.000196267944979,-0.000263251470124,1.33214106065e-05,1793242992890981888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.599800609,744,714,679.400199391,659,635,879,787,804.599800609,652,631,652,0.400974628124,-0.015383028033,0.0598429258079,0.999999946068,0.000196581211194,-0.000262759089035,1.32861383821e-05,1793242992907648512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.008170005,744,714,679.991829995,659,635,879,787,804.008170005,652,631,652,0.400975032046,-0.0153840005857,0.0598432631789,0.999999946332,0.000195602587619,-0.000262489007023,1.32570298331e-05,1793242992924315136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.569238231,714,679.430761769,659,635,879,787,804.569238231,652,631,652,0.400975805877,-0.0153821452441,0.0598439303071,0.999999946308,0.000197216437376,-0.00026139156503,1.27837202938e-05,1793242992940981760
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e50c4ab922cbf69add157298a31a27e4efa17e5d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+4,0.066666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_05/fem_node.csv
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e37c01fe62d5577a25d101c8f6d23804b27dde70
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_05/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,766,745,714,680,660,635,879,787,805,652,631,652,0.400974151415,-0.0153839510249,0.0598429246331,0.999999946842,0.000194556769214,-0.000261304879827,1.35376381357e-05,1793242993068310272
+1,0.016666667,BASELINE,766,744.424760545,714,679.424760545,659.424760545,635,879,787,805,652,631,652,0.400971568254,-0.0153834862037,0.0598424036491,0.999999946219,0.00019451263268,-0.000263735225495,1.30763799197e-05,1793242993084976896
+2,0.033333333,BASELINE,765.845883175,744,714.154116825,679,658.845883175,634.845883175,879,787,805,652,631,652,0.400970175915,-0.015383592233,0.0598421368858,0.999999946007,0.000193860590795,-0.000265030335908,1.2787461957e-05,1793242993101643520
+3,0.050000000,BASELINE,765.256736841,744,714.743263159,679,658.256736841,634.256736841,879,787,805,652,631,652,0.400972144937,-0.0153853096161,0.0598425877177,0.999999946965,0.0001914925989,-0.000263120989244,1.2985013136e-05,1793242993118310144
+4,0.066666667,BASELINE,765,744,714.671694007,679,658.328305993,634.328305993,879,787.328305993,805,652,631,652,0.400973505698,-0.0153856284338,0.059843017198,0.999999947317,0.000190899233286,-0.00026220489518,1.31182584337e-05,1793242993134976768
+5,0.083333333,BASELINE,765,744,714.089820551,679,658.910179449,634.910179449,879,787.910179449,805,652,631,652,0.400974396669,-0.015384867068,0.0598434301874,0.999999947206,0.000191676502204,-0.000262055940873,1.32018370077e-05,1793242993151643648
+6,0.100000000,BASELINE,765.484415815,744.484415815,714,679,659,635,879,787.515584185,805,652,631,652,0.400973264902,-0.0153852672556,0.0598430471516,0.999999946812,0.00019229621036,-0.000263107181338,1.31345816445e-05,1793242993168310016
+7,0.116666667,BASELINE,766,745,714,679,659,635,879,787,805,652,631,652,0.400972074345,-0.0153856838987,0.0598426551938,0.999999946413,0.000193031870041,-0.00026408930703,1.30304392246e-05,1793242993184976640
+8,0.133333333,BASELINE,766,745,714,679,659,635,879,787,805,652,631,652,0.400973679202,-0.0153843394526,0.0598434913356,0.999999946444,0.000195070607959,-0.000262476305367,1.28420729749e-05,1793242993201643520
+9,0.150000000,BASELINE,765.786028066,745,714,679,659,635,879,787,805,652,631,652,0.400974777632,-0.0153836709408,0.0598441561423,0.999999946725,0.000195612839303,-0.000261000349163,1.27953463087e-05,1793242993218310144
+10,0.166666667,BASELINE,765.189942261,745,714,679,659,635,879,787,805,652,631,652,0.400974971677,-0.0153842095214,0.0598445149763,0.999999947458,0.000193482589465,-0.0002597691307,1.30015614787e-05,1793242993234976768
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+12,0.200000000,BASELINE,765.966965993,745,714,679,659,635,879,787,805,652,631,652,0.400974675498,-0.015383794934,0.0598450320525,0.999999947075,0.00019479977076,-0.000260257691722,1.30370179864e-05,1793242993268310016
+13,0.216666667,BASELINE,766,744.458271368,714,679.541728632,659,635,879,787,805.541728632,652,631,652,0.400974273515,-0.0153840954029,0.0598443208788,0.999999947102,0.000193423963671,-0.000261189337722,1.27894329348e-05,1793242993284976896
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+16,0.266666667,BASELINE,765.296699716,744.703300284,714.703300284,680,659,635.703300284,879,787,805,652,631,652,0.400973032083,-0.0153849299328,0.0598436208644,0.999999946535,0.000194445795424,-0.000262590277645,1.2894432555e-05,1793242993334976768
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+18,0.300000000,BASELINE,765.551067554,744.448932446,714,680,659,635,879,787.448932446,805,652,631,652,0.400973582098,-0.0153834994001,0.0598443553183,0.999999946916,0.000193908834042,-0.000261537667983,1.28343002979e-05,1793242993368309760
+19,0.316666667,BASELINE,765,745,714,680,659,635,879,788,805,652,631,652,0.400973651817,-0.0153831995229,0.0598441340309,0.99999994692,0.00019386029169,-0.000261564011923,1.27265134554e-05,1793242993384976640
+20,0.333333333,BASELINE,765,745,714,680,659,635,879,788,805,652,631,652,0.400973299075,-0.0153834185035,0.0598440196028,0.999999946802,0.000194000158219,-0.000261917554132,1.2618678354e-05,1793242993401643264
+21,0.350000000,BASELINE,765,745,714,680,659,635,879,787.820149133,805,652,631,652,0.400973497905,-0.015383689874,0.0598443105989,0.999999946824,0.000194446103292,-0.000261499092096,1.26894250614e-05,1793242993418310144
+22,0.366666667,BASELINE,765,745,714,680,659,635,879,787.225988684,805,652,631,652,0.40097496735,-0.0153840819313,0.0598455355418,0.999999947165,0.000195597139606,-0.000259302219038,1.31715579273e-05,1793242993434976768
+23,0.383333333,BASELINE,765,745,714,679.645715908,659,635,878.645715908,787,805,652,631,652,0.400974841698,-0.0153838548979,0.0598453157341,0.999999946972,0.000196576756448,-0.000259308442258,1.31075493845e-05,1793242993451643648
+24,0.400000000,BASELINE,765,745,714,679.073967512,659,635,878.073967512,787,805,652,631,652,0.400973736955,-0.0153832478583,0.0598442091193,0.999999946452,0.000197451153842,-0.000260666955157,1.27083120037e-05,1793242993468310272
+25,0.416666667,BASELINE,765,744.488598131,714,679,659,635,878.511401869,787,805,651.488598131,631,652,0.400973454699,-0.0153825310074,0.0598437512581,0.999999946398,0.00019720350834,-0.000261071391218,1.25043464601e-05,1793242993484976896
+26,0.433333333,BASELINE,765,744,714,679,659,635,878.902757832,787,805,651.097242168,631,651.902757832,0.400973332167,-0.0153822805946,0.059843590046,0.999999946539,0.000196405936105,-0.000261137566522,1.24231935561e-05,1793242993501643264
+27,0.450000000,BASELINE,765,744,714,679,659,635,878.324598209,787,805,651.675401791,631,651.324598209,0.400973395133,-0.0153844176803,0.059844419172,0.999999947295,0.000193713236565,-0.000260231987042,1.28059163516e-05,1793242993518310144
+28,0.466666667,BASELINE,765.254534145,744.254534145,714,679.254534145,659,635,878.254534145,787,805.254534145,652,631,651.50906829,0.40097328161,-0.0153855242152,0.0598448502963,0.99999994755,0.000192566625693,-0.000260099980431,1.29262119651e-05,1793242993534977024
+29,0.483333333,BASELINE,765.834911711,744.834911711,714,679.834911711,659,635,878.834911711,787,805.834911711,652,631,652.669823422,0.400972942154,-0.0153853114841,0.0598447719163,0.999999947168,0.000193399249721,-0.000260958267849,1.2710559815e-05,1793242993551643648
+30,0.500000000,BASELINE,766,745,714,679.588330356,659,635,879,787,805.588330356,652,631,652.588330356,0.400973326051,-0.0153849686836,0.0598449164952,0.999999947032,0.000194319509392,-0.000260787423742,1.28607605634e-05,1793242993568310272
+31,0.516666667,BASELINE,766,745,714,679.013011334,659,635,879,787,805.013011334,652,631,652.013011334,0.4009739975,-0.0153845741773,0.0598451497061,0.999999946993,0.000195274606487,-0.000260207473098,1.31563973477e-05,1793242993584977152
+32,0.533333333,BASELINE,766,745,714,679,659,635,878.437066929,787.562933071,805,652,631.562933071,652,0.40097315812,-0.0153854032387,0.0598447724058,0.99999994756,0.000192394952433,-0.000260183235014,1.30160133621e-05,1793242993601643776
+33,0.550000000,BASELINE,765.857538355,744.857538355,714,679,659,635,878.142461645,787.857538355,805,652,631.857538355,652,0.400972922555,-0.015385797247,0.0598446656652,0.999999947948,0.000190764664567,-0.000259894610749,1.29159381749e-05,1793242993618310400
+34,0.566666667,BASELINE,765.266776723,744.266776723,714,679,659,635,878.733223277,787.266776723,805,652,631.266776723,652,0.400974697092,-0.0153847331309,0.0598454547793,0.999999947753,0.000193345123507,-0.000258733548939,1.29744559065e-05,1793242993634977024
+35,0.583333333,BASELINE,765.31663347,744.31663347,714,679,659,635,879,787,805,652,631,651.68336653,0.400974374267,-0.0153838108866,0.0598451114729,0.999999947426,0.000194309077578,-0.000259292405616,1.26472574814e-05,1793242993651643648
+36,0.600000000,BASELINE,765.89399038,744.89399038,714,679,659,635,879,787,805,652,631,651.10600962,0.400972324426,-0.0153830054629,0.0598438357049,0.999999946991,0.000193941963834,-0.000261267483469,1.20024513146e-05,1793242993668310016
+37,0.616666667,BASELINE,766,745,714,679.470280218,659,635,879,787.470280218,805,652,631,651.470280218,0.400972432166,-0.0153837100828,0.0598437552745,0.999999947115,0.000193374931799,-0.000261202730166,1.22213862934e-05,1793242993684976640
+38,0.633333333,BASELINE,766,745,714.045815947,680,659,635,879,788,805,652,631,652,0.400973021049,-0.015384636061,0.059843980911,0.99999994735,0.000192958003235,-0.000260592210484,1.25983940868e-05,1793242993701643520
+39,0.650000000,BASELINE,766,745,714.61547389,680,659,635,879,788,805,652,631,652,0.400973562901,-0.0153842098767,0.0598446321783,0.999999947416,0.000194771391328,-0.000258987049106,1.25616288097e-05,1793242993718310400
+40,0.666666667,BASELINE,766,745,714.804986224,680,659,635,879,788,805,652,631,652,0.400974006078,-0.0153842999554,0.0598450068615,0.999999947552,0.000195212807711,-0.000258125715871,1.25964177032e-05,1793242993734977024
+41,0.683333333,BASELINE,766,745,714.204921186,680,659,635,879,788,805,652,631,652,0.400974244302,-0.0153854623325,0.0598448070688,0.99999994784,0.000192804584932,-0.000258809342962,1.27798274176e-05,1793242993751643392
+42,0.700000000,BASELINE,765.620971359,744.620971359,714,679.620971359,659,635,879,787.620971359,805,652,631,652,0.400973510459,-0.0153852669359,0.059844185808,0.999999947478,0.000193027428201,-0.000260044846371,1.27049922027e-05,1793242993768310016
+43,0.716666667,BASELINE,765.045378881,744.045378881,714,679.045378881,659,635,879,787.045378881,805,652,631,652,0.400972272504,-0.0153843673993,0.0598433459745,0.999999946776,0.000194614739511,-0.000261566552212,1.24962314452e-05,1793242993784976640
+44,0.733333333,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400974217615,-0.0153851502278,0.0598450495248,0.999999947418,0.000194788403951,-0.000258946569626,1.29633323696e-05,1793242993801643264
+45,0.750000000,BASELINE,765,744,714,679,659,635,878.892761214,787,805,652,631,651.892761214,0.400976137982,-0.0153858641011,0.0598466120059,0.999999948081,0.000194529533515,-0.000256553443044,1.32727054823e-05,1793242993818309888
+46,0.766666667,BASELINE,765,744,714,679,659,635,878.299895607,787,805,652,631,651.299895607,0.400976712625,-0.0153856136732,0.0598465499124,0.999999948352,0.000192859836691,-0.000256792833556,1.26058681055e-05,1793242993834976768
+47,0.783333333,BASELINE,765.285424168,744.285424168,714,679,659,635,878.285424168,787.285424168,805,652,631,651.285424168,0.400976602094,-0.0153861401574,0.0598469587469,0.999999948626,0.000191761045505,-0.000256546577809,1.26233321875e-05,1793242993851643648
+48,0.800000000,BASELINE,765.863019802,744.863019802,714,679,659,635,878.863019802,787.863019802,805,652,631,651.863019802,0.400975790195,-0.0153874619197,0.0598478496419,0.999999948906,0.000191246655706,-0.000255803195372,1.33412742259e-05,1793242993868310016
+49,0.816666667,BASELINE,765.562039578,745,714,679.437960422,659,635,879.437960422,787.562039578,805,652,631,652,0.400975114311,-0.0153873461106,0.0598471495517,0.999999948546,0.000191776077515,-0.000256809216009,1.33734173446e-05,1793242993884976640
+50,0.833333333,BASELINE,765.012446012,744.987553988,714.012446012,679.987553988,659.012446012,635,879.975107976,787,805,652,631,652,0.400974488014,-0.0153867682461,0.0598459728051,0.999999947991,0.000192636184123,-0.000258329831024,1.31945887529e-05,1793242993901643264
+51,0.850000000,BASELINE,765.604171573,744.395828427,714.604171573,679.395828427,659.604171573,635,878.791656854,787,805,652,631,652,0.400974201557,-0.0153854858134,0.0598456317483,0.99999994773,0.000193783963375,-0.000258488279822,1.31196472323e-05,1793242993918310144
+52,0.866666667,BASELINE,766,744.191750331,714.808249669,679,659.808249669,635,878.191750331,787.191750331,805,652,631,652,0.400974214895,-0.0153842434743,0.0598455376544,0.999999947495,0.000194999709516,-0.000258485401741,1.30586494914e-05,1793242993934976768
+53,0.883333333,BASELINE,766,744.770950051,714.229049949,679,659.229049949,635,878.770950051,787.770950051,805,652,631,652,0.400974833999,-0.0153830821484,0.0598459425723,0.999999947316,0.000196352789014,-0.000258156547678,1.30258264595e-05,1793242993951643648
+54,0.900000000,BASELINE,766,744.652861845,714,679,659,635,879,788,805.347138155,652,631,652,0.400975111767,-0.0153831024439,0.0598457879907,0.999999947352,0.000196114390141,-0.000258202306333,1.29207593657e-05,1793242993968310272
+55,0.916666667,BASELINE,766,744.07864381,714,679,659,635,879,788,805.92135619,652,631,652,0.40097516625,-0.0153838956951,0.0598452674134,0.999999947529,0.000194834928129,-0.000258493117325,1.27684339329e-05,1793242993984976896
+56,0.933333333,BASELINE,766,744.497206331,714,679,659,635,879,787.502793669,806,652,631,652,0.400975814232,-0.0153838856895,0.0598458778671,0.999999947646,0.000195635823737,-0.000257435658393,1.27277913819e-05,1793242994001643776
+57,0.950000000,BASELINE,766,745,714,679,659,635,879,787.075288235,805.924711765,652,631,652,0.400976267997,-0.0153838711543,0.0598464552553,0.999999947765,0.000196249926395,-0.000256505232583,1.27003317079e-05,1793242994018310400
+58,0.966666667,BASELINE,766,745,714,679,659,635,879,787.666898945,805.333101055,652,631,652,0.400974743927,-0.0153846997422,0.0598455749768,0.999999947974,0.000193318953994,-0.000257913319284,1.26417346804e-05,1793242994034976768
+59,0.983333333,BASELINE,766,745,714.251974155,679.251974155,659,635,879,787.748025845,805,652,631,652,0.40097405659,-0.0153857907185,0.0598455020749,0.999999948195,0.000191477556132,-0.00025842068738,1.28572268829e-05,1793242994051643392
+60,1.000000000,BASELINE,766,745,714.828628165,679.828628165,659,635,879,787.171371835,805,652,631,652,0.400974447419,-0.0153872197938,0.0598464695133,0.99999994844,0.000191040122912,-0.000257767439861,1.3425895187e-05,1793242994068310016
+61,1.016666667,BASELINE,766,744.594805614,714.594805614,679.594805614,659,635,879,787,805,652,631,652,0.400975008867,-0.0153862986276,0.0598462843146,0.999999948406,0.000191438948805,-0.000257608350681,1.33329693168e-05,1793242994084976640
+62,1.033333333,BASELINE,766,744.018276549,714.018276549,679.018276549,659,635,879,787,805,652,631,652,0.40097564246,-0.015384383672,0.0598456117283,0.999999948253,0.00019219138324,-0.000257658214236,1.29602912023e-05,1793242994101643520
+63,1.050000000,BASELINE,766,744.569823975,714,679,659,635,879,787,805,652,631,652,0.400975361124,-0.0153849661421,0.0598459741847,0.9999999482,0.000192369692227,-0.000257728192455,1.30419491909e-05,1793242994118310144
+64,1.066666667,BASELINE,766,745,714,679,659,635,879,787.155897716,805,652,631.155897716,652,0.400975041685,-0.01538535077,0.0598460633717,0.9999999481,0.000192629808232,-0.00025792093411,1.30383409023e-05,1793242994134977024
+65,1.083333333,BASELINE,766,745,714,679,659,635,879,787.73543436,805,652,631.73543436,652,0.400974700102,-0.0153849755952,0.0598453178891,0.999999947865,0.000193163305041,-0.000258445485573,1.27626086237e-05,1793242994151643648
+66,1.100000000,BASELINE,766,745,714,679.312575578,659,635,879,787.687424422,805,652,631.687424422,652,0.400974128966,-0.0153842806631,0.0598447597896,0.999999947511,0.000194082875429,-0.000259137532122,1.25829716591e-05,1793242994168310272
+67,1.116666667,BASELINE,766,745,714,679.887704687,659,635,879,787.112295313,805,652,631.112295313,652,0.400973365014,-0.015383317145,0.059844359086,0.999999947054,0.000195326735298,-0.000259970269181,1.24840517109e-05,1793242994184976896
+68,1.133333333,BASELINE,765.537397118,745,714,680,659.462602882,635,879,787.462602882,805,652,631,652,0.400974743075,-0.0153841354802,0.0598457974935,0.999999947786,0.000194680346223,-0.000257610827202,1.28017960928e-05,1793242994201643520
+69,1.150000000,BASELINE,765,744.961417269,714,679.961417269,659.961417269,635,879,787.961417269,805,652,631,652,0.400976511901,-0.015385329144,0.0598475601584,0.999999948745,0.00019354128661,-0.000254710916179,1.31873666803e-05,1793242994218310144
+70,1.166666667,BASELINE,765,744.369110509,714,679.369110509,659.369110509,635,879,787.369110509,805,652,631,652,0.400976430197,-0.0153857048451,0.0598475725267,0.999999948943,0.000191913587582,-0.000255169788967,1.30954989676e-05,1793242994234976512
+71,1.183333333,BASELINE,765,744.217669399,714,679,659,635,879,787.217669399,805,652,631,652,0.400976408052,-0.0153857876261,0.0598475877108,0.999999948891,0.000191748011464,-0.000255498709394,1.31013190957e-05,1793242994251643392
+72,1.200000000,BASELINE,765,744.795309374,714,679,659,635,879,787.795309374,805,652,631,652,0.400976484404,-0.0153853859908,0.0598476075514,0.999999948425,0.000194000419559,-0.000255612721293,1.32686903895e-05,1793242994268310272
+73,1.216666667,BASELINE,765.370715334,744.629284666,714,679.370715334,659,635,879,788,805,652,631,652,0.400975546955,-0.0153847225793,0.0598467954284,0.999999948026,0.000194398689054,-0.000256868405138,1.3224078033e-05,1793242994284977152
+74,1.233333333,BASELINE,765.944895135,744.055104865,714,679.944895135,659,635,879,788,805,652,631,652,0.400974053088,-0.0153839154938,0.059845526688,0.999999947664,0.000193779327663,-0.000258750687482,1.30631199514e-05,1793242994301644032
+75,1.250000000,BASELINE,766,744.522537733,714,679.477462267,659,635,879,788,805,652,631,652,0.400975077593,-0.0153839926013,0.059846173121,0.999999947707,0.000195008012257,-0.000257667408109,1.28782466492e-05,1793242994318310400
+76,1.266666667,BASELINE,766,745,714.102817374,679.102817374,659,635,878.897182626,787.897182626,805,652,631,652,0.400976048103,-0.0153842887224,0.0598468251896,0.999999947769,0.000196098574372,-0.000256601426091,1.2750288094e-05,1793242994334977024
+77,1.283333333,BASELINE,766,745,714.693873638,679.693873638,659,635,878.306126362,787.306126362,805,652,631,652,0.400975492675,-0.0153851791215,0.0598465385599,0.999999947733,0.000195601628247,-0.000257112553192,1.29046509972e-05,1793242994351643648
+78,1.300000000,BASELINE,765.722234194,745,714.722234194,679.722234194,659,635,878.277765806,787,805,652,631,652,0.400975495886,-0.0153859898831,0.0598465042939,0.999999948125,0.000193562563285,-0.000257134718952,1.28794304721e-05,1793242994368310272
+79,1.316666667,BASELINE,765.146039108,745,714.146039108,679.146039108,659,635,878.853960892,787,805,652,631,652,0.400976099293,-0.0153867150831,0.0598467411654,0.999999948965,0.000189866658659,-0.000256631548667,1.26612669903e-05,1793242994384976896
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400976255401,-0.0153866968382,0.0598469128619,0.999999949049,0.000189807616561,-0.000256336556227,1.28792655257e-05,1793242994401643264
+81,1.350000000,BASELINE,765.005088344,745,714,679,659,635,878.994911656,787,805,652,631,652,0.400976258565,-0.0153864229988,0.0598470578081,0.999999948877,0.000190980616811,-0.000256118573092,1.32405604066e-05,1793242994418309888
+82,1.366666667,BASELINE,765.595378011,745,714,679,659,635,878.404621989,787,805,652,631,652,0.40097613698,-0.0153857819477,0.0598466710377,0.999999948583,0.000191845127688,-0.000256628866381,1.30519023709e-05,1793242994434976768
+83,1.383333333,BASELINE,766,745,714,679.182116639,659,635,878.182116639,787.182116639,805,652,631,652,0.400975357858,-0.0153855621477,0.0598462800979,0.999999948223,0.000192736082673,-0.000257365745508,1.303862336e-05,1793242994451643904
+84,1.400000000,BASELINE,766,745,714,679.76111667,659,635,878.76111667,787.76111667,805,652,631,652,0.400973145775,-0.0153862603723,0.0598458800719,0.999999947717,0.000193684666978,-0.000258596419019,1.34075445469e-05,1793242994468310528
+85,1.416666667,BASELINE,766,744.662639807,714,679.662639807,659,635,879,787.662639807,805,652,631,651.662639807,0.400973039371,-0.015386477795,0.0598461226464,0.999999947822,0.000193467276983,-0.000258350999781,1.34288918644e-05,1793242994484976896
+86,1.433333333,BASELINE,766,744.08833237,714,679.08833237,659,635,879,787.08833237,805,652,631,651.08833237,0.400974411905,-0.0153863575229,0.0598468165558,0.999999948356,0.000192430956893,-0.000257068836611,1.32061182709e-05,1793242994501643520
+87,1.450000000,BASELINE,765.513988674,744.486011326,714,679.486011326,659,635,878.513988674,787,805.486011326,652,631,651.486011326,0.400974812135,-0.0153858902197,0.059846710522,0.999999948381,0.000192233385718,-0.000257124512502,1.30569402374e-05,1793242994518310144
+88,1.466666667,BASELINE,765.06237305,744.93762695,714.06237305,679.93762695,659,635,878.06237305,787.06237305,806,652,631,652,0.400974973072,-0.0153853638474,0.0598464668285,0.999999948265,0.000192482818871,-0.000257395122454,1.2948489188e-05,1793242994534976768
+89,1.483333333,BASELINE,765.655862511,744.344137489,714.655862511,679.344137489,659,635,878.655862511,787.655862511,806,652,631,652,0.400974601272,-0.0153848716079,0.0598462890478,0.999999947721,0.000195240397608,-0.000257425300012,1.30729279047e-05,1793242994551643648
+90,1.500000000,BASELINE,766,744,714.756422995,679,659,635,879,787.756422995,805.756422995,652,631,652,0.400974474668,-0.0153853474324,0.0598460556972,0.999999947685,0.00019514454925,-0.000257636495351,1.31147152606e-05,1793242994568310272
+91,1.516666667,BASELINE,766,744,714.17667874,679,659,635,879,787.17667874,805.17667874,652,631,652,0.400974686467,-0.0153871593082,0.0598457456531,0.999999948346,0.000191110608304,-0.000258097518254,1.30424332144e-05,1793242994584976896
+92,1.533333333,BASELINE,765.599790816,744.400209184,714,679,659,635,879,787.400209184,805,652,631,652,0.400975128568,-0.0153869085061,0.0598461125649,0.999999948561,0.000190753116705,-0.000257534780961,1.29478524913e-05,1793242994601643520
+93,1.550000000,BASELINE,765.024154881,744.975845119,714,679,659,635,879,787.975845119,805,652,631,652,0.40097567162,-0.0153857535547,0.059846776212,0.999999948582,0.000192007150912,-0.000256523291075,1.28434974123e-05,1793242994618310400
+94,1.566666667,BASELINE,765,745,714,679,659,635,879,787.447291909,804.447291909,652,631,652,0.400975973777,-0.0153849436766,0.0598471756131,0.999999948476,0.000193328676444,-0.000255941414252,1.28964044174e-05,1793242994634977024
+95,1.583333333,BASELINE,765,745,714.132458236,679.132458236,659,635,879.132458236,787,804.132458236,652,631,652,0.400976022246,-0.0153842114459,0.0598473072589,0.999999948307,0.000194384381959,-0.000255801732375,1.28898413345e-05,1793242994651643392
+96,1.600000000,BASELINE,765,745,714.721985759,679.721985759,659,635,879.721985759,787,804.721985759,652,631,652,0.400975231731,-0.0153836949965,0.0598465549085,0.999999947946,0.000194512630829,-0.00025712298651,1.26542983082e-05,1793242994668310016
+97,1.616666667,BASELINE,765.304980932,744.695019068,714.695019068,679.695019068,659,634.695019068,879.695019068,787,805,652,631,652,0.400975761918,-0.0153843369364,0.0598467080221,0.999999948094,0.000194125158035,-0.000256843289226,1.26422068812e-05,1793242994684976896
+98,1.633333333,BASELINE,765.882146186,744.117853814,714.117853814,679.117853814,659,634.117853814,879.117853814,787,805,652,631,652,0.400977470783,-0.0153860126965,0.0598476692293,0.999999948693,0.000193277422517,-0.000255134801297,1.28295378453e-05,1793242994701643520
+99,1.650000000,BASELINE,765.54257976,744,714,679,659,634.45742024,879,787.45742024,805,652,631,652,0.400976678471,-0.0153852194605,0.0598472925365,0.999999948489,0.000193223438783,-0.000255977255954,1.27669579925e-05,1793242994718310144
+100,1.666666667,BASELINE,765,744.033075829,714,679,659,635,879,788,805,652,631,652,0.400975347334,-0.0153839864281,0.0598466661565,0.999999948119,0.000193359063008,-0.000257321225937,1.26868248323e-05,1793242994734976512
+101,1.683333333,BASELINE,765,744.623333203,714,679,659,635,879,788,805,652,631,652,0.400975750395,-0.0153860166946,0.0598476165537,0.999999948446,0.000193257851196,-0.000256087384642,1.33912040612e-05,1793242994751643136
+102,1.700000000,BASELINE,765,744.790395159,714,679.209604841,659,635,879,787.790395159,805,652.209604841,631,652,0.400975806942,-0.0153867325904,0.0598479554605,0.999999948439,0.000194076235559,-0.000255474784986,1.37310451845e-05,1793242994768310016
+103,1.716666667,BASELINE,765,744.211152427,714,679.788847573,659,635,879,787.211152427,805,652.788847573,631,652,0.400975252413,-0.0153851305949,0.0598472160049,0.999999947843,0.000196516326716,-0.000255957744369,1.34280237086e-05,1793242994784976640
+104,1.733333333,BASELINE,765,744.365530408,714,679.634469592,659,635,879,787,805,652.634469592,631.365530408,652,0.400975903084,-0.0153845137162,0.0598473666888,0.999999947889,0.000196850592249,-0.000255528035505,1.33063254499e-05,1793242994801643264
+105,1.750000000,BASELINE,765,744.940744828,714,679.059255172,659,635,879,787,805,652.059255172,631.940744828,652,0.400977245111,-0.0153844619427,0.059848027995,0.999999948304,0.000195976865578,-0.000254574780804,1.32886419834e-05,1793242994818309888
+106,1.766666667,BASELINE,765,744.48420748,714,679,659,635,878.48420748,787,805,652,631.48420748,652,0.400976756654,-0.0153852487408,0.0598472543379,0.999999948501,0.000193694748097,-0.000255564872472,1.2953900237e-05,1793242994834976768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,788,805,652,631,652,0.400975173504,-0.0153867387209,0.0598472287137,0.999999949158,0.000189594277677,-0.000256074899826,1.27675754559e-05,1793242994877159424
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.577962238,744.422037762,714,679.422037762,659,635,879,788,805.577962238,652,631,652,0.400976227776,-0.0153871121762,0.0598477016949,0.9999999491,0.000190735322197,-0.000255447719724,1.29062676308e-05,1793242994893825792
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844708106,744.155291894,714,679,659,635,879.155291894,787.844708106,805.844708106,652,631,652,0.400976515347,-0.0153870433981,0.0598476523823,0.999999948839,0.000191946526323,-0.000255561458843,1.29435655604e-05,1793242994910492672
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.269090521,744.730909479,714,679,659,635,879.730909479,787.269090521,805.269090521,652,631,652,0.400974727701,-0.0153857776351,0.0598461893872,0.999999948028,0.000193347630415,-0.000257680630152,1.27064215947e-05,1793242994927160576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.313320009,745,714,679,659,635,879.686679991,787,805.313320009,652,631,652,0.400974984016,-0.0153860488322,0.0598463972065,0.999999948283,0.000193116882471,-0.000256855916268,1.28045044962e-05,1793242994943827200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.901693818,745,714,679,659,635,879.098306182,787,805.901693818,652,631,652,0.400977034659,-0.0153876692783,0.0598480717813,0.999999949468,0.000191453582777,-0.000253446857871,1.31968725538e-05,1793242994960492800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517534795,745,714,679,659,635,879,787,805.517534795,652,630.517534795,652,0.400976146308,-0.015386629975,0.0598477152268,0.999999949193,0.00019151642784,-0.000254500813176,1.28370225509e-05,1793242994977159168
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.061324122,658.938675878,635,879.061324122,787,805,652,630.061324122,652,0.400974803042,-0.0153851948448,0.0598469860673,0.999999948636,0.000191878059267,-0.000256432239573,1.238709288e-05,1793242994993826048
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.636933801,658.363066199,635,879.636933801,787,805,652,630.636933801,652,0.400974588916,-0.0153849146088,0.0598465490359,0.999999948184,0.000191841562163,-0.000258214415362,1.24471635641e-05,1793242995010492928
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.787102237,714,679.787102237,658,635,879.787102237,787,804.787102237,652,631,652,0.4009776876,-0.0153848797096,0.059847709327,0.999999948465,0.000192186059975,-0.000256857719324,1.26128599082e-05,1793242995027159808
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.210533149,714,679.210533149,658,635,879.210533149,787,804.210533149,652,631,652,0.400986445215,-0.0153852638937,0.0598515981599,0.999999949972,0.000193181372173,-0.000250139211565,1.29589856849e-05,1793242995043826176
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.374542762,744,714,679.374542762,658.374542762,635,878.625457238,787.374542762,804.749085525,652,631,652,0.401013559066,-0.0153878527831,0.0598632578243,0.999999955279,0.000191190560134,-0.00022953634613,1.41752508817e-05,1793242995060492800
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.964511605,744,714,679.964511605,658.964511605,635,878.035488395,787.964511605,805.92902321,652,631,652,0.401051230888,-0.0153917097546,0.0598793870448,0.999999962109,0.000187482216436,-0.000200947602056,1.58919949349e-05,1793242995077159424
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.455636458,744,714,680,659,635,878,787.455636458,805.455636458,652,631,652,0.40111185445,-0.0153947685472,0.0598991189019,0.999999968381,0.000188869770867,-0.000165045679501,1.80828774001e-05,1793242995093826048
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.122445199,744,714,679.877554801,659,635,878.122445199,787,805,652,631,652,0.401175490815,-0.0153979594596,0.0599172144597,0.999999972864,0.000189717530446,-0.000133726614958,1.99318732874e-05,1793242995110492672
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.696386991,744,714,679.303613009,659,635,878.696386991,787,805,652,631,652,0.401244819797,-0.0154018259134,0.0599284262142,0.999999974913,0.000187372251983,-0.000121031991801,2.04083222917e-05,1793242995127159296
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722748159,744.277251841,714,679,659.277251841,635,879,787,804.722748159,652,631,652,0.401320420474,-0.0154057499736,0.0599368467866,0.999999976485,0.000186158361636,-0.000109292181639,2.07456943722e-05,1793242995143825920
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.134107883,744.865892117,714,679,659.865892117,635,879,787,804.134107883,652,631,652,0.401403065042,-0.015409738733,0.0599421325125,0.99999997758,0.000186215161555,-9.86247464536e-05,2.09268656749e-05,1793242995160492544
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447508634,744.552491366,714.447508634,679.447508634,659.552491366,635,879,787,804.895017267,652.447508634,631,652,0.401496445513,-0.0154143341576,0.0599411251284,0.99999997805,0.000184347444164,-9.75996155633e-05,1.97478064128e-05,1793242995177159680
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.026891922,715,680.026891922,659,635,879,787,805.973108078,652.973108078,631,652,0.401594397818,-0.0154191834717,0.0599383611851,0.999999978357,0.000181926039816,-9.92933119333e-05,1.81785101974e-05,1793242995193826304
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.602989442,715,680.602989442,659,635,879,787,805.397010558,652.397010558,631,652,0.401721028744,-0.0154255623554,0.0599376435276,0.999999978853,0.000179793285715,-9.84118226796e-05,1.68357704414e-05,1793242995210492928
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.820600873,714.820600873,680.641201746,659,635,879,787,804.820600873,652,631,652,0.401858051281,-0.0154319802467,0.0599385479449,0.999999979679,0.000177663575954,-9.39987485973e-05,1.55218923826e-05,1793242995227159552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.243499236,714.243499236,679.486998472,659,635,879,787,804.243499236,652,631,652,0.402018110535,-0.0154384846117,0.0599430482731,0.999999981149,0.000175540615337,-8.17566501839e-05,1.42719968043e-05,1793242995243826176
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635.340302099,879,787.340302099,804.680604198,652,631,652,0.402194840863,-0.0154469895177,0.0599476452509,0.999999982869,0.00017100287469,-6.96167923343e-05,1.31483419897e-05,1793242995260492544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635.928993662,879,787.928993662,805.857987323,652,631,652,0.40238373957,-0.0154569546368,0.0599523127745,0.999999984707,0.000164702564853,-5.75515594871e-05,1.21168312764e-05,1793242995277159168
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.50942079,714,679.50942079,659,635.49057921,879,787.49057921,806,652,631,652,0.402600189764,-0.0154677879951,0.0599516596617,0.999999985882,0.000158695705271,-5.42843396262e-05,1.02885793055e-05,1793242995293826048
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.911752356,744.911752356,714,679.911752356,659,635,878.911752356,787,805.911752356,652,631,652,0.402826162266,-0.015478497448,0.0599502812401,0.999999986959,0.000152507228622,-5.24998992966e-05,8.20630216696e-06,1793242995310492928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.33550615,744.33550615,714,679.33550615,659,635,878.33550615,787,805.33550615,652,631,652,0.403083894661,-0.0154878631776,0.0599489275703,0.999999988095,0.000145091852228,-5.22418882533e-05,5.32361248082e-06,1793242995327159552
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.239540919,744,714,679,659,635,878.239540919,787.239540919,805,652,631,652,0.403350540602,-0.0154965378018,0.0599456440484,0.999999988668,0.000139786517646,-5.58335549056e-05,2.3573778485e-06,1793242995343826432
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.812916783,744,714,679,659,635,878.812916783,787.812916783,805,652,631,652,0.403629608844,-0.0155042492698,0.0599396709984,0.999999988458,0.000137421832222,-6.47903047135e-05,-7.25288587031e-07,1793242995360492800
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.399053844,714.399053844,679,659,635,879,787.600946156,805,652,631,652,0.403923841703,-0.0155020000509,0.0599294044848,0.999999988626,0.000126311136486,-8.23140284017e-05,-4.27184132748e-06,1793242995377159424
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.991371192,714.991371192,679,659,635,879,787.008628808,805,652,631,652,0.404225418843,-0.0154949268281,0.0599170586285,0.999999988404,0.0001109647101,-0.000103986774311,-8.04305612109e-06,1793242995393826048
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.430610565,745,714.430610565,679.569389435,659,635,879,787,805,652,631,652,0.404578385952,-0.015481616952,0.0599093369297,0.999999990149,7.282414221e-05,-0.000119176568107,-1.39627181709e-05,1793242995410492672
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.146679056,745,714,680,659,635,879,787,805,652,631,652,0.404952083224,-0.0154753663836,0.0599059644664,0.999999990846,4.37902064003e-05,-0.000126646130224,-1.8749004115e-05,1793242995427159296
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.722455448,745,714,680,659,635,879,787,805,652,631,652,0.405384202324,-0.0154900369501,0.0599151153483,0.999999992648,4.23827511677e-05,-0.000111811165833,-2.01267776662e-05,1793242995443826688
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.695153245,745,714,680,659,635,879,787,805,652,631,652,0.405836870375,-0.0155010254429,0.0599330161731,0.99999999578,3.5489986682e-05,-8.19741708748e-05,-2.14793597652e-05,1793242995460493568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.106605808,745,714,680,659,635,879,787,805,652,631,652,0.406308662024,-0.0155085872752,0.0599590599914,0.999999998735,2.34924080108e-05,-3.81757779719e-05,-2.28084979777e-05,1793242995477159680
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.474408882,745,714,679.525591118,659.474408882,635,879,787,805,652,631,652,0.406816066168,-0.0155133843504,0.0599822511237,0.999999999684,6.8222070921e-06,-2.04461901838e-06,-2.40974455691e-05,1793242995493826048
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.946642625,744.946642625,714,679.053357375,659.946642625,635,878.946642625,787,805,652,631,652,0.40733054611,-0.0155165332336,0.0600020577816,0.999999999247,-1.05741521158e-05,2.70718678389e-05,-2.57275452364e-05,1793242995510492672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.371604101,744.371604101,714,679.628395899,659.371604101,635,878.371604101,787,805,652,631,652,0.407837187977,-0.0155095469089,0.0599949435773,0.999999999206,-2.49647557353e-05,4.18708549226e-06,-3.07800491907e-05,1793242995527159552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202439997,744.202439997,714,680.202439997,659,635,878.202439997,787,804.797560003,652,631,652,0.408362243159,-0.015506223509,0.059986147991,0.999999998595,-3.37688054173e-05,-1.93903098291e-05,-3.59766001779e-05,1793242995543826176
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.774667591,744.774667591,714,680.774667591,659,635,878.774667591,787,804.225332409,652,631,652,0.408920933045,-0.0155095910014,0.0599742811039,0.999999997639,-3.23681595792e-05,-4.42328672347e-05,-4.14362748056e-05,1793242995560492800
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.639146939,745,714,680.639146939,659.360853061,635,878.639146939,787,804.360853061,652,631,652,0.409515393791,-0.0155131030503,0.0599739355893,0.999999996494,-5.25549080742e-05,-4.63910541242e-05,-4.57927525361e-05,1793242995577159424
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.043894886,745,714,680.043894886,659.956105114,635,878.043894886,787,804.956105114,652,631,652,0.410133090159,-0.0155167089986,0.0599810740024,0.999999994442,-8.67641604868e-05,-3.3814174291e-05,-4.94326274223e-05,1793242995593826560
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.534347961,744.465652039,714.534347961,679.465652039,659.465652039,635,878.534347961,787,805,652,631,652,0.410793036834,-0.0155220258726,0.059990148166,0.999999994012,-9.49759754528e-05,-1.0487438703e-05,-5.33467057527e-05,1793242995610493184
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,714.888679351,679.111320649,659,635,879,787,805,651.888679351,631,652,0.411456643563,-0.01552610582,0.0599948225332,0.999999993766,-9.68130409835e-05,3.46347065166e-06,-5.55280556685e-05,1793242995627159552
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,714.31135524,679.68864476,659,635,879,787,805,651.31135524,631,652,0.412121490901,-0.0155244376248,0.0599804336239,0.999999995158,-8.06286597906e-05,-2.54167062048e-05,-5.0364583077e-05,1793242995643826176
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744,714,680,659,635,879,787,805,651.26363272,631,652,0.412784578866,-0.0155163753404,0.0599543093784,0.999999995797,-3.04033098068e-05,-7.58299730427e-05,-4.16083888244e-05,1793242995660492800
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659,635,879,787,805,651.835885949,631,652,0.413445607317,-0.0155008278427,0.05991444721,0.999999986341,5.96719564835e-05,-0.000151450862291,-2.86463893259e-05,1793242995677159424
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.424753937,714,680,659.424753937,635,879,787,805,651.575246063,631,652,0.41419004566,-0.0154990482412,0.0599166147841,0.999999987062,6.2802868023e-05,-0.000145334679906,-2.84533293698e-05,1793242995693825792
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.980338984,745,714,679.980338984,660,635,879.019661016,787,805,651.019661016,631,652,0.414969966711,-0.0155031895796,0.0599367871939,0.999999993494,3.11584028421e-05,-0.000104594095534,-3.31925196625e-05,1793242995710492672
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.403613996,745,714,679.403613996,660,635,879.596386004,787,805,651.596386004,631,652,0.415804950239,-0.0155182343446,0.0599882551453,0.999999999371,4.76186622335e-06,-1.40526826806e-05,-3.22032478106e-05,1793242995727159552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.173133793,744.826866207,714,679,660,635,879.826866207,787,805,652,631,652,0.416628124259,-0.0155291146125,0.0600226958078,0.999999998406,-1.41248150327e-05,4.43185743614e-05,-3.19904204769e-05,1793242995743826432
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.749934712,744.250065288,714,679,660,635,879.250065288,787,805,652,631,652,0.417423763974,-0.0155302852175,0.0600174367838,0.999999998933,-1.55020202353e-05,2.76840510369e-05,-3.35878996563e-05,1793242995760493056
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744,714,679.333472289,660,635,879,787,805.333472289,652,631,652,0.418232118185,-0.0155296168489,0.0600033153467,0.999999999194,-1.6842691307e-05,4.2662582007e-06,-3.61872303366e-05,1793242995777159680
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,714,679.922165702,660,635,879,787,805.922165702,652,631,652,0.419050203329,-0.0155275410324,0.0599824111124,0.999999998757,-1.81554011172e-05,-2.43430707226e-05,-3.95533222896e-05,1793242995793826048
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497262593,744,714,680,660,635,879.502737407,787,805.497262593,651.497262593,631,652,0.419876289516,-0.0155284365764,0.0599596048456,0.999999997273,-2.22799125894e-05,-5.60238396641e-05,-4.26373016782e-05,1793242995810492672
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.08117624,744.08117624,714,680,660,635,879.91882376,787,805,651,631,652,0.420697498576,-0.0155288705695,0.0599345749184,0.999999994174,-2.56176874098e-05,-9.43191169828e-05,-4.58262381371e-05,1793242995827159552
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.654189397,744.654189397,714,680,660,635,879.345810603,787,805,651,631,652,0.42148177138,-0.0155237651351,0.059897827934,0.999999984096,-2.15930654302e-05,-0.00016985554586,-4.99115215535e-05,1793242995843826176
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77172152,745,714,680,660.22827848,635,879.22827848,787,805,651.22827848,631,651.77172152,0.422328658854,-0.0155228385445,0.0598892883642,0.999999980883,-2.09860139188e-05,-0.000187401220069,-5.17211764853e-05,1793242995860492800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.195994752,745,714,680,660.804005248,635,879.804005248,787,805,651.804005248,631,651.195994752,0.42327084829,-0.015528272308,0.0599236815169,0.999999991612,-2.55806305072e-05,-0.000116682833209,-5.0067241502e-05,1793242995877159424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.608439911,714,680,660.608439911,635,880,787,805.391560089,651.608439911,631.391560089,651.391560089,0.424222597904,-0.0155349141621,0.0599730381117,0.999999997699,-3.30241946366e-05,-3.67273319488e-05,-4.65023307749e-05,1793242995893826048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.014780169,714,680,660.014780169,635,880,787,805.985219831,651.014780169,631.985219831,651.985219831,0.425179281849,-0.0155421795592,0.060030117929,0.999999997089,-4.19382128815e-05,4.79958053484e-05,-4.19510897639e-05,1793242995910492928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.563084879,744.563084879,714,680,660,635,880,787,806,651,631.436915121,652,0.426086021414,-0.0155439615601,0.0600282323652,0.999999996602,-4.47104782689e-05,5.39934174149e-05,-4.33748077044e-05,1793242995927159808
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86027522,745,714,680,660,635,880,787,806,651,631,652,0.426983981402,-0.0155449595277,0.060020283009,0.999999996583,-4.85089122757e-05,4.93553367364e-05,-4.522254975e-05,1793242995943826176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.286190292,745,714,680,660,635,880,787,806,651,631,652,0.4278586126,-0.0155439554119,0.0599981634449,0.999999997125,-5.59848634365e-05,1.79028588525e-05,-4.79142036348e-05,1793242995960492544
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.296170092,745,714,680,660,635,880,787,806,651,631.296170092,652,0.428721733041,-0.0155415152793,0.059972334167,0.99999999715,-5.13866935563e-05,-2.29110387788e-05,-5.03433498375e-05,1793242995977159168
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.886756906,745,714,680,660,635,880,787,806,651,631.886756906,652,0.42957341082,-0.0155376476314,0.0599428171389,0.999999995349,-3.47858826529e-05,-7.3030933295e-05,-5.25115422143e-05,1793242995993826304
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631.531534209,652,0.430460845239,-0.0155380657867,0.0599319059719,0.999999993709,-4.48076493662e-05,-8.70134788969e-05,-5.47977690664e-05,1793242996010493184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.047677783,680.047677783,660.047677783,635,880,787,806,651.047677783,631,652,0.431361391901,-0.0155398767098,0.0599301353647,0.999999993008,-5.96792085162e-05,-8.49270704393e-05,-5.6654169723e-05,1793242996027159552
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.622568694,680.622568694,660.622568694,635,880,787,806,651.622568694,631,652,0.432313129885,-0.0155458456145,0.0599806305164,0.99999999687,-5.8339521053e-05,4.75082167455e-08,-5.34479786616e-05,1793242996043826432
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.8023088,745,714.8023088,681,660.8023088,635,880,787,806,651.8023088,631,652,0.433231745847,-0.0155500259621,0.0600122012888,0.999999995614,-5.95179315521e-05,5.08391600319e-05,-5.14220681246e-05,1793242996060493056
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.226743514,745,714.226743514,681,660.226743514,635,880,787,806,651.226743514,631,652,0.434087051346,-0.0155507875983,0.0600075993294,0.999999995862,-6.55095256688e-05,3.62923484799e-05,-5.16521883587e-05,1793242996077159424
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.358510977,744.641489023,714,680.641489023,660.358510977,635,880,787.358510977,806,651,631,652,0.43493626104,-0.0155520670758,0.0599842914794,0.999999996093,-6.98492313046e-05,-4.00433172397e-06,-5.40260346739e-05,1793242996093825792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.950063675,744.049936325,714,680.049936325,660.950063675,635,880,787.950063675,806,651,631,652,0.435781508246,-0.0155536831639,0.0599488243004,0.999999993794,-7.31151647206e-05,-6.10391142376e-05,-5.77933601162e-05,1793242996110492672
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.530044079,714,680,661,635,880,787.469955921,806,651.530044079,631,652,0.436593742961,-0.0155477612794,0.0599299328273,0.999999990916,-7.55464120547e-05,-9.31764462723e-05,-6.14778705548e-05,1793242996127159296
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.108114975,787.108114975,806.108114975,652,631,652,0.437396107853,-0.0155417486313,0.059912554223,0.999999987073,-7.66112534583e-05,-0.000125762986651,-6.45579519712e-05,1793242996143825920
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.682551728,787.682551728,806.682551728,652,631,652,0.438169030298,-0.0155383421399,0.059895109241,0.999999980801,-7.21144404655e-05,-0.000170188063024,-6.50639417791e-05,1793242996160493056
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.744176634,745,714,680.255823366,661,635,880.744176634,787.744176634,807,652,631,652,0.438977508346,-0.0155392188486,0.0599056581544,0.999999982835,-7.18177384291e-05,-0.000158395257724,-6.39039659598e-05,1793242996177159680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.172344259,745,714,680.827655741,661,635,880.172344259,787.172344259,807,652,631,652,0.439829906838,-0.0155453864338,0.059950786878,0.99999999224,-7.67092760425e-05,-7.71586080976e-05,-6.06860850675e-05,1793242996193826048
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.414385493,745,714.414385493,680.585614507,661,635,880,787,807,651.585614507,631,652,0.440654647082,-0.0155492709591,0.0599896567,0.999999994773,-8.25774431459e-05,-1.78773073437e-05,-5.75758130638e-05,1793242996210492928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.007363872,661,635,880,787.007363872,806.992636128,651.007363872,631.007363872,652,0.441466191873,-0.015552155396,0.0600250295909,0.999999994096,-8.87667002168e-05,3.08437813693e-05,-5.45662743008e-05,1793242996227159552
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.586494958,661,635,880,787.586494958,806.413505042,651.586494958,631.586494958,652,0.442179640014,-0.0155538637117,0.0599985377667,0.999999994633,-8.71727578145e-05,-4.94380413005e-06,-5.57736055343e-05,1793242996243825920
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787.835358752,806,652,631.835358752,652,0.442885977893,-0.0155553577038,0.0599747503873,0.999999993865,-8.73205279935e-05,-3.64624322898e-05,-5.75870977334e-05,1793242996260492544
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787.259671001,806,652,631.259671001,652,0.443574564307,-0.015556316612,0.0599577149713,0.999999992287,-9.18166911646e-05,-5.73231070047e-05,-6.09139434415e-05,1793242996277159168
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.67774218,745,714.67774218,681,661,635,880,787,806.32225782,651.67774218,631,652,0.444249408161,-0.0155577538546,0.0599583945991,0.999999991623,-9.92690085393e-05,-5.50612556829e-05,-6.21919559108e-05,1793242996293826048
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.090685105,745,714.090685105,681,661,635,880,787,806.909314895,651.090685105,631,652,0.444912959714,-0.0155595841447,0.0599736306798,0.999999991563,-0.000109150397571,-3.37996231976e-05,-6.17864418758e-05,1793242996310492672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.510090068,660.510090068,635,880,787,806.510090068,651,631,652,0.445533725579,-0.0155574537394,0.0599609917135,0.999999990438,-0.000102925329005,-6.67210501197e-05,-6.3869924891e-05,1793242996327159296
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.068881449,745,714,680,660.068881449,635,880,787,806,651.068881449,631,652,0.446143490824,-0.015554715583,0.0599441243624,0.999999987494,-9.77277257157e-05,-0.000105056878372,-6.65219527636e-05,1793242996343825920
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.644593863,745,714,680,660.644593863,635,880,787,806,651.644593863,631,652,0.446729829245,-0.0155528298637,0.0599336163318,0.999999984045,-0.000121741812927,-0.000110394795841,-7.00114371864e-05,1793242996360492800
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.220405538,661,635,880,787.220405538,806,651.779594462,631,652,0.447317076339,-0.0155543228222,0.0599376589331,0.999999983632,-0.000135367810488,-9.64136218983e-05,-7.15304289703e-05,1793242996377159168
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.796377288,661,635,880,787.796377288,806,651.203622712,631,652,0.447905789282,-0.0155612663864,0.0599651751425,0.999999987502,-0.00013223536251,-5.1266188171e-05,-6.98705501527e-05,1793242996393826048
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.618292595,787.618292595,806,651,631,652,0.448433645237,-0.0155629404084,0.0599748074161,0.999999988369,-0.000130262382378,-3.63628701381e-05,-7.05148662106e-05,1793242996410492928
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.027844707,787.027844707,806,651,631,652,0.448928221,-0.0155617327295,0.0599746596845,0.999999988345,-0.00012892346855,-3.79988427481e-05,-7.24192540008e-05,1793242996427159552
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.871706923,634.871706923,881,786,806,651,631,652,0.449760382689,-0.0155619752671,0.0598869224878,0.999999968948,-0.000154852433025,-0.000178027860734,-8.01965280061e-05,1793242996460492800
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.293761901,634.293761901,881,786,806,651,631,652,0.450151598052,-0.0155625122205,0.0598530326072,0.999999958802,-0.00015679881681,-0.000225996885733,-8.20753667876e-05,1793242996477159168
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.281895343,634,880.718104657,786,806,651,631,652,0.450543061504,-0.0155657100732,0.0598383130469,0.999999959326,-0.00012802163391,-0.000244141878807,-7.31625567196e-05,1793242996493826048
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.855187662,634,880.144812338,786,806,651,631,652,0.450934781381,-0.015571658514,0.0598434099686,0.999999969527,-6.7485308072e-05,-0.000231457580694,-5.3094351665e-05,1793242996510492672
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680.557410451,660.557410451,634,880,786,806.442589549,651,631,652,0.451297036021,-0.0155731225139,0.0598527558189,0.999999974239,-5.76451119852e-05,-0.000214075216582,-4.86994002641e-05,1793242996527159296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.966061795,745,714,680.067876409,660.033938205,634,880,785.966061795,807,651.033938205,631,652,0.451647570652,-0.0155731350526,0.0598631544076,0.999999977446,-6.54058105926e-05,-0.000195865647932,-4.9666428028e-05,1793242996543825920
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.387891497,745,714,681.224217006,660.612108503,634,880,785.387891497,807,651.612108503,631,652,0.451969854583,-0.0155741760498,0.059867407025,0.99999997739,-8.06592680052e-05,-0.000189852862644,-5.16746342756e-05,1793242996560492544
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.810195383,661,634,880,785.189804617,807,651.810195383,631,651.810195383,0.452271674656,-0.0155762153132,0.0598684224705,0.999999976366,-9.38941539378e-05,-0.000188590846428,-5.37224060842e-05,1793242996577159424
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.233465985,661,634,880,785.766534015,807,651.233465985,631,651.233465985,0.452531778246,-0.0155802895845,0.0598628388026,0.999999973727,-0.000103014094255,-0.000197013475739,-5.58508337438e-05,1793242996593826048
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.349307786,745,714,681,660.650692214,634,880,785.650692214,807,651,630.650692214,651.349307786,0.452767699464,-0.0155831684288,0.0598574277282,0.999999970985,-0.000112639629232,-0.00020507131796,-5.73392496802e-05,1793242996610492672
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.481169604,880,784.481169604,807,651.518830396,630,652,0.453178653624,-0.0155854997984,0.0598422886749,0.999999962658,-0.000133390161382,-0.000230732252789,-6.0448000545e-05,1793242996643826176
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.900129687,745,714,681.099870313,660.099870313,633,880,784,807,651.900129687,630.099870313,652,0.453361590671,-0.0155848395562,0.0598319663771,0.999999956794,-0.000141636370011,-0.000249891930821,-6.24990433015e-05,1793242996660492544
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681.749478212,660.749478212,633.250521788,880,784,807,651,630.749478212,652,0.453671174652,-0.0155794500147,0.0598164628586,0.999999949584,-0.000135590524198,-0.00027971701727,-6.48575744468e-05,1793242996693825792
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765.181296463,745,714.181296463,681,660,633,880,783.181296463,806.181296463,651,630,652,0.454571117963,-0.0155897700518,0.0597971773778,0.999999939221,-0.000155175822812,-0.00030523138539,-6.56731569462e-05,1793242997093826048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.757422161,745,714.757422161,681,660,633,880,783.757422161,806.757422161,651,630,652,0.454571617139,-0.015588604701,0.0597961142153,0.99999993915,-0.00015283148259,-0.000306657880385,-6.5597671476e-05,1793242997110492672
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.660442657,745,715,681.339557343,660,633,880,783.660442657,806.660442657,651.339557343,630,652,0.4545721235,-0.0155884779049,0.0597961640545,0.999999939188,-0.000152462742821,-0.000306759052474,-6.54071724019e-05,1793242997127159296
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.073937012,745,715,681.926062988,660,633,880,783.073937012,806.073937012,651.926062988,630,652,0.454572635087,-0.0155891064139,0.0597970233412,0.999999939307,-0.000153530788984,-0.000305896363023,-6.51330279179e-05,1793242997143825920
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.490819044,681.490819044,660,633,880,783.509180956,806.509180956,651.490819044,630,652,0.454572328368,-0.0155908064358,0.0597970587796,0.999999938916,-0.000155673677741,-0.000306142837393,-6.48835316618e-05,1793242997160492544
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714.090488898,681.090488898,660,633,880,783.909511102,806.909511102,651,630,652,0.454571661573,-0.0155923052824,0.0597966689172,0.999999938415,-0.000157520567383,-0.000306867429653,-6.47209958007e-05,1793242997177158912
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714.664732614,681.664732614,660,633,880,783.335267386,806.335267386,651,630,652,0.454569700845,-0.0155919023437,0.0597946407029,0.999999937739,-0.000156956174292,-0.000309292712515,-6.50043439012e-05,1793242997193825792
+247,4.116666667,HOLD_POSE2,765,745,714,681,660,633,880,783,807,651,630,652,0.454572283171,-0.0155878400781,0.059794352727,0.999999939085,-0.00015054393232,-0.000308033976721,-6.54329670867e-05,1793242997232516096
+248,4.133333333,HOLD_POSE2,765.592469055,745,714.592469055,681,660,633,880,783,806.407530945,651,630,651.407530945,0.454570371959,-0.0155897596259,0.0597933594211,0.999999937897,-0.000153658108184,-0.000310493426273,-6.47234065441e-05,1793242997249182464
+249,4.150000000,HOLD_POSE2,766,745,714.81975078,680.81975078,659.81975078,633,880,783.18024922,806.18024922,651,630,651.18024922,0.454569291335,-0.0155909348664,0.0597927535982,0.999999937114,-0.000155687207645,-0.00031210268471,-6.42351289721e-05,1793242997265848832
+250,4.166666667,HOLD_POSE2,766,745,714.242302973,680.242302973,659.242302973,633,880,783.757697027,806.757697027,651,630,651.757697027,0.454570041002,-0.015590469946,0.0597930016357,0.999999937252,-0.000155325224896,-0.000311838455868,-6.42344721428e-05,1793242997282515712
+251,4.183333333,HOLD_POSE2,766,745,714,680.669751084,659.334875542,633,880.334875542,783.665124458,806.665124458,651,630,652,0.454570199464,-0.0155897528508,0.0597930021512,0.999999937391,-0.000154752701239,-0.000311658304804,-6.43360586244e-05,1793242997299182592
+252,4.200000000,HOLD_POSE2,766,745,714,681.82371866,659.91185933,633,880.91185933,783.08814067,806.08814067,651,630,652,0.454569930498,-0.0155888534384,0.0597928237135,0.999999937529,-0.000154027960783,-0.000311538940287,-6.45115649525e-05,1793242997315849216
+253,4.216666667,HOLD_POSE2,766,745,714,681.502730087,660,633,880.502730087,783,806.497269913,651,630,652,0.454570385654,-0.0155890460442,0.0597930823618,0.999999937763,-0.000152780856904,-0.000311390325027,-6.45638952616e-05,1793242997332516096
+254,4.233333333,HOLD_POSE2,766,745,714,681,660,633,879.916858244,783,806.916858244,651,630,652,0.454570859886,-0.0155894686887,0.059793251084,0.999999937908,-0.000151910665782,-0.000311346778126,-6.4584296042e-05,1793242997349182464
+255,4.250000000,HOLD_POSE2,766,745,714,681,660,633,879.337304148,783,806.337304148,651,630,652,0.454570668475,-0.0155900892176,0.0597924123466,0.999999937421,-0.000153853243134,-0.000311962049764,-6.45466599356e-05,1793242997365849088
+256,4.266666667,HOLD_POSE2,765.75914904,745,714,681,660,633,879.48170192,783,806,651,630,652,0.454571325634,-0.0155900437024,0.059792268787,0.999999937348,-0.000154558925884,-0.000311853328244,-6.45226105184e-05,1793242997382515712
+257,4.283333333,HOLD_POSE2,765.182941902,745,714,681,660,633,880.634116196,783,806,651,630,652,0.454573164327,-0.0155890708001,0.0597930931795,0.999999937853,-0.000153542380566,-0.000310736532729,-6.45174789456e-05,1793242997399182592
+258,4.300000000,HOLD_POSE2,765.400137857,745,714,681,660,633,881,783.400137857,806,651,630,652,0.454572140889,-0.0155892945593,0.0597925121856,0.999999937513,-0.000152927535021,-0.000312207041094,-6.41446633357e-05,1793242997415849216
+259,4.316666667,HOLD_POSE2,765.986414722,745,714,681,660,633,881,783.986414722,806,651,630,652,0.454569786024,-0.0155900749901,0.059791277424,0.999999936774,-0.000152499554976,-0.000314881129997,-6.36008058184e-05,1793242997432515840
+260,4.333333333,HOLD_POSE2,765.434259633,745,714,681,660,633,880.434259633,784,806.565740367,651.565740367,630.565740367,652,0.454571099643,-0.0155895347237,0.0597917438864,0.999999937181,-0.00015270526278,-0.000313465028148,-6.37149348576e-05,1793242997449182464
+261,4.350000000,HOLD_POSE2,765.145100228,745,714.145100228,681.145100228,660,633,880.145100228,783.854899772,807,651.854899772,631,652,0.454571955963,-0.0155890222198,0.0597918518526,0.99999993741,-0.000152897753349,-0.000312587739169,-6.39604123431e-05,1793242997465849088
+262,4.366666667,HOLD_POSE2,765.725056952,745,714.725056952,681.725056952,660,633,880.725056952,783.274943048,807,651.274943048,631,652,0.454571180979,-0.0155886868102,0.0597907644832,0.999999937034,-0.000153005582094,-0.000313616022085,-6.45527550058e-05,1793242997482515712
+263,4.383333333,HOLD_POSE2,765.698199571,745,714.698199571,681.698199571,660,633,880.698199571,783,807,651,630.698199571,652,0.45457056965,-0.0155887188235,0.0597904866806,0.999999936779,-0.000152637370781,-0.00031464184506,-6.43698503927e-05,1793242997499182592
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,660,633,880,783,807,651,630,652,0.454569298187,-0.015588683227,0.0597894054404,0.999999936058,-0.000152555185807,-0.000317018429799,-6.41132586457e-05,1793242997547780608
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.420576049,745,714.579423951,681.420576049,660,633,879.420576049,783,806.420576049,651,630,652,0.454568682835,-0.0155879949825,0.0597891136278,0.99999993602,-0.00015159048143,-0.000317569100655,-6.42721436387e-05,1793242997564447232
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.841890395,681,660,633.158109605,879.158109605,783,806.158109605,651.158109605,630,652,0.454568587973,-0.0155881299614,0.0597891828186,0.99999993607,-0.000151163314592,-0.000317647877786,-6.40984759273e-05,1793242997581113856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.26515938,681,660,633.73484062,879.73484062,783,806.73484062,651.73484062,630,652,0.454569871191,-0.0155904445611,0.059790207826,0.999999936358,-0.000152159367356,-0.000316477238117,-6.30443197944e-05,1793242997597780736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.31143702,660,633.68856298,880.31143702,783,806.68856298,652,630,652,0.454570447112,-0.0155908981452,0.0597906628558,0.999999936419,-0.000153024781372,-0.000315885499152,-6.29409875188e-05,1793242997614447360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.887918824,660,633.112081176,880.887918824,783,806.112081176,652,630,652,0.454570421097,-0.015589767934,0.0597906328129,0.99999993629,-0.000153779016771,-0.000315786426834,-6.3646842677e-05,1793242997631113984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.474178203,745,714,681.525821797,660,633,880.525821797,783,806.474178203,652,630,652.474178203,0.45456872891,-0.015590031813,0.0597898533666,0.999999936022,-0.000152582702226,-0.00031721759757,-6.36217601573e-05,1793242997647780608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.938224244,745,714,681,660,633,880,783,806.938224244,651.938224244,630,652.938224244,0.45456595757,-0.0155906322103,0.0597884191165,0.999999935458,-0.000151408959366,-0.000319580833679,-6.34667484868e-05,1793242997664447232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.359180858,745,714,681,660,633,880,783,806.359180858,651.359180858,630,652.359180858,0.454557517252,-0.0155912331133,0.0597830164316,0.999999932705,-0.000154366012587,-0.000326656130081,-6.37009253277e-05,1793242997681113856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.218706401,745,714,681,660,633,880,783,806,651,630,652,0.454540845669,-0.01559001992,0.0597742471316,0.999999928193,-0.000154381868493,-0.000340039751402,-6.44467791565e-05,1793242997697780480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.794704883,745,714,681,660,633,880,783,806,651,630,652,0.454510726994,-0.0155858431083,0.059759977925,0.999999920482,-0.000149592805185,-0.000363729035303,-6.60285395989e-05,1793242997714447360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.622652943,745,714,681,660,633,880,783,806.377347057,651,630,652,0.454465305995,-0.0155825479477,0.0597410816569,0.999999908463,-0.000148112304767,-0.000395660950156,-6.77449102517e-05,1793242997731113984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.036331446,745,714,681,660,633,880,783,806.963668554,651,630,652,0.45441141058,-0.0155797410442,0.0597196229252,0.999999893181,-0.000148464082753,-0.000432157628043,-6.95358279986e-05,1793242997747780352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.54355644,783,807,651,630,652,0.454349503595,-0.0155778142662,0.0597058060798,0.999999885643,-0.000149098958505,-0.000448949835657,-7.01973375086e-05,1793242997764447232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.877420628,783.122579372,806.877420628,651,630,652,0.454283525918,-0.015575055174,0.0596939957288,0.999999879073,-0.000148860233078,-0.000463349000349,-7.07311987224e-05,1793242997781114112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.300029935,783.699970065,806.300029935,651,630,652,0.45420440819,-0.0155689921934,0.0596877571342,0.999999874722,-0.000145310762259,-0.000473698711401,-7.10682583261e-05,1793242997797780736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.27677831,660,633.27677831,880,783.72322169,806.27677831,651,630,652,0.454118547158,-0.0155636437451,0.0596848268288,0.999999872688,-0.000142311279422,-0.000478893905583,-7.09381955806e-05,1793242997814447360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.85295647,660,633.85295647,880,783.14704353,806.85295647,651,630,652,0.454025391685,-0.0155590682294,0.0596854752046,0.999999873254,-0.000139906736202,-0.000478513295317,-7.03028318072e-05,1793242997831113984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.437930568,745,714,682,660,634,880,783,807,651,630,652,0.453917155613,-0.0155540648309,0.0596867053624,0.999999874098,-0.000136550105426,-0.000477882337626,-6.91887171661e-05,1793242997847780608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.974482736,660,633.974482736,880,783.025517264,806.974482736,651.025517264,630,652,0.453802021322,-0.0155487935826,0.0596878826208,0.999999874857,-0.000132913496337,-0.000477496828188,-6.79448557803e-05,1793242997864447488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.3955993,660,633.3955993,880,783.6044007,806.3955993,651.6044007,630,652,0.45364935223,-0.0155408932326,0.0596835896492,0.999999871969,-0.000130279984873,-0.000484294359175,-6.74447755281e-05,1793242997881114112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,681.1830902,660,633,880.1830902,784,806.1830902,651.8169098,630,652,0.453484574141,-0.0155321241993,0.0596785591275,0.999999868631,-0.000126752203949,-0.000492112147851,-6.70662341469e-05,1793242997897780480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.761361035,660,633,880.761361035,784,806.761361035,651.238638965,630,652,0.453293660098,-0.0155214802068,0.0596719366832,0.999999864334,-0.00012129423828,-0.000502132052868,-6.69500214997e-05,1793242997914447360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.664100537,745.335899463,714.335899463,682,660,633,881,784,807,651,630,652,0.45309194289,-0.0155109160825,0.0596692422165,0.999999862125,-0.000116695933097,-0.00050770965303,-6.6046196903e-05,1793242997931114240
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.913158637,745,714.086841363,681.086841363,660,634,880.913158637,784.086841363,806.086841363,651.086841363,630.086841363,652,0.452423595889,-0.0154828144536,0.0596848531173,0.999999877604,-0.000101430609899,-0.000480480292346,-6.03465580507e-05,1793242997981114112
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879,788,805,652,631,651.289546112,0.404124706696,-0.0153648798554,0.0597889922143,0.999999910619,0.000245444537866,-0.000343466571927,2.34566256909e-05,1793242999147781120
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.714110833,744.714110833,714,680,659,635,879,787.714110833,805,652,631,651.285889167,0.403766697282,-0.0153646514457,0.0597739971951,0.999999900049,0.000253677115919,-0.00036745597117,2.29300504102e-05,1793242999164448000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.141592301,744.141592301,714,680,659,635,879,787.141592301,805,652,631,651.858407699,0.403455635979,-0.0153644369922,0.0597707654249,0.999999900041,0.000252712353916,-0.000368089945018,2.3767730338e-05,1793242999181115136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.444753858,744.444753858,714,680,659,635,879.444753858,787,805,652,631,652,0.403197229697,-0.0153624804055,0.0597858282303,0.999999908799,0.000257385825952,-0.000339826049252,2.59217730783e-05,1793242999197781760
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.96504156,745,714,680,659,635,879.93008312,787,805,652,631,652,0.402957310521,-0.0153602246456,0.0598066936453,0.999999919085,0.000263416056169,-0.000302701620257,2.85225428441e-05,1793242999214448128
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.385507798,745,714,680,659,635,878.771015596,787,805,652,631,652,0.402735864927,-0.0153622255369,0.0598243101488,0.999999927319,0.00026172229521,-0.00027546335641,3.13445329352e-05,1793242999231115008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.806755667,659,635,878.193244333,787.193244333,805,652,631,652,0.40251920908,-0.0153635252022,0.0598380759795,0.999999933206,0.000259747978387,-0.000254915364484,3.3734223242e-05,1793242999247781376
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.229556617,659,635,878.770443383,787.770443383,805,652,631,652,0.402312069948,-0.0153634316102,0.0598441909555,0.99999993563,0.000257216229189,-0.000247660192623,3.52649822881e-05,1793242999264448000
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.919530223,744.080469777,714,679,659,635,879,787.080469777,805.919530223,652,631.919530223,652,0.40193479783,-0.0153593375584,0.0598335522119,0.999999931672,0.000251979241612,-0.000268372403396,3.37592367307e-05,1793242999297781248
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.491921907,744.508078093,714,679,659,635,879,787.508078093,805.491921907,652,631.491921907,652,0.401779459088,-0.0153625036883,0.0598281605824,0.999999942413,0.000184712505568,-0.000284159649496,1.75749510572e-05,1793242999314448128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.09693243,745,714,679.09693243,659,635,879,787.90306757,805,652,631,652,0.401635472148,-0.0153673718647,0.0598243279573,0.999999948669,0.000120763581505,-0.000296770926353,2.33520278785e-06,1793242999331114496
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.67542871,745,714,679.67542871,659,635,879,787.32457129,805,652,631,652,0.401524624102,-0.0153760791922,0.0598259995334,0.999999949248,0.000125659825733,-0.000292745199104,3.83160643203e-06,1793242999347781120
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.173887201,745,714,680,659,635,879,787,805,652,631,652,0.401338759173,-0.0153832836789,0.0598313091601,0.999999943585,0.000183534996563,-0.000281245131237,6.73563609064e-06,1793242999381114368
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,714.842420043,679,659.157579957,635,879,787.842420043,805.842420043,652,631,652,0.401107210177,-0.0153803801442,0.0598345771302,0.999999942832,0.000193317142247,-0.000277273795634,9.14608767375e-06,1793242999447781120
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714.265686374,679,659.734313626,635,879,787.265686374,805.265686374,652,631,652,0.401073334055,-0.0153791531532,0.0598355345863,0.999999943323,0.00019340223289,-0.000275409740458,9.99745792801e-06,1793242999464447744
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.309670084,744.309670084,714,679,659.690329916,635,879,787.309670084,805,652,631,652,0.401043385232,-0.0153783033451,0.0598346756665,0.999999942966,0.000193705042676,-0.000276472694428,1.04119990148e-05,1793242999481114112
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.883850236,744.883850236,714,679,659.116149764,635,879,787.883850236,805,652,631,652,0.401016790978,-0.0153777757143,0.059832265258,0.99999994188,0.000194193821049,-0.000280035803782,1.04534149916e-05,1793242999497780992
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.060425627,745,714.939574373,679,659,635,878.060425627,787,805,652,631,652,0.400991430556,-0.0153774861511,0.0598337170136,0.999999942883,0.000192986613992,-0.000277285072187,1.01477856479e-05,1793242999531114496
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.638825582,745,714.361174418,679,659,635,878.638825582,787,805,652,631,652,0.40098558845,-0.0153772378901,0.0598349442779,0.999999942636,0.000196354755217,-0.000275791610634,1.05778928789e-05,1793242999547781120
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.783087474,714,679,659,635,879,787,805,652,631,652,0.400980749067,-0.0153770768049,0.0598359219359,0.999999942673,0.000198197399815,-0.000274326716432,1.08034245462e-05,1793242999564448000
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.205520997,714,679,659,635,879,787,805,652,631,652,0.400977576878,-0.0153770606642,0.059836484581,0.999999943199,0.000197503646736,-0.000272909320397,1.06888145356e-05,1793242999581114368
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.622196077,744.377803923,714,679,659,635,879,787,805,652,631,652,0.400977365587,-0.0153783629927,0.0598386056129,0.999999944479,0.000195472390392,-0.000269646833339,1.10596794114e-05,1793242999597780992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.035690163,744.964309837,714,679,659,635,879,787,805,652,631,652,0.40097878992,-0.0153803936545,0.0598415875105,0.999999946155,0.000192702286279,-0.000265365102889,1.16987246055e-05,1793242999614447616
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631,652,0.400976834519,-0.0153801823472,0.0598406813781,0.999999945872,0.000192965105511,-0.000266245708361,1.15560335254e-05,1793242999631114240
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.123488157,744.876511843,714,679,659,634.876511843,879,787,805,652,631,652,0.400974939853,-0.0153796719234,0.0598397388867,0.999999945389,0.000193800736871,-0.000267455699765,1.14100967388e-05,1793242999647780864
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.70012509,744.29987491,714,679,659,634.29987491,879,787,805,652,631,652,0.400974071657,-0.0153785969436,0.0598395874317,0.999999944638,0.000196017204676,-0.000268646946147,1.143812334e-05,1793242999664447744
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744,714,679.276794309,659,634.276794309,879,787,805,652,631,652,0.400973676913,-0.0153790760383,0.0598397939591,0.999999944434,0.000196679045738,-0.000268919118084,1.150315217e-05,1793242999681114368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744,714,679.853498582,659,634.853498582,879,787,805,652,631,652,0.400973795161,-0.0153812389913,0.0598403883647,0.999999944828,0.000195656430288,-0.000268195461947,1.16082733638e-05,1793242999697780992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.561142511,744.438857489,714.438857489,679.561142511,659,635,879,787,804.561142511,652,631,652,0.400973966555,-0.0153804852955,0.0598410213436,0.99999994514,0.000195810851061,-0.000266916381457,1.15876119376e-05,1793242999714447616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.02673448,745,714.97326552,679,659.02673448,635,879,787,804.02673448,652,631,652,0.400974130872,-0.0153788978175,0.0598416119845,0.999999945435,0.000196208511095,-0.000265518866927,1.15248481493e-05,1793242999731114240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.605746539,745,714.394253461,679,659.605746539,635,879,787,804.605746539,652,631,652,0.400973775111,-0.0153806043256,0.0598410566561,0.999999945975,0.000193350717223,-0.00026558207608,1.14771994682e-05,1793242999747781120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.816897725,635,879,787,805.183102275,652,631,652,0.400973882204,-0.0153818214189,0.059841029652,0.999999946331,0.000191856596741,-0.00026532411536,1.15215768058e-05,1793242999764447744
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.243076427,635,879,787,805.756923573,652,631,652,0.400974976975,-0.0153819941577,0.0598421300306,0.999999946305,0.000193272397325,-0.000264380815367,1.17623269994e-05,1793242999781114624
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.67047293,744.67047293,714.32952707,679,659,635,879,787,805.67047293,652,631,652,0.400975151211,-0.0153823035223,0.0598429099052,0.999999946562,0.00019283800722,-0.000263718215208,1.19118325908e-05,1793242999797781248
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.098764465,744.098764465,714.901235535,679,659,635,879,787,805.098764465,652,631,652,0.400974648913,-0.0153827132982,0.0598434542298,0.999999947026,0.000191043844811,-0.000263261911574,1.19942792041e-05,1793242999814447872
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.493722564,744.493722564,714.506277436,679.493722564,659,635,879,787,805,652,631,652,0.400974576489,-0.0153835125642,0.0598429090856,0.999999947289,0.000189660346604,-0.000263269989424,1.18611851487e-05,1793242999831114752
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.912437696,745,714.087562304,679.912437696,659,635,879,787,805,652,631,652,0.400974412715,-0.0153841822559,0.0598421884896,0.99999994736,0.000188841642032,-0.000263592690844,1.17343129003e-05,1793242999847781376
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.335296111,745,714.664703889,679.335296111,659,635,879,787,805,652,631,652,0.400973236261,-0.0153836726982,0.0598417589779,0.999999946598,0.000190701323602,-0.000265132303616,1.18938950423e-05,1793242999864448000
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.241040434,744.758959566,714.758959566,679.241040434,659,635,879,787,805,652,631,652,0.400972649847,-0.015383295608,0.0598418474511,0.999999946204,0.000192273579671,-0.000265481206454,1.19711876132e-05,1793242999881114368
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.81626095,744.18373905,714.18373905,679.81626095,659,635,879,787,805,652,631,652,0.400972881465,-0.0153831021715,0.0598426540622,0.999999946322,0.000193447347354,-0.000264179301246,1.19343933919e-05,1793242999897780736
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744.392423151,714,680,659,635,879,787,805,652,631,652,0.400973251354,-0.0153829687685,0.0598430493559,0.999999946553,0.000192678927307,-0.000263867422514,1.19729378833e-05,1793242999914447104
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,744.969027292,714,680,659,635,879,787,805,652,631,652,0.400973686138,-0.0153828635417,0.0598432516007,0.999999946834,0.000190998955317,-0.000264020205681,1.20468420611e-05,1793242999931113984
diff --git a/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9ac0944d58b3e01e767b34ebbd35bcf7eab816f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+1,0.016666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+2,0.033333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+4,0.066666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+5,0.083333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+6,0.100000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+7,0.116666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+8,0.133333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+9,0.150000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+10,0.166666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+11,0.183333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+12,0.200000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+13,0.216666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+14,0.233333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+15,0.250000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+16,0.266666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+17,0.283333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+18,0.300000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+378,6.300000000,pose2_to_pose3_retreat,0.580895543726,-0.00999819140733,1.05004087017,0.551467263539,-0.00132336255743,1.04967866359
+379,6.316666667,pose2_to_pose3_retreat,0.580858252962,-0.00999817774939,1.05004101579,0.551429973309,-0.00132334704727,1.04967881017
+380,6.333333333,pose2_to_pose3_retreat,0.580827794971,-0.0099980885322,1.05004102772,0.551399515301,-0.00132325774671,1.04967882552
+381,6.350000000,pose2_to_pose3_retreat,0.580803163,-0.00999799493026,1.05004094813,0.551374882178,-0.00132316822846,1.04967874164
+382,6.366666667,pose2_to_pose3_retreat,0.580784301366,-0.00999809445116,1.05004085669,0.551356020131,-0.00132326928628,1.04967864701
+383,6.383333333,pose2_to_pose3_retreat,0.580770087997,-0.0099981338832,1.05004070111,0.551341807871,-0.00132330455841,1.04967850097
+384,6.400000000,pose2_to_pose3_retreat,0.580760287667,-0.00999823156892,1.05004089782,0.551332008137,-0.00132340034376,1.04967869474
+385,6.416666667,pose2_to_pose3_retreat,0.580754310935,-0.00999819848329,1.05004096565,0.55132603086,-0.00132336927037,1.04967875877
+386,6.433333333,pose2_to_pose3_retreat,0.580750573645,-0.00999814600558,1.05004096303,0.551322292862,-0.0013233192665,1.04967875431
+387,6.450000000,pose2_to_pose3_retreat,0.580748723455,-0.00999813247595,1.05004089746,0.551320442184,-0.00132330728764,1.04967869133
+388,6.466666667,pose2_to_pose3_retreat,0.580747442156,-0.00999812310637,1.05004085205,0.551319160547,-0.00132329899201,1.04967864772
+389,6.483333333,pose2_to_pose3_retreat,0.580746613497,-0.00999812520675,1.05004081068,0.551318331839,-0.00132330119994,1.04967860771
+390,6.500000000,pose2_to_pose3_retreat,0.580746172696,-0.00999814924563,1.05004075497,0.551317891491,-0.00132332364714,1.04967855329
+391,6.516666667,pose2_to_pose3_retreat,0.580745708824,-0.00999817454263,1.05004069634,0.551317428096,-0.00132334726917,1.04967849602
+392,6.533333333,pose2_to_pose3_retreat,0.580745080704,-0.00999820879679,1.05004061696,0.551316800623,-0.00132337925528,1.04967841847
+393,6.550000000,pose2_to_pose3_retreat,0.580744720041,-0.00999822846535,1.05004057138,0.551316440331,-0.00132339762153,1.04967837395
+394,6.566666667,pose2_to_pose3_retreat,0.580744620883,-0.00999823408238,1.0500405624,0.551316341289,-0.00132340283636,1.04967836514
+395,6.583333333,pose2_to_pose3_retreat,0.580744596427,-0.00999823646004,1.05004057701,0.551316316929,-0.00132340490569,1.04967837926
+396,6.600000000,pose2_to_pose3_retreat,0.580744579496,-0.00999823810603,1.05004058712,0.551316300066,-0.00132340633823,1.04967838903
+397,6.616666667,pose2_to_pose3_retreat,0.580744482029,-0.00999824758162,1.05004064534,0.551316202986,-0.00132341458505,1.04967844528
+398,6.633333333,pose2_to_pose3_retreat,0.580744384329,-0.00999825707999,1.0500407037,0.551316105672,-0.0013234228517,1.04967850167
+399,6.650000000,pose2_to_pose3_retreat,0.580744341605,-0.00999826123356,1.05004072922,0.551316063118,-0.00132342646664,1.04967852632
+400,6.666666667,pose2_to_pose3_retreat,0.580744275514,-0.00999826765887,1.0500407687,0.551315997289,-0.00132343205874,1.04967856447
+401,6.683333333,pose2_to_pose3_retreat,0.580744231761,-0.00999827191242,1.05004079483,0.55131595371,-0.0013234357607,1.04967858972
+402,6.700000000,pose2_to_pose3_retreat,0.580744088201,-0.00999828586917,1.05004088058,0.551315810719,-0.00132344790758,1.04967867257
+403,6.716666667,pose2_to_pose3_retreat,0.580743876711,-0.00999829748689,1.05004098854,0.551315599719,-0.00132345801687,1.04967877684
+404,6.733333333,pose2_to_pose3_retreat,0.580743702224,-0.00999826503716,1.05004099122,0.551315423999,-0.00132342976484,1.04967877921
+405,6.750000000,pose2_to_pose3_retreat,0.580743571404,-0.00999824070814,1.05004099323,0.551315292254,-0.00132340858302,1.04967878099
+406,6.766666667,pose2_to_pose3_retreat,0.58074350844,-0.00999823243811,1.05004096341,0.551315228833,-0.00132340179554,1.04967875282
+407,6.783333333,pose2_to_pose3_retreat,0.580743479555,-0.0099982331583,1.05004090932,0.551315199722,-0.00132340315363,1.04967870181
+408,6.800000000,pose2_to_pose3_retreat,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524141,1.04967862338
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82dad064d665ca0c49e1462b1ad9b158ba50d778
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f41eccef88e3e382d2f135c97d4e0e820f129b43c881ef39096f18afbf4d5cb
+size 25541760
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10e9e48c72680fcf311998d0cebb8d13b7643033
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+40,0.666666667,BASELINE,765.202244452,745,714,679,659.202244452,635,878,787.202244452,805,652,631,652,0.400944155169,-0.0154419394841,0.0499345150757,0.999999976457,5.39468761046e-05,-0.000207976457117,-3.0369493177e-05,1793243001832670208
+41,0.683333333,BASELINE,765.781480688,745,714,679,659.781480688,635,878,787.781480688,805,652,631,652,0.400944752884,-0.0154415854642,0.0499347650103,0.999999976703,5.41106003388e-05,-0.000206726347772,-3.04963287511e-05,1793243001849336832
+42,0.700000000,BASELINE,766,745,714,679.365119544,659.634880456,635,878,787.634880456,805,652.365119544,631,652,0.400943783073,-0.0154421499872,0.0499341516667,0.999999976567,5.314602917e-05,-0.000207623106175,-3.05707612665e-05,1793243001866003456
+43,0.716666667,BASELINE,766,745,714,679.951425448,659.048574552,635,878,787.048574552,805,652.951425448,631,652,0.400941863666,-0.0154432709558,0.0499330153564,0.999999976193,5.14979460934e-05,-0.000209820419118,-3.06134484434e-05,1793243001882670080
+44,0.733333333,BASELINE,766,745,714,679.468674183,659.531325817,635,878.531325817,787.531325817,805,653,631,652,0.400942451679,-0.0154417575398,0.0499332284492,0.999999976113,5.49721979615e-05,-0.000209317822469,-3.06376921179e-05,1793243001899336960
+45,0.750000000,BASELINE,765.890112959,745,714,679,659.890112959,635,879,787.890112959,805.109887041,653,631,652,0.400943234453,-0.0154404241766,0.0499334988842,0.999999976111,5.78481965059e-05,-0.000208544777481,-3.06781699e-05,1793243001916003584
+46,0.766666667,BASELINE,765.314773243,745,714,679,659.314773243,635,879,787.314773243,805.685226757,653,631,652,0.400943882782,-0.0154408614499,0.0499334958913,0.999999976384,5.62302202728e-05,-0.000207659235404,-3.07944680291e-05,1793243001932670208
+47,0.783333333,BASELINE,765,745,714,679,659,635,879,787,805.739756624,652.739756624,631,652,0.400944037334,-0.0154413836816,0.0499333881651,0.99999997649,5.52892528641e-05,-0.000207401302534,-3.07778115605e-05,1793243001949336832
+48,0.800000000,BASELINE,765,745,714,679,659,635,879,787,805.165130242,652.165130242,631,652,0.400943595386,-0.0154420085458,0.0499331539174,0.999999976399,5.51661353353e-05,-0.000207901543196,-3.0600541351e-05,1793243001966003200
+49,0.816666667,BASELINE,765,744.57806244,714,679,659,635,878.57806244,787,805,652.42193756,631,652,0.400944044517,-0.0154421996941,0.049933767001,0.9999999764,5.52586531142e-05,-0.000207901891417,-3.03977755168e-05,1793243001982670080
+50,0.833333333,BASELINE,765,744.013735475,714,679,659,635,878.013735475,787,805.013735475,652.986264525,631,652,0.400944839402,-0.0154422158307,0.0499347013796,0.999999976437,5.54596780945e-05,-0.000207697783403,-3.01845728291e-05,1793243001999337216
+51,0.850000000,BASELINE,765,744.593706911,714,679,659,635,878.593706911,787,805.593706911,652.406293089,631,652,0.400945074703,-0.015442227233,0.0499347950629,0.99999997645,5.65491614351e-05,-0.000207375217549,-2.99649515941e-05,1793243002016003840
+52,0.866666667,BASELINE,765,745,714,679,659,635,879,787,805.828113955,652.171886045,631,652,0.400945242087,-0.0154424112798,0.0499350322399,0.99999997657,5.66868293926e-05,-0.000206773158203,-2.98672607477e-05,1793243002032670208
+53,0.883333333,BASELINE,765,745,714,679,659,635,879,787,805.254127665,652.745872335,631,652,0.400945250587,-0.0154429992011,0.0499356050976,0.999999976939,5.45978755717e-05,-0.000205517268006,-3.00548067948e-05,1793243002049337088
+54,0.900000000,BASELINE,765,745,714,679,659,635,879.318942661,787.318942661,805,652.681057339,631,652,0.400944473862,-0.0154425883776,0.049934848171,0.999999976686,5.47132646746e-05,-0.000206692700848,-3.0214405434e-05,1793243002066003968
+55,0.916666667,BASELINE,765,745,714,679,659,635,879.891285226,787.891285226,805,652.108714774,631,652,0.400943073276,-0.0154413840515,0.0499330347309,0.999999975931,5.65800040486e-05,-0.000209799819594,-3.03517998519e-05,1793243002082670336
+56,0.933333333,BASELINE,765,745,714,679,659.48286007,635,879.51713993,788,805,652.48286007,631,652,0.400943156956,-0.0154412183721,0.0499332976826,0.999999976019,5.75071158219e-05,-0.000209122623231,-3.03905270267e-05,1793243002099336960
+57,0.950000000,BASELINE,765,745,714,678.923543278,660,635,878.923543278,787.923543278,805,653,631,652,0.400943530426,-0.0154411655422,0.0499338574422,0.999999976234,5.83302471186e-05,-0.000207866041297,-3.03672969134e-05,1793243002116003328
+58,0.966666667,BASELINE,765,745,714,678.346244403,660,635,878.346244403,787.346244403,805,653,631,652,0.400943522308,-0.0154402565406,0.0499331720563,0.99999997599,5.99155485944e-05,-0.000208626984198,-3.00897629884e-05,1793243002132669952
+59,0.983333333,BASELINE,765,745,714,678.230218182,660,635,878.230218182,787,805,653,631,652,0.400943280732,-0.0154406508539,0.0499325629907,0.999999975923,5.83138983828e-05,-0.000209411804248,-2.99941304703e-05,1793243002149336832
+60,1.000000000,BASELINE,765,745,714,678.80542764,660,635,878.80542764,787,805,653,631,652,0.400942689309,-0.0154429982375,0.049932068294,0.999999976097,5.19364721445e-05,-0.000210232405284,-3.01710845404e-05,1793243002166003712
+61,1.016666667,BASELINE,765,745,714,679,660,635,879.391715659,787,805,653,631,652,0.400943674073,-0.0154429331271,0.0499325881992,0.999999976286,5.25351908663e-05,-0.000209174559667,-3.02435751779e-05,1793243002182670336
+62,1.033333333,BASELINE,765,745,714,679,660,635,879.983666731,787,805,653,631,652,0.400945464545,-0.0154416348091,0.0499336267441,0.999999976478,5.66999437633e-05,-0.000207156498255,-3.02626666663e-05,1793243002199337216
+63,1.050000000,BASELINE,765,745,714.560060149,679,660,635,878.879879703,787,805,653,631,652,0.400945428413,-0.0154404453256,0.049934344967,0.999999976539,5.84393076001e-05,-0.000206373691884,-3.02863049309e-05,1793243002216003840
+64,1.066666667,BASELINE,765,745,714.863531126,679,660,635,878,787.136468874,805.136468874,653,631,652,0.400945360957,-0.0154401827866,0.0499347525937,0.999999976599,5.84119630193e-05,-0.000206087393979,-3.0301010952e-05,1793243002232670464
+65,1.083333333,BASELINE,765,745,714.285645014,679,660,635,878,787.714354986,805.714354986,653,631,652,0.40094535983,-0.01544290852,0.0499341849767,0.999999976657,5.2892693346e-05,-0.000207293710864,-3.02864077535e-05,1793243002249336832
+66,1.100000000,BASELINE,765,745,714,679.297427688,659.702572312,635,878,787.702572312,805.702572312,653,631,652,0.400945036212,-0.015443562091,0.0499335267481,0.999999976559,5.18526984743e-05,-0.000208023845105,-3.03345444957e-05,1793243002266003456
+67,1.116666667,BASELINE,765,745,714,679.885569881,659.114430119,635,878,787.114430119,805.114430119,653,631,652,0.400944397382,-0.0154421902699,0.0499327799531,0.999999976322,5.51908778621e-05,-0.000208288544462,-3.04440050888e-05,1793243002282670080
+68,1.133333333,BASELINE,765,745,714.465639861,680,659,635,878,787,805,653,631,652,0.400942065628,-0.0154422553823,0.0499322087819,0.999999976008,5.47534591785e-05,-0.000209902369935,-3.04344882e-05,1793243002299336960
+69,1.150000000,BASELINE,765,745,714.956626876,679.956626876,659.043373124,635,878.043373124,787,805,652.956626876,631,652,0.40093954204,-0.0154426303813,0.0499316757816,0.999999975694,5.34976462292e-05,-0.00021172053942,-3.04067053453e-05,1793243002316003584
+70,1.166666667,BASELINE,765,745,714.383617285,679.383617285,659.616382715,635,878.616382715,787,805,652.383617285,631,652,0.400939669615,-0.0154425508835,0.0499310908496,0.999999975626,5.3385300932e-05,-0.000212054420827,-3.05068258657e-05,1793243002332670208
+71,1.183333333,BASELINE,765,745,714,679.190585267,659.809414733,635,878.809414733,787.190585267,805,652.190585267,631,652,0.400940319422,-0.0154423793421,0.0499308284327,0.999999975699,5.33807362927e-05,-0.000211692415012,-3.06503842012e-05,1793243002349336832
+72,1.200000000,BASELINE,765,745,714,679.767204284,659.232795716,635,878.232795716,787.767204284,805,652.767204284,631,652,0.400942027018,-0.0154420213647,0.0499312192754,0.999999976054,5.35944832169e-05,-0.000209920877667,-3.08819265995e-05,1793243002366003456
+73,1.216666667,BASELINE,765,745,714.353939204,679.646060796,659,635,878,787.646060796,805,653,631,652,0.400943016034,-0.0154419676382,0.0499318851769,0.999999976213,5.4769041753e-05,-0.000208889864549,-3.06483983476e-05,1793243002382670080
+74,1.233333333,BASELINE,765,745,714.94752336,679.05247664,659,635,878,787.05247664,805,653,631,652,0.400943518516,-0.0154421199138,0.049932737315,0.999999976239,5.65941460437e-05,-0.000208360245249,-3.00999803164e-05,1793243002399336704
+75,1.250000000,BASELINE,765,745.527883657,714.472116343,679.527883657,659,635,878.527883657,787.527883657,805,653,631,652,0.400944592826,-0.0154410703747,0.0499332464411,0.999999976392,5.73272342237e-05,-0.00020738518945,-3.03335967836e-05,1793243002416003328
+76,1.266666667,BASELINE,765,745.893776788,714,679.893776788,659.106223212,635,879,788,805,652.893776788,631,652,0.400945540134,-0.0154404277584,0.0499337100447,0.999999976553,5.70832725023e-05,-0.000206644276909,-3.05417224425e-05,1793243002432669952
+77,1.283333333,BASELINE,765,745.318695997,714,679.318695997,659.681304003,635,879,788,805,652.318695997,631,652,0.400945682094,-0.0154420957022,0.0499341195465,0.999999976686,5.29941675878e-05,-0.00020712752025,-3.0302577299e-05,1793243002449336832
+78,1.300000000,BASELINE,765,745,714.26182178,679,660,635,879,787.73817822,805,652.26182178,631,652,0.400944918704,-0.0154433398483,0.0499338387159,0.999999976625,5.14234157324e-05,-0.000207841632164,-3.01155251964e-05,1793243002466003200
+79,1.316666667,BASELINE,765,745,714.849097891,679,660,635,879,787.150902109,805,652.849097891,631,652,0.400943029929,-0.0154440571979,0.0499326997761,0.999999976339,5.29830718665e-05,-0.000208842722376,-2.99932267234e-05,1793243002482670080
+80,1.333333333,BASELINE,765,745,714.569516383,678.569516383,659.569516383,635,878.569516383,787,805,653,631,652,0.400942971978,-0.0154430069157,0.0499325783629,0.999999976266,5.42327663676e-05,-0.000208861632807,-3.00701403576e-05,1793243002499336704
+81,1.350000000,BASELINE,765,745,714,678.009835904,659.009835904,635,878.009835904,787.009835904,805,653,631,652,0.400943577507,-0.0154413866867,0.0499328369974,0.99999997628,5.53452694309e-05,-0.00020848255085,-3.02098761449e-05,1793243002516003328
+82,1.366666667,BASELINE,765,745,714,678.589388765,659.589388765,635,878.589388765,787.589388765,805,653,631,652,0.400945941837,-0.0154421596053,0.0499347277388,0.999999977097,5.47198772815e-05,-0.000204723962842,-2.99981852645e-05,1793243002532669952
+83,1.383333333,BASELINE,764.832277615,745,714,679.167722385,659.832277615,635,878.832277615,788,805,653,631,652,0.400947110792,-0.0154430168251,0.0499356966369,0.999999977509,5.38383381817e-05,-0.000202949295869,-2.99118714143e-05,1793243002549336576
+84,1.400000000,BASELINE,764.256907232,745,714,679.743092768,659.256907232,635,878.256907232,788,805,653,631,652,0.400945374399,-0.0154440789384,0.0499344250022,0.999999976959,5.23342357137e-05,-0.000205996533312,-3.01302854516e-05,1793243002566003200
+85,1.416666667,BASELINE,764.649633844,745,714,679.675183078,659,635,878.324816922,787.675183078,805,653,631.324816922,652,0.400943543889,-0.0154436431873,0.0499332098598,0.999999976394,5.37480252328e-05,-0.000208360645649,-3.0135841437e-05,1793243002582669824
+86,1.433333333,BASELINE,765.823333378,745,714,679.088333311,659,635,878.911666689,787.088333311,805,653,631.911666689,652,0.400941637453,-0.015441999095,0.0499320402903,0.99999997581,5.75157055559e-05,-0.000210173674398,-2.99696828308e-05,1793243002599336448
+87,1.450000000,BASELINE,766,745,714,678.507694963,659,635,879,787.492305037,805,653,631.507694963,652,0.400942568087,-0.0154424049493,0.0499326645173,0.999999976194,5.50939882323e-05,-0.000208965031772,-3.01570135363e-05,1793243002616003072
+88,1.466666667,BASELINE,765.928518336,745,714,678.071481664,659,635,879,787.928518336,805,653,631,652,0.400943737581,-0.01544305339,0.049933410086,0.999999976634,5.22454021651e-05,-0.000207557700648,-3.03649177598e-05,1793243002632669952
+89,1.483333333,BASELINE,765.351893548,745,714,678.648106452,659,635,879,787.351893548,805,653,631,652,0.400943042525,-0.0154428492375,0.0499327670003,0.999999976334,5.4130445908e-05,-0.000208529946765,-3.02755796686e-05,1793243002649336576
+90,1.500000000,BASELINE,765,745,714,679,659.223478069,635,879,787,805,653,631,652,0.400942853724,-0.0154419017078,0.0499324795537,0.999999976094,5.65110384085e-05,-0.000209028706402,-3.04064711902e-05,1793243002666003456
+91,1.516666667,BASELINE,765,745,714,679,659.796887365,635,879,787,805,653,631,652,0.40094345764,-0.0154397901675,0.0499327489815,0.999999975947,5.96675815249e-05,-0.000208786061184,-3.08822073797e-05,1793243002682670336
+92,1.533333333,BASELINE,765,745,714,679,660,635,879,787.382355174,805,652.617644826,631,652,0.400943268553,-0.015441042988,0.0499327835988,0.99999997603,5.819057814e-05,-0.000208834450121,-3.06877457229e-05,1793243002699336960
+93,1.550000000,BASELINE,765,745,714,679,660,635,879,787.974437293,805,652.025562707,631,652,0.400942644492,-0.0154441412055,0.0499326894193,0.99999997623,5.41720125982e-05,-0.000209042475175,-3.01256715955e-05,1793243002716003328
+94,1.566666667,BASELINE,765,744.447620028,714,679.552379972,660,635,879.552379972,787.447620028,805,652,631,652,0.400943425783,-0.0154425743647,0.0499331680448,0.999999976367,5.4578664227e-05,-0.000208249171912,-3.03235648355e-05,1793243002732670720
+95,1.583333333,BASELINE,765,744.129638328,714,679.870361672,660,635,879.740723344,787,805,652.129638328,631,652,0.400943835956,-0.0154413494523,0.0499333098844,0.999999976389,5.51559097526e-05,-0.000207971569699,-3.04641884034e-05,1793243002749337600
+96,1.600000000,BASELINE,765,744.706736967,714,679.293263033,660,635,878.586526065,787,805,652.706736967,631,652,0.4009427463,-0.0154420312991,0.0499322000609,0.999999976021,5.56327742918e-05,-0.00020962991516,-3.02887788886e-05,1793243002766004992
+97,1.616666667,BASELINE,765.288790853,745,714.288790853,679,659.711209147,635,878.288790853,787.288790853,805,653,631,652,0.400942960527,-0.0154417609477,0.0499321378288,0.99999997596,5.68328441807e-05,-0.000209579616992,-3.04335885543e-05,1793243002782671872
+98,1.633333333,BASELINE,765.875964534,745,714.875964534,679,659.124035466,635,878.875964534,787.875964534,805,653,631,652,0.400944521942,-0.0154405067713,0.0499331579831,0.999999976212,5.8780140124e-05,-0.000207763923754,-3.09092532552e-05,1793243002799337984
+99,1.650000000,BASELINE,766,745,714.543196728,679,659,635,878.543196728,787.543196728,805.456803272,652.543196728,631,652,0.400943396737,-0.015440758005,0.0499325287004,0.999999975964,5.84027833457e-05,-0.000209087809143,-3.0713138871e-05,1793243002816004096
+100,1.666666667,BASELINE,765.964166761,745,714,678.964166761,659.035833239,635,878.035833239,787.035833239,806,652.035833239,631,652,0.40094179255,-0.0154413856792,0.0499316170387,0.999999975639,5.74070523987e-05,-0.00021096294476,-3.03649657404e-05,1793243002832670720
+101,1.683333333,BASELINE,765.386831866,745,714,678.386831866,659.613168134,635,878.613168134,787.613168134,806,652.613168134,631,652,0.400943823241,-0.0154416093981,0.0499331136593,0.999999976214,5.64748392192e-05,-0.000208462079976,-3.0437713039e-05,1793243002849337088
+102,1.700000000,BASELINE,765.190184449,745,714,678.190184449,660,635,879,787.809815551,805.809815551,652.809815551,630.809815551,652,0.40094484326,-0.0154418833376,0.0499337649149,0.999999976532,5.5569403764e-05,-0.00020717700651,-3.04240242045e-05,1793243002866003456
+103,1.716666667,BASELINE,765.766553788,745,714,678.766553788,660,635,879,787.233446212,805.233446212,652.233446212,630.233446212,652,0.400943811025,-0.015442259254,0.049932699588,0.999999976339,5.47183427561e-05,-0.000208360695854,-3.02348198089e-05,1793243002882670336
+104,1.733333333,BASELINE,765.650299476,745,714,679,660,635,879,787.349700524,805,652.349700524,630.349700524,652,0.400943666458,-0.0154417760428,0.0499324565849,0.999999976326,5.55897955558e-05,-0.000208184361036,-3.02910051776e-05,1793243002899336960
+105,1.750000000,BASELINE,765.062538942,745,714,679,660,635,879,787.937461058,805,652.937461058,630.937461058,652,0.400944126175,-0.0154407079772,0.0499327733819,0.999999976432,5.76338563287e-05,-0.000207082184531,-3.05142405758e-05,1793243002916003584
+106,1.766666667,BASELINE,765,745,714,679.518838551,660,635,879,788,805,652.481161449,631,652,0.400944753071,-0.0154413980819,0.0499331955829,0.99999997655,5.58178175918e-05,-0.000207054086509,-3.02066884303e-05,1793243002932670464
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,635,879,788,806,652,631,652,0.400942668002,-0.0154419102913,0.0499322371408,0.999999976054,5.46806208992e-05,-0.000209706781905,-3.04262237768e-05,1793243002975471360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.426259341,744.426259341,714.426259341,679.573740659,659,635,879,787.426259341,805.426259341,652.573740659,631,652,0.400942523056,-0.0154426270876,0.0499322196359,0.999999976018,5.50919768512e-05,-0.000209784610795,-3.03044127266e-05,1793243002992137984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.152176837,714,679.847823163,659.152176837,635,879,787.152176837,805,653,631,652,0.400942444452,-0.0154430039622,0.0499323241075,0.999999976035,5.50662941209e-05,-0.000209717631058,-3.02850203076e-05,1793243003008804608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.744184422,714,679.255815578,659.744184422,635,879,787.744184422,805,653,631,652,0.400942557592,-0.0154423983744,0.049932781123,0.999999976198,5.37774557139e-05,-0.000209232116646,-3.05616444155e-05,1793243003025471488
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.671196473,635,879,788,805,653,631,652,0.40094331166,-0.0154416504011,0.0499330598333,0.999999976281,5.45508706276e-05,-0.000208629199608,-3.06106667929e-05,1793243003042138368
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.092199454,635,879,788,805,653,631,652,0.400944553421,-0.0154407940838,0.0499332028673,0.999999976298,5.6893497375e-05,-0.00020793694848,-3.04865022288e-05,1793243003058804992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482338018,679,659,635,879,787.517661982,805,653,631,652,0.400947558803,-0.0154404711407,0.049933438387,0.999999976596,5.80533920819e-05,-0.000206136243675,-3.07574339227e-05,1793243003075471616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.942423681,679,659.057576319,635,879,787.057576319,805,652.942423681,631,652,0.400951901196,-0.0154405721717,0.0499341969116,0.999999977151,5.86882818618e-05,-0.000203212475259,-3.09526021438e-05,1793243003092138240
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.352906975,679,659.647093025,635,879,787.647093025,805,652.352906975,631,652,0.400965510006,-0.0154436569254,0.0499396255781,0.999999979555,5.65423121037e-05,-0.000191852482521,-2.97564448277e-05,1793243003108804864
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.767426779,805,652.232573221,631,652,0.400983566525,-0.0154459679102,0.0499451786576,0.999999982186,5.50626164784e-05,-0.000178235308123,-2.87705792933e-05,1793243003125471232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.18796715,805,652.81203285,631,652,0.401008256865,-0.0154471248071,0.0499509173005,0.999999985115,5.45766787882e-05,-0.000161251514833,-2.8098367174e-05,1793243003142137856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,653,631,652,0.401040235745,-0.0154477019729,0.0499550851641,0.999999987843,5.4163760298e-05,-0.000143501519561,-2.80582434706e-05,1793243003158804480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,653,631,652,0.401075714072,-0.0154480007927,0.0499584988503,0.999999990292,5.37859004482e-05,-0.000125383646357,-2.83216041814e-05,1793243003175471104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.448375174,635,879,787.551624826,805.551624826,653,631,652,0.401122189344,-0.0154515427238,0.0499621426407,0.999999992777,5.18774808879e-05,-0.000104756262981,-2.79564753368e-05,1793243003192137984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.13527612,659.13527612,635,879,787.86472388,806,653,631,652,0.401171883879,-0.0154549092329,0.0499648011194,0.999999994453,5.02669015015e-05,-8.83226847006e-05,-2.76669183512e-05,1793243003208804608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.714904524,659.714904524,635,879,787.285095476,806,653,631,652,0.401229975576,-0.0154570573772,0.0499641775059,0.999999994656,4.99377153076e-05,-8.61617165696e-05,-2.77500405476e-05,1793243003225471488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.70570575,659.70570575,635,879,787.29429425,805.70570575,653,631,652,0.40129780621,-0.0154602312358,0.0499647064353,0.999999994876,4.94459520853e-05,-8.39850441563e-05,-2.73864569327e-05,1793243003242138112
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.126547088,659.126547088,635,879,787.873452912,805.126547088,653,631,652,0.40137506372,-0.0154643979424,0.0499663509776,0.999999995111,4.87968211816e-05,-8.17931707904e-05,-2.65904809435e-05,1793243003258804480
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.449194996,635,879,787.550805004,805,653,631,652,0.401467688579,-0.0154698942412,0.0499657823566,0.999999995242,4.60144939149e-05,-8.19967982264e-05,-2.59730791697e-05,1793243003275471104
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.975980908,635,878.975980908,787,805,653,631,652,0.401566033942,-0.0154758958501,0.0499648304184,0.999999995365,4.25424381758e-05,-8.25617619509e-05,-2.53691792153e-05,1793243003292137472
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.400300768,635,878.400300768,787,805,653,631,652,0.40169708285,-0.0154849651336,0.0499692866147,0.999999996141,3.69274710792e-05,-7.60428435851e-05,-2.39286540542e-05,1793243003308804096
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.819751416,659,635,878.180248584,787,804.819751416,652.819751416,631,652,0.401831872542,-0.0154931294885,0.049970942193,0.999999996477,3.26194196919e-05,-7.39067826613e-05,-2.28125556774e-05,1793243003325470720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.228088243,659,635,878.771911757,787,804.228088243,652.228088243,631,652,0.401975200499,-0.0154992283564,0.0499662054037,0.999999995915,3.12943838399e-05,-8.17745265242e-05,-2.24369565851e-05,1793243003342137600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678.709134013,659.354567007,635,879,787,804.354567007,652,631,652,0.402143010538,-0.0155083501097,0.0499658689182,0.9999999961,2.72696512779e-05,-8.12133400418e-05,-2.1458200536e-05,1793243003358804480
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.863142408,659.931571204,635,879,787,804.931571204,652,631,652,0.402326179397,-0.0155193682673,0.0499682929575,0.999999996726,2.15512670579e-05,-7.5364274874e-05,-2.01010546487e-05,1793243003375471360
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.492345868,660,635,879,787,805.507654132,652,631,652,0.402538304756,-0.0155305336374,0.0499684207689,0.999999996954,1.46474951294e-05,-7.42887810021e-05,-1.89273917615e-05,1793243003392137984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.085456922,679,660,635,878.914543078,787,805.914543078,652.085456922,631,652,0.402761752564,-0.0155414941263,0.0499693889521,0.99999999726,8.3271175512e-06,-7.14248594294e-05,-1.75574507533e-05,1793243003408804608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.674117067,679,660,635,878.325882933,787,805.325882933,652.674117067,631,652,0.40302892968,-0.015551131566,0.0499771248272,0.999999998397,6.38114855949e-06,-5.42479735451e-05,-1.48863779503e-05,1793243003425471232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.741363392,635,878,787,805,652.741363392,630.741363392,652,0.403313263797,-0.0155578180539,0.0499858893678,0.999999999259,9.31000105993e-06,-3.54309611762e-05,-1.18568703218e-05,1793243003442137856
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.161978855,635,878,787,805,652.161978855,630.161978855,652,0.403618875134,-0.0155608449213,0.0499959296061,0.999999999691,1.82843586769e-05,-1.45799486174e-05,-8.38285026232e-06,1793243003458804480
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.584111588,679,659,635,878,787.415888412,805,652,630.415888412,652,0.403944548427,-0.0155551596617,0.0500010687067,0.99999999928,3.73225051763e-05,-2.37762288452e-06,-6.45009177679e-06,1793243003475470848
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.00683313,679,659,635,878,787.99316687,805,652,630.99316687,652,0.404278006975,-0.0155460935659,0.050004305867,0.99999999815,6.02660148073e-05,6.46848483864e-06,-5.11543678226e-06,1793243003492137728
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.566786608,635,878.566786608,787.433213392,805.566786608,652.566786608,631,652,0.404653119505,-0.0155414114812,0.0500064978231,0.999999997852,6.37059554559e-05,1.4427408394e-05,-5.38608448983e-06,1793243003508804352
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.855272372,635,879,787,805.855272372,652.855272372,631,652,0.40503200912,-0.015536005573,0.0500043666574,0.999999997653,6.70210577244e-05,1.3055995812e-05,-5.58017011628e-06,1793243003525470976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.263859041,635,879,787,805.263859041,652.263859041,631,652,0.405421016241,-0.0155282035857,0.0499889312987,0.999999997342,7.0671917818e-05,-1.70796618726e-05,-5.47860638212e-06,1793243003542137600
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.319836858,635,879.319836858,787,805,652,631,652,0.405828022583,-0.0155245503455,0.0499716972788,0.999999995456,8.09456314925e-05,-5.01227158925e-05,-4.94470580939e-06,1793243003558804480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.897316097,635,879.897316097,787,805,652,631,652,0.406249528117,-0.015524239099,0.049953014358,0.999999991675,9.65543396364e-05,-8.55078062497e-05,-4.06253925752e-06,1793243003575471872
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.530625656,787,805,652,631,651.530625656,0.406709970447,-0.0155255746747,0.049941220041,0.999999988169,0.000112928647942,-0.000104431129323,-2.03811213996e-06,1793243003592138240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.041863259,745,714,679,660,635,879.041863259,787.041863259,805,652.041863259,631,651.041863259,0.407185997498,-0.0155272426927,0.0499329343313,0.999999984883,0.000129593226419,-0.000115932656644,4.40443198163e-07,1793243003608804352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.635480939,745,714,679,660,635,879.635480939,787.635480939,805,652.635480939,631,651.635480939,0.407756444163,-0.015528598141,0.0499512563719,0.999999986118,0.000147901275705,-7.65384556328e-05,5.64845296187e-06,1793243003625470976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.775742704,745,714,679,659.775742704,635.224257296,880,787.775742704,805,653,631,652.224257296,0.408340894697,-0.0155305199827,0.0499729704898,0.999999985667,0.000165130628297,-3.56168741832e-05,1.13398927127e-05,1793243003642137856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.194669415,745,714,679,659.194669415,635.805330585,880,787.194669415,805,653,631,652.805330585,0.408947626767,-0.015533343013,0.0500000817437,0.999999983496,0.000180643664603,7.73492124308e-06,1.78005180572e-05,1793243003658805248
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.382746312,635.617253688,879.617253688,787.382746312,805,653,631,652.617253688,0.409551140661,-0.0155375211026,0.0500110535652,0.999999983033,0.000181838238641,2.05200863772e-05,2.1138254508e-05,1793243003675471616
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.95831935,635.04168065,879.04168065,787.95831935,805,653,631,652.04168065,0.410153033226,-0.015542381868,0.0500138943764,0.999999984121,0.000175819203469,1.79058510845e-05,2.29026864235e-05,1793243003692137984
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.533649584,787.466350416,804.466350416,653,631,652,0.410737437295,-0.0155411787386,0.0499858396693,0.99999998452,0.00016990647463,-4.15623419007e-05,1.91057601973e-05,1793243003708804608
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.887796747,787,804.112203253,652.887796747,631,651.887796747,0.41134075276,-0.0155398591842,0.0499590443247,0.999999981595,0.000166213649152,-9.45349313372e-05,1.56860406905e-05,1793243003725471232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.295365873,787,804.704634127,652.295365873,631,651.295365873,0.412030851971,-0.015540067495,0.0499479623192,0.999999980015,0.000171986447993,-0.000100709536158,1.57390060817e-05,1793243003742137856
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.290418736,745,714,679,660,635,879,787,805,652,631,651.290418736,0.41275955001,-0.0155425922115,0.0499574696949,0.999999981929,0.000173738326476,-7.5173023968e-05,1.74702313293e-05,1793243003758804480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.869595163,745,714,679,660,635,879,787,805,652,631,651.869595163,0.413526626195,-0.0155474200851,0.0499874486901,0.999999984913,0.000171492282432,-1.81067662927e-05,2.08701176312e-05,1793243003775471104
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.444826958,804.555173042,652,631,651.555173042,0.414256324489,-0.0155490650993,0.0499855477323,0.999999983671,0.000177568413078,-2.52647333841e-05,2.21092449736e-05,1793243003792138240
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.981089831,745,714,679,660,635,879.018910169,788,804.018910169,652,631,651.018910169,0.414975708636,-0.0155497291792,0.0499738152738,0.999999981176,0.000185684838758,-5.15659166623e-05,2.25954019668e-05,1793243003808805120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.407074387,745,714,679,660,635,879.592925613,788,804.592925613,652,631,651.592925613,0.415711156675,-0.0155487478226,0.0499454160475,0.999999978891,0.000182705817414,-9.19817903457e-05,1.94094668126e-05,1793243003825471488
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.828129113,787.828129113,805,652,631,652,0.416475831625,-0.0155495881987,0.0499311107804,0.999999977921,0.000178706154982,-0.000109107215549,1.78062850056e-05,1793243003842137856
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.23716282,787.23716282,805,652,631,652,0.417311774353,-0.0155548707455,0.0499511726707,0.999999982558,0.00017221772967,-6.94404726649e-05,2.00625392359e-05,1793243003858804480
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.347308202,635,879,787,805.347308202,652,631,652,0.418146592269,-0.0155579628607,0.0499701791045,0.999999984207,0.000171980306359,-3.86001443797e-05,2.27595797797e-05,1793243003875471104
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.927425268,635,879,787,805.927425268,652,631,652,0.418980656163,-0.0155595866779,0.0499884780403,0.999999984099,0.000175933077137,-1.36763711861e-05,2.57520896789e-05,1793243003892137472
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.501129341,679,660.498870659,635,879,787,805.498870659,652,631,652,0.419784682899,-0.0155565415631,0.0499731228717,0.999999982431,0.000180868162892,-4.24083359574e-05,2.50342023896e-05,1793243003908804096
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075999174,745,714.924000826,679,660,635,879,787,805.075999174,652,631,652,0.420596148706,-0.0155540255744,0.0499584766492,0.999999980476,0.000184314978702,-6.70520697436e-05,2.40798051229e-05,1793243003925470976
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.664925588,745,714.335074412,679,660,635,879,787,805.664925588,652,631,652,0.42148680934,-0.0155595865799,0.049981093855,0.999999983985,0.000176769281255,-1.23221499904e-05,2.51099785965e-05,1793243003942137856
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.249842223,787.249842223,806,652,631,652,0.422376871621,-0.015562199418,0.0499947805805,0.999999983934,0.000176335729707,1.86849785551e-05,2.62397629333e-05,1793243003958804480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.829466192,787.829466192,806,652,631,652,0.423266144222,-0.0155609207935,0.0499966794324,0.999999982287,0.000185289925879,1.83789788183e-05,2.75010298485e-05,1793243003975470848
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.406678541,660.406678541,635,879.593321459,788,806,652,631,652.406678541,0.424135626509,-0.0155594221928,0.0499871700223,0.99999998194,0.000188090352821,3.28891376556e-06,2.70466698935e-05,1793243003992137472
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.982885545,660.982885545,635,879.017114455,788,806,652,631,652.982885545,0.42499685893,-0.0155578318927,0.0499729049516,0.999999981771,0.000188325512176,-1.79640529325e-05,2.58771317563e-05,1793243004008804096
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.441147131,660.441147131,635,879,788,805.441147131,652,631,652.441147131,0.425900503316,-0.0155621119542,0.0499958490505,0.999999982093,0.000186798700244,6.37915395265e-06,2.96678984566e-05,1793243004025470720
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.138093685,660,635,879,788,805.138093685,652,631,651.861906315,0.426784053956,-0.0155652586816,0.0500089711842,0.999999982028,0.000186374655166,1.24982997952e-05,3.24492530641e-05,1793243004042137600
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.728070303,660,635,879,788,805.728070303,652,631,651.271929697,0.427597603589,-0.0155641087825,0.0499862257836,0.999999980467,0.000189735680033,-4.55843182074e-05,3.14306491408e-05,1793243004058803968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.312116862,635,879.312116862,788,806,652,631,651.312116862,0.428458886996,-0.0155618711751,0.0499645160011,0.999999978013,0.000191660636758,-7.9887143811e-05,2.92892711728e-05,1793243004075470592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.891093198,635,879.891093198,788,806,652,631,651.891093198,0.429360982672,-0.0155587035788,0.0499436916716,0.999999976752,0.000192357757452,-9.38582776996e-05,2.61879230991e-05,1793243004092137216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.467490595,679.532509405,660.532509405,635,880,787.532509405,806,652,631,652,0.430253631846,-0.0155584674213,0.0499490792795,0.999999978042,0.000193095157147,-7.686395728e-05,2.68912539978e-05,1793243004108804096
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.955864307,679,660.044135693,635,879.955864307,787,806,651.955864307,631,652,0.43113807257,-0.01555860192,0.0499582243161,0.999999979085,0.000194272087935,-5.73495863386e-05,2.82812604527e-05,1793243004125470976
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.368823119,679,660.631176881,635,879.368823119,787,806,651.368823119,631,652,0.431948463212,-0.0155549415349,0.0499388878403,0.999999974959,0.000200740824214,-9.50844873288e-05,2.72750485872e-05,1793243004142137600
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714.215745646,679.215745646,661,635,879.215745646,787,806,651.215745646,631,652,0.432786100409,-0.0155525853292,0.0499327231607,0.999999972737,0.000206298907397,-0.000105918237572,2.73514644189e-05,1793243004158804224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714.796135717,679.796135717,661,635,879.796135717,787,806,651.796135717,631,652,0.433669788747,-0.0155524333933,0.0499488209067,0.999999974914,0.000210317843413,-7.12847743973e-05,2.92576929683e-05,1793243004175470848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.625428378,880,787.374571622,805.625428378,652,631,652,0.434541137074,-0.015550865236,0.049967431054,0.999999975657,0.00021364935669,-4.54209741105e-05,3.12432421073e-05,1793243004192137216
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.048050562,880,787.951949438,805.048050562,652,631,652,0.435405804034,-0.0155485302868,0.0499874015025,0.999999975691,0.000216608674996,-2.43053785427e-05,3.3271738079e-05,1793243004208804096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.474462729,679.474462729,661,634.525537271,880,787.474462729,805.525537271,652,631,652,0.436166532591,-0.0155443788868,0.0499624270835,0.999999972129,0.000218481302537,-8.36543986394e-05,3.17723040437e-05,1793243004225470720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.898341456,714,679.101658544,660.898341456,635,879.898341456,787,806,652,631,652,0.436928994043,-0.0155410815415,0.0499415648716,0.999999967009,0.000219976678254,-0.000129106582859,3.04041207128e-05,1793243004242137344
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.308399149,714,679.691600851,660.308399149,635,879.308399149,787,806,652,631,652,0.437745097694,-0.0155426783718,0.0499600509996,0.999999972639,0.000220133865836,-7.27259584659e-05,3.12045926448e-05,1793243004258803968
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.722399063,744,714.277600937,680,660.277600937,635,879.555201874,787,806,652,631,652,0.438543820402,-0.0155453734726,0.0499745828348,0.999999974397,0.000220436278261,-3.91623713533e-05,3.28592463203e-05,1793243004275470592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.140717279,744,714.859282721,680,660.859282721,635,880.718565443,787,806,652,631,652,0.439323504175,-0.015549271606,0.0499847831822,0.999999974506,0.000220897768854,-3.05923062169e-05,3.54495608031e-05,1793243004292137216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.434487066,744.434487066,715,680,661,635,880.565512934,787,806.434487066,652,631,652,0.440055403172,-0.0155488502937,0.0499673574655,0.999999973582,0.00022099508206,-5.33578322946e-05,3.39033684175e-05,1793243004308804096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.007608237,661,635,880,787.007608237,806.992391763,652,631,652,0.440771914026,-0.0155470825344,0.0499416487477,0.99999997145,0.000220992270488,-8.54132679297e-05,3.10964192883e-05,1793243004325470720
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.579528855,661,635,880,787.579528855,806.420471145,652,631,652,0.441478079392,-0.0155476839743,0.0499554601554,0.999999972682,0.000222182798443,-6.48315013045e-05,3.26844494806e-05,1793243004342137600
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680.841460531,661,634.841460531,880.158539469,788,806.158539469,651.841460531,631.158539469,652,0.442178786322,-0.0155488688741,0.049971654703,0.999999973874,0.000222548752922,-3.92043255517e-05,3.44501783366e-05,1793243004358804224
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.242765731,661,634.242765731,880.757234269,788,806.757234269,651.242765731,631.757234269,652,0.442864339082,-0.0155516736417,0.0499944655986,0.999999974988,0.000220625432873,4.30494356936e-07,3.67092548229e-05,1793243004375470592
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.342285188,880.657714812,788,807,651.342285188,631.657714812,652,0.44349351961,-0.0155519208607,0.0499920244145,0.99999997491,0.000220832006616,-7.18208874224e-06,3.689988533e-05,1793243004392137216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.9180301,880.0819699,788,807,651.9180301,631.0819699,652,0.44408425074,-0.015550423673,0.0499723597448,0.999999973507,0.000222491299999,-4.70203328225e-05,3.56797072627e-05,1793243004408804096
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.507628878,679.507628878,661.492371122,635,880,788,806.507628878,652,631,652,0.444668597961,-0.0155486966808,0.0499492694401,0.999999971536,0.000222692354214,-7.88124287665e-05,3.35396460361e-05,1793243004425470720
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679.136423945,661.931788027,635,880,788,806.068211973,651.931788027,631.068211973,652,0.445251219685,-0.0155470683977,0.049930881906,0.999999969627,0.000223053133235,-9.99462622189e-05,3.16957532069e-05,1793243004442137600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680.31456999,661.342715005,635,880,788,806.657284995,651.342715005,631.657284995,652,0.445828757986,-0.0155464851512,0.0499527467223,0.999999972554,0.000226482041081,-4.98938740658e-05,3.32794337034e-05,1793243004458804224
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.756804838,661,635,879.756804838,787.756804838,806.756804838,651.243195162,631.756804838,652,0.446385510565,-0.0155466010138,0.0499703931557,0.999999973352,0.000227881884735,-1.31265458499e-05,3.45524206941e-05,1793243004475470592
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.175294649,661,635,879.175294649,787.175294649,806.175294649,651.824705351,631.175294649,652,0.446913347544,-0.0155476894251,0.0499821712866,0.999999973719,0.000226459045448,5.15959051738e-06,3.5393193934e-05,1793243004492137472
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.622703671,745,714.622703671,680.622703671,661,634,880.377296329,787,807,652,631,652,0.450656414045,-0.0155540628998,0.0499498857544,0.999999973482,0.000219806311406,-5.91701267912e-05,3.49207353479e-05,1793243004658804224
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.79330393,745,714.79330393,680.79330393,661,634,880,787,807,652,631,652,0.450897267713,-0.015553599907,0.0499408967682,0.999999972198,0.000220019660012,-7.75710129549e-05,3.43166020674e-05,1793243004675470848
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.586168035,680.586168035,661,634,880,787,806,652,631,652,0.452438531265,-0.0155571020754,0.0498954293378,0.999999964736,0.000203214348816,-0.000168133642384,3.10414196171e-05,1793243004858804224
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.827344747,661,634,880,787,806.172655253,652,631,652,0.452496369921,-0.0155578528628,0.0498907693142,0.999999963979,0.000201033472868,-0.000175203975302,3.05081914044e-05,1793243004875471104
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.244413505,661,634,880,787,806.755586495,652,631,652,0.452542514687,-0.0155601371643,0.0498855789838,0.999999963669,0.000198031619585,-0.000180362099465,3.02476574999e-05,1793243004892137728
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,786.66577578,806.66577578,651.66577578,630.66577578,652,0.452582814231,-0.0155618108908,0.0498823982164,0.999999963565,0.00019593096315,-0.000183205254134,3.02866524117e-05,1793243004908804096
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,786.090237963,806.090237963,651.090237963,630.090237963,652,0.452618893466,-0.0155630437758,0.0498806683755,0.999999963625,0.000194480980536,-0.000184376975656,3.05419104283e-05,1793243004925470720
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.515971941,680,661,634,880,786.484028059,806.484028059,651.484028059,630,652,0.452643564925,-0.0155609064472,0.0498799702955,0.999999962943,0.000196564035238,-0.00018597382356,2.98235469319e-05,1793243004942137600
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.059919494,745,714,680,661,634,880,786.940080506,807,652,630.059919494,652,0.452665223516,-0.0155583994492,0.049879379183,0.999999962198,0.000198893370162,-0.000187621843153,2.9032692522e-05,1793243004958804224
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.652358391,745,714,680,661,634,880,786.347641609,807,652,630.652358391,652,0.452678957588,-0.0155581764476,0.0498780337122,0.999999962191,0.000197573049428,-0.000189022109874,2.92065207444e-05,1793243004975470592
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.761177043,745,714,680,661,634,880,786.238822957,807,651.761177043,630.761177043,652,0.452689474435,-0.0155580527967,0.0498764659104,0.999999961937,0.000196681071821,-0.000191292885822,2.91598353711e-05,1793243004992137216
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.183196781,745,714,680,661,634,880,786.816803219,807,651.183196781,630.183196781,652,0.452695422435,-0.0155580702357,0.049874582372,0.999999961326,0.000196397393022,-0.000194799889427,2.8799994175e-05,1793243005008804096
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,744.607166468,714,680,661,634,880,786.607166468,807,651,630,652,0.452699594408,-0.0155569949095,0.0498730836067,0.999999961016,0.000195662027357,-0.000197175166883,2.83828474284e-05,1793243005025470976
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,744.032041031,714,680,661,634,880,786.032041031,807,651,630,652,0.452702942228,-0.0155554124925,0.049871763393,0.999999960847,0.00019471705928,-0.000199025273915,2.79391084151e-05,1793243005042137600
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,744.537834657,714,680,661,634,880,786,806.462165343,651.537834657,630.537834657,652,0.452703343837,-0.0155566970926,0.049870487283,0.999999960845,0.000192804973505,-0.000200915222736,2.77192353694e-05,1793243005058804224
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.886977682,786.113022318,806.113022318,652,630.886977682,652,0.452703794253,-0.015557706667,0.0498695120392,0.999999960877,0.000191053460513,-0.000202447970646,2.75634552823e-05,1793243005075470592
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.287598938,786.712401062,806.712401062,652,630.287598938,652,0.452705202675,-0.0155568048731,0.0498698202829,0.999999961033,0.000190238455607,-0.00020243349986,2.76266441478e-05,1793243005092137216
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.701000647,879.298999353,786.701000647,807,651.701000647,630.298999353,652,0.452706310003,-0.0155564887485,0.0498698854062,0.999999961002,0.000190154170587,-0.000202643178994,2.78016679798e-05,1793243005108804352
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.126191523,879.873808477,786.126191523,807,651.126191523,630.873808477,652,0.452707139588,-0.01555671287,0.049869726265,0.999999960798,0.000190743932699,-0.000203059623586,2.80798531678e-05,1793243005125472000
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.432810615,880,786,807,651,631,652,0.45270710086,-0.0155545306627,0.0498686337036,0.999999960292,0.000192182184188,-0.000204266515669,2.75291889292e-05,1793243005142138624
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.987366376,880,786,807,651,631,652,0.452706817884,-0.01555167158,0.0498672785808,0.999999959696,0.000193859106921,-0.000205695752429,2.67453779071e-05,1793243005158804480
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880.597572203,786,806.402427797,651.597572203,630.402427797,652,0.452705876657,-0.0155537730477,0.0498668248998,0.999999959844,0.00019172103794,-0.000206890378046,2.74112304526e-05,1793243005175471104
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.199337468,714,680,661,634,880.800662532,786.199337468,806.199337468,652,630.199337468,652,0.452705414316,-0.0155543848033,0.0498666062809,0.999999959875,0.000190913803893,-0.000207457986121,2.76199484217e-05,1793243005192137984
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.782359194,714,680,661,634,880.217640806,786.782359194,806.782359194,652,630.782359194,652,0.452705903267,-0.0155519065742,0.0498667996595,0.999999959656,0.000192839344282,-0.00020682923983,2.68837254643e-05,1793243005208804608
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.359897257,745.640102743,714.359897257,680,661,634,879.640102743,786.640102743,806.640102743,652,630.640102743,651.640102743,0.452704928368,-0.0155516646894,0.0498657982847,0.999999959297,0.000192706634484,-0.000208692408208,2.6788814914e-05,1793243005225471232
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.934168931,745.065831069,714.934168931,680,661,634,879.065831069,786.065831069,806.065831069,652,630.065831069,651.065831069,0.452703081519,-0.0155527548932,0.0498640852498,0.999999958846,0.00019134791865,-0.000212039896768,2.70759050049e-05,1793243005242137856
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.493824849,745,714.493824849,680,661,634,880.012350303,786,806.506175151,651.493824849,630,651,0.452704893198,-0.0155522417327,0.049864779356,0.999999958903,0.000192272712102,-0.000210961110192,2.68329234471e-05,1793243005258804736
+245,4.083333333,HOLD_POSE2,765,745,714,680,661,633,879,786,806,651,630,652,0.452704696072,-0.015555827051,0.0498644032879,0.999999959592,0.000188430944876,-0.000211083065838,2.74588893308e-05,1793243005301281280
+246,4.100000000,HOLD_POSE2,765,745,714,680,661,633.579281549,879.579281549,786,806,651,630.579281549,652,0.452704760521,-0.015553879942,0.0498638372902,0.999999959236,0.000189215794689,-0.000212099490922,2.72007336015e-05,1793243005317947904
+247,4.116666667,HOLD_POSE2,765.157454662,745,714,680,661,634,880,786.157454662,806.157454662,651,630.842545338,652,0.452704593224,-0.0155524764874,0.0498632774718,0.999999958907,0.00018987617737,-0.000213096624036,2.69042256917e-05,1793243005334614272
+248,4.133333333,HOLD_POSE2,765.732686871,745,714,680,661,634,880,786.732686871,806.732686871,651,630.267313129,652,0.452703811035,-0.0155525155213,0.0498627340488,0.999999958652,0.000190206309145,-0.00021404256961,2.65059571324e-05,1793243005351280896
+249,4.150000000,HOLD_POSE2,765.371916537,745,714,680,661,634,880,786.685958268,806.685958268,651,630.314041732,652,0.4527036272,-0.0155532452775,0.0498626014386,0.999999958623,0.000190043520935,-0.00021432507642,2.64866664432e-05,1793243005367947776
+250,4.166666667,HOLD_POSE2,764.198576398,745,714,680,661,634,880,786.099288199,806.099288199,651,630.900711801,652,0.452703962813,-0.0155545746689,0.0498628254664,0.99999995879,0.000189452815198,-0.000214031633583,2.67963769787e-05,1793243005384614656
+251,4.183333333,HOLD_POSE2,764.482079979,745,714,680,661,634,880,786,806,651,630.517920021,652,0.452705886636,-0.0155527843258,0.049863998093,0.999999959171,0.000189978464243,-0.00021178409503,2.67208375921e-05,1793243005401281280
+252,4.200000000,HOLD_POSE2,765,745,714,680,660.938069626,634,880,786,806,651.061930374,630,652,0.452707868983,-0.0155506554555,0.0498651269629,0.999999959528,0.000190623377905,-0.000209524879481,2.65551940532e-05,1793243005417947904
+253,4.216666667,HOLD_POSE2,765,745,714,680,660.361853937,634,880,786,806,651.638146063,630,652,0.452707650525,-0.015550993091,0.0498642877017,0.999999959384,0.00019037013422,-0.000210474479469,2.629303839e-05,1793243005434614528
+254,4.233333333,HOLD_POSE2,765.213974605,745,714,680,660.213974605,633.786025395,880,786,806.213974605,652,630.213974605,652,0.452706798567,-0.0155514251779,0.0498633800425,0.999999959035,0.000190427923059,-0.000212088865837,2.6180313603e-05,1793243005451281152
+255,4.250000000,HOLD_POSE2,765.789149562,745,714,680,660.789149562,633.210850438,880,786,806.789149562,652,630.789149562,652,0.452704877228,-0.0155520167034,0.0498623569239,0.999999958336,0.000191010751137,-0.000214825446378,2.63198359964e-05,1793243005467947776
+256,4.266666667,HOLD_POSE2,765.626001756,745,714.373998244,680,661,633.373998244,879.626001756,786,807,652,630.626001756,652,0.452704348896,-0.0155525411787,0.0498619844492,0.999999958339,0.000190362907724,-0.000215355071567,2.65731094106e-05,1793243005484614656
+257,4.283333333,HOLD_POSE2,765.035554412,745,714.964445588,680,661,633.964445588,879.035554412,786,807,652,630.035554412,652,0.452704626759,-0.0155530268492,0.0498619885303,0.999999958749,0.000189002821086,-0.00021460743567,2.68922155163e-05,1793243005501281024
+258,4.300000000,HOLD_POSE2,765.544567099,745,714.455432901,680,661,634,879.544567099,786,806.455432901,652,630,652,0.452703741335,-0.0155526610067,0.0498618108892,0.999999958787,0.000187706360419,-0.000215640157481,2.63178922658e-05,1793243005517947904
+259,4.316666667,HOLD_POSE2,766,745,714.123107128,680,661,634,880,786.123107128,806,652,630.123107128,652,0.452702951676,-0.0155523949475,0.0498614593725,0.999999958811,0.0001864429557,-0.000216678970118,2.58124849364e-05,1793243005534614784
+260,4.333333333,HOLD_POSE2,766,745,714.69826954,680,661,634,880,786.69826954,806,652,630.69826954,652,0.452702787374,-0.0155526956444,0.0498605121329,0.999999958888,0.000185285963456,-0.00021732125895,2.57703497632e-05,1793243005551281408
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806,651,631,651,0.452705138631,-0.015552896821,0.0498628054205,0.999999959622,0.000185143677114,-0.000213966180701,2.63918252568e-05,1793243005590134272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.616475056,745,714,680,661,633.616475056,879.383524944,786,806.616475056,651.616475056,630.383524944,651.616475056,0.452705497815,-0.015552104796,0.0498625371371,0.999999959174,0.000187375193519,-0.000214147084264,2.61478647821e-05,1793243005606800896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.782139448,745,714,680,661,634,879.217860552,786,807,652,630.217860552,652,0.452706264785,-0.0155517814043,0.0498626923682,0.999999959154,0.000188027463835,-0.00021369652628,2.59308360136e-05,1793243005623467264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.205597046,745,714,680,661,634,879.794402954,786,807,652,630.794402954,652,0.452707703129,-0.0155522295624,0.0498635448661,0.99999995984,0.000186079691028,-0.000212206340943,2.57581471023e-05,1793243005640133888
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.368271246,680,661,634,880.368271246,786,807,652,630.631728754,652,0.45270736046,-0.0155510523409,0.0498631254687,0.999999959516,0.000187268086716,-0.000212714150587,2.55244903055e-05,1793243005656800512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.940657374,680,661,634,880.940657374,786,807,652,630.059342626,652,0.452706030663,-0.0155489742503,0.0498620011213,0.999999958625,0.000190194708537,-0.000214329351986,2.52570419782e-05,1793243005673466880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880.468457847,786,807,652,630,652,0.452705459992,-0.0155491741345,0.0498614862108,0.999999958341,0.000190788243011,-0.000215133710576,2.52198182075e-05,1793243005690133760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880,786.121901643,807,652,630.121901643,652,0.452704197359,-0.0155498527324,0.049860721764,0.999999958172,0.00019035441297,-0.000216294243863,2.52598732573e-05,1793243005706800384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880,786.702238892,807,652,630.702238892,652,0.452700002255,-0.0155513407277,0.049858753786,0.999999958164,0.000187071846899,-0.000219146953788,2.54904049691e-05,1793243005723467264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.718963991,680.281036009,661,634,880,786.718963991,807,651.718963991,630.718963991,652,0.452688066929,-0.0155521473969,0.0498529106719,0.999999956302,0.00018549537456,-0.000228793417944,2.53059784886e-05,1793243005740134144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.141789808,680.858210192,661,634,880,786.141789808,807,651.141789808,630.141789808,652,0.45266797544,-0.0155522361271,0.0498429841819,0.999999952291,0.0001857166773,-0.000245598715322,2.46842949896e-05,1793243005756800512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.568301544,661,634,880,786.431698456,807,651.431698456,630.431698456,651.568301544,0.452628190214,-0.0155488085548,0.0498254560383,0.999999944309,0.000186458205919,-0.000275876731219,2.25461176182e-05,1793243005773467136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.995879268,634,880,786.995879268,806.995879268,652,631,651.004120732,0.452581846643,-0.0155442584515,0.0498054298881,0.999999934027,0.000187351591361,-0.000310560149699,1.9921377002e-05,1793243005790133760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.404304593,634,880,786.404304593,806.404304593,652,631,651.595695407,0.452514865334,-0.0155429314759,0.0497822094749,0.999999922106,0.00018574120664,-0.000347780611039,1.83383551137e-05,1793243005806800640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.183407247,680.183407247,660.183407247,634,880,786.183407247,806.183407247,652,631,652,0.452446415502,-0.015540068188,0.0497629609989,0.999999911224,0.000186341224255,-0.000377551731624,1.68685169829e-05,1793243005823467264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.762779574,680.762779574,660.762779574,634,880,786.762779574,806.762779574,652,631,652,0.452374795206,-0.0155338880955,0.0497522876891,0.999999904966,0.000191713366065,-0.000391240186974,1.56430354365e-05,1793243005840134144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.6600606,680.6600606,661,634,880,787,807,651.6600606,630.6600606,651.6600606,0.452295838741,-0.0155274849009,0.0497473071656,0.999999901425,0.000196402291406,-0.000397949923656,1.45498825506e-05,1793243005856801024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.084434779,680.084434779,661,634,880,787,807,651.084434779,630.084434779,651.084434779,0.452211795975,-0.0155209270258,0.0497462735593,0.999999899856,0.00020061752953,-0.000399821181777,1.35484757049e-05,1793243005873467648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.498802206,786.498802206,806.498802206,651,630,651.501197794,0.452111397606,-0.0155157972877,0.049751563493,0.999999902213,0.000201568873089,-0.000393392481903,1.36615606015e-05,1793243005890134016
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.66672056,660.33327944,634,879.66672056,786,806,651,630,651.33327944,0.451866426325,-0.0155007463317,0.049759719371,0.999999903761,0.00020649238463,-0.000386889123396,1.24467670465e-05,1793243005923467008
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cffecfee474c5241b2fc10f857a1bb544a30cecb
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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+339,5.650000000,pose2_to_pose3_retreat,0.590838541718,-0.00999808401352,1.04004088208,0.56141026026,-0.00132325921389,1.03967868007
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+341,5.683333333,pose2_to_pose3_retreat,0.589648230093,-0.00999824617206,1.04004060989,0.560219949607,-0.00132341808282,1.03967840771
+342,5.700000000,pose2_to_pose3_retreat,0.589084839998,-0.00999813576153,1.04004089701,0.55965656118,-0.00132330178358,1.03967870047
+343,5.716666667,pose2_to_pose3_retreat,0.588545066789,-0.00999821550638,1.04004088191,0.559116786387,-0.00132338730254,1.03967867576
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+345,5.750000000,pose2_to_pose3_retreat,0.587506706714,-0.00999819781268,1.040041035,0.558078426722,-0.00132336827858,1.03967882747
+346,5.766666667,pose2_to_pose3_retreat,0.587018817938,-0.0099981267572,1.04004102657,0.557590536897,-0.00132330091618,1.03967881587
+347,5.783333333,pose2_to_pose3_retreat,0.586553708009,-0.00999810546164,1.04004103507,0.5571254273,-0.00132327833258,1.03967882824
+348,5.800000000,pose2_to_pose3_retreat,0.586107945357,-0.00999812065409,1.04004070368,0.556679666574,-0.0013232865919,1.03967850642
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+356,5.933333333,pose2_to_pose3_retreat,0.583222345197,-0.00999808070544,1.04004090512,0.553794063526,-0.00132325698126,1.03967869582
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+358,5.966666667,pose2_to_pose3_retreat,0.582722946944,-0.00999825421831,1.04004085146,0.553294667881,-0.00132342150097,1.0396786459
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+363,6.050000000,pose2_to_pose3_retreat,0.581694979351,-0.00999808529621,1.04004093201,0.552266699124,-0.00132325615996,1.03967873494
+364,6.066666667,pose2_to_pose3_retreat,0.581549224731,-0.009997958876,1.04004090728,0.552120941904,-0.00132313833029,1.0396787157
+365,6.083333333,pose2_to_pose3_retreat,0.581421050244,-0.00999801899784,1.04004091672,0.551992768707,-0.00132319409163,1.03967872503
+366,6.100000000,pose2_to_pose3_retreat,0.581309204674,-0.00999811405707,1.04004078732,0.551880923814,-0.00132328718433,1.03967858775
+367,6.116666667,pose2_to_pose3_retreat,0.581213527896,-0.00999817580114,1.04004073056,0.551785248058,-0.00132334572169,1.03967852512
+368,6.133333333,pose2_to_pose3_retreat,0.581129929684,-0.00999817405726,1.04004080494,0.551701650069,-0.00132334322718,1.03967859978
+369,6.150000000,pose2_to_pose3_retreat,0.581057202603,-0.00999812968484,1.0400409296,0.551628921765,-0.00132330281515,1.03967872876
+370,6.166666667,pose2_to_pose3_retreat,0.580993903298,-0.00999816557834,1.04004085706,0.551565622878,-0.00132333741135,1.03967865331
+371,6.183333333,pose2_to_pose3_retreat,0.580939460381,-0.00999823709355,1.04004097782,0.551511181075,-0.00132340543141,1.03967876715
+372,6.200000000,pose2_to_pose3_retreat,0.580892919233,-0.00999812951765,1.04004084435,0.551464637872,-0.00132330423217,1.0396786478
+373,6.216666667,pose2_to_pose3_retreat,0.580854079513,-0.00999819307865,1.04004085968,0.551425799963,-0.00132336138801,1.03967866946
+374,6.233333333,pose2_to_pose3_retreat,0.58082359911,-0.00999821072725,1.04004091177,0.551395320625,-0.00132337545209,1.03967872083
+375,6.250000000,pose2_to_pose3_retreat,0.580800170568,-0.00999809824427,1.04004098629,0.551371890506,-0.00132326869263,1.03967878634
+376,6.266666667,pose2_to_pose3_retreat,0.580783270179,-0.00999801797258,1.04004113015,0.551354988826,-0.00132319347575,1.03967891411
+377,6.283333333,pose2_to_pose3_retreat,0.580770598246,-0.00999817322444,1.04004098634,0.551342318612,-0.00132334244556,1.03967878102
+378,6.300000000,pose2_to_pose3_retreat,0.58076161086,-0.00999825655997,1.04004076254,0.551333331059,-0.00132342647377,1.03967855425
+379,6.316666667,pose2_to_pose3_retreat,0.58075516783,-0.00999827458092,1.04004071924,0.551326888011,-0.00132344469665,1.03967850748
+380,6.333333333,pose2_to_pose3_retreat,0.580750722945,-0.00999824103931,1.04004087605,0.551322443651,-0.00132340940865,1.03967866325
+381,6.350000000,pose2_to_pose3_retreat,0.58074809265,-0.00999821866134,1.04004092479,0.551319813359,-0.00132338669854,1.03967871996
+382,6.366666667,pose2_to_pose3_retreat,0.580746465977,-0.00999820617942,1.04004092832,0.551318186588,-0.00132337434977,1.03967872835
+383,6.383333333,pose2_to_pose3_retreat,0.580745691778,-0.00999821118719,1.04004074441,0.551317411699,-0.00132338173816,1.0396785436
+384,6.400000000,pose2_to_pose3_retreat,0.580745237272,-0.00999821412709,1.04004063644,0.551316956787,-0.00132338607563,1.03967843513
+385,6.416666667,pose2_to_pose3_retreat,0.580744870874,-0.00999821649707,1.0400405494,0.551316590061,-0.00132338957227,1.03967834769
+386,6.433333333,pose2_to_pose3_retreat,0.580744412967,-0.00999820908871,1.04004057835,0.551316131808,-0.00132338342554,1.03967837461
+387,6.450000000,pose2_to_pose3_retreat,0.58074412948,-0.00999819206865,1.04004076141,0.55131584818,-0.00132336701104,1.03967855457
+388,6.466666667,pose2_to_pose3_retreat,0.580744069618,-0.00999818847463,1.04004080007,0.551315788288,-0.00132336354489,1.03967859258
+389,6.483333333,pose2_to_pose3_retreat,0.580743998089,-0.00999818418019,1.04004084626,0.551315716724,-0.00132335940324,1.03967863798
+390,6.500000000,pose2_to_pose3_retreat,0.580743881468,-0.00999817717846,1.04004092156,0.551315600045,-0.00132335265062,1.03967871202
+391,6.516666667,pose2_to_pose3_retreat,0.580743832595,-0.00999817424423,1.04004095312,0.551315551148,-0.00132334982079,1.03967874304
+392,6.533333333,pose2_to_pose3_retreat,0.580743798935,-0.00999817222333,1.04004097486,0.551315517471,-0.00132334787179,1.03967876441
+393,6.550000000,pose2_to_pose3_retreat,0.580743769851,-0.00999817047717,1.04004099364,0.551315488373,-0.00132334618775,1.03967878287
+394,6.566666667,pose2_to_pose3_retreat,0.580743717569,-0.00999815640856,1.04004099451,0.551315436239,-0.00132333160065,1.03967878413
+395,6.583333333,pose2_to_pose3_retreat,0.58074362579,-0.00999813007816,1.04004099112,0.551315344746,-0.00132330426588,1.03967878156
+396,6.600000000,pose2_to_pose3_retreat,0.580743609396,-0.009998125375,1.04004099052,0.551315328403,-0.00132329938332,1.0396787811
+397,6.616666667,pose2_to_pose3_retreat,0.580743574854,-0.00999811546523,1.04004098924,0.551315293969,-0.00132328909554,1.03967878014
+398,6.633333333,pose2_to_pose3_retreat,0.580743540489,-0.00999810560643,1.04004098797,0.551315259711,-0.00132327886068,1.03967877918
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+400,6.666666667,pose2_to_pose3_retreat,0.58074349648,-0.00999821812664,1.04004084758,0.551315217039,-0.0013233866037,1.03967864454
+401,6.683333333,pose2_to_pose3_retreat,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786765,1.03967863105
+402,6.700000000,pose2_to_pose3_retreat,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.0013233978677,1.03967863105
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99f0b4cc55cbf05e55d4bbb0aab36df89e63517a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7327f5a20c45d2c92dba23f2f7989cc2d8f91f2cdf0ae53da20ec9d781c5a94
+size 25749565
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f99ad17594857e50a663f61193815d0c494d42f5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,765,745,714,678.827534234,659.827534234,635,879,787.827534234,805,652,631,652,0.400983984159,-0.015402296855,0.0498569838458,0.99999996171,-9.01418692218e-05,-0.000256821738503,-4.99762780306e-05,1793243008436797184
+22,0.366666667,BASELINE,765,745,714,678.248699175,659.248699175,635,879,787.248699175,805,652,631,652,0.400983234277,-0.0154016781968,0.0498564937506,0.999999961635,-8.90814706011e-05,-0.000257426986664,-5.02589527913e-05,1793243008453464064
+23,0.383333333,BASELINE,765,745,714,678.328614554,659.328614554,635,879,787,805,652.328614554,631,652,0.400982128367,-0.0154010477212,0.049855942997,0.999999961563,-8.69681131059e-05,-0.000258372219237,-5.05311694297e-05,1793243008470130944
+24,0.400000000,BASELINE,765,745,714,678.904782291,659.904782291,635,879,787,805,652.904782291,631,652,0.400980754253,-0.0154004083431,0.049855346548,0.999999961488,-8.40615364601e-05,-0.000259573570243,-5.07955077446e-05,1793243008486797568
+25,0.416666667,BASELINE,765,744.503578632,714,679,660,635,878.503578632,787.496421368,805,653,631,652,0.400980199959,-0.0154011141539,0.0498552839205,0.999999961114,-8.58996459504e-05,-0.000260446093989,-5.06021273412e-05,1793243008503464448
+26,0.433333333,BASELINE,764.912119662,744.087880338,714,679,659.912119662,635,878,788,805,653,631,652,0.400979902449,-0.0154021048932,0.0498553085634,0.999999960766,-8.83427053723e-05,-0.00026101565039,-5.03469284531e-05,1793243008520131072
+27,0.450000000,BASELINE,764.338582915,744.661417085,714,679,659.338582915,635,878,788,805,653,631,652,0.40098012706,-0.015403198479,0.0498552314404,0.999999960912,-8.893778429e-05,-0.000260270675698,-5.02508875705e-05,1793243008536797696
+28,0.466666667,BASELINE,764.236696877,745,714,679,659,635,878,788,805.236696877,652.763303123,631,652,0.400980713308,-0.0154027472551,0.049855485125,0.999999961188,-8.80676891246e-05,-0.000259486059247,-5.03543541056e-05,1793243008553464320
+29,0.483333333,BASELINE,764.814488469,745,714,679,659,635,878,788,805.814488469,652.185511531,631,652,0.400981820699,-0.0154000698657,0.0498562155237,0.999999961644,-8.50861882126e-05,-0.000258644316636,-5.07453230706e-05,1793243008570130944
+30,0.500000000,BASELINE,765.401286905,745,714,679,659,635,878.401286905,788,805.598713095,652,631,652,0.400982257306,-0.0153993617914,0.0498561550403,0.999999961647,-8.51430243456e-05,-0.000258590852888,-5.08682570071e-05,1793243008586797312
+31,0.516666667,BASELINE,765.992344714,745,714,679,659,635,878.992344714,788,805.007655286,652,631,652,0.400982376696,-0.0153995850176,0.0498557205442,0.999999961436,-8.66367077603e-05,-0.000258910170809,-5.08644356142e-05,1793243008603464192
+32,0.533333333,BASELINE,765.426501186,745,714,679,659,635,879,787.426501186,805,652,631,652,0.400982192385,-0.0154010840408,0.0498558939836,0.99999996146,-8.73720928306e-05,-0.000258623383583,-5.05997948999e-05,1793243008620130816
+33,0.550000000,BASELINE,765,745,714,679,659,635,879,787,805,652.151754786,631,652,0.40098206446,-0.0154022574022,0.049856223908,0.999999961544,-8.77195554406e-05,-0.00025822472671,-5.03759833528e-05,1793243008636797440
+34,0.566666667,BASELINE,765,745,714,679,659,635,879,787,805,652.722370187,631,652,0.400982103168,-0.0154024856931,0.0498569637312,0.999999961786,-8.70237712315e-05,-0.000257539248533,-5.0274311298e-05,1793243008653464064
+35,0.583333333,BASELINE,765.303252684,744.696747316,714,679,659.303252684,635,879,787.303252684,805,653,631,652,0.400981788408,-0.0154026706682,0.0498569613216,0.99999996186,-8.55911167185e-05,-0.000257762964671,-5.012468287e-05,1793243008670130688
+36,0.600000000,BASELINE,765.893864236,744.106135764,714,679,659.893864236,635,879,787.893864236,805,653,631,652,0.400981138706,-0.0154028145979,0.0498562555807,0.99999996177,-8.34602120287e-05,-0.000258848223138,-4.9929611505e-05,1793243008686797312
+37,0.616666667,BASELINE,765.524521432,744.475478568,714.475478568,679,659.524521432,635,879.475478568,788,805,653,631,652,0.400980775227,-0.0154029790668,0.0498555537245,0.999999961364,-8.50359666335e-05,-0.000259875266193,-5.00582547031e-05,1793243008703464192
+38,0.633333333,BASELINE,765.054678851,745,714.945321149,678.945321149,659.054678851,635,879.945321149,788,805,653,631,652,0.400980510555,-0.0154031622115,0.0498548970862,0.999999960928,-8.72779127505e-05,-0.000260772919668,-5.02343129892e-05,1793243008720130560
+39,0.650000000,BASELINE,765.629664069,745,714.370335931,678.370335931,659.629664069,635,879.370335931,788,805,653,631,652,0.400980589434,-0.0154034802534,0.0498546626279,0.999999960911,-8.81321034408e-05,-0.000260560701862,-5.01867323463e-05,1793243008736797440
+40,0.666666667,BASELINE,766,745,714,678.204310942,659.795689058,635,879,787.795689058,805,652.795689058,631,652,0.400981121147,-0.0154031326501,0.0498549833641,0.999999961206,-8.71153229482e-05,-0.000259771951927,-5.01687567797e-05,1793243008753464320
+41,0.683333333,BASELINE,766,745,714,678.778345509,659.221654491,635,879,787.221654491,805,652.221654491,631,652,0.400982472314,-0.0154015804867,0.0498563087872,0.999999962053,-8.27128096591e-05,-0.000257939902284,-5.02043549302e-05,1793243008770130944
+42,0.700000000,BASELINE,766,745,714,679,659.364392236,635,878.635607764,787.364392236,805,652.364392236,631,652,0.400982786471,-0.0154014481882,0.0498565029259,0.99999996204,-8.38607413288e-05,-0.000257618665165,-5.01973918661e-05,1793243008786797568
+43,0.716666667,BASELINE,766,745,714,679,659.95799484,635,878.04200516,787.95799484,805,652.95799484,631,652,0.400982448325,-0.0154022090144,0.0498559854628,0.99999996148,-8.85000196139e-05,-0.000258247760921,-5.01636569023e-05,1793243008803463936
+44,0.733333333,BASELINE,765.466694088,745,714,678.466694088,660,635,878.533305912,788,805,652.466694088,631,651.466694088,0.400982372637,-0.0154018744423,0.0498561790388,0.999999961589,-8.75386638812e-05,-0.000258113975555,-5.03514516896e-05,1793243008820130560
+45,0.750000000,BASELINE,765.10804403,745,714,678.10804403,660.10804403,635,878.89195597,787.89195597,805,652.10804403,631,651.10804403,0.400982319804,-0.0154016184149,0.0498563769057,0.999999961739,-8.62881732603e-05,-0.00025793997707,-5.04362484812e-05,1793243008836797184
+46,0.766666667,BASELINE,765.686350962,745,714,678.686350962,660.686350962,635,878.313649038,787.313649038,805,652.686350962,631,651.686350962,0.400982279455,-0.0154020673262,0.0498563577738,0.999999961842,-8.56355600972e-05,-0.000257843808871,-4.99993188068e-05,1793243008853463808
+47,0.783333333,BASELINE,765.735780746,744.735780746,714,679,660.471561492,635,878,787.264219254,805,653,631,652,0.400981772932,-0.0154012086183,0.0498562758515,0.999999961901,-8.42830146707e-05,-0.000258038583252,-5.01001799744e-05,1793243008870130688
+48,0.800000000,BASELINE,765.158432216,744.158432216,714,679,659.316864432,635,878,787.841567784,805,653,631,652,0.400980713941,-0.0153988002359,0.0498561195156,0.999999961906,-8.21009713851e-05,-0.000258578157017,-5.08383831951e-05,1793243008886798080
+49,0.816666667,BASELINE,765,744.429283258,714,678.570716742,659,635,878,787.570716742,805,652.570716742,631,652,0.400981250374,-0.0153993689899,0.0498559493201,0.999999961794,-8.36220779081e-05,-0.000258525283231,-5.08409807609e-05,1793243008903464448
+50,0.833333333,BASELINE,765.020430541,744.979569459,714,678.020430541,659.020430541,635,878.020430541,787.020430541,805,652,631,652,0.400982383959,-0.0154009555593,0.0498557965068,0.999999961656,-8.63254469418e-05,-0.000258220546501,-5.05797873313e-05,1793243008920131072
+51,0.850000000,BASELINE,765.598240216,744.401759784,714,678.598240216,659.598240216,635,878.598240216,787.598240216,805,652,631,652,0.400983347587,-0.015399592329,0.0498562609094,0.999999962199,-8.30745528402e-05,-0.000257157324113,-5.0711767705e-05,1793243008936797696
+52,0.866666667,BASELINE,765.649156995,744.175421502,714,679,659.824578498,635,879,788,805,652,631,652,0.400983439001,-0.0153991583138,0.0498564245547,0.999999962391,-8.15584123551e-05,-0.00025689678657,-5.07074094099e-05,1793243008953464320
+53,0.883333333,BASELINE,764.497662558,744.751168721,714,679,659.248831279,635,879,788,805,652,631,652,0.400981539952,-0.0154008448409,0.0498559018483,0.999999961799,-8.40011167647e-05,-0.000258468039277,-5.03919155022e-05,1793243008970130944
+54,0.900000000,BASELINE,764.334390936,745,714,679,659,635,879,788,805,652,631,652,0.400980224711,-0.0154014290013,0.0498554722628,0.999999961388,-8.49686474109e-05,-0.000259724574188,-5.04811286404e-05,1793243008986797312
+55,0.916666667,BASELINE,764.923302701,745,714,679,659,635,879,788,805,652,631,652,0.400979353835,-0.0154011740979,0.0498551135562,0.999999961116,-8.4813353111e-05,-0.000260741562365,-5.08783835527e-05,1793243009003464192
+56,0.933333333,BASELINE,765,745,714.50418151,679,659.50418151,635,879,787.49581849,805,652,631,651.49581849,0.400979269626,-0.0154009993517,0.0498550641948,0.999999961054,-8.51077850776e-05,-0.000260928259734,-5.06479622902e-05,1793243009020130816
+57,0.950000000,BASELINE,765,745,714.916751226,679,659.916751226,635,879,787.083248774,805,652,631,651.083248774,0.400979389218,-0.0154009082715,0.0498550678613,0.99999996105,-8.54499854666e-05,-0.000260871911618,-5.0429859848e-05,1793243009036797440
+58,0.966666667,BASELINE,765,745,714.341283319,679,659.341283319,635,879,787.658716681,805,652,631,651.658716681,0.400980017348,-0.0154012409104,0.0498551111875,0.999999961208,-8.56764631362e-05,-0.000260113613255,-5.08402994289e-05,1793243009053464320
+59,0.983333333,BASELINE,765.234590402,745,714,679,659,635,879,788,805,652.234590402,631,652,0.400980830767,-0.0154016931822,0.0498556696297,0.999999961408,-8.61621124446e-05,-0.000259163895472,-5.09374984273e-05,1793243009070131200
+60,1.000000000,BASELINE,765.811055611,745,714,679,659,635,879,788,805,652.811055611,631,652,0.400981914214,-0.0154023197982,0.0498569787643,0.999999961669,-8.70254594803e-05,-0.000257935216986,-5.05782036887e-05,1793243009086797824
+61,1.016666667,BASELINE,765.603153312,745,714,679,659,635,878.603153312,788,805.396846688,653,631.396846688,652,0.40098072385,-0.0154021078706,0.0498565510593,0.999999961566,-8.55256269205e-05,-0.000258860891831,-5.04452613399e-05,1793243009103464192
+62,1.033333333,BASELINE,765.012815237,745,714,679,659,635,878.012815237,788,805.987184763,653,631.987184763,652,0.400978424839,-0.0154014870925,0.0498552765196,0.999999961277,-8.28735737816e-05,-0.000260836969408,-5.04226821307e-05,1793243009120130816
+63,1.050000000,BASELINE,765.565391113,744.434608887,714,679,659,635,878,788,805.434608887,652.434608887,631.434608887,652,0.400980386816,-0.0154014172018,0.0498559048255,0.999999961684,-8.28573494707e-05,-0.000259300169549,-5.03025346702e-05,1793243009136797440
+64,1.066666667,BASELINE,765.856096004,744.143903996,714,678.856096004,659.143903996,635,878.143903996,788,805,652.143903996,631.143903996,652,0.400981623657,-0.0154011278449,0.0498561776007,0.999999961873,-8.2961397926e-05,-0.000258534463618,-5.03078015291e-05,1793243009153464064
+65,1.083333333,BASELINE,765.275837372,744.724162628,714,678.275837372,659.724162628,635,878.724162628,788,805,652.724162628,631.724162628,652,0.400980374994,-0.015400135942,0.0498552442787,0.99999996136,-8.32527907616e-05,-0.000260343283897,-5.06999224567e-05,1793243009170130944
+66,1.100000000,BASELINE,765,745,714,678.306174163,659.693825837,635,879,788,805,652.693825837,631.693825837,652,0.400979780372,-0.0154006870179,0.0498549543813,0.999999961119,-8.50506428917e-05,-0.000260663581847,-5.08226938666e-05,1793243009186797568
+67,1.116666667,BASELINE,765,745,714,678.889773976,659.110226024,635,879,788,805,652.110226024,631.110226024,652,0.400979778379,-0.015402636193,0.0498552474936,0.999999961119,-8.82135038853e-05,-0.000259635123573,-5.07014065638e-05,1793243009203464192
+68,1.133333333,BASELINE,765,745,714,679,659,635,878.530054197,787.530054197,805,652,631,652,0.400979754243,-0.0154026356841,0.0498548096847,0.999999961077,-8.76268078274e-05,-0.000260060707205,-5.03554232982e-05,1793243009220131072
+69,1.150000000,BASELINE,765.049013933,744.950986067,714,679,659,635,878.049013933,787.049013933,805,652.049013933,631,652,0.400979815539,-0.0154022182624,0.0498543413345,0.999999961077,-8.62663078149e-05,-0.000260582249715,-5.00047584227e-05,1793243009236797696
+70,1.166666667,BASELINE,765.624798461,744.375201539,714,679,659,635,878.624798461,787.624798461,805,652.624798461,631,652,0.400980850425,-0.0154021992994,0.0498553739086,0.999999961636,-8.59728913719e-05,-0.000258496291291,-5.01660906614e-05,1793243009253464064
+71,1.183333333,BASELINE,765.799872611,744,714,679,659,635,879,787.799872611,805,653,631,652,0.400981959656,-0.0154019641628,0.0498561353337,0.99999996206,-8.52185901774e-05,-0.000257079403161,-5.0278782558e-05,1793243009270130688
+72,1.200000000,BASELINE,765.225395808,744,714,679,659,635,879,787.225395808,805,653,631,652,0.400983207954,-0.0154013246613,0.0498563895596,0.999999962238,-8.36021783679e-05,-0.000256914047873,-5.03004900173e-05,1793243009286797568
+73,1.216666667,BASELINE,765,744.359669471,714,679,659.359669471,635,879,787,805,653,631,652,0.4009826925,-0.0154018465487,0.0498560745596,0.999999962032,-8.30872573564e-05,-0.000257898496994,-5.02004828195e-05,1793243009303464192
+74,1.233333333,BASELINE,765,744.95157152,714,679,659.95157152,635,879,787,805,653,631,652,0.40098103822,-0.0154031183255,0.04985539202,0.999999961578,-8.32835506713e-05,-0.000259625355644,-5.0021886497e-05,1793243009320130816
+75,1.250000000,BASELINE,765,745,714,679,660,635,878.468403702,787.531596298,805.531596298,652.468403702,631,652,0.400981924445,-0.0154037867299,0.0498560370156,0.999999961736,-8.5319455077e-05,-0.000258389745987,-4.98406067376e-05,1793243009336797696
+76,1.266666667,BASELINE,765,745,714,679,659.890415886,635,878.109584114,787.890415886,805.890415886,652,631,652,0.40098283828,-0.015404083881,0.0498566650991,0.999999961908,-8.7026715016e-05,-0.000257167442111,-4.97510533341e-05,1793243009353464064
+77,1.283333333,BASELINE,765,745,714,679,659.316573922,635,878.683426078,787.316573922,805.316573922,652,631,652,0.40098291001,-0.0154030359833,0.0498567203689,0.999999961938,-8.66471777835e-05,-0.000257119884677,-5.00511156594e-05,1793243009370130688
+78,1.300000000,BASELINE,765,745,714,679,659,635,879,787.264141886,805.264141886,652.264141886,631,652,0.400982545289,-0.0154022731702,0.0498567215735,0.99999996196,-8.58432130574e-05,-0.000257286335913,-5.01426667675e-05,1793243009386797312
+79,1.316666667,BASELINE,765,745,714,679,659,635,879,787.853316065,805.853316065,652.853316065,631,652,0.400981643506,-0.0154018611597,0.0498566562497,0.999999961971,-8.45169811644e-05,-0.000257716129442,-4.99776402983e-05,1793243009403463936
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,788,805.564705567,652.564705567,631,652,0.400982524469,-0.0154016738985,0.0498573518608,0.999999962304,-8.33957110929e-05,-0.000256788155521,-4.99732296879e-05,1793243009420130560
+81,1.350000000,BASELINE,765,745,714,679,659.014793573,635,879,788,805,652,631,652,0.400983897779,-0.0154015500928,0.049858243187,0.999999962716,-8.23639655452e-05,-0.000255503939163,-5.00225994368e-05,1793243009436797184
+82,1.366666667,BASELINE,765,745,714,679,659.590731387,635,879,788,805,652,631,652,0.400981529983,-0.0154010072151,0.0498569901574,0.999999962146,-8.21508032731e-05,-0.0002577797093,-5.00923298337e-05,1793243009453463808
+83,1.383333333,BASELINE,764.833177058,745,714,679,660,635,878.833177058,788,805,652.166822942,631,652,0.400979974568,-0.0154005127919,0.0498562142935,0.999999961781,-8.19474890843e-05,-0.000259239112997,-5.01774503153e-05,1793243009470130688
+84,1.400000000,BASELINE,764.256707862,745,714,679,660,635,878.256707862,788,805,652.743292138,631,652,0.400980414018,-0.0154001373518,0.0498566101458,0.999999961931,-8.17683575602e-05,-0.000258693868105,-5.03003623202e-05,1793243009486797312
+85,1.416666667,BASELINE,764.323040158,745,714,679,659.676959842,635,878.323040158,788,805,652.676959842,631,652,0.400980982959,-0.0154009490681,0.0498569887039,0.999999962018,-8.27400547129e-05,-0.000258065162567,-5.02101303577e-05,1793243009503464192
+86,1.433333333,BASELINE,764.905420417,745,714,679,659.094579583,635,878.905420417,788,805,652.094579583,631,652,0.400981655857,-0.0154027138464,0.0498573533781,0.999999962051,-8.46356494737e-05,-0.000257369453963,-4.9948784126e-05,1793243009520130816
+87,1.450000000,BASELINE,765.491155143,745,714,679,659,635,879,788,805,652,631,652,0.400982001104,-0.0154038923962,0.049857227924,0.999999961954,-8.6457542759e-05,-0.000257187389531,-4.97107199482e-05,1793243009536797440
+88,1.466666667,BASELINE,765.923720463,744.923720463,714,679,659,635,878.923720463,788,805,652,631,651.923720463,0.400982172883,-0.0154048948876,0.0498570235555,0.999999961823,-8.80855535432e-05,-0.000257178367004,-4.95465051123e-05,1793243009553463808
+89,1.483333333,BASELINE,765.346869375,744.346869375,714,679,659,635,878.346869375,788,805,652,631,651.346869375,0.400981623201,-0.0154054879242,0.049856924949,0.999999961647,-8.85350187475e-05,-0.00025765135772,-4.983729071e-05,1793243009570130432
+90,1.500000000,BASELINE,765.227965237,744.227965237,714,679,659,635,878.227965237,787.772034763,805,652,631,651.227965237,0.400981522569,-0.0154043109977,0.0498570509924,0.999999961754,-8.73990558709e-05,-0.000257542535935,-5.02531358896e-05,1793243009586797312
+91,1.516666667,BASELINE,765.799758454,744.799758454,714,679,659,635,878.799758454,787.200241546,805,652,631,651.799758454,0.400982099214,-0.0154004645287,0.0498575158635,0.999999962279,-8.38718751427e-05,-0.000256556196899,-5.08576018337e-05,1793243009603464192
+92,1.533333333,BASELINE,765.615871246,745,714,679,659.384128754,635,879,787.384128754,805,652,631,652,0.400982752243,-0.0154004580515,0.0498578878836,0.999999962576,-8.31544847801e-05,-0.0002556659963,-5.06799423704e-05,1793243009620130816
+93,1.550000000,BASELINE,765.024722684,745,714,679,659.975277316,635,879,787.975277316,805,652,631,652,0.400983446439,-0.0154025210736,0.0498582098633,0.999999962753,-8.3951383918e-05,-0.000254827607825,-5.00807694718e-05,1793243009636797440
+94,1.566666667,BASELINE,765,744.445121864,714,679,660,635,879,788,805,652.554878136,631,652,0.400982837977,-0.0154022404615,0.0498580083416,0.999999962568,-8.39979271257e-05,-0.000255545772079,-5.00463579004e-05,1793243009653464064
+95,1.583333333,BASELINE,765,744.133408459,714,679,660,634.866591541,878.866591541,788,805,653,631,652,0.400982284618,-0.015402098397,0.0498576791772,0.999999962405,-8.41927082504e-05,-0.000256123831248,-5.00235534104e-05,1793243009670130688
+96,1.600000000,BASELINE,765,744.710056863,714,679,660,634.289943137,878.289943137,788,805,653,631,652,0.400982103243,-0.0154027565055,0.0498570018436,0.99999996237,-8.49888107673e-05,-0.000256010680659,-4.99574146619e-05,1793243009686797312
+97,1.616666667,BASELINE,765.291369248,745,714,679,659.708630752,634.291369248,878.291369248,788,805,652.708630752,631,652,0.400982085359,-0.0154026087663,0.0498569956704,0.999999962396,-8.44709687286e-05,-0.000256065809452,-5.00226015102e-05,1793243009703463936
+98,1.633333333,BASELINE,765.877398251,745,714,679,659.122601749,634.877398251,878.877398251,788,805,652.122601749,631,652,0.400982232813,-0.0154016460785,0.0498576682374,0.999999962483,-8.26243433807e-05,-0.000256291118053,-5.02205970523e-05,1793243009720130560
+99,1.650000000,BASELINE,766,745,714,679,659.460843212,635,879,788,805,652,631,652,0.400982189325,-0.0154032168687,0.049858016507,0.999999962251,-8.50163726863e-05,-0.00025648491695,-4.98644620563e-05,1793243009736797184
+100,1.666666667,BASELINE,766,745,714,679,660,635,879,788,805.042734783,652.042734783,631,652,0.400982127826,-0.0154050977176,0.0498582678568,0.999999961983,-8.80051692941e-05,-0.000256603921681,-4.94282666119e-05,1793243009753463808
+101,1.683333333,BASELINE,766,745,714,679,660,635,879,788,805.613871987,652.613871987,631,652,0.400982468211,-0.0154025249986,0.0498583816428,0.999999962446,-8.45076010026e-05,-0.000255901192167,-4.98147838165e-05,1793243009770130688
+102,1.700000000,BASELINE,765.812664043,745,714,679,659.812664043,635,879,788,806,653,631,652,0.400982847185,-0.0154009072576,0.0498585244568,0.999999962788,-8.26542343078e-05,-0.000255107043887,-5.0135200481e-05,1793243009786797312
+103,1.716666667,BASELINE,765.234344007,745,714,679,659.234344007,635,879,788,806,653,631,652,0.400983306695,-0.015401282627,0.0498587278547,0.999999962897,-8.42324390949e-05,-0.000254122097931,-5.03176603533e-05,1793243009803463936
+104,1.733333333,BASELINE,765,744.64915604,714,679,659.35084396,635,879,787.64915604,806,652.64915604,631,652,0.400983448679,-0.0154019203132,0.0498587519038,0.999999962854,-8.42347342317e-05,-0.000254364599456,-4.99545362734e-05,1793243009820130560
+105,1.750000000,BASELINE,765,744.05928903,714,679,659.94071097,635,879,787.05928903,806,652.05928903,631,652,0.400983374339,-0.0154027367106,0.0498586537662,0.999999962705,-8.31633934552e-05,-0.000255443336572,-4.9219716657e-05,1793243009836797184
+106,1.766666667,BASELINE,765,744.522775139,714,679,660,635,879,787.522775139,805.477224861,652.522775139,631,652,0.400981298406,-0.0154020896705,0.0498570201043,0.999999962322,-8.18824350605e-05,-0.000257287528017,-4.95477453173e-05,1793243009853463808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660,635,879,788,805,652,631,652,0.400982288641,-0.0154029519012,0.0498578586719,0.999999962292,-8.56286918956e-05,-0.000256178980635,-4.95624126845e-05,1793243009896175616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.575695884,745.424304116,714,679,659.424304116,635,878.424304116,788,805,652,631,652,0.400980351336,-0.0154021202863,0.0498563972847,0.999999961713,-8.50761716445e-05,-0.000258565439151,-4.98027108263e-05,1793243009912842240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844729292,744.844729292,714,679,659.155270708,635,878,787.844729292,805,652.155270708,631,652,0.40097956417,-0.0154017160204,0.0498557591357,0.999999961537,-8.45193539376e-05,-0.000259396355265,-4.99521809278e-05,1793243009929508608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.254282868,744.254282868,714,679,659.745717132,635,878,787.254282868,805,652.745717132,631,652,0.400982000492,-0.015402509481,0.049857428268,0.9999999625,-8.39504916669e-05,-0.000255867568258,-4.9847088212e-05,1793243009946175232
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.328843375,714,679,659.671156625,635,878.328843375,787,805,653,631,652,0.400982815686,-0.0154027833614,0.049857835339,0.999999962694,-8.43288867261e-05,-0.000254979174792,-4.98707505452e-05,1793243009962841344
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.906432409,714,679,659.093567591,635,878.906432409,787,805,653,631,652,0.400982404616,-0.0154026642178,0.0498572877542,0.999999962311,-8.54238118333e-05,-0.000256088043702,-4.99918065433e-05,1793243009979507712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.480440598,635,879,787.480440598,805,653,631,652,0.400980945015,-0.0154023679122,0.0498565852452,0.999999961778,-8.56728679991e-05,-0.000258061763144,-5.0078178967e-05,1793243009996174592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.944565231,788,805,653,631,652,0.400979713737,-0.0154019748345,0.0498559938656,0.999999961327,-8.55424998051e-05,-0.000259833581622,-5.01494471996e-05,1793243010012840960
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.353351111,788,805,653,631,652,0.400982648261,-0.0154009774556,0.0498567660122,0.99999996198,-8.33253816534e-05,-0.0002580381519,-5.01395348017e-05,1793243010029507840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.765945367,635,878.234054633,787.765945367,805,652.765945367,631,652,0.400990796985,-0.0154009843542,0.0498599053026,0.999999963689,-8.22504202933e-05,-0.0002517379483,-4.98469352514e-05,1793243010046174464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.184197109,635,878.815802891,787.184197109,805,652.184197109,631,652,0.401006691526,-0.0154024831307,0.0498665610405,0.999999966859,-8.28721597259e-05,-0.000238745797969,-4.9134397326e-05,1793243010062841344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401041264181,-0.0154050850892,0.0498786366411,0.999999972565,-8.39583533246e-05,-0.000213395726729,-4.77777814943e-05,1793243010079507968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401084490958,-0.0154081981845,0.0498932234242,0.999999978681,-8.52597422128e-05,-0.000182319865336,-4.61227452939e-05,1793243010096174592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.450076339,714,679,659.549923661,635,878.450076339,787.549923661,805,652,631,652,0.401146190047,-0.0154115805529,0.0499107631565,0.999999984841,-8.45062299596e-05,-0.000145766604633,-4.39185812706e-05,1793243010112841216
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.132457876,714,679,659.867542124,635,878.132457876,788,805,652,631,652,0.401211522841,-0.0154153978691,0.0499267360353,0.999999988931,-8.45839218511e-05,-0.000115075450556,-4.17354620629e-05,1793243010129508096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.715211894,714,679,659.284788106,635,878.715211894,788,805,652,631,652,0.401285492071,-0.0154206396334,0.0499367882186,0.999999989791,-8.79007610679e-05,-0.000105414785805,-3.97343663609e-05,1793243010146174464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.295981817,635,879,788,805,652.295981817,631,652,0.401363559209,-0.0154264069139,0.0499412778158,0.999999990089,-9.07429450783e-05,-0.00010049487861,-3.85779022575e-05,1793243010162840832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.874855361,635,879,788,805,652.874855361,631,652,0.401445543019,-0.0154326764688,0.0499404508372,0.999999989922,-9.31314657901e-05,-0.000100106064826,-3.82287152007e-05,1793243010179507712
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549403329,714,678.549403329,660,635,878.549403329,788,805,652.549403329,631,652,0.401548446496,-0.0154384251074,0.0499416892892,0.999999990119,-9.35454972257e-05,-9.80842719924e-05,-3.72807486789e-05,1793243010196174336
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.026065474,714,678.026065474,660,635,878.026065474,788,805,652.026065474,631,652,0.401658031283,-0.0154441806157,0.049943445325,0.999999990377,-9.36536878704e-05,-9.57437214218e-05,-3.61801624324e-05,1793243010212840960
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.614289417,714,678.614289417,660,635,878.614289417,788,805,652.614289417,631,652,0.401787271952,-0.0154531829692,0.0499440779235,0.999999989852,-9.89110476474e-05,-9.62422769571e-05,-3.53498522162e-05,1793243010229507840
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.80045075,635,879,788,805,653,631,652,0.401927524667,-0.0154617225123,0.0499433376691,0.999999989288,-0.000102392880797,-9.8698375972e-05,-3.46087865448e-05,1793243010246174464
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.220836477,635,879,788,805,653,631,652,0.402088751102,-0.0154693805775,0.0499399826547,0.999999988668,-0.000102493014004,-0.000104882846784,-3.4037697704e-05,1793243010262840832
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.356596989,745,714,679,659,635,879,788,805.356596989,652.643403011,631,652,0.402269105701,-0.0154787861432,0.0499393379767,0.999999988519,-0.000103017406026,-0.000106148662605,-3.28826555379e-05,1793243010279507456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.932688171,745,714,679,659,635,879,788,805.932688171,652.067311829,631,652,0.402461234169,-0.015489267339,0.0499403615768,0.999999988672,-0.000103802939765,-0.000104386926253,-3.13681757241e-05,1793243010296174080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.495069159,745,714,678.495069159,659,635,879,787.495069159,805.495069159,652.504930841,631,652,0.40269454741,-0.0154999997789,0.0499479216745,0.999999989918,-0.000104306882906,-9.19291323402e-05,-2.88760254345e-05,1793243010312840704
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659.159382561,635,879,787.079691281,805,653,631,652,0.402937813735,-0.0155107961444,0.0499563786335,0.999999991205,-0.000104440729146,-7.7426605349e-05,-2.62272634083e-05,1793243010329507328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678,660.347997489,635,879,787.673998745,805,653,631,652,0.403210167319,-0.0155217906726,0.049965042747,0.999999992749,-0.000102425205939,-5.88581083754e-05,-2.34024311188e-05,1793243010346174208
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.261544895,660.47691021,635,879,788,805,652.738455105,631,652,0.403504920868,-0.0155268344717,0.0499720946537,0.999999994654,-9.14437424102e-05,-4.38564935167e-05,-2.01603329794e-05,1793243010362841088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.840875781,659.318248437,635,879,788,805,652.159124219,631,652,0.403826891126,-0.0155246479307,0.0499771876736,0.999999996895,-6.95683548708e-05,-3.31887635263e-05,-1.64112427296e-05,1793243010379507968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.416222278,635,879,787.583777722,805,652,631,652,0.404169434457,-0.0155147503049,0.0499836389305,0.999999998818,-4.18596469582e-05,-1.97592435232e-05,-1.48711577376e-05,1793243010396174592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.99005995,635,879,787.00994005,805,652,631,652,0.404519768409,-0.0155019326393,0.0499906045255,0.999999999814,-1.19419729733e-05,-5.28388684296e-06,-1.41675807395e-05,1793243010412840960
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765.74105217,745,714,679,659,635,879,787.74105217,805.74105217,652,631,652,0.405659860933,-0.0155197606856,0.0499619748894,0.999999997715,2.66842215484e-05,-6.17320816196e-05,-6.79507377583e-06,1793243010462840576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.680781897,745,714,678.680781897,659,635,879,787.680781897,805.680781897,652,631,652,0.406088092149,-0.0155212932617,0.0499450630519,0.999999994685,4.5398650788e-05,-9.24076261112e-05,-5.38427256835e-06,1793243010479507456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.101120976,745,714,678.101120976,659,635,879,787.101120976,805.101120976,652,631,652,0.406550643397,-0.0155217714621,0.0499314347029,0.999999991448,6.64519900233e-05,-0.000112577469224,-3.75396698048e-06,1793243010496174336
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.529051752,714,678.470948248,659.470948248,635,879,787.470948248,805,652.470948248,631,652,0.407040100545,-0.0155217717405,0.0499274765373,0.999999988857,9.02091203355e-05,-0.000118943754871,-8.99726990355e-07,1793243010512841216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.043208674,714,679,660,635,879,788,805,653,630.956791326,652,0.40754105258,-0.0155218074757,0.049927556887,0.999999986427,0.000114572703296,-0.000118381358621,2.43291103741e-06,1793243010529507584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.638405882,714,679,660,635,879,788,805,653,630.361594118,652,0.408116219327,-0.0155235863165,0.0499531244652,0.999999988034,0.000139384842743,-6.65680232914e-05,8.57305925685e-06,1793243010546174208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.226795317,745,714,679,660,635,879,788,805,652.773204683,630.226795317,652,0.40870495575,-0.015525946398,0.0499760960312,0.999999986055,0.000164496129487,-2.47008017344e-05,1.48850990021e-05,1793243010562840832
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.804646968,745,714,679,660,635,879,788,805,652.195353032,630.804646968,652,0.409314696631,-0.0155292061815,0.0499950492301,0.999999981705,0.000190070465096,1.77083305181e-06,2.14632091917e-05,1793243010579507456
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.617803607,745,714,679,660,635,879,787.617803607,805,652,631,652,0.40992714918,-0.0155313751589,0.0499960624128,0.999999977017,0.000212909308797,-3.16487472525e-06,2.49991734492e-05,1793243010596173824
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.040408553,745,714,679,660,635,879,787.040408553,805,652,631,652,0.410540986635,-0.0155329870303,0.0499879131142,0.999999971884,0.000234351057478,-2.41412139548e-05,2.6981426318e-05,1793243010612840448
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.545234204,745,714,679,660,635,879,787.545234204,805,652.545234204,631,652,0.411131520956,-0.0155311398506,0.0499564888808,0.99999997356,0.000210035032523,-8.96345876219e-05,2.7029664813e-05,1793243010629507584
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.130058039,679,660,635,879,788,805,652.869941961,631,652,0.411749828601,-0.0155311038608,0.0499333596872,0.999999977238,0.000163647967742,-0.000134831650064,2.37381306783e-05,1793243010646174464
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714.709903203,679,660,635,879,788,805,652.290096797,631,652,0.412470250673,-0.0155382318079,0.0499449748584,0.999999993733,5.28395353409e-05,-9.82515424162e-05,9.39978524824e-06,1793243010662841088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.711635896,745,714.711635896,679,660,635,879,788,805.288364104,652,631,652,0.413212659071,-0.0155458174671,0.0499623291556,0.999999997973,1.33419876051e-05,-6.19548110105e-05,6.11610065453e-06,1793243010679507456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.134560855,745,714.134560855,679,660,635,879,788,805.865439145,652,631,652,0.413977080325,-0.0155538613895,0.0499854294831,0.999999998544,4.52410815935e-05,-2.59417930991e-05,1.39003713675e-05,1793243010696174080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.43882304,744.56117696,714,679,660,635,879,787.56117696,805.56117696,652,631,652,0.41471492731,-0.0155522591359,0.0499675820515,0.999999995199,8.00830761541e-05,-5.42159072035e-05,1.57786271158e-05,1793243010712840704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988520363,744.011479637,714,679,660,634.988520363,879,787,805.011479637,652,631,652,0.41544538205,-0.0155477964092,0.0499377194464,0.999999988075,0.000115483515727,-0.000101299577085,1.58714178524e-05,1793243010729507328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.395858367,744.604141633,714,679,660,634.395858367,879,787,805.604141633,652,631,652,0.416210697318,-0.0155470173575,0.0499299467619,0.999999984749,0.000133851059537,-0.00011096779088,1.64933289186e-05,1793243010746174208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.192351295,879,787,805.807648705,652,631,652,0.417000808917,-0.0155481255961,0.0499351559323,0.999999984007,0.000147334893052,-9.98067553587e-05,1.78099617733e-05,1793243010762840832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.771605328,879,787,805.228394672,652,631,652,0.417840796758,-0.0155530300024,0.0499664773013,0.999999987297,0.000150995444007,-4.674897208e-05,2.05239844909e-05,1793243010779507712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.349380305,745,714,679,660,635,879,787.349380305,805,652,631,652,0.418663168203,-0.0155561455893,0.0499774748073,0.999999989393,0.000139531718439,-3.53169301534e-05,2.23219017726e-05,1793243010796174336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.926192457,745,714,679,660,635,879,787.926192457,805,652,631,652,0.419474072083,-0.0155580967299,0.0499752423342,0.999999991435,0.000118222726524,-5.09814928379e-05,2.35234729511e-05,1793243010812841216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.498994545,805,652,631,652,0.420339231983,-0.0155568028285,0.0499679028926,0.999999990027,0.00013091467641,-4.74860591228e-05,2.35178359882e-05,1793243010829507584
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.077642382,679,660,635,879.077642382,787.077642382,805,652,631,652,0.421213715273,-0.0155559674331,0.0499639307089,0.999999988261,0.000146893679697,-3.65990988293e-05,2.36727005166e-05,1793243010846173952
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.668267852,679,660,635,879.668267852,787.668267852,805,652,631,652,0.422097198373,-0.0155613073464,0.0499871570326,0.999999988155,0.00015162744404,4.54867995859e-06,2.60583465416e-05,1793243010862840832
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635,879.746698029,787.746698029,805,652,630.746698029,652,0.422963982345,-0.0155630310938,0.0499928516777,0.999999987583,0.000154744513934,1.32207837849e-05,2.67144200769e-05,1793243010879507456
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635,879.168828292,787.168828292,805,652,630.168828292,652,0.423809369058,-0.0155601212779,0.0499760821588,0.999999987354,0.000155790037741,-1.97197213236e-05,2.51543111288e-05,1793243010896174080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.59313501,745,714.59313501,679,660,635,879.40686499,787,805,652,630.40686499,652,0.424694675957,-0.0155605106098,0.0499760729986,0.999999988089,0.000150990864106,-1.89318690675e-05,2.57790053053e-05,1793243010912840960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018340075,745,714.018340075,679,660,635,879.981659925,787,805,652,630.981659925,652,0.425596459512,-0.015562261636,0.04998298153,0.999999989282,0.000143779342966,-4.22293205954e-06,2.73054578459e-05,1793243010929507840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.570880311,744.429119689,714,679,660.570880311,635,879.429119689,787,805.570880311,652,631,652,0.426497441499,-0.0155665645704,0.0500013419393,0.999999987849,0.000152308030671,1.21594610475e-05,3.09366760402e-05,1793243010946174720
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744,714,679,660.842262734,635,879,787.157737266,806,651.842262734,631,651.842262734,0.427377327244,-0.0155680745549,0.0500033524747,0.999999986479,0.000161135660772,2.88149905552e-06,3.26891006654e-05,1793243010962841088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744,714,679,660.262992354,635,879,787.737007646,806,651.262992354,631,651.262992354,0.428200906472,-0.0155618959626,0.0499606613547,0.999999982407,0.000169375806411,-7.51179487572e-05,2.92353001202e-05,1793243010979507712
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.314926872,714,679,660.314926872,635,879,787.685073128,806,651.314926872,631,651.314926872,0.429074750199,-0.0155585632192,0.0499461768491,0.999999980726,0.000170195538989,-9.39988029102e-05,2.73220086105e-05,1793243010996174592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.891722555,714,679,660.891722555,635,879,787.108277445,806,651.891722555,631,651.891722555,0.429990389952,-0.0155575968637,0.049955146783,0.999999984027,0.000164845030521,-6.37212068354e-05,2.66896854348e-05,1793243011012841216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,879,787,806,652,631,652,0.430862563231,-0.0155568997265,0.0499518269724,0.999999982992,0.000168455577206,-7.00762452718e-05,2.69682861843e-05,1793243011029507840
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.957264124,745,714,679.042735876,661,635,879.042735876,787,806,652,631,651.957264124,0.431724698093,-0.0155561948835,0.0499452490817,0.99999998086,0.000174155679009,-8.48434692518e-05,2.74193719271e-05,1793243011046174464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.366293311,745,714,679.633706689,661,635,879.633706689,787,806,652,631,651.366293311,0.432586921307,-0.0155545930261,0.0499333108999,0.999999978516,0.000180094387202,-9.8919976971e-05,2.73825256352e-05,1793243011062840832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.21958547,745,714,679.78041453,661,634.78041453,880,787,805.78041453,652,631,651.21958547,0.433456203602,-0.0155536058587,0.0499367626891,0.999999978422,0.000184929406775,-9.02693844066e-05,2.84423020116e-05,1793243011079507456
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.797162769,745,714,679.202837231,661,634.202837231,880,787,805.202837231,652,631,651.797162769,0.434336994504,-0.0155536208248,0.0499653048607,0.999999980852,0.000187965075292,-4.45666329395e-05,3.12899104611e-05,1793243011096174080
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.373543328,880,787.373543328,805,652,631,652,0.435162686435,-0.0155514967339,0.049972936333,0.999999979715,0.000193659994637,-4.47919515424e-05,3.25541707214e-05,1793243011112840960
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.949276088,880,787.949276088,805,652,631,652,0.43595855465,-0.0155482148262,0.0499692493779,0.999999976856,0.000200794298165,-6.9876960251e-05,3.2961405018e-05,1793243011129507584
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.463027105,879.463027105,787.463027105,805.536972895,652,631,652,0.436765622719,-0.0155455910767,0.0499541414493,0.999999974782,0.000200949420224,-9.50224819097e-05,3.20248498924e-05,1793243011146174208
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679.123790703,661,634.123790703,879.247581406,787,806.123790703,651.876209297,631,652,0.437580014198,-0.0155443036235,0.0499467607704,0.999999974081,0.000200921962607,-0.000102272313445,3.17503591796e-05,1793243011162840576
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,679.7031202,661,634.7031202,880.406240401,787,806.7031202,651.2968798,631,652,0.438417373192,-0.0155476996235,0.0499718762508,0.999999977912,0.000202703977518,-4.36460790361e-05,3.43899721227e-05,1793243011179507456
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.718908849,787.281091151,806.718908849,651.281091151,631,652,0.439204056468,-0.0155494704652,0.049977936602,0.999999978227,0.000203932243737,-2.72131684715e-05,3.48978850229e-05,1793243011196174336
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.142365889,787.857634111,806.142365889,651.857634111,631,652,0.439937475002,-0.0155495331209,0.0499639683154,0.999999977004,0.000204578471137,-5.51291991626e-05,3.31651914202e-05,1793243011212841216
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.566892266,714.433107734,680,660.566892266,635,880,788,806,652,631,652,0.440653505957,-0.0155482161245,0.0499512194184,0.999999975643,0.000205114167062,-7.52604205335e-05,3.12638612356e-05,1793243011229508096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.008458296,714.991541704,679.991541704,660.008458296,635,880,788,806,652,631,652,0.441364344724,-0.0155465571058,0.0499394705548,0.999999974237,0.000205503320507,-9.18127514182e-05,2.93961246847e-05,1793243011246174464
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.599479698,714.400520302,679.400520302,660.599479698,635,880,788,806,652,631,652,0.442110248498,-0.01555249934,0.0499690602372,0.999999979063,0.000198295627488,-3.76812073395e-05,3.36506259176e-05,1793243011262840832
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.185878807,679,661,635,880,787.814121193,806,652,631,652,0.442825234636,-0.0155560674683,0.0499902163613,0.999999980489,0.000194057065307,-7.70889270832e-07,3.69350095838e-05,1793243011279507712
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.762559853,679,661,635,880,787.237440147,806,652,631,652,0.443475217905,-0.0155546441412,0.0499936412954,0.999999980051,0.000196060973401,-6.74522921326e-08,3.81797635376e-05,1793243011296174080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661429388,745,714.661429388,679.338570612,661,635,880,787,806,651.661429388,631,652,0.444081436616,-0.0155503414397,0.0499727860732,0.99999997747,0.000205484106471,-3.81377860092e-05,3.71772917238e-05,1793243011312840704
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.085887809,745,714.085887809,679.914112191,661,635,880,787,806,651.085887809,631,652,0.444657023777,-0.0155440234182,0.0499349367824,0.999999969839,0.000220100072491,-0.000103346499667,3.4601950576e-05,1793243011329507328
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.3410424,745,714,680,661.6589576,635,880,787.3410424,807,651.3410424,631.3410424,651.6589576,0.446450198648,-0.0155487995792,0.0499681607295,0.999999969994,0.000241347281132,-1.35072375563e-05,3.97537130911e-05,1793243011379507712
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.756024677,635,880,787.243975323,806.756024677,651,631,652,0.446993861896,-0.0155489716324,0.0499735957223,0.999999967798,0.000250372408427,-2.24021897927e-06,4.13885377425e-05,1793243011396174592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.176725188,635,880,787.823274812,806.176725188,651,631,652,0.447470903477,-0.0155467190725,0.049954085561,0.999999964919,0.000259028857531,-3.71116778583e-05,4.10997295374e-05,1793243011412840960
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714.272896141,680.727103859,661,634.727103859,880,787.727103859,807,651.727103859,631.727103859,652,0.449613412655,-0.0155491709611,0.0499394912637,0.999999984543,0.000163388850601,-6.01418755077e-05,2.44969753522e-05,1793243011496174336
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714.305086422,680.694913578,661,634.694913578,880,788,807,652,631.694913578,652,0.449990201506,-0.0155546864238,0.0499509013698,0.999999990373,0.000129601724275,-4.43980700786e-05,2.20650989664e-05,1793243011512840960
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714.541313562,680,661,634,880.458686438,788,807,651.541313562,631,652,0.450635244973,-0.015559384432,0.0499498654196,0.999999987342,0.000147463628718,-5.38174941827e-05,2.5980786171e-05,1793243011546174464
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880.375189122,787.375189122,807,651,631,652,0.451155501413,-0.0155559664625,0.0499289394264,0.999999980765,0.000167640027881,-9.82822699061e-05,2.6585384e-05,1793243011579507712
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714,679.790106527,661,634,880,787,807,651,631,652,0.451388070542,-0.0155547903243,0.049917874103,0.999999977207,0.000174378213854,-0.000120293449272,2.6605473284e-05,1793243011596174336
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.1139942,634,880.8860058,787,806.1139942,652,630.8860058,652,0.452315834856,-0.0155541247155,0.0498957089033,0.999999968212,0.000189094940431,-0.000164410576878,2.80734913097e-05,1793243011679507712
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.693624458,634,880.306375542,787,806.693624458,652,630.306375542,652,0.452459603248,-0.0155539955463,0.049898128201,0.999999968477,0.000191554063818,-0.00015984689689,2.83056106432e-05,1793243011696174336
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,879.824642835,786.824642835,807,651.824642835,630.824642835,652,0.452988896835,-0.0155614079564,0.0498809941914,0.999999965892,0.000186459646301,-0.000180617392971,2.8739736012e-05,1793243011796174336
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+244,4.066666667,HOLD_POSE2,765,745,715,680,661,633,881,786,807,652,630,652,0.453183120571,-0.0155503641295,0.0498512519364,0.999999957182,0.000182318683872,-0.000227479940164,2.54873086437e-05,1793243012195213312
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,786,807,651.579711064,630.420288936,652,0.453184047625,-0.0155491160053,0.0498491055486,0.999999957189,0.000177634860912,-0.000231284385964,2.39984522987e-05,1793243012525711872
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.158592907,745,714.158592907,680.158592907,661,634,880,786,807,652,630,652,0.453183561473,-0.015550186172,0.0498490929961,0.999999957049,0.000177364986082,-0.000232088111163,2.40725599094e-05,1793243012542378752
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.73528878,745,714.73528878,680.73528878,661,634,880,786,807,652,630,652,0.453183490807,-0.0155525574578,0.0498482996041,0.999999957587,0.000174180941751,-0.000232129942532,2.45308574011e-05,1793243012559045376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.682981247,661,633.682981247,880,786,807,651.682981247,630,652,0.453183100542,-0.0155523728612,0.0498475832398,0.999999957413,0.000174615763622,-0.000232558854629,2.4502134753e-05,1793243012575712000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.096979999,661,633.096979999,880,786,807,651.096979999,630,652,0.453182439105,-0.0155500196621,0.0498469322316,0.999999956629,0.000178121103273,-0.000233316195055,2.40601876522e-05,1793243012592378624
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.516480143,745,714.516480143,680,661,633.483519857,880,786,807,651,630,652,0.453181959944,-0.0155494396662,0.0498475367949,0.999999956876,0.000177624394329,-0.000232627754543,2.41181917548e-05,1793243012609044992
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.062820307,745,714,680,661,634,880,786,807,651.062820307,630,652,0.453181154183,-0.0155491654374,0.049848035458,0.99999995717,0.000176502246358,-0.000232205506203,2.42288249255e-05,1793243012625711616
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.641231086,745,714,680,661,634,880,786,807,651.641231086,630,652,0.453177371215,-0.0155485146135,0.049845621335,0.999999956167,0.000176760787362,-0.000236321215477,2.39576628443e-05,1793243012642378240
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634,880,786,806.782601064,652,630.217398936,652,0.453168841031,-0.0155486935473,0.049841225911,0.999999954635,0.000175971854741,-0.000243319791684,2.36321715764e-05,1793243012659044864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634,880,786,806.210096932,652,630.789903068,652,0.453152556616,-0.0155502278291,0.0498335941774,0.999999952165,0.000173471950848,-0.000255027318876,2.32179375964e-05,1793243012675711744
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.374406833,680,661,633.625593167,880,786,806,651.625593167,630.625593167,652,0.453119933138,-0.015548265438,0.0498192236043,0.999999945539,0.000174220877347,-0.000279446261695,2.1887173777e-05,1793243012692378624
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.965867157,680,661,633.034132843,880,786,806,651.034132843,630.034132843,652,0.453077837474,-0.0155442759339,0.049800946348,0.999999935728,0.000176853235911,-0.000311234347418,2.00250734443e-05,1793243012709045248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.453910033,680,660.453910033,633.546089967,880,786,806,651.546089967,630,652,0.453009744974,-0.0155411950995,0.0497769270059,0.999999922517,0.00017740879155,-0.000350959709133,1.78576732286e-05,1793243012725711616
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.875060545,745,714,680,660.124939455,634,880,786,806.124939455,651.875060545,630,652,0.452939959726,-0.0155378151005,0.0497556037928,0.999999910015,0.000177987014157,-0.00038475931208,1.58424714434e-05,1793243012742378240
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.298686302,745,714,680,660.701313698,634,880,786,806.701313698,651.298686302,630,652,0.45286981095,-0.0155331530729,0.0497452929566,0.999999905689,0.000179106709779,-0.000395391385741,1.4444755966e-05,1793243012759044864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.723178956,634,880.276821044,786,806.723178956,651,630,652,0.452793544741,-0.0155279896629,0.0497406898978,0.999999903651,0.000180557327379,-0.000399898234647,1.3344508877e-05,1793243012775711744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.148604095,634,880.851395905,786,806.148604095,651,630,652,0.452710698511,-0.0155222869571,0.0497422262303,0.999999904164,0.000182363890708,-0.000397816678279,1.2564224356e-05,1793243012792378368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.438534151,660.438534151,634,880.561465849,786.438534151,806,651,630,652,0.452613906102,-0.0155165755038,0.0497476567797,0.999999905639,0.00018552125495,-0.000392620517235,1.23960798405e-05,1793243012809044992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.970559461,661,634,880.029440539,786.970559461,806.029440539,651.029440539,630,651.970559461,0.452510208804,-0.0155107252968,0.0497540571626,0.999999907192,0.000189095757293,-0.000386917958446,1.24179234214e-05,1793243012825711872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.391136511,661,634,880.608863489,786.391136511,806.608863489,651.608863489,630,651.391136511,0.452368408934,-0.0155023400201,0.0497531961504,0.999999904708,0.000191659572975,-0.000392053491195,1.1999584222e-05,1793243012842378496
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.761413766,680,661,634,881,786.761413766,806.238586234,652,630,651.761413766,0.452055192163,-0.0154825214957,0.0497550591279,0.999999902303,0.000201369378256,-0.000393355634692,1.0764124781e-05,1793243012875711744
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.910698858,745,715,680,660.089301142,634,880.089301142,787,806.910698858,652,630,652,0.451658582969,-0.0154589358353,0.0497528911545,0.999999895572,0.000213272792013,-0.00040409570276,8.78436229378e-06,1793243012909044992
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.528613096,745,714.528613096,680,660.471386904,634,879.528613096,787,806.528613096,651.528613096,630.471386904,652,0.451434653584,-0.0154502117069,0.0497507969249,0.999999893915,0.000215359853623,-0.000407101098296,7.65904766155e-06,1793243012925711616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.032235873,745,714,680,661,634,879.032235873,787,806.032235873,651,631,652,0.451205320031,-0.0154420030446,0.0497490506424,0.999999893163,0.000216581475113,-0.000408319632398,6.47125334611e-06,1793243012942378240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.641939303,745,714,680,661,634,879.641939303,787,806.641939303,651,631,652,0.450934150791,-0.0154319575253,0.0497543384379,0.999999900297,0.000214977293038,-0.000391370334867,4.37698921833e-06,1793243012959045376
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.761058028,745,714,679.761058028,661,634,880,787,806.761058028,651.238941972,631,652,0.450653131594,-0.0154249874994,0.0497625808431,0.999999908895,0.000210016037568,-0.000371610365294,2.85161197405e-06,1793243012975712000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.182127217,745,714,679.182127217,661,634,880,787,806.182127217,651.817872783,631,652,0.450358096978,-0.0154223935719,0.0497750273412,0.999999919442,0.000200278026238,-0.000347851111377,2.1356999674e-06,1793243012992378368
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.402501923,745,714,679.402501923,661,634,880,787,806,652,631,652,0.450037026786,-0.0154230230535,0.0497836655977,0.99999992815,0.000187870639764,-0.00032924765208,1.15439602711e-06,1793243013009044992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.989746499,745,714,679.989746499,661,634,880,787,806,652,631,652,0.449704006642,-0.0154251320342,0.0497905559251,0.999999935833,0.00017423804833,-0.000313010629723,5.12809864368e-08,1793243013025711872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.430395421,745,714,680.569604579,661.569604579,634,880,787,806,651.430395421,631,652,0.44930871029,-0.0154242517338,0.0497976395583,0.999999940971,0.000163776199118,-0.000302047723971,-1.3217314169e-06,1793243013042378240
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.148537048,745,714.148537048,680.851462952,661.851462952,634,880,787.148537048,806.148537048,651.148537048,631,652,0.448899318975,-0.0154205935602,0.0498040709015,0.999999945606,0.00015504410973,-0.000291101546054,-3.12294493221e-06,1793243013059044864
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.725179985,745,714.725179985,680.274820015,661.274820015,634,880,787.725179985,806.725179985,651.725179985,631,652,0.448452493585,-0.0154090822465,0.0498086123457,0.999999949379,0.00015113504972,-0.000279933454521,-6.14447406878e-06,1793243013075711488
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.699177563,745,714.699177563,680,661,634.300822437,880,787.699177563,806.699177563,651.699177563,631,652,0.447976197097,-0.015399470335,0.0498038807807,0.999999948887,0.000145985691044,-0.000284290333649,-9.60685042067e-06,1793243013092378368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.124446021,745,714.124446021,680,661,634.875553979,880,787.124446021,806.124446021,651.124446021,631,652,0.447473066116,-0.0153915878928,0.0497907058246,0.999999944311,0.000139706997589,-0.000302783227525,-1.34706335649e-05,1793243013109044992
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.463006763,679.536993237,661,634.536993237,880,787.463006763,806,651,631,652,0.446941735543,-0.0153879463863,0.0497733084718,0.999999937616,0.000124983081505,-0.000329901904251,-1.76496250634e-05,1793243013125711872
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.369936815,679.630063185,661,634.630063185,880,787.369936815,806.630063185,651.630063185,631,652,0.445828324789,-0.0153867046778,0.0497558706991,0.999999933296,8.75325061022e-05,-0.000353759115272,-2.45170490512e-05,1793243013159045120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,744.793224771,714,679.793224771,661,634.793224771,880,787,807,652,631,652,0.445244446083,-0.0153876658483,0.0497658580535,0.999999939222,6.83611869307e-05,-0.000340860990523,-2.64060914581e-05,1793243013175711744
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,744.217620817,714,679.217620817,661,634.217620817,880,787,807,652,631,652,0.44463820886,-0.0153887034701,0.0497945900554,0.999999950366,5.08705629508e-05,-0.000309779156067,-2.67761162241e-05,1793243013192378112
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.366588678,744.366588678,714,679,661,634,880,787,806.633411322,651.633411322,631.366588678,652,0.444001736874,-0.0153854109419,0.0498048162243,0.999999953274,3.69854331501e-05,-0.000302081320341,-2.88113485711e-05,1793243013209044736
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.339333897,660.660666103,635,880,788.339333897,806,651.660666103,631,652,0.431276890357,-0.0153620772929,0.0498180200588,0.999999954819,-3.88080852326e-07,-0.000296916071978,-4.69337217493e-05,1793243013475711744
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.190874322,745,714,679,660.190874322,635,879.190874322,788,805.190874322,651.190874322,631,652,0.429416986325,-0.0153444579304,0.049765991925,0.999999926074,6.63255976358e-05,-0.000375844792718,-4.68293339143e-05,1793243013509044992
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.394469773,745,714,679,660.394469773,635,879.394469773,787.605530227,805,651.394469773,631,652,0.428495906654,-0.0153456174741,0.0497635538007,0.999999925352,4.5497538252e-05,-0.000380205596627,-5.16619591451e-05,1793243013525711616
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.375724445,745,714,679.375724445,660,635,879,787.375724445,805,652,631,652,0.420397686372,-0.0153552323169,0.0497979701313,0.999999946565,-3.03005989135e-05,-0.000320169578676,-5.86739760972e-05,1793243013675711488
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,744.351537496,714,679,660.351537496,635,879,788,805,652,631,652,0.41780250878,-0.0153542085646,0.0497926141651,0.999999935333,-7.995449975e-06,-0.000354533043302,-5.98079677101e-05,1793243013725711360
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.485619439,745,714,679,660.485619439,635,879,788,805.514380561,652,631,652,0.416184732981,-0.0153608854625,0.049797391489,0.999999941852,-4.21643575817e-05,-0.000333025578627,-6.01090331355e-05,1793243013759044608
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.894254912,714,679.105745088,660,634.894254912,879,788,805.894254912,652,631,651.894254912,0.415405808014,-0.0153623996108,0.0498182490031,0.999999953466,-5.46527634471e-05,-0.000294257150984,-5.91030512953e-05,1793243013775711488
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.774313246,745,714,679,660,635,879,788,805.225686754,652.225686754,630.774313246,652,0.40633479956,-0.0153619625716,0.0498110970808,0.999999939383,-8.6162976123e-05,-0.000331916159651,-6.03450466841e-05,1793243014009044992
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a6e3cad9cc5af370ef24e5855899a8ed8df244f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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--- /dev/null
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..708aaff99a3be1b37049b908fef2fbfa5fd52920
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_03/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
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+1,0.016666667,BASELINE,765.578361036,744.578361036,714,679,659.421638964,635,879,788,805,652.578361036,631,652,0.400982860018,-0.0153995948606,0.04985413563,0.999999963207,-6.0750247654e-05,-0.000259765860024,-4.91692887531e-05,1793243015024138240
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+3,0.050000000,BASELINE,765.269465536,745,714,679,659.730534464,635,879.730534464,787.269465536,805,653,631,652,0.400984620832,-0.0154005808553,0.0498552057881,0.999999963669,-6.11143060115e-05,-0.000257978504839,-4.87191256549e-05,1793243015057471744
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+22,0.366666667,BASELINE,765,744.769723962,714.769723962,679,659,635,879,787,805.230276038,652,631,652,0.400983734235,-0.015400216858,0.0498547262284,0.999999963775,-5.79669916755e-05,-0.000258365367096,-4.83421962731e-05,1793243015374138368
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+24,0.400000000,BASELINE,765,745,714.066666898,679,659,635,879,787.933333102,805,652,631,652,0.400984919455,-0.0153976194806,0.0498557117097,0.999999964243,-5.44535819167e-05,-0.000257178408308,-4.90730281272e-05,1793243015407471616
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+27,0.450000000,BASELINE,765,745,714,678.664004044,659,635,879,787,805.335995956,652.664004044,631,652,0.400984465332,-0.0153983398592,0.0498555459179,0.999999964044,-5.59336483837e-05,-0.000257705680353,-4.86916785511e-05,1793243015457471744
+28,0.466666667,BASELINE,765,745,714,678.755118231,659,635,879,787.244881769,805,653,631,652,0.400985307353,-0.0153992938348,0.0498561338592,0.999999964297,-5.65671137746e-05,-0.000256613768709,-4.85337635144e-05,1793243015474138368
+29,0.483333333,BASELINE,765,745,714,678.164882324,659,635,879,787.835117676,805,653,631,652,0.400986050713,-0.0153995438553,0.0498570795772,0.999999964743,-5.66570087215e-05,-0.00025485715776,-4.84960571468e-05,1793243015490804736
+30,0.500000000,BASELINE,765,745,714,678.417612218,659,635,879.417612218,788,805,653,631,652,0.400984215742,-0.0153998222696,0.0498560195966,0.99999996427,-5.76565989971e-05,-0.000256462592996,-4.8601040478e-05,1793243015507471360
+31,0.516666667,BASELINE,765,745,714,678.997105916,659,635,879.997105916,788,805,653,631,652,0.400981381319,-0.0154001116904,0.0498541821353,0.999999963433,-5.90088198207e-05,-0.000259371278009,-4.8761335457e-05,1793243015524137984
+32,0.533333333,BASELINE,765,745,714,679,659,635,879.427500179,788,805,652.427500179,631,652,0.400982776241,-0.0154011827186,0.049855883268,0.999999964163,-5.84774653984e-05,-0.000256749483091,-4.83101676111e-05,1793243015540804608
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+34,0.566666667,BASELINE,765,745,714,679,659.722591076,635,879,787.277408924,805,652.722591076,631,652,0.400984525287,-0.0154024533919,0.0498561095595,0.999999964531,-5.82953309723e-05,-0.000255417824223,-4.79654597742e-05,1793243015574138624
+35,0.583333333,BASELINE,765,745,714,679,659.695511528,635,879,787,805.304488472,652.695511528,631,652,0.400984850393,-0.0154014001483,0.0498557926058,0.999999964488,-5.81823513575e-05,-0.000255542803828,-4.83401345046e-05,1793243015590805504
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+37,0.616666667,BASELINE,765,744.524030375,714,679,659.475969625,635,879,787.475969625,805.524030375,652,631,651.524030375,0.400985287162,-0.0153996355741,0.0498563235138,0.99999996445,-5.77267212423e-05,-0.000255673864726,-4.89663109067e-05,1793243015624138240
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+40,0.666666667,BASELINE,765,745,714.791611586,679,660,635,878.791611586,788,805,652.208388414,631,652,0.400983508781,-0.0154003752748,0.0498553106888,0.999999964179,-5.68201516253e-05,-0.000257037475419,-4.84345948086e-05,1793243015674138368
+41,0.683333333,BASELINE,765,745,714.21785275,679,660,635,878.21785275,788,805,652.78214725,631,652,0.40098409619,-0.0154005027823,0.0498559852593,0.999999964253,-5.612971003e-05,-0.000256974048715,-4.80453136459e-05,1793243015690804736
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+51,0.850000000,BASELINE,765,745,714,679,659,635,879,788,805,652.596653039,630.403346961,652,0.400984670035,-0.0154012475476,0.0498562467764,0.999999964555,-5.81205561393e-05,-0.000255335726587,-4.81166160453e-05,1793243015857471488
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+61,1.016666667,BASELINE,765.591860462,745,714,679,659.408139538,635,878.408139538,787.408139538,805.408139538,652,631,652,0.400984319292,-0.0154005393037,0.0498564162184,0.999999964681,-5.62682256323e-05,-0.000255171987866,-4.85639008131e-05,1793243016024138240
+62,1.033333333,BASELINE,765.012173326,745,714,679,659.987826674,635,878.987826674,787.987826674,805.987826674,652,631,652,0.400984899256,-0.0154007754514,0.0498567788175,0.999999964941,-5.61695876221e-05,-0.000254216721166,-4.83465477698e-05,1793243016040805120
+63,1.050000000,BASELINE,765,745,714,679,660,635,878.437039143,788,805.437039143,652,631,652,0.400986187161,-0.0154012811568,0.0498575426824,0.999999965276,-5.56524085645e-05,-0.000253087109734,-4.79318017934e-05,1793243016057472000
+64,1.066666667,BASELINE,765.141154323,745,714,678.858845677,659.858845677,635,878,788,805,652.141154323,630.858845677,652,0.400986574046,-0.0154015182722,0.0498577909605,0.999999965342,-5.55590401437e-05,-0.000252894371985,-4.76853457574e-05,1793243016074138368
+65,1.083333333,BASELINE,765.729345839,745,714,678.270654161,659.270654161,635,878,788,805,652.729345839,630.270654161,652,0.400984059298,-0.0154008864483,0.0498563791104,0.999999964547,-5.68363172416e-05,-0.00025568056669,-4.79852752559e-05,1793243016090804992
+66,1.100000000,BASELINE,765.687044468,744.687044468,714,678.312955532,659.312955532,635,878,788,805.312955532,653,630.312955532,652,0.400983264833,-0.0154008486344,0.0498559095932,0.999999964333,-5.69399697419e-05,-0.000256466987745,-4.81348781922e-05,1793243016107471104
+67,1.116666667,BASELINE,765.107340138,744.107340138,714,678.892659862,659.892659862,635,878,788,805.892659862,653,630.892659862,652,0.400983936657,-0.0154013171272,0.0498562432771,0.999999964617,-5.6043278943e-05,-0.000255548894251,-4.8156349716e-05,1793243016124137728
+68,1.133333333,BASELINE,765,744.464299603,714,679,659.535700397,635,878,788,805.535700397,652.535700397,631,652,0.400985366958,-0.0154011875414,0.04985709528,0.999999965027,-5.5924349089e-05,-0.00025398219125,-4.80746732551e-05,1793243016140804864
+69,1.150000000,BASELINE,765,745,714,679,659.03478706,635,878,787.96521294,805,652.03478706,631,651.96521294,0.400986829508,-0.015400985692,0.0498580047121,0.99999996543,-5.60334960194e-05,-0.000252389529513,-4.79634746951e-05,1793243016157472000
+70,1.166666667,BASELINE,765,745,714,679,659.615959244,635,878,787.384040756,805,652.615959244,631,651.384040756,0.400986091456,-0.0154017834688,0.0498579661944,0.999999965308,-5.6948989886e-05,-0.000252704139995,-4.77567374931e-05,1793243016174138624
+71,1.183333333,BASELINE,765,745,714,679,659.804981345,635,878.195018655,787.195018655,805,653,631,651.195018655,0.400985552132,-0.0154020501942,0.0498577117398,0.999999965137,-5.77737397114e-05,-0.000253196042955,-4.77517128277e-05,1793243016190805248
+72,1.200000000,BASELINE,765,745,714,679,659.23003782,635,878.76996218,787.76996218,805,653,631,651.76996218,0.400985399957,-0.0154012823537,0.0498570366083,0.999999964868,-5.84217070314e-05,-0.000254033337654,-4.81396536566e-05,1793243016207471872
+73,1.216666667,BASELINE,765,745,714,679,659.357991948,635,879,787.642008052,805,653,631,652,0.40098520711,-0.0154013778373,0.0498569190952,0.999999964843,-5.86540841395e-05,-0.00025407437662,-4.81716922254e-05,1793243016224138496
+74,1.233333333,BASELINE,765,745,714,679,659.954749663,635,879,787.045250337,805,653,631,652,0.400984987137,-0.0154020491224,0.0498571734905,0.99999996498,-5.8609279791e-05,-0.000253584346018,-4.7966358739e-05,1793243016240805120
+75,1.250000000,BASELINE,765,745,714,679,659.469958247,635,879,787.530041753,805,653,631,652,0.40098506009,-0.0154013957998,0.0498572728914,0.999999964894,-5.7833440405e-05,-0.000254060337247,-4.81773958015e-05,1793243016257471744
+76,1.266666667,BASELINE,765.104015133,744.895984867,714,679,659.104015133,635,879,788,805,652.895984867,631,652,0.40098506527,-0.015400591771,0.049857304462,0.999999964822,-5.67134199085e-05,-0.000254552737198,-4.83953203951e-05,1793243016274138368
+77,1.283333333,BASELINE,765.679996382,744.320003618,714,679,659.679996382,635,879,788,805,652.320003618,631,652,0.400984653878,-0.015399597058,0.0498570859579,0.999999964899,-5.43038452675e-05,-0.000254759948209,-4.84894851727e-05,1793243016290804992
+78,1.300000000,BASELINE,765.738137984,744.261862016,714,679,659.738137984,635,879,788,805,652.261862016,631,652,0.400984234367,-0.0153994249937,0.049856730415,0.999999964801,-5.39358979113e-05,-0.000255229998271,-4.84395330658e-05,1793243016307471872
+79,1.316666667,BASELINE,765.14891619,744.85108381,714,679,659.14891619,635,879,788,805,652.85108381,631,652,0.400983804709,-0.0154002813416,0.0498562035566,0.999999964488,-5.61202363585e-05,-0.000256028629517,-4.82094170923e-05,1793243016324138752
+80,1.333333333,BASELINE,765.433322882,745,714,679,659,635,879,787.566677118,805,653,631,652,0.400983746381,-0.0153998437645,0.0498565466596,0.99999996463,-5.5694373114e-05,-0.000255543518497,-4.83223574387e-05,1793243016340805376
+81,1.350000000,BASELINE,765.986862919,745,714,679,659.013137081,635,879,787.013137081,805,653,631,651.986862919,0.400983827706,-0.015399055637,0.0498571655799,0.999999964917,-5.44786423159e-05,-0.000254640199252,-4.85362252729e-05,1793243016357471744
+82,1.366666667,BASELINE,765.409765479,745,714,679,659.590234521,635,879,787.590234521,805,653,631,651.409765479,0.400984512822,-0.0154020052969,0.0498569940417,0.999999964839,-5.72523547438e-05,-0.000254422350423,-4.81019550301e-05,1793243016374138880
+83,1.383333333,BASELINE,765,745,714,679,660,635,878.830183396,788,805.169816604,653,631,651.169816604,0.400984676858,-0.0154035013201,0.0498567634572,0.999999964691,-5.82868563605e-05,-0.000254820523833,-4.78305397617e-05,1793243016390806016
+84,1.400000000,BASELINE,765,745,714,679,660,635,878.244516755,788,805.755483245,653,631,651.755483245,0.400983564868,-0.0154014376515,0.0498563882788,0.99999996438,-5.50623470005e-05,-0.000256727223832,-4.79579266725e-05,1793243016407472128
+85,1.416666667,BASELINE,765,745,714,679,660,634.662276199,878.337723801,788,806,652.662276199,631,652,0.400983195854,-0.0154000745552,0.0498563398407,0.999999964424,-5.37619365042e-05,-0.000256814282057,-4.80477273307e-05,1793243016424138752
+86,1.433333333,BASELINE,765,745,714,679,660,634.0824913,878.9175087,788,806,652.0824913,631,652,0.400983359364,-0.0153992135891,0.0498565255913,0.999999964728,-5.38406101804e-05,-0.000255597125053,-4.81105883061e-05,1793243016440805888
+87,1.450000000,BASELINE,765,745,714,679,659.504693808,634.495306192,879,788,805.504693808,652,631,652,0.400984851952,-0.0154015178831,0.0498567792027,0.999999964742,-5.69277190113e-05,-0.000254876809635,-4.80989661099e-05,1793243016457472768
+88,1.466666667,BASELINE,765,745,714,678.927512277,659.072487723,635,879,788,805.072487723,652.072487723,631,652,0.400986193348,-0.0154038518264,0.0498570004627,0.99999996469,-6.0026133652e-05,-0.000254371132714,-4.80839267251e-05,1793243016474139136
+89,1.483333333,BASELINE,765,745,714,678.352316174,659.647683826,635,879,788,805.647683826,652.647683826,631,652,0.40098495725,-0.0154027500901,0.0498569192967,0.9999999646,-5.97420666017e-05,-0.000254782427588,-4.81308739161e-05,1793243016490805504
+90,1.500000000,BASELINE,765,745,714,678.456966651,659.771516674,635,879,788,805.771516674,653,631,652,0.400984310877,-0.015402258674,0.0498570980498,0.999999964683,-5.97443866265e-05,-0.000254449582323,-4.81764913439e-05,1793243016507471616
+91,1.516666667,BASELINE,765,745,714,679.636280617,659.181859692,635,879,788,805.181859692,653,631,652,0.400984596707,-0.0154027320181,0.0498576876685,0.999999965036,-6.01994113421e-05,-0.000252940441924,-4.8220006752e-05,1793243016524138240
+92,1.533333333,BASELINE,765.400886093,745,714,679.599113907,659.400886093,635,879,788,805,652.599113907,631,652,0.400984565383,-0.0154018829474,0.0498571667469,0.999999964886,-5.9272217343e-05,-0.000253736956704,-4.82964575466e-05,1793243016540804864
+93,1.550000000,BASELINE,765.980549836,745,714,679.019450164,659.980549836,635,879,788,805,652.019450164,631,652,0.400984392623,-0.0154004441378,0.0498561505729,0.999999964507,-5.77286143359e-05,-0.000255561692644,-4.83875960854e-05,1793243016557471232
+94,1.566666667,BASELINE,766,745,714.556285338,679,660,635,879,788,805,652.556285338,631,652,0.400984469106,-0.0154015341178,0.0498566307089,0.99999996471,-5.72082329248e-05,-0.000254982613697,-4.78624790022e-05,1793243016574138112
+95,1.583333333,BASELINE,765.868400898,745,714.868400898,679,660,635,879,787.868400898,805,652.868400898,631,652,0.400984662989,-0.0154024421301,0.0498570164279,0.999999964909,-5.70111964314e-05,-0.000254323066113,-4.74456177036e-05,1793243016590804736
+96,1.600000000,BASELINE,765.294047036,745,714.294047036,679,660,635,879,787.294047036,805,652.294047036,631,652,0.400985222737,-0.0154024425384,0.0498569097043,0.999999965029,-5.77825056938e-05,-0.000253673577567,-4.74649590883e-05,1793243016607471616
+97,1.616666667,BASELINE,765.289075292,745,714,679,660,635,878.710924708,787.289075292,805.289075292,652,631.289075292,652,0.400984406042,-0.0154023067125,0.0498565526535,0.999999964792,-5.82424962137e-05,-0.000254461593355,-4.76814637099e-05,1793243016624138496
+98,1.633333333,BASELINE,765.881395867,745,714,679,660,635,878.118604133,787.881395867,805.881395867,652,631.881395867,652,0.400982145434,-0.0154020279745,0.049855933005,0.999999964177,-5.83759076168e-05,-0.000256757577589,-4.81047961819e-05,1793243016640805120
+99,1.650000000,BASELINE,766,744.536194029,714,678.536194029,659.536194029,635,878.463805971,788,806,652.463805971,631.536194029,652,0.400982093826,-0.0154025192389,0.0498557600441,0.999999964174,-5.77137139943e-05,-0.000256949413849,-4.79414435323e-05,1793243016657471744
+100,1.666666667,BASELINE,765.956734915,744,714,678.043265085,659,635,879,788,805.956734915,653,631,652,0.400982526425,-0.0154030802833,0.0498556679993,0.999999964299,-5.68451781123e-05,-0.000256705706767,-4.7681728867e-05,1793243016674138624
+101,1.683333333,BASELINE,765.38303442,744,714,678.61696558,659,635,879,788,805.38303442,653,631,652,0.400982114805,-0.0154021332693,0.0498551968624,0.99999996411,-5.58890183289e-05,-0.000257580994362,-4.80414696042e-05,1793243016690804992
+102,1.700000000,BASELINE,765,744.195851842,714,679,659,635,879,788,805,652.804148158,631,652,0.40098191978,-0.0154014914249,0.0498551690375,0.99999996406,-5.56849729769e-05,-0.000257785271229,-4.82264297968e-05,1793243016707471360
+103,1.716666667,BASELINE,765,744.785155868,714,679,659,635,879,788,805,652.214844132,631,652,0.40098215988,-0.0154014626444,0.0498560317947,0.999999964289,-5.69918712319e-05,-0.000256641535973,-4.80602684739e-05,1793243016724137984
+104,1.733333333,BASELINE,765,744.63185452,714,679,659.36814548,635,879,787.63185452,805,652,631,652,0.400982664512,-0.01540210286,0.0498562189911,0.999999964396,-5.75969723981e-05,-0.000256124936778,-4.78604399073e-05,1793243016740804864
+105,1.750000000,BASELINE,765,744.052487712,714,679,659.947512288,635,879,787.052487712,805,652,631,652,0.400983320916,-0.0154031269082,0.0498560185885,0.999999964435,-5.77994216871e-05,-0.000255968153145,-4.76412949396e-05,1793243016757471744
+106,1.766666667,BASELINE,765.521315972,744,714,679,660,635,878.478684028,787,805.521315972,652.521315972,631,652,0.400984528654,-0.0154022023973,0.0498573661363,0.999999964905,-5.74249213341e-05,-0.000254172130777,-4.78525869934e-05,1793243016774138880
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,652,631,652,0.400985198104,-0.015402116052,0.0498586001189,0.999999965202,-5.75842487163e-05,-0.000252990049914,-4.77017688692e-05,1793243016816940800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.408081646,659.591918354,635,878.408081646,788,805,652,631,652,0.400985235899,-0.0154014653387,0.0498576811482,0.999999965171,-5.56756387714e-05,-0.000253514390424,-4.78418284349e-05,1793243016833607424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.820836283,714,678.179163717,659.820836283,635,878,788,805,652,631,652,0.400985218025,-0.0154015913606,0.0498570851955,0.999999965142,-5.556840371e-05,-0.000253647554213,-4.7855388969e-05,1793243016850274048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.243963937,714,678.756036063,659.243963937,635,878,788,805,652,631,652,0.400985076576,-0.0154034415834,0.0498572062799,0.999999965118,-5.94598703865e-05,-0.000252912381814,-4.7588146268e-05,1793243016866940672
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.331794272,714,678.668205728,659.331794272,635,878.331794272,787.668205728,805,652,630.668205728,652,0.400983846602,-0.0154031740576,0.0498567789638,0.999999964825,-5.93164315602e-05,-0.000254086962023,-4.76639860772e-05,1793243016883607552
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.906735977,714,678.093264023,659.906735977,635,878.906735977,787.093264023,805,652,630.093264023,652,0.400981818927,-0.0154013545906,0.0498559497656,0.999999964331,-5.62161092736e-05,-0.000256661058434,-4.79912456489e-05,1793243016900274688
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678,659.518011327,635,878.518011327,787.481988673,805,652,630.481988673,652,0.400982291646,-0.0154006805854,0.0498563307555,0.999999964341,-5.65635215741e-05,-0.000256502493825,-4.82250919967e-05,1793243016916941056
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.058940332,787.941059668,805,652,631,652,0.400983182275,-0.015400227901,0.0498569554344,0.999999964468,-5.73798624479e-05,-0.000255786978132,-4.8412169399e-05,1793243016933607424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.650706427,787.349293573,805,652,631,652,0.400983474231,-0.0153997709918,0.0498576648045,0.999999964775,-5.6400542014e-05,-0.000254819748068,-4.8339959299e-05,1793243016950274048
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,678.236954379,659.236954379,635,879,787.236954379,805.236954379,652.236954379,631,652,0.400986248025,-0.0154000444993,0.0498587012234,0.999999965332,-5.57380095651e-05,-0.00025278437137,-4.8268033818e-05,1793243016966940672
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,678.815253124,659.815253124,635,879,787.815253124,805.815253124,652.815253124,631,652,0.400992597026,-0.0154013702081,0.0498602087722,0.999999966244,-5.55318257805e-05,-0.000249210277312,-4.81965183505e-05,1793243016983607296
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.607438403,714.392561597,679,659.607438403,635,878.607438403,787.607438403,805.607438403,652.607438403,631,652,0.40101404575,-0.0154023913747,0.0498684091723,0.999999970187,-5.59373092673e-05,-0.000232966275676,-4.71538310166e-05,1793243017000273920
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.030594749,714.969405251,679,659.030594749,635,878.030594749,787.030594749,805.030594749,652.030594749,631,652,0.401042582809,-0.0154032695787,0.0498797514297,0.999999975141,-5.66299305905e-05,-0.000210774578625,-4.56552418266e-05,1793243017016940544
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714.444455423,679,659,635,878,787.555544577,805,652,631,651.444455423,0.401093568726,-0.0154066661047,0.0498964560963,0.999999981838,-5.79156364027e-05,-0.000176215025849,-4.38046355506e-05,1793243017033607168
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.140606774,714,679,659,635,878,788,805.140606774,652.140606774,630.859393226,651.140606774,0.401149815487,-0.015410371441,0.0499127754545,0.999999987093,-5.87936407055e-05,-0.000143537615905,-4.18747170982e-05,1793243017050274048
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.720675342,714,679,659,635,878,788,805.720675342,652.720675342,630.279324658,651.720675342,0.401218575098,-0.0154146011127,0.049926951839,0.999999990441,-5.8293566383e-05,-0.00011890781097,-3.97585326188e-05,1793243017066940928
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.700808837,806,652.700808837,630.299191163,652,0.40129303885,-0.0154194386308,0.0499373638351,0.999999992375,-5.86637612937e-05,-0.000101802966856,-3.80152914517e-05,1793243017083607552
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.123735209,806,652.123735209,630.876264791,652,0.401372800486,-0.0154248407038,0.0499442795455,0.999999993336,-5.98422440289e-05,-9.16871497259e-05,-3.66184323359e-05,1793243017100274176
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.460134326,787.460134326,806,652.460134326,631,652,0.401462924563,-0.0154290848971,0.0499455496363,0.999999993434,-6.01804199562e-05,-9.06504783078e-05,-3.59456686725e-05,1793243017116940800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.954612799,714,678.954612799,659,635,879,788,805.954612799,652.954612799,631,652,0.401557944684,-0.0154333324988,0.049945388663,0.999999993307,-6.0648352646e-05,-9.19369669469e-05,-3.54383360509e-05,1793243017133607168
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.374911106,714,678.374911106,659,635,879,788,805.374911106,652.374911106,631,652,0.401677306488,-0.0154413406963,0.0499465210485,0.999999993091,-6.53438812028e-05,-9.13996532014e-05,-3.45518721164e-05,1793243017150273792
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.204611691,714,678.204611691,659,635,879,787.795388309,805,652,630.795388309,652,0.401803068096,-0.0154491676225,0.0499461557559,0.999999992663,-6.89143118292e-05,-9.37208458433e-05,-3.37702858826e-05,1793243017166940416
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.783806918,714,678.783806918,659,635,879,787.216193082,805,652,630.216193082,652,0.40194054584,-0.0154566626938,0.0499430486572,0.999999991841,-7.04250201419e-05,-0.000101275118931,-3.31806998203e-05,1793243017183607296
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.360057119,635,879,787.360057119,805,652,630.360057119,652,0.402104843957,-0.0154665531906,0.0499423573167,0.999999991698,-7.23257786418e-05,-0.0001017651501,-3.18884740938e-05,1793243017200273920
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.934553407,635,879,787.934553407,805,652,630.934553407,652,0.402285115494,-0.0154778703313,0.0499431047288,0.999999991966,-7.44588394232e-05,-9.80479324098e-05,-3.01777773032e-05,1793243017216940800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.478396051,714,678.478396051,660,635,879,788,805,652.521603949,630.478396051,652,0.402494232445,-0.0154890713647,0.04994703311,0.999999992358,-7.66846087508e-05,-9.27270426276e-05,-2.83609431874e-05,1793243017233607168
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.108586943,714,678,659.891413057,635,878.891413057,788,805,653,630.108586943,652,0.402715162766,-0.0155003198301,0.0499517372004,0.999999992902,-7.8313900707e-05,-8.58317942314e-05,-2.63863889896e-05,1793243017250273792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.688274557,714,678,659.311725443,635,878.311725443,788,805,653,630.688274557,652,0.402971255649,-0.0155118388428,0.0499580323986,0.999999994065,-7.73036860866e-05,-7.30007403115e-05,-2.37867724016e-05,1793243017266940416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.265516714,788,805,653,631,652,0.403243042805,-0.0155211881057,0.0499650369852,0.999999995373,-7.33519574119e-05,-5.86559588364e-05,-2.08083917859e-05,1793243017283607296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.839913991,788,805,653,631,652,0.403533087387,-0.0155280132571,0.0499728668163,0.999999996767,-6.59783104435e-05,-4.25502305335e-05,-1.73893880429e-05,1793243017300274176
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.413167655,745,714,678.413167655,659,635,879,787.586832345,805,652.586832345,631,652,0.403853827399,-0.015518757439,0.0499799721447,0.99999999876,-3.7626042745e-05,-2.88120047316e-05,-1.53150745399e-05,1793243017316940544
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.985979424,745,714,678.985979424,659,635,879,787.014020576,805,652.014020576,631,652,0.404186427832,-0.0155032880846,0.0499867975318,0.999999999777,-1.16783246727e-06,-1.59885600767e-05,-1.37603368212e-05,1793243017333607168
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.419517038,745,714,678.419517038,659,635,878.419517038,787,805,652,631,652,0.404560804059,-0.0155039236553,0.0499919431564,0.999999999811,1.61771787367e-05,-2.62216727664e-06,-1.04277161391e-05,1793243017350274048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.170532864,745,714,678.170532864,659,635,878.170532864,787.170532864,805,652,631,652,0.40493844524,-0.0155068048177,0.049991465083,0.999999999491,3.09790218245e-05,-1.25671908691e-06,-7.58042013903e-06,1793243017366940672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.748637739,745,714,678.748637739,659,635,878.748637739,787.748637739,805,652,631,652,0.405321384405,-0.0155140871598,0.0499776471516,0.999999998739,4.08488753802e-05,-2.86059814425e-05,-5.9996606281e-06,1793243017383607296
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.674582576,745,714,679,659.325417424,635,878.674582576,788,805,652,631,652,0.405715973562,-0.0155180421234,0.0499597600335,0.999999996412,5.52877325948e-05,-6.40071612439e-05,-4.65642599963e-06,1793243017400273920
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.098822295,745,714,679,659.901177705,635,878.098822295,788,805,652,631,652,0.40611952507,-0.0155194373434,0.0499387424982,0.999999991736,7.3241514528e-05,-0.000105602664967,-3.49591852978e-06,1793243017416940544
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.487393947,787.512606053,805.487393947,652,631,652,0.406584237731,-0.0155187388434,0.0499284511596,0.999999987855,9.65999801221e-05,-0.000122297399299,-1.48273074531e-06,1793243017433607168
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.926058916,635,879,787.073941084,805.926058916,652.073941084,631,652,0.407070284423,-0.0155180587315,0.0499233480547,0.999999984484,0.000120775281991,-0.000128231326349,1.05588582308e-06,1793243017450273792
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.351928766,635,879,787.648071234,805.351928766,652.648071234,631,652,0.407614922716,-0.0155204376828,0.0499383073405,0.999999985138,0.000142900739105,-9.6273962533e-05,5.95370582427e-06,1793243017466940416
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.225319636,635,879,787.774680364,805,652.774680364,631,652,0.408181292907,-0.0155222842257,0.0499573281724,0.999999984082,0.000167535722446,-6.03250715813e-05,1.13822203866e-05,1793243017483607296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.807506777,635,879,787.192493223,805,652.192493223,631,652,0.40878208265,-0.015523287525,0.0499827817932,0.999999980445,0.000196145361855,-1.80542909469e-05,1.76512634501e-05,1793243017500274432
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.383600521,652,631,652,0.409378392248,-0.0155265452888,0.0499942311138,0.999999975449,0.000220427130788,-2.61688051052e-06,2.25224620084e-05,1793243017516941312
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.956684353,652,631,652,0.409972488815,-0.0155309166679,0.0499987628696,0.999999970223,0.000242571104082,-4.34082724174e-07,2.67031811247e-05,1793243017533607936
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.547119946,745,714,679,660,635,878.452880054,787,805.452880054,652,631,651.452880054,0.410576220873,-0.0155312979469,0.049979594269,0.99999996267,0.000267991466354,-4.4781085334e-05,2.88914146362e-05,1793243017550274304
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.864270544,714,679,660,634.864270544,878.135729456,787,805,652,631,651.135729456,0.411192448746,-0.0155307551984,0.0499582634096,0.999999952463,0.000293639874696,-8.89308461717e-05,3.06851785968e-05,1793243017566940928
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.286235162,714,679,660,634.286235162,878.713764838,787,805,652,631,651.713764838,0.411846829679,-0.015528264434,0.0499362011744,0.999999941361,0.000319158443067,-0.000120040206356,3.17243596056e-05,1793243017583607296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.709648536,744.290351464,714,679,660.290351464,634.290351464,879,787,805,652,631,652,0.412557899766,-0.0155301320617,0.0499424147296,0.999999957478,0.000271316171772,-0.000100760839789,3.57461775995e-05,1793243017600273920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.134482967,744.865517033,714,679,660.865517033,634.865517033,879,787,805,652,631,652,0.413324577953,-0.0155362749614,0.0499763648182,0.999999987097,0.000151512141579,-3.20537237804e-05,4.26937496847e-05,1793243017616940800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.440949053,745,714,679,660.559050947,635,879,787.440949053,805.440949053,652,631,652,0.414051548734,-0.0155406553661,0.0499799670724,0.999999997131,6.3377942501e-05,-3.28143381251e-05,2.53896295336e-05,1793243017633607168
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659.983032163,635,879,788,806,652,631,651.983032163,0.414767592531,-0.0155445227004,0.049973594529,0.999999998398,-1.19868981735e-05,-5.52935291032e-05,1.43428689135e-06,1793243017650273792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659.389847386,635,879,788,806,652,631,651.389847386,0.415524066893,-0.0155492318817,0.049942989978,0.999999995281,1.80812691452e-05,-9.54021572767e-05,2.93682192867e-06,1793243017666940416
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.801640723,745,714,679,659.198359277,635,879.198359277,787.801640723,806,652,631,651.198359277,0.416301206181,-0.0155532767431,0.049928071763,0.999999992401,5.06739371094e-05,-0.000112212457258,6.26481555286e-06,1793243017683606784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.222978353,745,714,679,659.777021647,635,879.777021647,787.222978353,806,652,631,651.777021647,0.417117965122,-0.015556047941,0.0499432280805,0.999999992475,8.81066865003e-05,-8.43541797671e-05,1.30926582506e-05,1793243017700273664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.351973236,745,714,678.648026764,660,635,879.648026764,787.351973236,805.648026764,652,631,652,0.417947397117,-0.0155560149103,0.0499641892364,0.999999991675,0.000118390668579,-4.79159920235e-05,1.83557745852e-05,1793243017716940288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.924598514,745,714,678.075401486,660,635,879.075401486,787.924598514,805.075401486,652,631,652,0.418784773821,-0.0155542239086,0.0499887894451,0.999999989329,0.000144193086487,-6.09905907293e-06,2.26379635974e-05,1793243017733606912
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.51020104,678,660,635,879,787.48979896,805,652,631,652,0.419567178152,-0.0155530518994,0.0499715979728,0.999999988833,0.000140276143953,-4.62126137077e-05,2.28229083483e-05,1793243017750273536
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.096406929,660.096406929,635,879,787.096406929,805.096406929,652,631,652,0.420368052427,-0.0155528164262,0.0499554216843,0.999999987472,0.000134323002941,-8.06290199251e-05,2.26538118645e-05,1793243017766940160
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.675776618,660.675776618,635,879,787.675776618,805.675776618,652,631,652,0.421303215642,-0.0155568024107,0.0499760795982,0.999999989517,0.000140746615453,-2.42634790474e-05,2.38237150919e-05,1793243017783607040
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.745577553,679,660.745577553,635,879.254422447,787.745577553,806,652,631,652,0.422209982248,-0.0155597608249,0.0499886946301,0.999999988577,0.000148801902443,9.03326554981e-06,2.49372793154e-05,1793243017800273664
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.167851479,679,660.167851479,635,879.832148521,787.167851479,806,652,631,652,0.423080664403,-0.0155614134698,0.0499910892894,0.999999986948,0.000158930617383,1.30156800872e-05,2.59792518023e-05,1793243017816940288
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.407374464,745,714,679,660.407374464,635,880,787,806,652,631,652,0.423947509161,-0.0155600316281,0.0499813583961,0.999999988103,0.00015207281742,-2.74877773092e-06,2.56840952955e-05,1793243017833606912
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.98157652,745,714,679,660.98157652,635,880,787,806,652,631,652,0.424812782379,-0.0155574071062,0.049966661858,0.99999998978,0.000138258715756,-2.65999556725e-05,2.48413589503e-05,1793243017850273792
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.857649828,745,714,679,661,635,879.428824914,787,806,652,631,652,0.425706357084,-0.0155608407782,0.0499862138667,0.999999989737,0.000140676357753,-1.88212263379e-06,2.70693297635e-05,1793243017866940160
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.158868925,744.841131075,714,679,660.841131075,635,879.158868925,787.158868925,806,652,631,651.841131075,0.42659707532,-0.0155634752999,0.0499977919396,0.999999988805,0.00014667851252,5.38944871751e-06,2.90997838251e-05,1793243017883607040
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.740141406,744.259858594,714,679,660.259858594,635,879.740141406,787.740141406,806,652,631,651.259858594,0.427477704266,-0.0155634510753,0.0499851502022,0.999999985892,0.000160780616282,-3.80061449223e-05,3.03344336171e-05,1793243017900273408
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.31767502,714,679.31767502,660.31767502,635,880,787.68232498,806,652,631,651.31767502,0.428352753884,-0.0155615462539,0.0499648374581,0.999999982686,0.000169233816597,-7.16952554332e-05,2.91091947596e-05,1793243017916940288
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.892185784,714,679.892185784,660.892185784,635,880,787.107814216,806,652,631,651.892185784,0.429223292652,-0.0155581209969,0.0499383228146,0.999999979923,0.000173119958081,-9.7536810029e-05,2.58951708064e-05,1793243017933606912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.465295536,787,806,652,631,651.534704464,0.430122761463,-0.0155570285943,0.04994584845,0.999999983045,0.000165151555444,-7.71335544354e-05,2.61627467015e-05,1793243017950273792
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.960301989,660.960301989,635,880.960301989,787.039698011,806,652,631,651.039698011,0.431024524943,-0.0155564206262,0.0499588906521,0.999999986184,0.000155897727375,-5.09214356512e-05,2.71211937346e-05,1793243017966940160
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.363204542,660.363204542,635,880.363204542,787.636795458,806,652,631,651.636795458,0.431864666864,-0.015555047543,0.0499389748249,0.999999981358,0.000167047719805,-9.31509365885e-05,2.64869283519e-05,1793243017983607040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.774891565,745,714,679,660.225108435,635,880.225108435,787.774891565,806,651.774891565,631,652,0.432731955145,-0.0155541611183,0.0499331697522,0.999999978175,0.000178880843559,-0.00010452694544,2.69282897652e-05,1793243018000273408
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.200219612,745,714,679,660.799780388,635,880.799780388,787.200219612,806,651.200219612,631,652,0.433641398248,-0.0155540304097,0.0499492768051,0.999999978878,0.000191774781497,-6.79915834508e-05,2.90399567417e-05,1793243018016940288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.375384938,745,714,679.375384938,661,634.624615062,880.624615062,787.375384938,806,651.375384938,631,652,0.434517411057,-0.015552711073,0.0499687598737,0.999999978756,0.00020003842201,-3.86317038714e-05,3.13027297151e-05,1793243018033606912
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.951488113,745,714,679.951488113,661,634.048511887,880.048511887,787.951488113,806,651.951488113,631,652,0.435375548642,-0.0155507561772,0.0499900480961,0.999999978166,0.000205826242807,-1.31085552304e-05,3.36462989008e-05,1793243018050273536
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.538243766,680,660.461756234,634.538243766,880,788,806,651.461756234,631,652,0.436134449682,-0.0155464303891,0.0499644807597,0.999999978248,0.000192163935119,-7.42459406963e-05,3.26195026076e-05,1793243018066940160
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.875203067,715,680,660.124796933,635,880,787.875203067,806.124796933,651,631,652,0.436908886323,-0.0155431092127,0.0499441793671,0.999999975998,0.000181862415072,-0.00011801623873,3.16557771534e-05,1793243018083606784
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.292982288,715,680,660.707017712,635,880,787.292982288,806.707017712,651,631,652,0.437773711724,-0.0155442693414,0.0499589710933,0.999999978978,0.000190434575168,-6.89231731264e-05,3.20591347409e-05,1793243018100273408
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.28543522,714.71456478,679.71456478,661,635,880,787,806.429129561,651.28543522,631,652,0.438607500696,-0.0155459102478,0.0499698234491,0.999999979002,0.000197999453202,-4.15083027485e-05,3.26956586035e-05,1793243018116940288
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744.860000192,714.139999808,679.139999808,661,635,880,787,805.279999617,651.860000192,631,652,0.439409851464,-0.0155480381549,0.0499766854441,0.999999977868,0.000204544011238,-3.60522225884e-05,3.35683667655e-05,1793243018133606912
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.56480774,745,714,679.43519226,661,635,880,787,805.43519226,651.56480774,631,651.56480774,0.440153439895,-0.0155479698516,0.0499600575039,0.999999975916,0.000208806308274,-5.95405976557e-05,3.19835756731e-05,1793243018150273792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.010840204,745,714.010840204,679.989159796,661,635,880.010840204,787.010840204,806.010840204,651.010840204,631,651.010840204,0.440878134206,-0.0155472604128,0.0499366287358,0.999999972938,0.000211956293249,-9.11979315011e-05,2.96960580981e-05,1793243018166940416
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.600029108,745,714.600029108,679.399970892,661,635,880.600029108,787.600029108,806.600029108,651.600029108,631,651.600029108,0.44160478842,-0.0155500934136,0.0499541055038,0.9999999786,0.000194989437023,-6.11903069591e-05,3.21559986707e-05,1793243018183607296
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.813801304,679.186198696,661,634.813801304,880.813801304,788,806.813801304,652,631,651.813801304,0.442328948308,-0.0155517736503,0.0499726196071,0.99999998191,0.000184576640679,-2.999858289e-05,3.48141976147e-05,1793243018200273920
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.234013869,679.765986131,661,634.234013869,880.234013869,788,806.234013869,652,631,651.234013869,0.4430478358,-0.0155510171629,0.0499933264437,0.9999999816,0.000188017881309,3.69610857377e-06,3.78914776668e-05,1793243018216940544
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.657534615,745,714,680,661,634.342465385,880.342465385,787.657534615,806,652,631,651.342465385,0.443705483881,-0.0155493712336,0.049982875597,0.999999979681,0.000197243645883,-1.65359669702e-05,3.82160168926e-05,1793243018233607168
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.083294317,745,714,680,661,634.916705683,880.916705683,787.083294317,806,652,631,651.916705683,0.444321686099,-0.0155471233448,0.0499513377439,0.999999974513,0.000210384280028,-7.32647891732e-05,3.66775463541e-05,1793243018250273792
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.502818192,745,714,680,661,635,879.994363617,787.502818192,806.502818192,651.497181808,631,652,0.444924622511,-0.0155482616049,0.0499360790382,0.999999971131,0.000220714198916,-8.76732015998e-05,3.65729527443e-05,1793243018266940416
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.910428728,879.089571272,787.910428728,807,651.089571272,631,652,0.445528481002,-0.0155498298753,0.0499296185758,0.999999969029,0.000230688265759,-8.57058378016e-05,3.71518576522e-05,1793243018283607040
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.331185325,879.668814675,787.331185325,807,651.668814675,631,652,0.446149684515,-0.0155506082599,0.0499561576711,0.999999969516,0.000241323909221,-3.34672438214e-05,4.01374076296e-05,1793243018300273920
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.753148205,745,714.246851795,680,661,634.246851795,880,787.246851795,807,652,631,652,0.446730476667,-0.0155494466195,0.0499683028276,0.999999967098,0.000252806083598,-1.02497063356e-05,4.22811959958e-05,1793243018316940544
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.176721655,745,714.823278345,680,661,634.823278345,880,787.823278345,807,652,631,652,0.447257315084,-0.0155456948284,0.0499612304639,0.999999963507,0.000265418471237,-2.57785294725e-05,4.3301138332e-05,1793243018333607424
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.600485185,679.600485185,661,635,880.399514815,788,806.600485185,651.600485185,631,652,0.447751664151,-0.0155435818578,0.0499399078702,0.999999959953,0.000273977300439,-5.66371015966e-05,4.26944732262e-05,1793243018350274048
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.024332705,679.024332705,661,635,880.975667295,788,806.024332705,651.024332705,631,652,0.448231648733,-0.0155421934592,0.0499122848154,0.999999955292,0.000280743928809,-9.42734238186e-05,4.13686354802e-05,1793243018366940416
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.56413502,661,634.43586498,880.43586498,788,806,651.56413502,631,652,0.44868733519,-0.0155444293187,0.0499142166976,0.999999954292,0.00028559821843,-8.9597618475e-05,4.26809271549e-05,1793243018383607296
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.849195077,661,634,880.150804923,787.849195077,806,651.849195077,630.849195077,652,0.44913470445,-0.015545986292,0.0499210184291,0.999999954618,0.00028745587395,-7.85641431563e-05,4.42857079445e-05,1793243018400274176
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.269187332,661,634,880.730812668,787.269187332,806,651.269187332,630.269187332,652,0.449561451801,-0.0155451562609,0.0499379710262,0.999999957938,0.00028102486766,-5.47463597226e-05,4.6391853833e-05,1793243018416940800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.307632042,679.307632042,661,634,880.692367958,787,806.307632042,651,630.307632042,652,0.449967554837,-0.015546788981,0.0499510493997,0.999999964929,0.000257879986579,-3.65753055561e-05,4.79853780259e-05,1793243018433607424
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.881690078,679.881690078,661,634,880.118309922,787,806.881690078,651,630.881690078,652,0.450355778754,-0.015550554577,0.0499607724852,0.999999974264,0.000220259985741,-2.32946258694e-05,4.91349439266e-05,1793243018450274048
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.532826523,680,661,634,880,787,806.532826523,651.467173477,631,652,0.450683961965,-0.0155539118994,0.0499547918675,0.999999984675,0.000166757817299,-4.06248491914e-05,3.45059026859e-05,1793243018466940672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.945249294,787,806,651.945249294,631,652,0.450992936272,-0.0155570565357,0.0499444613122,0.999999991035,0.00011530662226,-6.57560951634e-05,1.76109961916e-05,1793243018483607296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.366026445,787,806,651.366026445,631,652,0.451267208356,-0.0155591790612,0.0499315124036,0.999999988265,0.000122996963267,-8.9494383537e-05,1.82479074358e-05,1793243018500274176
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.213227237,745,714,679.786772763,661,634,879.213227237,786.786772763,806.213227237,651,630.786772763,652,0.451525243323,-0.015560312642,0.049916527685,0.999999984308,0.0001310119224,-0.000117798563197,1.85523107013e-05,1793243018516940800
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.792533793,745,714,679.207466207,661,634,879.792533793,786.207466207,806.792533793,651,630.207466207,652,0.451755401555,-0.0155597483524,0.0498980477859,0.999999978242,0.000139584201565,-0.000153941693799,1.8285847361e-05,1793243018533607424
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.631349566,745,714,679.368650434,661,634,880.368650434,786,807,651,630,652,0.451978432611,-0.0155596918596,0.049888540443,0.99999997454,0.000145897503276,-0.000171098799302,1.89475712361e-05,1793243018550274304
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.057012665,745,714,679.942987335,661,634,880.942987335,786,807,651,630,652,0.452197487121,-0.0155599186893,0.0498840392864,0.999999972622,0.000150950421908,-0.000177662760825,2.01271720054e-05,1793243018566940672
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.4703531,634,880.4703531,786.5296469,807,651,630,651.4703531,0.452402494461,-0.0155577619851,0.0498909051602,0.999999973437,0.00015900568765,-0.000165425874231,2.18336264173e-05,1793243018583607040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.115992604,633.884007396,880,787,806.884007396,651,630,651.115992604,0.452597396201,-0.0155557157956,0.0498972309688,0.999999973944,0.000167048020504,-0.000153816008401,2.33833591805e-05,1793243018600273920
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.695655198,633.304344802,880,787,806.304344802,651,630,651.695655198,0.452758090143,-0.0155551614244,0.0498963902653,0.999999972918,0.00017371599829,-0.000152995158615,2.40745107173e-05,1793243018616940544
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.726319804,633.273680196,879.726319804,787,806.273680196,651,630,652,0.452901959408,-0.0155558465891,0.0498930078912,0.999999971727,0.000177793700473,-0.000155969402155,2.4686374644e-05,1793243018633607168
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.150105091,633.849894909,879.150105091,787,806.849894909,651,630,652,0.453027230147,-0.0155579019751,0.0498868158762,0.999999970353,0.000179008031825,-0.000163138858791,2.5210591563e-05,1793243018650273792
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.42590329,633.57409671,879.851806579,786.57409671,806.57409671,651,630.42590329,652,0.453131771722,-0.0155605292934,0.0498801852902,0.999999968743,0.000177959700376,-0.000173757426532,2.5536047384e-05,1793243018666940672
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880.998116558,786,806.001883442,651,630.998116558,652,0.453228951925,-0.0155633436725,0.0498734112726,0.999999966938,0.000176130315857,-0.000185570161086,2.5789184629e-05,1793243018683607296
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880.40825426,786,806.59174574,651,630.40825426,652,0.45330767106,-0.0155616585604,0.049870090986,0.999999965389,0.000179299682219,-0.000190874853659,2.53239103839e-05,1793243018700273920
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.178262502,745,714.178262502,680,660.821737498,633.178262502,880,786,807,651,630,651.821737498,0.453381115807,-0.0155606038402,0.0498667285304,0.999999964141,0.000180911935798,-0.000195877399532,2.4907324348e-05,1793243018716940544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.757258429,745,714.757258429,680,660.242741571,633.757258429,880,786,807,651,630,651.242741571,0.453442703741,-0.015560966239,0.04986327128,0.999999963632,0.000179023805345,-0.000200200720068,2.46001892856e-05,1793243018733607168
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765.090485461,745,715,680,660,633.090485461,880,786,806.090485461,651,630,651,0.453538540134,-0.0155619712062,0.0498583993372,0.999999963318,0.000175002110373,-0.000205257140582,2.46472088612e-05,1793243018766940416
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.495451504,633,880,786,806,651.495451504,630,651.495451504,0.453572582004,-0.015562310693,0.0498566988662,0.999999962884,0.000174019304673,-0.000208189871288,2.46067872452e-05,1793243018783607040
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.082203719,745,714.917796281,680,661,633,879.917796281,786,806.082203719,651.917796281,630,652,0.453602950722,-0.0155622143377,0.0498550872628,0.999999962333,0.000173596370803,-0.000211176187066,2.45540169228e-05,1793243018800273664
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.661952371,745,714.338047629,680,661,633,879.338047629,786,806.661952371,651.338047629,630,652,0.453622665669,-0.0155597060785,0.0498534887315,0.999999961532,0.000175364180357,-0.00021349218112,2.45977639653e-05,1793243018816940288
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.759890537,745,714,680,661,633.240109463,879.240109463,786,806.759890537,651,630,652,0.453639633723,-0.0155582854892,0.0498524515106,0.999999961295,0.000175305807742,-0.000214671260093,2.43908937833e-05,1793243018833606912
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.856012847,745,714,680,661,633.856012847,880.856012847,786,807,652,630,652,0.453668089294,-0.015556472933,0.0498449099325,0.99999995939,0.000172578438036,-0.000225660691816,2.26540152731e-05,1793243018916940032
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,806.12744694,651.12744694,630,652,0.453670587618,-0.0155568083539,0.0498430392936,0.999999959027,0.000167726585751,-0.000230839872957,2.29684863269e-05,1793243018966940416
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.459509536,745,714,680.459509536,661,633.459509536,880,786,806.459509536,651.459509536,630,652,0.45367021679,-0.0155555278576,0.0498419852118,0.9999999587,0.000167474327102,-0.000232504705156,2.22291329257e-05,1793243018983606784
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.95149392,745,714.04850608,681,661,633.95149392,879.95149392,786,807,651.95149392,630,652,0.453669572864,-0.0155535138444,0.0498406120564,0.999999958117,0.000168498228089,-0.000234351471179,2.13037915183e-05,1793243019000273664
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.371560948,745,714.628439052,681,661,633.371560948,879.371560948,786,807,651.371560948,630,652,0.453670892487,-0.0155546254947,0.049841095247,0.999999958417,0.000168220590334,-0.000233238286291,2.1649224783e-05,1793243019016940544
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.792438046,661,633,879.207561954,786,806.792438046,651.207561954,630,652,0.45367176786,-0.015555798999,0.0498413545323,0.999999958507,0.000168164712262,-0.000232859630393,2.19784848617e-05,1793243019033607168
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.214759665,661,633,879.785240335,786,806.214759665,651.785240335,630,652,0.453671851065,-0.015557082799,0.0498412145585,0.999999958226,0.00016850426747,-0.000233790758176,2.22789055212e-05,1793243019050273536
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.639980089,680,661,633.360019911,880,786,806,651.639980089,630,652,0.453672511741,-0.0155558114323,0.0498411896814,0.999999958179,0.000169315632542,-0.000233417514488,2.21263154763e-05,1793243019066940160
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.066915922,680,661,633.933084078,880,786,806,651.066915922,630,652,0.453673514138,-0.015553028028,0.0498412329138,0.99999995827,0.000170406194328,-0.000232272399985,2.17056532236e-05,1793243019083606784
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,744.480919386,714,680,661,633.480919386,880,786,806,651,630,651.480919386,0.453671339169,-0.0155514512629,0.0498387134067,0.9999999576,0.000170212750746,-0.00023535873226,2.08262517232e-05,1793243019100273408
+245,4.083333333,HOLD_POSE2,765,744,714,680,661,633,879,786,806,651,630,652,0.453671888323,-0.0155538010331,0.049840379968,0.999999958067,0.000167402139512,-0.000235309876329,2.17196919589e-05,1793243019142820608
+246,4.100000000,HOLD_POSE2,765,744.579693522,714,680,661,633,879.579693522,786,806,651,630,651.420306478,0.453672610643,-0.0155537504348,0.0498398146294,0.999999957794,0.000168123773891,-0.000235969791509,2.15475289235e-05,1793243019159487488
+247,4.116666667,HOLD_POSE2,765,745,714,680,661,633,880,786,806,651,630,651.158842887,0.453672527672,-0.0155532525425,0.0498388822389,0.999999957425,0.000168765340886,-0.000237090021086,2.13520426175e-05,1793243019176153856
+248,4.133333333,HOLD_POSE2,765,745,714,680,661,633,880,786,806,651,630,651.736557426,0.453670321132,-0.0155515751276,0.0498369819254,0.999999956802,0.000169195768854,-0.000239424108453,2.10950523745e-05,1793243019192820480
+249,4.150000000,HOLD_POSE2,765,745,714,680,661,633,880,786,806.319825906,651.319825906,630.319825906,652,0.453669452754,-0.0155521059078,0.0498365570929,0.999999956696,0.000168349594796,-0.000240454041386,2.11715499126e-05,1793243019209487104
+250,4.166666667,HOLD_POSE2,765,745,714,680,661,633,880,786,806.907750012,651.907750012,630.907750012,652,0.45366970611,-0.0155544877362,0.0498373691016,0.999999957024,0.000166433292554,-0.000240390749864,2.15275979105e-05,1793243019226153728
+251,4.183333333,HOLD_POSE2,765,745,714,679.51039349,661,633.48960651,880,786,807,651.51039349,630.51039349,651.51039349,0.453669211593,-0.0155541449322,0.0498359901271,0.99999995682,0.000166204500285,-0.000241419080316,2.12662167518e-05,1793243019242820608
+252,4.200000000,HOLD_POSE2,765,745,714.069531434,679.069531434,661.069531434,633.930468566,880,786,807,651.069531434,630,651.069531434,0.453668612991,-0.0155533985785,0.0498344722369,0.999999956567,0.000166156393924,-0.000242527782544,2.09505676347e-05,1793243019259487232
+253,4.216666667,HOLD_POSE2,765,745,714.643634081,679.643634081,661.643634081,633.356365919,880,786,807,651.643634081,630,651.643634081,0.453668269105,-0.0155534035299,0.049834905309,0.99999995668,0.000165140407181,-0.00024274542911,2.10749805685e-05,1793243019276153856
+254,4.233333333,HOLD_POSE2,765,744.777087175,714.777087175,680,661.777087175,633.222912825,880,786,807,651.777087175,630,652,0.453668121656,-0.0155529558805,0.0498348540016,0.999999956658,0.000164682814084,-0.000243157030755,2.09468909042e-05,1793243019292820736
+255,4.250000000,HOLD_POSE2,765,744.18933686,714.18933686,680,661.18933686,633.81066314,880,786,807,651.18933686,630,652,0.453668295713,-0.0155517674677,0.0498340099187,0.999999956416,0.000165139134122,-0.000243886075242,2.0405534678e-05,1793243019309487360
+256,4.266666667,HOLD_POSE2,765,744.392693309,714,679.607306691,661,633.607306691,880,786,807,651.392693309,630,652,0.453669609881,-0.0155518510691,0.0498348465345,0.999999956913,0.000163987477437,-0.000242613062089,2.05081373229e-05,1793243019326153984
+257,4.283333333,HOLD_POSE2,765,744.972005161,714,679.027994839,661,633.027994839,880,786,807,651.972005161,630,652,0.453671465863,-0.0155525391662,0.0498364818641,0.999999957754,0.000162071666511,-0.000240388616747,2.09167666933e-05,1793243019342820608
+258,4.300000000,HOLD_POSE2,765,745,714,679.549976565,661,633.549976565,879.450023435,786,807,651.450023435,630,652,0.453670616767,-0.0155534514926,0.0498363281876,0.999999957437,0.000163190738965,-0.000240926125648,2.12060648832e-05,1793243019359487232
+259,4.316666667,HOLD_POSE2,765,745,714,680,661,633.872820809,879.127179191,786,806.872820809,651,630,652,0.453669940939,-0.0155541721277,0.0498359907477,0.999999957183,0.000163842417172,-0.000241521036207,2.13887078438e-05,1793243019376153856
+260,4.333333333,HOLD_POSE2,765,745,714,680,661,633.298083916,879.701916084,786,806.298083916,651,630,652,0.453670358241,-0.0155541781119,0.0498353263079,0.999999957364,0.000162306968508,-0.000241824405581,2.12173430266e-05,1793243019392820480
+261,4.350000000,HOLD_POSE2,765.284061305,745,714,679.715938695,660.715938695,633,880,786,806.284061305,651.284061305,630,652,0.453670802887,-0.0155535340019,0.0498352193894,0.999999957233,0.000163197519149,-0.000241776462388,2.10916897552e-05,1793243019409487104
+262,4.366666667,HOLD_POSE2,765.874188705,745,714,679.125811295,660.125811295,633,880,786,806.874188705,651.874188705,630,652,0.453671276996,-0.0155521894383,0.0498357131804,0.999999956759,0.000166701999056,-0.000241349992206,2.10152890817e-05,1793243019426153728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,787,806,652,630,652,0.453669273821,-0.0155533939152,0.0498336042956,0.99999995622,0.000163772591182,-0.000245558587238,2.09826792843e-05,1793243019458461184
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786.425642654,806.574357346,652,630,652,0.453670681962,-0.0155513863998,0.0498345497663,0.999999956602,0.000165170805023,-0.000243077324305,2.07025391699e-05,1793243019475127808
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806.850831637,652,630,652,0.453671475323,-0.0155501947031,0.049835217195,0.999999956849,0.000165877578569,-0.000241582714766,2.05995705597e-05,1793243019491794176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806.274722016,652,630,652,0.453670509095,-0.0155513379959,0.0498350888277,0.999999956729,0.000164605351095,-0.00024291204825,2.10036921525e-05,1793243019508460800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.69022893,633,880,786,806.30977107,652,630,652,0.45366960834,-0.0155515575537,0.0498343161612,0.999999956444,0.000164684122163,-0.000244029820761,2.09787770673e-05,1793243019525127424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.098094153,633,880,786,806.901905847,652,630,652,0.453668767265,-0.0155509351051,0.0498329562007,0.99999995601,0.000165994360653,-0.000244954750328,2.05627848075e-05,1793243019541794048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,744.51861737,714,680,660.48138263,633.48138263,880,786,806.51861737,651.51861737,630,652,0.453669780927,-0.0155522782552,0.0498334679439,0.999999956524,0.000164295276161,-0.000243977591237,2.08503030766e-05,1793243019558460672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.058861713,744.058861713,714,680,661,633.941138287,879.941138287,786,806.058861713,651.058861713,630,651.941138287,0.453670463281,-0.0155536335737,0.0498340646428,0.999999957041,0.000162223629781,-0.000243214768289,2.11719755489e-05,1793243019575127552
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.640923872,744.640923872,714,680,661,633.359076128,879.359076128,786,806.640923872,651.640923872,630,651.359076128,0.453664927355,-0.0155516280039,0.049832113146,0.999999955961,0.000162151515482,-0.000247714063565,2.05556193443e-05,1793243019591794176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.77665671,745,714,680,661,633.22334329,879,786,806.77665671,652,630,651,0.453653192334,-0.015549818347,0.0498267687725,0.999999953493,0.000162336404918,-0.000257450782222,1.95101632066e-05,1793243019608460800
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.193662053,745,714,680,661,633.806337947,879,786,806.193662053,652,630,651,0.453631474862,-0.0155483241702,0.0498159608248,0.999999948585,0.000162935149366,-0.000275621362372,1.77737242981e-05,1793243019625127424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.613072448,879.386927552,786,806,652,630,651.386927552,0.453592089698,-0.0155467298994,0.0497979537747,0.99999993946,0.000162775786363,-0.000307107750747,1.64161140841e-05,1793243019641794304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.033679114,879.966320886,786,806,652,630,651.966320886,0.453543916256,-0.0155450858395,0.049776365741,0.999999927135,0.000162239324878,-0.000345217699367,1.52469409388e-05,1793243019658460928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,744.457446431,714,680,661,633,880,786,806.542553569,651.457446431,630,652,0.453476253213,-0.0155414423187,0.0497524736674,0.999999912022,0.000164675312586,-0.000385565134288,1.33045586973e-05,1793243019675127552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,744.117489238,714,680.117489238,660.882510762,633.117489238,880,786,806.882510762,651,630,652,0.453406917317,-0.015537386556,0.0497319278728,0.999999898032,0.000167222942628,-0.000419336091511,1.14315151194e-05,1793243019691794176
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,744.688174469,714,680.688174469,660.311825531,633.688174469,880,786,806.311825531,651,630,652,0.453335768296,-0.0155322166229,0.0497248383044,0.999999894333,0.000169493600543,-0.000427206696604,1.00100027264e-05,1793243019708460800
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.270190419,745,714,680.459619163,660.270190419,633.729809581,880,786,806.270190419,651,630,652,0.453260104154,-0.0155275017755,0.0497220590058,0.999999892546,0.000171057331981,-0.0004307692719,9.22478752042e-06,1793243019725127680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.865855454,745,714,679.268289092,660.865855454,633.134144546,880,786,806.865855454,651,630,652,0.453179001048,-0.0155233351304,0.0497244719103,0.999999893124,0.000171769491186,-0.000429142342419,9.2060636193e-06,1793243019741794304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.552980609,745,714.447019391,679.447019391,661,633,880,786,807,651,630,651.552980609,0.453079762923,-0.0155171999909,0.0497290000326,0.999999894494,0.000175679167251,-0.000424343291491,9.00395604886e-06,1793243019758460672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.976090538,680,661,633,880,786,806.976090538,651,630,651.023909462,0.452974112326,-0.0155105245576,0.0497340923273,0.99999989611,0.00018032871717,-0.000418552007614,8.75940246147e-06,1793243019775127296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.400561659,680,661,633,880,786,806.400561659,651,630,651.599438341,0.452842128549,-0.0155045842712,0.0497380164762,0.999999899134,0.000180606062494,-0.000411140410354,8.76530679192e-06,1793243019791793920
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786.179163324,806.179163324,651,630,651.820836676,0.452698866183,-0.015496963579,0.0497410084444,0.99999990044,0.000182539043831,-0.000407095981199,8.45966321447e-06,1793243019808461056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786.768494585,806.768494585,651,630,651.231505415,0.452529783174,-0.0154854958468,0.0497418663223,0.999999897889,0.000188262358972,-0.000410760186563,7.44077677012e-06,1793243019825127680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.352112431,745,714,680,661,633.352112431,880,786.647887569,806.647887569,651.352112431,630,651.352112431,0.452337767961,-0.0154738603208,0.0497412252287,0.999999893826,0.00019446150012,-0.000417721031739,6.44605826874e-06,1793243019841794304
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.93203388,745,714,680,661,633.93203388,880,786.06796612,806.06796612,651.93203388,630,651.93203388,0.452130916098,-0.0154621162346,0.0497396143334,0.999999888705,0.000200968490809,-0.000426814730892,5.46697579518e-06,1793243019858461184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.492923938,745,714,680,661,634,879.492923938,786,806,652,630,652,0.451904193642,-0.0154527827544,0.0497428507779,0.999999890158,0.000201751627768,-0.000423037629202,4.49850127903e-06,1793243019875127808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.081447221,745,714.081447221,680,661,634,879.081447221,786.081447221,806,652,630.081447221,652,0.451667645771,-0.0154435924937,0.0497458192197,0.999999891947,0.000201588861001,-0.000418874592006,3.39855860234e-06,1793243019891794432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.655677879,745,714.655677879,680,661,634,879.655677879,786.655677879,806,652,630.655677879,652,0.451387611352,-0.015433332484,0.0497432726239,0.999999890595,0.000200300628853,-0.000422714732175,1.49466771842e-06,1793243019908461056
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.763321892,680,661,634,880,787,806,651.763321892,631,652,0.451098301039,-0.0154266536014,0.0497423120296,0.999999892651,0.000195927285119,-0.000419893512265,-4.86346082382e-07,1793243019925127424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.172183261,680,661,634,880,787,806,651.172183261,631,652,0.450795098716,-0.0154253379877,0.0497437267076,0.999999899661,0.000186933529881,-0.0004070959187,-2.58286275996e-06,1793243019941794304
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.588882908,745,714,680,660.588882908,634,880,787,806.411117092,651,631,652,0.450473191084,-0.0154270940314,0.0497575501229,0.999999913126,0.0001745758227,-0.000378500507762,-2.96449661834e-06,1793243019958460928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.008803962,745,714,680,660.008803962,634,880,787,806.991196038,651,631,652,0.450143595908,-0.0154301124719,0.0497764733095,0.999999928096,0.00016083559079,-0.000343412473184,-2.64134391427e-06,1793243019975127296
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,678,660,635,879,788,805.818718702,652.818718702,630.818718702,652,0.406049547508,-0.0153574573159,0.0497981291716,0.999999931721,-7.92553694368e-05,-0.00035562207072,-6.1717594406e-05,1793243020975127808
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.397233659,745,714,678.397233659,660,635,879.397233659,788,805.602766341,652.602766341,631,652,0.405573619221,-0.0153569668379,0.0497797142531,0.999999920479,-8.64668720492e-05,-0.000383961503608,-6.43427646921e-05,1793243020991794432
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.975377358,745,714,678.975377358,660,635,879.975377358,788,805.024622642,652.024622642,631,652,0.405117949099,-0.0153568720505,0.049764337572,0.999999911157,-9.48501608569e-05,-0.000405199085885,-6.7111426349e-05,1793243021008461312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.451304278,745,714,679,660,635.548695722,879.451304278,788,805.548695722,652,631,652,0.404742605922,-0.0153608369693,0.0497796521192,0.999999920544,-0.000105567211697,-0.000378641598403,-6.63212888845e-05,1793243021025127936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.874341304,635.874341304,879,788,805.874341304,652.125658696,631,652,0.404382028918,-0.0153656858582,0.0497994267393,0.999999931155,-0.000116694374056,-0.000346207086036,-6.49142479887e-05,1793243021041794560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.283078426,635.283078426,879,788,805.283078426,652.716921574,631,652,0.404062925089,-0.0153731409863,0.0498306686059,0.999999944813,-0.000128956465272,-0.000299874232579,-6.18079710991e-05,1793243021058461184
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.301983423,635,878.698016577,788,805.301983423,652.698016577,631,652,0.403751971045,-0.0153767088538,0.0498522003498,0.999999956806,-0.000102059754035,-0.000268935590582,-6.0371961139e-05,1793243021075127552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.881349372,635,878.118650628,788,805.881349372,652.118650628,631,652,0.403448502887,-0.0153767061336,0.0498648129985,0.999999965617,-3.91942878452e-05,-0.000252137082183,-6.04701509004e-05,1793243021091794432
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.456292563,745,714,679,659.543707437,635,878.912585126,788,806,652,631,652,0.403153240425,-0.015376359084,0.0498547631132,0.99999996021,-3.40837210553e-05,-0.000273036937017,-6.22022715197e-05,1793243021108461312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.969848972,745,714,679,659,635,879.969848972,788,806,652.030151028,631,652,0.402862185791,-0.0153758705641,0.0498390953098,0.999999951038,-4.3758786017e-05,-0.000303099261407,-6.43445708107e-05,1793243021125128192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.395009589,745,714,679,659,635,879.395009589,788,806,652.604990411,631,652,0.402608970175,-0.0153744283174,0.0498273746475,0.999999944199,-5.18384148225e-05,-0.000323294243119,-6.62950747213e-05,1793243021141794816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,788,806,652.815127203,631,652,0.402369187403,-0.0153736300647,0.0498174714669,0.99999993784,-6.02685079614e-05,-0.000340669610951,-6.80628354219e-05,1793243021158461184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,788,806,652.224167559,631,652,0.402158910905,-0.0153742463926,0.0498115605218,0.999999933277,-6.94684210421e-05,-0.000351851484814,-6.94291868648e-05,1793243021175127552
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357759925,659.357759925,635,878.642240075,788,805.642240075,652.357759925,631,652,0.401980846903,-0.0153754049151,0.0498111504931,0.999999933019,-7.74142014742e-05,-0.000350871375885,-6.97023031054e-05,1793243021191794176
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.934167397,659.934167397,635,878.065832603,788,805.065832603,652.934167397,631,652,0.401822469778,-0.0153768948038,0.0498141023883,0.999999935381,-8.45935106224e-05,-0.000342458384935,-6.93072809346e-05,1793243021208461056
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.487582128,660,635,878.512417872,788,805,652.487582128,631,652,0.401696987334,-0.0153753276937,0.0498217125338,0.999999941519,-7.09488638459e-05,-0.000328108508407,-6.53647765101e-05,1793243021225127680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.090032901,744.909967099,714,679,659.909967099,635,879,787.909967099,805,652.090032901,631,652,0.401579026028,-0.0153732342756,0.0498294244708,0.999999947806,-4.95261615388e-05,-0.000313589648348,-5.99651731939e-05,1793243021241794560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.662965317,744.337034683,714,679,659.337034683,635,879,787.337034683,805,652.662965317,631,652,0.40147865594,-0.0153704320897,0.0498344608655,0.999999953106,-7.86412184913e-07,-0.000302270205656,-4.92036258551e-05,1793243021258461184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.754453394,744.245546606,714,679,659.245546606,635,879,787.245546606,805,653,631,652,0.401386425283,-0.0153701804362,0.0498385524384,0.999999955826,2.40233231571e-05,-0.000293102642908,-4.31424486898e-05,1793243021275127552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.158086485,744.841913515,714,679,659.841913515,635,879,787.841913515,805,653,631,652,0.401305823697,-0.0153735728103,0.0498412941139,0.999999957746,1.46434779244e-05,-0.000287009541523,-4.37968417608e-05,1793243021291794432
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787.575519891,805.424480109,652.575519891,631,652,0.401236969469,-0.0153791473235,0.049840496555,0.999999957721,2.61920127536e-06,-0.000287362624155,-4.44320439733e-05,1793243021308461312
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.997944528,635,879,787,805.997944528,652,631,652,0.401172427504,-0.0153855011086,0.0498384303932,0.999999956873,-1.03398194453e-05,-0.000290030800903,-4.50574633532e-05,1793243021325127936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.424120602,635,879,787,805.424120602,652,631,652,0.401128755178,-0.0153896798341,0.0498385864294,0.999999956807,-1.79873603612e-05,-0.000289910116688,-4.48871175262e-05,1793243021341794560
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.74047203,787.74047203,805,652.74047203,631,651.25952797,0.401059984943,-0.0153887482203,0.049838854458,0.99999995805,-1.98472555759e-05,-0.000285306861917,-4.5887716294e-05,1793243021375127552
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.674844591,787.674844591,805,653,631,651.325155409,0.401037087282,-0.0153877877088,0.0498404574659,0.99999995902,-1.88402572285e-05,-0.000281919612708,-4.6116791374e-05,1793243021391794432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.09220366,787.09220366,805,653,631,651.90779634,0.401018975321,-0.0153885913961,0.0498432339693,0.999999959929,-1.94176644762e-05,-0.000278685049181,-4.58197810752e-05,1793243021408461312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.482444054,745,714,679,659,635,879,787.482444054,805,652.517555946,631,652,0.401008457016,-0.0153894892072,0.0498448957542,0.999999960735,-2.04499316154e-05,-0.000275749525959,-4.55514019445e-05,1793243021425128192
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.943991166,745,714,679,659.056008834,635,878.943991166,788,805,652.056008834,630.943991166,652,0.400999995503,-0.0153903816772,0.0498463734773,0.999999961544,-2.17157838945e-05,-0.000272737132645,-4.53277813565e-05,1793243021441794560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.36651739,745,714,679,659.63348261,635,878.36651739,788,805,652.63348261,630.36651739,652,0.400997391741,-0.0153910596665,0.0498480886964,0.999999962627,-2.4360229813e-05,-0.000268485610574,-4.5470765249e-05,1793243021458461184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.216215959,745,714,679,660,635,878.216215959,788,805.216215959,653,630.216215959,652.216215959,0.400995195348,-0.0153916199809,0.0498494729781,0.999999963466,-2.61834811988e-05,-0.000265164650929,-4.54969497319e-05,1793243021475127808
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.808087297,745,714,679,660,635,878.808087297,788,805.808087297,653,630.808087297,652.808087297,0.400993706724,-0.0153919758459,0.0498502822866,0.999999963914,-2.65799823154e-05,-0.000263460458334,-4.53202059556e-05,1793243021491794432
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.61012953,745,714,679,659.61012953,635,879,788,806,653,631,652.61012953,0.400991246777,-0.0153916939141,0.0498506426516,0.999999963851,-2.80311571984e-05,-0.000263514760165,-4.55127808107e-05,1793243021508461056
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.033186992,745,714,679,659.033186992,635,879,788,806,653,631,652.033186992,0.400988320758,-0.0153911059475,0.0498507875994,0.999999963541,-2.99883975907e-05,-0.000264412842768,-4.58825663224e-05,1793243021525127680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.541870533,635,879.541870533,788,806,653,630.458129467,652,0.400989119349,-0.015392297622,0.0498520314941,0.999999964186,-2.84905367954e-05,-0.000262200473719,-4.54583583819e-05,1793243021541794560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.119868729,635,879.880131271,788,805.880131271,652.880131271,630.119868729,652,0.400989713979,-0.0153933845899,0.049852894769,0.999999964645,-2.77757909518e-05,-0.00026057197109,-4.51683937452e-05,1793243021558461184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.709851021,635,879.290148979,788,805.290148979,652.290148979,630.709851021,652,0.400988617154,-0.0153936349241,0.04985200224,0.999999964165,-3.09593777252e-05,-0.000261977870679,-4.55949729074e-05,1793243021575127808
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.706143926,635,879.293856074,788,805,652.293856074,631,652,0.400988673269,-0.0153933775514,0.0498527127873,0.999999964395,-3.11965144241e-05,-0.000261051948657,-4.56986774906e-05,1793243021591794688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.127922985,635,879.872077015,788,805,652.872077015,631,652,0.400989845086,-0.01539262887,0.0498549746334,0.999999965309,-2.85823683148e-05,-0.0002578695203,-4.5489936016e-05,1793243021608461312
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.551829761,714,679,660,635,879.551829761,788,805,652.551829761,631,652,0.400988925449,-0.0153931076805,0.0498543879926,0.999999965176,-2.82719441651e-05,-0.000258428309253,-4.54265044296e-05,1793243021625127936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.02357216,714,679,660,635,879,788,805,652,631,652,0.400987485855,-0.0153938778969,0.0498530542821,0.999999964775,-2.85349641852e-05,-0.000259949561586,-4.54032036482e-05,1793243021641794560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.596949203,714,679,660,635,879,788,805,652,631,652,0.400987776775,-0.0153933114807,0.0498531700182,0.999999965035,-2.69085005979e-05,-0.000259129961033,-4.53530895654e-05,1793243021658461184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.176762196,745,714,679,660,635,879,788,805.176762196,652,631,652,0.400987270939,-0.0153935375827,0.0498530525254,0.999999964993,-2.73611314005e-05,-0.000259248978448,-4.53308312741e-05,1793243021675128064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.771804839,745,714,679,660,635,879,788,805.771804839,652,631,652,0.400984879699,-0.0153956390562,0.0498523831323,0.99999996422,-3.27336181723e-05,-0.000261589090411,-4.53744894149e-05,1793243021691794432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.644747529,745,714,679,659.644747529,635,879,788,805.644747529,652.355252471,631,652,0.400984788464,-0.0153953376339,0.0498527136402,0.999999964243,-3.26735048171e-05,-0.000261486584745,-4.5501950649e-05,1793243021708461056
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.06851252,745,714,679,659.06851252,635,879,788,805.06851252,652.93148748,631,652,0.400986127933,-0.0153935415055,0.0498536661301,0.999999964764,-2.92340769533e-05,-0.000259864664255,-4.5681541062e-05,1793243021725127936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.507495002,635,879,788,805,652.492504998,631,652,0.40098633803,-0.015394785017,0.0498541629365,0.999999965077,-3.04586287553e-05,-0.000258566109664,-4.54144608162e-05,1793243021741794560
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.084744784,745,714,679,660,635,879,788,805,652,631,652,0.40098623832,-0.0153963285732,0.0498544339472,0.999999965231,-3.21704736118e-05,-0.000257809281696,-4.51390518149e-05,1793243021758461440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.669505093,745,714,679,660,635,879,788,805,652,631,652,0.400985209861,-0.0153972223517,0.0498537355143,0.999999964636,-3.30440780189e-05,-0.000259991318362,-4.51701337279e-05,1793243021775127808
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.746080077,745,714,679,659.746080077,635,879,788,805,652.253919923,630.746080077,652,0.400985472852,-0.0153967156289,0.0498538119124,0.999999964662,-3.22277530847e-05,-0.000259976433362,-4.52832928758e-05,1793243021791794432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.162114221,745,714,679,659.162114221,635,879,788,805,652.837885779,630.162114221,652,0.400987414475,-0.0153943885303,0.0498548954382,0.999999965486,-2.92148526797e-05,-0.000257105982815,-4.55031362814e-05,1793243021808461056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.415394686,679,659.415394686,635,879.415394686,788,805,652.584605314,630.415394686,652.415394686,0.400987784034,-0.015394856485,0.049855129558,0.999999965692,-3.01529356922e-05,-0.00025623424131,-4.52800866523e-05,1793243021825127680
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.990422203,679,659.990422203,635,879.990422203,788,805,652.009577797,630.990422203,652.990422203,0.400987549461,-0.0153963985563,0.049855037258,0.999999965659,-3.26093499909e-05,-0.000256130587762,-4.48868367837e-05,1793243021841794560
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf144b77b85b19f84a1d760e3744ab14d069b924
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_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
+0,0.000000000,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+1,0.016666667,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+2,0.033333333,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+3,0.050000000,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+4,0.066666667,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+5,0.083333333,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
+6,0.100000000,pose1_baseline,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786768,1.03967863105
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+366,6.100000000,pose2_to_pose3_retreat,0.581730034087,-0.00999810459509,1.04004100093,0.552301752407,-0.00132328102614,1.03967878884
+367,6.116666667,pose2_to_pose3_retreat,0.581578512577,-0.0099980246802,1.04004097958,0.552150230724,-0.00132320160991,1.03967876959
+368,6.133333333,pose2_to_pose3_retreat,0.581447339324,-0.0099980993702,1.04004084403,0.552019058465,-0.00132327255675,1.03967864293
+369,6.150000000,pose2_to_pose3_retreat,0.581334603407,-0.00999824149932,1.0400408328,0.551906325402,-0.00132340496469,1.03967863259
+370,6.166666667,pose2_to_pose3_retreat,0.581236231466,-0.00999819772336,1.04004074487,0.551807951437,-0.00132336798536,1.03967854703
+371,6.183333333,pose2_to_pose3_retreat,0.581150903376,-0.00999821154961,1.04004076751,0.551722622901,-0.001323383475,1.03967856622
+372,6.200000000,pose2_to_pose3_retreat,0.581075102769,-0.0099982556144,1.04004087035,0.551646823435,-0.00132342371104,1.03967866794
+373,6.216666667,pose2_to_pose3_retreat,0.581008284875,-0.00999817675533,1.04004090096,0.551580004787,-0.00132334701974,1.03967870773
+374,6.233333333,pose2_to_pose3_retreat,0.580951060935,-0.00999807296073,1.04004083521,0.551522778973,-0.00132324999141,1.03967863214
+375,6.250000000,pose2_to_pose3_retreat,0.580902405383,-0.00999808925143,1.04004117526,0.551474124125,-0.00132326401114,1.03967896927
+376,6.266666667,pose2_to_pose3_retreat,0.580862545059,-0.00999821964091,1.04004082611,0.551434265601,-0.00132338806185,1.03967862573
+377,6.283333333,pose2_to_pose3_retreat,0.580830351053,-0.0099982557775,1.04004084579,0.551402072331,-0.00132342146731,1.03967865095
+378,6.300000000,pose2_to_pose3_retreat,0.580805837089,-0.00999820828247,1.04004086981,0.551377557544,-0.00132337679317,1.03967867425
+379,6.316666667,pose2_to_pose3_retreat,0.580786810839,-0.00999813870891,1.04004088415,0.551358530458,-0.00132331035342,1.03967868148
+380,6.333333333,pose2_to_pose3_retreat,0.580772919093,-0.00999810978306,1.04004097989,0.551344638832,-0.00132328136035,1.03967876916
+381,6.350000000,pose2_to_pose3_retreat,0.580763365065,-0.00999820683602,1.04004087514,0.551335084596,-0.0013233790071,1.03967866706
+382,6.366666667,pose2_to_pose3_retreat,0.58075704512,-0.0099981533639,1.04004075907,0.551328763775,-0.00132332813417,1.03967855986
+383,6.383333333,pose2_to_pose3_retreat,0.580753248739,-0.00999809605963,1.04004067934,0.551324966712,-0.00132327286344,1.03967848697
+384,6.400000000,pose2_to_pose3_retreat,0.580750892874,-0.0099980479606,1.04004075117,0.551322611091,-0.00132322413299,1.03967855403
+385,6.416666667,pose2_to_pose3_retreat,0.580749304751,-0.00999801493737,1.04004080539,0.551321023166,-0.00132319059367,1.0396786046
+386,6.433333333,pose2_to_pose3_retreat,0.580748179452,-0.00999799153804,1.04004084381,0.551319898007,-0.00132316682865,1.03967864043
+387,6.450000000,pose2_to_pose3_retreat,0.580747471952,-0.00999805068314,1.04004088108,0.551319191355,-0.00132322317121,1.03967867584
+388,6.466666667,pose2_to_pose3_retreat,0.580746818308,-0.00999811203208,1.04004091669,0.551318538564,-0.00132328169735,1.03967870972
+389,6.483333333,pose2_to_pose3_retreat,0.580746487797,-0.00999814305278,1.0400409347,0.551318208484,-0.00132331129071,1.03967872685
+390,6.500000000,pose2_to_pose3_retreat,0.58074629203,-0.00999816142681,1.04004094537,0.551318012973,-0.00132332881932,1.039678737
+391,6.516666667,pose2_to_pose3_retreat,0.580746267128,-0.00999816376405,1.04004094672,0.551317988104,-0.00132333104902,1.03967873829
+392,6.533333333,pose2_to_pose3_retreat,0.580745980974,-0.00999819062153,1.04004096232,0.551317702323,-0.00132335667073,1.03967875313
+393,6.550000000,pose2_to_pose3_retreat,0.580745873046,-0.00999820075134,1.0400409682,0.551317594536,-0.00132336633444,1.03967875872
+394,6.566666667,pose2_to_pose3_retreat,0.580745692947,-0.00999821765482,1.04004097801,0.551317414672,-0.00132338246016,1.03967876806
+395,6.583333333,pose2_to_pose3_retreat,0.580745100687,-0.00999824021227,1.04004099998,0.551316822313,-0.00132340543038,1.03967878813
+396,6.600000000,pose2_to_pose3_retreat,0.58074465408,-0.0099982205552,1.04004100512,0.551316374665,-0.00132338938212,1.03967879147
+397,6.616666667,pose2_to_pose3_retreat,0.580744507486,-0.00999821410297,1.0400410068,0.55131622773,-0.00132338411444,1.03967879257
+398,6.633333333,pose2_to_pose3_retreat,0.580744352167,-0.00999820726671,1.04004100859,0.551316072048,-0.00132337853324,1.03967879373
+399,6.650000000,pose2_to_pose3_retreat,0.580744240691,-0.00999820236017,1.04004100987,0.551315960313,-0.00132337452748,1.03967879456
+400,6.666666667,pose2_to_pose3_retreat,0.580744205048,-0.00999820079139,1.04004101028,0.551315924587,-0.00132337324671,1.03967879483
+401,6.683333333,pose2_to_pose3_retreat,0.580744131165,-0.00999819753949,1.04004101113,0.551315850532,-0.00132337059182,1.03967879538
+402,6.700000000,pose2_to_pose3_retreat,0.580744000528,-0.00999818308561,1.04004102483,0.551315719706,-0.00132335671542,1.03967881062
+403,6.716666667,pose2_to_pose3_retreat,0.580743857238,-0.00999816326282,1.04004104543,0.551315576261,-0.00132333730801,1.03967883384
+404,6.733333333,pose2_to_pose3_retreat,0.580743727312,-0.00999814528882,1.0400410641,0.551315446195,-0.00132331971066,1.03967885489
+405,6.750000000,pose2_to_pose3_retreat,0.580743537885,-0.00999815326785,1.04004101408,0.551315257166,-0.00132332616659,1.03967880905
+406,6.766666667,pose2_to_pose3_retreat,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.00132339786767,1.03967863105
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb9e6973750d834a5903f0fad726e5359159e0d7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7980450680d6a568491d0b5618005450473ae3d3d997aabe9c626c401e0f92
+size 25800497
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18670f4bb1c790dc10252f329250c6089fcfa15e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+35,0.583333333,BASELINE,765.69115428,745,714,679,659.69115428,635,878.69115428,787.69115428,805,652,631,652,0.400987913439,-0.015398333525,0.0498573321794,0.999999966549,-3.26779403093e-05,-0.000252639975815,-4.48010499434e-05,1793243022568873216
+36,0.600000000,BASELINE,765.120240446,745,714,679,659.120240446,635,878.120240446,787.120240446,805,652,631,652,0.400987378737,-0.0153981681184,0.0498566073751,0.99999996623,-3.40130361673e-05,-0.000253692599516,-4.49691381528e-05,1793243022585540096
+37,0.616666667,BASELINE,765.466630946,745,714,679.466630946,659,635,878.466630946,787,805.466630946,652,631,652,0.400986857775,-0.0153982677159,0.0498564017915,0.999999966111,-3.48300866577e-05,-0.000254048017916,-4.49961807697e-05,1793243022602206976
+38,0.633333333,BASELINE,765.943361037,745,714,679.943361037,659,635,878.943361037,787.056638963,805.943361037,652,631,652,0.400986523213,-0.0153982946221,0.0498564420572,0.999999966101,-3.52373015213e-05,-0.000254026707669,-4.50135637271e-05,1793243022618873600
+39,0.650000000,BASELINE,765.36370314,745,714,679.36370314,659,635,878.36370314,787.63629686,805.36370314,652,631,652,0.400987876073,-0.0153969973835,0.0498574733468,0.999999966612,-3.31363049692e-05,-0.000252244303484,-4.52892432568e-05,1793243022635540224
+40,0.666666667,BASELINE,765,745,714,679,659,635,878.215544517,788,805,652,631,652,0.400987601333,-0.0153967490461,0.0498573676733,0.999999966571,-3.29068401332e-05,-0.000252424494639,-4.5364684686e-05,1793243022652206592
+41,0.683333333,BASELINE,765,745,714,679,659,635,878.794101228,788,805,652,631,652,0.400984585449,-0.0153982672299,0.049855347168,0.999999965596,-3.58293407172e-05,-0.000255910017223,-4.51028924106e-05,1793243022668873216
+42,0.700000000,BASELINE,765,745,714,679,659,635,879,788,805.369422615,652,631,652,0.400984518637,-0.0153983311368,0.0498551622204,0.999999965672,-3.58368859515e-05,-0.000255597400662,-4.5183331002e-05,1793243022685539840
+43,0.716666667,BASELINE,765,745,714,679,659,635,879,788,805.942956421,652,631,652,0.400986081228,-0.0153975915352,0.0498559914443,0.999999966329,-3.42338772544e-05,-0.00025318625868,-4.54528569702e-05,1793243022702206464
+44,0.733333333,BASELINE,765,745,714,679,659.531241163,635,879,788,805.468758837,652.531241163,631,652,0.400987554143,-0.015397955625,0.0498571840858,0.999999966837,-3.3201291474e-05,-0.000251378096448,-4.50888951187e-05,1793243022718873344
+45,0.750000000,BASELINE,765,745,714.118981426,679,660,635,879,788,805,653,631,652,0.400988659068,-0.0153984115829,0.0498582692828,0.999999967222,-3.28850988588e-05,-0.000249942871992,-4.4761727195e-05,1793243022735540480
+46,0.766666667,BASELINE,765,745,714.698311542,679,660,635,879,788,805,653,631,652,0.400988378534,-0.0153987513567,0.0498587834729,0.999999967205,-3.50969364927e-05,-0.000249692909363,-4.48476195489e-05,1793243022752207104
+47,0.783333333,BASELINE,765,745,715,679,659.724826722,635,879,788,805.275173278,653,631,652,0.400987992167,-0.015398395994,0.0498586337557,0.999999967023,-3.53099420642e-05,-0.000250378416624,-4.49140364642e-05,1793243022768873728
+48,0.800000000,BASELINE,765,745,715,679,659.150647084,635,879,788,805.849352916,653,631,652,0.400987490799,-0.0153972852881,0.0498577626294,0.999999966661,-3.33509946458e-05,-0.000252080415897,-4.4959291161e-05,1793243022785540096
+49,0.816666667,BASELINE,765,745,714.575819695,679,659,635,879,788,806,653,630.575819695,651.575819695,0.400987131928,-0.0153973551374,0.0498572770825,0.999999966406,-3.43734792495e-05,-0.000252929921493,-4.50929830315e-05,1793243022802206720
+50,0.833333333,BASELINE,765,745,714.00076194,679,659,635,879,788,806,653,630.00076194,651.00076194,0.400986823741,-0.0153978449005,0.049856928683,0.999999966186,-3.64564348416e-05,-0.00025347620199,-4.52581312751e-05,1793243022818873600
+51,0.850000000,BASELINE,765.592457945,745,714,679,659.592457945,635,879,788,805.407542055,652.407542055,630.592457945,651.592457945,0.400989285402,-0.0153972972473,0.0498584820713,0.999999967145,-3.35687381179e-05,-0.000250088147917,-4.51669282727e-05,1793243022835539968
+52,0.866666667,BASELINE,766,745.180667414,714.180667414,679,660,635,879,788,805,652.180667414,631,652,0.400990899484,-0.0153973586329,0.0498596414739,0.999999967797,-3.23331817333e-05,-0.000247649966039,-4.50516467306e-05,1793243022852206848
+53,0.883333333,BASELINE,766,745.757828091,714.757828091,679,660,635,879,788,805,652.757828091,631,652,0.400990645403,-0.0153987596375,0.0498599306972,0.999999967809,-3.47378906793e-05,-0.000247307832283,-4.4884268767e-05,1793243022868873728
+54,0.900000000,BASELINE,766,745.675168316,714.675168316,679,659.675168316,635,879,788,805.324831684,653,631,652,0.400989099339,-0.0153989097614,0.0498594284732,0.999999967332,-3.62393330972e-05,-0.000249004239736,-4.49503949753e-05,1793243022885540352
+55,0.916666667,BASELINE,766,745.115507563,714.115507563,679,659.115507563,635,879,788,805.884492437,653,631,652,0.400986619267,-0.0153981555919,0.0498583540919,0.999999966495,-3.70877811101e-05,-0.000252174360385,-4.51853272833e-05,1793243022902207232
+56,0.933333333,BASELINE,765.518299675,745,714.481700325,679,659,635,879,787.518299675,805.518299675,653,631,652,0.400986974599,-0.015397646077,0.0498577818202,0.999999966656,-3.4268453318e-05,-0.000251933111097,-4.52052578599e-05,1793243022918873344
+57,0.950000000,BASELINE,765,745,714.915382552,679,659,635,879,787.084617448,805.084617448,653,631,652,0.400987906017,-0.0153974680572,0.0498574955809,0.999999966982,-3.1505707542e-05,-0.000251013572268,-4.51146367563e-05,1793243022935539712
+58,0.966666667,BASELINE,765,745,714.336169612,679,659,635,879,787.663830388,805.663830388,653,631,652,0.400987894642,-0.015398855755,0.0498581179748,0.999999966821,-3.46490205514e-05,-0.00025131495161,-4.47046535021e-05,1793243022952206336
+59,0.983333333,BASELINE,765.241597187,745,714,679,659,635,878.758402813,787.758402813,806,653,631,652,0.400987460779,-0.0153997147229,0.0498581488553,0.999999966586,-3.63931363431e-05,-0.000252040595056,-4.44830719636e-05,1793243022968872960
+60,1.000000000,BASELINE,765.817363813,745,714,679,659,635,878.182636187,787.182636187,806,653,631,652,0.400986442542,-0.015399842369,0.0498573615736,0.99999996626,-3.62019281129e-05,-0.000253353066974,-4.45220815445e-05,1793243022985539584
+61,1.016666667,BASELINE,765.601230777,745,714,679,659.398769223,635,878.398769223,787,805.601230777,652.601230777,631,652.398769223,0.40098794268,-0.0153999831783,0.049857883789,0.999999966736,-3.60674693646e-05,-0.000251490282366,-4.44846587803e-05,1793243023002206720
+62,1.033333333,BASELINE,765.017205797,745,714,679,659.982794203,635,878.982794203,787,805.017205797,652.017205797,631,652.982794203,0.400990612775,-0.0154001301028,0.0498590143559,0.999999967577,-3.59593746684e-05,-0.000248152372432,-4.44117279273e-05,1793243023018873856
+63,1.050000000,BASELINE,765,744.435238773,714,679,660,635,879,787.564761227,805,652.564761227,631,652.435238773,0.400987293962,-0.0153982187236,0.0498573243455,0.999999966724,-3.25567621636e-05,-0.000251977413682,-4.47249811674e-05,1793243023035540224
+64,1.066666667,BASELINE,765,744.145759147,714,679,659.854240853,635,878.854240853,788,805,653,631,652,0.400985453517,-0.0153970196287,0.0498563329769,0.999999966218,-3.03220068356e-05,-0.000254218468668,-4.49233253165e-05,1793243023052206848
+65,1.083333333,BASELINE,765,744.724066547,714,679,659.275933453,635,878.275933453,788,805,653,631,652,0.400988539695,-0.0153981196884,0.049857668944,0.999999966963,-3.18497024188e-05,-0.000251113717902,-4.47458829177e-05,1793243023068873472
+66,1.100000000,BASELINE,765,745,714,679,659.6016024,635,878.3008012,788,805,652.6991988,631,652,0.400989234621,-0.0153987307392,0.0498581151637,0.999999967213,-3.31148987639e-05,-0.000249957792458,-4.47062760368e-05,1793243023085539840
+67,1.116666667,BASELINE,765,745,714,679,660.752201202,635,878.876100601,788,805,652.123899399,631,652,0.400987747394,-0.0153988955415,0.0498577494382,0.999999967019,-3.41405495429e-05,-0.000250580281117,-4.47924519146e-05,1793243023102206720
+68,1.133333333,BASELINE,765,745,714,679,660.53857636,635,879,788,805,652.46142364,631,652,0.400987543365,-0.0153989098256,0.0498575048602,0.999999966892,-3.44221289868e-05,-0.000251001923295,-4.50554681621e-05,1793243023118873344
+69,1.150000000,BASELINE,765,745,714,679,659.951210211,635,879,788,805,653,631,652,0.40098760962,-0.0153988134661,0.0498573541887,0.999999966808,-3.42108226281e-05,-0.000251318552164,-4.52970487555e-05,1793243023135539968
+70,1.166666667,BASELINE,765,745,714,679,659.371549875,635,879,788,805,653,631,652,0.400986784458,-0.0153979627457,0.0498578634814,0.999999966998,-3.08587320945e-05,-0.000251092389591,-4.47772530196e-05,1793243023152206592
+71,1.183333333,BASELINE,765,745,714.206502282,679,659.206502282,635,879.206502282,788,805,653,631,652,0.40098663961,-0.0153973821794,0.0498582539143,0.999999967145,-2.96485684887e-05,-0.000250670907707,-4.46667354297e-05,1793243023168873472
+72,1.200000000,BASELINE,765,745,714.781683372,679,659.781683372,635,879.781683372,788,805,653,631,652,0.400987709362,-0.0153972839322,0.0498584321406,0.999999967229,-3.226249315e-05,-0.000249900712493,-4.52869224129e-05,1793243023185540352
+73,1.216666667,BASELINE,765,745,714.645697629,679,659.645697629,635,879.645697629,788,805,652.645697629,631,652,0.4009878288,-0.0153977119414,0.0498581190862,0.999999967015,-3.38019142421e-05,-0.000250544814446,-4.53360466334e-05,1793243023202206976
+74,1.233333333,BASELINE,765,745,714.07464606,679,659.07464606,635,879.07464606,788,805,652.07464606,631,652,0.400987366871,-0.0153984618948,0.0498575054841,0.999999966619,-3.46839932929e-05,-0.000252054131593,-4.50358155578e-05,1793243023218873344
+75,1.250000000,BASELINE,765,745,714.518052516,678.481947484,659.518052516,635,879,788,805,652.518052516,631,652,0.40098781916,-0.0153974675292,0.0498580124166,0.999999966906,-3.3372918451e-05,-0.000251061849577,-4.51843936629e-05,1793243023235539968
+76,1.266666667,BASELINE,765.110638976,745,714.889361024,678.110638976,659.889361024,635,879.110638976,788,805.110638976,653,631,652,0.400988218945,-0.0153969518766,0.049858535411,0.999999967224,-3.23034680004e-05,-0.000249913033181,-4.52959025537e-05,1793243023252206336
+77,1.283333333,BASELINE,765.688990805,745,714.311009195,678.688990805,659.311009195,635,879.688990805,788,805.688990805,653,631,652,0.400987815626,-0.0153995687612,0.049858413999,0.99999996725,-3.36496088007e-05,-0.000249692713909,-4.4965404902e-05,1793243023268873216
+78,1.300000000,BASELINE,765.733692084,745,714,679,659,635,879.733692084,788,805.733692084,653,631,652,0.40098777351,-0.0154004450517,0.0498582626142,0.999999967212,-3.45499851601e-05,-0.00024974628658,-4.48307105571e-05,1793243023285539584
+79,1.316666667,BASELINE,765.157578738,745,714,679,659,635,879.157578738,788,805.157578738,653,631,652,0.400988151595,-0.0153992964473,0.0498580763611,0.999999967101,-3.49317878663e-05,-0.000250118487462,-4.49238011557e-05,1793243023302206464
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787.573130871,805,653,630.573130871,652,0.400988744641,-0.0153985181432,0.0498586762526,0.99999996737,-3.25473256778e-05,-0.000249387919206,-4.4792159149e-05,1793243023318873344
+81,1.350000000,BASELINE,765,745,714,679,659.014253993,635,878.985746007,787.014253993,805.014253993,653,630.014253993,652,0.400989413622,-0.0153979176864,0.0498595485056,0.999999967759,-2.93103048635e-05,-0.000248262316441,-4.45859166665e-05,1793243023335540224
+82,1.366666667,BASELINE,765,745,714,679,659.593669081,635,878.406330919,787.593669081,805.593669081,653,630.593669081,652,0.400989884442,-0.0153988409128,0.0498594841255,0.999999967698,-3.35647615414e-05,-0.000247936019164,-4.47766278628e-05,1793243023352206848
+83,1.383333333,BASELINE,765,744.82711671,714,678.82711671,660,635,878.17288329,787.82711671,806,652.82711671,631,652,0.400990146235,-0.0153989404583,0.0498595414938,0.999999967668,-3.5870199121e-05,-0.0002476960263,-4.49867483378e-05,1793243023368873472
+84,1.400000000,BASELINE,765,744.24837397,714,678.24837397,660,635,878.75162603,787.24837397,806,652.24837397,631,652,0.400989917319,-0.015397106337,0.049859884678,0.999999967745,-3.36001356523e-05,-0.000247658640935,-4.52424339228e-05,1793243023385540096
+85,1.416666667,BASELINE,765,744.328119315,714,678.328119315,660,635,878.671880685,787.328119315,805.671880685,652,631,652,0.400989553537,-0.015397153401,0.0498597287737,0.999999967677,-3.26054134897e-05,-0.00024807748217,-4.51783216116e-05,1793243023402206464
+86,1.433333333,BASELINE,765,744.902921406,714,678.902921406,660,635,878.097078594,787.902921406,805.097078594,652,631,652,0.400989088363,-0.0153986147554,0.0498591976506,0.999999967502,-3.25695034579e-05,-0.000248839318288,-4.48737826188e-05,1793243023418873088
+87,1.450000000,BASELINE,765,745,714,679,659.511006948,635,878.488993052,788,805.488993052,652.488993052,631,652,0.400989318167,-0.0153989114324,0.049859440424,0.999999967442,-3.27113684538e-05,-0.000249085152451,-4.47507969809e-05,1793243023435540224
+88,1.466666667,BASELINE,765,745,714,679,659.076194183,635,879,788,805.923805817,653,631,652,0.40098943897,-0.0153989396763,0.0498596765266,0.999999967384,-3.28476748616e-05,-0.000249308421984,-4.46941561289e-05,1793243023452207360
+89,1.483333333,BASELINE,765,745,714,679,659.655728307,635,879,788,805.344271693,653,631,652,0.400987906762,-0.0153987581255,0.0498588296729,0.999999967191,-3.27086134802e-05,-0.000250075317448,-4.48320701982e-05,1793243023468873728
+90,1.500000000,BASELINE,765,745,714,679,659.766798602,635,879,788,805.233201398,652.766798602,631,652,0.400987694142,-0.0153989313728,0.0498586200673,0.999999967185,-3.36033124363e-05,-0.000249976411773,-4.48718176889e-05,1793243023485540352
+91,1.516666667,BASELINE,765,745,714,679,659.19234158,635,879,788,805.80765842,652.19234158,631,652,0.400989412543,-0.0153996238146,0.0498593429798,0.999999967446,-3.60107661834e-05,-0.000248610534604,-4.47679129535e-05,1793243023502206720
+92,1.533333333,BASELINE,765,745,714,679,659.391148178,635,879,788,805.608851822,652.391148178,631,652,0.400990076711,-0.01539927565,0.0498595253588,0.999999967566,-3.56523781088e-05,-0.000248170553628,-4.48117159158e-05,1793243023518873344
+93,1.550000000,BASELINE,765,745,714,679,659.979184707,635,879,788,805.020815293,652.979184707,631,652,0.400990210219,-0.0153984036859,0.0498594356548,0.999999967615,-3.39017760854e-05,-0.000248196631647,-4.49298690167e-05,1793243023535539712
+94,1.566666667,BASELINE,765,745,714,678.441123254,659.441123254,635,879,787.441123254,805.558876746,652.441123254,631,651.441123254,0.400989368576,-0.015398228894,0.0498585314084,0.999999967325,-3.27024060346e-05,-0.000249515323487,-4.4966047246e-05,1793243023552206592
+95,1.583333333,BASELINE,765,745,714,678.138092689,659.138092689,635,879.138092689,787,805.861907311,652,631,651.138092689,0.400988636795,-0.0153983753905,0.049857962833,0.999999967132,-3.21696046135e-05,-0.000250366686058,-4.49270241231e-05,1793243023568873216
+96,1.600000000,BASELINE,765,745,714,678.716766788,659.716766788,635,879.716766788,787,805.283233212,652,631,651.716766788,0.400988369699,-0.0153994653243,0.0498585605747,0.999999967291,-3.36989354448e-05,-0.000249575705953,-4.46576705803e-05,1793243023585540096
+97,1.616666667,BASELINE,765,745,714,678.708260411,660,635,879.708260411,787.291739589,805,652,631,652,0.400988736387,-0.015399526949,0.0498592378905,0.999999967527,-3.38976504816e-05,-0.000248604282427,-4.46405306629e-05,1793243023602206720
+98,1.633333333,BASELINE,765,745,714,678.136836003,660,635,879.136836003,787.863163997,805,652,631,652,0.400989710671,-0.0153986027548,0.0498599914925,0.999999967837,-3.28207310872e-05,-0.000247459871507,-4.48651828424e-05,1793243023618873600
+99,1.650000000,BASELINE,765,745,714,678.901349797,660,635,879,788,805,652.450674898,631,652,0.400989764738,-0.0153986476488,0.0498599245,0.99999996775,-3.41043287021e-05,-0.000247654720681,-4.47622186695e-05,1793243023635540224
+100,1.666666667,BASELINE,765,745,714,680,660,635,879,788,805.042193321,653,631,652,0.400989409712,-0.0153989047348,0.0498595552898,0.999999967523,-3.58128347491e-05,-0.000248360622193,-4.45957327491e-05,1793243023652207104
+101,1.683333333,BASELINE,765,745,714,680,660,635,879,788,805.620280295,653,631,652,0.400987538828,-0.0153979814177,0.0498586292394,0.99999996713,-3.34782333939e-05,-0.000250201582576,-4.49326177899e-05,1793243023668873984
+102,1.700000000,BASELINE,765,745,714,679.802071861,659.802071861,635,878.802071861,788,805.802071861,652.802071861,631,652,0.400986489711,-0.0153979425281,0.0498581671774,0.999999966911,-3.26905149477e-05,-0.000251141658108,-4.51462357728e-05,1793243023685540608
+103,1.716666667,BASELINE,765,745,714,679.22526468,659.22526468,635,878.22526468,788,805.22526468,652.22526468,631,652,0.400987013643,-0.0153995966318,0.0498585932939,0.999999967035,-3.48638791088e-05,-0.00025035723689,-4.51238928014e-05,1793243023702207232
+104,1.733333333,BASELINE,765,745,714,679,659,635,878.352721873,788,805.352721873,652.352721873,631,652,0.400988170384,-0.0153995919164,0.0498591662992,0.999999967358,-3.55084168713e-05,-0.00024898788363,-4.50459077106e-05,1793243023718873600
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.931464211,788,805.931464211,652.931464211,631,652,0.400989732622,-0.0153985242473,0.0498598334293,0.999999967807,-3.51732989733e-05,-0.00024724371199,-4.49322677326e-05,1793243023735540224
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,788,806,653,631,652,0.400988788688,-0.0153981213229,0.0498583260034,0.999999967153,-3.15316368343e-05,-0.000250371755275,-4.48821568851e-05,1793243023765867264
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.423940896,806,652.423940896,631,652,0.400989168265,-0.015398820185,0.0498591068925,0.999999967455,-3.34558678246e-05,-0.000248920290884,-4.48311255537e-05,1793243023782533888
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.848288856,745,714,679,660,635,878.848288856,787.151711144,806,652,631,652,0.400989456167,-0.0153992974747,0.0498596073819,0.999999967633,-3.52484356683e-05,-0.0002479516594,-4.48419409588e-05,1793243023799200512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.273771141,745,714,679,660,635,878.273771141,787.726228859,806,652,631,652,0.400989488579,-0.0153991572607,0.0498593264202,0.99999996748,-3.66740695082e-05,-0.00024832864349,-4.50251181586e-05,1793243023815867136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.690144896,714,679,659.690144896,635,878.309855104,788,805.690144896,652.309855104,631,652,0.400990014191,-0.0153993386254,0.0498597281037,0.999999967628,-3.62624878021e-05,-0.000247812169441,-4.49272629582e-05,1793243023832533504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.098227145,714,679,659.098227145,635,878.901772855,788,805.098227145,652.901772855,631,652,0.400990988767,-0.0153998127247,0.0498607512025,0.999999968046,-3.41784795351e-05,-0.00024648237597,-4.45735825513e-05,1793243023849200128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.48306136,714,679,659.48306136,635,879,787.51693864,805,653,631,652,0.400990433684,-0.0153994317106,0.0498603153734,0.999999967987,-3.31889704152e-05,-0.000246857497088,-4.45654457082e-05,1793243023865866752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.9380957,787.0619043,805,653,631,652,0.400989520823,-0.0153988429471,0.0498596134918,0.999999967794,-3.25531439743e-05,-0.00024770443144,-4.4655255148e-05,1793243023882533632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.361999754,787.638000246,805,653,631,652,0.400988164153,-0.0153979417717,0.0498591128124,0.999999967279,-3.30462649655e-05,-0.000249652730385,-4.49875668766e-05,1793243023899200512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.213464585,744.786535415,714,679,660,635,878.42692917,788,805,652.786535415,631,652,0.400988851995,-0.0153983670236,0.0498593165566,0.999999967159,-3.43356808197e-05,-0.00024995401372,-4.50153299115e-05,1793243023915867392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.787860926,744.212139074,714,679,660,635,879.575721852,788,805,652.212139074,631,652,0.400992996755,-0.0154010350351,0.0498607113593,0.999999967704,-3.69714937451e-05,-0.000247470477842,-4.45281536562e-05,1793243023932534016
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.37324794,714,679,659.62675206,635,879.62675206,788,805.37324794,652,631,652,0.401007114135,-0.0154015753675,0.0498659745332,0.999999970226,-3.6522114381e-05,-0.000237251157316,-4.3897529e-05,1793243023949200128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.965071185,714,679,659.034928815,635,879.034928815,788,805.965071185,652,631,652,0.401027071517,-0.0154008697237,0.049873503039,0.999999973727,-3.42660358175e-05,-0.000222501733845,-4.31829004023e-05,1793243023965866496
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,788,805.457831389,652,631,652,0.401077811821,-0.0154043912856,0.0498912504201,0.999999981309,-3.46807777566e-05,-0.000185737585698,-4.10035749552e-05,1793243023982533376
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.117984935,679,659.117984935,635,879,788,805,652.117984935,630.882015065,652,0.401133217464,-0.0154081334258,0.0499089600592,0.999999987368,-3.54384021712e-05,-0.000149998541604,-3.88378364605e-05,1793243023999200000
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.692418416,679,659.692418416,635,879,788,805,652.692418416,630.307581584,652,0.401199202525,-0.0154117031969,0.0499240441044,0.999999990998,-3.68744684405e-05,-0.000123567132427,-3.70800667347e-05,1793243024015866624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.73411181,745,714.73411181,679,659.73411181,635,879.26588819,788,805.26588819,652.73411181,630.26588819,652,0.40126854621,-0.0154155258754,0.0499347899963,0.99999999299,-3.74467121809e-05,-0.000106581274539,-3.54643363424e-05,1793243024032533248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.161752868,745,714.161752868,679,659.161752868,635,879.838247132,788,805.838247132,652.161752868,630.838247132,652,0.401341761144,-0.0154196400625,0.0499405356009,0.999999993688,-3.70232879376e-05,-0.000100482645816,-3.40123249003e-05,1793243024049200384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.144975085,787.572487543,805.572487543,652,631,652,0.401428953373,-0.0154255084806,0.0499422576452,0.99999999391,-3.93346938876e-05,-9.76587306066e-05,-3.31051166882e-05,1793243024065867264
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.02276896,679,659,635,878,787,805,652.02276896,631,652,0.401522575937,-0.0154321024147,0.0499424911895,0.99999999395,-4.2655590253e-05,-9.60737334564e-05,-3.23997179217e-05,1793243024082534144
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.601688087,679,659,635,878,787,805,652.601688087,631,652,0.401638771971,-0.0154395380595,0.0499450825254,0.999999994179,-4.43189531934e-05,-9.32402764941e-05,-3.13814577523e-05,1793243024099200512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.820506308,679,659.179493692,635,878.179493692,787,805,652.820506308,630.820506308,652,0.40176123778,-0.015446901404,0.0499465020965,0.99999999418,-4.57670269796e-05,-9.28552303121e-05,-3.03990021042e-05,1793243024115867392
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.245156542,679,659.754843458,635,878.754843458,787,805,652.245156542,630.245156542,652,0.40189753096,-0.015454105296,0.0499453374525,0.999999993683,-4.67403010247e-05,-9.78699189704e-05,-2.94955100188e-05,1793243024132533760
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.662718849,635,879,787.337281151,805,652,630.337281151,652,0.402051491104,-0.0154629103893,0.0499444159199,0.999999993412,-4.82591962955e-05,-0.000100197007708,-2.84309072481e-05,1793243024149200128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.075018565,635,879,787.924981435,805,652,630.924981435,652,0.402218568349,-0.0154729043178,0.0499436748886,0.999999993317,-5.01831958192e-05,-0.00010052865062,-2.72466854895e-05,1793243024165866752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.508405194,635,879.508405194,787.491594806,805,652,631,652,0.402422770035,-0.0154834129755,0.0499451575003,0.999999993397,-5.38241438412e-05,-9.82027439213e-05,-2.57734475445e-05,1793243024182533632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.910216216,635,879.910216216,787.089783784,805.089783784,652.089783784,631,652,0.402638047101,-0.0154939648907,0.0499475395126,0.999999993649,-5.68521390976e-05,-9.42634791794e-05,-2.41774492299e-05,1793243024199200512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.336488138,635,879.336488138,787.663511862,805.663511862,652.663511862,631,652,0.402883741251,-0.0155043439996,0.049953015578,0.999999994725,-5.5222076527e-05,-8.37240802214e-05,-2.21477091825e-05,1793243024215867136
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787.763076137,805.763076137,653,631,652,0.403147052959,-0.01551420323,0.0499604768558,0.999999996082,-5.18361690551e-05,-6.91173304011e-05,-1.93006360805e-05,1793243024232533760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787.190112478,805.190112478,653,631,652,0.40343535243,-0.0155233250926,0.0499707538494,0.999999997639,-4.59598676889e-05,-4.87416741032e-05,-1.5294302777e-05,1793243024249200384
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.601366609,659.398633391,635,878.601366609,787.398633391,805,652.601366609,630.601366609,652,0.403745491405,-0.0155203481523,0.0499776952081,0.999999999022,-2.58014711311e-05,-3.36663318653e-05,-1.24863532666e-05,1793243024265867008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.004783783,659.995216217,635,878.004783783,787.995216217,805,652.004783783,630.004783783,652,0.404066475217,-0.0155113633077,0.0499829801899,0.999999999721,1.44898714048e-06,-2.12229678607e-05,-1.0273485465e-05,1793243024282533632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.57190205,660,635,878.57190205,787.42809795,805,652,630.57190205,652,0.404435841853,-0.0155023205486,0.0499871984416,0.999999999424,3.11061658589e-05,-1.05040724869e-05,-8.55986576249e-06,1793243024299200256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.147932779,805.147932779,652,631,652,0.404808768105,-0.0154984330078,0.0499884578019,0.999999998459,5.4764517014e-05,-6.36477918508e-06,-6.50425442881e-06,1793243024315866624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.722537824,805.722537824,652,631,652,0.405190833021,-0.0155094156577,0.0499812079062,0.999999997906,6.10647485844e-05,-2.11623730934e-05,-3.45062088945e-06,1793243024332533760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.695940724,635,879,787.695940724,805.695940724,652,631,652,0.405575353795,-0.0155162707311,0.0499670960665,0.999999996238,7.096471999e-05,-4.98654201029e-05,-1.43688355843e-06,1793243024349200384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.107960892,635,879,787.107960892,805.107960892,652,631,652,0.405962167813,-0.0155192716104,0.0499465767685,0.999999992262,8.42260107507e-05,-9.15529237186e-05,-3.94166762638e-07,1793243024365866752
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.4734659,635,879,787,805,652,631,652,0.406413809403,-0.0155174474067,0.0499331742926,0.999999987846,0.000107961161578,-0.000112475697017,1.08517926517e-06,1793243024382533120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.053060675,745,714,679,660,635,879,787,805.053060675,652,631,652,0.406886944134,-0.0155151422355,0.04992324278,0.999999983157,0.000133831699934,-0.000125565783178,2.92131807736e-06,1793243024399199744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.629125394,745,714,679,660,635,879,787,805.629125394,652,631,652,0.40742821662,-0.0155187928883,0.0499317464864,0.999999981789,0.000157530972308,-0.000107484024422,7.30631278347e-06,1793243024415866368
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,678.795784635,659.795784635,635,879,787.204215365,805.795784635,652,631,652,0.407984992369,-0.0155220184015,0.0499465938427,0.999999980311,0.000181588987159,-7.90934657269e-05,1.21529861027e-05,1793243024432533504
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,678.222456522,659.222456522,635,879,787.777543478,805.222456522,652,631,652,0.408569789737,-0.015524475488,0.0499729071429,0.999999978048,0.000206295416034,-3.20700815972e-05,1.78341284901e-05,1793243024449200384
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,678.363355633,659.363355633,635,879,788,805,652,631,652,0.409161621299,-0.0155255339796,0.0499891162485,0.999999972895,0.000231604095401,-6.89537132023e-06,2.2859964939e-05,1793243024465867008
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765.463087599,745,714,678.463087599,660,635,879,787.463087599,805,652,631,652,0.410357017039,-0.0155275958223,0.0499858310125,0.999999959267,0.000282532132334,-2.69966781265e-05,3.02138463214e-05,1793243024499200256
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+156,2.600000000,POSE1_TO_POSE2_PRESS,765.98379191,745,714,679,660,635,879,787.01620809,805.01620809,652,631,652,0.414511287577,-0.0155502933497,0.0499815002325,0.999999996568,-7.44679384718e-05,-3.62923879593e-05,-1.03289149861e-06,1793243024599200000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.406516591,745,714,679,660,635,879,787.593483409,805.593483409,652,631,652,0.415237475271,-0.0155536424154,0.0499472125344,0.999999995029,-3.57532707565e-05,-9.30613517741e-05,1.60184486823e-06,1793243024615866624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.829648262,660,635,879,788,805.829648262,652,631,652,0.415993374487,-0.0155562198814,0.0499256599716,0.999999991989,3.2150164789e-06,-0.000126431991942,5.07322996544e-06,1793243024632533248
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.253748872,660,635,879,788,805.253748872,652,631,652,0.416820006355,-0.0155569604393,0.0499344252951,0.999999993611,4.27870800745e-05,-0.00010409943925,1.05363816796e-05,1793243024649199872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,678.329717158,660,635,879,787.670282842,805,652,631,651.670282842,0.417651580764,-0.0155568806665,0.0499552102075,0.999999994591,7.97094426304e-05,-6.48333572181e-05,1.61615853574e-05,1793243024665866752
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,678.919143187,660,635,879,787.080856813,805,652,631,651.080856813,0.418487048233,-0.0155561547423,0.0499854626093,0.999999993125,0.000114544708639,-1.22292143889e-05,2.19144324879e-05,1793243024682533632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.496439686,745,714,679,660,635,879,787,805.496439686,652,631,651.496439686,0.419278996173,-0.0155533417534,0.0499736072041,0.999999989318,0.00013713247413,-4.49765828204e-05,2.31558025341e-05,1793243024699200512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.927800345,744.927800345,714,679,660,634.927800345,879,787,805.927800345,652,631,652,0.420078323862,-0.0155508655695,0.0499584694004,0.999999984504,0.000154689161194,-8.06717854254e-05,2.35693336057e-05,1793243024715867136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.349292198,744.349292198,714,679,660,634.349292198,879,787,805.349292198,652,631,652,0.420977923639,-0.0155530781973,0.0499672605571,0.999999987511,0.000150619891734,-4.18782472312e-05,2.32075174368e-05,1793243024732533760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.226932345,744.226932345,714,679,660,634.226932345,879.226932345,787.226932345,805.226932345,651.773067655,631,652,0.421879430039,-0.0155560634944,0.0499781161313,0.999999988285,0.000150907850632,-9.82482100248e-06,2.36817986966e-05,1793243024749200384
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.799677089,744.799677089,714,679,660,634.799677089,879.799677089,787.799677089,805.799677089,651.200322911,631,652,0.422783841993,-0.015560226229,0.0499921175834,0.999999987149,0.000157835601228,1.19576455432e-05,2.54301726941e-05,1793243024765867008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.612472575,745,714,679,660,635,879.612472575,787.612472575,805.612472575,651,631,652,0.423656238965,-0.0155600430716,0.0499852497951,0.999999987476,0.00015617712488,-1.84715524097e-06,2.55734712745e-05,1793243024782533376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.016497091,745,714,679,660,635,879.016497091,787.016497091,805.016497091,651,631,652,0.424511415267,-0.0155575222916,0.0499671565999,0.999999987851,0.000149900181704,-3.47940782957e-05,2.4853411848e-05,1793243024799200000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.563467688,660,635,879.563467688,787,805.563467688,651.563467688,631,652,0.425421600194,-0.0155601524875,0.0499825566792,0.999999988937,0.00014585522428,-1.06443247462e-05,2.7167415904e-05,1793243024815866624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.858570743,660,635,879.858570743,787,806,652,631,652,0.426323372357,-0.015562283185,0.0499947062028,0.999999988761,0.000146988643617,2.95305775766e-06,2.94010089864e-05,1793243024832533248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.285333694,660,635,879.285333694,787,806,652,631,652,0.42719467749,-0.0155624411031,0.0499940199745,0.999999985898,0.00016373853137,-2.0630622507e-05,3.11253716894e-05,1793243024849199872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.296325044,745,714,679.296325044,660,635,879.296325044,787.296325044,806,651.703674956,631,652,0.428060941286,-0.0155609484471,0.0499754774508,0.999999982318,0.000176774445264,-5.64515340692e-05,3.04558418106e-05,1793243024865866752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.886330268,745,714,679.886330268,660,635,879.886330268,787.886330268,806,651.113669732,631,652,0.428922208691,-0.0155578199494,0.0499392380091,0.999999976852,0.000186129533346,-0.000104400451456,2.74137860155e-05,1793243024882533376
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.532513921,660,635,880,787.532513921,806,651.467486079,631,651.532513921,0.42984185966,-0.0155607571291,0.0499445132831,0.999999982505,0.000164576595755,-8.4488642715e-05,2.76768858528e-05,1793243024899200256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.95378797,745,714,679.04621203,660.04621203,634.95378797,879.95378797,787,806,651.95378797,631,651.04621203,0.430768380377,-0.0155643833678,0.0499570865889,0.999999988389,0.000139521761752,-5.42244782647e-05,2.85584997509e-05,1793243024915867648
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.378702898,745,714,679.621297102,660.621297102,634.378702898,879.378702898,787,806,651.378702898,631,651.621297102,0.431614073111,-0.0155593299151,0.0499398037181,0.99999998289,0.000158800638509,-9.08133803568e-05,2.7492173502e-05,1793243024932534272
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.804049892,661,634.195950108,879.195950108,787.195950108,806,651.195950108,631.195950108,652,0.432474309429,-0.0155555013026,0.0499312564239,0.99999997829,0.000176539467458,-0.000107308035855,2.71990920708e-05,1793243024949201152
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.230229982,661,634.769770018,879.769770018,787.769770018,806,651.769770018,631.769770018,652,0.433362591715,-0.0155540346685,0.0499395547953,0.99999997768,0.00019130847498,-8.50529923582e-05,2.83971343009e-05,1793243024965867776
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.355522105,745,714,679,661,635,880,787.644477895,805.644477895,651.644477895,631.644477895,652,0.434254913917,-0.015552691606,0.0499593350035,0.999999977474,0.000203078494677,-5.3667723209e-05,3.05138183599e-05,1793243024982534144
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.949269573,745,714,679,661,635,880,787.050730427,805.050730427,651.050730427,631.050730427,652,0.435149943099,-0.0155514313454,0.0499868088672,0.999999976666,0.000212838975911,-1.61645479164e-05,3.32460583746e-05,1793243024999200256
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.470915034,714,679,661,634.470915034,880.529084966,787.529084966,805,651,631,651.470915034,0.435945078672,-0.0155451864132,0.0499663531909,0.99999997817,0.000193322126934,-7.23575841351e-05,3.24080070746e-05,1793243025015866624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.893342482,744.106657518,714,679.106657518,661,634.106657518,880.893342482,788,805.106657518,651.106657518,631,651,0.436741807993,-0.0155401361124,0.0499474313627,0.999999976748,0.000177424939443,-0.000118467817465,3.14466404577e-05,1793243025032533248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.319889461,744.680110539,714,679.680110539,661,634.680110539,880.319889461,788,805.680110539,651.680110539,631,651,0.437586356427,-0.015542352322,0.0499548197263,0.999999978209,0.000189340265556,-8.21398124801e-05,3.14053764999e-05,1793243025049199616
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.746223499,661,634.746223499,880,787.746223499,806,651.746223499,631,651,0.438414252062,-0.0155448840402,0.0499633703825,0.999999977923,0.000199848285205,-5.64859480295e-05,3.20151102397e-05,1793243025065866496
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.172288941,661,634.172288941,880,787.172288941,806,651.172288941,631,651,0.43922113888,-0.0155478137958,0.0499733873576,0.999999976707,0.000208580881718,-4.42983139444e-05,3.34461263619e-05,1793243025082533632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.417460835,745,714,679,661,634.417460835,880.417460835,787,806,651,631,651,0.439992509524,-0.0155494535008,0.0499608961394,0.999999974843,0.000213197963096,-6.14708130398e-05,3.28829955882e-05,1793243025099200512
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.986484897,745,714,679.013515103,661,635,880.986484897,787.013515103,806,651,631,651,0.440748620334,-0.0155505559023,0.049939552586,0.999999972278,0.000215277642003,-9.00299129231e-05,3.15337539512e-05,1793243025115867136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.41039501,745,714,679.58960499,661,635,880.41039501,787.58960499,806,651,631,651,0.441503691859,-0.0155523273623,0.0499516230667,0.999999979966,0.000185221451495,-6.83196425368e-05,3.3068908913e-05,1793243025132533504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.835276405,714,680,661,634.835276405,880,787.835276405,806,651,631,651,0.442248707351,-0.0155530515489,0.0499670735138,0.999999984301,0.000168544983976,-4.21341463942e-05,3.48492532543e-05,1793243025149199872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.262563368,714,680,661,634.262563368,880,787.262563368,806,651,631,651,0.442968816093,-0.0155511818361,0.0499908955064,0.999999982181,0.00018500757448,-4.86435117371e-06,3.72368860738e-05,1793243025165866496
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.319789411,714,679.680210589,661.639578821,634.319789411,879.680210589,787,806,651,631,651.319789411,0.4436413844,-0.0155486669257,0.0499863362686,0.999999978783,0.000201763995275,-1.67253958673e-05,3.80298154152e-05,1793243025182533376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.910302868,714,679.089697132,662.820605736,634.910302868,879.089697132,787,806,651,631,651.910302868,0.444273706369,-0.0155456058106,0.0499577503379,0.999999972905,0.000218769162635,-7.01791264953e-05,3.74727168071e-05,1793243025199200000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.491362925,662.017274149,634.508637075,879.491362925,787.491362925,806,651,631,652,0.444903905057,-0.0155453788193,0.0499385186558,0.999999969298,0.000228615870295,-8.81879465402e-05,3.68920641501e-05,1793243025215866880
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787.929599863,806,651.070400137,631,652,0.445535271768,-0.0155460144156,0.0499264932094,0.999999967017,0.000237082763215,-9.16566892985e-05,3.68247440362e-05,1793243025232534016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787.352933776,806,651.647066224,631,652,0.446177772775,-0.0155492028449,0.0499542417245,0.99999996855,0.000244846915668,-3.62158354326e-05,4.04792703825e-05,1793243025249200384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.221517361,744.778482639,714,679.778482639,661,634,880,787.221517361,806,651.778482639,631,652,0.446770995231,-0.0155500257917,0.0499684793637,0.999999966655,0.00025454410061,-8.04769861779e-06,4.28132960083e-05,1793243025265867008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.792474398,744.207525602,714,679.207525602,661,634,880,787.792474398,806,651.207525602,631,652,0.447286481596,-0.0155471172317,0.049961403835,0.999999963088,0.000267290609938,-2.29017908659e-05,4.30642551553e-05,1793243025282533376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.620897079,744.379102921,714,679,661,634,880,787.620897079,806.379102921,651.379102921,631,651.620897079,0.447800587326,-0.0155450384223,0.0499402561979,0.99999995926,0.000276567161717,-5.64284735635e-05,4.24932243248e-05,1793243025299200000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.025319812,744.974680188,714,679,661,634,880,787.025319812,806.974680188,651.974680188,631,651.025319812,0.448313904738,-0.0155434334146,0.0499110731422,0.99999995379,0.000283862308318,-0.000100617530708,4.14528229149e-05,1793243025315866624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.553589487,661,634,880,787.553589487,806.446410513,652,631,651.553589487,0.448799837595,-0.0155436949155,0.0499141761707,0.99999995266,0.000290123743654,-9.348669213e-05,4.20552125543e-05,1793243025332533248
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.705143165,745,714,680,661,634,880,787.294856835,806,651.294856835,631,651.294856835,0.449721991976,-0.0155469647435,0.0499407322524,0.999999954707,0.00029244375985,-5.37537903492e-05,4.66094727919e-05,1793243025365866752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.719838697,745,714,679.719838697,661,634,880,787,806,651.280161303,630.719838697,651,0.45014204344,-0.0155497239346,0.049953511842,0.999999962887,0.000265370023906,-3.7951668356e-05,4.8618916871e-05,1793243025382533632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.144033754,745,714,679.144033754,661,634,880,787,806,651.855966246,630.144033754,651,0.450534488376,-0.0155528131817,0.049959964926,0.999999975787,0.000211856934208,-3.33773174449e-05,4.92829906794e-05,1793243025399200512
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.44325813,679.44325813,661,634,880,787,806,652,630.44325813,651.44325813,0.450884065257,-0.0155542586788,0.0499522249801,0.999999986045,0.00015512465587,-5.19151820647e-05,3.39360930422e-05,1793243025415867136
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.408249161,634,880,786.408249161,807,652,630,651.408249161,0.453517274069,-0.015561357452,0.0498724827327,0.999999967114,0.000169913804671,-0.000190682301789,2.32759994197e-05,1793243025615867136
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,786.994654847,806.994654847,651.994654847,630,652,0.453624820468,-0.0155632841971,0.0498635887059,0.99999996461,0.000169909359408,-0.000203349786533,2.36503328418e-05,1793243025632533760
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.732223185,745,714,680,661,634,880,786,806,651,630,652,0.453870204193,-0.0155610113707,0.0498491066059,0.999999959736,0.000174751332284,-0.000222465096678,2.23346244691e-05,1793243025682533632
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.097240633,745,714.902759367,680,661,633.097240633,880,786,806.902759367,651,630,652,0.453984798269,-0.0155662501079,0.0498466908016,0.999999960477,0.000169120028779,-0.000223398300248,2.31939353747e-05,1793243025715866880
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714.640062574,680,661,633.359937426,880,786,806.640062574,651.640062574,630,652,0.454083970048,-0.0155629614501,0.0498415597493,0.999999957512,0.00017344665561,-0.000233185004954,2.27336397172e-05,1793243025765866496
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.314858998,745,714,680,660.685141002,633,880,786,807,651,630,651.685141002,0.454145213757,-0.0155594381906,0.049831079697,0.999999953213,0.0001719115012,-0.000252091097507,2.16683568168e-05,1793243025882533120
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.866045389,880,786,807,651,630,652,0.454148569235,-0.0155596137202,0.049828928338,0.999999952667,0.00017193407124,-0.000254228848411,2.17337683892e-05,1793243025915866624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.450497055,714.450497055,680,661,633.549502945,880,786,807,651,630,652,0.454149124791,-0.015559201151,0.0498284598505,0.999999952341,0.00017264293886,-0.000255030965801,2.17108675141e-05,1793243025932532992
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.394490156,715,680,661,633,880,786,806.394490156,651.605509844,630,652,0.454149465807,-0.0155575242022,0.0498286567686,0.999999951949,0.000173905407003,-0.000255720596061,2.15978741638e-05,1793243025965866496
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.820597407,680,661,633,880,786,806,652,629.820597407,652,0.454149802983,-0.0155571325667,0.0498287564104,0.999999952069,0.000172972791209,-0.000255892508401,2.14802318236e-05,1793243025982533120
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.333704661,745,714.333704661,680,661,633.333704661,880.333704661,785.666295339,806.333704661,651.666295339,629.333704661,652,0.454150286515,-0.0155584047943,0.0498275349967,0.999999952574,0.000167394846708,-0.000257656513659,2.10680547921e-05,1793243026015866624
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.927619674,745,714.927619674,680,661,633.927619674,880.927619674,785.072380326,806.927619674,651.072380326,629.927619674,652,0.454150800764,-0.0155581745562,0.0498273245467,0.999999952555,0.000167613425981,-0.000257572070215,2.1247755689e-05,1793243026032533504
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.4903531,745,714.4903531,680,661,633.4903531,880.4903531,785.5096469,807,651,630,652,0.454148988443,-0.0155575503362,0.0498253933934,0.999999951954,0.000167060862014,-0.00026028456099,2.0844309645e-05,1793243026049200128
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,807,651,630,652,0.454147344747,-0.0155565666169,0.0498236342258,0.999999951278,0.000167254890828,-0.000262776861619,2.04335436361e-05,1793243026065866496
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,807,651,630,652,0.454148378277,-0.0155539225695,0.0498241125928,0.999999950672,0.000172098468846,-0.00026195549901,2.04237298065e-05,1793243026082533120
+246,4.100000000,HOLD_POSE2,765,745,715,680,661,633,880,786,806,651,629,652,0.454148095374,-0.0155557265671,0.0498243363549,0.999999950745,0.000171557890122,-0.00026206260731,2.00380303787e-05,1793243026120677888
+247,4.116666667,HOLD_POSE2,765,745,714.420277342,680.579722658,661,633.579722658,880,786,806.579722658,651,629.579722658,652,0.454149328341,-0.0155537433735,0.0498253997582,0.999999950742,0.000173071741286,-0.000261081879384,1.99781480003e-05,1793243026137344512
+248,4.133333333,HOLD_POSE2,765,745.158943039,714,680.841056961,661,633.841056961,880,786,807,651,629.841056961,652,0.45414987306,-0.0155522673924,0.0498255920797,0.999999950551,0.00017418117947,-0.000261079024212,1.98987617065e-05,1793243026154011136
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+250,4.166666667,HOLD_POSE2,765.31400381,745.68599619,714,680,660.68599619,633,880.31400381,786,806.68599619,651,629.31400381,652,0.454148139509,-0.0155523538809,0.0498225913614,0.999999949638,0.000173827703032,-0.00026479575346,1.97997386164e-05,1793243026187344384
+251,4.183333333,HOLD_POSE2,765.890555631,745.109444369,714,680,660.109444369,633,880.890555631,786,806.109444369,651,629.890555631,652,0.454148348695,-0.0155528842203,0.0498227033897,0.999999949782,0.000173062544303,-0.000264739904492,1.99674406386e-05,1793243026204011264
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+253,4.216666667,HOLD_POSE2,765,744.937217744,714,680,660.937217744,633.062782256,880.062782256,786,807,651.062782256,630,652,0.454148404821,-0.015555958416,0.0498233960537,0.999999950508,0.000169576806261,-0.000264244668949,2.00605118549e-05,1793243026237344768
+254,4.233333333,HOLD_POSE2,765,744.357575102,714,680,660.357575102,633.642424898,880.642424898,786,807,651.642424898,630,652,0.454148367189,-0.0155547074655,0.0498226750534,0.999999950464,0.000167748831443,-0.00026558778038,1.98710384489e-05,1793243026254011392
+255,4.250000000,HOLD_POSE2,765,744.219801353,714.219801353,680,660.219801353,633.780198647,880.780198647,786,807,652,630,652,0.454148288434,-0.0155537450321,0.0498223152989,0.999999950206,0.000167951178977,-0.000266432347306,1.98650783527e-05,1793243026270677760
+256,4.266666667,HOLD_POSE2,765,744.79352872,714.79352872,680,660.79352872,633.20647128,880.20647128,786,807,652,630,652,0.454148143463,-0.0155532471717,0.0498225372255,0.9999999496,0.000171422769066,-0.000266474153485,2.01546129727e-05,1793243026287344384
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806,651,629,652,0.454148386536,-0.015556895753,0.0498200879999,0.999999949921,0.000166625028546,-0.0002682876153,2.04012247362e-05,1793243026408276736
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.343494566,745,714,679,660,635,880,787.656505434,805,652,631,652,0.410047455998,-0.0153528760969,0.0498128893491,0.999999945609,-4.14035670298e-05,-0.000321761425231,-5.94676257098e-05,1793243027824943360
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714,678.506622847,660,635,880,787,805,652.493377153,631,652,0.40881772365,-0.0153553232256,0.0497969755217,0.999999938501,-5.27480000581e-05,-0.000341198504643,-6.1637486496e-05,1793243027858276864
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1352e09b68645bd1165a09e9cc353303741b5a4b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eecff528b8b2fab8aad0e78c59fe97b1f1b0cdaa
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5667d85441d9a111fcaf95e8a6c3bf0aee712d6da7a40963fa23802682adcbe
+size 25926968
diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a811fe9da331570220e8d69f0e821eee9544c2c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+13,0.216666667,BASELINE,766,745,714,679,659.54556479,635,879,788,805,652.54556479,631,652.45443521,0.400984141115,-0.015396680227,0.0498523465319,0.999999965627,-7.29829731324e-06,-0.000258352230808,-4.412712929e-05,1793243029151587584
+14,0.233333333,BASELINE,765.878258061,745,714,679,659.878258061,635,879,787.878258061,805.121741939,652.878258061,631,652,0.400985068251,-0.0153978225264,0.0498530335881,0.999999965784,-9.49025846672e-06,-0.000257713408809,-4.38932216311e-05,1793243029168254464
+15,0.250000000,BASELINE,765.305231251,745,714,679,659.305231251,635,879,787.305231251,805.694768749,652.305231251,631,652,0.400983612709,-0.015396432504,0.0498524300215,0.999999965535,-6.54706584134e-06,-0.000258773954693,-4.3849646496e-05,1793243029184921088
+16,0.266666667,BASELINE,765.277020464,745,714,679,659,635,879,787.277020464,806,652.277020464,631,652,0.400982230056,-0.0153949741979,0.0498517103289,0.999999965187,-4.97709140548e-06,-0.000260105220454,-4.41216833993e-05,1793243029201587712
+17,0.283333333,BASELINE,765.869786616,745,714,679,659,635,879,787.869786616,806,652.869786616,631,652,0.400980930483,-0.0153934380626,0.0498508582769,0.999999964731,-4.97230015335e-06,-0.000261745050483,-4.47534523591e-05,1793243029218254592
+18,0.300000000,BASELINE,765.547946983,745,714,679,659,635,878.547946983,787.547946983,805.547946983,652.547946983,631,651.547946983,0.40098154207,-0.015393686526,0.0498514357102,0.999999965079,-3.39623547105e-06,-0.000260511149317,-4.43218649053e-05,1793243029234920960
+19,0.316666667,BASELINE,765,745,714,678.969019474,659.030980526,635,878.030980526,787,805.030980526,652.030980526,631,651.030980526,0.400982693298,-0.0153945689235,0.0498523811088,0.999999965627,-1.8204138642e-06,-0.000258532623091,-4.36278705946e-05,1793243029251587840
+20,0.333333333,BASELINE,765,745,714,678.396784964,659.603215036,635,878.603215036,787,805.603215036,652.603215036,631,651.603215036,0.400983872984,-0.0153977496215,0.0498527246454,0.99999996582,-7.97668401577e-06,-0.000257678515407,-4.35792286575e-05,1793243029268254464
+21,0.350000000,BASELINE,765,745,714,678.180758536,659.819241464,635,879,787.180758536,805.819241464,652.819241464,631,652,0.400984630519,-0.0153988342343,0.0498530267792,0.999999965904,-1.04824638676e-05,-0.000257240495944,-4.3697388758e-05,1793243029284921088
+22,0.366666667,BASELINE,765,745,714,678.770308413,659.229691587,635,879,787.770308413,805.229691587,652.229691587,631,652,0.400984433343,-0.0153951784813,0.0498532352794,0.999999965796,-4.73253964869e-06,-0.000257743473734,-4.41927771324e-05,1793243029301587968
+23,0.383333333,BASELINE,765,745,714.353867611,679,659.353867611,635,878.646132389,788,805,652,631,652,0.400983785226,-0.0153944638151,0.0498527060572,0.999999965701,-3.23978671266e-06,-0.000258129583828,-4.42287636931e-05,1793243029318254592
+24,0.400000000,BASELINE,765,745,714.933603114,679,659.933603114,635,878.066396886,788,805,652,631,652,0.400982849279,-0.0153956263959,0.0498517059589,0.999999965627,-4.46431582567e-06,-0.000258441099241,-4.39715216594e-05,1793243029334921216
+25,0.416666667,BASELINE,765,745,714.490375123,679,659.490375123,635,878.509624877,788,805,652.509624877,631,652,0.4009831591,-0.0153966255535,0.0498523199481,0.999999965715,-7.75688313211e-06,-0.000258013925619,-4.40377420966e-05,1793243029351587840
+26,0.433333333,BASELINE,765,745,714,679,659.085152149,635,879,788,805,653,631,652,0.400983412968,-0.0153973367913,0.0498529707681,0.99999996578,-1.03685713167e-05,-0.000257655951782,-4.41160426446e-05,1793243029368254464
+27,0.450000000,BASELINE,765,745,714,679,659.66059822,635,879,788,805,653,631,652,0.400982416898,-0.0153965119357,0.0498526315793,0.999999965657,-7.51970537332e-06,-0.000258246551494,-4.40230033572e-05,1793243029384920832
+28,0.466666667,BASELINE,765,745,714.242368998,679,660,635,879,788,805,652.757631002,631,652,0.400982370776,-0.0153958983732,0.0498526816908,0.999999965626,-5.65433429e-06,-0.000258425856819,-4.39600244899e-05,1793243029401587456
+29,0.483333333,BASELINE,765,745,714.833233867,679,660,635,879,788,805,652.166766133,631,652,0.400983690561,-0.0153955886233,0.0498532915668,0.999999965736,-5.20310422107e-06,-0.000258013772957,-4.39402686991e-05,1793243029418254080
+30,0.500000000,BASELINE,765,745,714.584028465,679,660,635,878.584028465,788,805,652.415971535,631,652,0.400983425509,-0.0153964967578,0.049852663189,0.999999965666,-6.39699987902e-06,-0.000258230965632,-4.40978034213e-05,1793243029434920960
+31,0.516666667,BASELINE,765,745,714.004486627,679,660,635,878.004486627,788,805,652.995513373,631,652,0.400982537261,-0.0153978837946,0.0498515478991,0.999999965522,-8.23779969728e-06,-0.000258695605423,-4.43250531611e-05,1793243029451587840
+32,0.533333333,BASELINE,765,745,714.569396365,679,659.430603635,635,878.569396365,788,805,653,631,652,0.400983336502,-0.0153981171735,0.0498526277483,0.999999965644,-8.99537506046e-06,-0.000258248282505,-4.40309573075e-05,1793243029468254464
+33,0.550000000,BASELINE,765,745,714.855827263,679,659,635,879,788,805.144172737,653,631,652,0.400983851559,-0.0153979480321,0.0498533651612,0.999999965741,-9.46683875741e-06,-0.000257884110915,-4.38571475353e-05,1793243029484921088
+34,0.566666667,BASELINE,765,745,714.27823253,679,659,635,879,788,805.72176747,653,631,652,0.4009834727,-0.015396595866,0.0498530216314,0.99999996576,-9.10358094653e-06,-0.000257791304877,-4.40571783483e-05,1793243029501587712
+35,0.583333333,BASELINE,765,745,714.306077052,679,659,635,878.693922948,788,805.693922948,653,630.693922948,652,0.400983608756,-0.0153959546785,0.0498534803855,0.999999965881,-7.89619986424e-06,-0.000257364226036,-4.40268499523e-05,1793243029518254336
+36,0.600000000,BASELINE,765,745,714.896627601,679,659,635,878.103372399,788,805.103372399,653,630.103372399,652,0.400984223384,-0.0153959742872,0.0498546847967,0.999999966096,-5.90427544534e-06,-0.000256626468052,-4.3782421603e-05,1793243029534920704
+37,0.616666667,BASELINE,765.476570424,745,714.523429576,679,659,635,878,787.523429576,805,653,630.476570424,652,0.400984158075,-0.015396612394,0.0498541067179,0.999999966157,-8.63550978825e-06,-0.000256285792502,-4.39256974228e-05,1793243029551587328
+38,0.633333333,BASELINE,766,745,714,679,659,635,878.053938986,787.053938986,805,652.946061014,631,652,0.400984070649,-0.015397411684,0.0498533189263,0.999999966202,-1.19149046983e-05,-0.000255950219779,-4.40860206282e-05,1793243029568253952
+39,0.650000000,BASELINE,766,745,714,679,659,635,878.628187826,787.628187826,805,652.371812174,631,652,0.400985161577,-0.0153984998459,0.0498541565952,0.999999966516,-1.08146290785e-05,-0.000254851120591,-4.36172335132e-05,1793243029584921088
+40,0.666666667,BASELINE,766,745,714,679,659.208102459,635,878.791897541,788,805.208102459,652.208102459,631,652,0.400985471102,-0.0153988395142,0.0498544512681,0.999999966573,-1.02783303629e-05,-0.000254670261653,-4.35005456215e-05,1793243029601587968
+41,0.683333333,BASELINE,766,745,714,679,659.798423326,635,878.201576674,788,805.798423326,652.798423326,631,652,0.400984345436,-0.0153978044365,0.0498537486292,0.99999996616,-1.07778789396e-05,-0.000256175919748,-4.40305526865e-05,1793243029618254336
+42,0.700000000,BASELINE,765.618471722,745,714.381528278,679,659.618471722,635,878.381528278,788,805.618471722,653,631,652,0.400983863318,-0.0153978643564,0.0498536773733,0.999999966154,-1.02859467541e-05,-0.000256243712618,-4.3884190352e-05,1793243029634920960
+43,0.716666667,BASELINE,765.039108478,745,714.960891522,679,659.039108478,635,878.960891522,788,805.039108478,653,631,652,0.4009837149,-0.0153984920687,0.0498539335102,0.999999966359,-9.27989915413e-06,-0.000255565925011,-4.33871082119e-05,1793243029651587584
+44,0.733333333,BASELINE,765,745,714.466115497,679,659.533884503,635,879,788,805,653,631,652,0.400983478435,-0.0153968919177,0.049853540236,0.99999996623,-8.25771545106e-06,-0.000256023583931,-4.3870105694e-05,1793243029668254208
+45,0.750000000,BASELINE,765,745,714,679,660,635,879,788,805,653,631,652,0.400983625682,-0.0153957865311,0.0498533825578,0.999999966205,-7.72055648879e-06,-0.00025607220311,-4.42492829271e-05,1793243029684920832
+46,0.766666667,BASELINE,765,745,714,679,660,635,879,788,805,653,631,652,0.400985481554,-0.01539755466,0.0498544627257,0.999999966744,-9.31297596385e-06,-0.000253969165112,-4.38629604439e-05,1793243029701587456
+47,0.783333333,BASELINE,765,745,714,679,660,635,879,787.715799305,805,653,631,652,0.400985376382,-0.0153976307264,0.0498545310654,0.9999999667,-8.77149123627e-06,-0.000254166329221,-4.38527582269e-05,1793243029718254336
+48,0.800000000,BASELINE,765,745,714,679,660,635,879,787.136307522,805,653,631,652,0.400983233641,-0.0153959487012,0.0498535480922,0.999999966042,-6.01283092461e-06,-0.000256753456214,-4.42333536107e-05,1793243029734921216
+49,0.816666667,BASELINE,765,745,714,679,660,635,879,787.442350465,805,653,631,652,0.400983682096,-0.0153965408136,0.0498538196467,0.999999966238,-6.22877371952e-06,-0.000256021529741,-4.40357531956e-05,1793243029751587840
+50,0.833333333,BASELINE,765,745,714,679,660,635,879,787.979337222,805,652.979337222,631,652,0.400984891293,-0.0153978293226,0.0498544460349,0.999999966676,-7.39246576793e-06,-0.00025433727715,-4.36645198791e-05,1793243029768254464
+51,0.850000000,BASELINE,765,745,714,679,660,635,879,787.403421678,805,652.403421678,631,652,0.400985127277,-0.0153990359745,0.0498542390164,0.99999996663,-9.43940463739e-06,-0.000254493633804,-4.34061302533e-05,1793243029784921088
+52,0.866666667,BASELINE,765,745,714,679,659.823990887,635,879,787.176009113,805,652,631,652,0.400985179316,-0.0153989772224,0.0498539510574,0.999999966538,-9.63324746434e-06,-0.000254847765056,-4.33973575872e-05,1793243029801587968
+53,0.883333333,BASELINE,765,745,714,679,659.236338817,635,879,787.763661183,805,652,631,652,0.400984801153,-0.0153959589945,0.0498534737978,0.999999966336,-5.49314446944e-06,-0.000255664443488,-4.39723789354e-05,1793243029818254592
+54,0.900000000,BASELINE,765,744.65371543,714,679,659.34628457,635,879,788,805,652.34628457,631,652,0.400984038364,-0.0153954535958,0.0498531933562,0.999999966132,-5.20088992154e-06,-0.000256445158326,-4.41016981699e-05,1793243029834920960
+55,0.916666667,BASELINE,765,744.074475013,714,679,659.925524987,635,879,788,805,652.925524987,631,652,0.400983016826,-0.0153966386516,0.0498530453198,0.999999965931,-7.4971967338e-06,-0.000257201679362,-4.39311804175e-05,1793243029851587328
+56,0.933333333,BASELINE,765.500941176,744,714.500941176,679,660,635,879,787.499058824,805,652.499058824,631,652,0.400982779849,-0.0153975127927,0.049852993114,0.999999965846,-8.59732789969e-06,-0.00025748656823,-4.39804722547e-05,1793243029868254208
+57,0.950000000,BASELINE,765.92405888,744.07594112,715,679,659.92405888,635,879,787.07594112,805,652,631,652,0.400982875134,-0.0153984355773,0.0498530543793,0.999999965851,-9.59856352913e-06,-0.000257429950753,-4.39887478948e-05,1793243029884921344
+58,0.966666667,BASELINE,765.348084722,744.651915278,715,679,659.348084722,635,879,787.651915278,805,652,631,652,0.400984395988,-0.0153999807073,0.0498537696942,0.99999996633,-1.11107071053e-05,-0.000255582880888,-4.35134080642e-05,1793243029901587968
+59,0.983333333,BASELINE,765,744.766103398,714.766103398,679,659.233896602,635,879,788,805,652,631,652,0.400984588148,-0.0154004179898,0.0498539949102,0.99999996645,-1.21158601128e-05,-0.000255080988823,-4.34295766148e-05,1793243029918254592
+60,1.000000000,BASELINE,765,744.17494647,714.17494647,679,659.82505353,635,879,788,805,652,631,652,0.400982750822,-0.0153991631145,0.0498534715356,0.999999966028,-1.23466215257e-05,-0.000256633759337,-4.39437461379e-05,1793243029934920960
+61,1.016666667,BASELINE,765,744,714,679,660,635,879,788,805.407714477,652.407714477,631,652,0.40098276139,-0.0153985611781,0.0498535610133,0.999999966052,-1.0793665901e-05,-0.000256601588985,-4.40003481469e-05,1793243029951587328
+62,1.033333333,BASELINE,765,744,714,679,660,635,879,788,805.986804257,652.986804257,631,652,0.400983548686,-0.0153982336926,0.0498539080922,0.999999966259,-8.49095751506e-06,-0.000255903217712,-4.38646200112e-05,1793243029968253952
+63,1.050000000,BASELINE,765,744.562706249,714.562706249,679,660,635,879,788,806,653,631,652,0.400984425977,-0.0153977074086,0.0498539758832,0.99999996633,-9.15729544626e-06,-0.000255556201879,-4.41352522983e-05,1793243029984920832
+64,1.066666667,BASELINE,765,745,714.861581106,679,660,635,879,788,805.861581106,653,631.138418894,652,0.400985044438,-0.0153971989173,0.0498541035424,0.999999966451,-9.74251130574e-06,-0.000255027953588,-4.43046312085e-05,1793243030001587456
+65,1.083333333,BASELINE,765,745,714.286231533,679,660,635,879,788,805.286231533,653,631.713768467,652,0.400984839257,-0.0153967612228,0.0498544407375,0.999999966745,-9.85311764028e-06,-0.00025390176806,-4.41244847035e-05,1793243030018254336
+66,1.100000000,BASELINE,765,745,714,679,659.703112965,635,879,788,805,653,631.703112965,652,0.400984533241,-0.0153969586631,0.0498542935427,0.999999966629,-9.18888666489e-06,-0.000254446478947,-4.37540458747e-05,1793243030034920960
+67,1.116666667,BASELINE,765,745,714,679,659.112302999,635,879,788,805,653,631.112302999,652,0.400984127394,-0.0153977848972,0.0498536667942,0.999999966104,-7.75755431001e-06,-0.000256645404169,-4.31952146016e-05,1793243030051587840
+68,1.133333333,BASELINE,765,745,714.469260099,679,659.469260099,635,879,788,805,653,631,652,0.40098523895,-0.0153980289013,0.0498545483809,0.999999966557,-7.71465703973e-06,-0.000254833766504,-4.34212849501e-05,1793243030068254464
+69,1.150000000,BASELINE,765,745,714.951868382,679,659.951868382,635,879.048131618,788,805.048131618,653,631,652,0.400986516413,-0.0153981458822,0.0498556511818,0.999999967158,-8.20320880293e-06,-0.000252382956481,-4.38194341388e-05,1793243030084920832
+70,1.166666667,BASELINE,765,745,714.378685,679,659.378685,635,879.621315,788,805.621315,653,631,652,0.400985718839,-0.0153983678382,0.0498553054861,0.999999966906,-1.09344820432e-05,-0.000253227494096,-4.4085224558e-05,1793243030101587456
+71,1.183333333,BASELINE,765,745,714,679,659.199963794,635,879.800036206,788,806,652.800036206,631,652,0.400985255483,-0.0153984090177,0.0498550183508,0.999999966724,-1.15305070069e-05,-0.000253908503315,-4.41440787136e-05,1793243030118254080
+72,1.200000000,BASELINE,765,745,714,679,659.789253756,635,879.210746244,788,806,652.210746244,631,652,0.40098544284,-0.0153980982285,0.0498548452317,0.999999966682,-7.96923971781e-06,-0.000254271125628,-4.38000314666e-05,1793243030134920704
+73,1.216666667,BASELINE,765,745,714,679,659.627588079,635,879,788,805.627588079,652.372411921,631,652,0.400985372493,-0.0153978359204,0.0498544950171,0.999999966586,-7.07499756314e-06,-0.000254688567231,-4.3731044214e-05,1793243030151587584
+74,1.233333333,BASELINE,765,745,714,679,659.047843697,635,879,788,805.047843697,652.952156303,631,652,0.400985158674,-0.0153976006031,0.0498540462085,0.999999966463,-7.66556546288e-06,-0.000255136528295,-4.38151908173e-05,1793243030168254720
+75,1.250000000,BASELINE,765,744.472133064,714.527866936,679,659,635,879,788,805.527866936,653,631,652,0.400984585441,-0.0153982057315,0.0498538276049,0.999999966375,-9.36113655923e-06,-0.00025539214671,-4.40114809335e-05,1793243030184921088
+76,1.266666667,BASELINE,765,744.102974557,714.897025443,679,659.102974557,635,879,787.897025443,806,653,631,652,0.400984230375,-0.0153985376115,0.0498538362194,0.999999966361,-1.06625252173e-05,-0.000255366555869,-4.41840922689e-05,1793243030201587712
+77,1.283333333,BASELINE,765,744.676983502,714.323016498,679,659.676983502,635,879,787.323016498,806,653,631,652,0.40098502115,-0.0153972737757,0.0498547894748,0.999999966684,-9.7061598779e-06,-0.000254133774672,-4.42022488131e-05,1793243030218254336
+78,1.300000000,BASELINE,765,745,714,679,659.740834854,635,878.740834854,787.259165146,805.740834854,653,630.740834854,652,0.400984853959,-0.015396584554,0.0498549076199,0.999999966652,-8.51837844819e-06,-0.000254302872172,-4.41985812866e-05,1793243030234920960
+79,1.316666667,BASELINE,765,745,714,679,659.148135342,635,878.148135342,787.851864658,805.148135342,653,630.148135342,652,0.400983453906,-0.0153966348361,0.0498539510142,0.999999966161,-7.03277456563e-06,-0.000256276127183,-4.41668271208e-05,1793243030251587584
+80,1.333333333,BASELINE,765,745,714,679,659.868931522,635,878.434465761,788,805.434465761,653,630.434465761,652,0.400982951623,-0.015397846164,0.0498534358505,0.999999965992,-9.20476848066e-06,-0.000256882337139,-4.40854798453e-05,1793243030268253952
+81,1.350000000,BASELINE,765,744.986411882,714,679,660.972823765,635,878.986411882,788,805.986411882,653,631,652,0.400982798669,-0.0153993984863,0.049853114439,0.999999965941,-1.24798259064e-05,-0.000256959690136,-4.39792947819e-05,1793243030284920832
+82,1.366666667,BASELINE,765,744.411988717,714,679,659.823977433,635,878.411988717,788,805.411988717,653,631,652,0.400984716801,-0.0153990570209,0.0498547187555,0.999999966732,-1.09793934766e-05,-0.000254010120931,-4.35300150492e-05,1793243030301587968
+83,1.383333333,BASELINE,765,744.166436874,714,679,659.166436874,635,878.166436874,787.833563126,805,653,631,652,0.400985999733,-0.0153985303895,0.0498558396957,0.999999967229,-9.68120593711e-06,-0.000252137843486,-4.32972215018e-05,1793243030318254592
+84,1.400000000,BASELINE,765,744.755014095,714,679,659.755014095,635,878.755014095,787.244985905,805,653,631,652,0.400985671582,-0.0153975341146,0.0498557346304,0.999999967005,-8.89597969542e-06,-0.0002529979426,-4.36135102285e-05,1793243030334920960
+85,1.416666667,BASELINE,765,745,714,679,660,635,879,787.338412166,805.338412166,652.661587834,631,652,0.400985196824,-0.0153972126141,0.049855247448,0.999999966782,-7.36734703356e-06,-0.000253918514486,-4.36701320049e-05,1793243030351587584
+86,1.433333333,BASELINE,765,745,714,679,660,635,879,787.918117388,805.918117388,652.081882612,631,652,0.400984617532,-0.015397372238,0.0498544878103,0.999999966556,-5.30865425767e-06,-0.000254882204333,-4.35416072504e-05,1793243030368254208
+87,1.450000000,BASELINE,765,744.50346297,714,678.50346297,659.50346297,635,879,788,805.50346297,652.49653703,631,652,0.400984275476,-0.0153966200749,0.0498540777118,0.999999966429,-4.72683050211e-06,-0.000255376266338,-4.36251168843e-05,1793243030384921088
+88,1.466666667,BASELINE,765,744.073983868,714,678.073983868,659.073983868,635,879,787.926016132,805,652.926016132,631,652,0.400984163687,-0.0153960416116,0.0498538851332,0.999999966375,-4.76412003301e-06,-0.000255566913852,-4.37254345917e-05,1793243030401587712
+89,1.483333333,BASELINE,765,744.64630246,714,678.64630246,659.64630246,635,879,787.35369754,805,652.35369754,631,652,0.400985340084,-0.0153976433111,0.0498547704535,0.999999966701,-7.3353586461e-06,-0.000254234147314,-4.37040535635e-05,1793243030418254336
+90,1.500000000,BASELINE,765,745,714,679,659.774278172,635,879,787,805.225721828,652,631,652,0.400985436449,-0.0153984985146,0.0498548613473,0.999999966783,-9.09482820419e-06,-0.00025382794461,-4.38435827489e-05,1793243030434920960
+91,1.516666667,BASELINE,765,745,714,679,659.183370825,635,879,787,805.816629175,652,631,652,0.400983785479,-0.0153981459943,0.049853666973,0.999999966483,-9.54097169343e-06,-0.000254920789338,-4.42434415676e-05,1793243030451587840
+92,1.533333333,BASELINE,765,745,714,678.599261426,659,635,879,787.400738574,806,652.400738574,630.599261426,652,0.400983738137,-0.015398058224,0.0498538203908,0.999999966444,-1.01396275835e-05,-0.000255084649606,-4.40638387134e-05,1793243030468254464
+93,1.550000000,BASELINE,765,745,714,678.01821071,659,635,879,787.98178929,806,652.98178929,630.01821071,652,0.400984412346,-0.0153980895777,0.0498545802469,0.999999966521,-1.08069063992e-05,-0.000254830513825,-4.36235073723e-05,1793243030484921344
+94,1.566666667,BASELINE,765,744.443380373,714,678.556619627,659.556619627,635,879,788,805.443380373,652.443380373,630.556619627,652,0.400984779601,-0.0153991895114,0.049854748836,0.999999966656,-1.07546386901e-05,-0.000254306835126,-4.35849672172e-05,1793243030501587968
+95,1.583333333,BASELINE,765,744.131146213,714,679,659.868853787,635,879,788,805,652.131146213,631,652,0.400985063536,-0.0153998771893,0.0498547671982,0.999999966723,-1.02174453496e-05,-0.000254063840656,-4.3600760156e-05,1793243030518254336
+96,1.600000000,BASELINE,765,744.705326722,714,679,659.294673278,635,879,788,805,652.705326722,631,652,0.400985099545,-0.0153990554001,0.0498543426944,0.999999966549,-8.1207374694e-06,-0.000254798506552,-4.37561834389e-05,1793243030534920960
+97,1.616666667,BASELINE,765.288017879,745,714.288017879,679,659,635,879,788,805,652.711982121,631,651.711982121,0.40098472031,-0.0153984066112,0.0498544822458,0.999999966378,-7.66187816439e-06,-0.000255460045589,-4.38871069775e-05,1793243030551587584
+98,1.633333333,BASELINE,765.879681436,745,714.879681436,679,659,635,879,788,805,652.120318564,631,651.120318564,0.400983903299,-0.0153979402096,0.0498552164581,0.999999966213,-8.92973693631e-06,-0.000256044489876,-4.39922014106e-05,1793243030568254464
+99,1.650000000,BASELINE,765.540030772,744.540030772,715,678.540030772,659,635,878.540030772,787.540030772,805,652.459969228,631,651.459969228,0.400985176201,-0.015398026097,0.0498557537502,0.999999966753,-9.18850785374e-06,-0.000253921612679,-4.3959200536e-05,1793243030584921088
+100,1.666666667,BASELINE,765,744.03726908,714.96273092,678.03726908,659,635,878.03726908,787,805,652.96273092,631,651.96273092,0.400986795208,-0.0153982550946,0.0498561583887,0.999999967396,-9.17745590541e-06,-0.000251391749659,-4.38852660107e-05,1793243030601587712
+101,1.683333333,BASELINE,765,744.613353317,714.386646683,678.613353317,659,635,878.613353317,787,805,652.386646683,631,651.386646683,0.400985705186,-0.0153985148751,0.0498553719295,0.999999967007,-8.98949430589e-06,-0.000252969278904,-4.37291763818e-05,1793243030618254592
+102,1.700000000,BASELINE,765,745,714,679,659,635,879,787.193473735,805,652,631,651.193473735,0.400985178339,-0.0153987275721,0.0498550451367,0.999999966796,-8.97208855646e-06,-0.000253811801734,-4.3671700258e-05,1793243030634920960
+103,1.716666667,BASELINE,765,745,714,679,659,635,879,787.781832021,805,652,631,651.781832021,0.400985800948,-0.0153988441704,0.0498556565342,0.999999966953,-9.30279142759e-06,-0.000253154158577,-4.38154966921e-05,1793243030651587328
+104,1.733333333,BASELINE,765,745,714,679,659,635,878.635645286,788,805,652,631,652,0.400984584965,-0.0153990156471,0.049854586086,0.999999966564,-9.53723821584e-06,-0.000254683094876,-4.37874396251e-05,1793243030668253952
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.056561688,788,805,652,631,652,0.400982285426,-0.0153992194658,0.0498525244587,0.999999965846,-9.71495745519e-06,-0.000257500670313,-4.36581023924e-05,1793243030684920576
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.520317641,788,805,652,631,652,0.400983120557,-0.0153994779185,0.049853735497,0.99999996617,-1.00264733539e-05,-0.000256230841315,-4.36433225006e-05,1793243030701587456
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,788,806,652,630,652,0.400983240511,-0.0153978280927,0.0498540985422,0.999999966191,-6.3903524316e-06,-0.000256261936261,-4.36792505134e-05,1793243030744435712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.41018549,745,714,679,659.58981451,635,878.58981451,788,805.41018549,652,630.58981451,652,0.400982501462,-0.0153956953699,0.0498533132649,0.99999996606,-6.15191298164e-06,-0.000256684549139,-4.42266811282e-05,1793243030761102336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.823172505,635,879,788,805,652.176827495,631,651.823172505,0.400982384953,-0.015394718827,0.0498531796535,0.999999966137,-6.45800808846e-06,-0.000256309009495,-4.46026112231e-05,1793243030777769216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.242556729,635,879,788,805,652.757443271,631,651.242556729,0.400983690022,-0.0153963824383,0.0498545341307,0.999999966688,-8.00755611278e-06,-0.000254110876477,-4.45869173732e-05,1793243030794435840
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,678.665856758,659,635,879,787.665856758,805.334143242,653,631,651.334143242,0.400984381015,-0.0153983972181,0.0498548228408,0.999999966753,-9.26891123036e-06,-0.000253872619863,-4.42456454096e-05,1793243030811102208
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,678.091966404,659,635,879,787.091966404,805.908033596,653,631,651.908033596,0.400984631409,-0.0154006639606,0.0498543468649,0.99999996647,-1.03234884165e-05,-0.00025504057081,-4.36707717968e-05,1793243030827769088
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678.493254805,659,635,879,787.493254805,805.506745195,652.506745195,631,652,0.400984558388,-0.0153989925365,0.0498547428939,0.999999966547,-8.93279625859e-06,-0.000254770509603,-4.37976824748e-05,1793243030844435712
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.079559081,635,879,788,805.079559081,652,631,652,0.400984578913,-0.0153971317004,0.0498552659859,0.999999966679,-7.5696455652e-06,-0.000254259923034,-4.39988445125e-05,1793243030861102592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.659081357,635,879,788,805.659081357,652,631,652,0.400985575149,-0.0153988032959,0.049855541838,0.999999966748,-9.31198684188e-06,-0.000253962326326,-4.38250211382e-05,1793243030877769216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.762224778,635,878.762224778,788,805.762224778,652,631,652,0.400989592731,-0.0153993877999,0.0498571062215,0.999999967425,-9.22124559996e-06,-0.00025133833011,-4.35280406358e-05,1793243030894435840
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.184714604,635,878.184714604,788,805.184714604,652,631,652,0.400997927234,-0.0153984190595,0.0498605116679,0.999999968944,-6.51138267611e-06,-0.000245390357504,-4.30550923538e-05,1793243030911102464
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.609449329,714,679,659.390550671,635,878,787.609449329,805,652.390550671,630.609449329,652,0.401025485064,-0.0153987092475,0.0498709950897,0.999999973812,-4.66970600861e-06,-0.000224898635147,-4.21186731277e-05,1793243030927769344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.035239682,714,679,659.964760318,635,878,787.035239682,805,652.964760318,630.035239682,652,0.401062082787,-0.0153995914547,0.0498848069756,0.999999979639,-3.23629929678e-06,-0.000197567619818,-4.09643036274e-05,1793243030944435968
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.553583195,744.553583195,714,679,659.446416805,635,878,787.553583195,805,652.446416805,630.553583195,652,0.401121021214,-0.0154049836122,0.0499031048501,0.999999986612,-8.57524919025e-06,-0.000158790582453,-3.85870168029e-05,1793243030961102592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.858797314,745,714,679,659.141202686,635,878.141202686,788,805,652.141202686,631,652,0.4011838262,-0.0154105902248,0.0499201653313,0.999999991415,-1.32063794062e-05,-0.000125220587964,-3.62552381675e-05,1793243030977768960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.277900167,745,714,679,659.722099833,635,878.722099833,788,805,652.722099833,631,652,0.401254122828,-0.015415946415,0.0499324593259,0.999999993238,-1.42545698508e-05,-0.000110195318704,-3.43141527646e-05,1793243030994435584
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.701850988,805,653,631,652,0.40132955962,-0.0154205232781,0.0499400234474,0.999999994322,-1.50393687346e-05,-0.000100235902658,-3.29017001458e-05,1793243031011102464
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.130248261,805,653,631,652,0.401409710819,-0.0154243853645,0.0499432494641,0.999999994862,-1.55825923784e-05,-9.49227426766e-05,-3.19740944632e-05,1793243031027769088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.455322682,745,714,679,659.544677318,635,878.544677318,787,805,652.544677318,631,652,0.401504388984,-0.0154301614135,0.0499443417616,0.999999994871,-1.85328325229e-05,-9.45310179305e-05,-3.12909662621e-05,1793243031044435712
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.95550504,745,714,679,659,635,878.04449496,787,805,652.04449496,631,652,0.40160556416,-0.0154366361786,0.0499448921617,0.999999994751,-2.19473713623e-05,-9.52870860787e-05,-3.06035872451e-05,1793243031061102336
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.372634544,745,714,679,659,635,878.627365456,787,805,652.627365456,631,652,0.401733479109,-0.0154447309241,0.0499465047355,0.999999995064,-2.23849408636e-05,-9.23579077456e-05,-2.89918076678e-05,1793243031077768960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.792564747,659,635,879,787,805,652.792564747,631,652,0.401867852933,-0.0154528576851,0.0499461532865,0.99999999496,-2.34837820246e-05,-9.35602050645e-05,-2.78326481414e-05,1793243031094436352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.217459136,659,635,879,787,805,652.217459136,631,652,0.402013674831,-0.0154610411914,0.0499423206887,0.99999999408,-2.57546996531e-05,-0.000102085371456,-2.74757390009e-05,1793243031111103744
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678.34851127,659.34851127,635,878.65148873,787.34851127,805,652.34851127,631,652,0.402182945769,-0.0154694145005,0.0499428450232,0.99999999421,-2.63309331508e-05,-0.000100962982715,-2.63366568763e-05,1793243031127770368
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,678.908927269,659.908927269,635,878.091072731,787.908927269,805,652.908927269,631,652,0.402366474402,-0.0154779032158,0.0499460184958,0.999999994944,-2.58767508911e-05,-9.39746078763e-05,-2.4721991377e-05,1793243031144436224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.490779779,635,878,787.490779779,805.509220221,652.490779779,631,652,0.402587027048,-0.0154897984797,0.0499486538829,0.999999995341,-2.8178081507e-05,-8.94388559946e-05,-2.29026683729e-05,1793243031161102848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.88840157,714,679,659,635,878.11159843,787,805.88840157,652.11159843,631,652,0.40282214391,-0.0155019919825,0.0499523039146,0.999999995885,-3.02572544333e-05,-8.29507725961e-05,-2.08165159625e-05,1793243031177769728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.309683306,714,679,659,635,878.690316694,787,805.309683306,652.690316694,631,652,0.403088151322,-0.0155126670031,0.0499606380039,0.999999997219,-2.91684849053e-05,-6.62987306391e-05,-1.77797144085e-05,1793243031194436608
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.267313831,714,678.732686169,659,635,878.732686169,787,805,652.732686169,630.732686169,652,0.403368676226,-0.0155186943834,0.0499678234982,0.999999998309,-2.18897396289e-05,-5.18946468019e-05,-1.44781357677e-05,1793243031211103232
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.842329763,714,678.157670237,659,635,878.157670237,787,805,652.157670237,630.157670237,652,0.403665912044,-0.015519371914,0.0499736868565,0.99999999911,-7.48577933506e-06,-4.00781645883e-05,-1.08717752279e-05,1793243031227769856
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.416349009,659.416349009,635,878.416349009,787.416349009,805,652,630.416349009,652,0.403992850172,-0.0155086127468,0.0499785945444,0.999999999259,2.1845065428e-05,-3.02750639623e-05,-9.35628647958e-06,1793243031244436224
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.989991702,659.989991702,635,878.989991702,787.989991702,805,652,630.989991702,652,0.404331009614,-0.0154935328768,0.0499831411867,0.999999998123,5.68151802428e-05,-2.1232604765e-05,-8.63071424105e-06,1793243031261102592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.4167339,788,805,652.5832661,631,652,0.404714776226,-0.0154985515635,0.0499883036378,0.999999997558,6.90653963021e-05,-9.26999801715e-06,-5.22938465717e-06,1793243031277769216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.172082184,787.827917816,805,652.827917816,631,652,0.405099666061,-0.015504501391,0.0499871888238,0.999999996703,8.05501225463e-05,-9.97870454477e-06,-2.30703521328e-06,1793243031294435840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.749573569,787.250426431,805,652.250426431,631,652,0.405485294155,-0.015511804111,0.0499712596107,0.999999995016,9.11818707691e-05,-4.06619762482e-05,-6.2505307666e-07,1793243031311102720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.324946014,679,660,635,879,787.324946014,805,652,631,651.675053986,0.405888443894,-0.015516163066,0.0499524113569,0.999999991542,0.000106045414827,-7.52945668451e-05,6.5668832746e-07,1793243031327769856
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.898696094,679,660,635,879,787.898696094,805,652,631,651.101303906,0.406305009616,-0.0155182680454,0.0499313280559,0.999999985913,0.000124149153586,-0.000112951067861,1.63197432047e-06,1793243031344436480
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.515626273,679,660,635,879,788,805,652,631,651.484373727,0.406780086248,-0.0155165425449,0.0499225028714,0.999999980641,0.00014817941109,-0.000129415803,3.43775523771e-06,1793243031361103104
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.928210867,635,879.071789133,788,805,652,631,652,0.407277679132,-0.0155147501395,0.0499197244712,0.999999975934,0.000173413669453,-0.000134255820559,5.89792091094e-06,1793243031377769984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.346616791,635,879.653383209,788,805,652,631,652,0.407846074095,-0.015518315349,0.0499412211942,0.999999976351,0.000198173648194,-8.88128779827e-05,1.17405412786e-05,1793243031394436608
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.464288707,635,879.767855646,788,805,652,631,652,0.408428043532,-0.0155214048265,0.0499643915693,0.999999973786,0.000223804149949,-4.50061794334e-05,1.77302168887e-05,1793243031411103232
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.613453168,635,879.193273416,788,805,652,631,652,0.409030036741,-0.0155237925482,0.0499900307599,0.999999968277,0.000250718765512,-3.61311960466e-06,2.39368144514e-05,1793243031427769856
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.382249932,745,714,679,660.617750068,635,879.382249932,788,805,652,631,652,0.409626855058,-0.0155257710844,0.0499965555093,0.999999961447,0.000276210871087,3.06833861561e-06,2.83655163956e-05,1793243031444436736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958250286,745,714,679,660.041749714,635,879.958250286,788,805,652,631,652,0.410221050367,-0.0155275422172,0.0499933917511,0.999999954166,0.000300981950493,-7.84441930993e-06,3.18930590008e-05,1793243031461103616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.454044853,744.454044853,714,679,659.454044853,635,879.454044853,787.454044853,805,652,631,652,0.410820241775,-0.015525475012,0.0499661531664,0.999999942257,0.000331069054498,-6.9262040044e-05,3.28956025622e-05,1793243031477770496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.133297491,744.133297491,714,679,659,635,879,787.133297491,805.133297491,652,631,652,0.411442400886,-0.015523739996,0.0499430046,0.999999927556,0.000360371201488,-0.000117661119955,3.42910651116e-05,1793243031494437120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.716330591,744.716330591,714,679,659,635,879,787.716330591,805.716330591,652,631,652,0.412140733878,-0.0155241377768,0.0499400030125,0.999999919017,0.000385623339751,-0.000108820521454,3.767794728e-05,1793243031511103488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.705938911,745,714.294061089,678.705938911,659.294061089,634.705938911,879,787.705938911,805.705938911,652,631,651.705938911,0.41287070277,-0.0155296005911,0.0499535957719,0.999999949905,0.000303763968623,-7.84816809823e-05,4.19366224225e-05,1793243031527770112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.133232959,745,714.866767041,678.133232959,659.866767041,634.133232959,879,787.133232959,805.133232959,652,631,651.133232959,0.413630649124,-0.0155398629031,0.0499829129151,0.99999999126,0.00012040842885,-2.77716456816e-05,4.70213858777e-05,1793243031544436480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.442569271,745,714.557430729,678.442569271,660,634.442569271,879.442569271,787,805,652,631,651.442569271,0.414357103258,-0.0155468690029,0.0499754733088,0.999999998647,1.69065054109e-05,-4.05133422362e-05,2.7902069067e-05,1793243031561103360
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.019835609,635,880,787,805,652,631,652,0.415075164776,-0.0155527380736,0.0499567339701,0.999999995653,-5.84569729242e-05,-7.26065180802e-05,2.41051565339e-06,1793243031577769984
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.612270526,635,880,787,805,652,631,652,0.415844064595,-0.0155542811506,0.0499334808697,0.999999993946,-2.03838803379e-05,-0.000108022853904,4.79313159058e-06,1793243031594436352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.800528585,745,714.199471415,679,660.800528585,635,879.800528585,787,805,652,631,652,0.416635342376,-0.0155546127823,0.0499272231465,0.99999999317,1.94537372926e-05,-0.000114928360779,8.57972869155e-06,1793243031611102976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.223241423,745,714.776758577,679,660.223241423,635,879.223241423,787,805,652,631,652,0.417469005865,-0.0155526498338,0.0499531561077,0.999999995625,6.26335123657e-05,-6.78319419055e-05,1.50255848366e-05,1793243031627769600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.648421623,679,660,634.648421623,879,787.351578377,805.351578377,651.648421623,631,651.648421623,0.418297226908,-0.0155527485003,0.0499717509275,0.9999999945,9.52348021484e-05,-3.9120288109e-05,1.99782579992e-05,1793243031644436480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.075157626,679,660,634.075157626,879,787.924842374,805.924842374,651.075157626,631,651.075157626,0.419122016218,-0.0155541471058,0.0499857187255,0.99999999213,0.000121165890408,-2.20010386436e-05,2.39894134298e-05,1793243031661103104
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.513911311,745,714,679.513911311,660,634.513911311,879,788,805.486088689,651.513911311,630.486088689,651.513911311,0.419926817319,-0.0155528683363,0.0499663410625,0.999999988259,0.000141627547779,-5.37609527865e-05,2.31156804303e-05,1793243031677769472
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.896955698,660,634.896955698,879,788,805.103044302,652,630.103044302,651.896955698,0.420754364473,-0.0155525804003,0.0499512164652,0.999999984524,0.00015745219821,-7.52705958733e-05,2.22384688014e-05,1793243031694435840
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.318529166,660,634.318529166,879,788,805.681470834,652,630.681470834,651.318529166,0.421700761233,-0.0155587272668,0.049978924555,0.999999987454,0.000155691836811,-1.54672084225e-05,2.47455669915e-05,1793243031711102464
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.258344368,660,634.258344368,879,788,805.741655632,652,631,651,0.422607904906,-0.0155618171794,0.0499907559499,0.999999987094,0.000158176310055,1.0433834363e-05,2.61243538166e-05,1793243031727769600
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.83331463,660,634.83331463,879,788,805.16668537,652,631,651,0.423466940268,-0.0155611605015,0.0499831289304,0.99999998589,0.000165863237064,-5.2157020722e-06,2.61202868555e-05,1793243031744436480
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.593832164,660,635,879.406167836,787.593832164,805,652,630.593832164,651.406167836,0.424342915103,-0.015560431911,0.0499760565179,0.999999988251,0.000150437777276,-1.40426199933e-05,2.58867394597e-05,1793243031761103104
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.021843295,660,635,879.978156705,787.021843295,805,652,630.021843295,651.978156705,0.425225805553,-0.0155596739616,0.0499692105283,0.999999991587,0.000125576513571,-2.00841523425e-05,2.55595049616e-05,1793243031777769728
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.573928853,635,880.573928853,787.573928853,805,652,630.573928853,652,0.426134931932,-0.0155610822112,0.0499914066905,0.999999989285,0.00014354842502,-3.21592506051e-07,2.86891038995e-05,1793243031794436352
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.83528711,635,880.83528711,787.83528711,805.16471289,652,631,652,0.427031910083,-0.0155614821759,0.0500000914393,0.999999986353,0.000162285450856,-3.02931188675e-06,3.07846544482e-05,1793243031811102976
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.259315296,635,880.259315296,787.259315296,805.740684704,652,631,652,0.427895955306,-0.0155591498853,0.0499721614778,0.999999981513,0.000178686551473,-6.43994376709e-05,2.9955674848e-05,1793243031827769600
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.316776513,679,660.316776513,634.683223487,880,787.316776513,806,652,631,652,0.428787247111,-0.0155585808684,0.0499545842205,0.999999979032,0.000182906140788,-8.75485415585e-05,2.8562844763e-05,1793243031844435968
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.892966559,679,660.892966559,634.107033441,880,787.892966559,806,652,631,652,0.429700851552,-0.0155594558256,0.0499454849657,0.9999999808,0.000177150088335,-7.93978146749e-05,2.67082682857e-05,1793243031861102592
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.519862323,745,714.519862323,679.480137677,661,634.480137677,879.519862323,787.519862323,805.519862323,652,631,652,0.430582987227,-0.0155605677174,0.0499476796345,0.999999983605,0.000162998216846,-7.39969182678e-05,2.73316695867e-05,1793243031877769472
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.068597024,745,714,679.931402976,661,634.931402976,879.137194049,787,805.068597024,652,631,652,0.431458253586,-0.0155609552398,0.0499499776224,0.999999985469,0.000151581734287,-7.27082135117e-05,2.82703337408e-05,1793243031894435840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.647993843,745,714,679.352006157,661,634.352006157,880.295987686,787,805.647993843,652,631,652,0.432335827639,-0.01555554632,0.0499338586296,0.999999979609,0.000174796993669,-9.73690060641e-05,2.73469300423e-05,1793243031911102720
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634,880.774606541,787,806,652,631,652,0.433231233047,-0.0155522538965,0.049934891834,0.99999997637,0.000194094187494,-9.38376519425e-05,2.7954351842e-05,1793243031927769856
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634,880.200298555,787,806,652,631,652,0.434154241959,-0.0155522378595,0.0499624770522,0.999999976941,0.000207326124541,-4.66641765092e-05,3.09315283975e-05,1793243031944436224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.62524717,745,714,679.37475283,661,634.37475283,880,787,806,651.62524717,631,651.62524717,0.435017616261,-0.0155497377775,0.0499732864578,0.999999976922,0.00020865686511,-3.96531056455e-05,3.23402774765e-05,1793243031961102848
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.049797696,745,714,679.950202304,661,634.950202304,880,787,806,651.049797696,631,651.049797696,0.435849053548,-0.0155459073798,0.0499751116754,0.999999977263,0.000203613990213,-5.4150773938e-05,3.29090644146e-05,1793243031977769216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.540663522,745,714.540663522,680,661,635,880,787,806,651,631,651.540663522,0.436646952079,-0.0155434442079,0.0499540647277,0.999999976372,0.000192951153989,-9.50312270617e-05,3.15450177232e-05,1793243031994435840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.870985672,745,714.870985672,679.870985672,661,634.870985672,880,787,805.870985672,651.129014328,631,651.870985672,0.437459479774,-0.0155425341624,0.0499417230916,0.999999975568,0.000186379591172,-0.000114830951709,3.06835725017e-05,1793243032011102720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.294876822,745,714.294876822,679.294876822,661,634.294876822,880,787,805.294876822,651.705123178,631,651.294876822,0.438333715097,-0.015546557559,0.0499670583615,0.999999978907,0.000195831230863,-5.29146662269e-05,3.21984264741e-05,1793243032027769344
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,679.191508335,661,634.191508335,880,788,806.808491665,651.808491665,631,652,0.442963718226,-0.0155530792858,0.0499871988385,0.999999979058,0.000201026783246,-3.07172572181e-06,3.82567119889e-05,1793243032127769344
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,679.766469116,661,634.766469116,880,788,806.233530884,651.233530884,631,652,0.443645420304,-0.0155524772572,0.0499847639966,0.999999976617,0.000212068887845,-1.55033472074e-05,3.94005542401e-05,1793243032144435968
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.65867709,744.65867709,714,680,661,635,880,787.65867709,806,651.34132291,631.34132291,652,0.444304909047,-0.0155497687281,0.0499636322141,0.999999973038,0.000223137761028,-5.14938982614e-05,3.8503420676e-05,1793243032161102592
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.083896506,744.083896506,714,680,661,635,880,787.083896506,806,651.916103494,631.916103494,652,0.444949204297,-0.015545619397,0.0499297121185,0.999999966547,0.000234224942222,-0.000103598259526,3.62103025398e-05,1793243032177769216
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.502959499,744.502959499,714,680,661,634.497040501,879.497040501,787,806,651.497040501,631.497040501,652,0.445596497513,-0.0155475896877,0.0499356450498,0.999999966825,0.000242976469385,-7.66399855079e-05,3.79314557315e-05,1793243032194436096
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.909597311,745,714.090402689,680,661,634.090402689,879.090402689,787.090402689,806.090402689,651,631,652,0.44623738013,-0.0155496706006,0.0499484315509,0.999999966652,0.000251994891386,-3.96612757326e-05,4.02584852051e-05,1793243032211102976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.330142169,745,714.669857831,680,661,634.669857831,879.669857831,787.669857831,806.669857831,651,631,652,0.446840811428,-0.0155466919392,0.0499614470396,0.999999963868,0.000264616610642,-2.15737117559e-05,4.21516624783e-05,1793243032227769856
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.247910768,745,714.752089232,680,661,635,880,787.752089232,806.752089232,651.247910768,631.247910768,652,0.447411193333,-0.0155444086988,0.0499586637389,0.999999960925,0.000275060237089,-2.56934342092e-05,4.28002790809e-05,1793243032244436480
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.82410685,745,714.17589315,680,661,635,880,787.17589315,806.17589315,651.82410685,631.82410685,652,0.447937810931,-0.0155430463403,0.0499349595606,0.999999957436,0.000282619615464,-5.92202147832e-05,4.18008388634e-05,1793243032261102848
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880,787,806,652,631.603764181,652,0.448451861396,-0.0155429224392,0.0499214404272,0.999999954447,0.000288302213428,-7.91470599682e-05,4.15229244523e-05,1793243032277769472
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880,787,806,652,631.033422253,652,0.448960389904,-0.0155433427164,0.0499123966029,0.999999951831,0.000293160154343,-9.30980933271e-05,4.15620485662e-05,1793243032294436096
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,651,631,651.848291319,0.449910441415,-0.0155468732419,0.0499471294252,0.999999954576,0.000294754441987,-4.24124447283e-05,4.65792056433e-05,1793243032327769600
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714.883107213,680,661.883107213,634,880.883107213,787.883107213,806.883107213,651.883107213,631,651.883107213,0.451111686425,-0.0155527642134,0.0499499217362,0.999999988149,0.000139654200341,-5.86230668317e-05,2.76007176355e-05,1793243032377770752
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.531314604,745,715,680,661.531314604,634,880.531314604,787.531314604,807,652,631,652,0.451432247246,-0.0155576709464,0.0499307720804,0.99999998887,0.000110845419234,-9.76801993222e-05,2.07626595233e-05,1793243032394437120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.944259639,679.944259639,660.944259639,634,880,787,806.944259639,652,631,652,0.451738095813,-0.0155629179911,0.0499091999177,0.999999985194,9.88614611493e-05,-0.000139923583933,1.61484916262e-05,1793243032411102976
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.364563854,679.364563854,660.364563854,634,880,787,806.364563854,652,631,652,0.452017628153,-0.0155627246109,0.0498894485638,0.99999997857,0.000109126875572,-0.000175190422569,1.6093418628e-05,1793243032427769600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.213889393,634,880,787,806,651.786110607,630.786110607,652,0.452296662106,-0.0155624397763,0.049877598053,0.999999974037,0.000119279808797,-0.000193464800302,1.64410764742e-05,1793243032444436480
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.790236967,634,880,787,806,651.209763033,630.209763033,652,0.452574851459,-0.0155619999623,0.0498791363579,0.999999974761,0.000129242129889,-0.000182943653907,1.74712043323e-05,1793243032461103104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.364274433,661,634,880,787,806.364274433,651,630,652,0.452831474261,-0.0155631859226,0.049884869572,0.999999976167,0.000135647606449,-0.000169969454915,1.94052373374e-05,1793243032477769728
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.936990088,661,634,880,787,806.936990088,651,630,652,0.453075756509,-0.015565302166,0.0498930031523,0.999999977854,0.000140017824383,-0.000155591595383,2.18564933764e-05,1793243032494436352
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.472322845,880,786.472322845,807,651,630,652,0.453281011163,-0.0155665741791,0.0498923735733,0.999999976508,0.00014713260897,-0.000157460931813,2.32655725023e-05,1793243032511103232
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.117863677,714,679.882136323,661,633.117863677,880,786.117863677,807,651.117863677,630,652,0.453472961709,-0.0155670758768,0.049888617674,0.999999974339,0.000154327901543,-0.000164064181243,2.42344295525e-05,1793243032527769856
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.697387882,714,679.302612118,661,633.697387882,880,786.697387882,807,651.697387882,630,652,0.453631698906,-0.0155649691076,0.0498768594759,0.999999970388,0.00016050959667,-0.000181342682561,2.39836106022e-05,1793243032544436224
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.433863985,680,661,633.566136015,880,786,806.433863985,651,630,651.433863985,0.454020922217,-0.0155635699086,0.0498473842805,0.999999960793,0.000168799237974,-0.000222265379511,2.27937008861e-05,1793243032594436352
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.601744304,880.601744304,786,807,651.601744304,630,651.398255696,0.454222684392,-0.0155654646265,0.0498451259105,0.999999959412,0.000170455181239,-0.000227109308988,2.32951468988e-05,1793243032627769344
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.91484749,680,661,633,880,786,807,651.91484749,630,652,0.454534872313,-0.0155650850947,0.0498250813777,0.999999950465,0.000174940522641,-0.000260685782319,2.25746353582e-05,1793243032727769600
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.242446189,661,633,880.242446189,786,807,651.242446189,630,652,0.45457678638,-0.0155640344543,0.0498213785512,0.999999948703,0.000174661017816,-0.000267559083041,2.23567528767e-05,1793243032761102848
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.032899181,661,633,880.032899181,786,807,651.032899181,630,652,0.454604176974,-0.015563545436,0.0498135724201,0.999999945823,0.000175051719406,-0.000277937406781,2.14642835775e-05,1793243032811103488
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.142820703,633,880,785.857179297,807,651.142820703,629.142820703,652,0.454614054851,-0.0155608249353,0.0498138300961,0.999999945413,0.000175955394573,-0.000278894480604,2.07632279817e-05,1793243032844436480
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714.795278744,680,661,633,880.795278744,786,807,652,630,652,0.454614178788,-0.0155607265082,0.0498059142809,0.999999942456,0.000174771983719,-0.000290042518067,2.04498521221e-05,1793243032961103616
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+250,4.166666667,HOLD_POSE2,765,745.245584625,714.754415375,680.754415375,661,633.754415375,880.245584625,786,806.754415375,652,630,652,0.454612557747,-0.0155591020318,0.0498020250353,0.999999940834,0.00017266505582,-0.000296825833295,2.03420368905e-05,1793243033149067776
+251,4.183333333,HOLD_POSE2,765.332349755,745,714.667650245,680.667650245,661,633.667650245,880,786,807,652,630,652,0.454612451091,-0.0155588770572,0.0498017284051,0.999999940528,0.000173209129988,-0.000297553514091,2.0101318636e-05,1793243033165734144
+252,4.200000000,HOLD_POSE2,765.909215078,745,714.090784922,680.090784922,661,633.090784922,880,786,807,652,630,652,0.454612947038,-0.015558103412,0.0498022276846,0.999999940643,0.000174222113648,-0.000296610324839,1.95724788235e-05,1793243033182400768
+253,4.216666667,HOLD_POSE2,766,745,714.484072287,680,661,633,880.484072287,786,807,652,630,652,0.454612598821,-0.0155575736519,0.0498021090344,0.999999940787,0.000172611236106,-0.000297088475738,1.92474939385e-05,1793243033199067648
+254,4.233333333,HOLD_POSE2,766,745,715,680,660.939768022,633,880.939768022,786,807.060231978,652,630,652,0.454612132543,-0.0155570461428,0.0498018466879,0.999999940854,0.000171025175748,-0.000297790446315,1.90457090346e-05,1793243033215734016
+255,4.250000000,HOLD_POSE2,766,745,715,680,660.348827418,633,880.348827418,786,807.651172582,652,630,652,0.454612015204,-0.0155561371212,0.0498013351121,0.999999940235,0.000173975710426,-0.000298125496344,1.9593977032e-05,1793243033232400896
+256,4.266666667,HOLD_POSE2,765.762438901,745,714.762438901,679.762438901,660.237561099,633,880,786,807.762438901,652,630,652,0.45461188343,-0.0155563195087,0.0498010779644,0.999999940047,0.000174505639527,-0.000298435640336,1.97413362745e-05,1793243033249067776
+257,4.283333333,HOLD_POSE2,765.182608907,745,714.182608907,679.182608907,660.817391093,633,880,786,807.182608907,652,630,652,0.454611730858,-0.0155580743569,0.0498011873872,0.999999940485,0.000171548052937,-0.000298709900641,1.93110815519e-05,1793243033265734400
+258,4.300000000,HOLD_POSE2,765.393754313,745,714.393754313,679.393754313,661,633,880,786,807,652,629.606245687,652,0.454611992516,-0.0155571774083,0.0498006762954,0.999999940135,0.000172955033135,-0.000299083714457,1.91370348169e-05,1793243033282400768
+259,4.316666667,HOLD_POSE2,765.96852385,745,714.96852385,679.96852385,661,633,880,786,807,652,629.03147615,652,0.454612444602,-0.015555061386,0.0497998799431,0.999999939414,0.000176368474999,-0.000299503294655,1.90807709987e-05,1793243033299067392
+260,4.333333333,HOLD_POSE2,765.444429296,745,714.444429296,680,661,633,880,786,807,652,629.555570704,652,0.454613457159,-0.0155568366794,0.0498006899715,0.999999940326,0.000173394778147,-0.000298179866853,1.92633639791e-05,1793243033315733760
+261,4.350000000,HOLD_POSE2,765,745,714.141225693,680.141225693,661,633,880,786,806.858774307,652,629.858774307,652,0.454613950481,-0.0155576614576,0.0498013057606,0.999999940817,0.00017160370736,-0.000297564789003,1.9309382912e-05,1793243033332400640
+262,4.366666667,HOLD_POSE2,765,745,714.720359415,680.720359415,661,633,880,786,806.279640585,652,629.279640585,652,0.454612733094,-0.0155548398522,0.0498010306801,0.999999939736,0.000174627104929,-0.000299459262824,1.88890079852e-05,1793243033349067520
+263,4.383333333,HOLD_POSE2,765,745,714.701372116,680.701372116,661,633,880,785.701372116,806.298627884,652,629.298627884,652,0.454611947783,-0.0155543902037,0.0498003807653,0.999999939236,0.000175208787163,-0.000300795569178,1.87332691733e-05,1793243033365734144
+264,4.400000000,HOLD_POSE2,765,745,714.123911579,680.123911579,661,633,880,785.123911579,806.876088421,652,629.876088421,652,0.454611565906,-0.0155561552816,0.0497993808629,0.999999939285,0.000173510608569,-0.000301610707361,1.88246244912e-05,1793243033382401024
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,633,880,786,806,652,630,652,0.45461496534,-0.0155546687455,0.0498015308743,0.999999940035,0.000175507213995,-0.000297932469757,1.90640381689e-05,1793243033415035136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.411901949,745,715,680.411901949,661,633,880,786,806.588098051,651.411901949,629.411901949,651.411901949,0.454614361524,-0.0155549058416,0.0498018443907,0.9999999401,0.000173752540379,-0.000298744390309,1.8999770162e-05,1793243033431701504
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.825459064,680,661,633,880,786,807,651.174540936,629.174540936,651.174540936,0.454613525548,-0.0155553982059,0.0498014438091,0.999999939996,0.000172418957211,-0.000299867603445,1.89652234105e-05,1793243033448367872
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.242885421,680,661,633,880,786,807,651.757114579,629.757114579,651.757114579,0.45461214684,-0.0155564873227,0.0497993738464,0.999999939498,0.000172069777002,-0.000301718540329,1.90001574482e-05,1793243033465034752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.335640766,680,661,633,880,786,806.664359234,651.664359234,630,652,0.454611565659,-0.0155571839185,0.0497985381449,0.999999939511,0.000170649014624,-0.00030247424642,1.91510519105e-05,1793243033481701376
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.91127289,680,661,633,880,786,806.08872711,651.08872711,630,652,0.454611554731,-0.0155575998522,0.0497985849704,0.999999939885,0.000168462044806,-0.000302446835592,1.93848609103e-05,1793243033498367744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.484225272,745,715,680,661,633,880,786,806.484225272,651.484225272,630,652,0.454611013842,-0.015557465883,0.0497988210943,0.999999939941,0.000168182335315,-0.000302421354981,1.93353222991e-05,1793243033515034624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.941426155,745,715,680,661,633,880,786,807,652,629.941426155,652,0.454609628876,-0.0155571063776,0.0497986129683,0.999999939666,0.000168651620053,-0.000303078010914,1.91871367535e-05,1793243033531701504
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.349931778,745,715,680,661,633,880,786,807,652,629.349931778,652,0.454601442919,-0.0155556065952,0.0497940490901,0.999999936871,0.000172773317143,-0.00030993772763,1.86112104691e-05,1793243033548368128
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.236723562,745,715,680,661,633,880.236723562,785.763276438,807,652,629,652,0.454584880555,-0.0155546687333,0.0497855524858,0.999999932312,0.000174282236184,-0.000323546019875,1.78896411457e-05,1793243033565034752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.816368939,745,715,680,661,633,880.816368939,785.183631061,807,652,629,652,0.454556183984,-0.0155545448792,0.0497713588676,0.999999924883,0.000172006239681,-0.000346930413781,1.69570908601e-05,1793243033581701376
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.607085745,745,715,680,660.607085745,633,880.607085745,785.392914255,806.607085745,652,629.392914255,652,0.454508552828,-0.0155519477357,0.0497510008818,0.999999912126,0.000171152789163,-0.000382397634356,1.50599473859e-05,1793243033598368000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.031977872,745,715,680,660.031977872,633,880.031977872,785.968022128,806.031977872,652,629.968022128,652,0.454452141736,-0.0155482037322,0.0497277844888,0.999999895643,0.000170958970189,-0.000423467641042,1.27155237204e-05,1793243033615034368
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.555041981,745,714.444958019,680,660.555041981,633,880,786,806,651.444958019,629.444958019,652,0.454384527672,-0.0155438629637,0.0497080292835,0.999999882937,0.000173500644852,-0.000451565972002,1.0525928588e-05,1793243033631700992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.859296789,745,714.140703211,680,661,633.140703211,880,786,806.140703211,651.140703211,629.140703211,652,0.454315134949,-0.0155395915112,0.0496918556251,0.999999872502,0.000175805571232,-0.000473299760775,8.68311186697e-06,1793243033648367872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.280055828,745,714.719944172,680,661,633.719944172,880,786,806.719944172,651.719944172,629.719944172,652,0.454242254361,-0.0155356456084,0.0496862096276,0.999999870287,0.000176870633944,-0.000477577196137,7.89270688691e-06,1793243033665034752
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,633.70122655,880,786,806.70122655,651.70122655,630,652,0.454162228505,-0.0155305505181,0.0496864508219,0.999999871055,0.000180207760292,-0.000474720909255,7.45810165331e-06,1793243033681701376
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,633.122782667,880,786,806.122782667,651.122782667,630,652,0.454075514238,-0.0155243797173,0.0496922027921,0.999999874536,0.000185671678684,-0.000465187016738,7.35654704046e-06,1793243033698368000
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.451494868,745,715,680,661,633,880,786,806.451494868,651,630,652,0.453965270092,-0.0155186786572,0.0496964112202,0.999999876743,0.000186287658437,-0.000460174822548,7.07536697225e-06,1793243033715034624
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.974579517,745,714.974579517,680,661,633,880,786,807,651,630,651.974579517,0.453847265847,-0.0155129298005,0.0497000818535,0.999999878488,0.000185855626357,-0.000456548294398,6.72907426927e-06,1793243033731700992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.383503109,745,714.383503109,680,661,633,880,786,807,651,630,651.383503109,0.453697669842,-0.0155033007936,0.049701040612,0.999999877447,0.000191171630295,-0.00045664334679,6.01093579841e-06,1793243033748367616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,807,651.203453666,630,651.203453666,0.453536055011,-0.0154931754168,0.0497016391109,0.999999875773,0.000196257916537,-0.000458158483238,5.23808125878e-06,1793243033765034240
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,807,651.782799127,630,651.782799127,0.453352234753,-0.0154821329705,0.0497015720104,0.999999872947,0.000200919786162,-0.000462297302783,4.36413586392e-06,1793243033781701120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.359293359,679.640706641,661,633,880,786,807,652,630,652,0.453153567498,-0.0154709392305,0.0497050418271,0.999999872303,0.000206929707997,-0.000461042882446,3.75421017835e-06,1793243033798367744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.934077585,679.065922415,661,633,880,786,807,652,630,652,0.452945995546,-0.015459654749,0.0497106329561,0.99999987293,0.000213748142127,-0.000456553796698,3.30263366459e-06,1793243033815034624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.508873235,661,633.508873235,880,786,807,651.491126765,630,652,0.452707136018,-0.0154495631656,0.0497192466491,0.999999876308,0.000215836247147,-0.000448098385686,2.42015920014e-06,1793243033831701504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.086282026,745,714.913717974,680,661,634,880.086282026,786,807,651,630,652,0.452457206779,-0.0154400636103,0.0497272874196,0.99999987959,0.000216174326883,-0.000440552368971,1.41401116963e-06,1793243033848368128
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.679020934,745,714.320979066,680,661,634,880.679020934,786,807,651,630,652,0.452166092423,-0.0154331320203,0.0497296668343,0.999999880585,0.000209837188612,-0.000441360383151,9.5904202083e-09,1793243033865034752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.734996471,745.265003529,714.265003529,680,661,634,880.734996471,786,806.734996471,651,630,652,0.451853519033,-0.0154300748689,0.0497288484735,0.999999881107,0.000200468532007,-0.000444519102894,-1.43021431096e-06,1793243033881701376
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.15699388,745.84300612,714.84300612,680,661,634,880.15699388,786,806.15699388,651,630,652,0.45151560012,-0.0154315938669,0.0497242531789,0.999999880959,0.000187519310621,-0.000450454270992,-2.91181143182e-06,1793243033898368000
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.988246131,745.011753869,714.011753869,680.988246131,661,634,880.988246131,786.988246131,806.988246131,651.988246131,630,652,0.450800120554,-0.0154344789937,0.0497187334589,0.999999888067,0.000157282017149,-0.000446180514588,-7.22226577887e-06,1793243033931701248
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.251259757,661,634.748740243,880,787.251259757,807,652,631,652,0.449593364082,-0.0154174544925,0.0497864331665,0.999999939649,0.000135981964899,-0.000319564623673,-9.44563344414e-06,1793243033981701376
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.072134985,634.072134985,880,787,806,651.927865015,631,652,0.434702725406,-0.0153524568599,0.0497908648284,0.999999933943,-4.55682430352e-05,-0.000352438716472,-7.63160559808e-05,1793243034331700992
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.213503701,744.213503701,714.786496299,679,659.786496299,635,878.786496299,787.213503701,805.213503701,652.786496299,631,652,0.402437642807,-0.0153717082185,0.0498245028792,0.999999931042,-0.000153575742445,-0.000331687342587,-6.56840702667e-05,1793243035115034624
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.972353513,635,879,787.972353513,805,653,631,652,0.400986299542,-0.0153935304063,0.0498509062224,0.999999958008,-0.000118304516749,-0.000260957336121,-4.34681636076e-05,1793243035598368256
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.381580238,635,879,787.381580238,805,653,631,652,0.400986816616,-0.0153912654386,0.0498511097055,0.999999958342,-0.000116483382753,-0.000260389645534,-4.41065964148e-05,1793243035615034368
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652.795074096,631,652,0.400987234577,-0.0153905222327,0.0498513073977,0.999999958532,-0.000115811920617,-0.000259911746213,-4.43714267596e-05,1793243035631700736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652.216351486,631,652,0.400987471748,-0.0153925548085,0.0498514945269,0.999999958466,-0.000117237526581,-0.00025959763139,-4.39547845594e-05,1793243035648367360
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.640999469,659,634.640999469,879,787.359000531,805.359000531,652.359000531,631,652,0.400988173865,-0.0153940152057,0.0498519329114,0.999999958617,-0.000117904956046,-0.000258755776561,-4.37103074668e-05,1793243035665034496
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,678,659,634.520826903,879,787.479173097,805.479173097,653,631,652,0.40098826273,-0.0153943460321,0.0498524071971,0.999999958912,-0.000118027594794,-0.000257604968194,-4.34113620187e-05,1793243035698368000
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.689160685,659,635,879,787,805.689160685,652.310839315,631,652,0.400987414134,-0.0153933060891,0.0498526669022,0.999999958726,-0.000118735324501,-0.000257921575161,-4.38942108585e-05,1793243035731701504
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.843065507,745,714,679,659.843065507,635,878.156934493,787,805.156934493,652,631,652,0.400988446299,-0.0153951532916,0.0498531862333,0.999999959106,-0.000119100197794,-0.000256316002637,-4.36595914564e-05,1793243035765034752
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,660,635,878.418948527,787.418948527,805.418948527,652,631,652,0.400986671457,-0.0153944130063,0.0498525916702,0.999999958693,-0.000119707369843,-0.000257585710255,-4.3980016052e-05,1793243035781701376
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diff --git a/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d75363aa8a05bc75db9073cb12dcc33939efaa1e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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