diff --git a/.gitattributes b/.gitattributes
index 7e4fe366181b42ba01c25117253be171a2b5cf59..ad36bdfdba0eb072d064c0f833a9df65fd47539b 100644
--- a/.gitattributes
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..086cec5d8cfd6dc9beefcc11f891e21a9c8c42bc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_02/simulation_data.csv
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16d8e56cfb7076125b48219acfca688228b8d7db
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 27754520
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb00df6731304fc97e58d1730737873477b09310
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/franka_data.csv
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+1,0.016666667,BASELINE,766,745.421152698,716,679,663,637,880.578847302,789,803.421152698,653,632,654.578847302,0.400994562808,-0.0153490612799,0.0798518042538,0.999999924837,0.000282466409088,-0.000263455176939,3.36082985558e-05,1793237659153561600
+2,0.033333333,BASELINE,766,745.157485018,716,678.842514982,663,637,880.685029965,788.842514982,803.157485018,652.842514982,632,654.842514982,0.400995402301,-0.0153492915544,0.0798526026534,0.999999925121,0.0002826105498,-0.00026218118273,3.3917001126e-05,1793237659170228224
+3,0.050000000,BASELINE,766,745.735563124,716,678.264436876,663,637,879.528873752,788.264436876,803.735563124,652.264436876,632,654.264436876,0.400996483319,-0.0153505964662,0.0798534328668,0.999999926077,0.000280120895757,-0.000261206904772,3.38962974041e-05,1793237659186894080
+4,0.066666667,BASELINE,766,746,716,678,662.681980537,637,879.318019463,788.318019463,804,652.318019463,632,654.318019463,0.400996645045,-0.0153501076842,0.0798534788968,0.999999926108,0.000280075611258,-0.000261164045314,3.36817554776e-05,1793237659203560448
+5,0.083333333,BASELINE,766,746,716,678,662.095832863,637,879.904167137,788.904167137,804,652.904167137,632,654.904167137,0.400996031698,-0.015348106605,0.0798528637669,0.99999992536,0.000282091221008,-0.000261906482431,3.33037849031e-05,1793237659220226816
+6,0.100000000,BASELINE,766,746,716.484522102,678.484522102,662.484522102,637,880,789,804,652.515477898,632.484522102,654.515477898,0.400995819797,-0.0153481348762,0.0798524965194,0.999999925176,0.000282458398242,-0.000262199031222,3.34347846972e-05,1793237659236893440
+7,0.116666667,BASELINE,766,746,716.93711459,679,663,636.93711459,880,788.93711459,804,652,632.93711459,654,0.400995651492,-0.0153484761893,0.0798521930271,0.999999925119,0.000282499496161,-0.000262346876244,3.36091533964e-05,1793237659253560064
+8,0.133333333,BASELINE,766,746,716.365701368,679,663,636.365701368,880,788.365701368,804,652,632.365701368,654,0.400995201236,-0.0153481414792,0.0798520133098,0.999999925208,0.000282509134223,-0.000262035627368,3.33297824197e-05,1793237659270226688
+9,0.150000000,BASELINE,766,746,716,679,663,636.208399056,880,788,804,652,632.208399056,654,0.400994831217,-0.0153480508725,0.079851810593,0.999999925305,0.000282099775921,-0.000262123415429,3.31860880617e-05,1793237659286893568
+10,0.166666667,BASELINE,766,746,716,679,663,636.787276555,880,788,804,652,632.787276555,654,0.400994603839,-0.015348394217,0.0798515669888,0.999999925417,0.000280945552822,-0.000262920585729,3.32835909028e-05,1793237659303560192
+11,0.183333333,BASELINE,766,746,716,678.625188635,663,637,880,788.374811365,804,652,632.625188635,654,0.40099340875,-0.0153485501748,0.0798509132703,0.999999925067,0.000280756781605,-0.000264459984297,3.31964817435e-05,1793237659320226816
+12,0.200000000,BASELINE,766,746,716,678.032624158,663,637,880,788.967375842,804,652,632.032624158,654,0.400991651454,-0.015348597267,0.0798500212887,0.999999924446,0.000281128906164,-0.000266430593225,3.30021190744e-05,1793237659336893184
+13,0.216666667,BASELINE,766,746,716,678,663,637,880.547684015,788.452315985,804,652.547684015,632,654.547684015,0.400993131757,-0.0153478280305,0.0798510022682,0.999999924286,0.000283033003908,-0.000265009272297,3.30099924092e-05,1793237659353559808
+14,0.233333333,BASELINE,766,746,716.126183264,678.126183264,662.873816736,637,880.873816736,788.126183264,803.873816736,652.873816736,632.126183264,654.873816736,0.400994379757,-0.0153474670593,0.0798518663845,0.999999924304,0.000284136538371,-0.000263756035548,3.30436657173e-05,1793237659370226688
+15,0.250000000,BASELINE,766,746,716.700791915,678.700791915,662.299208085,637,880.299208085,788.700791915,803.299208085,652.299208085,632.700791915,654.299208085,0.400994131843,-0.0153487259905,0.0798519273908,0.999999924871,0.000282077858482,-0.000263802446156,3.3127152013e-05,1793237659386893312
+16,0.266666667,BASELINE,766.275567796,746,716.724432204,679,662,637,880,789,803,652.275567796,633,654,0.400994293134,-0.0153489842387,0.0798520788143,0.999999925405,0.000280732154356,-0.00026322027868,3.30723911593e-05,1793237659403559936
+17,0.283333333,BASELINE,766.850525329,746,716.149474671,679,662,637,880,789,803,652.850525329,633,654,0.400994899006,-0.015348155298,0.0798523284713,0.999999925904,0.000280161060553,-0.000261955194585,3.28674321347e-05,1793237659420226560
+18,0.300000000,BASELINE,766.564041089,745.564041089,716.435958911,678.564041089,662,637,880,789,803,653,632.564041089,654,0.400993812348,-0.0153471800654,0.0798517290684,0.999999924883,0.000282660376821,-0.000263164398865,3.287340367e-05,1793237659436893696
+19,0.316666667,BASELINE,766.024705894,745,716.975294106,678,662,637,880,789,803,652.975294106,632,654.024705894,0.400992315744,-0.0153462807208,0.0798509400668,0.999999923453,0.000285972657101,-0.000265003997569,3.29546843146e-05,1793237659453560576
+20,0.333333333,BASELINE,766.605199308,745,716.394800692,678,662,637,880,789,803,652.394800692,632,654.605199308,0.400994973049,-0.0153482447151,0.0798525959712,0.999999925138,0.000283307950232,-0.000261470664519,3.30631390825e-05,1793237659470227200
+21,0.350000000,BASELINE,766.813816546,745.186183454,716,678.186183454,662,637,880,789,803.186183454,652.186183454,632,654.813816546,0.400996706619,-0.0153497173128,0.0798538063483,0.99999992634,0.000281342087597,-0.000258964886688,3.32091435299e-05,1793237659486893824
+22,0.366666667,BASELINE,766.231789131,745.768210869,716,678.768210869,662,637,880,789,803.768210869,652.768210869,632,654.231789131,0.400996476242,-0.0153501451537,0.0798540694908,0.999999926551,0.000280862035483,-0.000258643790708,3.34349822011e-05,1793237659503560192
+23,0.383333333,BASELINE,766.341559159,746,716,679,662.341559159,637,880.341559159,789,804,652.658440841,632.341559159,654,0.400995604951,-0.0153494847053,0.0798532122915,0.999999926117,0.00028115227796,-0.000260009731236,3.33730068323e-05,1793237659520227072
+24,0.400000000,BASELINE,766.909163625,746,716,679,662.909163625,637,880.909163625,789,804,652.090836375,632.909163625,654,0.400994309501,-0.0153481040227,0.0798516136452,0.999999925252,0.00028195230463,-0.00026249215968,3.31205549278e-05,1793237659536893696
+25,0.416666667,BASELINE,767,746,716,679,663,637,881,788.502598903,804,652,632.502598903,654,0.400995180247,-0.0153483834816,0.079852708001,0.999999925526,0.000281851171904,-0.000261586599845,3.28576165653e-05,1793237659553560064
+26,0.433333333,BASELINE,766.912536141,745.912536141,716,678.912536141,662.912536141,637,880.912536141,788.087463859,804,652.087463859,632,654.087463859,0.400996372748,-0.0153488892931,0.0798540295711,0.99999992601,0.000281470110411,-0.000260174978556,3.26247640948e-05,1793237659570226944
+27,0.450000000,BASELINE,766.334289441,745.334289441,716,678.334289441,662.334289441,637,880.334289441,788.665710559,804,652.665710559,632,654.665710559,0.400997054851,-0.0153488903921,0.079853747046,0.999999926453,0.000280481712936,-0.000259545768714,3.2571942357e-05,1793237659586893568
+28,0.466666667,BASELINE,766.241741377,745,716.241741377,678.241741377,662.241741377,637,880,789,804.241741377,653,632.241741377,654.758258623,0.400996959462,-0.0153492267276,0.0798534596145,0.999999926636,0.000279844563521,-0.000259506812762,3.27256531426e-05,1793237659603560448
+29,0.483333333,BASELINE,766.814735785,745,716.814735785,678.814735785,662.814735785,637,880,789,804.814735785,653,632.814735785,654.185264215,0.400995798691,-0.0153500224306,0.0798531654599,0.999999926465,0.000279688721864,-0.000260276669109,3.3162371025e-05,1793237659620227072
+30,0.500000000,BASELINE,767,745,716.600269953,679,662.600269953,637,880.399730047,788.600269953,804.600269953,652.600269953,632.600269953,654,0.400994613563,-0.0153494265866,0.0798524875701,0.999999925534,0.000281533047902,-0.000261868743429,3.31148595675e-05,1793237659636893696
+31,0.516666667,BASELINE,767,745,716.00954197,679,662.00954197,637,880.99045803,788.00954197,804.00954197,652.00954197,632.00954197,654,0.400993416797,-0.0153481658375,0.0798516263249,0.999999924229,0.000284333088696,-0.000263853687709,3.28359749355e-05,1793237659653560576
+32,0.533333333,BASELINE,766.430103036,745.569896964,716,679,662.569896964,637,881,788.569896964,803.430103036,652.569896964,632,654,0.400994623787,-0.0153484334774,0.0798524926369,0.999999925306,0.000282651630232,-0.000261554221197,3.29541691664e-05,1793237659670226944
+33,0.550000000,BASELINE,766.148116637,746,716,679,663,637,880.851883363,789,803,652.851883363,632,654,0.400995557421,-0.0153487310789,0.0798532448629,0.999999926133,0.000281253827389,-0.000259869528282,3.31400186508e-05,1793237659686893312
+34,0.566666667,BASELINE,766.723354722,746,716,679,663,637,880.276645278,789,803,652.276645278,632,654,0.400995588974,-0.0153490427193,0.0798535863106,0.999999926149,0.000280886172571,-0.000260160491753,3.35021648895e-05,1793237659703559936
+35,0.583333333,BASELINE,767,745.694862478,716,679,663,637,880,788.694862478,803.610275044,652.305137522,632,654,0.400995289605,-0.0153495880791,0.079853100763,0.999999926105,0.000280445529055,-0.000260823578986,3.33322202453e-05,1793237659720226816
+36,0.600000000,BASELINE,767,745.107015953,716,679,663,637,880,788.107015953,804.785968094,652.892984047,632,654,0.400994683638,-0.0153503499793,0.0798518490066,0.999999926006,0.000279937261684,-0.000261831437804,3.26692950296e-05,1793237659736893696
+37,0.616666667,BASELINE,767,745,716.473835977,679,663,636.526164023,880,788.473835977,804.526164023,653,632.473835977,654,0.40099393261,-0.0153500265306,0.0798520440284,0.999999925953,0.00027997611295,-0.000261987549377,3.27107335649e-05,1793237659753560576
+38,0.633333333,BASELINE,767,745.053033373,716.946966627,679,663,636.053033373,880,789,804,653,633,654,0.400993237303,-0.0153494648299,0.079852469058,0.999999925859,0.00028023879565,-0.000262040143236,3.28983495164e-05,1793237659770227200
+39,0.650000000,BASELINE,767,745.631262779,716.368737221,679,663,636.631262779,880,789,804,653,633,654,0.400993413543,-0.0153489358934,0.0798519830597,0.999999925262,0.000281512211948,-0.000262944913002,3.29810999332e-05,1793237659786893568
+40,0.666666667,BASELINE,766.793065014,746,716.206934986,679,663,637,880,789,804,652.793065014,633,654,0.400994071799,-0.0153492281657,0.0798520442266,0.999999925305,0.000281565858586,-0.000262700377372,3.31392083225e-05,1793237659803560192
+41,0.683333333,BASELINE,766.22189389,746,716.77810611,679,663,637,880,789,804,652.22189389,633,654,0.400995578471,-0.015350965887,0.0798530684852,0.999999926476,0.000279472530406,-0.000260432894454,3.3429957867e-05,1793237659820227072
+42,0.700000000,BASELINE,766.36301664,745.63698336,716.63698336,679,663,637,880.36301664,789,803.63698336,652.36301664,632.63698336,654,0.400995592573,-0.0153512253225,0.0798533170498,0.999999926162,0.000280940371134,-0.000260043881883,3.35459267689e-05,1793237659836893696
+43,0.716666667,BASELINE,766.956655717,745.043344283,716.043344283,679,663,637,880.956655717,789,803.043344283,652.956655717,632.043344283,654,0.400994658455,-0.0153505456112,0.0798530728203,0.999999924898,0.000284670602585,-0.000260848251078,3.35508584968e-05,1793237659853560576
+44,0.733333333,BASELINE,767,745,716,679,663,637,880.463427829,789,803,652.463427829,632.536572171,654,0.400994838173,-0.0153500741276,0.0798529608661,0.999999925795,0.000281536453895,-0.000260871800706,3.30773633773e-05,1793237659870227200
+45,0.750000000,BASELINE,767,745.11455928,716,678.88544072,663,637,880,788.88544072,803.11455928,652,633,654.11455928,0.400994779597,-0.0153495084165,0.0798527535174,0.99999992647,0.00027901314313,-0.000261050260479,3.26137652277e-05,1793237659886893824
+46,0.766666667,BASELINE,767,745.689139128,716,678.310860872,663,637,880,788.310860872,803.689139128,652,633,654.689139128,0.400993411842,-0.0153484984687,0.0798521212683,0.999999925617,0.00028111381899,-0.000262097736732,3.23412300758e-05,1793237659903560448
+47,0.783333333,BASELINE,767,746,716.264429317,678.264429317,663,637,880,788.264429317,804,652,632.735570683,654.735570683,0.40099288316,-0.0153483966025,0.0798520043143,0.999999925344,0.000282083943848,-0.000262080642903,3.24662011521e-05,1793237659920227072
+48,0.800000000,BASELINE,767,746,716.840556902,678.840556902,663,637,880,788.840556902,804,652,632.159443098,654.159443098,0.400993343545,-0.0153493651447,0.0798524947689,0.999999925759,0.000281721422534,-0.000260808678329,3.30597359829e-05,1793237659936893440
+49,0.816666667,BASELINE,767,746,716.574069787,679,663,637,880,788.574069787,803.574069787,652,632,654,0.40099458992,-0.0153499873525,0.0798532773726,0.999999926069,0.000281000566651,-0.000260371310071,3.32725094084e-05,1793237659953559808
+50,0.833333333,BASELINE,766.985375182,746,716,679,662.985375182,637,880,788,803.014624818,652,632,654,0.400996070116,-0.0153504668539,0.0798541362139,0.99999992634,0.000280131816808,-0.000260260747922,3.33305337673e-05,1793237659970226688
+51,0.850000000,BASELINE,766.40505566,746,716,679,662.40505566,637,880,788,803.59494434,652,632,654,0.400994961241,-0.0153505524909,0.0798536198751,0.999999926663,0.000278846155789,-0.000260438365505,3.30384293239e-05,1793237659986893312
+52,0.866666667,BASELINE,766,746,716.173290933,679,662.173290933,637,880,788.173290933,804,652,632,654,0.400994045758,-0.015350412922,0.0798531007244,0.999999926735,0.000278301255686,-0.000260778186841,3.27578061407e-05,1793237660003559936
+53,0.883333333,BASELINE,766,746,716.747077818,679,662.747077818,637,880,788.747077818,804,652,632,654,0.400993577224,-0.0153497528754,0.0798525750751,0.999999926231,0.00027946834221,-0.000261492880329,3.25037175326e-05,1793237660020226816
+54,0.900000000,BASELINE,766,746,716.670979384,679,663,636.670979384,880,789,804,652.329020616,632,654,0.400994388696,-0.0153492746996,0.0798528573913,0.999999926025,0.0002811877259,-0.000260422926148,3.25976550628e-05,1793237660036893696
+55,0.916666667,BASELINE,766,746,716.0826077,679,663,636.0826077,880,789,804,652.9173923,632,654,0.400996209134,-0.0153489398837,0.0798537765875,0.999999926047,0.000283342458726,-0.000257946220333,3.29659248078e-05,1793237660053560576
+56,0.933333333,BASELINE,766,746,716.498417876,679,663,636.498417876,880,789,804,653,632.498417876,654,0.400996448088,-0.0153490893858,0.0798544135143,0.999999926446,0.00028184179767,-0.000258054462589,3.28866331976e-05,1793237660070226944
+57,0.950000000,BASELINE,766,746,716.922108319,678.922108319,662.922108319,637,880,788.922108319,804,653,632.922108319,654,0.400996456803,-0.0153491437428,0.079854854928,0.99999992675,0.000280407176321,-0.000258454294202,3.27606831139e-05,1793237660086893568
+58,0.966666667,BASELINE,766,746,716.344890719,678.344890719,662.344890719,637,880,788.344890719,804,653,632.344890719,654,0.400996645458,-0.0153480810666,0.0798543385498,0.999999926068,0.000283223269283,-0.000258016805057,3.28042454026e-05,1793237660103560192
+59,0.983333333,BASELINE,766,745.768560975,716,678.231439025,662.231439025,637,880,788.231439025,804,653,632.231439025,654,0.400996485864,-0.0153482273403,0.0798536669075,0.999999925809,0.000283585004536,-0.00025862537249,3.27852781043e-05,1793237660120226816
+60,1.000000000,BASELINE,766,745.193549175,716,678.806450825,662.806450825,637,880,788.806450825,804,653,632.806450825,654,0.40099580929,-0.0153501683078,0.0798527647742,0.999999926176,0.000280303229823,-0.00026078681782,3.26734852236e-05,1793237660136893440
+61,1.016666667,BASELINE,766,745.391429488,716,678.608570512,662.608570512,636.608570512,880,789,804,652.608570512,632.608570512,654,0.400995913248,-0.0153503897837,0.0798532302775,0.999999926568,0.000279304843348,-0.000260339398348,3.279083825e-05,1793237660153559808
+62,1.033333333,BASELINE,766,745.981465173,716,678.018534827,662.018534827,636.018534827,880,789,804,652.018534827,632.018534827,654,0.400996413237,-0.0153497388119,0.0798543897016,0.999999926976,0.00027946501836,-0.00025856827491,3.30244569158e-05,1793237660170226688
+63,1.050000000,BASELINE,766.559786798,746,716,678.559786798,662.559786798,636.559786798,880,789,804,652.559786798,632,654,0.400996841336,-0.0153508020581,0.0798552253071,0.999999927206,0.000279483778434,-0.000257648998043,3.30790659177e-05,1793237660186893824
+64,1.066666667,BASELINE,766.863086366,746,716.136913634,679,663,637,880.136913634,789,804,652.863086366,632.136913634,654,0.400996862402,-0.0153514381704,0.0798555642722,0.999999927278,0.000279408140519,-0.000257456013088,3.3037026128e-05,1793237660203560704
+65,1.083333333,BASELINE,766.28856411,746,716.71143589,679,663,637,880.71143589,789,804,652.28856411,632.71143589,654,0.400995589944,-0.0153505313653,0.079854349423,0.999999926863,0.000279045443182,-0.000259496127965,3.27046298773e-05,1793237660220227072
+66,1.100000000,BASELINE,766,746,717,679,663,637,880.713291773,789,804,652.286708227,632.713291773,654,0.400995556315,-0.0153505884676,0.0798539024984,0.999999927024,0.000278102981189,-0.000259893995145,3.26546650349e-05,1793237660236893440
+67,1.116666667,BASELINE,766,746,717,679,663,637,880.137262553,789,804,652.862737447,632.137262553,654,0.400996772803,-0.0153516182615,0.0798542304966,0.999999927766,0.000276575471183,-0.000258634648744,3.2889705411e-05,1793237660253560064
+68,1.133333333,BASELINE,766.452150843,745.547849157,716.547849157,679,663,637,880,788.547849157,804,653,632,654,0.400995668238,-0.0153522258822,0.0798538366725,0.999999927448,0.000276903567041,-0.000259482996439,3.31133323734e-05,1793237660270227200
+69,1.150000000,BASELINE,767,745,716,679,663,637,880,788,804,652.955700207,632,654,0.400994107435,-0.0153525383081,0.0798533567513,0.99999992685,0.000277865005223,-0.000260732406261,3.32990790684e-05,1793237660286894080
+70,1.166666667,BASELINE,767,745,716,679,663,637,880,788,804,652.380932969,632,654,0.400995778252,-0.0153508974168,0.0798545498561,0.999999926893,0.000279459171093,-0.000258888766934,3.30739840679e-05,1793237660303560192
+71,1.183333333,BASELINE,766.80594639,745.19405361,716,679,663,637,880,788.19405361,804,652.19405361,632,654,0.400996512374,-0.0153499912975,0.079854934698,0.999999926915,0.000280067706651,-0.000258168192846,3.28946475839e-05,1793237660320226560
+72,1.200000000,BASELINE,766.23052865,745.76947135,716,679,663,637,880,788.76947135,804,652.76947135,632,654,0.400995405657,-0.0153505291893,0.0798537311,0.999999926904,0.000278739231135,-0.000259654723967,3.28052380489e-05,1793237660336892928
+73,1.216666667,BASELINE,766.355190517,745.644809483,716.355190517,679,663,637,880,789,804,653,632.355190517,654,0.400994814284,-0.0153508800721,0.0798527997962,0.999999926942,0.000277860361315,-0.000260455645745,3.2737038944e-05,1793237660353559808
+74,1.233333333,BASELINE,766.947795265,745.052204735,716.947795265,679,663,637,880,789,804,653,632.947795265,654,0.400994567376,-0.0153511059554,0.0798520504976,0.999999927015,0.00027728201421,-0.000260798296715,3.26830171876e-05,1793237660370226688
+75,1.250000000,BASELINE,766.472500684,745.527499316,716.472500684,679,662.472500684,637,880,789,804,653,633,654,0.40099628704,-0.0153517027616,0.0798536686732,0.999999927611,0.000276893877207,-0.000258891373031,3.29237566721e-05,1793237660386893312
+76,1.266666667,BASELINE,766.105102696,746,716,679,662.105102696,637,880,788.894897304,804,653,633,654,0.400997567551,-0.0153521812531,0.0798550948316,0.999999928067,0.000276654551155,-0.000257350618612,3.31374471238e-05,1793237660403559936
+77,1.283333333,BASELINE,766.678895922,746,716,679,662.678895922,637,880,788.321104078,804,653,633,654,0.400996042536,-0.0153519723469,0.0798546448296,0.9999999277,0.000276996885549,-0.000258411841101,3.31035356894e-05,1793237660420226560
+78,1.300000000,BASELINE,766.747124259,746,716.252875741,679,662.747124259,637,880,788,803.747124259,652.747124259,633,654.252875741,0.400995398839,-0.0153515548772,0.0798543177213,0.999999927357,0.000277772154224,-0.000258915905833,3.30300105007e-05,1793237660436893184
+79,1.316666667,BASELINE,766.172907371,746,716.827092629,679,662.172907371,637,880,788,803.172907371,652.172907371,633,654.827092629,0.400995875073,-0.0153508723759,0.0798541467798,0.999999927045,0.000279097572907,-0.000258711963812,3.29061462465e-05,1793237660453559808
+80,1.333333333,BASELINE,766,746,717,679,662.413784135,637,880,788.413784135,803.827568271,652,632.586215865,654.586215865,0.400995387765,-0.0153514936941,0.0798538448442,0.999999926952,0.000279086694978,-0.000259066255932,3.30205350992e-05,1793237660470226432
+81,1.350000000,BASELINE,766.005712172,746,717,679,663,637,880,789,805,652.005712172,632,654,0.400994485228,-0.0153526498051,0.0798534771844,0.999999926949,0.000278505980175,-0.000259677520411,3.32308977465e-05,1793237660486893056
+82,1.366666667,BASELINE,766.583781817,746,717,679,663,637,880,789,805,652.583781817,632,654,0.400993574689,-0.0153511037149,0.0798521792539,0.999999926371,0.000278518157414,-0.000261937341603,3.27719816331e-05,1793237660503559936
+83,1.383333333,BASELINE,766.83893079,746,716.83893079,679,663,636.83893079,880.16106921,788.83893079,804.83893079,652.83893079,632,654.16106921,0.400993591038,-0.0153503744965,0.0798518220326,0.999999926304,0.000278302507554,-0.000262453045148,3.25177190164e-05,1793237660520226560
+84,1.400000000,BASELINE,766.26365492,746,716.26365492,679,663,636.26365492,880.73634508,788.26365492,804.26365492,652.26365492,632,654.73634508,0.40099599098,-0.0153517459512,0.0798538839453,0.999999927552,0.000277500975994,-0.000258483564522,3.27897446074e-05,1793237660536893440
+85,1.416666667,BASELINE,766.318849461,746,716,679,663,636.318849461,880.681150539,788.318849461,804,652,632,654.681150539,0.400997000166,-0.0153509351078,0.0798550922482,0.999999927849,0.000278360097985,-0.000256399720485,3.28183336808e-05,1793237660553560064
+86,1.433333333,BASELINE,766.907469676,746,716,679,663,636.907469676,880.092530324,788.907469676,804,652,632,654.092530324,0.400996832665,-0.0153482778752,0.0798555783325,0.999999927347,0.000280624258496,-0.000255911267821,3.26409570371e-05,1793237660570226688
+87,1.450000000,BASELINE,766.511349181,746,716,679,662.511349181,637,880,788.511349181,804,652.488650819,632,654,0.400995530778,-0.0153489644612,0.0798542961565,0.999999927115,0.000279273214262,-0.000258307354138,3.24613595993e-05,1793237660586893312
+88,1.466666667,BASELINE,766,746,716.068018577,679,662.068018577,637,880,788,804,652.931981423,632.068018577,654,0.400994229342,-0.0153502273155,0.0798529232554,0.99999992692,0.000277628505459,-0.000260834980673,3.2366513882e-05,1793237660603559936
+89,1.483333333,BASELINE,766,746,716.644204784,679,662.644204784,637,880,788,804,652.355795216,632.644204784,654,0.400994512033,-0.0153511359075,0.0798533365963,0.999999926701,0.000278827568618,-0.000260325776072,3.29079439624e-05,1793237660620226560
+90,1.500000000,BASELINE,766.223384758,745.776615242,716.776615242,679,663,637,880,788.223384758,804,652,632.776615242,654,0.400995409662,-0.0153519493009,0.0798539780892,0.999999926933,0.000278894311964,-0.00025933144468,3.31554642655e-05,1793237660636893184
+91,1.516666667,BASELINE,766.80739776,745.19260224,716.19260224,679,663,637,880,788.80739776,804,652,632.19260224,654,0.400997300037,-0.0153526090071,0.0798549879062,0.999999927889,0.000277133058919,-0.000257553933574,3.29285019801e-05,1793237660653559808
+92,1.533333333,BASELINE,766.609934783,745.390065217,716.390065217,678.609934783,663,637,880,789.390065217,804,652,632,654,0.400997199202,-0.0153527738945,0.0798551420152,0.999999928199,0.000276069093358,-0.000257532788408,3.26320708558e-05,1793237660670226432
+93,1.550000000,BASELINE,766.02792938,745.97207062,716.97207062,678.02792938,663,637,880,789.97207062,804,652,632,654,0.400996118548,-0.0153526952955,0.0798548750541,0.999999928191,0.000275348243313,-0.000258375901654,3.2301456038e-05,1793237660686893056
+94,1.566666667,BASELINE,766,746,716.4510009,678,663,637,880,789.4510009,804,652.5489991,632,654,0.400997080066,-0.0153525829824,0.079854912549,0.99999992828,0.000276033090652,-0.000257270138188,3.25100003237e-05,1793237660703559936
+95,1.583333333,BASELINE,766,746,716,678.125540559,663,637,880,788.874459441,804,653,632,654,0.400997251054,-0.0153523384651,0.0798545260077,0.999999928164,0.000276541079743,-0.000257150645605,3.2707187817e-05,1793237660720226560
+96,1.600000000,BASELINE,766,746,716,678.70161167,663,637,880,788.29838833,804,653,632,654,0.400994215626,-0.0153516256021,0.0798525626418,0.999999927291,0.000276160086531,-0.000260923154278,3.2766086536e-05,1793237660736892928
+97,1.616666667,BASELINE,766,746,716.282582992,679,663,637,880,788,803.717417008,652.717417008,632,654,0.400993012325,-0.0153509907985,0.079851876107,0.999999926804,0.000276628638999,-0.000262289557279,3.27569579611e-05,1793237660753560320
+98,1.633333333,BASELINE,766,746,716.868819877,679,663,637,880,788,803.131180123,652.131180123,632,654,0.400993777764,-0.015350439875,0.0798525616106,0.999999926742,0.00027801008385,-0.000261070442252,3.26747296098e-05,1793237660770228224
+99,1.650000000,BASELINE,766,746,716.550084894,679,663,637,880,788.449915106,803.449915106,652.449915106,632.449915106,654,0.400995339004,-0.0153502634326,0.0798536549795,0.999999926848,0.000279509738459,-0.000259056474367,3.26785366673e-05,1793237660786894592
+100,1.666666667,BASELINE,766.029536455,746,716,678.970463545,662.970463545,637,880,788.970463545,804.029536455,653,633,654,0.400997007582,-0.0153502189289,0.0798547855002,0.999999927011,0.000280868595125,-0.000256947069883,3.27109350692e-05,1793237660803560704
+101,1.683333333,BASELINE,766.609312863,746,716,678.390687137,662.390687137,637,880,788.390687137,804.609312863,653,633,654,0.400996402116,-0.015350621266,0.079854417782,0.999999927441,0.000278969683486,-0.000257328334542,3.28139333267e-05,1793237660820227072
+102,1.700000000,BASELINE,766.81306168,745.81306168,716.18693832,678.18693832,662.18693832,637,880.18693832,788.18693832,804.626123361,653,632.81306168,654,0.400996269475,-0.0153509806926,0.0798543384621,0.999999927755,0.000277603224212,-0.000257578697052,3.2854648524e-05,1793237660836893696
+103,1.716666667,BASELINE,766.239880486,745.239880486,716.760119514,678.760119514,662.760119514,637,880.760119514,788.760119514,803.479760972,653,632.239880486,654,0.400997113761,-0.0153512514595,0.0798548550169,0.999999927837,0.000277336892386,-0.000257558595854,3.27666774754e-05,1793237660853560064
+104,1.733333333,BASELINE,766.342576063,745.342576063,716.657423937,679,663,637,881,789,803.342576063,653,632.342576063,654,0.400996668373,-0.0153524279007,0.0798548381629,0.999999928227,0.000275806501616,-0.000257675850649,3.28641569087e-05,1793237660870226688
+105,1.750000000,BASELINE,766.931708257,745.931708257,716.068291743,679,663,637,881,789,803.931708257,653,632.931708257,654,0.400995294793,-0.0153542561667,0.0798544374082,0.999999928834,0.000273366352327,-0.000257891962208,3.30951072848e-05,1793237660886893568
+106,1.766666667,BASELINE,767,745.487726783,716.512273217,679,663,637,880.487726783,789,804,653,633,654,0.400997387387,-0.0153523879533,0.0798552314729,0.999999928881,0.000274980054914,-0.000256035026421,3.27031065542e-05,1793237660903560448
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,717,679,663,637,880,789,804,652,632,654,0.400996629132,-0.0153507118083,0.0798546426647,0.999999927177,0.000279354011916,-0.00025791732493,3.29570519353e-05,1793237660946447360
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,717,679,662.42836787,637,880.57163213,789,804,652,632.57163213,654,0.400995210594,-0.0153506581597,0.0798536214824,0.999999926248,0.000281070987982,-0.000259665404591,3.281312384e-05,1793237660963113984
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,716.851218465,678.851218465,662.148781535,637,881,789,804,652,632.851218465,654,0.400994546139,-0.0153510266567,0.0798532448725,0.999999925829,0.000281827869246,-0.000260461927074,3.27929430832e-05,1793237660979780352
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,716.257571967,678.257571967,662.742428033,637,881,789,804,652,632.257571967,654,0.400996136434,-0.0153526573923,0.0798547955692,0.999999926942,0.000279714014711,-0.000258413241734,3.31427736346e-05,1793237660996446464
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,716,678,663,637,880.673173229,789,804,652,632,654,0.400996662376,-0.015352669943,0.0798554526764,0.999999927411,0.000278874093689,-0.00025752678301,3.29793393338e-05,1793237661013113088
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,716,678,663,637,880.095862131,789,804,652,632,654,0.400996372586,-0.0153514422955,0.079855424925,0.99999992739,0.000279010532156,-0.000257531070138,3.2422532094e-05,1793237661029779456
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766.945190774,746,717,679,663,637,880,789,804,652.945190774,632,654,0.400993426071,-0.0153513642752,0.0798529748684,0.999999927081,0.000276508641759,-0.000261361142355,3.27411343159e-05,1793237661063112704
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,716.768028224,679,663,637,880,789,804,652,632,654,0.401000544088,-0.0153524989803,0.0798571314319,0.999999928465,0.000278071004872,-0.000254279847132,3.29878132536e-05,1793237661096445952
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,716.188468531,679,663,637,880,789,804,652,632,654,0.401007379361,-0.0153533859667,0.0798608546523,0.999999930416,0.00027589229171,-0.00024891247622,3.30724580423e-05,1793237661113112576
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.38749659,746,716,679,663,637,880,789,804,652,632.38749659,654,0.401026474858,-0.0153551280317,0.0798693576077,0.999999934257,0.000274869198416,-0.000234072707626,3.38178192819e-05,1793237661129779968
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.961729523,746,716,679,663,637,880,789,804,652,632.961729523,654,0.401051478612,-0.015357282163,0.0798801639391,0.999999938702,0.000274403003237,-0.00021466814761,3.48815827361e-05,1793237661146447616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.450930252,746,716,679,663,637,880.549069748,789,803.450930252,652.549069748,633,654,0.401098470283,-0.0153569288277,0.0798970038579,0.999999944497,0.000276506816784,-0.000182444368713,3.55449205645e-05,1793237661163113472
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,716,678.864684702,663,637,880.864684702,788.864684702,803,652.864684702,633,654,0.401151793575,-0.0153574280506,0.0799147108755,0.999999949643,0.00027783471431,-0.000149054199438,3.61291448651e-05,1793237661179779584
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,716,678.285105822,663,637,880.285105822,788.285105822,803,652.285105822,633,654,0.401220749941,-0.015361314209,0.0799338502468,0.999999954647,0.000276012645064,-0.000114839839843,3.65474999526e-05,1793237661196446720
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,716,678.2928207,663,637,880,788.2928207,803,652.2928207,632.7071793,654.2928207,0.401290799589,-0.015363789384,0.0799473671528,0.999999957201,0.000275219913039,-9.2440669234e-05,3.61539842418e-05,1793237661213113600
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,716,678.869147394,663,637,880,788.869147394,803,652.869147394,632.130852606,654.869147394,0.401361907736,-0.0153648984591,0.0799554404447,0.99999995814,0.000275423775051,-8.14808453076e-05,3.49744235704e-05,1793237661229779968
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.446440137,746,716.446440137,679,663,637,880,788.553559863,803.446440137,652.553559863,632,654.553559863,0.401442583305,-0.0153677217772,0.0799585941298,0.999999958882,0.000274866074634,-7.47939927539e-05,3.30145566871e-05,1793237661246446336
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975669917,746,716.975669917,679,663,637,880,788,804,652.024330083,632,654,0.401526700348,-0.0153710289473,0.0799603144834,0.999999959575,0.000274006530116,-6.94495572149e-05,3.07618980951e-05,1793237661263112960
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.390555352,746,716.390555352,679,663,637,880,788,804,652.609444648,632,654,0.401625365036,-0.0153738823764,0.0799623055088,0.999999960634,0.000271345834303,-6.6116919422e-05,2.70436386927e-05,1793237661279779584
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,716.192611439,679,663,637,880.192611439,788,804,653,632,654,0.401734671198,-0.01537720044,0.0799651442006,0.999999961739,0.000268761249917,-6.11848092101e-05,2.33562813096e-05,1793237661296446208
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,716.771868223,679,663,637,880.771868223,788,804,653,632,654,0.401865338885,-0.0153814512036,0.0799696844853,0.999999962933,0.000266329450804,-5.30419421772e-05,1.97309566298e-05,1793237661313112832
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,716.649791284,678.649791284,662.649791284,637,880.649791284,788.350208716,804,653,632,654,0.402007013255,-0.0153867909827,0.0799731286261,0.999999964841,0.00026071310306,-4.59147349712e-05,1.54632975797e-05,1793237661329779712
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,716.072046064,678.072046064,662.072046064,637,880.072046064,788.927953936,804,653,632,654,0.402155838865,-0.0153928383141,0.0799758605842,0.999999967152,0.000253027700158,-3.9447418259e-05,1.07783027068e-05,1793237661346446592
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.503000391,746,716.503000391,678.503000391,662.503000391,637,880.503000391,789,804,653,632,654,0.402317234677,-0.0153994917404,0.0799728812064,0.999999969422,0.00024291688137,-4.60619566311e-05,5.01955340561e-06,1793237661363113216
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,880.920249654,789,804,653,632,654,0.402483380119,-0.0154062638793,0.0799688471936,0.999999972965,0.000225989228268,-5.47445826209e-05,-1.07446581798e-06,1793237661379779584
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,880.330137368,789,804,653,632,654,0.402668460306,-0.0154132431305,0.079963271215,0.999999983817,0.00016764858461,-6.47348779371e-05,-8.33507740033e-06,1793237661396446208
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.744767403,746,717,679,663,637,880,789,804,652.744767403,632,654,0.402876441649,-0.0154205603828,0.0799610034401,0.999999989229,0.000129802696114,-6.67791515771e-05,-1.52720556965e-05,1793237661413112832
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.165419661,746,717,679,663,637,880,789,804,652.165419661,632,654,0.403113504735,-0.0154283068563,0.0799629366923,0.999999991078,0.000117982721527,-5.87329191301e-05,-2.17980576736e-05,1793237661429779200
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.411528438,746,717,679,663,637,880,789,804,652.411528438,632.411528438,654,0.403370396164,-0.0154355870451,0.0799652773084,0.999999992088,0.000111782528416,-5.19135736895e-05,-2.51599916362e-05,1793237661446445824
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.987517544,746,717,679,663,637,880,789,804,652.987517544,632.987517544,654,0.403635211662,-0.0154426808905,0.079967780721,0.999999992776,0.000107828190152,-4.55845339454e-05,-2.72574569547e-05,1793237661463112704
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.426174079,746,717,679,663,637,880.573825921,789,804,653,632.426174079,654.573825921,0.403918716444,-0.0154493073353,0.0799686030012,0.999999993592,0.000100000633195,-4.73772057674e-05,-2.39119198375e-05,1793237661479779840
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,716.841497783,679,663,637,880.841497783,789,804,652.841497783,632,654.841497783,0.404216753198,-0.0154574117399,0.0799696159502,0.999999994613,8.96989289957e-05,-4.71256782886e-05,-2.25119868993e-05,1793237661496446720
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,716.261766413,679,663,637,880.261766413,789,804,652.261766413,632,654.261766413,0.404552309278,-0.0154694714259,0.0799712345788,0.999999996139,7.30500424854e-05,-4.09634540144e-05,-2.66030365616e-05,1793237661513113344
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,716.317460886,678.682539114,663,637,880,789,804,652.317460886,632.317460886,654,0.404906346881,-0.0154807121642,0.079969179109,0.999999997136,5.72380983358e-05,-4.00451086102e-05,-2.91113873973e-05,1793237661529779712
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,716.896273269,678.103726731,663,637,880,789,804,652.896273269,632.896273269,654,0.405275599539,-0.0154912787006,0.0799640989168,0.99999999771,4.21151699724e-05,-4.34438159289e-05,-3.03167727817e-05,1793237661546446336
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.471532122,746,717,678.471532122,663,637,880.471532122,789,804,652.528467878,632.528467878,654,0.405654311556,-0.0155050736072,0.0799556359128,0.999999997381,2.9413842144e-05,-5.88326592398e-05,-3.02053803409e-05,1793237661563112960
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.95280691,745.95280691,716.95280691,678.95280691,662.95280691,637,880.95280691,789,804,652.04719309,632,654.04719309,0.406037872658,-0.015519224318,0.0799471847377,0.999999996556,1.74922631351e-05,-7.55202787313e-05,-2.96480327824e-05,1793237661579779584
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.363616943,745.363616943,716.363616943,678.363616943,662.363616943,637,880.363616943,789,804,652.636383057,632,654.636383057,0.406453405031,-0.0155293662656,0.0799473517333,0.999999996623,8.453719616e-06,-7.70589194761e-05,-2.72708310182e-05,1793237661596446208
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.22180823,745.22180823,716,678.22180823,662.22180823,637,880,789,803.77819177,653,632,654.77819177,0.406887529785,-0.0155277336131,0.0799499294594,0.999999996808,1.18137522098e-05,-7.43275305125e-05,-2.68314569016e-05,1793237661613112832
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.801164632,745.801164632,716,678.801164632,662.801164632,637,880,789,803.198835368,653,632,654.198835368,0.407351624871,-0.0155071206601,0.0799563932102,0.999999996852,3.51599158792e-05,-6.47129824009e-05,-2.95158026083e-05,1793237661629780224
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.623328496,746,716,679,663,637,880,789,803.376671504,652.623328496,632.376671504,654,0.407829403058,-0.0155017923171,0.0799522226019,0.999999996088,3.92733087431e-05,-7.28728911953e-05,-3.11761030039e-05,1793237661646447104
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.049833154,746,716,679,663,637,880,789,803.950166846,652.049833154,632.950166846,654,0.408314331121,-0.0155044507102,0.0799424951744,0.999999994844,3.33369154931e-05,-9.03205664091e-05,-3.23013043566e-05,1793237661663113728
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716.526868464,679,663,636.473131536,880.526868464,789,803.473131536,652,633,654,0.408849473599,-0.0155144099815,0.0799506057926,0.999999996276,2.07709595567e-05,-7.67717243671e-05,-3.35070194997e-05,1793237661679779840
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716.893406584,679,663,636.106593416,880.893406584,788.893406584,803.106593416,652,632.893406584,654.106593416,0.409397283402,-0.0155235883641,0.0799636112935,0.999999997878,8.45545727748e-06,-5.47179082916e-05,-3.43245456493e-05,1793237661696446464
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716.301300865,679,663,636.698699135,880.301300865,788.301300865,803.698699135,652,632.301300865,654.698699135,0.409981024909,-0.0155260453965,0.0799911801655,0.999999999417,1.54297540134e-07,-7.36097138885e-06,-3.33390474353e-05,1793237661713113344
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.71783379,716,679,663,636.71783379,880.28216621,788.28216621,804,652.28216621,632,654.71783379,0.410565682392,-0.0155258698054,0.0800062337724,0.999999999283,-2.81513248062e-06,1.79302514705e-05,-3.32209028415e-05,1793237661729780480
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.143317085,716,679,663,636.143317085,880.856682915,788.856682915,804,652.856682915,632,654.143317085,0.411151288983,-0.0155229665712,0.0800083204016,0.999999999215,-2.60394545842e-07,2.03593435604e-05,-3.40014173857e-05,1793237661746447360
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.433029322,716,679,663,636.433029322,881,788.566970678,804,653,632.433029322,654,0.411744101317,-0.0155196783184,0.0799881855744,0.999999999211,7.54469399163e-09,-1.39149572878e-05,-3.72058019917e-05,1793237661763113472
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.010167514,746,716,679,663,637,881,788.010167514,804,652.989832486,633,654,0.412339726827,-0.0155163406703,0.0799608395331,0.99999999736,-5.34453237159e-07,-5.98430807843e-05,-4.12171652143e-05,1793237661779779584
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.597737021,746,716,679,663,637,881,788.597737021,804,652.402262979,633,654,0.412959104471,-0.015517465064,0.0799434026942,0.999999996168,-3.90895731633e-06,-7.48088274552e-05,-4.53058387038e-05,1793237661796445952
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716.18384817,679,663,637,880.81615183,789,803.81615183,652,633,654,0.413600770869,-0.015519725954,0.0799369756771,0.999999996012,-6.77405870485e-06,-7.53178000267e-05,-4.75082158783e-05,1793237661813112576
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716.766793486,679,663,637,880.233206514,789,803.233206514,652,633,654,0.414290821604,-0.0155244539472,0.0799544487541,0.999999997936,-8.53334980834e-06,-4.44440427992e-05,-4.56158254982e-05,1793237661829779456
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.655803151,746,716.655803151,679,663,637,880.344196849,789,803.344196849,652,632.655803151,654.344196849,0.414989422525,-0.0155267323904,0.0799736376332,0.999999998815,-1.33260266562e-05,-1.31547786747e-05,-4.493021874e-05,1793237661846446080
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.082095197,746,716.082095197,679,663,637,880.917904803,789,803.917904803,652,632.082095197,654.917904803,0.415693724698,-0.0155273774688,0.0799939706118,0.999999998613,-2.01413707373e-05,1.84115449928e-05,-4.50492976251e-05,1793237661863112704
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.494086302,746,716,679,663,637,881,789,804,652.494086302,632,654.505913698,0.416386281291,-0.01552492275,0.0799802179653,0.999999998661,-1.81524178644e-05,-1.29720773663e-05,-4.6682740331e-05,1793237661879779328
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.927983882,746,716,679,663,637,881,789,803.927983882,652.927983882,632,654,0.417083359813,-0.0155230241565,0.0799647648398,0.999999997672,-1.64027664904e-05,-4.51729047456e-05,-4.84439282182e-05,1793237661896446208
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.340496972,746,716,679,663,637,881,789,803.340496972,652.340496972,632,654,0.417826843901,-0.0155288112713,0.0799778819815,0.999999998391,-2.68895520593e-05,-7.98033967702e-06,-4.93093932e-05,1793237661913113344
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.243866585,746,716,679.243866585,663,637,880.756133415,789,803.243866585,652,632.243866585,654,0.418582730671,-0.015533526711,0.0799937136212,0.999999997829,-3.38713157063e-05,2.75424226763e-05,-4.93587423222e-05,1793237661929780224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.823924413,746,716,679.823924413,663,637,880.176075587,789,803.823924413,652,632.823924413,654,0.419355715723,-0.0155367647542,0.0800132874338,0.99999999634,-3.60211040751e-05,6.07632224128e-05,-4.82830050954e-05,1793237661946446592
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.400819254,637,880.400819254,789,804,652,632.599180746,654,0.42010036099,-0.0155359161173,0.080004215323,0.999999997061,-3.48477994958e-05,4.72397894132e-05,-4.93101375601e-05,1793237661963112960
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.976335474,637,880.976335474,789,804,652,632.023664526,654,0.420832654324,-0.0155332863017,0.0799826578931,0.999999998078,-3.22261255845e-05,1.33428929565e-05,-5.12538052531e-05,1793237661979779584
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.436850415,637,881,789,804,652,632,654,0.421610833817,-0.0155308984468,0.0799898753303,0.999999997841,-3.2503861124e-05,2.39983513814e-05,-5.18319239292e-05,1793237661996446208
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716.148506718,680,663.148506718,637,881.148506718,789,804,652.148506718,632.148506718,654,0.422398706654,-0.0155309949389,0.0800025110792,0.999999997261,-3.202342742e-05,4.2637913108e-05,-5.13241431635e-05,1793237662013112832
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716.728226498,680,663.728226498,637,881.728226498,789,804,652.728226498,632.728226498,654,0.423209012118,-0.015538275003,0.0800272968652,0.999999995322,-2.89805081299e-05,7.89131671935e-05,-4.78333103925e-05,1793237662029779456
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.693739712,746,717,680.306260288,663.693739712,637,881.693739712,789,804,652.693739712,632.693739712,654,0.42397696062,-0.0155404822512,0.0800243889741,0.999999996406,-2.54529662829e-05,6.56100547729e-05,-4.72792008808e-05,1793237662046446336
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.1171939,746,717,680.8828061,663.1171939,637,881.1171939,789,804,652.1171939,632.1171939,654,0.424707527565,-0.0155382125598,0.0799970404332,0.999999998516,-2.14977280262e-05,8.55228015641e-06,-4.93168535145e-05,1793237662063113216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.458588051,746,716.541411949,681,663.458588051,637,881,789,804,652,632.458588051,654,0.425464845392,-0.0155358198136,0.0799645139897,0.999999997571,-2.10196318606e-05,-3.98668613472e-05,-5.31669435803e-05,1793237662079779840
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680.96635437,664,637,881,789,804,652,632.96635437,654.03364563,0.426231803486,-0.0155336405554,0.079933328377,0.999999994766,-2.19068916476e-05,-8.19317301987e-05,-5.72311695713e-05,1793237662096446720
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680.399685771,664,637,881,789,804,652,632.399685771,654.600314229,0.427043362125,-0.0155353407977,0.0799443127404,0.999999996197,-3.03705065441e-05,-5.82462585783e-05,-5.73622475833e-05,1793237662113113088
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.177172548,789,804.177172548,652,632,654.822827452,0.427843063753,-0.0155377729451,0.0799538532184,0.999999996749,-3.73197293382e-05,-4.3060151012e-05,-5.70453581332e-05,1793237662129779456
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.778420841,789,804.778420841,652,632,654.221579159,0.428614384902,-0.0155419569627,0.0799599376509,0.999999996463,-4.06441431479e-05,-4.82179021589e-05,-5.56562251622e-05,1793237662146446080
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.636367245,637,881.636367245,788.636367245,804.636367245,652,632,654,0.429402878984,-0.0155447399531,0.0799756075869,0.999999997242,-4.30391754674e-05,-2.55300653879e-05,-5.48837928697e-05,1793237662163112704
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.060514376,637,881.060514376,788.060514376,804.060514376,652,632,654,0.430201395333,-0.0155467052883,0.0799968717289,0.999999997419,-4.48918101748e-05,1.34087661088e-05,-5.44712739589e-05,1793237662179779584
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716.515969526,680,663.515969526,637,881.515969526,788.515969526,804,652,632.515969526,654,0.430993896229,-0.0155470187282,0.0800223936491,0.999999996572,-4.35756852236e-05,4.73083653029e-05,-5.21381013257e-05,1793237662196446208
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.905464153,746,716.905464153,680.094535847,664,637,882,789,804,652,632.905464153,654,0.43177245896,-0.0155466838892,0.0800392406091,0.999999995637,-4.25703050444e-05,6.61234244498e-05,-5.0417087716e-05,1793237662213113088
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.316391922,746,716.316391922,680.683608078,664,637,882,789,804,652,632.316391922,654,0.432481803457,-0.0155439725004,0.0800080915986,0.999999997531,-4.51370062507e-05,9.12367250667e-06,-5.30782263705e-05,1793237662229779968
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+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,716,681,664,637,882,789,804,652,632.847948617,654,0.433892705665,-0.0155429252451,0.0799176335047,0.999999990913,-4.66157824222e-05,-0.000110446854027,-6.1669554171e-05,1793237662263113216
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.40853092,746,716,680.59146908,664,637,882,789,804,652,632.59146908,654,0.434635699633,-0.0155477090143,0.0799253892839,0.999999992423,-5.40143823545e-05,-9.19960300589e-05,-6.1431887115e-05,1793237662279779840
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.962337602,746,716,680.037662398,664,637,882,789,804,652,632.037662398,654,0.435392552428,-0.0155540944872,0.0799538250373,0.99999999516,-6.40196077787e-05,-4.53603667151e-05,-5.93687398319e-05,1793237662296446464
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680.570088562,664,637,882,789,804.570088562,652,632,654,0.436116598596,-0.0155563502556,0.0799842264089,0.999999996279,-6.37119278751e-05,-1.17794093914e-05,-5.69612572422e-05,1793237662313113600
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716.172171919,681,664,637,882,789,804.827828081,652,632,654.172171919,0.436830588868,-0.0155580247988,0.0800084174907,0.999999996247,-6.47963365976e-05,1.56770829014e-05,-5.53374954236e-05,1793237662329780480
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716.751541668,681,664,637,882,789,804.248458332,652,632,654.751541668,0.437526458066,-0.0155590373937,0.0800175816194,0.999999995458,-7.09528839446e-05,3.09017488577e-05,-5.56267079579e-05,1793237662346446592
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.67022595,746,716.67022595,681,664,637,881.67022595,789,804,652,632.32977405,654.67022595,0.438201333122,-0.0155601806227,0.0800208028123,0.999999995192,-7.01179998246e-05,3.9941001543e-05,-5.571475286e-05,1793237662363113216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.092847574,746,716.092847574,681,664,637,881.092847574,789,804,652,632.907152426,654.092847574,0.4388604451,-0.0155614219356,0.080019561869,0.999999995418,-6.40337372114e-05,4.43360580184e-05,-5.56517550097e-05,1793237662379780352
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.518989147,881.481010853,789,804,652,633,654,0.439472735233,-0.015562202972,0.0800038745326,0.999999996081,-6.45742166028e-05,2.10654662057e-05,-5.67784257967e-05,1793237662396446976
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.055980821,746,716,681.055980821,664,636.055980821,881.944019179,789.055980821,804.055980821,652.055980821,633,654,0.440071426462,-0.0155625430121,0.079982710102,0.999999995982,-6.68776455072e-05,-1.17035429095e-05,-5.85296775229e-05,1793237662413113600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.648054659,746,716,681.648054659,664,636.648054659,881.351945341,789.648054659,804.648054659,652.648054659,633,654,0.440625810441,-0.0155595045441,0.0799356049777,0.999999991632,-7.39069373631e-05,-8.46648063639e-05,-6.4079035071e-05,1793237662429779712
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.765054841,746,716,681.765054841,664,636.765054841,881.234945159,789.765054841,805,652.765054841,633,654,0.441180067519,-0.0155578505626,0.0798992811024,0.999999984875,-7.92387345708e-05,-0.000139008811635,-6.81759484768e-05,1793237662446446080
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.185761372,746,716,681.185761372,664,636.185761372,881.814238628,789.185761372,805,652.185761372,633,654,0.441734138555,-0.0155582257597,0.0798787588117,0.999999980382,-8.20825917979e-05,-0.00016606635239,-7.01440812244e-05,1793237662463112704
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,716,681.390537778,664,636,882,788.609462222,805,652,633,654,0.442300071145,-0.0155642824142,0.0798967667628,0.999999984292,-9.0553178806e-05,-0.000136528398124,-6.765009845e-05,1793237662479779584
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,652,632.833855428,654,0.402838506737,-0.0153260573688,0.0798482425127,0.99999991845,0.000293016108395,-0.000275422702541,3.72093732671e-05,1793237665680755456
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..258dfb3f6b5f6da96ff9e859e4abff33766eae55
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,439 @@
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+406,6.766666667,pose2_to_pose3_retreat,0.578327724441,-0.00999876470524,1.07001186198,0.548898959515,-0.00132509840006,1.06966138848
+407,6.783333333,pose2_to_pose3_retreat,0.578308326908,-0.00999870525462,1.07001147412,0.548879559832,-0.00132504585379,1.06966101029
+408,6.800000000,pose2_to_pose3_retreat,0.578293116636,-0.00999873695207,1.07001148813,0.548864350775,-0.00132507337674,1.0696610256
+409,6.816666667,pose2_to_pose3_retreat,0.578281618117,-0.00999871595824,1.07001153164,0.548852852298,-0.00132505224146,1.06966106911
+410,6.833333333,pose2_to_pose3_retreat,0.578273296059,-0.00999862265587,1.0700115259,0.548844528402,-0.00132496516489,1.06966106367
+411,6.850000000,pose2_to_pose3_retreat,0.578267774708,-0.00999861263431,1.07001165498,0.548839007298,-0.0013249544423,1.06966118942
+412,6.866666667,pose2_to_pose3_retreat,0.578263959232,-0.00999861674135,1.07001177244,0.548835192304,-0.00132495703747,1.06966130382
+413,6.883333333,pose2_to_pose3_retreat,0.578261577188,-0.0099986204777,1.07001182652,0.548832810166,-0.00132496110751,1.06966135757
+414,6.900000000,pose2_to_pose3_retreat,0.578260013106,-0.00999862348139,1.07001185299,0.548831245837,-0.0013249649301,1.06966138456
+415,6.916666667,pose2_to_pose3_retreat,0.578259142337,-0.00999862515364,1.07001186772,0.54883037493,-0.00132496705825,1.06966139958
+416,6.933333333,pose2_to_pose3_retreat,0.578258281882,-0.00999862680608,1.07001188228,0.548829514339,-0.00132496916119,1.06966141443
+417,6.950000000,pose2_to_pose3_retreat,0.578257605759,-0.00999862810452,1.07001189372,0.54882883811,-0.00132497081362,1.0696614261
+418,6.966666667,pose2_to_pose3_retreat,0.578257376265,-0.00999862854524,1.07001189761,0.548828608579,-0.0013249713745,1.06966143006
+419,6.983333333,pose2_to_pose3_retreat,0.578256982732,-0.00999862912136,1.07001186731,0.548828215176,-0.00132497149958,1.06966140004
+420,7.000000000,pose2_to_pose3_retreat,0.578256381374,-0.00999862999275,1.07001181915,0.548827614024,-0.00132497164887,1.06966135234
+421,7.016666667,pose2_to_pose3_retreat,0.57825616653,-0.00999863030406,1.07001180195,0.548827399255,-0.00132497170221,1.0696613353
+422,7.033333333,pose2_to_pose3_retreat,0.578255448655,-0.00999863134428,1.07001174446,0.548826681626,-0.00132497188043,1.06966127835
+423,7.050000000,pose2_to_pose3_retreat,0.57825483439,-0.00999863223437,1.07001169527,0.548826067573,-0.00132497203293,1.06966122962
+424,7.066666667,pose2_to_pose3_retreat,0.578254280137,-0.00999863359855,1.07001165703,0.548825513488,-0.001324972803,1.06966119189
+425,7.083333333,pose2_to_pose3_retreat,0.578253818601,-0.00999864038699,1.07001168698,0.548825051869,-0.00132497981623,1.06966122329
+426,7.100000000,pose2_to_pose3_retreat,0.57825367506,-0.00999864249825,1.0700116963,0.548824908302,-0.0013249819974,1.06966123306
+427,7.116666667,pose2_to_pose3_retreat,0.578253631373,-0.00999864314081,1.07001169913,0.548824864607,-0.00132498266124,1.06966123603
+428,7.133333333,pose2_to_pose3_retreat,0.578253399903,-0.00999864654536,1.07001171416,0.548824633095,-0.00132498617852,1.06966125178
+429,7.150000000,pose2_to_pose3_retreat,0.578253119373,-0.0099986506715,1.07001173237,0.548824352515,-0.0013249904413,1.06966127086
+430,7.166666667,pose2_to_pose3_retreat,0.578252961495,-0.00999865299364,1.07001174261,0.548824194608,-0.00132499284033,1.06966128161
+431,7.183333333,pose2_to_pose3_retreat,0.578252734331,-0.00999865724526,1.07001175269,0.548823967423,-0.00132499713153,1.06966129249
+432,7.200000000,pose2_to_pose3_retreat,0.578252496072,-0.00999868579568,1.07001163975,0.548823729666,-0.00132502384316,1.06966118297
+433,7.216666667,pose2_to_pose3_retreat,0.578252467962,-0.00999868916409,1.07001162643,0.548823701615,-0.00132502699463,1.06966117005
+434,7.233333333,pose2_to_pose3_retreat,0.578252338494,-0.00999870467827,1.07001156505,0.548823572418,-0.00132504150962,1.06966111054
+435,7.250000000,pose2_to_pose3_retreat,0.578252173735,-0.00999872363501,1.07001148756,0.548823407981,-0.0013250592836,1.06966103534
+436,7.266666667,pose2_to_pose3_retreat,0.578252134567,-0.00999868499158,1.07001150253,0.548823367497,-0.00132502523233,1.06966104716
+437,7.283333333,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625824,1.06966104416
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a38336d30110ec8236ff01f7bcfb743f0ac7dcda
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4924dd82f0ba3c32237fb839972c30b4ed1ff081acaf5d01f79db669db86e21f
+size 27900292
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bf90e5821ad8e73dec53a6dd0b606dab96bdc15
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,441 @@
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+37,0.616666667,BASELINE,766.471872145,745,716.528127855,679,663.471872145,636.471872145,880,788,804,653,633,654,0.400996027849,-0.0153501806379,0.079852301271,0.999999927118,0.0002767881092,-0.000260995246382,3.21504996313e-05,1793237667249976064
+38,0.633333333,BASELINE,767,745.04728276,716.04728276,679,663.95271724,637,880,788.04728276,804,653,632.95271724,654,0.400997359785,-0.0153502713736,0.0798521922895,0.999999927512,0.000275847572135,-0.000260545271759,3.16244191514e-05,1793237667266642432
+39,0.650000000,BASELINE,767,745.638392347,716.638392347,679,663.361607653,637,880,788.638392347,804,653,632.361607653,654,0.400995670798,-0.0153505777753,0.0798520258372,0.999999926965,0.000276963138604,-0.000261405151612,3.20599459601e-05,1793237667283309312
+40,0.666666667,BASELINE,767,745.775340901,716.775340901,679,663,637,880,789,804,652.775340901,632,654,0.400994233817,-0.0153508728816,0.0798515991304,0.99999992651,0.000277579999992,-0.000262468623355,3.22312914614e-05,1793237667299976192
+41,0.683333333,BASELINE,767,745.196704648,716.196704648,679,663,637,880,789,804,652.196704648,632,654,0.400993193902,-0.015351150191,0.0798507623616,0.999999926201,0.000277411092087,-0.000263852878308,3.19863878375e-05,1793237667316642816
+42,0.700000000,BASELINE,767,745,716,679,663,637,880,789,804,652,632,654,0.400993723508,-0.015350539798,0.0798512836256,0.999999926206,0.000278108942723,-0.000263082906341,3.20972207204e-05,1793237667333309696
+43,0.716666667,BASELINE,767,745,716,679,663,637,880,789,804,652,632,654,0.400995061458,-0.0153494722154,0.0798525043116,0.999999926371,0.000279253196373,-0.000261203451892,3.23912670892e-05,1793237667349976832
+44,0.733333333,BASELINE,767,745,716.531464825,679,663,637,880.531464825,789,803.468535175,652,632.531464825,654,0.400994858167,-0.0153502489964,0.079852158962,0.999999926234,0.000279381622657,-0.000261607420972,3.2232150426e-05,1793237667366643200
+45,0.750000000,BASELINE,766.8898647,745,716.8898647,678.8898647,663,637,880.8898647,788.8898647,803,652,632.8898647,654,0.400994935342,-0.015351009631,0.0798518271034,0.999999926316,0.000278977691224,-0.000261751332058,3.20130665083e-05,1793237667383309568
+46,0.766666667,BASELINE,766.299492065,745,716.299492065,678.299492065,663,637,880.299492065,788.299492065,803,652,632.299492065,654,0.400996798456,-0.0153510261469,0.079852126116,0.999999927456,0.000276623514512,-0.000259927184188,3.16980319763e-05,1793237667399976448
+47,0.783333333,BASELINE,766.284603291,745.284603291,716.284603291,678,663,637,880.284603291,788.284603291,803.284603291,652,632,654,0.400997103271,-0.0153509845764,0.0798521288296,0.99999992767,0.000276053743008,-0.000259711072512,3.16979060076e-05,1793237667416643328
+48,0.800000000,BASELINE,766.862235598,745.862235598,716.862235598,678,663,637,880.862235598,788.862235598,803.862235598,652,632,654,0.400995803652,-0.0153508831998,0.0798518264725,0.999999926934,0.000277321204029,-0.000261150602977,3.20220114823e-05,1793237667433309440
+49,0.816666667,BASELINE,766.562634182,745.562634182,716.562634182,678.437365818,663,637,881,789,803.562634182,652,632,654,0.400994769971,-0.0153506327484,0.0798515712218,0.999999926952,0.00027670247099,-0.000261764485189,3.17996855559e-05,1793237667449976064
+50,0.833333333,BASELINE,766,745.011932668,716,679,663,637,880.988067332,788.988067332,803,652.011932668,632,654.011932668,0.400993839385,-0.0153503203441,0.0798513361932,0.999999927184,0.000275569616865,-0.000262117774669,3.1420714926e-05,1793237667466642688
+51,0.850000000,BASELINE,766,745.59708252,716,679,663,637,880.40291748,788.40291748,803,652.59708252,632,654.59708252,0.400993860211,-0.0153492747176,0.0798513638614,0.999999926401,0.000278117659663,-0.000262374803655,3.17380412646e-05,1793237667483309568
+52,0.866666667,BASELINE,766,745.818037026,716.181962974,679,663,637,880,788.181962974,803.181962974,652.818037026,632,654.818037026,0.400994153747,-0.0153488015725,0.0798514429797,0.999999925753,0.000280375905984,-0.000262410963316,3.19953905497e-05,1793237667499976192
+53,0.883333333,BASELINE,766,745.233752249,716.766247751,679,663,637,880,788.766247751,803.766247751,652.233752249,632,654.233752249,0.400995050247,-0.0153495941893,0.0798516358544,0.999999925413,0.000281993409493,-0.000261958778863,3.21201300013e-05,1793237667516642816
+54,0.900000000,BASELINE,766,745.345245156,716.654754844,678.654754844,663,637,880,789,804,652,632,654,0.400994733079,-0.0153493980251,0.0798511598174,0.999999925275,0.00028218953026,-0.000262266355675,3.21772070827e-05,1793237667533309440
+55,0.916666667,BASELINE,766,745.92071666,716.07928334,678.07928334,663,637,880,789,804,652,632,654,0.400993606577,-0.0153485424935,0.0798502377173,0.999999925273,0.000281437803464,-0.000263080578461,3.21891635828e-05,1793237667549975808
+56,0.933333333,BASELINE,766,746,716.495830676,678.495830676,662.504169324,637,879.504169324,789,804,652.495830676,632,654,0.400993151694,-0.0153491607176,0.07985049229,0.999999925547,0.000280368688973,-0.000263180975963,3.21626984013e-05,1793237667566642432
+57,0.950000000,BASELINE,766.072572977,745.927427023,716.927427023,678.927427023,662.072572977,637,879.072572977,789,804,652.927427023,632.072572977,654,0.400993079843,-0.0153499883206,0.0798510091766,0.999999925913,0.000279263443438,-0.000262966359668,3.2151638275e-05,1793237667583309056
+58,0.966666667,BASELINE,766.661301991,745.338698009,716.338698009,678.338698009,662.661301991,637,879.661301991,789,804,652.338698009,632.661301991,654,0.400994968964,-0.0153506302597,0.0798520544986,0.999999926619,0.000278261913998,-0.00026132250181,3.22938059735e-05,1793237667599975680
+59,0.983333333,BASELINE,767,745.245998404,716,678.245998404,663,637,880,789,804,652,632.754001596,654,0.400996004119,-0.0153507211759,0.0798526015078,0.999999926866,0.000278129709891,-0.00026051451389,3.23006768027e-05,1793237667616642304
+60,1.000000000,BASELINE,767,745.825232239,716,678.825232239,663,637,880,789,804,652,632.174767761,654,0.400995882473,-0.0153500656633,0.0798524734903,0.999999926496,0.000279175114921,-0.00026083881552,3.21242712168e-05,1793237667633308928
+61,1.016666667,BASELINE,767,746,716.403154453,679,663,637,880,789,804,652,632,654,0.400995288953,-0.0153500504562,0.0798521477127,0.999999926517,0.000278568679438,-0.00026143621998,3.1887811825e-05,1793237667649975808
+62,1.033333333,BASELINE,767,746,716.980509888,679,663,637,880,789,804,652,632,654,0.400994491538,-0.0153503119219,0.079851736484,0.999999926705,0.000277248492035,-0.000262151630758,3.16254035006e-05,1793237667666642432
+63,1.050000000,BASELINE,766.445441924,746,717,679,663,637,880,788.445441924,804,652,632,654.554558076,0.400993358448,-0.0153496919403,0.0798503265882,0.999999926267,0.00027721138284,-0.000263881076926,3.14180231004e-05,1793237667683309312
+64,1.066666667,BASELINE,766,746,716.867725884,678.867725884,663,637,880,788.132274116,803.867725884,652,632,654.867725884,0.40099243392,-0.0153493555588,0.079849550039,0.99999992591,0.000277447327314,-0.000264990788075,3.13564966152e-05,1793237667699975936
+65,1.083333333,BASELINE,766,746,716.276893879,678.276893879,663,637,880,788.723106121,803.276893879,652,632,654.276893879,0.400992273074,-0.0153501090988,0.0798510900829,0.999999925918,0.000278474471296,-0.000263829232002,3.17939406468e-05,1793237667716642816
+66,1.100000000,BASELINE,766,746,716,678.307325087,663,637,880,788.692674913,803.307325087,652.307325087,632.307325087,654,0.400992133659,-0.015350594454,0.0798512638571,0.99999992589,0.000278626326989,-0.000263755257621,3.1939219563e-05,1793237667733309440
+67,1.116666667,BASELINE,766,746,716,678.885711312,663,637,880,788.114288688,803.885711312,652.885711312,632.885711312,654,0.400992013148,-0.0153508432699,0.0798502325793,0.999999925833,0.000278006177186,-0.00026464053181,3.18268084324e-05,1793237667749975808
+68,1.133333333,BASELINE,766.461861923,746,716,679,663,637,880,788.461861923,804,653,633,654,0.400992203805,-0.0153501446188,0.0798503854051,0.999999925691,0.000278648931854,-0.000264522392004,3.16226590927e-05,1793237667766642944
+69,1.150000000,BASELINE,767,746,716,678.961738126,663,637,880,788.961738126,803.961738126,653,633,654,0.400992563336,-0.015349247782,0.0798508361915,0.999999925551,0.00027957053645,-0.000264102124134,3.14334131575e-05,1793237667783309568
+70,1.166666667,BASELINE,767,746,716,678.373848576,663,637,880,788.373848576,803.373848576,653,633,654,0.400994247965,-0.0153488556931,0.0798513783837,0.999999925731,0.000280030265593,-0.000262891395848,3.17827770979e-05,1793237667799976448
+71,1.183333333,BASELINE,766.788943944,745.788943944,716.211056056,678,663,637,880,788.211056056,803,652.788943944,633,654,0.400995417168,-0.0153491216208,0.0798520935536,0.999999926223,0.000279460772243,-0.000261602987403,3.19392904416e-05,1793237667816643072
+72,1.200000000,BASELINE,766.209252741,745.209252741,716.790747259,678,663,637,880,788.790747259,803,652.209252741,633,654,0.400995686117,-0.0153505368546,0.07985311085,0.999999927259,0.000277093616334,-0.000260178900885,3.17589667507e-05,1793237667833309440
+73,1.216666667,BASELINE,766,745,717,678.368270642,663,637,880.368270642,788.631729358,803.368270642,652,633,654,0.400995193806,-0.0153510790867,0.079852778985,0.999999927275,0.000276844592965,-0.000260376626454,3.17881165035e-05,1793237667849976064
+74,1.233333333,BASELINE,766,745,717,678.944569436,663,637,880.944569436,788.055430564,803.944569436,652,633,654,0.400994271477,-0.0153511281788,0.0798516850076,0.999999926717,0.000277792057176,-0.000261490478817,3.19355933025e-05,1793237667866642688
+75,1.250000000,BASELINE,766,745.519409347,717,678.480590653,663,637,880.480590653,788,803.480590653,652.519409347,632.480590653,654,0.40099570919,-0.0153512366146,0.0798527764471,0.999999927142,0.000277866169897,-0.000259774443007,3.1999220838e-05,1793237667883309312
+76,1.266666667,BASELINE,766.096634707,746,716.903365293,678.096634707,662.903365293,637,880,788,803.096634707,652.903365293,632,654,0.400996873374,-0.015351405137,0.0798536418437,0.999999927523,0.000277722208559,-0.00025845915197,3.1992638087e-05,1793237667899975936
+77,1.283333333,BASELINE,766.686836837,746,716.313163163,678.686836837,662.313163163,637,880,788,803.686836837,652.313163163,632,654,0.400995357701,-0.0153518482993,0.0798521648424,0.999999927161,0.000276939126249,-0.000260728857354,3.16730279611e-05,1793237667916642816
+78,1.300000000,BASELINE,767,746,716.271583559,679,662.271583559,637,880.271583559,788,804,652.271583559,632,654,0.400994932586,-0.0153517563348,0.0798521111774,0.999999926999,0.000277064145653,-0.000261211731652,3.1730359954e-05,1793237667933309952
+79,1.316666667,BASELINE,767,746,716.850163482,679,662.850163482,637,880.850163482,788,804,652.850163482,632,654,0.400995740231,-0.0153510594663,0.0798536664431,0.999999927064,0.000278215677632,-0.000259674783061,3.22137849928e-05,1793237667949976576
+80,1.333333333,BASELINE,766.573905703,746,716.573905703,678.573905703,663,637,880.573905703,788.426094297,804,652.573905703,632.426094297,654,0.400995311214,-0.0153502920825,0.079853047374,0.999999926947,0.000278304156857,-0.000260053943488,3.20139239465e-05,1793237667966643200
+81,1.350000000,BASELINE,766,746,716,678.001124922,663,637,880.001124922,788.998875078,804,652,632.998875078,654,0.400994450819,-0.0153495029979,0.079851671004,0.999999926765,0.000278025593692,-0.000261102713281,3.1576940597e-05,1793237667983309312
+82,1.366666667,BASELINE,766,746,716,678.589503896,663,637,880.589503896,788.410496104,804,652,632.410496104,654,0.400994011999,-0.0153502501403,0.079851642552,0.999999925907,0.000280081333519,-0.00026213621656,3.20124913257e-05,1793237667999975936
+83,1.383333333,BASELINE,766,746,716.175073936,678.824926064,662.824926064,637,880.824926064,788,803.824926064,652.175073936,632,654,0.400993977562,-0.0153509467835,0.0798518519567,0.999999925799,0.000280362878355,-0.000262222345477,3.22218807656e-05,1793237668016642816
+84,1.400000000,BASELINE,766,746,716.754161981,678.245838019,662.245838019,637,880.245838019,788,803.245838019,652.754161981,632,654,0.400994876309,-0.0153515268909,0.0798526102579,0.999999927419,0.000276550154495,-0.000260122240503,3.19093630711e-05,1793237668033309440
+85,1.416666667,BASELINE,766.331863552,745.668136448,717,678.331863552,662.331863552,637,880.331863552,788.331863552,803,653,632,654,0.40099542252,-0.0153518357094,0.0798529629279,0.999999927925,0.000275506720731,-0.000259295022334,3.1826179031e-05,1793237668049976320
+86,1.433333333,BASELINE,766.908542289,745.091457711,717,678.908542289,662.908542289,637,880.908542289,788.908542289,803,653,632,654,0.400995708666,-0.0153519443984,0.0798530163644,0.999999927617,0.000276506187849,-0.00025940681075,3.19121740619e-05,1793237668066642944
+87,1.450000000,BASELINE,767,745.483485383,717,678.516514617,663,637,880.516514617,788.516514617,803.483485383,652.516514617,632,654.483485383,0.400994888731,-0.0153526882946,0.0798529715118,0.999999927387,0.000276746023807,-0.000259998381781,3.22317623532e-05,1793237668083310336
+88,1.466666667,BASELINE,766.940225896,746,717,678.059774104,662.940225896,636.940225896,880,788.059774104,804,652,632,654.940225896,0.400994037821,-0.015353415845,0.0798528882344,0.9999999272,0.000276805299544,-0.00026061424115,3.25446391962e-05,1793237668099977728
+89,1.483333333,BASELINE,766.349066382,746,717,678.650933618,662.349066382,636.349066382,880,788.650933618,804,652,632,654.349066382,0.400994764927,-0.0153529337127,0.0798526280601,0.999999927273,0.000276532272423,-0.000260642084708,3.2406436891e-05,1793237668116643584
+90,1.500000000,BASELINE,766.234629737,746,716.765370263,678.765370263,662.234629737,636.234629737,880,789,804,652,632.234629737,654,0.400994933294,-0.0153520648835,0.0798524397146,0.999999927132,0.000277130528076,-0.000260580393681,3.21349345216e-05,1793237668133309440
+91,1.516666667,BASELINE,766.807564575,746,716.192435425,678.192435425,662.807564575,636.807564575,880,789,804,652,632.807564575,654,0.400994296036,-0.0153506384883,0.0798523549367,0.999999926681,0.000278985058473,-0.0002603896056,3.16712310721e-05,1793237668149976064
+92,1.533333333,BASELINE,767,746,716,678.38584773,663,637,880,789,804,652.38584773,632.61415227,654,0.400994588354,-0.0153509691812,0.079852591432,0.999999927131,0.00027792790434,-0.000259777738817,3.17674821069e-05,1793237668166642688
+93,1.550000000,BASELINE,767,746,716,678.966835818,663,637,880,789,804,652.966835818,632.033164182,654,0.400995350801,-0.0153521885114,0.0798529904093,0.999999928033,0.000275398182007,-0.000258952913788,3.21469269865e-05,1793237668183309312
+94,1.566666667,BASELINE,767,745.445728957,716,679,663,637,880,789,804,652.445728957,632,654,0.400996251128,-0.0153509350682,0.0798534315661,0.999999927627,0.000277209384932,-0.000258605132452,3.20096197516e-05,1793237668199975936
+95,1.583333333,BASELINE,767,745,716,679,663,636.860024128,880,789,804,652.139975872,632.139975872,654,0.400996545502,-0.0153498965319,0.0798534346645,0.999999927052,0.000278987072355,-0.000258931503964,3.18948294048e-05,1793237668216643072
+96,1.600000000,BASELINE,767,745,716,679,663,636.280971352,880,789,804,652.719028648,632.719028648,654,0.400994912937,-0.015350001686,0.0798520556498,0.999999926202,0.000279835304559,-0.000261281972208,3.19487992234e-05,1793237668233309696
+97,1.616666667,BASELINE,766.702754361,745,716,678.702754361,662.702754361,636.297245639,880.297245639,788.702754361,804,652.702754361,633,654.297245639,0.400994410044,-0.0153497154364,0.0798516447111,0.999999926085,0.000279958496678,-0.000261606796739,3.18496990205e-05,1793237668249976064
+98,1.633333333,BASELINE,766.125325215,745,716,678.125325215,662.125325215,636.874674785,880.874674785,788.125325215,804,652.125325215,633,654.874674785,0.400994971979,-0.0153490602501,0.0798521462802,0.999999926663,0.000279398266528,-0.000260022250943,3.16063151314e-05,1793237668266642688
+99,1.650000000,BASELINE,766,745,716,678.448629398,662,636.551370602,880.551370602,788.448629398,803.551370602,652,632.551370602,654.551370602,0.400995461792,-0.015350523938,0.0798529849535,0.999999927327,0.000277530885133,-0.00025944019128,3.18464728243e-05,1793237668283309568
+100,1.666666667,BASELINE,766.022319753,745,716.022319753,679,662.022319753,636.022319753,880,789,803.022319753,652,632.022319753,654,0.400995928113,-0.0153524968686,0.0798538382353,0.999999927976,0.000275401818973,-0.000259164000751,3.21842227798e-05,1793237668299976192
+101,1.683333333,BASELINE,766.613833443,745,716.613833443,679,662.613833443,636.613833443,880,789,803.613833443,652,632.613833443,654,0.400996305151,-0.0153524776285,0.0798526810009,0.999999927761,0.000275839849178,-0.000259601236633,3.15924931228e-05,1793237668316642816
+102,1.700000000,BASELINE,767,745.201125588,716.798874412,678.798874412,663,637,880,789,803.798874412,652,632.798874412,654,0.400995952166,-0.0153518587347,0.0798517628275,0.999999927225,0.000276932006629,-0.000260538229709,3.1282656219e-05,1793237668333309440
+103,1.716666667,BASELINE,767,745.780478823,716.219521177,678.219521177,663,637,880,789,803.219521177,652,632.219521177,654,0.400994226333,-0.0153501121591,0.0798512942215,0.999999926081,0.000279254286012,-0.000262415043417,3.15029340905e-05,1793237668349976320
+104,1.733333333,BASELINE,766.642876263,746,716.357123737,678.357123737,663,637,880,788.642876263,803.357123737,652,632,654,0.40099458901,-0.0153500743601,0.0798519897778,0.999999926338,0.000278850921468,-0.000261848621041,3.16551645023e-05,1793237668366643200
+105,1.750000000,BASELINE,766.067883547,746,716.932116453,678.932116453,663,637,880,788.067883547,803.932116453,652,632,654,0.400996225815,-0.0153510790272,0.0798533955498,0.999999927445,0.000276784734997,-0.000259791664062,3.17658815072e-05,1793237668383309824
+106,1.766666667,BASELINE,766,745.481289514,716.481289514,679,662.481289514,637,880,788,804,652,632,654.518710486,0.400997159618,-0.015351978763,0.0798538992131,0.999999927891,0.000276960945278,-0.00025783400164,3.21134101437e-05,1793237668399976448
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,678,662,637,880,788,804,653,633,654,0.400995167844,-0.0153490103443,0.0798518556946,0.999999925753,0.000281814367449,-0.000260849058653,3.21160073929e-05,1793237668442365952
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.424356867,746,717,678.575643133,662.575643133,637,880.575643133,788,804,652.424356867,633,654,0.400994572047,-0.0153518191373,0.0798519354887,0.999999926999,0.000277006134345,-0.000261245228087,3.19599569698e-05,1793237668459032832
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,716.848946367,679,663,637,880.848946367,788.151053633,804,652.151053633,632.848946367,654,0.400994486729,-0.0153536060465,0.0798522176882,0.999999927827,0.000274269579564,-0.000260975961376,3.18324646497e-05,1793237668475699200
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,716.274188266,679,663,637,880.274188266,788.725811734,804,652.725811734,632.274188266,654,0.400995833306,-0.0153525265786,0.0798530676335,0.999999927536,0.000277344068041,-0.000258840150674,3.17850775902e-05,1793237668492365568
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.305663037,745.694336963,716,679,663,637,880,789,804,653,632.305663037,654,0.400995873646,-0.0153518459486,0.0798532017687,0.99999992742,0.000278013921232,-0.000258580405176,3.16847204598e-05,1793237668509032192
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.890160467,745.109839533,716,679,663,637,880,789,804,653,632.890160467,654,0.400994722401,-0.0153515291497,0.0798526829221,0.999999927471,0.000276490198505,-0.000260032059094,3.15360425483e-05,1793237668525698560
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.526116431,745.473883569,716,679.473883569,663,637,880,789,803.526116431,653,632.526116431,654.473883569,0.400994789455,-0.015350746399,0.0798528492809,0.999999927332,0.000276803327145,-0.000260224450142,3.16088410256e-05,1793237668542364928
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.056994543,746,716.056994543,679.943005457,662.943005457,637,880,789,803.056994543,653,632.056994543,654.943005457,0.400995193054,-0.0153501029058,0.0798531773051,0.999999927208,0.000277357204973,-0.000260098238278,3.17263826252e-05,1793237668559031552
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.636139198,746,716.636139198,679.363860802,662.363860802,637,880,789,803.636139198,653,632.636139198,654.363860802,0.40099609706,-0.0153517230342,0.0798535337617,0.999999927617,0.000276222521133,-0.000259722839129,3.17842996231e-05,1793237668575697920
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.786593136,678.786593136,662.213406864,637,880.213406864,789,804.213406864,653,633,654,0.400998578084,-0.0153528756422,0.0798545491135,0.999999928295,0.000275170583226,-0.000258221243297,3.18305223721e-05,1793237668592364544
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.21249791,678.21249791,662.78750209,637,880.78750209,789,804.78750209,653,633,654,0.401003724498,-0.0153532380729,0.0798566780928,0.999999929418,0.000274258497984,-0.000254816212767,3.18569801486e-05,1793237668609031168
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.629083436,745.629083436,716,678.370916564,663,637,880.629083436,789,804.258166871,653,632.629083436,654,0.401021887373,-0.0153531889502,0.0798650864175,0.999999932429,0.000275771407879,-0.000240883912661,3.26556146533e-05,1793237668625698048
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.040192313,745.040192313,716,678.959807687,663,637,880.040192313,789,803.080384626,653,632.040192313,654,0.401047699564,-0.0153528979721,0.0798771848917,0.999999936217,0.000278709401551,-0.000220765107802,3.39080301279e-05,1793237668642364672
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.540494034,716.540494034,679,663,637,880.540494034,789,803.540494034,652.459505966,632.540494034,654,0.401095131567,-0.0153557887689,0.0798942523183,0.999999943035,0.000278535981237,-0.000187457651441,3.47324263502e-05,1793237668659031296
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.119048354,746,717,678.880951646,663,637,881,789,803.880951646,652.119048354,633,654,0.401147257929,-0.0153589573138,0.0799116740053,0.999999949051,0.000277542700325,-0.000153662977755,3.54361602981e-05,1793237668675698432
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.691768378,746,717,678.308231622,663,637,881,789,803.308231622,652.691768378,633,654,0.401211238625,-0.0153622961364,0.0799290586694,0.999999954336,0.000274293610685,-0.000121693122007,3.57995512736e-05,1793237668692366080
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.72776896,746,717,678.27223104,662.72776896,637,880.72776896,788.72776896,803,652.72776896,632.72776896,654,0.401279814373,-0.0153650225282,0.0799429804959,0.999999957525,0.000272098614261,-9.82554652757e-05,3.54605220726e-05,1793237668709032960
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.138283154,746,717,678.861716846,662.138283154,637,880.138283154,788.138283154,803,652.138283154,632.138283154,654,0.401353745133,-0.0153670352005,0.0799528667722,0.999999959063,0.000271132045749,-8.47611322086e-05,3.43029008906e-05,1793237668725698816
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.443305136,746,717,679,662.443305136,637,880,788,803.443305136,652,632,654.443305136,0.401432413175,-0.0153693015565,0.0799562021558,0.999999959729,0.000270770221,-7.86842494124e-05,3.21636362874e-05,1793237668742365440
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97755469,745.97755469,716.97755469,679,663,637,880,788.02244531,803.97755469,652,632,655,0.401513355542,-0.0153717318716,0.0799575322898,0.999999960164,0.000270515600312,-7.49080301061e-05,2.96981247053e-05,1793237668759032064
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.399100749,745.399100749,716.399100749,679,663,637,880,788.600899251,803.399100749,652,632,655,0.401614671607,-0.0153762977773,0.0799589230437,0.999999961069,0.000268325420181,-7.18102299945e-05,2.66035092522e-05,1793237668775698432
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.821880522,637,880.178119478,789,803.178119478,652,632.178119478,654.821880522,0.401723253071,-0.0153809967888,0.0799612474035,0.999999962172,0.000265729974335,-6.70649666295e-05,2.33565060439e-05,1793237668792365056
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662.24740566,637,880.75259434,789,803.75259434,652,632.75259434,654.24740566,0.401848001648,-0.0153859919897,0.0799656492433,0.999999963701,0.000262232722579,-5.8653732164e-05,1.97704066596e-05,1793237668809032192
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.33560297,745,716,678.66439703,662,637,880.66439703,788.66439703,804,652.33560297,632.66439703,654,0.401988176906,-0.0153905793021,0.079970545385,0.999999965724,0.000256615833069,-4.9595315534e-05,1.55320544671e-05,1793237668825699072
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.925066878,745,716,678.074933122,662,637,880.074933122,788.074933122,804,652.925066878,632.074933122,654,0.402140021418,-0.0153948580749,0.0799758154332,0.999999968041,0.000249395580629,-4.00473484973e-05,1.080031678e-05,1793237668842365952
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.505385427,716,678.505385427,662.505385427,637,880,788,804,652.494614573,632,654,0.402301526667,-0.0153999532708,0.0799736056733,0.999999969976,0.000240952543725,-4.43211299213e-05,4.96257806222e-06,1793237668859032064
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916048151,746,716.083951849,679,663,637,880,788.083951849,804,652,632.083951849,654,0.402467912013,-0.0154054085173,0.0799701000118,0.999999973276,0.000225460262405,-5.11296862822e-05,-1.16855776916e-06,1793237668875698432
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.339945141,746,716.660054859,679,663,637,880,788.660054859,804,652,632.660054859,654,0.402654658178,-0.0154122774702,0.0799653832675,0.99999998371,0.000169687124022,-6.09975458437e-05,-8.07543043129e-06,1793237668892365056
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,716.76533279,679,662.76533279,637,880,789,803.76533279,652.23466721,632.76533279,654,0.402856791389,-0.0154190183481,0.0799624469058,0.999999989109,0.000131695258423,-6.49487821524e-05,-1.48456774514e-05,1793237668909031936
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,716.192866251,679,662.192866251,637,880,789,803.192866251,652.807133749,632.192866251,654,0.403081073974,-0.0154255748637,0.0799620733737,0.999999990831,0.000119299226677,-6.03831428187e-05,-2.14192538765e-05,1793237668925698560
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,716.393753256,679,662.393753256,637,880.393753256,789,803.393753256,653,632.393753256,654,0.403334182315,-0.0154338709633,0.0799633752832,0.999999992223,0.000108781267108,-5.50098048786e-05,-2.63364657895e-05,1793237668942365184
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,716.987563546,679,662.987563546,637,880.987563546,789,803.987563546,653,632.987563546,654,0.403601936358,-0.0154430509056,0.0799655284462,0.999999993404,9.92175134831e-05,-4.9226093865e-05,-3.04121165313e-05,1793237668959032064
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.565924074,746,717,679,663,637,881.565924074,788.434075926,804,652.434075926,633,654.565924074,0.403895812486,-0.015449219199,0.0799691946709,0.999999993738,9.92778497072e-05,-4.55922214184e-05,-2.42864672568e-05,1793237668975698688
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.856520113,746,717,679,663,637,881.856520113,788.143479887,804,652,633,654.856520113,0.404197507433,-0.0154567518629,0.0799710426944,0.999999994375,9.43693094847e-05,-4.37206667301e-05,-2.07858715292e-05,1793237668992365568
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.28039436,746,717,679,663,637,881.28039436,788.71960564,804,652,633,654.28039436,0.404521094046,-0.015468592878,0.0799673105586,0.999999995833,7.38569499016e-05,-4.70244921828e-05,-2.58588200232e-05,1793237669009031936
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.301876586,746,716.698123414,679,663,637,881,789,804,652,633,654.301876586,0.404860751264,-0.0154827825236,0.0799649278287,0.99999999703,5.46252441355e-05,-4.64254805683e-05,-2.82862540692e-05,1793237669025698560
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.889974097,746,716.110025903,679,663,637,881,789,804,652,633,654.889974097,0.405215645683,-0.0154991989984,0.0799638245225,0.999999998045,3.66077736406e-05,-4.21260378205e-05,-2.82053736328e-05,1793237669042365184
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.528984408,746,716,679,663,637,880.528984408,789,804,652,632.528984408,654.528984408,0.405600115263,-0.0155209489716,0.0799571915478,0.999999998038,1.19912269682e-05,-5.48218980137e-05,-2.78373587946e-05,1793237669059031808
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880.050061716,789,804,652,632,654,0.405993984274,-0.0155426412017,0.0799497947009,0.999999997065,-1.23216433862e-05,-7.04662594595e-05,-2.74191188651e-05,1793237669075698432
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880.625212041,789,804,652,632,654,0.406415049499,-0.0155508529754,0.0799477340865,0.999999996589,-1.75194624212e-05,-7.60110817524e-05,-2.71672056584e-05,1793237669092365056
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.200129265,746,716.200129265,679.200129265,663,637,881,788.799870735,804,652,632.200129265,654,0.406848509939,-0.0155462581209,0.0799484884933,0.99999999663,-1.00543312689e-05,-7.66688343356e-05,-2.75944456597e-05,1793237669109032192
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.774610429,746,716.774610429,679.774610429,663,637,881,788.225389571,804,652,632.774610429,654,0.407305156228,-0.0155177078211,0.0799545085395,0.999999997024,2.10974881429e-05,-6.81850757977e-05,-2.92920760393e-05,1793237669125699328
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+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,717,679.050825251,663,637,880.050825251,788.949174749,804,652.949174749,632.050825251,654.949174749,0.408229457459,-0.0154895203704,0.0799397818992,0.999999993877,5.26155652348e-05,-9.16384483192e-05,-3.28612539829e-05,1793237669159031808
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+152,2.533333333,POSE1_TO_POSE2_PRESS,766.108296669,745.891703331,717,679,663,637,880,789,804,652.108296669,632.108296669,654,0.409330687063,-0.0155189165001,0.0799560505444,0.999999997236,1.13464805456e-05,-6.48893218e-05,-3.44802001441e-05,1793237669192365312
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.685010801,745.314989199,717,679,663,637,880,789,804,652.685010801,632.685010801,654,0.409920362494,-0.0155263660267,0.07998346071,0.999999999237,-2.49789517829e-06,-1.95159296822e-05,-3.37445437684e-05,1793237669209032192
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.265585401,717,679,663,637,880.265585401,789,804.265585401,652.734414599,633,654,0.410501757082,-0.0155288406128,0.0800001044981,0.999999999363,-8.07946853759e-06,9.32957034561e-06,-3.34836596262e-05,1793237669225699328
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.8508062,717,679,663,637,880.8508062,789,804.8508062,652.1491938,633,654,0.411073185646,-0.0155253277959,0.0800037908181,0.999999999255,-3.71665630921e-06,1.82835486247e-05,-3.37941698584e-05,1793237669242366464
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.567654528,679,663,636.567654528,881,789,804.567654528,652,633,654.432345472,0.411654639801,-0.0155185418391,0.0799856644884,0.999999999218,2.15042479987e-06,-1.31109932159e-05,-3.72483620567e-05,1793237669259033088
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.012538023,679,663,636.012538023,881,789,804,652,633,655,0.412240807265,-0.0155108333751,0.079960204554,0.999999997426,8.29434641737e-06,-5.77589047161e-05,-4.17599323705e-05,1793237669275699712
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.588819216,679,663,636.588819216,881,789,804,652,633,655,0.412884658496,-0.0155120028292,0.0799405875309,0.999999995952,3.74302108463e-06,-7.75632937806e-05,-4.54494066729e-05,1793237669292365824
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717,679.16497423,663,637,881,789,804,652,633,654.83502577,0.413540387111,-0.0155145512473,0.0799317081462,0.999999995447,-1.48195431968e-06,-8.26459262143e-05,-4.76826437484e-05,1793237669309031936
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717,679.740814963,663,637,881,789,804,652,633,654.259185037,0.414225696179,-0.0155205339599,0.0799495707328,0.99999999759,-8.38464752536e-06,-5.10641848744e-05,-4.62891378517e-05,1793237669325698304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.67589619,746,717,679.67589619,663,637,881,788.67589619,804,652.32410381,632.67589619,654,0.414913473138,-0.0155246237256,0.0799682597463,0.999999998698,-1.30775113368e-05,-1.91207021896e-05,-4.54720024137e-05,1793237669342365184
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.086511036,746,717,679.086511036,663,637,881,788.086511036,804,652.913488964,632.086511036,654,0.415603270052,-0.0155271641002,0.0799876251954,0.999999998768,-1.59616132388e-05,1.31188668812e-05,-4.51266304835e-05,1793237669359032064
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,716.505587215,679,663,637,881.494412785,788.494412785,804,652.505587215,632,654.494412785,0.416280472148,-0.015523044546,0.0799745361348,0.99999999859,-1.40697728812e-05,-1.98288851479e-05,-4.72122209761e-05,1793237669375698944
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716.073226923,679.073226923,663,637,881.926773077,789,804.073226923,652,632,654.926773077,0.416968605336,-0.0155186844575,0.0799600119809,0.999999997283,-1.20837240491e-05,-5.33560682487e-05,-4.94165276734e-05,1793237669392365568
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716.647564932,679.647564932,663,637,881.352435068,789,804.647564932,652,632,654.352435068,0.417746370003,-0.0155205188555,0.0799738747813,0.999999998558,-1.50755487558e-05,-1.41054624134e-05,-4.95713448278e-05,1793237669409031936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.227659533,746,716.772340467,679.772340467,663,637,881,789,804.772340467,652.227659533,632,654.227659533,0.418517259752,-0.0155243953077,0.0799898249832,0.999999998312,-1.94959609934e-05,2.32866517203e-05,-4.95265917984e-05,1793237669425698304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.816897077,746,716.183102923,679.183102923,663,637,881,789,804.183102923,652.816897077,632,654.816897077,0.419277230601,-0.015531515033,0.0800090904823,0.999999996782,-2.61853137784e-05,5.77270407916e-05,-4.91648734713e-05,1793237669442364672
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716.399395662,679.399395662,663,637,881,789,804,652.600604338,632,654.600604338,0.420016700856,-0.0155337331506,0.080000065439,0.999999997255,-3.07601229077e-05,4.50936357442e-05,-5.01124236533e-05,1793237669459031296
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716.978856001,679.978856001,663,637,881,789,804,652.021143999,632,654.021143999,0.420746928519,-0.0155337414131,0.0799782858059,0.999999998012,-3.43816047374e-05,1.12373453258e-05,-5.16502481657e-05,1793237669475697920
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716.443478085,680,663.556521915,637,881,789,804,652.556521915,632,654,0.421528027602,-0.0155330325196,0.0799836630613,0.999999997846,-3.59512517172e-05,1.71096700282e-05,-5.21866325458e-05,1793237669492364544
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716.132978776,680,663.867021224,637,881,789,804,652.867021224,632,654,0.422319059936,-0.0155326074453,0.0799939546445,0.99999999758,-3.49054795758e-05,3.05706400374e-05,-5.18447820835e-05,1793237669509031424
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716.705662477,680,663.294337523,637,881,789,804,652.294337523,632,654,0.423136567015,-0.0155332106462,0.0800170951642,0.999999996431,-2.54685533632e-05,6.41491148464e-05,-4.87243818461e-05,1793237669525698304
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.712092734,746,717,680,663,637,881,788.712092734,804,652.287907266,632,654.287907266,0.423912918141,-0.0155338878557,0.0800186750016,0.999999997017,-1.91524186465e-05,5.73828610393e-05,-4.80151954641e-05,1793237669542364928
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.119737599,746,717,680,663,637,881,788.119737599,804,652.880262401,632,654.880262401,0.424645748806,-0.0155346433257,0.0799974554694,0.999999998595,-1.61363690835e-05,7.95402522264e-06,-4.98557501137e-05,1793237669559031552
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716.538711915,680,663.461288085,637,881,788.461288085,804,652.538711915,632,654.538711915,0.425397775444,-0.0155343436352,0.0799597257914,0.999999997256,-2.01585923567e-05,-4.63146480583e-05,-5.41880947731e-05,1793237669575698176
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.039272805,746,716,680,663.960727195,637,881,789,804,652,632.039272805,654,0.426158851167,-0.0155338729853,0.0799218098752,0.999999993359,-2.57059269801e-05,-9.57769606496e-05,-5.87198356233e-05,1793237669592365056
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.614926256,746,716,680,663.385073744,637,881,789,804,652,632.614926256,654,0.42697709482,-0.0155347184765,0.0799384788907,0.999999995996,-2.77290724572e-05,-6.28480069635e-05,-5.73527835869e-05,1793237669609031680
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.810625029,746,716.189374971,680,663.189374971,636.810625029,881,789,804,652,632.810625029,654,0.427786086535,-0.0155362014812,0.0799512917604,0.999999997011,-3.08139564897e-05,-4.30166386645e-05,-5.6371181511e-05,1793237669625698304
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.238610429,746,716.761389571,680,663.761389571,636.238610429,881,789,804,652,632.238610429,654,0.428576384493,-0.0155389726075,0.0799563131379,0.99999999654,-3.60441257432e-05,-4.9649454558e-05,-5.6168396202e-05,1793237669642364928
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,716.654697126,680,663.654697126,636.345302874,881,789,804,652,632,654,0.429369875558,-0.0155425872351,0.0799698117095,0.999999997141,-4.11532509936e-05,-3.0745274175e-05,-5.54942540375e-05,1793237669659031552
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,716.062268204,680,663.062268204,636.937731796,881,789,804,652,632,654,0.430165651815,-0.0155468055387,0.0799893772312,0.999999997429,-4.61757472242e-05,6.43520092133e-06,-5.44827715794e-05,1793237669675698176
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.518531421,745.481468579,716,680,663.518531421,637,881.518531421,789,804,652,632,654,0.430960694294,-0.0155455742117,0.0800128938501,0.999999996963,-4.23931750906e-05,3.9166576589e-05,-5.2372074975e-05,1793237669692365056
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.09746383,716,680,664,637,881.90253617,789,804,652,632.09746383,654,0.431742310875,-0.0155436038024,0.0800282256537,0.99999999635,-3.84242879596e-05,5.6823281857e-05,-5.09441794868e-05,1793237669709031424
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.673932314,716,680,664,637,881.326067686,789,804,652,632.673932314,654,0.432458366847,-0.0155411467665,0.0800010508908,0.999999997818,-3.8622342009e-05,2.96082259705e-06,-5.35065493725e-05,1793237669725698048
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.745299532,716.254700468,680,664,637,881.254700468,789,804,652,633,654,0.433170993076,-0.0155399057308,0.0799637818536,0.999999996069,-4.11295832616e-05,-5.38376872621e-05,-5.71982999884e-05,1793237669742364672
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.158932468,716.841067532,680,664,637,881.841067532,789,804,652,633,654,0.433879153095,-0.0155402481498,0.0799133682272,0.999999990417,-4.66438086221e-05,-0.000114459467748,-6.2360710702e-05,1793237669759031552
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.577428321,745.422571679,716.577428321,680.422571679,664,637,882,789,804.422571679,652,633,654,0.434634032541,-0.0155442429975,0.079921611545,0.999999992001,-5.34743029316e-05,-9.63115989913e-05,-6.21528544394e-05,1793237669775698176
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.002259515,746,716,681,664,637,882,789,804.997740485,652,632.997740485,654,0.435406103034,-0.0155495878301,0.0799516669028,0.999999995161,-6.07526228361e-05,-4.89272047288e-05,-5.99455123844e-05,1793237669792365056
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.579862876,746,716,681,664,637,882,789,804.420137124,652,632.420137124,654,0.436132176079,-0.0155528718221,0.079982155083,0.999999996612,-5.74378698628e-05,-1.48595080967e-05,-5.70593377248e-05,1793237669809031680
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680.843402861,664,637,881.843402861,789,804,652,632.156597139,654,0.436852647478,-0.0155554789632,0.0800072021527,0.999999996749,-5.70455146306e-05,1.44365213631e-05,-5.51311931272e-05,1793237669825698304
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680.268987317,664,637,881.268987317,789,804,652,632.731012683,654,0.437558173225,-0.0155562801923,0.0800177317474,0.999999995888,-6.4450437649e-05,3.10012250562e-05,-5.5759177692e-05,1793237669842364928
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.686206025,746,716,680.313793975,664,636.686206025,881.313793975,789,804.313793975,652,633,654.313793975,0.438244558141,-0.0155584817381,0.080020653264,0.999999995258,-6.90603564585e-05,3.95029859369e-05,-5.6162282797e-05,1793237669859031552
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.096057144,746,716,680.903942856,664,636.096057144,881.903942856,789,804.903942856,652,633,654.903942856,0.438914085893,-0.0155619165274,0.0800168744293,0.999999995039,-7.12087453501e-05,4.09038007141e-05,-5.63673390077e-05,1793237669875698176
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,716.484569108,681,664,636.484569108,882,789,804.515430892,652,633,655,0.439548705568,-0.015561515292,0.0799998974388,0.999999995707,-6.99366591713e-05,1.83492116927e-05,-5.79550755805e-05,1793237669892364800
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.062998447,746,716.937001553,681,664,637,882,789,804.062998447,652,632.937001553,654.937001553,0.440167138603,-0.0155600759913,0.0799765869231,0.999999995718,-6.86315803226e-05,-1.50692942057e-05,-6.02137117215e-05,1793237669909031424
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.63861562,746,716.36138438,681,664,637,882,789,804.63861562,652,632.36138438,654.36138438,0.440709082954,-0.0155562582618,0.0799226190079,0.999999990313,-7.2468985148e-05,-9.89918319642e-05,-6.57441609171e-05,1793237669925698304
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.781311511,746,716,681.218688489,664,636.781311511,882,789,804.781311511,652,632,654,0.441264311401,-0.0155549813455,0.0798844215309,0.999999982401,-7.64740561854e-05,-0.000156578028937,-6.95270100979e-05,1793237669942364928
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.19372249,746,716,681.80627751,664,636.19372249,882,789,804.19372249,652,632,654,0.441841948424,-0.0155579904683,0.0798728268452,0.999999979858,-8.07619597706e-05,-0.00016973805718,-7.03618735009e-05,1793237669959031552
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,716,682,664,636.388540944,882,788.611459056,804,652.388540944,632,654.388540944,0.442427045291,-0.0155634489203,0.0798944972727,0.999999984684,-8.66060112233e-05,-0.000136167682398,-6.77414338551e-05,1793237669975698176
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,716,682,664,636.968185051,882,788.031814949,804,652.968185051,632,654.968185051,0.443015811318,-0.0155701120709,0.0799325290851,0.999999990475,-9.32154513551e-05,-7.96130438823e-05,-6.34215095237e-05,1793237669992364800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,681.122372883,663.877627117,636,881.877627117,788,804,652,632,654,0.444047453915,-0.0155821425714,0.0799501119597,0.999999990763,-0.000107157485483,-5.49931172998e-05,-6.29782956493e-05,1793237670025698304
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,681.697111065,663.302888935,636,881.302888935,788,804,652,632,654,0.444493603263,-0.0155844598567,0.0799264628631,0.999999987233,-0.000112959417621,-9.29823046654e-05,-6.42529484299e-05,1793237670042364928
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.720827068,746,716,682,663,636,881.279172932,788,804,652,632,654,0.444930409717,-0.0155859134925,0.0799020190679,0.99999998236,-0.000113965245562,-0.000134229085255,-6.53840425178e-05,1793237670059031552
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,716,681.549737481,663,636,881.549737481,787.549737481,804,652,632,654,0.44577611822,-0.0155889975029,0.0798684444804,0.9999999728,-0.000115518839727,-0.00019127710923,-6.68475494545e-05,1793237670092364800
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636,881,787,804,652,632.028329427,654,0.446191869653,-0.0155924586115,0.0798648552028,0.999999971159,-0.000124303499705,-0.000194200033612,-6.7207038414e-05,1793237670109031424
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636,881,787,804,652,632.603636836,654,0.446577751831,-0.0156011593769,0.0798574332942,0.999999969293,-0.000132825072048,-0.00019798447408,-6.76278666207e-05,1793237670125698048
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.507575765,746,716,678.507575765,663,637,880,788.507575765,804,652.507575765,632.507575765,654.507575765,0.403897516418,-0.0153288338106,0.0798397576359,0.999999917993,0.000291152714638,-0.000279076239401,3.68889122023e-05,1793237673138854656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.085234243,788.914765757,804,653,632.914765757,654.914765757,0.403605403177,-0.0153230409839,0.0798410189093,0.99999991682,0.000293930458129,-0.000280488942754,3.59253170343e-05,1793237673155520768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.678280832,788.321719168,804,653,632.321719168,654.321719168,0.403344307994,-0.0153220466957,0.0798393569972,0.999999915125,0.000297004108821,-0.000283313728917,3.56598766866e-05,1793237673172187136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.263693962,803.736306038,652.736306038,632.263693962,654,0.403098458433,-0.0153208559877,0.0798418148495,0.999999914919,0.000299396757439,-0.000281485464884,3.59176672546e-05,1793237673188853760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.840055892,803.159944108,652.159944108,632.840055892,654,0.40287068597,-0.0153194323801,0.0798491576008,0.999999916452,0.000300981926116,-0.00027413997254,3.67958647122e-05,1793237673205520640
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.584248047,716.415751953,679,663,637,881,789,803.415751953,652.415751953,633,654,0.402657519011,-0.0153194350983,0.079852134182,0.999999916883,0.000300908443508,-0.000272665614847,3.66272455132e-05,1793237673222188032
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.008807758,716.991192242,679,663,637,881,789,803.991192242,652.991192242,633,654,0.402449961962,-0.0153199856615,0.0798534337381,0.999999916904,0.000300197880837,-0.000273446332071,3.60565490223e-05,1793237673238854912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.577896899,717,679,662.422103101,637,881,788.422103101,804,653,633,654,0.402281262531,-0.0153343892442,0.0798522178096,0.999999919671,0.000290791360818,-0.000273466913572,3.6264795691e-05,1793237673255521280
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,662.162804448,637,881,788.162804448,804,653,633,654.162804448,0.402119639448,-0.0153483099026,0.0798510832008,0.999999922774,0.000279717732335,-0.000273602280511,3.67641176518e-05,1793237673272187648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,662.74265978,637,881,788.74265978,804,653,633,654.74265978,0.401974596391,-0.0153604418585,0.0798502570696,0.999999926686,0.000264719788928,-0.000274061957193,3.79780612624e-05,1793237673288854272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.677864779,746,717,679,663,637,881,789,804,653,633,654.677864779,0.401844530494,-0.0153615465243,0.0798522563181,0.999999928577,0.00026221366677,-0.000269389934358,3.89709990675e-05,1793237673305520640
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.098692397,746,717,679,663,637,881,789,804,653,633,654.098692397,0.401726415111,-0.0153538523295,0.0798565099849,0.999999928884,0.000269674979246,-0.00026062324142,3.97875927204e-05,1793237673322187264
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716.993121605,679,663,637,880,788.993121605,804,652.006878395,632.006878395,654,0.401519487337,-0.0153525962495,0.0798568794978,0.999999930388,0.00026301314697,-0.000261824618716,3.86811877622e-05,1793237673355521280
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,653,632,654,0.401230090686,-0.0153486871021,0.0798482698547,0.999999924067,0.000275762876387,-0.000273703632873,3.01024929824e-05,1793237673422188032
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.544873966,788.544873966,804,653,632.544873966,654,0.4011418401,-0.0153468693439,0.0798485628506,0.999999923678,0.000278593302068,-0.000272071698429,3.17221057812e-05,1793237673455521024
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.922279238,746,716.077720762,679,663,637,880.922279238,789,804,653,632.077720762,654,0.400998634052,-0.0153483366206,0.0798488298348,0.999999924759,0.000276591815097,-0.000269956232082,3.32153014784e-05,1793237673638854144
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.508229244,679,663,637,880.491770756,789,804,652.491770756,632,654,0.400996787611,-0.0153479801426,0.0798481332026,0.999999924157,0.000278021116139,-0.000270730441908,3.30811872429e-05,1793237673655520768
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716.905431659,679,663,637,880,788.905431659,804.094568341,652.094568341,632.094568341,654,0.40099541156,-0.0153476172972,0.079847683706,0.999999923721,0.000279286122784,-0.00027105268201,3.29753876022e-05,1793237673672187904
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716.325830689,679,663,637,880,788.325830689,804.674169311,652.674169311,632.674169311,654,0.400997133414,-0.0153487402174,0.0798493583775,0.999999924927,0.00027757335189,-0.00026831154004,3.3284319513e-05,1793237673688854528
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716.252822556,678.747177444,663,637,880,788.252822556,805,653,632.747177444,654,0.400997386036,-0.0153493047645,0.07984984613,0.999999925521,0.000276445724077,-0.000267274210588,3.3167727628e-05,1793237673705521152
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716.830259038,678.169740962,663,637,880,788.830259038,805,653,632.169740962,654,0.400995752221,-0.0153491523832,0.0798488099268,0.999999925339,0.000276069396062,-0.000268424507065,3.25047804575e-05,1793237673722187520
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766.593659066,746,716.593659066,678.406340934,663,637,880,789,805,653,632,654,0.400995398394,-0.0153491568318,0.0798490693488,0.999999925122,0.000277252714211,-0.00026796602794,3.28731619261e-05,1793237673738854144
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+425,7.083333333,POSE2_TO_POSE3_RETREAT,766.567742549,746,716.567742549,679,663,637,880,789,804.432257451,653,632.567742549,654,0.400994076158,-0.0153488494027,0.0798491987586,0.999999924751,0.000278353923036,-0.000268207570609,3.28811839167e-05,1793237673772187392
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880,789,804,652.847836589,632.847836589,654.152163411,0.400993041315,-0.0153486847341,0.0798486739952,0.99999992478,0.000277349653036,-0.000269212372248,3.22888271026e-05,1793237673788854272
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880,789,804,652.268469996,632.268469996,654.731530004,0.400993469672,-0.0153491575153,0.0798486895724,0.999999925268,0.000275813754148,-0.000268964093479,3.23957078255e-05,1793237673805521408
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,745.689618437,716.689618437,679,663,637,880.310381563,789,803.689618437,652,632.310381563,654.689618437,0.400994625623,-0.0153495197333,0.0798496437851,0.999999925641,0.000276188978806,-0.000267161658244,3.25805492457e-05,1793237673822188288
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,745.111211657,716.111211657,679,663,637,880.888788343,789,803.111211657,652,632.888788343,654.111211657,0.400996409878,-0.0153497864761,0.0798514085421,0.999999925907,0.000278214524834,-0.000264017155147,3.28327124189e-05,1793237673838854912
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,745.463695133,716.463695133,678.536304867,662.536304867,637,880.536304867,789,803,652,633,654,0.400996602713,-0.0153498837901,0.0798517055207,0.999999926136,0.000277639827835,-0.000263759754321,3.27888700206e-05,1793237673855521280
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,678.0388301,662.0388301,637,880.0388301,789,803.0388301,652,633,654,0.400996461456,-0.0153499153586,0.0798516411851,0.999999926338,0.000276569127056,-0.000264132414096,3.2667192111e-05,1793237673872187136
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+435,7.250000000,POSE2_TO_POSE3_RETREAT,766,746,716.628053823,679,663,637,880,789,804,652.628053823,632.628053823,654,0.400994177045,-0.015349590918,0.0798499773356,0.999999925661,0.000277048803446,-0.000266192292714,3.26080883555e-05,1793237673938854144
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+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.118407234,679,663,637,880,789,804,653,633,655,0.400997723749,-0.0153516931653,0.0798524693208,0.99999992745,0.000275551691264,-0.000260948743544,3.28300232771e-05,1793237673988854272
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.69812774,679,663,637,880,789,804,653,633,655,0.400996891263,-0.015349790221,0.0798517858238,0.999999926486,0.000277392692969,-0.000262690889633,3.27850712891e-05,1793237674005521152
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94c48add9ffea360e570249203aa16a0bf68a504
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,441 @@
+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,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
+2,0.033333333,pose1_baseline,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
+3,0.050000000,pose1_baseline,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
+4,0.066666667,pose1_baseline,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
+5,0.083333333,pose1_baseline,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a12a1e9bc32492780cbcd2cff1eb783cd3ce5df
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c369b1583e93dc196a70972ce4fba177ed9262ce6c700a62b90aebf1433e68
+size 28023569
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91ee10b63411cc59de96768ec3c523487e4b268e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,443 @@
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+21,0.350000000,BASELINE,767,746,716.17271662,679,663,637,880.82728338,789,804,653,633,654.17271662,0.400994748087,-0.0153519299795,0.0798514036839,0.999999927422,0.00027444913778,-0.000262329774811,3.18803430969e-05,1793237674508050176
+22,0.366666667,BASELINE,767,746,716.766974308,679,663,637,880.233025692,789,804,653,633,654.766974308,0.400997273799,-0.015351520493,0.0798538216104,0.999999927738,0.000276669682369,-0.000258769652138,3.1879735806e-05,1793237674524716800
+23,0.383333333,BASELINE,767,746,716.648117441,679,663,637,880.351882559,789,804,653,633,654.648117441,0.40099793591,-0.015350748839,0.0798545015088,0.999999927637,0.00027787360023,-0.000257864899261,3.19028477454e-05,1793237674541383168
+24,0.400000000,BASELINE,767,746,716.069240324,679,663,637,880.930759676,789,804,653,633,654.069240324,0.400997395839,-0.0153497435556,0.0798540602294,0.999999927275,0.000278421706511,-0.000258673088263,3.19412606316e-05,1793237674558049792
+25,0.416666667,BASELINE,766.494462658,746,716.505537342,679,663,637,881,788.494462658,803.494462658,653,633,654,0.400997441981,-0.0153504190924,0.0798543554328,0.999999927928,0.000276353323919,-0.00025837399789,3.18720655376e-05,1793237674574716160
+26,0.433333333,BASELINE,766,746,716.918045045,679,663,637,880.918045045,788.081954955,803.081954955,653,632.918045045,654,0.400997376926,-0.015351350362,0.0798545268067,0.999999928571,0.000274181909657,-0.000258209616867,3.17896295094e-05,1793237674591382784
+27,0.450000000,BASELINE,766,746,716.328007382,679,663,637,880.328007382,788.671992618,803.671992618,653,632.328007382,654,0.400996128749,-0.0153524513317,0.0798533101696,0.999999928324,0.000273575567259,-0.000259813012621,3.1715742059e-05,1793237674608049408
+28,0.466666667,BASELINE,766,745.742927899,716.257072101,679,663,637,880,789,803.742927899,652.742927899,632.257072101,654,0.400995987636,-0.0153521870762,0.0798531641824,0.999999928102,0.000274134799865,-0.000260072357937,3.17438994672e-05,1793237674624716032
+29,0.483333333,BASELINE,766,745.164055059,716.835944941,679,663,637,880,789,803.164055059,652.164055059,632.835944941,654,0.400997232336,-0.0153502138429,0.079854358426,0.999999927911,0.000276153089697,-0.000258649231891,3.1899795793e-05,1793237674641382656
+30,0.500000000,BASELINE,766,745.412709644,717,679,663,637,880,788.587290356,803.412709644,652.412709644,633,654,0.400996674304,-0.0153496250638,0.0798540153865,0.999999927683,0.000276389419844,-0.000259289036559,3.18102276221e-05,1793237674658049280
+31,0.516666667,BASELINE,766,745.988640592,717,679,663,637,880,788.011359408,803.988640592,652.988640592,633,654,0.400995403314,-0.0153495838183,0.0798530643713,0.99999992744,0.000275921008032,-0.000260744703562,3.16235814271e-05,1793237674674715904
+32,0.533333333,BASELINE,766.564106884,746,717,679,663,637,880,788.564106884,804,653,632.435893116,654,0.400993910796,-0.0153503635686,0.0798517471794,0.999999927165,0.000275256932749,-0.000262510500241,3.14830197978e-05,1793237674691382528
+33,0.550000000,BASELINE,767,746,716.856524888,679,663,637,880.143475112,788.856524888,804,653,632.143475112,654.143475112,0.400993557627,-0.0153508321984,0.0798512749167,0.999999927146,0.00027489264428,-0.000262971535128,3.14254045332e-05,1793237674708048896
+34,0.566666667,BASELINE,767,746,716.264940848,679,663,637,880.735059152,788.264940848,804,653,632.735059152,654.735059152,0.400996776858,-0.0153502775283,0.0798534645917,0.999999927928,0.000275476961408,-0.000259337980917,3.16239556907e-05,1793237674724715520
+35,0.583333333,BASELINE,766.683905888,746,716.316094112,679,663,637.316094112,880.683905888,788.316094112,804,653,633,654.683905888,0.400998238573,-0.0153506490599,0.079854310163,0.999999928189,0.000275995560236,-0.000257746987143,3.18709343794e-05,1793237674741382656
+36,0.600000000,BASELINE,766.111427241,746,716.888572759,679,663,637.888572759,880.111427241,788.888572759,804,653,633,654.111427241,0.400998274764,-0.0153517718355,0.0798540655295,0.999999928034,0.000276460854892,-0.000257812717618,3.21571927522e-05,1793237674758050048
+37,0.616666667,BASELINE,766.467526789,746,717,678.532473211,663,637.532473211,880,789,804,653,633,654,0.400996955918,-0.0153512606021,0.0798538224642,0.999999927421,0.000277921598898,-0.00025857744294,3.24959413585e-05,1793237674774716672
+38,0.633333333,BASELINE,767,746,716.951521762,678,663,637,880.048478238,789,804,653,633,654,0.400995403448,-0.0153505197768,0.0798535542884,0.999999926832,0.000279140369796,-0.000259504837486,3.27732929158e-05,1793237674791382528
+39,0.650000000,BASELINE,767,746,716.365777297,678,663,637,880.634222703,789,804,653,633,654,0.400994891227,-0.0153516110936,0.0798530036227,0.999999927771,0.000275011175488,-0.00026036280713,3.2229611277e-05,1793237674808049152
+40,0.666666667,BASELINE,766.781485966,745.781485966,716.218514034,678.218514034,663,637,880.781485966,789,804,653,632.781485966,654.218514034,0.400994879925,-0.0153522706938,0.0798527206596,0.999999928337,0.000272496385984,-0.000260877310233,3.18444407011e-05,1793237674824716032
+41,0.683333333,BASELINE,766.199611047,745.199611047,716.800388953,678.800388953,663,637,880.199611047,789,804,653,632.199611047,654.800388953,0.400995701586,-0.0153522124046,0.0798528828519,0.99999992831,0.0002726661454,-0.000260820672375,3.17228537785e-05,1793237674841382656
+42,0.700000000,BASELINE,766,745.37833933,717,679,663,637,880,789,804,653,632.37833933,655,0.400995649168,-0.0153514698834,0.0798529067027,0.99999992787,0.000274760460578,-0.000260318023458,3.16389893125e-05,1793237674858049280
+43,0.716666667,BASELINE,766,745.954240367,717,679,663,637,880,789,804,653,632.954240367,655,0.400995140322,-0.0153503700689,0.079852858314,0.999999927207,0.000277859742693,-0.000259582475924,3.15748228098e-05,1793237674874715904
+44,0.733333333,BASELINE,766.529688812,746,716.470311188,679,663,637,880.529688812,789,804,652.470311188,632.470311188,654.470311188,0.400996222834,-0.0153506000746,0.0798534467573,0.999999927715,0.000276407193953,-0.000259162271672,3.16793006196e-05,1793237674891382528
+45,0.750000000,BASELINE,767,746,716,678.892517976,663,637.107482024,880.892517976,789,804,652.107482024,632.107482024,654,0.400997333172,-0.0153511244334,0.0798539718239,0.999999928294,0.00027483155791,-0.000258586587729,3.18133085975e-05,1793237674908048896
+46,0.766666667,BASELINE,767,746,716,678.304057359,663,637.695942641,880.304057359,789,804,652.695942641,632.695942641,654,0.400997953353,-0.0153524523554,0.0798539672988,0.999999928748,0.000274463304857,-0.000257193332523,3.20143223929e-05,1793237674924715520
+47,0.783333333,BASELINE,767,746,716,678,663,637.719839121,880.280160879,789,804,653,633,654,0.400998296441,-0.0153527108904,0.0798541239608,0.999999928836,0.000274557410806,-0.000256751768683,3.2012384973e-05,1793237674941382400
+48,0.800000000,BASELINE,767,746,716,678,663,637.140156366,880.859843634,789,804,653,633,654,0.400998343288,-0.0153518261366,0.0798544529489,0.999999928533,0.000275145827823,-0.000257327664298,3.17934710713e-05,1793237674958049024
+49,0.816666667,BASELINE,767,745.562919897,716.437080103,678,663,637,880.562919897,789,804,653,632.562919897,654,0.400996592723,-0.0153515464305,0.0798534437967,0.999999928216,0.000274615813002,-0.000259169282023,3.13926818353e-05,1793237674974715904
+50,0.833333333,BASELINE,767,745.013774001,717,678.013774001,663,637,880.013774001,789,804,653,632.013774001,654,0.400994344614,-0.0153514669305,0.0798520447149,0.999999927889,0.000273785385325,-0.000261352334712,3.0957306704e-05,1793237674991383040
+51,0.850000000,BASELINE,767,745.600346031,717,678.600346031,663,637,880.600346031,789,804,653,632.600346031,654,0.400995240976,-0.0153516896861,0.079852175029,0.999999927563,0.000275293437307,-0.000260949649381,3.1495470307e-05,1793237675008049664
+52,0.866666667,BASELINE,767,746,716.815263969,679,663,637,881,789,804,653,633,654,0.400995594626,-0.0153521953983,0.0798521437142,0.999999927408,0.000275840836527,-0.000260922221519,3.18697689618e-05,1793237675024716288
+53,0.883333333,BASELINE,767,746,716.23553945,679,663,637,881,789,804,653,633,654,0.400994787891,-0.0153533061069,0.0798517668169,0.999999927619,0.000274334241215,-0.000261697140574,3.18937040538e-05,1793237675041382400
+54,0.900000000,BASELINE,766.657896531,746,716.342103469,679,663,637,881,789,804,653,632.657896531,654,0.4009943674,-0.0153525807308,0.079851534368,0.999999927379,0.000275054691728,-0.000261869727506,3.17926230568e-05,1793237675058049024
+55,0.916666667,BASELINE,766.081678158,746,716.918321842,679,663,637,881,789,804,653,632.081678158,654,0.40099421123,-0.0153505988495,0.0798514007709,0.999999926828,0.000277299197649,-0.000261630114765,3.16059886154e-05,1793237675074715648
+56,0.933333333,BASELINE,766,746,717,679,663,636.505510697,880.505510697,788.505510697,803.505510697,652.505510697,632,654.494489303,0.400994918535,-0.0153513455255,0.0798522602164,0.999999927547,0.000275953703705,-0.000260289889542,3.16950645198e-05,1793237675091382528
+57,0.950000000,BASELINE,766.07227394,746,716.92772606,679,663,636.07227394,880,788.07227394,803,652,632,654.92772606,0.400995812195,-0.0153522302097,0.0798533366966,0.999999928328,0.000274459799244,-0.000258850399759,3.18176614528e-05,1793237675108049152
+58,0.966666667,BASELINE,766.661689839,746,716.338310161,679,663,636.661689839,880,788.661689839,803,652,632,654.338310161,0.400997018855,-0.0153508778608,0.0798547925792,0.999999928082,0.0002761465218,-0.000258001311733,3.18542856787e-05,1793237675124716032
+59,0.983333333,BASELINE,766.753435221,746,716,679,663,637,880.246564779,789,803,652.246564779,632.246564779,654.246564779,0.400997392476,-0.0153512648038,0.0798550312078,0.999999928041,0.000276327941788,-0.000257952584039,3.1967670296e-05,1793237675141382656
+60,1.000000000,BASELINE,766.174678152,746,716,679,663,637,880.825321848,789,803,652.825321848,632.825321848,654.825321848,0.400996643759,-0.0153539950631,0.0798536298524,0.999999928276,0.000274481294945,-0.000258982167301,3.21844728128e-05,1793237675158049280
+61,1.016666667,BASELINE,766.402714304,746,716,678.597285696,662.597285696,637,880.597285696,788.597285696,803.402714304,653,632.597285696,654.597285696,0.400997520756,-0.0153540205641,0.079854140821,0.999999928813,0.000273301101342,-0.000258161261457,3.21364181747e-05,1793237675174715904
+62,1.033333333,BASELINE,766.979516819,746,716,678.020483181,662.020483181,637,880.020483181,788.020483181,803.979516819,653,632.020483181,654.020483181,0.400999100528,-0.0153528768327,0.0798554784629,0.999999929479,0.000272409007009,-0.000256540412918,3.19738691831e-05,1793237675191382272
+63,1.050000000,BASELINE,767,746,716,678.553626242,662.553626242,637,880,788.553626242,803.446373758,652.446373758,632,654,0.400997618077,-0.0153528511325,0.0798544243314,0.999999929283,0.000272392453075,-0.000257332069281,3.18976483872e-05,1793237675208048896
+64,1.066666667,BASELINE,766.868470727,745.868470727,716,679,662.868470727,637,880,788.868470727,803.131529273,652,632,654,0.400996365032,-0.0153526894957,0.0798534633534,0.999999928965,0.000272831105245,-0.00025811635409,3.17741687718e-05,1793237675224715776
+65,1.083333333,BASELINE,766.276953846,745.276953846,716,679,662.276953846,637,880,788.276953846,803.723046154,652,632,654,0.400996308579,-0.0153519084953,0.07985313613,0.999999928333,0.000274748977353,-0.000258564213297,3.14742983551e-05,1793237675241382656
+66,1.100000000,BASELINE,766,745.307649071,716,679,662.307649071,637,880.307649071,788.307649071,803.692350929,652,632,654,0.400996156374,-0.0153515574883,0.0798531078515,0.999999928208,0.000274855609117,-0.000258949646797,3.13510652584e-05,1793237675258049536
+67,1.116666667,BASELINE,766,745.886164628,716,679,662.886164628,637,880.886164628,788.886164628,803.113835372,652,632,654,0.400995919867,-0.0153515850648,0.079853342776,0.99999992853,0.000273367552698,-0.000259280118199,3.13833507037e-05,1793237675274716416
+68,1.133333333,BASELINE,766,746,716,679,663.461284519,637,880.538715481,789,803.461284519,652.461284519,632.461284519,654,0.400996325752,-0.0153520477416,0.0798536760433,0.99999992879,0.000272623886824,-0.000259037191379,3.15600640539e-05,1793237675291382784
+69,1.150000000,BASELINE,766,746,716.036491352,678.963508648,663.963508648,637,880,788.963508648,804,653,632.963508648,654,0.400996836202,-0.0153525938713,0.0798539937564,0.99999992903,0.000272083426571,-0.000258654827403,3.17583499905e-05,1793237675308049408
+70,1.166666667,BASELINE,766,746,716.625611905,678.374388095,663.374388095,637,880,788.374388095,804,653,632.374388095,654,0.400996546953,-0.0153527896245,0.0798537110684,0.999999929186,0.000271858691432,-0.000258288084956,3.17475144524e-05,1793237675324715776
+71,1.183333333,BASELINE,766.211119928,746,716.788880072,678.211119928,663,637,880,788,803.788880072,652.788880072,632,654,0.400996398904,-0.0153525016064,0.0798536738663,0.999999929022,0.000272691569471,-0.000258051001981,3.17121232084e-05,1793237675341382144
+72,1.200000000,BASELINE,766.790329567,746,716.209670433,678.790329567,663,637,880,788,803.209670433,652.209670433,632,654,0.400996497038,-0.0153513701282,0.0798540646713,0.999999928293,0.000275368406645,-0.000258039981528,3.16339188435e-05,1793237675358048768
+73,1.216666667,BASELINE,767,746,716.368525311,678.631474689,663,636.631474689,880,788.368525311,803.368525311,652.368525311,632,654,0.400996201543,-0.0153518953176,0.079853920173,0.999999928205,0.000275562537772,-0.000258157711021,3.1773766907e-05,1793237675374715648
+74,1.233333333,BASELINE,767,746,716.946145752,678.053854248,663,636.053854248,880,788.946145752,803.946145752,652.946145752,632,654,0.400995682711,-0.0153533604729,0.0798534719525,0.999999928481,0.000274348022629,-0.000258348491092,3.20373342957e-05,1793237675391382016
+75,1.250000000,BASELINE,766.480926069,745.480926069,716.480926069,678,663,636.519073931,880,789,803.480926069,652.480926069,632.519073931,654,0.400995568777,-0.0153522991548,0.0798535391875,0.99999992819,0.000275127761597,-0.000258676695386,3.18017465661e-05,1793237675408048896
+76,1.266666667,BASELINE,766,745,716,678.094179726,662.905820274,637,880.094179726,788.905820274,803.094179726,652,632.905820274,654,0.400995495513,-0.0153515261286,0.0798535918929,0.999999928046,0.000275296407777,-0.000259081866161,3.15668924887e-05,1793237675424715776
+77,1.283333333,BASELINE,766,745,716,678.68326395,662.31673605,637,880.68326395,788.31673605,803.68326395,652,632.31673605,654,0.400995417193,-0.0153536331349,0.0798532897383,0.99999992898,0.000271176301921,-0.000259817235372,3.16055943419e-05,1793237675441382400
+78,1.300000000,BASELINE,766.26884289,745.26884289,716,679,662.26884289,637,880.73115711,788,804,652.26884289,632,654,0.40099554856,-0.0153543109271,0.0798533677006,0.999999929241,0.000270133282341,-0.000259886913515,3.16910128645e-05,1793237675458048768
+79,1.316666667,BASELINE,766.850345207,745.850345207,716,679,662.850345207,637,880.149654793,788,804,652.850345207,632,654,0.400995923791,-0.0153533265691,0.079853887732,0.999999928731,0.000272668858818,-0.000259182404922,3.1830762028e-05,1793237675474715392
+80,1.333333333,BASELINE,767,746,716.428562312,679,663,637,880,788.428562312,803.571437688,652.571437688,632,654,0.400995609126,-0.0153533019383,0.0798535357477,0.999999928461,0.000273583110126,-0.000259256869222,3.18790867455e-05,1793237675491382016
+81,1.350000000,BASELINE,766.99442393,745.99442393,717,679,663,637,880,788.99442393,803.00557607,652,632,654,0.400995068299,-0.0153535998972,0.0798528966313,0.99999992828,0.000273926228243,-0.000259590058275,3.18960048031e-05,1793237675508048640
+82,1.366666667,BASELINE,766.423986643,745.423986643,717,679,663,637,880,788.423986643,803.576013357,652,632,654,0.400995836112,-0.0153528848954,0.0798537832078,0.99999992865,0.000273330249938,-0.000258786165784,3.194088845e-05,1793237675524715264
+83,1.383333333,BASELINE,766,745.152112503,716.847887497,679,663,637,880.152112503,788,804,652.152112503,632.152112503,654,0.400996681311,-0.0153526682969,0.0798545658111,0.999999929164,0.000272408583649,-0.000257770460954,3.1941242573e-05,1793237675541381888
+84,1.400000000,BASELINE,766,745.744603336,716.255396664,679,663,637,880.744603336,788,804,652.744603336,632.744603336,654,0.400997750547,-0.0153538946172,0.0798550474035,0.999999930093,0.000270544023453,-0.000256141541619,3.18126800357e-05,1793237675558048768
+85,1.416666667,BASELINE,766.329593236,746,716.329593236,679,662.670406764,637,880.670406764,788.329593236,803.670406764,653,633,654,0.400997753264,-0.0153541387498,0.0798552226559,0.999999930077,0.000270664523035,-0.000256082617991,3.1759449665e-05,1793237675574715392
+86,1.433333333,BASELINE,766.908900079,746,716.908900079,679,662.091099921,637,880.091099921,788.908900079,803.091099921,653,633,654,0.400996947942,-0.0153536387358,0.0798551658122,0.999999929346,0.000272288986969,-0.000257213188813,3.17632940995e-05,1793237675591382016
+87,1.450000000,BASELINE,767,746,716.517121621,678.517121621,662.482878379,637,880,789,803,653,632.517121621,654,0.400996935613,-0.0153543739664,0.0798548990813,0.999999929289,0.000272733316381,-0.000256939931388,3.19554019584e-05,1793237675608048896
+88,1.466666667,BASELINE,766.943672409,746,716.056327591,678.056327591,662.943672409,637,880,789,803.056327591,652.943672409,632,654,0.400997082143,-0.0153551189665,0.0798545920151,0.999999929327,0.000272993680559,-0.000256490137576,3.21402688444e-05,1793237675624715520
+89,1.483333333,BASELINE,766.365916569,746,716.634083431,678.634083431,662.365916569,637,880,789,803.634083431,652.365916569,632,654,0.400997329455,-0.0153538206693,0.0798542741167,0.999999929083,0.000273589605057,-0.000256831077026,3.19329034355e-05,1793237675641382144
+90,1.500000000,BASELINE,766.205021262,746,717,678.794978738,662.205021262,637,880,789,804,652.205021262,632,654,0.400997355201,-0.0153530643847,0.0798540619341,0.999999928913,0.000274052387166,-0.000257015054181,3.18297933396e-05,1793237675658048768
+91,1.516666667,BASELINE,766.764182074,746,717,678.235817926,662.764182074,637,880,789,804,652.764182074,632,654,0.40099699823,-0.0153532443355,0.0798540323578,0.999999928869,0.000274285188258,-0.000256927905486,3.19067666836e-05,1793237675674715392
+92,1.533333333,BASELINE,767,746,716.645581838,678,663,637,880,789,804,652.645581838,632.354418162,654,0.400996193571,-0.0153530876715,0.0798539007832,0.999999928733,0.000274316259452,-0.000257438874511,3.177120231e-05,1793237675691382272
+93,1.550000000,BASELINE,767,746,716.032682105,678,663,637,880,789,804,652.032682105,632.967317895,654,0.400995062407,-0.0153526855103,0.0798536948199,0.99999992853,0.000274200206548,-0.000258386058208,3.14806315457e-05,1793237675708048896
+94,1.566666667,BASELINE,767,746,716.545032192,678.545032192,663,637,880,789,804,652,632.454967808,654.545032192,0.400996542044,-0.0153533024734,0.0798541416324,0.999999928875,0.000274026191908,-0.000257216400794,3.16056379798e-05,1793237675724715520
+95,1.583333333,BASELINE,767,745.87655386,717,679,663,637,880.12344614,789,804,652.12344614,632.12344614,654.87655386,0.400997628189,-0.0153537257109,0.0798543711749,0.999999929141,0.000273750813978,-0.000256461626964,3.17066127892e-05,1793237675741382144
+96,1.600000000,BASELINE,767,745.288037285,717,679,663,637,880.711962715,789,804,652.711962715,632.711962715,654.288037285,0.400996677866,-0.0153532028423,0.0798536436524,0.999999928997,0.000273105860305,-0.000257719092473,3.16288624887e-05,1793237675758048768
+97,1.616666667,BASELINE,767,745,717,679,662.704034931,637,881,789,804,653,632.704034931,654,0.400995961707,-0.0153531501163,0.0798532356255,0.999999928841,0.000272943761316,-0.00025848757432,3.16739911179e-05,1793237675774715392
+98,1.633333333,BASELINE,767,745,717,679,662.124359913,637,881,789,804,653,632.124359913,654,0.400995470016,-0.0153535480656,0.0798531338648,0.999999928676,0.000273244523334,-0.000258787319929,3.18369105951e-05,1793237675791382016
+99,1.650000000,BASELINE,767,745.452667613,717,678.547332387,662.452667613,637,880.547332387,789,804,653,632.452667613,654,0.400995989524,-0.0153536912457,0.079853762675,0.999999929203,0.000272448464212,-0.000257612169236,3.16380764334e-05,1793237675808048640
+100,1.666666667,BASELINE,766.970517045,745.970517045,717,678,663,637,880.029482955,788.970517045,804,653,632.970517045,654,0.400996697469,-0.0153538028041,0.07985451478,0.999999929845,0.000271442695387,-0.000256212268261,3.13714841144e-05,1793237675824715520
+101,1.683333333,BASELINE,766.384049284,745.384049284,717,678,663,637,880.615950716,788.384049284,804,653,632.384049284,654,0.400995747638,-0.0153546315559,0.0798538264746,0.999999929142,0.000272134621245,-0.000258176746253,3.1691431147e-05,1793237675841382144
+102,1.700000000,BASELINE,766,745.200024591,716.799975409,678.200024591,663,637,880.799975409,788.200024591,804,653,632.400049181,654.200024591,0.400995553513,-0.0153545691852,0.0798534609751,0.999999928781,0.00027257708587,-0.000259099934692,3.17472935539e-05,1793237675858049024
+103,1.716666667,BASELINE,766,745.779556473,716.220443527,678.779556473,663,637,880.220443527,788.779556473,804,653,633.559112946,654.779556473,0.400996793189,-0.0153528160848,0.0798537079365,0.999999929075,0.000272546246832,-0.00025804748093,3.13021073252e-05,1793237675874715648
+104,1.733333333,BASELINE,766,746,716,678.643109424,663,637,880,788.643109424,803.643109424,653,633.286218849,654.643109424,0.400996915435,-0.0153527196605,0.0798539948379,0.999999929103,0.000273018979649,-0.000257420969591,3.14354642054e-05,1793237675891382016
+105,1.750000000,BASELINE,766,746,716,678.067124478,663,637,880,788.067124478,803.067124478,653,632.134248956,654.067124478,0.400996351692,-0.015353640266,0.0798543062582,0.999999928968,0.000273800854163,-0.000257055943306,3.1923987435e-05,1793237675908048640
+106,1.766666667,BASELINE,766.508233694,745.491766306,716.508233694,678.508233694,663,637,880,788.508233694,803.508233694,653,632.508233694,654.508233694,0.400996239605,-0.0153532018029,0.0798543116887,0.999999928514,0.000275451206763,-0.000257067485948,3.18663388903e-05,1793237675924715520
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,678,663,637,880,789,803,653,633,655,0.400997516028,-0.0153536135813,0.0798545179678,0.99999992951,0.000271792120529,-0.000257091228793,3.1842256895e-05,1793237675967204096
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.579562555,745.420437445,716,678.579562555,663,637,880,789,803.579562555,653,633,654.420437445,0.400998723265,-0.0153538525869,0.0798557075877,0.999999929639,0.000273037222021,-0.000255269318976,3.17851507138e-05,1793237675983870720
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,716,678.842077222,663,637,880,789,804.157922778,652.842077222,633,654,0.400999216111,-0.0153537596288,0.0798562869101,0.999999929607,0.000274013781556,-0.000254349083224,3.17632461764e-05,1793237676000537600
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,716,678.26689365,663,637,880,789,804.73310635,652.26689365,633,654,0.400997821406,-0.0153527895622,0.0798552537153,0.999999929159,0.000274280804512,-0.00025581123448,3.18343507921e-05,1793237676017204224
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.308550861,716.308550861,678.308550861,663,637,880.308550861,789,804.382898278,652,632.691449139,654,0.400997359462,-0.0153525501652,0.0798551507598,0.999999929123,0.000274359227729,-0.000255872766242,3.17732531596e-05,1793237676033870848
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+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.529960395,679,663,637,880.529960395,789,803.470039605,652,632,654,0.400997297415,-0.0153531471472,0.0798553809451,0.999999929107,0.000275072516495,-0.000255175457247,3.17340876143e-05,1793237676067204096
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.942603429,804,652.057396571,632,654,0.400996820874,-0.0153532794617,0.0798546962229,0.999999928685,0.000275893219182,-0.000255918604806,3.19218917328e-05,1793237676083870720
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.364465902,804,652.635534098,632,654,0.400997439338,-0.0153531954779,0.0798547660333,0.999999929035,0.000274901804267,-0.000255622449581,3.18637558501e-05,1793237676100537600
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.787249666,745.787249666,716.212750334,678.787249666,663,637,880.212750334,788.212750334,804,653,632.212750334,654,0.400999648434,-0.0153533862139,0.0798557430683,0.999999929535,0.000274052012585,-0.000254568566918,3.19281567306e-05,1793237676117204736
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.211604962,745.211604962,716.788395038,678.211604962,663,637,880.788395038,788.788395038,804,653,632.788395038,654,0.401004570718,-0.0153540455478,0.0798582675825,0.999999930288,0.000273443791828,-0.00025222220678,3.22015721011e-05,1793237676133872128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.364320462,716.635679538,678.364320462,663,637,880.635679538,789,804,652.635679538,632.635679538,654,0.401021071096,-0.0153546682126,0.0798662442485,0.999999933221,0.00027428435287,-0.000239274148959,3.27866752411e-05,1793237676150539008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.940409114,716.059590886,678.940409114,663,637,880.059590886,789,804,652.059590886,632.059590886,654,0.401044301462,-0.0153552695629,0.0798773900815,0.999999937122,0.000275967045721,-0.000220163652605,3.35529528361e-05,1793237676167205376
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,716.530189091,679,663,637,880,788.469810909,804,652,632.530189091,654,0.401087323196,-0.0153573974381,0.0798935564576,0.999999944119,0.000273332018037,-0.00018937542355,3.44770073406e-05,1793237676183871744
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,716.881017837,679,663,637,880,788.118982163,803.881017837,652.118982163,632.881017837,654,0.401136122732,-0.0153596519408,0.0799103480065,0.999999950283,0.000270920112516,-0.000157458122051,3.52470262438e-05,1793237676200537856
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,716.302144801,679,663,637,880,788.697855199,803.302144801,652.697855199,632.302144801,654,0.401198428765,-0.0153617151349,0.0799273170822,0.999999954588,0.000271296099796,-0.000126384374,3.53513054838e-05,1793237676217204480
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.725247158,716,679,663,637,880,788.725247158,803.274752842,653,632.274752842,654,0.401263736824,-0.0153647066366,0.0799401172124,0.999999957244,0.000270878933723,-0.000104448870758,3.5032524842e-05,1793237676233871104
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.150506375,716,679,663,637,880,788.150506375,803.849493625,653,632.849493625,654,0.401332322632,-0.0153687117076,0.0799483654928,0.999999958795,0.000269595766067,-9.24909304647e-05,3.42518277496e-05,1793237676250537984
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.434606306,716.434606306,679,663,637,880,788.434606306,803.565393694,653,633,654,0.401412170539,-0.0153713357935,0.0799542432715,0.999999959712,0.00026969027802,-8.23605348056e-05,3.25563635781e-05,1793237676267204864
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,716.976985111,679,663,637,880,788.976985111,803.023014889,652.976985111,633,654,0.401496643105,-0.0153735078004,0.0799591610416,0.99999996038,0.000270136661236,-7.30572185777e-05,3.04880203238e-05,1793237676283871488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,716.39784911,679,663,637,880,788.39784911,803.60215089,652.39784911,633,654,0.401596319017,-0.0153765945288,0.0799612028273,0.999999961594,0.000267275286016,-6.80723633863e-05,2.72514758914e-05,1793237676300538368
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.820207484,716.179792516,679,663,637,880,788,804,652.179792516,633,654,0.401701400415,-0.0153800474418,0.0799631897171,0.999999962685,0.000264545068626,-6.38513858243e-05,2.38565018639e-05,1793237676317205248
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.245845467,716.754154533,679,663,637,880,788,804,652.754154533,633,654,0.401818344584,-0.0153843039765,0.0799650561332,0.99999996357,0.0002621026883,-6.13068013708e-05,2.01138414536e-05,1793237676333871616
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+137,2.283333333,POSE1_TO_POSE2_PRESS,766.397922016,746,716.602077984,679,663,637,880.397922016,789,804,652.602077984,632.602077984,654,0.403274000319,-0.015435254218,0.0799649006753,0.999999992649,0.000104558125335,-5.58154376686e-05,-2.55872393178e-05,1793237676467205632
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.989024852,746,716.010975148,679,663,637,880.989024852,789,804,652.010975148,632.010975148,654,0.403539086965,-0.0154449681148,0.0799676168768,0.999999994078,9.3275476264e-05,-4.72285362663e-05,-3.02323504531e-05,1793237676483871744
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.433634566,746,716.566365434,679,663,637,880.433634566,789,804,652.566365434,632,654,0.403823564638,-0.0154517755603,0.0799685393201,0.999999993806,9.77146270973e-05,-4.81390923226e-05,-2.28482225549e-05,1793237676500538112
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,717,679,663,637,880,789,804,652.856445604,632,654,0.404116598059,-0.0154590016406,0.0799682170923,0.999999993882,9.68853348906e-05,-5.0007818667e-05,-1.86579954493e-05,1793237676517204480
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,717,679,663,637,880,789,804,652.278928025,632,654,0.404434386367,-0.0154676594688,0.0799642348246,0.999999995083,7.9230466893e-05,-5.42299184082e-05,-2.48108497983e-05,1793237676533871104
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.303553843,745.696446157,716.696446157,678.696446157,663,637,880,789,804,652.303553843,632,654,0.404770086423,-0.0154817776815,0.0799633413832,0.999999996499,5.96145431204e-05,-5.20763291135e-05,-2.71181387839e-05,1793237676550537984
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.89067318,745.10932682,716.10932682,678.10932682,663,637,880,789,804,652.89067318,632,654,0.405122518817,-0.0155009967257,0.0799653333754,0.999999997971,3.81666926973e-05,-4.39668762686e-05,-2.58330850784e-05,1793237676567204864
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.52859526,745.47140474,716.47140474,678,663,637,880.47140474,788.52859526,804,653,632.47140474,654,0.405505346547,-0.0155227464448,0.0799612837528,0.999999998307,8.54759870449e-06,-5.13375065914e-05,-2.60192093144e-05,1793237676583872000
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716.94938268,678.05061732,663,637,881,788.05061732,804,653,632.94938268,654,0.40589744608,-0.0155436127618,0.0799558943124,0.999999997511,-2.02034446805e-05,-6.21660600917e-05,-2.65548927352e-05,1793237676600538880
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716.370767947,678.629232053,663,637,881,788.629232053,804,653,632.370767947,654,0.406313713283,-0.0155492239139,0.079950949272,0.999999996821,-2.03964305514e-05,-7.21165727542e-05,-2.72254450976e-05,1793237676617204992
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.205822497,746,716,679,663,637,880.794177503,789,804,652.794177503,632.205822497,654,0.406741848573,-0.0155461110063,0.079949243947,0.999999996623,-1.39898825039e-05,-7.59149314803e-05,-2.81969162594e-05,1793237676633871360
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.778801875,746,716,679,663,637,880.221198125,789,804,652.221198125,632.778801875,654,0.407191154749,-0.0155274356667,0.0799533177955,0.999999997188,4.18925754698e-06,-6.87387572998e-05,-2.97051819894e-05,1793237676650537984
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.647186534,716,679,663,637,880.352813466,788.647186534,804,652,632.647186534,654,0.407650496231,-0.0155084825372,0.079951755511,0.999999996502,2.65841367741e-05,-7.30537933296e-05,-3.08455009112e-05,1793237676667204864
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.072525915,716,679,663,637,880.927474085,788.072525915,804,652,632.072525915,654,0.40811614784,-0.0154893547358,0.0799466492572,0.999999994585,5.16298487412e-05,-8.45944389146e-05,-3.17544568477e-05,1793237676683871744
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.479193356,745.520806644,716.520806644,679,663,637,880.479193356,788.520806644,804,652.520806644,632,654,0.408648060703,-0.0154995153046,0.0799503087553,0.999999995722,3.89917758032e-05,-7.70955739823e-05,-3.30446829679e-05,1793237676700538368
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.112267376,746,716.887732624,679,663,637,880.112267376,789,804,653,632.112267376,654,0.40919703566,-0.0155130855832,0.0799590438399,0.999999997344,2.1660440397e-05,-6.07575259719e-05,-3.39303563636e-05,1793237676717204992
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.684989762,746,716.315010238,679,663,637,880.684989762,789,804,653,632.684989762,654,0.40977673678,-0.0155232903962,0.0799834032748,0.999999999241,7.40353722871e-06,-1.9445116926e-05,-3.29309310368e-05,1793237676733871872
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.741421797,746,716,679,663,637,880.741421797,789,804,652.741421797,632.741421797,654.258578203,0.410360478694,-0.0155282951697,0.0800019825227,0.999999999423,1.38121609805e-06,1.07014398759e-05,-3.21987028232e-05,1793237676750538752
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.166774672,746,716,679,663,637,880.166774672,789,804,652.166774672,632.166774672,654.833225328,0.410949159886,-0.0155269437595,0.080013496455,0.99999999911,5.42430247733e-06,2.71996015959e-05,-3.17930786383e-05,1793237676767205376
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.419829529,746,716,679,663,637,880.419829529,789,804,652,632,654.580170471,0.411521064001,-0.0155205088678,0.0799978943747,0.99999999936,6.138318839e-06,-1.28067971398e-06,-3.52308236444e-05,1793237676783871744
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.988927815,746,716.011072185,679,663,637,881,789,804,652.011072185,632,654,0.412087478101,-0.0155121282357,0.0799712385917,0.999999998035,5.49688454192e-06,-4.77804242371e-05,-4.02207419284e-05,1793237676800537856
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.410527137,746,716.589472863,679,663,637,881,789,804,652.589472863,632,654,0.412724089046,-0.0155105542055,0.0799463117331,0.999999996179,5.1511168627e-06,-7.52327184986e-05,-4.42197585532e-05,1793237676817204480
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.166852411,746,717,679,663,637,880.833147589,789,803.833147589,653,632.166852411,654,0.413373693619,-0.015512294722,0.0799328998569,0.999999995174,2.30514918736e-06,-8.63863752063e-05,-4.67359005511e-05,1793237676833871360
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.741734801,746,717,679,663,637,880.258265199,789,803.258265199,653,632.741734801,654,0.414055073479,-0.0155221408116,0.0799476473472,0.999999997273,-6.65494377147e-06,-5.7682453928e-05,-4.56257399367e-05,1793237676850538240
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716.675682731,679,663,637,880.648634539,789,803.324317269,652.675682731,632.675682731,654,0.414741877358,-0.0155267426175,0.0799679440416,0.99999999872,-1.02504612064e-05,-2.17645314445e-05,-4.4510791029e-05,1793237676867205120
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716.086819322,679,663,637,881.826361356,789,803.913180678,652.086819322,632.086819322,654,0.415433105587,-0.0155270666518,0.0799927672303,0.999999998813,-9.47008496888e-06,2.00378624908e-05,-4.33919363206e-05,1793237676883872000
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.493832828,663,637,881.506167172,789,804,652.493832828,632,654,0.416109102131,-0.0155236535677,0.0799821862862,0.999999998896,-8.59446155863e-06,-1.19476273158e-05,-4.46357442499e-05,1793237676900538624
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.927024837,746,716,680,663,637,881.072975163,788.927024837,804,652.927024837,632,654,0.41679453888,-0.0155202030519,0.0799680383926,0.999999997758,-8.11871338913e-06,-4.77276122714e-05,-4.62695722615e-05,1793237676917205504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.348505083,746,716,680,663,637,881.651494917,788.348505083,804,652.348505083,632,654,0.417563621142,-0.0155209703145,0.0799715943739,0.999999998574,-1.05272582783e-05,-2.13961018995e-05,-4.77748293488e-05,1793237676933871360
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,882,788.227703063,804,652,632,654,0.41833679862,-0.0155236747146,0.0799842960631,0.999999998619,-1.53355050174e-05,1.2718640007e-05,-4.86415577369e-05,1793237676950537728
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,882,788.800408878,804,652,632,654,0.419116181053,-0.0155293141558,0.0800108548098,0.999999996821,-2.37796441084e-05,5.86260964001e-05,-4.85408238869e-05,1793237676967204352
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.384839764,746,716.384839764,680,663,637,881.615160236,788.615160236,804.384839764,652,632,654,0.419855960733,-0.015531394336,0.0800102364743,0.999999996744,-2.8845993964e-05,5.72291627415e-05,-4.90383940812e-05,1793237676983871232
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.975542734,746,716.975542734,680,663,637,881.024457266,788.024457266,804.975542734,652,632,654,0.420574555576,-0.0155315705523,0.079995080239,0.999999997776,-3.21054548668e-05,3.05275817826e-05,-4.98560164288e-05,1793237677000537600
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.445749596,746,716.445749596,680,663.554250404,637,881,788.554250404,804.445749596,652,632,654,0.421344630311,-0.0155300196501,0.0799892174282,0.999999997926,-3.26489670009e-05,1.99832994762e-05,-5.17932306698e-05,1793237677017204992
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.132163359,746,716,680,664,637,881.132163359,789,804,652,632,654,0.422130032144,-0.0155295510282,0.0799908332871,0.999999997923,-3.08435127149e-05,2.12511496733e-05,-5.24581884213e-05,1793237677033872128
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.70914529,746,716,680,664,637,881.70914529,789,804,652,632,654,0.422959536299,-0.0155329760785,0.0800162689131,0.999999996788,-2.15270244316e-05,5.99259820542e-05,-4.86783923878e-05,1793237677050538496
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.71499656,746,716,680,664,637,881.71499656,788.71499656,804,652,632,654,0.423750340023,-0.0155347846073,0.0800207695586,0.99999999688,-1.70381931265e-05,6.0829711233e-05,-4.74382908518e-05,1793237677067205120
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.140280794,746,716,680,664,637,881.140280794,788.140280794,804,652,632,654,0.424501803848,-0.0155349499058,0.08000398933,0.999999998386,-1.74567829507e-05,2.33382726448e-05,-4.8779845426e-05,1793237677083871488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716.447411437,680,664,637,881.447411437,788.447411437,804,652,632,654,0.42524463947,-0.0155339284064,0.0799706742212,0.999999997926,-1.92014971044e-05,-3.25142181872e-05,-5.21798493436e-05,1793237677100538112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.038423833,746.038423833,716.961576167,680,664,637,882,789,804.038423833,652,632,654,0.425990578856,-0.0155327469871,0.0799351406022,0.999999994294,-2.18251164303e-05,-8.8265478053e-05,-5.60708474851e-05,1793237677117204480
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.617200981,746.617200981,716.382799019,680,664,637,882,789,804.617200981,652,632,654,0.426819346186,-0.0155347058587,0.079943492906,0.999999996119,-3.07868358567e-05,-5.92157036771e-05,-5.7519283236e-05,1793237677133871104
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.805779701,716.194220299,680,663.805779701,637,882,789,804.805779701,652,632,654.194220299,0.427637777205,-0.0155368787288,0.0799509418477,0.999999996799,-3.63065916888e-05,-4.17270247099e-05,-5.78091447891e-05,1793237677150537984
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.232193806,716.767806194,680,663.232193806,637,882,789,804.232193806,652,632,654.767806194,0.428436018718,-0.0155394695969,0.0799566262768,0.999999996729,-3.51032487273e-05,-4.68203359169e-05,-5.58359930086e-05,1793237677167204864
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.649356299,746,716.649356299,680,663,637,882,789,804.350643701,652.350643701,632,654.649356299,0.429230904729,-0.0155423257999,0.0799701179278,0.999999997249,-3.96355245759e-05,-3.01801107649e-05,-5.49584856689e-05,1793237677183871488
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.060226452,746,716.060226452,680,663,637,882,789,804.939773548,652.939773548,632,654.060226452,0.430023508487,-0.0155453624671,0.0799889195677,0.999999997341,-4.80688134329e-05,1.24192118081e-06,-5.48261679472e-05,1793237677200538368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,716.519579947,680.519579947,663.519579947,637,882,789,804.480420053,652.480420053,632,654,0.43082882158,-0.0155468987281,0.0800186388686,0.999999996844,-4.37989529885e-05,4.14077367885e-05,-5.1767202779e-05,1793237677217204736
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,716.90248325,680.90248325,663.90248325,637,881.90248325,789,804,652,632,654,0.431621725727,-0.0155471474588,0.0800400216188,0.99999999576,-3.89515426856e-05,6.72831447761e-05,-4.93612353165e-05,1793237677233871104
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,716.328494053,680.328494053,663.328494053,637,881.328494053,789,804,652,632,654,0.432346927848,-0.0155419400344,0.0800145971624,0.999999997754,-3.83499364074e-05,1.84699552955e-05,-5.17741731021e-05,1793237677250537984
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.251978422,746,716,680,663.251978422,637,881.251978422,789,804,652,632,654.251978422,0.433067594639,-0.0155384250702,0.0799767846733,0.999999996975,-3.83657879936e-05,-3.85361501658e-05,-5.5611888403e-05,1793237677267204608
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.841126048,746,716,680,663.841126048,637,881.841126048,789,804,652,632,654.841126048,0.433782192702,-0.0155371747665,0.0799223959131,0.999999991677,-3.92078523101e-05,-0.000106505090901,-6.13560805889e-05,1793237677283870976
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,882,789,804,652,632,655,0.434543204527,-0.0155427350768,0.0799251685766,0.999999992402,-4.95956640757e-05,-9.45087554725e-05,-6.16860687495e-05,1793237677300537856
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.998374617,746,716,680,664,636.998374617,881.998374617,789,804.001625383,652,632,655,0.435321231427,-0.0155507953643,0.0799490776694,0.999999994781,-6.34659675252e-05,-5.2993515505e-05,-6.00147021501e-05,1793237677317204736
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.422328674,746,716,680,664,636.422328674,881.422328674,789,804.577671326,652,632,655,0.436055869079,-0.015553635863,0.0799836535956,0.999999996295,-6.24315067703e-05,-1.4101233629e-05,-5.75596021033e-05,1793237677333871360
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.153669981,746,716.153669981,680.153669981,664,636.153669981,881.153669981,789,804.846330019,652,632.153669981,654.846330019,0.436785960847,-0.015555803367,0.0800112267519,0.999999996297,-6.3051026908e-05,1.81005356521e-05,-5.57125103048e-05,1793237677350538240
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.729538841,746,716.729538841,680.729538841,664,636.729538841,881.729538841,789,804.270461159,652,632.729538841,654.270461159,0.437503563239,-0.01555612186,0.0800195602333,0.999999995622,-6.82147584544e-05,3.19205391431e-05,-5.55358836596e-05,1793237677367204864
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,745.68713685,716.68713685,681,664,637,882,789,804,652,632.68713685,654,0.438204352028,-0.0155575666281,0.0800233234759,0.999999995075,-7.07545490508e-05,4.18356662558e-05,-5.56181380574e-05,1793237677383871488
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,745.097210225,716.097210225,681,664,637,882,789,804,652,632.097210225,654,0.438890251082,-0.015560008796,0.0800230394335,0.999999994751,-7.0970645431e-05,4.82927355029e-05,-5.59296507958e-05,1793237677400538112
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.030814135,745.030814135,716,679,662.969185865,637,880.969185865,788.030814135,804,653,633,654.969185865,0.410271803346,-0.0153472358226,0.0798022245501,0.999999912985,0.000259733835821,-0.000324618667313,3.45211804417e-05,1793237680446875648
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.288989486,679.711010514,662.711010514,637,880.288989486,788,804,653,632,654,0.408722682603,-0.0153424711214,0.079856958983,0.99999993373,0.000274882954004,-0.000235478336254,3.91189973422e-05,1793237680496876544
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.326861669,678.673138331,663,636.673138331,881,788.673138331,804,653,632.326861669,654,0.40383484656,-0.0153293793086,0.0798361250048,0.999999916155,0.000291798571991,-0.000284952758285,3.66735566797e-05,1793237680696874752
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.525373921,678.474626079,662.474626079,637,880,789,804,652,632.474626079,654,0.401813891062,-0.0153615749154,0.0798500671077,0.999999928131,0.000261225017431,-0.000271917584059,3.95085532069e-05,1793237680863541504
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.375907408,745.375907408,716,679,663,637,880.624092592,788.375907408,803.375907408,652,632.375907408,654,0.401594793343,-0.0153524601874,0.0798571713182,0.999999928845,0.000270281496107,-0.000260032593162,4.05126128333e-05,1793237680896875008
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.108253028,679,663,637,879.108253028,788,804,652.891746972,632.891746972,654,0.401169858224,-0.015350137729,0.0798495626908,0.999999924792,0.000275908222305,-0.000270809733793,3.08619938801e-05,1793237680996874752
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.698508431,679,663,637,879.698508431,788,804,652.301491569,632.301491569,654,0.401132247847,-0.0153478015102,0.0798497141373,0.999999924377,0.000276675665835,-0.000271479412775,3.1559548737e-05,1793237681013541376
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.136765743,679,663,637,880,788.863234257,804,652,632,654.863234257,0.401072573556,-0.0153479751584,0.0798478024395,0.999999923672,0.000276460418156,-0.000274163101384,3.25761704046e-05,1793237681046874880
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d4604d69ee56e473fed7036361391b98403371c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,443 @@
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+441,7.350000000,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625824,1.06966104416
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0de8d41c95ae7b62400c73e08286a77c23996efa
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f775c624f7dfd527054cae6f0e9122c18a9f87d96560d055c73dfd2c9fc06d7
+size 27558301
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..609f430561db71f422aaab0914baac824a3fc2f5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
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+56,0.933333333,BASELINE,767,746,715.493271204,680,667,637,881,788.506728796,803,654,632.493271204,654,0.400939435186,0.00441498081616,0.0599502066427,0.999999974286,-0.00012378941345,-0.000186723099711,-3.5182566107e-05,1793237684339127040
+57,0.950000000,BASELINE,767,746,716,680,667,637,881,788,803,654,632.926047824,654,0.400939104894,0.00441396116204,0.0599497147857,0.999999974139,-0.000125059111445,-0.000186740669688,-3.47970266062e-05,1793237684355793664
+58,0.966666667,BASELINE,767,746,716,680,667,637,881,788,803,654,632.352759395,654,0.400939804751,0.00441480921555,0.0599501467816,0.999999974338,-0.000124062654353,-0.00018633016321,-3.48291676105e-05,1793237684372460288
+59,0.983333333,BASELINE,767,746,716,680,667,637,881,787.778748494,803,654,632.221251506,654,0.400939949393,0.00441531398451,0.0599501552901,0.999999974426,-0.000123464350809,-0.000186228290635,-3.49827932747e-05,1793237684389127680
+60,1.000000000,BASELINE,767,746,716,680,667,637,881,787.203581834,803,654,632.796418166,654,0.400939205909,0.0044152696337,0.0599494863857,0.999999974336,-0.000123502935769,-0.00018662011052,-3.53307464895e-05,1793237684405795328
+61,1.016666667,BASELINE,767,746.382117146,716,680,667,636.617882854,881,787.382117146,803,653.617882854,632.617882854,654,0.400939113773,0.00441512451198,0.0599494272434,0.999999974288,-0.000123445398311,-0.000186961395785,-3.50916812087e-05,1793237684422461696
+62,1.033333333,BASELINE,767,746.973586481,716,680,667,636.026413519,881,787.973586481,803,653.026413519,632.026413519,654,0.400939378493,0.00441492418046,0.0599497021742,0.999999974262,-0.000123335197844,-0.000187274994403,-3.4531003523e-05,1793237684439127040
+63,1.050000000,BASELINE,767,746.446498756,715.446498756,680,667,636.553501244,881,788,803,653.553501244,632,654,0.400941413076,0.00441644614174,0.0599507100348,0.999999974704,-0.000122316780584,-0.000185465928942,-3.51143541156e-05,1793237684455793920
+64,1.066666667,BASELINE,767,746,715,679.868477517,667,637,881,788,803,654,632,654,0.400942833756,0.00441726019512,0.0599515016699,0.999999974961,-0.000122147751937,-0.000184099128076,-3.55637809363e-05,1793237684472460544
+65,1.083333333,BASELINE,767,746,715,679.295004113,667,637,881,788,803,654,632,654,0.400941913553,0.00441542495717,0.0599514516035,0.999999974535,-0.000124975556329,-0.000184551874229,-3.53834888024e-05,1793237684489127168
+66,1.100000000,BASELINE,767,746,715,679,667,637,881,788,803,654,632,654,0.400941686916,0.00441524435437,0.0599518319563,0.999999974736,-0.000124380855142,-0.000183894164558,-3.52153173395e-05,1793237684505794048
+67,1.116666667,BASELINE,767,746,715,679,667,637,881,788,803,654,632,654,0.400942195027,0.00441681663482,0.0599526682854,0.999999975593,-0.00012016042868,-0.000182060063044,-3.50599862527e-05,1793237684522461440
+68,1.133333333,BASELINE,767,746,715,679.456651289,667,637,881,788,803,654,632,654,0.400942164854,0.0044158745503,0.059952310307,0.999999975328,-0.000121989191568,-0.000182344732387,-3.48239419332e-05,1793237684539127552
+69,1.150000000,BASELINE,767,746.035921069,715.035921069,679.964078931,667,637,880.964078931,788,803,654,632,654,0.400941946093,0.00441439998557,0.0599516392665,0.999999974779,-0.000125209376697,-0.000183213047276,-3.46094265652e-05,1793237684555794176
+70,1.166666667,BASELINE,767,746.610698833,715.610698833,679.389301167,667,637,880.389301167,788,803,654,632,654,0.400941071845,0.00441509034511,0.0599510944203,0.999999974609,-0.000124876507265,-0.000184281342051,-3.50437812673e-05,1793237684572460800
+71,1.183333333,BASELINE,767,746.814732693,715.814732693,679,666.814732693,637,880.185267307,788,803.185267307,654,632,654,0.400940364043,0.00441602231464,0.0599505297601,0.999999974569,-0.000123757055777,-0.000185189503094,-3.53759411153e-05,1793237684589127424
+72,1.200000000,BASELINE,767,746.240603392,715.240603392,679,666.240603392,637,880.759396608,788,803.759396608,654,632,654,0.4009400056,0.00441746140526,0.0599499235118,0.999999974798,-0.000120986628287,-0.000185761555808,-3.54936018149e-05,1793237684605794048
+73,1.216666667,BASELINE,767,746,715,679,666.344707214,637,881,788,803.655292786,654,632.344707214,654,0.400940839092,0.0044176514908,0.0599506295809,0.999999975123,-0.000120240967379,-0.000184496712158,-3.54631536278e-05,1793237684622460672
+74,1.233333333,BASELINE,767,746,715,679,666.938083905,637,881,788,803.061916095,654,632.938083905,654,0.400942532438,0.00441694055234,0.059952282347,0.999999975516,-0.000120955959697,-0.000181906743728,-3.5325860674e-05,1793237684639127296
+75,1.250000000,BASELINE,767,746,715,679.517830481,667,637,881.517830481,788,803,654,632.482169519,654,0.400942363733,0.00441611271528,0.0599520158699,0.999999975233,-0.000122500590715,-0.000182451343264,-3.52136077271e-05,1793237684655793920
+76,1.266666667,BASELINE,767,746,715,680,667,637,881.904440455,788,803,654,632,654.095559545,0.400942081399,0.00441550820861,0.0599516783741,0.999999974957,-0.000123739546345,-0.000183146239695,-3.50928638084e-05,1793237684672460800
+77,1.283333333,BASELINE,767,746,715,680,667,637,881.328869261,788,803,654,632,654.671130739,0.400942317969,0.00441609393802,0.0599521072958,0.99999997513,-0.000122957531979,-0.000182761728676,-3.49148147047e-05,1793237684689127680
+78,1.300000000,BASELINE,767,746,715.252660873,680,666.747339127,637,880.747339127,788,803,654,632,654.747339127,0.400942199107,0.00441622137914,0.0599522134667,0.999999975184,-0.000122683841931,-0.000182666890281,-3.48462671579e-05,1793237684705794304
+79,1.316666667,BASELINE,767,746,715.8421346,680,666.1578654,637,880.1578654,788,803,654,632,654.1578654,0.40094160643,0.00441573789304,0.0599518893905,0.999999975078,-0.000123087780275,-0.000182958203766,-3.49236920969e-05,1793237684722460672
+80,1.333333333,BASELINE,767,746,715.576226298,680,666.423773702,636.576226298,880.423773702,788,803,653.576226298,632.423773702,654.423773702,0.400941972293,0.00441637838061,0.05995187261,0.999999975221,-0.000122092186833,-0.000182825860337,-3.5009093071e-05,1793237684739127040
+81,1.350000000,BASELINE,767,746,715,679.99747189,667,636.00252811,880.99747189,788,803.00252811,653.00252811,633,654.99747189,0.400942685329,0.00441742449846,0.0599519677169,0.999999975452,-0.00012059426479,-0.000182540668013,-3.50974197601e-05,1793237684755793920
+82,1.366666667,BASELINE,767,746,715,679.423047596,667,636.576952404,880.423047596,788,803.576952404,653.576952404,633,654.423047596,0.400942624136,0.00441723202394,0.0599519475989,0.999999975333,-0.000121260169696,-0.000182732384934,-3.51876437211e-05,1793237684772460544
+83,1.383333333,BASELINE,767,746,715.152016205,679.152016205,667,637,880.152016205,788.152016205,803.847983795,654,632.847983795,654,0.400942508709,0.00441663361528,0.0599517967784,0.999999975143,-0.00012241329714,-0.000183004099503,-3.51842794301e-05,1793237684789127424
+84,1.400000000,BASELINE,767,746,715.728867347,679.728867347,667,637,880.728867347,788.728867347,803.271132653,654,632.271132653,654,0.400942241718,0.00441490075509,0.0599512806876,0.999999974751,-0.000124928050326,-0.000183499381042,-3.49193669972e-05,1793237684805794304
+85,1.416666667,BASELINE,767,746,715.686863604,679.686863604,667,637,881,788.686863604,803,654,632.313136396,654,0.400942566548,0.00441514608256,0.0599516043931,0.999999974942,-0.000124393768714,-0.0001828269162,-3.48840500085e-05,1793237684822461184
+86,1.433333333,BASELINE,767,746,715.096015869,679.096015869,667,637,881,788.096015869,803,654,632.903984131,654,0.400943416248,0.00441714580582,0.0599526728887,0.999999975644,-0.000121155388843,-0.000181118811859,-3.50523543932e-05,1793237684839127552
+87,1.450000000,BASELINE,767,746.484730764,715,679.484730764,667,637,881,788,803.484730764,654,632.515269236,654,0.400943152397,0.00441736819638,0.0599524237577,0.999999975643,-0.000120356110806,-0.000181656965342,-3.50685166719e-05,1793237684855794176
+88,1.466666667,BASELINE,767,746.936979571,715,680,667,637,881,788,803.936979571,654,632.063020429,654,0.400942783457,0.00441721615536,0.0599520477442,0.999999975525,-0.000120193787625,-0.000182413592912,-3.50534924456e-05,1793237684872460800
+89,1.483333333,BASELINE,767,746.362721486,715,680,667,637,881,788,803.362721486,654,632.637278514,654,0.400943314826,0.00441682429484,0.0599527164783,0.999999975568,-0.000121359261575,-0.000181406747727,-3.50249592675e-05,1793237684889127424
+90,1.500000000,BASELINE,767,746,715.216116223,679.783883777,667,637,881,788,803,654,633,654,0.40094351284,0.00441656913013,0.0599530089123,0.999999975567,-0.000121898157334,-0.000181060698747,-3.4979041379e-05,1793237684905794048
+91,1.516666667,BASELINE,767,746,715.802806546,679.197193454,667,637,881,788,803,654,633,654,0.400943139252,0.00441654835754,0.059952656105,0.999999975492,-0.000121362660472,-0.000181847715931,-3.49033139619e-05,1793237684922460672
+92,1.533333333,BASELINE,767,746,716,679,667,637,881,788,803,654,633,654,0.400944113052,0.00441661269238,0.0599526153683,0.999999975534,-0.000121833177899,-0.000181255544702,-3.5136550725e-05,1793237684939127552
+93,1.550000000,BASELINE,767,746,716,679,667,637,881,788,803,654,633,654,0.400945769004,0.00441672011521,0.0599527326259,0.999999975634,-0.000122813017692,-0.000179965121458,-3.5526209099e-05,1793237684955794432
+94,1.566666667,BASELINE,766.458618615,746,715.458618615,679,667,637,881,788,803,654,632.458618615,654,0.400943908641,0.00441654076814,0.0599517450167,0.999999975127,-0.000124343957574,-0.000181720446968,-3.5518154516e-05,1793237684972460800
+95,1.583333333,BASELINE,766.1185558,746,715,679,666.8814442,637,881.1185558,788,803,654,632,654.1185558,0.400942243401,0.0044168482129,0.0599510091359,0.999999974849,-0.000124522420475,-0.000183138172434,-3.54621108966e-05,1793237684989127424
+96,1.600000000,BASELINE,766.692491584,746,715,679,666.307508416,637,881.692491584,788,803,654,632,654.692491584,0.400942241636,0.0044190999949,0.0599515273482,0.999999975605,-0.000119362689951,-0.000182467470762,-3.53251165479e-05,1793237685005794048
+97,1.616666667,BASELINE,767,746,715,679.274381674,666.274381674,637,881.725618326,788,803,653.725618326,632,654.725618326,0.400941826107,0.00441983621257,0.0599515673332,0.999999975764,-0.00011781328193,-0.000182605127779,-3.53249745858e-05,1793237685022460672
+98,1.633333333,BASELINE,767,746,715,679.865452527,666.865452527,637,881.134547473,788,803,653.134547473,632,654.134547473,0.400940933017,0.00441882317762,0.0599510553518,0.99999997525,-0.000120430880188,-0.000183675786105,-3.54827865856e-05,1793237685039127296
+99,1.650000000,BASELINE,767,746,715.447065323,679.552934677,667,636.552934677,880.552934677,788,803,653.447065323,632,654,0.400941396879,0.00441877978865,0.0599512214567,0.999999975328,-0.000120613341835,-0.00018311144773,-3.55911311047e-05,1793237685055793664
+100,1.666666667,BASELINE,767,746,715.974198713,679.025801287,667,636.025801287,880.025801287,788,802.974198713,654,632,654,0.400942232545,0.00441896004558,0.0599515686628,0.99999997556,-0.000120161034593,-0.000182122809861,-3.56632991619e-05,1793237685072460288
+101,1.683333333,BASELINE,767,746,715.397370445,679.602629555,667,636.602629555,880.602629555,788,802.397370445,654,632,654,0.40094246766,0.00441781341725,0.0599515155263,0.999999975371,-0.000121479600841,-0.000182363668728,-3.52742228341e-05,1793237685089127424
+102,1.700000000,BASELINE,766.822312777,746,715,679.822312777,667,637,881,788,802.177687223,654,632,653.822312777,0.40094234831,0.00441721450684,0.0599513400245,0.999999975254,-0.000121741919858,-0.000182870675703,-3.50673392827e-05,1793237685105794560
+103,1.716666667,BASELINE,766.251175794,746,715,679.251175794,667,637,881,788,802.748824206,654,632,653.251175794,0.400941444079,0.00441782839898,0.0599508935714,0.999999975296,-0.000119665408634,-0.000183967009818,-3.52638821121e-05,1793237685122460928
+104,1.733333333,BASELINE,766.333019145,746,715,679,666.666980855,637,881,788,803,654,632,653.333019145,0.400942389504,0.00441739708923,0.0599517473284,0.999999975518,-0.000119894569448,-0.000182609974701,-3.52525447383e-05,1793237685139127552
+105,1.750000000,BASELINE,766.927464898,746,715,679,666.072535102,637,881,788,803,654,632,653.927464898,0.400944786946,0.00441614527542,0.059953621776,0.999999975872,-0.00012193372814,-0.000179326996378,-3.50780173185e-05,1793237685155793920
+106,1.766666667,BASELINE,767,746,715,679,666.506929807,637,881,788,803,654,632,654,0.400943101619,0.00441703207546,0.0599519104515,0.999999975614,-0.000120771888609,-0.000181515987146,-3.51772462607e-05,1793237685172461056
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788,803,654,632,654,0.400944227433,0.00441736941843,0.059951329335,0.999999975539,-0.000121153526674,-0.000181648392461,-3.53220033881e-05,1793237685216755712
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.595364367,715,679.404635633,667,636.404635633,880.595364367,788,803,654,632.595364367,654,0.40094142079,0.00441791552707,0.0599503383401,0.999999975305,-0.000119547229614,-0.000184029942884,-3.50822164882e-05,1793237685233422592
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.809625304,746.809625304,715,679,667,636.190374696,880.809625304,788.190374696,803,654,632.809625304,654,0.400939995024,0.00441818411698,0.0599497942757,0.999999975116,-0.000119285921836,-0.00018522958052,-3.5045671431e-05,1793237685250088960
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.215365963,746.215365963,715,679,667,636.784634037,880.215365963,788.784634037,803,654,632.215365963,654,0.400941498823,0.00441786394408,0.0599501983853,0.999999975031,-0.000121878041916,-0.000183921761279,-3.54403089455e-05,1793237685266755328
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.367590139,746,715,679,667,637,880.367590139,788.632409861,803,654,632,654.367590139,0.40094258375,0.00441785498445,0.0599505136656,0.999999975163,-0.000121887475104,-0.000183194417386,-3.54599691276e-05,1793237685283421952
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.944121358,746,715,679,667,637,880.944121358,788.055878642,803,654,632,654.944121358,0.400943430587,0.00441802292086,0.0599507784546,0.999999975419,-0.000120428888924,-0.00018279702025,-3.5266489269e-05,1793237685300088576
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.517989319,679.517989319,667,637,881,788,803,654,632.517989319,654.482010681,0.400946610745,0.00441892590865,0.0599518930962,0.999999976035,-0.000118716283115,-0.000180550286789,-3.5180990378e-05,1793237685316755200
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715.905510204,679.905510204,667,637,881,788,803,654,633,654,0.400951873508,0.00441957664661,0.0599536905457,0.999999976867,-0.000117370270617,-0.000176784488618,-3.51841420725e-05,1793237685333421824
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715.31364824,679.31364824,667,637,881,788,803,654,633,654,0.400966780453,0.00441848434823,0.0599586020299,0.999999978604,-0.000118097422772,-0.000166067434392,-3.55929280492e-05,1793237685350088448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.741711261,746,715,679.258288739,667,637,880.741711261,788,803,654,633,654,0.400985959318,0.00441802459498,0.0599634930497,0.999999980556,-0.000118774735746,-0.000153246104402,-3.59893640698e-05,1793237685366755072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.192237037,746,715,679.807762963,667,637,880.192237037,788,803,654,633,654,0.401009954193,0.00441827795055,0.0599683609983,0.999999982682,-0.000119395861752,-0.000138052489898,-3.63718771616e-05,1793237685383421952
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.394269794,746,715,680,667,637,880.394269794,788,803,653.605730206,632.605730206,654,0.401039943807,0.00441877659967,0.0599727814874,0.999999984605,-0.00012039926238,-0.000122160187193,-3.70246942232e-05,1793237685400088576
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788,803,653.000685063,632.000685063,654,0.401073169657,0.00441940689541,0.059976959382,0.999999986284,-0.000121606485677,-0.000105893884764,-3.78230408068e-05,1793237685416755200
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788,803,653.590199929,632.590199929,654,0.40111527806,0.00441973532546,0.0599795839694,0.999999987737,-0.000121191229548,-9.13302934665e-05,-3.86841808002e-05,1793237685433421824
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881.176286119,788,803,654,632.823713881,654,0.401161025452,0.00441965325672,0.0599815765847,0.999999988534,-0.000122387123499,-7.99456368282e-05,-3.95219563773e-05,1793237685450088192
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881.754554086,788,803,654,632.245445914,654,0.401215070767,0.00441863513558,0.0599821281268,0.999999988217,-0.000127256891946,-7.58098409102e-05,-4.03064547095e-05,1793237685466754816
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881.666908648,788,803,654,632,654,0.401276781868,0.00441860254493,0.0599825269575,0.999999988279,-0.000128793397567,-7.19057160134e-05,-4.10247138955e-05,1793237685483421952
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881.088172815,788,803,654,632,654,0.401344146244,0.00441929675233,0.0599828131683,0.999999988631,-0.000127871725554,-6.81724415159e-05,-4.16941237309e-05,1793237685500089088
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788,803,654,632,654,0.401428560642,0.00441984272505,0.0599845649967,0.999999988987,-0.000127497756249,-6.29838069952e-05,-4.24675477805e-05,1793237685516755456
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679.941018682,667,637,881.058981318,788,803,653.941018682,632,654,0.401518336497,0.00442022309766,0.0599867604219,0.999999989309,-0.000127421095124,-5.72141498552e-05,-4.3267041077e-05,1793237685533421824
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679.348814326,667,637,881.651185674,788,803,653.348814326,632,654,0.401628877765,0.00441934722657,0.0599905846773,0.999999989508,-0.000129142282995,-4.85565899587e-05,-4.41331988218e-05,1793237685550088704
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.237903138,667,637,881.762096862,788,803,653.237903138,632.237903138,654,0.401749465802,0.00441918905822,0.0599943968618,0.999999989683,-0.000130551893735,-3.95319153915e-05,-4.50218221796e-05,1793237685566755584
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.816757014,667,637,881.183242986,788,803,653.816757014,632.816757014,654,0.401884452349,0.0044200594652,0.0599981917466,0.999999989847,-0.000131514967753,-2.99811114033e-05,-4.59426420438e-05,1793237685583422208
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715,679.605908775,667,637,881,788,803,654,632.605908775,654,0.402027832457,0.00441982183067,0.0599974273129,0.999999989724,-0.000132662420202,-2.76077054115e-05,-4.67990201756e-05,1793237685600088832
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,679.029278406,667,637,881,788,803,654,632.029278406,654,0.40217510039,0.00441907096237,0.0599945510483,0.999999989494,-0.000133895274996,-2.8558798094e-05,-4.76255496186e-05,1793237685616755456
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,788,803,654,632,654,0.402349600344,0.00441762937125,0.0599945718313,0.999999989609,-0.000133905437931,-2.3928632567e-05,-4.77457091293e-05,1793237685633422080
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715.140815106,679,667,637,881,788,803,654,632,654.140815106,0.402535495832,0.00441712439693,0.0599951116037,0.999999989848,-0.000132891210071,-1.8022141328e-05,-4.81564760007e-05,1793237685650088704
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715.719619449,679,667,637,881,788,803,654,632,654.719619449,0.40275230506,0.00441964758217,0.0599967836287,0.999999990422,-0.000128894160704,-9.07438068155e-06,-4.95886679138e-05,1793237685666755328
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715.702233858,679,667,637,881,788,803,654,632.297766142,654.702233858,0.402987275847,0.00442156285306,0.0599999718381,0.999999990677,-0.000126754082867,2.205525773e-06,-5.07395686819e-05,1793237685683422208
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715.124705088,679,667,637,881,788,803,654,632.875294912,654.124705088,0.403239310096,0.00442290696509,0.0600045845604,0.999999990561,-0.000126358700723,1.56765714823e-05,-5.16261856188e-05,1793237685700088832
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.452032622,679.452032622,667,636.547967378,881,788,803,654,632.547967378,654,0.403500402365,0.0044225288843,0.0600039592673,0.999999990585,-0.000126249180384,1.4863880464e-05,-5.16647848875e-05,1793237685716755456
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.970879587,667,636.029120413,881,788,803.058240826,654,632,654,0.403765041786,0.00442188083959,0.0600015492224,0.999999990694,-0.000125932682971,9.92089662822e-06,-5.15241789396e-05,1793237685733421824
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679.382892053,667,636.617107947,881,788,804.234215894,654,632,654,0.404049882826,0.00442515398781,0.059992571202,0.999999991409,-0.000120133112752,1.20422449817e-06,-5.24263302121e-05,1793237685750088704
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.202139741,715.797860259,679,667,637,881,788,804.595720519,654,632,654,0.404343687967,0.00442765416373,0.0599818953744,0.999999991831,-0.000115533029698,-1.25165790086e-05,-5.32240269731e-05,1793237685766755328
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.781653407,715.218346593,679,667,637,881,788,803.436693187,654,632,654,0.404654228122,0.00442871128021,0.059968049918,0.999999991514,-0.000113172265372,-3.55795756849e-05,-5.3826717886e-05,1793237685783421952
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.641831047,715.358168953,679,667,637,881,788,803,654,632.358168953,654.358168953,0.405002391646,0.00442791759891,0.0599617377862,0.999999991213,-0.000112043778324,-4.60351696784e-05,-5.38694333952e-05,1793237685800088320
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.067127983,715.932872017,679,667,637,881,788,803,654,632.932872017,654.932872017,0.40537330073,0.00442600500206,0.0599599799891,0.999999991137,-0.000111660274863,-4.88688525637e-05,-5.35736110452e-05,1793237685816755200
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715.492604395,679.507395605,667,637,881,788,803,654,632.492604395,654.492604395,0.405783555144,0.0044265319808,0.0599723676926,0.999999991735,-0.000113155038199,-2.86693660277e-05,-5.3888511854e-05,1793237685833421824
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.082265743,680,667,637,881,788,803,654,632.082265743,654,0.406206223438,0.00442738602482,0.0599878455778,0.999999991939,-0.000114734519114,-3.01654630104e-06,-5.43056823521e-05,1793237685850088704
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.659363404,680,667,637,881,788,803,654,632.659363404,654,0.406672262573,0.0044282666902,0.0600106582505,0.999999991156,-0.000115329413342,3.71153501916e-05,-5.48521773292e-05,1793237685866755072
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715.756892142,679.756892142,667.243107858,636.756892142,880.756892142,788,803,654,633,654,0.407141071889,0.00442925148205,0.0600286139052,0.999999989562,-0.000116025638364,6.60502889551e-05,-5.52317921126e-05,1793237685883421696
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715.163572612,679.163572612,667.836427388,636.163572612,880.163572612,788,803,654,633,654,0.407613871793,0.00443038627437,0.0600395727281,0.999999988529,-0.00011686783673,7.88553259503e-05,-5.53710058775e-05,1793237685900088320
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.583777699,636.416222301,880.416222301,788,803.416222301,654,632.583777699,654,0.408094008246,0.0044304139332,0.0600356521846,0.999999989713,-0.000116093019493,6.40580169188e-05,-5.47133228969e-05,1793237685916755200
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.009130613,636.990869387,880.990869387,788,803.990869387,654,632.009130613,654,0.408576937164,0.00443002018886,0.0600260681758,0.999999991226,-0.000114702724947,3.87545531965e-05,-5.37523207319e-05,1793237685933421824
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715,679.576237585,667,637,881,788,803.423762415,653.423762415,632.576237585,654,0.409076881687,0.00443207255805,0.0600136001818,0.999999992203,-0.000110481009243,2.01817133587e-05,-5.45950635204e-05,1793237685950088448
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.160621813,715.160621813,680,667,637,881,788,803.160621813,653.160621813,632.839378187,654,0.409597868712,0.00443371826722,0.0600063707567,0.999999992599,-0.000107888274084,1.00938275976e-05,-5.53170874425e-05,1793237685966755072
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.741975127,715.741975127,680,667,637,881,788,803.741975127,653.741975127,632.258024873,654,0.410173254599,0.00443419532374,0.0600129851678,0.999999992196,-0.000109682224007,2.19467164976e-05,-5.56466177748e-05,1793237685983421696
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.680342851,715.680342851,680.319657149,667,636.680342851,881,788,803.680342851,654,632.319657149,654,0.410766881653,0.0044340878309,0.0600206073462,0.999999991372,-0.000112433455786,3.78952547195e-05,-5.63799062166e-05,1793237686000088320
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.105590558,715.105590558,680.894409442,667,636.105590558,881,788,803.105590558,654,632.894409442,654,0.411375065719,0.00443351385175,0.0600290337511,0.999999989998,-0.000115948624829,5.71122343503e-05,-5.74354046921e-05,1793237686016755200
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715,680.530585265,667,636.469414735,881,788,803,654,632.530585265,654,0.411990989749,0.00443451724684,0.0600210430939,0.999999991008,-0.000113317427433,4.24232701035e-05,-5.7824627097e-05,1793237686033422336
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.045798059,715,680,667,637,881.045798059,788,803,653.954201941,632,654,0.41260569274,0.00443585794583,0.0600077986521,0.999999992229,-0.000109048945305,1.69884265115e-05,-5.79880949543e-05,1793237686050089216
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.637941708,715,680,667,637,881.637941708,788,803,653.362058292,632,654,0.413185049122,0.00443698745421,0.0599759570865,0.999999992145,-0.000101750736283,-4.56058802457e-05,-5.72472988927e-05,1793237686066755840
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.774595987,746.774595987,715,680,667,637,881.774595987,788,803.225404013,653.225404013,632,653.774595987,0.41380080317,0.00443833103113,0.0599563022703,0.999999990073,-9.76805110642e-05,-8.38919146092e-05,-5.72245417145e-05,1793237686083422464
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.194500197,746.194500197,715,680,667,637,881.194500197,788,803.805499803,653.805499803,632,653.194500197,0.414473831909,0.00444001146248,0.0599558243098,0.999999989907,-9.86897851304e-05,-8.39268770462e-05,-5.83316781825e-05,1793237686100088832
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667.382321641,637,881,788,803.617678359,654,632,653.382321641,0.415206597707,0.00444080046759,0.0599873250892,0.999999993075,-9.8321824916e-05,-2.78204324207e-05,-5.83845632432e-05,1793237686116755200
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667.957492033,637,881,788,803.042507967,654,632,653.957492033,0.415969495751,0.00444113982391,0.0600349564232,0.999999991992,-9.72591665312e-05,5.66045772353e-05,-5.79056677564e-05,1793237686133422080
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.530941612,746,715.530941612,679.469058388,667.469058388,636.469058388,881.530941612,788,803.530941612,654,632,654,0.416699100442,0.00443964281402,0.06004732688,0.999999990609,-9.88049690039e-05,7.55855005265e-05,-5.74973286195e-05,1793237686150088448
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.108246138,667.108246138,636.108246138,881.891753862,788,804,654,632,654,0.417420774331,0.00443869566124,0.060051343023,0.999999990173,-9.95784640992e-05,8.03525671291e-05,-5.72820721001e-05,1793237686166755328
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679.703512499,667.703512499,636.703512499,881.296487501,788,804,654,632,654,0.418118719728,0.00444088176612,0.0600304318534,0.999999992723,-9.59406355043e-05,4.46663376442e-05,-5.79101983685e-05,1793237686183421952
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.711363319,746,716,679.711363319,667.711363319,637,881,788,804,654,632,654,0.418829621973,0.00444202467545,0.0600121142194,0.999999993633,-9.51215436659e-05,1.41920705863e-05,-5.90240188553e-05,1793237686200088576
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.136303467,746,716,679.136303467,667.136303467,637,881,788,804,654,632,654,0.419553381786,0.00444213238959,0.059996370229,0.999999993387,-9.709957175e-05,-1.11102079956e-05,-6.06198089508e-05,1793237686216755456
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.561318387,679,667,637,881,788,804,654,632,654,0.42029302189,0.00444253080848,0.059982657543,0.999999993006,-9.70642506218e-05,-2.84523693448e-05,-6.12973188161e-05,1793237686233422080
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679.01400216,667,636.98599784,881,787.98599784,804,654,632,654,0.421037140768,0.00444299099987,0.0599694032284,0.999999992479,-9.64025960761e-05,-4.41041349656e-05,-6.16680414496e-05,1793237686250088960
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.604081582,667,636.395918418,881,787.395918418,804,654,632,654,0.42176255934,0.00444227710435,0.0599490448444,0.999999989323,-9.57051848006e-05,-9.19488996967e-05,-6.11535724196e-05,1793237686266755584
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636.19014854,881,787.19014854,804,654,632,654,0.422519490915,0.00444205578145,0.0599437758019,0.999999988079,-9.52419205251e-05,-0.000105025369015,-6.11551279715e-05,1793237686283421952
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636.76803355,881,787.76803355,804,654,632,654,0.42334068137,0.00444283887529,0.0599692758005,0.999999992414,-9.52561112452e-05,-4.7204966279e-05,-6.22089218215e-05,1793237686300088832
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.34576859,746,715,680,667,637,881.34576859,788,804,654,632,653.65423141,0.424161786904,0.00444191873369,0.0600072572775,0.999999993234,-9.69976231152e-05,1.67525368606e-05,-6.19922559462e-05,1793237686316755712
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.923403039,746,715,680,667,637,881.923403039,788,804,654,632,653.076596961,0.424982835458,0.00443985643465,0.0600536085964,0.999999989557,-9.98974435865e-05,8.4825460762e-05,-6.09236436943e-05,1793237686333422080
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.490617146,746.509382854,715.509382854,679.490617146,667,637,881.490617146,788,804,653.490617146,632.509382854,653.509382854,0.425763986321,0.00443954784705,0.0600556745095,0.999999988878,-0.000102375345623,8.93801578326e-05,-6.14437248405e-05,1793237686350088704
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.09526252,747,716,679.09526252,667.09526252,637,881.09526252,788,804,653,633,654,0.426538334316,0.00443915518576,0.0600487246153,0.99999998925,-0.000104559486607,8.18235661743e-05,-6.2225723498e-05,1793237686366755328
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.674156466,747,716,679.674156466,667.674156466,637,881.674156466,788,804,653,633,654,0.427309110797,0.00443697459101,0.0600303741957,0.999999990509,-0.000105579715208,6.20783675194e-05,-6.3104401313e-05,1793237686383421952
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.747102746,715.747102746,679.747102746,667.747102746,637,882.252897254,788,804,653,632.747102746,654,0.428073588644,0.00443655111119,0.0600140237853,0.99999999168,-0.000104267695741,4.11259078169e-05,-6.38520924491e-05,1793237686400088576
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.168559094,715.168559094,679.168559094,667.168559094,637,882.831440906,788,804,653,632.168559094,654,0.428829956081,0.00443839020269,0.0600002487102,0.999999992756,-9.99525272272e-05,1.86189002137e-05,-6.44311170269e-05,1793237686416755456
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.40734608,715.40734608,679.40734608,667.40734608,637,882.59265392,788.40734608,804,653.40734608,632.40734608,654,0.429553112858,0.00443877335672,0.0599793040524,0.999999992758,-9.97705130511e-05,-1.76282320223e-05,-6.4952615747e-05,1793237686433422080
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.98216645,715.98216645,679.98216645,667.98216645,637,882.01783355,788.98216645,804,653.98216645,632.98216645,654,0.430262615521,0.00443855792356,0.059955411728,0.999999990957,-0.000101287784,-5.95244109972e-05,-6.54504634421e-05,1793237686450088704
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.431229904,746.431229904,715.431229904,680,667.431229904,637,882,788.431229904,804,653.431229904,632.431229904,654,0.431048035052,0.0044366246497,0.0599678432518,0.999999991934,-0.000104445057224,-2.91410078972e-05,-6.61407610751e-05,1793237686466755584
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715.784172906,680,667,636.215827094,882,788,804,653,633,654,0.436774276825,0.00442578443831,0.0599603519886,0.999999989411,-0.000117304780344,-5.4909108555e-05,-6.63558825892e-05,1793237686600089600
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.629095095,746,715,680.370904905,667,636.629095095,882,788,804.370904905,653,633,654,0.438063863806,0.00442375414799,0.0599638044246,0.999999989484,-0.000117761642665,-5.37210412585e-05,-6.54143827894e-05,1793237686633423104
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.053508237,746,715,680.946491763,667,636.053508237,882,788,804.946491763,653,633,654,0.43867706854,0.00442231239874,0.0599559439747,0.999999987995,-0.00011621627353,-8.04066335627e-05,-6.35459720046e-05,1793237686650089984
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667,636.533443022,882,788,805,653,633,654,0.439303380871,0.00442078048239,0.0599744227002,0.99999998982,-0.000118788869426,-4.69090957151e-05,-6.36262306625e-05,1793237686666756352
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.697867835,746,715,681,667.697867835,637,882,788.697867835,805,653,633,654,0.440568680468,0.00441732943139,0.060031071596,0.99999998936,-0.000125288763605,3.92560361526e-05,-6.35720836289e-05,1793237686700089344
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,715,680.723800814,668,636.723800814,882,788.723800814,804.723800814,653,633,654,0.441155576485,0.00441573451783,0.0600430541325,0.999999988289,-0.000128084665527,5.45738242983e-05,-6.35457447704e-05,1793237686716755968
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,715,680.14546938,668,636.14546938,882,788.14546938,804.14546938,653,633,654,0.441688831259,0.00441441506808,0.0600320211767,0.999999988806,-0.000130200293125,3.70627213519e-05,-6.37410268187e-05,1793237686733422592
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,715.430901915,680,668,636.430901915,882,788,804,653,633,654,0.44218020076,0.00441487389717,0.0600053119271,0.999999989943,-0.00012680214826,-6.66274006209e-06,-6.31791600369e-05,1793237686750089216
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+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,715.522155972,681.522155972,664,635,882,788,804.477844028,653.522155972,633,654,0.449572250807,0.00445391383627,0.059814830735,0.999999951252,-7.16745705109e-05,-0.000296218124476,-6.79260665661e-05,1793237687383422208
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.947889413,746.052110587,715.052110587,681,663.947889413,635,882,788.052110587,804.947889413,653,633,654,0.449574965361,0.00445327341499,0.0598124324395,0.999999949995,-7.20093883282e-05,-0.000300399644838,-6.77160190958e-05,1793237687400088576
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.35620385,746.64379615,715.64379615,681,663.35620385,635,882,788.64379615,804.35620385,653,633,654,0.449576056297,0.00445744393058,0.0598113045177,0.999999949654,-6.61624672918e-05,-0.000302862608759,-6.77338754835e-05,1793237687416755200
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.230208188,746.769791812,715.769791812,681,663,635,882,788.769791812,804.230208188,653,633,654,0.449577616086,0.00445879424679,0.0598105716148,0.999999949494,-6.39206691404e-05,-0.000303870140049,-6.77380556312e-05,1793237687433421568
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.808643137,746.191356863,715.191356863,681,663,635,882,788.191356863,804.808643137,653,633,654,0.449579885091,0.00445587855944,0.0598104362414,0.999999949647,-6.71321972092e-05,-0.000302676096206,-6.77215482771e-05,1793237687450088192
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,715,681,663.384532139,635,882.384532139,788,805,653,633,654,0.449580351401,0.00445550762771,0.0598099786106,0.999999949361,-6.78039137143e-05,-0.00030349776249,-6.75951383363e-05,1793237687466755072
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,715,681,663.959162503,635,882.959162503,788,805,653,633,654,0.449579926526,0.00445639472751,0.059809361668,0.999999948859,-6.72200428259e-05,-0.000305315920072,-6.74143966914e-05,1793237687483421696
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,715.548402451,681.548402451,664,635,881.903195097,788,804.451597549,653,632.451597549,653.451597549,0.449579452748,0.00445778485587,0.0598082975896,0.99999994855,-6.75146890011e-05,-0.000306202209424,-6.7689718862e-05,1793237687500088320
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766.291611153,746.708388847,715.291611153,682,664,635,882,788,805,653,633,654,0.44957756658,0.0044594801864,0.0598057972839,0.99999994746,-6.5176124231e-05,-0.000310230228089,-6.77413357794e-05,1793237687550088448
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.867624526,746.132375474,715.867624526,682,664,635,882,788,805,653,633,654,0.449578530665,0.00445971395512,0.0598061466745,0.999999947876,-6.38547653876e-05,-0.000309164757382,-6.773632399e-05,1793237687566755328
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766.979521363,746.020478637,715.979521363,682,664,635,882,788,804.979521363,654,633,654,0.449580588919,0.00445869700321,0.0598066353484,0.999999947731,-6.71441634947e-05,-0.000308926196961,-6.77871441034e-05,1793237687600088320
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.389557491,746.610442509,715.389557491,682,664,635,882,788,804.389557491,654,633,654,0.449580680166,0.00446128367888,0.0598064439772,0.999999947933,-6.37721488851e-05,-0.00030891624873,-6.80987869778e-05,1793237687616754944
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746.803589386,715.196410614,682,663.803589386,635,882,788,804,653.803589386,633,654,0.449580791495,0.00446324562006,0.0598062031647,0.99999994799,-6.16955969188e-05,-0.000309108569925,-6.83059659019e-05,1793237687633421568
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746.225388439,715.774611561,682,663.225388439,635,882,788,804,653.225388439,633,654,0.449580941858,0.00446399317872,0.0598058662463,0.999999947781,-6.21372141282e-05,-0.000309694070039,-6.83100838559e-05,1793237687650088448
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.351148194,746,716,681.648851806,663,635,882,788,804,653,633,654,0.449580637723,0.00446277129298,0.0598050486993,0.999999947491,-6.24174081422e-05,-0.000310658183914,-6.79166412013e-05,1793237687666755072
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.501564191,716,681.501564191,663.501564191,635,882,788,804,653,633,654,0.449579072829,0.00446175689184,0.0598030664863,0.999999946895,-6.15415564531e-05,-0.000312789234028,-6.77198223767e-05,1793237687700088320
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+259,4.316666667,HOLD_POSE2,766,747,716,681,663,635,882,788,804,653,632,654,0.449580047162,0.00446266832281,0.0598023887706,0.99999994659,-6.10007879197e-05,-0.000313889589251,-6.76154695867e-05,1793237687771569152
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+262,4.366666667,HOLD_POSE2,766,746.741833258,715,682,663.741833258,635,883,788,804,653.258166742,632.258166742,654,0.449579863766,0.00446376107914,0.059802466984,0.999999946645,-5.81803907993e-05,-0.000314256229719,-6.75925187902e-05,1793237687821569024
+263,4.383333333,HOLD_POSE2,766.325481144,747,715.325481144,681.674518856,663.674518856,635,883,788,804.325481144,653,632.325481144,654,0.449580865256,0.00446430354995,0.0598030052069,0.999999946757,-5.88569702971e-05,-0.000313666023107,-6.80884839066e-05,1793237687838235648
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+266,4.433333333,HOLD_POSE2,766.059576506,746.940423494,715.059576506,681.940423494,663.940423494,634.940423494,882,788,804,653.059576506,632.940423494,654,0.449577753113,0.00446117530933,0.0598002836961,0.999999945384,-6.35222325403e-05,-0.000317241847921,-6.7481436305e-05,1793237687888235520
+267,4.450000000,HOLD_POSE2,766.646006978,746.353993022,715.646006978,681.353993022,663.353993022,634.353993022,882,788,804,653.646006978,632.353993022,654,0.449580268387,0.00446201849455,0.0598018712328,0.99999994624,-6.25697951478e-05,-0.000314713290896,-6.7534829074e-05,1793237687904902144
+268,4.466666667,HOLD_POSE2,767,746,716,681,663.229465375,634.229465375,882.229465375,788,804,653.770534625,632.229465375,654,0.449581060623,0.00446277325629,0.059802329169,0.999999946523,-6.15810478445e-05,-0.000314006721166,-6.7541480895e-05,1793237687921569024
+269,4.483333333,HOLD_POSE2,767,746,716,681,663.808397367,634.808397367,882.808397367,788,804,653.191602633,632.808397367,654,0.449579228741,0.0044633933525,0.0598010667683,0.999999945939,-6.05370020819e-05,-0.000316074965658,-6.74769481117e-05,1793237687938235648
+270,4.500000000,HOLD_POSE2,767,746.38705669,716,681.38705669,663.61294331,635,882.61294331,788,804,653,632.61294331,654,0.44957883551,0.00446284185803,0.0598007759938,0.99999994571,-6.17101611489e-05,-0.000316556928675,-6.75496869086e-05,1793237687954902016
+271,4.516666667,HOLD_POSE2,767,746.965581183,716,681.965581183,663.034418817,635,882.034418817,788,804,653,632.034418817,654,0.449579153945,0.00446171080537,0.0598009658595,0.999999945654,-6.3980118984e-05,-0.000316254195897,-6.76903307082e-05,1793237687971568896
+272,4.533333333,HOLD_POSE2,767,746.460408166,716,681.460408166,663.539591834,635,882,788,804,653,632,654,0.449579515201,0.00446334636329,0.0598011753204,0.999999945926,-6.11733561382e-05,-0.000316031602231,-6.73101006904e-05,1793237687988236288
+273,4.550000000,HOLD_POSE2,766.883365322,746.116634678,716,681.116634678,663.883365322,635,882,788,804,653,632.116634678,654,0.449579302578,0.00446461338163,0.05980097442,0.999999945958,-5.86923200266e-05,-0.000316464048703,-6.69997966245e-05,1793237688004903680
+274,4.566666667,HOLD_POSE2,766.29284233,746.70715767,716,681.70715767,663.29284233,635,882,788,804,653,632.70715767,654,0.449576747266,0.00446367195457,0.0597991011803,0.999999944965,-5.88395161096e-05,-0.000319537335204,-6.71074757053e-05,1793237688021569792
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,663,634.423537762,882.423537762,788,804.423537762,653,633,654,0.449577115701,0.00446537045021,0.0597986188396,0.999999944655,-5.83721378464e-05,-0.000320514608859,-6.74713191327e-05,1793237688075318272
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,716,681.483731303,663.483731303,634.516268697,881.483731303,788,804.483731303,653,632.516268697,654,0.449578035341,0.00446473135438,0.0597987982006,0.999999944646,-5.88589961189e-05,-0.000320511283394,-6.72049983355e-05,1793237688158650368
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.060653541,746,716,682,663.939346459,634.060653541,882,788,805,653,632,654,0.449577363291,0.00446473822358,0.0597983639738,0.999999944259,-6.05592276226e-05,-0.00032137969253,-6.73053922859e-05,1793237688175316992
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715.445311978,681.554688022,663.554688022,635,882,788.554688022,804.554688022,653.554688022,632.445311978,654,0.449240980022,0.00446964871981,0.0596933229952,0.999999889517,-5.35604219532e-05,-0.000461717019313,-7.01022635377e-05,1793237688358650880
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746.600453064,716,681,663,635,882.600453064,788,804.600453064,653,633,654,0.449080033903,0.00447218836595,0.0596880251432,0.999999886582,-4.82025605687e-05,-0.000468754215442,-6.91532995444e-05,1793237688391983872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.180396459,747,716,681,663.180396459,635,882.819603541,788,804.819603541,653,633,654,0.44898873548,0.00447189591418,0.0596893045844,0.999999887355,-4.56052654994e-05,-0.000467564164606,-6.77847155275e-05,1793237688408650496
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.649713999,716,681.350286001,664,635,882.350286001,788,804.350286001,653,632.649713999,654,0.448774538534,0.00447315532962,0.0596949768382,0.999999891582,-3.88610999311e-05,-0.000459258070703,-6.63841906534e-05,1793237688441983488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.07007219,716,681.92992781,664,635,882.92992781,788,804.92992781,653,632.07007219,654,0.448650323141,0.00447582136041,0.059698289465,0.999999893903,-3.41789467614e-05,-0.000454641922712,-6.57700683706e-05,1793237688458650112
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.083252568,746.916747432,716,681,664,634.083252568,882.083252568,788,804.916747432,653,633,654,0.448352142305,0.00447617972948,0.0597061862321,0.999999897117,-3.06487088529e-05,-0.000448235800971,-6.25368301502e-05,1793237688491983872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.658257326,746.341742674,716,681,664,634.658257326,882.658257326,788,804.341742674,653,633,654,0.448182294975,0.00447912191571,0.0597164266698,0.999999904682,-2.46032130448e-05,-0.000431566447928,-6.1491195235e-05,1793237688508650752
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.830108614,716,681,664,635,881.339782773,788,804.830108614,653.830108614,632.169891386,654,0.447804890568,0.00448153676596,0.0597326643565,0.999999915927,-1.55824435845e-05,-0.000405550816703,-5.85739067806e-05,1793237688541984256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.587693516,716,681,664.412306484,635,881.412306484,788,804.587693516,654,632,654,0.447575172009,0.00448168015513,0.0597331860525,0.99999991576,-1.08106208059e-05,-0.000406406438239,-5.6539757844e-05,1793237688558650624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.008866096,716,681,664.991133904,635,881.991133904,788,804.008866096,654,632,654,0.447332107619,0.00448169003764,0.0597310017278,0.999999913538,-5.67106960464e-06,-0.000412235923436,-5.43437026593e-05,1793237688575317248
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,681.735529599,667.264470401,636,882,788.264470401,804.735529599,653,633,654,0.440842233517,0.00452096655218,0.0597789418143,0.999999925268,0.000152881995472,-0.000355058858563,-4.91514336724e-06,1793237688841984000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,681.145846392,667.854153608,636,882,788.854153608,804.145846392,653,633,654,0.440264204327,0.00452403655729,0.0597759723747,0.999999919488,0.000163436590698,-0.000366486712593,-6.528923252e-07,1793237688858650880
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.756047032,681,666.243952968,636,882,788,804,653,632.243952968,654,0.437171906314,0.00454012189194,0.0597975522924,0.999999916409,0.000234269554216,-0.00033440091916,2.18249970226e-05,1793237688941984000
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.220096653,746,716,680.220096653,667,636.779903347,881.220096653,788.220096653,804,653,632.220096653,654,0.423130659428,0.00457320812993,0.0598424573714,0.999999948207,0.000193549753592,-0.000255526230273,2.8811129988e-05,1793237689258650112
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.939936435,715.060063565,680.939936435,667,637,881,788,804,653,632.939936435,654,0.421554995966,0.00457540229534,0.0598440201506,0.999999947399,0.000187809822662,-0.000262740966083,2.99485328988e-05,1793237689291983360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746.488517167,715,680.488517167,666.488517167,637,881,788,804,653,632.488517167,654,0.420744403819,0.00457498338896,0.059803694226,0.999999926005,0.000182934565513,-0.000337043941059,3.04425206018e-05,1793237689308649984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.083985406,680,666.083985406,637,881,788,804,653,632.083985406,654,0.419942695112,0.00457433077478,0.0597640752762,0.999999901288,0.000177679743743,-0.000406094972995,3.06569883067e-05,1793237689325316864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.66686691,680,666.66686691,637,881,788,804,653,632.66686691,654,0.419203437261,0.0045735053472,0.0597575238233,0.999999906154,0.000172423424088,-0.000396347213696,2.95111598928e-05,1793237689341983488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.252923117,746,716,680,667,637,881,788,804,653.252923117,633,654,0.418486415442,0.00457217554671,0.0597676222926,0.999999917328,0.000166391504967,-0.000369859876439,2.93410284188e-05,1793237689358649856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.843213934,746,716,680,667,637,881,788,804,653.843213934,633,654,0.417799053757,0.0045701729761,0.0597999296692,0.999999935309,0.000159325033638,-0.00032104404297,3.04723542696e-05,1793237689375316480
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,715.574200573,680,667,637,881,788,803.574200573,653.574200573,632.574200573,654,0.417086651908,0.00457140072803,0.0598265954251,0.999999945791,0.000160266210534,-0.000285874490726,3.17703742517e-05,1793237689391983104
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.994449088,746,715.005550912,680,667,636.994449088,881.005550912,788,803,653,632,654,0.416365336859,0.00457375372436,0.0598508870068,0.999999953105,0.000164501663694,-0.000256187994751,3.31245655252e-05,1793237689408650240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.419545525,746,715.580454475,680,667,636.419545525,881.580454475,788,803,653,632,654,0.415658705508,0.00457168911096,0.0598409444635,0.999999937509,0.000209574266598,-0.000282667940754,3.40564554469e-05,1793237689425316864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,667,636,881.841262094,788,803,653,632.158737906,654,0.414968608515,0.00456966941691,0.0598352426594,0.999999925773,0.000241884808901,-0.000297911100409,3.45746128951e-05,1793237689441983488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,667,636,881.253851175,788,803,653,632.746148825,654,0.414323162536,0.00456777102745,0.0598409930036,0.999999930697,0.000239731313429,-0.000282809234215,3.39754828317e-05,1793237689458650112
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,667,636,881,788,803.329314902,653,633,654,0.413657273042,0.00456726446014,0.0598388036187,0.999999931018,0.000235133457858,-0.000285531967593,3.38783646019e-05,1793237689475316480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,667,636,881,788,803.909250462,653,633,654,0.412975825324,0.0045678171204,0.05983057181,0.999999927723,0.000228675355145,-0.000301819872635,3.41632957305e-05,1793237689491983104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.485793444,746,716,680,667,636,881,788,803.514206556,653.485793444,633,654,0.412293364383,0.00456663608239,0.0597981674377,0.999999912788,0.000219876248869,-0.000353435051031,3.40847580434e-05,1793237689508649984
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,715.937134123,680,667,636.062865877,881,788,803,654,632.937134123,654,0.411624402174,0.00456515978745,0.0597665452272,0.999999896583,0.000210559209795,-0.000401692146174,3.38006366395e-05,1793237689525316864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.350405255,680,667,636.649594745,881,788,803,654,632.350405255,654,0.41106949154,0.0045639031818,0.0597788084431,0.999999911892,0.000200545116681,-0.000367354864693,3.2365257317e-05,1793237689541983488
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.233277508,679.766722492,667,637,881,788,803,654,632,654,0.410521633175,0.00456319212886,0.0597999182495,0.999999927116,0.000193027235196,-0.000327865570802,3.18367603237e-05,1793237689558650112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.812443651,679.187556349,667,637,881,788,803,654,632,654,0.409984231504,0.00456328998592,0.0598341452009,0.99999994216,0.000189210573994,-0.00028073721283,3.26529292804e-05,1793237689575316736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,667,637,881,788,803.391988603,654,632.391988603,654,0.409446063468,0.00456145618283,0.0598548660818,0.999999950734,0.000185571161936,-0.000250933543228,3.35725030952e-05,1793237689591983360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,667,637,881,788,803.971715032,654,632.971715032,654,0.408907528344,0.00455869723633,0.0598691184094,0.99999995652,0.000182016640763,-0.00022942730295,3.45416013999e-05,1793237689608649984
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.545997646,667,636.454002354,881,788,804,654,633,654,0.408369408317,0.00455776330093,0.059857927026,0.999999952002,0.000178293779636,-0.000251015123933,3.46151185739e-05,1793237689625316864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.876886077,680,667,636,880.876886077,788.123113923,803.876886077,654,633,654,0.407843554247,0.00455676595897,0.0598457586979,0.999999946822,0.000174844511578,-0.000273117214531,3.4543024121e-05,1793237689641983488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.287992562,680,667,636,880.287992562,788.712007438,803.287992562,654,633,654,0.407364025536,0.00455517457297,0.0598348318028,0.999999942844,0.000172463000956,-0.000288802250848,3.40938279742e-05,1793237689658650112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.704224728,746,715,680,667,636.295775272,880,788.704224728,803.295775272,653.704224728,633,654,0.406913234305,0.00455427668633,0.0598339314298,0.999999944457,0.000171160916144,-0.000284024542586,3.34700609462e-05,1793237689675316992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.125362725,746,715,680,667,636.874637275,880,788.125362725,803.874637275,653.125362725,633,654,0.406489947765,0.00455404254854,0.0598426274492,0.999999951152,0.000170891950673,-0.000259661925295,3.26792120163e-05,1793237689691983616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.451780618,746,715,680,667,637,880,788,804,653.451780618,633,654,0.406081319414,0.00455226382811,0.0598506316377,0.999999954623,0.000172062795929,-0.000245112045143,3.27005191486e-05,1793237689708650240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.971641691,666.971641691,637,880.028358309,788,803.971641691,654,633,654,0.405676961544,0.00455014225563,0.0598575846572,0.999999956853,0.00017372055031,-0.000234591038167,3.28916570861e-05,1793237689725316864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.396808871,666.396808871,637,880.603191129,788,803.396808871,654,633,654,0.40527681328,0.00454964177138,0.0598479666562,0.999999952697,0.000177091365007,-0.000249435525121,3.20291515265e-05,1793237689741983488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.182064533,666,637,880.817935467,788.182064533,803.182064533,654,633,654,0.404886092745,0.00454894858326,0.0598338105778,0.999999946334,0.000178119247558,-0.000273193199535,3.11451239383e-05,1793237689758650112
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.769944172,666,637,880.230055828,788.769944172,803.769944172,654,633,654,0.404516386317,0.00454782586538,0.0598095392939,0.999999934232,0.000173924820483,-0.000316818036663,3.02131246348e-05,1793237689775316736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.647145355,666.352854645,636.647145355,880.352854645,788.647145355,803.647145355,654,633,654,0.40417960764,0.00454553412034,0.0597949838757,0.999999927196,0.000168691922322,-0.000340986233115,2.96503624503e-05,1793237689791983360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.067429654,666.932570346,636.067429654,880.932570346,788.067429654,803.067429654,654,633,654,0.403863999187,0.00454249077182,0.0597866750828,0.99999992414,0.000162791359011,-0.000352645163971,2.93249940467e-05,1793237689808649984
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.509938464,715.509938464,680.019876928,667,636.509938464,881.509938464,788,803,654,632.490061536,654,0.403605875038,0.00454106330709,0.0598011473935,0.999999934309,0.000159816706383,-0.00032403106237,2.90685858067e-05,1793237689825316608
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.911893787,716,680.911893787,666.911893787,637,881.911893787,788,803,654,632,654,0.403359476225,0.0045396201808,0.059818806992,0.999999945009,0.000157160738073,-0.000290591025905,2.89799582006e-05,1793237689841983232
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.327480823,716,680.327480823,666.327480823,637,881.327480823,788,803,654,632,654,0.40313650497,0.00453689073411,0.0598375296954,0.999999953923,0.000154130517031,-0.000259826694815,2.97853168921e-05,1793237689858649856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.255148272,715.744851728,680,666.255148272,637,881,788,803,654,632,654,0.402919203804,0.00453543633736,0.0598516137295,0.999999959933,0.000152255800431,-0.000236711015521,3.03295840924e-05,1793237689875316480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.835503648,715.164496352,680,666.835503648,637,881,788,803,654,632,654,0.402709129637,0.004535607095,0.0598597854034,0.999999963063,0.000151853867986,-0.000223344163481,3.05410690508e-05,1793237689891983104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.584544461,715.415455539,679.584544461,667,637,881,788,803.415455539,654,632,654,0.402505945713,0.00453455364599,0.0598562271279,0.999999961599,0.000151129982298,-0.000230307742662,3.03248985355e-05,1793237689908649984
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.004752186,715.995247814,679.004752186,667,637,881,788,803.995247814,654,632,654,0.402305487284,0.0045330159523,0.0598480289774,0.999999958171,0.000150278745435,-0.000245313185602,2.99395654927e-05,1793237689925316608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.429072635,679.570927365,667,637,881.570927365,788.570927365,803.429072635,654,632,654.570927365,0.402128890325,0.00453088804545,0.0598424177995,0.99999995519,0.000143877907694,-0.000260795396774,3.00816627144e-05,1793237689941983488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.850494977,667,637,881.850494977,788.850494977,803,654,632.149505023,654.850494977,0.401963397322,0.00452945534732,0.0598390563192,0.999999953081,0.000139245730864,-0.000271202629405,2.9971090213e-05,1793237689958650112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.263334106,667,637,881.263334106,788.263334106,803,654,632.736665894,654.263334106,0.401829832431,0.00453007205804,0.0598422179431,0.999999954211,0.000139925328308,-0.000266742008413,2.91081014695e-05,1793237689975316736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,788,803.319269256,654,632.680730744,654,0.40171003127,0.0045299998033,0.0598448922629,0.999999955434,0.000139201088912,-0.000262555165146,2.8629804326e-05,1793237689991983360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,788,803.89816654,654,632.10183346,654,0.401601422684,0.00452936728564,0.0598471703098,0.99999995673,0.00013733525708,-0.000258590955957,2.84643362125e-05,1793237690008649984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.47607628,667,637,881,788,804,654,632.47607628,654,0.401506098021,0.0045272965112,0.0598476564537,0.999999957335,0.000134823357361,-0.000257555653619,2.85959979161e-05,1793237690025316608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.053471681,666.946528319,637,881,788,804,654,632.946528319,654,0.401415302983,0.00452512824098,0.0598478217187,0.999999957736,0.000132442873554,-0.000257208968212,2.88033272882e-05,1793237690041983232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.627910111,666.372089889,637,881,788,804,654,632.372089889,654,0.40134101282,0.00452500122143,0.0598485873252,0.999999957625,0.000132686379826,-0.000257480135906,2.91299356326e-05,1793237690058649856
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.792229886,666.207770114,637,881,788,803.792229886,654,632,654,0.401270939718,0.00452515875177,0.0598475750301,0.999999956905,0.000133465409018,-0.000259859153298,2.91425334321e-05,1793237690075316736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.202400424,666.797599576,637,881,788,803.202400424,654,632,654,0.40120862119,0.00452583952842,0.05984329343,0.99999995504,0.000135229187797,-0.000266114203008,2.85777109957e-05,1793237690091983360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.619183383,637,881,788,803.380816617,654,632.380816617,654,0.401158522708,0.0045256447777,0.0598418887925,0.999999954208,0.000135747220516,-0.000268987929342,2.83110413524e-05,1793237690108649984
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.039420816,637,881,788,803.960579184,654,632.960579184,654,0.401114808215,0.00452499263455,0.0598419871359,0.999999953931,0.000135614451398,-0.000270095186898,2.82001325001e-05,1793237690125316608
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.535531224,680,666,637,880.464468776,788,803.464468776,654,632.464468776,654,0.401085204671,0.00452359417122,0.0598425424513,0.999999955115,0.000132415232655,-0.000267297303353,2.80803711444e-05,1793237690141983232
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.112710659,716,680,666.112710659,637,880.225421317,788,803,654,632.112710659,654,0.401058335524,0.00452222083033,0.0598432901134,0.999999956187,0.00012964909184,-0.000264640923382,2.79790983055e-05,1793237690158649856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.700763786,716,680,666.700763786,637,881.401527571,788,803,654,632.700763786,654,0.401038656689,0.00452118306802,0.059844708372,0.999999956414,0.000129652885531,-0.000263782849378,2.79585221396e-05,1793237690175316736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.715677659,716,680,666.715677659,637,881.715677659,788,803,654,632.715677659,654.284322341,0.401022133588,0.00452092340189,0.0598457387377,0.99999995654,0.000130112865589,-0.000263064525507,2.80569404399e-05,1793237690191983360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.13677575,716,680,666.13677575,637,881.13677575,788,803,654,632.13677575,654.86322425,0.401008880065,0.00452146990248,0.0598463672171,0.999999956563,0.000131045489415,-0.0002624909933,2.8278646054e-05,1793237690208650240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.559014654,666.440985346,637,881,788,803,654,632.440985346,655,0.401000326835,0.00452165424723,0.0598469465696,0.999999956664,0.000131988707893,-0.000261653055516,2.80794592518e-05,1793237690225316864
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2f0916b33381e0f7fb766adf9665b89f236f0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
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+426,7.100000000,pose2_to_pose3_retreat,0.578252460818,0.0100012516715,1.05001152556,0.548823695737,0.0186749180669,1.04966106744
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+428,7.133333333,pose2_to_pose3_retreat,0.578252248017,0.0100012923523,1.05001151483,0.548823482853,0.0186749585531,1.0496610588
+429,7.150000000,pose2_to_pose3_retreat,0.57825218549,0.0100013043053,1.05001151168,0.548823420303,0.018674970449,1.04966105627
+430,7.166666667,pose2_to_pose3_retreat,0.57825216714,0.0100012996254,1.05001153863,0.548823402066,0.0186749661549,1.04966108328
+431,7.183333333,pose2_to_pose3_retreat,0.578252158772,0.0100012908118,1.05001157366,0.548823393847,0.0186749578457,1.04966111825
+432,7.200000000,pose2_to_pose3_retreat,0.578252146057,0.0100012774209,1.05001162689,0.548823381359,0.0186749452212,1.04966117138
+433,7.216666667,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4df80ffea63a31bca2d9af94dd9aa6611a6c0bc8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d1ba91ad817eb4c9e6da1816aa451e6aaab6b3a1f900b2fbd0576e9e63bfe3
+size 27791932
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18877114fe58ee8529bf8d48b68f668f6c9ef455
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
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+52,0.866666667,BASELINE,767,746,715.203588193,679.203588193,667,637,881,788.796411807,803.796411807,654,633,654,0.400979585309,0.00451840641062,0.0598555528799,0.999999961008,0.000127166472107,-0.000247221456274,2.63553949543e-05,1793237691683356160
+53,0.883333333,BASELINE,767,746,715.777664183,679.777664183,667,637,881,788.222335817,803.222335817,654,633,654,0.400981013119,0.00451812723596,0.0598568659042,0.999999961541,0.000127084045238,-0.000245100658198,2.63394941286e-05,1793237691700023040
+54,0.900000000,BASELINE,767,746.359841176,715.640158824,680,667,637,881,788,803.359841176,654,632.640158824,654,0.400980977441,0.00451926903179,0.0598567553253,0.999999961368,0.000128114817396,-0.000245293700292,2.6096548775e-05,1793237691716689920
+55,0.916666667,BASELINE,767,746.947138809,715.052861191,680,667,637,881,788,803.947138809,654,632.052861191,654,0.400980016689,0.00452130902642,0.0598557448833,0.999999960747,0.000129849245294,-0.000246949326303,2.57100880396e-05,1793237691733356544
+56,0.933333333,BASELINE,767,746.469422198,715,680,667.530577802,637,881,788.530577802,803.469422198,654,632,654,0.400981320609,0.00451961109245,0.0598567994448,0.999999961289,0.000129398522002,-0.000244942355504,2.61023186084e-05,1793237691750022656
+57,0.950000000,BASELINE,767,746,715.112137329,679.887862671,667.887862671,637,881,788.887862671,803,654,632.112137329,654,0.400982352655,0.00451770940653,0.0598576344357,0.999999961796,0.000128189112491,-0.000243462713353,2.64728178756e-05,1793237691766689024
+58,0.966666667,BASELINE,767,746,715.687509321,679.312490679,667.312490679,637,881,788.312490679,803,654,632.687509321,654,0.400981336269,0.00451649332457,0.0598567186412,0.999999961697,0.000124738440927,-0.000245657958816,2.64353775093e-05,1793237691783355648
+59,0.983333333,BASELINE,767,746.262136382,716,679,667,636.737863618,880.737863618,788.262136382,803,654,632.737863618,654,0.40098111711,0.0045163339198,0.0598564816321,0.99999996167,0.000123768421073,-0.000246266478846,2.63522751976e-05,1793237691800022272
+60,1.000000000,BASELINE,767,746.835878009,716,679,667,636.164121991,880.164121991,788.835878009,803,654,632.164121991,654,0.400981845625,0.00451743060206,0.0598570515047,0.99999996174,0.000125747186725,-0.000244988836082,2.62148938775e-05,1793237691816689152
+61,1.016666667,BASELINE,767,747,716,679.420765793,667,636.420765793,880.420765793,788.579234207,803,654,632,654,0.400981478815,0.00451747815944,0.0598563817451,0.99999996151,0.000126721371132,-0.00024542166593,2.62500067628e-05,1793237691833355520
+62,1.033333333,BASELINE,767,746.990061501,716,680,666.990061501,637,881,788.009938499,803,654,632,654,0.400980695807,0.00451713304124,0.0598552530471,0.99999996117,0.000127280179867,-0.000246507322232,2.6347831147e-05,1793237691850022144
+63,1.050000000,BASELINE,767,746.411247048,716,680,666.411247048,637,881,788.588752952,803,654,632,654,0.400981210167,0.00451837211362,0.0598562847965,0.99999996139,0.000127102267307,-0.000245732275804,2.607922931e-05,1793237691866688768
+64,1.066666667,BASELINE,767,746,715.832718833,679.832718833,666,637,881,788.832718833,803.167281167,654,632.167281167,654,0.400981683514,0.00451909350644,0.0598571427345,0.999999961557,0.000127236509333,-0.000244990973792,2.59949884341e-05,1793237691883355904
+65,1.083333333,BASELINE,767,746,715.254893147,679.254893147,666,637,881,788.254893147,803.745106853,654,632.745106853,654,0.400982056209,0.00451854440047,0.0598575741018,0.999999961594,0.000128136846904,-0.000244332487996,2.63632096389e-05,1793237691900022528
+66,1.100000000,BASELINE,767,746,715.321897247,679,666,637,881,788,803.678102753,654,632.678102753,654.321897247,0.400981708881,0.00451844094637,0.059857214661,0.99999996141,0.000128257244678,-0.000245008774257,2.64588741167e-05,1793237691916689152
+67,1.116666667,BASELINE,767,746,715.89787045,679,666,637,881,788,803.10212955,654,632.10212955,654.89787045,0.400980793235,0.00451868924871,0.0598562310292,0.999999961052,0.000127762029974,-0.000246738606325,2.63394074717e-05,1793237691933355520
+68,1.133333333,BASELINE,767,746,715.51630446,679,666.48369554,637,880.51630446,788,803,654,632,654.51630446,0.400980573677,0.00451829522559,0.0598561089161,0.999999960912,0.000127886675931,-0.000247239092983,2.63334303552e-05,1793237691950022400
+69,1.150000000,BASELINE,767,746,715,679,666.929292148,637,880.070707852,788,803.070707852,654,632.070707852,654,0.400980562783,0.0045179275003,0.059856140955,0.999999960838,0.000128192721471,-0.000247379498854,2.63619162102e-05,1793237691966688768
+70,1.166666667,BASELINE,767,746,715,679,666.349026874,637,880.650973126,788,803.650973126,654,632.650973126,654,0.400980974429,0.00451874698423,0.0598559457378,0.999999960886,0.00012884322663,-0.000246834458723,2.64624822825e-05,1793237691983355648
+71,1.183333333,BASELINE,767,746,715.229512369,679.229512369,666.229512369,637,881,788,803.770487631,654,632.770487631,654,0.400981344684,0.00451850143881,0.0598559830412,0.999999961092,0.000128434668781,-0.000246204375283,2.65404459367e-05,1793237692000022272
+72,1.200000000,BASELINE,767,746,715.805446461,679.805446461,666.805446461,637,881,788,803.194553539,654,632.194553539,654,0.400981652465,0.00451664835792,0.0598563713069,0.999999961533,0.000126427580918,-0.000245445928962,2.65842939342e-05,1793237692016688896
+73,1.216666667,BASELINE,767,746,716,679.611498231,666.611498231,637,881,788,803,654,632,654,0.400981115448,0.00451671831156,0.0598564457761,0.999999961429,0.000126311534688,-0.000245936489832,2.65147373346e-05,1793237692033355776
+74,1.233333333,BASELINE,767,746,716,679.024810216,666.024810216,637,881,788,803,654,632,654,0.400980147474,0.00451776926213,0.0598563601686,0.999999961047,0.000127160164865,-0.000247064206268,2.63873296921e-05,1793237692050022400
+75,1.250000000,BASELINE,767.554205302,746,716,679.554205302,666,637,881,788,803,654,632,654,0.400979701049,0.00451874989991,0.0598558695646,0.99999996066,0.000128645463591,-0.000247885290333,2.61427513759e-05,1793237692066689024
+76,1.266666667,BASELINE,767.867287532,746,716,679.867287532,666.132712468,637,881,788,803,654,632.132712468,654.132712468,0.400979754785,0.00451945791685,0.0598556969505,0.999999960513,0.00012947571902,-0.000248066260533,2.59546077309e-05,1793237692083355648
+77,1.283333333,BASELINE,767.289349258,746,716,679.289349258,666.710650742,637,881,788,803,654,632.710650742,654.710650742,0.400981409211,0.00451926175692,0.0598566511275,0.999999961175,0.000128014112357,-0.000246145189914,2.5973149053e-05,1793237692100022528
+78,1.300000000,BASELINE,767,746.287327041,716,679.287327041,667,636.712672959,881,788,803.287327041,654,632.712672959,655,0.400982351327,0.00451854737118,0.0598570745668,0.999999961601,0.000126378574858,-0.000245247344153,2.6077997343e-05,1793237692116689152
+79,1.316666667,BASELINE,767,746.862738007,716,679.862738007,667,636.137261993,881,788,803.862738007,654,632.137261993,655,0.400982579255,0.00451731339453,0.0598569658703,0.999999961792,0.000124568648439,-0.000245375418769,2.62693799519e-05,1793237692133355520
+80,1.333333333,BASELINE,767,746.551856695,716,680,667,636.448143305,881,788,804,654,632.448143305,654.551856695,0.400983557145,0.00451774063408,0.0598580737647,0.999999962043,0.000126556096095,-0.000243312453462,2.63815455475e-05,1793237692150022400
+81,1.350000000,BASELINE,767,746.03613871,716,680,667,637,881,788,803.96386129,654,632.96386129,654,0.400984639718,0.00451867901874,0.0598594070963,0.999999962276,0.000129442530992,-0.000240818128846,2.64252794198e-05,1793237692166689280
+82,1.366666667,BASELINE,767,746.615995595,716,680,667,637,881,788,803.384004405,654,632.384004405,654,0.400983762452,0.00451947784626,0.0598583979803,0.999999962159,0.000127956152053,-0.000242161010504,2.58128140756e-05,1793237692183355648
+83,1.383333333,BASELINE,767,746.805879975,715.805879975,680,666.805879975,637,881,788,803.194120025,654,632,654,0.400982953016,0.00452002592405,0.0598576367652,0.999999961981,0.000127414701523,-0.000243211968681,2.55146952873e-05,1793237692200022784
+84,1.400000000,BASELINE,767,746.231152238,715.231152238,680,666.231152238,637,881,788,803.768847762,654,632,654,0.400982276572,0.0045200823614,0.0598573616047,0.999999961689,0.000128725955212,-0.000243690557878,2.58329101422e-05,1793237692216690688
+85,1.416666667,BASELINE,767.351382465,746,715.351382465,679.648617535,666,637,881,788,803.648617535,654,632,654,0.400981387044,0.00451971247169,0.0598567180618,0.999999961417,0.000128754576869,-0.000244767522687,2.60329019022e-05,1793237692233357312
+86,1.433333333,BASELINE,767.939169537,746,715.939169537,679.060830463,666,637,881,788,803.060830463,654,632,654,0.400980354155,0.00451905575583,0.059855826677,0.999999961157,0.000127920263746,-0.000246247065188,2.61533550003e-05,1793237692250022656
+87,1.450000000,BASELINE,766.961657523,746,716,679.519171238,666.519171238,637,881.519171238,788,803.519171238,654,632,654,0.400981247551,0.00451783562933,0.0598565154591,0.999999961635,0.000126527246502,-0.000245009118882,2.62952650295e-05,1793237692266689280
+88,1.466666667,BASELINE,766.098042272,746,715.901957728,680,666.901957728,637,881.901957728,788,803.901957728,654,632.098042272,654,0.400981890362,0.00451696003079,0.0598570669246,0.999999962005,0.000125442254465,-0.000244046440857,2.63602430027e-05,1793237692283356160
+89,1.483333333,BASELINE,766.675778445,746,715.324221555,680,666.324221555,637,881.324221555,788,803.324221555,654,632.675778445,654,0.400980219166,0.0045180883291,0.0598560540545,0.999999961451,0.000126179903031,-0.000245965421139,2.60366946139e-05,1793237692300023040
+90,1.500000000,BASELINE,767,746,715,680,666,637,881,788,803,654,632.744659244,654,0.400979890992,0.00451906729583,0.0598558841669,0.999999961119,0.000127799533651,-0.00024648192597,2.59928622147e-05,1793237692316689920
+91,1.516666667,BASELINE,767,746,715,680,666,637,881,788,803,654,632.162761516,654,0.40098128042,0.00451985528133,0.0598567923753,0.99999996107,0.000130547136863,-0.00024520479558,2.63067604577e-05,1793237692333356544
+92,1.533333333,BASELINE,767,746,715.419172091,679.580827909,666.419172091,637,881,788,803,654,632.419172091,654,0.400981686951,0.0045191323095,0.0598570849236,0.999999961357,0.000129476396044,-0.000244615969832,2.61870567956e-05,1793237692350022656
+93,1.550000000,BASELINE,767,746,716,679.00111688,667,637,881,788,803.00111688,654,633,654,0.400981710009,0.00451782573353,0.0598571374227,0.999999961769,0.000126928585347,-0.00024429717883,2.58998179325e-05,1793237692366689280
+94,1.566666667,BASELINE,767,746,716,679.581609702,667,637,881,788,803.581609702,654,633,654,0.400980804866,0.00451814806412,0.0598566854544,0.999999961442,0.00012733391301,-0.000245403972783,2.60502677822e-05,1793237692383355904
+95,1.583333333,BASELINE,767,746,715.839896862,680,667,637,881,788,804,654,633,654,0.400980540581,0.00451826330365,0.059856813939,0.999999961368,0.000127590198187,-0.000245559854593,2.61912724e-05,1793237692400022528
+96,1.600000000,BASELINE,767,746,715.266563765,680,667,637,881,788,804,654,633,654,0.400981930364,0.00451784403637,0.0598584405862,0.999999961943,0.000127461801297,-0.000243261410066,2.63078986847e-05,1793237692416689408
+97,1.616666667,BASELINE,767,746,715.305498106,680,666.694501894,636.694501894,881,788,804,654,633,654,0.400982551293,0.00451819207862,0.0598588054268,0.999999962059,0.000128010491006,-0.000242490386169,2.63236420178e-05,1793237692433356032
+98,1.633333333,BASELINE,767,746,715.876455324,680,666.123544676,636.123544676,881,788,804,654,633,654,0.400982504135,0.0045192068658,0.059858073835,0.99999996178,0.000129147527441,-0.000243046597232,2.62517242481e-05,1793237692450022912
+99,1.650000000,BASELINE,767,746,716,679.533861725,666.466138275,636.466138275,881,788,804,654,632.533861725,654,0.400982193018,0.00451935326605,0.0598575512454,0.999999961554,0.000129776742802,-0.000243646529845,2.62155487636e-05,1793237692466689536
+100,1.666666667,BASELINE,767,746.059576812,715.940423188,679.059576812,667,637,881,788,803.940423188,654,632.059576812,654,0.400981780693,0.00451922221618,0.0598571656153,0.999999961385,0.00013001647834,-0.000244212773899,2.6188828711e-05,1793237692483356160
+101,1.683333333,BASELINE,767,746.640628385,715.359371615,679.640628385,667,637,881,788,803.359371615,654,632.640628385,654,0.400981120481,0.00451876151873,0.0598574736354,0.999999961596,0.0001280744942,-0.000244378468809,2.61584837216e-05,1793237692500022784
+102,1.700000000,BASELINE,767,746.781202604,715.218797396,680,666.781202604,637,881,788,803,654,632.781202604,654,0.400981449798,0.0045184524549,0.0598580054963,0.999999961867,0.000127003562068,-0.00024381944091,2.62168944537e-05,1793237692516689408
+103,1.716666667,BASELINE,767,746.20770665,715.79229335,680,666.20770665,637,881,788,803,654,632.20770665,654,0.400983383266,0.00451838920857,0.0598589002317,0.99999996224,0.000127344716813,-0.000242085544651,2.64191895632e-05,1793237692533356032
+104,1.733333333,BASELINE,767,746,716,680,666,637,881,788,803,654,632,654,0.400982631996,0.00451868851573,0.0598579969639,0.999999961844,0.000128120129731,-0.000243310256928,2.63918848031e-05,1793237692550022656
+105,1.750000000,BASELINE,767,746,716,680,666,637,881,788,803,654,632,654,0.400980356246,0.0045191936922,0.0598560727334,0.999999961006,0.000129142128166,-0.000246214960285,2.6234206014e-05,1793237692566689536
+106,1.766666667,BASELINE,767,746,716,680,666.541922847,637,881,788,803.541922847,654,632,654,0.400982024884,0.00451742867332,0.0598575368787,0.999999961997,0.000126279587879,-0.000243647933801,2.63555279827e-05,1793237692583356928
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,715,679,667,636,881,788,804,654,632,654,0.400983662573,0.00452085058198,0.0598579817337,0.999999961946,0.00013019207463,-0.000241879283774,2.55525846127e-05,1793237692625475584
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.426072142,715.573927858,679.573927858,667,636.573927858,881,788,803.426072142,654,632,654,0.400982149497,0.00451993538865,0.0598575649426,0.999999961702,0.000129394144565,-0.000243271584315,2.59389172483e-05,1793237692642141952
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.847395101,667,637,881,788,803,654,632,654.152604899,0.400980741162,0.00451925009431,0.0598570073963,0.999999961419,0.000128704956374,-0.00024476850609,2.61930906131e-05,1793237692658808576
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.255032323,667,637,881,788,803,654,632,654.744967677,0.400979634656,0.00451922729419,0.0598560442393,0.999999961028,0.000128329126848,-0.000246566912692,2.60664238645e-05,1793237692675474432
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.66962886,679,667,637,881,788,803,654.33037114,632.33037114,654.66962886,0.400979192593,0.00451801089692,0.0598559213442,0.999999961148,0.000126573831566,-0.000246980790947,2.61396634031e-05,1793237692692141056
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.089486891,679,667,637,881,788,803,654.910513109,632.910513109,654.089486891,0.40097925287,0.00451589210318,0.0598564337133,0.999999961649,0.000123775617405,-0.000246347922717,2.63640383031e-05,1793237692708807680
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.485598875,679,666.514401125,637,881,788,803,654.514401125,632.514401125,654,0.400980647605,0.00451743496602,0.0598570773712,0.999999961772,0.000125559616325,-0.000244948892393,2.62746754363e-05,1793237692725474304
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.059791671,637,881,788,803,654,632,654,0.400982111872,0.00451937979469,0.0598576854935,0.999999961827,0.000127881118581,-0.000243533586998,2.61334065054e-05,1793237692742140928
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.634235769,637,881,788,803,654,632,654,0.400982079737,0.0045190362858,0.0598577816437,0.999999961947,0.000127635782525,-0.000243180949929,2.60378792305e-05,1793237692758807552
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,880.784478682,788,803.215521318,654,632,654,0.400982767233,0.0045187937094,0.0598579464939,0.999999961945,0.000127909408298,-0.000243037441946,2.61007306045e-05,1793237692775474176
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,880.191201821,788,803.808798179,654,632,654,0.400984716061,0.00451872804271,0.0598582317582,0.99999996173,0.00012909264577,-0.000243260485544,2.6441180571e-05,1793237692792140800
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.390916274,715.609083726,679.390916274,666.609083726,637,880,788,804,654,632,654,0.400994482842,0.00451910035077,0.059862608626,0.999999963139,0.000130903543021,-0.000236371600121,2.67227149793e-05,1793237692808807168
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.967728007,715.032271993,679.967728007,666.032271993,637,880,788,804,654,632,654,0.401007967354,0.00451968093236,0.0598689312059,0.999999965229,0.000133012916304,-0.00022610072374,2.69762328413e-05,1793237692825473792
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.457723861,715,680,666.542276139,637,880,788,804,654,632,654,0.401043972073,0.00451851361335,0.0598842607714,0.999999971418,0.000130093400625,-0.000198786430903,2.6903511336e-05,1793237692842140672
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.119456553,715.119456553,680,667,637,880.119456553,788,803.880543447,654,632.119456553,654.119456553,0.40108581637,0.0045176173197,0.0599008804142,0.999999977188,0.000127391905715,-0.000169345171866,2.67941675457e-05,1793237692858807552
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.707488641,715.707488641,680,667,637,880.707488641,788,803.292511359,654,632.707488641,654.707488641,0.40114533152,0.00451819047241,0.059920466619,0.999999982434,0.00012671467267,-0.000135522824801,2.6617011338e-05,1793237692875474176
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,747,716,679.708612577,667,637,881,788.291387423,803,654.291387423,632.708612577,654.708612577,0.401208454913,0.00451766553951,0.0599364233939,0.999999985744,0.00012559426817,-0.000109643956444,2.67627727657e-05,1793237692892140800
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,747,716,679.128805048,667,637,881,788.871194952,803,654.871194952,632.128805048,654.128805048,0.401275149802,0.00451605370322,0.0599487876977,0.999999987739,0.000124035205327,-9.1627677251e-05,2.72281634548e-05,1793237692908807424
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.550177687,715.550177687,679,667,637,881,788.550177687,803,654.550177687,632.449822313,654,0.401347724965,0.00451588300035,0.0599538342581,0.999999988796,0.000122568701052,-8.17058837267e-05,2.66109235612e-05,1793237692925474048
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,788,803.027854873,654,632.972145127,654,0.401422639752,0.00451616089788,0.0599566328161,0.999999989555,0.000121188685163,-7.44626554706e-05,2.56737113991e-05,1793237692942140928
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,788,803.600843352,654,632.399156648,654,0.401510475638,0.00451716323099,0.0599563377613,0.999999989613,0.000120983953634,-7.43979365383e-05,2.45256073367e-05,1793237692958807552
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.820856863,881,788,803.820856863,654,632,654,0.401606890425,0.00451749100961,0.0599575784457,0.999999989933,0.00011985856929,-7.21925573855e-05,2.35877519961e-05,1793237692975473920
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.230361216,881,788,803.230361216,654,632,654,0.401723004268,0.00451626986085,0.0599623455292,0.999999990815,0.000116619161219,-6.50717459714e-05,2.31326746687e-05,1793237692992140544
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.354247658,679.354247658,666.645752342,636.354247658,881,788,803,654,632,654,0.401849060958,0.00451517239702,0.0599638594779,0.999999991457,0.000113449921356,-6.10239248163e-05,2.21790140777e-05,1793237693008807168
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.935091096,679.935091096,666.064908904,636.935091096,881,788,803,654,632,654,0.401981477638,0.00451415404856,0.0599632925478,0.999999991959,0.000110325564522,-5.89417521554e-05,2.09064328771e-05,1793237693025474048
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715.489740508,680,666.510259492,637,881,788,803,654,632,654,0.402140273623,0.00451520904629,0.0599662029026,0.999999992626,0.000108562217677,-5.08899059784e-05,1.92801660693e-05,1793237693042140928
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679.913374571,667,637,881,788,803,654,632,654,0.402305485721,0.00451628526741,0.0599689550553,0.999999993253,0.000106521075035,-4.28961757192e-05,1.75369358409e-05,1793237693058807552
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679.325957751,667,637,881,788,803,654,632,654,0.402488604158,0.00451597621304,0.0599682635521,0.999999993908,0.000101884083129,-3.95802356319e-05,1.53747662041e-05,1793237693075473920
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679.257660618,667,637,881,788,803.257660618,654,632.257660618,654,0.402690119825,0.00451549678845,0.0599674545106,0.999999994493,9.76389390107e-05,-3.61673725806e-05,1.31282904359e-05,1793237693092140544
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679.83654347,667,637,881,788,803.83654347,654,632.83654347,654,0.402914571075,0.00451480496551,0.0599664989356,0.999999995003,9.38823068555e-05,-3.26336770946e-05,1.07767114093e-05,1793237693108807168
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.415684566,679.584315434,666.584315434,637,881,788,803.584315434,654,632.584315434,654,0.403158823256,0.00451447874187,0.0599701007376,0.999999995651,8.94931198419e-05,-2.48166003185e-05,8.57500221821e-06,1793237693125473792
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.994927259,679.005072741,666.005072741,637,881,788,803.005072741,654,632.005072741,654,0.403410866443,0.00451429636948,0.0599754957169,0.999999996262,8.48550434969e-05,-1.53141547804e-05,6.43226190445e-06,1793237693142140672
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679.566033748,666.566033748,637,881,788,803,654,632.566033748,654,0.403681924732,0.00451233215776,0.0599737267423,0.999999996742,7.90221874216e-05,-1.5847989343e-05,4.40836453516e-06,1793237693158807296
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.85791482,680,667,637,881,788,803.14208518,654,632.85791482,654,0.403957600255,0.00451080253592,0.0599698299862,0.999999997157,7.25990343267e-05,-2.02572117535e-05,2.07118947124e-06,1793237693175474176
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.265979942,680,667,637,881,788,803.734020058,654,632.265979942,654,0.404247362263,0.00451069869182,0.0599593969431,0.999999997258,6.43403888488e-05,-3.66553975126e-05,-1.2611643171e-06,1793237693192141056
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.319518626,715.319518626,680,667,637,881,788,804,653.680481374,632,654,0.404561274964,0.00450891976626,0.0599488213988,0.999999997016,5.47395993419e-05,-5.43360791949e-05,-4.35749466555e-06,1793237693208807424
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.899765213,715.899765213,680,667,637,881,788,804,653.100234787,632,654,0.404894894719,0.00450577397021,0.0599381295722,0.999999996335,4.40436161949e-05,-7.30632823888e-05,-7.26122968566e-06,1793237693225474048
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.525223263,716,680,667,637,881,788,803.525223263,653.474776737,632,654,0.405260096269,0.00450374830038,0.0599360152739,0.999999996312,3.50020700334e-05,-7.77625631403e-05,-1.01960419312e-05,1793237693242140928
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.048774156,715.951225844,679.951225844,666.951225844,636.951225844,881,788,803,654,632,654,0.405637437712,0.00450202377251,0.0599377189708,0.999999996665,2.64138549335e-05,-7.61614472959e-05,-1.31328414542e-05,1793237693258807552
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.623624795,715.376375205,679.376375205,666.376375205,636.376375205,881,788,803,654,632,654,0.406074588327,0.00450102449387,0.0599612842977,0.999999998962,1.89889642724e-05,-3.81995063618e-05,-1.60210826168e-05,1793237693275475456
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.795038107,715,679.204961893,666.204961893,636,881,788,803,654,632.204961893,654,0.406521516085,0.00450040473796,0.0599838026837,0.999999999747,1.15259901169e-05,-1.38682780451e-06,-1.92571465831e-05,1793237693292142592
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.201400567,715,679.798599433,666.798599433,636,881,788,803,654,632.798599433,654,0.406986984517,0.00450050468292,0.0600043357214,0.999999999171,3.99079751735e-06,3.3246466229e-05,-2.31527976561e-05,1793237693308808704
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715,679.618165372,667,636.381834628,881,788,803,654,632.618165372,654,0.407466784857,0.00449821808277,0.0600145379941,0.999999998603,-7.21307321189e-06,4.51784595197e-05,-2.64692720955e-05,1793237693325475328
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715,679.04027145,667,636.95972855,881,788,803,654,632.04027145,654,0.407953944137,0.00449470607163,0.0600194357644,0.999999998326,-2.03006870516e-05,4.54540941624e-05,-2.9488358619e-05,1793237693342141952
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715,679,666.465226329,637,880.465226329,788,803,654,632,654,0.408434614722,0.00449453277516,0.0600100980982,0.999999998959,-2.5097922493e-05,2.00468831398e-05,-3.24190503673e-05,1793237693358808064
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.888096076,746,715.111903924,679.111903924,666.111903924,637,880,788,803,653.888096076,632.111903924,654,0.408921818917,0.00449484735091,0.0600006269518,0.999999998938,-2.91996251822e-05,-3.89063212878e-06,-3.54484356261e-05,1793237693375474688
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.301209759,746,715.698790241,679.698790241,666.698790241,637,880,788,803,653.301209759,632.698790241,654,0.409438818292,0.00449617119952,0.0599951153305,0.999999998608,-3.29849842477e-05,-1.34242016505e-05,-3.89248349151e-05,1793237693392142080
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.717778621,679.717778621,667,637,880,788,803,653.282221379,632.717778621,654,0.409996223185,0.00449604271605,0.0599979503132,0.999999998394,-3.75679832448e-05,-4.97871523461e-06,-4.21508348932e-05,1793237693408808960
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.137990461,679.137990461,667,637,880,788,803,653.862009539,632.137990461,654,0.410596230654,0.00449438293209,0.0600095857346,0.999999997807,-4.29919932082e-05,2.24234126676e-05,-4.5112820846e-05,1793237693425475328
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.438452854,746,715.438452854,679.438452854,667,637,880.438452854,788,803,653.561547146,632,654,0.411214350937,0.00449366953342,0.0600149254332,0.999999998685,-6.85789273702e-06,3.50981480062e-05,-3.67497368166e-05,1793237693442141952
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.985854524,746,716,680,667,637,881.014145476,788,803,653,632,654,0.41183717451,0.00449322903716,0.060017768867,0.999999997959,4.08052083904e-05,4.21854862356e-05,-2.52274114844e-05,1793237693458808320
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.398240168,746,716,680,667,637,881.601759832,788,803,653,632,654,0.41242132217,0.00449186865983,0.059999131051,0.999999999097,2.96356230386e-05,9.24025145284e-06,-2.90300829077e-05,1793237693475474432
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.813179977,680,667,637,881.813179977,788,803,653,632,654,0.413008615287,0.00448868775135,0.0599754600681,0.999999998688,1.90133662725e-05,-3.51393544921e-05,-3.20499500994e-05,1793237693492140800
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.233491047,680,667,637,881.233491047,788,803,653,632,654,0.413602523037,0.00448167839845,0.0599412047029,0.999999994033,9.54210233942e-06,-0.000103564608577,-3.34236367139e-05,1793237693508807424
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.344846171,746,715.344846171,680,667,637,881,788,803,653.344846171,632,654,0.41427166011,0.0044767158971,0.0599400924214,0.99999999375,2.40402687919e-06,-0.000106261403884,-3.46677416402e-05,1793237693525474048
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.92227171,746,715.92227171,680,667,637,881,788,803,653.92227171,632,654,0.414991535111,0.00447313388242,0.0599613332895,0.999999997265,-3.160443637e-06,-6.46280436132e-05,-3.58244509696e-05,1793237693542140672
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667.496348434,637,881,788,803.496348434,653.503651566,632.496348434,654,0.415756457865,0.00447316946026,0.0600045888172,0.999999999324,1.65031582259e-06,8.87626758398e-06,-3.56498020416e-05,1793237693558807296
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667.927968781,637,881,788,804,653,632.927968781,654,0.416518064388,0.00447386872463,0.0600445624796,0.999999996479,8.20129420658e-06,7.56351171464e-05,-3.54029555845e-05,1793237693575473920
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667.336961715,637,881,788,804,653,632.336961715,654,0.417205291419,0.004475295445,0.0600362183429,0.999999997538,1.56625617531e-05,5.8075199061e-05,-3.61280212493e-05,1793237693592140544
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.249019858,788,804,653,632,654,0.41790473038,0.00447573132219,0.0600224656284,0.99999999849,2.0115092005e-05,3.52054440715e-05,-3.71009237315e-05,1793237693608807168
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.828335778,788,804,653,632,654,0.418620367153,0.00447485296062,0.0600015390596,0.999999999037,2.05768810109e-05,5.29280166498e-06,-3.84025531994e-05,1793237693625474048
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.595351719,746.404648281,716,680,667.404648281,637,882,788,804,653.404648281,632.404648281,654,0.419350355617,0.00447441591735,0.0599841619977,0.999999998823,1.31462860619e-05,-2.42124702893e-05,-3.99465878469e-05,1793237693642141184
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.020304004,746.979695996,716,680,667.979695996,637,882,788,804,653.979695996,632.979695996,654,0.420086387607,0.0044741647155,0.0599682796524,0.999999997699,2.39216835565e-06,-5.35461946777e-05,-4.15927004373e-05,1793237693658808576
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.556898991,746.443101009,715.443101009,680,667.443101009,637,881.443101009,788,804,653.443101009,633,654,0.420839646579,0.00447426076499,0.0599520129342,0.999999994931,-5.13926020737e-05,-7.54071103906e-05,-4.25584057456e-05,1793237693675474688
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,715.137029931,680,667,637,881,788.137029931,804,653,633,654,0.42158712176,0.00447420206244,0.0599359579623,0.999999989855,-9.13578304644e-05,-0.000100421234009,-4.31291567323e-05,1793237693692140800
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,715.7265692,680,667,637,881,788.7265692,804,653,633,654,0.42231341514,0.00447359035678,0.0599206486919,0.999999986508,-8.04863368433e-05,-0.000136751292512,-4.2477901257e-05,1793237693708807424
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.689771553,746,716,680,667,637,881.310228447,788.689771553,804,653,632.689771553,654,0.423107862251,0.00447290403005,0.0599418121678,0.999999991175,-7.46203076125e-05,-0.000101124369076,-4.3067404751e-05,1793237693725474304
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.111198499,746,716,680,667,637,881.888801501,788.111198499,804,653,632.111198499,654,0.423961261644,0.00447215315683,0.0599945242176,0.999999996324,-7.30839567668e-05,-3.25534935643e-06,-4.47301525147e-05,1793237693742140928
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.463623383,746,715.536376617,680,667,637,882,788.463623383,804,653,632.463623383,654.463623383,0.42477910169,0.00447030332946,0.0600300312762,0.999999995118,-7.01352108713e-05,5.32426598994e-05,-4.48303594696e-05,1793237693758807808
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.037461371,680,667,637,882,788.962538629,804,653,633,654.962538629,0.425586657138,0.00446838829503,0.0600582663573,0.999999992241,-6.65059278325e-05,9.53964427348e-05,-4.46494155609e-05,1793237693775474432
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.609993134,680,667,637,882,788.390006866,804,653,633,654.390006866,0.426368155311,0.00446927646457,0.0600411015223,0.99999999459,-5.79560972044e-05,7.32588122666e-05,-4.57626972561e-05,1793237693792141312
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715.809560416,680,667.190439584,636.809560416,881.809560416,788,804,653.190439584,633,654,0.427143178587,0.00446933551562,0.0600235548931,0.999999996291,-5.16923535331e-05,5.03851098275e-05,-4.69815070775e-05,1793237693808807936
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,715.212202284,680,667.787797716,636.212202284,881.212202284,788,804,653.787797716,633,654,0.427904366884,0.00446762296201,0.0600051924685,0.999999997225,-5.03133657597e-05,2.59386139916e-05,-4.84258025677e-05,1793237693825474560
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715.371641752,680,667.628358248,636.371641752,881.371641752,788,804,654,633,654,0.428652722315,0.00446696886805,0.0599891655767,0.999999997592,-4.81777460629e-05,4.11786905238e-06,-4.97858740464e-05,1793237693842141184
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715.948040139,680,667.051959861,636.948040139,881.948040139,788,804,654,633,654,0.429394007412,0.00446689793429,0.0599744254517,0.999999997521,-4.56252588376e-05,-1.62562126332e-05,-5.10995420742e-05,1793237693858807552
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.521432449,716,680.521432449,667,637,882,788.521432449,804,653.478567551,633,654,0.43012677657,0.00446724224548,0.0599557157559,0.999999996499,-4.23558773159e-05,-5.0477949065e-05,-5.15700839097e-05,1793237693875474432
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,747,716,680.902853701,667.097146299,636.902853701,882,788.902853701,804,653,633,654,0.430872396122,0.0044670654696,0.0599452601458,0.999999995429,-4.01842829425e-05,-6.93851936701e-05,-5.20891098241e-05,1793237693892141312
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,747,716,680.313878602,667.686121398,636.313878602,882,788.313878602,804,653,633,654,0.431687345796,0.00446404226416,0.0599785841793,0.999999997609,-4.39301233698e-05,-3.81273622766e-06,-5.32765149091e-05,1793237693908808192
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,680,668,636.270296722,882,788,803.729703278,653.270296722,633,654,0.432480122273,0.00446147623377,0.0600087561486,0.999999996359,-4.59211244503e-05,4.76560660623e-05,-5.38658158669e-05,1793237693925474816
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,680,668,636.848995574,882,788,803.151004426,653.848995574,633,654,0.433247599604,0.00445943182946,0.0600353316855,0.999999994053,-4.5909895443e-05,8.30329287701e-05,-5.3772694312e-05,1793237693942141440
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,747,716,680,668,637,882,788.426102734,803.426102734,653.573897266,633,654,0.433958404519,0.00445593375763,0.060024931669,0.999999995689,-4.61426562893e-05,6.04837611224e-05,-5.32341579113e-05,1793237693958808064
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.997366059,715.997366059,680.002633941,668,637,882,789,804.002633941,653,633,654,0.434649176417,0.00445192966391,0.0600014742971,0.999999997386,-4.64826691582e-05,1.75095108454e-05,-5.25490326391e-05,1793237693975474432
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.423875078,715.423875078,680.576124922,668,637,882,789,804.576124922,653,633,654,0.435334754976,0.00444949020124,0.0599774670233,0.999999997018,-5.13973347294e-05,-1.9690680976e-05,-5.41768971634e-05,1793237693992141056
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.154880072,715.154880072,681,668,637,882,788.845119928,804.845119928,653,633,654,0.436020140769,0.00444798886876,0.0599587929852,0.999999995814,-5.35217354168e-05,-4.93639448485e-05,-5.54171850348e-05,1793237694008807680
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.748549218,715.748549218,681,668,637,882,788.251450782,804.251450782,653,633,654,0.436704980595,0.00444914534232,0.0599552284743,0.999999995652,-4.77410678771e-05,-5.77127584547e-05,-5.55594342048e-05,1793237694025474560
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,716,680.667384422,668,636.667384422,882,788,804,653.332615578,633,654,0.437365038021,0.00444853173628,0.0599531488301,0.999999995081,-4.61990155757e-05,-6.81480101495e-05,-5.53066468707e-05,1793237694042141440
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,716,680.090373906,668,636.090373906,882,788,804,653.909626094,633,654,0.438006886116,0.00444661753416,0.0599521602172,0.99999999415,-4.77713580461e-05,-8.01163071076e-05,-5.47635997542e-05,1793237694058808832
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.534011707,716,680.465988293,667.534011707,636,882,788,804.465988293,653.534011707,633,654,0.438648258025,0.00444616748085,0.0599541494399,0.999999993813,-5.84295982934e-05,-7.68508218452e-05,-5.5266608573e-05,1793237694075475200
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667.020629585,636.020629585,882,788.020629585,804.979370415,653,633,654,0.439290196975,0.00444585434545,0.0599578424349,0.999999993459,-7.1956879002e-05,-6.91002791972e-05,-5.59351850446e-05,1793237694092141568
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667.636232254,636.636232254,882,788.636232254,804.363767746,653,633,654,0.439951040416,0.00444164796485,0.0599947240809,0.999999991204,-0.000119564917865,-1.3590223358e-05,-5.57761260117e-05,1793237694108808192
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,882,789,804,653.237262492,633,654,0.440585684026,0.00443833373185,0.0600230668782,0.99999998734,-0.000146604650381,2.74438738535e-05,-5.54412454064e-05,1793237694125474816
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,882,789,804,653.817243252,633,654,0.441182482739,0.00443630817861,0.0600390755715,0.999999987006,-0.000143934102534,4.75678954776e-05,-5.48523963644e-05,1793237694142141440
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.394902339,715.605097661,681,668,637,882,789,804.394902339,653.605097661,633,654,0.441720066353,0.00443478752625,0.0600213137338,0.999999988845,-0.000137978450422,1.81068047534e-05,-5.42558881761e-05,1793237694158808576
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.971493308,715.028506692,681,668,637,882,789,804.971493308,653.028506692,633,654,0.442230406042,0.00443349917102,0.0599880145837,0.99999998946,-0.000130511370667,-3.41676492603e-05,-5.36558559575e-05,1793237694175475712
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716,681,668,637,882,789,804.121500961,653,633,654.878499039,0.443224452202,0.00443131867217,0.0599553414789,0.99999998749,-0.000128585371226,-7.37879965888e-05,-5.51512111446e-05,1793237694208807936
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716,681,668,637,882,789,804.711028546,653,633,654.288971454,0.443724113703,0.00442986538917,0.059962689729,0.999999987667,-0.000131827748257,-6.35568361109e-05,-5.69915347674e-05,1793237694225474304
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.704508358,716,681.295491642,668,637,882.295491642,788.704508358,804.704508358,653,633,654,0.444205381196,0.00442885841792,0.0599716517623,0.999999988125,-0.000133683777472,-4.958198581e-05,-5.84767257467e-05,1793237694242140672
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.124914578,716,681.875085422,668,637,882.875085422,788.124914578,804.124914578,653,633,654,0.444668963634,0.00442828055577,0.0599821653761,0.999999988705,-0.000134206894401,-3.20077440266e-05,-5.96204722865e-05,1793237694258807296
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.45217577,716,682,668,636.54782423,883,788.45217577,804.45217577,653.45217577,633,654,0.445080009606,0.0044259335798,0.0599785137897,0.999999987944,-0.000137178511423,-4.06975057187e-05,-6.03163616792e-05,1793237694275473920
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,747,716,682,667.970998385,636,883,789,804.970998385,653.970998385,633,654,0.445473114653,0.0044233058849,0.0599697944844,0.999999986576,-0.000140378460157,-5.86145359754e-05,-6.08777238002e-05,1793237694292140544
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,716,682,667.386058699,636,883,789,804.386058699,653.386058699,633,654,0.445798983443,0.00442461385615,0.0599385303463,0.999999982382,-0.000135060614593,-0.000115094779541,-6.12188908852e-05,1793237694308807168
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716,682,667,636,882.802522351,788.802522351,804.197477649,653,633,654,0.446130233314,0.00442504816242,0.0599124178638,0.99999997657,-0.000132833118387,-0.000159317810732,-6.19053823452e-05,1793237694325474048
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716,682,667,636,882.221710167,788.221710167,804.778289833,653,633,654,0.446471928654,0.00442378655022,0.0598963055416,0.999999972514,-0.000136604467592,-0.000179747698614,-6.326220187e-05,1793237694342140672
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746.643080472,716,682,666.643080472,636,882,788,805,653,633,654,0.446805317198,0.00442424337684,0.0598955568944,0.999999973801,-0.000130917355517,-0.000177176482666,-6.21795924636e-05,1793237694358807296
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.065798194,716,682,666.065798194,636,882,788,805,653,633,654,0.447133577145,0.0044257611705,0.0599042938057,0.999999978233,-0.000119390573015,-0.000160404346363,-5.95908754294e-05,1793237694375474176
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.488855063,746,716,681.488855063,666,636,882,788,805,653,633,654,0.447430490917,0.00442601775491,0.0599113875992,0.999999983061,-9.53091985963e-05,-0.000148333810991,-5.28270120421e-05,1793237694392140544
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.089698419,746,715.910301581,681,666,635.910301581,882,788,804.910301581,653.089698419,633,654,0.447715979416,0.00442637108832,0.059916586755,0.999999986392,-7.40316902174e-05,-0.000139753847625,-4.69479042969e-05,1793237694408807168
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.848547056,715.848547056,681.848547056,664.151452944,635,883,788,804.848547056,653,633,654,0.449062938311,0.00443377719174,0.0598450848693,0.999999963204,-8.78733640229e-05,-0.000250035728242,-5.7897849326e-05,1793237694525473792
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+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,715.322721053,681,665,635,882.677278947,788,804.322721053,653.322721053,633,654,0.449311503689,0.00444123834631,0.0598314672231,0.999999957995,-8.14735222721e-05,-0.000271592818571,-6.00710036603e-05,1793237694558807296
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,716,681.95963288,664,635,882,788,804.95963288,653,632.04036712,654,0.449910504074,0.00445724412252,0.0598084052457,0.999999948839,-6.61607113809e-05,-0.000306067014457,-6.53266860639e-05,1793237694692141312
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.534463391,746.534463391,716,681.465536609,664,634.465536609,882,788,805,653,632,654.534463391,0.449942911137,0.00445772294173,0.0598072765746,0.999999948218,-6.58729590388e-05,-0.000308115610176,-6.55002570362e-05,1793237694708807936
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.888329977,747,716,681,664,634.111670023,882,788,804.888329977,653,632,654.888329977,0.449972479227,0.00445835317566,0.0598061120272,0.999999947646,-6.53340853078e-05,-0.000310053561181,-6.56215969526e-05,1793237694725474048
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.300340354,747,716,681,664,634.699659646,882,788,804.300340354,653,632,654.300340354,0.449993584935,0.00446033394573,0.0598038579154,0.999999946965,-6.29331768364e-05,-0.000312728010294,-6.5657705657e-05,1793237694742140672
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.284668205,746.715331795,715.715331795,681.284668205,663.715331795,635,882.284668205,788,804.284668205,653,632.284668205,654,0.450010744568,0.00446047984444,0.0598019175384,0.999999946055,-6.30831247388e-05,-0.000315591241516,-6.56638201733e-05,1793237694758807552
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.866564246,746.133435754,715.133435754,681.866564246,663.133435754,635,882.866564246,788,804.866564246,653,632.866564246,654,0.450023784026,0.00445870991705,0.0598003047382,0.999999944905,-6.58964731404e-05,-0.000318651584285,-6.56386171546e-05,1793237694775474176
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746.443058323,715.443058323,681.556941677,663.443058323,634.556941677,882.556941677,788,804.556941677,653.443058323,632.556941677,654,0.450033720337,0.00445936015925,0.0597984536445,0.999999944003,-6.49622197508e-05,-0.000321700463131,-6.5440537011e-05,1793237694792141056
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746.981709526,716,681,663.981709526,634.018290474,882,788,804.018290474,653.981709526,632,654,0.450042593597,0.00446075003663,0.0597965688975,0.999999943193,-6.29110945201e-05,-0.000324662047334,-6.52019203251e-05,1793237694808808448
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.395756968,716,681,663.395756968,634.604243032,882,788,804.604243032,653.395756968,632,654,0.450047130047,0.00446274614657,0.059795840207,0.9999999432,-6.08040060246e-05,-0.000325020229482,-6.53016463704e-05,1793237694825475072
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.188210606,716,681.188210606,663,635,882,788,805,653.188210606,632.188210606,654.188210606,0.450050539206,0.00446353830866,0.0597949453348,0.999999942945,-5.93638176746e-05,-0.00032609370022,-6.51761729784e-05,1793237694842141440
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.768047808,716,681.768047808,663,635,882,788,805,653.768047808,632.768047808,654.768047808,0.450051602707,0.00446182530898,0.0597937046733,0.999999942148,-5.93113080732e-05,-0.000328655535711,-6.45821070231e-05,1793237694858807808
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,716,682,663,635,882.346543825,788,805,653.653456175,633,655,0.450052055494,0.00446118927661,0.0597926757711,0.99999994139,-6.0865692444e-05,-0.000330647285013,-6.47153929106e-05,1793237694875474176
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,716,682,663,635,882.924145584,788,805,653.075854416,633,655,0.450052101086,0.00446127131177,0.0597917880592,0.999999940652,-6.34914726294e-05,-0.000332258929507,-6.53336403263e-05,1793237694892140800
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.500556436,747,715.500556436,681.500556436,663,635,882.500556436,788,804.500556436,653,633,654.500556436,0.450053066962,0.00446372394575,0.0597913228558,0.999999940838,-5.90353814514e-05,-0.000332445909168,-6.57097217117e-05,1793237694908807680
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.076252653,747,715.076252653,681.076252653,663,635,882.076252653,788,804.076252653,653,633,654,0.450054021261,0.0044661626684,0.0597909087168,0.999999941058,-5.4178769447e-05,-0.000332565578791,-6.59487807768e-05,1793237694925474304
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.665572453,747,715.665572453,681.665572453,663,635,882.665572453,788,804.665572453,653,633,654,0.450053961545,0.00446609636582,0.0597904083806,0.999999940733,-5.38310730686e-05,-0.000333681549897,-6.55122191215e-05,1793237694942141184
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.748953147,747,715.748953147,682,663.251046853,635,883,788,804.748953147,653,633,654,0.450054401588,0.00446637774024,0.0597899770669,0.999999940558,-5.40138514966e-05,-0.000334203463528,-6.53790675726e-05,1793237694958808064
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.168523965,747,715.168523965,682,663.831476035,635,883,788,804.168523965,653,633,654,0.450055497332,0.00446711527914,0.0597896363131,0.999999940579,-5.48926315385e-05,-0.00033394595295,-6.56440007274e-05,1793237694975474432
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746.592126095,715.407873905,682,663.592126095,635,883,788,804,653.407873905,633,654,0.450054964611,0.00446699567929,0.0597889701343,0.999999940305,-5.48209489803e-05,-0.000334839325492,-6.53201295472e-05,1793237694992140800
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746.017377602,715.982622398,682,663.017377602,635,883,788,804,653.982622398,633,654,0.450053765631,0.00446652539583,0.0597881708134,0.999999939909,-5.43604009566e-05,-0.000336203562068,-6.47553591924e-05,1793237695008807424
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.558023103,715.441976897,681.441976897,663,635,882.441976897,788,804.558023103,654,633,654,0.450054640001,0.00446485700445,0.0597888661446,0.999999940256,-5.6718266478e-05,-0.000334786054347,-6.47274009394e-05,1793237695025474048
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.137443114,746.862556886,715.137443114,681.137443114,663,634.862556886,882,788,805,653.862556886,633,654,0.450055243839,0.00446419904324,0.0597892905619,0.999999940424,-5.82967800722e-05,-0.000333994268283,-6.4824055032e-05,1793237695042140672
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.730107982,746.269892018,715.730107982,681.730107982,663,634.269892018,882,788,805,653.269892018,633,654,0.450054737554,0.00446701142206,0.0597886633495,0.999999939944,-5.70029839199e-05,-0.000335562170532,-6.52780014939e-05,1793237695058807808
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,634.314698009,882,788,804.685301991,653.314698009,633,654,0.450054161253,0.00446754977697,0.0597879811946,0.999999939459,-5.58895486437e-05,-0.000337228252863,-6.50837878237e-05,1793237695075474432
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,634.892536091,882,788,804.107463909,653.892536091,633,654,0.450053526405,0.00446618666812,0.0597872530985,0.999999938969,-5.49269252348e-05,-0.000338976430056,-6.43476040548e-05,1793237695092141056
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.466857662,716,682,663.466857662,635,882.466857662,788.466857662,804.466857662,653.533142338,633,654,0.450054023479,0.00446620227714,0.0597868360418,0.999999938951,-5.48771915252e-05,-0.000339040744194,-6.43272361977e-05,1793237695108807680
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.958593858,716,681.958593858,663.958593858,635,882.958593858,788.958593858,805,653,633,654,0.450054831477,0.00446654078012,0.059786631823,0.99999993909,-5.4925379177e-05,-0.000338592423582,-6.44808702704e-05,1793237695125474304
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.370441268,716,681.370441268,663.370441268,635,882.370441268,788.370441268,805,653,633,654,0.450056330332,0.00446698367152,0.059788299689,0.99999993987,-5.35126003677e-05,-0.000336454835646,-6.47726658171e-05,1793237695142141184
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746,716,681.213951145,663,635,882,788,805,653.213951145,633,654,0.450056583914,0.00446772397968,0.0597886082915,0.999999939996,-5.24743196047e-05,-0.000336187489742,-6.50629023279e-05,1793237695158807808
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746,716,681.791945613,663,635,882,788,805,653.791945613,633,654,0.450054718634,0.00446897035013,0.0597866040727,0.999999939014,-5.20732565795e-05,-0.000339102407956,-6.53504861471e-05,1793237695175474432
+261,4.350000000,HOLD_POSE2,766,747,716,682,663,635,883,788,806,653,633,654,0.450053982548,0.00446757067575,0.0597858192237,0.999999938552,-5.4026763178e-05,-0.000340318292722,-6.45037827188e-05,1793237695210264576
+262,4.366666667,HOLD_POSE2,766.572505331,746.427494669,716,682,663,635,883,788,805.427494669,653,633,654.572505331,0.450054171989,0.00446565392077,0.0597853616071,0.999999938153,-5.66073828124e-05,-0.000341123254907,-6.42296569153e-05,1793237695226931200
+263,4.383333333,HOLD_POSE2,767,746.150144898,716,682,663,635,882.849855102,788,804.849855102,653,633,654.849855102,0.450054261947,0.0044651384548,0.0597849515366,0.999999937897,-5.75867142392e-05,-0.000341702419369,-6.42556692035e-05,1793237695243597824
+264,4.400000000,HOLD_POSE2,767,746.742920446,716,682,663,635,882.257079554,788,804.257079554,653,633,654.257079554,0.450054058628,0.004468754021,0.0597846816329,0.999999938076,-5.3845411415e-05,-0.000341615927091,-6.51664954998e-05,1793237695260265472
+265,4.416666667,HOLD_POSE2,766.671663296,747,716,682,663,635,882.328336704,788,804,653,632.671663296,654,0.450054144062,0.00446948852669,0.0597845157722,0.999999937977,-5.36155129152e-05,-0.000341903103543,-6.53744487383e-05,1793237695276932096
+266,4.433333333,HOLD_POSE2,766.091882894,747,716,682,663,635,882.908117106,788,804,653,632.091882894,654,0.450054450626,0.00446801668575,0.0597844295887,0.999999937667,-5.60746849514e-05,-0.00034247643944,-6.50441343525e-05,1793237695293598208
+267,4.450000000,HOLD_POSE2,766.482338914,746.517661086,716,682,663,635,883,788,804.482338914,653,632.482338914,654,0.45005582466,0.00446752938258,0.0597857739712,0.999999938237,-5.44162572312e-05,-0.000341149870433,-6.46702323733e-05,1793237695310264576
+268,4.466666667,HOLD_POSE2,767,746,716,682,663,635,882.942939404,788,805,653,633,653.942939404,0.450057077286,0.00446731387091,0.0597870665759,0.999999938822,-5.23250363031e-05,-0.000339820405467,-6.43462662253e-05,1793237695326931200
+269,4.483333333,HOLD_POSE2,767,746,716,682,663,635,882.35379498,788,805,653,633,653.35379498,0.450055323214,0.00446790383624,0.0597853641378,0.999999938075,-5.34289924779e-05,-0.000341800363427,-6.45644905177e-05,1793237695343597824
+270,4.500000000,HOLD_POSE2,767,746.231547755,716,681.768452245,663,634.768452245,882,788,805,653,633,653.231547755,0.450054624207,0.0044676078059,0.0597843584157,0.999999937641,-5.49953633197e-05,-0.000342804547773,-6.46462094393e-05,1793237695360264448
+271,4.516666667,HOLD_POSE2,767,746.811175454,716,681.188824546,663,634.188824546,882,788,805,653,633,653.811175454,0.450055511256,0.00446597988041,0.0597844000492,0.99999993768,-5.72568704519e-05,-0.000342341875899,-6.45227232361e-05,1793237695376931328
+272,4.533333333,HOLD_POSE2,767,746.613103591,716,681,663,634.386896409,882,788,804.613103591,653,633,654,0.450055043791,0.00446621267321,0.0597843740973,0.99999993766,-5.69693102874e-05,-0.000342484229258,-6.43313590771e-05,1793237695393597952
+273,4.550000000,HOLD_POSE2,767,746.039270207,716,681,663,634.960729793,882,788,804.039270207,653,633,654,0.450053921863,0.00446734451026,0.0597843154901,0.999999937611,-5.54501159192e-05,-0.000342918912986,-6.41071982736e-05,1793237695410264576
+274,4.566666667,HOLD_POSE2,767,746,716,681,663,634.462869661,882,788,804.537130339,653,633,654.537130339,0.450054023865,0.00446708569382,0.0597841532788,0.999999937569,-5.51817172292e-05,-0.000343125982333,-6.38937193979e-05,1793237695426930944
+275,4.583333333,HOLD_POSE2,767,746,716,681,663,634.113913973,882,788,805,653,633,654.886086027,0.450054109514,0.00446674490527,0.0597839255745,0.999999937474,-5.51398747193e-05,-0.000343420361278,-6.38331788819e-05,1793237695443597568
+276,4.600000000,HOLD_POSE2,767,746,716,681,663,634.691489451,882,788,805,653,633,654.308510549,0.450053762632,0.00446648628904,0.0597834622744,0.999999937163,-5.56461761774e-05,-0.000344138173957,-6.43919458749e-05,1793237695460264192
+277,4.616666667,HOLD_POSE2,767,746,716,681.2750708,663,634.7249292,882,788,804.7249292,653,633,654,0.45005377815,0.00446812009188,0.0597833440712,0.999999937104,-5.40965473316e-05,-0.000344476009612,-6.48154126271e-05,1793237695476931072
+278,4.633333333,HOLD_POSE2,767,746,716,681.865538462,663,634.134461538,882,788,804.134461538,653,633,654,0.450054209199,0.00447192374715,0.0597836215569,0.999999937324,-5.018958367e-05,-0.000344378162624,-6.50837437537e-05,1793237695493597696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,635,882,789,805,654,633,654,0.450053410218,0.00446912330921,0.0597837215955,0.999999937134,-5.01763077927e-05,-0.000345169703468,-6.38143594787e-05,1793237695526317312
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746.57332651,716,681.42667349,663,634.42667349,882.57332651,789,804.42667349,653.42667349,633,654,0.450053670388,0.00446861903712,0.0597831557186,0.999999936789,-5.32676224032e-05,-0.000345676618117,-6.39686595885e-05,1793237695542983680
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.848121024,716,681.151878976,663,634.151878976,883,788.848121024,804.151878976,653.151878976,633,654,0.450053533128,0.00446854065077,0.0597824925341,0.99999993644,-5.49276330825e-05,-0.000346400642097,-6.41115967519e-05,1793237695559649536
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.254363981,716,681.745636019,663,634.745636019,883,788.254363981,804.745636019,653.745636019,633,654,0.45005223958,0.00446970134017,0.0597815462416,0.999999936096,-5.24233958574e-05,-0.000347756326059,-6.42214744931e-05,1793237695576315648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,634.669244189,882.669244189,788,804.669244189,654,633,654,0.450052581891,0.00446908033979,0.0597819631706,0.999999936253,-5.25821124878e-05,-0.00034732240947,-6.40050825425e-05,1793237695592982016
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,634.090597771,882.090597771,788,804.090597771,654,633,654,0.450054150226,0.0044671240214,0.0597834017894,0.999999936782,-5.47366256511e-05,-0.000345547246012,-6.35441621756e-05,1793237695609648384
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.059225057,746,716,682,663.059225057,635,882,788,804,653,633,654,0.450051769822,0.0044683759564,0.0597815645842,0.999999936048,-5.40069292139e-05,-0.000347702050034,-6.3954802268e-05,1793237695642981888
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.648622682,746,716,682,663.648622682,635,882,788,804,653,633,654,0.450050352814,0.0044673930511,0.0597808728642,0.999999935691,-5.46249360872e-05,-0.000348643245728,-6.38940357682e-05,1793237695659648768
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,663.765782726,634.765782726,882,788,804,653,633,654,0.45004618016,0.00446687602865,0.0597787698191,0.999999934665,-5.54200991581e-05,-0.000351421202245,-6.40455994484e-05,1793237695676315648
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,634,882,787.609762928,804.390237072,653,633,654,0.450018133788,0.0044691988633,0.0597648776583,0.999999927501,-5.4811804473e-05,-0.00037115913181,-6.50753031793e-05,1793237695709648640
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.036903944,746,715.963096056,680,667,636.963096056,881,788.036903944,804,653.963096056,633,654,0.425030496374,0.00457579864496,0.059831812957,0.999999946163,0.000194812849725,-0.000262692533906,2.67411502928e-05,1793237696676315392
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.626430236,746,715.373569764,680,667,636.373569764,881,788.626430236,804,653.373569764,633,654,0.424238129892,0.00457676077377,0.0598380823418,0.999999946163,0.000193070825235,-0.000263817706651,2.82491726499e-05,1793237696692982272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.787585809,746,715,680,667,636.212414191,881.212414191,788.787585809,804,653.212414191,633,654,0.423457113131,0.00457738552151,0.0598446156103,0.999999948231,0.000189792503108,-0.000258209721501,2.90549247712e-05,1793237696709649152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.207729427,746,715,680,667,636.792270573,881.792270573,788.207729427,804,653.792270573,633,654,0.422695729419,0.00457742665472,0.059851605356,0.999999953659,0.000183856634263,-0.000240954462516,2.86458632285e-05,1793237696726315776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.366749497,680.366749497,667,636.633250503,881.633250503,788,804,654,633,654,0.421914911019,0.00457710570137,0.0598441811015,0.999999951461,0.000177902858514,-0.000254151236072,2.8894555119e-05,1793237696742982144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715.938226572,680.938226572,667,636.061773428,881.061773428,788,804,654,633,654,0.421123243795,0.0045765826234,0.059828710637,0.999999944356,0.000171939086982,-0.000284347000119,2.95104193464e-05,1793237696759648768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.514938116,746,716,680.485061884,666.485061884,636,881,788.514938116,804,653.485061884,633,654,0.420322778235,0.00457881482363,0.0597883035032,0.999999921409,0.000171592514722,-0.000356179001765,2.95667742014e-05,1793237696776315392
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.905251684,746,716,680.094748316,666,636.094748316,881,788.905251684,803.905251684,653,633,654,0.419532547235,0.00458083404653,0.0597535706898,0.999999899158,0.000170272769361,-0.00041452712987,2.92871173088e-05,1793237696792981760
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.312488863,746,716,680.687511137,666,636.687511137,881,788.312488863,803.312488863,653,633,654,0.418801715713,0.0045799786486,0.0597645483527,0.999999916286,0.000160259572543,-0.000375478354755,2.75977416703e-05,1793237696809648640
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.27332671,746,715.72667329,680.72667329,666.27332671,637,881,788.27332671,803,653,633,654,0.418086092477,0.00457947909373,0.0597868243741,0.999999932042,0.000153514566282,-0.000334038962986,2.76950489577e-05,1793237696826315264
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.851396475,746,715.148603525,680.148603525,666.851396475,637,881,788.851396475,803,653,633,654,0.417387425626,0.00457937628279,0.0598216973938,0.999999946213,0.000150413399137,-0.000289934178193,2.97844017509e-05,1793237696842982144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.57316984,746,715.42683016,680,667,637,880.57316984,788.57316984,803.42683016,653.42683016,633,654,0.41668294948,0.00457825748308,0.0598369552351,0.999999951491,0.000146009839448,-0.000273347261396,3.13052361242e-05,1793237696859648512
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746.001356002,715.998643998,680,667,637,880.001356002,788,804,653.998643998,633,654,0.415976490001,0.00457678853493,0.0598453851501,0.999999954037,0.000141152185131,-0.000266342711846,3.26265554949e-05,1793237696876314880
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746.577681674,715.422318326,680,667,637,880.577681674,788,804,653.422318326,633,654,0.415281415655,0.00457591457023,0.0598365572742,0.999999949744,0.00013483523526,-0.000285058963705,3.27619442505e-05,1793237696892981504
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.158583681,747,715,680,667,637,881,788,803.841416319,653,633,654,0.41459177546,0.00457523384242,0.0598321771595,0.999999945489,0.00014475532213,-0.000294938394179,3.28436337996e-05,1793237696909648128
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.752035034,747,715,680,667,637,881,788,803.247964966,653,633,654,0.413917036622,0.00457508300798,0.0598399936796,0.999999940258,0.000199200558402,-0.00028058552478,3.27780695486e-05,1793237696926314752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,747,715.335009935,679.664990065,666.664990065,637,881,788,803.335009935,653.335009935,633,654,0.413240367104,0.00457421335981,0.0598312325401,0.999999927603,0.00023684060186,-0.000295987543951,3.30340678859e-05,1793237696942981376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,715.910465568,679.089534432,666.089534432,637,881,788,803.910465568,653.910465568,633,654,0.412562311924,0.00457282779958,0.0598105731652,0.999999909647,0.000262419100267,-0.000332745452895,3.35208604014e-05,1793237696959648256
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.514540581,716,679.485459419,666.970918839,637,880.514540581,788,804,654,633,654,0.411921591664,0.00457263959531,0.0597865515833,0.999999898267,0.000258942456291,-0.000367896717033,3.26699044268e-05,1793237696976314880
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.938172284,746,715.938172284,680,667.938172284,637,880.061827716,788,803.938172284,654,632.938172284,654,0.411297457724,0.00457260076613,0.0597671111023,0.999999890744,0.000249940253163,-0.000393751469234,3.16434036547e-05,1793237696992981504
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.349363832,746,715.349363832,680,667.349363832,637,880.650636168,788,803.349363832,654,632.349363832,654,0.410756060975,0.00457195467848,0.0597919973747,0.999999912052,0.00023947251823,-0.000342891801762,3.12215926242e-05,1793237697009648128
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.236054812,746.236054812,715.236054812,680,667,637,881,788,803,654,632,654.236054812,0.410209713141,0.00457115250439,0.059818387029,0.999999928797,0.000229275533904,-0.000298069296375,3.15262661612e-05,1793237697026314752
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.816527477,746.816527477,715.816527477,680,667,637,881,788,803,654,632,654.816527477,0.409656141429,0.00457012259106,0.0598469702036,0.999999941038,0.000219473592067,-0.000262055370725,3.28909235115e-05,1793237697042981376
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.606215671,746.606215671,715.606215671,680,667,637,881,788,803,654,632.393784329,654.606215671,0.409115730702,0.00456766744774,0.0598582833687,0.999999946464,0.000209874443999,-0.000248751062266,3.38733429545e-05,1793237697059648000
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.030444947,746.030444947,715.030444947,680,667,637,881,788,803,654,632.969555053,654.030444947,0.40858140224,0.00456455363804,0.0598616152467,0.999999949081,0.000200369015752,-0.000245941940679,3.46791122835e-05,1793237697076314880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.553341926,746,715,680,667,636.446658074,881,788,803,654,632.446658074,654,0.408080681299,0.00456213272932,0.0598494668637,0.999999946384,0.000189815344553,-0.000264645521702,3.41326847018e-05,1793237697092981504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715.136843082,680.136843082,667,636,881,788.136843082,803.136843082,654,632.136843082,654,0.407587918955,0.00455978683159,0.059838496536,0.999999943987,0.000179501887706,-0.000280500147578,3.3531526394e-05,1793237697109648128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715.717963795,680.717963795,667,636,881,788.717963795,803.717963795,654,632.717963795,654,0.407114903493,0.00455755887354,0.059834156784,0.999999944876,0.000170158313012,-0.000283206008907,3.29977709525e-05,1793237697126314752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.702669119,680.405338238,666.702669119,636.297330881,880.702669119,788.702669119,803.702669119,653.702669119,633,654,0.40666685127,0.00455652151705,0.0598378480329,0.99999994915,0.000162981305824,-0.000272192570953,3.23623834377e-05,1793237697142981376
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.124955736,679.249911471,666.124955736,636.875044264,880.124955736,788.124955736,803.124955736,653.124955736,633,654,0.406242339369,0.00455660689591,0.059849112502,0.99999995623,0.000157847368517,-0.000248241857407,3.16311570744e-05,1793237697159648000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.451298743,679.451298743,666,636.548701257,880.451298743,788,803,653.451298743,632.548701257,654,0.405838743647,0.00455568273731,0.0598537089555,0.999999958841,0.000152037182853,-0.000241250218874,3.16416703121e-05,1793237697176314880
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.972255853,679.972255853,666,636.027744147,881.027744147,788,803,654,632.027744147,654,0.405442066737,0.00455447969043,0.0598556720753,0.999999960021,0.000146188547909,-0.00023994324216,3.18317635543e-05,1793237697192981504
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.383814593,679.383814593,666,636.616185407,881.616185407,788,803,654,632.616185407,654,0.405068553846,0.00455327122842,0.0598416081902,0.999999955709,0.000143334710479,-0.000258929868694,3.15139638126e-05,1793237697209648128
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715.201536885,679.201536885,666.201536885,637,881.798463115,788,803.201536885,654,633,654,0.404697163749,0.00455209664777,0.0598249817816,0.999999948968,0.000141445019435,-0.000284716390691,3.15126148183e-05,1793237697226314752
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.781092849,679.781092849,666.781092849,637,881.218907151,788,803.781092849,654,633,654,0.404329755381,0.00455098561793,0.0598035488956,0.999999937245,0.000141363760536,-0.000323257351004,3.2104826773e-05,1793237697242981376
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.641552761,667,637,881,788,804,654,632.641552761,654,0.404007367758,0.00455004260708,0.0597967087158,0.999999934109,0.000140561440747,-0.000333117420784,3.25104376928e-05,1793237697259648000
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.06553463,667,637,881,788,804,654,632.06553463,654,0.403712306865,0.00454920158057,0.0597987260386,0.999999936759,0.000139321450314,-0.000325568720661,3.28027852869e-05,1793237697276314880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.52006648,666.47993352,637,881,788,804,654,632,654,0.403467740376,0.00454671241628,0.0598148043678,0.999999944128,0.000143877719951,-0.000299847742488,3.36765748868e-05,1793237697292981760
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.894526597,679.894526597,666.105473403,637,881,788,803.894526597,654,632,654,0.403233363607,0.00454438748995,0.0598320116562,0.999999950053,0.000157040163427,-0.000272109072355,3.44873433213e-05,1793237697309648128
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715.315514658,679.315514658,666.684485342,637,881,788,803.315514658,654,632,654,0.403015631553,0.004543749871,0.059846183236,0.999999948078,0.000205500515189,-0.000245785624436,3.46800433766e-05,1793237697326314752
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.263129489,679,667,636.736870511,881,788,803.263129489,654,632,654,0.40280269088,0.00454223039131,0.0598550176554,0.999999948396,0.00022214252135,-0.000229729585225,3.2940552454e-05,1793237697342981632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715.841333204,679,667,636.158666796,881,788,803.841333204,654,632,654,0.402595487472,0.00453965496165,0.0598574612978,0.999999953915,0.000200684878276,-0.000225967859485,2.88874342783e-05,1793237697359648256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.590339223,636,881,788,803.590339223,654.409660777,632.409660777,654,0.402395681988,0.00453675170082,0.0598514518669,0.999999955551,0.000175855563799,-0.000239509845039,2.46711637544e-05,1793237697376314880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.02574677,636,881,788,803.02574677,654.97425323,632.97425323,654,0.402198674367,0.00453372445594,0.0598422455255,0.999999954884,0.000149751100255,-0.000259596008296,2.03931898926e-05,1793237697392981504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.572845416,666.572845416,636.572845416,881,788,803,654.427154584,633,654,0.402035016476,0.00453389264415,0.0598387151514,0.999999952654,0.000150163736054,-0.000267781355646,2.08708930702e-05,1793237697409648128
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.832787464,667,637,881,788.167212536,803,654,632.832787464,654,0.40188447979,0.00453365492296,0.0598380061776,0.999999951644,0.000150982095299,-0.000270995839953,2.18358060023e-05,1793237697426315008
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.252858548,667,637,881,788.747141452,803,654,632.252858548,654,0.401762395993,0.00453203847824,0.0598435916317,0.999999953849,0.000149674583329,-0.000263344685567,2.34423980777e-05,1793237697442981632
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.324486189,716,679.324486189,666.675513811,637,881,789,803.324486189,654,632.324486189,654,0.401651891656,0.00453077661105,0.0598473709502,0.999999955517,0.000148653191349,-0.000257438737361,2.4364573705e-05,1793237697459648256
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.899833154,716,679.899833154,666.100166846,637,881,789,803.899833154,654,632.899833154,654,0.401550339406,0.00452978886813,0.059849753943,0.999999956789,0.000147852999042,-0.000252882009956,2.47576260844e-05,1793237697476314880
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.524440277,716,680,666,637,880.524440277,788.524440277,804,654,632.524440277,654.475559723,0.401460195803,0.00452960190574,0.0598512287027,0.999999957442,0.000148172499832,-0.000250054249437,2.51874707488e-05,1793237697492981504
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.052439819,637,880.052439819,788,803.947560181,654,632,654.947560181,0.401373916408,0.00452950322893,0.0598522079546,0.999999957813,0.000148446908277,-0.00024835834401,2.56240432491e-05,1793237697509648128
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.640280622,637,880.640280622,788,803.359719378,654,632,654.359719378,0.401302536044,0.00452858248752,0.0598500828669,0.99999995664,0.00014585112296,-0.000254497379003,2.60501214652e-05,1793237697526314752
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.774613728,637,881,788,803.225386272,654,632.225386272,654.225386272,0.401237582554,0.00452840457895,0.0598474629521,0.999999955402,0.000145335107556,-0.000259578470519,2.63365119612e-05,1793237697542981632
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.19382111,637,881,788,803.80617889,654,632.80617889,654.80617889,0.401182763455,0.0045293980262,0.0598440627563,0.999999954103,0.000148098632893,-0.000262991315331,2.64026321308e-05,1793237697559648256
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,788.383509106,803.616490894,654,632.616490894,654.616490894,0.401137861905,0.00452849912607,0.0598424207182,0.999999953787,0.000146840489209,-0.000264881495162,2.65009511754e-05,1793237697576314880
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,788.959105103,803.040894897,654,632.040894897,654.040894897,0.401097927726,0.00452665241238,0.0598416592827,0.99999995396,0.000143568025871,-0.000266009022902,2.6615397558e-05,1793237697592981504
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.544104029,637,881,788.455895971,803.544104029,654,632.544104029,654,0.401070437755,0.00452630948157,0.0598425784078,0.9999999546,0.000141487102089,-0.000264729811284,2.64550466103e-05,1793237697609648128
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.31227952,880.68772048,788.68772048,803,654,632,654,0.400985588018,0.00452176062732,0.0598547997662,0.999999960069,0.000136175579681,-0.000246184265062,2.66607259913e-05,1793237697976314624
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+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.217867479,637,881,788,804,654,633,654,0.400984069994,0.00452026881405,0.0598552603235,0.999999960325,0.000134180057365,-0.000246222547552,2.68198351994e-05,1793237698059648256
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+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,715.518208975,679,666.518208975,636.481791025,881,788,803,654,632,654,0.400982418846,0.00452033861703,0.059854333412,0.999999960141,0.000132490146527,-0.000247922663785,2.64144102635e-05,1793237698126316032
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.097338029,666.902661971,636.097338029,881,788,803,654,632.097338029,654,0.400983240512,0.00452097313343,0.0598548950394,0.999999960277,0.000133584449002,-0.000246805579021,2.62400587911e-05,1793237698142983168
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.689225783,666.310774217,636.689225783,881,788,803,654,632.689225783,654,0.400984326208,0.00452136469087,0.0598558152633,0.999999960582,0.000134869174477,-0.000244830271926,2.65324650105e-05,1793237698159649536
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b44f82bfa5735c2a8530da1fa39b84166c12c868
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
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+411,6.850000000,pose2_to_pose3_retreat,0.578263318788,0.0100011943169,1.05001164625,0.5488345548,0.0186748644375,1.04966118842
+412,6.866666667,pose2_to_pose3_retreat,0.578261261913,0.0100012240761,1.05001168831,0.548832497476,0.0186748926122,1.04966122896
+413,6.883333333,pose2_to_pose3_retreat,0.578259834289,0.0100012478847,1.05001172661,0.548831069507,0.0186749151908,1.04966126583
+414,6.900000000,pose2_to_pose3_retreat,0.578258753075,0.0100012659162,1.05001175562,0.548829988031,0.0186749322908,1.04966129377
+415,6.916666667,pose2_to_pose3_retreat,0.578258024541,0.0100012780661,1.05001177516,0.54882925932,0.0186749438129,1.04966131258
+416,6.933333333,pose2_to_pose3_retreat,0.57825756582,0.0100012857162,1.05001178747,0.548828800488,0.0186749510678,1.04966132443
+417,6.950000000,pose2_to_pose3_retreat,0.578257270587,0.0100012908785,1.0500117716,0.54882850514,0.0186749558292,1.04966130833
+418,6.966666667,pose2_to_pose3_retreat,0.578257043509,0.0100012948923,1.05001175508,0.548828277966,0.018674959508,1.04966129163
+419,6.983333333,pose2_to_pose3_retreat,0.57825685945,0.0100012981457,1.05001174169,0.548828093828,0.0186749624899,1.0496612781
+420,7.000000000,pose2_to_pose3_retreat,0.578256768584,0.0100012997518,1.05001173508,0.548828002924,0.018674963962,1.04966127142
+421,7.016666667,pose2_to_pose3_retreat,0.578256639536,0.0100013020329,1.05001172569,0.548827873821,0.0186749660527,1.04966126194
+422,7.033333333,pose2_to_pose3_retreat,0.57825661248,0.0100013025111,1.05001172372,0.548827846753,0.018674966491,1.04966125995
+423,7.050000000,pose2_to_pose3_retreat,0.57825615978,0.010001310513,1.05001169079,0.54882739386,0.0186749738251,1.04966122667
+424,7.066666667,pose2_to_pose3_retreat,0.578255599281,0.0100013204204,1.05001165002,0.548826833123,0.0186749829057,1.04966118547
+425,7.083333333,pose2_to_pose3_retreat,0.578255184481,0.0100013277524,1.05001161984,0.548826418147,0.0186749896258,1.04966115498
+426,7.100000000,pose2_to_pose3_retreat,0.578254756268,0.0100013353214,1.05001158869,0.548825989752,0.0186749965632,1.0496611235
+427,7.116666667,pose2_to_pose3_retreat,0.578254437628,0.0100013409537,1.05001156551,0.548825670976,0.0186750017254,1.04966110007
+428,7.133333333,pose2_to_pose3_retreat,0.578254431458,0.0100013410628,1.05001156506,0.548825664803,0.0186750018254,1.04966109962
+429,7.150000000,pose2_to_pose3_retreat,0.578254217382,0.0100013414896,1.0500115611,0.548825450646,0.0186750019772,1.04966109568
+430,7.166666667,pose2_to_pose3_retreat,0.578253829106,0.0100013310603,1.05001159268,0.548825062255,0.0186749911853,1.0496611279
+431,7.183333333,pose2_to_pose3_retreat,0.578253437423,0.0100013205395,1.05001162454,0.548824670457,0.0186749802987,1.0496611604
+432,7.200000000,pose2_to_pose3_retreat,0.578253131905,0.0100013123332,1.05001164939,0.548824364848,0.0186749718069,1.04966118575
+433,7.216666667,pose2_to_pose3_retreat,0.578252871848,0.0100013091294,1.05001166899,0.548824104753,0.0186749684874,1.04966120571
+434,7.233333333,pose2_to_pose3_retreat,0.578252783259,0.0100013229324,1.05001166958,0.548824016302,0.0186749827518,1.04966120615
+435,7.250000000,pose2_to_pose3_retreat,0.578252548644,0.0100013594874,1.05001167115,0.548823782053,0.0186750205286,1.04966120729
+436,7.266666667,pose2_to_pose3_retreat,0.578252268826,0.0100013772838,1.05001166676,0.548823502899,0.0186750406205,1.04966120397
+437,7.283333333,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5304e0c9ab36d273030a3930efaa1a8f59a44ab3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4770e206e5136c7018d78e4de108c10bbe2a08f471a02c593fdc5ab830789db
+size 27790543
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..097de4b5d6e3f59e7e18374fbd416d9f7c3eef2a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,439 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,679,667,637,881,788,804,655,632,654,0.400983110175,0.00452020233155,0.0598547643461,0.999999960279,0.000133501766902,-0.000246807957525,2.65699951223e-05,1793237698283260416
+1,0.016666667,BASELINE,767,746,716,679.574697812,666.425302188,637,881,788,803.425302188,654.425302188,632,654,0.400983567856,0.0045205689729,0.0598554754736,0.999999960474,0.000133366827734,-0.000246095765963,2.64855455778e-05,1793237698299927808
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+12,0.200000000,BASELINE,767,746,716,680,666.039259389,637,881,788,803.039259389,654.960740611,632,654,0.400986348646,0.00452015431241,0.0598586124829,0.999999961665,0.000131980418143,-0.000241949532262,2.66586809083e-05,1793237698483260416
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+16,0.266666667,BASELINE,766.725928304,746.274071696,716,679.274071696,666.274071696,637,880.274071696,788,803.725928304,654.725928304,632,654.274071696,0.400984403296,0.00452000412507,0.0598568589026,0.999999961263,0.000133423764163,-0.000242857920194,2.63168171421e-05,1793237698549926912
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+21,0.350000000,BASELINE,767,747,715.17629429,679.82370571,667,636.17629429,881.17629429,788.82370571,804,654,632.17629429,654,0.400984900326,0.00451922811808,0.059857905585,0.999999961605,0.000130952035436,-0.000242789809164,2.6355571144e-05,1793237698633260544
+22,0.366666667,BASELINE,767,747,715.765180482,679.234819518,667,636.765180482,881.765180482,788.234819518,804,654,632.765180482,654,0.400984190138,0.00452065036699,0.0598576787561,0.999999961227,0.000132158084511,-0.000243713766329,2.61566731029e-05,1793237698649927680
+23,0.383333333,BASELINE,767,747,716,679.348872882,667,637,881.651127118,788,803.651127118,654,632.651127118,654,0.400983771619,0.00452115426954,0.0598570926996,0.999999961006,0.000133164291474,-0.00024408397177,2.6051124294e-05,1793237698666594048
+24,0.400000000,BASELINE,767,747,716,679.929120782,667,637,881.070879218,788,803.070879218,654,632.070879218,654,0.400983546536,0.00452104911827,0.0598562684007,0.99999996089,0.000134037961822,-0.000244086925157,2.6007485351e-05,1793237698683260160
+25,0.416666667,BASELINE,767.506828185,746.493171815,716,680,667,637,881,788.506828185,803.506828185,654,632.506828185,654.506828185,0.400984713412,0.0045214738101,0.0598566025791,0.999999960874,0.000135879282371,-0.000243122147101,2.60745979877e-05,1793237698699926784
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+27,0.450000000,BASELINE,768,746,716,679.342386378,666.342386378,637,881,789,804,654,633,654.342386378,0.400983532493,0.00452124758985,0.0598566393588,0.999999961106,0.00013350029288,-0.0002434777865,2.61531516278e-05,1793237698733260288
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+29,0.483333333,BASELINE,767.17000731,746,716,679.82999269,666,637,881.82999269,789,804,654,632.17000731,654,0.400981761902,0.00451957765003,0.0598560979005,0.999999961199,0.000130053667165,-0.000244923116544,2.64751040946e-05,1793237698766593536
+30,0.500000000,BASELINE,767,746,716,680,666.412577672,637,882,788.587422328,803.587422328,654,632.412577672,654,0.400983005299,0.00451958544377,0.0598568813823,0.999999961504,0.000129716891882,-0.000243862225712,2.63959625024e-05,1793237698783260160
+31,0.516666667,BASELINE,767,746,716,680,666.991606126,637,882,788.008393874,803.008393874,654,632.991606126,654,0.400984908628,0.00451997885428,0.059858078776,0.999999961937,0.000129626354436,-0.000242151631647,2.61935480179e-05,1793237698799927040
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+40,0.666666667,BASELINE,767,746.205268329,716,679.205268329,667,637,881.794731671,788,803,654,632.794731671,654,0.400983710875,0.00451819950155,0.0598576420556,0.999999961702,0.000130398475914,-0.000242679455594,2.64194002902e-05,1793237698949927168
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+42,0.700000000,BASELINE,767,746.625931451,716,679.625931451,667,637,881.374068549,788,803,654,632.374068549,654,0.40098417543,0.00451966953125,0.0598583317687,0.999999961665,0.000132415621237,-0.000241729201564,2.64975424737e-05,1793237698983260160
+43,0.716666667,BASELINE,767,746.046838497,716,679.046838497,667,637,881.953161503,788,803,654,632.953161503,654,0.40098454393,0.00452034861381,0.0598585477739,0.999999961419,0.0001356968124,-0.000240927619672,2.64850473519e-05,1793237698999926784
+44,0.733333333,BASELINE,767,746,716,679.531324257,666.468675743,637,881.468675743,788,803,654,633,654,0.400984370314,0.00451967265112,0.0598584339313,0.99999996161,0.000133531834296,-0.000241349157288,2.64484289945e-05,1793237699016593408
+45,0.750000000,BASELINE,767,746.108808475,715.891191525,680,666.108808475,637,881,788,803,654,632.891191525,654,0.400984133672,0.00451916725512,0.0598582282425,0.999999961795,0.000131486361027,-0.000241714516534,2.63575242836e-05,1793237699033260288
+46,0.766666667,BASELINE,767,746.68373645,715.31626355,680,666.68373645,637,881,788,803,654,632.31626355,654,0.4009838314,0.00451990336678,0.0598577534444,0.999999961816,0.000132005925949,-0.0002413781243,2.6043158806e-05,1793237699049927168
+47,0.783333333,BASELINE,767,747,715.265227546,679.734772454,667,637,881,788,803,654,632,654,0.400983568445,0.00452051060205,0.059857168015,0.999999961625,0.000132415033621,-0.000241959326912,2.59355532355e-05,1793237699066593792
+48,0.800000000,BASELINE,767,747,715.854743307,679.145256693,667,637,881,788,803,654,632,654,0.40098335356,0.00452096026293,0.059856447319,0.999999961171,0.000132689087573,-0.000243662453657,2.60807486709e-05,1793237699083260416
+49,0.816666667,BASELINE,767,746.563230687,715.563230687,679.436769313,667,637,881,788,803.436769313,654,632,654,0.400984119672,0.00451974713988,0.0598571909978,0.99999996155,0.000131468344266,-0.000242758832073,2.61661010057e-05,1793237699099926784
+50,0.833333333,BASELINE,767,746,715.016233945,680,666.983766055,637,881,788,803.983766055,654,632,654,0.400985113475,0.00451806608976,0.0598583445618,0.999999962159,0.000129842407462,-0.000241112907825,2.62273342246e-05,1793237699116593664
+51,0.850000000,BASELINE,767,746,715.59182372,680,666.40817628,637,881,788,803.40817628,654,632,654,0.400982900818,0.00451899484232,0.0598571236773,0.999999961478,0.000131095305356,-0.00024325747846,2.6131704158e-05,1793237699133260288
+52,0.866666667,BASELINE,767,746.166280864,716,679.833719136,666,637,881,788,803.166280864,654,632,654,0.400981475339,0.00451969140268,0.0598564579521,0.999999961066,0.000131888247437,-0.000244528280786,2.60624374576e-05,1793237699149926912
+53,0.883333333,BASELINE,767,746.737976469,716,679.262023531,666,637,881,788,803.737976469,654,632,654,0.400981969107,0.00451982184774,0.0598571457792,0.999999961319,0.000131559756323,-0.000243668720261,2.6057448138e-05,1793237699166593536
+54,0.900000000,BASELINE,767,746.677439255,716,679,666.322560745,637,881,788,804,654,632,654,0.400982835627,0.00452033811865,0.0598577415,0.999999961405,0.000132591098775,-0.000242751974816,2.61049338756e-05,1793237699183260416
+55,0.916666667,BASELINE,767,746.08194949,716,679,666.91805051,637,881,788,804,654,632,654,0.400984017545,0.00452118084922,0.0598582592866,0.999999961345,0.000134773040156,-0.000241786843414,2.61968204467e-05,1793237699199927296
+56,0.933333333,BASELINE,767,746,716,679,666.503960468,637,881,788.496039532,804,654,632.496039532,654,0.400983651938,0.00452088877827,0.0598580981157,0.999999961514,0.000133053077724,-0.000242057080688,2.60384558091e-05,1793237699216593920
+57,0.950000000,BASELINE,767,746.071351618,716,679.071351618,666,637,881,788.928648382,803.928648382,654,633,654,0.400983254889,0.00452045437024,0.0598579249096,0.999999961712,0.000131189049424,-0.000242268581685,2.58932960312e-05,1793237699233260288
+58,0.966666667,BASELINE,767,746.647482589,716,679.647482589,666,637,881,788.352517411,803.352517411,654,633,654,0.400984382461,0.00452029411294,0.0598584330593,0.999999961892,0.000132710825053,-0.000240669898014,2.61240722751e-05,1793237699249927168
+59,0.983333333,BASELINE,767,747,716,680,666,637,881,788.228092586,803,654,633,654,0.400984485776,0.00451981164506,0.0598582807764,0.999999961887,0.000132924871648,-0.000240558851569,2.62196825973e-05,1793237699266593792
+60,1.000000000,BASELINE,767,747,716,680,666,637,881,788.815763672,803,654,633,654,0.400982974388,0.00451882122552,0.059857087349,0.999999961594,0.000131077337904,-0.000242793003251,2.61022094867e-05,1793237699283260160
+61,1.016666667,BASELINE,767,747,716,679.599874034,666.800251932,637,881,788.599874034,803.400125966,654,633,654,0.400983161269,0.0045198504752,0.0598572812848,0.999999961536,0.000131575350371,-0.000242787563966,2.58951265206e-05,1793237699299927040
+62,1.033333333,BASELINE,767,747,716,679.0170228,667.965954399,637,881,788.0170228,803.9829772,654,633,654,0.400984123696,0.00452180204599,0.0598581087869,0.999999961584,0.000133144502031,-0.000241759371979,2.56471214865e-05,1793237699316593664
+63,1.050000000,BASELINE,767,747,716,679.556375667,667.443624333,637,881,788,804,654,632.443624333,654.556375667,0.400982898839,0.00452018181551,0.059856508965,0.999999961145,0.000132380713079,-0.000243960741179,2.58544821969e-05,1793237699333260544
+64,1.066666667,BASELINE,767,747,716,679.86742907,666.86742907,637,881,788,804,654,632,654.86742907,0.40098183462,0.00451912538102,0.0598553619345,0.999999960834,0.000131667154701,-0.000245598914246,2.60128182847e-05,1793237699349927168
+65,1.083333333,BASELINE,767,747,716,679.280677893,666.280677893,637,881,788,804,654,632,654.280677893,0.400981546182,0.00452036861902,0.0598560163219,0.999999961028,0.000131366136193,-0.000244974744,2.59562649855e-05,1793237699366593792
+66,1.100000000,BASELINE,767,746.698109457,716,679.301890543,666,637,881,788,803.698109457,654,632,654,0.400981994914,0.0045208598018,0.0598566495696,0.999999961259,0.000131875331206,-0.000243763623611,2.58910760224e-05,1793237699383260416
+67,1.116666667,BASELINE,767,746.119376745,716,679.880623255,666,637,881,788,803.119376745,654,632,654,0.400983119651,0.00452066132861,0.0598572634316,0.99999996152,0.000133127514962,-0.000242014253368,2.58179679139e-05,1793237699399927040
+68,1.133333333,BASELINE,767,746,716,680,666.460045076,637,881,788,803,654,632,654,0.400983882318,0.00452007236212,0.0598574213168,0.999999961843,0.000131507869211,-0.000241554903239,2.58954723488e-05,1793237699416593664
+69,1.150000000,BASELINE,767,746.039080076,716,680,667,637,881,788,803,654,632.039080076,654,0.400984524397,0.00451940544561,0.0598574835701,0.999999962142,0.000129411648382,-0.000241436160669,2.60085751496e-05,1793237699433260032
+70,1.166666667,BASELINE,767,746.610407185,716,680,667,637,881,788,803,654,632.610407185,654,0.40098480566,0.00451905900505,0.0598578572527,0.999999961946,0.000130989285208,-0.000241390405281,2.60734297886e-05,1793237699449926912
+71,1.183333333,BASELINE,767,747,716,680,666.811971957,637,881,788,803.188028043,654,632.811971957,654,0.400984237036,0.00451883793339,0.0598577354848,0.999999961748,0.000131255234685,-0.000242065311662,2.60790587966e-05,1793237699466593792
+72,1.200000000,BASELINE,767,747,716,680,666.220858765,637,881,788,803.779141235,654,632.220858765,654,0.400981846462,0.00451888562125,0.0598565515949,0.999999961542,0.000128709254479,-0.00024428513683,2.59577228602e-05,1793237699483260928
+73,1.216666667,BASELINE,767,747,716,679.636359114,666,637,881,788,804,654,632.363640886,654,0.400981594015,0.00451924332296,0.0598567868343,0.999999961444,0.000129535482042,-0.000244257299019,2.5916132339e-05,1793237699499927552
+74,1.233333333,BASELINE,767,747,716,679.055804513,666,637,881,788,804,654,632.944195487,654,0.400982616971,0.00451978594956,0.059857868592,0.999999961405,0.000132373249567,-0.000242888718193,2.59221103876e-05,1793237699516593920
+75,1.250000000,BASELINE,767,746.479208452,716,679,666.520791548,637,881,788,803.479208452,654,632.479208452,654.520791548,0.400983739069,0.00452006384518,0.0598584298993,0.999999961496,0.000133902996001,-0.00024166051195,2.60537326784e-05,1793237699533260288
+76,1.266666667,BASELINE,767,746.096442649,716,679.096442649,666.903557351,637,881.096442649,788,803,654,632,654.903557351,0.400984724403,0.00452021281655,0.0598588127051,0.999999961588,0.000134965133089,-0.000240673311243,2.61810121021e-05,1793237699549926912
+77,1.283333333,BASELINE,767,746.669504181,716,679.669504181,666.330495819,637,881.669504181,788,803,654,632,654.330495819,0.400984981744,0.00451986377615,0.0598585868832,0.999999961631,0.000134403786299,-0.000240803383507,2.62207960322e-05,1793237699566593280
+78,1.300000000,BASELINE,767,747,716,680,666.249562856,637,881.750437144,788.249562856,803.249562856,654.249562856,632.249562856,654,0.400985145419,0.00452041004873,0.059858359984,0.999999961666,0.000134243711823,-0.000240765537255,2.60312389964e-05,1793237699583259904
+79,1.316666667,BASELINE,767,747,716,680,666.839155091,637,881.160844909,788.839155091,803.839155091,654.839155091,632.839155091,654,0.400985181475,0.00452217618526,0.059858131617,0.999999961692,0.000134630370904,-0.00024049890202,2.55292049018e-05,1793237699599926528
+80,1.333333333,BASELINE,767.421647554,746.578352446,716,680,667,636.578352446,881,789,803.578352446,654.578352446,632.578352446,654,0.400984048998,0.00452116831683,0.0598575324641,0.999999961479,0.000133644279029,-0.0002419171018,2.5627287854e-05,1793237699616593664
+81,1.350000000,BASELINE,767.998535356,746,716,679.998535356,667,636.001464644,881,789,803.001464644,654,632,654,0.400982483752,0.0045191262474,0.0598567967612,0.999999961174,0.000132142835982,-0.000243960470796,2.59500377878e-05,1793237699633260800
+82,1.366666667,BASELINE,767.423393704,746,716,679.423393704,667,636.576606296,881,789,803.576606296,654,632,654,0.400983114228,0.00451961813034,0.0598570601166,0.999999961547,0.00013049944438,-0.000243301935703,2.60896973398e-05,1793237699649927680
+83,1.383333333,BASELINE,767,746,716,679,666.844709283,636.844709283,881.155290717,788.844709283,803.844709283,654,632,654,0.400983745611,0.00452011471386,0.0598574258165,0.999999961817,0.000129975720928,-0.000242467203907,2.61029351743e-05,1793237699666594560
+84,1.400000000,BASELINE,767,746,716,679,666.256140002,636.256140002,881.743859998,788.256140002,803.256140002,654,632,654,0.400984379526,0.00452062441265,0.0598580770692,0.999999961805,0.000132575997142,-0.000241140863347,2.57634422335e-05,1793237699683260672
+85,1.416666667,BASELINE,767,746.327267646,716,679.327267646,666.327267646,636.327267646,881.672732354,788.327267646,803,654,632,654,0.400985280774,0.00452042559591,0.059858655325,0.999999962031,0.000133552576191,-0.000239673751904,2.56558670009e-05,1793237699699926784
+86,1.433333333,BASELINE,767,746.90669817,716,679.90669817,666.90669817,636.90669817,881.09330183,788.90669817,803,654,632,654,0.400986388004,0.0045196808611,0.0598591773361,0.999999962442,0.000133278080754,-0.000238098175216,2.57269866202e-05,1793237699716593408
+87,1.450000000,BASELINE,767,747,716,680,667,637,881,788.515839567,803,654,632.484160433,654,0.400985315036,0.00451934376884,0.0598586725239,0.999999962266,0.000132011524975,-0.000239527865954,2.58142455417e-05,1793237699733260032
+88,1.466666667,BASELINE,767,746.938921947,716,679.938921947,666.938921947,637,881,788,803.061078053,654,632.938921947,654,0.400983853381,0.00451912316965,0.0598579878858,0.999999961956,0.000130804577336,-0.000241469533301,2.58986100971e-05,1793237699749926912
+89,1.483333333,BASELINE,767,746.363409861,716,679.363409861,666.363409861,637,881,788,803.636590139,654,632.363409861,654,0.400982642351,0.00451922477533,0.0598574485412,0.999999961499,0.000131703377244,-0.000242865257341,2.59325070172e-05,1793237699766593792
+90,1.500000000,BASELINE,767,746.214451984,716,679.214451984,666,637,881,788,804,654,632.214451984,654,0.400981642094,0.00451940175538,0.0598569100444,0.999999961143,0.000132134262753,-0.000244090730466,2.59669857609e-05,1793237699783260672
+91,1.516666667,BASELINE,767,746.796339777,716,679.796339777,666,637,881,788,804,654,632.796339777,654,0.40098100297,0.00451970787964,0.0598563730005,0.999999960963,0.00013176343721,-0.000245024500472,2.60024613812e-05,1793237699799927296
+92,1.533333333,BASELINE,767,746.618161434,716,680,666,637,881,788,804,654,632.618161434,653.618161434,0.400981716161,0.00451909554393,0.0598565560711,0.999999961182,0.000131219555783,-0.000244421964807,2.59997058958e-05,1793237699816593920
+93,1.550000000,BASELINE,767,746.030718216,716,680,666,637,881,788,804,654,632.030718216,653.030718216,0.400983157521,0.00451798865464,0.0598571268943,0.999999961614,0.000130582490715,-0.000242992190648,2.59763645067e-05,1793237699833260544
+94,1.566666667,BASELINE,767,746,716,679.456378778,666.543621222,636.456378778,881,788,803.456378778,654,632.543621222,653.543621222,0.400984385075,0.00451894112978,0.05985823037,0.999999961924,0.000131030506932,-0.000241469280417,2.59937382172e-05,1793237699849927168
+95,1.583333333,BASELINE,767,746.11744271,716,679.11744271,667,636.11744271,881,788,803.11744271,654,632.88255729,654,0.40098525954,0.00452006030972,0.0598591044773,0.999999962092,0.000131815283306,-0.000240349736442,2.59419131034e-05,1793237699866593536
+96,1.600000000,BASELINE,767,746.692062673,716,679.692062673,667,636.692062673,881,788,803.692062673,654,632.307937327,654,0.40098480544,0.0045213861025,0.0598589712985,0.99999996174,0.000133677924593,-0.000240820408053,2.5611967819e-05,1793237699883260160
+97,1.616666667,BASELINE,767,746.724249339,716,680,667,636.724249339,881,788,803.724249339,654,632.275750661,654,0.400983490237,0.00452159564071,0.0598579730815,0.999999961303,0.000134396177056,-0.000242239397801,2.5542595905e-05,1793237699899926784
+98,1.633333333,BASELINE,767,746.130090579,716,680,667,636.130090579,881,788,803.130090579,654,632.869909421,654,0.400981180722,0.00452051624448,0.0598559760089,0.999999960765,0.000133793008561,-0.000244753406394,2.57741069596e-05,1793237699916593408
+99,1.650000000,BASELINE,767,746.450958369,715.549041631,680,667,636.450958369,881,788.450958369,803,654,632.549041631,654,0.400982044599,0.00452067404941,0.0598568305872,0.999999961188,0.000133785932829,-0.00024303640829,2.56718635508e-05,1793237699933260288
+100,1.666666667,BASELINE,767,746.971855791,715.028144209,679.971855791,666.971855791,637,881,788.971855791,803,654,632,654,0.400983630947,0.0045210818015,0.0598583381282,0.999999961811,0.000133887366164,-0.000240421655057,2.55033715827e-05,1793237699949927424
+101,1.683333333,BASELINE,767,746.39831456,715.60168544,679.39831456,666.39831456,637,881,788.39831456,803,654,632,654,0.400981978842,0.00451961228423,0.0598570080431,0.99999996122,0.000132853374977,-0.000243393921459,2.58641425136e-05,1793237699966593792
+102,1.700000000,BASELINE,767,746,715.820292414,679,666.179707586,637,880.820292414,788,803.179707586,654,632,654,0.40098108015,0.00451901705828,0.0598563795166,0.99999996092,0.000132318720014,-0.000244893960455,2.60331184264e-05,1793237699983260160
+103,1.716666667,BASELINE,767,746,715.232084608,679,666.767915392,637,880.232084608,788,803.767915392,654,632,654,0.400981894073,0.00452040921772,0.0598573457305,0.999999961298,0.000132919125552,-0.000243047422364,2.57661176662e-05,1793237699999926784
+104,1.733333333,BASELINE,767,746.352712398,715.352712398,679.352712398,667,637,880.352712398,788,804,654,632,654,0.400982887264,0.00452038739064,0.0598582397695,0.999999961702,0.000132337451169,-0.0002416953139,2.58218049023e-05,1793237700016593152
+105,1.750000000,BASELINE,767,746.935286651,715.935286651,679.935286651,667,637,880.935286651,788,804,654,632,654,0.400983997284,0.00451944407194,0.0598590867725,0.999999962121,0.000130985418089,-0.000240665423901,2.6087787135e-05,1793237700033260032
+106,1.766666667,BASELINE,767,746.488996967,716,679.488996967,667,637,881,788,804,654,632,654,0.400983345949,0.00451814194773,0.0598585081164,0.999999962206,0.000129397384547,-0.000241145314637,2.63152977534e-05,1793237700049926656
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,666,637,881,789,804,654,632,654,0.400982568627,0.00451919136493,0.0598574149568,0.999999961346,0.000132656738989,-0.000242981744682,2.58724662058e-05,1793237700093125376
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715.589518869,679,666.589518869,637,881,788.410481131,803.410481131,654,632.589518869,654,0.400983821896,0.00451901957694,0.0598583168926,0.999999961862,0.000132181050118,-0.000241098849727,2.600485433e-05,1793237700109792512
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.176096905,666.823903095,637,881,788,803,654,632.823903095,654,0.400984402483,0.0045187075729,0.0598587096923,0.999999962099,0.000131865229118,-0.000240267504137,2.61926097109e-05,1793237700126459136
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.755932589,666.244067411,637,881,788,803,654,632.244067411,654,0.400983440806,0.00451807409435,0.059857935192,0.999999961703,0.00013191593837,-0.000241847053785,2.65073060687e-05,1793237700143124480
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.667475556,679.667475556,666,636.667475556,881,788,803,654,632,654,0.400982976229,0.00451944916657,0.0598574157462,0.999999961272,0.000133704195235,-0.000242671759406,2.62793163356e-05,1793237700159790848
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.093241648,679.093241648,666,636.093241648,881,788,803,654,632,654,0.40098287299,0.00452228423894,0.0598570816977,0.999999960808,0.000136755462104,-0.00024294777461,2.56568522345e-05,1793237700176457472
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.481443661,679.481443661,666,636.481443661,881,788,803,654,632,654,0.400983420534,0.0045207368049,0.0598581555433,0.999999961449,0.000133931830433,-0.000241863897208,2.58115056844e-05,1793237700193124352
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.941971292,666.058028708,637,881,788,803,654,632.058028708,654,0.40098400971,0.00451858106002,0.0598593323484,0.99999996219,0.000130431921228,-0.000240678690533,2.60899160262e-05,1793237700209791232
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.348669694,666.651330306,637,881,788,803,654,632.651330306,654,0.400983819202,0.0045186506706,0.0598589413541,0.999999962014,0.000131199046367,-0.0002409904879,2.61202907064e-05,1793237700226458112
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.761552764,679.238447236,666.761552764,637,881,788,803,654,633,654,0.400986081188,0.00451882229343,0.0598594823396,0.999999962261,0.000131434011667,-0.000239839447444,2.60886970477e-05,1793237700243124736
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.183250788,679.816749212,666.183250788,637,881,788,803,654,633,654,0.400991838674,0.00451913931253,0.0598613516597,0.999999963103,0.000130910498639,-0.000236603449391,2.59687809797e-05,1793237700259791104
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715.392905551,679.607094449,666,637,881,788,803,654,632.607094449,654,0.401009191524,0.00451975153249,0.0598695884361,0.999999966202,0.000131670489173,-0.000222657536764,2.61148525183e-05,1793237700276457728
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715.968066654,679.031933346,666,637,881,788,803,654,632.031933346,654,0.401031923069,0.00452050068613,0.0598807788595,0.999999970048,0.000133025853364,-0.000203743657881,2.63843066622e-05,1793237700293124096
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.444305697,679,666,637,880.444305697,788,803,654,632,654,0.401077692887,0.00451853245018,0.0598983444212,0.999999976335,0.00013014289364,-0.000172289535099,2.66478444293e-05,1793237700309790464
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,679,666.141513647,637,880.283027294,788,803,654,632,654.141513647,0.401127241053,0.00451692525203,0.0599155143871,0.99999998133,0.00012797926015,-0.000142262882403,2.68725604068e-05,1793237700326457344
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,679,666.719495527,637,881.438991055,788,803,654,632,654.719495527,0.401184265705,0.00451692428066,0.0599303083646,0.999999984271,0.000128802674105,-0.000118912590571,2.69786117858e-05,1793237700343124224
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.296032875,715.296032875,679,666.703967125,637,881.703967125,788,803,654,632.296032875,655,0.401245506624,0.00451624118206,0.05994117472,0.999999986225,0.000127412044007,-0.000102885770492,2.70234787577e-05,1793237700359791104
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.871208075,715.871208075,679,666.128791925,637,881.128791925,788,803,654,632.871208075,655,0.401310723244,0.00451491487592,0.0599483375482,0.99999998756,0.000123933695075,-9.37645731766e-05,2.70106522824e-05,1793237700376458240
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.5541439,716,679.4458561,666,637,880.5541439,788,803,654,633,654.5541439,0.401387857634,0.00451474083319,0.0599514840393,0.999999988383,0.000121852732638,-8.76690159087e-05,2.64612694383e-05,1793237700393124864
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715.978929591,679.978929591,666.021070409,637,880.021070409,788,803.021070409,654,632.978929591,654,0.401469313743,0.00451492946148,0.0599535729117,0.999999989048,0.000120268612263,-8.23198120096e-05,2.57447803109e-05,1793237700409791232
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715.384154807,679.384154807,666.615845193,637,880.615845193,788,803.615845193,654,632.384154807,654,0.401574816695,0.00451594081871,0.0599584169151,0.999999989643,0.000121234762132,-7.3523166088e-05,2.46934596049e-05,1793237700426457600
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.204017334,679.204017334,667,637,881,788.204017334,803.795982666,654,632,654,0.401685752527,0.00451656498109,0.0599628660169,0.999999990281,0.000120999129826,-6.50633857022e-05,2.37324258515e-05,1793237700443123968
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.780146691,679.780146691,667,637,881,788.780146691,803.219853309,654,632,654,0.401806597508,0.00451648292959,0.0599665948475,0.99999999107,0.000118571538589,-5.72180232746e-05,2.2936068716e-05,1793237700459790848
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.643267242,667,637,881,788.643267242,803.356732758,654,632,654,0.401939618592,0.00451691797494,0.0599671445457,0.999999991576,0.000116401967544,-5.31912090183e-05,2.16779808284e-05,1793237700476457472
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.066399288,667,637,881,788.066399288,803.933600712,654,632,654,0.402080153404,0.00451767211412,0.0599657324426,0.999999991927,0.000114391617206,-5.15207709414e-05,2.01349647586e-05,1793237700493124096
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.517574091,667,637,881,788,804,654,632,654,0.402246851868,0.00451638601714,0.0599655641325,0.999999992686,0.000109433360806,-4.81513613861e-05,1.82819959611e-05,1793237700509791232
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,788,803.89858497,654,632,654,0.402422226683,0.00451485397903,0.059965811432,0.99999999345,0.000104263789976,-4.42575143796e-05,1.6446691447e-05,1793237700526458112
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,788,803.31971857,654,632,654,0.402622426814,0.00451341347552,0.0599672537039,0.999999994141,9.99046104371e-05,-3.89350859255e-05,1.48843568108e-05,1793237700543124736
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.741346453,667,637,881,788.258653547,803.258653547,654,632,654,0.402837015195,0.00451274471994,0.0599690866213,0.99999999488,9.49415241333e-05,-3.2582971538e-05,1.28503963249e-05,1793237700559791104
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.163584184,667,637,881,788.836415816,803.836415816,654,632,654,0.403069354783,0.00451302809325,0.0599714014897,0.999999995655,8.92333800069e-05,-2.49605027219e-05,1.02345768262e-05,1793237700576457472
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667.411267462,637,880.588732538,788.588732538,804,654,632,654,0.403322472658,0.0045123477986,0.0599767972381,0.999999996267,8.47449646627e-05,-1.47155572757e-05,8.24101456477e-06,1793237700593124096
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667.984969511,637,880.015030489,788.015030489,804,654,632,654,0.403583797139,0.00451128689271,0.0599834098138,0.999999996714,8.07382946829e-05,-3.43483614993e-06,6.49321967369e-06,1793237700609790720
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.425323856,679.574676144,666.850647712,636.425323856,880.574676144,788,804,654,632.574676144,654,0.403859776217,0.00451102431185,0.0599725193002,0.999999997062,7.38186625336e-05,-2.03662036104e-05,3.39956614061e-06,1793237700626457600
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.16264186,680,666.16264186,636,881,788,803.83735814,653.83735814,633,654,0.404143998378,0.00451044756331,0.0599610700426,0.999999997022,6.70164753761e-05,-3.82725448052e-05,2.49660851695e-07,1793237700643124224
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.745003616,680,666.745003616,636,881,788,803.254996384,653.254996384,633,654,0.404448475453,0.00450900463424,0.0599493941006,0.999999996543,6.07196178539e-05,-5.67361883166e-05,-2.95196716933e-06,1793237700659791616
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.32234746,881.32234746,788,803,653.32234746,632.67765254,654,0.404771469399,0.00450798919441,0.0599401659364,0.999999995908,5.37721705652e-05,-7.24934235145e-05,-6.15252757202e-06,1793237700676458752
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.895782739,881.895782739,788,803,653.895782739,632.104217261,654,0.405108886824,0.00450730674087,0.0599328444314,0.999999995173,4.63179552665e-05,-8.61425436912e-05,-9.35225671056e-06,1793237700693125632
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.519044233,637,881.519044233,788,803,654,632,654,0.40549284462,0.00450672155392,0.0599385733234,0.999999996275,3.78160710032e-05,-7.6529897848e-05,-1.27690149386e-05,1793237700709792000
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.93191495,746,715.93191495,680,666,637,881,788,803,654,632.06808505,654,0.405895424396,0.00450604328761,0.0599492445623,0.999999997734,2.91063043549e-05,-5.85112551251e-05,-1.61914802554e-05,1793237700726458112
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.349699729,746,715.349699729,680,666,637,881,788,803,654,632.650300271,654,0.406360566629,0.00450449901543,0.0599753487155,0.999999999474,2.05839086784e-05,-1.60312225338e-05,-1.92930408525e-05,1793237700743124480
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.22982229,746,715.22982229,679.77017771,666.22982229,637,881,788,803.22982229,654,632.77017771,654,0.406831901258,0.00450353813274,0.0599986977628,0.99999999941,1.22015382021e-05,2.28069216578e-05,-2.26142118172e-05,1793237700759791104
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.805293739,746,715.805293739,679.194706261,666.805293739,637,881,788,803.805293739,654,632.194706261,654,0.407312549128,0.00450345465888,0.0600179031718,0.99999999807,4.0297639982e-06,5.61677195967e-05,-2.62656732095e-05,1793237700776458240
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.375553132,667,636.624446868,881,788,804,654,632,654,0.40777867883,0.00450321179154,0.0600203069312,0.999999998103,-2.61121083632e-06,5.4027716263e-05,-2.94486255088e-05,1793237700793125376
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.943147295,667,636.056852705,881,788,804,654,632,654,0.408237384578,0.00450288741751,0.0600141190798,0.999999998871,-8.4694032646e-06,3.37341940446e-05,-3.23920031548e-05,1793237700809792256
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.464375901,667,636.535624099,880.464375901,788,803.464375901,653.464375901,632,654,0.408729508256,0.00450090104674,0.0600042300185,0.999999999145,-1.73914575721e-05,1.15014918926e-05,-3.5721355202e-05,1793237700826458880
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679.127767537,667,637,880.127767537,788,803,653.127767537,632.127767537,654,0.409241169957,0.00449899864645,0.0599960366322,0.99999999885,-2.67373925741e-05,-7.34149804581e-06,-3.91305063043e-05,1793237700843124992
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679.70889974,667,637,880.70889974,788,803,653.70889974,632.70889974,654,0.409808959919,0.00449805066239,0.0599953220172,0.999999998338,-3.63772349728e-05,-1.33906372136e-05,-4.26703592037e-05,1793237700859791360
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.712651697,746,716,679.712651697,667,636.712651697,881,788,803.287348303,654,632.712651697,654,0.410393837013,0.00449738777853,0.0599998775342,0.999999997839,-4.60450619268e-05,-2.66055540936e-06,-4.68386939624e-05,1793237700876457728
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.136896587,746,716,679.136896587,667,636.136896587,881,788,803.863103413,654,632.136896587,654,0.410995864252,0.00449701104499,0.0600097225967,0.999999996803,-5.57409776568e-05,2.49105561304e-05,-5.16378261142e-05,1793237700893124096
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.446991287,746.446991287,716,679,667,636.446991287,881,788,804,653.553008713,632.446991287,654,0.411590747938,0.00449448909785,0.0600106582942,0.999999996419,-5.98292100357e-05,2.68447598502e-05,-5.3503994691e-05,1793237700909790464
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.967050345,716,679.032949655,667,637,881.032949655,788,803.967050345,653.032949655,632.967050345,654,0.412183889467,0.00449140418991,0.0600076662705,0.999999996733,-5.78312486924e-05,1.87313991095e-05,-5.32812376192e-05,1793237700926457344
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.388810306,716,679.611189694,667,637,881.611189694,788,803.388810306,653.611189694,632.388810306,654,0.412785077635,0.00449007701099,0.059985666615,0.999999999036,1.5939674958e-05,-2.33151462306e-05,-3.36293367713e-05,1793237700943124736
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.810587774,788,803.189412226,654,632,654,0.413401461646,0.00448661706633,0.0599633245727,0.999999995869,5.90301873935e-05,-6.56203856348e-05,-2.17044268551e-05,1793237700959791872
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.232401209,788,803.767598791,654,632,654,0.414049035552,0.00447877955541,0.0599402797727,0.999999993024,3.91482211665e-05,-0.000108456600191,-2.56394017197e-05,1793237700976458496
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.656254573,746,716,680,667,637,881,788,803.656254573,653.656254573,632,654,0.414753354698,0.00447528279129,0.0599534971938,0.999999995648,2.82605395842e-05,-8.40551923607e-05,-2.89928628749e-05,1793237700993124608
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.08147899,746,716,680,667,637,881,788,803.08147899,653.08147899,632,654,0.415495812104,0.00447470342896,0.0599910863336,0.999999999111,2.34178874546e-05,-1.44636006841e-05,-3.19554903631e-05,1793237701009790976
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746.505733006,716,680,667,637,881,788,803.505733006,653,632,654,0.416216890917,0.00447612531886,0.0600194599643,0.999999998502,2.91423965285e-05,3.26827881758e-05,-3.28352714508e-05,1793237701026457600
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.09366234,746.90633766,715.90633766,680,667,636.90633766,881,788,804,653,632,654,0.416933009532,0.00447722711592,0.0600392308383,0.999999996774,3.61466123162e-05,6.35467260158e-05,-3.32617917271e-05,1793237701043124224
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.67463621,746.32536379,715.32536379,680,667,636.32536379,881,788,804,653,632,654,0.417641692786,0.00447494370362,0.0600221623255,0.999999998202,4.07278727549e-05,2.89841139482e-05,-3.3119993558e-05,1793237701059790848
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,715.252366459,680,667,636.252366459,881,788,803.747633541,653,632,654,0.418367669111,0.00447421149176,0.0600050985861,0.999999998427,4.44053875676e-05,9.9698495572e-07,-3.42659963651e-05,1793237701076457216
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,715.825968009,680,667,636.825968009,881,788,803.174031991,653,632,654,0.419115657731,0.00447545378925,0.0599880409205,0.999999998039,4.69325330262e-05,-1.86202730007e-05,-3.70512299447e-05,1793237701093123840
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,788,803.401172998,653,632,654,0.419858014883,0.00447566952888,0.0599730887392,0.999999997207,5.02695976009e-05,-3.91112670095e-05,-3.9109502093e-05,1793237701109790720
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,788,803.977076328,653,632,654,0.420597919212,0.00447543815261,0.0599590535995,0.999999995911,5.39594211384e-05,-5.99828143341e-05,-4.08511470379e-05,1793237701126457344
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,880.430464094,788,803.430464094,653.569535906,632,654,0.421308529569,0.00447711564349,0.059939503385,0.999999992078,6.18406232004e-05,-0.000101875846419,-4.0514408046e-05,1793237701143123712
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,715.842412254,680,667,637,880.157587746,788,803.157587746,653.842412254,632,654,0.422040619355,0.00447804565961,0.0599267575247,0.999999990198,3.85592679187e-05,-0.000128362159795,-4.05066781257e-05,1793237701159790336
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,715.267839611,680,667,637,880.732160389,788,803.732160389,653.267839611,632,654,0.422832758021,0.00447678843434,0.0599326212769,0.9999999906,-6.76395000279e-05,-0.000111775660044,-4.15975032392e-05,1793237701176457216
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,715.307037627,680,667,636.692962373,881,788,803.692962373,653,632,654,0.423668450184,0.00447350349755,0.0599665645954,0.999999990721,-0.000117906760086,-5.35404395686e-05,-4.23124981585e-05,1793237701193123840
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,715.882180806,680,667,636.117819194,881,788,803.117819194,653,632,654,0.424542173262,0.00446844796117,0.0600250270179,0.999999991125,-0.000119334567633,4.10624830155e-05,-4.26993177508e-05,1793237701209790464
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.541487612,746,715.541487612,680,667,636,881,788,803.458512388,653,632,654,0.425348611649,0.00446989720496,0.0600456978796,0.99999999022,-0.000109448498618,7.5778729072e-05,-4.28679273336e-05,1793237701226457088
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.036021482,746.036021482,715,680,667,636,881,788,803.963978518,653.036021482,632,654,0.426135698641,0.00447272171957,0.0600546618301,0.999999990087,-9.70799437098e-05,9.24508578651e-05,-4.30663149194e-05,1793237701243123712
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.626952986,746.626952986,715,680,667,636,881,788,803.373047014,653.626952986,632,654,0.426891712656,0.00447091643706,0.0600332661152,0.999999992463,-9.13706461678e-05,6.88286641717e-05,-4.45894507531e-05,1793237701259790336
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.786833888,715.213166112,680,667,636.213166112,881.213166112,788,803.213166112,654,632.213166112,654,0.427653695027,0.00446977985939,0.0600139633086,0.999999994254,-8.65302083158e-05,4.34045920221e-05,-4.60474430866e-05,1793237701276457216
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.208699154,715.791300846,680,667,636.791300846,881.791300846,788,803.791300846,654,632.791300846,654,0.428425896138,0.00446978819269,0.0599982438348,0.999999995307,-8.31773724521e-05,1.48954614328e-05,-4.73939013765e-05,1793237701293123840
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715.635160197,680,667,636.635160197,881.635160197,788,803.635160197,653.635160197,632.635160197,654,0.429179690231,0.00447011224982,0.0599788902191,0.999999995715,-7.68643349673e-05,-1.78872020471e-05,-4.83996488874e-05,1793237701309790464
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715.064217491,680,667,636.064217491,881.064217491,788,803.064217491,653.064217491,632.064217491,654,0.429923085906,0.00447061466359,0.0599574836288,0.999999995008,-6.88790399895e-05,-5.30840399034e-05,-4.92129241882e-05,1793237701326457344
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.526167135,715.526167135,680,667,636.526167135,881.526167135,788,803.526167135,653,632.526167135,654,0.430680590821,0.00446834601187,0.0599522009858,0.999999994982,-6.50663352645e-05,-5.77387621585e-05,-4.96801768401e-05,1793237701343123968
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.883681011,715.883681011,680,667,636.883681011,881.883681011,788.116318989,804,653,633,654,0.431452197711,0.00446552944433,0.0599588689336,0.99999999591,-6.24525418152e-05,-4.20666584203e-05,-5.00999179239e-05,1793237701359790848
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.304265273,715.304265273,680,667,636.304265273,881.304265273,788.695734727,804,653,633,654,0.432272829507,0.0044619296124,0.0600049800584,0.999999996006,-6.25066626248e-05,3.91219882038e-05,-5.05050874383e-05,1793237701376457472
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.271432508,881.271432508,788.728567492,804,653,633,654,0.433050321355,0.00446017066542,0.0600297091232,0.999999993771,-6.02230097395e-05,7.89975349784e-05,-5.09048905823e-05,1793237701393123840
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.843018881,881.843018881,788.156981119,804,653,633,654,0.433780108391,0.00446044739503,0.0600307936037,0.999999994474,-5.53542143328e-05,7.31884727934e-05,-5.1298759771e-05,1793237701409790464
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,715.418787245,680.418787245,667.418787245,637,882,788,804,653,633,654,0.434503114275,0.00445975351942,0.060009976931,0.999999996456,-5.35966102212e-05,3.84522087383e-05,-5.2310539037e-05,1793237701426457344
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715.996139075,680.996139075,667.996139075,637,882,788,804,653,633,654,0.435223552686,0.00445869214551,0.0599808678681,0.999999997134,-5.30169898051e-05,-7.23670497936e-06,-5.355627631e-05,1793237701443123968
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.58972057,716,681,668,637,882,788,804,653,633,654,0.435896983301,0.00445545303303,0.0599616255644,0.999999996191,-5.08592996621e-05,-4.63754970943e-05,-5.36714491468e-05,1793237701459790592
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.821510484,746.821510484,716,680.821510484,668,637,882.178489516,788,804,653.178489516,632.821510484,654,0.436571617577,0.0044532481017,0.059950343129,0.999999994962,-4.82292014292e-05,-6.97290943052e-05,-5.37457634067e-05,1793237701476457216
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.243751204,746.243751204,716,680.243751204,668,637,882.756248796,788,804,653.756248796,632.243751204,654,0.437249652427,0.00445338936383,0.0599567178207,0.999999995888,-4.45661212636e-05,-5.78708596119e-05,-5.37457058303e-05,1793237701493123840
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.328342462,746,716,680.656684923,668,637,882.671657538,788,804,653.671657538,632.328342462,654,0.437899522877,0.00445113193027,0.0599538789388,0.999999995245,-4.24802903139e-05,-6.98785382119e-05,-5.3127509465e-05,1793237701509790464
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.896301462,746,716,681.792602924,668,637,882.103698538,788,804,653.103698538,632.896301462,654,0.438528839577,0.0044471239855,0.059944316209,0.999999992851,-4.15454986183e-05,-9.93029948247e-05,-5.20582100435e-05,1793237701526457344
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.48791923,716,681.51208077,668,637,882,788.48791923,804,653.48791923,633,654,0.439203095625,0.00444534661277,0.0599600175698,0.999999995228,-4.32516787991e-05,-6.997586371e-05,-5.27018044928e-05,1793237701543124224
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,716,681,668,637,882,788.917549763,804.082450237,653.917549763,633,654.082450237,0.439883226335,0.00444395092813,0.0599835300779,0.99999999721,-4.50836303645e-05,-2.61906928804e-05,-5.34878049679e-05,1793237701559790848
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,716,681,668,637,882,788.33733436,804.66266564,653.33733436,633,654.66266564,0.440538223653,0.00444185168003,0.0600201316787,0.999999997303,-4.41135943858e-05,2.56547972435e-05,-5.2823735708e-05,1793237701576457728
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.759421352,716,681,668,637,882,788,804.759421352,653,633,654.759421352,0.441151370311,0.0044407638418,0.0600364358165,0.999999996716,-4.0345941621e-05,4.73618499472e-05,-5.19332573857e-05,1793237701593124096
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.18470616,716,681,668,637,882,788,804.18470616,653,633,654.18470616,0.441706391078,0.0044410807377,0.0600245490697,0.999999997809,-3.26927156188e-05,2.72100161068e-05,-5.07283226661e-05,1793237701609790464
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.390397296,716,681,668,637,882,788,804.390397296,653,633,654,0.442234907324,0.00443843723938,0.0599997862809,0.999999998036,-3.41109613035e-05,-1.22103950185e-05,-5.11426410131e-05,1793237701626457344
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.965684683,716,681,668,637,882,788,804.965684683,653,633,654,0.442750871217,0.00443439171408,0.0599689254656,0.999999995992,-3.98254071717e-05,-6.07563040076e-05,-5.23238288306e-05,1793237701643124224
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.443994631,715.443994631,681,667.443994631,636.443994631,882,788,805,653,632.443994631,653.443994631,0.443269543234,0.00443283578985,0.0599616978721,0.99999999543,-4.66078455434e-05,-6.28961271628e-05,-5.48727521795e-05,1793237701659790848
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.855575803,746,715.144424197,681,667,636,882,788.144424197,804.855575803,653,632,653.144424197,0.443783879187,0.00443111071771,0.0599610827262,0.999999994222,-7.06907651965e-05,-5.7439497283e-05,-5.70881041739e-05,1793237701676457472
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.275765011,746,715.724234989,681,667,636,882,788.724234989,804.275765011,653,632,653.724234989,0.444284625737,0.00442839964771,0.059975882411,0.999999986832,-0.000146724136551,-3.79563922114e-05,-5.80363124958e-05,1793237701693124096
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.301343211,746,716,681,667,636,882,788.698656789,804,653.301343211,632.301343211,654,0.444752774348,0.00442691206165,0.0599843346559,0.999999980971,-0.000183826043581,-2.76646116437e-05,-5.91737464079e-05,1793237701709790720
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.876000209,746,716,681,667,636,882,788.123999791,804,653.876000209,632.876000209,654,0.445191357087,0.0044265341574,0.0599870298669,0.999999980613,-0.00018561769076,-2.57092262617e-05,-6.04828052833e-05,1793237701726457600
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,681.460794551,667,636,882,788,804.460794551,653.539205449,633,654,0.44557606446,0.0044254327956,0.0599631106904,0.999999977692,-0.000189093846595,-7.10452441204e-05,-6.17470462322e-05,1793237701743124224
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.952173973,746,716,681.952173973,666.952173973,636,882,788,805,653,633,654,0.445944548936,0.00442417010008,0.0599325184105,0.999999971323,-0.000192761013402,-0.000127380838973,-6.30201592252e-05,1793237701759790592
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.371296904,746,716,681.371296904,666.371296904,636,882,788,805,653,633,654,0.446297441654,0.00442332790608,0.0599091700205,0.999999966212,-0.000193391147888,-0.000161282461031,-6.45296044411e-05,1793237701776457216
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.2072609,746,716,681.2072609,666.2072609,636,882,788.2072609,804.7927391,653,633,654,0.446649628194,0.00442295910189,0.0598947554287,0.999999962636,-0.000194725867889,-0.000180021933308,-6.63440290532e-05,1793237701793123840
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.781709785,746,716,681.781709785,666.781709785,636,882,788.781709785,804.218290215,653,633,654,0.447000563615,0.00442342896563,0.0598961681534,0.9999999634,-0.000197308847373,-0.000171899803203,-6.86987618355e-05,1793237701809790464
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.644293629,746,716,682,666.644293629,636,882,788.644293629,804,653,633,654,0.447335864752,0.00442321980103,0.0599034258179,0.999999966029,-0.000196259036235,-0.000156962273756,-6.91947008726e-05,1793237701826457088
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.070574201,746,716,682,666.070574201,636,882,788.070574201,804,653,633,654,0.447661583643,0.00442259445882,0.0599142658563,0.999999969528,-0.000192982681568,-0.000137847573301,-6.85513821808e-05,1793237701843124224
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.517512795,746.517512795,716,682,665.482487205,635.482487205,882,788,804.517512795,653,633,654,0.447952132016,0.00442297535045,0.0599150554787,0.99999997942,-0.000138641869111,-0.000138825844286,-5.16371839863e-05,1793237701859790848
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716,682,665,635,882,788,805,653,633,654,0.448228745084,0.00442426927048,0.0599121321113,0.999999984853,-8.83636060894e-05,-0.000145430479945,-3.65448852746e-05,1793237701876457472
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716,682,665,635,882,788,805,653,633,654,0.448464997846,0.00442902391594,0.0598988821917,0.999999981747,-8.84128305165e-05,-0.000164624674035,-3.98533627662e-05,1793237701893124096
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.733580427,716,682,665,635,882.266419573,788,804.733580427,653,633,654,0.44868315922,0.00443125043534,0.0598840187445,0.999999977454,-9.17627750201e-05,-0.000186595281161,-4.30456651417e-05,1793237701909790464
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.159178004,716,682,665,635,882.840821996,788,804.159178004,653,633,654,0.448880406814,0.00443055442342,0.0598672900491,0.999999971619,-9.8928374526e-05,-0.00021177543959,-4.61036680808e-05,1793237701926457088
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.586547587,746,716,682,664.586547587,635,882.586547587,788,804,653.413452413,633,654,0.449055858546,0.00443137113482,0.0598509926566,0.999999965456,-0.000101585108063,-0.00023755756199,-4.83190318391e-05,1793237701943123968
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.014596489,746,716,682,664.014596489,635,882.014596489,788,804,653.985403511,633,654,0.44922295474,0.00443276775494,0.0598348606062,0.99999995875,-0.000102513349062,-0.000263570449077,-5.02113663078e-05,1793237701959790592
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.582120341,746,716,682,664.582120341,635,882,788,804.582120341,653.417879659,632.417879659,654,0.449386878193,0.00443187689193,0.0598299717201,0.999999956473,-0.00010643495342,-0.000270363953429,-5.12766542552e-05,1793237701976457216
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.172776756,716,682,665,635,882,788,805,653,632.172776756,654,0.449543749525,0.00443226973169,0.0598268767334,0.999999955083,-0.000107931016701,-0.000274673733196,-5.23356113343e-05,1793237701993123840
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.747813157,716,682,665,635,882,788,805,653,632.747813157,654,0.449684395507,0.00443579076919,0.0598272727826,0.999999955566,-0.000103597408923,-0.000274372757484,-5.34302562642e-05,1793237702009790720
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.676960757,716,682.323039243,664.676960757,635,882,788,804.676960757,653,633,654,0.44981001146,0.00444066775644,0.059825414932,0.999999955159,-9.90727910067e-05,-0.000277149133596,-5.52655416336e-05,1793237702026457344
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.101586442,716,682.898413558,664.101586442,635,882,788,804.101586442,653,633,654,0.449923887051,0.0044466039147,0.0598217964967,0.999999954026,-9.43989692123e-05,-0.000282329316063,-5.76793622771e-05,1793237702043124224
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,716,682.515761991,664,635,882,788,804.484238009,653,633,654,0.450016689274,0.00445353185597,0.0598172335505,0.999999952093,-8.76983507513e-05,-0.00029077768603,-5.97684692703e-05,1793237702059790848
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,634.928631161,882,788,804.928631161,653,632.928631161,653.928631161,0.450103105458,0.00446026843983,0.0598123313739,0.999999949908,-8.0813831657e-05,-0.000299741249204,-6.17044700601e-05,1793237702076457472
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,634.3481645,882,788,804.3481645,653,632.3481645,653.3481645,0.450176199272,0.00446412309641,0.0598064539633,0.999999947904,-7.57174336926e-05,-0.000307381228234,-6.30449578029e-05,1793237702093124096
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.229842962,715.770157038,681.770157038,663.770157038,634.229842962,882.229842962,788,804,653,632.229842962,653.229842962,0.450244206831,0.00446725544552,0.0598026156526,0.999999946727,-7.18841680073e-05,-0.000311882483461,-6.41009703993e-05,1793237702109790464
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.804164648,715.195835352,681.195835352,663.195835352,634.804164648,882.804164648,788,804,653,632.804164648,653.804164648,0.450304591328,0.00446930523112,0.0598018334573,0.999999946887,-6.99440308462e-05,-0.000311679554325,-6.4730623835e-05,1793237702126457088
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,715.377155408,681.377155408,663,635,882.622844592,788,804,653,633,654,0.450354889428,0.00446892974891,0.059802269459,0.999999946942,-7.05304559131e-05,-0.00031132478578,-6.49429535006e-05,1793237702143123712
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,715.949457507,681.949457507,663,635,882.050542493,788,804,653,633,654,0.450399968653,0.00446729939137,0.0598033357768,0.999999946942,-7.24241677615e-05,-0.000310891452919,-6.49393526552e-05,1793237702159790592
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.457851856,747,716,681.457851856,663,635,882,788,804.542148144,653.542148144,633,654.542148144,0.450436216803,0.00446760186826,0.0598055579208,0.999999948122,-7.19910514816e-05,-0.00030722404543,-6.47055636813e-05,1793237702176457472
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.132799672,746.867200328,716,681,663,634.867200328,882.132799672,788,805,653.867200328,632.867200328,654.867200328,0.450468403765,0.00446853906125,0.0598067951888,0.999999948924,-7.09292120195e-05,-0.000304874175418,-6.459432458e-05,1793237702193123840
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.710017652,746.289982348,716,681,663,634.289982348,882.710017652,788,805,653.289982348,632.289982348,654.289982348,0.45048986265,0.00447097377275,0.0598043618462,0.999999948116,-6.85176329914e-05,-0.000307981897229,-6.49678240821e-05,1793237702209790464
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681.286285775,663,634.286285775,883,788,804.713714225,653.286285775,632.286285775,654,0.45050886364,0.00447203047254,0.0598031749162,0.999999947793,-6.69783657279e-05,-0.000309380541148,-6.49033698336e-05,1793237702226457088
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681.861595026,663,634.861595026,883,788,804.138404974,653.861595026,632.861595026,654,0.450525383234,0.00447169598323,0.0598032463176,0.99999994797,-6.63197517046e-05,-0.000309053763937,-6.43967738046e-05,1793237702243123712
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,634.552237019,883,788,804,653.552237019,633,654,0.450533901696,0.00447189135188,0.0598024409522,0.99999994747,-6.49459670073e-05,-0.000310978328965,-6.42965194518e-05,1793237702259790592
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,716,681.963341776,663,634,882.963341776,788,804,653,633,654,0.450539642142,0.00447217634389,0.0598012456015,0.999999946699,-6.35382737931e-05,-0.000313727750108,-6.43381117766e-05,1793237702276457216
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,716,681.384976143,663,634,882.384976143,788,804,653,633,654,0.450541786197,0.00447130534223,0.0597983916782,0.999999945202,-6.49773737164e-05,-0.000318127250177,-6.45736331721e-05,1793237702293124096
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.807834305,746,715.807834305,681.192165695,663,634,882,788,804,653,632.807834305,654,0.450543741485,0.00447152250114,0.0597959293484,0.999999944012,-6.4739873843e-05,-0.000321844872478,-6.48062733332e-05,1793237702309790720
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.23312868,746,715.23312868,681.76687132,663,634,882,788,804,653,632.23312868,654,0.450545320997,0.00447390583687,0.0597942465552,0.99999994346,-6.116480436e-05,-0.000324205095778,-6.50331778727e-05,1793237702326457344
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681.65726173,663,634,882,788,804,653,632.34273827,654,0.450546385358,0.00447365439107,0.0597930346947,0.999999942913,-6.09432087034e-05,-0.0003259453116,-6.49519266389e-05,1793237702343123968
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681.080602193,663,634,882,788,804,653,632.919397807,654,0.450547098125,0.00447160468835,0.0597921442491,0.999999942374,-6.30103825496e-05,-0.000327262367885,-6.46603569243e-05,1793237702359790592
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715.509032182,681.509032182,663,634,882,788,804.509032182,653,633,654,0.450548882199,0.00447293877178,0.0597929671544,0.999999943,-6.09873128926e-05,-0.000325819235301,-6.42083775102e-05,1793237702376457472
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.098239652,746.098239652,716,682,663,634,882.098239652,788,804.901760348,653,633,654,0.45054993438,0.00447425895588,0.0597931962482,0.999999943316,-5.91154607667e-05,-0.00032527242735,-6.38057843144e-05,1793237702393123840
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.675095944,746.675095944,716,682,663,634,882.675095944,788,804.324904056,653,633,654,0.450546572759,0.00447283275498,0.0597891760139,0.99999994122,-6.12182432682e-05,-0.000331277467008,-6.37707807403e-05,1793237702409790720
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.748859157,716,682,663,634.251140843,883,788,804.251140843,653,632.748859157,654,0.450545346191,0.00447259935932,0.0597874960332,0.999999940307,-6.2125940714e-05,-0.00033383700482,-6.38659902605e-05,1793237702426457344
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.173860509,716,682,663,634.826139491,883,788,804.826139491,653,632.173860509,654,0.450546872873,0.00447390414131,0.0597888339181,0.999999940957,-6.14925206578e-05,-0.000331953408501,-6.41291156228e-05,1793237702443123968
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,634.598569793,883,788,805,653.401430207,632.401430207,654,0.450548532841,0.0044738930631,0.0597897565693,0.999999941555,-5.98827070049e-05,-0.000330469991936,-6.39792184299e-05,1793237702459790592
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663,634.023152525,883,788,805,653.976847475,632.976847475,654,0.450550250578,0.00447331166737,0.0597904992506,0.999999942128,-5.78497068666e-05,-0.000329160020575,-6.36503098266e-05,1793237702476457216
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.431835978,746,716,681.431835978,663,634,882.431835978,788,805,654,633,654,0.450549299936,0.00447513959304,0.0597896951125,0.999999941748,-5.55492048126e-05,-0.000330669638018,-6.38488655599e-05,1793237702493124096
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.156184839,746.156184839,716,681.156184839,663,634.156184839,882,788,804.843815161,653.843815161,633,654,0.450548912357,0.00447588448678,0.0597891359961,0.999999941551,-5.44277017591e-05,-0.000331430478129,-6.39542375399e-05,1793237702509790464
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.733521374,746.733521374,716,681.733521374,663,634.733521374,882,788,804.266478626,653.266478626,633,654,0.450550344723,0.00447343662844,0.0597894124395,0.999999941969,-5.65156039077e-05,-0.00032985350359,-6.37487128295e-05,1793237702526457088
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,716,681.691028069,662.691028069,634.691028069,882,788,804.308971931,653,633,654,0.450550156855,0.00447289667018,0.0597888240533,0.999999941766,-5.7849920197e-05,-0.000330266885918,-6.35991981111e-05,1793237702543123712
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,716,681.11719427,662.11719427,634.11719427,882,788,804.88280573,653,633,654,0.450548580065,0.00447399223271,0.0597874943042,0.99999994103,-5.8538235439e-05,-0.000332386473917,-6.34976971857e-05,1793237702559790592
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716,681.470184697,662,634,882,788,805,653,633,654,0.450549896287,0.0044745139107,0.0597882491965,0.999999941524,-5.6938808121e-05,-0.000331172549957,-6.35228216851e-05,1793237702576457216
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,747,716,682,662.05980314,634,882,788,805,653,633,654,0.450551524087,0.00447474824766,0.0597892744974,0.999999942123,-5.52574674354e-05,-0.000329637145315,-6.35618139976e-05,1793237702593123840
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,716,682,662.638685806,634,882,788,805,653,633,654,0.450549411757,0.00447376692224,0.0597880030835,0.999999940951,-5.79613769846e-05,-0.000332737179364,-6.34391017559e-05,1793237702609790208
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746.783555662,716,682,663,634.216444338,882.216444338,788,805,653,633,654,0.450548594921,0.00447383355828,0.0597871441184,0.99999994029,-5.90317143266e-05,-0.000334482488286,-6.36874984765e-05,1793237702626457088
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.207663878,716,682,663,634.792336122,882.792336122,788,805,653,633,654,0.450549929501,0.00447564053567,0.0597869701038,0.999999940499,-5.73891913236e-05,-0.00033397801613,-6.45521929736e-05,1793237702643124224
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746.365153678,716,682,663,635,883,788,804.634846322,653,633,654,0.450549558163,0.00447501670606,0.0597864521567,0.999999940344,-5.71026270883e-05,-0.000334571225204,-6.41352078911e-05,1793237702659790848
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,746.936237475,716,682,663,635,883,788,804.063762525,653,633,654,0.450548224765,0.0044730220114,0.0597857402472,0.999999939983,-5.75807622169e-05,-0.000335783476752,-6.29954135853e-05,1793237702676457216
+263,4.383333333,HOLD_POSE2,767,746,716,682,663,634,883,788,804,654,633,654,0.450551341901,0.00447427652944,0.0597873389888,0.999999940917,-5.74078752619e-05,-0.00033296570592,-6.32821192231e-05,1793237702706283008
+264,4.400000000,HOLD_POSE2,767,746.576127326,716,682,663,634,883,788,804,653.423872674,633,654.576127326,0.450548988939,0.00447459546109,0.0597861808961,0.999999940128,-5.57452209351e-05,-0.00033562659981,-6.31831288731e-05,1793237702722949632
+265,4.416666667,HOLD_POSE2,767,746.847598765,716,682,662.847598765,634,882.847598765,788,804.152401235,653.152401235,632.847598765,654.847598765,0.450546917497,0.00447464931032,0.0597847256333,0.999999939352,-5.47894870457e-05,-0.000338098385457,-6.31202472831e-05,1793237702739616000
+266,4.433333333,HOLD_POSE2,767,746.270916641,716,682,662.270916641,634,882.270916641,788,804.729083359,653.729083359,632.270916641,654.270916641,0.4505456298,0.00447396517743,0.0597824430567,0.999999938634,-5.58018000296e-05,-0.000340043699512,-6.3157891477e-05,1793237702756282624
+267,4.450000000,HOLD_POSE2,767,746.305227245,716,681.694772755,662.305227245,634,882,788,805,654,632.305227245,654,0.450546139688,0.00447385196364,0.0597823103709,0.999999938577,-5.69004756198e-05,-0.000339995675419,-6.33414057687e-05,1793237702772948992
+268,4.466666667,HOLD_POSE2,767,746.880894202,716,681.119105798,662.880894202,634,882,788,805,654,632.880894202,654,0.450548242284,0.00447424459988,0.0597840825472,0.999999939104,-5.80756707874e-05,-0.000338181498925,-6.36541649666e-05,1793237702789615616
+269,4.483333333,HOLD_POSE2,767,747,716,681,662.529449463,634.470550537,882,788,804.529449463,654,633,654,0.450547842201,0.00447431727728,0.0597843068837,0.999999939107,-5.77615390048e-05,-0.000338264109261,-6.34635901324e-05,1793237702806282240
+270,4.500000000,HOLD_POSE2,767,746.938258444,716,681.061741556,662.061741556,635,882.061741556,788,804.061741556,654,633,654,0.4505470073,0.00447429769418,0.0597842026553,0.999999939008,-5.70572667526e-05,-0.000338728444504,-6.31766273221e-05,1793237702822949120
+271,4.516666667,HOLD_POSE2,767,746.364601787,716,681.635398213,662.635398213,635,882.635398213,788,804.635398213,654,633,654,0.450547980488,0.00447420522307,0.0597847221715,0.999999939209,-5.6339637398e-05,-0.000338255029992,-6.31791929918e-05,1793237702839615744
+272,4.533333333,HOLD_POSE2,766.791790079,746.208209921,716,682,663,634.791790079,882.791790079,788,804.791790079,653.791790079,633,654,0.450549183846,0.00447436651363,0.0597853550698,0.999999939501,-5.61120259865e-05,-0.000337417702648,-6.32373547252e-05,1793237702856282368
+273,4.550000000,HOLD_POSE2,766.220452061,746.779547939,716,682,663,634.220452061,882.220452061,788,804.220452061,653.220452061,633,654,0.450550788633,0.00447497037675,0.0597861857119,0.999999939951,-5.67390294615e-05,-0.000335945693904,-6.33924786615e-05,1793237702872948992
+274,4.566666667,HOLD_POSE2,766,746.633008966,716,682,663,634,882.366991034,788,804.366991034,653,633,654,0.450550358551,0.00447537615538,0.0597852720365,0.99999993965,-5.59113305581e-05,-0.000336978787057,-6.33949331002e-05,1793237702889615616
+275,4.583333333,HOLD_POSE2,766,746.035447433,716,682,663,634,882.964552567,788,804.964552567,653,633,654,0.450548650015,0.00447565748297,0.0597832624537,0.99999993887,-5.416968172e-05,-0.000339585767549,-6.33014694546e-05,1793237702906282240
+276,4.600000000,HOLD_POSE2,766.541120075,746,716,682,663,634.541120075,882.458879925,788,805,653,633,654,0.450549336031,0.00447456267947,0.0597843175139,0.999999939234,-5.57795853257e-05,-0.000338275594686,-6.31679329081e-05,1793237702922948864
+277,4.616666667,HOLD_POSE2,767,746.11661987,716,682,663,635,882,788,805,653,632.88338013,654,0.450549708326,0.00447365051074,0.0597850027754,0.999999939432,-5.71973847402e-05,-0.000337482835224,-6.30084180312e-05,1793237702939615744
+278,4.633333333,HOLD_POSE2,767,746.693130124,716,682,663,635,882,788,805,653,632.306869876,654,0.450548247984,0.004473800779,0.0597834676192,0.999999938705,-5.70241555216e-05,-0.00033970461518,-6.27564229429e-05,1793237702956282112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,662,634,882,788,804,653,633,654,0.450548105403,0.00447509732991,0.0597838608117,0.999999938838,-5.42998869322e-05,-0.000339779593452,-6.26514273405e-05,1793237702994267392
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746.596093523,716,681.403906477,662.596093523,634,882.596093523,788,804.596093523,653,632.403906477,654,0.450548600492,0.00447571449426,0.0597830531571,0.999999938769,-5.37865891208e-05,-0.000339962672495,-6.31991381739e-05,1793237703010934272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.814144695,747,716,681.185855305,663,634,882.814144695,788,805,653,632.185855305,654,0.450548545967,0.00447592867044,0.0597824329677,0.999999938529,-5.39568839463e-05,-0.000340594263099,-6.34456258063e-05,1793237703027600896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.237689794,747,716,681.762310206,663,634,882.237689794,788,805,653,632.762310206,654,0.450547336359,0.0044752959136,0.0597822067613,0.999999937928,-5.5563839349e-05,-0.000342168460321,-6.30590529967e-05,1793237703044267776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.338436273,747,716,682,662.661563727,634,882,788.338436273,804.661563727,653.338436273,633,654,0.450546981102,0.0044749892569,0.0597821905126,0.999999937725,-5.5981793022e-05,-0.000342728645947,-6.28740678991e-05,1793237703060934144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.914331584,747,716,682,662.085668416,634,882,788.914331584,804.085668416,653.914331584,633,654,0.450547225289,0.00447491140382,0.0597823215776,0.999999937803,-5.55655003019e-05,-0.00034257736454,-6.28305240002e-05,1793237703077600768
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,662.487548738,634,882,788.512451262,804,653.512451262,633,654,0.450546217244,0.00447473884072,0.0597818059502,0.999999937778,-5.48668922618e-05,-0.000342717172772,-6.30793322289e-05,1793237703094267136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.93712295,716,682,663,634.06287705,882.06287705,788,804.06287705,653,633,654,0.450545175204,0.004474693441,0.0597813298546,0.999999937771,-5.41860472475e-05,-0.000342802304729,-6.3306674809e-05,1793237703110933760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.339875097,716,682,663,634.660124903,882.660124903,788,804.660124903,653,633,654,0.450545704025,0.00447586941971,0.05978215017,0.99999993808,-5.40754484778e-05,-0.000341990445896,-6.29173974954e-05,1793237703127600640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,662.752320076,634.752320076,882.752320076,788,804.752320076,653,633,654,0.450544755593,0.00447586365237,0.0597817507732,0.99999993785,-5.4848979489e-05,-0.000342566868203,-6.2771123076e-05,1793237703144267264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,662.177565028,634.177565028,882.177565028,788,804.177565028,653,633,654,0.450541856365,0.00447429732347,0.0597797406785,0.999999936902,-5.67900530933e-05,-0.000344976593083,-6.29457475338e-05,1793237703160933888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.604513731,662.395486269,634,882,788,804,653,633,654,0.450528736371,0.00447423666602,0.0597732688266,0.99999993327,-5.63058875788e-05,-0.000355452730763,-6.27971302599e-05,1793237703177600512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.032224052,662.967775948,634,882,788,804,653,633,654,0.450511047149,0.0044748491237,0.0597648023314,0.99999992827,-5.47375112641e-05,-0.000369534984416,-6.25040067334e-05,1793237703194267392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.560594138,716,681.560594138,662.439405862,634,882,788,804.560594138,653,632.439405862,654,0.450474046934,0.00447540532346,0.0597482577677,0.999999918718,-5.34242675375e-05,-0.000394595662745,-6.32832138668e-05,1793237703210934016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746.849687917,716,682,662.150312083,634,882.150312083,788,805,653,632.150312083,654,0.450431495362,0.00447640882643,0.0597304894847,0.999999908407,-5.16557489545e-05,-0.000420019543084,-6.40374887655e-05,1793237703227600384
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746.272259776,716,682,662.727740224,634,882.727740224,788,805,653,632.727740224,654,0.450376443534,0.00447869289255,0.0597106135626,0.999999897898,-4.85502971724e-05,-0.000444614138948,-6.45391097154e-05,1793237703244267008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,634,882.696752175,788,805,653,632.696752175,654,0.450316871387,0.00447938524024,0.0596947611255,0.999999888976,-4.78089613721e-05,-0.000464284990693,-6.48284297054e-05,1793237703260933632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,634,882.12295804,788,805,653,632.12295804,654,0.450253266385,0.00447865751645,0.0596824982919,0.999999881693,-4.91768011704e-05,-0.00047956306166,-6.49283427444e-05,1793237703277600256
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.535782351,746,716,681.535782351,663,634,882,788,805,653,632.464217649,654,0.450184180868,0.00447853250355,0.0596783742061,0.999999879295,-4.85153033625e-05,-0.000484619471873,-6.48025923897e-05,1793237703294266880
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.053830121,746.053830121,715.946169879,681,663,634,882,788,804.946169879,653,633,654,0.450111515115,0.00447885139123,0.0596764349363,0.999999878137,-4.69634940886e-05,-0.000487190793713,-6.45483023665e-05,1793237703310933760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.631637258,746.631637258,715.368362742,681,663,634,882,788,804.368362742,653,633,654,0.450018549129,0.00448189111042,0.0596741560312,0.999999875706,-4.21328845829e-05,-0.000492708561766,-6.36419019956e-05,1793237703327600384
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.214322686,746.214322686,715.785677314,681.785677314,663,634,882,788,804.785677314,653,632.214322686,654,0.449810562552,0.00448172918423,0.0596698699957,0.999999875235,-3.86328517976e-05,-0.000494180120022,-6.1837736659e-05,1793237703360933632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.361494465,746.361494465,716,681.638505535,663.361494465,634,882,788,804.638505535,653,632,654,0.449686804662,0.00448116104025,0.0596709563173,0.999999875993,-3.70439160896e-05,-0.000492885499758,-6.08772400459e-05,1793237703377600512
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.936818015,746.936818015,716,681.063181985,663.936818015,634,882,788,804.063181985,653,632,654,0.449554407804,0.00448116844944,0.0596739152282,0.999999876714,-3.46976298105e-05,-0.000491713405738,-5.98809956238e-05,1793237703394267136
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.473116011,746.473116011,716,681.526883989,663.473116011,634.526883989,882,788,804.526883989,653,632,654,0.449404968293,0.00448266974313,0.0596768951723,0.999999878602,-2.93228252321e-05,-0.000488356254268,-5.86903642789e-05,1793237703410933760
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.733690484,716,682,663.733690484,635,882.266309516,788,804.532619033,653,633,654,0.448863037314,0.00448981612191,0.059682725162,0.999999882748,-1.21459314287e-05,-0.000480971522515,-5.49835253093e-05,1793237703460934656
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.156938428,716,682,663.156938428,635,882.843061572,788,805.686123144,653,633,654,0.448656275474,0.00448958847693,0.0596873064506,0.999999885104,-8.22332936827e-06,-0.000476423629481,-5.23841292849e-05,1793237703477600768
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.580746822,681.580746822,663.419253178,635,882.580746822,788,805.580746822,653.419253178,633,654,0.448431252849,0.00449021148133,0.0596928070519,0.999999888786,-3.43706133232e-06,-0.000468915075984,-5.03421884271e-05,1793237703494267392
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.004764743,681.004764743,663.995235257,635,882.004764743,788,805.004764743,653.995235257,633,654,0.448199403822,0.00449115248294,0.0596986513186,0.999999892884,1.67206981095e-06,-0.000460299742474,-4.85086404066e-05,1793237703510934272
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.590723154,715,681.590723154,664,635,882.590723154,788,804.409276846,653.409276846,633,654,0.447946608235,0.0044912701933,0.0597128755469,0.999999904391,4.93226177966e-06,-0.000434767728848,-4.65993358935e-05,1793237703527600640
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,747,715.179930994,682,664.179930994,635,882.820069006,788,804.179930994,653,633,654,0.447676753595,0.00449213196139,0.0597250574678,0.999999913127,1.00094012392e-05,-0.00041433194381,-4.4433224405e-05,1793237703544267264
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,747,715.754990449,682,664.754990449,635,882.245009551,788,804.754990449,653,633,654,0.447369820999,0.00449464276099,0.0597326009779,0.999999916774,1.91104252361e-05,-0.000405397354942,-4.17045527876e-05,1793237703560933888
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746.670210638,716,682,665,635,882,788,804.670210638,653,633,654,0.447044461855,0.00449661111537,0.0597386794816,0.999999918261,2.85011016441e-05,-0.000401467657194,-3.85908234327e-05,1793237703577600512
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746.095605078,716,682,665,635,882,788,804.095605078,653,633,654,0.446705423897,0.00449817679062,0.0597436704516,0.999999918153,3.81067998942e-05,-0.000401253294915,-3.51912496072e-05,1793237703594267136
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746.490416105,716,681.509583895,665,635,882,788.490416105,804.490416105,653,633,653.509583895,0.446340531766,0.00449929108216,0.0597398156478,0.999999914025,4.41226179589e-05,-0.000411009636161,-3.27818316358e-05,1793237703610933760
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,766.341197944,746.341197944,716,681,665.658802056,635.658802056,882,788.341197944,804.341197944,653,633,653.658802056,0.445548414679,0.00450447795374,0.0597297480586,0.999999906561,6.28107636449e-05,-0.000426813208849,-2.76255068288e-05,1793237703644267264
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.81133322,746,715.18866678,681,666,636,882.81133322,788,804,653,633,654,0.444697923889,0.00450714239332,0.0597374188076,0.999999915932,8.10906802531e-05,-0.000401389894345,-2.11364642591e-05,1793237703677600512
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,715.394807315,681,666.394807315,636,882.605192685,788,804.394807315,653,633,654,0.44427535546,0.00450939230078,0.0597620644404,0.999999930551,9.12095651244e-05,-0.000360942496764,-1.7298609581e-05,1793237703694267136
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.982782397,681,666.982782397,636,882.017217603,788,804.982782397,653,633,654,0.44385599184,0.00451259147927,0.0597951794515,0.99999994645,0.000102477312438,-0.000310519387129,-1.32490431454e-05,1793237703710934016
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.718239867,746,715.718239867,682,667,636,881.718239867,788.281760133,804.281760133,653,633,654,0.442309639346,0.00451945710523,0.0598194767984,0.999999951843,0.00013947015963,-0.000277237899781,-7.3765340291e-07,1793237703760934144
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,667,636,882,788,804,653,633,654,0.441717620787,0.00452267772044,0.0598041337458,0.999999941398,0.000151637520858,-0.000306915994732,3.42799055119e-06,1793237703777601280
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,667,636,882,788,804,653,633,654,0.441101550692,0.00452564225187,0.059785664809,0.999999928818,0.000162931023375,-0.000340240023589,7.36334334421e-06,1793237703794268416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.541516351,746,716,681.541516351,667,636.458483649,882,788.458483649,804,653,633,654,0.440502932274,0.00452863671911,0.0597799326632,0.99999992138,0.000176869961655,-0.000354709238742,1.17657324488e-05,1793237703810934528
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,681,667,636,882,788,804,653,633,654,0.438712840377,0.00454022179195,0.0598352604882,0.999999941968,0.000214093399851,-0.000264008747477,2.29703761303e-05,1793237703860933632
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,667,636,882,788,804.101575003,653,633,654,0.435236944069,0.00455474687602,0.0597683122658,0.999999899055,0.000268839188302,-0.000357809435487,3.98540240165e-05,1793237703944267776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,667,636,882,788,804.684782539,653,633,654,0.434540881185,0.00455802639103,0.0597889532334,0.999999910709,0.000277116448269,-0.000316234158975,4.22364105464e-05,1793237703960934144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.736681349,667,636.263318651,882,788,804.736681349,653,633,654,0.43382451414,0.0045605807467,0.0598029806531,0.999999927333,0.000243491200794,-0.000291558165978,3.22447954395e-05,1793237703977600512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.163639821,667,636.836360179,882,788,804.163639821,653,633,654,0.433084264674,0.00456228214978,0.0598092290325,0.999999945962,0.000160579033909,-0.000286759583745,7.6985282928e-06,1793237703994267392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.410039127,667,636.589960873,882,788,804,653,633,654,0.432323154278,0.00455969158184,0.0598122184409,0.999999948754,0.00014446067184,-0.000285637147706,5.93064966223e-06,1793237704010934016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.983972821,667,636.016027179,882,788,804,653,633,654,0.431553705714,0.00455538549282,0.0598139052229,0.999999947,0.000155040112777,-0.000285984085379,1.32674014789e-05,1793237704027600384
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,666.425473276,636,881.425473276,788,804,653,632.425473276,653.425473276,0.430825096049,0.00455992495756,0.0598289238385,0.999999952114,0.000171470956357,-0.00025699763368,1.79621125602e-05,1793237704044267520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.837380572,666.162619428,636,881,788,804,653,632.162619428,653.162619428,0.430075277676,0.00456457284263,0.0598362566199,0.999999952467,0.000186725227229,-0.000244341123932,2.2273365578e-05,1793237704060934400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.256840045,666.743159955,636,881,788,804,653,632.743159955,653.743159955,0.429267939348,0.00456884631624,0.0598228530643,0.999999941924,0.0001985237902,-0.000275817087093,2.57942116683e-05,1793237704077601536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.679572901,746,716,680,666.679572901,636,881,788,804,653,633,653.679572901,0.42845934061,0.00457144331136,0.0597976995043,0.999999928899,0.000198414426751,-0.000319615070931,2.6080806476e-05,1793237704094268160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.104903049,746,716,680,666.104903049,636,881,788,804,653,633,653.104903049,0.427649741838,0.00457271010508,0.0597632229087,0.999999912248,0.000188856722986,-0.00037318995509,2.38011856937e-05,1793237704110934272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.468884846,746,716,680,666.468884846,636.468884846,881.468884846,788,803.531115154,653.468884846,633,653.468884846,0.42687805058,0.00457361803535,0.0597778028519,0.999999924066,0.000184737660963,-0.000342331661132,2.34134599917e-05,1793237704127600640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881.957611681,788,803,653.957611681,632.957611681,654,0.426114510639,0.00457438019794,0.0598030841955,0.999999939781,0.000181959886456,-0.000294565138512,2.36739981589e-05,1793237704144267264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881.385202499,788,803,653.385202499,632.385202499,654,0.425347048124,0.00457432172241,0.0598251975776,0.999999946546,0.000180767506584,-0.000271136841243,2.67577644676e-05,1793237704160933888
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.803972431,746,716,680,666.803972431,637,881,788,803,653,632,654,0.424576034508,0.00457403205488,0.0598406713403,0.999999950819,0.000178291870397,-0.000256380478065,2.90208020122e-05,1793237704177600768
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.204592114,746,716,680,666.204592114,637,881,788,803,653,632,654,0.423797713891,0.0045732666791,0.0598424832082,0.999999950905,0.000173175763919,-0.000259467766593,2.9595081749e-05,1793237704194267904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.384130829,746,716,680,666.384130829,636.615869171,881,788.384130829,803.384130829,653,632,654,0.423029455331,0.00457313351167,0.0598482134561,0.999999954795,0.000167093159391,-0.000248189477387,2.98763589023e-05,1793237704210934784
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.967330738,746,716,680,666.967330738,636.032669262,881,788.967330738,803.967330738,653,632,654,0.422266411303,0.00457332797519,0.0598559743358,0.999999960341,0.000160509684417,-0.000229466478648,3.00057925504e-05,1793237704227601408
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636.549625082,881,788.450374918,803.450374918,653.549625082,632.549625082,654,0.421451927046,0.0045772707117,0.0598345472028,0.999999949432,0.000160385883836,-0.000272952360626,3.01515217607e-05,1793237704244267776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.869086657,746,716,680,667,637,881,788,803.130913343,653.869086657,633,654,0.420638189223,0.00458008935369,0.0598069507389,0.999999933997,0.000158894569065,-0.000325333670203,3.02646530344e-05,1793237704260934144
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.291051069,746,716,680,667,637,881,788,803.708948931,653.291051069,633,654,0.419837426463,0.00457830907489,0.0597641991854,0.999999909872,0.000151423423851,-0.000395488291864,3.02631465065e-05,1793237704277600512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.285800239,746,716,680.285800239,667,636.714199761,881,788.285800239,804,653,633,654,0.419085550681,0.00457772913948,0.0597529535201,0.999999907343,0.000143636029635,-0.000404722284473,2.97019114002e-05,1793237704294267136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.861450449,746,716,680.861450449,667,636.138549551,881,788.861450449,804,653,633,654,0.418383254644,0.00457836655618,0.059773660178,0.999999928395,0.000135527905944,-0.000352172410997,2.8573016522e-05,1793237704310933760
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.447054757,716,680.552945243,667,636.447054757,881,788.552945243,804,653,633,654,0.417678554539,0.00457799008156,0.0598072974468,0.999999944975,0.000130384106522,-0.000303556974526,3.0061727867e-05,1793237704327601152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.964764541,747,716,680,666.964764541,636.964764541,881,788,803.964764541,653,633,653.964764541,0.416972581981,0.00457722482121,0.0598428338515,0.999999957879,0.000126114436437,-0.000259405461232,3.23321283304e-05,1793237704344268544
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.385520721,747,716,680,666.385520721,636.385520721,881,788,803.385520721,653,633,653.385520721,0.416258729692,0.00457541882594,0.0598444111337,0.999999957035,0.000120833745086,-0.00026491906499,3.38610725062e-05,1793237704360934912
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.191827697,746.808172303,716,679.808172303,666.191827697,636.191827697,881,788,803.191827697,653.191827697,632.808172303,653.191827697,0.41555286208,0.00457411167988,0.0598430624814,0.999999955579,0.00011451933709,-0.000273000278609,3.46059965411e-05,1793237704377601024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.765404256,746.234595744,716,679.234595744,666.765404256,636.765404256,881,788,803.765404256,653.765404256,632.234595744,653.765404256,0.414862884335,0.00457379727397,0.0598358910406,0.999999952843,0.000106147768734,-0.000286191194,3.37906727727e-05,1793237704394267648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.678463375,667,637,881,788,803.660768312,654,632.339231688,654,0.414192796637,0.00457342378221,0.059836794556,0.999999947257,0.000151883987377,-0.000285123154828,3.3485863377e-05,1793237704410934016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.826465411,667,637,881,788,803.086767295,654,632.913232705,654,0.413536474124,0.0045730093994,0.0598432864415,0.99999993422,0.000235066144234,-0.000274187033944,3.35343613992e-05,1793237704427600384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.494941001,667,636.494941001,881,788,803.505058999,654,633,654,0.412840912076,0.00457232161257,0.0598179556024,0.99999991374,0.00026493536477,-0.00031806057335,3.41622881758e-05,1793237704444267008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.902592754,680,667,636.097407246,881,788,804,654,633,654,0.412152316337,0.00457182422685,0.0597894544301,0.999999893319,0.000279970668038,-0.000365776160356,3.44284323045e-05,1793237704460933888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.32336449,680,667,636.67663551,881,788,804,654,633,654,0.411532744204,0.00457250948676,0.0597733031047,0.999999889593,0.000268592514122,-0.000384215945665,3.23946304403e-05,1793237704477600512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.252641822,680,667,637,881,788,803.747358178,653.747358178,633,654,0.410949596474,0.00457105667495,0.059778852709,0.999999898828,0.000255905299937,-0.000368596533682,3.15272211736e-05,1793237704494267136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.824576138,680,667,637,881,788,803.175423862,653.175423862,633,654,0.410412482493,0.00456690173623,0.0598118282725,0.999999922278,0.000241563676206,-0.00030993259896,3.213391632e-05,1793237704510934016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636.604131834,881.395868166,788,803.395868166,653.395868166,632.604131834,654,0.4098843604,0.0045642484981,0.0598392028318,0.999999936655,0.000231720273294,-0.000268117202979,3.32950607741e-05,1793237704527600640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636.033123917,881.966876083,788,803.966876083,653.966876083,632.033123917,654,0.409360216447,0.00456225964106,0.0598640994011,0.999999947019,0.000223866969228,-0.000233755922062,3.47015044007e-05,1793237704544267264
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.435267167,636.564732833,881.435267167,788,803.435267167,654,632,654,0.408804804545,0.00456282066856,0.0598618369845,0.999999945925,0.000218615362622,-0.000243088433721,3.55592446254e-05,1793237704560933888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715.842603126,679.842603126,666,636.842603126,881,788,803.157396874,654,632,654,0.408262826293,0.00456278644525,0.0598560618454,0.999999944244,0.000211597545632,-0.000255833974088,3.58835451363e-05,1793237704577600512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715.268082123,679.268082123,666,636.268082123,881,788,803.731917877,654,632,654,0.407761551954,0.00456075857949,0.0598454098587,0.999999942913,0.000199474419408,-0.000270493667388,3.48837034586e-05,1793237704594267648
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.305737688,666.305737688,636.305737688,881,788,803.694262312,654,632.305737688,654,0.407286225429,0.00455920069618,0.0598391849363,0.999999944147,0.000186654104332,-0.000275183457046,3.3768167452e-05,1793237704610934528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.878944041,666.878944041,636.878944041,881,788,803.121055959,654,632.878944041,654,0.406833598874,0.00455805396798,0.0598368329457,0.999999947705,0.000173223867903,-0.000271151269718,3.25514185766e-05,1793237704627601152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.534388884,880.534388884,788,803.465611116,654,633,654,0.406420377574,0.00455643904158,0.0598449821113,0.999999953453,0.00016413993782,-0.000255169373148,3.22598066935e-05,1793237704644267520
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.945145517,746.054854483,715.054854483,680,666.945145517,636,880.054854483,788,804,654,632.945145517,654,0.406017351324,0.00455483057846,0.0598550450156,0.999999958922,0.000156898783495,-0.000237690888905,3.22826010748e-05,1793237704660933888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.365728812,746.634271188,715.634271188,680,666.365728812,636,880.634271188,788,804,654,632.365728812,654,0.40561092957,0.00455448264272,0.0598565226706,0.999999959301,0.000156151938749,-0.000236495490856,3.29433850387e-05,1793237704677600512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.212066071,746.787933929,716,679.787933929,666,636,880.787933929,788,804,654,632.212066071,654,0.405213396049,0.00455348948857,0.059850200606,0.999999957329,0.000153341640415,-0.0002464114429,3.33069971982e-05,1793237704694267136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.787085132,746.212914868,716,679.212914868,666,636,880.212914868,788,804,654,632.787085132,654,0.404831074856,0.00455139203733,0.0598305292509,0.999999950738,0.000146999722666,-0.000275344570667,3.31619970509e-05,1793237704710933760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.371265261,666.371265261,636.371265261,880.371265261,788.371265261,804.371265261,654,633,654,0.404473235297,0.00454998190632,0.0598124056789,0.9999999424,0.000142905571622,-0.00030603739964,3.34446694822e-05,1793237704727600384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.960832093,666.960832093,636.960832093,880.960832093,788.960832093,804.960832093,654,633,654,0.404129790742,0.00454897591497,0.0597951921916,0.999999932562,0.000140133092187,-0.000337764924142,3.39788105932e-05,1793237704744267264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.541216449,716,680,667,636.458783551,881,788.458783551,803.917567102,654,633,654,0.403845312408,0.00454771856847,0.0598001461933,0.999999937111,0.000139005097856,-0.000324396605189,3.49593667901e-05,1793237704760933888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.879206998,716,680,667,636,881,788,803,654,633,654,0.403572041894,0.00454660437387,0.059808931983,0.999999943005,0.000138704414439,-0.000305694488949,3.6077092759e-05,1793237704777600256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.300215777,716,680,667,636,881,788,803,654,633,654,0.403325368143,0.00454610104034,0.0598262688574,0.999999950437,0.000141098019615,-0.000278933026841,3.75946339521e-05,1793237704794266880
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.726360788,680,666.726360788,636.273639212,881,788,803,654,633,654,0.403094176427,0.00454474720064,0.0598397755482,0.999999956598,0.000140221721731,-0.000256208963362,3.87081203633e-05,1793237704810933504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715.158037086,680,666.158037086,636.841962914,881,788,803,654,633,654,0.402879657466,0.00454247744334,0.0598491574793,0.999999961718,0.000135824036203,-0.000237832811906,3.93864765245e-05,1793237704827600128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.42943969,715.42943969,680,666,637,881,788,803,654,632.57056031,654,0.402678187251,0.00454132795446,0.0598545612082,0.999999964097,0.000133998949426,-0.000228619644419,3.97887641345e-05,1793237704844266752
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.976331898,715.976331898,679.976331898,666,637,881,788,803,654,632,654,0.402481911121,0.00454055733164,0.0598579800067,0.999999965331,0.000132847077893,-0.000223801637885,4.00247966163e-05,1793237704860933632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.396802388,715.396802388,679.396802388,666,637,881,788,803,654,632,654,0.402289577612,0.00453855026222,0.0598507696947,0.999999962892,0.000124233419808,-0.00023931513948,3.88536354778e-05,1793237704877600256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.181901229,679,666,637,881,788,803,654,632.181901229,654,0.402107523249,0.00453506816266,0.0598450325279,0.999999962268,0.000101058475512,-0.000253130068136,3.43006769723e-05,1793237704894266880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.758811294,679,666,637,881,788,803,654,632.758811294,654,0.401947790659,0.00452838295171,0.0598424943804,0.999999964027,4.62628730564e-05,-0.000263256446879,2.24039537221e-05,1793237704910933504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.341122542,637,881,788,803,654,633,654,0.401811498676,0.00452619569311,0.059842568128,0.999999961748,7.39180696954e-05,-0.000265928153998,1.79509966869e-05,1793237704927600128
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.927314163,637,881,788,803,654,633,654,0.401692046865,0.00452723985042,0.0598445183117,0.999999952244,0.000160807520589,-0.000263244279696,1.88457850046e-05,1793237704944266752
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.507691374,666.492308626,637,881,788,803.507691374,654,632.492308626,654,0.401590286556,0.0045274715615,0.0598460390685,0.999999950676,0.000175198578824,-0.000259924560465,1.98095518835e-05,1793237704960933376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.086916328,637,881,788,803.913083672,654,632,654,0.401493958574,0.00452737342476,0.0598477998571,0.999999951008,0.000178857686632,-0.000256044149455,2.08451244147e-05,1793237704977600256
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.759411709,746.240588291,716,680,666.759411709,637,881,788,803,654,632,654,0.401338340528,0.00452632173984,0.0598523958298,0.999999952589,0.000181552074459,-0.000247654005271,2.30008819607e-05,1793237705010933504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.184583628,746.815416372,716,680,666.184583628,637,881,788,803,654,632,654,0.401268074101,0.00452876065595,0.0598503097916,0.999999950947,0.000184183245578,-0.00025230574727,2.29157939411e-05,1793237705027600128
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.797419336,746.601290332,716,679.601290332,666,637,881,788,803.398709668,654,632.398709668,654,0.401209323506,0.00452741084299,0.0598465332345,0.999999949525,0.000183730101074,-0.000258125187742,2.37657825019e-05,1793237705044266752
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.723042558,637,881,788.276957442,803.723042558,654,632,654.276957442,0.401056606203,0.00452558362418,0.059840445774,0.999999947059,0.000183681766295,-0.000267430661533,2.49919362599e-05,1793237705110933504
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788,804,654,632.048178638,654,0.401000940879,0.00452448300646,0.0598457100111,0.999999949707,0.000180233159217,-0.000259762065758,2.50324451804e-05,1793237705177600512
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715.468102016,679.468102016,666,636.531897984,880.531897984,788,803.468102016,654,632.531897984,654,0.400988158359,0.00452368643031,0.0598510228603,0.99999995213,0.000177955769915,-0.000251875525149,2.51022066735e-05,1793237705277600256
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.111571324,746.111571324,715.111571324,679.111571324,666,637,880.888428676,788,803,654,632.888428676,654,0.400987248724,0.004524420447,0.0598517987623,0.999999952273,0.000177952769091,-0.000251322265403,2.49977407558e-05,1793237705294267136
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767.688163031,746.688163031,715.688163031,679.688163031,666,637,880.311836969,788,803,654,632.311836969,654,0.40098735368,0.0045231867586,0.059852055702,0.999999952664,0.000177567323267,-0.000250044109928,2.49027783335e-05,1793237705310933760
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767.735678252,746.735678252,715.735678252,679.735678252,666,637,880.264321748,788,803,654,632.264321748,654,0.400987117802,0.00452291089587,0.0598522483828,0.999999952791,0.000177720678537,-0.000249423968101,2.49109765017e-05,1793237705327600384
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767.160029453,746.160029453,715.160029453,679.160029453,666,637,880.839970547,788,803,654,632.839970547,654,0.400986480477,0.00452376319232,0.0598523653774,0.999999952609,0.000178508651821,-0.000249578856733,2.50406806736e-05,1793237705344267008
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.009523772,746,716,679.009523772,666,637,881,788,803,653.009523772,632.009523772,654.990476228,0.400983689698,0.00452383576782,0.0598508251054,0.999999952059,0.000178094108611,-0.000252122398367,2.44896606762e-05,1793237705377600000
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.592575902,746,716,679.592575902,666,637,881,788,803,653.592575902,632.592575902,654.407424098,0.400984311118,0.00452153965889,0.0598517454488,0.999999953088,0.000174037184083,-0.00025081245635,2.50617934238e-05,1793237705394266880
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.82701253,746,715.82701253,679.82701253,666,637,881,788,803,654,632.82701253,654,0.400985044671,0.00452019652772,0.0598524804084,0.999999953741,0.000171869742547,-0.000249662639939,2.54492294626e-05,1793237705410933760
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.252726603,746,715.252726603,679.252726603,666,637,881,788,803,654,632.252726603,654,0.400986038353,0.00452106412618,0.0598527853123,0.999999953553,0.000174085547085,-0.000248884284959,2.5408203777e-05,1793237705427600384
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.321896399,679.321896399,666.321896399,637,881,788,803,654,632,654,0.400986378867,0.00452149117299,0.0598532180542,0.999999953501,0.000175082357679,-0.000248386208115,2.54739427775e-05,1793237705444267264
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.896784296,679.896784296,666.896784296,637,881,788,803,654,632,654,0.400986206032,0.00452157197227,0.0598537512691,0.999999953559,0.000175121111149,-0.000248108413317,2.5623592498e-05,1793237705460933632
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.513388909,746,716,680,666.513388909,637,880.513388909,788,803.486611091,654,632,654,0.400985791297,0.00452296198828,0.05985418382,0.999999953364,0.000177068656611,-0.000247534062484,2.53954092132e-05,1793237705477600512
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766.077491341,746,715.922508659,679.922508659,666,637,880.154982683,788,803.922508659,654,632,654,0.400985334375,0.00452423338998,0.0598544558854,0.999999953176,0.000178840794299,-0.000247049583149,2.510821993e-05,1793237705494266880
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.654100643,746,715.345899357,679.345899357,666,637,881.308201287,788,803.345899357,654,632,654,0.400984946679,0.00452289550149,0.0598538361528,0.999999953417,0.000176792754814,-0.000247561948624,2.49735199361e-05,1793237705510933504
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.230031966,679,666,637,881.769968034,788,803,654,632.230031966,654.230031966,0.400985073287,0.00452141781159,0.059853755067,0.999999953822,0.000174730203368,-0.000247387247105,2.49966915323e-05,1793237705527600384
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,715.804946892,679,666,637,881.195053108,788,803,654,632.804946892,654.804946892,0.400985970982,0.00451973051964,0.059854481565,0.999999954475,0.000172645894083,-0.000246182437966,2.52565572612e-05,1793237705544267008
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,788,803,654,632.612195314,654.612195314,0.400985667207,0.00451987783111,0.0598542343672,0.999999954492,0.000172109745968,-0.000246501160268,2.51211205325e-05,1793237705560933632
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,788,803,654,632.025259016,654.025259016,0.400984746496,0.0045209671827,0.0598534871918,0.999999954184,0.000172368554407,-0.000247602192091,2.47827021893e-05,1793237705577600256
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.556816669,666,636.443183331,881,788,803,654,632,654,0.400985452447,0.00452038470735,0.0598540933024,0.999999954575,0.000171149761801,-0.000246847179443,2.49796877827e-05,1793237705594266880
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.863256549,679.863256549,666.136743451,636.136743451,880.863256549,788,803,654,632,654,0.400986172128,0.00452035157651,0.0598547657358,0.999999954861,0.000170737935174,-0.000245962066151,2.50823547518e-05,1793237705610933248
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.289498839,679.289498839,666.710501161,636.710501161,880.289498839,788,803,654,632,654,0.400986701906,0.00452231435498,0.0598554556329,0.999999954713,0.000173117428293,-0.000244927919773,2.48066431637e-05,1793237705627600384
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c71384096b3904cf5c3fdf2830e3167ae088cb76
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,439 @@
+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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+3,0.050000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+4,0.066666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
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+6,0.100000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+7,0.116666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+8,0.133333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+9,0.150000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
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+394,6.566666667,pose2_to_pose3_retreat,0.579183047543,0.0100012884772,1.05001172191,0.549754282338,0.0186749542033,1.04966125711
+395,6.583333333,pose2_to_pose3_retreat,0.579049264339,0.0100013063568,1.05001160353,0.549620499378,0.0186749730815,1.04966114305
+396,6.600000000,pose2_to_pose3_retreat,0.578932047277,0.0100012847166,1.05001150269,0.549503282727,0.018674952888,1.04966104346
+397,6.616666667,pose2_to_pose3_retreat,0.578830323616,0.0100012128738,1.05001149336,0.549401558959,0.0186748801296,1.04966102036
+398,6.633333333,pose2_to_pose3_retreat,0.578740120918,0.010001164781,1.05001177834,0.54931135747,0.0186748361657,1.04966130608
+399,6.650000000,pose2_to_pose3_retreat,0.578659466699,0.0100011922895,1.05001171364,0.549230704094,0.0186748669013,1.04966125097
+400,6.666666667,pose2_to_pose3_retreat,0.578587147952,0.0100012504781,1.05001167416,0.549158383061,0.018674917287,1.04966121056
+401,6.683333333,pose2_to_pose3_retreat,0.578523126107,0.0100012850364,1.05001173243,0.549094359039,0.0186749442018,1.04966126229
+402,6.700000000,pose2_to_pose3_retreat,0.578466975986,0.0100012471145,1.05001177972,0.549038211421,0.0186749148278,1.04966131085
+403,6.716666667,pose2_to_pose3_retreat,0.57841878723,0.0100011720433,1.05001160519,0.548990022777,0.018674839917,1.04966113088
+404,6.733333333,pose2_to_pose3_retreat,0.5783791422,0.0100012514433,1.05001157338,0.548950376705,0.0186749159908,1.04966110416
+405,6.750000000,pose2_to_pose3_retreat,0.578346892847,0.0100012775297,1.05001168354,0.548918127353,0.0186749419268,1.04966121048
+406,6.766666667,pose2_to_pose3_retreat,0.578321520292,0.0100012139073,1.05001166967,0.548892755987,0.0186748827666,1.04966120721
+407,6.783333333,pose2_to_pose3_retreat,0.578301624169,0.0100012231668,1.05001163267,0.548872860166,0.0186748933315,1.04966117712
+408,6.800000000,pose2_to_pose3_retreat,0.578286931213,0.0100013531107,1.05001167893,0.548858165808,0.0186750181277,1.04966121377
+409,6.816666667,pose2_to_pose3_retreat,0.578276203824,0.0100013075728,1.05001170433,0.548847437781,0.0186749702378,1.04966123458
+410,6.833333333,pose2_to_pose3_retreat,0.578268583725,0.010001258652,1.05001162932,0.548839818524,0.0186749242142,1.04966116061
+411,6.850000000,pose2_to_pose3_retreat,0.578263403978,0.0100012347315,1.05001160053,0.548834639653,0.0186749033492,1.04966113388
+412,6.866666667,pose2_to_pose3_retreat,0.578259944665,0.010001261068,1.05001172661,0.548831180775,0.0186749312392,1.0496612619
+413,6.883333333,pose2_to_pose3_retreat,0.578257985484,0.0100012711171,1.05001177658,0.548829221718,0.0186749417365,1.04966131263
+414,6.900000000,pose2_to_pose3_retreat,0.578256750745,0.0100012515149,1.05001169378,0.5488279864,0.0186749201169,1.04966122853
+415,6.916666667,pose2_to_pose3_retreat,0.578256025866,0.010001240007,1.05001164517,0.54882726118,0.0186749074246,1.04966117916
+416,6.933333333,pose2_to_pose3_retreat,0.578255825361,0.0100012368239,1.05001163172,0.54882706058,0.0186749039139,1.0496611655
+417,6.950000000,pose2_to_pose3_retreat,0.578255681165,0.0100012345347,1.05001162206,0.548826916317,0.0186749013891,1.04966115568
+418,6.966666667,pose2_to_pose3_retreat,0.57825527489,0.0100012280849,1.05001159481,0.548826509851,0.0186748942754,1.04966112801
+419,6.983333333,pose2_to_pose3_retreat,0.578254819394,0.0100012208536,1.05001156427,0.548826054141,0.0186748862999,1.04966109698
+420,7.000000000,pose2_to_pose3_retreat,0.578254344742,0.0100012270281,1.05001155845,0.548825579419,0.018674892255,1.04966109164
+421,7.016666667,pose2_to_pose3_retreat,0.578253949752,0.0100012345316,1.05001155809,0.548825184396,0.0186748996719,1.04966109185
+422,7.033333333,pose2_to_pose3_retreat,0.578253680614,0.0100012396443,1.05001155785,0.548824915237,0.0186749047256,1.04966109199
+423,7.050000000,pose2_to_pose3_retreat,0.578253623217,0.0100012407346,1.0500115578,0.548824857835,0.0186749058034,1.04966109203
+424,7.066666667,pose2_to_pose3_retreat,0.578253469224,0.01000124366,1.05001155766,0.54882470383,0.018674908695,1.04966109211
+425,7.083333333,pose2_to_pose3_retreat,0.578253142549,0.0100012498657,1.05001155736,0.548824377128,0.0186749148291,1.04966109228
+426,7.100000000,pose2_to_pose3_retreat,0.578252969268,0.0100012526301,1.05001157546,0.548824203827,0.0186749175681,1.04966111141
+427,7.116666667,pose2_to_pose3_retreat,0.578252936435,0.0100012531203,1.05001158005,0.548824170991,0.0186749180543,1.04966111624
+428,7.133333333,pose2_to_pose3_retreat,0.578252812715,0.0100012549677,1.05001159735,0.548824047255,0.0186749198864,1.04966113447
+429,7.150000000,pose2_to_pose3_retreat,0.578252664753,0.0100012571769,1.05001161804,0.548823899274,0.0186749220775,1.04966115626
+430,7.166666667,pose2_to_pose3_retreat,0.578252638114,0.0100012575747,1.05001162176,0.548823872633,0.018674922472,1.04966116018
+431,7.183333333,pose2_to_pose3_retreat,0.578252624051,0.0100012577847,1.05001162373,0.548823858568,0.0186749226803,1.04966116225
+432,7.200000000,pose2_to_pose3_retreat,0.578252557427,0.0100012587795,1.05001163304,0.548823791935,0.0186749236669,1.04966117206
+433,7.216666667,pose2_to_pose3_retreat,0.578252500108,0.0100012596353,1.05001164106,0.548823734609,0.0186749245157,1.0496611805
+434,7.233333333,pose2_to_pose3_retreat,0.578252377262,0.0100012618495,1.05001165681,0.548823611774,0.0186749268071,1.04966119724
+435,7.250000000,pose2_to_pose3_retreat,0.578252312111,0.0100012668055,1.05001165102,0.548823546893,0.0186749327233,1.04966119257
+436,7.266666667,pose2_to_pose3_retreat,0.578252219883,0.0100012738213,1.05001164284,0.548823455046,0.0186749410982,1.04966118597
+437,7.283333333,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc03d492e2d7b2b169c4d5c613dd01111f0a8dd1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257595f866bf4e7da8152f2d034b654ae8da8d3dc20d8e0e437372285d81964f
+size 27929712
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa36d57461bf570cc39f0838b352f698f1a910da
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,441 @@
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+33,0.550000000,BASELINE,767,746,716,679,666,637,880.149663708,788,803.850336292,654,632,654,0.400985923455,0.00451943567146,0.0598567397325,0.999999956181,0.000168756949879,-0.000241945556186,2.49113519007e-05,1793237706329323264
+34,0.566666667,BASELINE,767,746,716,679,666,637,880.726684786,788,803.273315214,654,632,654,0.400986195184,0.00451871360116,0.0598574571616,0.999999956345,0.000168215140079,-0.00024161670471,2.52099243096e-05,1793237706345990144
+35,0.583333333,BASELINE,767,746.306897913,715.693102087,679,666,637,881,788,803,654,632,654,0.400986729173,0.00451949671232,0.0598578295328,0.999999956294,0.000169498313775,-0.000240937064065,2.5136820793e-05,1793237706362657024
+36,0.600000000,BASELINE,767,746.889983741,715.110016259,679,666,637,881,788,803,654,632,654,0.400987499179,0.00452163438758,0.0598578913747,0.999999956043,0.000172423852389,-0.000239941736227,2.47292334499e-05,1793237706379323648
+37,0.616666667,BASELINE,767,746.528285031,715,679,666,636.528285031,881,788,803,654,632,654,0.400986982755,0.00452223571107,0.059857625794,0.999999955893,0.000172534146567,-0.000240502282054,2.45806937857e-05,1793237706395990528
+38,0.633333333,BASELINE,767,746,715,679,666,636,881,788,803,654,632,654,0.400986239331,0.00452230955519,0.0598572840536,0.999999955781,0.000171962825677,-0.000241384500503,2.45015086402e-05,1793237706412657664
+39,0.650000000,BASELINE,767,746,715,679,666,636,881,788,803,654,632,654,0.400986213494,0.00452069121322,0.0598569421654,0.999999955808,0.000171123971153,-0.000241867419722,2.45129127801e-05,1793237706429324288
+40,0.666666667,BASELINE,767,746,715,679,666,636.209813858,881,788,803.209813858,654,632,654,0.400985947177,0.00452001689015,0.0598566142189,0.999999955866,0.000170089218429,-0.000242373384925,2.43626926554e-05,1793237706445990656
+41,0.683333333,BASELINE,767,746,715,679,666,636.786595434,881,788,803.786595434,654,632,654,0.400985260257,0.004520993671,0.0598563106566,0.999999955977,0.00016871183674,-0.000242919657886,2.39297891649e-05,1793237706462657024
+42,0.700000000,BASELINE,767,746,715.359564914,679.359564914,666,637,881,788,803.640435086,654,632,654,0.400985729111,0.00452019350864,0.0598567881501,0.999999956295,0.000167548638873,-0.000242395921219,2.41270492527e-05,1793237706479323648
+43,0.716666667,BASELINE,767,746,715.930295601,679.930295601,666,637,881,788,803.069704399,654,632,654,0.400986876728,0.00451834978061,0.0598577243432,0.999999956733,0.000166511227219,-0.00024124378782,2.46943926803e-05,1793237706495990528
+44,0.733333333,BASELINE,767,746,715.47622832,679.47622832,666.52377168,636.47622832,880.47622832,788,803,653.47622832,632,654,0.400987488968,0.00451807312758,0.0598582926109,0.999999957004,0.000166455538911,-0.000240163670248,2.46293933274e-05,1793237706512657152
+45,0.750000000,BASELINE,767,746,715,679,666.883743102,636.116256898,880,788.116256898,803,653,632,654,0.400987795288,0.00451812366242,0.0598586296345,0.999999957134,0.000166609555381,-0.000239518509267,2.45633352972e-05,1793237706529323776
+46,0.766666667,BASELINE,767,746,715,679,666.307692082,636.692307918,880,788.692307918,803,653,632,654,0.400987186283,0.00451860596809,0.0598582545354,0.999999956805,0.000167052777031,-0.000240553969483,2.4841024299e-05,1793237706545990656
+47,0.783333333,BASELINE,767,746,715,679,666,637,880,789,803,653.267655449,632,654,0.400987472627,0.00451942910235,0.0598582030619,0.999999956694,0.000168232194838,-0.000240189797465,2.48893015737e-05,1793237706562657280
+48,0.800000000,BASELINE,767,746,715,679,666,637,880,789,803,653.842196456,632,654,0.400988785553,0.00452064302031,0.0598585226477,0.999999956827,0.000170255712714,-0.000238220850044,2.46745424104e-05,1793237706579323904
+49,0.816666667,BASELINE,767,746.426826676,715,679,666.426826676,636.573173324,880.426826676,788.573173324,803,654,632.426826676,654.426826676,0.400988708459,0.00452057796272,0.0598588491467,0.999999956691,0.000170858346993,-0.000238344717673,2.48439893213e-05,1793237706595990528
+50,0.833333333,BASELINE,767,746.984951756,715.015048244,679,666.984951756,636.015048244,881,788,803,654,632.984951756,654.984951756,0.40098811683,0.00452003708149,0.0598591614696,0.999999956464,0.00017088518706,-0.000239243123797,2.51452628672e-05,1793237706612656896
+51,0.850000000,BASELINE,767,746.405323291,715.594676709,679,666.405323291,636.594676709,881,788,803,654,632.405323291,654.405323291,0.400987968534,0.00451981429868,0.0598588437148,0.999999956652,0.000169495478161,-0.000239468624847,2.49340996634e-05,1793237706629323520
+52,0.866666667,BASELINE,767,746,716,679,666,636.826430153,880.826430153,788,803,654,632,654,0.400987695824,0.00451978927032,0.0598585697476,0.999999956765,0.000168507011857,-0.000239710326223,2.480255184e-05,1793237706645989888
+53,0.883333333,BASELINE,767,746,716,679,666,636.249246949,880.249246949,788,803,654,632,654,0.400987133804,0.00452022409335,0.0598583976024,0.999999956706,0.000168451581373,-0.000239989699264,2.48561388984e-05,1793237706662656512
+54,0.900000000,BASELINE,767,746.325392747,716,679,666,636.325392747,880.325392747,788,803.325392747,654,632.325392747,654,0.400987006355,0.00452006727558,0.059858135218,0.99999995667,0.000168203639701,-0.000240320202571,2.47743766515e-05,1793237706679323648
+55,0.916666667,BASELINE,767,746.898099231,716,679,666,636.898099231,880.898099231,788,803.898099231,654,632.898099231,654,0.400987209201,0.00451946078307,0.0598578042474,0.999999956652,0.000167809380507,-0.000240689567263,2.45897425868e-05,1793237706695990784
+56,0.933333333,BASELINE,767,746.512772015,715.512772015,679,666,637,880.512772015,788.487227985,804,654,632.512772015,654,0.400986918204,0.00451984567356,0.0598581047291,0.999999956413,0.000169136733226,-0.000240735823631,2.47689561677e-05,1793237706712657664
+57,0.950000000,BASELINE,767,746,715.07814657,679,666,637,880,788.92185343,803.92185343,654,632,654,0.400986627983,0.00452049272637,0.0598584429687,0.999999956161,0.000170640309147,-0.000240698349572,2.49706112251e-05,1793237706729324032
+58,0.966666667,BASELINE,767,746,715.657741896,679,666,637,880,788.342258104,803.342258104,654,632,654,0.400987028612,0.00452144514192,0.0598581465059,0.999999956154,0.000170883624099,-0.000240572342363,2.48109416602e-05,1793237706745990912
+59,0.983333333,BASELINE,767,746,715.765464569,679,666,637,880.469070862,788,803,654,632.234535431,654,0.400987364483,0.00452188343028,0.0598580804622,0.999999956203,0.000170924760303,-0.000240353752457,2.46738163751e-05,1793237706762657792
+60,1.000000000,BASELINE,767,746,715.192711342,679,666,637,881.614577316,788,803,654,632.807288658,654,0.400987606967,0.00452158030857,0.0598583467003,0.999999956333,0.000170674339527,-0.000240001651296,2.45692016199e-05,1793237706779323904
+61,1.016666667,BASELINE,767,746.380251081,715.380251081,679.380251081,666.380251081,637,881.619748919,788.380251081,803,654,633,654,0.400987071653,0.00452073069728,0.0598579789565,0.999999956394,0.000169476443053,-0.000240592401335,2.46034226163e-05,1793237706795990528
+62,1.033333333,BASELINE,767,746.953319549,715.953319549,679.953319549,666.953319549,637,881.046680451,788.953319549,803,654,633,654,0.400986141934,0.00451960397256,0.0598572897335,0.999999956417,0.000167798101442,-0.000241661251557,2.47080443305e-05,1793237706812657152
+63,1.050000000,BASELINE,767,746.452289251,715.452289251,680,666.452289251,637,881,788.452289251,803,654,632.452289251,654,0.400986076199,0.00451906800144,0.0598573671242,0.999999956385,0.000168021674232,-0.00024162517961,2.48105310106e-05,1793237706829324032
+64,1.066666667,BASELINE,767,746,715.139294851,680,666,637,881,788,803,654,632.139294851,654,0.400985875917,0.00451914663879,0.0598573647813,0.999999956191,0.000168934138096,-0.000241788354551,2.48418744233e-05,1793237706845990912
+65,1.083333333,BASELINE,767,746,715.716122221,680,666,637,881,788,803,654,632.716122221,654,0.400985012357,0.00452099123907,0.0598568984506,0.999999955497,0.000171480665678,-0.000242885151433,2.46503477692e-05,1793237706862657280
+66,1.100000000,BASELINE,767,746,716,680,666,637,881,788.29073306,803,654,632.70926694,654,0.40098529048,0.00452128587986,0.0598571648137,0.999999955675,0.00017153214811,-0.000242124700487,2.45309708081e-05,1793237706879323648
+67,1.116666667,BASELINE,767,746,716,680,666,637,881,788.863195975,803,654,632.136804025,654,0.400986674932,0.00452007855903,0.0598581411812,0.999999956696,0.000169165849936,-0.000239564515511,2.44815092733e-05,1793237706895990016
+68,1.133333333,BASELINE,767,746,716,679.548203709,666,637,880.548203709,788.548203709,803,654,632.451796291,654,0.400985986217,0.00452004792531,0.0598578315793,0.999999956592,0.000168402434193,-0.000240516209483,2.46726582559e-05,1793237706912656640
+69,1.150000000,BASELINE,767,746,716,679,666,637,880,788,803.044235398,654,632.955764602,654,0.400984831036,0.00452039371695,0.0598571603558,0.999999956158,0.000168313484594,-0.000242352879646,2.49055280536e-05,1793237706929323520
+70,1.166666667,BASELINE,767,746,716,679,666,637,880,788,803.621859317,654,632.378140683,654,0.400985901056,0.00452082302591,0.0598569979046,0.999999956019,0.0001702880715,-0.000241563188576,2.47304187108e-05,1793237706945990144
+71,1.183333333,BASELINE,767,746,715.801443305,679.198556695,666.198556695,637,880.198556695,788,803.801443305,654,632,654,0.400986702031,0.00452065476711,0.059857166781,0.99999995616,0.000170461095376,-0.000240870415678,2.45868904073e-05,1793237706962656768
+72,1.200000000,BASELINE,767,746,715.22650218,679.77349782,666.77349782,637,880.77349782,788,803.22650218,654,632,654,0.400986993005,0.00451935375784,0.0598579637227,0.999999956832,0.000167219073468,-0.000240361360902,2.45032271477e-05,1793237706979323648
+73,1.216666667,BASELINE,767,746,715.357170694,679.642829306,666.642829306,637,881,788,803,654,632,654,0.400986106618,0.0045190659618,0.059857707337,0.999999956649,0.000167688573499,-0.000240789783579,2.45413835686e-05,1793237706995990016
+74,1.233333333,BASELINE,767,746,715.946519591,679.053480409,666.053480409,637,881,788,803,654,632,654,0.40098445489,0.00451943680338,0.0598567662376,0.999999955908,0.000170570742264,-0.000241827611914,2.4658728671e-05,1793237707012656384
+75,1.250000000,BASELINE,767,746,716,679,666,637,881,788,803,654,632.52707492,654,0.400985877934,0.00452036165111,0.0598581637359,0.999999956069,0.000171862772012,-0.000240230789065,2.47716070798e-05,1793237707029323520
+76,1.266666667,BASELINE,767.105915704,746,715.894084296,679,666.105915704,637,880.894084296,788,802.894084296,654,632.894084296,654,0.400987345546,0.0045211062537,0.0598593678544,0.999999956342,0.00017235852322,-0.000238730111854,2.48220395835e-05,1793237707045990144
+77,1.283333333,BASELINE,767.681048767,746,715.318951233,679,666.681048767,637,880.318951233,788,802.318951233,654,632.318951233,654,0.400987651151,0.00452080740902,0.0598586813151,0.999999956725,0.000170029727877,-0.000238820228618,2.45978052223e-05,1793237707062657536
+78,1.300000000,BASELINE,767.743189092,746,715.256810908,679.256810908,666.743189092,637,880.256810908,788,802.256810908,654,632.256810908,654,0.400988077772,0.0045199860087,0.0598583718327,0.999999957047,0.000167839629823,-0.000239026871689,2.452447446e-05,1793237707079324160
+79,1.316666667,BASELINE,767.166643778,746,715.833356222,679.833356222,666.166643778,637,880.833356222,788,802.833356222,654,632.833356222,654,0.400988655062,0.00451851401682,0.0598585317931,0.999999957297,0.000165822212677,-0.000239378592196,2.46390215301e-05,1793237707095990272
+80,1.333333333,BASELINE,767,746,716,679.582882367,666.417117633,637,881,788.417117633,803,654,633,654,0.400986733751,0.00451976318534,0.059858150568,0.999999956631,0.000168619543969,-0.000240205548448,2.46175976218e-05,1793237707112656896
+81,1.350000000,BASELINE,766.99621682,746,716,679.00378318,667,637,881,788.99621682,803,654,632.99621682,654,0.400983827032,0.00452209688087,0.0598575564305,0.999999955585,0.000173333297858,-0.000241212468024,2.4541487407e-05,1793237707129323776
+82,1.366666667,BASELINE,766.414074503,746,716,679.585925497,667,637,881,788.414074503,803,654,632.414074503,654,0.400985565925,0.00452110555774,0.0598580483878,0.999999956097,0.000171780047865,-0.000240195014721,2.45559015094e-05,1793237707145990912
+83,1.383333333,BASELINE,766.165563207,746,716,679.834436793,666.834436793,637,880.834436793,788,803,654,632,654,0.400986930155,0.00452040622873,0.0598584604252,0.999999956528,0.000170354842756,-0.000239425381457,2.44759830619e-05,1793237707162657536
+84,1.400000000,BASELINE,766.739030351,746,716,679.260969649,666.260969649,637,880.260969649,788,803,654,632,654,0.400987371317,0.00452042629581,0.0598586755608,0.999999956762,0.000169245106043,-0.000239266310995,2.4163654173e-05,1793237707179323904
+85,1.416666667,BASELINE,767,746,716,679.31346124,666,637,880,788,803,654,632,654,0.400986892365,0.00452015651598,0.0598581055003,0.999999956587,0.000169035167044,-0.000240139689654,2.42275456798e-05,1793237707195990784
+86,1.433333333,BASELINE,767,746,716,679.888696929,666,637,880,788,803,654,632,654,0.400985645015,0.00451964468227,0.0598568797149,0.999999956067,0.000169576657699,-0.000241875276354,2.46056224175e-05,1793237707212657408
+87,1.450000000,BASELINE,767,746,715.523719131,679.523719131,666,636.523719131,880,788.476280869,803,654,632,654,0.400985967827,0.00451894165942,0.0598574291566,0.999999956232,0.000169446410816,-0.00024126872216,2.47769772486e-05,1793237707229324032
+88,1.466666667,BASELINE,767,746,715.065579456,679.065579456,666,636.065579456,880.065579456,788.934420544,803,654,632,654.065579456,0.400986773461,0.00451837427587,0.0598583775549,0.999999956586,0.000169157739018,-0.000239990189616,2.48853846768e-05,1793237707245990144
+89,1.483333333,BASELINE,767,746,715.64509881,679.64509881,666,636.64509881,880.64509881,788.35490119,803,654,632,654.64509881,0.400988410751,0.00451922935219,0.0598591148118,0.999999957142,0.000168890486085,-0.000237849046669,2.48891513705e-05,1793237707262657024
+90,1.500000000,BASELINE,767,746,716,679.777603649,666,637,881,788,803,654,632,654.777603649,0.400988472232,0.00451970145829,0.0598591519422,0.999999957287,0.000168238528288,-0.000237711807765,2.48170586832e-05,1793237707279323648
+91,1.516666667,BASELINE,767,746,716,679.20381667,666,637,881,788,803,654,632,654.20381667,0.400986043901,0.00451956846381,0.0598580828588,0.999999956778,0.000166978729236,-0.000240740777027,2.46251066751e-05,1793237707295990528
+92,1.533333333,BASELINE,767,746,716,679.379831758,666.379831758,637,881,788,803.379831758,654,632.379831758,654,0.400985471446,0.00452031030813,0.0598582332559,0.999999956356,0.000168783447813,-0.0002412383872,2.45764885836e-05,1793237707312657408
+93,1.550000000,BASELINE,767,746,716,679.968912916,666.968912916,637,881,788,803.968912916,654,632.968912916,654,0.400985921394,0.00452153410133,0.059859055465,0.999999955976,0.000172276409701,-0.000240341471377,2.460683316e-05,1793237707329323776
+94,1.566666667,BASELINE,767,746,716,679.451415109,666.451415109,637,881,788,804,654,632.451415109,654,0.40098694437,0.00452130689738,0.0598589752567,0.999999956243,0.000171979943929,-0.000239441217456,2.45800633053e-05,1793237707345990144
+95,1.583333333,BASELINE,767,746,715.872664083,679.127335917,666,637,881,788,803.872664083,654,632,654.127335917,0.400987852805,0.00452088739676,0.0598589689816,0.999999956595,0.000171188475731,-0.000238537986443,2.45818858281e-05,1793237707362657024
+96,1.600000000,BASELINE,767,746,715.295315013,679.704684987,666,637,881,788,803.295315013,654,632,654.704684987,0.400988243626,0.00452007399502,0.0598594016683,0.999999957115,0.000169393739826,-0.000237624891196,2.46960008934e-05,1793237707379323648
+97,1.616666667,BASELINE,766.71881649,746.28118351,715.28118351,679.71881649,666.28118351,637,881.28118351,788,803,654,632.28118351,654.71881649,0.400987511176,0.00451985104049,0.0598590856489,0.999999956993,0.000168956927553,-0.000238438578668,2.47725111438e-05,1793237707395990272
+98,1.633333333,BASELINE,766.143208601,746.856791399,715.856791399,679.143208601,666.856791399,637,881.856791399,788,803,654,632.856791399,654.143208601,0.400985602562,0.00452024633724,0.0598579856671,0.999999956197,0.000169941983346,-0.000241060362734,2.48096457698e-05,1793237707412656896
+99,1.650000000,BASELINE,766.442768524,746.557231476,716,679.442768524,667,637,882,788,803,654,632.557231476,654,0.400985657861,0.00452101640513,0.0598579321908,0.999999956133,0.000170713974792,-0.000240809440378,2.45383328699e-05,1793237707429323776
+100,1.666666667,BASELINE,767,746,716,680,667,637,881.968333891,788,803,654,632.031666109,654,0.400986363628,0.00452181942063,0.0598582265221,0.999999956306,0.00017138972642,-0.000239640233992,2.42013205361e-05,1793237707445990400
+101,1.683333333,BASELINE,767,746,716,680,667,637,881.388332861,788,803,654,632.611667139,654,0.400987069903,0.00452104364037,0.0598585418031,0.999999956402,0.000171620905095,-0.000239044932118,2.44956015516e-05,1793237707462657024
+102,1.700000000,BASELINE,767,746,716,679.810241592,666.810241592,637,881,788,803.189758408,654,632.810241592,654,0.400987515792,0.00452009642811,0.0598586780779,0.999999956603,0.000170993713635,-0.000238630881749,2.47268462846e-05,1793237707479323648
+103,1.716666667,BASELINE,767,746,716,679.236019698,666.236019698,637,881,788,803.763980302,654,632.236019698,654,0.40098743412,0.00451880188303,0.0598584516739,0.999999957013,0.00016862740567,-0.000238584059371,2.48303751714e-05,1793237707495990272
+104,1.733333333,BASELINE,767,746,715.663195683,679,666,637,881,788,803.663195683,654,632.336804317,654,0.400987764508,0.0045195373159,0.0598586561572,0.999999956931,0.000169893628014,-0.000238029050663,2.4812832995e-05,1793237707512656896
+105,1.750000000,BASELINE,767,746,715.091347141,679,666,637,881,788,803.091347141,654,632.908652859,654,0.400988382457,0.00452168940088,0.059859161342,0.999999956497,0.000173694868908,-0.000237119396069,2.47107994706e-05,1793237707529323776
+106,1.766666667,BASELINE,767,746.501129447,715.501129447,679.501129447,666,636.498870553,881,788,803.501129447,653.498870553,632.498870553,654,0.400987828879,0.00452244666069,0.0598586385463,0.999999956309,0.000173638768741,-0.000237967885625,2.45439832426e-05,1793237707545990400
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,715,680,666,637,881,788,803,654,632,654,0.400989599463,0.00452037680014,0.0598596574543,0.999999957265,0.00017063550064,-0.000236083148715,2.48599120838e-05,1793237707588909312
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.425190222,715.574809778,679.425190222,666,637,881,788,803,654,632,654,0.400988147214,0.00451998478611,0.0598589986635,0.999999957188,0.000169070936013,-0.000237522080132,2.49271532749e-05,1793237707605575424
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.846605972,881,788,803,654,632.153394028,654,0.400987097105,0.00451961383022,0.0598587245587,0.999999957238,0.000167516645663,-0.000238415619303,2.48933131131e-05,1793237707622241536
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.257295257,881,788,803,654,632.742704743,654,0.400987189799,0.00451930271748,0.0598595436584,0.999999957657,0.000165991552497,-0.00023775925766,2.45722189659e-05,1793237707638907904
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.327192401,636.327192401,881,788,803.327192401,654,633,654,0.400987764523,0.00451932205286,0.059859954666,0.999999957748,0.000166522965626,-0.000237011327941,2.44774098546e-05,1793237707655574272
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.907942399,636.907942399,881,788,803.907942399,654,633,654,0.400988712795,0.00451959746886,0.0598600494229,0.999999957584,0.000168648067425,-0.000236192437626,2.45579602438e-05,1793237707672240896
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,788,803.516373873,654,633,654,0.400987176431,0.00452071223694,0.0598589049703,0.999999956724,0.000171269893339,-0.000237928157134,2.46673232573e-05,1793237707688907776
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715.940569985,679,666.940569985,637,881,788,803,654,633,654.059430015,0.40098548533,0.00452171104823,0.0598577082726,0.999999955868,0.000173401489986,-0.000239964603527,2.47769042902e-05,1793237707705574144
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715.355257907,679,666.355257907,637,881,788,803,654,633,654.644742093,0.400986566601,0.00452028467921,0.0598581148948,0.999999956282,0.000170367180852,-0.000240403860562,2.48403870962e-05,1793237707722241280
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.228438217,679.228438217,666,637,881,788,803,654,633,654.771561783,0.400990311221,0.00451966796463,0.0598599067081,0.999999957155,0.000168801066204,-0.000237859734711,2.48845313225e-05,1793237707738907904
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.809638876,679.809638876,666,637,881,788,803,654,633,654.190361124,0.40099816868,0.00452030154744,0.0598638375828,0.999999958711,0.000169502190116,-0.00023070856258,2.48988122182e-05,1793237707755574528
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.389541443,637,881,788,803.389541443,654,632.610458557,654,0.401017013512,0.00452052974064,0.0598722676729,0.999999961895,0.0001693851003,-0.000216564829394,2.48533215336e-05,1793237707772240896
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.968811817,637,881,788,803.968811817,654,632.031188183,654,0.401041209824,0.004520560486,0.0598828891382,0.999999965631,0.000168869493686,-0.000199015318897,2.4778718671e-05,1793237707788907520
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.457120965,666.457120965,637,881,788,803.457120965,654,632,654,0.401090174281,0.00451997700233,0.0599007069351,0.999999971567,0.000169145956045,-0.000166220799669,2.5022078304e-05,1793237707805574144
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.880285295,679,666,637,881,788,803,654,632,654,0.401142691025,0.00451933492739,0.0599184183217,0.999999976251,0.000169105254287,-0.000135115246233,2.53891095901e-05,1793237707822240768
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.291440362,679,666,637,881,788,803,654,632,654,0.401203605142,0.00451860021711,0.059934107992,0.999999979104,0.000167645045575,-0.000114027816132,2.6169874246e-05,1793237707838907392
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.29237191,679,666,637,880.70762809,788.29237191,803,654.29237191,632,654,0.401270100345,0.00451868201821,0.0599455768459,0.999999981011,0.000167112495177,-9.67975853538e-05,2.61266423633e-05,1793237707855574272
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.87125241,679,666,637,880.12874759,788.87125241,803,654.87125241,632,654,0.401342064707,0.00451956395616,0.0599529095279,0.999999982181,0.000167488999664,-8.334720169e-05,2.52759385877e-05,1793237707872241152
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.449257982,637,880.449257982,789,803.449257982,654.550742018,632,654,0.401422865512,0.00451827256446,0.0599561228473,0.99999998329,0.000163942418554,-7.70467982e-05,2.46349213627e-05,1793237707888907776
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715.973190038,679,666.973190038,637,880.973190038,788.973190038,804,653.973190038,632,654,0.401507190624,0.0045165182398,0.0599581986989,0.999999984352,0.000159470258275,-7.2723341075e-05,2.40252134288e-05,1793237707905574400
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715.399783617,679,666.399783617,637,880.399783617,788.399783617,804,653.399783617,632,654,0.401611840282,0.00451799916613,0.0599611055086,0.999999984853,0.000159004439903,-6.70114707679e-05,2.2831078031e-05,1793237707922240768
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.179240581,666.179240581,637,880.179240581,788,803.820759419,653.179240581,632.179240581,654,0.401722360698,0.00451836554239,0.0599638968793,0.9999999855,0.000157279852334,-6.15462002973e-05,2.17952152073e-05,1793237707938907392
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.771200183,666.771200183,637,880.771200183,788,803.228799817,653.771200183,632.771200183,654,0.401846399093,0.0045161655576,0.0599664224403,0.99999998652,0.000152656825275,-5.66487509335e-05,2.11237906782e-05,1793237707955574016
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.645650153,746,715.354349847,679.645650153,667,637,881,788,803.354349847,654,632.645650153,654,0.40198422304,0.00451552565133,0.0599669918522,0.999999987361,0.000148761220997,-5.25750212385e-05,1.95910593029e-05,1793237707972240896
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.068050916,746,715.931949084,679.068050916,667,637,881,788,803.931949084,654,632.068050916,654,0.402130732247,0.00451586863388,0.059966328841,0.999999988086,0.000145323911065,-4.90202553452e-05,1.7515682706e-05,1793237707988907520
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.507410626,746,716,679.507410626,666.492589374,637,881,788,803.492589374,654,632,654,0.402299553013,0.00451572513733,0.0599669332183,0.9999999888,0.000141863179909,-4.49747359114e-05,1.59007522377e-05,1793237708005574144
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.082427043,715.917572957,679.917572957,666,636.917572957,880.917572957,788,803,653.917572957,632,654,0.402476800175,0.00451571376052,0.0599679285432,0.999999989468,0.00013869049824,-4.03062438123e-05,1.42713423834e-05,1793237708022241024
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.65649158,715.34350842,679.34350842,666,636.34350842,880.34350842,788,803,653.34350842,632,654,0.402686534078,0.00451687792857,0.0599702461192,0.999999989984,0.000137254547836,-3.2312938489e-05,1.218879183e-05,1793237708038907648
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.76215175,715.23784825,679.23784825,666,636.23784825,880.23784825,788,803.23784825,653,632,654,0.402908684819,0.00451720070369,0.0599728149919,0.999999990629,0.000134417281276,-2.39260408024e-05,1.0046825052e-05,1793237708055574272
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.169930475,715.830069525,679.830069525,666,636.830069525,880.830069525,788,803.830069525,653,632,654,0.403149335546,0.0045162698771,0.0599757582745,0.999999991474,0.00012949217667,-1.49527255044e-05,7.8163334366e-06,1793237708072240896
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.58893545,679.58893545,666.41106455,637,881,788,804,653.41106455,632,654,0.403401127742,0.00451580894646,0.0599753196852,0.99999999223,0.000123525664975,-1.58955128119e-05,5.38420169615e-06,1793237708088907776
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.012457899,679.012457899,666.987542101,637,881,788,804,653.987542101,632,654,0.403657403275,0.00451553710268,0.0599735202253,0.999999992918,0.000117140089596,-2.08285551241e-05,2.87092971601e-06,1793237708105574400
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.436046821,881,788,803.436046821,654,632,654,0.403935758854,0.00451628369518,0.0599639396581,0.999999992833,0.000114518032528,-3.49330495808e-05,2.05981478611e-08,1793237708122241280
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.143377667,679,667,636.143377667,881,788,803,654,632,654,0.404224027322,0.00451697166886,0.0599550243507,0.999999992717,0.00011065507905,-4.80831596704e-05,-3.02551280467e-06,1793237708138907904
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.732167974,679,667,636.732167974,881,788,803,654,632,654,0.404541575746,0.00451740765696,0.0599487096372,0.999999993045,0.000102678954333,-5.76390886783e-05,-6.6566974008e-06,1793237708155574528
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.316222321,667,637,881,788,803.316222321,654,632,654,0.404877496556,0.00451692716732,0.0599422430755,0.999999993213,9.42544267566e-05,-6.77167045125e-05,-1.01826430329e-05,1793237708172241408
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.896324687,667,637,881,788,803.896324687,654,632,654,0.405228748724,0.00451568189875,0.0599356497993,0.999999993196,8.54557167194e-05,-7.82296567083e-05,-1.36207696386e-05,1793237708188907776
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.527317822,881,788,804,654,632,654,0.405625163266,0.00451474474859,0.0599434079299,0.999999994806,7.59758173282e-05,-6.58608698575e-05,-1.66640777899e-05,1793237708205574400
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.951992649,679.951992649,667,636.048007351,881,788,803.951992649,654,632,654,0.406035217005,0.00451389855162,0.0599554139916,0.999999996508,6.65706071486e-05,-4.65352409823e-05,-1.96470200264e-05,1793237708222241024
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.379044181,679.379044181,667,636.620955819,881,788,803.379044181,654,632,654,0.406486947275,0.00451331372963,0.0599797206193,0.999999997946,5.96029622528e-05,-5.58593074469e-06,-2.29093493979e-05,1793237708238907648
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.201194647,715.201194647,679.201194647,667,637,881,788,803,654,632.201194647,654.201194647,0.406952521001,0.00451231103138,0.0600016210744,0.999999997941,5.02650046077e-05,3.0104353471e-05,-2.61872022353e-05,1793237708255574016
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.795684637,715.795684637,679.795684637,667,637,881,788,803,654,632.795684637,654.795684637,0.407445155892,0.00451049146858,0.0600188179413,0.999999997365,3.62935595805e-05,5.55142898734e-05,-2.9495400203e-05,1793237708272240896
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.620847236,716,680,667,636.620847236,881,788,803,654,632.620847236,654.620847236,0.407922111977,0.00451091807636,0.0600196340062,0.999999997814,2.75981776062e-05,5.00643115856e-05,-3.32181148671e-05,1793237708288907520
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.043150739,716,680,667,636.043150739,881,788,803,654,632.043150739,654.043150739,0.408390857824,0.00451252089373,0.0600118722468,0.99999999867,2.16656118934e-05,2.84545065398e-05,-3.71578915153e-05,1793237708305574400
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.470884374,746,715.470884374,679.470884374,667,636.529115626,881,788,803.529115626,653.470884374,632,654,0.408890151637,0.00451125788935,0.0600001297176,0.999999999073,1.34579235567e-05,3.77675966469e-06,-4.07344926183e-05,1793237708322241024
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.104394192,746,715,679,667,637,881,788.104394192,804,653.104394192,632,654,0.409402164881,0.00450971713521,0.0599912990865,0.999999998895,4.88861890388e-06,-1.47300025277e-05,-4.43663096312e-05,1793237708338907648
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.695768765,746,715,679,667,637,881,788.695768765,804,653.695768765,632,654,0.409962008604,0.00450795989273,0.0599975509597,0.999999998813,-4.51083048405e-06,-3.29493314334e-06,-4.83924568322e-05,1793237708355574272
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.281646989,715,679,667,636.718353011,881,788.718353011,804,654,632,654,0.410552287702,0.00450670401306,0.0600044882406,0.999999998427,-1.48658534122e-05,1.2065248899e-05,-5.27260442956e-05,1793237708372240896
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.86170185,715,679,667,636.13829815,881,788.13829815,804,654,632,654,0.411174813461,0.00450597933221,0.0600121517188,0.999999997511,-2.62333174563e-05,3.15841294352e-05,-5.7385368354e-05,1793237708388907776
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.561818461,747,715.438181539,679.438181539,667,636.438181539,881.438181539,788,803.561818461,653.561818461,632,654,0.411780994649,0.00450588608269,0.0600082460035,0.999999997217,-3.43782216186e-05,2.37854080647e-05,-6.17873192352e-05,1793237708405574400
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013485924,746.986514076,716,679.986514076,667,637,881.986514076,788,803.013485924,653,632,654,0.412381906882,0.00450608538175,0.0600002501203,0.999999997093,-3.87130408068e-05,6.66591056196e-06,-6.53499015799e-05,1793237708422240768
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.586466558,746.413533442,716,679.413533442,667,637,881.413533442,788,803.586466558,653,632,654,0.412976512232,0.00451022058784,0.0599728269877,0.999999995726,7.31670920718e-05,-4.23414678304e-05,-3.74321628113e-05,1793237708438907648
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.834316799,637,880.834316799,788,803.834316799,653,632.165683201,654,0.413584907386,0.00451325214756,0.0599501888592,0.999999984981,0.000150242142291,-8.43600566133e-05,-1.8693774374e-05,1793237708455574528
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.238926818,637,880.238926818,788,803.238926818,653,632.761073182,654,0.414229066975,0.00451342135092,0.0599399608542,0.999999984467,0.000137048652718,-0.000108252906096,-2.37624437653e-05,1793237708472240896
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.65481267,746,715.65481267,679,666.34518733,637,880.34518733,788,803.34518733,653.34518733,632.65481267,654,0.414953364539,0.00450561794127,0.0599623533832,0.99999999093,0.000112298603637,-6.89872272298e-05,-2.77418809983e-05,1793237708488907520
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.078256407,746,715.078256407,679,666.921743593,637,880.921743593,788,803.921743593,653.921743593,632.078256407,654,0.41573137621,0.00449247072318,0.0600066104988,0.999999996256,7.98025318409e-05,1.26117604544e-05,-3.09912375289e-05,1793237708505574656
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.495933237,746,715.495933237,679.495933237,667,637,881.495933237,788,803.504066763,653.504066763,632,654,0.4164570181,0.00448237885428,0.0600267975149,0.999999998449,7.80505117945e-06,4.53572228341e-05,-3.13648475037e-05,1793237708522241024
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.928585355,881.928585355,788,803.071414645,653,632,654,0.417170422104,0.00447426057882,0.0600387320443,0.999999995541,-6.29864808105e-05,6.29224280987e-05,-3.14807699674e-05,1793237708538907392
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.341083203,881.341083203,788,803.658916797,653,632,654,0.41785482253,0.00447693716923,0.0600183464996,0.999999995893,-8.02320895106e-05,2.6230296387e-05,-3.2998222203e-05,1793237708555574016
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.756839384,667,636.243160616,881,788,803.756839384,653,632,654,0.418565140564,0.00447851120785,0.060000047048,0.999999995559,-8.75840216442e-05,-3.82377301156e-06,-3.45994823436e-05,1793237708572240640
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.177105534,667,636.822894466,881,788,803.177105534,653,632,654,0.419311332815,0.00447855913861,0.0599846350805,0.999999995736,-8.12415235645e-05,-2.46897063216e-05,-3.63167463113e-05,1793237708588907776
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.40168986,716,679.40168986,667.40168986,637,881.40168986,788,803,653,632,654,0.420072656602,0.0044779995665,0.0599707799132,0.999999995315,-7.7746918446e-05,-4.3122203166e-05,-3.82947792056e-05,1793237708605574656
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.980072418,716,679.980072418,667.980072418,637,881.980072418,788,803,653,632,654,0.420840636305,0.00447717277002,0.059957609542,0.999999994505,-7.5505026148e-05,-6.0484294703e-05,-4.03875173146e-05,1793237708622241280
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716,680,667.445213444,637,882,788,803,653.554786556,632,654,0.42156021208,0.00447832570046,0.0599350476445,0.999999991215,-6.20834817905e-05,-0.000110298524534,-3.93776063359e-05,1793237708638907904
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.867543147,746.867543147,716,680,667,637,881.867543147,788,803,654,632.132456853,654,0.42229595831,0.00447860899944,0.0599213652033,0.999999988118,-5.1267551654e-05,-0.000140068019903,-3.89504618854e-05,1793237708655574016
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.279249068,746.279249068,716,680,667,637,881.279249068,788,803,654,632.720750932,654,0.423093297586,0.00447565643488,0.0599393938273,0.999999993181,-5.07914597891e-05,-9.68703778271e-05,-4.09098597626e-05,1793237708672240640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.304998053,746,716,679.695001947,667.304998053,637,881,788.304998053,803.609996107,653.695001947,632.695001947,654,0.423922911458,0.00447474747747,0.0599778150156,0.9999999975,-4.83379064537e-05,-3.00438716339e-05,-4.19622795241e-05,1793237708688907520
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.885588365,746,716,679.114411635,667.885588365,637,881,788.885588365,804.771176729,653.114411635,632.114411635,654,0.424781688189,0.00447568509696,0.0600346626578,0.999999996448,-4.40975445549e-05,5.81333654194e-05,-4.21951654013e-05,1793237708705574144
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.538416704,746,716,679.461583296,667.538416704,636.538416704,881.461583296,788.538416704,804.538416704,653,632.461583296,654,0.425596298304,0.00447546462918,0.0600462087471,0.999999995247,-3.87212505763e-05,7.88165993998e-05,-4.23632077029e-05,1793237708722241024
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715.963504386,680,667,636,881.963504386,788,803.963504386,653,632.963504386,654,0.426398164531,0.0044748907667,0.0600450397733,0.999999995264,-3.34852377418e-05,8.08379532015e-05,-4.26197886516e-05,1793237708738907904
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715.387924968,680,667,636,881.387924968,788,803.387924968,653,632.387924968,654,0.427171900757,0.00447329515464,0.0600202818611,0.999999997075,-3.44393450384e-05,5.18811074333e-05,-4.44192619902e-05,1793237708755575296
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.193232901,746,715.193232901,680.193232901,667,636,881,788,803,653,632,654,0.427938583202,0.00447214262532,0.0599999987667,0.999999998046,-3.47207757588e-05,2.432434787e-05,-4.5948135298e-05,1793237708772242176
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.785922823,746,715.785922823,680.785922823,667,636,881,788,803,653,632,654,0.428690683993,0.00447190605002,0.0599889661493,0.999999998334,-3.36116289022e-05,-3.38115529438e-07,-4.69176162444e-05,1793237708788908032
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.631164158,746.368835842,716,680.631164158,667,636.368835842,881.368835842,788,803.368835842,653,632.368835842,654,0.429436635863,0.00447248300221,0.0599710248247,0.99999999791,-2.91604449529e-05,-3.25629597916e-05,-4.76275936039e-05,1793237708805574400
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.053779281,746.946220719,716,680.053779281,667,636.946220719,881.946220719,788,803.946220719,653,632.946220719,654,0.430179110934,0.00447351994326,0.0599491771445,0.999999996194,-2.28195894506e-05,-6.90637623554e-05,-4.81908410263e-05,1793237708822241280
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.519803864,746.480196136,716,680,667,637,881.480196136,788,803.480196136,653,633,654,0.430987467114,0.00447071200709,0.0599588424342,0.999999997507,-2.69348010703e-05,-4.31454322294e-05,-4.89762316694e-05,1793237708838907904
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.093237467,667,637,881,788,803.093237467,653,633,654,0.431801114601,0.00446783642903,0.0599762273154,0.999999998242,-3.17435059428e-05,-5.50082173325e-06,-4.97880182744e-05,1793237708855574528
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680.667915131,667,637,881,788,803.667915131,653,633,654,0.432607144167,0.0044666507067,0.0600167601088,0.999999996345,-3.45877511518e-05,5.95895216993e-05,-5.0618289256e-05,1793237708872241152
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680.748028862,667,637,881.251971138,788,804,653,633,654,0.433372824789,0.00446528697229,0.0600337620968,0.999999994582,-3.55353977385e-05,8.35467748144e-05,-5.09226124433e-05,1793237708888907776
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680.151134907,667,637,881.848865093,788,804,653,633,654,0.434083271751,0.00446367955756,0.0600185528061,0.99999999684,-3.38867939344e-05,5.11970127786e-05,-5.05069668095e-05,1793237708905574400
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.571381492,746,716,680,667,637,882,788,804,653.428618508,633,654,0.434791478695,0.00446139199753,0.0599931840532,0.999999997972,-3.57959405846e-05,1.06710841583e-05,-5.15881433443e-05,1793237708922241024
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.002552331,746.002552331,716,680.002552331,667,637,882,788.002552331,803.997447669,653.997447669,633,654,0.435498916826,0.00445888366902,0.0599644503608,0.999999997302,-3.88711943501e-05,-3.25415201358e-05,-5.3167437714e-05,1793237708938907136
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.574672414,746.574672414,716,680.574672414,667,637,882,788.574672414,803.425327586,653.425327586,633,654,0.436204259583,0.00445857017724,0.0599534878036,0.999999996463,-3.29865613107e-05,-5.66826288281e-05,-5.26533529675e-05,1793237708955574016
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,747,716,681,667.152127053,637,882,788.847872947,803.152127053,653.152127053,632.847872947,654,0.436899994501,0.00445802695838,0.0599462689229,0.99999999549,-2.86387163965e-05,-7.38660880449e-05,-5.23860492514e-05,1793237708972240640
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,747,716,681,667.745038576,637,882,788.254961424,803.745038576,653.745038576,632.254961424,654,0.437567891105,0.00445681811075,0.059949897252,0.999999995679,-2.87436766908e-05,-7.08899314198e-05,-5.28337875813e-05,1793237708988907520
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.669782156,716,681,668,636.669782156,881.669782156,788,804,654,632.330217844,654,0.438226030449,0.00445355268222,0.0599480426767,0.999999994893,-3.22252726132e-05,-7.97672984469e-05,-5.3043013303e-05,1793237709005574400
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.090436408,716,681,668,636.090436408,881.090436408,788,804,654,632.909563592,654,0.438876808534,0.00444873569711,0.0599420516059,0.999999993098,-3.82543206848e-05,-9.75873789724e-05,-5.30722967192e-05,1793237709022241024
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.484885886,716,681,667.515114114,636,881.484885886,788,804,653.515114114,633,654,0.439560675126,0.00444591771107,0.0599692578688,0.999999996474,-3.87486945475e-05,-5.2396799948e-05,-5.29714889876e-05,1793237709038907904
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.93904678,715.93904678,681,667.06095322,636,882,788.06095322,804,653,633,654,0.440245441631,0.00444360763769,0.0600020027843,0.999999997911,-3.75383110543e-05,2.20855681441e-06,-5.25831679189e-05,1793237709055574784
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.35007832,715.35007832,681,667.64992168,636,882,788.64992168,804,653,633,654,0.440884983516,0.00444249427342,0.0600295323501,0.999999997592,-3.04288810136e-05,3.74038096044e-05,-4.99126812952e-05,1793237709072240896
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.767011964,746,715,681,668,636,882.232988036,788.767011964,804.232988036,653,633,654,0.441489918744,0.00444145652501,0.060035718506,0.999999997505,-2.7139840389e-05,4.31556674786e-05,-4.88942888846e-05,1793237709088907520
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.192594816,746,715,681,668,636,882.807405184,788.192594816,804.807405184,653,633,654,0.442044140066,0.00444052958693,0.0600106272536,0.999999998285,-2.94493374964e-05,5.76010443029e-06,-5.02969354621e-05,1793237709105573888
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.384639779,746,715.384639779,681,668,636.384639779,882.615360221,788.384639779,804.615360221,653,633,654,0.44257934444,0.00443750393451,0.0599854136288,0.999999997512,-3.65068783455e-05,-3.01444981539e-05,-5.22856612056e-05,1793237709122240768
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.963295574,746,715.963295574,681,668,636.963295574,882.036704426,788.963295574,804.036704426,653,633,654,0.443104956531,0.00443341967025,0.0599601382759,0.999999995323,-4.59593784611e-05,-6.5297049241e-05,-5.45700110293e-05,1793237709138907392
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667.449503122,637,882,788.449503122,804,653,633,654,0.443635062348,0.00443243900954,0.0599626577158,0.999999995351,-5.01708411873e-05,-6.03521883529e-05,-5.60300622083e-05,1793237709155574016
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.86341885,746,716,681,667,636.86341885,882,788,804,653,633,654,0.444157730624,0.00443146349543,0.0599682309013,0.999999995483,-5.61204387832e-05,-5.07834204521e-05,-5.74892713496e-05,1793237709172240640
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.282847004,746,716,681,667,636.282847004,882,788,804,653,633,654,0.444655232135,0.00442982141766,0.0599776116993,0.999999995267,-6.88741474661e-05,-3.50114041895e-05,-5.91272223474e-05,1793237709188907776
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.704019492,681,667,636.295980508,882,788,804,653,633,654,0.445115500654,0.0044279560771,0.0599749984416,0.999999990985,-0.000112418851446,-4.1635655648e-05,-6.0482162933e-05,1793237709205574656
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.12684918,681,667,636.87315082,882,788,804,653,633,654,0.445540396755,0.00442587863072,0.0599609904933,0.999999978535,-0.000185215865296,-6.95369917851e-05,-6.1568235314e-05,1793237709222241280
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.447377352,746,715,681,666.552622648,636.552622648,881.552622648,788,804,653,633,654,0.445918814611,0.00442584458223,0.0599324356078,0.999999970418,-0.000202167358686,-0.000119723768681,-6.29176200856e-05,1793237709238907648
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,715.019352609,681.019352609,666,636,881.019352609,788,804,653,633,654,0.446284741368,0.00442638745713,0.0599007322797,0.999999962075,-0.000203376103578,-0.000174197516181,-6.43717570559e-05,1793237709255574016
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,715.553500269,681.553500269,666,636,881.553500269,788,804,653,633,654,0.446666659995,0.00442696562405,0.0598942791348,0.999999961477,-0.000204269784582,-0.000175721658759,-6.6639370792e-05,1793237709272240896
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.105779951,716,682,666,635.894220049,881.894220049,788,804,653,633,654,0.447045990233,0.00442731520612,0.059890630142,0.99999996145,-0.000205034902684,-0.000174222756598,-6.86102122695e-05,1793237709288907776
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.75042833,716,682,666,635.24957167,881.24957167,788,804,653,633,654,0.447412134485,0.00442650032195,0.0599012661747,0.999999964197,-0.000205145090242,-0.000157323739318,-6.90692240133e-05,1793237709305574400
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746.647240357,715.647240357,681.647240357,665.647240357,635,881.352759643,788,804.352759643,653,633,654,0.447754324199,0.00442471694005,0.059908057491,0.999999966518,-0.000202118196931,-0.000146418729762,-6.83590946487e-05,1793237709322241024
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.071640862,715.071640862,681.071640862,665.071640862,635,881.928359138,788,804.928359138,653,633,654,0.448081381759,0.00442232175371,0.0599124200839,0.999999968633,-0.000197109595561,-0.000139300160181,-6.69104136412e-05,1793237709338907648
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,715.506790715,681.506790715,665,635,882,788,804.493209285,653,632.493209285,653.493209285,0.44836177263,0.00442418846071,0.0599055551308,0.999999977415,-0.000142660275248,-0.000149224068293,-5.05047207993e-05,1793237709355574528
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.913020835,746,716,681.913020835,665,635,882,788,804.086979165,653,632,653.086979165,0.448628412027,0.00442699221405,0.0598949343356,0.999999981667,-9.04802353605e-05,-0.000165028687534,-3.52951713581e-05,1793237709372241152
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.325031357,746,716,681.325031357,665,635,882,788,804.674968643,653,632,653.674968643,0.448854053822,0.00443170367143,0.0598718729677,0.999999974861,-9.18553771809e-05,-0.000200751901318,-3.92228948083e-05,1793237709388907776
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.259097487,746,715.740902513,681.259097487,664.740902513,635,882,788,805,653,632,654,0.449067667421,0.004433081914,0.0598500703541,0.999999966909,-9.6099870025e-05,-0.000234877546144,-4.21799111134e-05,1793237709405574400
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.838454332,746,715.161545668,681.838454332,664.161545668,635,882,788,805,653,632,654,0.449266413469,0.00443034011155,0.0598298236343,0.999999957986,-0.000103891045294,-0.000267028502023,-4.39370774825e-05,1793237709422241024
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,715.414753537,682,664,635,882,788,804.585246463,653,632,654,0.449461818182,0.00443032528136,0.0598231368319,0.999999954864,-0.000107155276904,-0.000276920009191,-4.58849564144e-05,1793237709438907648
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,715.9898705,682,664,635,882,788,804.0101295,653,632,654,0.449655930973,0.00443136482827,0.0598216929383,0.999999954249,-0.000108669176838,-0.000278204955123,-4.7906573856e-05,1793237709455574272
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,635,882,788,804,653,632,654,0.4498295519,0.00442979414254,0.0598231683337,0.999999955196,-0.000111417269098,-0.000273616544533,-4.82423597461e-05,1793237709472241152
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,715.852611721,682,663.852611721,635,882,788,804,653,632,654,0.449994318125,0.00442907564219,0.0598230017845,0.999999955072,-0.000113272116376,-0.000273212662918,-4.8797323701e-05,1793237709488907776
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,715.262178517,682,663.262178517,635,882,788,804,653,632,654,0.450133571712,0.00443105946073,0.0598177422671,0.999999951617,-0.00011237537985,-0.000285703889852,-5.01019854229e-05,1793237709505574400
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,715,682,663.322145509,634.677854491,882,788,804,653,632.322145509,654,0.450258157348,0.00443344886642,0.0598110511555,0.999999948729,-0.000110917500226,-0.00029596490733,-5.14144358653e-05,1793237709522241280
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,715,682,663.901590169,634.098409831,882,788,804,653,632.901590169,654,0.450371027638,0.0044361622167,0.0598032166221,0.999999946325,-0.000109011432848,-0.000304444647257,-5.27331073383e-05,1793237709538907648
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.475837064,715.475837064,682,663.524162936,634.475837064,882,788,804,653,633,654,0.450472881565,0.00443608881998,0.0598037798683,0.999999946585,-0.000109094232189,-0.000303482817322,-5.3159641982e-05,1793237709555574272
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.950844633,715.950844633,682,663,635,882,788,804,653,633,654,0.450570832344,0.00443601956591,0.0598058601168,0.999999947441,-0.000108964949449,-0.000300628093127,-5.35565085952e-05,1793237709572240896
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.376084947,715.376084947,682,663,635,882,788,804,653,633,654,0.450651146335,0.00444209064302,0.0598057910182,0.999999948773,-0.000102217268995,-0.000298186712205,-5.5587701371e-05,1793237709588908288
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,715,681.795474535,663,634.795474535,882,788,804.204525465,653,632.795474535,654,0.450724269228,0.00445129449186,0.0598053435838,0.999999949472,-9.33473755193e-05,-0.000298204352547,-5.8451406729e-05,1793237709605575168
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,715,681.203788923,663,634.203788923,882,788,804.796211077,653,632.203788923,654,0.450783779596,0.00446642857677,0.0598041799717,0.999999948918,-8.04602012407e-05,-0.000302876841432,-6.28910315859e-05,1793237709622241792
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.380201799,715.380201799,681,662.619798201,634,882,788,805,653,632.380201799,654,0.450834401545,0.00447749619461,0.0598038348485,0.999999949018,-6.89664400924e-05,-0.000304906616143,-6.51120396705e-05,1793237709638908160
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.960149845,715.960149845,681,662.039850155,634,882,788,805,653,632.960149845,654,0.450880353791,0.00448642741617,0.059803919734,0.999999949437,-5.82047354424e-05,-0.000305547990538,-6.61674550899e-05,1793237709655574528
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746.467586075,716,681,662.532413925,634,882,788,804.467586075,653,633,654,0.450914336079,0.00448255833749,0.0598022413025,0.999999948682,-6.12686294051e-05,-0.000307533904427,-6.56080307749e-05,1793237709672241152
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.892274232,746,716,681.107725768,663,634,882,788,804,653,633,654,0.450945539617,0.0044793914064,0.059800612203,0.999999947858,-6.42948347365e-05,-0.000309671615728,-6.52247700812e-05,1793237709688907520
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.300728092,746,716,681.699271908,663,634,882,788,804,653,633,654,0.450968229734,0.00448361970001,0.0597997889869,0.999999947167,-6.25702883736e-05,-0.000312045533189,-6.61678199867e-05,1793237709705574144
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.284468846,746,716,682,663,634,882,788,804.284468846,653,633,654,0.450987485381,0.00448420547137,0.0597987722649,0.999999946571,-6.18473644699e-05,-0.000314089165442,-6.61819016603e-05,1793237709722240768
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.863100293,746,716,682,663,634,882,788,804.863100293,653,633,654,0.451003189527,0.00448102459592,0.0597975554428,0.999999946078,-6.21601947858e-05,-0.000315791257758,-6.52353590621e-05,1793237709738907136
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.564751371,746,716,682,662.564751371,634,882,788,804.564751371,653,633,654,0.451011181559,0.00448088657808,0.0597947510059,0.999999944778,-6.02951756159e-05,-0.000320318002063,-6.48438343689e-05,1793237709755574016
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.005619791,746,716,682,662,634,882,788,804.005619791,653,633,654,0.451016756753,0.00448168679029,0.0597914748129,0.999999943205,-5.77820534274e-05,-0.000325691732534,-6.46253955843e-05,1793237709772240896
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.60031804,746,716,682,662,634,882,788,804.60031804,653,633,654,0.451019529975,0.00448198385852,0.0597903234555,0.999999942411,-5.80831013385e-05,-0.000328086609605,-6.45198503786e-05,1793237709788907520
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.81005038,746,716,682,662.18994962,634,882,788,805,653,633,654,0.451022798883,0.0044821342685,0.0597894473753,0.99999994189,-5.8490381317e-05,-0.000329614225487,-6.44415865194e-05,1793237709805574144
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.230802871,746,716,682,662.769197129,634,882,788,805,653,633,654,0.451027083687,0.00448198410537,0.0597891354698,0.999999941937,-5.91153817437e-05,-0.000329364407021,-6.44192352334e-05,1793237709822241024
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.346127219,746,716,682,662.653872781,634,882,788,805,653,632.653872781,654,0.451029378952,0.00448275253626,0.0597883064628,0.999999941806,-5.82464153807e-05,-0.00032986664845,-6.46792940505e-05,1793237709838907648
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.921522273,746,716,682,662.078477727,634,882,788,805,653,632.078477727,654,0.451030356385,0.00448412942571,0.0597871349379,0.999999941553,-5.63878748932e-05,-0.000330867039511,-6.51264157437e-05,1793237709855574272
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,716,681.503221045,662.496778955,634,882,787.503221045,804.503221045,653,632.496778955,654,0.451030260684,0.00448346826301,0.0597866793153,0.99999994119,-5.50777694129e-05,-0.000332317583548,-6.44349872987e-05,1793237709872240896
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.073751604,716,681.073751604,662.926248396,634,882,787.147503208,804.073751604,653,633,654,0.451030128187,0.00448262491906,0.059786232847,0.999999940831,-5.39881377063e-05,-0.00033371597797,-6.36947679283e-05,1793237709888907520
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746.662867576,716,681.662867576,662.337132424,634,882,788.325735151,804.662867576,653,633,654,0.451030922859,0.00448275768302,0.059785060289,0.999999940649,-5.38338981119e-05,-0.000334253177109,-6.38700909652e-05,1793237709905574400
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.752232006,716,682,662,634.247767994,882,788.752232006,804.752232006,653,633,654,0.451031674087,0.00448347354834,0.0597844606909,0.999999940626,-5.31522150082e-05,-0.000334415001835,-6.39442509707e-05,1793237709922241024
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.172971557,716,682,662,634.827028443,882,788.172971557,804.172971557,653,633,654,0.45103236719,0.00448496955359,0.059784627664,0.999999940817,-5.17648574276e-05,-0.000334074607668,-6.38830634885e-05,1793237709938907904
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716,682,662,634.595180035,882,788,804,653,633,654,0.451031928478,0.00448394250853,0.0597842970199,0.999999940482,-5.22240081177e-05,-0.000335025105677,-6.37697314555e-05,1793237709955574528
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,682,662,634.018013921,882,788,804,653,633,654,0.451031007912,0.00448184131179,0.0597837545226,0.999999939921,-5.34692826412e-05,-0.00033652518207,-6.36341996499e-05,1793237709972240896
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,682,662,634,882,788,804,653,632.443492734,654,0.451029728707,0.00448242615405,0.0597823701296,0.999999939244,-5.22045194189e-05,-0.000338746663499,-6.35358585608e-05,1793237709988907264
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,716,682,662,634,882,788,804,653,632.134792133,654,0.451029062591,0.00448305613883,0.059781478039,0.999999938819,-5.13986336414e-05,-0.000340138942763,-6.34483440571e-05,1793237710005574400
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,682,662,634,882,788,804,653,632.726112811,654,0.451030512078,0.00448354593192,0.0597823451942,0.999999939277,-5.24208045607e-05,-0.000338644074943,-6.33934401693e-05,1793237710022241024
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746,715.690348989,682,662.619302021,634,882,788,804,653,633,654,0.45103170744,0.00448395371029,0.0597831140731,0.999999939544,-5.36493580767e-05,-0.000337588730363,-6.37706901822e-05,1793237710038907648
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,715.113525678,682,663.772948644,634,882,788,804,653,633,654,0.451032683538,0.00448429072488,0.0597837981573,0.999999939648,-5.50559820492e-05,-0.000336912614189,-6.45208101322e-05,1793237710055574272
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.538061284,746,715,682,663.076122568,634,882,788,804,653,633,654,0.451032668964,0.00448377372187,0.0597830555508,0.9999999395,-5.40179070369e-05,-0.000337579962135,-6.41991260241e-05,1793237710072241152
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+271,4.516666667,HOLD_POSE2,766,746.335305149,716,682,662.335305149,634,882,788,804,653,633,654,0.451031040403,0.00448451220359,0.0597786467152,0.999999937423,-5.09352901645e-05,-0.000344264922773,-6.35698239639e-05,1793237710336241920
+272,4.533333333,HOLD_POSE2,766,746,715.757041736,682,662,634,882,788,804,653,633,654,0.451030432256,0.00448463200161,0.0597777681685,0.99999993706,-5.05157496476e-05,-0.000345381891041,-6.3560216548e-05,1793237710352908544
+273,4.550000000,HOLD_POSE2,766,746,715.181158509,682,662,634,882,788,804,653,633,654,0.451030260347,0.00448413140091,0.0597781614035,0.999999937303,-4.87833959222e-05,-0.000345037030901,-6.29605854975e-05,1793237710369575424
+274,4.566666667,HOLD_POSE2,766.394347628,746,715,681.605652372,662,634,881.605652372,787.605652372,804,653,632.605652372,654,0.45103053444,0.00448382889199,0.0597783915132,0.999999937425,-4.94302157818e-05,-0.000344601643022,-6.28975699009e-05,1793237710386242048
+275,4.583333333,HOLD_POSE2,766.969680751,746,715,681.030319249,662,634,881.030319249,787.030319249,804,653,632.030319249,654,0.451031013225,0.00448361729707,0.0597785467567,0.99999993749,-5.11689550935e-05,-0.000344124707488,-6.30808334378e-05,1793237710402908416
+276,4.600000000,HOLD_POSE2,766.440013037,746,715.559986963,681,662,634,881,787.559986963,804.559986963,653,632.559986963,654,0.451029624696,0.00448432340863,0.0597776113327,0.999999936713,-5.14694875174e-05,-0.000346297505528,-6.32653040215e-05,1793237710419575040
+277,4.616666667,HOLD_POSE2,766.146878809,746,715.853121191,681,662,634,881.146878809,788,805,653,633,654,0.451029160763,0.00448497330314,0.0597774294865,0.999999936427,-5.15573014618e-05,-0.000347089585575,-6.3383408572e-05,1793237710436241408
+278,4.633333333,HOLD_POSE2,766.721404446,746,715.278595554,681,662,634,881.721404446,788,805,653,633,654,0.451031691298,0.00448531087665,0.0597796183854,0.999999937709,-5.12587199847e-05,-0.000343432439739,-6.33080888084e-05,1793237710452908032
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,662,634,882,788,804,653,632,654,0.451031937993,0.00448276228564,0.0597796549041,0.999999937547,-5.23397084862e-05,-0.000343800082702,-6.29872990044e-05,1793237710489825280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.425928563,682,662,634,882,788,804.574071437,653,632,654,0.451030887721,0.00448237332696,0.0597787379752,0.999999937413,-4.94719273382e-05,-0.000344718686095,-6.24106668004e-05,1793237710506491904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.847059311,746,715.152940689,682,662,634,882,788,805,653,632,654,0.451030085366,0.00448220112601,0.0597778038101,0.999999937125,-4.75904793813e-05,-0.000345870304286,-6.21158832428e-05,1793237710523158272
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.329663329,746,716,682,662,634,882.329663329,788,805,653,632.329663329,654,0.45103061498,0.00448264150448,0.0597772897308,0.999999936439,-5.00531484293e-05,-0.000347371952201,-6.28416200046e-05,1793237710556491264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.907251042,746,716,682,662,634,882.907251042,788,805,653,632.907251042,654,0.45103176718,0.0044822837097,0.0597788523794,0.999999937011,-5.19780097922e-05,-0.000345441528502,-6.28221190373e-05,1793237710573157888
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.060787786,746.939212214,716,682,662,634,882,788,804,653,632.939212214,654,0.451029281941,0.00448414286323,0.0597759711937,0.999999936487,-4.74944204565e-05,-0.000347558690337,-6.3029195693e-05,1793237710606491136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.649210826,746.350789174,716,682,662,634,882,788,804,653,632.350789174,654,0.451028713844,0.00448538418069,0.0597755930222,0.999999936268,-4.76838015918e-05,-0.000348148969969,-6.3106299196e-05,1793237710623158784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.765907802,662,634,882,788,804,653,632,654,0.451026777152,0.00448599712224,0.0597746887989,0.999999935763,-4.74885960845e-05,-0.000349633215251,-6.30461466591e-05,1793237710639825920
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.186254603,662,634,882,788,804,653,632,654,0.451022820177,0.00448568247102,0.0597730080311,0.999999934832,-4.67256734531e-05,-0.000352437110034,-6.27833802088e-05,1793237710656492288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.60912175,681.39087825,662,634,882,787.60912175,804,653.39087825,632,654,0.451011218128,0.00448536217313,0.0597671971471,0.999999931592,-4.77878959948e-05,-0.000361352209092,-6.29007292827e-05,1793237710673158912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,715.033182105,681.966817895,662,634,882,787.033182105,804,653.966817895,632,654,0.450995996516,0.0044850392018,0.0597594308585,0.999999927143,-4.97142338565e-05,-0.000373160659394,-6.31980441063e-05,1793237710689825536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.46104181,746,715,682,662,634,882,787.53895819,804,653.46104181,632,654,0.450964551572,0.00448451232689,0.0597455227334,0.999999918546,-4.89502641089e-05,-0.000395649122573,-6.30413627891e-05,1793237710706492160
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746.874282802,716,682,662,634,882.125717198,788,805,653,633,654,0.450757555956,0.00448713007125,0.0596874042996,0.999999885559,-4.34779980084e-05,-0.000472095880352,-6.41722564085e-05,1793237710773158656
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.976565634,716,681.023434366,662.976565634,634,882,788,805.976565634,653,633,654,0.45061330876,0.00448932209601,0.0596775669559,0.999999879708,-3.76645595938e-05,-0.000484863465884,-6.38112447003e-05,1793237710806491904
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.389239061,716,681.610760939,662.389239061,634,882,788,805.389239061,653,633,654,0.45052568681,0.00448729355961,0.0596766667474,0.999999878172,-3.81176722165e-05,-0.000488127154603,-6.27314880468e-05,1793237710823158272
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,662,634,882.35460138,788,804.64539862,653.64539862,633,654,0.450187880259,0.00449095017771,0.0596694777058,0.99999987293,-2.87972913944e-05,-0.000499626351872,-6.06994097669e-05,1793237710873157888
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,662.498723267,634,883,788,804,653.498723267,633,654,0.449902769225,0.00449337179665,0.0596656940498,0.999999869474,-2.15037956814e-05,-0.00050709303066,-5.87101251155e-05,1793237710906491392
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.934258157,746.065741843,716,681.934258157,662.934258157,634.065741843,882.934258157,788,804,654,633,654,0.449746785008,0.00449632453663,0.0596643489318,0.999999868949,-1.52737867075e-05,-0.000508474777644,-5.76359511966e-05,1793237710923158016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.333704572,746.666295428,716,681.333704572,662.333704572,634.666295428,882.333704572,788,804,654,633,654,0.449565725323,0.00449670215526,0.0596666545934,0.99999987075,-1.18082430626e-05,-0.000505196565743,-5.60001623549e-05,1793237710939824896
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,747,716,681.584690982,663.415309018,634,882,788,804,653,633,654,0.448931939966,0.00449792113042,0.0596809985184,0.999999879765,-2.92196651834e-06,-0.000487701754522,-5.10667872791e-05,1793237710989824768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747,716,681.008890282,663.991109718,634,882,788,804,653,633,654,0.448698033142,0.00450076716393,0.0596862278347,0.999999883107,5.32894250468e-06,-0.000480938577498,-4.95546841191e-05,1793237711006491136
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746.836483958,716,682,664,635,882,788,804.836483958,653,633,654,0.448178424118,0.00450171578484,0.0596958411001,0.999999890182,1.79508883121e-05,-0.000466145447755,-4.49758033145e-05,1793237711039824640
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.811549112,746,715.188450888,681,667,636,882,788,804,653,633,653.811549112,0.439269338572,0.00454472420394,0.0598061637519,0.99999992811,0.000212495376863,-0.000313244247286,2.24426852445e-05,1793237711356491264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.231996125,746,715.768003875,681,667,636,882,788,804,653,633,653.231996125,0.438651457175,0.00454897414781,0.0598362164224,0.999999938655,0.000225229006413,-0.000266914142131,2.67908756831e-05,1793237711373158400
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.921859979,746,716,681,667,636,882,788,804,653,633,653.921859979,0.437256168069,0.00455575823181,0.0598133100459,0.999999919458,0.000254839964104,-0.000308032007525,3.54514519064e-05,1793237711406491904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.502726855,746,715.502726855,681,666.502726855,636,881.502726855,788,804,653,633,654,0.436516365618,0.00455919745518,0.0597827160166,0.999999901069,0.000264455204023,-0.000355639974266,3.80167490395e-05,1793237711423158272
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,666.07416559,636,881.07416559,788,804.07416559,653,633,654,0.435781985802,0.00456251124376,0.0597568831945,0.999999884731,0.000273152877921,-0.000392805764847,4.03648109002e-05,1793237711439824896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,666.662240649,636,881.662240649,788,804.662240649,653,633,654,0.43510930965,0.00456467123501,0.059773557721,0.999999899394,0.000281697660013,-0.000346407777748,4.31212087337e-05,1793237711456491264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.247513788,746,715.247513788,681,667,636.247513788,882,788,804.752486212,653,633,654,0.43441358978,0.00456644799463,0.0597899108177,0.999999920712,0.000245939429044,-0.000311516515007,3.23684671352e-05,1793237711473157888
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.594799915,667,636.594799915,882,788,804,653,633,654,0.432931947554,0.00456442664109,0.0598087404483,0.999999949262,0.00012922051645,-0.000291166244103,4.9839930466e-07,1793237711506491392
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.020813328,667,636.020813328,882,788,804,653,633,654,0.432165449344,0.00455925421897,0.0598062317268,0.999999945948,0.000139012729708,-0.000297836811739,8.4780989633e-06,1793237711523158272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.550360071,716,680,667,636,882,788,804,653,633,654,0.431406782251,0.00456673459013,0.0598161184198,0.999999948725,0.000161480227467,-0.000276229463938,1.30831936144e-05,1793237711539824896
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.873267611,716,680,667,636.126732389,881.873267611,788,804,653.126732389,633,654,0.430646146312,0.00457321243053,0.0598265408856,0.999999950403,0.000181611772277,-0.0002567019213,1.77494550195e-05,1793237711556491520
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.277252058,716,680,667,636.722747942,881.277252058,788,804,653.722747942,633,654,0.429877128818,0.00457421510852,0.0598372203027,0.999999950475,0.000191327430821,-0.00024881559486,2.31123787996e-05,1793237711573157888
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.113092084,746,716,680,666.113092084,636.113092084,881.886907916,788.886907916,804,653.113092084,633,654,0.428247415829,0.00457766069951,0.0597833937889,0.99999991724,0.000202085788804,-0.00035197426611,2.82104070689e-05,1793237711606491392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,666.463497657,636,882,789,804,653.463497657,633,654,0.42746662857,0.00457929307357,0.0597751404941,0.999999921011,0.000190905157692,-0.000347752905887,2.45241499874e-05,1793237711623158016
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.040517193,746,716,680,667,636.040517193,881.959482807,789,804,653.959482807,633,654,0.426697802188,0.00458074183658,0.0597764946792,0.999999931526,0.000176992324011,-0.000324371495111,2.00997811684e-05,1793237711639824640
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.627489638,746,716,680,667,636.627489638,881.372510362,789,804,653.372510362,633,654,0.425932889789,0.0045807272529,0.0598087944803,0.999999943621,0.000176263297437,-0.000284854307218,2.33846674814e-05,1793237711656491520
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.787698221,637,881,788.787698221,804.212301779,653.212301779,632.787698221,654,0.425156318902,0.00458119529582,0.059833088905,0.99999995055,0.000176357393271,-0.00025903924385,2.63997862643e-05,1793237711673158144
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.206638328,637,881,788.206638328,804.793361672,653.793361672,632.206638328,654,0.424359497649,0.00458250163824,0.0598434783763,0.999999950729,0.000177881213935,-0.000257024114577,2.89463322436e-05,1793237711689825024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.370697891,637,881.370697891,788,804.629302109,654,632.370697891,654,0.423581250292,0.00458295931498,0.0598460769777,0.999999952771,0.000173669926988,-0.000251840497783,2.95326555507e-05,1793237711706491648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.945979028,637,881.945979028,788,804.054020972,654,632.945979028,654,0.422813253669,0.00458294862433,0.0598443759009,0.999999955762,0.000166293510155,-0.000244908234872,2.90371578227e-05,1793237711723158272
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.099639052,746,716,680,667,636.099639052,881,788.099639052,804,653.900360948,632.900360948,654,0.421233813817,0.00458328968428,0.0598378288086,0.999999951393,0.000153442223232,-0.000269708673566,3.04286584109e-05,1793237711756491008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.691546923,746,716,680,667,636.691546923,881,788.691546923,804,653.308453077,632.308453077,654,0.420400201572,0.00458554473762,0.0597914948489,0.99999992567,0.000151367429624,-0.00035328813258,3.05885086627e-05,1793237711773157888
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.151312352,746,716,680,667,636.151312352,881.848687648,788.151312352,804,653.848687648,632.848687648,654,0.418876553068,0.00458475342239,0.0597565419468,0.999999914237,0.000135628809632,-0.000390327983458,2.78395639393e-05,1793237711806491136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,667,636.425507543,881.574492457,788,804,653.574492457,632.574492457,654,0.418170610663,0.00458464922286,0.0597824940095,0.999999930882,0.000129455244018,-0.000347361836685,2.85902914351e-05,1793237711823157760
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.57652651,746,715.42347349,680,667,636.42347349,881,788,804,653,632,654,0.416769148067,0.00458225323735,0.059837165867,0.999999955846,0.000118511053366,-0.000270567158064,3.25103925222e-05,1793237711856491776
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.844203502,746,715,680.155796498,667,636.155796498,881,788,804,653,632.155796498,654,0.416059094529,0.00457999373825,0.059847501752,0.99999995904,0.000111717802356,-0.000261280728466,3.42322052805e-05,1793237711873158656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.247678626,746,715,680.752321374,667,636.752321374,881,788,804,653,632.752321374,654,0.415338721392,0.00457901649908,0.0598391769255,0.999999954067,0.00010296790527,-0.000282964508924,3.45678992852e-05,1793237711889824768
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.911434951,746,715,680.088565049,667,636.088565049,881,788,804,653,632.088565049,654,0.413983688082,0.00457856382914,0.0598413713147,0.999999956583,9.71498496398e-05,-0.000276278267138,3.26678869722e-05,1793237711923158016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.482397445,715.482397445,680,667,636.482397445,881,788,803.517602555,653,632.482397445,654,0.413317309024,0.00457759717001,0.0598317357442,0.999999937089,0.000196298338384,-0.000293561934475,3.3329015719e-05,1793237711939824896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.945093272,746.945093272,715.945093272,680,666.945093272,637,881,788,803.054906728,653.054906728,632.945093272,654,0.412650534506,0.00457661231281,0.0598177775172,0.999999903095,0.000302199967697,-0.000318302304304,3.41902870002e-05,1793237711956491520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.349933634,746.349933634,715.349933634,680,666.349933634,637,881,788,803.650066366,653.650066366,632.349933634,654,0.411980030798,0.00457712671523,0.0597849308658,0.999999888462,0.000294498710475,-0.000367725249703,3.35319179043e-05,1793237711973158144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.238703757,746,715.238703757,680,666.238703757,636.761296243,881,788,804,654,632.238703757,654,0.411351981806,0.00457662419065,0.059772713523,0.999999886539,0.000283877033691,-0.000381135717429,3.27229449462e-05,1793237711989824768
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.028249484,746,715.028249484,679.028249484,667,636.971750516,881,788,803.028249484,654,632.028249484,654,0.409703859872,0.0045697243074,0.0598495973942,0.999999936724,0.000245295742337,-0.000255418742976,3.38096463198e-05,1793237712039824384
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.557576898,746,715.557576898,679,666.442423102,637,880.442423102,788,803,654,632,654,0.409182179043,0.004568529311,0.059861017867,0.999999941959,0.000239741123559,-0.000239578339863,3.47651638709e-05,1793237712056491008
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715.857654769,679.142345231,666,636.857654769,880.142345231,788,803,654,632.142345231,654,0.408656723916,0.00456733745111,0.0598654540145,0.999999944739,0.000232922232683,-0.000234577251908,3.52468936487e-05,1793237712073157888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715.2776336,679.7223664,666,636.2776336,880.7223664,788,803,654,632.7223664,654,0.408117510073,0.00456593736846,0.0598517049037,0.999999941567,0.000221296548851,-0.000258288987613,3.43490377441e-05,1793237712089824512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.29992451,679.70007549,666,636.29992451,881,788,803,653.70007549,633,653.70007549,0.407609506938,0.00456499992719,0.0598408343486,0.999999939171,0.000210572300217,-0.000276004073454,3.37385365566e-05,1793237712106491392
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.875221156,679.124778844,666,636.875221156,881,788,803,653.124778844,633,653.124778844,0.407130159577,0.00456448725472,0.0598326067059,0.999999937774,0.000200675694396,-0.000288213404894,3.33918667631e-05,1793237712123158272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.450549469,666,637,881,788,803.450549469,653.450549469,633,653.901098938,0.40669773263,0.00456313120693,0.059837022094,0.999999943561,0.000192309883139,-0.000273529178384,3.28102232262e-05,1793237712139824640
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.026470226,636.973529774,881,788.026470226,803.973529774,654,632.973529774,654.973529774,0.406279482855,0.00456154866911,0.0598448597219,0.999999950721,0.000184445103807,-0.000251991410989,3.221641163e-05,1793237712156491264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.614779818,636.385220182,881,788.614779818,803.385220182,654,632.385220182,654.385220182,0.405886315717,0.00456011678053,0.0598510105697,0.999999954038,0.000178215765438,-0.000243084918581,3.27456762312e-05,1793237712173157888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.799334668,636.200665332,881,788.799334668,803,653.799334668,632,654,0.405490277675,0.00455849934019,0.0598511322207,0.999999954876,0.000172752502331,-0.000243501828153,3.33529891684e-05,1793237712189824768
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.21804721,636.78195279,881,788.21804721,803,653.21804721,632,654,0.405088794146,0.00455652994533,0.0598398176868,0.999999950963,0.000168742331954,-0.000261603373301,3.41083441753e-05,1793237712206491648
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.065978996,746,716,679.065978996,666.934021004,636.065978996,881,788,803.934021004,653.934021004,632,654,0.404349196028,0.00455657476005,0.0598048133868,0.999999934184,0.000163005143544,-0.000322353776861,3.3896219415e-05,1793237712239824384
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.509501694,746,716,679.509501694,667,636.509501694,881,788,803.490498306,654,632,654,0.404035423309,0.00455463834492,0.059797033712,0.999999930406,0.000163026221564,-0.000333760816494,3.48322815764e-05,1793237712256491264
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.912780195,679.912780195,666.912780195,636.912780195,880.912780195,788.087219805,803,654,632.087219805,654,0.403737933618,0.00455268881617,0.0597943220872,0.999999929554,0.000163505203233,-0.000335958287469,3.59136831107e-05,1793237712273158144
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715.322653889,679.322653889,666.322653889,636.322653889,880.322653889,788.677346111,803,654,632.677346111,654,0.403497912073,0.00455247195152,0.0598124957657,0.999999940355,0.000164661028714,-0.000301353500916,3.69052923107e-05,1793237712289825024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.73721251,746,715.26278749,679.26278749,666,636,880.26278749,788.73721251,803,654,632.73721251,654,0.403262221561,0.00455224793493,0.0598300421229,0.999999949087,0.000165162595822,-0.000270370062093,3.80459262619e-05,1793237712306491648
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.15742263,746,715.84257737,679.84257737,666,636,880.84257737,788.15742263,803,654,632.15742263,654,0.403031755616,0.00455201529092,0.0598468317367,0.999999955925,0.000164874926501,-0.000243755082691,3.93663297779e-05,1793237712323158016
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.415808911,746,716,680,666,636,881,788,803,654,632,654,0.402817200713,0.00455100391227,0.0598536189604,0.999999958283,0.000166087927529,-0.000232831263655,4.04741891306e-05,1793237712339824384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.986596046,746,716,680,666,636,881,788,803,654,632,654,0.4026085761,0.00454970228754,0.0598566781428,0.999999959114,0.000167860250961,-0.000227755776339,4.15028300582e-05,1793237712356491264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.42220363,666.57779637,636.57779637,881,788,803,654,632,654,0.402417121819,0.00454762380937,0.0598514981791,0.999999956678,0.000166704241231,-0.000238856199173,4.24481661916e-05,1793237712373158144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.834009687,746,716,679.165990313,666.834009687,637,880.834009687,788,803,654,632.165990313,654.165990313,0.402232302908,0.00454596511999,0.0598469540506,0.999999954149,0.000166193714448,-0.000249433890406,4.31799644878e-05,1793237712389824768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.254527756,746,716,679.745472244,666.254527756,637,880.254527756,788,803,654,632.745472244,654.745472244,0.402062984532,0.00454539868687,0.0598444873916,0.999999951821,0.000167466545606,-0.000257740407006,4.33848177281e-05,1793237712406491648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.321973748,746.321973748,716,679.678026252,666,636.678026252,880.321973748,788,803,654,632.678026252,654.678026252,0.401910912065,0.00454490402243,0.059844122312,0.99999995374,0.000150872793394,-0.000261596745385,3.63905219018e-05,1793237712423158272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.896140826,746.896140826,716,679.103859174,666,636.103859174,880.896140826,788,803,654,632.103859174,654.103859174,0.401772347833,0.00454446557239,0.0598454033425,0.99999995817,0.000120284629603,-0.000261967380183,2.37573272883e-05,1793237712439825152
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,747,716,679.472127724,666.472127724,636.472127724,881,788,803,654,632,654,0.401663121973,0.00453576337124,0.0598476863382,0.999999957531,0.000132320729841,-0.000258966842824,1.91152188487e-05,1793237712456491520
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.950162845,715.950162845,679.950162845,666.950162845,636.950162845,881.049837155,788,803.049837155,654,632,654,0.401561518526,0.00452648926238,0.059849900233,0.999999955585,0.000152525338319,-0.000255524189946,1.65068706679e-05,1793237712473157888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.358083902,715.358083902,679.358083902,666.358083902,636.358083902,881.641916098,788,803.641916098,654,632,654,0.401472357173,0.00453084807694,0.0598489548556,0.99999995458,0.000159191576405,-0.000255371165456,1.68260790107e-05,1793237712489824512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.228781332,715.228781332,679.228781332,666.228781332,636.228781332,881.771218668,788,803.771218668,654,632,654,0.401389064563,0.0045330802091,0.0598482429178,0.99999995393,0.000163365160355,-0.000255257472139,1.71739436367e-05,1793237712506491392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.807667965,715.807667965,679.807667965,666.807667965,636.807667965,881.192332035,788,803.192332035,654,632,654,0.401314752926,0.00453205786752,0.0598478882139,0.999999953878,0.000163724221909,-0.00025520396755,1.75656611081e-05,1793237712523158272
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.616244046,715.616244046,680,666.616244046,637,880.616244046,788.383755954,803.383755954,654,632,654,0.401249968784,0.00453102153223,0.0598458451772,0.999999952867,0.000164058378592,-0.000258869401081,1.83561514727e-05,1793237712539825152
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.041548552,715.041548552,680,666.041548552,637,880.041548552,788.958451448,803.958451448,654,632,654,0.401189925093,0.00452997823433,0.0598429621028,0.999999951353,0.000164380143726,-0.000264385209366,1.93450531117e-05,1793237712556491776
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715.545692453,679.454307547,666,637,880,789,803.454307547,654,632,654,0.401145737089,0.00453152091655,0.0598409533218,0.999999950212,0.000166836359607,-0.000267141479611,1.94118337324e-05,1793237712573158144
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.132061032,666,636.867938968,880.132061032,788.867938968,803,654,632,654,0.401106056151,0.00453227699798,0.059839616755,0.999999949553,0.000168166919322,-0.00026875675325,1.96028671062e-05,1793237712589824512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.712152798,666,636.287847202,880.712152798,788.287847202,803,654,632,654,0.401077473852,0.00452968075166,0.0598403295922,0.999999950453,0.000165114249665,-0.000267230666472,2.04592387516e-05,1793237712606491136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.289431748,715.710568252,680,666.289431748,636.289431748,880.710568252,788,803.289431748,654,632,654,0.401052498486,0.0045291240637,0.0598409738182,0.999999950741,0.000164398807282,-0.000266570029373,2.07561512175e-05,1793237712623157760
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.863940274,715.136059726,680,666.863940274,636.863940274,880.136059726,788,803.863940274,654,632,654,0.401031075778,0.00453057624534,0.0598415504654,0.999999950433,0.000165985424435,-0.000266761819676,2.05020225764e-05,1793237712639824384
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.559975668,715.440024332,680,666.559975668,637,880.440024332,788,803.559975668,654,632,654,0.401016700314,0.00453026877872,0.0598420928623,0.999999950405,0.000166760154331,-0.000266368935862,2.07159945448e-05,1793237712656491008
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.983077889,679.983077889,666,637,881,788,803.016922111,654,632,654,0.401004680319,0.00452943390549,0.0598426288908,0.999999950482,0.000167235072319,-0.000265753003844,2.10761287647e-05,1793237712673157632
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715.395220437,679.395220437,666,637,881,788,803.604779563,654,632,654,0.400998347424,0.00452922821672,0.059843308653,0.999999951198,0.00016609502261,-0.000263733131574,2.14666611285e-05,1793237712689824256
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.190067595,666,636.809932405,880.809932405,788,804,654,632,654,0.400993323304,0.00452871357107,0.0598444908624,0.999999952085,0.00016468967157,-0.000261223583983,2.16569277057e-05,1793237712706490880
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.770084087,666,636.229915913,880.229915913,788,804,654,632,654,0.400990984307,0.00452756505937,0.0598467039093,0.999999953321,0.000162740019708,-0.000257709402606,2.1436322421e-05,1793237712723157504
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.65840669,746,715,679.65840669,666,636.34159331,880,788.34159331,803.65840669,654,632,654,0.40098868068,0.00452810381968,0.0598480289785,0.999999953565,0.000163628191114,-0.000256183838912,2.15886724128e-05,1793237712739824128
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.092484332,746,715,679.092484332,666,636.907515668,880,788.907515668,803.092484332,654,632,654,0.400986400281,0.00452975063491,0.0598487709005,0.999999953158,0.000166380000371,-0.000255964228084,2.19859472998e-05,1793237712756491008
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,746,715.488698273,679.488698273,666,636.511301727,880.488698273,788.511301727,803,653.511301727,632.488698273,654,0.40098553461,0.00452920083554,0.05984935966,0.999999953336,0.000166543234831,-0.000255146976434,2.21559404205e-05,1793237712773157888
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.07393186,746,715.92606814,680,666.07393186,636,881,788,803,653.07393186,633,654,0.40098495425,0.00452840414874,0.0598498536214,0.999999953573,0.000166338074582,-0.000254345606692,2.2244932405e-05,1793237712789824256
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.666673424,746,715.333326576,680,666.666673424,636,881,788,803,653.666673424,633,654,0.400984436703,0.00452888612414,0.0598498923056,0.999999953417,0.000167096218834,-0.000254474947171,2.20770698001e-05,1793237712806491136
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.747731133,636,881,788,803,654,633,654,0.400984441482,0.0045291626773,0.0598499978116,0.999999953485,0.000167231452626,-0.000254131247597,2.19495903954e-05,1793237712823158016
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.171317781,636,881,788,803,654,633,654,0.400985117406,0.00452917528006,0.059850189178,0.999999953839,0.000166566298454,-0.000253179730967,2.18740000172e-05,1793237712839824640
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.406110665,680,666,636.406110665,881.406110665,788,803.406110665,654,632.593889335,654,0.400985659944,0.00452865758966,0.059851744563,0.99999995468,0.000164798267041,-0.000251014900043,2.17652982377e-05,1793237712856491264
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715.983968366,680,666,636.983968366,881.983968366,788,803.983968366,654,632.016031634,654,0.400986146073,0.00452791563458,0.059853876801,0.999999955717,0.000162563821182,-0.000248336950088,2.16425934197e-05,1793237712873158144
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.443232956,666,637,881.443232956,788,803.443232956,654,632.556767044,654,0.400985338097,0.00452888780248,0.0598530529439,0.999999954857,0.000165652448322,-0.000249706711786,2.21891983104e-05,1793237712889824512
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.865437542,679,666,637,881.134562458,788,803,654,632.865437542,654,0.40098458144,0.00452971746983,0.0598523166139,0.999999954098,0.000168422123441,-0.000250855502134,2.2569075101e-05,1793237712906491136
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.27003531,679,666,637,881.72996469,788,803,654,632.27003531,654,0.400984127001,0.00452989160028,0.0598521689223,0.999999953909,0.000169579281738,-0.000250851966491,2.23125457932e-05,1793237712923157504
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.313887462,679.313887462,666,637,881.686112538,788,803.313887462,654,632,654,0.400984150991,0.00453002688638,0.059852119912,0.999999953953,0.00016963166347,-0.000250649669531,2.22208648887e-05,1793237712939824128
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.888282932,679.888282932,666,637,881.111717068,788,803.888282932,654,632,654,0.40098457205,0.00453012993396,0.0598521528011,0.99999995419,0.000168767146012,-0.000250282412447,2.22659984108e-05,1793237712956490752
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.536290063,666,637,881,788.463709937,803.536290063,654,632,654,0.400983571623,0.00452990785484,0.0598516722072,0.99999995441,0.00016597657524,-0.00025129183311,2.20250670467e-05,1793237712973157632
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.040243898,666,636.959756102,881,788.959756102,803.040243898,653.959756102,632,654,0.400982325545,0.00452955724751,0.0598511320714,0.99999995458,0.00016311331869,-0.000252507502183,2.17669617165e-05,1793237712989824256
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.62845845,666,636.37154155,881,788.37154155,803.62845845,653.37154155,632,654,0.400982408097,0.00452852550154,0.0598514693999,0.999999954289,0.000165592722297,-0.000252005338642,2.22155190055e-05,1793237713006490880
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.213882316,716,679.786117684,666,636,881,788,804,653.213882316,632,654,0.4009827559,0.00452840001427,0.059851857003,0.99999995416,0.00016712456791,-0.000251492204787,2.23649443869e-05,1793237713023157760
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.794520929,716,679.205479071,666,636,881,788,804,653.794520929,632,654,0.400983558546,0.00452982854069,0.0598523308149,0.999999954318,0.000167031581797,-0.000250960259422,2.20014311733e-05,1793237713039824384
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.628267686,716,679,666.371732314,636.371732314,881,788,804,654,632.371732314,654,0.400983685549,0.00453054590076,0.0598528765291,0.999999954225,0.00016881294215,-0.000250128271204,2.21040698973e-05,1793237713056491008
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746.052933466,716,679,666.947066534,636.947066534,881,788,804,654,632.947066534,654,0.400983442494,0.00453087374704,0.059853461625,0.999999953987,0.000171620902824,-0.000249131946223,2.24620252217e-05,1793237713073157632
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.522945167,667,637,881,788,803.477054833,654,632.477054833,654,0.400983929285,0.00452943972114,0.0598539952388,0.999999954569,0.000168590529299,-0.00024886165814,2.25364351688e-05,1793237713089824256
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.898498907,637,881,788.101501093,803.101501093,654,632,654,0.40098429021,0.00452825955636,0.059854277874,0.999999955065,0.000165861474822,-0.000248699069485,2.25489800921e-05,1793237713106490880
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.30729219,637,881,788.69270781,803.69270781,654,632,654,0.400983687084,0.00452916550013,0.0598533747976,0.999999954805,0.000167440344757,-0.000248701155534,2.24016649553e-05,1793237713123157760
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746.277923338,716,680,666,637,881,788.722076662,803.722076662,653.722076662,632,654,0.400983517203,0.00452877985875,0.0598533086646,0.999999954963,0.000167202442293,-0.000248232934316,2.23090453892e-05,1793237713139824384
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746.856654322,716,680,666,637,881,788.143345678,803.143345678,653.143345678,632,654,0.400983816239,0.00452699628258,0.0598541483893,0.999999955572,0.000164998173637,-0.000247255680563,2.22756250563e-05,1793237713156491008
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..698a1c87d8cd8ecb1cebf8a02480aaf9df651a53
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,441 @@
+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,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+1,0.016666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+2,0.033333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
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+283,4.716666667,pose2_to_pose3_retreat,0.627002509808,0.0100012645157,1.05001159114,0.597573745041,0.018674931925,1.04966111902
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+286,4.766666667,pose2_to_pose3_retreat,0.627001851202,0.0100012392356,1.05001163828,0.597573085802,0.0186749046007,1.04966116876
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+364,6.066666667,pose2_to_pose3_retreat,0.59156635053,0.0100012881517,1.05001170274,0.562137585496,0.0186749545013,1.04966123814
+365,6.083333333,pose2_to_pose3_retreat,0.590901279897,0.0100012035648,1.05001138413,0.56147251688,0.0186748769716,1.04966092479
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+367,6.116666667,pose2_to_pose3_retreat,0.589602791354,0.0100012521592,1.05001169604,0.560174026062,0.0186749175855,1.04966123023
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+394,6.566666667,pose2_to_pose3_retreat,0.579300698172,0.0100012174951,1.05001138948,0.549871933079,0.0186748840569,1.04966093601
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+410,6.833333333,pose2_to_pose3_retreat,0.578274637666,0.0100012087877,1.05001181413,0.548845874604,0.0186748816203,1.04966134565
+411,6.850000000,pose2_to_pose3_retreat,0.578267618727,0.0100011932464,1.05001182034,0.54883885555,0.0186748656532,1.04966135109
+412,6.866666667,pose2_to_pose3_retreat,0.578262763502,0.0100012062586,1.05001180457,0.548834000116,0.0186748780826,1.04966133847
+413,6.883333333,pose2_to_pose3_retreat,0.57825961978,0.0100012260682,1.05001178475,0.548830856197,0.0186748973769,1.04966132245
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+415,6.916666667,pose2_to_pose3_retreat,0.578256289119,0.0100012601665,1.05001188818,0.548827523826,0.0186749254479,1.04966142024
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+417,6.950000000,pose2_to_pose3_retreat,0.578254662194,0.0100012888526,1.05001188834,0.548825896429,0.0186749525383,1.04966142053
+418,6.966666667,pose2_to_pose3_retreat,0.578254475382,0.0100012944354,1.05001187348,0.548825709687,0.0186749583999,1.04966140662
+419,6.983333333,pose2_to_pose3_retreat,0.57825445713,0.0100012949809,1.05001187202,0.548825691443,0.0186749589725,1.04966140526
+420,7.000000000,pose2_to_pose3_retreat,0.578254283577,0.0100013001674,1.05001185821,0.548825517956,0.0186749644181,1.04966139233
+421,7.016666667,pose2_to_pose3_retreat,0.578254152316,0.0100013040901,1.05001184777,0.548825386745,0.0186749685366,1.04966138255
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+423,7.050000000,pose2_to_pose3_retreat,0.578253987713,0.0100013090092,1.05001183467,0.548825222204,0.0186749737013,1.04966137028
+424,7.066666667,pose2_to_pose3_retreat,0.578253767979,0.0100013155759,1.05001181719,0.548825002553,0.0186749805958,1.04966135391
+425,7.083333333,pose2_to_pose3_retreat,0.57825353877,0.0100013224257,1.05001179895,0.548824773431,0.0186749877876,1.04966133684
+426,7.100000000,pose2_to_pose3_retreat,0.578253281536,0.010001330113,1.05001177848,0.548824516295,0.0186749958587,1.04966131767
+427,7.116666667,pose2_to_pose3_retreat,0.578253016887,0.0100013000108,1.05001174622,0.548824251977,0.0186749668797,1.04966128538
+428,7.133333333,pose2_to_pose3_retreat,0.578252827041,0.0100012696934,1.0500117205,0.548824062422,0.0186749375352,1.04966125933
+429,7.150000000,pose2_to_pose3_retreat,0.578252672959,0.0100012450873,1.05001169963,0.548823908576,0.0186749137187,1.04966123819
+430,7.166666667,pose2_to_pose3_retreat,0.578252561021,0.0100012272115,1.05001168447,0.54882379681,0.0186748964165,1.04966122283
+431,7.183333333,pose2_to_pose3_retreat,0.578252548438,0.0100012252022,1.05001168276,0.548823784246,0.0186748944716,1.0496612211
+432,7.200000000,pose2_to_pose3_retreat,0.578252424392,0.0100012125428,1.05001165905,0.548823660284,0.0186748821201,1.04966119788
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+434,7.233333333,pose2_to_pose3_retreat,0.578252089519,0.0100012995949,1.05001148887,0.548823323914,0.0186749646124,1.04966104064
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70d1c9e28a5cb891abccde2eec439e608a06be07
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1d627d124f0b52d03aba7b9c0160292f7f4a5d4b046108098014a873d5954d
+size 27983697
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21c2adee402d891e445b28cce3a8d736d94771b1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,442 @@
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+20,0.333333333,BASELINE,767,746.599145671,716,679,666,636.400854329,881.400854329,788,804,654,633,654,0.400985549362,0.00452763164472,0.0598561751275,0.999999956835,0.000162584223494,-0.000243757980081,2.18879350215e-05,1793237713609056512
+21,0.350000000,BASELINE,767,746.821101336,716,679.178898664,666.178898664,636.178898664,881,788,803.821101336,654,632.821101336,654,0.400985024707,0.00452745564639,0.0598560091904,0.999999956822,0.000162732847926,-0.000243719819885,2.17842725914e-05,1793237713625722880
+22,0.366666667,BASELINE,767,746.230317423,716,679.769682577,666.769682577,636.769682577,881,788,803.230317423,654,632.230317423,654,0.400984008324,0.0045282506643,0.0598558245827,0.999999956477,0.000163727108388,-0.000244451395791,2.19601014177e-05,1793237713642389504
+23,0.383333333,BASELINE,767.352505466,746,716,680,666.647494534,636.647494534,881,788,803.705010932,654,632.352505466,654,0.400983473338,0.00452826147246,0.0598556972123,0.999999956264,0.00016418235521,-0.000244997987486,2.21767706723e-05,1793237713659056128
+24,0.400000000,BASELINE,767.930241774,746,716,680,666.069758226,636.069758226,881,788,804.860483548,654,632.930241774,654,0.400983245937,0.00452777121549,0.0598556064132,0.999999956135,0.000164293203228,-0.000245426384917,2.24195346433e-05,1793237713675722752
+25,0.416666667,BASELINE,766.992276102,746.503861949,716,679.496138051,666.503861949,636.503861949,881,788,804.496138051,653.496138051,633,654,0.400983182993,0.00452821711495,0.0598556249173,0.999999956064,0.000164460245011,-0.000245621823623,2.22228613765e-05,1793237713692389376
+26,0.433333333,BASELINE,766.079321366,746.920678634,716,679,667,637,881,788,803.920678634,653.079321366,632.920678634,654,0.400983253714,0.00452865195533,0.0598556559848,0.999999956047,0.00016459391927,-0.000245623177284,2.19964520408e-05,1793237713709056256
+27,0.450000000,BASELINE,766.670290775,746.329709225,716,679,667,637,881,788,803.329709225,653.670290775,632.329709225,654,0.400984040948,0.00452818622188,0.0598556712699,0.999999956325,0.000164462586503,-0.000244578973645,2.19674853267e-05,1793237713725723136
+28,0.466666667,BASELINE,767,746,716,679,666.744142702,637,880.744142702,788,803,654,632,654,0.400984371213,0.00452767762323,0.0598557575422,0.999999956317,0.000164880295223,-0.000244323953603,2.20637122481e-05,1793237713742389760
+29,0.483333333,BASELINE,767,746,716,679,666.16539463,637,880.16539463,788,803,654,632,654,0.400984124786,0.00452711492893,0.0598559333999,0.999999955946,0.000165990891869,-0.000245064879822,2.23179329832e-05,1793237713759056384
+30,0.500000000,BASELINE,767,746,716,679.41204827,666,637,880,788,803.41204827,654,632,654,0.400983843538,0.00452847259215,0.0598560513278,0.999999955653,0.000167763351448,-0.000245071229718,2.21195298997e-05,1793237713775723008
+31,0.516666667,BASELINE,767,746,716,679.98896892,666,637,880,788,803.98896892,654,632,654,0.400983548357,0.00453059864572,0.0598561460762,0.999999955388,0.000169800641422,-0.000244783654455,2.17400189843e-05,1793237713792389376
+32,0.533333333,BASELINE,767,746,715.440995569,680,666,637,880,788.559004431,804,654,632,654.559004431,0.400983274774,0.00452992000647,0.0598558978044,0.999999955652,0.00016731560882,-0.000245408471504,2.18240536701e-05,1793237713809056256
+33,0.550000000,BASELINE,766.864813615,746.135186385,715,679.864813615,666,636.864813615,880,788.864813615,803.864813615,654,632,654.864813615,0.400983078143,0.00452923391369,0.0598557216898,0.999999955917,0.000165007301976,-0.000245885691811,2.18868530363e-05,1793237713825722880
+34,0.566666667,BASELINE,766.267145217,746.732854783,715,679.267145217,666,636.267145217,880,788.267145217,803.267145217,654,632,654.267145217,0.40098314333,0.00452870936161,0.0598558153055,0.99999995617,0.000163605171799,-0.000245797127594,2.18460919111e-05,1793237713842389504
+35,0.583333333,BASELINE,766.318757051,746.681242949,715.318757051,679,666.318757051,636.318757051,880,788,803,654,632,654,0.400983350922,0.00452852975961,0.0598558499955,0.999999956268,0.000163787079598,-0.000245275770649,2.18535175057e-05,1793237713859056128
+36,0.600000000,BASELINE,766.895149413,746.104850587,715.895149413,679,666.895149413,636.895149413,880,788,803,654,632,654,0.40098367361,0.00452862896337,0.059855837059,0.99999995624,0.000165249285564,-0.000244404609074,2.18998900008e-05,1793237713875723008
+37,0.616666667,BASELINE,767,746,716,679,666.531234747,637,880.468765253,788,803,654.468765253,632.468765253,654,0.400981821049,0.00452834951045,0.0598548511734,0.999999955725,0.000164645067429,-0.000246916078938,2.17845579456e-05,1793237713892389632
+38,0.633333333,BASELINE,767,746,716,679.043235799,666,637,880.956764201,788,803,654.956764201,633,654,0.400979837391,0.00452809574575,0.0598538480602,0.999999955174,0.000163824391452,-0.000249688581554,2.16419548705e-05,1793237713909056000
+39,0.650000000,BASELINE,767,746,716,679.636431765,666,637,880.363568235,788,803,654.363568235,633,654,0.400982338627,0.00452923972213,0.059855377684,0.999999955662,0.000166095008603,-0.000246214046212,2.16098264272e-05,1793237713925722880
+40,0.666666667,BASELINE,767,746,715.775714454,680,666,637,880.224285546,788,803,654,632.775714454,654,0.400983547605,0.00452870146392,0.0598560703017,0.99999995607,0.000165916077566,-0.000244652592537,2.18571782393e-05,1793237713942389504
+41,0.683333333,BASELINE,767,746,715.196318959,680,666,637,880.803681041,788,803,654,632.196318959,654,0.400982710558,0.00452549973382,0.0598554376925,0.999999956359,0.000161858791564,-0.000246120109705,2.25470294515e-05,1793237713959055872
+42,0.700000000,BASELINE,767,746.380451124,715.380451124,679.619548876,666,637,881,788,803,654,632,654,0.400983182237,0.0045257665967,0.059856105303,0.99999995667,0.000161529050766,-0.000245076531521,2.25002792357e-05,1793237713975722752
+43,0.716666667,BASELINE,767,746.955875718,715.955875718,679.044124282,666,637,881,788,803,654,632,654,0.400984324613,0.0045278110431,0.0598574392497,0.999999956991,0.000163109601269,-0.000242746067947,2.20760357338e-05,1793237713992389376
+44,0.733333333,BASELINE,767,746.468977809,716,679.531022191,666.531022191,637,881,788,803,654,632,654,0.400984419954,0.00452708901157,0.0598572105898,0.999999956957,0.000163317463915,-0.000242722687248,2.23432024814e-05,1793237714009056256
+45,0.750000000,BASELINE,767,746.109319597,715.890680403,680,666.890680403,637,881,788,803,654,632,654,0.400984314111,0.00452655587104,0.0598568047253,0.999999956817,0.000163709729298,-0.000243018226008,2.25227941789e-05,1793237714025723136
+46,0.766666667,BASELINE,767,746.701640503,715.298359497,680,666.298359497,637,881,788,803,654,632,654,0.400983703573,0.00452787241302,0.0598561892996,0.999999956337,0.000165420417779,-0.000243876283649,2.20617554423e-05,1793237714042389760
+47,0.783333333,BASELINE,767,746.71252823,715.28747177,679.71252823,666.28747177,637,881,788,803,654,632,654,0.40098354061,0.00452883013034,0.0598558484888,0.999999956046,0.000166534026468,-0.000244341537047,2.17200631514e-05,1793237714059056128
+48,0.800000000,BASELINE,767,746.133283625,715.866716375,679.133283625,666.866716375,637,881,788,803,654,632,654,0.400983831916,0.00452942365454,0.0598557864015,0.99999995595,0.000167041622245,-0.000244408109287,2.14995028757e-05,1793237714075722496
+49,0.816666667,BASELINE,767,746,715.559073922,679.440926078,666.559073922,637,881,788,803,654,632.440926078,654,0.400982783365,0.00452926145643,0.0598558437085,0.99999995601,0.00016597285477,-0.000244869055382,2.1708257443e-05,1793237714092389376
+50,0.833333333,BASELINE,767,746,715.013660204,679.986339796,666,637,880.986339796,788,803,654,633,654,0.400981378885,0.00452889989317,0.0598559288002,0.999999956103,0.000164524407567,-0.00024543799917,2.20352831868e-05,1793237714109056000
+51,0.850000000,BASELINE,767,746,715.5875933,679.4124067,666,637,880.4124067,788,803,654,633,654,0.400981800019,0.0045296250759,0.0598556899318,0.999999955683,0.000166826585464,-0.000245602201686,2.19506242692e-05,1793237714125722880
+52,0.866666667,BASELINE,767,746.166741785,716,679.166741785,666,637,880,788,803.166741785,654,632.833258215,654,0.400982342694,0.00452955799113,0.0598557984209,0.999999955619,0.000167578715001,-0.000245349414809,2.1996561012e-05,1793237714142389760
+53,0.883333333,BASELINE,767,746.759206087,716,679.759206087,666,637,880,788,803.759206087,654,632.240793913,654,0.400983195684,0.00452746810133,0.0598567937776,0.999999956465,0.000164373285188,-0.000244031977131,2.23759325562e-05,1793237714159056384
+54,0.900000000,BASELINE,767,746.656580731,715.656580731,679.656580731,666,637,880.343419269,788,804,654,632.343419269,654.343419269,0.400983499495,0.00452719893562,0.0598566322634,0.999999956646,0.000163384016712,-0.000243962817496,2.22509796838e-05,1793237714175722752
+55,0.916666667,BASELINE,767,746.078017237,715.078017237,679.078017237,666,637,880.921982763,788,804,654,632.921982763,654.921982763,0.400983427275,0.00452817644655,0.0598556786228,0.999999956378,0.00016391218664,-0.000244748372257,2.17807084485e-05,1793237714192389376
+56,0.933333333,BASELINE,767,746,715.496345007,679,666,637,881,788,803.503654993,654,632.503654993,654.503654993,0.400984294377,0.00452882524926,0.0598564530633,0.999999956498,0.000165052424533,-0.000243487443836,2.18029952196e-05,1793237714209056000
+57,0.950000000,BASELINE,767,746,716,679.071888922,666,637,881,788,803.071888922,654,632,654.071888922,0.400985049157,0.00452915553306,0.0598573205798,0.999999956678,0.000165824614541,-0.000242208304477,2.19171112217e-05,1793237714225722624
+58,0.966666667,BASELINE,767,746,716,679.660636362,666,637,881,788,803.660636362,654,632,654.660636362,0.400983943765,0.00452756412175,0.0598569207708,0.99999995688,0.000163264764604,-0.000243091552811,2.21394827659e-05,1793237714242389248
+59,0.983333333,BASELINE,767,746,716,680,666,637,881,788,804,654,632,654.754028694,0.400983741553,0.00452731573682,0.0598568438883,0.999999956884,0.000162995946618,-0.000243254262771,2.21865101543e-05,1793237714259055872
+60,1.000000000,BASELINE,767,746,716,680,666,637,881,788,804,654,632,654.173337421,0.400984768396,0.00452889495405,0.0598572064469,0.999999956618,0.000165844785155,-0.000242436457758,2.199492767e-05,1793237714275722496
+61,1.016666667,BASELINE,767,746,715.596164716,680,666.403835284,637,881,788,803.596164716,654,632,654,0.400985227782,0.00452875731889,0.059857484153,0.999999956841,0.000165315286791,-0.000241879887161,2.19958450716e-05,1793237714292389120
+62,1.033333333,BASELINE,767,746,715.020489269,680,666.979510731,637,881,788,803.020489269,654,632,654,0.400985445704,0.00452788912788,0.0598577257527,0.99999995727,0.000163348236881,-0.000241434477197,2.20786751192e-05,1793237714309055744
+63,1.050000000,BASELINE,767,746,715.553090063,679.446909937,666.446909937,637,881,788,803.553090063,654,632,654,0.400983766141,0.00452940248893,0.0598565828309,0.999999956416,0.000165696952685,-0.000243382886346,2.18424256175e-05,1793237714325722368
+64,1.066666667,BASELINE,767,746,716,679.130854126,666.130854126,637,881,788,803.869145874,654,632.130854126,654,0.40098249347,0.00453038129386,0.0598557551284,0.999999955784,0.000167222075511,-0.000244940132983,2.17317169031e-05,1793237714342388992
+65,1.083333333,BASELINE,767,746,716,679.723664681,666.723664681,637,881,788,803.276335319,654,632.723664681,654,0.400982904478,0.00452916266111,0.0598562206348,0.999999956133,0.000165277366066,-0.000244804568458,2.21057788133e-05,1793237714359055616
+66,1.100000000,BASELINE,767,746,715.691832197,679.691832197,666.691832197,637,881,788,803,653.691832197,632.691832197,654,0.400983601618,0.0045282980313,0.0598566485138,0.999999956654,0.000163658898971,-0.000243747607854,2.22303378037e-05,1793237714375722240
+67,1.116666667,BASELINE,767,746,715.114582869,679.114582869,666.114582869,637,881,788,803,653.114582869,632.114582869,654,0.4009845486,0.00452774250476,0.0598570435379,0.999999957326,0.00016232529557,-0.000241886115898,2.21370394075e-05,1793237714392389120
+68,1.133333333,BASELINE,767,746,715.46103724,679.46103724,666,637,881,788,803,653.46103724,632,654,0.400984531265,0.00452789000085,0.0598568327322,0.999999957031,0.000163129880264,-0.000242573760713,2.20122859005e-05,1793237714409055744
+69,1.150000000,BASELINE,767,746,716,679.962901531,666,637,881,788,803,654,632,654,0.400984311523,0.00452825918184,0.0598565194556,0.999999956526,0.000164455468957,-0.000243767567351,2.18839383874e-05,1793237714425722368
+70,1.166666667,BASELINE,767,746,716,679.374284711,666,637,881,788,803,654,632,654,0.400984633102,0.00452933564331,0.059856913333,0.999999956492,0.000165654178595,-0.000243100831131,2.18179715366e-05,1793237714442388992
+71,1.183333333,BASELINE,767,746,716,679,666.211397464,637,880.788602536,788,803,654,632,654,0.400984864105,0.00452884489388,0.0598570475264,0.999999956668,0.000165334347255,-0.000242582047294,2.19655632676e-05,1793237714459055616
+72,1.200000000,BASELINE,767,746,716,679,666.791955012,637,880.208044988,788,803,654,632,654,0.400984936938,0.00452561734874,0.059856728238,0.999999957206,0.000162362711753,-0.000242321630277,2.24860889993e-05,1793237714475722240
+73,1.216666667,BASELINE,767,746,716,679,666.629930913,636.629930913,880,788,803,654,632,654,0.400984618612,0.00452557794711,0.0598565208743,0.999999957026,0.000162736845949,-0.000242814799788,2.24839377243e-05,1793237714492389120
+74,1.233333333,BASELINE,767,746,716,679,666.053181532,636.053181532,880,788,803,654,632,654,0.400984081827,0.00452731909549,0.0598563760195,0.999999956443,0.00016497956295,-0.000243728840687,2.21898759568e-05,1793237714509055744
+75,1.250000000,BASELINE,767,746,715.478498823,679,666,636,880,788,803,654,632,654,0.400983428766,0.00452866908506,0.0598563466798,0.999999956338,0.000165279010698,-0.000243971874922,2.20171319425e-05,1793237714525722368
+76,1.266666667,BASELINE,767,746,715,679,666,636.098110486,880.098110486,788,803,653.901889514,632,654,0.400983001837,0.00452973242999,0.0598563999802,0.999999956334,0.000165283908248,-0.000243996685969,2.18693538074e-05,1793237714542388992
+77,1.283333333,BASELINE,767,746,715,679,666,636.68537187,880.68537187,788,803,653.31462813,632,654,0.400983761218,0.00452956473907,0.0598568068011,0.999999956592,0.00016480438303,-0.000243273313136,2.17846100631e-05,1793237714559055616
+78,1.300000000,BASELINE,767,746.270443985,715.270443985,679,666,637,881,788,803,653.270443985,632.270443985,654,0.400983978411,0.00452946369221,0.0598569085911,0.999999956611,0.000164865555856,-0.000243141737519,2.18982987136e-05,1793237714575722240
+79,1.316666667,BASELINE,767,746.852989569,715.852989569,679,666,637,881,788,803,653.852989569,632.852989569,654,0.4009835699,0.00452943955486,0.0598566583649,0.999999956356,0.000165550712728,-0.000243693116159,2.22409851322e-05,1793237714592389120
+80,1.333333333,BASELINE,767,746.571695665,716,679,666,637,881,788,803,654,632.571695665,654,0.400984215977,0.00452913161625,0.0598569239125,0.999999956653,0.000165208212643,-0.000242713032886,2.21503912752e-05,1793237714609055744
+81,1.350000000,BASELINE,767,746,716,679,666.001184013,637,881,788,803,654,632.001184013,654,0.400985214705,0.00452872841747,0.059857361193,0.999999957133,0.000164518796821,-0.000241222369055,2.19137067563e-05,1793237714625722368
+82,1.366666667,BASELINE,767,746,716,679,666.576757905,637,881,788,803,654,632.576757905,654,0.400984605415,0.00452858431475,0.0598566529437,0.999999956868,0.000163809687165,-0.00024281166795,2.17540004572e-05,1793237714642388992
+83,1.383333333,BASELINE,767,746,716,679,666.843396712,636.843396712,881,788,803,654,633,654,0.400984327082,0.00452846119319,0.0598563287144,0.9999999568,0.000163004863326,-0.000243642128239,2.16527021026e-05,1793237714659055616
+84,1.400000000,BASELINE,767,746,716,679,666.251683188,636.251683188,881,788,803,654,633,654,0.400984968287,0.00452839636616,0.0598570714549,0.999999957283,0.000161934104804,-0.000242364213977,2.17136857088e-05,1793237714675722240
+85,1.416666667,BASELINE,766.667020776,746,716,679.332979224,666,636.332979224,880.667020776,788,803,654,632.667020776,654,0.400985033241,0.00452816479947,0.0598571356296,0.999999957369,0.000161602368619,-0.000242232305711,2.16773915013e-05,1793237714692388864
+86,1.433333333,BASELINE,766.08757748,746,716,679.91242252,666,636.91242252,880.08757748,788,803,654,632.08757748,654,0.400984671664,0.00452780981567,0.0598566975446,0.999999957163,0.000161817640962,-0.000242948646551,2.15690943411e-05,1793237714709055744
+87,1.450000000,BASELINE,766.486991355,746,715.513008645,680,666,636.513008645,880.486991355,788,803,654,632,654,0.40098424553,0.00452785431807,0.0598564539793,0.99999995688,0.000163623495755,-0.00024289001733,2.17044024576e-05,1793237714725722112
+88,1.466666667,BASELINE,767,746,715.06235207,680,666,636.06235207,881,788,803,654,632,654,0.400983751296,0.00452800016093,0.0598562265583,0.99999995657,0.000165481486789,-0.000242892473401,2.18883835356e-05,1793237714742388992
+89,1.483333333,BASELINE,767,746,715.651742338,680,666,636.651742338,881,788,803,654,632,654,0.400982778608,0.00452840136844,0.0598558428471,0.99999995617,0.000165386336134,-0.000244577591423,2.21171521616e-05,1793237714759055872
+90,1.500000000,BASELINE,767,746,716,680,666.237195552,636.762804448,881,788,803,654,632,654,0.400982671729,0.00452915147882,0.0598559895449,0.999999955953,0.000166128664693,-0.000244950220203,2.22201249169e-05,1793237714775722496
+91,1.516666667,BASELINE,767,746,716,680,666.816962597,636.183037403,881,788,803,654,632,654,0.4009838153,0.00453040549481,0.0598569022899,0.999999956001,0.000168080529024,-0.000243427276206,2.21414160035e-05,1793237714792389120
+92,1.533333333,BASELINE,767,746,716,680,666.60791181,636.39208819,880.60791181,788,803.39208819,654,632.39208819,654,0.400984274896,0.00452915176864,0.0598567861349,0.999999956534,0.000165372952347,-0.000243109368871,2.19275556647e-05,1793237714809056000
+93,1.550000000,BASELINE,767,746,716,680,666.034927571,636.965072429,880.034927571,788,803.965072429,654,632.965072429,654,0.40098441893,0.00452674105634,0.0598561952807,0.999999957274,0.000160515669506,-0.000243347424001,2.16513410847e-05,1793237714825722624
+94,1.566666667,BASELINE,767,746,715.445999928,679.445999928,666,637,880,788,803.445999928,653.445999928,632.445999928,654,0.400983977997,0.00452635240353,0.0598555925158,0.999999956982,0.000160976912868,-0.000244221010059,2.18691562824e-05,1793237714842389248
+95,1.583333333,BASELINE,767,746,715.141429219,679,666.141429219,636.858570781,880.141429219,788,803,653.141429219,632.141429219,654,0.400983497966,0.00452644038348,0.0598552965405,0.999999956671,0.000161974825691,-0.000244813810673,2.21135586367e-05,1793237714859055872
+96,1.600000000,BASELINE,767,746,715.721009811,679,666.721009811,636.278990189,880.721009811,788,803,653.721009811,632.721009811,654,0.400983014445,0.00452759833527,0.0598559534026,0.999999956506,0.000163565766102,-0.000244408921761,2.23409763111e-05,1793237714875722496
+97,1.616666667,BASELINE,767,746,716,679.298592359,667,636.298592359,881,788,803,654,632.701407641,654,0.40098309043,0.00452849982069,0.059856590182,0.999999956484,0.000164872097671,-0.000243621565486,2.23041431641e-05,1793237714892388864
+98,1.633333333,BASELINE,767,746,716,679.874320405,667,636.874320405,881,788,803,654,632.125679595,654,0.400983685715,0.00452916326918,0.0598572083218,0.999999956596,0.000165914272123,-0.000242479225753,2.20220480906e-05,1793237714909055488
+99,1.650000000,BASELINE,767,746,715.550299048,679.550299048,666.550299048,637,881,788,803,654,632,654,0.400983890913,0.00452880536929,0.0598568890312,0.999999956773,0.000164696851163,-0.000242592154506,2.187381123e-05,1793237714925722880
+100,1.666666667,BASELINE,767,746.02483485,715.02483485,679,666.02483485,637,881,788,803,654,632,654,0.400984000596,0.00452819430947,0.059856373321,0.999999956956,0.000162973595589,-0.000243010571529,2.17629071031e-05,1793237714942389760
+101,1.683333333,BASELINE,767,746.596673743,715.596673743,679,666.596673743,637,881,788,803,654,632,654,0.400984405844,0.00452828938521,0.0598572973271,0.999999956929,0.000164007408658,-0.000242436613669,2.16509405866e-05,1793237714959056384
+102,1.700000000,BASELINE,767,746.824450448,716,679.175549552,666.824450448,636.824450448,881,788,803.175549552,654,632.175549552,654.175549552,0.400984499874,0.00452839761776,0.0598576374914,0.999999956847,0.000164615342767,-0.000242365570262,2.16245410746e-05,1793237714975722752
+103,1.716666667,BASELINE,767,746.228732235,716,679.771267765,666.228732235,636.228732235,881,788,803.771267765,654,632.771267765,654.771267765,0.40098384902,0.00452853734043,0.0598565802608,0.999999956635,0.000164203957741,-0.000243498226349,2.18029417242e-05,1793237714992389120
+104,1.733333333,BASELINE,767,746,715.646432236,679.646432236,666.353567764,636.353567764,880.646432236,788,803.646432236,654,633,654.646432236,0.400982990371,0.00452879993227,0.0598557013872,0.999999956426,0.000163762384951,-0.000244659076206,2.17345492416e-05,1793237715009056000
+105,1.750000000,BASELINE,767,746,715.072495386,679.072495386,666.927504614,636.927504614,880.072495386,788,803.072495386,654,633,654.072495386,0.400982002209,0.00452913910511,0.0598549336785,0.999999956217,0.000163301996916,-0.000245837498577,2.15123373875e-05,1793237715025722880
+106,1.766666667,BASELINE,767,746,715,679.504455951,666.495544049,637,880.504455951,788,803,654,632.495544049,654,0.400983658509,0.00452937053074,0.0598562584494,0.999999956671,0.000163702462192,-0.000243714407153,2.15125482206e-05,1793237715042389504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,716,679,666,636,881,788,803,654,632,654,0.400982119897,0.00453025650267,0.059855235471,0.999999955732,0.000166732201324,-0.000245491877536,2.17018139884e-05,1793237715084897280
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.420503401,716,679.579496599,666,636.579496599,880.420503401,788,803,654,632,654,0.400982625372,0.00452931196905,0.0598559125864,0.999999956025,0.000166321622132,-0.000244567914089,2.17587658142e-05,1793237715101564416
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715.842177339,679.842177339,666.157822661,636.842177339,880,788,803,654,632,654.157822661,0.400983449944,0.0045286229257,0.0598566993915,0.99999995642,0.000165691565625,-0.000243371448165,2.18127027436e-05,1793237715118231296
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715.266946976,679.266946976,666.733053024,636.266946976,880,788,803,654,632,654.733053024,0.40098511846,0.00452860960008,0.0598577763029,0.999999957084,0.000164481037755,-0.00024145427038,2.18586659195e-05,1793237715134897408
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715,679.314550523,666.685449477,636.314550523,880,788,803,654,632,654.685449477,0.40098501403,0.00452798599229,0.0598575296149,0.999999957314,0.000163053524833,-0.000241462633726,2.19185223093e-05,1793237715151564288
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715,679.901474792,666.098525208,636.901474792,880,788,803,654,632,654.098525208,0.400983374379,0.00452683393256,0.0598561368034,0.999999957169,0.000161438121559,-0.000243138350469,2.19904090269e-05,1793237715168231168
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.482584551,680,666,637,880.482584551,788,803.482584551,654,632,654,0.400983592957,0.00452839709984,0.0598563955727,0.999999956667,0.000163887701643,-0.000243594973735,2.1650116011e-05,1793237715184898048
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715.937548591,680,666.062451409,637,881,788,803.937548591,654,632,654,0.40098427659,0.00453007680335,0.0598569686615,0.999999956257,0.00016641129759,-0.00024359576045,2.13232234196e-05,1793237715201564672
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715.358260473,680,666.641739527,637,881,788,803.358260473,654,632,654,0.400985706643,0.00452818789726,0.0598573857052,0.999999957269,0.000162760989337,-0.000241859388879,2.17953600045e-05,1793237715218230784
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.218875106,679.781124894,666.781124894,636.781124894,881,788.218875106,803,654,632,654,0.400986932714,0.00452734000472,0.0598579181647,0.999999957777,0.000161250336671,-0.000240739909726,2.20969283847e-05,1793237715234897152
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.792521609,679.207478391,666.207478391,636.207478391,881,788.792521609,803,654,632,654,0.400987828155,0.00452817947569,0.0598586377001,0.999999957488,0.000163207820222,-0.000240620342474,2.21220252582e-05,1793237715251563776
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.375991263,746,716,679,666,636,881,788.624008737,803,654,632,654,0.400999011822,0.00452858802621,0.0598639218915,0.999999959382,0.000164512444419,-0.000231689557575,2.21749427696e-05,1793237715268230400
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.965026972,746,716,679,666,636,881,788.034973028,803,654,632,654,0.401016025011,0.00452875240836,0.0598717925118,0.999999962355,0.000165447145128,-0.000217766154026,2.22436240304e-05,1793237715284897280
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.454846448,746,716,679.545153552,666,636.545153552,881,788,803,654,632,654,0.401050260987,0.00452808245564,0.0598853391304,0.999999967758,0.000163279368044,-0.000193202649003,2.22987920814e-05,1793237715301563904
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.123640375,637,880.876359625,788,803,653.876359625,632.123640375,654,0.401090180123,0.00452725248917,0.0599002280983,0.999999972859,0.000161296952823,-0.00016661878179,2.24262306262e-05,1793237715318230528
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.698198058,637,880.301801942,788,803,653.301801942,632.698198058,654,0.40114686105,0.00452603101755,0.059918705995,0.999999977698,0.000160704752797,-0.000135116015891,2.28203509911e-05,1793237715334897408
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679.720794828,666.720794828,637,880.279205172,788,803,653.279205172,632.720794828,654,0.401207710444,0.00452606049722,0.0599340969785,0.999999980708,0.000160773725565,-0.000110519475771,2.28472199184e-05,1793237715351564544
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.132651508,666.132651508,637,880.867348492,788,803,653.867348492,632.132651508,654,0.401273172206,0.00452747414391,0.0599460723177,0.999999982317,0.000161574280544,-9.35646176835e-05,2.24677282457e-05,1793237715368231424
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.44925572,666,637,881,788,803,654,632,654,0.401345937503,0.0045262629479,0.0599523936342,0.999999983773,0.000158333801126,-8.30457375641e-05,2.20971780832e-05,1793237715384897536
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.029218445,637,880.970781555,788,803,654,632.029218445,654,0.401421640641,0.00452442835202,0.059956903643,0.999999985089,0.000154198102363,-7.4659576408e-05,2.17138050681e-05,1793237715401564160
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.606771951,637,880.393228049,788,803,654,632.606771951,654,0.401512560889,0.00452524033879,0.0599583226996,0.999999985183,0.00015534784812,-7.11225234873e-05,2.10409200079e-05,1793237715418230784
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.817179148,636.817179148,880.182820852,788,803,654,632.817179148,654,0.401610735885,0.00452603441391,0.0599604705006,0.999999985489,0.000155310451391,-6.70194623467e-05,2.02208023661e-05,1793237715434897152
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.24434015,636.24434015,880.75565985,788,803,654,632.24434015,654,0.401724387676,0.00452679027739,0.0599641729575,0.999999986249,0.000152740481751,-6.17089164425e-05,1.90865883727e-05,1793237715451564032
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.662406707,679.662406707,666,636,881,788,803,654,632.337593293,654,0.401848609638,0.00452702226848,0.0599660647675,0.999999986923,0.000150393795358,-5.67230401869e-05,1.78442550384e-05,1793237715468230912
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.073708677,679.073708677,666,636,881,788,803,654,632.926291323,654,0.401980693795,0.00452686459894,0.0599666098035,0.999999987529,0.000148213188657,-5.19786553956e-05,1.65215015088e-05,1793237715484897536
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715.509843227,679,666,636.509843227,881,788,803.509843227,654,632.490156773,654,0.402134273402,0.00452563856616,0.0599662490622,0.999999988441,0.000143071778307,-4.92606727612e-05,1.49150159053e-05,1793237715501564160
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.091164439,666,637,881.091164439,788,803.908835561,654,632,654,0.402295969523,0.0045246339688,0.0599663056277,0.999999989339,0.000138080427368,-4.5612608353e-05,1.32135540259e-05,1793237715518230528
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.664581961,666,637,881.664581961,788,803.335418039,654,632,654,0.402484326634,0.0045256096367,0.0599692555051,0.999999990042,0.000136124587911,-3.55102318467e-05,1.12244959086e-05,1793237715534897152
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715.761276234,679.761276234,666.238723766,637,881.761276234,788,803.238723766,654,632,654,0.402686078046,0.00452611206395,0.0599712461544,0.999999990701,0.000133221631747,-2.77116964334e-05,9.00865488928e-06,1793237715551563776
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715.186113717,679.186113717,666.813886283,637,881.186113717,788,803.813886283,654,632,654,0.402906706335,0.00452594754248,0.0599718849417,0.999999991392,0.000128983882917,-2.31600164905e-05,6.47320376624e-06,1793237715568230400
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.399706595,679,667,636.600293405,881,788,803.600293405,654,632,654,0.403144630436,0.00452661154999,0.0599729728284,0.999999991873,0.000125882412041,-1.97635618046e-05,4.13959325828e-06,1793237715584897024
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.990625381,679,667,636.009374619,881,788,803.009374619,654,632,654,0.403390828523,0.00452767191033,0.059974275556,0.999999992251,0.000123324515502,-1.69197454999e-05,1.90253961471e-06,1793237715601563648
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.568159344,716,679,667,636.568159344,881,788,803,654,632.568159344,654,0.403661344811,0.00452535775326,0.0599720901098,0.999999993275,0.000114223387876,-2.00809189262e-05,-5.50884407916e-07,1793237715618230272
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.854654624,716,679.145345376,666.854654624,637,881,788,803,654,632.854654624,654,0.403938053601,0.00452376419195,0.0599685056854,0.99999999405,0.000106125960833,-2.50413831287e-05,-3.18245256141e-06,1793237715634896896
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.277861017,716,679.722138983,666.277861017,637,881,788,803,654,632.277861017,654,0.404231980707,0.00452447114918,0.0599609354017,0.999999994233,0.000101321060405,-3.50555739444e-05,-6.3324757424e-06,1793237715651563776
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.695556257,746.304443743,715.695556257,679.695556257,666.304443743,636.695556257,880.695556257,788,803,654,632,654,0.404540571689,0.00452455183027,0.0599513026458,0.999999994071,9.58112819149e-05,-5.08593269303e-05,-9.56135309842e-06,1793237715668230656
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.108128753,746.891871247,715.108128753,679.108128753,666.891871247,636.108128753,880.108128753,788,803,654,632,654,0.404862792938,0.00452405038096,0.0599397527988,0.999999993304,8.96463110415e-05,-7.20445418641e-05,-1.28635266269e-05,1793237715684897536
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.473684234,746.526315766,715,679,666.526315766,636.473684234,880.473684234,788,803.473684234,653.526315766,632,654,0.405227251399,0.00452372463185,0.0599378739035,0.999999993568,8.27283458265e-05,-7.58481864324e-05,-1.63408916449e-05,1793237715701564160
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.94619739,746,715.05380261,679.05380261,666.05380261,637,881,788,803.94619739,653.05380261,632,654,0.405606410773,0.00452339418632,0.0599398271421,0.999999994286,7.5495161762e-05,-7.3048979613e-05,-1.97822394823e-05,1793237715718230784
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.370232349,746,715.629767651,679.629767651,666.629767651,637,881,788,803.370232349,653.629767651,632,654,0.406035768225,0.00452263347239,0.0599577976495,0.999999996535,6.68513782977e-05,-4.42243729392e-05,-2.24904625026e-05,1793237715734897152
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.205459114,715.794540886,680,666.794540886,636.794540886,881,788,803,653.794540886,632.205459114,654,0.406478993748,0.00452221252228,0.0599778126139,0.999999997896,5.86012335527e-05,-1.09516407897e-05,-2.55601554807e-05,1793237715751563776
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.780658214,715.219341786,680,666.219341786,636.219341786,881,788,803,653.219341786,632.780658214,654,0.406947175941,0.0045224030042,0.0600015067401,0.999999997808,5.10594734684e-05,3.03258445424e-05,-2.92803421847e-05,1793237715768230656
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.363415464,746.636584536,715.363415464,680,666.726830929,636.363415464,880.636584536,788,803,653,632.636584536,654,0.407422027746,0.00452110032971,0.0600140785287,0.999999997456,4.22735086691e-05,4.74624009424e-05,-3.23828074164e-05,1793237715784897280
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.950831353,746.049168647,715.950831353,680,667.901662705,636.950831353,880.049168647,788,803,653,632.049168647,654,0.407900990519,0.00451887731002,0.060019794779,0.999999997613,3.27206467564e-05,4.97190763432e-05,-3.5104524089e-05,1793237715801563904
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.468642905,746,715.468642905,679.468642905,667.468642905,637,880,788,803,653,632,654,0.408382025881,0.00451778213397,0.0600094365649,0.999999998704,2.35951954166e-05,2.31295535768e-05,-3.87223557166e-05,1793237715818230528
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679.11027764,667,636.88972236,880,788,803.11027764,653.11027764,632,654,0.408871445525,0.00451709950731,0.0599984137985,0.99999999898,1.48403725656e-05,-3.42764098644e-06,-4.25165335246e-05,1793237715834897152
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,679.685087637,667,636.314912363,880,788,803.685087637,653.685087637,632,654,0.409395385368,0.00451772070555,0.0599907771347,0.999999998705,7.48231624349e-06,-1.87486342188e-05,-4.67087242598e-05,1793237715851564032
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746.265499694,715,680,667,636.265499694,880,788,803.734500306,654,632,654,0.409944578574,0.00451822080048,0.0599916490031,0.999999998576,-7.86566200528e-08,-1.51381330954e-05,-5.11690816778e-05,1793237715868230656
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.852699724,715,680,667,636.852699724,880,788,803.147300276,654,632,654,0.410524370814,0.0045185741572,0.0600028304783,0.999999998338,-7.885500121e-06,1.14112554503e-05,-5.59543715089e-05,1793237715884897280
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.434576231,747,715,679.565423769,667,637,880.434576231,788,803,653.565423769,632.434576231,654,0.411141915191,0.00451823279038,0.0600098163543,0.999999997635,-1.9382837097e-05,2.56977220623e-05,-6.07739824315e-05,1793237715901563904
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.985444947,746.985444947,715.014555053,679.014555053,666.985444947,637,881,788,803,653,632.985444947,654,0.411771253312,0.00451766824914,0.0600148339757,0.999999996735,-3.18656391329e-05,3.48477656967e-05,-6.55744968629e-05,1793237715918230528
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.409901147,746.409901147,715.590098853,679.590098853,666.409901147,637,881,788,803,653,632.409901147,654,0.412367926405,0.00451746806908,0.0599981382971,0.999999996995,-3.47014522703e-05,4.29177207949e-06,-6.91960491396e-05,1793237715934897408
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716,679.83471919,666.16528081,637,881,788,803,653,632,654,0.412965762285,0.00451952564164,0.0599773511715,0.999999997433,-1.21374466845e-06,-3.37107471238e-05,-6.32204321875e-05,1793237715951564032
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,716,679.26043269,666.73956731,637,881,788,803,653,632,654,0.413566475577,0.00452717027339,0.0599464393076,0.999999987915,0.000122160543304,-9.0140517607e-05,-3.34955548311e-05,1793237715968230656
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.321820197,716,679.321820197,667,637,881,788,803.321820197,653,632,654,0.414218392713,0.00452880297135,0.0599416169589,0.999999980365,0.000169579426593,-9.99498868161e-05,-2.2875116729e-05,1793237715984897280
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.91068348,716,679.91068348,667,637,881,788,803.91068348,653,632,654,0.414912798243,0.00452544702813,0.0599584434229,0.999999985226,0.000153971292375,-7.10741252154e-05,-2.81073474441e-05,1793237716001563648
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746.505645207,716,680,667,637,881,788,804,653,632,654,0.415685350226,0.00451006944948,0.0599985149743,0.999999991921,0.00012344455117,-4.12448371435e-07,-3.0319763868e-05,1793237716018230528
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.076127123,746,716,679.923872877,667,637,881,788,803.923872877,653,632,654,0.416460329573,0.00449373818219,0.0600360405005,0.999999993009,9.34489563447e-05,6.51232337047e-05,-3.17582144052e-05,1793237716034897152
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.651532964,746,716,679.348467036,667,637,881,788,803.348467036,653,632,654,0.417159591874,0.00448524904328,0.0600296101541,0.999999994781,8.44308348928e-05,4.8040888263e-05,-3.16617312628e-05,1793237716051564032
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.775167217,746,716,679.224832783,667,636.775167217,881,788,803.224832783,653,632.224832783,654,0.417864781578,0.00448128487649,0.0600173429595,0.999999995759,8.21376311786e-05,2.61979000632e-05,-3.23949103832e-05,1793237716068230912
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.205101131,746,716,679.794898869,667,636.205101131,881,788,803.794898869,653,632.794898869,654,0.418579072982,0.00448426885475,0.059996113217,0.999999995339,9.01706139876e-05,-2.95511200474e-06,-3.4402045353e-05,1793237716084897536
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.38286177,746.38286177,716,680,667.38286177,636,881,788,804,653,632.61713823,654,0.419311470846,0.00448503065549,0.0599813858701,0.99999999521,8.66002787616e-05,-2.77247415169e-05,-3.62171934266e-05,1793237716101564160
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.980882195,746.980882195,716,680,667.980882195,636,881,788,804,653,632.019117805,654,0.420054044042,0.00448454364835,0.0599703127069,0.999999995102,7.65091710325e-05,-5.00310188577e-05,-3.79244495818e-05,1793237716118230784
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.442933158,716,680,667.442933158,636.557066842,881,788,804,653.557066842,632.557066842,654,0.42080783348,0.0044844560707,0.0599503335777,0.999999995938,-2.91413862062e-05,-7.58617962877e-05,-3.89788422578e-05,1793237716134897152
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.86742082,667.13257918,637,881,788,804,653.86742082,632.86742082,654,0.42155997584,0.00448481483357,0.0599313761068,0.999999987794,-0.000109660442808,-0.000103962241292,-3.9725998567e-05,1793237716151563776
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.291745412,667.708254588,637,881,788,804,653.291745412,632.291745412,654,0.422305375471,0.00448662123693,0.0599168161081,0.999999984949,-9.56398730745e-05,-0.000139259198112,-3.95183910129e-05,1793237716168230400
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.708531081,746.291468919,715.708531081,679,667.708531081,637,881,788,804,653,632,654,0.423101438568,0.00448473510654,0.0599356555776,0.999999989129,-9.09866422844e-05,-0.000108905703119,-4.00271463738e-05,1793237716184897536
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.117570347,746.882429653,715.117570347,679,667.117570347,637,881,788,804,653,632,654,0.423949559632,0.0044790548026,0.0599888138609,0.999999994483,-9.59585935958e-05,-1.10946768148e-05,-4.12719828332e-05,1793237716201564416
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.463562505,746.536437495,715,679.463562505,667,637,881,788,803.536437495,653,632,654,0.424782522921,0.00447861778968,0.0600264959649,0.999999993865,-9.08784831831e-05,4.79061064977e-05,-4.14225964155e-05,1793237716218230784
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.041912801,680,667,636.958087199,881,788,803.083825603,653,632,654,0.425609347977,0.00447939628877,0.0600566601158,0.999999991419,-8.32800945814e-05,9.22705686738e-05,-4.13887980254e-05,1793237716234897408
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.615924272,680,667,636.384075728,881,788,804.231848544,653,632,654,0.426406037549,0.00447907407389,0.0600401773915,0.999999993577,-7.54053734501e-05,7.31900828499e-05,-4.2463905019e-05,1793237716251563776
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667.19002639,636,881,788,804.80997361,653,632,654,0.427194137267,0.00447844564718,0.0600219816843,0.999999995416,-6.88120660428e-05,5.02235112536e-05,-4.37091631933e-05,1793237716268230400
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667.764311916,636,881,788,804.235688084,653,632,654,0.42796486728,0.00447719801856,0.0600003220903,0.999999996686,-6.48099495665e-05,1.93987436992e-05,-4.52984903303e-05,1793237716284897024
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.64914912,746,715.64914912,680,668,636,881.35085088,788,804,653,632,654,0.428724179197,0.00447732768869,0.0599842597005,0.999999997202,-5.83976070859e-05,-2.16144351465e-06,-4.66935409032e-05,1793237716301563648
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.054080919,746,715.054080919,680,668,636,881.945919081,788,804,653,632,654,0.429475543256,0.00447841605738,0.0599720933668,0.999999997436,-5.03075750814e-05,-1.7272817963e-05,-4.79533610003e-05,1793237716318230528
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.522970054,746,715.522970054,680,667.477029946,636,882,788,804,653,632.522970054,654,0.430229018341,0.00447776484737,0.0599540981895,0.999999996509,-4.48751182303e-05,-5.19050458418e-05,-4.76779972371e-05,1793237716334897664
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715.901851074,680,667.098148926,636.098148926,882,788.098148926,804,653,632.901851074,654,0.430999379469,0.00447660559774,0.0599450556968,0.999999995573,-4.07173185209e-05,-7.02062378067e-05,-4.76173160944e-05,1793237716351564544
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,715.327016906,680,667.672983094,636.672983094,882,788.672983094,804,653,632.327016906,654,0.431850727003,0.00447382351691,0.0599823241909,0.999999997923,-4.14599218663e-05,2.86082752429e-07,-4.93446515641e-05,1793237716368230912
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,715.24820607,680,668,637,881.75179393,789,804,653,632,654,0.432667792233,0.00447204504329,0.0600127658066,0.999999996455,-4.10932569643e-05,5.33956252343e-05,-5.0500467943e-05,1793237716384897280
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,715.823942066,680,668,637,881.176057934,789,804,653,632,654,0.433439618853,0.00447159091862,0.0600341987477,0.999999994442,-3.92628143419e-05,8.35670445828e-05,-5.09021142715e-05,1793237716401563648
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.58893911,746,716,680,668,637,881.41106089,788.58893911,804,653,632.41106089,654,0.434162634076,0.00446852553081,0.0600204307446,0.999999996352,-3.71323040544e-05,5.77429727815e-05,-5.08281206905e-05,1793237716418230528
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,716,680,668,637,882,788,804,653,633,654.003108528,0.434864202603,0.00446433298531,0.0599911893204,0.999999998087,-3.48863040015e-05,7.32257317077e-06,-5.05541314795e-05,1793237716434897152
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,716,680,668,637,882,788,804,653,633,654.579414948,0.435575845153,0.00446440042337,0.0599679546014,0.999999997551,-3.57178830775e-05,-3.02537490542e-05,-5.20362438509e-05,1793237716451563776
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.155253472,746,716,680,667.844746528,636.844746528,882,788,804,653,632.844746528,654.844746528,0.436289824274,0.00446343964889,0.0599515877728,0.999999996335,-3.62467488292e-05,-5.65414718076e-05,-5.30967251096e-05,1793237716468230656
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.729828387,746,716,680,667.270171613,636.270171613,882,788,804,653,632.270171613,654.270171613,0.437010114363,0.00445970179277,0.0599537703067,0.999999996578,-3.59580216477e-05,-5.23400179231e-05,-5.30184306132e-05,1793237716484897536
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.312995928,716,680.312995928,667,636,882,788,804,653,632,654,0.437689593474,0.00445766506887,0.0599500482314,0.999999995822,-3.42054226975e-05,-6.63040486097e-05,-5.281291871e-05,1793237716501564160
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.903789774,716,680.903789774,667,636,882,788,804,653,632,654,0.43833285097,0.00445713817631,0.0599410855505,0.999999993491,-3.11535719189e-05,-9.63907614408e-05,-5.24944956233e-05,1793237716518230528
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.514642424,716,681,667.485357576,636.485357576,882,788,804,653,632.485357576,654,0.439013295905,0.00445419951889,0.059951017852,0.999999995014,-3.2924627003e-05,-7.79368926176e-05,-5.30468122425e-05,1793237716534897152
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,881.935288871,788,804,653,633,654,0.439701508166,0.00445087276622,0.0599676725001,0.999999996896,-3.48393291449e-05,-4.63067835555e-05,-5.33868724641e-05,1793237716551564032
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,881.359250289,788,804,653,633,654,0.440393934727,0.00444818652362,0.0600084016201,0.99999999814,-3.04758059122e-05,1.48262819336e-05,-5.0711335473e-05,1793237716568230656
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,881.216071347,788,804,653,632.783928653,654,0.441054848766,0.00444655892002,0.0600317860487,0.999999997262,-2.65579196041e-05,4.85574368975e-05,-4.91259945939e-05,1793237716584897280
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,681,668,637,881.79020484,788,804,653,632.20979516,654,0.441663541832,0.00444668563794,0.0600264277569,0.999999997829,-2.33785201079e-05,3.68795714084e-05,-4.93472702698e-05,1793237716601563904
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667.624208919,637,882,788,804,653,632.375791081,654,0.442224168304,0.00444430695266,0.0600026692623,0.999999998363,-2.68180598318e-05,-1.62758382024e-06,-5.05258439222e-05,1793237716618230784
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667.032027841,637,882,788,804,653,632.967972159,654,0.442757116876,0.00444048559297,0.0599683154656,0.99999999651,-3.40689515825e-05,-5.55837228642e-05,-5.22556538312e-05,1793237716634897664
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,637,882.545247071,788.545247071,804,653,633,654,0.443296898277,0.00443984727346,0.0599586702986,0.999999995716,-4.03269865674e-05,-6.25824659815e-05,-5.50078039096e-05,1793237716651564032
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,715.878773564,681,667,636.878773564,882.878773564,788.878773564,804,653,632.878773564,654,0.443835792965,0.00443894511843,0.0599553750475,0.999999995394,-4.6640729112e-05,-6.11279290025e-05,-5.74371931482e-05,1793237716668230656
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,715.304450755,681,667,636.304450755,882.304450755,788.304450755,804,653,632.304450755,654,0.444369913419,0.00443637662006,0.0599705329129,0.999999996142,-5.3374864326e-05,-3.81133983466e-05,-5.84417521752e-05,1793237716684897280
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.278489299,715.278489299,681.278489299,667,636,882.278489299,788.278489299,804,653,632.278489299,654,0.444875090775,0.00443360227883,0.0599772035848,0.99999999594,-6.06383810965e-05,-2.98604330473e-05,-5.95869583544e-05,1793237716701564160
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.871150691,715.871150691,681.871150691,667,636,882.871150691,788.871150691,804,653,632.871150691,654,0.445347616526,0.00443059572028,0.0599742995994,0.999999995068,-6.84991086208e-05,-3.82604316741e-05,-6.08908327476e-05,1793237716718230784
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.547472658,746.547472658,716,681.547472658,667,636,882.547472658,788.547472658,804.452527342,653,633,654,0.445760778861,0.00443159304475,0.059947078554,0.999999989662,-9.4547711767e-05,-8.85971588957e-05,-6.23471060001e-05,1793237716734897408
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.030521342,746,716,681,666.969478658,635.969478658,882,788,804.969478658,653,632.969478658,654,0.446156969101,0.00443359893694,0.0599138964212,0.999999978915,-0.000126528509323,-0.000148584595665,-6.38960840674e-05,1793237716751563776
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.604108268,746,716,681,666.395891732,635.395891732,882,788,804.395891732,653,632.395891732,654,0.446544607386,0.00443375914739,0.0598948474769,0.99999996767,-0.00017415845707,-0.000172994587141,-6.63412575501e-05,1793237716768230400
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,715.821326617,681,666,635,882,788,804,653,632.178673383,654,0.446933623921,0.00443269213374,0.0598836650335,0.999999958826,-0.000207703059661,-0.000185966505565,-6.79941635254e-05,1793237716784897024
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,715.341786855,681.341786855,665.658213145,635,881.658213145,788,804,653,633,654,0.447704548151,0.00442776386182,0.0598993388851,0.99999996397,-0.000206557648643,-0.000157764050241,-6.71134428707e-05,1793237716818230528
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,715.935243047,681.935243047,665.064756953,635,881.064756953,788,804,653,633,654,0.448073628867,0.0044286057858,0.0599108684658,0.999999968225,-0.000199219220582,-0.000139731354769,-6.58616681259e-05,1793237716834897408
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.514288467,716,682,665,635,881.514288467,788,804.514288467,653,633,654,0.448391138614,0.00443005168811,0.0599086313568,0.999999978603,-0.000143131852076,-0.00014116201152,-4.87994538104e-05,1793237716851564032
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.908958347,746.908958347,716,682,664.908958347,634.908958347,882,788,804.908958347,653,633,654,0.448691139681,0.00443194348456,0.0599010936832,0.999999983869,-9.08872235971e-05,-0.000151302495178,-3.33162912112e-05,1793237716868230656
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.335001138,746.335001138,716,682,664.335001138,634.335001138,882,788,804.335001138,653,633,654,0.448931774282,0.00443580805313,0.0598743841641,0.99999997621,-9.06976488888e-05,-0.000194997613854,-3.64808898304e-05,1793237716884897280
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,716,681.755300356,664.244699644,634.244699644,882,788,804.244699644,653,633,654,0.449167339848,0.00443680070879,0.0598495289479,0.9999999673,-9.42213199779e-05,-0.000234492751905,-3.91901828038e-05,1793237716901564160
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,716,681.167547485,664.832452515,634.832452515,882,788,804.832452515,653,633,654,0.449395798936,0.0044337671263,0.0598272733469,0.999999957911,-0.000102950723935,-0.00026809978378,-4.12611662845e-05,1793237716918230528
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.414164465,746,716,681,664.585835535,634.585835535,882,788,805,653,632.585835535,654,0.449615562846,0.00443324809226,0.0598176932426,0.999999953446,-0.000107695048795,-0.000282181512414,-4.34053314856e-05,1793237716934897152
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.993467719,746,716,681,664.006532281,634.006532281,882,788,805,653,632.006532281,654,0.449831859745,0.00443373167807,0.0598131672088,0.999999951208,-0.000110850412583,-0.000288477963674,-4.55786762172e-05,1793237716951564032
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.428718296,746,716,681.571281704,663.428718296,634.571281704,882,788,805,653,632.571281704,654,0.450027600986,0.00443397707699,0.05981296656,0.999999950521,-0.000112215802527,-0.000290144458317,-4.67012203553e-05,1793237716968230656
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.147721772,746,716,681.852278228,663,634.852278228,882,788,804.852278228,653,632.852278228,654,0.450214511501,0.0044338555327,0.0598119111971,0.999999949793,-0.000113781305587,-0.000291863387408,-4.77773631525e-05,1793237716984897536
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766.055979179,746.055979179,716,681.944020821,663,634,882,788,804.055979179,653,632.055979179,654,0.450907012662,0.00443427326007,0.0598056094259,0.999999946986,-0.000114829432479,-0.000300401372942,-5.09943756434e-05,1793237717068230656
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+233,3.883333333,POSE1_TO_POSE2_PRESS,767.889757008,746.889757008,715.889757008,682,662,634,882,788,804,653.889757008,633,654,0.451365862503,0.00444065840284,0.0597876625594,0.999999939613,-0.000108427931439,-0.000325731589894,-5.39981509832e-05,1793237717184897280
+234,3.900000000,POSE1_TO_POSE2_PRESS,767.313678909,746.313678909,715.313678909,682,662,634,882,788,804,653.313678909,633,654,0.451401120954,0.00444243948518,0.0597879963704,0.99999994029,-0.000105982047278,-0.000324414878534,-5.42458722475e-05,1793237717201563904
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.738248932,746,715,682,662,634,882,788,804.261751068,653,633,654,0.451431114054,0.0044439329574,0.0597884538111,0.999999940849,-0.000103637393756,-0.000323417267452,-5.44326990511e-05,1793237717218230784
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766.01898119,746,715,681.01898119,662,634,882,788,804,653,633,653.01898119,0.451487358612,0.0044512357639,0.0597883263458,0.99999994067,-9.70991510324e-05,-0.000325650649599,-5.64185600039e-05,1793237717268230656
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766.832718877,746,715.167281123,682,662,634,882,788,804,653,633,653.832718877,0.451502772119,0.00448180530966,0.0597852115405,0.999999941692,-6.60325830992e-05,-0.000328889543787,-6.39294194726e-05,1793237717301564160
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+259,4.316666667,POSE1_TO_POSE2_PRESS,766.807828104,746,715.807828104,681.807828104,661.807828104,634,882,788,804.807828104,653,632.807828104,654,0.451516809228,0.00449593861623,0.0597772843046,0.999999938159,-4.52648114457e-05,-0.000342699862518,-6.4725875351e-05,1793237717618230784
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.231725273,746,715.231725273,681.231725273,661.231725273,634,882,788,804.231725273,653,632.231725273,654,0.451516057173,0.00449349506486,0.0597768089575,0.999999937774,-4.86036435477e-05,-0.000343464946063,-6.41950344819e-05,1793237717634897152
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746.354037174,715,681.354037174,661,634,882,788,804.354037174,653,632.354037174,654,0.451516489814,0.0044935283513,0.0597772129512,0.999999937946,-4.83712368268e-05,-0.000343036821065,-6.39887334797e-05,1793237717651563776
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746.94629936,715,681.94629936,661,634,882,788,804.94629936,653,632.94629936,654,0.451517719612,0.00449522825588,0.0597782086369,0.99999993849,-4.57358098901e-05,-0.000341805808242,-6.40008093344e-05,1793237717668230656
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,746.475821874,715.524178126,682,661.524178126,634,882,788,805,653,632.475821874,654,0.451516675445,0.00449625791007,0.0597769773456,0.999999937799,-4.4269429142e-05,-0.000343944632681,-6.43784622961e-05,1793237717684897024
+264,4.400000000,HOLD_POSE2,766,747,716,682,662,634,882,788,805,653,632,654,0.451516087849,0.00449319705931,0.0597760504473,0.999999937315,-4.90556004054e-05,-0.000344723575268,-6.42576545745e-05,1793237717727815680
+265,4.416666667,HOLD_POSE2,766.59480269,746.40519731,716,682,662,634,882,788,804.40519731,653,632,654,0.451517085875,0.00449515418759,0.0597768469551,0.999999937689,-4.75491758611e-05,-0.000343814412196,-6.4447689411e-05,1793237717744482048
+266,4.433333333,HOLD_POSE2,767,746,716,682,661.815408447,634,882,788,804,653,632.184591553,654,0.451517125311,0.0044955379704,0.0597769453816,0.999999937638,-4.67240466363e-05,-0.000344095753868,-6.43314412796e-05,1793237717761148416
+267,4.450000000,HOLD_POSE2,767,746,716,682,661.236334305,634,882,788,804,653,632.763665695,654,0.451515116183,0.00449255942533,0.0597755519693,0.999999936682,-4.73548837565e-05,-0.000346921271332,-6.35606491596e-05,1793237717777815040
+268,4.466666667,HOLD_POSE2,766.661364918,746,715.661364918,682,661.338635082,634,882,788,804,653,632.661364918,654,0.451516233757,0.00449271374093,0.0597761737473,0.999999937055,-4.6860388377e-05,-0.000345910342805,-6.35608581212e-05,1793237717794481664
+269,4.483333333,HOLD_POSE2,766.089225976,746,715.089225976,682,661.910774024,634,882,788,804,653,632.089225976,654,0.451519507332,0.00449502830264,0.059778185088,0.999999938338,-4.55899264483e-05,-0.00034225401498,-6.40927064614e-05,1793237717811148800
+270,4.500000000,HOLD_POSE2,766.486550684,746.486550684,715,681.513449316,662,633.513449316,882,788,804,653,632.486550684,654,0.451518326779,0.00449583952775,0.0597769848352,0.999999937819,-4.48034049938e-05,-0.000343865890463,-6.41104337937e-05,1793237717827815424
+271,4.516666667,HOLD_POSE2,766.935359476,746.935359476,715.064640524,681.064640524,661.935359476,633.064640524,882,788,804,653,632.935359476,654,0.451516482267,0.00449608717621,0.0597752912584,0.999999937007,-4.44274611177e-05,-0.00034629238678,-6.39893647951e-05,1793237717844481792
+272,4.533333333,HOLD_POSE2,766.343894927,746.343894927,715.656105073,681.656105073,661.343894927,633.656105073,882,788,804,653,632.343894927,654,0.451515933718,0.00449400544918,0.0597744132564,0.999999936542,-4.66690041544e-05,-0.000347424940249,-6.35112893061e-05,1793237717861148416
+273,4.550000000,HOLD_POSE2,766.242032237,746,716,681.757967763,661.242032237,634,882,788,804,653,632.242032237,654,0.45151552487,0.00449271812756,0.0597738576057,0.999999936259,-4.75425064865e-05,-0.000348164056706,-6.32805526654e-05,1793237717877815040
+274,4.566666667,HOLD_POSE2,766.820267461,746,716,681.179732539,661.820267461,634,882,788,804,653,632.820267461,654,0.451515310079,0.00449253430156,0.059773749728,0.999999936233,-4.65156858573e-05,-0.000348356656206,-6.3393390379e-05,1793237717894481664
+275,4.583333333,HOLD_POSE2,767,746,716,681.395712173,661.604287827,634,882,788,804,653,633,654,0.451515645113,0.0044937437115,0.0597737977129,0.999999936376,-4.54977742183e-05,-0.000348050277649,-6.35502153605e-05,1793237717911148288
+276,4.600000000,HOLD_POSE2,767,746,716,681.969898359,661.030101641,634,882,788,804,653,633,654,0.451516228128,0.00449558149838,0.0597739159948,0.999999936595,-4.44838806205e-05,-0.000347518850138,-6.37268794791e-05,1793237717927814912
+277,4.616666667,HOLD_POSE2,766.441007019,746.558992981,716,682,661,634,882,788,804,653,633,654,0.451516355495,0.00449553606627,0.0597742975248,0.999999936571,-4.44269728628e-05,-0.000347614677708,-6.36313171495e-05,1793237717944481792
+278,4.633333333,HOLD_POSE2,766,747,716,682,661.146725038,634,882,788,804,653,633,654,0.451516754691,0.0044954357527,0.0597749242055,0.999999936699,-4.45824612452e-05,-0.000347247212597,-6.35109009485e-05,1793237717961148672
+279,4.650000000,HOLD_POSE2,766,747,716,682,661.727979268,634,882,788,804,653,633,654,0.451518033568,0.00449548146633,0.0597762337722,0.999999937318,-4.52101658627e-05,-0.000345404922916,-6.33614829629e-05,1793237717977815296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,681,661,634,882,788,804,653,632,654,0.451515270438,0.00449585402002,0.0597734182295,0.999999936146,-4.51188861579e-05,-0.000348653954511,-6.41260772273e-05,1793237718014788864
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.575780171,715.575780171,681.575780171,661,634,882,788,804,653,632.575780171,654,0.4515159261,0.00449573368135,0.0597738657373,0.999999936504,-4.23950242208e-05,-0.00034804084014,-6.37320780472e-05,1793237718031455488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.843619392,746.843619392,716,682,661,634,882,788,804.156380608,653,633,654,0.451516503967,0.00449544212507,0.0597739828566,0.999999936622,-4.13387816853e-05,-0.000347855917836,-6.35821203851e-05,1793237718048122112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.249526823,746.249526823,716,682,661,634,882,788,804.750473177,653,633,654,0.451516864083,0.00449467132778,0.059773175213,0.999999936079,-4.49502334009e-05,-0.000348869512227,-6.41152389652e-05,1793237718064788736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,661.334153676,634,882,788,804.665846324,653.334153676,633,654,0.451516862666,0.00449449154382,0.0597733548212,0.999999935942,-4.6150327136e-05,-0.000349116741338,-6.40625223498e-05,1793237718081455360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,716,682,661.910293953,634,882,788,804.089706047,653.910293953,633,654,0.451516599435,0.00449473975851,0.0597742493752,0.999999936105,-4.56041692734e-05,-0.000348808985838,-6.35855569901e-05,1793237718098122240
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.487006049,746.487006049,716,682,661.512993951,633.512993951,882,788,804,653.512993951,632.512993951,654,0.451515947846,0.00449455592121,0.0597736513126,0.999999935847,-4.55123341078e-05,-0.000349536841515,-6.37106228955e-05,1793237718114789120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.934829441,746.934829441,716,682,661,633.065170559,882,788,804,653,632.065170559,654,0.451515262665,0.00449441922964,0.0597728959076,0.99999993556,-4.52091439483e-05,-0.000350370470281,-6.38451349376e-05,1793237718131455744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.34583846,746.34583846,716,682,661,633.65416154,882,788,804,653,632.65416154,654,0.451514883135,0.00449530190016,0.0597730883017,0.999999935669,-4.25337180791e-05,-0.000350519210052,-6.31631965966e-05,1793237718148122112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,716,682,661,634,881.760241884,788,804.239758116,653,633,654,0.451513561664,0.00449571699068,0.0597723622737,0.999999935376,-4.11222219212e-05,-0.000351578739894,-6.28502861172e-05,1793237718164788480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,661,634,881.179473254,788,804.820526746,653,633,654,0.451510900458,0.00449546703713,0.0597703299643,0.999999934516,-4.15084266354e-05,-0.000353933696108,-6.30622479408e-05,1793237718181455104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.397350471,716,682,661.397350471,634,881.397350471,788,805,653,632.602649529,654,0.451502247684,0.00449535171627,0.0597655579292,0.99999993204,-4.15171160219e-05,-0.000360851277832,-6.31140069072e-05,1793237718198121728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.972409947,716,682,661.972409947,634,881.972409947,788,805,653,632.027590053,654,0.451490915272,0.00449529660784,0.0597595605929,0.999999928775,-4.13569674035e-05,-0.000369809425173,-6.30941175764e-05,1793237718214788608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746.451777831,715.451777831,682,661.451777831,634,881.451777831,788,804.451777831,653,632,654,0.451460245235,0.0044953740458,0.0597462870953,0.999999920589,-4.08690634925e-05,-0.000391341313095,-6.32682719626e-05,1793237718231455488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.87344959,661,634,881.12655041,788,804,653,632.12655041,654,0.451424005938,0.00449567145791,0.059731260858,0.999999911191,-4.02175120717e-05,-0.000414687392773,-6.35163039567e-05,1793237718248122112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.286097875,661,634,881.713902125,788,804,653,632.713902125,654,0.451371036094,0.00449674552756,0.0597111876548,0.999999899362,-3.90302235781e-05,-0.000442332082123,-6.39977351144e-05,1793237718264788736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.298811628,661.298811628,634,882,788,804,653,633,654,0.451313370926,0.00449759019095,0.0596934974485,0.99999988895,-3.79440842315e-05,-0.000465311600285,-6.43777676819e-05,1793237718281455360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.881401751,661.881401751,634,882,788,804,653,633,654,0.45125124666,0.00449821698939,0.0596780703524,0.999999880166,-3.69540053277e-05,-0.000483860649233,-6.4661502984e-05,1793237718298121728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,662,634,882,788,804,653,632.541901238,654,0.451184171832,0.0044978814548,0.0596725025624,0.999999876317,-3.68833017457e-05,-0.000491756565249,-6.46543498897e-05,1793237718314788352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715.033208387,682,662,634,882,788,804,653,632,654,0.451114754085,0.00449742992231,0.0596694495841,0.999999873799,-3.68207072073e-05,-0.000496869710049,-6.45569536731e-05,1793237718331454976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,715.606998235,682,662,634,882,788,804,653,632,654,0.451027795705,0.00449909423843,0.0596663108536,0.999999871887,-3.30647396182e-05,-0.000501009627869,-6.42008789659e-05,1793237718348121600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,716,682,662,634,881.813621993,788,804,653,632.186378007,654,0.450935587918,0.00449994576103,0.0596647410793,0.999999870918,-3.03107356305e-05,-0.000503190817064,-6.35888321347e-05,1793237718364788480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,662,634,881.22209078,788,804,653,632.77790922,654,0.450831968848,0.00449903041238,0.0596665819424,0.999999872052,-2.97348258586e-05,-0.000501114072102,-6.24203466999e-05,1793237718381455104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746.361218245,715.638781755,682,662,634,881.361218245,788,804.361218245,653,633,654,0.450715685814,0.00449985839433,0.0596689478217,0.999999873697,-2.65911385e-05,-0.00049814398221,-6.12483991338e-05,1793237718398121728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746.939584519,715.060415481,682,662,634,881.939584519,788,804.939584519,653,633,654,0.450591789771,0.00450173438749,0.0596716293172,0.999999875623,-2.1903819632e-05,-0.000494636853641,-6.00743701775e-05,1793237718414788352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,747,715.514061316,682,662,634,883.028122632,788,804.485938684,653,632.485938684,654,0.450440353739,0.00450235928897,0.0596696013944,0.999999873002,-1.81003775831e-05,-0.000500206696474,-5.88430878406e-05,1793237718431454976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.090551503,746.909448497,716,681.909448497,662.090551503,634,883.818896994,788,804.090551503,653,632.090551503,654,0.450282198519,0.00450307077545,0.0596671735793,0.999999869966,-1.44660692352e-05,-0.000506487251283,-5.7705295767e-05,1793237718448121600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.68065211,746.31934789,716,681.31934789,662.68065211,634,882.63869578,788,804.68065211,653,632.68065211,654,0.450104696955,0.00450506499484,0.0596655701281,0.999999867823,-1.11960596264e-05,-0.000510847675654,-5.71201067221e-05,1793237718464788224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.73411834,681,662.73411834,634,882,788,804.73411834,653,633,654,0.449910444125,0.00450558154775,0.0596630637739,0.999999865787,-8.50425560962e-06,-0.000515000217595,-5.59278394143e-05,1793237718481454848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.154634146,681,662.154634146,634,882,788,804.154634146,653,633,654,0.449696433492,0.0045043552201,0.0596594924622,0.999999863887,-6.4944346615e-06,-0.000518907565774,-5.40195344848e-05,1793237718498121472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,681,662.422098514,634,882,788,804,653,633,654,0.449471237317,0.00450629730344,0.0596614366183,0.999999865887,1.75062990443e-07,-0.000515280471208,-5.20830251941e-05,1793237718514788352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,715,681,662.997829678,634,882,788,804,653,633,654,0.449241969905,0.00450939260426,0.0596653882583,0.999999869211,8.54055916296e-06,-0.000508911039455,-5.01362503019e-05,1793237718531454976
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,681.552991224,663,634.552991224,882,788,804.552991224,653,632.447008776,654,0.448983056375,0.00451010010431,0.0596722111029,0.999999873826,1.46590128446e-05,-0.000499827698766,-4.80094141908e-05,1793237718548121856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.881326599,746,715,681.881326599,663.118673401,634.881326599,882.118673401,788,805,653,632.118673401,654,0.448719931066,0.00451108400371,0.0596789972777,0.999999878353,2.09258301945e-05,-0.000490664986365,-4.58642858597e-05,1793237718564788480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.271808261,746,715,681.271808261,663.728191739,634.271808261,882.728191739,788,805,653,632.728191739,654,0.448439849476,0.00451324848896,0.0596855868439,0.999999882875,2.78414607906e-05,-0.000481216461913,-4.36463177397e-05,1793237718581454848
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.323197667,746,715.323197667,681.323197667,664,634.323197667,882.676802333,788,804.676802333,653,633,654,0.448136491391,0.0045152772931,0.0596961725336,0.999999890912,3.60284113422e-05,-0.000463882341825,-4.11344858747e-05,1793237718598121728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.906523245,746,715.906523245,681.906523245,664,634.906523245,882.093476755,788,804.093476755,653,633,654,0.447814399025,0.00451719689358,0.0597099745321,0.999999901351,4.52385934209e-05,-0.000440201443497,-3.83861354536e-05,1793237718614788608
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746.482012939,715.517987061,682,664,635,882,788,804,653,633,654,0.447473171846,0.00451788743813,0.0597252349867,0.999999910656,5.11314414321e-05,-0.000418142188802,-3.50700414928e-05,1793237718631454976
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746.943696681,715.056303319,682,664.056303319,635,882,788,804.056303319,653,633,654,0.447122997222,0.00451850420789,0.0597397413305,0.999999918511,5.69284787806e-05,-0.000398419122196,-3.16075499486e-05,1793237718648121344
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.366668472,715.633331528,682,664.633331528,635,882,788,804.633331528,653,633,654,0.44672384207,0.00452060780695,0.0597446992362,0.999999918343,6.76941147045e-05,-0.000397440419348,-2.77930897647e-05,1793237718664787968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.785447392,665,635.214552608,882,788,804.785447392,653,633,654,0.446313682567,0.00452245952512,0.0597454973843,0.999999916135,7.77730000302e-05,-0.000401372138869,-2.41100450626e-05,1793237718681454848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.196917947,665,635.803082053,882,788,804.196917947,653,633,654,0.445884341905,0.00452387220107,0.0597390448491,0.999999910391,8.66548411561e-05,-0.000413862991072,-2.06560649053e-05,1793237718698121728
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.615023844,681.384976156,665,636,882,788,804,653,633,654,0.445419223467,0.00452561398734,0.0597326723966,0.999999905708,9.68397137852e-05,-0.000422963163141,-1.75444161291e-05,1793237718714788352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.036466275,681.963533725,665,636,882,788,804,653,633,654,0.444936114544,0.00452752126339,0.059726340213,0.999999901492,0.00010767980251,-0.000430358365182,-1.46049053698e-05,1793237718731455232
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.461255072,746,715.538744928,682,665.538744928,635.461255072,882,788,804,653,633,654,0.444478055301,0.00453042442606,0.0597460185639,0.999999915584,0.000118423399808,-0.000393304946486,-1.09255861207e-05,1793237718748121856
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.116401462,746,715.883598538,682,666.116401462,635.116401462,881.883598538,788,804,653,633,654,0.444018382077,0.00453312279225,0.0597699875996,0.999999930474,0.000129331265607,-0.000349677731752,-7.10072370282e-06,1793237718764788224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.70488826,746,715.29511174,682,666.70488826,635.70488826,881.29511174,788,804,653,633,654,0.443545329079,0.00453471887097,0.0598042619366,0.999999947574,0.000140931672171,-0.000291516022235,-2.88742476503e-06,1793237718781455104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,681.709281153,666.709281153,636,881,788,804,653,633,653.709281153,0.443026836961,0.00453699909146,0.0598263218162,0.999999954483,0.000152142914288,-0.000260546434456,1.49292284288e-06,1793237718798121728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,681.126122429,666.126122429,636,881,788,804,653,633,653.126122429,0.442462636673,0.00453996750397,0.0598360949342,0.999999953697,0.000162962689902,-0.000256929937068,6.04130853569e-06,1793237718814788608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.552538908,746,715.447461092,681,666.447461092,636,881,788,804,653.447461092,633,653.447461092,0.441832629189,0.00454356022698,0.0598168305839,0.999999941993,0.000176429443528,-0.000291191162759,9.69746159167e-06,1793237718831455488
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,667,636.01822828,881,788,804,653.98177172,633,654,0.441185067035,0.0045473026396,0.0597900639553,0.999999925557,0.000190547667172,-0.000335268696709,1.31329672845e-05,1793237718848122368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,667,636.58377245,881,788,804,653.41622755,633,654,0.440555678056,0.00455036667963,0.0597786349284,0.999999914502,0.000202294427795,-0.000360240414891,1.73362537795e-05,1793237718864788992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.840750904,681,667,636.840750904,881.159249096,788.159249096,804,653,633,654,0.439931186922,0.00455366622039,0.0597778720685,0.999999910403,0.000213694369433,-0.000364794439493,2.12905883617e-05,1793237718881455360
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.237587023,681,667,636.237587023,881.762412977,788.762412977,804,653,633,654,0.439320348815,0.004557622231,0.0598068416811,0.999999925775,0.000224127535172,-0.000312433124758,2.45509568315e-05,1793237718898121984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.348949696,681,667,636,881.651050304,788.651050304,804.348949696,653,633,654,0.43867801568,0.00456088334927,0.0598300002115,0.999999933872,0.000235654093414,-0.000275522739406,2.84744544614e-05,1793237718914788352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,715.924680462,681,667,636,881.075319538,788.075319538,804.924680462,653,633,654,0.438015214071,0.00456369285954,0.0598493821406,0.999999937822,0.000247891242972,-0.000248653856041,3.28289170752e-05,1793237718931454976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.498236685,746,715.501763315,681,667,636.498236685,881.498236685,788,804.501763315,653,633,654,0.437264562353,0.00456611488005,0.0598168173739,0.999999919588,0.000259452333489,-0.000303559776854,3.68643780954e-05,1793237718948121856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.925971711,746,715.074028289,681,667,636.925971711,881.925971711,788,804,653,633,654,0.436507951003,0.00456872758289,0.0597798771986,0.999999896451,0.000270891419476,-0.000363410184687,4.06012348948e-05,1793237718964788736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.332187675,746,715.667812325,681,667,636.332187675,881.332187675,788,804,653,633,654,0.435802334909,0.00457308856251,0.0597671130411,0.999999890251,0.000282188349939,-0.000371558519715,4.25786905896e-05,1793237718981455360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.254752712,746,715.745247288,681,666.745247288,636,881.509505425,788,804,653,633,654,0.435095512126,0.00457655955577,0.0597684866931,0.999999897825,0.000272683179001,-0.000358476606163,3.85857834811e-05,1793237718998121984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.833002782,746,715.166997218,681,666.166997218,636,882.666005565,788,804,653,633,654,0.434387156936,0.00457890040178,0.0597878132199,0.999999920906,0.00023676249113,-0.000318435493012,2.70114201224e-05,1793237719014788608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.590781216,666.409218784,636,882.590781216,788,804,653,633,654,0.433650344948,0.00457490699804,0.05980239198,0.999999938803,0.000187184298908,-0.000295167554633,1.52223222183e-05,1793237719031455232
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.015391223,666.984608777,636,882.015391223,788,804,653,633,654,0.432901977569,0.00456834144941,0.0598150428163,0.999999952435,0.0001320602144,-0.000278710690375,3.34602786072e-06,1793237719048122112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,715.558955626,680,666.441044374,636,881.441044374,788,804,653,633,654,0.43211573076,0.00457333454528,0.0598146728574,0.999999948336,0.000151232675176,-0.000283513258345,8.80586955203e-06,1793237719064788480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.863625957,746,716,680.136374043,666.136374043,636,881,788,804,653,632.863625957,654,0.431340335067,0.00457796496426,0.0598177295268,0.999999945875,0.000170859712241,-0.000280794371502,1.45238739566e-05,1793237719081455360
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.275947923,746,716,680.724052077,666.724052077,636,881,788,804,653,632.275947923,654,0.430604294422,0.0045803438636,0.0598333102698,0.99999995109,0.000185233487682,-0.000251251020569,1.95194214094e-05,1793237719098122240
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.308763124,746,715.691236876,680.691236876,667,636,881.308763124,788,804,653,632.308763124,654,0.42982109725,0.00458217706405,0.0598317008855,0.999999947493,0.000195524602402,-0.000257324153123,2.38558128105e-05,1793237719114788608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.89084772,746,715.10915228,680.10915228,667,636,881.89084772,788,804,653,632.89084772,654,0.428996156493,0.00458352720402,0.0598148745573,0.999999935686,0.000202201687425,-0.000294925500658,2.76087097015e-05,1793237719131455232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.531325507,746,715.468674493,680,666.531325507,636.468674493,882,788,804,653,633,654,0.42818211613,0.00458692300155,0.0597883755765,0.9999999242,0.000195827000848,-0.000335594227922,2.50701426216e-05,1793237719148121856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.046308779,746,716,680,666.046308779,636.953691221,882,788,804,653,633,654,0.427374560693,0.00459011442755,0.0597638550091,0.999999913954,0.000186248000332,-0.000370058731885,2.14579997343e-05,1793237719164788736
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.633166516,746,716,680,666.633166516,636.366833484,882,788,804,653,633,654,0.426613336416,0.00458540917836,0.0597884865158,0.999999932104,0.000174428097751,-0.000323839431992,2.22638349575e-05,1793237719181455104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.782794816,746,716,680,666.782794816,636,881.782794816,788,804,653,633,654,0.42584192747,0.00458393499728,0.0598115349765,0.999999944162,0.000169606490705,-0.00028695191891,2.38188775713e-05,1793237719198121728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.203456121,746,716,680,666.203456121,636,881.203456121,788,804,653,633,654,0.4250535381,0.00458784778649,0.0598319441211,0.9999999488,0.000176452731437,-0.000265622742151,2.6623030077e-05,1793237719214788352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.374322071,746,716,680,666,636.374322071,881,788.374322071,804,653,633,654,0.424268712548,0.00458942589926,0.0598410306625,0.999999950922,0.000175938076857,-0.000257688635617,2.82705671241e-05,1793237719231455232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.951255568,746,716,680,666,636.951255568,881,788.951255568,804,653,633,654,0.423485816051,0.00458974030827,0.0598439885532,0.99999995185,0.000171439148455,-0.000257004955835,2.9292056216e-05,1793237719248121856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.47263848,881,789,804,653.52736152,632.47263848,654,0.42271454567,0.004587741032,0.0598513956655,0.999999956912,0.000162924814246,-0.000242372330907,2.97717464575e-05,1793237719264788480
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,715.894175162,679.894175162,666.105824838,636,881,788.894175162,803.894175162,653.894175162,632.105824838,654,0.421934625503,0.00458651613979,0.0598531512225,0.999999959051,0.000155498217452,-0.000238339828367,3.01933320588e-05,1793237719281455104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.304586362,679.304586362,666.695413638,636,881,788.304586362,803.304586362,653.304586362,632.695413638,654,0.421110259293,0.00458980732076,0.0598271944518,0.999999945901,0.000154738056135,-0.000288649035327,3.05778703108e-05,1793237719298121728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.719872272,746.280127728,715,679.280127728,666.719872272,636,881.280127728,788.280127728,803.280127728,653.280127728,633,654,0.420299878313,0.004591229282,0.0597945787497,0.999999928811,0.000150212604838,-0.000344810898621,3.03116806355e-05,1793237719314788352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.140367895,746.859632105,715,679.859632105,666.140367895,636,881.859632105,788.859632105,803.859632105,653.859632105,633,654,0.419504443609,0.00459065358023,0.0597548465507,0.999999906618,0.000141663132321,-0.000407227578786,2.93500483405e-05,1793237719331454976
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.996411203,746,716,680.996411203,666.996411203,636,881,788.996411203,803.003588797,653.003588797,633,654,0.41808472172,0.00459243104923,0.0597881306014,0.999999939038,0.000129579192472,-0.000323055025661,2.77137612285e-05,1793237719364788224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.417341306,746,716,680.417341306,666.417341306,636,881,788.417341306,803.582658694,653.582658694,633,654,0.417373639963,0.00459122729915,0.0598186277684,0.999999951269,0.000120756900363,-0.000286365320171,2.95834069407e-05,1793237719381455360
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.165617741,746,715.834382259,679.834382259,666,636.165617741,880.834382259,788,803.834382259,654,632.834382259,653.834382259,0.416660421988,0.00458999347616,0.0598421185229,0.999999959017,0.000113328131564,-0.000261030239902,3.1386605451e-05,1793237719398121984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.758612887,746,715.241387113,679.241387113,666,636.758612887,880.241387113,788,803.241387113,654,632.241387113,653.241387113,0.415941691338,0.00458868204963,0.059847529202,0.999999958349,0.000109495355067,-0.000264995819431,3.30183371217e-05,1793237719414788352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.657583207,746,715.342416793,679.342416793,666,637,880,788,803.342416793,654,632.342416793,653.342416793,0.415239251282,0.00458823789243,0.0598448458928,0.999999956428,0.000107961965615,-0.000272739446665,3.31732158579e-05,1793237719431455232
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.753299369,746.246700631,716,680,666.246700631,637,880.753299369,788,803.753299369,653.753299369,632.753299369,654.753299369,0.411863564627,0.00458465008079,0.0597812217932,0.999999884075,0.000298144240271,-0.000376710205064,3.23816525047e-05,1793237719514788608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.17405871,746.82594129,716,680,666.82594129,637,880.17405871,788,803.17405871,653.17405871,632.17405871,654.17405871,0.411260120739,0.00458196836363,0.0597728185317,0.999999887266,0.000284670515216,-0.000378756108451,3.12240915636e-05,1793237719531455232
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.400691028,746.599308972,715.599308972,680,667,637,880.400691028,788,803,653.400691028,632,654,0.410701541197,0.0045812261275,0.059794266782,0.999999904029,0.000274385459664,-0.000340127486574,3.11182154623e-05,1793237719548121856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.973511597,746.026488403,715.026488403,680,667,637,880.973511597,788,803,653.973511597,632,654,0.410162234506,0.00458131705675,0.0598285386955,0.999999923932,0.000265470196353,-0.000284025831342,3.14641237626e-05,1793237719564788736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715.549018084,680,667,636.450981916,881,788,803.549018084,654,632,654,0.409634244637,0.00457959744996,0.0598507240613,0.999999934354,0.00025697024032,-0.000253352117849,3.27231453672e-05,1793237719581455360
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.872033045,636.127966955,881,788,804,654,632.127966955,654,0.409103304582,0.00457742844968,0.0598669212293,0.999999941691,0.000247891722151,-0.00023241778416,3.38961326874e-05,1793237719598121984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.281101122,636.718898878,881,788,804,654,632.718898878,654,0.408559705993,0.00457395119406,0.0598635740917,0.999999942056,0.000236647204336,-0.000242258773423,3.45976941659e-05,1793237719614788608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.696687894,881,788,803.696687894,654,633,654.303312106,0.408037776412,0.00457256080908,0.0598558727085,0.999999940743,0.00022713541669,-0.000256384606452,3.44994322756e-05,1793237719631455488
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.118188938,881,788,803.118188938,654,633,654.881811062,0.407535506567,0.00457306378544,0.0598442208363,0.999999937762,0.000219195688793,-0.000274397961437,3.36755122795e-05,1793237719648122112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.5433116,666.4566884,636.4566884,881,788,803,654,633,654.5433116,0.40707455039,0.00457143316265,0.0598379353932,0.999999939712,0.000207779063938,-0.000276283147919,3.27287014418e-05,1793237719664788480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.968575288,746,716,679.031424712,666.968575288,637,881,788,803,654,632.968575288,654,0.406626942117,0.00456933382238,0.0598338332222,0.999999942982,0.00019586598183,-0.000273240614168,3.18120514015e-05,1793237719681455360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.379848847,746,716,679.620151153,666.379848847,637,881,788,803,654,632.379848847,654,0.406227930343,0.00456863735612,0.0598440142587,0.99999994842,0.000190980529198,-0.000256247038478,3.19898716744e-05,1793237719698122240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.2058115,746,716,680,666,637,881,788,803,654,632.2058115,654,0.405827566846,0.00456742939212,0.0598508583725,0.99999995217,0.000186090677825,-0.000244911975926,3.23650758896e-05,1793237719714788864
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.785896018,746,716,680,666,637,881,788,803,654,632.785896018,654,0.405424745251,0.00456529125761,0.0598516342134,0.999999953301,0.000181192827859,-0.000243867053595,3.30992274072e-05,1793237719731455488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.364233914,716,680,666.364233914,636.635766086,881,788,803.364233914,654,633,654,0.405036106821,0.00456411715923,0.0598401971732,0.999999949353,0.000178181821212,-0.000261567349808,3.35957313423e-05,1793237719748122112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.941550066,716,680,666.941550066,636.058449934,881,788,803.941550066,654,633,654,0.404655765713,0.00456350703607,0.0598216154166,0.999999941769,0.000176274645284,-0.000290233876402,3.39532079672e-05,1793237719764788736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,666.482911757,636.517088243,881,788,804,654,633,654,0.404310527615,0.00456291294264,0.0598048928482,0.999999932939,0.000174696463894,-0.000320045721799,3.42546248217e-05,1793237719781455360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.905352632,716,680,666,636.905352632,881,788,803.905352632,654,632.905352632,654,0.403981421861,0.00456207981479,0.0597924684352,0.999999925899,0.000173405602003,-0.000341944931157,3.47244759994e-05,1793237719798121984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.316187679,716,680,666,636.316187679,881,788,803.316187679,654,632.316187679,654,0.403715944183,0.00455998833489,0.0598014069285,0.999999932524,0.000173422301306,-0.000321827770346,3.61073655884e-05,1793237719814788608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.731778955,666,636.268221045,881,788,803.268221045,654,632.268221045,654,0.403462308259,0.00455879234028,0.05981508743,0.999999940202,0.000173071805359,-0.000297064389315,3.73503412792e-05,1793237719831455488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.152879374,666,636.847120626,881,788,803.847120626,654,632.847120626,654,0.403222388571,0.0045586335801,0.0598342605654,0.999999948796,0.000172295989698,-0.000266919325413,3.84312555976e-05,1793237719848122112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.576915182,788,803.576915182,654.423084818,632.576915182,654,0.403003688567,0.00455700477274,0.0598483880845,0.99999995504,0.000172071862318,-0.000242365425887,3.96219501924e-05,1793237719864788736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.00200438,788,803.00200438,654.99799562,632.00200438,654,0.402792603353,0.00455484843203,0.0598607049599,0.999999960206,0.000172045710857,-0.000219817942663,4.08520399245e-05,1793237719881455616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.573446423,666,636.426553577,880.573446423,788,803.573446423,655,632,654,0.402590109344,0.00455398165723,0.0598607849281,0.999999959781,0.000170104198771,-0.000223056503563,4.18125574324e-05,1793237719898121984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.153513026,881,788,803.846486974,654.846486974,632,654,0.40239204383,0.00455371578748,0.0598586682416,0.999999958378,0.000169181517028,-0.00022982377721,4.24593090774e-05,1793237719914788352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.746797067,881,788,803.253202933,654.253202933,632,654,0.402206578621,0.00455515841469,0.0598503814111,0.999999954088,0.000171196690597,-0.000246441363713,4.22099126817e-05,1793237719931454976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.330416125,716,680,666.330416125,637,881.330416125,788.330416125,803.330416125,654,632.330416125,654,0.402039971052,0.00455449320867,0.0598465491325,0.999999951979,0.000170421235429,-0.000255346920854,4.23811577998e-05,1793237719948121600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.906839306,716,680,666.906839306,637,881.906839306,788.906839306,803.906839306,654,632.906839306,654,0.401887403675,0.00455225864283,0.0598460334321,0.999999951628,0.000167568053926,-0.00025851058796,4.28655861012e-05,1793237719964788224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.519210903,715.519210903,680,666.519210903,637,881.519210903,788.519210903,803.519210903,654,632.519210903,654,0.401763201666,0.00455081059607,0.0598462331531,0.999999959689,0.00011236875664,-0.000259193944029,2.85099909346e-05,1793237719981455104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.055682295,679.944317705,666,637,881,788,803,654,632,654,0.401646821543,0.00454868152431,0.0598466231808,0.99999996499,5.18449011982e-05,-0.000259156313529,1.30171771562e-05,1793237719998121472
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.64416529,679.35583471,666,637,881,788,803,654,632,654,0.401552963557,0.00453858521028,0.059847514523,0.999999966248,3.6929080937e-05,-0.000256795002633,1.40163796311e-05,1793237720014788352
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715.769677829,679.230322171,666.230322171,637,880.769677829,788,803.230322171,654.230322171,632,654,0.401464461756,0.00453484671155,0.0598494339053,0.999999967227,3.20722653214e-05,-0.000253583693451,1.4605955361e-05,1793237720031454976
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715.187078766,679.812921234,666.812921234,637,880.187078766,788,803.812921234,654.812921234,632,654,0.401384152225,0.00454083246795,0.0598529256709,0.999999967968,4.26006602818e-05,-0.000249072315286,1.45690084718e-05,1793237720048121856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.609291535,637,880.781416931,788,803.609291535,654.609291535,632,654,0.401310104662,0.00454064319482,0.0598514823779,0.999999967075,4.51874190164e-05,-0.000252128539222,1.54843267366e-05,1793237720064788736
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.033780288,637,881.932439424,788,803.033780288,654.033780288,632,654,0.401239018974,0.00453753316925,0.0598477048315,0.99999996541,4.40178307391e-05,-0.000258764194083,1.68500607581e-05,1793237720081455360
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.54071463,715.54071463,680,666,637,881.45928537,788,803.54071463,654,632,654,0.401183826465,0.00453688761858,0.0598428677187,0.999999963166,4.5877520306e-05,-0.000266952605791,1.73060229768e-05,1793237720098121728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,666,637,881,788,804,654,632,654,0.401134001035,0.00453674130886,0.0598390467999,0.999999961398,4.81718744791e-05,-0.000273082060351,1.75791656217e-05,1793237720114788352
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,666,637,881,788,804,654,632,654,0.401101630397,0.00453797336196,0.0598395427275,0.999999961911,5.14465358474e-05,-0.000270612716954,1.73493725192e-05,1793237720131455232
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.708710718,715.708710718,680,666.291289282,636.708710718,880.708710718,788,804,654,632.291289282,654,0.401073410112,0.00453756492156,0.0598405509059,0.999999962656,5.14308195363e-05,-0.000267837955172,1.74893133337e-05,1793237720148121856
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.130566578,715.130566578,680,666.869433422,636.130566578,880.130566578,788,804,654,632.869433422,654,0.401049276992,0.00453554096173,0.0598420635369,0.999999963628,4.81748167845e-05,-0.000264762424228,1.79933594176e-05,1793237720164788736
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.444949097,680,666.555050903,636.444949097,880.444949097,788,804,654,633,654,0.401033029031,0.00453653724997,0.0598443918812,0.99999996421,5.08710779451e-05,-0.000262039075421,1.80877574485e-05,1793237720181455360
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.020187783,716,680,666,637,881,788,803.979812217,654,632.979812217,654,0.401019239697,0.00453832470761,0.0598468795079,0.999999964649,5.51831099247e-05,-0.000259479227804,1.80786038564e-05,1793237720198121984
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.609228592,716,680,666,637,881,788,803.390771408,654,632.390771408,654,0.401009913256,0.00453757917525,0.0598471501961,0.99999996481,5.60964878667e-05,-0.000258631566361,1.85188969274e-05,1793237720214788608
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.80485876,716,680,666,636.80485876,880.80485876,788,803,654,632,654,0.401001693089,0.00453715564094,0.0598476069949,0.999999964997,5.67902456876e-05,-0.000257731017209,1.88708296871e-05,1793237720231455488
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.225111474,716,680,666,636.225111474,880.225111474,788,803,654,632,654,0.400995653292,0.00453736673622,0.0598484306014,0.999999965237,5.70511517074e-05,-0.000256726231133,1.90486120976e-05,1793237720248122112
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.646438594,666,636.353561406,880.353561406,788,803.353561406,654,632.353561406,654,0.400991171361,0.00453698137769,0.0598483711458,0.999999965301,5.62593189844e-05,-0.000256644568877,1.91660662737e-05,1793237720264788736
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.068447734,666,636.931552266,880.931552266,788,803.931552266,654,632.931552266,654,0.400987678315,0.00453621740937,0.0598477511507,0.999999965251,5.47992414236e-05,-0.000257148876087,1.92452260125e-05,1793237720281455616
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.503360518,637,881,788,803.496639482,654,632.496639482,654,0.400986790642,0.00453636462189,0.0598488372912,0.999999965399,5.5896238545e-05,-0.000256325951646,1.93630003581e-05,1793237720298121984
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.922764854,637,881,788.077235146,803.077235146,654,632,654,0.400986354418,0.00453671506323,0.0598500629113,0.999999965604,5.73499655822e-05,-0.000255197472851,1.94461258527e-05,1793237720314788608
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.3295369,637,881,788.6704631,803.6704631,654,632,654,0.40098659606,0.00453760550336,0.059850689207,0.99999996602,5.88921059149e-05,-0.000253218760576,1.92631147366e-05,1793237720331455488
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.257344864,666,637,881,788.742655136,804,654,632.257344864,654,0.40098637212,0.00453682731658,0.0598512970686,0.999999966328,5.83470120976e-05,-0.000252112865957,1.94366290732e-05,1793237720348122112
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.83629582,666,637,881,788.16370418,804,654,632.83629582,654,0.400985566338,0.00453396383251,0.059851881893,0.999999966499,5.51934840075e-05,-0.00025209773881,2.00556963122e-05,1793237720364788736
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.586255615,666.413744385,636.586255615,881,788,803.586255615,654,632.586255615,654,0.400984846165,0.00453561185431,0.0598517838751,0.999999966349,5.64443977993e-05,-0.000252443356379,1.97237201053e-05,1793237720381455360
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.009399377,666.990600623,636.009399377,881,788,803.009399377,654,632.009399377,654,0.400984159743,0.00453903846256,0.0598514166578,0.999999966066,5.94316898549e-05,-0.00025293119156,1.90168107751e-05,1793237720398121984
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.434414267,636.565585733,881,788,803,654,632,654.565585733,0.400984668947,0.00453675617543,0.0598517765819,0.999999966536,5.63820182376e-05,-0.000251748223292,1.92942112997e-05,1793237720414788608
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.85561271,679.14438729,666,636.85561271,881,788,803.14438729,654,632,654.85561271,0.400985103348,0.0045348732598,0.0598522419703,0.999999966907,5.41006859578e-05,-0.000250752305039,1.95733750941e-05,1793237720431455232
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.264918595,679.735081405,666,636.264918595,881,788,803.735081405,654,632,654.264918595,0.400985245314,0.00453451711337,0.0598529961239,0.999999966963,5.45034142448e-05,-0.00025042011115,1.98075924513e-05,1793237720448122112
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.317354995,680,666.317354995,636.317354995,880.682645005,788,804,654,632,654.317354995,0.400984737753,0.00453478870009,0.0598529723534,0.999999966839,5.45395511768e-05,-0.000250916693843,1.97186169125e-05,1793237720464789248
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2481ce4e09eb3470c09a4f83806603cc4aeed694
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,442 @@
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a54146449f3f3381976547968e31fe48a853a53
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb9d597e62dbe9487ed8ed1463e809b33f3955946a6adee34d53ce2062f9c9b
+size 27555196
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9dc589c8f0c858ba35684d9a39b6549e24c1802
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
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+3,0.050000000,BASELINE,767,746,715,679,667,637,880.73209413,788.73209413,803.26790587,654,632,655,0.400948383906,0.0045582911043,0.0499462789647,0.999999975421,9.48104711986e-05,-0.000199387578109,-2.0340809206e-05,1793237722056653568
+4,0.066666667,BASELINE,767,746,715,679,667,637,881,789,803.313958464,654,632,654.686041536,0.400948714679,0.00455793655932,0.0499460573468,0.999999975535,9.35664304225e-05,-0.000199409876769,-2.02961868269e-05,1793237722073319936
+5,0.083333333,BASELINE,767,746,715,679,667,637,881,789,803.903009209,654,632,654.096990791,0.400948644555,0.00455673916552,0.0499453998095,0.999999975568,9.0644552575e-05,-0.000200629394595,-1.98952390157e-05,1793237722089986560
+6,0.100000000,BASELINE,767,746,715,679,667,637,881,789,803.51326056,654,632,654,0.400947445664,0.00455872037934,0.0499448146151,0.999999975104,9.29612429328e-05,-0.0002018343196,-2.03422741591e-05,1793237722106652928
+7,0.116666667,BASELINE,767,746,715,679,667,637,881,788.931688149,803.068311851,654.068311851,632.068311851,654,0.400946402845,0.00456087829257,0.0499445090593,0.999999974668,9.57938310467e-05,-0.000202613034214,-2.0850179709e-05,1793237722123319552
+8,0.133333333,BASELINE,767,746,715,679,667,637,881,788.358315677,803.641684323,654.641684323,632.641684323,654,0.400948158928,0.00455971032326,0.0499461655711,0.999999975242,9.48063280846e-05,-0.000200261848057,-2.05723311491e-05,1793237722139986176
+9,0.150000000,BASELINE,767,746,715,679,667.215777478,637,881,788.215777478,803.784222522,654.784222522,632.784222522,654,0.400949280698,0.00455903953197,0.0499468687818,0.999999975581,9.41074815163e-05,-0.000198905850697,-2.04748998284e-05,1793237722156652800
+10,0.166666667,BASELINE,767,746,715,679,667.791071338,637,881,788.791071338,803.208928662,654.208928662,632.208928662,654,0.400949345609,0.00455919711105,0.0499459836555,0.999999975537,9.38895782116e-05,-0.000199207981571,-2.06780696644e-05,1793237722173319424
+11,0.183333333,BASELINE,767,746,715,679,668,637,881,789,803,654.375916655,632,654,0.400949536409,0.00455850916535,0.0499457306726,0.999999975542,9.32326690607e-05,-0.00019950206281,-2.05523752455e-05,1793237722189986048
+12,0.200000000,BASELINE,767,746,715,679,668,637,881,789,803,654.966208976,632,654,0.400949799001,0.00455733903848,0.0499458381848,0.999999975575,9.2325406067e-05,-0.000199791553575,-2.02391379604e-05,1793237722206652672
+13,0.216666667,BASELINE,767,746,715,679,667.453256627,637,881,789,803,654.453256627,632.546743373,654,0.400950419321,0.00455760612636,0.0499460992465,0.999999975756,9.31287669558e-05,-0.000198485944466,-2.04708378933e-05,1793237722223319552
+14,0.233333333,BASELINE,767,746,715,679.127327385,667,637,881,789,803,654,632.872672615,654.127327385,0.400950831903,0.0045577026061,0.0499461930274,0.999999975891,9.36895574557e-05,-0.00019752667655,-2.05804894093e-05,1793237722239986432
+15,0.250000000,BASELINE,767,746,715,679.710208944,667,637,881,789,803,654,632.289791056,654.710208944,0.400950423518,0.00455687645076,0.0499456549503,0.999999975839,9.30108480134e-05,-0.000198153084237,-2.01350881452e-05,1793237722256652800
+16,0.266666667,BASELINE,767,746,715.290592422,679.709407578,667,637,881,789,803.290592422,654,632.290592422,654.709407578,0.400950357205,0.00455729071361,0.0499456324126,0.999999975847,9.27845473553e-05,-0.000198231151418,-2.00548240499e-05,1793237722273319168
+17,0.283333333,BASELINE,767,746,715.868505906,679.131494094,667,637,881,789,803.868505906,654,632.868505906,654.131494094,0.400950629112,0.00455893143061,0.0499461196106,0.999999975912,9.30055625049e-05,-0.000197767051029,-2.03355865981e-05,1793237722289986048
+18,0.300000000,BASELINE,767,746,715.551446884,679,667,637,881,788.551446884,803.551446884,654,633,654,0.400949311094,0.00455829486218,0.0499456290714,0.999999975695,9.29741865456e-05,-0.000198882565806,-2.02710339231e-05,1793237722306652672
+19,0.316666667,BASELINE,767,746,715,679,667,637,881,788.029160217,803.029160217,654.029160217,632.970839783,654,0.400947749741,0.00455703496519,0.0499449624359,0.999999975446,9.2846148146e-05,-0.000200207918623,-2.01100695054e-05,1793237722323319552
+20,0.333333333,BASELINE,767,746,715,679,667,637,881,788.608473182,803.608473182,654.608473182,632.391526818,654,0.400950433041,0.0045566703289,0.0499464069483,0.999999976191,9.22970096928e-05,-0.0001967139608,-2.00491323335e-05,1793237722339986176
+21,0.350000000,BASELINE,767,746,715,679,667,636.810791743,881,789,803.810791743,655,632.189208257,654,0.400951789901,0.00455642416066,0.0499470296458,0.999999976531,9.21499251886e-05,-0.000195050574959,-2.00252970335e-05,1793237722356652800
+22,0.366666667,BASELINE,767,746,715,679,667,636.227091697,881,789,803.227091697,655,632.772908303,654,0.400950381185,0.00455642499366,0.0499459388918,0.999999976044,9.28411074555e-05,-0.000197203860277,-2.00788176878e-05,1793237722373319424
+23,0.383333333,BASELINE,767,746,715,679,667,636.354193381,881,789,803.354193381,654.645806619,632.645806619,654,0.400949019235,0.00455729209647,0.049945488047,0.99999997569,9.35943190616e-05,-0.00019861989253,-2.02479220633e-05,1793237722389986048
+24,0.400000000,BASELINE,767,746,715,679,667,636.933940642,881,789,803.933940642,654.066059358,632.066059358,654,0.400947687065,0.00455871084853,0.0499454447028,0.999999975422,9.4387031638e-05,-0.000199566434887,-2.04906313107e-05,1793237722406652672
+25,0.416666667,BASELINE,767,746,715.513134075,679,667,636.486865925,881,789,803.486865925,654,632,654,0.400949113044,0.00455910087421,0.0499456821724,0.999999975671,9.36492972127e-05,-0.000198672792715,-2.04064841975e-05,1793237722423319552
+26,0.433333333,BASELINE,767,746.091683288,715.908316712,679,667,636.091683288,881.091683288,788.908316712,803,654,632.091683288,654.091683288,0.40095071893,0.00455906372951,0.0499460505787,0.99999997599,9.27036066221e-05,-0.000197522124598,-2.02701354049e-05,1793237722439986176
+27,0.450000000,BASELINE,767,746.667208823,715.332791177,679,667,636.667208823,881.667208823,788.332791177,803,654,632.667208823,654.667208823,0.400951402425,0.00455747041885,0.0499469194045,0.999999976334,9.16991084725e-05,-0.00019626389652,-2.00801239676e-05,1793237722456652800
+28,0.466666667,BASELINE,767,746.76045702,715.23954298,679,667,637,881.76045702,788.23954298,803,654,633,654.76045702,0.400951080208,0.00455648450647,0.0499469679338,0.999999976393,9.0874548236e-05,-0.000196363504988,-1.99450772405e-05,1793237722473319680
+29,0.483333333,BASELINE,767,746.19249831,715.80750169,679,667,637,881.19249831,788.80750169,803,654,633,654.19249831,0.40094937915,0.00455633134305,0.0499458918288,0.999999976059,9.02966846707e-05,-0.000198324720508,-1.98853876716e-05,1793237722489986304
+30,0.500000000,BASELINE,767,746,716,679,667,637,881,789,803,654,633,654.396176198,0.40094995434,0.0045572675707,0.0499456227453,0.999999976045,9.06182867978e-05,-0.000198222429191,-2.01498752511e-05,1793237722506652928
+31,0.516666667,BASELINE,767,746,716,679,667,637,881,789,803,654,633,654.995471664,0.400951696559,0.00455876232842,0.0499457674213,0.999999976194,9.14010443934e-05,-0.000197062179258,-2.05805682368e-05,1793237722523319552
+32,0.533333333,BASELINE,767,746.572768334,715.427231666,679,667,637,881,789,803,654,633,654.427231666,0.400949195759,0.00455655460423,0.0499443917982,0.999999975781,9.03180400516e-05,-0.000199694969001,-2.008275955e-05,1793237722539986176
+33,0.550000000,BASELINE,767,746.851077258,715,679,667,637,881,788.851077258,803,654,632.851077258,654.148922742,0.400947608022,0.00455540611671,0.0499435643568,0.999999975487,9.0058693945e-05,-0.000201304346756,-1.98218015252e-05,1793237722556652800
+34,0.566666667,BASELINE,767,746.277701201,715,679,667,637,881,788.277701201,803,654,632.277701201,654.722298799,0.400948714731,0.00455735696523,0.0499443323103,0.999999975563,9.21873910827e-05,-0.000199914529273,-2.02560538751e-05,1793237722573319424
+35,0.583333333,BASELINE,767.303391431,746,715,679,667,637,881,788.303391431,803.303391431,654,632.303391431,654.696608569,0.400949852372,0.00455743302182,0.0499452718012,0.999999975851,9.22585175593e-05,-0.000198424125985,-2.03648969103e-05,1793237722589986304
+36,0.600000000,BASELINE,767.891731627,746,715,679,667,637,881,788.891731627,803.891731627,654,632.891731627,654.108268373,0.400951019065,0.00455574825222,0.049946372402,0.999999976338,9.03971499478e-05,-0.000196839251177,-2.01681117765e-05,1793237722606652928
+37,0.616666667,BASELINE,768,746,715,679.47325314,667,637.47325314,881,789,804,654,633,654,0.400949857012,0.0045556590364,0.0499457561286,0.999999976147,8.98169332425e-05,-0.000198098246994,-1.99040365223e-05,1793237722623319552
+38,0.633333333,BASELINE,767.946995156,746,715,679.946995156,667,637.946995156,881,788.946995156,804,654.053004844,633,654,0.400948291913,0.00455595830629,0.049944776242,0.999999975816,8.96268401794e-05,-0.000199869509875,-1.96847760001e-05,1793237722639986176
+39,0.650000000,BASELINE,767.369538806,746,715,679.369538806,667,637.369538806,881,788.369538806,804,654.630461194,633,654,0.400947935382,0.00455654103002,0.0499440297203,0.999999975637,9.04379779806e-05,-0.000200363426884,-2.00590843465e-05,1793237722656652800
+40,0.666666667,BASELINE,767,746.207153324,715,679,667,637,881.207153324,788.207153324,804,654.792846676,633,654,0.400948731071,0.0045571167035,0.0499442073296,0.999999975689,9.16228201309e-05,-0.000199538550683,-2.02713655266e-05,1793237722673319680
+41,0.683333333,BASELINE,767,746.782487146,715,679,667,637,881.782487146,788.782487146,804,654.217512854,633,654,0.400951574638,0.00455767984628,0.0499460274278,0.999999976147,9.34718594128e-05,-0.00019636973937,-2.01956704069e-05,1793237722689986304
+42,0.700000000,BASELINE,767.366793505,747,715.366793505,679,667,637,881.633206495,788.633206495,804,654.366793505,633,654,0.400952167719,0.00455733224052,0.0499464093978,0.999999976332,9.28818135659e-05,-0.000195717622907,-2.01053497081e-05,1793237722706652928
+43,0.716666667,BASELINE,767.956554085,747,715.956554085,679,667,637,881.043445915,788.043445915,804,654.956554085,633,654,0.40095139277,0.00455643100733,0.0499459171558,0.999999976352,9.08090923402e-05,-0.000196595359402,-2.00061383896e-05,1793237722723319552
+44,0.733333333,BASELINE,767.463265568,747,715.463265568,679,667,637,881.536734432,788.536734432,803.463265568,654.463265568,632.463265568,654,0.400951090252,0.004556315626,0.0499456144505,0.99999997632,9.08501944007e-05,-0.000196715253416,-2.02265237009e-05,1793237722739986176
+45,0.750000000,BASELINE,767.115299544,747,715,679,667,637,881.884700456,788.884700456,803,654,632,654,0.400950777849,0.00455609006576,0.0499454511599,0.999999976283,9.08509717111e-05,-0.000196894055886,-2.03314102877e-05,1793237722756652800
+46,0.766666667,BASELINE,767.690460944,747,715,679,667,637,881.309539056,788.309539056,803,654,632,654,0.400950276179,0.00455517581026,0.0499457837955,0.999999976238,9.00204547082e-05,-0.000197548181956,-1.98742708574e-05,1793237722773319424
+47,0.783333333,BASELINE,767.728516297,747,715,679,667,637,881,788.271483703,803.271483703,654.271483703,632.271483703,654,0.400949985912,0.00455518282468,0.0499458496599,0.99999997617,9.01218435915e-05,-0.000197866930937,-1.96676941731e-05,1793237722789986304
+48,0.800000000,BASELINE,767.140663012,747,715,679,667,637,881,788.859336988,803.859336988,654.859336988,632.859336988,654,0.400949942002,0.00455626342746,0.0499456046463,0.999999976075,9.1309215323e-05,-0.000197794853193,-1.9753107077e-05,1793237722806652928
+49,0.816666667,BASELINE,767,746.559182132,715.440817868,679,667,637,881,789,804,655,633,654.440817868,0.400948711437,0.00455662019587,0.0499443563317,0.99999997573,9.13122037527e-05,-0.000199505530515,-1.99677467059e-05,1793237722823319808
+50,0.833333333,BASELINE,767.020203088,746.020203088,716,679,667,637,881,789,803.979796912,655,633,655,0.400947245814,0.00455672054695,0.0499428999626,0.999999975343,9.09408596827e-05,-0.000201581611708,-2.02170823671e-05,1793237722839986432
+51,0.850000000,BASELINE,767.597075534,746.597075534,716,679,667,637,881,789,803.402924466,655,633,655,0.400949588185,0.00455602910616,0.0499444065035,0.99999997604,9.05202888851e-05,-0.000198274838252,-2.0302418015e-05,1793237722856653056
+52,0.866666667,BASELINE,767.827027135,746.827027135,715.827027135,679,667,637,881,789,803.172972865,654.827027135,633,654.827027135,0.400951036308,0.00455532487733,0.0499453874786,0.999999976499,8.98912138984e-05,-0.000196246079976,-2.02475344162e-05,1793237722873319424
+53,0.883333333,BASELINE,767.253388544,746.253388544,715.253388544,679,667,637,881,789,803.746611456,654.253388544,633,654.253388544,0.400950413037,0.00455459102694,0.0499451510591,0.999999976422,8.87791702248e-05,-0.000197177652579,-1.98678539361e-05,1793237722889986304
+54,0.900000000,BASELINE,767.330661288,746,715,679.330661288,667,637,881.330661288,789,804,654.330661288,632.669338712,654,0.400949704928,0.00455529489261,0.0499450584885,0.99999997617,8.99849365737e-05,-0.000197917366153,-1.98072567352e-05,1793237722906652928
+55,0.916666667,BASELINE,767.922948683,746,715,679.922948683,667,637,881.922948683,789,804,654.922948683,632.077051317,654,0.400948929693,0.00455713630924,0.0499450797343,0.999999975771,9.30246026005e-05,-0.000198505276819,-1.9999124897e-05,1793237722923319552
+56,0.933333333,BASELINE,767.498333427,746,715.501666573,679.498333427,667,637,881.498333427,789,804,654.498333427,632.501666573,654,0.400949725329,0.00455643779439,0.049945450904,0.999999976094,9.18823628002e-05,-0.00019741371326,-1.99400341454e-05,1793237722939986176
+57,0.950000000,BASELINE,767,746,715.921837246,679.078162754,667,637,881,789,803.921837246,654.078162754,633,654,0.400950598259,0.00455562275015,0.0499458053314,0.999999976425,9.0587941913e-05,-0.000196341769381,-1.9843022635e-05,1793237722956652800
+58,0.966666667,BASELINE,767,746,715.346565267,679.653434733,667,637,881,789,803.346565267,654.653434733,633,654,0.40095046872,0.00455648231489,0.0499457204666,0.999999976142,9.23030684104e-05,-0.000196991952208,-1.97435247953e-05,1793237722973319424
+59,0.983333333,BASELINE,767.2290302,746,715,679.7709698,667,637,881,789,803.2290302,654.7709698,633,654,0.400950490147,0.00455737781331,0.0499458274874,0.999999975986,9.36004054605e-05,-0.000197169906847,-1.97554362462e-05,1793237722989986304
+60,1.000000000,BASELINE,767.805115945,746,715,679.194884055,667,637,881,789,803.805115945,654.194884055,633,654,0.400950740337,0.00455832776316,0.0499462252776,0.999999976026,9.42646553223e-05,-0.000196632281664,-1.99361691397e-05,1793237723006652928
+61,1.016666667,BASELINE,767.607301021,746,715,679,667,637,881.392698979,788.607301021,804,654,633,654,0.400950374182,0.00455800503417,0.0499460910713,0.999999976179,9.28774477849e-05,-0.000196513197903,-1.9958067989e-05,1793237723023319552
+62,1.033333333,BASELINE,767.013840195,746,715,679,667,637,881.986159805,788.013840195,804,654,633,654,0.400949692929,0.00455703166592,0.0499456848892,0.999999976385,9.04414613744e-05,-0.000196608087606,-1.98987651493e-05,1793237723039986176
+63,1.050000000,BASELINE,767,746,715,679,667,637,881.441868829,788,803.441868829,654,632.441868829,654,0.400950920181,0.0045569968199,0.0499460740656,0.999999976487,9.16548091367e-05,-0.000195517790215,-1.99533119749e-05,1793237723056652800
+64,1.066666667,BASELINE,767.131288792,746,715,679,667,637,881.131288792,788.131288792,803.131288792,654,632,654,0.400951485035,0.0045569001572,0.0499462059247,0.999999976463,9.25203679323e-05,-0.000195235169923,-1.99432922351e-05,1793237723073319680
+65,1.083333333,BASELINE,767.710240859,746,715,679,667,637,881.710240859,788.710240859,803.710240859,654,632,654,0.400949635884,0.00455651630151,0.0499453956368,0.99999997602,9.19029270344e-05,-0.000197803030745,-1.9703846548e-05,1793237723089986304
+66,1.100000000,BASELINE,767.706066252,746,715.293933748,679,667,637,881.706066252,789,804,654,632,654,0.400948367131,0.0045563791216,0.0499445264465,0.999999975761,9.1170359285e-05,-0.000199446585386,-1.96719420126e-05,1793237723106652928
+67,1.116666667,BASELINE,767.117623295,746,715.882376705,679,667,637,881.117623295,789,804,654,632,654,0.400947679914,0.00455648910042,0.0499435982384,0.999999975691,9.0322439327e-05,-0.000200164024092,-1.98479849662e-05,1793237723123319552
+68,1.133333333,BASELINE,767,746,715.536078574,679,667,637,881,789,803.536078574,654,632,654,0.400949191685,0.0045556530494,0.0499443415951,0.999999976166,8.87629579165e-05,-0.000198509517269,-1.95823908764e-05,1793237723139986176
+69,1.150000000,BASELINE,767,746,715,679,667,637,881,789,803.04350255,654,632.04350255,654,0.400951056714,0.00455462280242,0.0499453980358,0.999999976722,8.71209546528e-05,-0.000196455848038,-1.9250181679e-05,1793237723156652800
+70,1.166666667,BASELINE,767,746,715,679,667,637,881,789,803.620139024,654,632.620139024,654,0.40095051838,0.00455410908376,0.0499451735909,0.999999976697,8.6646204641e-05,-0.000196772499721,-1.94537421401e-05,1793237723173319424
+71,1.183333333,BASELINE,767,746,715,679,667,636.804170032,881,789,804,654,633,654,0.400949874252,0.00455372236988,0.0499450141019,0.999999976626,8.67380365738e-05,-0.000197083067212,-1.9550710521e-05,1793237723189986560
+72,1.200000000,BASELINE,767,746,715,679,667,636.230304264,881,789,804,654,633,654,0.400949025898,0.00455358082961,0.0499449800056,0.999999976466,8.79236144987e-05,-0.000197381889663,-1.94419105207e-05,1793237723206653184
+73,1.216666667,BASELINE,767,746,715,679,667,636.354215333,881,788.645784667,803.645784667,654,633,654,0.400950115336,0.0045543181716,0.0499457339531,0.999999976628,8.8776813926e-05,-0.000196172737815,-1.94549223196e-05,1793237723223319552
+74,1.233333333,BASELINE,767,746,715,679,667,636.945876622,881,788.054123378,803.054123378,654,633,654,0.400952503759,0.00455564466662,0.0499470161609,0.999999977003,8.94072055072e-05,-0.00019395272514,-1.95495898759e-05,1793237723239986432
+75,1.250000000,BASELINE,767,746.524663884,715,679,667,637,881,788,803.524663884,654,633,654,0.400951512269,0.00455622895683,0.0499464040331,0.999999976756,9.00892436805e-05,-0.000194894637858,-1.97166065635e-05,1793237723256652800
+76,1.266666667,BASELINE,767,746.89784937,715.10215063,679,667,636.89784937,881,788,803.89784937,654,633,654.10215063,0.400950491043,0.0045566289777,0.0499456681784,0.999999976468,9.07994407725e-05,-0.000196018189383,-1.98831944663e-05,1793237723273319424
+77,1.283333333,BASELINE,767,746.320382471,715.679617529,679,667,636.320382471,881,788,803.320382471,654,633,654.679617529,0.400950914974,0.00455651930562,0.0499452441233,0.999999976296,9.1616467014e-05,-0.000196505534167,-2.00138910095e-05,1793237723289986048
+78,1.300000000,BASELINE,767.261435488,746,715.738564512,679,667,636.261435488,881,788.261435488,803,654,633,654.738564512,0.400951274677,0.00455612200984,0.0499454575008,0.999999976424,9.07807044101e-05,-0.00019623849038,-2.00122049686e-05,1793237723306652672
+79,1.316666667,BASELINE,767.84867576,746,715.15132424,679,667,636.84867576,881,788.84867576,803,654,633,654.15132424,0.40095155434,0.00455536627315,0.0499464652562,0.999999976923,8.78852117645e-05,-0.000195031316329,-1.98455417771e-05,1793237723323319296
+80,1.333333333,BASELINE,767.569733448,746,715,679,667,637,881,789,803.430266552,654.430266552,633,654,0.400950555552,0.00455642217145,0.0499457347302,0.999999976543,8.92406927217e-05,-0.000196336050289,-2.00408725551e-05,1793237723339986176
+81,1.350000000,BASELINE,767,746.009806436,715.009806436,679,667,637,881,789,804,654.990193564,633,654,0.400949146293,0.00455804072542,0.0499444365886,0.999999975871,9.19654162832e-05,-0.000198461640277,-2.03491678852e-05,1793237723356653056
+82,1.366666667,BASELINE,767,746.584177064,715.584177064,679,667,637,881,789,804,654.415822936,633,654,0.400949655936,0.00455584596997,0.0499452002212,0.999999976348,8.85620759275e-05,-0.00019764364206,-1.99264093128e-05,1793237723373319424
+83,1.383333333,BASELINE,767,747,715.840742538,679,667,637,881,789,804,654,633,654.159257462,0.400950452695,0.00455452789014,0.0499458164066,0.999999976745,8.67037585774e-05,-0.000196478611006,-1.97232638087e-05,1793237723389986048
+84,1.400000000,BASELINE,767,747,715.263800499,679,667,637,881,789,804,654,633,654.736199501,0.40095200247,0.00455550906713,0.0499460458824,0.99999997695,8.88975726366e-05,-0.000194403416693,-2.00960974523e-05,1793237723406652928
+85,1.416666667,BASELINE,767,746.680684995,715,679,667,637,881,789,804,654,632.680684995,654.680684995,0.400952111817,0.00455565848872,0.0499458882682,0.999999976942,8.92113435526e-05,-0.000194308780762,-2.00122840766e-05,1793237723423319552
+86,1.433333333,BASELINE,767,746.0923688,715,679,667,637,881,789,804,654,632.0923688,654.0923688,0.400951007699,0.00455510721286,0.0499454045568,0.999999976757,8.79413057627e-05,-0.000195882630785,-1.95437765998e-05,1793237723439986432
+87,1.450000000,BASELINE,767,746,715,679.488994611,667,637,881,789,803.511005389,654,632,654.488994611,0.40095075482,0.00455594947431,0.0499457923505,0.999999976707,8.85174447446e-05,-0.000195860216067,-1.97236898829e-05,1793237723456652800
+88,1.466666667,BASELINE,767,746,715.068558789,680,667,637,881,789,803.068558789,654,632,655,0.400950700013,0.00455675335221,0.0499462454597,0.999999976687,8.92678240881e-05,-0.000195594256336,-1.99796040192e-05,1793237723473319424
+89,1.483333333,BASELINE,767,746,715.644391643,680,667,637,881,789,803.644391643,654,632,655,0.40095093771,0.00455535284329,0.0499459808568,0.999999976708,8.87632784744e-05,-0.000195726034161,-1.99042919485e-05,1793237723489986304
+90,1.500000000,BASELINE,767,746,716,679.780209118,667,637,881,788.780209118,804,654.219790882,632,654.780209118,0.400951506757,0.00455463270113,0.0499459796999,0.999999976739,8.88881655214e-05,-0.000195515264853,-1.98484845483e-05,1793237723506652672
+91,1.516666667,BASELINE,767,746,716,679.205510117,667,637,881,788.205510117,804,654.794489883,632,654.205510117,0.400952610853,0.0045550111838,0.0499464039434,0.999999976787,9.00294312787e-05,-0.000194751366315,-1.98241723928e-05,1793237723523319296
+92,1.533333333,BASELINE,767,746,715.620362088,679,667,637,881,788.379637912,804,654.620362088,632,654,0.400951979079,0.00455527105097,0.0499457922081,0.999999976652,9.0025056716e-05,-0.000195462755394,-1.96288055082e-05,1793237723539986176
+93,1.550000000,BASELINE,767,746,715.02939752,679,667,637,881,788.97060248,804,654.02939752,632,654,0.400950381028,0.00455546489047,0.0499446037919,0.999999976415,8.93829579173e-05,-0.000196995367965,-1.93382204599e-05,1793237723556653056
+94,1.566666667,BASELINE,767,746.54965058,715,679,667,637,880.45034942,789,803.45034942,654,632,654,0.400950365914,0.00455464156089,0.0499447232734,0.999999976422,8.92066475043e-05,-0.000197023799164,-1.95044278643e-05,1793237723573319936
+95,1.583333333,BASELINE,767,747,715,679,667,637,880.127330742,789,803,654,632,654,0.400950187443,0.00455447015374,0.0499447000913,0.999999976369,8.91485339284e-05,-0.00019728905987,-1.97883109979e-05,1793237723589986304
+96,1.600000000,BASELINE,767,747,715,679,667,637,880.702394503,789,803,654,632,654,0.400949143177,0.00455677833633,0.0499439345099,0.99999997606,8.94202957646e-05,-0.000198663966297,-2.04018931914e-05,1793237723606653184
+97,1.616666667,BASELINE,767,746.716080081,715,679,667,637,881,788.716080081,803,654,632,654.283919919,0.400949481514,0.00455750761079,0.0499440781931,0.999999976108,8.96308684777e-05,-0.000198330370199,-2.04030072732e-05,1793237723623319808
+98,1.633333333,BASELINE,767,746.127623841,715,679,667,637,881,788.127623841,803,654,632,654.872376159,0.400951302849,0.00455654332703,0.0499451971655,0.999999976535,8.97758088982e-05,-0.000196164211256,-1.97471797936e-05,1793237723639986432
+99,1.650000000,BASELINE,767,746,715,679,667,637,881,788.455840983,803,654,632.455840983,655,0.400951769114,0.00455599464906,0.0499456744465,0.999999976676,8.90877781812e-05,-0.000195753399242,-1.9796930514e-05,1793237723656653056
+100,1.666666667,BASELINE,767,746,715,679,667,637,881,789,803,654,633,654.962552973,0.40095174316,0.00455557317469,0.049945877843,0.999999976711,8.82405445272e-05,-0.000195937391108,-2.00179837314e-05,1793237723673319680
+101,1.683333333,BASELINE,767,746,715,679,667,637,881,789,803,654,633,654.387783312,0.400950039183,0.00455532539211,0.0499447012621,0.999999976354,8.84189932298e-05,-0.000197680741213,-1.98932042757e-05,1793237723689986304
+102,1.700000000,BASELINE,767,746.190478223,715,679,667,637,881.190478223,788.809521777,803.190478223,654,633,654,0.40094900129,0.00455573090687,0.0499441072252,0.99999997614,8.89495505423e-05,-0.000198525171825,-1.98995433831e-05,1793237723706653184
+103,1.716666667,BASELINE,767,746.775981337,715,679,667,637,881.775981337,788.224018663,803.775981337,654,633,654,0.400949344764,0.00455749126794,0.0499447213022,0.999999976223,9.02103312837e-05,-0.00019750537035,-2.01778038591e-05,1793237723723319808
+104,1.733333333,BASELINE,767.357549873,746.642450127,715,679.357549873,667,637,881.642450127,788.357549873,804,654,633,654,0.400949620431,0.00455699656902,0.0499446664386,0.999999976214,8.92778249828e-05,-0.000197977486927,-2.01748618452e-05,1793237723739986432
+105,1.750000000,BASELINE,767.936680134,746.063319866,715,679.936680134,667,637,881.063319866,788.936680134,804,654,633,654,0.400949854076,0.00455510436716,0.04994419702,0.999999976142,8.69860975333e-05,-0.000199374173108,-1.99976533813e-05,1793237723756653056
+106,1.766666667,BASELINE,767.485584627,746,715,680,667,637,881.514415373,789,803.485584627,654,632.485584627,654,0.400952888124,0.00455517016434,0.0499462168153,0.99999997696,8.83217175012e-05,-0.000194642740207,-1.98465034841e-05,1793237723773319680
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,678,667,637,881,788,803,654,632,654,0.40095189481,0.00455203385357,0.0499467714582,0.999999977313,8.5134850076e-05,-0.000194315801721,-1.91650132927e-05,1793237723816329984
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,678.589947521,667,636.410052479,881.589947521,788,803.589947521,654.589947521,632,654,0.400950394688,0.00455527255138,0.0499454089132,0.99999997658,8.86113914895e-05,-0.000196446940042,-1.98936836871e-05,1793237723832996608
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715.176768583,679,667,636.176768583,881.646462833,788.176768583,804,655,632,654.176768583,0.400950013051,0.00455681488471,0.0499448140313,0.999999976242,9.05158550699e-05,-0.000197268907951,-2.01770708244e-05,1793237723849662976
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715.756463315,679,667,636.756463315,880.48707337,788.756463315,804,655,632,654.756463315,0.400952180888,0.00455449052702,0.0499459689597,0.999999976832,8.88369265531e-05,-0.000195106754444,-1.94454798539e-05,1793237723866329600
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.666130968,679,667,637,880.333869032,789,804,654.666130968,632.333869032,654.666130968,0.40095246914,0.00455449380371,0.0499460389711,0.999999976889,8.872349734e-05,-0.000194882075891,-1.92693626461e-05,1793237723882996224
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.09038361,679,667,637,880.90961639,789,804,654.09038361,632.90961639,654.09038361,0.400951395687,0.0045561833834,0.0499453229919,0.999999976563,8.97442265808e-05,-0.000196061041275,-1.94956699392e-05,1793237723899663104
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803.516642474,654,632.516642474,654,0.400954249169,0.00455653003669,0.0499460217252,0.999999976997,9.04667881947e-05,-0.000193450751763,-1.99800582744e-05,1793237723916329472
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679.058651509,667,637,881,788.941348491,803.058651509,654,632,654,0.400958206677,0.00455663025987,0.0499471853114,0.999999977607,9.11749238499e-05,-0.000189884171155,-2.04136740378e-05,1793237723932996096
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,679.651491226,667,637,881,788.348508774,803.651491226,654,632,654,0.400965559213,0.00455676370258,0.049950183283,0.999999978611,9.22573761141e-05,-0.00018403459794,-1.99471445205e-05,1793237723949662976
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.238290076,715,679.761709924,667,637,881,788.238290076,803.761709924,654,632,654,0.400977904062,0.00455653845967,0.0499535441866,0.999999980135,9.20969937582e-05,-0.000175649495732,-1.98893846605e-05,1793237723966329856
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.816472303,715,679.183527697,667,637,881,788.816472303,803.183527697,654,632,654,0.400997369843,0.00455580159485,0.049957422769,0.999999982337,9.01638571008e-05,-0.000163647766664,-2.04146856232e-05,1793237723982996480
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.607859905,715,679.392140095,667,637,881,789,803.392140095,654,632,654,0.401025878911,0.00455493765508,0.0499628725991,0.999999985275,8.85169404773e-05,-0.000145547104815,-2.07468139411e-05,1793237723999663360
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.03336136,715,679.96663864,667,637,881,789,803.96663864,654,632,654,0.401058593414,0.00455401462106,0.0499690531132,0.999999988231,8.70031256828e-05,-0.000124610231163,-2.09891104634e-05,1793237724016329984
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,789,804,654,632.543237176,654,0.401099244099,0.00455615389747,0.0499737331195,0.999999990546,8.81066401921e-05,-0.000103193038121,-2.22956421324e-05,1793237724032996352
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.122641647,746,715,680,667,637,881,789,804,654,633,654,0.40114263999,0.0045580008539,0.0499780606694,0.999999992402,8.90153715863e-05,-8.19722337279e-05,-2.35112885161e-05,1793237724049662976
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.712236844,746,715,680,667,637,881,789,804,654,633,654,0.401194625287,0.00455801599163,0.049981398473,0.999999993889,8.85681033077e-05,-6.16119120816e-05,-2.41310830383e-05,1793237724066329856
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.704293854,746,715,679.704293854,667,637,881,788.704293854,803.704293854,654,633,654,0.401250093493,0.0045570415996,0.0499837544871,0.999999994537,8.72406492591e-05,-5.23501165356e-05,-2.39862995784e-05,1793237724082996480
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.126664945,746,715,679.126664945,667,637,881,788.126664945,803.126664945,654,633,654,0.401308882258,0.00455512380153,0.0499851744747,0.999999994674,8.50740364943e-05,-5.36695265791e-05,-2.31125764256e-05,1793237724099663104
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,679.447178212,667,637,881,788,803,654,633,654,0.401384159071,0.00455396935561,0.049988326572,0.999999995173,8.2982687376e-05,-4.75248575641e-05,-2.25820031783e-05,1793237724116329728
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679.979353285,667,637,881,788,803.020646715,654,632.979353285,654,0.401464536636,0.00455303638511,0.049991834631,0.999999995691,8.09868181165e-05,-3.96021598527e-05,-2.21365462239e-05,1793237724132996352
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679.386808815,667,637,881,788,803.613191185,654,632.386808815,654,0.401557923347,0.00455229919593,0.0499917266573,0.999999995667,8.10501106365e-05,-4.05003232269e-05,-2.13790222539e-05,1793237724149662976
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.201188338,715,679,667,637,880.798811662,788.201188338,804,654,632,654,0.40165799265,0.0045509911729,0.0499910531094,0.999999995735,7.97473092262e-05,-4.1854951294e-05,-2.04692168985e-05,1793237724166329856
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.780635899,715,679,667,637,880.219364101,788.780635899,804,654,632,654,0.40177062605,0.00454860991097,0.0499893162115,0.999999995965,7.58760804635e-05,-4.40677899375e-05,-1.92731035892e-05,1793237724182996224
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.642448114,715,679,667,637,880.357551886,788.642448114,804,654,632.357551886,654,0.401903293388,0.00454768060239,0.0499905763955,0.999999996242,7.39215968211e-05,-4.14010693434e-05,-1.83985478133e-05,1793237724199662848
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.067074314,715,679,667,637,880.932925686,788.067074314,804,654,632.932925686,654,0.402048165485,0.00454763582885,0.0499936624126,0.999999996529,7.3134800921e-05,-3.57617036791e-05,-1.7719885944e-05,1793237724216329728
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,788.518723093,804,654,633,654,0.402206422231,0.00454570401901,0.0499916262828,0.999999996715,6.8602824618e-05,-3.98036228021e-05,-1.67278810181e-05,1793237724232996352
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.104479907,788.895520093,803.895520093,654,632.895520093,654,0.402373461172,0.00454373814018,0.0499897423651,0.999999996909,6.41692689818e-05,-4.26405274964e-05,-1.57154827588e-05,1793237724249662976
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.683801122,788.316198878,803.316198878,654,632.316198878,654,0.402572386458,0.00454274912672,0.0499916221025,0.999999997357,6.24290939114e-05,-3.41947622336e-05,-1.47983200586e-05,1793237724266329600
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.738122561,788.261877439,803.261877439,654,632,654,0.402781008806,0.00454124808397,0.0499930023713,0.999999997756,5.91985410737e-05,-2.82746115799e-05,-1.35673300286e-05,1793237724282996224
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.161542298,788.838457702,803.838457702,654,632,654,0.403001284275,0.00453913172649,0.0499937824197,0.999999998139,5.41769745919e-05,-2.53895379059e-05,-1.19592081114e-05,1793237724299662848
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.415321121,715,679,667,637,881,788.584678879,803.584678879,654,632,654,0.40325576695,0.00453673511409,0.0499986973512,0.999999998538,5.15445793456e-05,-1.25824643068e-05,-1.04254142374e-05,1793237724316329728
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.992294737,715,679,667,637,881,788.007705263,803.007705263,654,632,654,0.403523563847,0.0045342294201,0.050005221674,0.99999999871,4.98421043827e-05,4.08647890186e-06,-8.92055057587e-06,1793237724332996352
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.419192196,715,679,667,637,881,788.580807804,803,654,632.580807804,654,0.403822184683,0.00453026039942,0.0500119036501,0.9999999989,4.24694632167e-05,1.87464642307e-05,-6.7635783904e-06,1793237724349662976
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715,679.166784639,667,637,881,789,803,654,632.833215361,654,0.404129276237,0.00452640722198,0.0500177712136,0.999999998853,3.5949246605e-05,3.13430763377e-05,-4.49921709012e-06,1793237724366329344
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715,679.746101827,667,637,881,789,803,654,632.253898173,654,0.404456287641,0.0045228895677,0.0500216190935,0.999999998738,3.1727287523e-05,3.89033050074e-05,-1.99106705069e-06,1793237724382996224
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679.676786181,667,637,881,788.676786181,803.323213819,654,632,654,0.404801001119,0.00451969258224,0.0500260253552,0.999999998478,2.66726707346e-05,4.82895057289e-05,4.52172435124e-07,1793237724399662848
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679.101394663,667,637,881,788.101394663,803.898605337,654,632,654,0.405159526133,0.00451674578843,0.0500308672777,0.99999999803,2.09683977806e-05,5.91003661092e-05,2.84476771428e-06,1793237724416329472
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.527344022,881,788,803.527344022,654,632,654,0.405528071447,0.00451388380686,0.0500233390951,0.999999998811,1.78299576293e-05,4.50773501765e-05,5.3738014694e-06,1793237724432996352
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.95199709,746,715,679,667,636.04800291,881,788,803,654,632,654,0.405900618562,0.00451082889224,0.050012510137,0.999999999561,1.49331748738e-05,2.4325121355e-05,7.96773093994e-06,1793237724449662720
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.358664914,746,715,679,667,636.641335086,881,788,803,654,632,654,0.406294277055,0.00450537608544,0.0499942443061,0.999999999825,8.54637294315e-06,-1.25235144566e-05,1.09673352864e-05,1793237724466329344
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.22859391,746,715,679,667,636.77140609,881,788,803,654,632.22859391,654,0.406708514233,0.00450089849871,0.049979484529,0.999999999151,4.11753413911e-06,-3.86478462401e-05,1.36609297056e-05,1793237724482996224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.806570204,746,715,679,667,636.193429796,881,788,803,654,632.806570204,654,0.407154203801,0.0044979114363,0.049970083397,0.9999999987,2.68124187076e-06,-4.83811753242e-05,1.58868191254e-05,1793237724499662848
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.381733672,881,788,803,654,632.618266328,654,0.407633430728,0.00449255827394,0.0499740299087,0.999999999116,6.16247613811e-06,-3.71623542982e-05,1.86875089659e-05,1793237724516329984
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.955482252,881,788,803,654,632.044517748,654,0.408129527184,0.0044860149456,0.0499846903858,0.999999999571,1.21172632637e-05,-1.54044439401e-05,2.17773276647e-05,1793237724532997632
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.528982501,636.471017499,881,788,803,654,632,654,0.408666604854,0.00447894301507,0.0500040631956,0.999999999516,1.22593825245e-05,1.5083511994e-05,2.42802710626e-05,1793237724549664256
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.10598769,881,788,803,654,632,654,0.409211551179,0.00447212311491,0.0500218279243,0.999999998728,9.50108615413e-06,4.20213248408e-05,2.62330009371e-05,1793237724566330624
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.699200949,881,788,803,654,632,654,0.409776822547,0.00446666620595,0.0500288313266,0.999999998442,-4.34272571638e-06,4.92632960483e-05,2.58833364754e-05,1793237724582997248
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788,803.284364842,654,632,653.715635158,0.410332647359,0.0044597909509,0.0500245621664,0.999999998771,-1.91762144509e-05,3.76449360378e-05,2.59300407884e-05,1793237724599663616
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788,803.86124863,654,632,653.13875137,0.410878754806,0.00445145667832,0.0500086972061,0.999999999017,-3.50277604981e-05,6.62542962022e-06,2.63844796062e-05,1793237724616329728
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.586566598,637,881,788,803.586566598,654,632,653.413433402,0.411438077345,0.00444666410695,0.0499864727474,0.999999998109,-4.21319575919e-05,-3.59749782824e-05,2.66930753061e-05,1793237724632996608
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.042203746,637,881,788,803.042203746,654,632,653.957796254,0.412001584915,0.00444299315081,0.0499622343121,0.999999995175,-4.64659720831e-05,-8.22429182994e-05,2.695548415e-05,1793237724649663232
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715,679.578007302,667,636.421992698,881.578007302,788,803,654,632,654,0.412680977715,0.0044366270327,0.0499768675793,0.999999997508,-5.01815483997e-05,-4.14143046957e-05,2.73807585405e-05,1793237724666329856
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.188458538,715.188458538,679.811541462,667,636.188458538,881.811541462,788,803,654,632,654,0.413370089658,0.00443109121027,0.0499952960433,0.999999998188,-5.3229968577e-05,5.52422640238e-07,2.8125278e-05,1793237724682996480
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.765630908,715.765630908,679.234369092,667,636.765630908,881.234369092,788,803,654,632,654,0.414059159532,0.00442773515907,0.0500148140548,0.999999997609,-5.50095213721e-05,2.9768429108e-05,2.95000383932e-05,1793237724699663360
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.657229746,715.657229746,679.342770254,667,637,881.342770254,788.342770254,803.342770254,654,632,654,0.414722827472,0.00443151075002,0.0500080834006,0.999999998169,-4.92420375021e-05,1.74904940515e-05,3.05171882772e-05,1793237724716329984
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.080113002,715.080113002,679.919886998,667,637,881.919886998,788.919886998,803.919886998,654,632,654,0.41536912849,0.00444016212974,0.0499834069565,0.999999998508,-3.83147663429e-05,-2.31561803759e-05,3.12898455401e-05,1793237724732996864
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.506169326,746.506169326,715.506169326,679.493830674,667,637,882,789,804,654,632.506169326,654,0.416036406061,0.00445385644135,0.049965214798,0.999999997947,-2.3986389788e-05,-5.13393345366e-05,2.99262843575e-05,1793237724749663488
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.907486516,746.907486516,715.907486516,679,667.092513484,637,881.907486516,788.907486516,804,654,633,654,0.416723023695,0.00446500241276,0.0499546124909,0.999999997292,-1.31501468284e-05,-6.65118349619e-05,2.86272969224e-05,1793237724766329856
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.32858501,746.32858501,715.32858501,679,667.67141499,637,881.32858501,788.32858501,804,654,633,654,0.417493544252,0.00445847682235,0.0499784185038,0.999999999004,-2.35560545552e-05,-2.38434242929e-05,2.9478173434e-05,1793237724782996480
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.750447481,636.750447481,881.499105037,788.249552519,803.750447481,654,632.750447481,654.249552519,0.4182537945,0.00445125621593,0.0499981485041,0.999999998919,-3.40910169628e-05,9.86217929997e-06,3.0041797705e-05,1793237724799663104
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.173312731,636.173312731,882.653374538,788.826687269,803.173312731,654,632.173312731,654.826687269,0.41900056324,0.00444312327602,0.0500125280137,0.999999998034,-4.47953881594e-05,3.18025044118e-05,3.02283522926e-05,1793237724816329984
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715.402417294,679,667,636.402417294,882.597582706,788.597582706,803,654,632,654.597582706,0.419719685602,0.00444054033753,0.049999440612,0.999999998376,-4.76244694732e-05,3.64528262851e-06,3.10996176401e-05,1793237724832996608
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715.977544403,679,667,636.977544403,882.022455597,788.022455597,803,654,632,654.022455597,0.420426942624,0.00444033935412,0.049974564936,0.999999997313,-4.70736260796e-05,-4.60128505732e-05,3.22647476942e-05,1793237724849663232
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.432318935,746,715.432318935,679.567681065,667,636.432318935,882,788,803,654,632,654,0.421210683214,0.00443874593546,0.0499908276192,0.999999998309,-4.79283139593e-05,-5.97815362286e-06,3.23765341896e-05,1793237724866329856
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.155050086,746,715,679.844949914,667.155050086,636.155050086,881.844949914,788,803.155050086,654,632,654,0.422004532547,0.00443805014925,0.0500080324086,0.999999997752,-4.7863951749e-05,3.39033514828e-05,3.24820906305e-05,1793237724882996480
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.733202534,746,715,679.266797466,667.733202534,636.733202534,881.266797466,788,803.733202534,654,632,654,0.422817486617,0.0044399582176,0.0500232468391,0.999999996436,-4.51358384548e-05,6.34221910622e-05,3.26874352982e-05,1793237724899663104
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,715,679.31105147,668,637,881.31105147,788,803.68894853,654,632,654,0.423594083025,0.00444334559465,0.0500193535961,0.999999997042,-4.09738266589e-05,5.61372965674e-05,3.29532746344e-05,1793237724916329984
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679.888640299,668,637,881.888640299,788,803.111359701,654,632,654,0.424339524819,0.00444800057864,0.0499990871496,0.999999998664,-3.55831195508e-05,1.73155939023e-05,3.32709513059e-05,1793237724932996608
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.542280836,881.542280836,788.457719164,803.457719164,654,632,654,0.425081257528,0.00444592347894,0.0499997945465,0.999999998549,-3.8200081639e-05,1.77156322241e-05,3.35934379035e-05,1793237724949663744
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.026158707,679.973841293,668,636,881.026158707,788.973841293,804,654,632,654,0.42582593674,0.00444226524945,0.0500060456344,0.99999999811,-4.29135556398e-05,2.80076073573e-05,3.39667367581e-05,1793237724966331136
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.625105901,679.374894099,668,636,881.625105901,788.374894099,804,654,632,654,0.426654532039,0.00443919475498,0.0500239906084,0.9999999968,-5.16530551367e-05,4.97679548559e-05,3.54274978569e-05,1793237724982998016
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.216256914,715.783743086,679,668,636,882,788,804,654,632.216256914,654,0.427449808643,0.00443670271067,0.0500234058787,0.999999996904,-5.65934226753e-05,4.02882559359e-05,3.69491577794e-05,1793237724999664640
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.794363152,715.205636848,679,668,636,882,788,804,654,632.794363152,654,0.428189335265,0.00443517855076,0.0499918165441,0.999999997503,-5.51769388577e-05,-2.14634780641e-05,3.85727161044e-05,1793237725016331008
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.629604967,747,715.370395033,679.370395033,667.629604967,636,882,788,804,654,633,654,0.428945710532,0.0044341486772,0.0499744191689,0.999999996833,-5.00440313011e-05,-4.83208357678e-05,3.86693851241e-05,1793237725032997376
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.054718354,747,715.945281646,679.945281646,667.054718354,636,882,788,804,654,633,654,0.429711387731,0.00443339169453,0.0499648570414,0.999999996799,-4.28593216515e-05,-5.5913336064e-05,3.79230730139e-05,1793237725049663488
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,747,716,680,667.530441463,636,882,788.530441463,804,654,633,654,0.430474479616,0.00443425931299,0.0499811529672,0.999999998123,-4.213427078e-05,-2.35900237204e-05,3.77032736811e-05,1793237725066330112
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746.884218445,715.884218445,680,668,636.115781555,882,789,804,653.884218445,633,654,0.431229059066,0.00443528203423,0.0499916808928,0.999999998393,-4.20863381553e-05,-3.60717560431e-06,3.78236527511e-05,1793237725082996736
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746.302501816,715.302501816,680,668,636.697498184,882,789,804,653.302501816,633,654,0.431950476663,0.0044362411931,0.0499680504927,0.999999997094,-4.20287623654e-05,-5.01829761019e-05,3.90901115891e-05,1793237725099663104
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.276056364,746,715,680,667.723943636,636.723943636,882,788.723943636,804,653.276056364,633,654,0.432686077114,0.00443536116957,0.0499567753654,0.999999995696,-4.47786557546e-05,-7.07747909885e-05,3.99167901081e-05,1793237725116329728
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.851192637,746,715,680,667.148807363,636.148807363,882,788.148807363,804,653.851192637,633,654,0.433437043244,0.00443248857281,0.0499588859622,0.999999995913,-5.05701658385e-05,-6.32155111971e-05,4.02670099081e-05,1793237725132996608
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,715.426660311,680,667.426660311,636.426660311,881.573339689,788,804,653.573339689,633,654,0.434177764571,0.00443153159502,0.0499787351653,0.99999999724,-5.39185184359e-05,-3.07852942258e-05,4.08035853696e-05,1793237725149663488
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.002297722,715.997702278,680,668,637,881,788.002297722,804,653,633,654,0.43491459761,0.00443125433195,0.0500046636885,0.999999997503,-5.63717784142e-05,1.01064200603e-05,4.14047296311e-05,1793237725166330368
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.591738302,715.408261698,680,668,637,881,788.591738302,804,653,633,654,0.435571586067,0.00443380843831,0.0500019142036,0.999999997957,-4.80097890054e-05,-5.10319568991e-06,4.18838738984e-05,1793237725182996736
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.822047038,715,680,667.822047038,636.822047038,881.177952962,788.822047038,804.177952962,653.177952962,632.822047038,654,0.436224283986,0.00443490560056,0.0499919661057,0.999999997662,-4.34896715497e-05,-3.13844909229e-05,4.24203116692e-05,1793237725199663104
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.243101432,715,680,667.243101432,636.243101432,881.756898568,788.243101432,804.756898568,653.756898568,632.243101432,654,0.436867313893,0.00443271973916,0.0499657969183,0.999999994525,-4.76266850324e-05,-8.26143034615e-05,4.3085852553e-05,1793237725216329728
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,715.333437268,680,667.666874536,636.333437268,882,788.333437268,804.666562732,654,632.333437268,654,0.437547447866,0.00443086748756,0.0499699291499,0.999999995402,-5.06082989064e-05,-6.89388574059e-05,4.3389622671e-05,1793237725232996352
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,715.90823369,680,668.81646738,636.90823369,882,788.90823369,804.09176631,654,632.90823369,654,0.438254439644,0.00442925672013,0.0499959951186,0.999999997631,-5.27535744098e-05,-8.28162237697e-06,4.34315242753e-05,1793237725249662976
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,668.505785774,637,882,789,804.494214226,654,633,654,0.438882569732,0.00442932792968,0.0500069768095,0.999999997706,-5.11488014774e-05,7.49017102501e-06,4.37656894348e-05,1793237725266330112
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.081059405,716,680,667.918940595,637,882,789,804.918940595,654,633,654,0.439488686402,0.00442963016433,0.050010390287,0.99999999788,-4.70966898552e-05,9.06981286241e-06,4.40464612005e-05,1793237725282996992
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.660162184,716,680,667.339837816,637,882,789,804.339837816,654,633,654,0.44005160193,0.00442938853023,0.0499849108036,0.999999998231,-3.23850288005e-05,-2.4156034173e-05,4.36580226993e-05,1793237725299663872
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.760883257,715.760883257,680,667.239116743,636.760883257,882,789,804,654,633,654,0.440612543912,0.00442866710177,0.0499669209962,0.999999997477,-2.68039685597e-05,-4.93207089983e-05,4.35305277594e-05,1793237725316330496
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.182139271,715.182139271,680,667.817860729,636.182139271,882,789,804,654,633,654,0.441170682738,0.00442726420188,0.0499595690827,0.999999996471,-3.41914736337e-05,-6.30357699871e-05,4.37736616726e-05,1793237725332996864
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,715.393000993,680.393000993,668,636,882,789,804,654,633,654,0.441735769129,0.00442682728076,0.0499713753143,0.999999997374,-4.00518804692e-05,-4.15030566065e-05,4.38798369944e-05,1793237725349663232
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,715.96648631,680.96648631,668,636,882,789,804,654,633,654,0.442304046215,0.00442683398189,0.0499919798562,0.999999998006,-4.52109734058e-05,-3.78292786036e-06,4.39231145354e-05,1793237725366329600
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,681,668,636.555932293,882,789,804.555932293,653.444067707,633,654,0.442819650086,0.00442604343303,0.0500081236713,0.999999997661,-4.61994153957e-05,2.40777367387e-05,4.43107815163e-05,1793237725382996480
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.143663732,715.856336268,681,668,636.856336268,882,788.856336268,804.856336268,653,633,654,0.44331446198,0.00442574334827,0.0500169569785,0.999999997171,-4.64897605662e-05,3.88457850954e-05,4.45884260852e-05,1793237725399663360
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.723188158,715.276811842,681,668,636.276811842,882,788.276811842,804.276811842,653,633,654,0.44375611172,0.00442708140268,0.0500044509328,0.999999997855,-4.54474898167e-05,1.57487591955e-05,4.44674255932e-05,1793237725416329984
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.699839817,746.699839817,715.300160183,680.699839817,668,636,882,788,804,653,633,653.699839817,0.444177032996,0.00442862362708,0.0499845584154,0.999999997896,-4.35610595341e-05,-1.86185911733e-05,4.43042226461e-05,1793237725432996864
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.12520184,746.12520184,715.87479816,680.12520184,668,636,882,788,804,653,633,653.12520184,0.444578999357,0.00443035255214,0.0499579114304,0.999999996188,-4.09026979401e-05,-6.32919500067e-05,4.41024281374e-05,1793237725449663744
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.449413983,746,716,680.449413983,668,636,882,788.449413983,804,653.449413983,632.550586017,653.449413983,0.444991714062,0.00443066963273,0.0499543544419,0.999999996185,-4.13627316505e-05,-6.32831253761e-05,4.37478290754e-05,1793237725466330368
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,681,668,636,882,788.975365872,804.024634128,653.975365872,632.024634128,654,0.445405826195,0.00443060829109,0.0499576940441,0.999999996896,-4.26827703102e-05,-5.00786936297e-05,4.33443748585e-05,1793237725482996736
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,681,668,636,882,788.386153924,804.613846076,653.386153924,632.613846076,654,0.445783342248,0.00443088804296,0.049971674404,0.99999999793,-4.38033449358e-05,-1.97254467085e-05,4.27968184816e-05,1793237725499663360
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.799822656,746,716,681,667.799822656,636,882,788.200177344,804.799822656,653,633,654,0.446143118849,0.00443140297757,0.0499785836667,0.999999998151,-4.34137842643e-05,-2.7532706927e-06,4.24821471133e-05,1793237725516329984
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.218969623,746,716,681,667.218969623,636,882,788.781030377,804.218969623,653,633,654,0.446469160428,0.00443236515733,0.0499720458775,0.999999998223,-4.01524110412e-05,-1.12277760648e-05,4.26103514673e-05,1793237725532996608
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.358530943,746,716,681,667,636,882,788.641469057,804.358530943,653,633,654,0.446759846834,0.0044329823489,0.0499585658647,0.999999997816,-3.8864263704e-05,-3.19552280076e-05,4.2845083974e-05,1793237725549663232
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.934003042,746,716,681,667,636,882,788.065996958,804.934003042,653,633,654,0.44702914044,0.0044333907939,0.0499408852262,0.999999996512,-3.8770082451e-05,-6.00967365247e-05,4.31442748945e-05,1793237725566329856
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.491686975,746,716,681,667,636,882,788,804.491686975,653,633,653.491686975,0.447270269304,0.00443727800124,0.0499163520922,0.999999993785,-3.32467962603e-05,-9.76466967248e-05,4.23015339626e-05,1793237725582996992
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715.915073163,681,667,635.915073163,882,788,804,653,633,653.084926837,0.447504800868,0.00444132268079,0.0498928237618,0.999999989939,-2.75776082049e-05,-0.00013286886642,4.13203730603e-05,1793237725599663616
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715.323826561,681,667,635.323826561,882,788,804,653,633,653.676173439,0.447721751884,0.00444361956944,0.0498805780126,0.999999988069,-2.52314226333e-05,-0.000146947090537,4.03958785139e-05,1793237725616330240
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.261272845,746,715.261272845,681,667,635,882,788,804,653.261272845,633,654,0.447933669917,0.00444485764409,0.0498752579553,0.999999987205,-2.42287508355e-05,-0.000153058272699,3.96923798018e-05,1793237725632996608
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.838928401,746,715.838928401,681,667,635,882,788,804,653.838928401,633,654,0.448139493354,0.00444481357065,0.0498783244157,0.999999987742,-2.48529781891e-05,-0.000149521936549,3.9256491288e-05,1793237725649663232
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788,804,653.584525289,633,654,0.448328852828,0.00444417862651,0.0498832199425,0.999999988665,-2.54100630244e-05,-0.000143009715772,3.96644930345e-05,1793237725666329856
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788,804,653.00840788,633,654,0.448511846529,0.00444331522307,0.0498888226751,0.999999989688,-2.59411872862e-05,-0.000135346873578,4.03987837389e-05,1793237725682996480
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788.579891646,804,653.579891646,633,654,0.448665686962,0.00444685381584,0.049888392579,0.999999989779,-2.31264141637e-05,-0.000135412438415,3.96263299265e-05,1793237725699663104
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788.834249797,804,654,633,654,0.448810198626,0.00444887850382,0.0498872059149,0.999999989612,-2.15775944053e-05,-0.000137002064748,3.92511680525e-05,1793237725716329984
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788.254932025,804,654,633,654,0.448932511127,0.00444696314065,0.0498843544511,0.999999988834,-2.33111294879e-05,-0.000142108826017,3.99229786879e-05,1793237725732996864
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,715.677552817,681,667,635,882,788,804.322447183,653.677552817,633,654,0.449040211658,0.00444650138775,0.0498813342756,0.999999987777,-2.25734550526e-05,-0.000149389468427,4.0235102675e-05,1793237725749663488
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,715.101697048,681,667,635,882,788,804.898302952,653.101697048,633,654,0.449136428774,0.00444718201498,0.0498781815105,0.99999998645,-1.98936775984e-05,-0.000158378546659,4.02645519578e-05,1793237725766330112
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.529744607,746,715.470255393,681,667,635,882,788,805,653.470255393,633,654,0.449221389357,0.00445011203582,0.0498777625333,0.999999986443,-1.54074291115e-05,-0.000159043522672,3.97649638507e-05,1793237725782996480
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.043166785,746,716,681,666.956833215,635,882,788.043166785,804.956833215,654,633,654,0.449302546448,0.00445326963491,0.0498776522437,0.999999986616,-1.09703717037e-05,-0.000158462232265,3.92132948145e-05,1793237725799663104
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.639077867,746,716,681,666.360922133,635,882,788.639077867,804.360922133,654,633,654,0.449365915077,0.00445316367367,0.0498739866593,0.999999985572,-1.2124434042e-05,-0.000164783754973,3.94476695154e-05,1793237725816329728
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.772030236,746,716,681,666,635,882,789,804,654,633,654,0.449423986094,0.00445285394319,0.0498713849411,0.999999984809,-1.30194571367e-05,-0.000169261180681,3.95366099524e-05,1793237725832996352
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.19391922,746,716,681,666,635,882,789,804,654,633,654,0.449473920447,0.00445223124131,0.0498704172269,0.999999984528,-1.35166189557e-05,-0.000170906237272,3.94021763011e-05,1793237725849663232
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.381829969,746,716,681,666,634.618170031,882,788.618170031,804.381829969,654,633,654,0.449513673197,0.00445370497096,0.0498692227963,0.999999984218,-1.24914230118e-05,-0.000172851758822,3.91199815226e-05,1793237725866330112
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.956387018,746,716,681,666,634.043612982,882,788.043612982,804.956387018,654,633,654,0.449548286825,0.00445623686565,0.0498679139317,0.999999983888,-1.06978233388e-05,-0.000174948938753,3.8763204937e-05,1793237725882996736
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746.54532286,716,681,666.54532286,634,882,788,804.45467714,654,633,654,0.449577664414,0.00445609368338,0.0498673933286,0.999999983933,-1.05052284217e-05,-0.000174681069954,3.88674299296e-05,1793237725899663616
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.866992213,747,716,681,666.866992213,634.133007787,882,788,804.266015573,654,633,654,0.449603919243,0.00445600383138,0.0498668958898,0.999999983951,-1.00830968696e-05,-0.00017458405699,3.89444521841e-05,1793237725916330240
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.287471817,747,716,681,666.287471817,634.712528183,882,788,805.425056366,654,633,654,0.449621134696,0.0044568306777,0.0498662588475,0.999999983774,-8.44891606533e-06,-0.000175712788608,3.88030301279e-05,1793237725932996608
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746.135903751,716,681,666,634.135903751,882,788,805.135903751,653.135903751,633.864096249,654,0.449641007695,0.00445615604364,0.0498616876833,0.999999982266,-8.3451703446e-06,-0.00018415438442,3.85549576155e-05,1793237725966329600
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,716,681,666,634,882,788.439152694,804.560847306,653.439152694,633.560847306,654,0.449648356497,0.00445822514775,0.0498615290745,0.999999982257,-6.09019014555e-06,-0.000184404081233,3.7999556e-05,1793237725982996480
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.014710336,746.014710336,716,681,666.014710336,634.014710336,882,789,804.014710336,654,633,654,0.449655537125,0.00446104438712,0.0498621564487,0.999999982522,-3.13020347604e-06,-0.000183170261321,3.73358099655e-05,1793237725999663104
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.603731202,746.603731202,716,681,666.603731202,634.603731202,882,789,804.603731202,654,633,654,0.449658412295,0.00445939737728,0.0498611648099,0.999999982273,-5.60732460202e-06,-0.00018438843521,3.77292875898e-05,1793237726016330240
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.810023873,747,716,681,666.810023873,635,882,789,805,653.810023873,633,654,0.449660879881,0.00445783400999,0.0498604028073,0.999999982021,-6.85546669898e-06,-0.00018561616688,3.81792927204e-05,1793237726032997120
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.229485894,747,716,681,666.229485894,635,882,789,805,653.229485894,633,654,0.449662509538,0.00445644259908,0.0498601129017,0.999999981775,-5.57701578264e-06,-0.000186863547811,3.87455097326e-05,1793237726049663744
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.347522663,747,715.652477337,681,666.347522663,635,882.347522663,789,805,653.347522663,633,654,0.449663333586,0.00445665950432,0.0498595875735,0.999999981522,-5.28129728353e-06,-0.000188284205563,3.84387058038e-05,1793237726066330112
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.922223982,747,715.077776018,681,666.922223982,635,882.922223982,789,805,653.922223982,633,654,0.449663631001,0.00445792778021,0.0498589083476,0.999999981263,-5.62799976061e-06,-0.000189818135865,3.75612002949e-05,1793237726082996736
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.504239848,746.504239848,715.495760152,681,666.504239848,634.504239848,882.504239848,788.504239848,805,654,633,654,0.449664653692,0.00445993786039,0.0498589730981,0.999999981403,-3.59503818868e-06,-0.000189207219906,3.71780232343e-05,1793237726099663360
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.071488616,746,716,681,666,634,882,788,805,654,633,654,0.449665530098,0.00446162894545,0.0498590332047,0.999999981541,-1.62507781778e-06,-0.000188549055538,3.69490328968e-05,1793237726116329984
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.664541745,746,716,681,666,634,882,788,805,654,633,654,0.449664511051,0.00446014565262,0.0498582098882,0.999999981252,-2.8320847422e-06,-0.000189995364913,3.72804829986e-05,1793237726132996608
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882,788.251017805,804.748982195,654,633,654,0.449664053025,0.00446018047447,0.0498575865103,0.999999981012,-2.13043352055e-06,-0.000191250596387,3.7356382505e-05,1793237726149663232
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882,788.828928819,804.171071181,654,633,654,0.449664325602,0.00446219229285,0.0498572235065,0.99999998083,1.05680768982e-06,-0.000192256992851,3.70994859274e-05,1793237726166330112
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.399342315,716,681,666,634,882,788.600657685,804,654,633.399342315,654.399342315,0.449664967412,0.00446216849186,0.0498580390814,0.999999980955,8.57330894736e-07,-0.000191587038939,3.71871438885e-05,1793237726182996736
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.966603163,716,681,666,634,882,788.033396837,804,654,633.966603163,654.966603163,0.44966576448,0.00446128873783,0.0498593502341,0.999999981209,-7.66219358297e-07,-0.000190212200253,3.74196828106e-05,1793237726199663360
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882,788.562660969,804.562660969,654,633.437339031,654.437339031,0.449665415177,0.0044612037546,0.0498577823248,0.999999980788,-2.70793604345e-07,-0.000192396313749,3.75306668905e-05,1793237726216329984
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746.844413429,716,681,666,634,882,788.844413429,804.844413429,654,633,654,0.449665314589,0.00446092999027,0.0498566247872,0.999999980516,2.281754963e-09,-0.000193799791604,3.75501895802e-05,1793237726232996608
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746.264929638,716,681,666,634,882,788.264929638,804.264929638,654,633,654,0.449666087006,0.00446000643179,0.0498570760092,0.99999998078,-6.91590169714e-07,-0.000192469843364,3.73412421713e-05,1793237726249663232
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.687188239,746,716,680.687188239,666,634,882,788,804,654,633,654.312811761,0.449666615094,0.00446042533887,0.0498574855543,0.999999980888,-3.53057823001e-07,-0.000191927009969,3.7264763646e-05,1793237726266329856
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.110914379,746,716,680.110914379,666,634,882,788,804,654,633,654.889085621,0.449666937397,0.00446197492215,0.0498578599975,0.999999980863,8.55005157329e-07,-0.00019204711505,3.72998555219e-05,1793237726282996480
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.47356901,746.47356901,716,680,666,634,882,788.47356901,804.47356901,653.52643099,633,654.52643099,0.449665572008,0.00446338940517,0.049856145481,0.999999980453,1.9386007874e-06,-0.000194308044953,3.65217539902e-05,1793237726299663360
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.940698968,716,680.059301032,666,634,882,789,804.940698968,653.059301032,633,654,0.449664314664,0.00446431231777,0.0498544171093,0.999999980067,2.55475365605e-06,-0.000196424507834,3.57320961092e-05,1793237726316329984
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.361178591,716,680.638821409,666,634,882,789,804.361178591,653.638821409,633,654,0.449667533879,0.00446120539424,0.0498569349024,0.999999980747,-6.69501014466e-07,-0.000192797479151,3.65413285704e-05,1793237726332996608
+259,4.316666667,HOLD_POSE2,767,747,716,681,666,635,882,788,805,654,633,654,0.449665932562,0.0044607376903,0.0498558805166,0.999999980417,-2.33526977385e-06,-0.000194444955273,3.67550384087e-05,1793237726372224000
+260,4.333333333,HOLD_POSE2,767,746.424851422,716,681,666,634.424851422,882,788,804.424851422,654,633.575148578,654,0.449665948702,0.00446339498971,0.0498559300521,0.999999980416,1.61558888651e-06,-0.000194522725552,3.64051002226e-05,1793237726388890624
+261,4.350000000,HOLD_POSE2,767,746,716,681,666,634,882,788.153870066,804.153870066,653.846129934,633.846129934,654,0.449665845334,0.00446526050854,0.0498559087345,0.999999980385,4.48642422308e-06,-0.000194688181463,3.61440721575e-05,1793237726405556992
+262,4.366666667,HOLD_POSE2,767,746,716,681,666,634,882,788.742691388,804.742691388,653.257308612,633.257308612,654,0.449665404147,0.00446488786713,0.0498556871332,0.999999980306,4.3043112374e-06,-0.000195101502211,3.6134370146e-05,1793237726422223616
+263,4.383333333,HOLD_POSE2,766.673915565,746,716,681,666,634,882,788.673915565,804.673915565,653.326084435,633,654,0.449665725686,0.00446423296579,0.0498555391155,0.999999980323,2.37383173567e-06,-0.000195069324639,3.60085581243e-05,1793237726438890496
+264,4.400000000,HOLD_POSE2,766.094735791,746,716,681,666,634,882,788.094735791,804.094735791,653.905264209,633,654,0.449666639226,0.00446335898418,0.0498554482107,0.999999980407,-9.13668728173e-07,-0.000194691366818,3.57926255715e-05,1793237726455557376
+265,4.416666667,HOLD_POSE2,766,746.481125384,716,681,666,634,882,788,804,654,633,654,0.449666600008,0.00446269385251,0.0498548872226,0.999999980272,-8.99074528577e-07,-0.000195341455876,3.60061532121e-05,1793237726472224000
+266,4.433333333,HOLD_POSE2,766.056374132,746.943625868,716,681,666,634,882,788,804.056374132,654,633,654,0.449666247782,0.00446226471833,0.0498542172211,0.999999980074,-9.42895175622e-08,-0.000196307499556,3.62600589385e-05,1793237726488890624
+267,4.450000000,HOLD_POSE2,766.631959479,746.368040521,716,681,666,634,882,788,804.631959479,654,633,654,0.449664728728,0.00446363298686,0.0498533898564,0.999999979678,2.04086933365e-06,-0.000198331913982,3.61123555467e-05,1793237726505557248
+268,4.466666667,HOLD_POSE2,766.786480796,746,716,681.213519204,666,634,882,788.213519204,805,654,633,654,0.449664137342,0.00446457529279,0.0498532753465,0.999999979508,3.49391512942e-06,-0.000199175267322,3.60675517233e-05,1793237726522224128
+269,4.483333333,HOLD_POSE2,766.194326733,746,716,681.805673267,666,634,882,788.805673267,805,654,633,654,0.449665190997,0.00446476223657,0.0498544249464,0.999999979751,3.73736560763e-06,-0.000197924237884,3.62052203254e-05,1793237726538890752
+270,4.500000000,HOLD_POSE2,766.388973742,746,716,681.611026258,666,634,882,788.611026258,804.611026258,653.611026258,633,654,0.44966449789,0.00446375197742,0.0498538581594,0.999999979526,1.89362860656e-06,-0.000199111833128,3.60321442164e-05,1793237726555557376
+271,4.516666667,HOLD_POSE2,766.967949555,746,716,681.032050445,666,634,882,788.032050445,804.032050445,653.032050445,633,654,0.449662951543,0.00446215692037,0.0498524529689,0.999999979063,-9.69637208725e-07,-0.000201490623687,3.57072785955e-05,1793237726572224000
+272,4.533333333,HOLD_POSE2,766.459954629,746,716,681,665.459954629,634,882,788,804,653.540045371,633,654,0.449664546197,0.00446196131935,0.0498534518014,0.99999997945,-4.03350922031e-07,-0.000199483022265,3.6145959395e-05,1793237726588890624
+273,4.550000000,HOLD_POSE2,766.112808604,746,716,681,665.112808604,634,882,788,804,653.887191396,633,653.887191396,0.449666014481,0.00446206396989,0.0498543891935,0.999999979818,3.2928855539e-07,-0.000197570301004,3.64663604749e-05,1793237726605557504
+274,4.566666667,HOLD_POSE2,766.68997897,746,716,681,665.68997897,634,882,788,804,653.31002103,633,653.31002103,0.449666204898,0.00446305675147,0.0498544937667,0.999999979922,9.19409565392e-07,-0.000197106243039,3.61156932188e-05,1793237726622223872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,666,634,882,788,804,654,632,653,0.44966353664,0.00446491365613,0.0498526613106,0.99999997934,5.04737859717e-06,-0.000199992413956,3.60180534596e-05,1793237726659394304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.577712537,746,716,681,666,634,882,788,804.577712537,654,632.577712537,653.577712537,0.449664226296,0.00446447117235,0.0498533210192,0.999999979523,3.69914496875e-06,-0.000199119816473,3.59426377223e-05,1793237726676061440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.845654991,746,716,681,666,634,882,788,805,654,633,654,0.449665143674,0.00446427445723,0.0498538975627,0.999999979717,2.92567238178e-06,-0.000198160810306,3.58999754685e-05,1793237726692728320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.271956911,746,716,681,666,634,882,788,805,654,633,654,0.449666679773,0.00446474549174,0.0498542481482,0.999999979949,3.71381660979e-06,-0.000196967032844,3.59463039211e-05,1793237726709394944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.310364816,746,716,681,666,634,882.310364816,788,805,654,633,654,0.449666966092,0.00446565601522,0.0498544155169,0.999999979958,4.6793022618e-06,-0.000196893621581,3.59761365333e-05,1793237726726061568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.900458932,746,716,681,666,634,882.900458932,788,805,654,633,654,0.449666125997,0.00446696264652,0.0498544177537,0.999999979767,5.80462425844e-06,-0.000197829987387,3.59911015752e-05,1793237726742728192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.518173255,746.481826745,715.518173255,681,666,634,882.518173255,788,804.518173255,654,633,654,0.449664875643,0.00446584560093,0.0498533651613,0.999999979496,4.85947147953e-06,-0.000199194598714,3.61255189384e-05,1793237726759395840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.061059833,747,715.061059833,681,666,634,882,788,804,654,633,654,0.449663851477,0.00446444919598,0.0498523717956,0.999999979277,3.79430853353e-06,-0.000200296727327,3.62449179797e-05,1793237726776063488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.637222078,747,715.637222078,681,666,634,882,788,804,654,633,654,0.449665437729,0.00446484496996,0.0498536837301,0.999999979645,5.26098555606e-06,-0.000198451471902,3.6033142976e-05,1793237726792728832
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,715.787742374,680.787742374,666,634,882,788,804.212257626,654,633,654,0.449665009932,0.00446531909896,0.0498539823346,0.999999979652,6.3013197657e-06,-0.000198414980978,3.58766089858e-05,1793237726809394688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,715.214622399,680.214622399,666,634,882,788,804.785377601,654,633,654,0.449661158019,0.00446592644043,0.0498525581616,0.999999979045,6.61682206595e-06,-0.000201453597681,3.58139910856e-05,1793237726826061056
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.629448543,747,715.370551457,680.370551457,666,634,882,788,804.629448543,654,633,654,0.449652095854,0.00446465639581,0.0498478819264,0.999999977484,4.05334891165e-06,-0.00020911024014,3.59026864714e-05,1793237726842727936
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.037058309,747,715.962941691,680.962941691,666,634,882,788,804.037058309,654,633,654,0.449639914458,0.00446226241279,0.0498412587726,0.999999975252,-2.3368615778e-07,-0.000219531565507,3.60819688725e-05,1793237726859394560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.540544301,747,716,681,666,634,882,788,804.540544301,654,633,654,0.449608213102,0.00446535456009,0.0498275504328,0.999999969649,3.85102250282e-06,-0.000243801018524,3.53199481675e-05,1793237726876061440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.882951618,747,716,681,666,634,882,788.117048382,805,654,633,654,0.449570736599,0.00446793146637,0.0498124223567,0.999999962637,7.51353514016e-06,-0.000271052495154,3.46523284867e-05,1793237726892727808
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.306885505,747,716,681,666,634,882,788.693114495,805,654,633,654,0.449515720529,0.00446705210294,0.0497935807933,0.999999952442,7.3295109254e-06,-0.000306374304655,3.46012475225e-05,1793237726909394688
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.267637347,746.732362653,716,680.732362653,666,634,882.267637347,788.732362653,804.732362653,654,633,654,0.449456824056,0.00446700834504,0.0497770453104,0.99999994373,7.92041071535e-06,-0.000333619177895,3.42796069575e-05,1793237726926062080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.840400736,746.159599264,716,680.159599264,666,634,882.840400736,788.159599264,804.159599264,654,633,654,0.449393503646,0.00446791723828,0.049763138928,0.999999937559,9.39478024872e-06,-0.000351655754498,3.3649508802e-05,1793237726942729728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746.430770773,716,680.430770773,666,634,882.569229227,788,804,654,633,654,0.449324666976,0.00446812002991,0.0497559408281,0.999999934161,1.03876874459e-05,-0.000361189869354,3.33355422566e-05,1793237726959395840
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746.973031217,716,681,666,634,882,788.026968783,804,654,633,654,0.449253162708,0.00446814574144,0.0497516646106,0.999999932041,1.12885807426e-05,-0.000367006545804,3.31312620115e-05,1793237726976061184
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.396659182,716,681,666,634,882,788.603340818,804,654,633,654,0.449170723923,0.00447012056035,0.0497541227217,0.999999933118,1.41037730573e-05,-0.000364000969293,3.26737452026e-05,1793237726992728064
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,634,882,788.820752511,804.179247489,653.820752511,633,654,0.44908279835,0.00447192059999,0.04975669543,0.999999934406,1.68455029351e-05,-0.000360369956013,3.22246523256e-05,1793237727009394432
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,634,882,788.245873061,804.754126939,653.245873061,633,654,0.448982762446,0.00447333486957,0.0497595210749,0.999999936166,1.94250874192e-05,-0.000355358489907,3.17941526666e-05,1793237727026061056
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.663483814,746,716,681.336516186,666.336516186,634,882.336516186,788.336516186,804.663483814,653.336516186,633,654,0.448865379749,0.00447470075915,0.0497610841975,0.999999936779,2.24443569705e-05,-0.000353502084209,3.12084424288e-05,1793237727042727936
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.075482284,746,716,681.924517716,666.924517716,634,882.924517716,788.924517716,804.075482284,653.924517716,633,654,0.448735033432,0.00447603049353,0.0497617038119,0.999999936543,2.5792212327e-05,-0.000354003518376,3.05067401449e-05,1793237727059395072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,716,681.492491081,666.492491081,634.507508919,882.492491081,788.492491081,804.507508919,654,633,654,0.448579200846,0.00447829651017,0.049757063743,0.999999933837,2.88382718749e-05,-0.00036140470175,2.96650847983e-05,1793237727076061696
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.088444558,746.088444558,716,681,666.088444558,635,882,788,804.911555442,654,633,654,0.44841613688,0.00448058702469,0.0497519497016,0.999999930913,3.19213278052e-05,-0.000369221836569,2.88235083141e-05,1793237727092728320
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.662150932,746.662150932,716,681,666.662150932,635,882,788,804.337849068,654,633,654,0.448233991255,0.00448225538513,0.0497484852542,0.999999929134,3.54512370776e-05,-0.000373745779756,2.8095453687e-05,1793237727109394688
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.19057678,716,681,666.19057678,635,882.80942322,788,804,654,633,654,0.447836825183,0.00448697930302,0.0497473894651,0.999999928644,4.33050564382e-05,-0.000374383670562,2.59699058415e-05,1793237727142727936
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.604276703,746.395723297,716,681,666.395723297,635,882.604276703,788.395723297,804,654,633,654,0.447610136255,0.00449030794835,0.0497486740546,0.999999928997,4.98231192137e-05,-0.00037269668715,2.49130406048e-05,1793237727159394560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.01166111,746.98833889,716,681,666.98833889,635,882.01166111,788.98833889,804,654,633,654,0.44737287628,0.0044939735508,0.0497502648075,0.99999992928,5.75479784832e-05,-0.000370884774312,2.39286160226e-05,1793237727176061184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.566929744,747,716,681,667,635,882,788.433070256,804,654,633,654,0.447100675159,0.00449628287434,0.0497484774945,0.999999926981,6.23076132746e-05,-0.000376336713601,2.29295399153e-05,1793237727192728064
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.855499397,716,681,667,635.144500603,882.144500603,788.144500603,804,653.855499397,633,654,0.446824950992,0.00449846990305,0.0497493712512,0.999999926553,6.70118930654e-05,-0.000376726757933,2.18994824617e-05,1793237727209394944
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.30229879,716,681,667,636,883,789,804,653,633,654,0.446242002193,0.00450410647744,0.0497727653421,0.999999939661,7.88609640936e-05,-0.000337751237412,1.95686742311e-05,1793237727242728192
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.891427673,716,681,667,636,883,789,804,653,633,654,0.445929268714,0.00450957536874,0.0497920159016,0.999999949222,8.8285410904e-05,-0.000305659738329,1.82762238861e-05,1793237727259394560
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.948277718,746.051722282,715.948277718,680.948277718,667.948277718,636,882,789,804.051722282,653,632.948277718,654,0.445218815761,0.00451930525893,0.0498168989401,0.999999956244,0.000106706951874,-0.000275485792752,1.52710320907e-05,1793237727292727808
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.58713824,747,715,680.79356912,667.79356912,636,882,789,804.20643088,653.79356912,632.79356912,654,0.443959411215,0.00453407108789,0.0498133864624,0.99999995096,0.000127827827366,-0.000285754657363,9.14444709323e-06,1793237727342728704
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.532020512,667.532020512,636.532020512,882,789,805,653.467979488,633,654,0.442486000823,0.00455229666131,0.0497909603068,0.999999938608,0.000151370877612,-0.000316024468988,2.25327565139e-07,1793237727392728576
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.887422239,680.887422239,668,636.887422239,882,789,805,653.112577761,633,654.112577761,0.441996476762,0.00455861237292,0.0498045730488,0.99999994525,0.00016058561494,-0.000289319437617,-2.51388894268e-06,1793237727409395200
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.257926247,680,668,636,882,789,805,653.742073753,633,654.742073753,0.440956049754,0.00457089181173,0.049840334277,0.999999955821,0.00018118093331,-0.000235547686202,-7.01658452898e-06,1793237727442727936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.829902704,680,668,636,882,789,805,653.170097296,633,654.170097296,0.440394454964,0.00457619056748,0.0498426193673,0.999999955445,0.000188062283613,-0.000231615222976,-9.82258057869e-06,1793237727459394816
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.591491291,716,681,667,636,882,788.408508709,804.408508709,653.591491291,633,654,0.438478112527,0.0045964987869,0.0497757049195,0.99999993297,0.000119131260883,-0.000345602644086,-2.06483368512e-05,1793237727509395200
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.258039641,746.258039641,716,680.258039641,667.741960359,636,882,788.741960359,804,653.258039641,633,654,0.43721453803,0.00460454064559,0.0497911356296,0.999999941916,7.60513349136e-05,-0.000331299134471,-2.49970288892e-05,1793237727542728192
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,767.825889559,746,716,680,668,636,882,788.087055221,804,653,633,654,0.435949787345,0.00458704695413,0.0498515028324,0.999999968029,7.52681653187e-05,-0.000239604596212,-2.94209919697e-05,1793237727576061184
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.505920567,746.494079433,716,680,667.505920567,636,882,788,804.494079433,653.494079433,633,654,0.435205518511,0.0045655338011,0.0498255162948,0.99999995603,6.00386906104e-05,-0.000288899380661,-2.95517388322e-05,1793237727592727808
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746.926510659,716,680,667,636,882,788.073489341,804.853021319,654,633,654.073489341,0.434450415229,0.00454589663437,0.0497939188131,0.999999938564,4.56492329911e-05,-0.000346272610715,-2.97359382358e-05,1793237727609394432
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746.349921245,716,680,667,636,882,788.650078755,803.699842491,654,633,654.650078755,0.433751143865,0.00455047518478,0.0497931565044,0.999999940513,5.10245261793e-05,-0.000339518751458,-3.31222079731e-05,1793237727626062080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.7739655,746,715.7739655,680.2260345,667.2260345,636,882,789,803.2260345,654,633,654.7739655,0.433052103606,0.00455678515577,0.0498032561009,0.999999946334,6.46069119386e-05,-0.000319395542781,-3.38351239362e-05,1793237727642729216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.198987899,746,715.198987899,680.801012101,667.801012101,636,882,789,803.801012101,654,633,654.198987899,0.43235342001,0.00456576802591,0.0498301238758,0.999999956591,9.08590826101e-05,-0.000278633260897,-3.04210227786e-05,1793237727659395328
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,715.976489376,680.023510624,668,636.976489376,882,789,804,654,633,654,0.430876867216,0.00457663857142,0.0498227242696,0.999999951688,0.000113356172646,-0.000288880320167,-1.79683983724e-05,1793237727692728832
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.555457829,746.555457829,716,680,668,636.444542171,882,788.444542171,804,653.444542171,633,654,0.430061075739,0.0045810687732,0.0497929894658,0.999999934885,0.000121911952267,-0.00033898519122,-2.13766748115e-05,1793237727709395200
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.866458921,746.866458921,715.866458921,680,667.866458921,636,881.866458921,788.133541079,804,653,633,654,0.429259538733,0.00458392331297,0.0497733479734,0.999999922843,0.000127505873702,-0.000370720139345,-2.49662436855e-05,1793237727726061312
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,715.540275464,680,667.540275464,636.540275464,882,788.540275464,804,654,633,654,0.426219898588,0.00457005605298,0.0497997402807,0.99999993999,9.70726848996e-05,-0.000331282599253,-2.91270045405e-05,1793237727792728576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.039048398,667.039048398,636.039048398,882,788.039048398,804,653.960951602,633,654,0.425444276217,0.00456979974174,0.0497945025619,0.999999941131,9.86629896898e-05,-0.000327250885793,-3.01885357934e-05,1793237727809395200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.613977108,667.613977108,636.613977108,882,788.613977108,804,653.386022892,633,654,0.424696271124,0.00457434994581,0.0498282820267,0.999999958392,0.000111192679762,-0.000264453289965,-3.02615641209e-05,1793237727826061568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,715.193042242,680.806957758,668,637,882,789,803.806957758,653.193042242,633,654,0.423944169585,0.00457833670239,0.0498512196106,0.999999967414,0.000120041834106,-0.000223231609256,-3.0501095114e-05,1793237727842727936
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.096588713,715.096588713,680,668.903411287,636.096588713,881,789,803,654,633,654,0.420062949626,0.00458384577029,0.0498110922302,0.999999949008,0.000107308085109,-0.000298928221177,-3.3317426588e-05,1793237727926061824
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.156663972,716,680,667.156663972,637,881,788.156663972,803,654,633,654,0.417801397139,0.00458221007676,0.0498001020632,0.999999934134,0.000121979086912,-0.000340301797423,-3.2359527997e-05,1793237727976061696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746.42544222,716,680,667,637,881,788.42544222,803.42544222,654,633,654,0.417100549647,0.00458167095926,0.0498069369161,0.999999939184,0.000120722028928,-0.000325516868901,-3.31095645322e-05,1793237727992728064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,667.004607711,637,881.004607711,789,804,654,633,654,0.416413808416,0.00458068953288,0.0498240160807,0.999999949838,0.000117255815185,-0.000292285262572,-3.38348691451e-05,1793237728009394688
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,667.581325634,637,881.581325634,789,804,654,633,654,0.415732779908,0.00458167932911,0.049838449569,0.999999957839,0.000116232868187,-0.000263846399167,-3.460189132e-05,1793237728026061824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.84290112,715.84290112,680,667.84290112,636.84290112,881.84290112,789,804,654,633,654.15709888,0.415040975264,0.00458320825372,0.0498430125205,0.999999960211,0.000117064982597,-0.000254238128444,-3.51809726064e-05,1793237728042728448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.2696303,715.2696303,680,667.2696303,636.2696303,881.2696303,789,804,654,633,654.7303697,0.414320623316,0.00458616538795,0.0498214273546,0.999999948468,0.000122811355367,-0.000294514130215,-3.52621783298e-05,1793237728059395072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.686039027,746,715.313960973,680,667.313960973,636.313960973,881,788.686039027,803.686039027,654,633,654.686039027,0.413629779322,0.00458911970499,0.0498020337485,0.999999937723,0.000127024695979,-0.000327306655314,-3.58991304568e-05,1793237728076061696
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.09328331,746,715.90671669,680,667.90671669,636.90671669,881,788.09328331,803.09328331,654,633,654.09328331,0.412965138188,0.0045920715202,0.0497845862305,0.999999928416,0.000129876716458,-0.00035345391287,-3.70295808005e-05,1793237728092728320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.486942511,746,715.513057489,680,667.513057489,636.513057489,881.486942511,788,803.486942511,654,633,654,0.412353890133,0.00459298624776,0.0498007712413,0.99999993634,0.000130491461609,-0.000330047198469,-3.68975091881e-05,1793237728109395712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,715.064377402,680,667.064377402,636,881.935622598,788.064377402,803.935622598,654,633,654,0.411753159543,0.00459345243793,0.0498221122936,0.999999946007,0.000130580884547,-0.000299338312936,-3.64942793262e-05,1793237728126062848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.638244618,680,667.638244618,636,881.361755382,788.638244618,803.361755382,654,633,654,0.411156746692,0.00459337980882,0.049834547649,0.999999950581,0.000129819696587,-0.000284083402171,-3.58111673076e-05,1793237728142729984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.211973448,715.788026552,680,667.788026552,636.211973448,881,789,803,654,633,654.211973448,0.410554177849,0.00459158238364,0.049832580555,0.999999948463,0.000127071686835,-0.000292708287581,-3.53438091235e-05,1793237728159396608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.785466205,715.214533795,680,667.214533795,636.785466205,881,789,803,654,633,654.785466205,0.409941110066,0.0045868433302,0.0498060501779,0.999999933564,0.000120935165602,-0.00034206000808,-3.5244417694e-05,1793237728176062720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.628972396,715.371027604,680,667,637,881,789,803,654.371027604,633,654.628972396,0.40938933947,0.00458375864396,0.0498001855942,0.999999931535,0.000117536207039,-0.000349053942999,-3.57395718522e-05,1793237728192729088
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746.036198049,715.963801951,680,667,637,881,789,803,654.963801951,633,654.036198049,0.408874203426,0.00458166269916,0.0498066720359,0.999999937937,0.000115773367758,-0.000330732513262,-3.65900595534e-05,1793237728209395456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.456648763,667,637,881,789,803,655,633,654,0.408395632899,0.00458101093567,0.0498321262382,0.999999950776,0.000117106133602,-0.00028889918833,-3.56588880303e-05,1793237728226062080
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746.121414066,716,679,667,637,881,789,803.121414066,654.878585934,633,654,0.407918515292,0.00458132615494,0.0498528030169,0.999999959489,0.000119172520425,-0.000256134162352,-3.4845967093e-05,1793237728242728960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746.697133436,716,679,667,637,881,789,803.697133436,654.302866564,633,654,0.407437935681,0.00458490816751,0.0498509878235,0.999999957207,0.000123230630972,-0.000263022472814,-3.49090889876e-05,1793237728259395072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.721619882,715.721619882,679.278380118,667,637,881,789,804,654.278380118,632.721619882,654.278380118,0.406951867901,0.00458733258491,0.0498362368783,0.999999948667,0.000123969057769,-0.000293386757489,-3.4951747434e-05,1793237728276061440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.134237918,715.134237918,679.865762082,667,637,881,789,804,654.865762082,632.134237918,654.865762082,0.406459708286,0.0045884720718,0.0498071272529,0.999999930882,0.000121022636101,-0.000349809365204,-3.49716913755e-05,1793237728292728320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.447224737,715.447224737,680,667,637,881,789,804,654.552775263,632.447224737,654.552775263,0.406016735688,0.00459054979359,0.0497919471202,0.999999921604,0.000121705404705,-0.000375103610449,-3.57321291413e-05,1793237728309394944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,667,637,881.026815007,788.973184993,803.973184993,654,633,654.026815007,0.405591498228,0.00459280423435,0.0497819998346,0.999999915893,0.000123356650108,-0.00038942617963,-3.66618524697e-05,1793237728326061568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,667,637,881.603965872,788.396034128,803.396034128,654,633,654.603965872,0.405231199567,0.00459298128051,0.0497947600662,0.999999924141,0.000122819631456,-0.000367826365609,-3.65638463421e-05,1793237728342728448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.18008104,747,716,680,667,637,881.81991896,788.18008104,803,654.18008104,633,655,0.404885716612,0.00459390079905,0.0498094478257,0.999999933539,0.000123387765633,-0.000341113237597,-3.66003025961e-05,1793237728359395072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.753931455,747,716,680,667,637,881.246068545,788.753931455,803,654.753931455,633,655,0.404572630071,0.0045964438249,0.0498283503611,0.999999945362,0.000126372452661,-0.000303219221488,-3.69307774199e-05,1793237728376061440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,747,715.662216478,680,667,637,881,789,803.337783522,654.662216478,633,654.662216478,0.404264382594,0.00459701880784,0.0498459087767,0.999999953106,0.000128378026908,-0.000275625714659,-3.65716511484e-05,1793237728392728064
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,747,715.070856027,680,667,637,881,789,803.929143973,654.070856027,633,654.070856027,0.40395976781,0.0045961163647,0.0498624581524,0.999999958251,0.000129648573331,-0.000255764882899,-3.56948355892e-05,1793237728409394688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746.490469228,715,679.490469228,667,637,881,789,803.490469228,654,633,654,0.403667747163,0.00459481249975,0.0498613970806,0.999999956651,0.000128625400342,-0.000262502634312,-3.53002776414e-05,1793237728426061056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.912116987,746.087883013,715,679.087883013,667,637,881,789,803.087883013,654,633,654,0.403382385474,0.00459327424522,0.0498573009373,0.999999953955,0.000127014834796,-0.00027337820138,-3.49563121808e-05,1793237728442727936
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.336763785,746.663236215,715,679.663236215,667,637,881,789,803.663236215,654,633,654,0.40312444999,0.00459073898348,0.0498496672085,0.999999950512,0.000123878066837,-0.000287121265847,-3.45288282091e-05,1793237728459394560
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,747,715.243648444,679.756351556,667.243648444,637,881,789,803.756351556,654,633,654,0.402878131252,0.00458630767718,0.0498426185881,0.999999947246,0.000118838741078,-0.00030036489406,-3.41587739324e-05,1793237728476061440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,747,715.831201345,679.168798655,667.831201345,637,881,789,803.168798655,654,633,654,0.402648209311,0.00457920014556,0.0498363958358,0.999999944299,0.000111113996744,-0.000312903578106,-3.38697804438e-05,1793237728492727808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.412979445,746.587020555,715.587020555,679.412979445,667.587020555,637,881,789,803,654.412979445,633,654,0.402440910126,0.00457197120653,0.0498312217822,0.999999941719,0.000103050628604,-0.000323811335884,-3.30000173586e-05,1793237728509394432
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.992429726,746.007570274,715.007570274,679.992429726,667.007570274,637,881,789,803,654.992429726,633,654,0.402242730115,0.00456469332869,0.0498264704563,0.999999939194,9.48507623535e-05,-0.000334061671605,-3.18961477105e-05,1793237728526061312
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.428726737,746,715.571273263,679.428726737,667.571273263,637,881.571273263,789,803.571273263,654.428726737,633,654.571273263,0.402086176503,0.00456579152964,0.0498273898372,0.999999940484,9.64538025734e-05,-0.000329746185917,-3.15646432901e-05,1793237728542728192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,667.851490788,637,881.851490788,789,804,654.148509212,633,655,0.401938036095,0.00456713063515,0.0498293217674,0.999999942332,9.86326728658e-05,-0.000323466273529,-3.12461006596e-05,1793237728559394560
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,667.278823444,637,881.278823444,789,804,654.721176556,633,655,0.401812350921,0.00456884110864,0.0498339312499,0.999999945599,0.000102085548811,-0.000312126451271,-3.09353769263e-05,1793237728576061184
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.303074657,715.696925343,679,667,637,881.303074657,789,803.696925343,654.696925343,632.696925343,654.696925343,0.401697786384,0.00457009065578,0.0498402559798,0.999999949402,0.000103764231604,-0.000299118142406,-3.09393520393e-05,1793237728592727808
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.893731733,715.106268267,679,667,637,881.893731733,789,803.106268267,654.106268267,632.106268267,654.106268267,0.401593774018,0.0045709028379,0.0498482082796,0.999999953651,0.0001037594129,-0.00028452663346,-3.12419395297e-05,1793237728609394432
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,747,715,679.476273937,667,637,881.523726063,789,803.476273937,654.476273937,632,654.476273937,0.401501965298,0.00457129824682,0.0498513830347,0.999999955241,0.000103273106455,-0.000279059267088,-3.12906257938e-05,1793237728626061056
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,747,715,679.943807675,667,637,881.056192325,789,804,655,632.056192325,654.943807675,0.401414303995,0.0045715381212,0.0498530334126,0.999999956066,0.000102817940068,-0.000276255931104,-3.12979367347e-05,1793237728642727936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,747,715,679.371634502,667,637,881.628365498,789,804,655,632.628365498,654.371634502,0.401340141741,0.00457118940143,0.0498503106772,0.999999955068,0.00010361866838,-0.00027953427199,-3.14368051831e-05,1793237728659394560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.793543899,715,679,667,637,881.793543899,789,803.793543899,655,632.793543899,654,0.401273099724,0.00457150267176,0.0498486162236,0.999999954572,0.000104580945682,-0.000280921602445,-3.16379110154e-05,1793237728676061184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.204487262,715,679,667,637,881.204487262,789,803.204487262,655,632.204487262,654,0.401219252801,0.00457304272963,0.0498488273627,0.999999955022,0.000105842602464,-0.000278804547996,-3.1954353981e-05,1793237728692727808
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.378144641,679.378144641,667,637,881,789,803.378144641,655,632.378144641,654.378144641,0.401174791494,0.00457308635537,0.0498510874015,0.999999956076,0.000106328239987,-0.000274832444862,-3.17795373995e-05,1793237728709394432
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.957360299,679.957360299,667,637,881,789,803.957360299,655,632.957360299,654.957360299,0.401135320807,0.00457233428256,0.0498544369026,0.999999957432,0.000106401244407,-0.000269873955939,-3.13435031527e-05,1793237728726061312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.465401761,680,667,637,881,789,804,655,633,655,0.401107214597,0.00457219961412,0.0498564679037,0.999999958841,0.000105569044778,-0.000264914283994,-3.15240821506e-05,1793237728742727936
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.111119249,746,715.111119249,680,667,637,881,788.888880751,803.888880751,655,633,654.888880751,0.401081457435,0.00457190686546,0.0498581122917,0.999999960049,0.000104504102445,-0.000260727224789,-3.16469532112e-05,1793237728759394560
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.685307374,746,715.685307374,680,667,637,881,788.314692626,803.314692626,655,633,654.314692626,0.401061726036,0.00457075088658,0.0498585821768,0.999999960491,0.000102769016608,-0.000259760279103,-3.13251387971e-05,1793237728776061184
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.732868171,746,716,679.732868171,667,637,881.267131829,788.267131829,803.267131829,655,633,654,0.40104583917,0.00457041536123,0.0498592453042,0.999999960962,0.000101536424938,-0.000258443727669,-3.11868950965e-05,1793237728792728064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.141782986,746,716,679.141782986,667,637,881.858217014,788.858217014,803.858217014,655,633,654,0.401034614605,0.00457107480767,0.0498601427784,0.999999961471,0.000100913212578,-0.000256703205833,-3.12712693343e-05,1793237728809394688
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715.560860665,679,667,637,882,789,803.560860665,655,632.560860665,654,0.401024221539,0.00457080681698,0.0498603192125,0.999999961336,0.000102498611526,-0.000256632327441,-3.10103295606e-05,1793237728826062336
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.983187466,789.016812534,803,655,632.016812534,654.016812534,0.401014298524,0.00457027627556,0.0498602731025,0.999999961018,0.000104690300996,-0.000257028792381,-3.06523280706e-05,1793237728842730240
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.406914064,789.593085936,803,655,632.593085936,654.593085936,0.401011285697,0.00457074781106,0.0498603930152,0.999999961509,0.000103864999642,-0.00025544418842,-3.0690530899e-05,1793237728859395584
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789.831773458,803.168226542,655,632.831773458,655,0.401008611508,0.00457137867931,0.0498606259378,0.999999961864,0.000103855542669,-0.000254035920578,-3.08590261131e-05,1793237728876061184
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789.259354618,803.740645382,655,632.259354618,655,0.401006750953,0.00457239237099,0.0498611303856,0.999999961894,0.000105806287807,-0.000253051329738,-3.13405704908e-05,1793237728892728064
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.325324997,667,637,881,789,804,655,632,654.674675003,0.401005835648,0.0045726332471,0.0498618365938,0.999999962165,0.000106057867181,-0.000251872195563,-3.13370333188e-05,1793237728909394688
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.920161887,667,637,881,789,804,655,632,654.079838113,0.401005703425,0.00457223389266,0.0498627099483,0.999999962636,0.000104901791388,-0.000250531894165,-3.09316356821e-05,1793237728926061312
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.498296793,715.498296793,679.501703207,667,637,881,789,804,655,632,654,0.401005655806,0.00457078808987,0.0498631482939,0.999999962979,0.000103510251135,-0.000249771767901,-3.06821749282e-05,1793237728942729216
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3290d8cd33a0036653beeff6baa8ad35e54ac121
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f064b4e943faae46c5460cb9584627c6c1a7216f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:493a4430cf2d6949ca54e97119276d4adcbbdb27f7f2170117b2298c01997959
+size 27550757
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c211e62e143ac839315bfc161a9d9afbc1738747
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,435 @@
+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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+57,0.950000000,BASELINE,767.899235395,746,716,679,667,637,881,789,803.100764605,654.100764605,632.899235395,654,0.401005964174,0.00456982145623,0.0498695655056,0.999999966397,0.000100242069538,-0.000237255100972,-2.9443210385e-05,1793237730367226880
+58,0.966666667,BASELINE,767.320444198,746,716,679,667,637,881,789,803.679555802,654.679555802,632.320444198,654,0.401007866174,0.00456892154478,0.0498703961259,0.999999966906,9.92585975136e-05,-0.000235541149962,-2.92554506055e-05,1793237730383893760
+59,0.983333333,BASELINE,767,746.256934388,716,679.256934388,667,637,881,789,803.743065612,654.743065612,632,654,0.401008639428,0.00456864170187,0.0498710053744,0.999999967137,9.91633343275e-05,-0.000234599272153,-2.92407385771e-05,1793237730400560384
+60,1.000000000,BASELINE,767,746.8325609,716,679.8325609,667,637,881,789,803.1674391,654.1674391,632,654,0.401008012627,0.0045691309694,0.0498713400413,0.999999967028,0.000100169773132,-0.000234615045792,-2.94406686959e-05,1793237730417227008
+61,1.016666667,BASELINE,767.391792249,746.608207751,715.608207751,680,667,637,881.391792249,789,803.391792249,654.391792249,632.391792249,654,0.401007247531,0.00456962356682,0.0498710279775,0.999999966847,0.000100439873988,-0.000235264562896,-2.94847300943e-05,1793237730433894144
+62,1.033333333,BASELINE,767.944298244,746.055701756,715.055701756,680,667,637,881.944298244,789,803.944298244,654.944298244,632.944298244,654,0.401006425707,0.00457011753012,0.0498704506237,0.999999966636,0.000100407927895,-0.000236174042482,-2.94648539068e-05,1793237730450560768
+63,1.050000000,BASELINE,767.443823997,746,715.556176003,679.443823997,667,636.443823997,881.443823997,789,804,655,633,654.556176003,0.401005505324,0.00456985199274,0.0498699845069,0.999999966654,9.97019148618e-05,-0.000236384787436,-2.95639940335e-05,1793237730467227136
+64,1.066666667,BASELINE,767,746,715.83675438,679.16324562,667,636.16324562,881,788.83675438,804,654.83675438,632.83675438,654.83675438,0.401004906051,0.00456982649446,0.0498696012453,0.999999966624,9.93320412317e-05,-0.000236659177127,-2.96288415304e-05,1793237730483893760
+65,1.083333333,BASELINE,767,746,715.258809553,679.741190447,667,636.741190447,881,788.258809553,804,654.258809553,632.258809553,654.258809553,0.401005150579,0.00457062710022,0.0498693967815,0.999999966408,0.000100008065509,-0.000237294261803,-2.95726755194e-05,1793237730500560640
+66,1.100000000,BASELINE,767,746,715.316615424,679.683384576,667,637,881,788.316615424,804,654.316615424,632,654,0.401006542218,0.00456993536341,0.0498700253813,0.999999966818,9.93546824515e-05,-0.000235845997881,-2.94774650379e-05,1793237730517227264
+67,1.116666667,BASELINE,767,746,715.889996845,679.110003155,667,637,881,788.889996845,804,654.889996845,632,654,0.401008864131,0.00456803337967,0.0498713295717,0.999999967728,9.76231882639e-05,-0.00023270819816,-2.93505906166e-05,1793237730533893888
+68,1.133333333,BASELINE,767,746,716,679,667,637,881,788.523030684,804,655,632,654,0.401008253115,0.0045679223532,0.0498711251849,0.999999967709,9.63952481025e-05,-0.000233260093268,-2.96623238482e-05,1793237730550560512
+69,1.150000000,BASELINE,767.065949956,746.065949956,715.934050044,679,667,637,881,788.065949956,804,654.934050044,632.065949956,654.065949956,0.401007173114,0.0045682354123,0.0498706608238,0.999999967468,9.5693807389e-05,-0.000234536002445,-2.99788927948e-05,1793237730567227392
+70,1.166666667,BASELINE,767.645443795,746.645443795,715.354556205,679,667,637,881,788.645443795,804,654.354556205,632.645443795,654.645443795,0.401007862864,0.0045685400873,0.0498709607657,0.999999967221,9.81613036409e-05,-0.000234629109625,-2.9522325938e-05,1793237730583894272
+71,1.183333333,BASELINE,767.776885178,747,715,679.223114822,667,637,881,789,804,654,632.776885178,655,0.401007994796,0.00456863468175,0.0498710209627,0.999999967057,9.9216544376e-05,-0.000234913384695,-2.92926470093e-05,1793237730600560896
+72,1.200000000,BASELINE,767.202087254,747,715,679.797912746,667,637,881,789,804,654,632.202087254,655,0.401007247474,0.00456839813834,0.0498707032636,0.999999967031,9.80457280957e-05,-0.000235498986767,-2.94205984429e-05,1793237730617227264
+73,1.216666667,BASELINE,767.380819171,747,715,680,667,637,881,789,804,654,632.380819171,654.619180829,0.401007370348,0.00456821117746,0.0498710086666,0.999999967192,9.80492513328e-05,-0.000234828191351,-2.92986336141e-05,1793237730633893888
+74,1.233333333,BASELINE,767.968122067,747,715,680,667,637,881,789,804,654,632.968122067,654.031877933,0.401007965051,0.0045680511007,0.0498716519215,0.999999967453,9.86895125391e-05,-0.0002334761654,-2.90411618365e-05,1793237730650560512
+75,1.250000000,BASELINE,767.45181987,747,715.54818013,679.45181987,667,637,881,789,804,654.54818013,633,654,0.401008606289,0.00456863290089,0.0498710699781,0.999999967344,9.95637850292e-05,-0.000233534654954,-2.93428828447e-05,1793237730667227136
+76,1.266666667,BASELINE,767,746.872740358,716,679.127259642,667,637,881.127259642,789,803.872740358,655,632.872740358,654.127259642,0.401008495538,0.00456890313313,0.0498702241056,0.999999967125,9.98081531149e-05,-0.000234338783775,-2.95734388344e-05,1793237730683894016
+77,1.283333333,BASELINE,767,746.295650026,716,679.704349974,667,637,881.704349974,789,803.295650026,655,632.295650026,654.704349974,0.401005717262,0.00456792154495,0.0498686938691,0.999999966585,9.77784937433e-05,-0.000237492404268,-2.94389996134e-05,1793237730700560896
+78,1.300000000,BASELINE,767,746,715.719627366,679.719627366,667,637,881.719627366,789,803,654.719627366,632,654.719627366,0.401004722401,0.00456759886133,0.0498688088452,0.99999996647,9.75150636662e-05,-0.000238109043407,-2.92309580745e-05,1793237730717227776
+79,1.316666667,BASELINE,767,746,715.144726322,679.144726322,667,637,881.144726322,789,803,654.144726322,632,654.144726322,0.401005601,0.00456796834987,0.0498706520994,0.999999966808,9.91070384323e-05,-0.000236060610955,-2.89455981077e-05,1793237730733894144
+80,1.333333333,BASELINE,767,746,715,679.428306291,667,637,881,789,803,654.428306291,632.428306291,654,0.401005614055,0.0045680804607,0.0498703466895,0.999999966781,9.88335677956e-05,-0.00023625992481,-2.91682047023e-05,1793237730750560512
+81,1.350000000,BASELINE,767,746,715,680,667,636.999259386,881,789,803,654.999259386,633,654,0.401005336436,0.00456810490082,0.0498693195826,0.999999966632,9.79333396735e-05,-0.00023721375703,-2.95609115477e-05,1793237730767227136
+82,1.366666667,BASELINE,767,746,715,680,667,636.402461676,881,789,803,654.402461676,633,654,0.401005481073,0.00456726051365,0.0498692511452,0.99999996676,9.77138497605e-05,-0.000236795543545,-2.93113049567e-05,1793237730783893760
+83,1.383333333,BASELINE,767,746,715,680,667,636.187256878,881,789,803,654.187256878,632.812743122,654,0.401005535033,0.00456712933168,0.0498691382713,0.999999966764,9.81894942758e-05,-0.000236591901152,-2.92344992785e-05,1793237730800560128
+84,1.400000000,BASELINE,767,746,715,680,667,636.762314905,881,789,803,654.762314905,632.237685095,654,0.401005401205,0.00456847516761,0.0498689333712,0.999999966509,0.000100104733031,-0.000236832626429,-2.95155570056e-05,1793237730817227264
+85,1.416666667,BASELINE,767,746,715,679.662135845,667,637,881,789,803.337864155,655,632,654,0.401006186297,0.00456876128378,0.0498695622072,0.999999966661,0.000101239356044,-0.000235724402369,-2.93814066905e-05,1793237730833893888
+86,1.433333333,BASELINE,767,746,715,679.086240554,667,637,881,789,803.913759446,655,632,654,0.401007618784,0.00456830080898,0.0498707784247,0.999999967097,0.000101824021662,-0.000233665820178,-2.89547351171e-05,1793237730850560512
+87,1.450000000,BASELINE,767,746,715,679.50066878,667,637,881,789,804,655,632.50066878,654,0.401006092366,0.00456812603655,0.0498699285957,0.999999966787,0.000100118695911,-0.000235689085456,-2.92131386635e-05,1793237730867227392
+88,1.466666667,BASELINE,767,746,715,680,667,637,881,789,803.911987865,655,633,654.088012135,0.401004544683,0.00456810817277,0.0498690286527,0.999999966448,9.8592652789e-05,-0.000237726640277,-2.95036376761e-05,1793237730883894016
+89,1.483333333,BASELINE,767,746,715,680,667,637,881,789,803.333044024,655,633,654.666955976,0.401005785296,0.00456868486398,0.0498698789122,0.99999996673,0.000100316396596,-0.000235833786739,-2.93001292024e-05,1793237730900560640
+90,1.500000000,BASELINE,767,746.244102387,715,679.755897613,667,637,881,789,803.244102387,654.755897613,633,655,0.401006186065,0.00456924510508,0.0498701060899,0.999999966753,0.000101145451176,-0.000235381268136,-2.93263585403e-05,1793237730917227008
+91,1.516666667,BASELINE,767,746.818814328,715,679.181185672,667,637,881,789,803.818814328,654.181185672,633,655,0.401005449361,0.0045697830663,0.0498694893726,0.999999966428,0.000100762748485,-0.000236879523292,-2.96637422293e-05,1793237730933893632
+92,1.533333333,BASELINE,767,746.597403115,715.402596885,679.402596885,667,637,881,789,804,654.402596885,632.597403115,654.597403115,0.401005741075,0.00456929696033,0.0498697325615,0.999999966662,9.97875173877e-05,-0.00023629949766,-2.96836273654e-05,1793237730950560512
+93,1.550000000,BASELINE,767,746.009444254,715.990555746,679.990555746,667,637,881,789,804,654.990555746,632.009444254,654.009444254,0.401006506289,0.00456833935766,0.0498703716649,0.999999967151,9.85394768005e-05,-0.000234762598799,-2.95573311732e-05,1793237730967227136
+94,1.566666667,BASELINE,767,746,715.429677379,679.429677379,667,637,881,789,803.429677379,655,632.570322621,654,0.401008681549,0.00456739990309,0.0498716535169,0.999999967759,9.73400080515e-05,-0.000232720822329,-2.91268287543e-05,1793237730983893760
+95,1.583333333,BASELINE,767,746,715.14952046,679,667,637,881,789,803,655,633,654,0.401009837671,0.0045668147805,0.0498722342888,0.999999968045,9.68584018029e-05,-0.000231722202429,-2.885829865e-05,1793237731000560640
+96,1.600000000,BASELINE,767,746,715.727471134,679,667,637,881,789,803,655,633,654,0.401008007633,0.00456724409811,0.0498707761466,0.999999967417,9.84314590148e-05,-0.000233736219721,-2.90681075957e-05,1793237731017227264
+97,1.616666667,BASELINE,767,746,715.697032951,679,667,637,881.302967049,789,803,654.697032951,633,654,0.401006631821,0.00456745281478,0.0498697211938,0.999999966995,9.90125593954e-05,-0.000235272633823,-2.91957141211e-05,1793237731033893888
+98,1.633333333,BASELINE,767,746,715.12372746,679,667,637,881.87627254,789,803,654.12372746,633,654,0.401005661316,0.00456746468852,0.0498690260083,0.999999966762,9.87085335054e-05,-0.000236382880988,-2.92499711579e-05,1793237731050560512
+99,1.650000000,BASELINE,767,746,715,679,667,637,882,789,803.463061203,654,632.536938797,654,0.401005891834,0.00456766048483,0.0498696009528,0.999999966918,9.8194511802e-05,-0.000235917100024,-2.9409080595e-05,1793237731067227136
+100,1.666666667,BASELINE,767,746,715.052369595,679.052369595,667,637,882,789,804,654.052369595,632.052369595,654,0.401006359486,0.00456790534295,0.0498704427876,0.999999967152,9.76441394194e-05,-0.000235131168524,-2.95716963353e-05,1793237731083893760
+101,1.683333333,BASELINE,767,746,715.629738931,679.629738931,667,637,882,789,804,654.629738931,632.629738931,654,0.401005890842,0.00456813461087,0.0498704559694,0.999999967105,9.73087192264e-05,-0.000235483914433,-2.94801818473e-05,1793237731100560384
+102,1.700000000,BASELINE,767,746,716,680,667,637,881.792704141,789,804,654.792704141,632.792704141,654,0.401005586286,0.00456855405111,0.0498703821083,0.999999967015,9.78039677491e-05,-0.000235661714155,-2.94492989157e-05,1793237731117227008
+103,1.716666667,BASELINE,767,746,716,680,667,637,881.214811902,789,804,654.214811902,632.214811902,654,0.401005575081,0.00456931347483,0.049870152635,0.999999966849,9.97842571527e-05,-0.00023552675109,-2.95268109969e-05,1793237731133894144
+104,1.733333333,BASELINE,767,746,715.639144731,679.639144731,667,637,881.360855269,788.639144731,804,654,632,654,0.40100606114,0.00456949036451,0.0498702686868,0.999999966927,9.99349624175e-05,-0.000235138816092,-2.94753029732e-05,1793237731150560768
+105,1.750000000,BASELINE,767,746,715.064793936,679.064793936,667,637,881.935206064,788.064793936,804,654,632,654,0.401006841398,0.00456932260527,0.0498705891641,0.99999996715,9.90032172071e-05,-0.000234601213389,-2.93474618193e-05,1793237731167226880
+106,1.766666667,BASELINE,767.525483843,746,715,679,667,637,881.474516157,788.525483843,804,654,632.525483843,654,0.401006392855,0.00456865353358,0.0498707831509,0.99999996709,9.95271815798e-05,-0.000234663989247,-2.91175153707e-05,1793237731183893504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,804,655,632,655,0.401003493429,0.00456722921145,0.0498680886061,0.99999996653,9.63989610735e-05,-0.000238298578737,-2.93325556564e-05,1793237731226170112
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715.574456705,679,667,637,881,789,803.425543295,655,632.574456705,654.425543295,0.401005020922,0.00456744055622,0.0498691033312,0.999999966793,9.78116739258e-05,-0.000236623393835,-2.92675728908e-05,1793237731242835712
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715.84695443,679.15304557,667,636.84695443,881,789,803.15304557,655,633,654,0.401006587058,0.00456780714756,0.0498702356892,0.999999967106,9.89202315552e-05,-0.000234828469069,-2.92995460399e-05,1793237731259501824
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715.256557138,679.743442862,667,636.256557138,881,789,803.743442862,655,633,654,0.401008263627,0.00456861738035,0.0498717042017,0.999999967573,9.91596182529e-05,-0.000232691368473,-2.96085859091e-05,1793237731276168704
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.327973648,715.327973648,679.672026352,667,636.327973648,881,789,804,654.672026352,633,654,0.401008573037,0.0045687778901,0.0498720680126,0.999999967732,9.91982397789e-05,-0.000231988487362,-2.96152210197e-05,1793237731292835328
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.907995973,715.907995973,679.092004027,667,636.907995973,881,789,804,654.092004027,633,654,0.401007831781,0.0045684390858,0.0498715828572,0.999999967657,9.90825726882e-05,-0.000232387808111,-2.9389457199e-05,1793237731309501952
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.485013848,746.514986152,715.514986152,679,667,637,881,789,803.514986152,654,632.514986152,654,0.401006973053,0.00457031529816,0.0498706195207,0.999999967207,9.99055998716e-05,-0.00023393575584,-2.96511115075e-05,1793237731326168320
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.938714592,746,715,679,667,637,881.061285408,789,803.061285408,654.061285408,632,654,0.401006055506,0.00457206378378,0.0498696935914,0.999999966744,0.000100667560617,-0.00023554794305,-2.99102378124e-05,1793237731342834944
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.363950282,746,715,679,667,637,881.636049718,789,803.636049718,654.636049718,632,654,0.4010048307,0.0045692433603,0.0498698363935,0.999999966804,9.94351527848e-05,-0.00023588403413,-2.93782768929e-05,1793237731359501312
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.783195579,789,803.783195579,655,632.216804421,654,0.401005947826,0.00456777937677,0.0498705866089,0.999999967088,9.88630486842e-05,-0.000234956888404,-2.90857348616e-05,1793237731376167936
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.192099095,789,803.192099095,655,632.807900905,654,0.401011108071,0.00456865715716,0.0498723854651,0.999999967753,9.9430895845e-05,-0.000231848885311,-2.92065266589e-05,1793237731392834560
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.608856401,881.391143599,789,803.391143599,655,632.608856401,654.391143599,0.401026768828,0.00456914632289,0.0498790051497,0.99999997041,0.000100761777868,-0.000219490101577,-2.91858980675e-05,1793237731409501184
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.029394899,881.970605101,789,803.970605101,655,632.029394899,654.970605101,0.401047485106,0.00456944838836,0.0498879458446,0.999999973789,0.000102460026598,-0.000202677486186,-2.90971819765e-05,1793237731426168064
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.545033206,679,667,636.545033206,881.454966794,789,803.454966794,655,632,654.454966794,0.401090914695,0.00456750701834,0.0499025519867,0.999999979942,9.90175629877e-05,-0.000171701360679,-2.88212987608e-05,1793237731442834688
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.122309102,715.877690898,679.122309102,667,637,881,789,803,655,632,654,0.401138244027,0.00456606828766,0.0499175747613,0.999999985169,9.62407806046e-05,-0.000139943218817,-2.85734096895e-05,1793237731459501312
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.711482136,715.288517864,679.711482136,667,637,881,789,803,655,632,654,0.401195825946,0.00456700578891,0.0499330322213,0.999999989043,9.70535616508e-05,-0.000108089124495,-2.84705549809e-05,1793237731476168192
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.704561601,715,679.704561601,667,636.704561601,881,789,803,655,632.295438399,654,0.40125923506,0.00456627729187,0.0499457860695,0.999999991271,9.62343762625e-05,-8.61700636134e-05,-2.77762089968e-05,1793237731492834816
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.125611545,715,679.125611545,667,636.125611545,881,789,803,655,632.874388455,654,0.401328236125,0.00456395005223,0.0499559454486,0.999999992523,9.38491063488e-05,-7.37849644102e-05,-2.6514250051e-05,1793237731509501184
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.450551621,715,679,667,636.450551621,881,789,803.450551621,655,632.549448379,654,0.401405067944,0.00456413164916,0.0499595680996,0.999999992971,9.36321483047e-05,-6.79585603604e-05,-2.59543122813e-05,1793237731526167808
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,747,715,679,667,637,881,788.974087836,804,655,632,654.025912164,0.401484600332,0.00456489904089,0.04996119115,0.999999993195,9.38792253232e-05,-6.43569592107e-05,-2.55743553469e-05,1793237731542834432
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,747,715,679,667,637,881,788.399371568,804,655,632,654.600628432,0.401575375072,0.00456335032877,0.0499588240747,0.999999993122,9.12297392111e-05,-6.93862222354e-05,-2.48865349071e-05,1793237731559501312
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.82034413,715.17965587,679.17965587,667,637,881,788,803.82034413,654.82034413,632,654.82034413,0.401673154286,0.0045618488737,0.0499576323048,0.999999993134,8.89882183176e-05,-7.23286807648e-05,-2.41337791202e-05,1793237731576167936
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.231497491,715.768502509,679.768502509,667,637,881,788,803.231497491,654.231497491,632,654.231497491,0.401786887132,0.00456045505323,0.0499591174537,0.9999999934,8.76758942737e-05,-7.05181564771e-05,-2.32331243106e-05,1793237731592834816
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.353762607,715.646237393,680,667,637,881,788,803,654.353762607,632.353762607,654,0.401921296165,0.00455931321739,0.0499623849014,0.999999993925,8.54354406334e-05,-6.60139347801e-05,-2.22008560075e-05,1793237731609501440
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.936699334,715.063300666,680,667,637,881,788,803,654.936699334,632.936699334,654,0.402069099635,0.00455833462184,0.0499668069561,0.999999994581,8.25937269225e-05,-5.97646846829e-05,-2.10833258993e-05,1793237731626168064
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.488704211,715,679.488704211,667,637,881,788.511295789,803.511295789,654.488704211,633,654,0.40223413062,0.00455685312509,0.0499659839823,0.999999994664,8.07304849457e-05,-6.13990958887e-05,-1.96320760066e-05,1793237731642834944
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715.085141716,679.085141716,667.085141716,637,881,789,803.914858284,654,633,654,0.402404773823,0.00455520134141,0.0499647484357,0.999999994732,7.85683635991e-05,-6.3495166646e-05,-1.81802992394e-05,1793237731659501312
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715.660516349,679.660516349,667.660516349,637,881,789,803.339483651,654,633,654,0.402595647907,0.00455292180876,0.049964816248,0.999999995151,7.39990347443e-05,-6.2719761013e-05,-1.69595610484e-05,1793237731676167936
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.757938807,667.757938807,637,881,789,803.242061193,654,632.757938807,654,0.402799803724,0.00455098788214,0.0499665863779,0.99999999574,6.9877592575e-05,-5.82286021892e-05,-1.57289056047e-05,1793237731692834816
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.167514109,667.167514109,637,881,789,803.832485891,654,632.167514109,654,0.403023074,0.00454955133619,0.049970806406,0.99999999652,6.6400728904e-05,-4.83898997469e-05,-1.44839777722e-05,1793237731709501696
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,804,654,632.4149853,654,0.40328280565,0.00454618657123,0.0499796019124,0.999999997593,6.11960060086e-05,-3.01548735888e-05,-1.2634130069e-05,1793237731726168320
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,804,654,632.994345502,654,0.403556979577,0.00454205804235,0.0499902097571,0.999999998378,5.53068813554e-05,-8.59407949013e-06,-1.05446747577e-05,1793237731742835200
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.567988248,715.432011752,679,667,637,881.567988248,788.432011752,803.432011752,654.567988248,632.432011752,654,0.403859136331,0.00453948713204,0.0499956093737,0.999999998646,5.1309292899e-05,2.64837655394e-06,-8.3019252292e-06,1793237731759502080
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.854516771,715,679.145483229,667,637,882,788.145483229,803,654.854516771,632,654,0.404165730912,0.00453694676955,0.0500005678917,0.999999998783,4.73528793244e-05,1.2436675008e-05,-6.07044852647e-06,1793237731776168448
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.265094931,715,679.734905069,667,637,882,788.734905069,803,654.265094931,632,654,0.404485025758,0.00453445277711,0.0500043370479,0.999999998884,4.34652215178e-05,1.80979747289e-05,-3.87798142223e-06,1793237731792835072
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679.681031761,667,637,882,789,803,654,632,654,0.404827225137,0.00453115699179,0.0500083223008,0.999999998917,3.93388134389e-05,2.48097811348e-05,-1.43444318125e-06,1793237731809501696
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679.101348543,667,637,882,789,803,654,632,654,0.405188146022,0.00452720584499,0.0500124841852,0.999999998862,3.5017257691e-05,3.23802405137e-05,1.21431324397e-06,1793237731826168320
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679.474582742,667,637,882,788.525417258,803,654.474582742,632,654,0.405553465714,0.00452399971662,0.0500020385262,0.99999999944,3.06928250961e-05,1.26859938556e-05,4.01858218215e-06,1793237731842834944
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.049268984,679.950731016,667,637,882,788.049268984,803.049268984,655,632.049268984,654,0.405922877284,0.00452085774521,0.0499881910448,0.999999999544,2.62492647592e-05,-1.32513050641e-05,6.83090814553e-06,1793237731859501568
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.619199198,679.380800802,667,637,882,788.619199198,803.619199198,655,632.619199198,654,0.406325681731,0.00451672561818,0.0499711013019,0.999999998772,2.0553233458e-05,-4.41159710849e-05,9.3801774682e-06,1793237731876168448
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.801683858,746.198316142,715.801683858,679,667.198316142,637,881.801683858,788.801683858,804,654.801683858,632.801683858,654,0.406742579967,0.00451205057386,0.0499581608759,0.999999997629,1.48813337836e-05,-6.61599161322e-05,1.20056362191e-05,1793237731892835328
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.204070016,746.795929984,715.204070016,679,667.795929984,637,881.204070016,788.204070016,804,654.204070016,632.204070016,654,0.407187855181,0.00450628239827,0.0499535748525,0.999999997367,9.25802207225e-06,-7.0443864802e-05,1.47844976938e-05,1793237731909501952
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.372731211,747,715.372731211,679.372731211,668,637,881,788.372731211,804,654,632,654,0.407666260416,0.00450068149134,0.0499605474126,0.999999998317,4.21922001804e-06,-5.50521346942e-05,1.78141326132e-05,1793237731926168320
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.938740152,747,715.938740152,679.938740152,668,637,881,788.938740152,804,654,632,654,0.408161845028,0.00449516732085,0.0499735136132,0.999999999346,-5.16487580576e-07,-2.94576888936e-05,2.09738046335e-05,1793237731942834432
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.477611065,716,680,667.477611065,637,881,788.477611065,803.477611065,654,632,654,0.408709730969,0.00448727860114,0.0499942055195,0.999999999304,2.74018827161e-05,2.27269889472e-06,2.52105857424e-05,1793237731959501312
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.105260818,715.894739182,679.894739182,667,637,881.105260818,788,803,654,632.105260818,654,0.409261436917,0.00447994235934,0.0500123560615,0.999999997601,5.57315678305e-05,2.89709706593e-05,2.91978353676e-05,1793237731976168192
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.675250402,715.324749598,679.324749598,667,637,881.675250402,788,803,654,632.675250402,654,0.409801983094,0.00447631769446,0.0500151466961,0.999999996711,6.83799246824e-05,3.01644643286e-05,3.15062414916e-05,1793237731992834816
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.74216169,715.25783831,679,667,637,881.74216169,788,803,654,632.74216169,654,0.410355231397,0.00447118114271,0.0500102045356,0.999999997021,6.71896489693e-05,1.75934229663e-05,3.36772073101e-05,1793237732009501440
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.142890854,715.857109146,679,667,637,881.142890854,788,803,654,632.142890854,654,0.41092530008,0.00446404253205,0.0499950225171,0.99999999814,4.76740947234e-05,-1.32047776616e-05,3.56661733528e-05,1793237732026168320
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.440160077,715.559839923,679.440160077,667.440160077,637,881.440160077,788,803.440160077,654,632,654,0.411495856392,0.00445612241998,0.0499714822752,0.999999997895,-8.54497293922e-06,-5.86825087128e-05,2.63319723467e-05,1793237732042835200
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.982044293,715,680,668,637,881.982044293,788.017955707,803.982044293,654,632.017955707,654,0.412069984832,0.00444783075627,0.0499468848823,0.999999991593,-7.42145782792e-05,-0.000105406642561,1.39815235965e-05,1793237732059502080
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.40970961,715,680,668,637,881.40970961,788.59029039,803.40970961,654,632.59029039,654,0.412749689325,0.00443562209845,0.0499704452565,0.999999995698,-7.68628381996e-05,-4.87094531446e-05,1.79636189254e-05,1793237732076168704
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.167844518,789,803.167844518,654,632.832155482,654.167844518,0.413432229178,0.00442624506214,0.0499924821117,0.999999996926,-7.53427326983e-05,-1.33326515233e-06,2.16752975732e-05,1793237732092835072
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.758548221,789,803.758548221,654,632.241451779,654.758548221,0.41412191226,0.00442400187386,0.050010680687,0.999999997436,-6.33210536676e-05,2.25600487073e-05,2.47057016748e-05,1793237732109501440
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,715,679.656886927,667.656886927,637,881.656886927,788.656886927,804,654,632.343113073,654.656886927,0.414788669684,0.00441871387391,0.0500012041259,0.999999997732,-6.13047341806e-05,5.79650202325e-06,2.72659604674e-05,1793237732126168064
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715,679.076566131,667.076566131,637,881.076566131,788.076566131,804,654,632.923433869,654.076566131,0.41543957766,0.00441132087457,0.0499725946408,0.99999999661,-6.62055183387e-05,-3.90747513272e-05,2.95011889373e-05,1793237732142834688
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.497993049,715,679,667,637,881,788.497993049,803.502006951,654,632.502006951,654,0.416116992122,0.0044250692731,0.0499553753621,0.999999995735,-5.68929538376e-05,-6.65660611927e-05,2.93713696022e-05,1793237732159501312
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.927886435,747,715,679,667,637,881.072113565,789,803.072113565,654,632.072113565,654,0.416808658085,0.00444295149033,0.0499455677676,0.999999995319,-4.32451154619e-05,-8.17227251642e-05,2.85088309059e-05,1793237732176168192
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.350705195,747,715,679,667,637,881.649294805,789,803.649294805,654,632.649294805,654,0.417571921678,0.00446728080882,0.0499755449967,0.999999999163,-1.43642391843e-05,-2.89913531605e-05,2.50321058167e-05,1793237732192834816
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.768357325,715.231642675,679.231642675,667.231642675,637,882,788.768357325,804,654,632.768357325,654,0.418330464028,0.00447986195737,0.0499985037767,0.99999999969,9.63839611516e-07,9.62417164222e-06,2.29415805293e-05,1793237732209501440
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.178008675,715.821991325,679.821991325,667.821991325,637,882,788.178008675,804,654,632.178008675,654,0.419081695502,0.00447425069864,0.0500105942717,0.999999999377,-4.6950107698e-06,2.63808706466e-05,2.29976288467e-05,1793237732226167808
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.403832571,746.403832571,716,679.596167429,667.596167429,637,882,788.403832571,803.596167429,654,632.403832571,654,0.419813189593,0.00447111911011,0.0499992350203,0.999999999683,-8.35153427688e-06,5.91568012093e-06,2.29916937437e-05,1793237732242834688
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.982001104,746.982001104,716,679.017998896,667.017998896,637,882,788.982001104,803.017998896,654,632.982001104,654,0.42053616294,0.0044690580044,0.0499777524289,0.999999999206,-1.11436457744e-05,-3.06183340332e-05,2.2959000149e-05,1793237732259501312
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716,679.554112309,667,637,881.445887691,789,803.554112309,654,632.445887691,654,0.421326325693,0.00446324739108,0.0499946539759,0.999999999553,-1.73278591643e-05,4.42804189592e-06,2.39745050274e-05,1793237732276167680
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,747,716,680,667.13058116,637,881,789,803.86941884,654,632,654,0.422119853848,0.00445850320887,0.050010976686,0.99999999873,-2.25611042541e-05,3.75724092542e-05,2.48802741874e-05,1793237732292834560
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,747,716,680,667.723155841,637,881,789,803.276844159,654,632,654,0.422917650639,0.00445795828043,0.0500208879974,0.999999997832,-2.40442303406e-05,5.58502928298e-05,2.52786420828e-05,1793237732309501184
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.69153438,715.69153438,680,668,636.69153438,881.30846562,788.69153438,803.616931239,653.69153438,632,654.30846562,0.423691180179,0.00446312362582,0.0500133176171,0.999999998523,-1.97823906535e-05,4.40413378219e-05,2.49502587025e-05,1793237732326168320
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.112594767,715.112594767,680,668,636.112594767,881.887405233,788.112594767,804.774810465,653.112594767,632,654.887405233,0.42444343126,0.00447329594924,0.0499904186465,0.99999999964,-1.04831537109e-05,5.85113583617e-06,2.39846330455e-05,1793237732342835200
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,715.462553252,680,668,636.462553252,882,788,804.537446748,653.462553252,632.462553252,654.537446748,0.425231869169,0.00447613367743,0.0499969056806,0.999999999561,-6.95341626815e-06,1.48868071222e-05,2.4645193954e-05,1793237732359501568
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,881.963142261,788.036857739,803.963142261,653.963142261,632.963142261,654,0.426027983502,0.00447665727214,0.0500104197895,0.999999999053,-5.7162961154e-06,3.46287741514e-05,2.57460068352e-05,1793237732376168192
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,881.387787749,788.612212251,803.387787749,653.387787749,632.387787749,654,0.426808602022,0.00446924373886,0.0500229416831,0.999999998488,-1.76228054887e-05,4.42025504863e-05,2.75426099084e-05,1793237732392834816
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.807644062,668,636.807644062,881,789,803.192355938,653.192355938,632,654,0.427572918623,0.0044633534626,0.0500190233368,0.999999998829,-2.64223384804e-05,2.85266668702e-05,2.87997759648e-05,1793237732409501440
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.217598817,668,636.217598817,881,789,803.782401183,653.782401183,632,654,0.428303531709,0.00446061246664,0.0499811153603,0.999999998392,-2.8798306441e-05,-3.93520214417e-05,2.89416747368e-05,1793237732426168064
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.364072185,668,636,881.364072185,789,804,654,632.364072185,654,0.429066567015,0.00445920580553,0.0499654275669,0.999999997418,-2.24741147715e-05,-6.19476139121e-05,2.86741202455e-05,1793237732442834944
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.940850567,668,636,881.940850567,789,804,654,632.940850567,654,0.429848544696,0.00445857871881,0.0499627217361,0.999999997855,-1.1066925873e-05,-5.80869238704e-05,2.81673460742e-05,1793237732459501312
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679.474810179,668,636,882,788.474810179,803.474810179,654,633,654,0.430604506591,0.0044604459731,0.0499723953422,0.999999998676,-1.34109044617e-05,-4.06364975002e-05,2.85945243111e-05,1793237732476167936
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715.890479952,679.109520048,668,636.109520048,882,788.109520048,803,653.890479952,633,654,0.431353680188,0.00446283811386,0.0499779836834,0.999999998939,-1.6514442858e-05,-3.16496883321e-05,2.91177135249e-05,1793237732492834560
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,715.309904621,679.690095379,668,636.690095379,882,788.690095379,803,653.309904621,633,654,0.43208644307,0.00446626190584,0.0499599166363,0.999999997271,-1.61264213933e-05,-6.57447875133e-05,2.95948307162e-05,1793237732509501184
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,715.269961027,680,668,637,882,789,803.269961027,653.269961027,633,654,0.43283653451,0.00446717135762,0.049953503663,0.999999996511,-1.68062036643e-05,-7.60717754251e-05,3.01473846006e-05,1793237732526167808
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,715.849014084,680,668,637,882,789,803.849014084,653.849014084,633,654,0.433606466242,0.00446520201395,0.0499604340294,0.9999999976,-1.87085684662e-05,-5.91854486115e-05,3.07863097606e-05,1793237732542834432
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.426898863,668,636.573101137,882,789,804,653.573101137,633,654,0.434355113226,0.00446389334905,0.0499796102139,0.999999998877,-1.90561807146e-05,-2.97137159589e-05,3.16190138436e-05,1793237732559501056
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.004353853,716,680.995646147,668,636.004353853,882.004353853,789,804,653,633,654,0.435095677021,0.00446281418589,0.0500028471007,0.999999999287,-1.88322086161e-05,3.73579550797e-06,3.25175886482e-05,1793237732576167680
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.579479825,716,680.420520175,668,636.579479825,882.579479825,789,804,653,633,654,0.435760757524,0.00446127227862,0.0499921839714,0.99999999906,-1.55669452047e-05,-2.32881240549e-05,3.30912879859e-05,1793237732592834560
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.841498705,716,680,668,637,882.841498705,789,804.158501295,653.158501295,633,654,0.4364214976,0.00445988085186,0.0499799565646,0.999999997997,-1.55596614669e-05,-5.15483144624e-05,3.32663254771e-05,1793237732609501696
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.251881545,716,680,668,637,882.251881545,789,804.748118455,653.748118455,633,654,0.437070432071,0.00445889872452,0.0499634743963,0.99999999572,-2.4413924371e-05,-8.31711079025e-05,3.23570221636e-05,1793237732626168320
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680.331992981,668,636.668007019,882,789,804.668007019,654,633,654,0.437763214424,0.0044567276239,0.049973920576,0.999999997312,-3.21820865192e-05,-5.75660891621e-05,3.20350501091e-05,1793237732642835200
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.911584644,668,636.088415356,882,789,804.088415356,654,633,654,0.438488698266,0.00445366979311,0.0500044497822,0.99999999866,-3.91402395992e-05,1.07191438408e-05,3.21511066841e-05,1793237732659501824
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680.512576459,668,636,882,789,804.487423541,653.512576459,633,654,0.439120317034,0.00445465263117,0.050007396062,0.999999999116,-2.24151758322e-05,1.15579986544e-05,3.36456850436e-05,1793237732676168192
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.063964491,716,680,668,636.063964491,882,789,804.936035509,653,633,654,0.439727771026,0.00445660528752,0.0500023647019,0.999999999372,-2.45815039928e-06,-3.08810462485e-06,3.5214440715e-05,1793237732692834560
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.651787594,716,680,668,636.651787594,882,789,804.348212406,653,633,654,0.440275698276,0.00446054371762,0.0499726613837,0.999999998316,9.05358426159e-06,-4.51219407187e-05,3.53584373038e-05,1793237732709501440
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.763717426,716,680,668,636.763717426,882,789,804,653.236282574,633,654,0.440837971915,0.00446386397893,0.0499565607007,0.999999996971,1.55142245733e-05,-6.73680845324e-05,3.57684486446e-05,1793237732726167808
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.184059066,716,680,668,636.184059066,882,789,804,653.815940934,633,654,0.441421094283,0.00446628589098,0.0499602279425,0.999999997373,1.46344008737e-05,-6.08579170285e-05,3.65650438895e-05,1793237732742834432
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.391669362,715.608330638,680.391669362,668,636,882,789,804.391669362,653.608330638,633,654,0.442006924327,0.00446500180429,0.0499793195542,0.999999998921,9.68294391382e-06,-2.56697233234e-05,3.74964790001e-05,1793237732759501312
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.965569374,715.034430626,680.965569374,668,636,882,789,804.965569374,653.034430626,633,654,0.442594014213,0.00446199344057,0.0500055876094,0.999999998994,2.8370921133e-06,2.28613972048e-05,3.84906505842e-05,1793237732776168192
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.446284907,715.553715093,681,668,636.553715093,882,789,804.446284907,653.553715093,633,654,0.443101632033,0.00446192248467,0.0500149055573,0.999999998512,4.60417746192e-06,3.68729947492e-05,3.99421233593e-05,1793237732792834816
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680.859524268,668,637,882,788.859524268,804,654,633,654,0.443588560803,0.00446165430047,0.0500151727553,0.999999998509,5.58708338667e-06,3.55065330856e-05,4.11071212795e-05,1793237732809501184
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680.27993519,668,637,882,788.27993519,804,654,633,654,0.444026672818,0.00446018357287,0.0499905298283,0.99999999912,2.40039933781e-06,-7.04341684317e-06,4.12853934571e-05,1793237732826167808
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.29736276,716,680,668,637,882.29736276,788.29736276,804.29736276,653.70263724,633,654,0.444455613784,0.00445853783091,0.0499678068005,0.999999998146,-2.21605309677e-06,-4.46573904811e-05,4.13365595948e-05,1793237732842834688
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.872520315,716,680,668,637,882.872520315,788.872520315,804.872520315,653.127479685,633,654,0.444875987177,0.0044567285915,0.0499468773343,0.9999999961,-8.16818777268e-06,-7.76601973292e-05,4.12689839152e-05,1793237732859501568
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.551426779,716,680.448573221,668,636.551426779,882.551426779,789,805,653,633,654,0.44530794839,0.00445389405701,0.04995116564,0.999999996624,-4.3105887828e-05,-6.19944052986e-05,3.2415389888e-05,1793237732876168192
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.975392354,668,636,882,788.975392354,804.975392354,653,633,654,0.445740746922,0.00445069266455,0.0499624279828,0.999999995623,-8.47906668093e-05,-3.31401230305e-05,2.15860249346e-05,1793237732892834816
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680.405417872,668,636,882,788.405417872,804.405417872,653,633,654,0.446118972625,0.00444583135827,0.049969104561,0.999999995233,-9.30814187799e-05,-1.91405625322e-05,2.24166738967e-05,1793237732909501440
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667.8274487,636,882,788,804.1725513,653,633,654,0.446480026745,0.00444248442334,0.0499707201901,0.99999999476,-9.87203620124e-05,-1.3816855281e-05,2.3326915086e-05,1793237732926168320
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667.22978311,636,882,788,804.77021689,653,633,654,0.446798775216,0.00444286844277,0.0499598671684,0.99999999447,-9.78260482067e-05,-2.98678322857e-05,2.44332473709e-05,1793237732942834688
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.643790525,746.356209475,716,680.356209475,667,636,882,788.356209475,804.643790525,653,633,654,0.44708389428,0.00444598138558,0.0499375874656,0.999999993257,-9.22102702428e-05,-6.60884481393e-05,2.47995786868e-05,1793237732959501312
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.06508896,746.93491104,716,680.93491104,667,636,882,788.93491104,804.06508896,653,633,654,0.447348008101,0.00445079884194,0.0499081705395,0.999999989595,-8.36454171002e-05,-0.000114907228644,2.47036978722e-05,1793237732976167936
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.510851728,746.489148272,716,681,667,635.489148272,882,789,804,653.510851728,633,654,0.447606510645,0.00445161467379,0.0498863433755,0.999999989309,-2.9119292807e-05,-0.000141031402417,2.53650255407e-05,1793237732992834816
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.088214285,716,680.911785715,667,635,882,788.911785715,804.088214285,653.911785715,633,654,0.447860922554,0.00445457591269,0.0498687448214,0.999999986437,2.46474576855e-05,-0.000160751484131,2.60273180255e-05,1793237733009501440
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.675602784,716,680.324397216,667,635,882,788.324397216,804.675602784,653.324397216,633,654,0.448096210974,0.00447254686931,0.0498696318211,0.99999998593,4.11579783876e-05,-0.000160507525391,2.61520702164e-05,1793237733026168064
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716,680.259558751,666.740441249,635,882.259558751,788.259558751,805,653.259558751,633,654,0.448323467372,0.00448815985654,0.0498732063648,0.999999986013,5.40314682921e-05,-0.000156176428642,2.57454335304e-05,1793237733042834432
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716,680.839280689,666.160719311,635,882.839280689,788.839280689,805,653.839280689,633,654,0.448540816336,0.00450086431046,0.0498800959676,0.999999986972,6.24187152177e-05,-0.000146803887085,2.4683333847e-05,1793237733059501056
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.586121617,716,681,666.413878383,635,882.586121617,789,804.586121617,654,633,654,0.448738530434,0.00450289187581,0.0498849440665,0.999999988099,6.04610669281e-05,-0.000139688292209,2.51773843534e-05,1793237733076167680
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746.013489472,716,681,666.986510528,635,882.013489472,789,804.013489472,654,633,654,0.448928713066,0.00450082404405,0.0498890090935,0.999999989265,5.45353662616e-05,-0.000133438407831,2.62683365466e-05,1793237733092834304
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.436698252,746,716,681,666.436698252,635,882,789,804,654,633,654,0.449082042475,0.00449715584801,0.049884870835,0.999999988192,4.74012783171e-05,-0.000143653861719,2.7062170412e-05,1793237733109501184
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.144104154,746.144104154,716,681,666,634.855895846,882,789,804,654,633,654,0.449227616004,0.00449463782445,0.0498806960007,0.999999987068,4.19999341062e-05,-0.000152778423306,2.75396731369e-05,1793237733126167808
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.737088623,746.737088623,716,681,666,634.262911377,882,789,804,654,633,654,0.449351799659,0.00449582282265,0.0498770237081,0.999999986382,4.20868482085e-05,-0.000157267521848,2.70541415778e-05,1793237733142834688
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634.321762333,882.321762333,788.678237667,804,654,633,654,0.449464321616,0.00449605239129,0.0498736175393,0.999999985423,4.08157172634e-05,-0.000163572090375,2.70707161331e-05,1793237733159501312
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634.89981638,882.89981638,788.10018362,804,654,633,654,0.449567554753,0.00449552093661,0.0498704233443,0.999999984207,3.84628696169e-05,-0.000171322726448,2.74872306626e-05,1793237733176167936
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.52541698,716,681,666,635,882.52541698,788.47458302,804.47458302,654,633,654,0.449656769922,0.0044961307026,0.0498670866233,0.999999983417,3.89958383434e-05,-0.000175764493137,2.74134163155e-05,1793237733192834816
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634.950015895,882,789,805,653.950015895,632.950015895,654,0.449741875705,0.00449679483197,0.0498640217302,0.999999982779,3.98462847717e-05,-0.000179195384554,2.72770791202e-05,1793237733209501952
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634.360322277,882,789,805,653.360322277,632.360322277,654,0.449814342133,0.00449546260067,0.0498642145647,0.999999982857,3.75921764105e-05,-0.000179201444707,2.75755905357e-05,1793237733226169088
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,716,681,666.225556603,634,882,788.774443397,804.774443397,653.225556603,632.225556603,654,0.449881644643,0.00449462032394,0.0498645184257,0.999999982959,3.67032026499e-05,-0.00017879920041,2.76733848715e-05,1793237733242835968
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666.805442829,634,882,788.194557171,804.194557171,653.805442829,632.805442829,654,0.449940835086,0.00449454772291,0.0498649966999,0.999999983104,3.79587356435e-05,-0.000177755545667,2.74558702773e-05,1793237733259502336
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.615958063,746,716,681.384041937,666.615958063,634.384041937,882,788,804,654,633,653.615958063,0.449986380706,0.00449490637368,0.0498641945105,0.999999982652,3.86696544046e-05,-0.000180146942685,2.73472625953e-05,1793237733276168448
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.038008852,746,716,681.961991148,666.038008852,634.961991148,882,788,804,654,633,653.038008852,0.450025036893,0.00449548276854,0.0498627457999,0.999999981885,3.91055910204e-05,-0.000184272737612,2.72936432953e-05,1793237733292834560
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.535023946,746,716,681.464976054,666,634.464976054,882,788,804.535023946,653.464976054,633,653.535023946,0.450053956106,0.00449497287883,0.0498611314346,0.999999981679,3.89774414951e-05,-0.000185401336076,2.73643198852e-05,1793237733309501440
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.888669226,746,716,681,666,634,882,788,804.888669226,653.111330774,633,654,0.450081349962,0.00449464389209,0.0498601437849,0.999999981615,3.90817723063e-05,-0.000185724121232,2.73675402427e-05,1793237733326168320
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.296734874,746,716,681,666,634,882,788,804.296734874,653.703265126,633,654,0.45010511793,0.00449542595182,0.0498619119435,0.999999981988,4.0361114926e-05,-0.000183479098536,2.70417871293e-05,1793237733342834944
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.287271705,746,716,680.712728295,666,634,882,788.287271705,804,653.712728295,633,654,0.450121951198,0.00449555836736,0.0498622709304,0.999999981947,3.99824959245e-05,-0.000183787464795,2.70049546017e-05,1793237733359501824
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.863309347,746,716,680.136690653,666,634,882,788.863309347,804,653.136690653,633,654,0.450131813696,0.0044950377597,0.049861213416,0.999999981487,3.79372916472e-05,-0.00018666250107,2.72585454276e-05,1793237733376168448
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.559167792,746,716,680,666,633.559167792,882.440832208,788.559167792,804.440832208,653,633,654,0.450140974729,0.00449649914892,0.0498613147475,0.999999981431,4.03263216999e-05,-0.000186432486032,2.74589245665e-05,1793237733392835072
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.018641986,746,716,680.018641986,666,633.018641986,882.981358014,788.018641986,804.981358014,653.018641986,632.981358014,654,0.450149704733,0.00449849215576,0.0498616887597,0.999999981474,4.39590867426e-05,-0.000185355775972,2.76146586836e-05,1793237733409501696
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.591247532,746,716,680.591247532,666,633.591247532,882.408752468,788.591247532,804.408752468,653.591247532,632.408752468,654,0.450152111576,0.0044979585466,0.0498594518731,0.999999981049,4.35548255015e-05,-0.000187825828136,2.69356828273e-05,1793237733426168064
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.16954407,716,681,666,634,882.16954407,788.83045593,804.16954407,653.83045593,632.16954407,654,0.450154530914,0.00449837494557,0.0498576907705,0.999999980635,4.42935956723e-05,-0.000189930699921,2.63677807371e-05,1793237733442834688
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.762037479,716,681,666,634,882.762037479,788.237962521,804.762037479,653.237962521,632.762037479,654,0.450156981421,0.00450116126119,0.0498571165723,0.999999980249,4.78838037395e-05,-0.000191124582457,2.60769663863e-05,1793237733459501312
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,716,681.345918808,665.654081192,634,882.654081192,788.345918808,805,653.345918808,633,654,0.450158225166,0.00450146531508,0.0498569912838,0.99999998011,4.8495200602e-05,-0.000191694542457,2.60886456697e-05,1793237733476168192
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,716,681.924019653,665.075980347,634,882.075980347,788.924019653,805,653.924019653,633,654,0.450158658927,0.00450010326524,0.0498571673052,0.999999980142,4.71072077674e-05,-0.000191845723201,2.63033598573e-05,1793237733492834816
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,747,716,681.500184546,665.499815454,634,882,789,805,654,633,654,0.45015769064,0.00450010096763,0.0498560453848,0.999999979644,4.72175034863e-05,-0.000194386437543,2.63959840633e-05,1793237733509501696
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882,788.923027618,805,654,633,654,0.450156824868,0.00450002879385,0.0498549061232,0.999999979164,4.73077344087e-05,-0.000196806246081,2.64890630428e-05,1793237733526168576
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882,788.334507032,805,654,633,654,0.450158050364,0.00449812480348,0.0498549568851,0.999999979385,4.57578699102e-05,-0.00019601950544,2.6707943607e-05,1793237733542834944
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.750088989,716,681,666,634,882.249911011,788,804.750088989,654,633,654,0.450159208863,0.00449793703634,0.0498553510526,0.999999979567,4.56870642418e-05,-0.000195108430005,2.66641211389e-05,1793237733559501568
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.17107345,716,681,666,634,882.82892655,788,804.17107345,654,633,654,0.450160279135,0.00450000934078,0.0498561974465,0.999999979699,4.75640115048e-05,-0.000194033619604,2.62743485285e-05,1793237733576168192
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.593663663,746.406336337,715.593663663,681.406336337,666,634,882.593663663,788,804,653.593663663,633,654,0.450160562189,0.00450173344361,0.0498561620068,0.999999979538,4.95745666812e-05,-0.000194364994242,2.62311724569e-05,1793237733592834560
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.016927294,746.983072706,715.016927294,681.983072706,666,634,882.016927294,788,804,653.016927294,633,654,0.450160515117,0.0045033115255,0.0498557567639,0.999999979252,5.16411511727e-05,-0.000195286062633,2.63333441306e-05,1793237733609501184
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,747,715,681.442516894,666,634,882,788,804.557483106,653,633,654,0.450160560089,0.00450407532318,0.04985535824,0.999999979153,5.31259865309e-05,-0.000195435699935,2.60171520441e-05,1793237733626168320
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.13584514,746.86415486,715.13584514,681,666,634,882,788,805,653.13584514,633,654,0.450160558066,0.00450425912278,0.0498548976012,0.999999979071,5.35148544926e-05,-0.000195770217615,2.58305168077e-05,1793237733642835200
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.72770847,746.27229153,715.72770847,681,666,634,882,788,805,653.72770847,633,654,0.450160388943,0.00450257858189,0.049854227767,0.999999979029,5.02837225282e-05,-0.000196803663531,2.61212564754e-05,1793237733659501824
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882,788,804.688250645,654,633,654,0.450159817562,0.00450171334451,0.0498535021925,0.999999978829,4.98275371411e-05,-0.000197888774737,2.64382729562e-05,1793237733676168448
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882,788,804.110874914,654,633,654,0.450158903436,0.00450154278745,0.0498527291245,0.999999978499,5.17357481675e-05,-0.000199017907359,2.6777678609e-05,1793237733692835072
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882.461706772,788.461706772,804,654,632.538293228,654,0.450159874464,0.00450217915102,0.0498536496236,0.999999978751,5.125229265e-05,-0.000197930750727,2.63475488386e-05,1793237733709501696
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.034281692,716,681,666,634,882.965718308,789,804,654,632.034281692,654,0.450161161518,0.00450300238799,0.0498548352509,0.999999979095,5.03951190597e-05,-0.000196483773989,2.57628745561e-05,1793237733726168320
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.625248565,716,681,666,634,882.374751435,789,804,654,632.625248565,654,0.450160304659,0.0045037458877,0.0498537898925,0.999999978731,5.26998835108e-05,-0.000197747554517,2.56386244731e-05,1793237733742834688
+259,4.316666667,HOLD_POSE2,767,746,716,681,666,634,882,788,805,654,633,654,0.450162357017,0.00450311852037,0.0498554826272,0.999999979091,5.37688236965e-05,-0.000195648338966,2.54548039545e-05,1793237733782187008
+260,4.333333333,HOLD_POSE2,766.427350305,746.572649695,716,681,666,634,882,788,805,654,633,654,0.45016155414,0.00450399077864,0.0498547053532,0.999999978943,5.25418006202e-05,-0.000196780230107,2.51130315471e-05,1793237733798853888
+261,4.350000000,HOLD_POSE2,766.147083251,746.852916749,716,681,666,634,882,788,804.852916749,653.852916749,633,654,0.450160774239,0.00450497282489,0.0498540008132,0.999999978749,5.20460492179e-05,-0.000197919566742,2.49050555056e-05,1793237733815520768
+262,4.366666667,HOLD_POSE2,766.726763587,746.273236413,716,681,666,634,882,788,804.273236413,653.273236413,633,654,0.450160061916,0.0045062777766,0.0498535101962,0.999999978427,5.37010930273e-05,-0.000199080802121,2.5090597459e-05,1793237733832187136
+263,4.383333333,HOLD_POSE2,766.687948801,746.312051199,716,681,666,634,882,788,804.312051199,653.312051199,632.687948801,654,0.450160178646,0.00450610153955,0.0498534921381,0.999999978329,5.41062128291e-05,-0.000199410732637,2.54865095572e-05,1793237733848853760
+264,4.400000000,HOLD_POSE2,766.097661574,746.902338426,716,681,666,634,882,788,804.902338426,653.902338426,632.097661574,654,0.450161034589,0.00450460462149,0.0498538954305,0.999999978434,5.33968555123e-05,-0.000198999441889,2.60699952012e-05,1793237733865520128
+265,4.416666667,HOLD_POSE2,766.483355281,746.516644719,716,681,665.516644719,634,882,788,804.516644719,654,632.483355281,654,0.450161082991,0.00450508645797,0.0498535508151,0.999999978437,5.37632101076e-05,-0.000198952994973,2.55525676921e-05,1793237733882187008
+266,4.433333333,HOLD_POSE2,766.937851247,746,716,681,665.062148753,634,882,788,804,653.937851247,633,654,0.450160843573,0.00450574897035,0.04985298177,0.999999978383,5.41682156136e-05,-0.000199196198659,2.49190501924e-05,1793237733898853632
+267,4.450000000,HOLD_POSE2,766.362243159,746,716,681,665.637756841,634,882,788,804,653.362243159,633,654,0.450159548895,0.00450466323786,0.0498517835136,0.999999978025,5.31306665523e-05,-0.00020123486392,2.51295790435e-05,1793237733915520512
+268,4.466666667,HOLD_POSE2,766.217462636,746.217462636,715.782537364,680.782537364,666,634,881.782537364,788,804.217462636,653.217462636,633,654,0.450159256427,0.00450441842687,0.0498512325546,0.999999977808,5.34739879165e-05,-0.000202207116686,2.52291677573e-05,1793237733932187392
+269,4.483333333,HOLD_POSE2,766.804125306,746.804125306,715.195874694,680.195874694,666,634,881.195874694,788,804.804125306,653.804125306,633,654,0.450160665472,0.00450560130145,0.0498517805531,0.999999977832,5.61617002126e-05,-0.000201368853484,2.51404063808e-05,1793237733948854016
+270,4.500000000,HOLD_POSE2,766.613846708,747,715.386153292,680.386153292,665.613846708,634,881.386153292,788.386153292,804.613846708,654,633,654,0.450161131832,0.00450462060862,0.0498523433879,0.999999978029,5.48213919414e-05,-0.000200705422671,2.55599978699e-05,1793237733965520640
+271,4.516666667,HOLD_POSE2,766.034141713,747,715.965858287,680.965858287,665.034141713,634,881.965858287,788.965858287,804.034141713,654,633,654,0.450161125689,0.0045025554705,0.0498529136591,0.999999978306,5.14621182439e-05,-0.000200129623058,2.62343911737e-05,1793237733982187520
+272,4.533333333,HOLD_POSE2,766,747,716,681,665,633.455323671,882,788.455323671,804.544676329,654,633,654,0.45016108794,0.00450401567996,0.0498522579378,0.999999978026,5.48252498318e-05,-0.000200697338501,2.5737697174e-05,1793237733998854144
+273,4.550000000,HOLD_POSE2,766,746.877448178,716,680.877448178,665,633.122551822,882,788,804.877448178,653.877448178,633,654,0.450160996062,0.00450544047671,0.0498518090191,0.999999977801,5.7475925473e-05,-0.000201139776466,2.52510792392e-05,1793237734015520256
+274,4.566666667,HOLD_POSE2,766,746.302844519,716,680.302844519,665,633.697155481,882,788,804.302844519,653.302844519,633,654,0.450160711818,0.00450592086186,0.0498524059307,0.999999977949,5.59468040185e-05,-0.000200856141224,2.50719605953e-05,1793237734032187136
+275,4.583333333,HOLD_POSE2,766.27827825,746,716,680.27827825,665.27827825,634,882.27827825,788,804,653.27827825,633,654,0.450159700237,0.00450571354375,0.0498516867944,0.999999977727,5.51204794655e-05,-0.000202178455893,2.51377843882e-05,1793237734048853760
+276,4.600000000,HOLD_POSE2,766.866665789,746,716,680.866665789,665.866665789,634,882.866665789,788,804,653.866665789,633,654,0.450157878122,0.00450473985898,0.0498495010733,0.999999977087,5.50773417831e-05,-0.000205290418105,2.54765685277e-05,1793237734065520384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,634,882,788,804,654,633,654,0.450162100982,0.00450751339243,0.0498523426241,0.999999978106,5.76455500671e-05,-0.000199562486326,2.52797608221e-05,1793237734098109184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.577872302,746,715.577872302,681,665.577872302,634,882,788,804,653.422127698,632.422127698,654,0.450161025263,0.00450678153682,0.0498513742058,0.999999977725,5.61809768157e-05,-0.000201866496479,2.53662007233e-05,1793237734114776064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.842089011,746,715.842089011,681,666,634,882.157910989,788,804.157910989,653.157910989,632.157910989,654,0.450160741104,0.00450622595234,0.0498511096321,0.999999977605,5.51532721962e-05,-0.00020274709886,2.53220957619e-05,1793237734131442432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.256178453,746,715.256178453,681,666,634,882.743821547,788,804.743821547,653.743821547,632.743821547,654,0.450162602377,0.00450614813035,0.0498527527482,0.999999978206,5.53096494139e-05,-0.00019976971876,2.49241639894e-05,1793237734148108544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.326124321,746,715.326124321,681,666,634,882.673875679,788,805,654,632.673875679,654,0.450162720988,0.00450585262452,0.0498528064984,0.999999978158,5.5854715936e-05,-0.000199846113051,2.50114362353e-05,1793237734164774912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.90562407,746,715.90562407,681,666,634,882.09437593,788,805,654,632.09437593,654,0.450161485674,0.00450538799383,0.0498516254243,0.999999977606,5.6701766422e-05,-0.000202295073251,2.54756775538e-05,1793237734181441536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.516004382,746,716,681,665.516004382,634,882,788,804.516004382,654,632.483995618,654,0.450160362213,0.00450527226913,0.0498511564281,0.999999977525,5.47081735748e-05,-0.000203274168349,2.52118375446e-05,1793237734198108160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,665.061815552,634,882,788,804,653.938184448,633,654,0.450159341786,0.00450524246049,0.0498508313625,0.99999997751,5.28359313383e-05,-0.000203885145599,2.48952392111e-05,1793237734214774784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,665.63687783,634,882,788,804,653.36312217,633,654,0.450158996174,0.00450536243522,0.0498505511572,0.99999997731,5.65595688546e-05,-0.000203813871871,2.53166213095e-05,1793237734231441920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.217109964,746,716,681,665.782890036,633.782890036,882,788,804.217109964,653.217109964,633,653.782890036,0.450156515303,0.00450524374931,0.0498493843701,0.999999976867,5.81684022503e-05,-0.000205497304471,2.55670513705e-05,1793237734248108544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.806199679,746,716,681,665.193800321,633.193800321,882,788,804.806199679,653.806199679,633,653.193800321,0.450150376044,0.00450471616034,0.0498466985811,0.999999976008,5.61538902397e-05,-0.000210187117845,2.55245851301e-05,1793237734264775168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.611175029,746,716,681,665.388824971,633.388824971,882,788,804.611175029,654,633,653.388824971,0.450133985852,0.00450568758028,0.0498389908231,0.999999973107,5.66215227853e-05,-0.000223469577613,2.53065594128e-05,1793237734281441536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.031719027,746,716,681,665.968280973,633.968280973,882,788,804.031719027,654,633,653.968280973,0.450112569889,0.00450739392626,0.0498288209206,0.999999968956,5.8306087719e-05,-0.00024096479455,2.50024613226e-05,1793237734298108416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,666,634,882,788,804,654,633,654,0.450074429097,0.00450805189854,0.0498144248821,0.999999962266,5.89995224825e-05,-0.000267163011548,2.47352013634e-05,1793237734314774784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.119486292,716,681,666,634,882,788,804.119486292,653.880513708,633,654,0.450029975743,0.00450837760775,0.04979850569,0.999999954309,5.94956953847e-05,-0.000295370592091,2.44607124777e-05,1793237734331441408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.694220589,716,681,666,634,882,788,804.694220589,653.305779411,633,654,0.449965161356,0.00450766869005,0.0497777156519,0.999999943717,5.94589719331e-05,-0.000329313742581,2.41505531857e-05,1793237734348108032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,747,716,681,666,634,882,788,805,653,633,654,0.449900192661,0.00450851429978,0.0497623162302,0.999999935715,6.01601562946e-05,-0.000352706753492,2.34205429402e-05,1793237734364774656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,747,716,681,666,634,882,788,805,653,633,654,0.449835048532,0.0045111272782,0.049753045493,0.999999931564,6.17002806324e-05,-0.000364105129867,2.22131970581e-05,1793237734381441792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.446771983,747,716,681,666,634,882,788,805,653,633,653.553228017,0.44976096774,0.0045114106842,0.0497499958565,0.999999930234,6.30458337549e-05,-0.000367534010638,2.18247350317e-05,1793237734398108672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.970967705,716,680.970967705,666,634,882.029032295,788.029032295,805,653.029032295,633,653.029032295,0.449683122911,0.00451110057336,0.049748957122,0.999999929763,6.44151529034e-05,-0.000368584751586,2.16689965719e-05,1793237734414775296
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.396106532,716,680.396106532,666,634,882.603893468,788.603893468,805,653.603893468,633,653.603893468,0.449585611964,0.00451295260043,0.0497501520505,0.999999928874,6.73438666763e-05,-0.000370494957144,2.12061857752e-05,1793237734431441664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.821465016,746,716,680.357069967,666,634,883,788.821465016,805,654,633,654,0.449481316278,0.00451470139634,0.0497510316567,0.999999928063,7.01707622059e-05,-0.000372176543706,2.08595526943e-05,1793237734448108032
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.247310321,746,716,681.505379359,666,634,883,788.247310321,805,654,633,654,0.449361986146,0.00451622143974,0.0497512125332,0.999999927441,7.27720359972e-05,-0.000373351528014,2.07703605055e-05,1793237734464774656
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746.336409241,716,681.663590759,666,634.336409241,882.663590759,788,805,653.663590759,633,654.336409241,0.449233766761,0.0045184155847,0.0497521484416,0.999999927243,7.62598482252e-05,-0.000373219795022,2.01232403796e-05,1793237734481441280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746.927366223,716,681.072633777,666,634.927366223,882.072633777,788,805,653.072633777,633,654.927366223,0.449098821213,0.00452111979618,0.0497536556534,0.999999927356,8.04184697585e-05,-0.000372099320174,1.90539579508e-05,1793237734498108160
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.50808305,747,716,681.50808305,666,634.49191695,882,788,804.49191695,653,633,654.49191695,0.448941872985,0.00452179010306,0.0497551990092,0.999999928201,8.20011048489e-05,-0.000369504915763,1.84467198612e-05,1793237734514775040
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746.913367277,716,681.913367277,666,634,882,788,804,653,633,654,0.448776627749,0.00452235726798,0.0497562139876,0.999999928755,8.38507297915e-05,-0.000367612116253,1.7883707615e-05,1793237734531441920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.338939973,716,681.338939973,666,634,882,788,804,653,633,654,0.448582026036,0.00452394849129,0.0497542253643,0.999999927112,8.92361974889e-05,-0.000370832748379,1.72051469818e-05,1793237734548108032
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666.241188353,634,882,788.241188353,804,653.241188353,633,654,0.448373552334,0.00452630709815,0.0497506978279,0.99999992459,9.41775570945e-05,-0.00037640942061,1.63194843992e-05,1793237734564774656
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,666.829522201,634,882,788.829522201,804,653.829522201,633,654,0.448145112511,0.00452977020994,0.0497449553144,0.999999920779,9.84797058935e-05,-0.000385377171431,1.51357373606e-05,1793237734581441280
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.411752181,716,681,667,634.411752181,882,789,804.411752181,653.588247819,633,654.411752181,0.447900694432,0.00453330045348,0.0497434692357,0.999999919754,0.000105261197063,-0.000386292804645,1.38083688798e-05,1793237734598107648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.991491879,716,681,667,634.991491879,882,789,804.991491879,653.008508121,633,654.991491879,0.447649757517,0.00453685808549,0.0497437197062,0.999999919834,0.000113054215412,-0.000383923317838,1.24224054511e-05,1793237734614774528
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.43344849,716,681.56655151,667,635,882,789,805,653.56655151,633,654.43344849,0.447373927955,0.00453912590124,0.0497452996556,0.999999920123,0.000118280628801,-0.000381613578169,1.16430275779e-05,1793237734631441920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.858735665,746,716,682,667,635,882,789,804.858735665,653.858735665,633,654,0.447088873406,0.00454150179754,0.0497469496754,0.999999920565,0.000123750893625,-0.000378736921506,1.06955214716e-05,1793237734648109568
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766.284871517,746,716,682,667,635,882,789,804.284871517,653.284871517,633,654,0.446776704232,0.00454426750368,0.0497487536347,0.999999921513,0.000130084981095,-0.000374121445982,9.2054819031e-06,1793237734664776192
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,715.701474574,681.701474574,667,635.298525426,882,788.701474574,804,653,633,654,0.446456177875,0.0045483589987,0.0497567986856,0.999999925676,0.000136906138381,-0.000360344748872,7.50274258968e-06,1793237734681442560
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,715.108680704,681.108680704,667,635.891319296,882,788.108680704,804,653,633,654,0.446127413472,0.00455375737713,0.0497709958301,0.999999932621,0.000144207420554,-0.000337537468828,5.59033645665e-06,1793237734698109440
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.950956114,747,716,681,667,636,882,788.950956114,804.049043886,653.950956114,633,654,0.445405190256,0.00456175554472,0.0498063272811,0.99999994562,0.000159314277444,-0.000288725087539,4.05138639598e-06,1793237734731442432
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.375477636,747,716,681,667,636,882,788.375477636,804.624522364,653.375477636,633,654,0.445003428885,0.00456625134475,0.0498198015087,0.999999949282,0.000166052966752,-0.000271765468184,2.31213330769e-06,1793237734748109312
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746.795342073,715.795342073,681,667,636,882,788,804.795342073,653,633,654,0.44457803602,0.00457149081836,0.049827144305,0.999999950441,0.000173362179034,-0.000262800182774,2.09707482578e-07,1793237734764776192
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746.206463429,715.206463429,681,667,636,882,788,804.206463429,653,633,654,0.444108277884,0.00457812644969,0.0498229760732,0.999999947343,0.000181742479461,-0.000268843301938,-2.57453150499e-06,1793237734781443072
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.376404497,746,715.376404497,681,667.376404497,636,882,788,804,653,633,654,0.443609487905,0.00458452437714,0.0498079810017,0.999999938635,0.000190122431729,-0.000294201145629,-5.32535613538e-06,1793237734798109952
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.956027256,746,715.956027256,681,667.956027256,636,882,788,804,653,633,654,0.443095023845,0.00459079396965,0.049787140592,0.99999992582,0.000198502195549,-0.000329986878996,-8.05814048272e-06,1793237734814776576
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.467908958,746,715.467908958,681,668,636,882,788.532091042,804.532091042,653,633,654,0.442590945588,0.00459533687447,0.0497889874829,0.999999927253,0.000205055802336,-0.000321446760306,-1.08531632237e-05,1793237734831442688
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.108111976,746,715.108111976,680.891888024,668,636.108111976,882,788.891888024,805,653,633.108111976,654,0.442085710718,0.00460017529671,0.0497967268804,0.99999993126,0.000212219708863,-0.000303742831128,-1.35507831082e-05,1793237734848108800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.685214272,746,715.685214272,680.314785728,668,636.685214272,882,788.314785728,805,653,633.685214272,654,0.441571760038,0.00460691057637,0.0498219486714,0.999999940741,0.000222681422218,-0.000262071429582,-1.58037039516e-05,1793237734864774912
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746.268084565,716,680,668,636.731915435,882,788.268084565,805,653.268084565,633.731915435,654,0.441025255052,0.00461373703504,0.0498399406579,0.999999945344,0.000233362661027,-0.000233483036007,-1.84182494287e-05,1793237734881441280
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746.857876658,716,680,668,636.142123342,882,788.857876658,805,653.857876658,633.142123342,654,0.440439684096,0.00462067291148,0.0498492567188,0.999999945596,0.000244307337052,-0.000220594542193,-2.14667529508e-05,1793237734898107904
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.559841187,716,680.440158813,668,636,882,789,804.559841187,653.559841187,633,654,0.439806554343,0.00462682661786,0.0498289766708,0.999999934532,0.000253718549325,-0.000256827597324,-2.45431152192e-05,1793237734914774528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.980189239,668,636,882,789,804,653,633,654,0.439157911891,0.00463279023289,0.0497995383755,0.999999917944,0.00026162880401,-0.00030805491803,-2.76557758545e-05,1793237734931441152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.407402727,668,636,882,789,804,653,633,654,0.438497712313,0.00464037915844,0.0497767365398,0.999999911747,0.000241232000404,-0.000342518811813,-3.15347621783e-05,1793237734948107776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.833787205,746,716,680.166212795,668,636,882,788.833787205,804,653.166212795,633,654,0.43784678438,0.00464657438283,0.0497675411056,0.99999991473,0.000204093205575,-0.000357323100297,-3.47279350355e-05,1793237734964774656
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.258129553,746,716,680.741870447,668,636,882,788.258129553,804,653.741870447,633,654,0.437218696049,0.00464933639467,0.0497918633758,0.999999939051,0.000125712567468,-0.00032369835712,-3.62316901565e-05,1793237734981441280
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.325563813,746,716,680.674436187,668,636,882,788.325563813,804,653.674436187,633,654,0.436564793471,0.00465017088388,0.0498191447227,0.999999954192,9.53001370739e-05,-0.000284644049262,-3.88749696786e-05,1793237734998107904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.915789659,746,716,680.084210341,668,636,882,788.915789659,804,653.084210341,633,654,0.435889905634,0.00464943842345,0.0498488316038,0.999999964621,0.000103882718451,-0.00024117586387,-4.24446078465e-05,1793237735014774528
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.503241692,680,667.503241692,636.496758308,882,789,804,653.496758308,633,654,0.435151755676,0.00461909549044,0.0498250995889,0.99999995436,8.04734037932e-05,-0.000288101424538,-4.24491022461e-05,1793237735031441408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.924527009,746,715,680.075472991,667.075472991,636.924527009,882,789,804,654,633,654,0.434408267132,0.00458702889395,0.0497965269722,0.999999939293,5.47875351011e-05,-0.000341505047514,-4.2273971114e-05,1793237735048107776
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.350524869,746,715,680.649475131,667.649475131,636.350524869,882,789,804,654,633,654,0.433699056987,0.00457612645113,0.049794701548,0.999999940549,4.92315615361e-05,-0.000338332561125,-4.48313646644e-05,1793237735064774400
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.229272466,746,715.229272466,680.770727534,668,636,881.770727534,789,804,654,633,654,0.43299575098,0.00457410201849,0.0498041718737,0.999999946385,5.04722792757e-05,-0.000320029589641,-4.75777427764e-05,1793237735081441024
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.818159677,746,715.818159677,680.181840323,668,636,881.181840323,789,804,654,633,654,0.432301705524,0.00458600277729,0.0498313596265,0.999999958133,6.23736325474e-05,-0.000277994393186,-5.06205442345e-05,1793237735098107648
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881.446460137,788.446460137,804.107079726,653.553539863,633,654,0.429957470964,0.00460786132968,0.0497924798494,0.999999934136,0.000134930954688,-0.000335350451366,-3.25938447159e-05,1793237735148107776
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,715.128017383,680,667.871982617,636.871982617,881.128017383,788.128017383,804.871982617,653.871982617,633,654,0.429169834136,0.0046151965035,0.0497736058308,0.999999914809,0.00019021002017,-0.000365524290488,-2.43615283477e-05,1793237735164774656
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,715.706087414,680,667.293912586,636.293912586,881.706087414,788.706087414,804.293912586,653.293912586,633,654,0.428416157354,0.00461562858374,0.0497949825229,0.99999992836,0.000185554059587,-0.000328744008248,-2.78722100691e-05,1793237735181441280
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.881484848,636,881.118515152,789,804,653,633,654,0.426859182112,0.00460364165163,0.0497998798661,0.999999932037,0.000143198029121,-0.000338199568439,-3.22814552934e-05,1793237735214774528
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.53766513,746,716,680,667.53766513,636.46233487,881.46233487,789,804,653.46233487,633,654,0.426074853173,0.00460032632087,0.049799489444,0.999999935852,0.000131639565858,-0.000331289022098,-3.48573840771e-05,1793237735231441152
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.040363612,746,716,680.040363612,667.040363612,636.959636388,881.959636388,789,804,654,633,654,0.425294761721,0.00459852157841,0.0498022228531,0.999999941943,0.000125322083107,-0.000314659911915,-3.73935907105e-05,1793237735248107776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.614687549,746,716,680.614687549,667.614687549,636.385312451,881.385312451,789,804,654,633,654,0.42456204664,0.00460054480964,0.0498342914087,0.99999995732,0.000137726327269,-0.00025503808378,-3.6694850889e-05,1793237735264774400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.806980401,746,715.806980401,680.806980401,667.806980401,636.193019599,881.193019599,789,804,654,633,654,0.42381993409,0.00460382528724,0.0498548340743,0.999999964957,0.00014872764984,-0.000215936134693,-3.65695182565e-05,1793237735281441280
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.220477439,746,715.220477439,680.220477439,667.220477439,636.779522561,881.779522561,789,804,654,633,654,0.423058664038,0.00460966874607,0.0498518804478,0.999999963081,0.000156869026039,-0.000218665322281,-3.76131146356e-05,1793237735298107904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.363626044,680,667,636.636373956,881.636373956,788.636373956,803.636373956,654,633,654,0.422256396533,0.00461365903848,0.0498309075799,0.999999953139,0.000157899538371,-0.000259493476122,-3.81192073024e-05,1793237735314774528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.946284153,680,667,636.053715847,881.053715847,788.053715847,803.053715847,654,633,654,0.421429434042,0.00461653306599,0.0497990807272,0.999999935057,0.00015464678337,-0.000323270742072,-3.83015315877e-05,1793237735331441408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.476992025,679.476992025,667,636,881.523007975,788.523007975,803.523007975,654,633,654,0.4206599618,0.00461752000208,0.0498083846401,0.999999941054,0.00014938810403,-0.000306683661498,-3.89957893717e-05,1793237735348107776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.09915954,746.09915954,715,679.19831908,667.09915954,636,881.90084046,789,804,654,632.90084046,654,0.419897238731,0.00461791814866,0.0498205063998,0.999999947361,0.000145913961381,-0.000287101379353,-3.94907978621e-05,1793237735364774656
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.675457317,746.675457317,715,680.350914635,667.675457317,636,881.324542683,789,804,654,632.324542683,654,0.419138898521,0.00461640528375,0.0498260883168,0.999999944953,0.000152006903724,-0.000292377294769,-3.87768941431e-05,1793237735381441280
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746.743713312,715,680.743713312,667.743713312,636,881,789,804,654,632.256286688,654,0.418395336281,0.00461474165911,0.0498208409431,0.999999939793,0.000155741870475,-0.000307658425221,-3.87811306514e-05,1793237735398107904
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746.157042216,715,680.157042216,667.157042216,636,881,789,804,654,632.842957784,654,0.417670824681,0.00461288368713,0.049801633309,0.999999930582,0.000156437122148,-0.000335837482301,-3.97111364396e-05,1793237735414774528
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.425467559,881,789,804,653.574532441,632.574532441,654,0.416967611149,0.0046096676474,0.0498100897117,0.999999937761,0.000148851130471,-0.000317341547232,-4.02054522372e-05,1793237735431441152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.993612506,746.006387494,715,680,667.006387494,637,881,789,804,653.006387494,632.006387494,654.006387494,0.416272173321,0.00460602282129,0.0498285704451,0.999999949867,0.000138375140064,-0.000281912557598,-4.05478376768e-05,1793237735448107776
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.418815078,746.581184922,715,680,667.581184922,637,881,789,804,653.581184922,632.581184922,654.581184922,0.41557590625,0.00460839610144,0.0498392465669,0.999999956073,0.000140094468779,-0.000257878959951,-4.15422723405e-05,1793237735464775424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.158997953,746.841002047,715.158997953,680,668,636.841002047,881.158997953,789,804,654,633,655,0.414880373934,0.0046108488906,0.0498401453113,0.999999956634,0.000143041360723,-0.000253950515949,-4.21880018825e-05,1793237735481442816
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.744908058,746.255091942,715.744908058,680,668,636.255091942,881.744908058,789,804,654,633,655,0.414186814294,0.00461351516333,0.0498147916374,0.99999994177,0.000149284280714,-0.000304004738872,-4.18974525752e-05,1793237735498108928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.672641034,636.327358966,881.672641034,789,803.672641034,654,633,654.672641034,0.413509648743,0.00461643192981,0.0497974383862,0.999999931143,0.000154112802071,-0.000334940873772,-4.21626893911e-05,1793237735514775296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.092857527,636.907142473,881.092857527,789,803.092857527,654,633,654.092857527,0.412845124616,0.00461954185036,0.0497862542147,0.999999924975,0.000157850688901,-0.000351135162643,-4.2856489632e-05,1793237735531441664
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.513226504,679.513226504,667,637,881,789,803,654,632.513226504,654,0.412229303791,0.00462096006651,0.0498061005754,0.999999933944,0.00015878952215,-0.000324184492264,-4.24572938954e-05,1793237735548108288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.065316743,654,632,654,0.411622844095,0.00462174467895,0.0498295957971,0.999999943844,0.000158760190855,-0.000292149222493,-4.18981494732e-05,1793237735564775424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.635673978,654,632,654,0.411016951426,0.00462012463835,0.0498355489671,0.999999946613,0.000155372152762,-0.000284417805627,-4.17139177806e-05,1793237735581442560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.214095689,679.214095689,667,637,881.214095689,789,804,654,632,654,0.410418678766,0.0046170520737,0.0498306800028,0.999999944173,0.000150380494027,-0.000295464990587,-4.17266813262e-05,1793237735598109184
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.806777791,679.806777791,667,637,881.806777791,789,804,654,632,654,0.409833880669,0.00461141100411,0.0498066742069,0.999999931249,0.000142553145547,-0.000339718465779,-4.2087792443e-05,1793237735614775040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.609558407,680.390441593,667,637,881.609558407,789,804,654,632.390441593,654,0.409293676381,0.00460654241097,0.0498052229945,0.99999993212,0.000137575811213,-0.000339192012161,-4.22112523097e-05,1793237735631441664
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.030256784,680.969743216,667,637,881.030256784,789,804,654,632.969743216,654,0.408775042459,0.00460204747098,0.0498146816302,0.999999939888,0.000133977053107,-0.000317005117442,-4.22197582195e-05,1793237735648108544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.544283735,746.544283735,715,679.911432529,667.544283735,636.455716265,881.544283735,789,803.455716265,654,633,654,0.408296237048,0.00460473739721,0.0498371384003,0.999999949863,0.000139921618073,-0.00028105578646,-4.12831421745e-05,1793237735664775680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.881228596,746.881228596,715,679,667.881228596,636,881.881228596,789,803,654,632.881228596,654,0.407816526663,0.0046074897965,0.0498543574857,0.999999956224,0.000145450670714,-0.000254492609542,-4.03718095852e-05,1793237735681442560
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.30593541,746.30593541,715,679,667.30593541,636,881.30593541,789,803,654,632.30593541,654,0.407324901266,0.00460896043445,0.0498486912339,0.999999952728,0.000147361165147,-0.000266922137353,-3.97578535678e-05,1793237735698109440
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.27777831,667,636.27777831,880.72222169,788.72222169,803,654,632.27777831,654,0.406838289389,0.00461046894936,0.0498320626924,0.999999943115,0.000146928532524,-0.000301013013913,-3.96598292202e-05,1793237735714776064
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.871056001,667,636.871056001,880.128943999,788.128943999,803,654,632.871056001,654,0.406357371876,0.00461202048467,0.0498029832311,0.999999924155,0.000143834586035,-0.000359706753595,-4.01477977339e-05,1793237735731442432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.451162101,679.548837899,667,637,880.451162101,788,803.451162101,654,633,654,0.405930450721,0.00461539818052,0.04979174968,0.999999917868,0.000145669471428,-0.000375907486886,-4.16846408642e-05,1793237735748109056
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.027567143,667.027567143,637,881.027567143,788.027567143,804,654.027567143,632.972432857,654,0.405521088969,0.00461914217485,0.0497864400086,0.999999916168,0.000148757429932,-0.000379011500634,-4.34274708056e-05,1793237735764775168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.60311067,667.60311067,637,881.60311067,788.60311067,804,654.60311067,632.39688933,654,0.405162709606,0.0046200869565,0.0498003746446,0.999999924383,0.000149546551969,-0.000356342925543,-4.34750683007e-05,1793237735781441792
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.177712558,746,715.822287442,679.822287442,667.822287442,637,882,789,804,654.822287442,632.177712558,654,0.404817029274,0.00462149479897,0.049816022561,0.999999933099,0.000151230977185,-0.000330180490794,-4.3732137092e-05,1793237735798108416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.750222472,746,715.249777528,679.249777528,667.249777528,637,882,789,804,654.249777528,632.750222472,654,0.404499560526,0.00462393135415,0.049835476614,0.99999994313,0.000154904363213,-0.000296256274803,-4.44545568696e-05,1793237735814774784
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,715,679.335116042,667,637,882,789,804,654,632.664883958,654,0.404194557507,0.00462609193997,0.0498520332035,0.999999950049,0.000158028386346,-0.00027007524424,-4.45937668101e-05,1793237735831441408
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,715,679.92959396,667,637,882,789,804,654,632.07040604,654,0.40389920226,0.00462803894055,0.0498663473134,0.999999954881,0.000160727232446,-0.000249887021171,-4.42816036488e-05,1793237735848108288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.49219258,746,715,680,667,637,882,789,804,654.50780742,632,654,0.403616386277,0.00462810252586,0.0498639157682,0.999999952889,0.000160796434248,-0.000257616985761,-4.47160941052e-05,1793237735864775168
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.083842891,746,715,679.916157109,667,637,881.916157109,789,804,655,632.083842891,654,0.403338337245,0.00462796429277,0.0498588484225,0.99999994964,0.000160765342597,-0.000269863987111,-4.52496347488e-05,1793237735881441536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.659919975,746,715,679.340080025,667,637,881.340080025,789,804,655,632.659919975,654,0.403078384437,0.00462812669488,0.0498515142099,0.999999944722,0.000162219498262,-0.000286610395168,-4.57757875086e-05,1793237735898108416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.758231094,746,715,679,667,637,881,789,804,654.758231094,633,654,0.402832886084,0.00462789236994,0.0498445188533,0.999999940272,0.000162924839727,-0.00030136518491,-4.57325408824e-05,1793237735914775040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.168064765,746,715,679,667,637,881,789,804,654.168064765,633,654,0.402608217119,0.00462708634749,0.0498380118004,0.999999936719,0.00016255111377,-0.00031324998227,-4.48687698631e-05,1793237735931441664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.414617033,667,637,881,789,804,654,633,654,0.402405258903,0.0046261776386,0.0498321099451,0.999999933557,0.00016376762187,-0.000323393694727,-3.84963231132e-05,1793237735948108032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.994318761,667,637,881,789,804,654,633,654,0.402210945085,0.0046252280439,0.0498264490565,0.999999930445,0.000165617300539,-0.000332844173235,-2.99305317183e-05,1793237735964774912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.569063341,680,667,637,881,789,804,654.569063341,633,654,0.402058744101,0.00460434919736,0.0498281022029,0.999999935973,0.000142512200137,-0.000326908669279,-2.95733032607e-05,1793237735981441536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.852954327,679.852954327,667,637,881,789,803.852954327,655,632.852954327,654,0.40191298397,0.00458763168712,0.0498302403816,0.999999940688,0.000123400305739,-0.000320189460603,-2.95757639994e-05,1793237735998108160
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.265119434,679.265119434,667,637,881,789,803.265119434,655,632.265119434,654,0.401785281768,0.00458397961645,0.0498336155142,0.999999944153,0.000116998957728,-0.000311577470757,-3.04129065902e-05,1793237736014774784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.318098964,667,637,881,789,803.318098964,655,632,654,0.401671795122,0.00458680791985,0.0498387304582,0.999999946841,0.000119288770794,-0.000301762769975,-3.20553897892e-05,1793237736031441664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.897524849,667,637,881,789,803.897524849,655,632,654,0.401569986926,0.00459496002579,0.049845274705,0.999999948797,0.000128718607549,-0.000290960008585,-3.43594822157e-05,1793237736048108288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.475091782,715,679.524908218,667.475091782,637,881,789,803.524908218,655,632.475091782,654,0.40148178945,0.0045928962837,0.0498487518778,0.999999951133,0.000126195800398,-0.000283937125826,-3.44828245082e-05,1793237736064774912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.052096965,746.947903035,715,679.052096965,667.947903035,637,881,788.947903035,803.052096965,654.947903035,633,654,0.401397795715,0.00458923947038,0.0498511867866,0.999999953218,0.000121760755722,-0.000278504936888,-3.42488108356e-05,1793237736081441536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.627471897,746.372528103,715,679.627471897,667.372528103,637,881,788.372528103,803.627471897,654.372528103,633,654,0.401326652752,0.00459162784788,0.0498497718296,0.999999952255,0.000123913219864,-0.000280892928588,-3.51316100068e-05,1793237736098108160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,715,680,667,637,881,788.207906096,804,654.207906096,632.792093904,654,0.401263094753,0.00459330206669,0.049850186436,0.999999952294,0.000126766599317,-0.000279414578041,-3.56419229222e-05,1793237736114775040
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746,715,680,667,637,881,788.797631603,804,654.797631603,632.202368397,654,0.401213466542,0.00459366473338,0.0498539610343,0.999999954127,0.00013090720915,-0.000270835692319,-3.54681650165e-05,1793237736131441664
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,715.380214991,679.619785009,667,637,881,789,804,655,632.380214991,654.380214991,0.401171670066,0.00459367374433,0.0498560837755,0.999999955316,0.000131672789576,-0.000266047363795,-3.53354730416e-05,1793237736148108544
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746,715.959067078,679.040932922,667,637,881,789,804,655,632.959067078,654.959067078,0.401133965155,0.00459349799361,0.0498573435308,0.999999956194,0.000130675141038,-0.000263239350076,-3.52242352959e-05,1793237736164775168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.465088661,746,716,679.534911339,667,637,881,789,804,655,632.465088661,654.465088661,0.401105015081,0.00459428230632,0.0498584541963,0.999999956543,0.00013113507532,-0.000261661662579,-3.53589683898e-05,1793237736181441792
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.554478088,715.554478088,680,667,637,881.554478088,789,804,655,632.445521912,654.445521912,0.401008539322,0.00459383076352,0.0498687752942,0.999999962117,0.000129223574804,-0.000240521635358,-3.48888790022e-05,1793237736498108416
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.869626765,715.869626765,680,667,637,881.869626765,789,803.869626765,655,632,654.130373235,0.401009473822,0.00459321068168,0.049869424315,0.999999962551,0.000128989009917,-0.000238839952863,-3.48507085198e-05,1793237736514775040
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.277565062,715.277565062,680,667,637,881.277565062,789,803.277565062,655,632,654.722434938,0.401008087651,0.0045925790611,0.0498679126197,0.999999962106,0.0001283923726,-0.000241008686914,-3.49134765883e-05,1793237736531441664
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,789,803.307830754,654.692169246,632,655,0.401007584882,0.00459258391234,0.0498679368787,0.999999962098,0.000128046687741,-0.000241226292899,-3.48903949246e-05,1793237736548108288
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+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.809223058,667,637,882,789,804,654,632,654,0.40100631911,0.00459247282623,0.0498684411095,0.999999962275,0.000127760278941,-0.000240709721089,-3.44492081693e-05,1793237736631441664
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.218594281,667,637,882,789,804,654,632,654,0.401007203618,0.00459309989809,0.0498691565237,0.999999962267,0.000130574844846,-0.000239235719368,-3.43763915864e-05,1793237736648108288
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.364675925,715,679,667,637,881.635324075,789,804,654.364675925,632.364675925,654.364675925,0.401007829494,0.00459432622664,0.0498699393831,0.999999962321,0.000132560451118,-0.000237903069325,-3.44660072406e-05,1793237736664774912
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.943622462,715,679,667,637,881.056377538,789,804,654.943622462,632.943622462,654.943622462,0.401008303405,0.00459590465708,0.0498707618709,0.999999962411,0.000134058990006,-0.000236653472592,-3.46510623083e-05,1793237736681441536
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,747,715,679,667,637,881,789,803.478760269,654.478760269,633,654.478760269,0.401007308125,0.004593838733,0.049870086729,0.999999962525,0.000131067452032,-0.000237874070087,-3.44420252553e-05,1793237736698108160
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bb177c13cd04e1fea17b82ee8f423e192119ccc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,435 @@
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+420,7.000000000,pose2_to_pose3_retreat,0.578253432998,0.0100011300508,1.04001147557,0.548824668516,0.0186747983295,1.03966101375
+421,7.016666667,pose2_to_pose3_retreat,0.578253323512,0.0100011215535,1.04001146056,0.548824559111,0.0186747901236,1.03966099915
+422,7.033333333,pose2_to_pose3_retreat,0.578253234544,0.0100011146486,1.04001144836,0.548824470209,0.0186747834556,1.03966098729
+423,7.050000000,pose2_to_pose3_retreat,0.578253115502,0.0100011054096,1.04001143203,0.548824351254,0.0186747745335,1.03966097142
+424,7.066666667,pose2_to_pose3_retreat,0.578252989894,0.0100011391419,1.04001147017,0.548824225103,0.0186748064247,1.03966100956
+425,7.083333333,pose2_to_pose3_retreat,0.578252734855,0.0100012631611,1.04001161833,0.548823968152,0.0186749239273,1.03966115709
+426,7.100000000,pose2_to_pose3_retreat,0.578252572682,0.0100013420221,1.04001171254,0.548823804762,0.0186749986445,1.03966125091
+427,7.116666667,pose2_to_pose3_retreat,0.578252460032,0.010001396801,1.04001177799,0.548823691267,0.0186750505451,1.03966131607
+428,7.133333333,pose2_to_pose3_retreat,0.578252403903,0.0100014062318,1.0400117879,0.54882363501,0.0186750595266,1.03966132562
+429,7.150000000,pose2_to_pose3_retreat,0.578252365001,0.0100013778483,1.04001175041,0.548823596591,0.0186750327572,1.03966128744
+430,7.166666667,pose2_to_pose3_retreat,0.578252235648,0.0100012834716,1.04001162576,0.548823468849,0.0186749437472,1.03966116048
+431,7.183333333,pose2_to_pose3_retreat,0.578252161903,0.0100012445495,1.04001159577,0.548823395814,0.0186749072129,1.03966112988
+432,7.200000000,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+433,7.216666667,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..679577a9dbc82fd1002eb9ae143a7608415e90a1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c8064a744adee4e50a8a120704e33b49d0613b2136a2f291f5c15be94ead17
+size 27687241
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41fabfb5b2bc38a6802a4ce32ae34b7b980c6310
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,437 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,715,680,667,637,881,789,804,654,632,654,0.401005490388,0.00459135894127,0.0498694167385,0.999999962816,0.00012734099763,-0.000238740950347,-3.39826544875e-05,1793237736855211264
+1,0.016666667,BASELINE,767,746,715.579345783,680,667,637,881,789,804,654.579345783,632.579345783,654,0.401006243384,0.00459240635876,0.0498694293821,0.999999962849,0.000127150915251,-0.000238647790931,-3.43909472438e-05,1793237736871878656
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+21,0.350000000,BASELINE,767.816401626,746,715.183598374,679.816401626,667,637,882,789,803.816401626,654.183598374,632.816401626,654,0.401008411951,0.0045945312289,0.04987154286,0.999999963629,0.000129179322286,-0.000234244515329,-3.44218527546e-05,1793237737205211392
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+23,0.383333333,BASELINE,767,746,715.665740175,679,667,637,881.665740175,789,803.334259825,655,632.334259825,654.334259825,0.401005554621,0.00459373587258,0.0498696491602,0.999999962966,0.000129198517879,-0.000237048009025,-3.44028602278e-05,1793237737238544384
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+27,0.450000000,BASELINE,767,747,715.665439156,679.665439156,667,637,881.334560844,789,803.334560844,655,632.665439156,654,0.401008464342,0.00459419103632,0.0498718683545,0.999999963966,0.000127666906832,-0.000233559925225,-3.49124445233e-05,1793237737305210880
+28,0.466666667,BASELINE,767.241677164,747,716,680,667,637,881.241677164,789,803.241677164,655,633,654,0.401009339782,0.00459382349622,0.0498724134157,0.999999964309,0.000126242387579,-0.000232883137188,-3.47786736441e-05,1793237737321877760
+29,0.483333333,BASELINE,767.817161688,747,716,680,667,637,881.817161688,789,803.817161688,655,633,654,0.401008219193,0.00459306180966,0.0498715983527,0.999999964206,0.000124669224364,-0.000234174729005,-3.47558082327e-05,1793237737338544640
+30,0.500000000,BASELINE,767.59938706,746.59938706,715.59938706,679.59938706,667,637,882,789,804,655,632.59938706,654,0.401008075951,0.00459231004846,0.0498712071429,0.999999964076,0.000125076549102,-0.00023454383817,-3.45489902841e-05,1793237737355211264
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+33,0.550000000,BASELINE,767.146821076,746,715,680,667,637,881.853178924,789,804,654.146821076,633,654.146821076,0.40100519024,0.00459297882585,0.0498696647368,0.999999963063,0.000128226615903,-0.000237194803206,-3.42120977806e-05,1793237737405210880
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+39,0.650000000,BASELINE,767,746,716,680,667,637,882,789.630655424,804,654.630655424,632.369344576,654.369344576,0.401005973306,0.00459310558645,0.0498706250865,0.999999963607,0.000126395619859,-0.000235860325075,-3.4362378676e-05,1793237737505211136
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+45,0.750000000,BASELINE,767.112878903,746.112878903,716,679.112878903,667,637,881.887121097,789,804,655,632.112878903,654.887121097,0.401004840693,0.0045928998603,0.0498695656876,0.999999963035,0.000127468844535,-0.000237727861486,-3.41615441834e-05,1793237737605211136
+46,0.766666667,BASELINE,767.68922018,746.68922018,716,679.68922018,667,637,881.31077982,789,804,655,632.68922018,654.31077982,0.401004583641,0.00459381190389,0.0498694524099,0.999999962952,0.000127792557705,-0.000237887088389,-3.42778317544e-05,1793237737621878016
+47,0.783333333,BASELINE,767.735390961,746.735390961,715.735390961,680,667,637,881.264609039,789,803.735390961,655,633,654.264609039,0.401004046353,0.00459375836525,0.0498694015417,0.999999962908,0.000127648816916,-0.000238156027021,-3.42365346656e-05,1793237737638544640
+48,0.800000000,BASELINE,767.161116615,746.161116615,715.161116615,680,667,637,881.838883385,789,803.161116615,655,633,654.838883385,0.40100318111,0.00459257483011,0.0498694237096,0.999999962909,0.000126958026554,-0.000238553358555,-3.40108202268e-05,1793237737655211520
+49,0.816666667,BASELINE,767.426064358,746.426064358,715.426064358,680,667,637,882,789,803.426064358,655,633,654.573935642,0.401004309884,0.00459288690702,0.0498700713584,0.999999963201,0.000127816365374,-0.000236846206277,-3.41255939438e-05,1793237737671878144
+50,0.833333333,BASELINE,768,747,716,679.98213603,667.01786397,637,881.98213603,789,804,655,633,654.01786397,0.401006175453,0.0045937267294,0.0498709528892,0.999999963594,0.000129228424591,-0.000234373441926,-3.43563710943e-05,1793237737688544512
+51,0.850000000,BASELINE,768,747,716,679.403349818,667.596650182,637,881.403349818,789,804,655,633,654.596650182,0.401006759918,0.0045928242092,0.0498715193915,0.999999963801,0.000129058443389,-0.000233629559611,-3.40604301586e-05,1793237737705211136
+52,0.866666667,BASELINE,767.826577097,747,716,679,667.826577097,637,881,789,804,655,633,655,0.401007060521,0.00459215178161,0.0498716679399,0.999999963936,0.000128187720731,-0.000233555185871,-3.3870003173e-05,1793237737721877760
+53,0.883333333,BASELINE,767.254433677,747,716,679,667.254433677,637,881,789,804,655,633,655,0.40100670849,0.00459200836519,0.0498708555612,0.999999963906,0.000125705907552,-0.000235020094484,-3.39221657141e-05,1793237737738544640
+54,0.900000000,BASELINE,767,746.681421372,715.681421372,679,667,637,881,789,804,655,633,655,0.401005793462,0.00459199295259,0.0498702072545,0.999999963728,0.000124807573097,-0.000236232788193,-3.40636769448e-05,1793237737755211520
+55,0.916666667,BASELINE,767,746.10771326,715.10771326,679,667,637,881,789,804,655,633,655,0.401004427565,0.00459208005017,0.0498696903428,0.999999963436,0.000125177346772,-0.000237243498858,-3.42767418901e-05,1793237737771878400
+56,0.933333333,BASELINE,767,746.482722249,715,679,667,637,881.482722249,789,804,655,633,655,0.401005678528,0.00459238693928,0.049870085513,0.999999963658,0.000126348722344,-0.000235670296507,-3.43477815179e-05,1793237737788544768
+57,0.950000000,BASELINE,767,746.924882279,715,679,667.075117721,637,882,789,804,655,633,654.924882279,0.401007279493,0.00459270232531,0.0498706673742,0.999999963922,0.000127638125481,-0.000233849742401,-3.43468196528e-05,1793237737805211392
+58,0.966666667,BASELINE,767,746.345290883,715,679,667.654709117,637,882,789,804,655,633,654.345290883,0.40100716876,0.00459273358536,0.0498710871561,0.999999963699,0.00012847582349,-0.000234379117428,-3.4082782194e-05,1793237737821878016
+59,0.983333333,BASELINE,767,746,715,679,667.769125883,637,881.769125883,789,804,655,633,654,0.401007146949,0.00459264377385,0.0498712433954,0.999999963696,0.000128390235156,-0.000234467819841,-3.38825092651e-05,1793237737838544384
+60,1.000000000,BASELINE,767,746,715,679,667.198010311,637,881.198010311,789,804,655,633,654,0.401007256185,0.00459237553799,0.0498710112496,0.999999964016,0.000126943990786,-0.000233907098769,-3.37762067117e-05,1793237737855211008
+61,1.016666667,BASELINE,767,746.386824595,715.386824595,679,667,637,881,789,804,655,633,654,0.401006697287,0.00459279502411,0.0498706883845,0.999999963884,0.000126754085827,-0.000234512754257,-3.41865605742e-05,1793237737871877376
+62,1.033333333,BASELINE,767,746.97894044,715.97894044,679,667,637,881,789,804,655,633,654,0.401005783804,0.00459357949041,0.049870317374,0.999999963512,0.000127230931444,-0.000235737416179,-3.48711085927e-05,1793237737888544256
+63,1.050000000,BASELINE,767,746.441449473,716,679.558550527,667,637,881,789,804,655,633,654,0.401005677069,0.00459418208643,0.0498703986016,0.999999963578,0.000127820076383,-0.000235178281598,-3.45891804733e-05,1793237737905211136
+64,1.066666667,BASELINE,767,746,716,680,667,637,881.137301258,789,803.862698742,655,632.862698742,654,0.401005343516,0.00459454326431,0.0498703867753,0.999999963557,0.000128550893226,-0.000234906961511,-3.43331150073e-05,1793237737921878016
+65,1.083333333,BASELINE,767,746,716,680,667,637,881.71477548,789,803.28522452,655,632.28522452,654,0.401004187434,0.0045941519838,0.0498700231608,0.999999963205,0.000129722617928,-0.000235769237701,-3.42742266711e-05,1793237737938544640
+66,1.100000000,BASELINE,767,746,715.710092152,680,667,637,881.710092152,789,803.289907848,655,632,654,0.401004515309,0.00459352419015,0.0498703886473,0.999999963429,0.0001289686686,-0.000235234382223,-3.42513571017e-05,1793237737955211520
+67,1.116666667,BASELINE,767,746,715.137245377,680,667,637,881.137245377,789,803.862754623,655,632,654,0.401006291469,0.00459266556878,0.0498714657084,0.99999996421,0.0001263353353,-0.000233335979838,-3.42636404686e-05,1793237737971878144
+68,1.133333333,BASELINE,767,746.447609221,715.447609221,680,667,637,881,789,804,655,632.447609221,654.447609221,0.40100725759,0.00459456739629,0.0498717267973,0.999999964009,0.000128922473204,-0.000232764313063,-3.43899862108e-05,1793237737988544768
+69,1.150000000,BASELINE,767,747,716,679.964200341,667,637,881,789,804,654.964200341,633,654.964200341,0.401007933922,0.00459711905533,0.0498717336612,0.999999963526,0.000132863480782,-0.00023260026175,-3.45390759791e-05,1793237738005211392
+70,1.166666667,BASELINE,767,747,716,679.382829973,667,637,881,789,804,654.382829973,633,654.382829973,0.401008083413,0.00459631944391,0.0498717841711,0.999999963668,0.000132370543338,-0.000232277711998,-3.44870991469e-05,1793237738021878016
+71,1.183333333,BASELINE,767,746.80357893,716,679.19642107,667,637,881,789,804,654.19642107,632.80357893,654.19642107,0.401007818915,0.00459551828113,0.0498715658779,0.999999963735,0.000131364828105,-0.000232565990486,-3.44359778998e-05,1793237738038544640
+72,1.200000000,BASELINE,767,746.228414314,716,679.771585686,667,637,881,789,804,654.771585686,632.228414314,654.771585686,0.401006756154,0.00459471412687,0.0498708292725,0.999999963655,0.000129370363066,-0.000234032081729,-3.43865064023e-05,1793237738055211264
+73,1.216666667,BASELINE,767.346895657,746,715.653104343,680,667.346895657,637,881,789,804,654.653104343,632.346895657,655,0.401006334675,0.00459390470285,0.0498708904258,0.999999963721,0.000128642662976,-0.000234171485119,-3.42350399796e-05,1793237738071878400
+74,1.233333333,BASELINE,767.922301344,746,715.077698656,680,667.922301344,637,881,789,804,654.077698656,632.922301344,655,0.401006335627,0.00459309180752,0.0498714770855,0.999999963887,0.000128749417085,-0.000233436961423,-3.40163866038e-05,1793237738088545024
+75,1.250000000,BASELINE,767.48973912,746,715.51026088,679.48973912,667.48973912,637,881,789,804,654.51026088,632.48973912,654.48973912,0.401007032648,0.00459231165829,0.0498713196939,0.999999964169,0.000127865228721,-0.00023270112329,-3.41073137516e-05,1793237738105211648
+76,1.266666667,BASELINE,767,746.09837845,715.90162155,679.09837845,667,637,881.09837845,789,804,655,632.09837845,654,0.401007507413,0.00459169672051,0.049871118328,0.999999964366,0.000127107708443,-0.000232258465378,-3.41574471201e-05,1793237738121878272
+77,1.283333333,BASELINE,767,746.677687831,715.322312169,679.677687831,667,637,881.677687831,789,804,655,632.677687831,654,0.401006364439,0.00459186444118,0.0498712698297,0.99999996407,0.000127725674852,-0.000233250045599,-3.37718936252e-05,1793237738138544640
+78,1.300000000,BASELINE,767,746.7451828,715.2548172,680,667,637,882,789,804,655,633,654,0.401006657097,0.00459208626813,0.0498717422152,0.999999964088,0.000127917428852,-0.000233065989719,-3.37960743703e-05,1793237738155211008
+79,1.316666667,BASELINE,767,746.170787528,715.829212472,680,667,637,882,789,804,655,633,654,0.401008750247,0.00459237595225,0.0498726170357,0.999999964498,0.000127574650052,-0.000231407513996,-3.43341218621e-05,1793237738171877632
+80,1.333333333,BASELINE,767,746,716,679.586968748,667,637,882,789,804,655,633,654,0.401009519059,0.0045922469361,0.0498731680282,0.999999964804,0.000126924116343,-0.00023043994631,-3.43462760143e-05,1793237738188544256
+81,1.350000000,BASELINE,767,746.000828076,715.999171924,679.000828076,667,637,881.999171924,789,804,655,633,654,0.40100972696,0.00459194192103,0.0498735812302,0.999999965065,0.000126143933057,-0.000229765676037,-3.41362511779e-05,1793237738205211136
+82,1.366666667,BASELINE,767,746.58190926,715.41809074,679.58190926,667,637,881.41809074,789,804,655,633,654,0.401009574954,0.00459246030968,0.0498734605793,0.999999965115,0.000125768540439,-0.000229748808111,-3.41742707536e-05,1793237738221878016
+83,1.383333333,BASELINE,767,746.838749775,715.161250225,679.838749775,667,637,881,789,804,655,633,654,0.401008724805,0.00459302261834,0.0498730224496,0.999999964909,0.000125980661854,-0.000230525997683,-3.41862876589e-05,1793237738238544640
+84,1.400000000,BASELINE,767,746.263872566,715.736127434,679.263872566,667,637,881,789,804,655,633,654,0.401006083831,0.00459369758743,0.0498717699471,0.99999996404,0.000127699830119,-0.000233340043984,-3.41316044719e-05,1793237738255211008
+85,1.416666667,BASELINE,767,746.308546336,716,679,667,637,881.308546336,789.308546336,804,655,633,654,0.401005304749,0.00459319151056,0.0498713550049,0.999999963951,0.00012672560637,-0.000234273852393,-3.39790791541e-05,1793237738271877632
+86,1.433333333,BASELINE,767,746.878879447,716,679,667,637,881.878879447,789.878879447,804,655,633,654,0.401006105394,0.00459168337276,0.0498716506927,0.999999964521,0.000123466168504,-0.000233612368916,-3.37435394818e-05,1793237738288544000
+87,1.450000000,BASELINE,767.472263494,746.527736506,715.527736506,679,667,637,881.527736506,789.527736506,804.472263494,655,633,654,0.401005527433,0.00459175657083,0.0498713077582,0.999999964271,0.000124329481624,-0.000234203512801,-3.39073115259e-05,1793237738305210624
+88,1.466666667,BASELINE,767.930906796,746.069093204,715.069093204,679.069093204,667,637,881,789,804.930906796,654.930906796,633,654.069093204,0.401004792758,0.00459218346822,0.0498709304668,0.999999963882,0.000126102843748,-0.000234884986489,-3.41164850608e-05,1793237738321877248
+89,1.483333333,BASELINE,767.354415561,746.645584439,715.645584439,679.645584439,667,637,881,789,804.354415561,654.354415561,633,654.645584439,0.401005636959,0.00459207667099,0.0498715653828,0.999999964119,0.000126395996005,-0.000233749529612,-3.38684093313e-05,1793237738338544128
+90,1.500000000,BASELINE,767.22101135,747,716,679.77898865,667,637,881.22101135,789,804,654.22101135,633,654.77898865,0.401006910936,0.00459220030993,0.0498722300006,0.999999964351,0.000126776249631,-0.000232548461246,-3.38585861668e-05,1793237738355211008
+91,1.516666667,BASELINE,767.794739626,747,716,679.205260374,667,637,881.794739626,789,804,654.794739626,633,654.205260374,0.401008870803,0.00459269170705,0.0498729420201,0.999999964576,0.000127295510236,-0.000231242682155,-3.42289955911e-05,1793237738371877888
+92,1.533333333,BASELINE,767.622038213,746.622038213,716,679,667.377961787,637,882,789,804,655,633,654.377961787,0.401008651429,0.00459294752919,0.0498727308228,0.999999964656,0.000126185477723,-0.000231460206228,-3.45119655328e-05,1793237738388544512
+93,1.550000000,BASELINE,767.03352729,746.03352729,716,679,667.96647271,637,882,789,804,655,633,654.96647271,0.401007218077,0.0045930721209,0.049872005334,0.999999964653,0.000124167823723,-0.000232526308462,-3.47462260678e-05,1793237738405210880
+94,1.566666667,BASELINE,767,746,716,679.546361121,667.453638879,637,882,789,803.453638879,655,632.453638879,654.453638879,0.401006642978,0.00459343581537,0.0498714232534,0.999999964299,0.000125162752251,-0.000233530449884,-3.46411865631e-05,1793237738421877504
+95,1.583333333,BASELINE,767,746,715.874632129,679.874632129,667,637,882,789,803.125367871,655,632.125367871,654.125367871,0.401006515158,0.00459384842525,0.0498711700477,0.999999964025,0.000126529003461,-0.000233979423229,-3.45628465366e-05,1793237738438544128
+96,1.600000000,BASELINE,767,746,715.296926881,679.296926881,667,637,882,789,803.703073119,655,632.703073119,654.703073119,0.401007814082,0.00459438540901,0.0498720721905,0.999999964119,0.000128578367892,-0.000232438811247,-3.46547971944e-05,1793237738455210752
+97,1.616666667,BASELINE,767.278008065,746.278008065,715,679,667,637,882,789,804,655,633,654.721991935,0.401007612669,0.00459438763084,0.0498719967148,0.999999963988,0.000129633386924,-0.000232422951793,-3.46262210398e-05,1793237738471877632
+98,1.633333333,BASELINE,767.850013345,746.850013345,715,679,667,637,882,789,804,655,633,654.149986655,0.401005824627,0.00459382433482,0.0498708873947,0.99999996362,0.000129636872386,-0.000234019538447,-3.44701861774e-05,1793237738488544768
+99,1.650000000,BASELINE,767.562585732,746.562585732,715,679.437414268,667,637,882,789,804,655,633,654,0.401006786253,0.00459280537041,0.0498714428818,0.999999964217,0.000126827294975,-0.000233038496598,-3.42513008464e-05,1793237738505211392
+100,1.666666667,BASELINE,767.029524615,746,715.029524615,679.970475385,667,637,882,789,804,655,633,654,0.401008605497,0.00459169780221,0.0498725065794,0.99999996508,0.00012326336483,-0.000231274084824,-3.40329062572e-05,1793237738521878016
+101,1.683333333,BASELINE,767.607476497,746,715.607476497,679.392523503,667,637,882,789,804,655,633,654,0.401008202758,0.004591952582,0.049872019858,0.999999964788,0.000124258136276,-0.000231975106492,-3.4238547201e-05,1793237738538544384
+102,1.700000000,BASELINE,767.81565152,746,716,679.18434848,667,637,881.81565152,789,804,655,633,654,0.401007687187,0.00459194544453,0.0498716874259,0.999999964609,0.00012439148619,-0.000232659904294,-3.43368303044e-05,1793237738555211264
+103,1.716666667,BASELINE,767.241065591,746,716,679.758934409,667,637,881.241065591,789,804,655,633,654,0.401006932765,0.00459138386837,0.0498716816007,0.99999996467,0.000122701338751,-0.00023331035857,-3.42078533037e-05,1793237738571877632
+104,1.733333333,BASELINE,767,746,715.657518277,679.657518277,667,637,881,789,803.657518277,655,632.657518277,654.342481723,0.401006529458,0.00459159088041,0.0498716477013,0.99999996452,0.000123925186549,-0.000233310607991,-3.41777759012e-05,1793237738588544256
+105,1.750000000,BASELINE,767,746,715.06749369,679.06749369,667,637,881,789,803.06749369,655,632.06749369,654.93250631,0.401006379933,0.00459235342138,0.0498715935101,0.99999996421,0.000127255245029,-0.000232840894963,-3.42191822693e-05,1793237738605210880
+106,1.766666667,BASELINE,767,746.512991076,715.512991076,679.512991076,667,637,881.512991076,789,803.512991076,655,632.512991076,654.487008924,0.401005487818,0.0045924103963,0.0498712058639,0.999999964132,0.000126031057212,-0.000233826351163,-3.43161990432e-05,1793237738621877760
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,715,680,667,637,881,789,804,655,633,654,0.401004975831,0.00459265186734,0.0498705055517,0.999999963537,0.000128276609272,-0.000235180743258,-3.4062362334e-05,1793237738664885248
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.424877937,715,680,667.575122063,637,881.575122063,789,804,655,633,654.575122063,0.401006497265,0.00459256763243,0.0498712728633,0.999999964042,0.000126886565955,-0.000233755210825,-3.42753696168e-05,1793237738681551872
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.153910509,715,680.153910509,667.846089491,637,882,789,803.846089491,655,632.846089491,655,0.40100738843,0.00459256120538,0.0498717828368,0.999999964368,0.000125935635001,-0.000232863205107,-3.43429346958e-05,1793237738698218496
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.743067318,715,680.743067318,667.256932682,637,882,789,803.256932682,655,632.256932682,655,0.401006497243,0.00459277481255,0.0498715650795,0.999999964199,0.000126226477493,-0.000233479968874,-3.39992011958e-05,1793237738714884864
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,747,715.326818019,680.346363962,667,637,881.673181981,789,803.326818019,655,632.326818019,654.673181981,0.401007170523,0.00459316822113,0.0498720947146,0.999999964439,0.000126103506212,-0.000232514907903,-3.40235043965e-05,1793237738731551488
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,747,715.906387754,679.187224493,667,637,881.093612246,789,803.906387754,655,632.906387754,654.093612246,0.401009053719,0.00459370068299,0.0498732023615,0.99999996499,0.000125660503167,-0.000230326508848,-3.43324366847e-05,1793237738748218112
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,747,715.516454674,679,667,637,881,789,804,655,633,654,0.401011045245,0.00459315604077,0.0498743501387,0.999999965674,0.00012483277605,-0.000227794350617,-3.43289840883e-05,1793237738764884736
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.940008649,715.059991351,679.059991351,667,637,881.059991351,789,804,655,632.940008649,654.059991351,0.40101242615,0.00459240437298,0.0498751917296,0.999999966192,0.000124140914569,-0.000225906181083,-3.42266601068e-05,1793237738781551360
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.365679245,715.634320755,679.634320755,667,637,881.634320755,789,804,655,632.365679245,654.634320755,0.401008392955,0.00459165666604,0.0498733419431,0.999999965111,0.000125249297037,-0.000230107011233,-3.37925811035e-05,1793237738798218240
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.214658579,716,679.785341421,667,637,881.785341421,789,804,654.785341421,632.214658579,655,0.401008021955,0.00459132726232,0.0498731289893,0.999999964743,0.000126163709837,-0.000231223209826,-3.36666009643e-05,1793237738814885120
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.805526668,716,679.194473332,667,637,881.194473332,789,804,654.194473332,632.805526668,655,0.401014069298,0.00459173097472,0.0498757847401,0.999999965639,0.000126738172294,-0.00022693329875,-3.40805933388e-05,1793237738831551488
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.389275055,747,716,679.389275055,667,637,881.389275055,789,804,654.389275055,633,655,0.401030012355,0.00459139944692,0.0498820375977,0.9999999684,0.000126000045347,-0.00021488471612,-3.3898378367e-05,1793237738848218112
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.96953053,747,716,679.96953053,667,637,881.96953053,789,804,654.96953053,633,655,0.401050810302,0.00459070720637,0.0498900552152,0.99999997187,0.000124617955055,-0.000199029687361,-3.34236609169e-05,1793237738864884736
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.456861101,746.456861101,715.456861101,680,667,637,881.456861101,789,804,655,633,655,0.4010947958,0.00459134629772,0.0499054041168,0.999999977723,0.000124930549049,-0.000166805395608,-3.34987235401e-05,1793237738881552384
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.119446473,679.880553527,667,637,881,789,803.880553527,655,632.880553527,655,0.401142994434,0.00459216701937,0.0499212482352,0.9999999826,0.000125457810732,-0.000133912139737,-3.35814453447e-05,1793237738898219776
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.707796473,679.292203527,667,637,881,789,803.292203527,655,632.292203527,655,0.401202687621,0.00459341110984,0.0499374413971,0.999999986243,0.000126459082906,-0.000101954080107,-3.35746236575e-05,1793237738914885632
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.707669331,679,667,637,881,788.707669331,803.292330669,655,632,654.707669331,0.401268828266,0.00459314746855,0.0499499707447,0.999999988231,0.000126773789869,-7.98653181614e-05,-3.29775301785e-05,1793237738931552000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.126900169,679,667,637,881,788.126900169,803.873099831,655,632,654.126900169,0.401341330521,0.00459139616979,0.0499588850583,0.999999989225,0.000126411072774,-6.75144531744e-05,-3.17980239802e-05,1793237738948219136
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.449484088,715,679,667,637,881.449484088,788.449484088,803.550515912,654.550515912,632.449484088,654.449484088,0.401415445808,0.00458959053182,0.0499609778501,0.999999989771,0.000124318074769,-6.35992987939e-05,-3.09643299572e-05,1793237738964886016
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.024609762,747,715,679,667,637,882,789,803.024609762,654.024609762,632.975390238,654.975390238,0.401490806604,0.00458781326992,0.0499611147637,0.999999990189,0.000121788746098,-6.22455690558e-05,-3.02372003038e-05,1793237738981552384
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.599007771,747,715,679,667,637,882,789,803.599007771,654.599007771,632.400992229,654.400992229,0.401583916982,0.00458700935275,0.049960165833,0.99999999018,0.000120319456365,-6.54231053948e-05,-2.97307140085e-05,1793237738998218752
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.821499975,747,715.178500025,679,667.178500025,637,881.821499975,789,804,654.821499975,632,654,0.401683777642,0.00458624196701,0.0499594737048,0.999999990285,0.000118464805217,-6.74129876572e-05,-2.91670791222e-05,1793237739014885376
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.230227616,747,715.769772384,679,667.769772384,637,881.230227616,789,804,654.230227616,632,654,0.40179924798,0.00458555905851,0.0499593754193,0.999999990678,0.000115719025377,-6.66564791315e-05,-2.84712910637e-05,1793237739031552256
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.646270633,715.646270633,679.353729367,667.646270633,637,881.353729367,789,803.646270633,654,632,654,0.401937379384,0.00458400987076,0.0499630481206,0.999999991473,0.000112272280031,-6.08136881234e-05,-2.74060934484e-05,1793237739048218624
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.066978393,715.066978393,679.933021607,667.066978393,637,881.933021607,789,803.066978393,654,632,654,0.402089961099,0.00458190828202,0.0499691254697,0.999999992448,0.000108378549201,-5.17275234369e-05,-2.61053340911e-05,1793237739064884992
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,679.492870219,667,637,881.492870219,789,803,654,632.507129781,654.507129781,0.402243713336,0.00458094023056,0.0499643982876,0.999999991926,0.000107724993265,-6.27127893126e-05,-2.47184747325e-05,1793237739081552128
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803,654.082892779,633,654.917107221,0.40240296321,0.00458002507116,0.0499594529338,0.999999991303,0.000106977427483,-7.35199168687e-05,-2.33383087891e-05,1793237739098219008
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803,654.672926786,633,654.327073214,0.402594911649,0.00457852684246,0.0499618148438,0.999999992189,0.000103063038209,-6.71829743396e-05,-2.20679602954e-05,1793237739114885632
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.258534328,715,679,667.258534328,637,881,789,803.258534328,654.741465672,633,654,0.402805315833,0.00457596122344,0.0499654879166,0.999999993238,9.83703999265e-05,-5.85261579647e-05,-2.05556865576e-05,1793237739131552000
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.838636155,715,679,667.838636155,637,881,789,803.838636155,654.161363845,633,654,0.40303867544,0.00457206797411,0.0499707918264,0.999999994423,9.27097682265e-05,-4.69838604285e-05,-1.87425039352e-05,1793237739148218368
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,747,715.415352908,679.415352908,667.584647092,637,881.415352908,789,804,654.415352908,632.584647092,654.415352908,0.403300442047,0.0045687538548,0.0499776496383,0.999999995512,8.7251439763e-05,-3.2835536597e-05,-1.68544316558e-05,1793237739164884992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,747,715.990765186,679.990765186,667.009234814,637,881.990765186,789,804,654.990765186,632.009234814,654.990765186,0.403573155499,0.00456566290769,0.049985106258,0.999999996381,8.18710704889e-05,-1.76829611839e-05,-1.49375001226e-05,1793237739181551616
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,716,679.435819863,667.564180137,637,881.435819863,789,803.435819863,655,632.564180137,654.435819863,0.403871801091,0.00456455451259,0.0499932852788,0.999999996639,8.09302431744e-05,-9.85816884915e-07,-1.3083682187e-05,1793237739198218496
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.857600824,716,679,667.857600824,637,881,789,803.142399176,654.857600824,632.857600824,654,0.40417571309,0.0045624968387,0.0500003018176,0.999999996779,7.84410277943e-05,1.28221574301e-05,-1.11287660587e-05,1793237739214885120
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.264058573,716,679,667.264058573,637,881,789,803.735941427,654.264058573,632.264058573,654,0.404494969792,0.0045573292511,0.0500035980979,0.999999997302,7.08168603947e-05,1.73969658271e-05,-8.85029385006e-06,1793237739231552000
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.320795778,716,679,667,637,881.320795778,789,804,654.320795778,632.320795778,654,0.404841167801,0.00455377723456,0.0500078505959,0.999999997402,6.70548133854e-05,2.5728831087e-05,-6.15987638092e-06,1793237739248218624
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.898687435,716,679,667,637,881.898687435,789,804,654.898687435,632.898687435,654,0.405208957459,0.0045515199872,0.0500128694373,0.999999997104,6.63879909467e-05,3.70717210052e-05,-3.13931270805e-06,1793237739264885504
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.526455419,716,679,667,637,881.526455419,789,804,654.526455419,633,654,0.40557642173,0.00454834774074,0.0499994452906,0.999999998021,6.20387885329e-05,1.04523921642e-05,-4.5123057586e-07,1793237739281551872
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.047824121,746.047824121,716,679,667.047824121,636.952175879,881,789,804,654,633,654.047824121,0.405946326303,0.0045447720472,0.049982327685,0.999999998123,5.65216297991e-05,-2.35363586052e-05,2.15365865569e-06,1793237739298218240
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.622847943,746.622847943,716,679,667.622847943,636.377152057,881,789,804,654,633,654.622847943,0.406343894878,0.00453889312236,0.0499677147108,0.999999997656,4.67587341627e-05,-4.98008512097e-05,4.62060984911e-06,1793237739314884864
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.796843754,746.796843754,715.796843754,679,667.796843754,636.203156246,881,788.796843754,803.796843754,654,632.796843754,654.796843754,0.406755871506,0.00453351565996,0.0499562600512,0.999999996849,3.91310878301e-05,-6.87064793652e-05,7.04719399674e-06,1793237739331551744
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.20646304,746.20646304,715.20646304,679,667.20646304,636.79353696,881,788.20646304,803.20646304,654,632.20646304,654.20646304,0.407195310471,0.00452909400668,0.049950825275,0.999999996616,3.55733183583e-05,-7.35857965913e-05,9.39683669175e-06,1793237739348218880
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.377535097,715,679.377535097,667,637,881.377535097,788.377535097,803,654,632,654,0.407683114722,0.00452299966083,0.0499571511291,0.99999999777,2.87472677898e-05,-5.89472412409e-05,1.26341609347e-05,1793237739364885504
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.958100795,715,679.958100795,667,637,881.958100795,788.958100795,803,654,632,654,0.408196928813,0.00451600577551,0.0499698016082,0.999999999091,2.01636030384e-05,-3.38123756941e-05,1.6348861954e-05,1793237739381552128
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.469727045,715.530272955,679.469727045,667.530272955,637,882,789,803,654,632,654,0.408747653827,0.00451198081091,0.0499902846729,0.999999999669,1.65120672833e-05,-1.4048374903e-06,1.96595425215e-05,1793237739398219008
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667.894835922,637,882,788.894835922,803,654,632.105164078,654,0.409299408186,0.00450769033209,0.0500079914195,0.999999999031,2.75638151984e-05,2.5495680536e-05,2.29609795101e-05,1793237739414886144
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667.304385399,637,882,788.304385399,803,654,632.695614601,654,0.40984266372,0.00450110897046,0.0500100752661,0.999999993875,0.00010469450182,2.43732661811e-05,2.63647777702e-05,1793237739431553024
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881.719197882,788.280802118,803.280802118,654,632.719197882,654,0.410389769399,0.00449513584967,0.0500047987347,0.999999989977,0.000138017039,1.09121183795e-05,2.9625536393e-05,1793237739448219392
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881.139610357,788.860389643,803.860389643,654,632.139610357,654,0.410940971863,0.00448980992222,0.0499916904478,0.999999991563,0.000124725850064,-1.56779671663e-05,3.27340952837e-05,1793237739464885760
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715.561020774,679.438979226,667.438979226,637,881.438979226,788.561020774,803.561020774,654,632.438979226,654,0.411515185392,0.00448331942978,0.0499704545203,0.999999991831,0.000109002366075,-5.63631571332e-05,3.57811587585e-05,1793237739481552128
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715,679.982957622,667.982957622,637,882,788,803,654,632.982957622,654,0.412099967865,0.00447633011806,0.0499480924186,0.999999990374,8.98531669877e-05,-9.86272632621e-05,3.80893213255e-05,1793237739498218752
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715,679.411714814,667.411714814,637,882,788,803,654,632.411714814,654,0.412790998814,0.00446513648137,0.049972974777,0.999999998639,-1.55986834872e-05,-4.67932969205e-05,1.70037527373e-05,1793237739514885632
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.165420919,715,679.165420919,667,637,881.834579081,788.165420919,803,654,632,654,0.413477407115,0.00445434185145,0.0499944270421,0.999999995976,-8.95624520273e-05,-3.98220096673e-06,3.24025172813e-06,1793237739531552512
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.757765261,715,679.757765261,667,637,881.242234739,788.757765261,803,654,632,654,0.414151885105,0.00444457699121,0.0500070268148,0.999999996461,-8.22607992343e-05,1.55423875347e-05,8.37377093211e-06,1793237739548219648
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.657771765,715,679.657771765,667,637,881,789,803,654,632,654,0.414809992624,0.00443974602297,0.0499965290798,0.999999997387,-7.12389542037e-05,-7.07986377601e-07,1.22488228687e-05,1793237739564886016
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.078761798,715,679.078761798,667,637,881,789,803,654,632,654,0.415456773673,0.00443832872873,0.0499700505825,0.999999997352,-5.76431734157e-05,-4.17104321445e-05,1.52531630762e-05,1793237739581552384
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,715,679.478230989,667.478230989,637,881.478230989,789,803,654,632,654,0.416142678394,0.00444477670949,0.0499562184039,0.999999996595,-4.68926305365e-05,-6.51862391741e-05,1.90282229387e-05,1793237739598218752
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.035132102,715.035132102,679.964867898,667.964867898,636.964867898,881.964867898,788.964867898,803.035132102,654,632,654,0.416838926009,0.00445390029777,0.0499466413314,0.999999995797,-3.47444413345e-05,-8.18169837721e-05,2.24753694259e-05,1793237739614885120
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.647480672,715.647480672,679.352519328,667.352519328,636.352519328,881.352519328,788.352519328,803.647480672,654,632,654,0.417603899884,0.00448663782714,0.0499742615495,0.999999999308,7.7269994952e-06,-3.13222039022e-05,1.85412258309e-05,1793237739631551744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.754099335,747,715.754099335,679,667.245900665,636,881.245900665,788.245900665,803.754099335,654,632,654,0.41836435484,0.00450398609508,0.0499952091533,0.999999999366,3.10038919841e-05,5.50386057274e-06,1.66201408681e-05,1793237739648218368
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.174576641,747,715.174576641,679,667.825423359,636,881.825423359,788.825423359,803.174576641,654,632,654,0.419118678929,0.00450045521872,0.0500071037921,0.999999999167,2.82388758035e-05,2.37851080637e-05,1.7430242447e-05,1793237739664885248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.402688812,747,715.402688812,679.402688812,667.597311188,636.402688812,881.597311188,789,803.402688812,654,632.402688812,654,0.419843257608,0.0044896118066,0.0499941521818,0.99999999973,1.31886332373e-05,-2.46669636866e-06,1.89695960769e-05,1793237739681552384
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.978981109,747,715.978981109,679.978981109,667.021018891,636.978981109,881.021018891,789,803.978981109,654,632.978981109,654,0.420555012674,0.00447561588174,0.049970489085,0.99999999861,-7.15790266151e-06,-4.79171804333e-05,2.08233380373e-05,1793237739698219264
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.445300735,716,680,667.554699265,637,881.554699265,788.445300735,804,654.554699265,633,654,0.421368527532,0.00447217865555,0.0499908870865,0.999999999729,-9.78826219191e-06,-1.55761660377e-06,2.10424398734e-05,1793237739714885888
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,882,788,803.866173195,654.866173195,632.866173195,654,0.422179633757,0.00446968114611,0.0500097905197,0.999999998906,-1.14329579152e-05,4.00826360176e-05,2.12181260709e-05,1793237739731552512
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,882,788,803.275328435,654.275328435,632.275328435,654,0.42296936012,0.00446902785712,0.0500178942904,0.999999998254,-1.20017614573e-05,5.37383015775e-05,2.14568558464e-05,1793237739748218880
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.309381024,715.690618976,680,668,636.690618976,882,788.309381024,803.309381024,654,632.309381024,654,0.423744596734,0.00447329745503,0.0500117013161,0.999999998805,-6.3888419717e-06,4.33824065621e-05,2.16027663157e-05,1793237739764885248
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.888736615,715.111263385,680,668,636.111263385,882,788.888736615,803.888736615,654,632.888736615,654,0.424507189144,0.00448186290226,0.0499930326002,0.999999999682,4.61842260398e-06,1.20733489586e-05,2.16676800243e-05,1793237739781551872
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.536024492,715,679.536024492,667.536024492,636,882,788.536024492,804,654,632.536024492,654,0.425293994847,0.00448651069692,0.0499986019834,0.999999999538,9.20898045124e-06,1.88994803438e-05,2.19494408922e-05,1793237739798218496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679.038036935,667.038036935,636.038036935,882,788.038036935,804,654,632.038036935,654,0.426086424657,0.00448947199418,0.0500099098245,0.999999999089,1.11170593928e-05,3.46143096563e-05,2.23668941191e-05,1793237739814885120
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679.609308781,667.609308781,636.609308781,882,788.609308781,804,654,632.609308781,654,0.426877013213,0.00448184498485,0.0500208976335,0.999999998562,-3.19830128402e-06,4.78637247516e-05,2.39640179123e-05,1793237739831552000
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715.188288282,680,668,636.811711718,882,788.811711718,804,654,633,654,0.427650176723,0.00447449466745,0.0500170163638,0.999999998966,-1.49791188417e-05,3.46570160356e-05,2.53526927301e-05,1793237739848218880
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,715.783943625,680,668,636.216056375,882,788.216056375,804,654,633,654,0.428385640797,0.00446774297948,0.0499809654207,0.999999998788,-2.12763828605e-05,-3.57882676154e-05,2.62903824912e-05,1793237739864885504
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715.634481353,680,668,636,882,788.365518647,804,654,633,654.365518647,0.42915497185,0.00446620318044,0.0499677715744,0.999999997991,-1.37036860641e-05,-5.60799176607e-05,2.61779005631e-05,1793237739881551872
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715.060920463,680,668,636,882,788.939079537,804,654,633,654.939079537,0.429943578927,0.00446762983256,0.0499675873037,0.99999999853,1.76337651009e-06,-4.78256205023e-05,2.54676924154e-05,1793237739898218240
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,715.515114937,680,668,636,882,789,804,654,633,654.484885063,0.430721684418,0.0044683472675,0.0499773234812,0.999999999268,-1.57872370371e-06,-2.79735367975e-05,2.60466938307e-05,1793237739914885120
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,668,636,882,789,804,654,633,654,0.431491836261,0.00446985454563,0.0499826418154,0.999999999476,-5.90319691317e-06,-1.73214997087e-05,2.67206538307e-05,1793237739931552000
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,668,636,882,789,804,654,633,654,0.432226431162,0.00447599687791,0.0499582832813,0.999999997657,-3.58444616176e-06,-6.27609679962e-05,2.70857597846e-05,1793237739948218624
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.269481951,716,680,667.730518049,636.269481951,882,789,804,654,633,654,0.432973488705,0.00447955370543,0.0499516503738,0.999999996835,-2.24117802185e-06,-7.46519822304e-05,2.74187136149e-05,1793237739964885248
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.849184183,716,680,667.150815817,636.849184183,882,789,804,654,633,654,0.43373489285,0.00448013416986,0.0499654227264,0.999999998466,-2.02085905615e-06,-4.79229269943e-05,2.77146548066e-05,1793237739981551872
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.5896058,716,680,667.4103942,636.5896058,881.5896058,789,804,654,633,654,0.434482611179,0.00447592738481,0.0499847566443,0.999999999345,-1.89485295304e-06,-2.16776719455e-05,2.89256037556e-05,1793237739998218752
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.034898437,716,680,667.965101563,636.034898437,881.034898437,789,804,654,633,654,0.435225517018,0.00447003718633,0.0500060462612,0.999999999525,-1.80201149979e-06,4.39745924938e-06,3.04583108324e-05,1793237740014885376
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.560164548,716,680,668,636,881.560164548,789,804.560164548,654,633,654,0.435888690922,0.00446793715632,0.0499903152058,0.999999999043,-5.3450606397e-06,-3.10280135126e-05,3.03679939974e-05,1793237740031552000
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.843674997,716,680,667.843674997,636,882,789,804.843674997,653.843674997,633,654,0.436554720725,0.00446592267757,0.0499735428016,0.999999997414,-1.10939586596e-05,-6.43696295607e-05,3.00921412575e-05,1793237740048218624
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.252003317,716,680,667.252003317,636,882,789,804.252003317,653.252003317,633,654,0.437243611401,0.00446343780552,0.0499607920682,0.99999999608,-2.23060883097e-05,-8.04092686816e-05,2.96030477402e-05,1793237740064885248
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.332669839,716,680.332669839,667.332669839,636,882,789,804,653.332669839,633,654,0.437948134647,0.00446170780916,0.0499736758239,0.999999997938,-2.79588301241e-05,-4.95140513584e-05,2.98464583371e-05,1793237740081551872
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.912150688,716,680.912150688,667.912150688,636,882,789,804,653.912150688,633,654,0.438664255808,0.00446053786261,0.0500055780584,0.999999998965,-2.94870069328e-05,1.62025964486e-05,3.06333208394e-05,1793237740098218752
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.513059543,746.513059543,715.513059543,680.513059543,668,636.486940457,882,789,804.486940457,654,633,654,0.439297185348,0.00446342812493,0.0500046703929,0.999999999412,-2.41837091051e-07,1.2022721285e-05,3.21287583986e-05,1793237740114886144
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.062138861,746,715.062138861,680.062138861,668,637,882,789,805,653.937861139,633,654,0.43990902065,0.00446722110807,0.0499956021232,0.999999998943,3.05510368286e-05,-7.28577632773e-06,3.35690323274e-05,1793237740131553280
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.647843172,746,715.647843172,680.647843172,668,637,882,789,805,653.352156828,633,654,0.440468373906,0.00447250717165,0.049967172995,0.999999997854,2.80524526453e-05,-4.88285987962e-05,3.347768994e-05,1793237740148219648
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.76733855,746.23266145,716,680.76733855,667.76733855,636.76733855,882,789,804.76733855,653.23266145,633,654,0.441049922911,0.00447598270605,0.0499551915491,0.999999996951,2.56975886142e-05,-6.54577949052e-05,3.39569844468e-05,1793237740164886272
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.183856338,746.816143662,716,680.183856338,667.183856338,636.183856338,882,789,804.183856338,653.816143662,633,654,0.441664939937,0.00447672821645,0.0499680108988,0.999999998108,2.35594346462e-05,-4.45207408862e-05,3.52967192439e-05,1793237740181552640
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.394754956,747,716,680.394754956,667.394754956,636.394754956,882,788.605245044,804,654,633,654,0.442257725736,0.0044751970431,0.0499886099744,0.999999999081,2.12361626837e-05,-6.50295188716e-06,3.667073265e-05,1793237740198219264
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.971125332,747,716,680.971125332,667.971125332,636.971125332,882,788.028874668,804,654,633,654,0.442840283641,0.00447261843298,0.0500127882795,0.999999998323,1.88277230251e-05,3.93731946539e-05,3.8060516717e-05,1793237740214885888
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.456618767,715.456618767,681,668,636.456618767,882,788,804.543381233,654,633,654,0.443347238971,0.00447072796177,0.0500137174333,0.999999998329,1.7773935193e-05,3.81737535875e-05,3.9599566501e-05,1793237740231552768
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,715.118991371,681,668.118991371,636.118991371,882,788.118991371,804.881008629,653.881008629,633,654,0.443835813242,0.00446946046437,0.0500067927011,0.999999998723,1.75267391288e-05,2.39991137897e-05,4.08760142562e-05,1793237740248219648
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,715.708729997,681,668.708729997,636.708729997,882,788.708729997,804.291270003,653.291270003,633,654,0.444267443631,0.0044705139649,0.0499736476744,0.99999999845,2.0187895907e-05,-3.16852093654e-05,4.10824267965e-05,1793237740264886784
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680.705810192,668.705810192,637,882,789,804,653,633,654,0.444714191012,0.00446989900346,0.0499540209702,0.999999996952,1.95263213344e-05,-6.3035704738e-05,4.17172229493e-05,1793237740281553664
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680.124526034,668.124526034,637,882,789,804,653,633,654,0.445175690759,0.004467655821,0.0499475865469,0.999999996468,1.5622155046e-05,-7.0639267824e-05,4.27700707648e-05,1793237740298220032
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.452213432,716,680.452213432,667.547786568,636.547786568,882,789,804,653,633,654,0.445615258823,0.00446370204115,0.0499568776312,0.999999997913,9.85728126522e-06,-4.69714707968e-05,4.323951927e-05,1793237740314885888
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.972421626,746.972421626,716,681,667,636,882,788.972421626,804.027578374,653.027578374,633,654,0.446046597425,0.00445940155723,0.0499699504723,0.999999998925,3.25167546432e-06,-1.58856654652e-05,4.34403530223e-05,1793237740331551744
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.399734855,746.399734855,716,681,667,636,882,788.399734855,804.600265145,653.600265145,633,654,0.446433458669,0.00445746617488,0.0499730318965,0.999999999068,-9.94477707078e-06,-6.69060832226e-06,4.14755978025e-05,1793237740348218368
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.179036631,746,716,681,667.179036631,636,882,788.179036631,804.820963369,653.820963369,633,654,0.446794416066,0.00445545968837,0.0499672467592,0.999999998612,-3.64968577235e-05,-1.38525768566e-05,3.53974423254e-05,1793237740364884992
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.771871322,746,716,681,667.771871322,636,882,788.771871322,804.228128678,653.228128678,633,654,0.447095503193,0.00445328886276,0.0499409687991,0.999999993664,-9.39171057806e-05,-5.88196901833e-05,1.9812198719e-05,1793237740381551616
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.644519811,746,716,681,667.644519811,636,882,789,804.355480189,653.355480189,633,654,0.447386298903,0.00445230391386,0.0499127765093,0.999999988281,-0.000113614776088,-0.000101680412562,1.38355566558e-05,1793237740398218752
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.066681769,746,716,681,667.066681769,636,882,789,804.933318231,653.933318231,633,654,0.447670657215,0.00445206074729,0.0498833867769,0.999999983628,-0.000109716449775,-0.000143223562234,1.3869228341e-05,1793237740414886400
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.510053252,746.510053252,716,681,667,635.489946748,882,789,804.489946748,653.489946748,633,654,0.447939063367,0.00445575030173,0.049869320337,0.999999985473,-4.73268991555e-05,-0.000163098560499,1.46033406108e-05,1793237740431553024
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716,681,667,635,882,789,804,653,633,654,0.448203055323,0.00446031319251,0.0498600649332,0.999999984323,1.34282358915e-05,-0.000175864164832,1.5659003387e-05,1793237740448219392
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716,681,667,635,882,789,804,653,633,654,0.448453853911,0.00446691347965,0.049866710903,0.999999986085,2.17940684005e-05,-0.000164412317073,1.80162407865e-05,1793237740464885504
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716,680.739282116,667,635,882,788.739282116,804,653.260717884,633,654,0.448696729536,0.0044811197806,0.0498736390824,0.999999987469,3.65490299586e-05,-0.000152865813767,1.8907143022e-05,1793237740481551872
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716,680.160340104,667,635,882,788.160340104,804,653.839659896,633,654,0.448929934625,0.00450460974468,0.0498809117179,0.999999988122,5.91023628743e-05,-0.000141203777495,1.80082820918e-05,1793237740498218496
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.583875711,746.583875711,716,680.416124289,667,635,882,788,804,654,633,654,0.449134096753,0.00451347247322,0.0498846234563,0.999999987819,6.71006345921e-05,-0.000139679255624,1.86978194992e-05,1793237740514885120
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.00836035,746.00836035,716,680.99163965,667,635,882,788,804,654,633,654,0.449327134342,0.00451673242629,0.0498869712387,0.999999987296,6.95237763347e-05,-0.000142037778878,1.99957725357e-05,1793237740531551744
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.563674388,746,716,681,667,635,882,788.563674388,804.563674388,653.436325612,633.563674388,654,0.449480201173,0.00450864205848,0.0498802842929,0.999999986381,5.92048773033e-05,-0.000152501987215,2.18021229808e-05,1793237740548218880
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.858693266,746.141306734,716,681,666.858693266,634.858693266,882,788.858693266,804.858693266,653.141306734,633.717386533,654,0.449627821679,0.00450362199446,0.0498738911514,0.999999985158,5.21165490043e-05,-0.000162605106446,2.29693405247e-05,1793237740564885760
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.262892042,746.737107958,716,681,666.262892042,634.262892042,882,788.262892042,804.262892042,653.737107958,632.525784084,654,0.449759819863,0.00450901530131,0.049868871349,0.999999983539,5.60230538192e-05,-0.000171162521248,2.20567668095e-05,1793237740581552384
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,747,716,681.322342021,666,634,882,788,804.644684041,653.677657979,632.322342021,654,0.449883762637,0.0045093247008,0.0498656210012,0.999999982537,5.60747783504e-05,-0.000176858556326,2.24217497585e-05,1793237740598218752
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,747,716,681.899231459,666,634,882,788,805.798462917,653.100768541,632.899231459,654,0.45000134422,0.00450561943507,0.0498637679579,0.999999982055,5.30824559769e-05,-0.000180295014699,2.37955950257e-05,1793237740614885376
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.472642763,746.527357237,716,682,666,634,882,788,805.054714473,653.472642763,633,654,0.45010628027,0.0045049277027,0.0498658306255,0.999999983016,5.08329742444e-05,-0.00017552404503,2.39733413658e-05,1793237740631551744
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.046645545,716,681.953354455,666,634,882,788,804.046645545,654,633,654,0.450206517843,0.0045051952826,0.0498686516069,0.999999984138,4.92165529898e-05,-0.000169498012974,2.391795697e-05,1793237740648218112
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.636097904,716,681.363902096,666,634,882,788,804.636097904,654,633,654,0.450283224461,0.004509204263,0.0498706530525,0.999999984004,5.31374289304e-05,-0.000169080905551,2.40955124904e-05,1793237740664885248
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882,788.221753437,804.778246563,654,633,654,0.450352980051,0.00451043054808,0.0498719303926,0.999999983957,5.40471420053e-05,-0.000169032374678,2.43573690222e-05,1793237740681552384
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882,788.801283148,804.198716852,654,633,654,0.450411520869,0.00450716724132,0.0498720394631,0.99999998406,5.00986544545e-05,-0.000169578504039,2.47552365215e-05,1793237740698219264
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.622344192,746.622344192,716,680.622344192,666,634,882,789,804.377655808,654,633,654,0.450460911539,0.00450581512157,0.0498716987795,0.999999983858,4.86860107849e-05,-0.000171138388691,2.49919771836e-05,1793237740714885888
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.047618972,746.047618972,716,680.047618972,666,634,882,789,804.952381028,654,633,654,0.450505527451,0.00450546030287,0.049871123404,0.999999983499,4.85966283974e-05,-0.00017322727395,2.51446381756e-05,1793237740731552000
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.529756332,746,716,680.529756332,666,634.529756332,882.529756332,788.470243668,805.529756332,654,633,654,0.45054057926,0.00450864772955,0.049870305017,0.999999983347,5.22420515956e-05,-0.000173149338078,2.44287361755e-05,1793237740748218368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.890285129,746,716.109714871,681,666,634.890285129,882.890285129,788.109714871,805.780570259,654,633,654,0.450572347843,0.0045112579718,0.0498696675429,0.999999983171,5.5311719803e-05,-0.000173295029088,2.38390302027e-05,1793237740764884736
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.300061708,746,716.699938292,681,666,634.300061708,882.300061708,788.699938292,804.600123416,654,633,654,0.450593521254,0.0045099388595,0.049869918546,0.999999982869,5.4382106187e-05,-0.000175277434364,2.41456660167e-05,1793237740781551360
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,716.715010391,681,666,634,882.284989609,789,804.284989609,654,633,654,0.450609965538,0.00450894087508,0.0498691262793,0.99999998241,5.40937225169e-05,-0.000177908298883,2.45453716833e-05,1793237740798217984
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,716.135307574,681,666,634,882.864692426,789,804.864692426,654,633,654,0.450621519345,0.00450827497499,0.0498672551474,0.999999981785,5.44684468894e-05,-0.000181209747754,2.50413227026e-05,1793237740814884608
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.44068436,746.44068436,716,681,666,634,882.55931564,788.55931564,805,654,633,654,0.45063157441,0.00450820327441,0.0498663594557,0.999999981591,5.37295870768e-05,-0.000182495210814,2.5028958111e-05,1793237740831551488
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882.015902611,788.015902611,804.984097389,654,633,654,0.450641019587,0.00450835031588,0.049865734449,0.999999981519,5.271845981e-05,-0.000183207725964,2.48642175442e-05,1793237740848218624
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882.603936899,788.603936899,804.396063101,654,633,654,0.45064494016,0.00450985811355,0.0498641627796,0.999999981044,5.41103176442e-05,-0.000185390663047,2.47855988839e-05,1793237740864884992
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882.810725118,788.810725118,804,653.810725118,633,654,0.450648675441,0.00451145723964,0.0498633318093,0.999999980704,5.60893776988e-05,-0.000186655475249,2.46226329475e-05,1793237740881551360
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,882.230950022,788.230950022,804,653.230950022,633,654,0.45065202844,0.00451324478882,0.0498640290038,0.999999980645,5.92799169307e-05,-0.000186026068919,2.42856469389e-05,1793237740898217984
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.652407115,716,681,665.652407115,634,882,788.347592885,804,653.347592885,633,654,0.450652363718,0.00451312062392,0.0498629547852,0.999999980258,5.9784255366e-05,-0.000187915261109,2.44324932021e-05,1793237740914884608
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746.074680039,716,681,665.074680039,634,882,788.925319961,804,653.925319961,633,654,0.450650701024,0.00451173075189,0.0498607077501,0.999999979648,5.85101146767e-05,-0.000191471966255,2.48996750002e-05,1793237740931551232
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.499446286,746,716,681,665,633.499446286,882,789,804.500553714,653.499446286,633,654.500553714,0.450653546228,0.00451130287236,0.049861862171,0.999999980082,5.74926114238e-05,-0.000189511688192,2.48261684913e-05,1793237740948217856
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.076927594,746.076927594,716,681.076927594,665.076927594,633.076927594,882.076927594,788.923072406,804.923072406,653.076927594,633,654.923072406,0.450656406934,0.00451122189818,0.0498631122746,0.999999980511,5.69093336892e-05,-0.000187434638383,2.46428912979e-05,1793237740964884480
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.66330289,746.66330289,716,681.66330289,665.66330289,633.66330289,882.66330289,788.33669711,804.33669711,653.66330289,633,654.33669711,0.450654938422,0.0045124925119,0.0498616519367,0.999999979917,5.89493756618e-05,-0.00019000821931,2.4264235259e-05,1793237740981551104
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.751772168,716,681.751772168,666,634,882.751772168,788,804,653.751772168,633,654,0.450653765464,0.00451277871286,0.0498602713169,0.999999979416,6.02495338718e-05,-0.00019223571221,2.41372764655e-05,1793237740998217984
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.168802981,716,681.168802981,666,634,882.168802981,788,804,653.168802981,633,654,0.450652991068,0.00451173740911,0.0498589981986,0.999999979053,6.05519408626e-05,-0.000193996497232,2.43497375637e-05,1793237741014884608
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.407601588,716,681.407601588,666,634,882.407601588,788.407601588,804,653.407601588,633,654,0.450652858877,0.0045122848145,0.0498587122979,0.999999978865,6.08047747755e-05,-0.000194911610267,2.41378464902e-05,1793237741031551232
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.98133056,716,681.98133056,666,634,882.98133056,788.98133056,804,653.98133056,633,654,0.450652988432,0.00451347973485,0.0498588287605,0.999999978748,6.10374040242e-05,-0.000195482050164,2.37530009345e-05,1793237741048218112
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716,681.443286951,666,634,882.443286951,788.443286951,804.556713049,654,633,654.556713049,0.450654598882,0.00451495832504,0.0498591200264,0.999999978943,6.24102980779e-05,-0.000194106690255,2.32638507571e-05,1793237741064884736
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,633.864480329,882,788.135519671,805,654,632.864480329,654.864480329,0.45065588798,0.0045160066673,0.0498593471935,0.999999979079,6.34143073126e-05,-0.00019310836461,2.30316123652e-05,1793237741081551360
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,633.274374409,882,788.725625591,805,654,632.274374409,654.274374409,0.450655932053,0.00451557978374,0.0498593396255,0.999999978993,6.30522813072e-05,-0.000193594295212,2.36729252979e-05,1793237741098218240
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746.689945003,716,681.310054997,665.689945003,633.310054997,881.689945003,788.689945003,805,653.689945003,632.310054997,654,0.450655864103,0.00451473778661,0.0498592883348,0.999999978927,6.22725878614e-05,-0.000194150727415,2.39431140334e-05,1793237741114884608
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746.110448584,716,681.889551416,665.110448584,633.889551416,881.110448584,788.110448584,805,653.110448584,632.889551416,654,0.450655698803,0.00451353505096,0.0498591990485,0.999999978879,6.11299365418e-05,-0.000194768426307,2.38907914654e-05,1793237741131551232
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681.535699957,665.464300043,633.535699957,881.464300043,788,804.535699957,653.464300043,633,654,0.450654511889,0.00451424374404,0.0498580655637,0.999999978503,6.29855701762e-05,-0.000196118560551,2.37520282003e-05,1793237741148218112
+257,4.283333333,POSE1_TO_POSE2_PRESS,766.961018313,746.038981687,716,681,665.961018313,633.038981687,882,788,804,654,633,654,0.450653332892,0.00451527653401,0.0498568901247,0.99999997811,6.53036219294e-05,-0.00019737763972,2.36161429951e-05,1793237741164884736
+258,4.300000000,POSE1_TO_POSE2_PRESS,766.371493919,746.628506081,716,681,665.371493919,633.628506081,882,788,804,654,633,654,0.450655663217,0.00451452988215,0.0498585947765,0.999999978661,6.41812792433e-05,-0.000194914930313,2.38083745509e-05,1793237741181551360
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.214292868,746.785707132,716,681,665.214292868,633.785707132,882,788,804.214292868,653.785707132,633,654,0.450656629221,0.00451405081884,0.0498592192063,0.999999978913,6.25401055001e-05,-0.000194153224736,2.37978090818e-05,1793237741198217984
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.793711381,746.206288619,716,681,665.793711381,633.206288619,882,788,804.793711381,653.206288619,633,654,0.450655270612,0.00451402768955,0.0498580030865,0.99999997866,6.00149146443e-05,-0.000196289795884,2.34417053393e-05,1793237741214884864
+261,4.350000000,HOLD_POSE2,767,748,716,681,665,633,882,788,804,654,633,654,0.450654579452,0.0045128823381,0.049856974221,0.99999997851,5.93193078605e-05,-0.000197234033535,2.36484867767e-05,1793237741249767168
+262,4.366666667,HOLD_POSE2,767,746.850469369,716,681,665.574765316,633.574765316,882,788.574765316,804,654,633,654,0.450656025479,0.00451461002916,0.0498574244987,0.999999978471,6.25492328479e-05,-0.000196445981734,2.35333084494e-05,1793237741266433024
+263,4.383333333,HOLD_POSE2,766.846845753,746.153154247,715.846845753,681,665.846845753,634,882,788.846845753,804.153154247,654,633,654,0.450657047544,0.00451585727857,0.0498578103717,0.999999978448,6.47061942608e-05,-0.000195874267647,2.34786972756e-05,1793237741283099392
+264,4.400000000,HOLD_POSE2,766.258151862,746.741848138,715.258151862,681,665.258151862,634,882,788.258151862,804.741848138,654,633,654,0.450656863945,0.00451573824967,0.0498580130905,0.999999978494,6.38118654192e-05,-0.000195917774006,2.35963267879e-05,1793237741299766016
+265,4.416666667,HOLD_POSE2,766,747,715.326432234,681,665,634,882,788,804.673567766,653.673567766,633,654,0.450656112065,0.00451542931946,0.0498573079043,0.999999978275,6.29601652234e-05,-0.000197306074241,2.35672581029e-05,1793237741316432896
+266,4.433333333,HOLD_POSE2,766,747,715.907806562,681,665,634,882,788,804.092193438,653.092193438,633,654,0.450654916362,0.0045149720772,0.0498558936484,0.999999977846,6.214175786e-05,-0.000199744652392,2.34236187836e-05,1793237741333099520
+267,4.450000000,HOLD_POSE2,766.483028832,747,716,681,665.483028832,633.516971168,882.483028832,788,804.483028832,653,633,654,0.450655343097,0.00451585665019,0.049856261961,0.999999977913,6.37722870729e-05,-0.000198886901952,2.34684447291e-05,1793237741349765632
+268,4.466666667,HOLD_POSE2,767,746.942990663,716,680.942990663,665.942990663,633.057009337,882.942990663,788,804.942990663,653,633,654,0.450656088338,0.00451684123969,0.0498569675621,0.999999978093,6.54492437195e-05,-0.000197429170003,2.34911041057e-05,1793237741366432256
+269,4.483333333,HOLD_POSE2,767,746.369755526,716,680.369755526,665.369755526,633.630244474,882.369755526,788,804.369755526,653,633,654,0.450656948881,0.00451644158733,0.0498576852677,0.999999978488,6.33673229918e-05,-0.000196163956836,2.29914135111e-05,1793237741383098880
+270,4.500000000,HOLD_POSE2,767,746.210515298,716,680.210515298,665.210515298,633.789484702,882.210515298,788,804,653.210515298,633,654,0.450656959335,0.00451625677391,0.049857643513,0.999999978574,6.22350552504e-05,-0.000196125105798,2.26788257711e-05,1793237741399765760
+271,4.516666667,HOLD_POSE2,767,746.803571045,716,680.803571045,665.803571045,633.196428955,882.803571045,788,804,653.803571045,633,654,0.450655425038,0.00451646235775,0.0498562216953,0.999999978104,6.28284612758e-05,-0.000198314753845,2.27062343261e-05,1793237741416432128
+272,4.533333333,HOLD_POSE2,767,746.612879255,716,681,665.612879255,633,882.612879255,788,804,654,633,654,0.450656178384,0.0045175210549,0.0498566410547,0.999999978014,6.499142714e-05,-0.000198081784178,2.26367959984e-05,1793237741433098752
+273,4.550000000,HOLD_POSE2,767,746.034037361,716,681,665.034037361,633,882.034037361,788,804,654,633,654,0.450658064683,0.00451900225557,0.0498579722549,0.999999978104,6.79317159445e-05,-0.000196649015788,2.25193943546e-05,1793237741449765632
+274,4.566666667,HOLD_POSE2,767,746.541100977,716,681,665,633,882,788,804.541100977,653.458899023,633,654,0.450658041612,0.00451783701973,0.0498574534172,0.999999978128,6.74560714311e-05,-0.000196636340833,2.29635271576e-05,1793237741466432512
+275,4.583333333,HOLD_POSE2,767,747,716,681.118896853,665,633,882,788,804.881103147,653.118896853,633,654,0.450657473669,0.00451672744198,0.0498567491855,0.999999978079,6.6406042776e-05,-0.000197199572826,2.33532042584e-05,1793237741483099136
+276,4.600000000,HOLD_POSE2,767,747,716,681.708120772,665,633,882,788,804.291879228,653.708120772,633,654,0.450655222223,0.00451649207667,0.0498557687999,0.999999977745,6.39281069313e-05,-0.000199689989533,2.33886897911e-05,1793237741499765504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,666,633,882,788,804,654,633,654,0.450657298165,0.00452130405227,0.0498573653551,0.999999977681,6.92879165328e-05,-0.000198297882315,2.27099215767e-05,1793237741536806912
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746.576569507,716.423430493,681,665.423430493,633,882,788,804,654,633,654,0.450656566389,0.00452106766857,0.0498562444168,0.999999977356,6.98876452928e-05,-0.000199690787975,2.29596309925e-05,1793237741553474048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.847529963,746.847529963,716,681,665.152470037,633.152470037,882.152470037,788.152470037,804,654,633,654,0.45065588019,0.00452033749606,0.0498553413301,0.999999977149,6.95509658591e-05,-0.000200821118483,2.31399835376e-05,1793237741570140928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.27347903,746.27347903,716,681,665.72652097,633.72652097,882.72652097,788.72652097,804,654,633,654,0.450655320009,0.0045182419934,0.049855040605,0.999999977267,6.66251102731e-05,-0.000201225426868,2.31285638257e-05,1793237741586807808
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.310318891,746.310318891,716,681,665.689681109,633.689681109,882.689681109,788.689681109,804.310318891,653.689681109,632.689681109,654,0.450654738761,0.00451800941564,0.0498547515277,0.99999997717,6.67164582247e-05,-0.000201677334428,2.31552552023e-05,1793237741603474688
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.902985193,746.902985193,716,681,665.097014807,633.097014807,882.097014807,788.097014807,804.902985193,653.097014807,632.097014807,654,0.450654138342,0.00451947184283,0.0498544730484,0.999999976875,6.95530456275e-05,-0.000202172550649,2.32166224162e-05,1793237741620140800
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.518101983,716,681,665,633,882.481898017,788,804.518101983,653,632.481898017,654,0.450654091677,0.0045196673885,0.0498542105678,0.999999976927,6.88973519967e-05,-0.000202151732971,2.30836130467e-05,1793237741636807424
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633.057420775,882.942579225,788.057420775,804,653,633,654,0.450654162662,0.00451959140525,0.0498540553701,0.999999977056,6.7634946487e-05,-0.000201961969482,2.29136090238e-05,1793237741653474048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633.626720572,882.373279428,788.626720572,804,653,633,654,0.450654316219,0.00451930539762,0.0498548286335,0.999999977259,6.7057523436e-05,-0.000201166539536,2.27529745532e-05,1793237741670140416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.204335779,716,681,665.204335779,633.795664221,882,788.795664221,804,653.204335779,633,654,0.450653264228,0.00451876586895,0.0498548339885,0.99999997721,6.68745742492e-05,-0.000201466417329,2.27726511525e-05,1793237741686806784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.797785864,716,681,665.797785864,633.202214136,882,788.202214136,804,653.797785864,633,654,0.450649916522,0.00451774356309,0.049853377024,0.99999997668,6.74428172293e-05,-0.000203852077308,2.31356920934e-05,1793237741703473408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.615616587,716,681.384383413,665.615616587,633,882.384383413,788,804.384383413,653.615616587,633,654,0.450636719142,0.00451845140191,0.0498463557233,0.999999974245,6.89821401722e-05,-0.000215002375987,2.29260477765e-05,1793237741720140032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.032560786,716,681.967439214,665.032560786,633,882.967439214,788,804.967439214,653.032560786,633,654,0.450618430861,0.00452005348312,0.0498364584399,0.999999970619,7.10233754874e-05,-0.000230682765503,2.24204054179e-05,1793237741736806912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.904745326,665,633,882.452372663,788,804.452372663,653,633,654,0.450586359096,0.00452162438707,0.049822841727,0.999999964551,7.04436961097e-05,-0.000255847276383,2.18431936774e-05,1793237741753473536
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.125372135,716,680.125372135,665,633,882,788.125372135,804.125372135,653.125372135,633,654,0.450548218175,0.00452260376045,0.0498078170903,0.99999995714,6.98698922371e-05,-0.00028351247997,2.14406664982e-05,1793237741770140416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.695059149,716,680.695059149,665,633,882,788.695059149,804.695059149,653.695059149,633,654,0.450491457632,0.00452149330398,0.0497885824766,0.999999946746,6.98663052253e-05,-0.000318052011578,2.16722180698e-05,1793237741786807040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,633.27385537,882,788.72614463,804.72614463,654,632.72614463,654,0.450431993744,0.00452084875062,0.0497723588178,0.999999938226,7.00402767806e-05,-0.000343775711585,2.14619971938e-05,1793237741803473408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,633.863143754,882,788.136856246,804.136856246,654,632.136856246,654,0.450369416083,0.00452074083542,0.0497596032485,0.999999932741,7.04187645039e-05,-0.000359345128968,2.07429324951e-05,1793237741820140288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.554425939,716,681,665.445574061,634,882,788,804,654,632.445574061,654,0.45029848605,0.0045222017684,0.0497538987432,0.999999929925,7.17655143426e-05,-0.000366887390702,1.98206052941e-05,1793237741836806912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.025704286,716,680.974295714,666,633.974295714,882,788,804,654,633,654,0.450224388678,0.00452403806662,0.0497505276155,0.99999992804,7.338464513e-05,-0.00037172255782,1.88830669587e-05,1793237741853473536
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.601011418,716,680.398988582,666,633.398988582,882,788,804,654,633,654,0.450136589236,0.00452375338467,0.0497514435402,0.999999928371,7.45652630485e-05,-0.00037059308286,1.89349426793e-05,1793237741870140160
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.820089407,716,680,665.820089407,633.179910593,882,788,804.179910593,654,632.820089407,654.179910593,0.450043995547,0.00452417359718,0.0497528975856,0.999999929017,7.65042933809e-05,-0.000368450791075,1.88710539779e-05,1793237741886807040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.233061927,716,680,665.233061927,633.766938073,882,788,804.766938073,654,632.233061927,654.766938073,0.449940553044,0.00452618890444,0.0497555693361,0.999999930361,8.01595232189e-05,-0.000364016611985,1.8545203757e-05,1793237741903473664
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.928645243,634,882,788,804.071354757,654,632.928645243,654.071354757,0.449676894051,0.00453159730419,0.0497493003302,0.99999992457,9.02319803511e-05,-0.000377379336111,1.7404136665e-05,1793237741936806912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.493136832,746,716,680.506863168,666,634,882.506863168,788,804,653.493136832,633,654,0.449517605141,0.00453352282659,0.0497460853053,0.999999922038,9.30421228935e-05,-0.000383406989361,1.63315267841e-05,1793237741953473536
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.084457096,746.084457096,716,681,666,634,882.915542904,788.084457096,804.084457096,653.084457096,633,654,0.449351917647,0.00453517966714,0.0497435487999,0.999999919797,9.57252701408e-05,-0.00038859586536,1.53492252627e-05,1793237741970140416
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.659330478,746.659330478,716,681,666,634,882.340669522,788.659330478,804.659330478,653.659330478,633,654,0.449165738474,0.00453605067031,0.0497438449344,0.999999918195,9.97657371844e-05,-0.000391693017665,1.52514126018e-05,1793237741986807040
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.7600467,716,681,666,634,882.4799066,788.7600467,804.7600467,654,633,654,0.44897546534,0.00453798391298,0.049745994364,0.999999918723,0.00010435697198,-0.000389158171589,1.47871473491e-05,1793237742003473664
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.17106086,716,681,666,634,883.657878279,788.17106086,804.17106086,654,633,654,0.448779237201,0.00454146227354,0.0497508395694,0.999999922277,0.000109749345195,-0.000378431103324,1.37898455534e-05,1793237742020140288
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.588914235,746,716,680.588914235,666,634,883.177828469,788,804,653.588914235,633,654,0.448551729413,0.00454367583072,0.0497508915815,0.999999922784,0.00011386061365,-0.000375916227302,1.24532774079e-05,1793237742036806912
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.009566981,746,716,680.009566981,666,634,882.019133962,788,804,653.009566981,633,654,0.44831141856,0.00454537169122,0.049748981692,0.999999922068,0.000117447513069,-0.000376762683428,1.09778441998e-05,1793237742053473536
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.861172227,747,716,680.861172227,667,634.861172227,882.861172227,788,804,653.861172227,633,654,0.447749657501,0.00455324863944,0.0497408486534,0.999999915685,0.000131785476903,-0.000388841234054,8.01362407935e-06,1793237742086806784
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746.464810106,716,681,667,635,882.535189894,789,804,653.535189894,633,654,0.446445780233,0.00456600687999,0.0497459727179,0.999999915762,0.000156210307441,-0.000379562473988,2.7024737613e-06,1793237742153473536
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.959737421,746.959737421,716,680.959737421,667,635.040262579,882,789,804,653.040262579,633,654,0.446095653354,0.00457153877619,0.0497570022776,0.999999920609,0.000164288607462,-0.000363028388376,8.42834253906e-07,1793237742170140416
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.379825294,746.379825294,716,680.379825294,667,635.620174706,882,789,804,653.620174706,633,654,0.445719188401,0.00457519851301,0.0497825216755,0.999999933113,0.000172499857848,-0.000322516483347,-4.83357089081e-08,1793237742186807040
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.373238561,680.373238561,667,636,882.626761439,788.373238561,804,653,633,654,0.444430706072,0.0045898493443,0.0498228003229,0.999999943812,0.000195176511563,-0.000272504298717,-4.7930422171e-06,1793237742236806912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.953151899,680.953151899,667,636,882.046848101,788.953151899,804,653,633,654,0.443948178843,0.00459624612699,0.0498218308864,0.999999942278,0.000203708791365,-0.000271830367834,-7.36937303577e-06,1793237742253473536
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,715.351441085,680.351441085,667.351441085,636,882,788.351441085,804,654,633,654,0.434649529699,0.00457984557879,0.0498056741404,0.999999947116,2.23409214442e-05,-0.000321324170073,-4.49403699156e-05,1793237742503474432
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,715.229060989,680,667.229060989,636.229060989,882,788,804,654,633,654,0.433912589919,0.00457789647173,0.0497911137683,0.999999938298,2.85310431331e-05,-0.000346868608715,-4.7668003316e-05,1793237742520140544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,715.819551907,680,667.819551907,636.819551907,882,788,804,654,633,654,0.433190973406,0.00459259745099,0.0498036747224,0.999999945459,5.24869981351e-05,-0.000321835652176,-5.24387563143e-05,1793237742536806912
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.598312918,746,716,680,668,636.598312918,881.598312918,788,804,654,633.401687082,654,0.432466052815,0.00459878397048,0.0498218227993,0.999999953737,6.20843778087e-05,-0.00029261372455,-5.52194771139e-05,1793237742553473792
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.019854901,746,716,680,668,636.019854901,881.019854901,788,804,654,633.980145099,654,0.431739678237,0.00460122352018,0.0498424296074,0.999999962028,6.53629598867e-05,-0.000261548352567,-5.71244416522e-05,1793237742570140672
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,667.445218366,636.554781634,881,788,804,654,633.445218366,654,0.430950016076,0.0046055042913,0.0498212203995,0.99999995304,6.67964512971e-05,-0.000294530723172,-5.20544378044e-05,1793237742586807296
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,715.871094487,680,667.128905513,636.871094487,881,788,804,654,632.871094487,654,0.430157375667,0.0046107742391,0.0497977790626,0.999999940533,8.68596887096e-05,-0.00033074701612,-4.46643264364e-05,1793237742603474176
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,715.298268341,680,667.701731659,636.298268341,881,788,804,654,632.298268341,654,0.429362225604,0.00461922530709,0.0497717692711,0.999999916327,0.000171305290118,-0.00037026043678,-3.0138073238e-05,1793237742620141056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.715656962,636,881.284343038,788,804,653.715656962,632.284343038,654,0.428581005559,0.00462194243516,0.0497745467334,0.999999910239,0.000209725944657,-0.000367384616289,-2.3799024393e-05,1793237742636807680
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.122415346,636,881.877584654,788,804,653.122415346,632.877584654,654,0.427814918562,0.00461843044626,0.0498085974854,0.999999929314,0.000198146986059,-0.000318458867771,-2.63542186049e-05,1793237742653474560
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.459764868,746,715,680.459764868,667.459764868,636,881.540235132,788,804,653.459764868,633,654,0.427012498841,0.00461122182007,0.0498015543225,0.999999929533,0.000170666996806,-0.000333054411141,-2.97054198169e-05,1793237742670140928
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.961310954,746,715.038689046,680.961310954,667.961310954,636,881,788,804,654,633,654,0.426205557273,0.00460355259525,0.0497862592306,0.999999925029,0.000140921186607,-0.000359140479955,-3.31969919626e-05,1793237742686807296
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.387642711,746,715.612357289,680.387642711,667.387642711,636,881,788,804,654,633,654,0.425466713665,0.00460280455597,0.0498046004225,0.999999940128,0.00013701191389,-0.000315741395682,-3.57677523393e-05,1793237742703473920
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.191065457,746,716,679.808934543,667.191065457,636,881,788,803.808934543,653.808934543,633,654,0.424727464829,0.00460284877637,0.0498263106935,0.999999953077,0.0001377571934,-0.000271052602868,-3.74013190704e-05,1793237742720140544
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.780276003,746,716,679.219723997,667.780276003,636,881,788,803.219723997,653.219723997,633,654,0.423987371433,0.00460454391935,0.049855041506,0.999999963315,0.000148201698793,-0.000223676288439,-3.7081948037e-05,1793237742736807168
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.636662148,746,716,679.363337852,667.636662148,636,881.363337852,788.363337852,803.363337852,653,633,654,0.423192036092,0.00460961246988,0.0498521009581,0.999999960622,0.000158061648228,-0.000228845626324,-3.74591170908e-05,1793237742753473792
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.057256804,746,716,679.942743196,667.057256804,636,881.942743196,788.942743196,803.942743196,653,633,654,0.422363849859,0.00461668709732,0.049830326281,0.999999950046,0.000167573976901,-0.000265262488497,-3.82505002806e-05,1793237742770140672
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.519246673,746,716,680.519246673,667.519246673,636,881.480753327,789,804,653.519246673,633,654,0.421560674887,0.00462257299151,0.0498064786211,0.999999939199,0.000160136943428,-0.0003073012947,-3.90418582095e-05,1793237742786807552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.904638641,746,715.904638641,680.904638641,667.904638641,636,881,789,804,653.904638641,633,654,0.420770527358,0.00462700609341,0.0497905627178,0.99999993062,0.000152939930933,-0.000337335504087,-3.9676500937e-05,1793237742803473920
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.328879549,746,715.328879549,680.328879549,667.328879549,636,881,789,804,653.328879549,633,654,0.420032191158,0.00462477719539,0.0498157494139,0.999999940858,0.000156315060566,-0.000303789065453,-3.95216805833e-05,1793237742820140288
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.253208099,746,715,679.746791901,667,636,881,788.746791901,803.746791901,653,633,654,0.419285582201,0.00462219392681,0.0498256882824,0.999999943035,0.000159374663182,-0.000294942631063,-3.92370037919e-05,1793237742836806912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.843726258,746,715,679.156273742,667,636,881,788.156273742,803.156273742,653,633,654,0.418527952788,0.0046191385852,0.0498153148223,0.999999935243,0.000162013937717,-0.000319000202012,-3.87793393587e-05,1793237742853473536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.426400233,679.426400233,667.426400233,636.426400233,881,788.426400233,803.426400233,653.426400233,632.573599767,654,0.417780585759,0.00461458934146,0.0498066568572,0.999999932367,0.000156130036884,-0.000330647349833,-3.95218831594e-05,1793237742870140416
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,715.993823656,680,667.993823656,637,881.006176344,789,803.993823656,654,632.006176344,654,0.417037646219,0.00460958262569,0.0497989479374,0.999999931432,0.000147260209024,-0.000337334573036,-4.06862583737e-05,1793237742886807040
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,715.420927851,680,667.420927851,637,881.579072149,789,803.420927851,654,632.579072149,654,0.416362090085,0.00461192987222,0.0498216729828,0.999999943909,0.000145854960143,-0.000298719496231,-4.09244702921e-05,1793237742903474176
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.74248772,679.25751228,667,636.25751228,881.25751228,789,803,654,633,654,0.415011111557,0.00461513621118,0.0498329609198,0.999999950185,0.000151556820995,-0.000273777890694,-4.13146051583e-05,1793237742936807680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.325262584,667,636,881.325262584,789,803,654,633,654,0.414315500753,0.00461779223871,0.049817489414,0.999999941102,0.000156614919397,-0.000302559119842,-4.15452576212e-05,1793237742953474048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.904870392,667,636,881.904870392,789,803,654,633,654,0.413604125231,0.0046216094454,0.0497932625897,0.999999924234,0.000161466270413,-0.000351726332851,-4.18233277778e-05,1793237742970140416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.518388946,667,636.481611054,881.518388946,789,803,654,633,654,0.412943500867,0.00462715447093,0.0497910821471,0.999999923523,0.000167445754389,-0.00035081775143,-4.29224229593e-05,1793237742986807040
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.057479481,746.057479481,716,679.057479481,667.057479481,637,881.057479481,789,803,654,633,654,0.412298860492,0.00463218680506,0.0497956702836,0.999999927011,0.000172648630829,-0.000337995629731,-4.39177427213e-05,1793237743003473920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.630573782,746.630573782,716,679.630573782,667.630573782,637,881.630573782,789,803,654,633,654,0.411708210833,0.00462957673228,0.049822143245,0.999999937859,0.000168897939845,-0.000306506799129,-4.25360135979e-05,1793237743020140544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.788999053,747,716,680,667.788999053,637,881.788999053,789,803.211000947,654,632.788999053,654,0.411113931658,0.00462658776269,0.0498346245827,0.999999942598,0.000163800604798,-0.000293641225017,-4.18063603398e-05,1793237743036807168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.195271135,747,716,680,667.195271135,637,881.195271135,789,803.804728865,654,632.195271135,654,0.4105130691,0.00462291152621,0.0498217270182,0.999999937426,0.000156260641493,-0.000314555704733,-4.22594840633e-05,1793237743053473792
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,747,715.610954867,680,667,636.610954867,881,789,803.610954867,654,632.389045133,654,0.409930053144,0.00461688138853,0.0498069484573,0.999999930689,0.000148450725535,-0.000338782042259,-4.25492486694e-05,1793237743070140416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,747,715.031250901,680,667,636.031250901,881,789,803.031250901,654,632.968749099,654,0.409355783197,0.00460969767728,0.0497912480778,0.999999922736,0.000140508513495,-0.000364631419275,-4.27589561102e-05,1793237743086807040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746.455397301,715.544602699,679.455397301,667,636.544602699,881,789,803,654,633,654,0.408847674322,0.00460812951692,0.0498109477469,0.999999935916,0.000144471256737,-0.00032485519702,-4.20205631033e-05,1793237743103473664
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.12255455,715.87744545,679.12255455,667,637,881,789,803.12255455,654,633,654.12255455,0.408350417143,0.00460767030355,0.0498306997763,0.999999946975,0.000147861732969,-0.000287184476854,-4.1376421802e-05,1793237743120140544
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.709284652,715.290715348,679.709284652,667,637,881,789,803.709284652,654,633,654.709284652,0.407879982263,0.00461019932412,0.0498430103663,0.999999951517,0.000146515515175,-0.000271651140547,-4.12938706107e-05,1793237743136807168
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.708097436,715.291902564,680,667,637,880.708097436,789,804,654.291902564,632.708097436,654.708097436,0.407402857921,0.00461195980052,0.0498419141832,0.999999949852,0.00014421539449,-0.000278910532046,-4.13200389966e-05,1793237743153474304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.12951813,715.87048187,680,667,637,880.12951813,789,804,654.87048187,632.12951813,654.12951813,0.406919163903,0.00461296549156,0.0498276512426,0.9999999416,0.000140978448287,-0.000308554602572,-4.14529805792e-05,1793237743170141952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.552013384,680,667,637,880.447986616,789,804,654.552013384,632.447986616,654,0.406451972586,0.00461735356872,0.0498084648429,0.999999929161,0.000144879984184,-0.000344790936791,-4.2497571245e-05,1793237743186808832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.974854874,667,637,881,789,804,654,633,654,0.405992028621,0.00462254978297,0.0497888337845,0.999999915105,0.000150583407523,-0.00038104813906,-4.37930723277e-05,1793237743203475712
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.398492187,667,637,881,789,804,654,633,654,0.405586617351,0.0046240761294,0.049790584121,0.999999916928,0.000150653198158,-0.000376082709593,-4.4824920798e-05,1793237743220141824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.182007214,789,803.817992786,654.182007214,633,654,0.405203919598,0.00462576082403,0.0497960946088,0.99999992121,0.000152335461217,-0.000363711990148,-4.56860064935e-05,1793237743236807680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.771774221,789,803.228225779,654.771774221,633,654,0.404872108117,0.0046278002738,0.04981002915,0.999999930482,0.000157630226179,-0.00033475083256,-4.61645237088e-05,1793237743253473792
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.355114913,746,715.355114913,679.355114913,667,637,881.644885087,789,803.355114913,655,632.644885087,654.355114913,0.404554324878,0.00462987414058,0.0498281827249,0.999999939224,0.000161023715309,-0.000305739172379,-4.6329359797e-05,1793237743270140672
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.934398998,746,715.934398998,679.934398998,667,637,881.065601002,789,803.934398998,655,632.065601002,654.934398998,0.404245397048,0.00463196973359,0.0498489996005,0.999999947328,0.000163217009095,-0.000276695629102,-4.6296182159e-05,1793237743286807808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.490058659,746,716,680,667,637,881,789,803.490058659,655,632,654.490058659,0.403954093138,0.00463334111341,0.0498623623726,0.999999951193,0.000166649639209,-0.000260189610815,-4.6305706157e-05,1793237743303474432
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881,789,803.169003783,654.915498108,632,654.084501892,0.403666244075,0.00463434804742,0.0498716297433,0.999999953368,0.000169325042374,-0.000249865051824,-4.64789121473e-05,1793237743320141056
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881,789,804.312314863,654.343842569,632,654.656157431,0.403385336802,0.00463378713973,0.0498627750686,0.999999949607,0.000166722592408,-0.000265946089538,-4.75643070171e-05,1793237743336807680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.236379668,746.236379668,715.763620332,679.763620332,667,637,881,789,804.527240665,654,632,654.763620332,0.403118428046,0.00463396493278,0.0498536661822,0.99999994485,0.00016593647034,-0.000283578726885,-4.84531636177e-05,1793237743353474560
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.82953175,746.82953175,715.17046825,679.17046825,667,637,881,789,803.340936499,654,632,654.17046825,0.40287264754,0.00463525766121,0.0498441736095,0.999999938631,0.000167891767346,-0.000303553222679,-4.90453811352e-05,1793237743370140928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.587609991,746.587609991,715,679,667,637,881,789,803.412390009,654,632.412390009,654,0.402646181681,0.00463597054409,0.0498349281137,0.999999933871,0.000165731370675,-0.000319859449711,-4.98006165296e-05,1793237743386807296
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.008903241,746.008903241,715,679,667,637,881,789,803.991096759,654,632.991096759,654,0.40242750542,0.00463644957544,0.0498257822641,0.999999929604,0.000161911116184,-0.000334686264774,-5.0621596955e-05,1793237743403473664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,804,654,632.434126636,654,0.402252276499,0.00463505184088,0.0498248503159,0.999999936568,0.0001123269565,-0.000334209316637,-5.0514157236e-05,1793237743420140544
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.855917059,881,789,804,654.144082941,632,654,0.402086026663,0.00463252818993,0.0498255156658,0.999999940367,8.8880978842e-05,-0.00033035313154,-4.72593842414e-05,1793237743436807168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.266917218,881,789,804,654.733082782,632,654,0.401945407277,0.00462661834942,0.0498307170344,0.999999938225,0.000148355749871,-0.000316800520487,-3.43306868699e-05,1793237743453473536
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.316720639,746,715,679,667,636.316720639,881.316720639,789,803.683279361,654.683279361,632,654,0.401814970415,0.00461290420174,0.0498358469868,0.999999939183,0.000163054741533,-0.000307070626145,-2.74671724874e-05,1793237743470140416
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.89591496,746,715,679,667,636.89591496,881.89591496,789,803.10408504,654.10408504,632,654,0.401692972028,0.00459272244448,0.0498409177555,0.999999944628,0.000140647021246,-0.00030050870423,-2.56300134683e-05,1793237743486807296
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.528160616,746,715,679,667,636.528160616,881.528160616,789,803.471839384,654,632.471839384,654,0.401591713358,0.00459290123325,0.0498455070893,0.999999947466,0.000139251687578,-0.000291418457884,-2.74133395541e-05,1793237743503474176
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.04698865,715,679,667,636.04698865,881,789,804,654.04698865,632.95301135,654,0.401496416569,0.0045971673795,0.0498497690412,0.999999949621,0.000142347701114,-0.000282144333164,-2.98224366948e-05,1793237743520140800
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.621478225,715,679,667,636.621478225,881,789,804,654.621478225,632.378521775,654,0.401417041809,0.00459724450276,0.0498515397953,0.999999950773,0.000144186812343,-0.000277024060197,-3.03523892729e-05,1793237743536807168
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.804019338,715,679,667,637,881,789,804,654.804019338,632,654,0.401342029402,0.0045966919135,0.0498523739735,0.99999995134,0.000144702305487,-0.000274663396888,-3.06749539338e-05,1793237743553473536
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.229492091,715,679,667,637,881,789,804,654.229492091,632,654,0.401275443107,0.00459492300256,0.049851399108,0.999999950816,0.000142661163095,-0.000277633059841,-3.05969382891e-05,1793237743570140416
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.357341651,667,637,881,789,803.642658349,654.357341651,632.357341651,654,0.401222211826,0.00459703108291,0.0498528338454,0.999999951422,0.000145004950485,-0.000274121413931,-3.1411950737e-05,1793237743586807040
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.952360749,667,637,881,789,803.047639251,654.952360749,632.952360749,654,0.401177863323,0.00460171785344,0.049855871274,0.999999952714,0.000150265271489,-0.000266298876798,-3.28209399467e-05,1793237743603473664
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715.527252174,680,667,637,881,789,803,654.472747826,632.472747826,654,0.401142993324,0.00459762053597,0.0498581578595,0.999999954862,0.00014323393523,-0.000262087701275,-3.27208313273e-05,1793237743620140288
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881,789,803,654.101210316,632,654,0.401110665652,0.00459407951851,0.0498602438456,0.999999956688,0.00013717745616,-0.000258344639879,-3.2613296226e-05,1793237743636807168
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,637,881,789,803,654.679022415,632,654,0.401086425265,0.00459675814218,0.0498616929239,0.999999956952,0.000140749132919,-0.000255325884874,-3.30892679264e-05,1793237743653473792
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.263116607,746,715.736883393,679.736883393,667,636.736883393,881,789,803,654.736883393,632,654,0.401065304906,0.00459839080302,0.0498620809287,0.999999957177,0.000142397783898,-0.000253462100163,-3.35629489667e-05,1793237743670140416
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.855061892,746,715.144938108,679.144938108,667,636.144938108,881,789,803,654.144938108,632,654,0.401048083783,0.00459871627734,0.0498611428625,0.999999957374,0.000141643143418,-0.000253041733457,-3.40337673309e-05,1793237743686807040
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.563799129,746,715,679.436200871,667,636,881.436200871,789,803,654.436200871,632,654,0.40103515743,0.00459721352485,0.0498610635218,0.999999957512,0.00014013265592,-0.000253376769002,-3.37522459532e-05,1793237743703473408
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.986266794,667,636.013733206,881.986266794,789,803.013733206,654.986266794,632,654,0.401023771762,0.00459520252319,0.0498612732464,0.999999957628,0.00013844974347,-0.000253910472215,-3.32442616178e-05,1793237743720140032
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.412921824,667,636.587078176,881.412921824,789,803.587078176,654.412921824,632,654,0.401018422785,0.00459663630472,0.0498619161831,0.999999957786,0.000139727298117,-0.000252558941226,-3.34484234701e-05,1793237743736806912
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.834557762,881,788.834557762,803.834557762,654.165442238,632,654,0.401013734891,0.00459742093547,0.0498623329426,0.999999957966,0.000140341083942,-0.000251481400398,-3.35987171916e-05,1793237743753473536
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.243274824,881,788.243274824,803.243274824,654.756725176,632,654,0.401010748595,0.0045965346819,0.0498621675325,0.999999958213,0.000139246359317,-0.000251109097709,-3.36103568138e-05,1793237743770140416
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.340751074,881,788.340751074,803.340751074,655,632.340751074,654,0.401008797353,0.00459696651103,0.049862751143,0.999999958349,0.00014025439503,-0.000250008175704,-3.35559563543e-05,1793237743786807296
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.91970392,881,788.91970392,803.91970392,655,632.91970392,654,0.401007569664,0.00459831974489,0.0498638583555,0.999999958403,0.00014273236376,-0.000248397912948,-3.34553906263e-05,1793237743803474176
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,804,654.505029225,633,654,0.401006599229,0.00459782695015,0.049864195989,0.99999995875,0.000141129865944,-0.000247924875876,-3.34102665494e-05,1793237743820140544
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.928653404,881,789,804,654.071346596,632.928653404,654,0.401005646005,0.00459719810602,0.0498643739181,0.999999959054,0.000139425608955,-0.000247661155577,-3.34015565366e-05,1793237743836807168
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.339932063,881,789,804,654.660067937,632.339932063,654,0.401004517203,0.00459773826523,0.0498642923639,0.99999995874,0.000141748126915,-0.000247587392397,-3.3592167411e-05,1793237743853473792
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.244891267,746,715,679,667,636.244891267,881,789,803.755108733,655,632.244891267,654,0.40100435664,0.00459844066783,0.049864458484,0.999999958857,0.000142225386077,-0.00024681157241,-3.37993519596e-05,1793237743870140416
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767.824388652,746,715,679,667,636.824388652,881,789,803.175611348,655,632.824388652,654,0.401005519024,0.00459936475105,0.0498649630128,0.999999959564,0.00014018138423,-0.000245076500144,-3.40291819033e-05,1793237743886807040
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767.59825332,746,715,679.40174668,667,636.59825332,881,788.59825332,803.40174668,654.59825332,633,654,0.40100535988,0.00459822219713,0.0498654394467,0.999999960045,0.000138007502329,-0.000244353800685,-3.39962032339e-05,1793237743903473920
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767.021825528,746,715,679.978174472,667,636.021825528,881,788.021825528,803.978174472,654.021825528,633,654,0.401004626131,0.00459618106082,0.0498659036646,0.999999960424,0.000135777148167,-0.000244071285197,-3.38489542832e-05,1793237743920140800
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.445912051,667,636.554087949,881,788.554087949,804,654.554087949,633,654,0.401005031037,0.00459563913873,0.0498661404498,0.999999960486,0.000136079997091,-0.000243714402925,-3.33763182426e-05,1793237743936807168
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.133222071,746,715,679,667,636.866777929,881,789,804,654.866777929,633,654,0.401005400635,0.00459547991418,0.0498663734916,0.999999960546,0.000136310715794,-0.000243374857396,-3.31015076829e-05,1793237743953473792
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.723474303,746,715,679,667,636.276525697,881,789,804,654.276525697,633,654,0.401005495383,0.00459643116526,0.0498666243965,0.999999960646,0.000135951988716,-0.000243104827064,-3.35492841351e-05,1793237743970140416
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.693856999,746,715.306143001,679,667,636.306143001,880.693856999,788.693856999,804,654.306143001,633,654,0.401006662532,0.00459691152236,0.0498675383385,0.999999961075,0.000136101149771,-0.000241222515816,-3.3727027848e-05,1793237743986807040
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.11787263,746,715.88212737,679,667,636.88212737,880.11787263,788.11787263,804,654.88212737,633,654,0.401008774921,0.00459697682283,0.0498690366963,0.999999961787,0.000136697974935,-0.000237919103702,-3.36667585707e-05,1793237744003473920
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.45925575,715.54074425,679,667,636.54074425,880.45925575,788.918511501,803.54074425,655,633,654,0.401007606174,0.00459653357704,0.049868390785,0.999999961487,0.000137085805294,-0.000238984906602,-3.34571615072e-05,1793237744020140544
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767.036420743,746.963579257,715,679.036420743,667,636,881,789.963579257,803.036420743,654.963579257,632.963579257,654,0.401005768501,0.00459605742522,0.0498673118286,0.999999960975,0.000137384743996,-0.000240978349748,-3.3247576204e-05,1793237744036807168
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767.60978524,746.39021476,715,679.60978524,667,636,881,789.39021476,803.60978524,654.39021476,632.39021476,654,0.401006515425,0.00459702523483,0.0498679825134,0.99999996121,0.000137165958282,-0.000240073896203,-3.36046153317e-05,1793237744053473792
+429,7.150000000,POSE2_TO_POSE3_RETREAT,768,746,715.189104941,679.810895059,667,636.189104941,881,789,804,654,632.189104941,654,0.401006293672,0.00459752251226,0.0498680267595,0.999999961293,0.000136482754413,-0.000240091407921,-3.38051631706e-05,1793237744070140672
+430,7.166666667,POSE2_TO_POSE3_RETREAT,768,746,715.781112779,679.218887221,667,636.781112779,881,789,804,654,632.781112779,654,0.401004008077,0.00459701728416,0.0498667363288,0.999999961046,0.000134810071229,-0.000242073238709,-3.36722941226e-05,1793237744086807296
+431,7.183333333,POSE2_TO_POSE3_RETREAT,768,746,716,679,667.362934897,636.637065103,881.362934897,788.637065103,803.637065103,654,633,654,0.401004182439,0.00459698764939,0.049867123236,0.999999961035,0.000135888431597,-0.000241529664594,-3.35815631631e-05,1793237744103473920
+432,7.200000000,POSE2_TO_POSE3_RETREAT,768,746,716,679,667.938781638,636.061218362,881.938781638,788.061218362,803.061218362,654,633,654,0.401005799909,0.00459723701635,0.0498684941355,0.999999961155,0.000138580662095,-0.00023950458881,-3.35155520664e-05,1793237744120140544
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767.484362059,746,715.484362059,679,667.484362059,636.515637941,881.484362059,788.515637941,803,654.515637941,633,654.515637941,0.401006133113,0.00459688885028,0.0498685190693,0.999999961353,0.000137761035287,-0.000239150597795,-3.35233015275e-05,1793237744136807168
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746.09466948,715.09466948,679.09466948,666.90533052,636.90533052,881,789,803,654.90533052,633,654.90533052,0.401006281666,0.00459655044508,0.0498684142411,0.999999961495,0.000136970092505,-0.00023901906599,-3.34601072287e-05,1793237744153473536
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746.684449162,715.684449162,679.684449162,666.315550838,636.315550838,881,789,803,654.315550838,633,654.315550838,0.401006263493,0.00459663483015,0.0498684681355,0.9999999613,0.000138513989113,-0.000239011340699,-3.29799969253e-05,1793237744170140416
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d28ead7af2dfea7860a1980b42564f4ca835a689
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,437 @@
+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,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+1,0.016666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+2,0.033333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+3,0.050000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+4,0.066666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+5,0.083333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+6,0.100000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+7,0.116666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+8,0.133333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+9,0.150000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+10,0.166666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+11,0.183333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+13,0.216666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+15,0.250000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+16,0.266666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+17,0.283333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+18,0.300000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+20,0.333333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+21,0.350000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+392,6.533333333,pose2_to_pose3_retreat,0.579142322,0.0100013620835,1.04001152355,0.54971355518,0.018675022449,1.03966106171
+393,6.550000000,pose2_to_pose3_retreat,0.579017748338,0.0100013416737,1.04001146461,0.549588982272,0.0186750043405,1.03966099638
+394,6.566666667,pose2_to_pose3_retreat,0.578906740322,0.0100012084075,1.04001146548,0.549477975774,0.018674876204,1.03966099671
+395,6.583333333,pose2_to_pose3_retreat,0.578807385726,0.0100011372886,1.04001169903,0.549378621368,0.0186748056633,1.03966122869
+396,6.600000000,pose2_to_pose3_retreat,0.578718566245,0.0100011484999,1.04001176913,0.549289801748,0.0186748165106,1.03966130186
+397,6.616666667,pose2_to_pose3_retreat,0.578640246528,0.0100012014968,1.04001169994,0.549211481986,0.0186748695143,1.03966123709
+398,6.633333333,pose2_to_pose3_retreat,0.578570998995,0.0100012096843,1.04001180757,0.54914223458,0.0186748779798,1.03966134077
+399,6.650000000,pose2_to_pose3_retreat,0.578511564596,0.0100012111009,1.04001162463,0.549082799692,0.0186748777483,1.03966115797
+400,6.666666667,pose2_to_pose3_retreat,0.578460593153,0.0100013136041,1.04001172698,0.54903182756,0.0186749778151,1.03966125782
+401,6.683333333,pose2_to_pose3_retreat,0.578417717274,0.0100013693281,1.04001180423,0.548988951245,0.0186750318596,1.03966133006
+402,6.700000000,pose2_to_pose3_retreat,0.578382824146,0.0100013301624,1.04001174669,0.548954058214,0.0186749928545,1.03966126832
+403,6.716666667,pose2_to_pose3_retreat,0.578354007955,0.0100012461748,1.04001169914,0.548925243437,0.0186749141668,1.03966123325
+404,6.733333333,pose2_to_pose3_retreat,0.578330311006,0.0100012974202,1.04001154236,0.548901545083,0.0186749608035,1.03966108042
+405,6.750000000,pose2_to_pose3_retreat,0.57831071512,0.0100013003337,1.04001146697,0.548881949111,0.0186749634152,1.03966100474
+406,6.766666667,pose2_to_pose3_retreat,0.578295005609,0.0100011730787,1.04001155896,0.548866242682,0.0186748465089,1.03966109407
+407,6.783333333,pose2_to_pose3_retreat,0.578283014267,0.0100012808509,1.04001154343,0.548854249891,0.0186749495515,1.0396610832
+408,6.800000000,pose2_to_pose3_retreat,0.578274012402,0.0100012831075,1.04001164173,0.548845247744,0.0186749508132,1.03966118075
+409,6.816666667,pose2_to_pose3_retreat,0.578267558909,0.0100012176052,1.04001180073,0.548838794778,0.0186748869364,1.0396613357
+410,6.833333333,pose2_to_pose3_retreat,0.578263151606,0.010001191168,1.04001167061,0.548834386522,0.0186748572844,1.03966120595
+411,6.850000000,pose2_to_pose3_retreat,0.578260452098,0.0100011761699,1.04001157532,0.548831686343,0.0186748400347,1.03966111109
+412,6.866666667,pose2_to_pose3_retreat,0.578258539673,0.0100012461171,1.04001161101,0.548829773215,0.0186749074677,1.03966114362
+413,6.883333333,pose2_to_pose3_retreat,0.578257245739,0.0100013142357,1.04001166178,0.548828478745,0.0186749736481,1.03966119135
+414,6.900000000,pose2_to_pose3_retreat,0.578256248938,0.0100013667118,1.0400117009,0.548827481532,0.0186750246311,1.03966122813
+415,6.916666667,pose2_to_pose3_retreat,0.578255543231,0.0100013997755,1.04001172674,0.548826775577,0.0186750567925,1.03966125251
+416,6.933333333,pose2_to_pose3_retreat,0.578255255282,0.0100013796989,1.0400117221,0.548826487882,0.018675037619,1.03966124885
+417,6.950000000,pose2_to_pose3_retreat,0.578255081253,0.0100013675651,1.04001171929,0.548826314007,0.0186750260311,1.03966124664
+418,6.966666667,pose2_to_pose3_retreat,0.578254938043,0.0100013575801,1.04001171698,0.548826170924,0.0186750164952,1.03966124482
+419,6.983333333,pose2_to_pose3_retreat,0.578254865891,0.0100013525494,1.04001171582,0.548826098835,0.0186750116909,1.0396612439
+420,7.000000000,pose2_to_pose3_retreat,0.578254719293,0.0100013423283,1.04001171346,0.548825952368,0.0186750019295,1.03966124203
+421,7.016666667,pose2_to_pose3_retreat,0.578254715974,0.0100013420968,1.0400117134,0.548825949051,0.0186750017085,1.03966124199
+422,7.033333333,pose2_to_pose3_retreat,0.578254533056,0.0100013293433,1.04001171045,0.548825766295,0.0186749895286,1.03966123967
+423,7.050000000,pose2_to_pose3_retreat,0.578253950485,0.0100012887248,1.04001170106,0.548825184239,0.0186749507374,1.03966123226
+424,7.066666667,pose2_to_pose3_retreat,0.578253588886,0.0100012635131,1.04001169523,0.548824822959,0.0186749266598,1.03966122766
+425,7.083333333,pose2_to_pose3_retreat,0.578253537231,0.0100012599115,1.0400116944,0.54882477135,0.0186749232203,1.03966122701
+426,7.100000000,pose2_to_pose3_retreat,0.578253393997,0.0100012499248,1.04001169209,0.548824628242,0.0186749136829,1.03966122519
+427,7.116666667,pose2_to_pose3_retreat,0.578253347975,0.0100012517907,1.04001169428,0.548824582182,0.0186749154259,1.03966122751
+428,7.133333333,pose2_to_pose3_retreat,0.578252829889,0.0100013486403,1.04001176273,0.548824062496,0.0186750068992,1.03966129727
+429,7.150000000,pose2_to_pose3_retreat,0.578252465601,0.0100014039332,1.04001180186,0.548823697252,0.0186750589945,1.03966133762
+430,7.166666667,pose2_to_pose3_retreat,0.578252463542,0.010001402102,1.04001180058,0.548823695215,0.0186750572429,1.03966133639
+431,7.183333333,pose2_to_pose3_retreat,0.578252438469,0.0100013798122,1.04001178492,0.548823670419,0.0186750359208,1.03966132145
+432,7.200000000,pose2_to_pose3_retreat,0.578252437681,0.0100013791122,1.04001178443,0.54882366964,0.0186750352512,1.03966132098
+433,7.216666667,pose2_to_pose3_retreat,0.578252289766,0.0100012476156,1.04001169208,0.548823523358,0.0186749094635,1.03966123284
+434,7.233333333,pose2_to_pose3_retreat,0.578252126649,0.0100012541952,1.04001168206,0.548823360493,0.0186749167124,1.03966121823
+435,7.250000000,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3404f97decf71e167f3e2c85284027d711bec43c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b82eac3bd8535375d697d69edd6152189b1495cc20c23982ae041f011336b0
+size 27822211
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8db0d95ffa4d5b81c0e7333a8da4a2c84192af4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,439 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,746,715,679,667,637,881,788,804,654,633,654,0.401007274494,0.00459824153383,0.049870704444,0.999999962374,0.000135439054272,-0.000236151734555,-3.37624406609e-05,1793237744322800128
+1,0.016666667,BASELINE,767.424488098,746.575511902,715,679,667,636.424488098,881.575511902,788.575511902,803.424488098,654,633,654,0.401005486425,0.00459798034484,0.0498695732364,0.999999961819,0.000136036508028,-0.000238149338821,-3.37896283618e-05,1793237744339466752
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+7,0.116666667,BASELINE,767.059835816,747,715,679,667,637,881.059835816,789,804,654,632.059835816,654,0.40100692267,0.00459760783518,0.0498695431735,0.999999962075,0.00013708271187,-0.000236526202895,-3.33764741102e-05,1793237744439466752
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+9,0.150000000,BASELINE,767.783638312,747,715,679.216361688,667,636.783638312,882,789,803.783638312,654.216361688,632.783638312,654,0.401007374379,0.0045966595378,0.0498694675776,0.999999962041,0.000137044686163,-0.000236732459166,-3.30922929965e-05,1793237744472800000
+10,0.166666667,BASELINE,767.194400685,747,715,679.805599315,667,636.194400685,882,789,803.194400685,654.805599315,632.194400685,654,0.40100603251,0.00459736551822,0.0498693539438,0.999999961747,0.000138424532313,-0.000237175144982,-3.30563729037e-05,1793237744489466624
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+12,0.200000000,BASELINE,767.965915211,746.034084789,715,680,666.034084789,636.965915211,881.034084789,789,803,654.034084789,632,654.965915211,0.401006301609,0.00459728466988,0.0498706816625,0.999999962373,0.000135755171235,-0.00023606631316,-3.31111925369e-05,1793237744522800640
+13,0.216666667,BASELINE,767.458806779,746.541193221,715,680,666.541193221,636.458806779,881,789,803.541193221,654.541193221,632.541193221,654.458806779,0.401006795001,0.00459664367778,0.0498707185154,0.999999962221,0.000137432261682,-0.000235758319011,-3.29937652001e-05,1793237744539467008
+14,0.233333333,BASELINE,767,746.881261686,715.118738314,679.881261686,667,636,881,789,804,655,632.881261686,654,0.401006967526,0.0045964294596,0.0498704968214,0.999999962039,0.00013869879271,-0.000235780890456,-3.30375891669e-05,1793237744556133632
+15,0.250000000,BASELINE,767,746.294008399,715.705991601,679.294008399,667,636,881,789,804,655,632.294008399,654,0.401005857386,0.00459801116134,0.049869447844,0.999999961897,0.000137468636268,-0.000236998237365,-3.37565553686e-05,1793237744572800256
+16,0.266666667,BASELINE,767.29021093,746,715.70978907,679,667,636.29021093,881,789,804,654.70978907,632,654,0.401005561416,0.00459797965168,0.0498690400258,0.999999961918,0.000137281244797,-0.000237008488835,-3.38257201231e-05,1793237744589466880
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+18,0.300000000,BASELINE,767.551675196,746,715,679.448324804,667,637,881,789,804,654,632,654,0.401005619645,0.00459608586708,0.049868946418,0.999999962061,0.000136644479855,-0.000236850913387,-3.3296006875e-05,1793237744622800128
+19,0.316666667,BASELINE,767,746.02401392,715.02401392,680,667,637,881,789,803.97598608,654.02401392,632.02401392,654,0.401004961981,0.00459620456319,0.0498685304895,0.999999961979,0.000134566768334,-0.000238353188028,-3.34997294062e-05,1793237744639466752
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+21,0.350000000,BASELINE,767,746.826576018,715.826576018,680,667,637,881,789,803.173423982,655,633,654.173423982,0.401007564909,0.00459529591728,0.0498709328383,0.99999996319,0.000134216916017,-0.00023351028779,-3.28321422292e-05,1793237744672800256
+22,0.366666667,BASELINE,767,746.251977332,715.251977332,680,667,637,881,789,803.748022668,655,633,654.748022668,0.401009101193,0.00459619173507,0.0498718309404,0.999999963623,0.000133675939513,-0.000231900861355,-3.32589382637e-05,1793237744689466880
+23,0.383333333,BASELINE,767,746,715,680,667,636.664811188,881,789,804,654.664811188,632.664811188,654.664811188,0.401008761623,0.00459542461037,0.0498715971484,0.999999963506,0.000132990755263,-0.000232811617906,-3.31615974946e-05,1793237744706133504
+24,0.400000000,BASELINE,767,746,715,680,667,636.067829403,881,789,804,654.067829403,632.067829403,654.067829403,0.401006956953,0.00459335867554,0.0498704793117,0.999999962954,0.000132192940186,-0.000235690716214,-3.26548894935e-05,1793237744722800128
+25,0.416666667,BASELINE,767.50758244,746,715,679.49241756,667,636.50758244,881,789,804,654,632,654,0.401005349784,0.00459433195396,0.0498697587619,0.999999962629,0.000132624525515,-0.000236792982523,-3.29055905253e-05,1793237744739466752
+26,0.433333333,BASELINE,767.919213183,746,715,679.080786817,667,637,881,789,803.919213183,654,632,654,0.40100399264,0.00459545865416,0.0498691450402,0.999999962322,0.000133294637521,-0.000237672540408,-3.31560548403e-05,1793237744756133120
+27,0.450000000,BASELINE,767.342586984,746,715,679.657413016,667,637,881,789,803.342586984,654,632,654,0.401004014682,0.00459513589407,0.0498688744224,0.999999961961,0.000134461504645,-0.000238583123155,-3.28091734772e-05,1793237744772800000
+28,0.466666667,BASELINE,767,746,715,679.760561292,667,636.760561292,881,789,803.239438708,654,632,654,0.401004481375,0.00459500242735,0.049869024331,0.99999996198,0.000134696424913,-0.00023838991662,-3.26671890925e-05,1793237744789466880
+29,0.483333333,BASELINE,767,746,715,679.170631848,667,636.170631848,881,789,803.829368152,654,632,654,0.401005598951,0.00459514604857,0.0498697898066,0.999999962556,0.000133567159924,-0.000236580981643,-3.28251332293e-05,1793237744806133760
+30,0.500000000,BASELINE,767,746,715,679,667,636.411954517,881,789,803.588045483,654.411954517,632.411954517,654,0.401006025769,0.00459451343635,0.0498702736915,0.999999962924,0.000131876584462,-0.000235980104246,-3.27561089762e-05,1793237744822800384
+31,0.516666667,BASELINE,767,746,715,679,667,636.991552624,881,789,803.008447376,654.991552624,632.991552624,654,0.401006171486,0.00459356493839,0.0498706429838,0.999999963207,0.000129957585503,-0.000235870842114,-3.25947206491e-05,1793237744839467008
+32,0.533333333,BASELINE,767,746,715,679,667,637,881,789,803.56645052,655,633,654,0.401005895904,0.00459528356379,0.0498705565582,0.999999962906,0.000132250910663,-0.000235818906473,-3.29821645258e-05,1793237744856133632
+33,0.550000000,BASELINE,767,746,715,679.140935608,667,636.859064392,881,789,803.859064392,654.859064392,633,654,0.401005951361,0.00459683280198,0.0498706018093,0.999999962644,0.000134513333263,-0.000235607961857,-3.32637670909e-05,1793237744872800000
+34,0.566666667,BASELINE,767,746,715,679.714367119,667,636.285632881,881,789,803.285632881,654.285632881,633,654,0.401007041816,0.00459774118018,0.0498710718265,0.999999962544,0.000136489738113,-0.000234906456856,-3.31956593461e-05,1793237744889466624
+35,0.583333333,BASELINE,767,746,715,679.701750159,667,636.298249841,881,789,803,654.298249841,633,654,0.401007288404,0.00459804316797,0.0498710131902,0.99999996244,0.000137553634228,-0.000234712122109,-3.33012404888e-05,1793237744906133504
+36,0.600000000,BASELINE,767,746,715,679.107494802,667,636.892505198,881,789,803,654.892505198,633,654,0.401006697473,0.00459774332854,0.0498704298784,0.999999962336,0.00013771188845,-0.000235021141086,-3.35792035056e-05,1793237744922800128
+37,0.616666667,BASELINE,767.469112203,746,715,679.469112203,667,637,881,788.530887797,803,654.530887797,632.530887797,654,0.401006292279,0.00459716458491,0.0498699650959,0.999999962288,0.000136995220892,-0.000235657304553,-3.34914578574e-05,1793237744939466752
+38,0.633333333,BASELINE,767.95781148,746,715,680,667,637,881,788.04218852,803,654.04218852,632.04218852,654,0.401005917179,0.00459661554332,0.0498695628058,0.999999962243,0.000136257752157,-0.000236301647207,-3.3318639659e-05,1793237744956133632
+39,0.650000000,BASELINE,767.380079477,746,715,680,667,637,881,788.619920523,803,654.619920523,632.619920523,654,0.401005403418,0.00459722539802,0.0498696215221,0.999999962091,0.000137708916241,-0.000236132727101,-3.30911035906e-05,1793237744972800512
+40,0.666666667,BASELINE,767,746,715,679.80351045,667,637,881,789,803,654.80351045,633,654,0.401005183467,0.00459760820936,0.0498698664181,0.999999962118,0.000138108009063,-0.000235799525287,-3.30075818877e-05,1793237744989467136
+41,0.683333333,BASELINE,767,746,715,679.229177819,667,637,881,789,803,654.229177819,633,654,0.401005528502,0.00459755442362,0.0498704693319,0.999999962487,0.000136484002626,-0.000235150415042,-3.32009951874e-05,1793237745006133760
+42,0.700000000,BASELINE,767.359198527,746,715,679,667,636.640801473,881,789,803.359198527,654,633,654,0.401007062189,0.0045978701924,0.049871514173,0.999999962965,0.00013621959176,-0.000233232118743,-3.34153199987e-05,1793237745022800128
+43,0.716666667,BASELINE,767.956899675,746,715,679,667,636.043100325,881,789,803.956899675,654,633,654,0.401009385123,0.00459843134003,0.0498728524474,0.999999963511,0.000136857932732,-0.000230471101304,-3.36435297428e-05,1793237745039466752
+44,0.733333333,BASELINE,767.468631822,746,715.531368178,679.531368178,667,636,881,789,803.468631822,654,632.468631822,654.531368178,0.401007976794,0.004596629143,0.0498715341537,0.999999963208,0.000135696658609,-0.000232501946496,-3.3354679821e-05,1793237745056133120
+45,0.750000000,BASELINE,767,746,716,679.89564689,667,636.10435311,881,789,803.10435311,654,632,654.89564689,0.401006556544,0.00459514485464,0.0498703956149,0.999999962887,0.000134710768032,-0.000234491796577,-3.30574537465e-05,1793237745072800000
+46,0.766666667,BASELINE,767,746,716,679.321211905,667,636.678788095,881,789,803.678788095,654,632,654.321211905,0.401006388841,0.00459592001874,0.0498709968363,0.999999962803,0.00013514494264,-0.000234619435813,-3.29035081191e-05,1793237745089467136
+47,0.783333333,BASELINE,767,746.260971652,715.739028348,679.260971652,667,637,881,789,803.739028348,654,632.260971652,654,0.401006708006,0.00459690469859,0.0498713957587,0.999999962832,0.00013579191293,-0.000234099529224,-3.30641906127e-05,1793237745106134016
+48,0.800000000,BASELINE,767,746.852984305,715.147015695,679.852984305,667,637,881,789,803.147015695,654,632.852984305,654,0.401007644762,0.00459815514803,0.0498715380663,0.999999963002,0.000136708813347,-0.000232758214593,-3.36239770013e-05,1793237745122800640
+49,0.816666667,BASELINE,767,746.56521555,715,679.56521555,667,636.56521555,881,789,803.43478445,654,632.56521555,654,0.401007999619,0.00459754759345,0.0498718250196,0.999999963132,0.000136621953463,-0.000232252302468,-3.36064615669e-05,1793237745139467008
+50,0.833333333,BASELINE,767,746,715.013134482,679.013134482,667,636.013134482,881,789,804,654.013134482,632,654.013134482,0.401008135456,0.00459633576104,0.0498721376197,0.999999963247,0.000136178319463,-0.000232045505739,-3.33979631016e-05,1793237745156133632
+51,0.850000000,BASELINE,767,746,715.588227571,679.588227571,667,636.588227571,881,789,804,654.588227571,632,654.588227571,0.401007125732,0.00459553292874,0.0498715029364,0.999999963279,0.000134658333875,-0.000232827881074,-3.31784611558e-05,1793237745172800000
+52,0.866666667,BASELINE,767,746.162970346,716,679.837029654,667,637,881,789,804,654.837029654,632.162970346,655,0.401006063572,0.00459534927779,0.0498708665508,0.999999963131,0.000133739052511,-0.000233999724934,-3.31057326979e-05,1793237745189466624
+53,0.883333333,BASELINE,767,746.736829855,716,679.263170145,667,637,881,789,804,654.263170145,632.736829855,655,0.401004869209,0.00459672673853,0.0498702258728,0.999999962535,0.000134334297427,-0.000236153516692,-3.34030570717e-05,1793237745206133248
+54,0.900000000,BASELINE,767,746.676599507,716,679,667,637,881,789,804,654,633,654.676599507,0.401004870722,0.00459670005882,0.0498702560316,0.999999962487,0.000134569547352,-0.000236214084711,-3.34568786236e-05,1793237745222800128
+55,0.916666667,BASELINE,767,746.079261907,716,679,667,637,881,789,804,654,633,654.079261907,0.401005885206,0.00459548399873,0.0498708544243,0.999999962905,0.00013449986269,-0.000234501582801,-3.33044405541e-05,1793237745239467008
+56,0.933333333,BASELINE,767.496968605,746,715.503031395,679,667,637,881.496968605,789,803.503031395,654.496968605,633,654,0.401007102261,0.00459510914805,0.0498715604268,0.999999963219,0.00013461748423,-0.000233121068652,-3.30864050561e-05,1793237745256133888
+57,0.950000000,BASELINE,767.929483341,746,715.070516659,679.070516659,667,637,881.929483341,789,803,655,632.929483341,654.070516659,0.401008098515,0.00459479967467,0.0498721673442,0.999999963498,0.000134507533585,-0.000232010938717,-3.28950163896e-05,1793237745272800512
+58,0.966666667,BASELINE,767.352004662,746,715.647995338,679.647995338,667,637,881.352004662,789,803,655,632.352004662,654.647995338,0.40100728457,0.00459403496534,0.0498719435535,0.999999963648,0.000132555490181,-0.000232479514796,-3.29673495282e-05,1793237745289467136
+59,0.983333333,BASELINE,767,746.230010784,715.769989216,680,667,637,881.230010784,789,803.230010784,654.769989216,632.230010784,654.769989216,0.401006219872,0.00459435543143,0.0498713142088,0.999999963478,0.000131938630179,-0.000233537515755,-3.31097395394e-05,1793237745306133504
+60,1.000000000,BASELINE,767,746.819109015,715.180890985,680,667,637,881.819109015,789,803.819109015,654.180890985,632.819109015,654.180890985,0.401004763704,0.00459637004783,0.0498700517226,0.999999962811,0.000133406226917,-0.000235515713095,-3.33615007095e-05,1793237745322800128
+61,1.016666667,BASELINE,767,746.598685317,715,680,667,637,881.598685317,789,804,654.401314683,632.598685317,654,0.401005648287,0.00459648891417,0.0498706826039,0.999999963026,0.000133485058684,-0.000234557202625,-3.33698047031e-05,1793237745339466752
+62,1.033333333,BASELINE,767,746.019534021,715,680,667,637,881.019534021,789,804,654.980465979,632.019534021,654,0.40100757014,0.00459576770703,0.0498721525027,0.999999963628,0.000132948479889,-0.00023229733379,-3.32702242665e-05,1793237745356133632
+63,1.050000000,BASELINE,767,746,715.554486615,679.445513385,667,637,881.554486615,789,803.445513385,654.445513385,632.554486615,654,0.401006065323,0.00459711071997,0.0498708960705,0.999999962945,0.000135007394735,-0.000234026280512,-3.3376093855e-05,1793237745372800512
+64,1.066666667,BASELINE,767,746,715.871345616,679,667,637,881.871345616,789,803,654.128654384,632.871345616,654,0.401004899157,0.00459806365475,0.0498700330343,0.999999962448,0.00013652271208,-0.000235262575887,-3.34243688119e-05,1793237745389467136
+65,1.083333333,BASELINE,767,746,715.296045336,679,667,637,881.296045336,789,803,654.703954664,632.296045336,654,0.401005323928,0.00459741221878,0.0498708661236,0.999999962772,0.000135836308808,-0.000234305173036,-3.32477971473e-05,1793237745406133760
+66,1.100000000,BASELINE,767,746,715,679,667,637,881,789,803.288232051,654.711767949,632,654,0.401005766947,0.00459614698678,0.0498710664358,0.999999963085,0.000134301558179,-0.000233853818077,-3.32463424454e-05,1793237745422800384
+67,1.116666667,BASELINE,767,746,715,679,667,637,881,789,803.882026263,654.117973737,632,654,0.401006229312,0.00459423105397,0.0498705959247,0.999999963383,0.000131867452887,-0.000233938937476,-3.34305337203e-05,1793237745439467008
+68,1.133333333,BASELINE,767,746.4613407,715,679,667,637,881,789,804,654.4613407,632.4613407,654,0.401005507223,0.00459398295298,0.04987066837,0.999999963283,0.000132079314576,-0.000234290130548,-3.31360754305e-05,1793237745456133632
+69,1.150000000,BASELINE,767,746.963039326,715,679,667,637,881,789,803.963039326,654.963039326,632.963039326,654,0.401004607182,0.00459423823309,0.0498708636556,0.999999963083,0.000133029310777,-0.000234654524712,-3.27645879653e-05,1793237745472800000
+70,1.166666667,BASELINE,767,746.388936981,715,679,667,637,881,789,803.388936981,654.388936981,632.388936981,654,0.401005388841,0.00459579947394,0.0498708877608,0.999999962883,0.000135172449213,-0.000234252044235,-3.29983334689e-05,1793237745489466880
+71,1.183333333,BASELINE,767,746,715,679.19110414,667,636.80889586,880.80889586,789,803.19110414,654,632,654.19110414,0.401005873638,0.00459673489815,0.0498707911763,0.99999996278,0.00013616161378,-0.000234103030613,-3.30985706535e-05,1793237745506133504
+72,1.200000000,BASELINE,767,746,715,679.783619681,667,636.216380319,880.216380319,789,803.783619681,654,632,654.783619681,0.401005734883,0.00459635580413,0.0498704410848,0.999999962891,0.000134726873819,-0.000234486420276,-3.29183756466e-05,1793237745522800384
+73,1.216666667,BASELINE,767,746,715,679.633333338,667,636,880.366666662,788.633333338,803.633333338,654,632,654.633333338,0.401005596566,0.00459650791543,0.0498706622762,0.999999962966,0.000134207700226,-0.00023444652105,-3.30388023493e-05,1793237745539467264
+74,1.233333333,BASELINE,767,746,715,679.055733395,667,636,880.944266605,788.055733395,803.055733395,654,632,654.055733395,0.401005458501,0.00459696561462,0.0498712121111,0.999999963021,0.000134215226959,-0.000234163115307,-3.33321684928e-05,1793237745556133888
+75,1.250000000,BASELINE,767.519670032,746,715,679,667,636.519670032,881,788.519670032,803,654.519670032,632,654,0.401004524044,0.00459598988732,0.0498705346923,0.999999962991,0.00013246361552,-0.00023531266896,-3.31615175e-05,1793237745572800256
+76,1.266666667,BASELINE,767.905627972,746,715,679,667,637,881,789,803.094372028,654.905627972,632,654,0.401003900317,0.00459531355335,0.0498700830386,0.999999962971,0.000131275042533,-0.00023607602419,-3.3046620055e-05,1793237745589466624
+77,1.283333333,BASELINE,767.333290454,746,715,679,667,637,881,789,803.666709546,654.333290454,632,654,0.401005281104,0.00459692888182,0.0498714386261,0.999999963073,0.000133889588357,-0.00023410832832,-3.34650797311e-05,1793237745606133504
+78,1.300000000,BASELINE,767,746,715,679.248008153,667,637,881,789,803.751991847,654.248008153,632,654,0.401006371734,0.00459746975156,0.0498720380276,0.999999963319,0.000134413314458,-0.000232742562568,-3.35543477672e-05,1793237745622800128
+79,1.316666667,BASELINE,767,746,715,679.841800672,667,637,881,789,803.158199328,654.841800672,632,654,0.401007057814,0.00459651256141,0.0498715831196,0.999999963772,0.000132021923374,-0.000232216035622,-3.31846416523e-05,1793237745639466752
+80,1.333333333,BASELINE,767,746,715,679.57638182,667,636.57638182,881,789,803,654.57638182,632.42361818,654,0.401006595137,0.00459636902866,0.049871181284,0.999999963573,0.000133048812911,-0.00023249897292,-3.31047491736e-05,1793237745656133632
+81,1.350000000,BASELINE,767,746,715,679.001083654,667,636.001083654,881,789,803.001083654,654.001083654,632.998916346,654,0.401005716927,0.00459652026443,0.0498707995306,0.999999963135,0.000135310845454,-0.000233074830863,-3.31303457757e-05,1793237745672800256
+82,1.366666667,BASELINE,767,746,715,679.576968692,667,636.576968692,881,789,803.576968692,654.576968692,632.423031308,654,0.401005726398,0.00459628074315,0.0498708460331,0.999999963273,0.000134224287708,-0.000233087517491,-3.32801518617e-05,1793237745689466880
+83,1.383333333,BASELINE,767,746,715,679.843717574,667,637,881.156282426,789,804,654.843717574,632,654,0.401005916289,0.00459609168894,0.049871035814,0.999999963396,0.000133466384366,-0.000232986219685,-3.33421025942e-05,1793237745706133760
+84,1.400000000,BASELINE,767,746,715,679.2549146,667,637,881.7450854,789,804,654.2549146,632,654,0.401006605503,0.00459604230518,0.0498716221263,0.999999963479,0.000133618050629,-0.000232569463443,-3.31609086472e-05,1793237745722800384
+85,1.416666667,BASELINE,767,746,715,679,667,637,881.671494695,789,803.671494695,654.328505305,632,654,0.401006737128,0.00459611684206,0.0498718093845,0.999999963513,0.00013396158667,-0.000232209594894,-3.32731922627e-05,1793237745739467008
+86,1.433333333,BASELINE,767,746,715,679,667,637,881.09218465,789,803.09218465,654.90781535,632,654,0.401006443047,0.00459628598892,0.0498716919758,0.999999963509,0.000134451609987,-0.000231893158554,-3.36095379134e-05,1793237745756133632
+87,1.450000000,BASELINE,767.484429366,746,715.484429366,679.484429366,667,637,881,788.515570634,803,654.515570634,632.484429366,654,0.401006069821,0.00459717205782,0.0498715418523,0.999999963184,0.000135605225805,-0.000232597237679,-3.37975440204e-05,1793237745772800512
+88,1.466666667,BASELINE,767.939632359,746,715.939632359,680,667,636.939632359,881,788.060367641,803,654,632.939632359,654,0.401005964958,0.00459795173185,0.0498715668364,0.999999962928,0.000136546478765,-0.000233132642846,-3.38900174881e-05,1793237745789466880
+89,1.483333333,BASELINE,767.365103984,746,715.365103984,680,667,636.365103984,881,788.634896016,803,654,632.365103984,654,0.401008273347,0.00459666968542,0.0498731359688,0.999999963797,0.000134609421935,-0.000230586553197,-3.34079188192e-05,1793237745806133760
+90,1.500000000,BASELINE,767,746,715,679.784239998,667,636.215760002,881,789,803,654,632,654,0.401008903255,0.00459616615958,0.0498735702091,0.999999964073,0.000134188778537,-0.000229666315256,-3.31777824441e-05,1793237745822800384
+91,1.516666667,BASELINE,767,746,715,679.192330767,667,636.807669233,881,789,803,654,632,654,0.401006606953,0.0045970198823,0.0498720259139,0.999999963324,0.000136411803017,-0.000231580536517,-3.33869092905e-05,1793237745839467264
+92,1.533333333,BASELINE,767,746,715,679.391341887,667,637,881,789,803,654,632.391341887,654,0.401005580397,0.00459744214781,0.0498711565974,0.999999962841,0.000137422063427,-0.000233061862458,-3.34111854839e-05,1793237745856133632
+93,1.550000000,BASELINE,767,746,715,679.971050048,667,637,881,789,803,654,632.971050048,654,0.401005165012,0.00459765673825,0.0498706121712,0.999999962486,0.000137848579091,-0.000234334821203,-3.33464867364e-05,1793237745872800256
+94,1.566666667,BASELINE,767,746,715,679.454857386,667,637,881,789,803,654.545142614,632.454857386,654,0.401005925621,0.00459755094114,0.0498712145539,0.999999962997,0.000136881979264,-0.000232720385107,-3.33309785059e-05,1793237745889467136
+95,1.583333333,BASELINE,767,746,715,679.122082564,667,637,881,789,803,654.877917436,632,654,0.401006372241,0.00459725412629,0.0498717098821,0.999999963385,0.00013587892885,-0.000231642144434,-3.32966263981e-05,1793237745906133504
+96,1.600000000,BASELINE,767,746,715,679.711040653,667,637,881,789,803,654.288959347,632,654,0.401005381694,0.00459629121339,0.0498715652779,0.999999963145,0.000135016522502,-0.000233194871748,-3.31803222254e-05,1793237745922800384
+97,1.616666667,BASELINE,767.294484913,746,715,679.705515087,667,637,881,789,803,654,632,654,0.401005248544,0.00459589074605,0.0498716437381,0.99999996322,0.000134312701833,-0.000233281511183,-3.31605118212e-05,1793237745939467008
+98,1.633333333,BASELINE,767.872618209,746,715,679.127381791,667,637,881,789,803,654,632,654,0.401005941241,0.0045960320273,0.0498719370544,0.9999999636,0.000133761631218,-0.000231956012121,-3.323364439e-05,1793237745956133888
+99,1.650000000,BASELINE,767.548019674,746,715,679,667,637,881,789,803.451980326,654,632.451980326,654,0.401005617695,0.00459647840267,0.049871590424,0.999999963229,0.000134420280714,-0.000233177060399,-3.31939329208e-05,1793237745972800512
+100,1.666666667,BASELINE,767,746,715,679,667,636.968620732,881,788.968620732,803.968620732,654,632.968620732,654,0.401005056978,0.00459697869745,0.0498710992362,0.999999962695,0.000135279238736,-0.000234972882452,-3.31369464762e-05,1793237745989467136
+101,1.683333333,BASELINE,767,746,715,679,667,636.394590159,881,788.394590159,803.394590159,654,632.394590159,654,0.401005361251,0.00459692042194,0.0498712356378,0.999999963068,0.000133690211681,-0.000234263299076,-3.33326948388e-05,1793237746006133504
+102,1.700000000,BASELINE,767,746,715,679,667,636.179588929,881,788.179588929,803,654,632,654,0.401005691087,0.00459686885252,0.0498712913696,0.999999963305,0.000132863698153,-0.000233706268597,-3.34447161877e-05,1793237746022800128
+103,1.716666667,BASELINE,767,746,715,679,667,636.754094524,881,788.754094524,803,654,632,654,0.401006077134,0.00459683202982,0.0498711697085,0.999999963246,0.000133713954678,-0.000233484702548,-3.33726215221e-05,1793237746039467008
+104,1.733333333,BASELINE,767,746,715,679,667,636.659481604,881,789,803,654,632,654,0.401005788394,0.00459617844818,0.0498710800921,0.999999963302,0.000133044586192,-0.000233645120648,-3.32373415565e-05,1793237746056133632
+105,1.750000000,BASELINE,767,746,715,679,667,636.064138717,881,789,803,654,632,654,0.401004994683,0.00459506331941,0.0498710144562,0.999999963443,0.000131238017349,-0.000234091393815,-3.30547773185e-05,1793237746072800256
+106,1.766666667,BASELINE,767,746,715,679,667,636.513069435,881,789,803.513069435,654.513069435,632.513069435,654,0.4010061848,0.00459489189589,0.0498717958724,0.999999963671,0.000131789533148,-0.000232815120377,-3.29685083423e-05,1793237746089467136
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803,654,633,654,0.401006219919,0.00459297656362,0.0498720279553,0.999999963734,0.000131790546186,-0.000232597664141,-3.25860336939e-05,1793237746132710912
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.572662818,746,715,680.145325637,667.572662818,636.427337182,881,789,803.572662818,654,632.427337182,654,0.401006022826,0.00459523917846,0.0498719751492,0.999999963206,0.000135022292588,-0.00023299153946,-3.27407586749e-05,1793237746149377280
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.848074041,746,715,680.696148082,667.848074041,636.151925959,881,789,804,654,632.151925959,654,0.401006381713,0.00459672837355,0.0498720985563,0.999999963035,0.000136455205573,-0.000232859475209,-3.29530100934e-05,1793237746166043392
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.249402187,746,715,679.498804375,667.249402187,636.750597813,881,789,804,654,632.750597813,654,0.401008375492,0.00459594328966,0.049872740127,0.999999963931,0.000132598559533,-0.000231180859399,-3.3334420921e-05,1793237746182710016
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.336400116,679.336400116,667,637,881,789,804,654,633,654,0.401008196434,0.00459636571351,0.0498726976402,0.999999963955,0.000132104223978,-0.000231333829232,-3.35205871291e-05,1793237746199376384
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.913012656,679.913012656,667,637,881,789,804,654,633,654,0.401006465823,0.00459765037957,0.04987216669,0.99999996336,0.000134010805621,-0.000232794675126,-3.35673354584e-05,1793237746216043008
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.501838965,679.501838965,667,637,881,789,804,654,632.501838965,654,0.401005681607,0.00459703134346,0.0498716110111,0.999999963163,0.000134369949814,-0.000233461160259,-3.33808889214e-05,1793237746232709632
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,804,654.083847077,632,654,0.401005484436,0.00459623486805,0.0498712808714,0.999999963148,0.000134225431858,-0.000233635618958,-3.31974833583e-05,1793237746249376512
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,804,654.663742301,632,654,0.401007765566,0.00459638955148,0.0498723110365,0.999999963788,0.000132727647812,-0.000231734119587,-3.32771707125e-05,1793237746266043136
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.75788412,746,715,679,667,636.75788412,881,789,804,654.75788412,632,654,0.401012449828,0.00459716134795,0.0498744869352,0.999999964609,0.000132804210737,-0.000228112898071,-3.32970586797e-05,1793237746282710016
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.181610698,746,715,679,667,636.181610698,881,789,804,654.181610698,632,654,0.401020450783,0.00459878485633,0.0498782441242,0.99999996566,0.000135053617283,-0.000222118192876,-3.32344141918e-05,1793237746299376384
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.393190867,746,715.393190867,679.393190867,667.393190867,636.393190867,881,789,803.606809133,654.393190867,632,654,0.401041182044,0.00459811302768,0.0498866280223,0.999999969117,0.00013517008066,-0.000205935667487,-3.29443765093e-05,1793237746316043008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.967315184,746,715.967315184,679.967315184,667.967315184,636.967315184,881,789,803.032684816,654.967315184,632,654,0.401067771371,0.00459638496089,0.0498971409794,0.999999973327,0.000134305034194,-0.000185065043177,-3.25496999733e-05,1793237746332709632
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.458341801,680,667.458341801,637,881,788.458341801,803.541658199,654.458341801,632.541658199,654.541658199,0.401116192035,0.00459587838661,0.0499135076092,0.999999979304,0.000133198528148,-0.000150274503981,-3.26846050087e-05,1793237746349376512
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.120101338,746,715,679.879898662,667,637,881,788.120101338,803.879898662,654,633,654.879898662,0.401168642266,0.00459523979235,0.049929795618,0.999999983993,0.000132029649925,-0.000116256990342,-3.2647868455e-05,1793237746366042880
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.714690981,746,715,679.285309019,667,637,881,788.714690981,803.285309019,654,633,654.285309019,0.401231805659,0.00459378830614,0.0499443769669,0.99999998703,0.000130671942258,-8.86132722586e-05,-3.1806721049e-05,1793237746382709760
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.701205569,746,715,679,667,637,881,788.701205569,803.298794431,654,633,654,0.401298255854,0.0045926519803,0.0499554250076,0.999999988597,0.000129504914154,-7.12925801581e-05,-3.08627850132e-05,1793237746399376384
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.126775588,746,715,679,667,637,881,788.126775588,803.873224412,654,633,654,0.401367738097,0.00459180638754,0.0499632135982,0.999999989282,0.000128513786612,-6.34948013311e-05,-2.98240273274e-05,1793237746416043008
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715.447688266,679,667,637,881,788,803.552311734,654,633,654,0.401444347805,0.0045910017437,0.0499647505737,0.999999989681,0.000126660210361,-6.11768768913e-05,-2.91867497223e-05,1793237746432709888
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715.977092854,679,667,637,881,788.022907146,803,654,632.977092854,654,0.401523798032,0.00459029265385,0.0499644617928,0.999999989979,0.000124733827056,-6.0512877987e-05,-2.86645418329e-05,1793237746449376512
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715.383296139,679,667,637,881,788.616703861,803,654,632.383296139,654,0.401623734642,0.0045916759382,0.0499627948072,0.999999989582,0.000127080007273,-6.23917210713e-05,-2.81764936829e-05,1793237746466042880
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.204311031,667,637,881,789,803.204311031,654,632.204311031,654,0.401731544696,0.00459164443819,0.0499621136397,0.999999989535,0.000127162451436,-6.32593795187e-05,-2.75189411922e-05,1793237746482709504
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.780647723,667,637,881,789,803.780647723,654,632.780647723,654,0.40185369133,0.00458903678693,0.0499632275278,0.999999990128,0.000123122905935,-6.22857929073e-05,-2.65527418636e-05,1793237746499376128
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.356395308,746,715,679.643604692,667,636.643604692,881.356395308,789,804,654.356395308,633,654,0.401992172921,0.00458655052654,0.04996548088,0.999999990838,0.000119080696141,-5.91659258969e-05,-2.53739361886e-05,1793237746516042752
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.931780966,746,715,679.068219034,667,636.068219034,881.931780966,789,804,654.931780966,633,654,0.402140691688,0.00458413885564,0.0499684343865,0.999999991596,0.000115036848854,-5.47272572087e-05,-2.40644925092e-05,1793237746532709632
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.479325611,746,715,679,667,636.520674389,881.479325611,789,803.479325611,654.479325611,632.479325611,654,0.402301969557,0.00458262895466,0.0499651405428,0.999999991729,0.000111032623215,-6.0661556303e-05,-2.30968749465e-05,1793237746549376512
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.109358748,715,679,667,637,881,789,803,654,632,654,0.402473329844,0.00458119716437,0.0499624143887,0.999999991824,0.000107622482746,-6.54397671548e-05,-2.20496017102e-05,1793237746566043136
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.689324755,715,679,667,637,881,789,803,654,632,654,0.402680692692,0.00457957952775,0.0499657474196,0.999999992339,0.000106745953497,-5.92386372094e-05,-2.0461679892e-05,1793237746582709760
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,747,715,679,667,637,881.266888182,789,803.266888182,654,632.266888182,654.266888182,0.402902242236,0.00457716543496,0.0499700638583,0.999999993202,0.000103519256644,-5.02350550343e-05,-1.88554386519e-05,1793237746599376384
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,747,715,679,667,637,881.841679767,789,803.841679767,654,632.841679767,654.841679767,0.403140158667,0.00457383248717,0.0499755148341,0.999999994369,9.75812198356e-05,-3.79983417649e-05,-1.7228062765e-05,1793237746616043008
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.580653395,715,679.419346605,667,637,881.580653395,789,804,654,633,654.580653395,0.403394219605,0.00457099580558,0.0499820477742,0.999999995244,9.32918085538e-05,-2.39116717326e-05,-1.54105687397e-05,1793237746632709632
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.001893552,715,679.998106448,667,637,881.001893552,789,804,654,633,654.001893552,0.403654417819,0.00456834777802,0.0499889920194,0.99999999585,8.96291169827e-05,-9.12174697597e-06,-1.35208019621e-05,1793237746649376256
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.568388239,715,679.431611761,667,637,881.568388239,789,804.568388239,654.568388239,633,654,0.40396978777,0.00456619386775,0.0499977600929,0.999999996128,8.70439892682e-05,6.71976534456e-06,-1.10880910527e-05,1793237746666043136
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.855185036,715,679,667,637,881.855185036,789,804.855185036,655,633,654.144814964,0.404290951747,0.0045637251346,0.0500050096179,0.999999996222,8.41602226602e-05,1.99536804466e-05,-8.68516800184e-06,1793237746682710016
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.259541785,715,679,667,637,881.259541785,789,804.259541785,655,633,654.740458215,0.404629589446,0.00456027126704,0.0500075130606,0.999999996439,8.0335742509e-05,2.50590489125e-05,-6.38052722379e-06,1793237746699376896
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679.324859964,667.324859964,637,881,789,803.675140036,654.675140036,632.675140036,654.675140036,0.404981924872,0.0045565312868,0.050008229083,0.999999996842,7.45172708737e-05,2.73195697796e-05,-4.1237019294e-06,1793237746716043520
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679.900580945,667.900580945,637,881,789,803.099419055,654.099419055,632.099419055,654.099419055,0.405344837894,0.00455257036633,0.0500075648369,0.999999997368,6.71590131198e-05,2.73832635114e-05,-1.90380011755e-06,1793237746732709888
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.472979266,715,679.527020734,667.527020734,637,881,789,803,654,632,654,0.405704308485,0.00455010783768,0.0499922109516,0.999999997905,6.46642307604e-05,-2.82858427488e-06,7.43179731102e-07,1793237746749376512
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,747,715,679,667.046486248,637,881.046486248,788.953513752,803,654,632.046486248,654,0.406067109894,0.00454766555351,0.0499745155885,0.999999997314,6.2699137738e-05,-3.77876782964e-05,3.50307117101e-06,1793237746766042880
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,747,715,679,667.641249564,637,881.641249564,788.358750436,803,654,632.641249564,654,0.406477671319,0.00454177321194,0.0499653676994,0.999999996997,5.50082260154e-05,-5.42036234742e-05,6.54328318743e-06,1793237746782709760
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.770278932,715,679,667.770278932,637,881.770278932,788,803,654,632.770278932,654.229721068,0.40691206067,0.00453672850828,0.0499584037717,0.999999996615,4.92062992678e-05,-6.52715391764e-05,9.35260262504e-06,1793237746799376640
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.191371307,715,679,667.191371307,637,881.191371307,788,803,654,632.191371307,654.808628693,0.407382669539,0.00453297225343,0.0499547595663,0.999999996533,4.62757167879e-05,-6.8210203869e-05,1.18109545751e-05,1793237746816044032
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.384203785,715,679,667.384203785,637,881.384203785,788,803.384203785,654,632,654.615796215,0.407884098836,0.00452610768343,0.0499641791417,0.999999998046,3.7557417165e-05,-4.77381248488e-05,1.48062740001e-05,1793237746832710656
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.958133204,715,679,667.958133204,637,881.958133204,788,803.958133204,654,632,654.041866796,0.408400747711,0.00451770818055,0.0499800498096,0.999999999376,2.59810553992e-05,-1.57054666505e-05,1.8066755992e-05,1793237746849377280
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,715,679,668,637,882,788.546555093,804,654,632,654,0.408937246536,0.00451371274589,0.0500000713145,0.999999999436,2.20009626661e-05,1.3453834265e-05,2.15267928975e-05,1793237746866044416
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.866025785,715,679,667.866025785,637,881.866025785,788.866025785,803.866025785,654,632.133974215,654.133974215,0.409479044895,0.00450949199676,0.0500150434788,0.99999999828,4.10450683103e-05,3.3582200009e-05,2.50618835624e-05,1793237746882710784
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.285746208,715,679,667.285746208,637,881.285746208,788.285746208,803.285746208,654,632.714253792,654.714253792,0.410033294081,0.0045033662219,0.0500121068192,0.999999990203,0.000134797966378,2.43791982854e-05,2.87946888759e-05,1793237746899376896
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.292254421,788.292254421,803.292254421,654,632.707745579,654.707745579,0.410590848274,0.00449705331443,0.050000305413,0.999999984352,0.000173903239529,-1.10800223207e-06,3.24469185807e-05,1793237746916043008
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.868044161,788.868044161,803.868044161,654,632.131955839,654.131955839,0.411151608941,0.00449055885653,0.0499799037304,0.999999985654,0.000159991254003,-4.23935805584e-05,3.60209771518e-05,1793237746932709888
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.442072148,715,679,667,637,882,788.557927852,804,654,632,654,0.411740388173,0.00448411167233,0.0499640933673,0.999999986666,0.000143966800815,-6.6843767306e-05,3.83949962811e-05,1793237746949376512
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.983993441,715.016006559,679,667.016006559,637,881.983993441,788.016006559,804,654,632,654,0.412339736213,0.00447772115207,0.0499508300947,0.999999987861,0.000125009597444,-8.40731522826e-05,3.97780221382e-05,1793237746966043136
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.394648134,715.605351866,679,667.605351866,637,881.394648134,788.605351866,804,654,632,654,0.413019271173,0.00447285683006,0.0499799066113,0.999999999313,2.35005365727e-05,-2.19460664982e-05,1.84442681133e-05,1793237746982710528
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.808434247,746,716,679,668,637,881.191565753,789,804,654,632,654,0.413698576654,0.00446290373617,0.0500009876811,0.999999998158,-5.75315391231e-05,1.88109373614e-05,4.58503655748e-06,1793237746999377664
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.228567733,746,716,679,668,637,881.771432267,789,804,654,632,654,0.414377416941,0.00444263578222,0.0500058621044,0.999999995141,-9.70570820664e-05,1.62511178383e-05,5.87654591821e-06,1793237747016044288
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.348682073,746,716,679.348682073,667.651317927,637,882,789,804,654,632,654,0.415048659451,0.00443591748527,0.0499885512854,0.999999995125,-9.73061615351e-05,-1.4801049342e-05,7.89571083491e-06,1793237747032710400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.924229332,746,716,679.924229332,667.075770668,637,882,789,804,654,632,654,0.415714958545,0.00443801508666,0.049956805944,0.999999995281,-7.20005497052e-05,-6.43913696628e-05,1.03883147445e-05,1793237747049376512
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.508771343,716,679.491228657,667,637,881.491228657,788.491228657,804,654,632,654.508771343,0.416410503306,0.00444871300842,0.0499547044881,0.999999996544,-4.82557973496e-05,-6.58430462003e-05,1.5741072432e-05,1793237747066043136
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.906147598,716,679,667.093852402,636.906147598,881,788.093852402,804,654,632.093852402,654.906147598,0.41712157068,0.00446368424873,0.0499616564149,0.999999998182,-2.23662702374e-05,-5.22484780826e-05,2.01476874266e-05,1793237747082710016
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.325345351,716,679,667.674654649,636.325345351,881,788.674654649,804,654,632.674654649,654.325345351,0.41789017116,0.00449406227636,0.0499922630715,0.999999999721,1.58791365082e-05,1.54625396863e-06,1.73954233731e-05,1793237747099376896
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.253863364,715.746136636,679.253863364,668,636.253863364,881,789,804,654,633,654,0.418642910697,0.00450628319587,0.0500092093716,0.999999998946,3.28860415803e-05,2.71778027432e-05,1.69816113511e-05,1793237747116043776
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.831042665,715.168957335,679.831042665,668,636.831042665,881,789,804,654,633,654,0.41937545012,0.00449537954446,0.0500087580851,0.999999999405,2.28439680036e-05,1.69412216649e-05,1.95460105978e-05,1793237747132710656
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.406329363,746.593670637,715,679.593670637,667.593670637,636.593670637,881.406329363,789,804,654,633,654,0.420123394688,0.00448491595326,0.0499940346988,0.999999999739,9.06902994307e-06,-5.55854956489e-06,2.02287293698e-05,1793237747149377280
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.980832706,746.019167294,715,679.019167294,667.019167294,636.019167294,881.980832706,789,804,654,633,654,0.420877715183,0.00447463449741,0.0499734042922,0.999999999229,-6.25088736437e-06,-3.31338812285e-05,2.01326470226e-05,1793237747166044160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.428782063,746.571217937,715,679.571217937,667,636.571217937,881.428782063,789,804,654,633,654,0.421689971945,0.00447307397905,0.0500004431541,0.999999999536,-7.62707005847e-06,2.1363348695e-05,2.03490302973e-05,1793237747182710272
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,747,715.159070182,680,667.159070182,637,881.159070182,789,804,654,632.840929818,654.159070182,0.422493481498,0.00447136638666,0.0500214824998,0.99999999772,-8.82873376632e-06,6.36439220595e-05,2.07823359961e-05,1793237747199376640
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,747,715.738774819,680,667.738774819,637,881.738774819,789,804,654,632.261225181,654.738774819,0.423268572718,0.00446847393471,0.0500223064247,0.999999997518,-1.0841535238e-05,6.61289492043e-05,2.17607385771e-05,1793237747216043264
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,715.684596612,680,667.684596612,637,882,789,804,654,632,654.684596612,0.424037029805,0.00447240513452,0.0500118104729,0.999999998568,-7.5256442483e-06,4.83194507893e-05,2.17453721916e-05,1793237747232709888
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,715.110491142,680,667.110491142,637,882,789,804,654,632,654.110491142,0.424800045367,0.00448193327154,0.0499920296633,0.999999999685,1.60979312774e-07,1.38638533036e-05,2.09148905254e-05,1793237747249376512
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.534056703,715.465943297,679.534056703,667.465943297,637,882,789,804,654,632.465943297,654,0.425618099288,0.00448751429794,0.050003404945,0.999999999332,8.97814073261e-06,2.7862259627e-05,2.18749983886e-05,1793237747266043392
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.956023833,746,716,679.043976167,668,637,882,788.956023833,804,654,633,654,0.426444537677,0.00449104483677,0.0500210307847,0.999999998298,1.61049416071e-05,5.09994054334e-05,2.32982557067e-05,1793237747282709760
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.365012554,746,716,679.634987446,668,637,882,788.365012554,804,654,633,654,0.427212105074,0.00448077029787,0.0500240436651,0.999999998707,-1.14686960046e-06,4.41690304952e-05,2.51743815948e-05,1793237747299376128
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.220603885,746.220603885,716,680,668,637,881.779396115,788.220603885,804,654,633,654,0.427967274876,0.00447259284881,0.0500117400236,0.999999999418,-1.26417730321e-05,1.75657300199e-05,2.63868610093e-05,1793237747316043008
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.797507162,746.797507162,716,680,668,637,881.202492838,788.797507162,804,654,633,654,0.428702421328,0.0044678024275,0.0499746985252,0.999999998699,-1.48386437587e-05,-4.09730078529e-05,2.65274790646e-05,1793237747332710400
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.626683349,715.626683349,680,667.626683349,636.626683349,881,789,804.373316651,653.626683349,632.626683349,654,0.429489688138,0.00446659854539,0.0499704069401,0.999999998751,-7.90964429712e-06,-4.20167798922e-05,2.59021155983e-05,1793237747349376768
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.051465449,715.051465449,680,667.051465449,636.051465449,881,789,804.948534551,653.051465449,632.051465449,654,0.430305143214,0.00446733437545,0.0499838275285,0.999999999612,3.95490956441e-06,-1.19654836781e-05,2.48624855166e-05,1793237747366043136
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.537348544,636.537348544,881.537348544,788.462651456,804.462651456,653.537348544,632,654,0.431073506202,0.00446790224935,0.0499833438515,0.999999999508,9.89444071406e-08,-1.65617311071e-05,2.66266556494e-05,1793237747382709760
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.125370101,715.125370101,679.874629899,668,636.874629899,881.874629899,788.125370101,803.874629899,653.874629899,632.125370101,654,0.431833234632,0.00446987193186,0.0499776983836,0.999999999155,-4.25175170334e-06,-2.97584579325e-05,2.80404120198e-05,1793237747399376384
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.705668252,715.705668252,679.294331748,668,636.294331748,881.294331748,788.705668252,803.294331748,653.294331748,632.705668252,654,0.432578422362,0.00447698821729,0.0499582801964,0.999999997709,-4.79228484165e-06,-6.18094832092e-05,2.71828922897e-05,1793237747416043264
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.719154257,716,679.280845743,668,636.280845743,881.280845743,789,803.280845743,653,633,654,0.433332304946,0.004479871826,0.0499606068042,0.999999997979,-3.83212675463e-06,-5.73219314835e-05,2.72330977696e-05,1793237747432709888
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.149247254,716,679.850752746,668,636.850752746,881.850752746,789,803.850752746,653,633,654,0.434095136689,0.00447839894001,0.0499853143039,0.999999999485,-1.32737802565e-06,-1.52269460066e-05,2.82175819785e-05,1793237747449376512
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,882,789,804,653.423272714,633,654,0.434833596785,0.00447471132385,0.0499987860183,0.999999999574,1.17262504291e-06,2.54123824e-06,2.90595023241e-05,1793237747466042880
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,668,637,882,789,804,653.996719791,633,654,0.435563410043,0.00447023793594,0.0500082713523,0.99999999948,3.67094458598e-06,1.16784374937e-05,2.98508420415e-05,1793237747482709504
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,668.58923219,636.41076781,882,789,804,654,633,654,0.436232547163,0.00446548236332,0.0499839858946,0.999999998624,-7.2731813081e-06,-4.19616007921e-05,3.06210608259e-05,1793237747499376384
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,668.821728653,636.178271347,882,789,804,653.821728653,633,654.178271347,0.436914936424,0.00446208221697,0.0499687731632,0.999999996712,-1.73417521577e-05,-7.29121458287e-05,3.09803206199e-05,1793237747516042752
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,668.240782405,636.759217595,882,789,804,653.240782405,633,654.759217595,0.437628047903,0.00446174733997,0.0499744925241,0.999999997877,-2.52579600761e-05,-5.17964531235e-05,3.04115912081e-05,1793237747532709376
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,715.664206461,680,668,636.664206461,882,788.664206461,804.335793539,653.335793539,633,654.664206461,0.438330120818,0.00446211363967,0.049990617148,0.999999999187,-1.96742888425e-05,-1.72132761497e-05,3.07136412594e-05,1793237747549376256
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,715.09072404,680,668,636.09072404,882,788.09072404,804.90927596,653.90927596,633,654.09072404,0.439024380125,0.00446297626193,0.0500141070573,0.999999999128,-4.53483109212e-06,2.69027551281e-05,3.16320658699e-05,1793237747566043136
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.515348819,746,715.484651181,680.484651181,668,636,882,788.484651181,804.515348819,653.515348819,633.484651181,654,0.439653229726,0.00446593448247,0.0500036318906,0.999999999352,1.08031367811e-05,1.07719975004e-05,3.26179988995e-05,1793237747582710272
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715.937462226,680.937462226,667.937462226,636,882,789,804,653,633.937462226,654,0.440268232104,0.00446931015695,0.0499867699407,0.999999998993,2.45358977085e-05,-1.67268517401e-05,3.36343112199e-05,1793237747599377152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715.341177483,680.341177483,667.341177483,636,882,789,804,653,633.341177483,654,0.44086996395,0.00447288752058,0.049969875739,0.999999998105,2.42501534375e-05,-4.46183478927e-05,3.48016258852e-05,1793237747616043520
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667.245669234,636,882.245669234,788.754330766,804.245669234,653.245669234,633,654,0.441469954145,0.0044747191835,0.0499668221857,0.999999997942,2.22746398155e-05,-4.83576755668e-05,3.57978466062e-05,1793237747632710400
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667.819893601,636,882.819893601,788.180106399,804.819893601,653.819893601,633,654,0.44206761503,0.00447421616666,0.0499822789533,0.999999998973,1.80392486525e-05,-1.97961761813e-05,3.65652482208e-05,1793237747649377280
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.382984749,636.382984749,882.617015251,788,804.617015251,653.617015251,633,654,0.442640856054,0.00447295420055,0.0500008220803,0.999999999021,1.76528909754e-05,1.46884347546e-05,3.78186062371e-05,1793237747666044160
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.940988221,636.940988221,882.059011779,788,804.059011779,653.059011779,633,654,0.44320293759,0.00447134540511,0.0500207756321,0.999999997701,1.90254878751e-05,5.1879828069e-05,3.9294039627e-05,1793237747682710528
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668.455593464,636.455593464,882,788,804.544406536,653,633,654,0.443718852282,0.00447024414004,0.0500064936946,0.999999998644,1.87523759389e-05,2.68566203678e-05,4.04794210804e-05,1793237747699377408
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.145833299,746.145833299,715.145833299,680,668,636,882.145833299,788,804.854166701,653,633,654,0.444215940168,0.0044693979204,0.049986194155,0.999999998919,1.87538435842e-05,-8.69615788591e-06,4.16395136747e-05,1793237747716044288
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.72536492,746.72536492,715.72536492,680,668,636,882.72536492,788,804.27463508,653,633,654,0.44467327557,0.00446913168821,0.0499600394054,0.999999997439,2.01506933622e-05,-5.36820912713e-05,4.2826411456e-05,1793237747732710656
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.696081533,716,680.303918467,667.696081533,636,882.696081533,788,804.303918467,653,632.696081533,654,0.445135343895,0.00446829922988,0.0499506033053,0.999999996836,1.94885456457e-05,-6.38320201461e-05,4.3282516408e-05,1793237747749377024
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.118409018,716,680.881590982,667.118409018,636,882.118409018,788,804.881590982,653,632.118409018,654,0.445601675367,0.00446695674432,0.0499562265023,0.99999999802,1.69717593378e-05,-4.26034739506e-05,4.3080360921e-05,1793237747766043392
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667,636,882,788,804.534431117,653.465568883,632.465568883,654,0.446035030687,0.00446433797952,0.0499654909935,0.999999998757,1.23703749838e-05,-2.10984246957e-05,4.345579288e-05,1793237747782710016
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.949385787,746,715.949385787,681,667,636,882,788.050614213,804.050614213,653.949385787,633,654,0.446455920891,0.00446139737513,0.0499738627113,0.999999999006,7.19117607035e-06,-2.70958084016e-06,4.39155804986e-05,1793237747799376384
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.370170587,746,715.370170587,681,667,636,882,788.629829413,804.629829413,653.370170587,633,654,0.446835421806,0.00445853212673,0.0499631058537,0.999999998889,1.59051214034e-06,-1.7610054695e-05,4.3701120539e-05,1793237747816043008
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746.208452337,715,681,667,635.791547663,882.208452337,789,804.791547663,653.208452337,632.791547663,654,0.447186426128,0.00445804033796,0.0499438818659,0.999999997933,-2.24420418798e-05,-4.78860626992e-05,3.65623030104e-05,1793237747832709632
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746.786026413,715,681,667,635.213973587,882.786026413,789,804.213973587,653.786026413,632.213973587,654,0.447486969415,0.0044617514074,0.049909664515,0.99999999117,-7.91132859863e-05,-0.000105388647548,1.71620208748e-05,1793237747849376768
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.361877556,746.638122444,715.361877556,681,667,635,882.638122444,789,804.361877556,653.638122444,632.361877556,654,0.447780900801,0.00446025622201,0.0498833908529,0.999999984391,-9.92061155126e-05,-0.000145796446177,1.09637079081e-05,1793237747866043648
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.936714832,746.063285168,715.936714832,681,667,635,882.063285168,789,804.936714832,653.063285168,632.936714832,654,0.448070941208,0.00445569723111,0.0498617919338,0.999999979628,-9.77730814776e-05,-0.000176144215513,1.25345614679e-05,1793237747882710528
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788.474855454,804.474855454,653.525144546,633,654,0.448357792467,0.00445835443845,0.049864038915,0.999999984492,-3.92179565834e-05,-0.000171178158293,1.32309556494e-05,1793237747899376896
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788,804,654,633,654,0.448642377923,0.00446285983335,0.0498705036854,0.99999998699,1.51647809646e-05,-0.000159962919415,1.42273728313e-05,1793237747916043264
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667,635,882,788,804,654,633,654,0.448919253819,0.00447130172537,0.049882191662,0.999999989646,2.32423655923e-05,-0.000141000259294,1.69055976313e-05,1793237747932709632
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,634.729944164,882,788,804.270055836,654,633,654,0.449167754076,0.00448532848878,0.0498889368374,0.999999990367,3.68922031821e-05,-0.000132568382297,1.82080721795e-05,1793237747949376256
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667,634.154861507,882,788,804.845138493,654,633,654,0.449384204163,0.00450566333817,0.0498900991408,0.999999988971,5.68358742988e-05,-0.000136030977401,1.7956643006e-05,1793237747966042880
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.579888753,746,716,680.579888753,666.579888753,634.420111247,882.420111247,788.420111247,804.579888753,653.579888753,633,654,0.449577970151,0.00451415295418,0.0498854685241,0.999999987313,6.36178302259e-05,-0.000144917855775,1.80229434142e-05,1793237747982710016
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.004956514,746,716,680.004956514,666.004956514,634.995043486,882.995043486,788.995043486,804.004956514,653.004956514,633,654,0.449763376503,0.00451827731932,0.0498787030785,0.999999985549,6.55493804161e-05,-0.000155803711551,1.82063347406e-05,1793237747999376896
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.586943462,746,716,680.586943462,666,635,882.413056538,789,804,653,633,654,0.449927602766,0.00450986984939,0.0498748368089,0.99999998506,5.60895193703e-05,-0.000162195967603,2.06504681902e-05,1793237748016043520
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.174329641,715.825670359,681,666,634.825670359,882.174329641,789,804,653,633,654,0.450086718374,0.00450496654453,0.0498726486299,0.999999984686,4.98926662503e-05,-0.000166248143334,2.23485570853e-05,1793237748032710400
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.750958773,715.249041227,681,666,634.249041227,882.750958773,789,804,653,633,654,0.450234465168,0.00450840126751,0.0498742747915,0.999999984817,5.14544384873e-05,-0.000164990304918,2.22796350381e-05,1793237748049377024
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.67361575,746.67361575,715.32638425,681,666,634,882.67361575,789,804.32638425,653.32638425,633,654,0.450366318996,0.00451033967967,0.0498752653137,0.999999984934,5.27225838272e-05,-0.000163870708799,2.2318615232e-05,1793237748066043648
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.099105263,746.099105263,715.900894737,681,666,634,882.099105263,789,804.900894737,653.900894737,633,654,0.450486090573,0.00451114055577,0.0498757726057,0.999999985042,5.37675061311e-05,-0.000162856208125,2.24396256547e-05,1793237748082710016
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.489485241,746.489485241,716,681,666,634,882.489485241,789,804.510514759,654,633,654,0.450585556513,0.00451090023917,0.0498751094262,0.999999984835,5.22527143596e-05,-0.000164592464861,2.25716328141e-05,1793237748099376384
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,883,789,804,653.920631723,633,654,0.450678239006,0.00451071294714,0.0498741004753,0.999999984491,5.07696377246e-05,-0.000167104528277,2.27202240228e-05,1793237748116042752
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,634,883,789,804,653.341100123,633,654,0.450754849188,0.00451222762477,0.0498724501933,0.999999983738,5.28491304598e-05,-0.000170891892191,2.29588782581e-05,1793237748132709632
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.762871241,716,681,666,633.762871241,883,789,804,653,633,654,0.450824961151,0.00451287959102,0.0498716110951,0.999999983136,5.39451863718e-05,-0.000173982891922,2.33852504307e-05,1793237748149376256
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.186506062,716,681,666,633.186506062,883,789,804,653,633,654,0.45088577676,0.00451229736221,0.0498719324768,0.99999998277,5.36343373721e-05,-0.000176077672777,2.40801718841e-05,1793237748166042624
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.38774092,716,681,665.61225908,633.38774092,883,788.61225908,804,653.38774092,633,654,0.450935821679,0.0045133817462,0.0498708498403,0.999999982304,5.53063032531e-05,-0.000178192890604,2.40966479336e-05,1793237748182709248
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.960974553,716,681,665.039025447,633.960974553,883,788.039025447,804,653.960974553,633,654,0.450980713969,0.00451526342684,0.0498690955307,0.999999981782,5.79268347802e-05,-0.000180317885283,2.37885601306e-05,1793237748199375872
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.450730397,746.450730397,716,681,665,633.450730397,882.450730397,788,804.549269603,654,633,654,0.451011391574,0.00451458662034,0.0498658855324,0.999999980928,5.62653397305e-05,-0.000185510642498,2.37499812968e-05,1793237748216042752
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.136356277,746,716,681,665.136356277,633,882,788,805,653.863643723,632.863643723,654,0.451038958319,0.004514145899,0.0498629424395,0.999999979998,5.54959293091e-05,-0.000190670348236,2.38542429287e-05,1793237748232709376
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.715938542,746,716,681,665.715938542,633,882,788,805,653.284061458,632.284061458,654,0.451059788606,0.0045150801066,0.0498612125882,0.999999978972,5.86430427355e-05,-0.000194994153243,2.43588102546e-05,1793237748249376000
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,633,882,788,804.706901471,653,632.293098529,654,0.451076610014,0.00451529606307,0.0498591678715,0.999999977924,6.09600592484e-05,-0.000199544787976,2.48452324055e-05,1793237748266042880
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,633,882,788,804.132069766,653,632.867930234,654,0.451089577995,0.00451482161984,0.0498568204987,0.999999976856,6.24791675241e-05,-0.000204313457269,2.53142130482e-05,1793237748282709248
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,716,681,665.547336829,633,882.452663171,788,804,653.452663171,633,654,0.451100453581,0.00451654382334,0.0498557827847,0.999999976652,6.31651924847e-05,-0.000205171467848,2.47108363855e-05,1793237748299376128
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746.039802742,716,681,665,633,882.960197258,788.039802742,804,654,633,654,0.451110394692,0.00451867828686,0.0498551664753,0.99999997671,6.33946436441e-05,-0.000204918658161,2.38773377691e-05,1793237748316043008
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.619525985,716,681,665,633,882.380474015,788.619525985,804,654,633,654,0.451116126045,0.00451751689605,0.0498549673068,0.999999976758,6.08015559013e-05,-0.000205421076698,2.42612535878e-05,1793237748332709888
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716,681,665,633.198356851,882,788.801643149,804.198356851,654,633,654,0.451120152316,0.00451688311775,0.0498545067783,0.999999976586,5.97816939312e-05,-0.000206531997567,2.44774491457e-05,1793237748349376256
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716,681,665,633.775483652,882,788.224516348,804.775483652,654,633,654,0.451120922667,0.00451725683565,0.0498535471731,0.999999975996,6.17659665699e-05,-0.000208804876753,2.43733764632e-05,1793237748366042880
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.648068472,716,681,665.351931528,633.648068472,882,788,805,653.648068472,633,654,0.451122211189,0.00451773241213,0.0498526150802,0.999999975616,6.27293918652e-05,-0.000210368079131,2.40394551035e-05,1793237748382709504
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746.07205291,716,681,665.92794709,633.07205291,882,788,805,653.07205291,633,654,0.451123829643,0.00451827284463,0.049851700505,0.999999975374,6.30428168039e-05,-0.000211479411584,2.35591830659e-05,1793237748399376128
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,716,681,665.484284275,633,882,788,804.484284275,653.515715725,633,654,0.451124074465,0.00451967449563,0.0498502932731,0.999999974909,6.49944592496e-05,-0.000213096944808,2.34044272527e-05,1793237748416043008
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681,665,633,882.103353144,788,804,654,633,654,0.451124106878,0.00452077757546,0.0498491697721,0.999999974464,6.69013149544e-05,-0.000214589402131,2.3422211402e-05,1793237748432709632
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746,716,681,665,633,882.682648022,788,804,654,633,654,0.451124065525,0.00451993871539,0.0498496772137,0.999999974282,6.75233406863e-05,-0.000215172606233,2.40202263105e-05,1793237748449376256
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.260455709,716,681,665.260455709,633,882.739544291,788,804.260455709,654,633,654,0.451124325129,0.00451934137518,0.0498497480925,0.999999974284,6.6904154278e-05,-0.00021535307222,2.40777837625e-05,1793237748466042624
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.836461697,716,681,665.836461697,633,882.163538303,788,804.836461697,654,633,654,0.451124949353,0.00451903664373,0.0498492900619,0.999999974504,6.47812004345e-05,-0.000215045608399,2.34805600995e-05,1793237748482709504
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.588896798,716,681,665.588896798,633,882,788,805,654,633,654,0.451124678237,0.00451929614174,0.0498488903955,0.999999974341,6.51522419162e-05,-0.000215717132518,2.32248872627e-05,1793237748499376128
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.014796326,716,681,665.014796326,633,882,788,805,654,633,654,0.451124052129,0.00451977934968,0.0498485138697,0.999999974025,6.65121214239e-05,-0.000216776813107,2.31046350851e-05,1793237748516043008
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,665,633,882,788,804.426508531,653.426508531,633,654,0.451124419731,0.00451968303377,0.0498482056436,0.999999973912,6.58187560231e-05,-0.000217484734991,2.33215573356e-05,1793237748532709632
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,716,681,665,633.160492941,882.160492941,788,804.160492941,653.160492941,633,654,0.451124571521,0.00451971465342,0.0498477555669,0.999999973777,6.57302348809e-05,-0.000218119272405,2.34379008229e-05,1793237748549376256
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,681,665,633.743123816,882.743123816,788,804.743123816,653.743123816,633,654,0.451124086521,0.00452012310176,0.049846927634,0.99999997357,6.73754819081e-05,-0.000218585266147,2.32662344712e-05,1793237748566042880
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.680660392,746.319339608,716,680.680660392,665,633.680660392,883,788.319339608,804.680660392,654,633,654,0.451124566829,0.00452029176845,0.0498470911736,0.999999973715,6.69018885751e-05,-0.000218077987364,2.31569228042e-05,1793237748582709504
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.109503289,746.890496711,716,680.109503289,665,633.109503289,883,788.890496711,804.109503289,654,633,654,0.451125808338,0.0045202713536,0.0498480365458,0.999999974135,6.47574686789e-05,-0.000216803227656,2.30967813712e-05,1793237748599376384
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.46518599,746.53481401,716,680.930371979,665,633,883,788.53481401,804.46518599,654,633,654,0.45112504576,0.00452041654175,0.0498466708263,0.999999973631,6.50413311471e-05,-0.000219038017078,2.30321957406e-05,1793237748616043008
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.041940817,716,681.958059183,665,633,882.958059183,788,805,654,633,654,0.451123976511,0.00452055585925,0.0498449907015,0.999999972974,6.58883364062e-05,-0.000221769182327,2.30076658993e-05,1793237748632709632
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.634822663,716,681.365177337,665,633,882.365177337,788,805,654,633,654,0.451125123257,0.00452010206191,0.0498463815576,0.999999973289,6.65666654497e-05,-0.000220085524224,2.35231626756e-05,1793237748649376256
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746.77862018,716,681,665,633,882,788,804.77862018,654,633,654,0.451125200274,0.00452058812929,0.0498466973416,0.999999973254,6.72496976131e-05,-0.000220032963448,2.35569685185e-05,1793237748666043136
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.20220605,716,681,665,633,882,788,804.20220605,654,633,654,0.45112356173,0.0045225814895,0.0498452889962,0.999999972657,6.79402724351e-05,-0.000222596248399,2.28182703879e-05,1793237748682710528
+261,4.350000000,HOLD_POSE2,767,747,716,681,665,633,882,789,804,654,632,654,0.451122588061,0.00451958586364,0.0498436535113,0.999999972574,6.47816941432e-05,-0.000223944693907,2.24316409664e-05,1793237748717540352
+262,4.366666667,HOLD_POSE2,766.409392027,746.409392027,716,681,665,633,882,788.409392027,804,653.409392027,632.590607973,654,0.451124483166,0.00452070585353,0.0498451054452,0.999999972784,6.7532743846e-05,-0.000222146937598,2.28349639072e-05,1793237748734206976
+263,4.383333333,HOLD_POSE2,766.177937478,746,716,681,665,633,882,788.177937478,804,653.177937478,633,654,0.451125400542,0.00452110031322,0.0498457664797,0.999999972833,6.88357483541e-05,-0.000221499458327,2.30925898119e-05,1793237748750873856
+264,4.400000000,HOLD_POSE2,766.757860582,746,716,681,665,633,882,788.757860582,804,653.757860582,633,654,0.451124109092,0.00451985569904,0.0498446407623,0.999999972534,6.68674169628e-05,-0.000223450615272,2.30210658325e-05,1793237748767540992
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+266,4.433333333,HOLD_POSE2,767,746,716,681,665.906997477,633,882,789,804,654,633,654,0.451123537759,0.00452181611807,0.0498446743172,0.999999972204,6.8952620889e-05,-0.000224215822167,2.37782450629e-05,1793237748800873472
+267,4.450000000,HOLD_POSE2,767,746,716,681,665.506000046,633,882.493999954,788.506000046,804,654,633,654,0.451124628085,0.00452165903929,0.0498447792686,0.999999972393,6.88166308701e-05,-0.000223451252467,2.33923731422e-05,1793237748817540096
+268,4.466666667,HOLD_POSE2,767,746.082210612,716,681,665,633,883,788,804,653.917789388,633,653.917789388,0.451125851381,0.00452106592247,0.0498449065489,0.99999997266,6.80582627571e-05,-0.000222533709623,2.29348390889e-05,1793237748834206720
+269,4.483333333,HOLD_POSE2,767,746.661509481,716,681,665,633,883,788,804,653.338490519,633,653.338490519,0.451126577967,0.00451985576013,0.0498454186241,0.999999973024,6.58474348812e-05,-0.000221550038776,2.30784069369e-05,1793237748850873344
+270,4.500000000,HOLD_POSE2,767,746.760893584,716,681,665,633,882.760893584,788,804,653.239106416,633,653.239106416,0.45112705569,0.0045200540873,0.0498457571264,0.999999973157,6.55481618163e-05,-0.000221024540292,2.31799273413e-05,1793237748867539968
+271,4.516666667,HOLD_POSE2,767,746.185689009,716,681,665,633,882.185689009,788,804,653.814310991,633,653.814310991,0.451127183598,0.00452223224737,0.0498458516474,0.999999972971,6.79358517539e-05,-0.000221143068466,2.32223440573e-05,1793237748884206848
+272,4.533333333,HOLD_POSE2,767,746,716,681,665,633,882,788,804,653.610404467,633,654,0.451126362253,0.00452331163123,0.0498449954377,0.999999972641,6.90452658074e-05,-0.000222328160366,2.28414037399e-05,1793237748900873472
+273,4.550000000,HOLD_POSE2,767,746,716,681,665,633,882,788,804,653.035081752,633,654,0.451125088383,0.00452386720893,0.0498436859977,0.999999972241,6.95453030169e-05,-0.000224021702347,2.22586415303e-05,1793237748917540352
+274,4.566666667,HOLD_POSE2,767,746.556115784,716,681,665,633,882,788,804,653,633,654,0.451125698569,0.00452226786232,0.049844902145,0.999999972456,6.95197943402e-05,-0.000223023440397,2.27037515374e-05,1793237748934206720
+275,4.583333333,HOLD_POSE2,767,746.855010007,716,681,665,633,882,788.144989993,804,653.144989993,633,654,0.451126187323,0.00452085050297,0.0498456955652,0.999999972668,6.8786092905e-05,-0.000222261440481,2.30918581738e-05,1793237748950873344
+276,4.600000000,HOLD_POSE2,767,746.276172275,716,681,665,633,882,788.723827725,804,653.723827725,633,654,0.451125946629,0.0045203964177,0.0498447333314,0.999999972748,6.60354130034e-05,-0.000222729439604,2.31096711406e-05,1793237748967539968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,681,665,633,882,788,804,653,633,654,0.45112673966,0.00452028793743,0.0498441360336,0.999999972429,6.69233006972e-05,-0.000223850208304,2.35341046584e-05,1793237749004557568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.425508564,746,715.574491436,681,665,633,882,788,804,653.574491436,633,654,0.451125740674,0.00452094957069,0.0498443000993,0.999999972245,6.98932299698e-05,-0.000223773468146,2.34765048367e-05,1793237749021224960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746.154194443,716,681.154194443,665.154194443,633,882,788,804,653.845805557,633,654,0.451124683044,0.00452142016588,0.0498441142553,0.999999972021,7.14121366401e-05,-0.000224297282421,2.34124433198e-05,1793237749037892096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746.748782305,716,681.748782305,665.748782305,633,882,788,804,653.251217695,633,654,0.451123457919,0.00452134513904,0.0498429290374,0.999999971703,6.87867908711e-05,-0.000226536335015,2.33299265983e-05,1793237749054558464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,747,715.666822694,681.666822694,665.666822694,633,882.333177306,788,804,653.333177306,633,654,0.45112379269,0.00452101550512,0.0498428055742,0.999999971804,6.73692034256e-05,-0.000226534013732,2.31328963774e-05,1793237749071225088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,747,715.089885063,681.089885063,665.089885063,633,882.910114937,788,804,653.910114937,633,654,0.451125268717,0.00452049959472,0.0498434589157,0.999999972217,6.68352404266e-05,-0.000224891850672,2.28520854023e-05,1793237749087891712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746.514654666,715.485345334,680.514654666,665,633,883,788,804,653.514654666,633,654,0.45112517985,0.00452149783436,0.0498436532368,0.999999972312,6.6943164282e-05,-0.000224463550299,2.25809874869e-05,1793237749104558336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.061537379,746.061537379,716,680.061537379,665,633,882.938462621,788,804,653,633,654.061537379,0.451124815412,0.00452245932012,0.0498436927787,0.999999972321,6.72815168524e-05,-0.000224345620642,2.23794505705e-05,1793237749121225472
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766.648633207,746.648633207,716,680.648633207,665,633,882.351366793,788,804,653,633,654.648633207,0.451124563941,0.00452072040387,0.0498431339115,0.999999972085,6.85761390625e-05,-0.000224965191512,2.27566885114e-05,1793237749137891584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.767646878,716,681,665,633,882,788,804,653,633,654.767646878,0.451123136179,0.00452058095562,0.0498420842449,0.999999971698,7.01328896175e-05,-0.000226194272405,2.28348985345e-05,1793237749154558208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.188958997,716,681,665,633,882,788,804,653,633,654.188958997,0.45111995509,0.00452282560018,0.0498403030157,0.999999971082,7.20803563797e-05,-0.000228331860546,2.24673914126e-05,1793237749171225344
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633,882,788,804,653,633,654,0.451108080645,0.0045237825473,0.0498346120102,0.999999968816,7.19306020117e-05,-0.000238109095657,2.23282417776e-05,1793237749187891712
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633,882,788,804,653,633,654,0.451091991248,0.00452411515784,0.0498270253597,0.999999965599,7.07640155327e-05,-0.000251590394116,2.22998106468e-05,1793237749204558336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.544421406,716,681,665,633,882,788.544421406,804,653.544421406,632.455578594,654,0.451061492397,0.00452350702234,0.0498128656898,0.999999959361,6.95288320542e-05,-0.000275595563284,2.21704532726e-05,1793237749221224448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.880030562,716,681,665,633,882,788.880030562,804,653.880030562,632.119969438,654,0.451025073163,0.00452329061821,0.0497971460295,0.999999951521,6.90659670759e-05,-0.000302832163794,2.19152510214e-05,1793237749237890816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.309460559,716,681,665,633,882,788.309460559,804,653.309460559,632.690539441,654,0.450969643267,0.00452475616203,0.0497770387116,0.999999939469,7.1519258137e-05,-0.000339849750119,2.12099762952e-05,1793237749254557440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.726618194,665,633,882,788,804,653.273381806,633,654,0.450912704148,0.00452562466004,0.0497607164011,0.999999930068,7.24834616005e-05,-0.000366314645667,2.05606138021e-05,1793237749271224320
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.129230958,665,633,882,788,804,653.870769042,633,654,0.450853976337,0.00452578555388,0.0497488799901,0.999999924928,7.16828347975e-05,-0.000380272748379,1.9977517186e-05,1793237749287891200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.549175328,746.450824672,716,680.450824672,665,633,881.549175328,788,804,653.549175328,633,654,0.450790091353,0.00452748353694,0.0497452538591,0.999999923245,7.41869799538e-05,-0.00038422405896,1.94327711507e-05,1793237749304557824
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,747,716,681,665,633,881.026143281,788,804,653,633,654,0.450724082128,0.00452950965052,0.0497441000536,0.99999992263,7.75209432871e-05,-0.000385191695434,1.89207890205e-05,1793237749321224192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,747,716,681,665,633,881.602456123,788,804,653,633,654,0.450643328294,0.0045295118998,0.04974728014,0.999999923921,7.91200321038e-05,-0.000381500613668,1.88755192648e-05,1793237749337890816
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.183391221,746.816608779,716,681.183391221,665,633,882.183391221,788.183391221,804.183391221,653.183391221,633,654,0.45055686712,0.00452983803501,0.0497497091655,0.999999924893,8.10582641351e-05,-0.000378537611996,1.87580794583e-05,1793237749354557440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.774605147,746.225394853,716,681.774605147,665,633,882.774605147,788.774605147,804.774605147,653.774605147,633,654,0.450457714059,0.004530884423,0.0497504679925,0.999999925185,8.37506776525e-05,-0.000377193704645,1.84801489595e-05,1793237749371224064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746.356764728,716,681.643235272,665,633.356764728,882.643235272,788.643235272,804.643235272,653.643235272,633,654,0.450339700097,0.00453256684124,0.049750791606,0.999999925255,8.58840061701e-05,-0.000376565316415,1.76712925379e-05,1793237749387890944
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.933345644,716,681.066654356,665,633.933345644,882.066654356,788.066654356,804.066654356,653.066654356,633,654,0.450210065213,0.0045346411418,0.049750847068,0.99999992519,8.76728616191e-05,-0.000376377786338,1.6535312628e-05,1793237749404558336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746.489810296,716,681,665,633.489810296,882.510189704,788,804.510189704,653.510189704,633,654,0.450060165245,0.00453586852084,0.0497490145316,0.999999923825,9.06151969685e-05,-0.000379315382273,1.6111674776e-05,1793237749421224704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633.08882446,882.91117554,788.08882446,804.91117554,654,633,654,0.449903840777,0.00453695591352,0.0497467457723,0.999999922122,9.36137973422e-05,-0.000383071286112,1.57523181367e-05,1793237749437890816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,633.677339684,882.322660316,788.677339684,804.322660316,654,633,654,0.449726276358,0.00453787857697,0.0497434113224,0.999999919556,9.60807206451e-05,-0.000389132625315,1.5230766308e-05,1793237749454557696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.738183465,746.261816535,716,681,665.261816535,633.738183465,882,789,804.261816535,654,633,654,0.44953326767,0.00453999688914,0.0497416252071,0.999999917086,0.000100666846557,-0.000394313496736,1.45210143671e-05,1793237749471224576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.158607906,746.841392094,716,681,665.841392094,633.158607906,882,789,804.841392094,654,633,654,0.449321514737,0.00454356632493,0.0497417182604,0.999999914723,0.000107824986172,-0.000398425769947,1.3582849519e-05,1793237749487891456
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746.58237901,716,680.58237901,666,633.41762099,882,788.58237901,805,653.58237901,633,653.58237901,0.449090971178,0.00454630229682,0.049741376609,0.999999913664,0.000114619984016,-0.000399214682979,1.27306118944e-05,1793237749504557824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746.007411049,716,680.007411049,666,633.992588951,882,788.007411049,805,653.007411049,633,653.007411049,0.448853347883,0.00454872424462,0.0497408711741,0.999999913074,0.000121278160849,-0.000398751454205,1.19107490722e-05,1793237749521224448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766.566894059,746,716,680.566894059,666,634,882,788,804.433105941,653,632.433105941,653,0.448593360233,0.00455323136261,0.0497410357685,0.99999991425,0.000128120645478,-0.00039368141827,9.96437925362e-06,1793237749537890816
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.146029328,716,681,666,634,882,788,804,653,632.146029328,653.146029328,0.448323472438,0.00455743075154,0.0497401846298,0.999999914366,0.000134701534048,-0.000391225628606,8.14119186883e-06,1793237749554557440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.740007692,716,681,666,634,882,788,804,653,632.740007692,653.740007692,0.448024111528,0.00456060265026,0.0497361908632,0.999999911317,0.000140472585676,-0.000396973639815,6.74099285396e-06,1793237749571224064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746.675553427,716,681,666.324446573,634.324446573,882,788.324446573,804,653,633,654,0.447709212894,0.00456262975522,0.0497345572651,0.999999910177,0.000144875098483,-0.000398279862268,5.55049953036e-06,1793237749587890688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746.09854052,716,681,666.90145948,634.90145948,882,788.90145948,804,653,633,654,0.447382218842,0.00456376569265,0.0497347609464,0.999999910547,0.000148212269072,-0.000396128362575,4.52325203414e-06,1793237749604557312
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.524771198,667,635,882.475228802,788.524771198,804,653.475228802,633,654,0.447021647979,0.00456892932974,0.0497350023385,0.999999909452,0.000156059012192,-0.00039589811782,2.51987932608e-06,1793237749621224448
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,635,882.950358303,788,804,653.950358303,633,654,0.446653883121,0.00457470594798,0.049736074482,0.9999999085,0.000164617574145,-0.000394843845595,3.93090636208e-07,1793237749637891072
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,635,882.361703751,788,804,653.361703751,633,654,0.446283089555,0.00457813162238,0.0497460826494,0.999999913002,0.000170820816642,-0.000380545919793,-8.90948228712e-07,1793237749654557952
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.77640728,680.22359272,667,635,882,788,804,653.22359272,633,654,0.445900961274,0.00458157890442,0.0497624152237,0.999999920628,0.000176796839386,-0.000357047024931,-2.08571983002e-06,1793237749671224576
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.1964628,680.8035372,667,635,882,788,804,653.8035372,633,654,0.445500768269,0.00458506062349,0.0497888273453,0.999999932515,0.000182410729276,-0.000318884050739,-3.13822130717e-06,1793237749687891200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.382174601,681,667.382174601,635.382174601,882,788.382174601,804,653.617825399,633,653.617825399,0.445063762202,0.00459064212834,0.0498076220765,0.99999993837,0.000191864650441,-0.000293985469883,-4.49405745474e-06,1793237749704557568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.960142351,681,667.960142351,635.960142351,882,788.960142351,804,653.039857649,633,653.039857649,0.444607896324,0.00459729938135,0.0498225143161,0.999999941264,0.000203285870726,-0.000275882415972,-6.00529596997e-06,1793237749721224192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,668,636,882,789,804,653.54374237,633,653.54374237,0.444100383486,0.00460282702326,0.0498179912369,0.999999937821,0.000210560210098,-0.000282742251844,-8.87831882688e-06,1793237749737891072
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.873318015,681,667.873318015,636,882,789,804,653.873318015,633,654,0.443578305862,0.004608669957,0.0498083804804,0.999999931755,0.000218416517488,-0.000297728312187,-1.18911597985e-05,1793237749754558464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.294226832,681,667.294226832,636,882,789,804,653.294226832,633,654,0.443017875918,0.00461593766965,0.0497857362357,0.999999917407,0.00022944808817,-0.000335131741024,-1.5043103258e-05,1793237749771226624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,715.284876017,680.715123983,667,636,882,789,804,653,633,654,0.442470928033,0.0046217017573,0.0497814016374,0.999999913855,0.000238314654366,-0.000339370819849,-1.80138039977e-05,1793237749787892992
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,715.863990984,680.136009016,667,636,882,789,804,653,633,654,0.441937905251,0.00462591280164,0.0497959784603,0.999999921934,0.000244945060981,-0.000309355550748,-2.07973055588e-05,1793237749804558336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.439318714,715.560681286,680,667.439318714,636,882,789,804,653,633,654,0.441380584956,0.00463042078019,0.0498214222478,0.999999930849,0.000254026612763,-0.000270659174988,-2.27168038835e-05,1793237749821224704
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.986536972,746.986536972,715.013463028,680,668,636,882,788.986536972,804,653,633,653.986536972,0.440813939973,0.00463513207091,0.0498493816256,0.999999938315,0.000263941591607,-0.000230452902408,-2.44289170824e-05,1793237749837891328
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.41326207,746.41326207,715.58673793,680,668,636,882,788.41326207,804,653,633,653.41326207,0.440169673699,0.00464450755268,0.0498432456933,0.999999932781,0.000277227245638,-0.000238261553147,-2.85451104529e-05,1793237749854557952
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.16640744,746,715.83359256,680,667.83359256,636.16640744,882,788.16640744,804,653,633,653.16640744,0.439514395485,0.0046519376087,0.0498295389403,0.999999924237,0.000288058486718,-0.000259818588691,-3.22926040391e-05,1793237749871224576
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.762592146,746,715.237407854,680,667.237407854,636.762592146,882,788.762592146,804,653,633,653.762592146,0.438830676988,0.0046543432508,0.0497962791761,0.999999906384,0.000292550761826,-0.000316883310186,-3.50878635474e-05,1793237749887891456
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.345733102,680.345733102,667,636.654266898,882,789,804,653.345733102,633,654,0.438149567474,0.00465501712313,0.049777395223,0.999999915835,0.000210961664478,-0.000349811473828,-3.81630455657e-05,1793237749904558336
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.920242797,680.920242797,667,636.079757203,882,789,804,653.920242797,633,654,0.437470184389,0.00465454505826,0.0497680239533,0.999999929261,7.24112750363e-05,-0.000366768120976,-4.14234557109e-05,1793237749921224704
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.5032917,667.4967083,636.4967083,881.5032917,789,804,653.5032917,633,653.5032917,0.436801623773,0.00462700832438,0.0497992759548,0.999999946529,3.12671709444e-05,-0.000322768689066,-4.22560685217e-05,1793237749937891328
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.074869082,667.925130918,636.925130918,881.074869082,789,804,653,633,653.074869082,0.436125839659,0.00459701549583,0.0498312756831,0.999999960366,7.75085584818e-06,-0.000278171928676,-4.27552025355e-05,1793237749954557952
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.662480476,667.337519524,636.337519524,881.662480476,789,804,653,633,653.662480476,0.43538863734,0.00458008212039,0.049823547142,0.999999955004,-2.58009452125e-06,-0.000296781364062,-4.3650847785e-05,1793237749971224320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.752297101,667.247702899,636,882,788.752297101,804,653,633,654,0.434646792163,0.00457595503097,0.0498117485795,0.999999948882,1.44273123106e-06,-0.000316360913404,-4.63590599654e-05,1793237749987890688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.170298709,667.829701291,636,882,788.170298709,804,653,633,654,0.43389868096,0.00458911107844,0.0497944571863,0.999999941496,2.4837160327e-05,-0.000337249714091,-5.15134808377e-05,1793237750004557312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,668,636,882,788.406383849,804,653.406383849,633,654,0.433166651171,0.00459531119216,0.0498020529588,0.999999944316,4.00593297255e-05,-0.000326776821915,-5.45909233107e-05,1793237750021223936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,668,636,882,788.980867488,804,653.980867488,633,654,0.432441273467,0.00459863399831,0.049819943254,0.999999951035,5.19010603422e-05,-0.000303331232671,-5.68092278806e-05,1793237750037890816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746.556853588,715.443146412,680.556853588,667.443146412,636,882,789,804,654,633,654,0.431687430266,0.00460290546344,0.0498250627187,0.999999954865,4.60024153101e-05,-0.000290782317142,-5.998823648e-05,1793237750054557696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746.864040579,715,680.864040579,667.135959421,636,882,789,804,653.864040579,633,654,0.430918206235,0.00460769249092,0.0498213091546,0.999999953449,6.47330899512e-05,-0.000292923768509,-5.57439373984e-05,1793237750071224576
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.274704164,715,680.274704164,667.725295836,636,882,789,804,653.274704164,633,654,0.430100962764,0.00461408975332,0.0497894342974,0.999999926839,0.000167631970894,-0.00034280060161,-2.66351413384e-05,1793237750087891200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,715.308687953,680,667.691312047,636.308687953,882,789,804,653,633,654,0.429308041388,0.00461878122694,0.0497800969744,0.9999999135,0.00021686516432,-0.000354563080634,-1.59479421169e-05,1793237750104557824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,715.886890098,680,667.113109902,636.886890098,882,789,804,653,633,654,0.428536355577,0.00462198338298,0.0497904370821,0.999999920278,0.000219243061249,-0.000333048073088,-2.13445656026e-05,1793237750121224448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.462599897,667.925199794,636.537400103,882,789,804,653.462599897,633.462599897,654,0.427748757177,0.00461647759831,0.0497973519696,0.999999924629,0.000198231364489,-0.000332914876459,-2.47842347883e-05,1793237750137891072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746.038597153,716,680.961402847,668.961402847,636.038597153,882,789,804,654,633.961402847,654,0.426956653254,0.00460918487124,0.0498023010772,0.999999927624,0.00017197011347,-0.000338235434138,-2.78418637796e-05,1793237750154557440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.62733043,716,680.37266957,668.37266957,636.62733043,882,789,804,654,633.37266957,654,0.426155490791,0.00460660740656,0.0497911044844,0.99999992767,0.000151962779457,-0.000347172365199,-3.22377141933e-05,1793237750171224064
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.787244861,715.787244861,680,668,637,882.212755139,789,804,654,633,654,0.425376984892,0.00460463900213,0.0497964932986,0.999999935776,0.000139168847546,-0.000328348319867,-3.55910420622e-05,1793237750187890688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.207526719,715.207526719,680,668,637,882.792473281,789,804,654,633,654,0.424637557216,0.0046037211128,0.04983048885,0.999999955447,0.000138816687615,-0.000261641759688,-3.71462132824e-05,1793237750204557568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.369109934,715,680,668,637,882.630890066,789,804,654,633,654.369109934,0.423874059695,0.00460890511691,0.0498476147078,0.999999961329,0.000150394954178,-0.000230800481319,-3.81333424055e-05,1793237750221224192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.944028376,715,680,668,637,882.055971624,789,804,654,633,654.944028376,0.423097141341,0.00461749141794,0.0498553343511,0.999999960839,0.00016862539428,-0.000219956989539,-3.88037422804e-05,1793237750237890816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.469426742,715.530573258,680,667.469426742,636.469426742,881.469426742,789,804,654,632.469426742,654.469426742,0.422299755541,0.00462328308445,0.0498298081992,0.999999948263,0.00017257980258,-0.000268628017725,-3.91017016548e-05,1793237750254557696
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636.116622359,881.116622359,788.883377641,804,654,632.116622359,654,0.421501892471,0.00462763543955,0.0498064587346,0.999999935814,0.000171674660013,-0.000311990004775,-3.95156470601e-05,1793237750271224576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636.695732422,881.695732422,788.304267578,804,654,632.695732422,654,0.420710891138,0.00462747526848,0.0498059613483,0.999999939067,0.000157604262933,-0.000308842223238,-4.0548858744e-05,1793237750287891200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.724994721,746.275005279,715.724994721,680,667,637,881.724994721,788.275005279,804,653.724994721,633,654,0.41993776005,0.00462582096717,0.0498137502499,0.999999941932,0.000152946927353,-0.000301836752672,-4.04686636795e-05,1793237750304557824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.145541681,746.854458319,715.145541681,680,667,637,881.145541681,788.854458319,804,653.145541681,633,654,0.419184412475,0.00462251257178,0.0498307125819,0.999999944426,0.000158710430904,-0.000290560583247,-3.91558587798e-05,1793237750321224448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.429122709,746.570877291,715.429122709,680,667,636.570877291,881,788.570877291,804,653.429122709,633,654,0.41842432525,0.00461954208118,0.0498170581368,0.999999935779,0.00016042652119,-0.00031807037861,-3.92004618037e-05,1793237750337891072
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,715.997803051,680,667,636,881,788.002196949,804,654,633,654,0.417662249863,0.0046166873914,0.0497932731752,0.999999922093,0.000160745777879,-0.00035832669988,-3.9702608099e-05,1793237750354557952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,715.420539688,680,667,636,881,788.579460312,804,654,633,654,0.416971502585,0.00461447706998,0.0498058471765,0.999999933434,0.00015078894887,-0.000329744197852,-4.07921979918e-05,1793237750371224320
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.83915413,746,715.16084587,680,667.16084587,636,881,789,803.83915413,654,633,654,0.416281165725,0.0046129430401,0.0498202225085,0.999999943986,0.00014420108009,-0.000299174115084,-4.15814767181e-05,1793237750387890944
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.246707272,746,715.753292728,680,667.753292728,636,881,789,803.246707272,654,633,654,0.415591929996,0.00461322371656,0.0498394313902,0.999999953727,0.000146653208627,-0.000263270710724,-4.1564924693e-05,1793237750404557568
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.336339496,746,715.663660504,680,668,636,881.336339496,789,803.336339496,654,633,654,0.414891609669,0.00461608455792,0.0498349691522,0.999999950837,0.000151305132386,-0.000271480978835,-4.16079153737e-05,1793237750421224192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.912678665,746,715.087321335,680,668,636,881.912678665,789,803.912678665,654,633,654,0.414183379817,0.00462078651143,0.04981361606,0.99999993831,0.000157526750045,-0.000311169166727,-4.16933935463e-05,1793237750437891072
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.485767487,715,680,667.514232513,636.485767487,881.514232513,789,803.514232513,654,633,654,0.413498355716,0.00462610254832,0.0497931667328,0.999999925698,0.000165412340801,-0.000345599252333,-4.24791963342e-05,1793237750454557696
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.939960882,715.060039118,680,667,636.939960882,881,789,803,654,633,654,0.412827348336,0.00463095602744,0.0497776948686,0.999999915293,0.000172446252864,-0.00037121609272,-4.33046271683e-05,1793237750471224064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.350130523,715.649869477,680,667,636.350130523,881,789,803,654,633,654,0.412243461198,0.00463076025551,0.0498047206014,0.999999931142,0.000169342989677,-0.000327349021005,-4.3376257483e-05,1793237750487891712
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.764463377,680,667,636.235536623,881,789,803,654,633,654,0.411647185599,0.0046290501488,0.0498262726112,0.999999942153,0.000164849672369,-0.00029437444343,-4.31622392636e-05,1793237750504559104
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.184877504,680,667,636.815122496,881,789,803,654,633,654,0.411032814179,0.00462512804748,0.0498398291305,0.999999948111,0.000158325898281,-0.000277310578376,-4.2530973215e-05,1793237750521225728
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746.393605244,715.393605244,680,667,637,881.393605244,788.606394756,803.393605244,654,633,654,0.410423674292,0.00461917493105,0.0498263712492,0.999999940913,0.00015152220273,-0.000305682013245,-4.21132785525e-05,1793237750537891840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746.971571351,715.971571351,680,667,637,881.971571351,788.028428649,803.971571351,654,633,654,0.409816984751,0.00461227050658,0.0498002600871,0.999999925542,0.000144587393814,-0.000355334897815,-4.17956185065e-05,1793237750554557696
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746.456752956,715.456752956,679.456752956,667,637,880.913505911,788.543247044,804,654,633,654,0.409293434052,0.00461059325017,0.0498062722678,0.999999931299,0.000142252577079,-0.000339739072394,-4.17536546685e-05,1793237750571224576
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715.119078676,679.119078676,667,637,880.119078676,789,803.880921324,654,632.880921324,654,0.408782305788,0.00460971769438,0.0498165054323,0.999999938832,0.000140699490683,-0.000317502526715,-4.16169476587e-05,1793237750587891456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715.712771909,679.712771909,667,637,880.712771909,789,803.287228091,654,632.287228091,654,0.40830354741,0.00461095970857,0.0498369387815,0.99999994934,0.00014131369502,-0.00028225148894,-4.10457750698e-05,1793237750604558336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.298903504,716,680,667,636.701096496,881,788.701096496,803,654,632,654,0.407817765449,0.00461109067583,0.0498468986398,0.999999953402,0.000141423410861,-0.000267460480631,-4.07367254981e-05,1793237750621225216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.877948077,716,680,667,636.122051923,881,788.122051923,803,654,632,654,0.407325400812,0.00461018033747,0.0498470424361,0.999999952274,0.000141060305474,-0.000271845210178,-4.06733453213e-05,1793237750637892864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,747,715.5475807,680,667,636.4524193,881,788.4524193,803.4524193,654,632.4524193,654,0.406840787329,0.00461317946305,0.0498282283593,0.999999940547,0.000145251295051,-0.000310028836347,-4.11070921277e-05,1793237750654559744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.973581096,715,679.973581096,667,637,881,789,803.973581096,654,633,654,0.406361109518,0.00461723923433,0.0498048509305,0.999999924457,0.00015049939588,-0.000355942497145,-4.1724619491e-05,1793237750671226368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.383586078,715,679.383586078,667,637,881,789,803.383586078,654,633,654,0.405942559754,0.00462165142482,0.0497921363928,0.999999917442,0.000152351833298,-0.00037419136563,-4.34303032545e-05,1793237750687892224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.202705749,667,637,881,789,803.202705749,654,633,654,0.405540204738,0.00462531955918,0.049787225693,0.99999991467,0.000154348785882,-0.000380551964547,-4.49156850203e-05,1793237750704558080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.78211558,667,637,881,789,803.78211558,654,633,654,0.405167945745,0.00462760495484,0.0497968174821,0.999999920132,0.000156614302242,-0.000364819652505,-4.59916620322e-05,1793237750721224448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.641073974,667,636.641073974,881,788.641073974,803.641073974,654.358926026,633,654,0.404828716752,0.00462970091994,0.0498144497708,0.999999930891,0.000159751318575,-0.000332468107658,-4.64923124044e-05,1793237750737891072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.065830071,667,636.065830071,881,788.065830071,803.065830071,654.934169929,633,654,0.404509394274,0.00463168271908,0.0498369279161,0.999999943481,0.000163413571337,-0.000290100465901,-4.66462244136e-05,1793237750754557696
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.51032474,679.51032474,667,636.51032474,881,788.51032474,803,655,633,654,0.4042108522,0.0046326327677,0.0498571175612,0.999999950737,0.000166822696657,-0.000261806902622,-4.6394511724e-05,1793237750771224576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.911204941,667,637,881.088795059,788.911204941,803.088795059,654.911204941,632.911204941,654,0.403917238939,0.00463335625746,0.0498735771129,0.999999955564,0.000170051259401,-0.000240459995278,-4.61947123506e-05,1793237750787891200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.320306686,667,637,881.679693314,788.320306686,803.679693314,654.320306686,632.320306686,654,0.403636311275,0.00463355257356,0.0498706166548,0.999999953267,0.00017244377756,-0.000248109475231,-4.65848662796e-05,1793237750804558080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.735522609,679.264477391,667,637,881.735522609,788.264477391,803.735522609,654.264477391,632.264477391,654.264477391,0.403358750293,0.00463489648919,0.049862420831,0.999999948692,0.000174678374417,-0.00026431429541,-4.73536901785e-05,1793237750821224960
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715.157976087,679.842023913,667,637,881.157976087,788.842023913,803.157976087,654.842023913,632.842023913,654.842023913,0.403085174563,0.00463759884982,0.0498480277614,0.999999940967,0.000176726035279,-0.000290646305541,-4.85707560465e-05,1793237750837891328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.583171673,667,636.583171673,881,789,803.416828327,654.583171673,632.583171673,655,0.402840606735,0.00463919826659,0.0498394373556,0.999999936371,0.000176802385182,-0.000305861008832,-4.94753179324e-05,1793237750854557696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.009399727,667,636.009399727,881,789,803.990600273,654.009399727,632.009399727,655,0.402606960927,0.00464038240441,0.0498330317611,0.999999933015,0.000176136499799,-0.000316889838705,-5.02622162312e-05,1793237750871224064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.581014033,679,667,636.581014033,881,788.418985967,803.418985967,654.581014033,632,654.418985967,0.402410804351,0.00464009490616,0.049829336777,0.999999935619,0.00013650401157,-0.000328034119565,-5.02228291539e-05,1793237750887890944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.831730441,679.168269559,667,636.831730441,881.168269559,788.168269559,803.168269559,654.831730441,632,654,0.402227337177,0.00463909304234,0.0498276688932,0.999999938068,0.000101819976132,-0.000333117277506,-5.0290710666e-05,1793237750904557568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.252857908,679.747142092,667,636.252857908,881.747142092,788.747142092,803.747142092,654.252857908,632,654,0.402073310471,0.00463640782841,0.0498308372766,0.999999943158,8.07945626335e-05,-0.000323405693344,-5.06539250048e-05,1793237750921224192
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.325480014,881.674519986,789,803.674519986,654.325480014,632,654,0.401933823501,0.00463314758992,0.049835852008,0.999999946228,9.10656122173e-05,-0.000311512217828,-4.70226808288e-05,1793237750937891072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.903403352,881.096596648,789,803.096596648,654.903403352,632,654,0.40180561358,0.00462944136029,0.0498422987731,0.999999946919,0.000125610294818,-0.000297926459221,-4.02933220494e-05,1793237750954557952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.522398496,667,637,881,789,803,655,632.477601504,654,0.401690949675,0.00461145485689,0.0498475218948,0.999999948241,0.000140048567598,-0.000287948242132,-3.14618688386e-05,1793237750971224320
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.052541287,655,633,654,0.40158097166,0.00459241426712,0.0498521874583,0.999999949546,0.000149440388825,-0.000279357106115,-2.31215310198e-05,1793237750987890944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.642720296,655,633,654,0.40149112496,0.00459191319536,0.0498536605624,0.999999950168,0.000148483611453,-0.000277551142047,-2.41234235459e-05,1793237751004557568
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.228729815,679,667,637,881,789,803.771270185,654.771270185,633,654,0.401407744081,0.00459347800208,0.04985396043,0.999999950236,0.000149901666985,-0.000276423787274,-2.54354405969e-05,1793237751021224192
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.808343086,679,667,637,881,789,803.191656914,654.191656914,633,654,0.401334282113,0.00459821197405,0.0498524604915,0.999999949442,0.000154962840004,-0.000276337454627,-2.72232047697e-05,1793237751037890816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.615251872,679.384748128,667,637,881.384748128,789,803.384748128,654.384748128,633.384748128,654,0.401271951092,0.00459833050566,0.0498520547074,0.999999949559,0.000155449794903,-0.000275580938206,-2.77910185798e-05,1793237751054557696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715.040431765,679.959568235,667,637,881.959568235,789,803.959568235,654.959568235,633.959568235,654,0.401215118947,0.00459616893277,0.049852189454,0.999999950133,0.000153677009775,-0.000274493339851,-2.77561565547e-05,1793237751071224320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,882,789,804,655,633.466643709,654.533356291,0.401175354009,0.00459972894438,0.049855389624,0.999999951082,0.000158739314794,-0.000267975558905,-2.87460575434e-05,1793237751087891456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715.110283151,680,667,637,881.889716849,789,804,654.889716849,632.889716849,654.889716849,0.401138759753,0.00460217217653,0.0498586359706,0.999999952282,0.000161962494591,-0.000261395837677,-2.96061528062e-05,1793237751104558592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715.701230515,680,667,637,881.298769485,789,804,654.298769485,632.298769485,654.298769485,0.401110356689,0.00459786122253,0.04986107272,0.999999954709,0.000154915985976,-0.000256336813057,-2.9562569141e-05,1793237751121225216
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.285944181,746,716,679.714055819,667,637,881,789,803.714055819,654.285944181,632.285944181,654,0.401084555389,0.00459616161108,0.0498614362536,0.999999955516,0.000151970664427,-0.000254946596796,-2.9593328672e-05,1793237751137891840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.864283582,746,716,679.135716418,667,637,881,789,803.135716418,654.864283582,632.864283582,654,0.401061414547,0.0045971322548,0.0498596797988,0.999999954717,0.000153219053877,-0.000257307958406,-2.97001086144e-05,1793237751154558720
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.558957663,746,716,679,667,637,881,789,803,655,633,654.441042337,0.401046574202,0.00459924804824,0.0498598505298,0.99999995483,0.00015407206968,-0.000256315449677,-3.00809989657e-05,1793237751171224832
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.017654599,667,637,881,789,803.017654599,655,632.982345401,655,0.401034405659,0.00460158017486,0.0498606315744,0.999999955234,0.000154703650794,-0.000254296318863,-3.05239637885e-05,1793237751187890688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.605183571,667,637,881,789,803.605183571,655,632.394816429,655,0.401026327373,0.00459956137699,0.0498620389288,0.999999956139,0.000152100681667,-0.00025233324563,-3.02576654888e-05,1793237751204557312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.809900332,680,667,637,881,789,803.809900332,655,632,654.809900332,0.401019479439,0.00459810954972,0.0498629153046,0.999999956768,0.000150445013611,-0.00025084129832,-3.01645879011e-05,1793237751221224192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715.230337348,680,667,637,881,789,803.230337348,655,632,654.230337348,0.401015152165,0.00459781929352,0.0498627038478,0.999999956849,0.000150730111934,-0.00025031456199,-3.04263931835e-05,1793237751237891072
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.651532113,667,637,881.348467887,789,803,654.651532113,632,654,0.401013012399,0.00459758181094,0.0498631470374,0.999999957428,0.000149757511346,-0.000248557952623,-3.05812209744e-05,1793237751254557952
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.073226686,667,637,881.926773314,789,803,654.073226686,632,654,0.40101231544,0.00459737913606,0.0498640220096,0.999999958329,0.00014795537541,-0.000245990160941,-3.06654900475e-05,1793237751271224576
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.519307472,789,803,654,632.480692528,654.480692528,0.401011590433,0.00459797222971,0.0498645722504,0.999999958523,0.000148881959798,-0.000244639025454,-3.06476853336e-05,1793237751287890944
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.034843555,667,637,881,789,803.034843555,654,633,654.965156445,0.40101094789,0.00459857017918,0.0498651303398,0.999999958646,0.00015004348333,-0.000243429984521,-3.06047053204e-05,1793237751304557568
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.651949083,667,637,881,789,803.651949083,654,633,654.348050917,0.401011751342,0.00459732133432,0.049866606322,0.999999959312,0.000148520043398,-0.000241647813757,-3.03883251185e-05,1793237751321224192
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.747516504,667,636.747516504,881,789,804,654,632.747516504,654,0.401012251244,0.00459684891966,0.0498672928848,0.999999959805,0.000147295886168,-0.000240350330123,-3.04199057631e-05,1793237751337890816
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.168418519,667,636.168418519,881,789,804,654,632.168418519,654,0.401012358471,0.00459738090058,0.0498669582492,0.999999960078,0.000146458883012,-0.000239679841042,-3.07722503331e-05,1793237751354557440
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636,881,788.59218222,804,654.40781778,632,654,0.401012075206,0.00459829586019,0.0498673663727,0.99999996012,0.000146888418613,-0.000239215197168,-3.09860595801e-05,1793237751371224320
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636,881,788.017119525,804,654.982880475,632,654,0.401011631801,0.00459936787825,0.0498680790995,0.999999960066,0.000147837358219,-0.00023883496987,-3.11430558629e-05,1793237751387891200
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.557616492,715,679,667,636.557616492,881,788.557616492,804,655,632,654.557616492,0.401010843863,0.00459924304479,0.0498682174984,0.999999959909,0.000148895129584,-0.000238881431361,-3.07857715635e-05,1793237751404557824
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.863447135,715.136552865,679,667,636.863447135,881,789,803.863447135,654.863447135,632,654.863447135,0.401010188481,0.00459892960888,0.0498682640664,0.999999959811,0.000149407812799,-0.000239001300271,-3.0541858735e-05,1793237751421224448
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.270436686,715.729563314,679,667,636.270436686,881,789,803.270436686,654.270436686,632,654.270436686,0.401010011536,0.00459810848401,0.0498680625762,0.999999959925,0.000148087258151,-0.000239322785848,-3.07296621197e-05,1793237751437891072
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.686567899,679,667,636,881,789,803,654,632.313432101,654,0.401009869048,0.00459776276275,0.0498682096799,0.999999959985,0.000147834268934,-0.000239217657131,-3.08175922903e-05,1793237751454557440
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.110363251,679,667,636,881,789,803,654,632.889636749,654,0.401009755448,0.00459781560637,0.0498686490347,0.99999996,0.000148476296235,-0.000238754867125,-3.08217915932e-05,1793237751471224064
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.465310159,679.465310159,667,636.465310159,881.465310159,788.534689841,803.465310159,654.465310159,632.534689841,654,0.401010036995,0.00459802965684,0.0498688735632,0.999999960097,0.000148386128931,-0.000238416372816,-3.07534360046e-05,1793237751487890944
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.958109175,680,667,637,881.958109175,788.041890825,803.958109175,655,632.041890825,654.041890825,0.401010359432,0.00459823459755,0.0498690010277,0.99999996022,0.000148065210814,-0.000238109916905,-3.06654588007e-05,1793237751504557568
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.368009111,680,667,637,881.368009111,788.631990889,803.368009111,655,632.631990889,654.631990889,0.401009991873,0.00459782052094,0.0498685242917,0.999999960446,0.000146994620976,-0.000237837372623,-3.05456482639e-05,1793237751521224448
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746.218175047,715.218175047,679.781824953,667,636.781824953,881.218175047,789,803.218175047,655,632.781824953,654.781824953,0.401009487477,0.00459762243157,0.049868287645,0.999999960464,0.000146942672201,-0.000237792347466,-3.05670343029e-05,1793237751537891328
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746.797870565,715.797870565,679.202129435,667,636.202129435,881.797870565,789,803.797870565,655,632.202129435,654.202129435,0.401008756337,0.00459778223737,0.0498684488312,0.999999960136,0.000148578632118,-0.000238124326062,-3.08223859077e-05,1793237751554557952
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767.373975837,747,715.626024163,679,667,636,881.626024163,789,803.626024163,654.626024163,632.373975837,654,0.401009454134,0.00459829400319,0.049869128955,0.999999960434,0.000148014031287,-0.000237206227386,-3.0929090799e-05,1793237751571224320
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767.948159041,747,715.051840959,679,667,636,881.051840959,789,803.051840959,654.051840959,632.948159041,654,0.401010916912,0.00459899419023,0.0498700868911,0.999999961065,0.000146271363672,-0.000235618901818,-3.09562178939e-05,1793237751587890944
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767.476239511,746.476239511,715,679,667,636.523760489,881,789,803,654.523760489,632.476239511,654,0.401009519385,0.00459721265232,0.0498692044091,0.999999961056,0.000143989149903,-0.000237099681369,-3.06547957419e-05,1793237751604557824
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767.102344475,746,715,679,667,637,881,789,803.102344475,654.897655525,632.102344475,654,0.401008346696,0.0045957171591,0.0498684197953,0.999999960959,0.00014256565072,-0.000238393051774,-3.04416075423e-05,1793237751621224192
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767.694529767,746,715,679,667,637,881,789,803.694529767,654.305470233,632.694529767,654,0.401009608818,0.00459676959173,0.049868977827,0.999999960776,0.00014550842198,-0.000237332045298,-3.08067906587e-05,1793237751637890816
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767.721261334,746,715,679,667,637,881,789,803.721261334,654,632.721261334,654,0.401010405731,0.00459794761154,0.04986963783,0.999999960733,0.000147472214897,-0.000236280364757,-3.09577153796e-05,1793237751654557696
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767.145550635,746,715,679,667,637,881,789,803.145550635,654,632.145550635,654,0.401010707006,0.00459925943357,0.0498704064746,0.999999960844,0.000148392990547,-0.000235238620265,-3.08803662163e-05,1793237751671224832
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1b2fd531ff254be2baa1c9eb0d0be5249460520
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,439 @@
+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,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+1,0.016666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+2,0.033333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+253,4.216666667,pose1_to_pose2_press,0.626431030553,0.0100012801213,1.0400115665,0.597002264122,0.0186749489058,1.03966110029
+254,4.233333333,pose1_to_pose2_press,0.626431098738,0.0100012679133,1.04001156805,0.597002332481,0.0186749372756,1.0396611013
+255,4.250000000,pose1_to_pose2_press,0.626431163543,0.0100012563102,1.04001156953,0.597002397453,0.0186749262217,1.03966110226
+256,4.266666667,pose1_to_pose2_press,0.62643127646,0.0100012360932,1.0400115721,0.59700251066,0.0186749069615,1.03966110393
+257,4.283333333,pose1_to_pose2_press,0.626431345452,0.0100012237407,1.04001157368,0.597002579829,0.0186748951935,1.03966110496
+258,4.300000000,pose1_to_pose2_press,0.62643156266,0.0100012835403,1.04001173963,0.597002795259,0.0186749492177,1.03966127686
+259,4.316666667,pose1_to_pose2_press,0.626431621597,0.0100012867668,1.04001157425,0.597002854479,0.018674953578,1.03966111449
+260,4.333333333,pose1_to_pose2_press,0.626431621325,0.0100012841032,1.04001153451,0.597002854362,0.0186749514414,1.03966107494
+261,4.350000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854357,0.0186749514468,1.03966107493
+262,4.366666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854357,0.0186749514462,1.03966107493
+263,4.383333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854357,0.0186749514422,1.03966107493
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+265,4.416666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854357,0.0186749514431,1.03966107493
+266,4.433333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854358,0.0186749514439,1.03966107493
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+268,4.466666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854353,0.018674951443,1.03966107493
+269,4.483333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854352,0.0186749514427,1.03966107493
+270,4.500000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854353,0.0186749514429,1.03966107493
+271,4.516666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854354,0.0186749514438,1.03966107493
+272,4.533333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854355,0.0186749514429,1.03966107493
+273,4.550000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854355,0.0186749514426,1.03966107492
+274,4.566666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854356,0.0186749514405,1.03966107492
+275,4.583333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854356,0.0186749514433,1.03966107493
+276,4.600000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002854355,0.0186749514439,1.03966107492
+277,4.616666667,pose2_to_pose3_retreat,0.626431621325,0.0100012841032,1.04001153451,0.597002854354,0.0186749514418,1.03966107493
+278,4.633333333,pose2_to_pose3_retreat,0.626431391309,0.0100013307402,1.04001152757,0.597002623309,0.0186749947653,1.03966107093
+279,4.650000000,pose2_to_pose3_retreat,0.626431093422,0.0100013234341,1.04001154271,0.597002325885,0.0186749889907,1.03966108373
+280,4.666666667,pose2_to_pose3_retreat,0.626430926135,0.0100013190621,1.04001153795,0.59700215877,0.0186749852572,1.03966107987
+281,4.683333333,pose2_to_pose3_retreat,0.626430862353,0.0100013173952,1.04001153614,0.597002095054,0.0186749838337,1.03966107841
+282,4.700000000,pose2_to_pose3_retreat,0.626430847299,0.0100013170018,1.04001153571,0.597002080016,0.0186749834978,1.03966107806
+283,4.716666667,pose2_to_pose3_retreat,0.626430721514,0.0100013137145,1.04001153214,0.597001954359,0.0186749806905,1.03966107516
+284,4.733333333,pose2_to_pose3_retreat,0.62643064685,0.0100013117632,1.04001153002,0.597001879773,0.0186749790242,1.03966107344
+285,4.750000000,pose2_to_pose3_retreat,0.626430006543,0.0100012880422,1.04001153985,0.597001239813,0.0186749565969,1.03966108478
+286,4.766666667,pose2_to_pose3_retreat,0.626427542791,0.0100011737112,1.04001180577,0.596998774459,0.0186748364737,1.03966133953
+287,4.783333333,pose2_to_pose3_retreat,0.626422147706,0.0100014226064,1.04001176028,0.596993377998,0.0186750807912,1.03966129718
+288,4.800000000,pose2_to_pose3_retreat,0.626411365292,0.0100011381505,1.0400115888,0.596982599618,0.0186748099691,1.03966112991
+289,4.816666667,pose2_to_pose3_retreat,0.626393905194,0.0100011837028,1.04001159758,0.596965139157,0.01867485416,1.03966113756
+290,4.833333333,pose2_to_pose3_retreat,0.626366684524,0.0100013717272,1.04001146343,0.596937915493,0.0186750319015,1.03966099751
+291,4.850000000,pose2_to_pose3_retreat,0.626330635225,0.0100013007034,1.04001172399,0.596901867318,0.0186749643801,1.03966124994
+292,4.866666667,pose2_to_pose3_retreat,0.626286338856,0.0100012592988,1.04001169465,0.596857570942,0.0186749232718,1.039661228
+293,4.883333333,pose2_to_pose3_retreat,0.626235474422,0.0100012662084,1.0400116701,0.59680670756,0.0186749341441,1.0396612134
+294,4.900000000,pose2_to_pose3_retreat,0.626178829649,0.0100012218391,1.04001178624,0.596750063185,0.0186748907091,1.03966132419
+295,4.916666667,pose2_to_pose3_retreat,0.626117285395,0.0100012623724,1.04001171134,0.596688517608,0.0186749263421,1.03966124476
+296,4.933333333,pose2_to_pose3_retreat,0.626049909508,0.01000115454,1.04001163557,0.596621143818,0.0186748254203,1.03966116616
+297,4.950000000,pose2_to_pose3_retreat,0.62597464238,0.0100011723639,1.04001157161,0.596545876766,0.0186748436211,1.03966110717
+298,4.966666667,pose2_to_pose3_retreat,0.625888978054,0.0100012831548,1.04001156709,0.596460210927,0.018674949411,1.03966110811
+299,4.983333333,pose2_to_pose3_retreat,0.62579126642,0.0100013434122,1.04001169054,0.596362498592,0.0186750068979,1.0396612242
+300,5.000000000,pose2_to_pose3_retreat,0.625680176111,0.0100012362651,1.04001177717,0.596251409072,0.0186749024378,1.03966131374
+301,5.016666667,pose2_to_pose3_retreat,0.625555517274,0.0100012654591,1.04001173139,0.596126749419,0.0186749286595,1.03966126624
+302,5.033333333,pose2_to_pose3_retreat,0.625415736443,0.0100012759401,1.04001162346,0.595986968382,0.0186749383853,1.0396611605
+303,5.050000000,pose2_to_pose3_retreat,0.625261522216,0.0100012553765,1.04001159016,0.595832754647,0.018674919326,1.03966112725
+304,5.066666667,pose2_to_pose3_retreat,0.625091522578,0.0100012606101,1.04001170318,0.595662755167,0.0186749245205,1.03966123091
+305,5.083333333,pose2_to_pose3_retreat,0.624906004191,0.0100012432768,1.04001157281,0.595477236872,0.0186749077013,1.03966111018
+306,5.100000000,pose2_to_pose3_retreat,0.624704724294,0.0100012316048,1.04001175018,0.595275958576,0.018674901091,1.03966128447
+307,5.116666667,pose2_to_pose3_retreat,0.624487561537,0.010001257573,1.0400115708,0.595058794646,0.018674923044,1.03966111051
+308,5.133333333,pose2_to_pose3_retreat,0.624255585996,0.0100012483546,1.0400115886,0.594826818544,0.0186749114915,1.0396611245
+309,5.150000000,pose2_to_pose3_retreat,0.6240067104,0.0100012320654,1.04001185161,0.594577943817,0.018674897478,1.03966137785
+310,5.166666667,pose2_to_pose3_retreat,0.623741502912,0.0100013298438,1.0400118001,0.594312736148,0.018674994803,1.03966133648
+311,5.183333333,pose2_to_pose3_retreat,0.623459018176,0.0100012943733,1.04001172044,0.594030251551,0.0186749593072,1.0396612523
+312,5.200000000,pose2_to_pose3_retreat,0.623157174348,0.0100012107779,1.0400117338,0.593728407847,0.0186748755131,1.03966125876
+313,5.216666667,pose2_to_pose3_retreat,0.622836423405,0.0100012192976,1.04001165151,0.593407657731,0.0186748866719,1.03966118159
+314,5.233333333,pose2_to_pose3_retreat,0.622501869507,0.0100012612019,1.0400114776,0.593073104685,0.0186749314676,1.0396610169
+315,5.250000000,pose2_to_pose3_retreat,0.62215436349,0.010001255669,1.04001131787,0.592725598412,0.0186749247475,1.03966085814
+316,5.266666667,pose2_to_pose3_retreat,0.621792688959,0.0100014145359,1.04001140506,0.592363921377,0.0186750747758,1.03966094635
+317,5.283333333,pose2_to_pose3_retreat,0.621416242443,0.0100014575533,1.04001172592,0.591987474627,0.0186751160151,1.03966125152
+318,5.300000000,pose2_to_pose3_retreat,0.621022779823,0.0100013599538,1.0400117569,0.591594013623,0.0186750232907,1.03966127878
+319,5.316666667,pose2_to_pose3_retreat,0.620602952006,0.0100012251918,1.04001158672,0.591174187568,0.0186748943726,1.03966111671
+320,5.333333333,pose2_to_pose3_retreat,0.620156148083,0.0100012283024,1.04001156503,0.590727383136,0.0186748957589,1.03966110196
+321,5.350000000,pose2_to_pose3_retreat,0.619678493797,0.0100012831753,1.04001170252,0.590249728798,0.0186749495414,1.03966122984
+322,5.366666667,pose2_to_pose3_retreat,0.619179654783,0.0100011968474,1.04001181159,0.589750890799,0.0186748664741,1.03966133922
+323,5.383333333,pose2_to_pose3_retreat,0.618665878794,0.010001264371,1.04001196302,0.589237114555,0.0186749331909,1.0396614947
+324,5.400000000,pose2_to_pose3_retreat,0.618142433044,0.0100013621527,1.04001194674,0.588713667383,0.0186750262486,1.03966148178
+325,5.416666667,pose2_to_pose3_retreat,0.617610358162,0.0100013676018,1.04001176964,0.588181591626,0.0186750288261,1.03966130653
+326,5.433333333,pose2_to_pose3_retreat,0.617062138842,0.0100012412505,1.04001165665,0.587633374287,0.0186749093512,1.03966119561
+327,5.450000000,pose2_to_pose3_retreat,0.61649311958,0.0100011725933,1.04001159694,0.587064355184,0.0186748409539,1.03966112936
+328,5.466666667,pose2_to_pose3_retreat,0.615894960481,0.0100011931213,1.0400116802,0.586466194925,0.0186748572763,1.03966120726
+329,5.483333333,pose2_to_pose3_retreat,0.615272856187,0.0100013039624,1.04001156358,0.585844089866,0.0186749657596,1.03966109705
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+331,5.516666667,pose2_to_pose3_retreat,0.613980505395,0.0100013330959,1.04001142415,0.584551739572,0.0186749970405,1.03966096884
+332,5.533333333,pose2_to_pose3_retreat,0.613327957551,0.0100011295232,1.04001153254,0.583899194058,0.0186748013363,1.03966107633
+333,5.550000000,pose2_to_pose3_retreat,0.6126652359,0.0100012565518,1.0400116605,0.583236470612,0.0186749220422,1.03966119853
+334,5.566666667,pose2_to_pose3_retreat,0.611990687881,0.010001216145,1.04001160216,0.582561923138,0.0186748833197,1.03966113618
+335,5.583333333,pose2_to_pose3_retreat,0.611302952494,0.0100013034765,1.04001162106,0.58187418666,0.0186749670216,1.03966115682
+336,5.600000000,pose2_to_pose3_retreat,0.610602947349,0.0100013194167,1.04001162576,0.581174181199,0.0186749820246,1.03966116469
+337,5.616666667,pose2_to_pose3_retreat,0.609893283824,0.0100011808887,1.04001151972,0.580464519254,0.018674848917,1.03966106016
+338,5.633333333,pose2_to_pose3_retreat,0.609180463106,0.0100012910619,1.04001139957,0.579751697218,0.0186749547702,1.03966094405
+339,5.650000000,pose2_to_pose3_retreat,0.608462368891,0.0100013128818,1.04001149088,0.57903360274,0.0186749758157,1.03966103789
+340,5.666666667,pose2_to_pose3_retreat,0.607730963137,0.0100012966971,1.04001160241,0.578302198078,0.0186749632672,1.03966114763
+341,5.683333333,pose2_to_pose3_retreat,0.606987807463,0.0100012991817,1.04001167993,0.577559042171,0.018674964658,1.03966121708
+342,5.700000000,pose2_to_pose3_retreat,0.60623565901,0.0100013161821,1.04001171139,0.576806892916,0.0186749786451,1.0396612403
+343,5.716666667,pose2_to_pose3_retreat,0.605476931644,0.010001318635,1.04001173777,0.576048166105,0.0186749830496,1.03966126773
+344,5.733333333,pose2_to_pose3_retreat,0.604713937309,0.0100013405104,1.04001188183,0.575285171301,0.0186750038748,1.03966142513
+345,5.750000000,pose2_to_pose3_retreat,0.603954054709,0.0100012982061,1.04001172094,0.574525289839,0.0186749652569,1.03966125986
+346,5.766666667,pose2_to_pose3_retreat,0.603196880599,0.0100012662993,1.04001159898,0.573768116107,0.018674934633,1.03966113786
+347,5.783333333,pose2_to_pose3_retreat,0.602445926669,0.0100013266309,1.04001154886,0.573017161361,0.0186749922401,1.03966108878
+348,5.800000000,pose2_to_pose3_retreat,0.601699632542,0.0100013857697,1.04001158794,0.572270865988,0.0186750470308,1.03966112482
+349,5.816666667,pose2_to_pose3_retreat,0.600956239422,0.0100012449703,1.04001172167,0.571527472667,0.0186749051242,1.03966124798
+350,5.833333333,pose2_to_pose3_retreat,0.600213653961,0.010001238339,1.04001168445,0.570784887873,0.0186749011585,1.03966122071
+351,5.850000000,pose2_to_pose3_retreat,0.599467205804,0.010001206351,1.0400115956,0.570038440576,0.0186748721632,1.03966113371
+352,5.866666667,pose2_to_pose3_retreat,0.598710820889,0.0100011587275,1.04001151432,0.569282056588,0.0186748275209,1.03966104831
+353,5.883333333,pose2_to_pose3_retreat,0.597952609967,0.0100011228315,1.04001149906,0.568523845983,0.0186747926261,1.03966103112
+354,5.900000000,pose2_to_pose3_retreat,0.597198978173,0.0100011512211,1.04001157027,0.567770213344,0.0186748183793,1.03966110802
+355,5.916666667,pose2_to_pose3_retreat,0.596452642368,0.0100013281501,1.04001166081,0.56702387597,0.0186749901367,1.03966120231
+356,5.933333333,pose2_to_pose3_retreat,0.595713153118,0.0100012634246,1.04001154461,0.566284387393,0.0186749278568,1.03966109006
+357,5.950000000,pose2_to_pose3_retreat,0.59499290098,0.0100012177769,1.04001152708,0.565564136361,0.0186748859539,1.03966107237
+358,5.966666667,pose2_to_pose3_retreat,0.594288734057,0.0100011840393,1.04001163439,0.564859970639,0.0186748558348,1.03966116831
+359,5.983333333,pose2_to_pose3_retreat,0.593596953877,0.0100012046296,1.04001177137,0.564168190402,0.0186748758298,1.0396612953
+360,6.000000000,pose2_to_pose3_retreat,0.592916557495,0.010001295707,1.04001182256,0.563487792174,0.0186749608686,1.03966135227
+361,6.016666667,pose2_to_pose3_retreat,0.592246582327,0.0100012414378,1.04001180506,0.5628178188,0.0186749128266,1.03966133995
+362,6.033333333,pose2_to_pose3_retreat,0.591577843164,0.0100011859463,1.04001182442,0.562149079638,0.0186748571818,1.03966135546
+363,6.050000000,pose2_to_pose3_retreat,0.590912785544,0.0100012469339,1.04001182792,0.561484020919,0.0186749144199,1.03966135838
+364,6.066666667,pose2_to_pose3_retreat,0.590268004789,0.0100013209951,1.04001166612,0.560839239445,0.0186749861845,1.03966120008
+365,6.083333333,pose2_to_pose3_retreat,0.589643324556,0.0100013409115,1.04001154733,0.560214559337,0.0186750066278,1.03966108382
+366,6.100000000,pose2_to_pose3_retreat,0.589036835803,0.010001326892,1.04001193253,0.559608070847,0.0186749933005,1.03966146409
+367,6.116666667,pose2_to_pose3_retreat,0.5884448259,0.0100012948602,1.04001170214,0.559016061751,0.0186749643595,1.03966124244
+368,6.133333333,pose2_to_pose3_retreat,0.587865414909,0.0100012246975,1.04001161089,0.558436650764,0.0186748940055,1.03966114538
+369,6.150000000,pose2_to_pose3_retreat,0.587297521141,0.0100011775076,1.04001155663,0.557868757299,0.0186748480169,1.03966109507
+370,6.166666667,pose2_to_pose3_retreat,0.586746011779,0.0100012073202,1.04001145045,0.557317246756,0.0186748740454,1.03966099435
+371,6.183333333,pose2_to_pose3_retreat,0.586220742656,0.0100013027844,1.04001133997,0.556791974895,0.018674960086,1.03966088059
+372,6.200000000,pose2_to_pose3_retreat,0.58571929433,0.0100013365579,1.04001153871,0.556290527652,0.0186749974835,1.03966107801
+373,6.216666667,pose2_to_pose3_retreat,0.585239984367,0.0100012847244,1.04001175686,0.555811219278,0.0186749508001,1.0396612902
+374,6.233333333,pose2_to_pose3_retreat,0.584768113907,0.0100013201561,1.04001184044,0.555339348601,0.0186749853146,1.03966136938
+375,6.250000000,pose2_to_pose3_retreat,0.584302336256,0.0100012525312,1.04001172852,0.554873571241,0.018674918815,1.03966126084
+376,6.266666667,pose2_to_pose3_retreat,0.583848228566,0.0100011246912,1.0400116175,0.554419464709,0.0186747951573,1.03966115602
+377,6.283333333,pose2_to_pose3_retreat,0.583410209562,0.0100012025714,1.04001178041,0.553981445503,0.0186748722324,1.039661316
+378,6.300000000,pose2_to_pose3_retreat,0.582995322944,0.0100012627001,1.0400115474,0.553566557439,0.0186749277155,1.03966108944
+379,6.316666667,pose2_to_pose3_retreat,0.582608525948,0.0100012797803,1.04001145989,0.553179761395,0.0186749478616,1.03966099867
+380,6.333333333,pose2_to_pose3_retreat,0.582252588255,0.0100012687934,1.04001151849,0.552823824583,0.0186749397705,1.03966105532
+381,6.350000000,pose2_to_pose3_retreat,0.581919811374,0.0100013146836,1.04001161248,0.552491046369,0.0186749811416,1.03966114942
+382,6.366666667,pose2_to_pose3_retreat,0.581608036871,0.0100013590255,1.04001165759,0.5521792697,0.0186750181447,1.03966119472
+383,6.383333333,pose2_to_pose3_retreat,0.581313888385,0.0100012115767,1.04001157529,0.551885122677,0.0186748755007,1.03966110841
+384,6.400000000,pose2_to_pose3_retreat,0.581031586221,0.0100011362145,1.04001171939,0.55160282315,0.018674809461,1.0396612618
+385,6.416666667,pose2_to_pose3_retreat,0.580758229994,0.0100012519116,1.04001168946,0.551329466445,0.0186749236981,1.03966123583
+386,6.433333333,pose2_to_pose3_retreat,0.580495355148,0.0100012764943,1.04001160999,0.551066589978,0.0186749425506,1.03966115038
+387,6.450000000,pose2_to_pose3_retreat,0.580244036761,0.0100011828016,1.04001156801,0.55081527062,0.0186748452735,1.03966110092
+388,6.466666667,pose2_to_pose3_retreat,0.58000903214,0.0100011665118,1.04001155572,0.550580266068,0.0186748293386,1.03966109169
+389,6.483333333,pose2_to_pose3_retreat,0.579792302284,0.0100011619055,1.04001156204,0.550363536456,0.018674825608,1.03966109958
+390,6.500000000,pose2_to_pose3_retreat,0.579598500694,0.0100012665576,1.04001169789,0.550169735152,0.0186749308782,1.03966122651
+391,6.516666667,pose2_to_pose3_retreat,0.57942505442,0.0100012377484,1.04001179199,0.54999629149,0.0186749110461,1.03966132356
+392,6.533333333,pose2_to_pose3_retreat,0.579271850673,0.0100011817905,1.04001174974,0.549843088166,0.0186748565597,1.03966128217
+393,6.550000000,pose2_to_pose3_retreat,0.579134366389,0.0100012197745,1.04001168865,0.549705602351,0.0186748894741,1.0396612241
+394,6.566666667,pose2_to_pose3_retreat,0.579011077284,0.0100013016578,1.04001168128,0.549582311577,0.0186749657603,1.03966121837
+395,6.583333333,pose2_to_pose3_retreat,0.578900143199,0.010001204921,1.0400117438,0.549471378713,0.0186748726174,1.03966126744
+396,6.600000000,pose2_to_pose3_retreat,0.57879992019,0.0100012256691,1.04001177367,0.549371156707,0.0186748973433,1.0396613114
+397,6.616666667,pose2_to_pose3_retreat,0.578710342561,0.0100011665003,1.04001166677,0.54928157886,0.0186748372805,1.03966120142
+398,6.633333333,pose2_to_pose3_retreat,0.578630874958,0.0100011547685,1.04001169131,0.549202111525,0.0186748262917,1.03966122212
+399,6.650000000,pose2_to_pose3_retreat,0.578561599701,0.0100012037815,1.04001175766,0.549132836264,0.0186748753848,1.03966129049
+400,6.666666667,pose2_to_pose3_retreat,0.578501898895,0.0100012354365,1.04001157803,0.549073133264,0.018674899769,1.03966111515
+401,6.683333333,pose2_to_pose3_retreat,0.578451380996,0.0100012429775,1.04001176073,0.549022617592,0.018674914852,1.0396612974
+402,6.700000000,pose2_to_pose3_retreat,0.578409348998,0.0100012552706,1.04001163307,0.548980584888,0.0186749248294,1.03966117169
+403,6.716666667,pose2_to_pose3_retreat,0.578374364482,0.0100011888873,1.04001156134,0.548945600472,0.0186748587425,1.03966109887
+404,6.733333333,pose2_to_pose3_retreat,0.578345862189,0.0100011359549,1.04001156746,0.54891709856,0.0186748070616,1.03966110395
+405,6.750000000,pose2_to_pose3_retreat,0.578322119799,0.0100012812861,1.04001153925,0.548893354419,0.0186749467067,1.03966108207
+406,6.766666667,pose2_to_pose3_retreat,0.578303068843,0.0100011994438,1.04001173832,0.54887430398,0.0186748664161,1.03966127614
+407,6.783333333,pose2_to_pose3_retreat,0.578287937254,0.0100012384883,1.04001170684,0.548859171193,0.0186749009826,1.03966123457
+408,6.800000000,pose2_to_pose3_retreat,0.578276291328,0.0100012683951,1.04001159322,0.548847524822,0.0186749294632,1.03966112311
+409,6.816666667,pose2_to_pose3_retreat,0.578268022184,0.0100012304339,1.04001151957,0.548839256843,0.0186748961002,1.03966106547
+410,6.833333333,pose2_to_pose3_retreat,0.578262397062,0.010001272473,1.04001153419,0.548833631564,0.0186749375307,1.03966107797
+411,6.850000000,pose2_to_pose3_retreat,0.578258783463,0.0100012683563,1.04001158028,0.548830018315,0.0186749346525,1.03966112524
+412,6.866666667,pose2_to_pose3_retreat,0.578256416838,0.0100012498296,1.04001162912,0.54882765215,0.0186749177657,1.03966117617
+413,6.883333333,pose2_to_pose3_retreat,0.57825515477,0.0100011992848,1.04001157061,0.54882639081,0.0186748694084,1.03966111056
+414,6.900000000,pose2_to_pose3_retreat,0.578254661318,0.0100011755866,1.04001153955,0.548825897691,0.0186748466925,1.03966107593
+415,6.916666667,pose2_to_pose3_retreat,0.578254550877,0.0100011702826,1.0400115326,0.548825787323,0.0186748416084,1.03966106818
+416,6.933333333,pose2_to_pose3_retreat,0.578254544633,0.0100011699827,1.04001153221,0.548825781084,0.0186748413209,1.03966106774
+417,6.950000000,pose2_to_pose3_retreat,0.578254474294,0.0100011666046,1.04001152778,0.548825710792,0.0186748380829,1.0396610628
+418,6.966666667,pose2_to_pose3_retreat,0.57825437506,0.0100011618389,1.04001152153,0.548825611625,0.0186748335147,1.03966105584
+419,6.983333333,pose2_to_pose3_retreat,0.578254243387,0.0100011555152,1.04001151324,0.54882548004,0.0186748274532,1.0396610466
+420,7.000000000,pose2_to_pose3_retreat,0.578253944085,0.0100011411411,1.0400114944,0.54882518094,0.0186748136749,1.03966102559
+421,7.016666667,pose2_to_pose3_retreat,0.578253618281,0.0100011385357,1.04001149187,0.548824855066,0.0186748107799,1.03966102173
+422,7.033333333,pose2_to_pose3_retreat,0.578253351214,0.0100011726684,1.04001153978,0.54882458714,0.0186748420663,1.03966107142
+423,7.050000000,pose2_to_pose3_retreat,0.578253124072,0.0100012016985,1.04001158052,0.548824359266,0.0186748686755,1.03966111368
+424,7.066666667,pose2_to_pose3_retreat,0.578253026397,0.0100012141821,1.04001159804,0.548824261276,0.018674880118,1.03966113186
+425,7.083333333,pose2_to_pose3_retreat,0.578253005702,0.0100012168269,1.04001160176,0.548824240515,0.0186748825424,1.03966113571
+426,7.100000000,pose2_to_pose3_retreat,0.578253003322,0.0100012171312,1.04001160218,0.548824238127,0.0186748828212,1.03966113615
+427,7.116666667,pose2_to_pose3_retreat,0.578252957131,0.0100012230347,1.04001161047,0.548824191787,0.0186748882324,1.03966114474
+428,7.133333333,pose2_to_pose3_retreat,0.578252836183,0.0100012384925,1.04001163217,0.54882407045,0.0186749024012,1.03966116724
+429,7.150000000,pose2_to_pose3_retreat,0.578252765625,0.0100012475103,1.04001164482,0.548823999664,0.0186749106669,1.03966118037
+430,7.166666667,pose2_to_pose3_retreat,0.578252698139,0.0100012561354,1.04001165693,0.548823931961,0.0186749185728,1.03966119293
+431,7.183333333,pose2_to_pose3_retreat,0.578252640942,0.0100012634455,1.04001166719,0.54882387458,0.0186749252733,1.03966120357
+432,7.200000000,pose2_to_pose3_retreat,0.578252529999,0.0100012569383,1.04001167249,0.548823763611,0.0186749187313,1.03966121018
+433,7.216666667,pose2_to_pose3_retreat,0.578252457681,0.0100012426568,1.04001166886,0.548823691437,0.0186749049842,1.03966120769
+434,7.233333333,pose2_to_pose3_retreat,0.578252376955,0.0100012267148,1.04001166481,0.548823610872,0.0186748896387,1.0396612049
+435,7.250000000,pose2_to_pose3_retreat,0.578252359148,0.0100012231983,1.04001166391,0.5488235931,0.0186748862538,1.03966120429
+436,7.266666667,pose2_to_pose3_retreat,0.578252258399,0.0100012033023,1.04001165886,0.548823492552,0.0186748671021,1.03966120081
+437,7.283333333,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a92b77e2713d3edc0e0ffb0cb1ac2b44ca33da5
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f534d6ca7d9732917fb75c5f3bbf00583ad3b02ca33fd22dd419352ab759cdd4
+size 27939189
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9db35cd53f4641d55af6232ddeb48b826be49738
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,441 @@
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+22,0.366666667,BASELINE,767.241603784,746,715.758396216,680,667,637,881.758396216,789,803.241603784,655,633,654,0.40101144327,0.0045968060857,0.049871611333,0.99999996245,0.0001418937081,-0.000232426449808,-3.0726683164e-05,1793237752157046272
+23,0.383333333,BASELINE,767,746,715.648892055,680,667.351107945,637,881.648892055,789,803,655,633,654,0.401011703171,0.00459691391184,0.0498719889285,0.999999962426,0.000142796244326,-0.000231976241407,-3.07421841102e-05,1793237752173712384
+24,0.400000000,BASELINE,767,746,715.068634862,680,667.931365138,637,881.068634862,789,803,655,633,654,0.40101238089,0.0045979489197,0.049872898103,0.999999962289,0.000145732960304,-0.000230749125438,-3.06312764511e-05,1793237752190378752
+25,0.416666667,BASELINE,767,746,715,680,667.493713779,636.493713779,881.506286221,788.493713779,803.506286221,655,632.493713779,654.506286221,0.401012490903,0.004596640144,0.0498727595473,0.999999962806,0.000143196093665,-0.000230119762861,-3.04581172788e-05,1793237752207045888
+26,0.433333333,BASELINE,767,746,715,679.917610324,667,636.082389676,881.917610324,788.082389676,803.917610324,654.917610324,632.082389676,654.917610324,0.401012403403,0.00459543052243,0.0498723713734,0.999999963212,0.000140787867991,-0.000229855988893,-3.03413566879e-05,1793237752223712512
+27,0.450000000,BASELINE,767,746,715,679.329863429,667,636.670136571,881.329863429,788.670136571,803.329863429,654.329863429,632.670136571,654.329863429,0.401011571552,0.00459675766982,0.049871314231,0.99999996245,0.000143672632021,-0.000231342780114,-3.06217541963e-05,1793237752240379392
+28,0.466666667,BASELINE,767,746.254224269,715,679.254224269,667,637,881,789,803.254224269,654.254224269,633,654,0.401011385248,0.00459712518329,0.0498711489816,0.999999962209,0.000144515391479,-0.000231852609661,-3.06995230702e-05,1793237752257046272
+29,0.483333333,BASELINE,767,746.833631386,715,679.833631386,667,637,881,789,803.833631386,654.833631386,633,654,0.401012024675,0.0045962652116,0.0498721245687,0.99999996264,0.000142746185885,-0.000231112789821,-3.05181059862e-05,1793237752273712896
+30,0.500000000,BASELINE,767,746.588644877,715.411355123,680,667.411355123,637,881,789,804,655,633,654,0.401012239632,0.00459611303974,0.0498724048384,0.999999962792,0.000143158903803,-0.00023019128626,-3.05409572955e-05,1793237752290379520
+31,0.516666667,BASELINE,767,746.011599206,715.988400794,680,667.988400794,637,881,789,804,655,633,654,0.401012283615,0.00459624596401,0.0498724050399,0.999999962832,0.000144450483071,-0.000229196601972,-3.06460862812e-05,1793237752307045888
+32,0.533333333,BASELINE,767,746.559502304,715.440497696,680,667.440497696,637,881,789,804,654.440497696,633,654.559502304,0.401011687893,0.00459757087964,0.0498721809123,0.999999962577,0.000144426005282,-0.00023028582121,-3.08981796924e-05,1793237752323712512
+33,0.550000000,BASELINE,767,746.864078037,715,679.864078037,667,637,881,789,804,654.135921963,632.864078037,654.864078037,0.40101109654,0.00459835365056,0.0498718754279,0.999999962381,0.000143877050112,-0.000231450606144,-3.10983688882e-05,1793237752340379136
+34,0.566666667,BASELINE,767,746.269293156,715,679.269293156,667,637,881,789,804,654.730706844,632.269293156,654.269293156,0.401010564235,0.0045972236317,0.0498713108236,0.999999962403,0.000141648635592,-0.000232726181521,-3.11131555492e-05,1793237752357045760
+35,0.583333333,BASELINE,767,746,715.316314963,679.316314963,667,637,881,789,804,655,632.316314963,654,0.401010580507,0.00459713730667,0.0498710162692,0.999999962243,0.000142531554024,-0.000232874239139,-3.11041732894e-05,1793237752373712640
+36,0.600000000,BASELINE,767,746,715.894330819,679.894330819,667,637,881,789,804,655,632.894330819,654,0.401011050639,0.00459791447404,0.0498709451385,0.999999961928,0.000145988610988,-0.000232089453247,-3.10755259866e-05,1793237752390379264
+37,0.616666667,BASELINE,767.468985509,746.468985509,715.531014491,679.531014491,667,637,881,789,803.531014491,655,633,654.468985509,0.401012329725,0.0045977840043,0.0498716566431,0.999999962319,0.000145951550032,-0.000230446040495,-3.08909284428e-05,1793237752407045888
+38,0.633333333,BASELINE,767.955845853,746.955845853,715,679.044154147,667,637,881,789,803.044154147,655,633,654.955845853,0.401013622941,0.0045975028456,0.0498724525929,0.99999996282,0.00014513885764,-0.000228806766501,-3.0690812032e-05,1793237752423712256
+39,0.650000000,BASELINE,767.365003465,746.365003465,715,679.634996535,667,637,881,789,803.634996535,655,633,654.365003465,0.401012850429,0.0045978699685,0.0498721263103,0.999999962745,0.000144400965664,-0.000229596999116,-3.07305090543e-05,1793237752440378880
+40,0.666666667,BASELINE,767,746,715.221328255,680,667,637,881,789,804,655,632.778671745,654,0.401012281971,0.00459822847463,0.049871891996,0.999999962551,0.000144572587385,-0.000230318055096,-3.08234631962e-05,1793237752457045760
+41,0.683333333,BASELINE,767,746,715.80036975,680,667,637,881,789,804,655,632.19963025,654,0.401012043308,0.00459857305421,0.0498718063217,0.999999962166,0.000146214175518,-0.000230927306959,-3.1002492097e-05,1793237752473712384
+42,0.700000000,BASELINE,767,746,716,679.622833346,667,637,881,789,804,655,632.377166654,654,0.401011156985,0.00459849380679,0.0498718200768,0.999999962108,0.000146329118095,-0.00023109329946,-3.11158483339e-05,1793237752490379008
+43,0.716666667,BASELINE,767,746,716,679.04721747,667,637,881,789,804,655,632.95278253,654,0.40100992989,0.00459819155942,0.0498718861476,0.999999962221,0.000145640803974,-0.000231026067515,-3.11946503733e-05,1793237752507045888
+44,0.733333333,BASELINE,767,746.527971428,715.472028572,679,667,637,881.527971428,789,803.472028572,655,633,654.527971428,0.401012246239,0.00459829374632,0.0498726664602,0.999999962639,0.0001458043972,-0.000229136430611,-3.09902886129e-05,1793237752523712256
+45,0.750000000,BASELINE,767.105519585,746.894480415,715,679,667,637,881.894480415,789,803,654.894480415,633,654.894480415,0.401013882092,0.00459817603522,0.0498730231765,0.999999962895,0.000145817559273,-0.000228037152134,-3.07677658546e-05,1793237752540378880
+46,0.766666667,BASELINE,767.694041418,746.305958582,715,679,667,637,881.305958582,789,803,654.305958582,633,654.305958582,0.401010953677,0.00459688634282,0.049871148787,0.9999999623,0.000144793684768,-0.000231301059685,-3.05779366045e-05,1793237752557045504
+47,0.783333333,BASELINE,767.721790665,746,715.278209335,679,667,637,881,789,803.278209335,654,632.721790665,654.278209335,0.401009694575,0.00459670621234,0.0498705824982,0.999999962073,0.000144078743129,-0.000232716484105,-3.06293811654e-05,1793237752573712128
+48,0.800000000,BASELINE,767.14233708,746,715.85766292,679,667,637,881,789,803.85766292,654,632.14233708,654.85766292,0.401010243001,0.00459772751209,0.0498714326168,0.999999962254,0.000143698312958,-0.000232130376843,-3.09420762744e-05,1793237752590378752
+49,0.816666667,BASELINE,767,746.434749942,715.565250058,679.434749942,667,637,881,789,804,654.434749942,632,655,0.401010567301,0.00459836492919,0.0498717247278,0.999999962252,0.000144785332422,-0.000231471442869,-3.08759717138e-05,1793237752607045376
+50,0.833333333,BASELINE,767,747,715.011060572,679.988939428,667,637,881.011060572,789,804,655,632.011060572,654.988939428,0.401010813493,0.00459882589684,0.0498718323931,0.999999962195,0.000146280481869,-0.000230804057257,-3.06879586875e-05,1793237752623712256
+51,0.850000000,BASELINE,767,747,715.587078066,679.412921934,667,637,881.587078066,789,804,655,632.587078066,654.412921934,0.401010797889,0.00459665904497,0.0498717999389,0.999999962473,0.000144214869393,-0.000230916266179,-3.05734499722e-05,1793237752640378880
+52,0.866666667,BASELINE,767,746.833028467,716,679,667,637,881.833028467,789,804,655,633,654,0.401011113502,0.00459572542342,0.0498719250946,0.99999996261,0.000143689169715,-0.000230650556055,-3.05699236565e-05,1793237752657045504
+53,0.883333333,BASELINE,767,746.243321927,716,679,667,637,881.243321927,789,804,655,633,654,0.401012267686,0.00459791406853,0.0498724492838,0.999999962392,0.000147062188911,-0.000229428038447,-3.0847380247e-05,1793237752673712128
+54,0.900000000,BASELINE,767,746.339852704,715.660147296,679,667.339852704,637,881,789,804,655,633,654,0.401012174238,0.00459820844167,0.0498726132761,0.999999962466,0.000146839257006,-0.000229241101658,-3.09070735831e-05,1793237752690379008
+55,0.916666667,BASELINE,767,746.918438893,715.081561107,679,667.918438893,637,881,789,804,655,633,654,0.401011204377,0.00459717216134,0.0498725242438,0.999999962744,0.000144090307261,-0.000229781620716,-3.08137965754e-05,1793237752707045888
+56,0.933333333,BASELINE,767,746.506792306,715.493207694,679,667.506792306,637,881,789,804,655,633,654.493207694,0.401011940712,0.00459780756809,0.049873024868,0.999999962877,0.000144807209434,-0.000228730594641,-3.09665801713e-05,1793237752723712256
+57,0.950000000,BASELINE,767,746,716,679.069179797,667,637,881,789,804,655,632.930820203,654.930820203,0.40101281821,0.0045984470634,0.0498735571473,0.999999963019,0.000145556107181,-0.000227609186844,-3.11220920218e-05,1793237752740378880
+58,0.966666667,BASELINE,767,746,716,679.658919842,667,637,881,789,804,655,632.341080158,654.341080158,0.401012651124,0.00459705312476,0.0498735995151,0.999999963425,0.000142266129784,-0.000227923414796,-3.09942976241e-05,1793237752757045504
+59,0.983333333,BASELINE,767,746,715.755758188,679.755758188,667,636.755758188,881,789,803.755758188,654.755758188,632,654,0.401012031132,0.00459594070453,0.0498729512556,0.999999963395,0.000140642590867,-0.000229092226134,-3.07784872604e-05,1793237752773712128
+60,1.000000000,BASELINE,767,746,715.176496289,679.176496289,667,636.176496289,881,789,803.176496289,654.176496289,632,654,0.401010789901,0.00459521443548,0.0498713556805,0.999999962772,0.000141304861423,-0.000231433247126,-3.04419476875e-05,1793237752790378752
+61,1.016666667,BASELINE,767,746.400684275,715,679,667,636.400684275,881,789,803.400684275,654.400684275,632.400684275,654,0.401011427207,0.0045961403314,0.0498721228473,0.999999962904,0.000142361334376,-0.00023020745654,-3.05076410074e-05,1793237752807045632
+62,1.033333333,BASELINE,767,746.976952741,715,679,667,636.976952741,881,789,803.976952741,654.976952741,632.976952741,654,0.401012887708,0.00459779022394,0.0498739253932,0.999999963358,0.000143590551049,-0.000227418650327,-3.07495971595e-05,1793237752823712512
+63,1.050000000,BASELINE,767,747,715.551647385,679.551647385,667,637,881,789,804,655,633,654,0.401013052428,0.00459757331396,0.0498730469283,0.999999963208,0.000143256090572,-0.000228273862252,-3.08769544052e-05,1793237752840378880
+64,1.066666667,BASELINE,767,746.870001368,715.870001368,680,667,637,881.129998632,789,804,654.870001368,632.870001368,654,0.401013197244,0.00459738121412,0.0498725451956,0.999999963114,0.000142968123777,-0.000228859148323,-3.09013189073e-05,1793237752857045504
+65,1.083333333,BASELINE,767,746.27843435,715.27843435,680,667,637,881.72156565,789,804,654.27843435,632.27843435,654,0.401013463063,0.00459755333591,0.049873777641,0.999999963317,0.00014307653001,-0.000227947033696,-3.05769522492e-05,1793237752873712128
+66,1.100000000,BASELINE,767,746,715.305937677,679.694062323,667,637,882,789,804,654.305937677,632.305937677,654,0.401013072782,0.00459708411942,0.0498738932123,0.99999996329,0.000143048307898,-0.000228094387251,-3.04874681479e-05,1793237752890378752
+67,1.116666667,BASELINE,767,746,715.88391196,679.11608804,667,637,882,789,804,654.88391196,632.88391196,654,0.401012099103,0.00459604463159,0.0498730156708,0.999999963059,0.000142898597272,-0.000229183808966,-3.06068391959e-05,1793237752907045376
+68,1.133333333,BASELINE,767,746,715.541261669,679,667,637,882,789,804,655,633,654,0.401011610798,0.00459797033335,0.0498725363238,0.999999962378,0.000146433215455,-0.00022990719543,-3.07237819949e-05,1793237752923712256
+69,1.150000000,BASELINE,767.033675075,746.033675075,715.033675075,679,667,637,881.966324925,789,804,655,632.966324925,654.033675075,0.40101125597,0.00460033356539,0.0498721633282,0.999999961651,0.000150341857734,-0.000230530861034,-3.08224126375e-05,1793237752940379136
+70,1.166666667,BASELINE,767.623500418,746.623500418,715.623500418,679,667,637,881.376499582,789,804,655,632.376499582,654.623500418,0.40101109084,0.00459761466122,0.0498718939061,0.999999962312,0.00014513451283,-0.000231026970786,-3.06286936658e-05,1793237752957045760
+71,1.183333333,BASELINE,768,747,715.79043688,679,667,636.79043688,881,789,804,655,632,654.79043688,0.401011557245,0.00459643002481,0.0498721910318,0.999999962777,0.000142810539689,-0.000230461012012,-3.06521490771e-05,1793237752973712384
+72,1.200000000,BASELINE,768,747,715.211014781,679,667,636.211014781,881,789,804,655,632,654.211014781,0.401013138249,0.00459795322463,0.0498734880605,0.999999962925,0.000145575442635,-0.000228020603385,-3.10588965893e-05,1793237752990379008
+73,1.216666667,BASELINE,767.632567868,747,715,679.367432132,667,636.367432132,881,789,804,655,632,654,0.401012809349,0.00459787806716,0.049873163988,0.999999962932,0.000144856716762,-0.000228429841773,-3.11760069458e-05,1793237753007045376
+74,1.233333333,BASELINE,767.054679552,747,715,679.945320448,667,636.945320448,881,789,804,655,632,654,0.401011386503,0.00459688740943,0.0498719113879,0.999999962855,0.000142142652901,-0.000230471288778,-3.11272201627e-05,1793237753023712000
+75,1.250000000,BASELINE,767,747,715.519367384,679.480632616,667,636.480632616,881,788.480632616,804,655,632,654,0.401010592881,0.00459723005526,0.0498719810552,0.999999962857,0.000141756781455,-0.000230692940356,-3.11668049598e-05,1793237753040379648
+76,1.266666667,BASELINE,767,747,716,679.095158074,667,636.095158074,881,788,803.904841926,655,632,654,0.401010015166,0.00459759511872,0.0498721869205,0.999999962826,0.000142035723431,-0.000230651295979,-3.11913388428e-05,1793237753057047552
+77,1.283333333,BASELINE,767,747,716,679.682033857,667,636.682033857,881,788,803.317966143,655,632,654,0.401010213327,0.00459735599482,0.0498723825048,0.999999962574,0.000144492707174,-0.000230231851177,-3.10903754132e-05,1793237753073713152
+78,1.300000000,BASELINE,767,746.733983203,715.733983203,680,667,637,881,788.266016797,803.266016797,654.733983203,632,654.266016797,0.401010888731,0.00459675648704,0.049872746322,0.999999962658,0.000145030529042,-0.000229557710609,-3.08790474368e-05,1793237753090379264
+79,1.316666667,BASELINE,767,746.153420882,715.153420882,680,667,637,881,788.846579118,803.846579118,654.153420882,632,654.846579118,0.401012128439,0.00459573085153,0.0498733090622,0.999999963141,0.000143299081331,-0.000228582410841,-3.0537221414e-05,1793237753107046144
+80,1.333333333,BASELINE,767,746,715,679.576231028,667,637,881.423768972,789,804,654.423768972,632.423768972,655,0.40101168439,0.00459621769607,0.0498726654214,0.999999963114,0.000142918577517,-0.000228904507631,-3.07987170017e-05,1793237753123712768
+81,1.350000000,BASELINE,767,746,715,679.000252451,667,637,881.999747549,789,804,654.999747549,632.999747549,655,0.401010635567,0.00459724779406,0.049871588472,0.999999962904,0.000143023306436,-0.000229692604049,-3.12769139954e-05,1793237753140379392
+82,1.366666667,BASELINE,767,746,715,679,667,637,881.427443289,788.427443289,803.427443289,655,633,654.427443289,0.401011778144,0.00459721665045,0.0498723614001,0.99999996292,0.000143283759216,-0.000229466547994,-3.12225459946e-05,1793237753157046784
+83,1.383333333,BASELINE,767,746.150524551,715,679.150524551,667.150524551,637,881,788.150524551,803.150524551,654.849475449,632.849475449,654,0.401012438672,0.0045971848493,0.0498729369342,0.999999962911,0.000143641534008,-0.000229302039846,-3.10810393466e-05,1793237753173713920
+84,1.400000000,BASELINE,767,746.743665671,715,679.743665671,667.743665671,637,881,788.743665671,803.743665671,654.256334329,632.256334329,654,0.401011678917,0.00459715248298,0.0498729296473,0.999999962826,0.00014428528288,-0.000229319820541,-3.0683988679e-05,1793237753190379776
+85,1.416666667,BASELINE,767,746.671302331,715,680,667.671302331,637,881,789,804,654.328697669,632.328697669,654,0.40101121674,0.00459712164321,0.0498730599854,0.999999962765,0.000144577100441,-0.000229430842808,-3.04879651489e-05,1793237753207045888
+86,1.433333333,BASELINE,767,746.092441996,715,680,667.092441996,637,881,789,804,654.907558004,632.907558004,654,0.401010981042,0.00459709196526,0.0498732950659,0.999999962721,0.000144601072815,-0.000229612828643,-3.04449378134e-05,1793237753223712512
+87,1.450000000,BASELINE,767,746,715,680,667,637,881,789,803.516986369,655,632.516986369,654,0.401011475205,0.00459752956995,0.049873620034,0.999999963001,0.0001437596736,-0.000228890662392,-3.06749181247e-05,1793237753240379392
+88,1.466666667,BASELINE,767,746,715,679.940847865,667,637,881,789,803,655,632,654,0.401012000288,0.00459794712015,0.0498738972261,0.999999963274,0.00014295824804,-0.000228164744114,-3.09109131886e-05,1793237753257046016
+89,1.483333333,BASELINE,767,746,715,679.352818487,667,637,881,789,803,655,632,654,0.401011561653,0.00459739135844,0.0498735945187,0.999999962955,0.000143984662669,-0.000228941611913,-3.07367920873e-05,1793237753273712640
+90,1.500000000,BASELINE,767,746,715,679,667,636.768170872,881.231829128,789,803.231829128,654.768170872,632,654.231829128,0.401011546296,0.00459704216995,0.0498734024123,0.999999962943,0.000143690903208,-0.000229186814252,-3.0679706699e-05,1793237753290379520
+91,1.516666667,BASELINE,767,746,715,679,667,636.188595983,881.811404017,789,803.811404017,654.188595983,632,654.811404017,0.401012165861,0.00459700284316,0.0498733762084,0.999999963389,0.000141416870737,-0.000228634513589,-3.079817594e-05,1793237753307046144
+92,1.533333333,BASELINE,767,746,715,679,667,636,882,789,804,654,632,655,0.401011815254,0.00459726270747,0.0498729212513,0.99999996315,0.000142268880285,-0.000229169393363,-3.06833154646e-05,1793237753323712768
+93,1.550000000,BASELINE,767,746,715,679,667,636,882,789,804,654,632,655,0.401010996665,0.00459766689223,0.049872259477,0.999999962575,0.000144628794843,-0.000230228695034,-3.04559040187e-05,1793237753340379136
+94,1.566666667,BASELINE,767,746,715.540055347,679,667,636.540055347,881.459944653,789,803.459944653,654,632,654.459944653,0.401011264051,0.00459763592958,0.0498726495354,0.999999962537,0.000144706350921,-0.000230356456512,-3.03734634278e-05,1793237753357046016
+95,1.583333333,BASELINE,767,746,715.883741858,679,667,637,881,789,803.116258142,654,632,654,0.401011236361,0.004597297065,0.0498729158058,0.999999962542,0.000144394402802,-0.0002305329168,-3.03571445958e-05,1793237753373712640
+96,1.600000000,BASELINE,767,746,715.292168526,679,667,637,881,789,803.707831474,654,632,654,0.401009735995,0.00459580605392,0.0498724180768,0.999999962589,0.000143049600646,-0.000231136884568,-3.05756155088e-05,1793237753390379264
+97,1.616666667,BASELINE,767,746,715,679,667,637,881,788.706771594,804,654,632.293228406,654,0.401010381081,0.00459606678768,0.0498726974859,0.999999962837,0.000142867809125,-0.000230139352061,-3.08338406172e-05,1793237753407045888
+98,1.633333333,BASELINE,767,746,715,679,667,637,881,788.12740182,804,654,632.87259818,654,0.401013119766,0.00459803692846,0.0498737352506,0.999999963277,0.000143820919514,-0.000227579025899,-3.11308590886e-05,1793237753423712512
+99,1.650000000,BASELINE,767.44844166,746,715,679,667,637,881,788.44844166,804,654,632.55155834,654,0.401012176995,0.00459756618694,0.0498730484713,0.999999963161,0.000142754796494,-0.000228787299372,-3.09137824381e-05,1793237753440379392
+100,1.666666667,BASELINE,767.976194474,746,715.023805526,679.023805526,667,637,881,789,804,654.023805526,632,654,0.40101029627,0.00459644407786,0.0498719464611,0.999999962901,0.000141182815533,-0.000230936419397,-3.05668441627e-05,1793237753457046272
+101,1.683333333,BASELINE,767.388649196,746,715.611350804,679.611350804,667,637,881,789,804,654.611350804,632,654,0.401010778491,0.00459619045299,0.0498725231444,0.999999963078,0.000141110518009,-0.000230209348875,-3.0576370648e-05,1793237753473712896
+102,1.700000000,BASELINE,767,746,716,680,667,637,881,789,803.803827186,654.803827186,632,654,0.401010916501,0.00459631187189,0.0498727554199,0.999999963109,0.000141535040513,-0.000229811600387,-3.06071515877e-05,1793237753490379776
+103,1.716666667,BASELINE,767,746,716,680,667,637,881,789,803.224326597,654.224326597,632,654,0.401010381912,0.00459716613797,0.049872314712,0.999999962852,0.000142930364806,-0.000230057357476,-3.0679464391e-05,1793237753507045888
+104,1.733333333,BASELINE,767.354753057,746,716,679.645246943,667,637,881.354753057,789,803.354753057,654.354753057,632,654,0.401009849925,0.00459714488052,0.0498721036184,0.999999962536,0.000143688628193,-0.000230985372942,-3.04651347029e-05,1793237753523712512
+105,1.750000000,BASELINE,767.933566908,746,716,679.066433092,667,637,881.933566908,789,803.933566908,654.933566908,632,654,0.401009319579,0.00459657064553,0.0498720375483,0.999999962182,0.000144044526271,-0.000232344300441,-3.00697626241e-05,1793237753540379136
+106,1.766666667,BASELINE,767.491805041,746,716,679.508194959,667,637,882,789,803.491805041,654.491805041,632,654,0.401009620617,0.00459634746388,0.0498719972478,0.999999962486,0.000143152926357,-0.000231555912666,-3.02679107541e-05,1793237753557045760
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,804,655,632,654,0.401011617462,0.00459687652,0.0498741155013,0.999999963226,0.000142951476264,-0.000228393061349,-3.08175838779e-05,1793237753599662592
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715.420105911,679.579894089,667,636.420105911,880.420105911,788.420105911,803.420105911,654.420105911,632,654,0.401012703949,0.00459770738342,0.0498743149889,0.999999963595,0.000142363149527,-0.00022709612358,-3.11582190438e-05,1793237753616328960
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.158777676,715,680,667,636.158777676,880.158777676,788.158777676,803.158777676,654,632,654,0.401013343437,0.00459798969834,0.0498743138526,0.999999963831,0.000141674684035,-0.000226463973537,-3.13101680035e-05,1793237753632995328
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.735004636,715,680,667,636.735004636,880.735004636,788.735004636,803.735004636,654,632,654,0.401012807698,0.00459682980073,0.0498737852474,0.999999963723,0.000140722939264,-0.000227579645493,-3.09660339377e-05,1793237753649661696
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.683328432,715,679.683328432,667,637,881,788.683328432,803.683328432,654.316671568,632,654.316671568,0.401012638899,0.00459594304007,0.0498737292202,0.999999963689,0.000140374187854,-0.000227981193676,-3.0687602046e-05,1793237753666328320
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.09702972,715,679.09702972,667,637,881,788.09702972,803.09702972,654.90297028,632,654.90297028,0.401012782526,0.00459528883947,0.0498740755652,0.99999996372,0.000140538849749,-0.000227774707557,-3.04651116976e-05,1793237753682995200
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.482854687,679.482854687,667,637,881,788.482854687,803.482854687,655,632.482854687,655,0.401012350519,0.00459615884224,0.0498737003404,0.999999963417,0.000141701782851,-0.000228368617922,-3.05837569199e-05,1793237753699661824
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.061516175,715.938483825,680,667,637,881,789,804,655,633,654.938483825,0.401011952974,0.00459712632873,0.0498733375831,0.999999963154,0.000142713567802,-0.000228863254294,-3.07483727689e-05,1793237753716328192
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.640591107,715.359408893,680,667,637,881,789,804,655,633,654.359408893,0.401012805829,0.00459637084221,0.0498742836623,0.99999996381,0.000140788066293,-0.000227187195921,-3.0730570537e-05,1793237753732995072
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.78178632,715,680,667,637,881,789,803.78178632,654.78178632,632.78178632,654,0.401013558602,0.00459598820836,0.0498744797373,0.999999964003,0.000140083157029,-0.000226771224237,-3.07460103579e-05,1793237753749661696
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.206540094,715,680,667,637,881,789,803.206540094,654.206540094,632.206540094,654,0.401014147626,0.0045962156213,0.0498734486851,0.999999963445,0.000141375332443,-0.00022841695645,-3.08158395054e-05,1793237753766328320
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.376804432,746,715,679.623195568,667,637,881,789,803,654.376804432,632,654.376804432,0.401025991343,0.0045971598165,0.0498784703727,0.999999965404,0.000142177208113,-0.000219157097661,-3.07774350348e-05,1793237753782994944
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.964685481,746,715,679.035314519,667,637,881,789,803,654.964685481,632,654.964685481,0.401044139665,0.00459850553561,0.0498868826566,0.999999968582,0.000142704429961,-0.000203788193917,-3.06784007418e-05,1793237753799661824
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.455387333,746,715,679.544612667,667,637,881,788.455387333,803.544612667,654.455387333,632.544612667,654.455387333,0.401081337229,0.00459746158907,0.0499007054336,0.999999974088,0.000141390708939,-0.000175781972452,-3.05494340004e-05,1793237753816328448
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.876443958,881,788.123556042,804,654,632.876443958,654,0.401124864508,0.00459632628431,0.0499159883953,0.99999997924,0.000140224121232,-0.000144696244588,-3.03468113312e-05,1793237753832994816
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.299246168,881,788.700753832,804,654,632.299246168,654,0.401187161766,0.00459541628464,0.049935362933,0.999999984209,0.000140029714619,-0.000105269285566,-2.98807811185e-05,1793237753849661440
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.274806311,680,667,636.274806311,881,789,804,654.274806311,632.274806311,654,0.401251398141,0.00459492040736,0.0499504245825,0.999999986762,0.000139797479881,-7.79673417904e-05,-2.92326389163e-05,1793237753866328064
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.845472476,680,667,636.845472476,881,789,804,654.845472476,632.845472476,654,0.40131772219,0.00459487037939,0.0499608429221,0.999999987833,0.000139524519088,-6.37193409748e-05,-2.83884327686e-05,1793237753882994944
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,789,803.56693029,655,632.56693029,654.43306971,0.401389443116,0.00459371258295,0.049965091799,0.999999988395,0.000138133471941,-5.79523021912e-05,-2.77621999025e-05,1793237753899661568
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.973696747,667,637,881,789,803,654.973696747,632.026303253,654.973696747,0.401463700867,0.00459212976419,0.0499667791471,0.999999988784,0.000136307325965,-5.57813178849e-05,-2.71997762185e-05,1793237753916328192
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.39415176,667,637,881,789,803,654.39415176,632.60584824,654.39415176,0.401549164442,0.00459025947768,0.0499627753082,0.999999988683,0.000134062357492,-6.30071809979e-05,-2.62770054438e-05,1793237753932994816
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.815695307,679.184304693,667,636.815695307,881,789,803,654,633,654,0.401642629764,0.00458862916627,0.0499600325786,0.999999988715,0.000131569201889,-6.79006788438e-05,-2.54622575831e-05,1793237753949661440
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.239553184,679.760446816,667,636.239553184,881,789,803,654,633,654,0.401753107034,0.00458750904953,0.0499599710068,0.999999989127,0.000128548393137,-6.78354956695e-05,-2.48771698717e-05,1793237753966328064
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.342369036,715,679.657630964,667,636.342369036,881.342369036,789,803,654,632.657630964,654,0.401881808721,0.00458632680747,0.0499628497849,0.999999989897,0.000125288447909,-6.2713590151e-05,-2.3988612848e-05,1793237753982994944
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.928405059,715,679.071594941,667,636.928405059,881.928405059,789,803,654,632.071594941,654,0.402023480892,0.00458510035016,0.0499678212353,0.999999990856,0.000121858306874,-5.39927718409e-05,-2.28840740432e-05,1793237753999661568
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.508818393,747,715,679.508818393,667,637,881.491181607,789,803.508818393,654.508818393,632,654,0.402178116328,0.0045853623164,0.0499658972072,0.999999990553,0.000122167138473,-5.90912570192e-05,-2.18432950238e-05,1793237754016327936
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.91200181,747,715.08799819,680,667,637,881,789,803.91200181,655,632.08799819,654.08799819,0.402339443257,0.00458534242002,0.0499635174128,0.999999990205,0.000122398457036,-6.46281662843e-05,-2.07587240155e-05,1793237754032994816
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.33532645,747,715.66467355,680,667,637,881,789,803.33532645,655,632.66467355,654.66467355,0.40252791122,0.00458260693874,0.0499639357955,0.999999990778,0.000119309661985,-6.19195193492e-05,-1.93816874086e-05,1793237754049661440
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.243986368,746.756013632,715.756013632,680,667,637,881.243986368,789,803.243986368,654.756013632,633,654.756013632,0.402723992964,0.00458028266344,0.0499640316002,0.999999991334,0.000115647806211,-6.02691549102e-05,-1.80500872447e-05,1793237754066328064
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.826963596,746.173036404,715.173036404,680,667,637,881.826963596,789,803.826963596,654.173036404,633,654.173036404,0.402930653167,0.00457852971149,0.0499636792202,0.999999991872,0.000111189748979,-6.00891518501e-05,-1.67816158494e-05,1793237754082994944
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.590083861,746,715.409916139,679.590083861,667,637,881.590083861,789,803.590083861,654,632.590083861,654,0.403183241179,0.00457575759411,0.0499702468767,0.999999993124,0.0001068975221,-4.58829305495e-05,-1.48152270189e-05,1793237754099661568
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.007141752,746,715.992858248,679.007141752,667,637,881.007141752,789,803.007141752,654,632.007141752,654,0.403455215355,0.00457255528612,0.0499797354868,0.999999994318,0.000102675292436,-2.57562299215e-05,-1.2554246639e-05,1793237754116327936
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.429054885,679,667,637,881,788.429054885,803.570945115,654,632,654,0.403746339082,0.00457012002844,0.0499882762992,0.999999995063,9.8385514297e-05,-9.05846727856e-06,-1.06093138812e-05,1793237754132994816
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.148297247,679.148297247,667,637,881,788.148297247,803.851702753,654,632.148297247,654,0.404044005866,0.00456727654244,0.0499955652259,0.999999995553,9.38148612649e-05,4.58086883836e-06,-8.50727448365e-06,1793237754149661440
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.723706604,679.723706604,667,637,881,788.723706604,803.276293396,654,632.723706604,654,0.404359833241,0.00456322991419,0.0499992824422,0.999999996026,8.84376719812e-05,9.53409303789e-06,-5.94146131423e-06,1793237754166328064
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.297930853,746,716,679.702069147,667,637,881,789,803.297930853,654,632.702069147,654,0.404693437421,0.00455982310191,0.0500029367753,0.999999996383,8.3216865368e-05,1.71884239233e-05,-3.70835169576e-06,1793237754182994688
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.871060485,746,716,679.128939515,667,637,881,789,803.871060485,654,632.128939515,654,0.405043462075,0.00455700728728,0.0500065330235,0.999999996572,7.81405088279e-05,2.73377680744e-05,-1.78256010634e-06,1793237754199661568
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746.46115679,715.53884321,679,667.46115679,637,881,788.53884321,803.53884321,654,632,654,0.405411648202,0.00455271071234,0.0499994160322,0.999999997195,7.39072848704e-05,1.21275099423e-05,1.08245944735e-06,1793237754216327936
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.945535051,746.945535051,715.054464949,679,667.945535051,637,881,788.054464949,803.054464949,654,632.054464949,654,0.405785802918,0.00454798394223,0.0499885006438,0.999999997481,6.98873431925e-05,-1.16592196138e-05,4.19254255371e-06,1793237754232994816
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.368659311,746.368659311,715.631340689,679,667.368659311,637,881,788.631340689,803.631340689,654,632.631340689,654,0.406166640183,0.0045432537157,0.049970980817,0.999999996717,6.55656230278e-05,-4.7100685265e-05,7.03813150632e-06,1793237754249661440
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715.792405329,679,667,637,881.207594671,789,803.792405329,654,632.792405329,654,0.406569669747,0.00453911210163,0.0499579135347,0.999999995624,6.08358747416e-05,-7.04191977802e-05,9.56906762646e-06,1793237754266328320
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715.21725224,679,667,637,881.78274776,789,803.21725224,654,632.21725224,654,0.407011992042,0.0045360126604,0.0499527297418,0.999999995788,5.53836893582e-05,-7.22733159467e-05,1.15428924825e-05,1793237754282995968
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.364783236,746.364783236,715.364783236,679,667,637,882,789,803.364783236,654,632,654,0.407476689476,0.00453184260806,0.0499549110265,0.999999996542,4.96816888925e-05,-6.51447843689e-05,1.42694967268e-05,1793237754299663104
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.950996424,746.950996424,715.950996424,679,667,637,882,789,803.950996424,654,632,654,0.407954969004,0.00452702267574,0.0499615630454,0.999999997506,4.38280463933e-05,-5.25636236016e-05,1.74530514547e-05,1793237754316330240
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.467970768,746.467970768,715.467970768,679.532029232,667.532029232,636.467970768,881.467970768,788.467970768,803.467970768,654,632.532029232,654,0.408506176239,0.00452061472686,0.0499809092751,0.999999999018,3.48527333848e-05,-1.75521447369e-05,2.10040866778e-05,1793237754332996864
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.111846041,715.111846041,679.888153959,668,636,881.111846041,788.111846041,803.111846041,654,632.888153959,654,0.409062991331,0.00451422054119,0.0499992288737,0.99999999925,2.63166615622e-05,1.43619784677e-05,2.45361766556e-05,1793237754349663232
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.688572586,715.688572586,679.311427414,668,636,881.688572586,788.688572586,803.688572586,654,632.311427414,654,0.409615464816,0.00450848565084,0.0500084684046,0.999999999086,2.07898327835e-05,2.48978114585e-05,2.78501929427e-05,1793237754366329856
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.737218831,715.737218831,679,667.737218831,636.262781169,881.737218831,789,804,654,632.262781169,654,0.410164484857,0.00450246898431,0.0500085419806,0.999999997114,6.60834395614e-05,2.06892356257e-05,3.12609136441e-05,1793237754382996224
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.165965939,715.165965939,679,667.165965939,636.834034061,881.165965939,789,804,654,632.834034061,654,0.410709451064,0.00449612154758,0.0499978558906,0.999999984768,0.000171033783085,-8.2740265227e-07,3.47851532297e-05,1793237754399662080
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.421403151,715,679.421403151,667.421403151,636.578596849,881.421403151,788.578596849,803.578596849,654,632.578596849,654,0.411263009839,0.00449033955885,0.0499764280596,0.999999980142,0.000190944429919,-4.24581999543e-05,3.81123852141e-05,1793237754416328448
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.985180837,715.014819163,679.985180837,667.985180837,636.014819163,882,788.014819163,803,654,632,654,0.411823000439,0.00448471169668,0.049951572532,0.999999979659,0.000175631225902,-9.01767922774e-05,4.12670735049e-05,1793237754432995072
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.412567087,715.587432913,679.412567087,667.412567087,636.587432913,882,788.587432913,803,654,632,654,0.412492643487,0.00447616951135,0.0499632681448,0.999999986985,0.000145265729816,-5.70069810177e-05,4.09638253493e-05,1793237754449661440
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.161942042,667.161942042,637,882,788.838057958,803.161942042,654,632,653.838057958,0.41317021117,0.00446540753005,0.0499784531064,0.999999995337,8.72942491851e-05,-2.2527238554e-05,3.46251240756e-05,1793237754466328320
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.741337033,667.741337033,637,882,788.258662967,803.741337033,654,632,653.258662967,0.413868206875,0.00444892337634,0.0500026328836,0.999999998926,-4.18397250612e-05,1.53292327065e-05,1.27282779086e-05,1793237754482995200
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.327054944,716,680,668,637,882,788.327054944,803.672945056,654,632,653.327054944,0.414531485615,0.00443875839165,0.0500029247484,0.99999999502,-9.90082183056e-05,1.15314290968e-05,5.01394348284e-06,1793237754499661568
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.917872114,716,680,668,637,882,788.917872114,803.082127886,654,632,653.917872114,0.415166765894,0.00443368967099,0.0499839515647,0.999999994812,-9.81382148837e-05,-2.58595825738e-05,8.7374769323e-06,1793237754516328192
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.501348698,715.501348698,680,667.501348698,637,882,789,803.997302604,654,632,654,0.415844973327,0.00443682069177,0.0499605627811,0.999999995294,-7.4079349129e-05,-6.1191675832e-05,1.33940569563e-05,1793237754532994816
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.077464085,715.077464085,679.922535915,667.077464085,637,881.922535915,789,804.922535915,654,632,654,0.416541022952,0.00444497886123,0.0499425785786,0.99999999514,-4.40411485339e-05,-8.64433657558e-05,1.75730755555e-05,1793237754549661696
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.654048712,715.654048712,679.345951288,667.654048712,637,881.345951288,789,804.345951288,654,632,654,0.41730737847,0.00447699832255,0.0499640108442,0.999999998648,4.00881082784e-07,-4.88862885029e-05,1.7704430286e-05,1793237754566328320
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.769556148,715.769556148,679.230443852,668,637,881.460887704,789,803.769556148,654,632,654,0.41807170399,0.00449865347976,0.049985315317,0.999999999328,2.9951337503e-05,-1.12670768157e-05,1.78635507151e-05,1793237754582994944
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.193445152,715.193445152,679.806554848,668,637,882.613109696,789,803.193445152,654,632,654,0.418832984616,0.00450476212419,0.050006428103,0.999999998797,3.71643525598e-05,2.6445342371e-05,1.80643199298e-05,1793237754599661568
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.391950147,715.391950147,680,668,636.608049853,882.608049853,789,803,654,632.391950147,654,0.419551019789,0.00449679688272,0.0499985984202,0.999999999452,2.64115428892e-05,5.48343828156e-06,1.9198201848e-05,1793237754616328192
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.98203881,715.98203881,680,668,636.01796119,882.01796119,789,803,654,632.98203881,654,0.420247193487,0.00448171701449,0.0499761377483,0.999999998743,6.57665464563e-06,-4.51394936076e-05,2.0803790558e-05,1793237754632994816
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716,679.440121985,667.440121985,636.559878015,882,789,803.559878015,654,632.440121985,654,0.421047760766,0.00447859132191,0.0499847950132,0.999999999683,5.67467869873e-07,-1.50181668241e-05,2.01858073119e-05,1793237754649661440
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.862821049,716,679.137178951,667.137178951,637,881.862821049,789,804,654,632.137178951,654,0.421855945967,0.00447534904567,0.0499958520614,0.99999999965,-4.84927981215e-06,1.65641766864e-05,2.00289683195e-05,1793237754666328064
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.286012764,716,679.713987236,667.713987236,637,881.286012764,789,804,654,632.713987236,654,0.422678041893,0.0044705304332,0.0500114691258,0.99999999872,-9.75839095548e-06,4.47050796313e-05,2.15737123207e-05,1793237754682994944
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.290104927,716,680,668,637,881,789,804,654,633,654,0.423468252939,0.00446933861111,0.0500099323451,0.99999999882,-1.00382078869e-05,4.18371367698e-05,2.25425063434e-05,1793237754699661568
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.865543349,716,680,668,637,881,789,804,654,633,654,0.424227103476,0.00447171392891,0.0499915238521,0.999999999684,-5.76486952835e-06,8.47035703916e-06,2.29448230905e-05,1793237754716327936
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.549327237,715.549327237,679.549327237,668,637,881.450672763,789,804,654,632.549327237,654,0.425001803092,0.00447877531301,0.0499916198507,0.9999999997,3.97443761672e-06,7.70847288428e-06,2.28873402069e-05,1793237754732994560
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.038139109,715.038139109,679.038139109,668,637,882,789,804,654,632,654,0.425784248752,0.00448658661338,0.0499984315862,0.999999999477,1.4055724385e-05,1.81496931683e-05,2.27937331663e-05,1793237754749661440
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.616847225,715.616847225,679.616847225,668,637,882,789,804,654,632,654,0.426607989984,0.00448477573183,0.0500204609908,0.999999998613,5.36248105475e-06,4.64748143238e-05,2.41751759497e-05,1793237754766329344
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.805708046,715.805708046,680,668,637,882,789,804,653.805708046,632.194291954,654,0.427407159162,0.00448106849,0.0500234644931,0.999999998754,-2.9537028415e-06,4.27671527459e-05,2.5594080745e-05,1793237754782996736
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.230738578,715.230738578,680,668,637,882,789,804,653.230738578,632.769261422,654,0.428158184296,0.0044736456966,0.0499891904224,0.999999999297,-1.05311132239e-05,-2.37025476708e-05,2.70863853148e-05,1793237754799662592
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715.352347947,680,667.647652053,636.647652053,882,789,804,653.352347947,633,654,0.428923565181,0.00446992149105,0.0499687908712,0.999999998078,-6.91759253936e-06,-5.53679018829e-05,2.703256289e-05,1793237754816328704
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715.940875314,680,667.059124686,636.059124686,882,789,804,653.940875314,633,654,0.429698568704,0.00446867645559,0.0499576914359,0.999999997626,4.19722844112e-06,-6.37038405486e-05,2.59423689113e-05,1793237754832995072
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.520895892,716,680,667.520895892,636,882,789,804,653.479104108,632.479104108,653.479104108,0.430502658225,0.00446847713602,0.0499753202075,0.999999999169,2.29968084012e-06,-3.09189680374e-05,2.64702836389e-05,1793237754849661696
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,747,716,679.901050385,668,636,882,789,804,653.098949615,632.098949615,653.098949615,0.431298351155,0.00446878198512,0.049988698079,0.999999999604,-1.43172102208e-06,-7.17497168471e-06,2.71816540011e-05,1793237754866328320
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,747,716,679.327869857,668,636,882,789,804,653.672130143,632.672130143,653.672130143,0.432038233791,0.00447094341663,0.0499663260358,0.999999998397,-6.98724626533e-06,-4.87707405317e-05,2.7906166947e-05,1793237754882995200
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,679.24799491,668,636,882,789,803.75200509,654,633,654,0.432800400207,0.00447467299407,0.0499569687972,0.99999999744,-7.96093873767e-06,-6.53797047116e-05,2.79660417098e-05,1793237754899661824
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,679.827447245,668,636,882,789,803.172552755,654,633,654,0.433592349934,0.0044804984757,0.0499650064885,0.999999998447,-2.81078533481e-06,-4.8592569032e-05,2.71375947532e-05,1793237754916328448
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.585696404,716,680,668,636,882,789,803.828607192,654,633,654,0.434356787752,0.00447872571345,0.0499830580259,0.999999999392,2.07661859617e-06,-2.11342635136e-05,2.7661269981e-05,1793237754932995072
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667.995774968,636.004225032,882,789,804.995774968,653.995774968,632.995774968,654,0.435109030086,0.00447372761165,0.0500050664252,0.999999999511,6.74059861695e-06,1.03189338854e-05,2.87565788091e-05,1793237754949661696
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667.41603771,636.58396229,882,789,804.41603771,653.41603771,632.41603771,654,0.435789262288,0.00446829725539,0.0499876156442,0.99999999909,-3.85160814878e-06,-3.04767395584e-05,2.96125439377e-05,1793237754966328320
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715.837740923,680,667.162259077,636.837740923,882,789,804,653.162259077,632.162259077,654,0.43647452179,0.00446433120058,0.0499709732814,0.999999997289,-1.24022476664e-05,-6.59286703409e-05,3.03476280472e-05,1793237754982994944
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,715.263104933,680,667.736895067,636.263104933,882,789,804,653.736895067,632.736895067,654,0.437172558176,0.0044640866259,0.0499563854874,0.999999995548,-1.57643032671e-05,-8.77996370679e-05,3.07754967075e-05,1793237754999661568
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.318408085,715.318408085,680,668.318408085,636,882,789,804,653.681591915,633,654,0.437895383983,0.00446412127287,0.0499691100155,0.999999997754,-1.48570360704e-05,-5.75687052639e-05,3.09426800167e-05,1793237755016328448
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.90572909,715.90572909,680,668.90572909,636,882,789,804,653.09427091,633,654,0.438639145762,0.00446439173772,0.0500049012839,0.999999999331,-1.03440936371e-05,1.66651111371e-05,3.08897002405e-05,1793237755032995072
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.513378974,716,680,668.513378974,636,882.486621026,788.513378974,804,653,633,654,0.43930241141,0.0044664631782,0.0500052321143,0.999999999366,6.27705322883e-06,1.43720752555e-05,3.19843511676e-05,1793237755049662208
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.06601354,716,680,668,636,882.93398646,788.06601354,804,653.06601354,633,654,0.439944476382,0.00446884349645,0.0499964761828,0.999999999171,2.28863075912e-05,-5.12038117128e-06,3.32716309943e-05,1793237755066329088
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.643313419,716,680,668,636,882.356686581,788.643313419,804,653.643313419,633,654,0.440541542993,0.00447094911046,0.0499698541065,0.999999998189,2.1472739686e-05,-4.44987890644e-05,3.43513597829e-05,1793237755082995712
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,715.78299924,680,668,636,882,789,804,653.78299924,633,654,0.441144249526,0.00447267869012,0.0499576610992,0.999999997267,2.03731025225e-05,-6.15307906211e-05,3.55524192463e-05,1793237755099662336
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,715.215152692,680,668,636,882,789,804,653.215152692,633,654,0.441756074596,0.00447380029902,0.0499687969442,0.999999998221,1.97810272538e-05,-4.24332257395e-05,3.69496455194e-05,1793237755116328448
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.628920847,715.371079153,680,668,636,882,789,804.371079153,653,633,654,0.442373944959,0.00447366507534,0.049987807779,0.999999999092,1.88404902214e-05,-5.92965197276e-06,3.77705715005e-05,1793237755132994816
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.031473422,715.968526578,680,668,636,882,789,804.968526578,653,633,654,0.44299550317,0.00447276315006,0.0500116225707,0.999999998264,1.76873820446e-05,4.11920576208e-05,3.82399388629e-05,1793237755149661440
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.548669065,716,680,668,636,882.548669065,789,804.451330935,653,633,654,0.443530405637,0.00447110756265,0.0500080936858,0.999999998543,1.86710401701e-05,3.11956530316e-05,3.99136556364e-05,1793237755166329088
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716,680,668.127086189,636.127086189,882.872913811,789,804.127086189,653.127086189,633,654,0.444047057686,0.00446935714208,0.049997290088,0.999999998916,1.91508869739e-05,8.95508776283e-06,4.14797258327e-05,1793237755182996224
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716,680,668.702809775,636.702809775,882.297190225,789,804.702809775,653.702809775,633,654,0.444516294059,0.00446741989495,0.0499661732913,0.999999997922,1.74327176143e-05,-4.52966855107e-05,4.24293573968e-05,1793237755199663104
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.721988894,716,680,668.721988894,636.721988894,882,789,804.721988894,653.721988894,633.278011106,654,0.444992282206,0.0044672488819,0.0499494156859,0.999999996602,1.6096594229e-05,-6.85873922326e-05,4.28185069024e-05,1793237755216330240
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.147344834,716,680,668.147344834,636.147344834,882,789,804.147344834,653.147344834,633.852655166,654,0.445475474347,0.00446896240965,0.0499479790866,0.999999997246,1.51681073119e-05,-5.88431831739e-05,4.26096319655e-05,1793237755232997120
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.559360403,746,716,680.440639597,668,636,882,789,804,653.440639597,633.118720805,654,0.445949822102,0.00446895368508,0.0499588195004,0.999999998427,1.51382966696e-05,-3.29107318291e-05,4.28324281955e-05,1793237755249663488
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,716,681,667.967700156,636,882,788.967700156,804,654,632.032299844,654,0.446416855809,0.00446814954205,0.0499725629263,0.999999998943,1.52586368136e-05,-3.78520212578e-06,4.32117259028e-05,1793237755266329600
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,716,681,667.391601582,636,882,788.391601582,804,654,632.608398418,654,0.446812096873,0.00446395232685,0.0499639069847,0.999999998853,1.26896326934e-05,-1.48821845201e-05,4.37198037808e-05,1793237755282995712
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.184012341,746,716,681,667,635.815987659,882,788,804,654,633,654,0.447182552068,0.00446201861472,0.0499461450239,0.999999998353,-3.41845620763e-06,-4.19670827624e-05,3.90106649051e-05,1793237755299662080
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.758597497,746,716,681,667,635.241402503,882,788,804,654,633,654,0.447500398313,0.00446488926986,0.0499090552107,0.999999993262,-4.82637395759e-05,-0.000102986906344,2.32277954603e-05,1793237755316328704
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.659337985,746,716,681,667,635,882.340662015,788,804.340662015,654,633,654,0.447819281388,0.00446407487893,0.0498811027282,0.999999986059,-7.74053463402e-05,-0.000147238091535,1.45155996184e-05,1793237755332995584
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.071854347,746,716,681,667,635,882.928145653,788,804.928145653,654,633,654,0.448138915716,0.00446059054271,0.0498597705595,0.99999997933,-9.51690913362e-05,-0.000179339814438,1.09263541196e-05,1793237755349662464
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,716,680.490939037,667,635,882.490939037,788,805,653.490939037,633,654,0.448455160647,0.00446194232526,0.0498618462999,0.999999980702,-9.01509055561e-05,-0.000174138604195,1.20149961017e-05,1793237755366329344
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.088793113,746.088793113,716,680.088793113,666.911206887,635,881.911206887,788,805,653.088793113,633,654,0.448767030504,0.00446428905715,0.0498678980625,0.999999983712,-7.59135821186e-05,-0.0001631751941,1.37025474361e-05,1793237755382996224
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.667049021,746.667049021,716,680.667049021,666.332950979,635,881.332950979,788,805,653.667049021,633,654,0.449057386965,0.00446840539582,0.0498778860437,0.999999988368,-2.83570547039e-05,-0.00014910314967,1.50981242737e-05,1793237755399662336
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.758282916,716,681,666,634.758282916,881.241717084,788.241717084,804.758282916,653.758282916,633,654,0.449324848894,0.00447494348789,0.0498845259547,0.999999989936,1.16803456406e-05,-0.000140403068002,1.6712919974e-05,1793237755416328704
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.188484648,716,681,666,634.188484648,881.811515352,788.811515352,804.188484648,653.188484648,633,654,0.44956123619,0.00448476861143,0.0498866215488,0.999999989305,4.15120759281e-05,-0.000138994321082,1.86252600992e-05,1793237755432995072
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882.39788134,788.60211866,804,653.39788134,633,654,0.449780308164,0.004501106909,0.049881484152,0.999999986597,6.32255998745e-05,-0.000149871841153,1.86191446669e-05,1793237755449661440
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,716,681,666,634,882.992436791,788.007563209,804,653.992436791,633,654,0.449990821107,0.00452066469054,0.049872771463,0.999999982655,8.09262656684e-05,-0.000166822505165,1.76647300089e-05,1793237755466328320
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.571944129,716,681,666,634,882.428055871,788,804.571944129,653.428055871,633,654,0.450180560949,0.00452022739251,0.0498721044709,0.999999982532,7.86937718491e-05,-0.000168442895251,1.92535230797e-05,1793237755482995200
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.849979639,716,681.150020361,666,633.849979639,882,788,805,653.150020361,633,654,0.450362846594,0.00451864879956,0.0498722724579,0.999999982608,7.57153647319e-05,-0.000169173129589,2.07603278012e-05,1793237755499662336
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.275404803,716,681.724595197,666,633.275404803,882,788,805,653.724595197,633,654,0.450524794443,0.0045145694543,0.0498745100453,0.999999983111,7.13528694729e-05,-0.000167943235224,2.19423729777e-05,1793237755516329984
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.700349777,746,716,681.700349777,666,633.299650223,882,788.299650223,805,654,633,654,0.450671276327,0.00451358222506,0.0498743338863,0.999999982998,6.91256911513e-05,-0.000169462806696,2.25487585748e-05,1793237755532996608
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.12485264,746,716,681.12485264,666,633.87514736,882,788.87514736,805,654,633,654,0.450803520834,0.00451544148301,0.0498719357219,0.999999982319,6.88642061325e-05,-0.0001735134346,2.26252133882e-05,1793237755549662464
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,716,681,666,634,882,789,804.535942767,653.535942767,633,654,0.450920394005,0.00451505263523,0.0498699285964,0.999999981737,6.66920867586e-05,-0.000177598804789,2.31839842017e-05,1793237755566328832
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.110381125,746,716,681,666,633.944809437,882,788.944809437,804,653.055190563,633,654,0.451030368872,0.00451409435166,0.0498677804243,0.999999981078,6.39475825204e-05,-0.000182172290703,2.38395093095e-05,1793237755582995456
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.264423481,746,716,681,666,633.36778826,882,788.36778826,804,653.63221174,633,654,0.451115386003,0.00451364106081,0.0498632742963,0.999999979568,6.07961596105e-05,-0.000191269937867,2.41463976323e-05,1793237755599662336
+228,3.800000000,POSE1_TO_POSE2_PRESS,767.5835919,746.20820405,716,681,666,633,881.79179595,788,804,653.79179595,633,654,0.451194204641,0.00451357737993,0.0498590914198,0.999999977975,5.94709824075e-05,-0.0001997860171,2.44719197467e-05,1793237755616328704
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.435224424,746.782387788,716,681,666,633,881.217612212,788,804,653.217612212,633,654,0.451262127605,0.00451419855289,0.049855476753,0.999999976327,6.13559678988e-05,-0.000207279819582,2.48301961991e-05,1793237755632995328
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.733768602,747,716,681,665.633115699,633,881,788,804,653,633,654,0.451320488844,0.00451548596558,0.0498517256963,0.999999974885,6.31736812858e-05,-0.000213601498905,2.47806055938e-05,1793237755649661696
+231,3.850000000,POSE1_TO_POSE2_PRESS,767.91534916,747,716,681,665.04232542,633,881,788,804,653,633,654,0.451373014651,0.00451717997798,0.0498478914025,0.999999973565,6.49503390823e-05,-0.000219207842404,2.44820976125e-05,1793237755666328064
+232,3.866666667,POSE1_TO_POSE2_PRESS,767.46191749,747,716,681,665,633,881.53808251,788,804.53808251,653,633,654,0.451417681929,0.00451614718685,0.0498462184911,0.999999973244,6.47318157425e-05,-0.000220717737663,2.46007548544e-05,1793237755682994944
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,716,681,665.116376405,633,882,788,804.883623595,653.116376405,633,654,0.451458616146,0.00451574508458,0.0498447286863,0.999999972861,6.49717662292e-05,-0.000222376010548,2.46156384914e-05,1793237755699661568
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,716,681,665.689517468,633,882,788,804.310482532,653.689517468,633,654,0.451487278739,0.00451864427957,0.0498433029015,0.999999971918,6.76154899992e-05,-0.000225857408245,2.40968682988e-05,1793237755716329472
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,747,716,681,665.730233674,633,882,788.269766326,804,653.730233674,633,654,0.451513536479,0.00451967047181,0.0498438277102,0.999999971678,6.86763141104e-05,-0.000226611243655,2.3961172137e-05,1793237755732996352
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,716,681,665.141582781,633,882,788.858417219,804,653.141582781,633,654,0.451536951501,0.00451848263098,0.0498466582701,0.999999972283,6.78660292948e-05,-0.000224140890889,2.42782989072e-05,1793237755749661952
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,716,681.440114163,665,633,882,788.559885837,804,653.440114163,633,654,0.451552505768,0.00451901673951,0.0498459511315,0.999999971922,6.90391017706e-05,-0.000225385890644,2.43073359724e-05,1793237755766328576
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746.98047059,716,682,665,633,882.01952941,788,804,654,633,654,0.451565322869,0.00451997880059,0.0498441359638,0.999999971246,7.07038571676e-05,-0.000227861922204,2.42637881124e-05,1793237755782995712
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.403322489,716,682,665,633,882.596677511,788,804,654,633,654,0.451571066627,0.00451758949429,0.0498426728703,0.999999970463,6.8473162888e-05,-0.000231891523548,2.4752769418e-05,1793237755799662336
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.171974495,716,681.656051011,665,633,882.828025505,788.171974495,804,654,632.828025505,654,0.451576180574,0.00451675736928,0.0498415209141,0.999999969787,6.73950180028e-05,-0.000235068014993,2.50337253097e-05,1793237755816328960
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.742976351,716,680.514047297,665,633,882.257023649,788.742976351,804,654,632.257023649,654,0.451579833192,0.00451953832639,0.0498410908805,0.999999969401,6.89910997191e-05,-0.000236265060393,2.48320059232e-05,1793237755832995584
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,716,680.326949211,665,633,882,789,804.326949211,654,632.326949211,654,0.451583084837,0.00451905247834,0.0498403824725,0.999999969158,6.85501378515e-05,-0.000237400292464,2.50257465324e-05,1793237755849662208
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,716,680.921540148,665,633,882,789,804.921540148,654,632.921540148,654,0.451586008244,0.00451589241241,0.0498394461864,0.999999969029,6.6441645155e-05,-0.000238484923875,2.55432120381e-05,1793237755866328576
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.497117499,716,680.497117499,665,633,882,788.497117499,805,654,632.497117499,654,0.451586397154,0.00451730618875,0.0498380710013,0.999999968579,6.89137055023e-05,-0.000239667333214,2.55525235842e-05,1793237755882995200
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.081589571,716,680.081589571,665,633,882,788,804.918410429,653.918410429,632.081589571,654,0.451586530157,0.00451928575977,0.0498368231865,0.999999968127,7.16978027471e-05,-0.000240753091467,2.53815988631e-05,1793237755899661824
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746.656539521,716,680.656539521,665,633,882,788,804.343460479,653.343460479,632.656539521,654,0.451587445479,0.00452048226458,0.0498367490041,0.999999968014,7.21582278837e-05,-0.000241164535104,2.45879141559e-05,1793237755916328448
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.76840818,716,681,665,633,882.23159182,788,804,653.23159182,633,654,0.451588594357,0.00452040997909,0.0498367230486,0.999999968031,7.18912864048e-05,-0.000241200849614,2.4317057245e-05,1793237755932995328
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.193203944,716,681,665,633,882.806796056,788,804,653.806796056,633,654,0.451590089766,0.00451845519164,0.0498367686473,0.99999996824,7.05451522969e-05,-0.000240680585694,2.48219189908e-05,1793237755949662464
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680.606629308,665,633,882.606629308,788.393370692,804,654,633,654,0.451589470399,0.00451916896122,0.049836569967,0.999999967925,7.02762351595e-05,-0.000242080207033,2.46503070022e-05,1793237755966329088
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680.014303913,665,633,882.014303913,788.985696087,804,654,633,654,0.451587781444,0.00452123240436,0.049836247738,0.999999967342,7.05521410612e-05,-0.000244450846866,2.41365555339e-05,1793237755982995200
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680.562628252,665,633,882,788.437371748,804,654,633,654,0.451588232283,0.00452004981639,0.0498349463303,0.999999967196,7.08286500706e-05,-0.000244931025859,2.45134136282e-05,1793237755999662080
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.86099102,746,716,681,665,633,882,788,804.13900898,653.86099102,633,654,0.451588898246,0.00451932461112,0.0498342516246,0.999999967155,7.13823335446e-05,-0.000244908337237,2.47833581579e-05,1793237756016328704
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.285146149,746,716,681,665,633,882,788,804.714853851,653.285146149,633,654,0.451590073835,0.00452028916049,0.049835539627,0.999999967411,7.28069911944e-05,-0.000243452398908,2.46480680638e-05,1793237756032995328
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681.549618164,665,633,882,788.450381836,805,653,633,654,0.451589641962,0.0045205453703,0.0498344862648,0.999999967011,7.06671170563e-05,-0.000245790782779,2.39095569947e-05,1793237756082995200
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.041677459,716,681,665,633,882.041677459,788.958322541,804.958322541,653.041677459,633,654,0.451590774446,0.00452179598781,0.0498352405967,0.999999967153,7.30474962335e-05,-0.000244511785158,2.39119267674e-05,1793237756099662336
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.621825279,716,681,665,633,882.621825279,788.378174721,804.378174721,653.621825279,633,654,0.451591015903,0.00452099211126,0.0498349816084,0.999999967208,7.16311023112e-05,-0.0002447306988,2.36777120026e-05,1793237756116328960
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,747,716,681,665,633,882.800950093,788,804.199049907,654,632.800950093,654,0.4515908089,0.00452037662627,0.049834485931,0.999999967115,7.07626321432e-05,-0.000245359755385,2.36851265586e-05,1793237756132995584
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,716,681,665,633,882.229198755,788,804.770801245,654,632.229198755,654,0.451589762197,0.00452011388586,0.0498335470764,0.999999966749,7.09200952285e-05,-0.000246756764449,2.41449682818e-05,1793237756149661952
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,747,716,681,665.353837205,633,882,788.353837205,805,654,632.353837205,654,0.451589597597,0.00452071467188,0.0498334822207,0.999999966673,7.16230953591e-05,-0.000246861884879,2.41323300746e-05,1793237756166328320
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,747,716,681,665.944423565,633,882,788.944423565,805,654,632.944423565,654,0.451590023204,0.00452189323534,0.0498340021496,0.999999966791,7.26911092003e-05,-0.00024610261466,2.38035599499e-05,1793237756182994944
+263,4.383333333,HOLD_POSE2,767,747,716,682,665,633,883,788,805,654,633,654,0.451589347403,0.00452216917394,0.0498338494438,0.999999966516,7.40700592395e-05,-0.000246804079938,2.38630729282e-05,1793237756213324800
+264,4.400000000,HOLD_POSE2,767,747,716,682,665,633,882.423682479,788,805,654,633,654,0.451590446001,0.004521493746,0.0498347890829,0.999999966685,7.32258392422e-05,-0.00024634651593,2.4112207643e-05,1793237756229991680
+265,4.416666667,HOLD_POSE2,766.84478575,747,716,681.84478575,665.15521425,632.84478575,882,788.15521425,805,654,633,654,0.451591021172,0.00452124869274,0.0498350494544,0.999999966612,7.36187008401e-05,-0.000246505806964,2.43248230042e-05,1793237756246658560
+266,4.433333333,HOLD_POSE2,766.258729553,747,716,681.258729553,665.741270447,632.258729553,882,788.741270447,805,654,633,654,0.451590143418,0.00452219826843,0.0498334243232,0.999999965857,7.74454392559e-05,-0.000248377357093,2.44360684156e-05,1793237756263325184
+267,4.450000000,HOLD_POSE2,766.323576431,746.676423569,716,681,665.676423569,632.323576431,882,788.676423569,805,654,633,654,0.451589975633,0.00452253170062,0.0498329477221,0.999999965768,7.81991044469e-05,-0.000248508230388,2.43239883667e-05,1793237756279992064
+268,4.466666667,HOLD_POSE2,766.902918092,746.097081908,716,681,665.097081908,632.902918092,882,788.097081908,805,654,633,654,0.451590369029,0.0045223781131,0.0498333789563,0.999999966214,7.65237133946e-05,-0.000247263216562,2.40353846778e-05,1793237756296658688
+269,4.483333333,HOLD_POSE2,766.518677367,746.481322633,716,681,665,633,882,788.481322633,805,654,633,654,0.451590611307,0.00452257763494,0.049833573669,0.999999966224,7.61058840663e-05,-0.000247352937758,2.39976240508e-05,1793237756313324800
+270,4.500000000,HOLD_POSE2,766.059267014,747,716,681,665,633,882,789,804.940732986,654,633,654,0.451590702124,0.00452269452245,0.0498336063977,0.999999966109,7.5874116603e-05,-0.000247885171423,2.40283781656e-05,1793237756329991168
+271,4.516666667,HOLD_POSE2,766.63484612,747,716,681,665,633,882,789,804.36515388,654,633,654,0.451589738491,0.00452147228096,0.0498326427706,0.999999965657,7.5057858366e-05,-0.000249931677005,2.42161023986e-05,1793237756346657792
+272,4.533333333,HOLD_POSE2,767,747,716,681,665,633,882,788.785048535,804.214951465,654,633,654,0.451589560346,0.00452144555708,0.0498324889395,0.999999965559,7.49930688121e-05,-0.000250351541452,2.41404606081e-05,1793237756363324672
+273,4.550000000,HOLD_POSE2,767,747,716,681,665,633,882,788.197088802,804.802911198,654,633,654,0.451590745268,0.00452349343166,0.0498337403589,0.999999966076,7.62323134008e-05,-0.000247948672698,2.36077960744e-05,1793237756379991296
+274,4.566666667,HOLD_POSE2,767,746.615528572,716,681,665,633,882,788,805,654,633,654,0.45158987559,0.00452341874996,0.0498327642744,0.999999965756,7.65748058346e-05,-0.000249115819894,2.37701361611e-05,1793237756396658176
+275,4.583333333,HOLD_POSE2,767,746.037195111,716,681,665,633,882,788,805,654,633,654,0.451587969921,0.00452227381186,0.0498306650156,0.999999965009,7.64651290277e-05,-0.000252083076065,2.42829183898e-05,1793237756413324800
+276,4.600000000,HOLD_POSE2,767,746.540777406,716,680.459222594,665,633,882,788.540777406,805.540777406,654,633,654,0.451588031621,0.00452222678761,0.0498310583886,0.999999965017,7.63037123643e-05,-0.000252134232316,2.39141884531e-05,1793237756429991680
+277,4.616666667,HOLD_POSE2,767,746.882554069,716,680.117445931,665,633,882.117445931,789,805.765108138,653.882554069,633,654,0.451588118231,0.00452233944315,0.0498313689666,0.999999965026,7.60390192679e-05,-0.000252206625235,2.3630978914e-05,1793237756446658304
+278,4.633333333,HOLD_POSE2,767,746.31083319,716,680.68916681,665,633,882.68916681,789,804.62166638,653.31083319,633,654,0.451587778145,0.00452277783712,0.0498306965987,0.999999964833,7.53886138071e-05,-0.000253136444371,2.39129195585e-05,1793237756463324928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,665,633,882,788,804,653,633,654,0.451590539438,0.00452399403784,0.049832806797,0.999999965556,7.60492756097e-05,-0.000250055903299,2.40289546656e-05,1793237756500469504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746.579746716,716,681,665,633,882,788,804,653.579746716,633,654,0.451589309614,0.00452410233775,0.0498321282488,0.999999965186,7.70952891015e-05,-0.000251209424214,2.40438864483e-05,1793237756517136384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746.841597183,716,680.841597183,665,633,882,788,804.158402817,654,633,654,0.45158848833,0.00452413073691,0.049831589795,0.999999964937,7.74907593582e-05,-0.000252093688587,2.38783481193e-05,1793237756533803520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746.265814644,716,680.265814644,665,633,882,788,804.734185356,654,633,654,0.451588743524,0.00452394860352,0.0498314204794,0.999999965009,7.61720964746e-05,-0.000252268482109,2.32372843806e-05,1793237756550470144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.315989442,746.315989442,716,680.315989442,665,633,882,788.315989442,805,654,633,654,0.45158844266,0.00452415305861,0.0498308722534,0.999999964752,7.65597446347e-05,-0.000253161241737,2.33337641685e-05,1793237756567136512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.902957304,746.902957304,716,680.902957304,665,633,882,788.902957304,805,654,633,654,0.451587664946,0.00452468903472,0.0498299990907,0.999999964208,7.84106489495e-05,-0.000254669696992,2.40627283533e-05,1793237756583802880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.516602102,716,681,665,633,882,788.516602102,805,654,633,654,0.451588133551,0.00452455986356,0.0498296821191,0.999999964291,7.83376431577e-05,-0.000254380543671,2.39121692507e-05,1793237756600469504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.062248565,716,681,665,632.937751435,882.062248565,788,804.937751435,654,633,654,0.451588857367,0.00452421916691,0.049829562579,0.99999996451,7.77980785351e-05,-0.000253712117176,2.35973272448e-05,1793237756617136128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.638645915,716,681,665,632.361354085,882.638645915,788,804.361354085,654,633,654,0.451589650099,0.00452321955663,0.049830163797,0.99999996483,7.65525047035e-05,-0.000252851993117,2.33645035707e-05,1793237756633802752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.785988358,716,681,665,632.214011642,882.785988358,788,804,654,633,654,0.451588939514,0.00452307508045,0.049830066253,0.99999996472,7.68916474083e-05,-0.000253184267309,2.33449983481e-05,1793237756650469120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.212356208,716,681,665,632.787643792,882.212356208,788,804,654,633,654,0.451585702786,0.00452436755308,0.0498287945245,0.999999963883,7.98937134359e-05,-0.000255520221673,2.36839488346e-05,1793237756667135744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.629194138,746.370805862,716,681,665,632.629194138,882,788,804.370805862,654,633,654,0.451577503596,0.004524761922,0.0498250914052,0.9999999623,7.97722117153e-05,-0.000261672046475,2.37334470172e-05,1793237756683802880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.040430372,746.959569628,716,681,665,632.040430372,882,788,804.959569628,654,633,654,0.451566387496,0.00452462838999,0.0498199591259,0.999999960226,7.78146921579e-05,-0.000270066821802,2.36128065568e-05,1793237756700469760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.541138887,746.458861113,716,681,665,632,881.458861113,788,805,653.458861113,633,654,0.45154096065,0.00452400333403,0.0498078822256,0.999999954494,7.87778675252e-05,-0.000290262487471,2.35462372676e-05,1793237756717136640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.878957319,746,716,681,665,632,881.121042681,788.121042681,805,653,633,654,0.451509324217,0.00452356343472,0.0497937237769,0.999999947141,7.9415327806e-05,-0.000314428892963,2.33384459029e-05,1793237756733803264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.303316036,746,716,681,665,632,881.696683964,788.696683964,805,653,633,654,0.451458329422,0.0045239550382,0.049773670774,0.999999935367,7.80207084392e-05,-0.000350240276911,2.25852950822e-05,1793237756750469632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.271496371,746,716,681,665,632.271496371,882,788.728503629,804.728503629,653,633,654,0.45140280639,0.00452479856451,0.0497555146825,0.999999924528,7.80804880066e-05,-0.000379958846982,2.18624349767e-05,1793237756767136000
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.84538554,746,716,681,665,632.84538554,882,788.15461446,804.15461446,653,633,654,0.451342239809,0.00452614544268,0.049739471373,0.999999915434,7.97601779924e-05,-0.000402891235925,2.11733127466e-05,1793237756783802624
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.567943981,746.432056019,716,681,665,633,882,788.432056019,804,653.432056019,633,654,0.451276445998,0.00452713689558,0.0497303249081,0.999999911024,8.04106886594e-05,-0.000413603147833,2.04819616989e-05,1793237756800469504
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.022958448,746.977041552,716,681,665,633,882,788.977041552,804.022958448,654,633,654,0.451208206031,0.00452805333123,0.0497239967818,0.999999908508,8.08929678209e-05,-0.000419581862948,1.98024326365e-05,1793237756817136128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.602197643,746.397802357,716,681,665,633,882,788.397802357,804.602197643,654,633,654,0.451127402141,0.0045303278938,0.0497243321959,0.999999907842,8.64949104008e-05,-0.000420067797529,1.94292635154e-05,1793237756833803008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766.820331471,746,716,681,665,633,882,788,804.820331471,654,633,654,0.451042410013,0.00453194791347,0.0497259445661,0.999999908312,9.08418282353e-05,-0.000418040841583,1.91281380508e-05,1793237756850469888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.2467377,746,716,681,665,633,882,788,804.2467377,654,633,654,0.450948235136,0.00453213284024,0.0497303566766,0.999999911291,9.24370896534e-05,-0.000410504345214,1.89849691525e-05,1793237756867136256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.328637426,746,716,681,665,633,882,788,804,653.671362574,633,654,0.450844109168,0.00453341184713,0.0497363345697,0.999999914687,9.5167864822e-05,-0.000401516568649,1.87929228243e-05,1793237756883802880
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.905357325,746,716,681,665,633,882,788,804,653.094642675,633,654,0.450732471289,0.00453551675541,0.0497434944442,0.999999918341,9.87558190274e-05,-0.000391433245994,1.85639797889e-05,1793237756900469248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.494925863,716,681,665,633,882.494925863,788.494925863,804,653.494925863,633,654,0.45059132902,0.00453622374232,0.0497460042031,0.999999919266,0.000100283630293,-0.000388706025623,1.7857354994e-05,1793237756917135872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.915238622,747,716,681,665,633,882.915238622,788.915238622,804.084761378,653.915238622,633,654,0.450440605975,0.00453684448853,0.0497470604535,0.999999919436,0.000101585219931,-0.000387967408617,1.7026785562e-05,1793237756933802496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.338494535,747,716,681,665,633,882.338494535,788.338494535,804.661505465,653.338494535,633,654,0.450267893789,0.00453855762601,0.0497449789704,0.99999991827,0.00010392132139,-0.000390388863314,1.60211289217e-05,1793237756950469376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.236358235,746.763641765,716,681,665,633.236358235,882,788,804.763641765,653.236358235,633,654,0.450083601514,0.0045410278455,0.0497432226163,0.999999917079,0.000108332313263,-0.000392272634221,1.51225263139e-05,1793237756967136000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.80852387,746.19147613,716,681,665,633.80852387,882,788,804.19147613,653.80852387,633,654,0.449882856768,0.00454457369377,0.0497419281911,0.999999915826,0.000115691218178,-0.00039339248746,1.43760214343e-05,1793237756983802880
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.394821147,716,681,665.394821147,634,882,788,804.394821147,653.605178853,633,654,0.44966191669,0.00454747308191,0.049741296732,0.999999914489,0.000122050308566,-0.000394901743995,1.33809531189e-05,1793237757000469504
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.988226226,716,681,665.988226226,634,882,788,804.988226226,653.011773774,633,654,0.449430818933,0.00455004731868,0.0497409987262,0.999999913096,0.000127906520147,-0.000396606859393,1.22608644094e-05,1793237757017136128
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766.431679868,747,716,681,666,634,881.431679868,788,804.431679868,653.568320132,633,654,0.449164672442,0.00455432661219,0.0497413454286,0.999999911621,0.000134677598994,-0.000398118916215,1.10220719643e-05,1793237757033802752
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.146817223,746.853182777,716,681,666,634,881.146817223,788,804.146817223,654,632.853182777,654,0.448892820443,0.00455825226781,0.0497418563199,0.99999991094,0.000141126659191,-0.000397629517337,9.72340433974e-06,1793237757050469632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.721446398,746.278553602,716,681,666,634,881.721446398,788,804.721446398,654,632.278553602,654,0.448606410524,0.00456104688094,0.0497428076142,0.999999912657,0.000146583421588,-0.000391319447075,8.25726791969e-06,1793237757067136256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,634.302700225,882,788.302700225,805,654,632.302700225,654,0.448303557739,0.00456365589084,0.0497414075862,0.999999912429,0.000151457241082,-0.000390071447156,6.80811992548e-06,1793237757083802624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,634.890186721,882,788.890186721,805,654,632.890186721,654,0.447985235151,0.00456609028194,0.0497377953885,0.999999910396,0.000155782617172,-0.000393585940927,5.37495480282e-06,1793237757100469504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.528944405,746,716,681,666.471055595,635,882,788.528944405,804.528944405,654,633,654,0.447633819117,0.00457013727493,0.0497350915513,0.999999908735,0.000162978128466,-0.000394914784255,3.27367586386e-06,1793237757117136896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.94998755,667,635,882,788,804,653.94998755,633,654,0.447271487781,0.00457451326767,0.0497329073498,0.999999907051,0.000170848487481,-0.00039586342083,1.11114900355e-06,1793237757133804032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.375130209,667,635,882,788,804,653.375130209,633,654,0.446874447589,0.00457845139336,0.049733984885,0.999999904762,0.000178876543621,-0.000398095057191,-8.22727238301e-08,1793237757150470656
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.199362557,746,715.800637443,680.199362557,667,635,882,788.199362557,804,653,633,654,0.446477616714,0.00458247921292,0.0497398036126,0.999999906424,0.000185784681973,-0.000390684501902,-1.38704622262e-06,1793237757167136768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.773170539,746,715.226829461,680.773170539,667,635,882,788.773170539,804,653,633,654,0.446081179008,0.00458667549647,0.0497545273113,0.999999915161,0.000190589375184,-0.000365163852745,-2.90096203898e-06,1793237757183802624
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746.358881155,715.358881155,681,667,635,882,789,804,653,633,654,0.445671721994,0.00459158152285,0.0497784556776,0.999999925737,0.000197826619581,-0.000330712972152,-4.34592484486e-06,1793237757200469504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.952372828,715.952372828,681,667,635,882,789,804,653,633,654,0.445253753916,0.00459695152755,0.0498084013887,0.999999936457,0.000206654089442,-0.000290424153411,-5.74581110028e-06,1793237757217136640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746.46736461,716,681,667.53263539,635.53263539,882,788.46736461,804,653,633,654,0.444772003167,0.00460234379606,0.0498233675426,0.999999940321,0.000214213782551,-0.000270949494868,-7.57319878731e-06,1793237757233803264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,667.889126875,636,882,788.110873125,804,653,632.889126875,654,0.444269716031,0.00460769994966,0.0498314244509,0.999999941065,0.000221947582395,-0.000261759797454,-9.53101551158e-06,1793237757250469888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,667.314530447,636,882,788.685469553,804,653,632.314530447,654,0.443704812081,0.00461289692772,0.0498160500584,0.999999931809,0.000230872218499,-0.000287991037316,-1.18783414289e-05,1793237757267137024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,667.266383139,636,882,789,804,653,632.266383139,654,0.443143166774,0.00461927922693,0.0497996952013,0.999999921994,0.000240250621101,-0.000313151911655,-1.50764425596e-05,1793237757283804160
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,667.854936936,636,882,789,804,653,632.854936936,654,0.442585462477,0.00462709508487,0.049782154543,0.999999911729,0.000250177821875,-0.000337018261788,-1.93034935488e-05,1793237757300470784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.563636093,680.563636093,667.563636093,636,882,789,804,653,633,654,0.4420331691,0.00463339580121,0.0497974903585,0.999999917456,0.000261103180298,-0.000310529992101,-2.20120053739e-05,1793237757317137152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,882,789,804,653,633,654,0.44148127361,0.00463910016231,0.0498234648729,0.999999926791,0.000272237779324,-0.000267802509891,-2.42190106223e-05,1793237757333803264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,882,789,804,653,633,654,0.440879356279,0.00464113092045,0.0498452470454,0.999999933443,0.00027909765008,-0.000233514007931,-2.62509544184e-05,1793237757350469632
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.167640004,667,636,882,789,804,653.167640004,633,654,0.440252289753,0.00464487642623,0.0498537089552,0.999999934158,0.000286178617638,-0.000221275207621,-2.87027718608e-05,1793237757367136256
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.742229246,667,636,882,789,804,653.742229246,633,654,0.439564173121,0.00465278451378,0.0498298356774,0.999999921855,0.000293796301787,-0.000262562472172,-3.21738403325e-05,1793237757383802880
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.325619625,680.674380375,667.325619625,636,882,789,804,653.674380375,632.674380375,653.674380375,0.438874364918,0.00465713037896,0.0498050560316,0.999999929722,0.000216653618636,-0.000303908913375,-3.54621041827e-05,1793237757400469504
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.916170781,680.083829219,667.916170781,636,882,789,804,653.083829219,632.083829219,653.083829219,0.438183180448,0.00465857793863,0.0497795389454,0.999999937149,7.05479691628e-05,-0.000345303494983,-3.8601633275e-05,1793237757417136640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.502350632,636,882,788.502350632,804,653,632.497649368,653.497649368,0.4375035539,0.00464091605295,0.0497875890742,0.99999994129,3.90695435929e-05,-0.000337830319291,-4.20097930682e-05,1793237757433803264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.076913068,636,882,788.076913068,804,653,633,654,0.436823997141,0.00461852033376,0.049803550075,0.999999948162,2.44864479499e-05,-0.000317917801579,-4.4763300311e-05,1793237757450469632
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.651556151,636,882,788.651556151,804,653,633,654,0.436132518634,0.004585948618,0.0498347685375,0.999999962668,-3.47904292787e-06,-0.000269823048765,-4.2992740413e-05,1793237757467136000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.773889221,680,668,636,882,789,804,653.226110779,633,654,0.435402735671,0.00457111911317,0.049841591288,0.999999964145,-1.05221351911e-05,-0.000263965463206,-4.38311762872e-05,1793237757483802368
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.199470768,680,668,636,882,789,804,653.800529232,633,654,0.434613947296,0.00458362022549,0.0498108341727,0.999999946487,1.46642448229e-05,-0.000323171241941,-4.86885855467e-05,1793237757500469248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.384954538,680,667.615045462,636,881.615045462,789,804,654,633,654,0.433871268342,0.0045915107184,0.0497999253301,0.999999941802,3.22672532534e-05,-0.000335494862188,-5.2901917465e-05,1793237757517135872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,715.974703417,680,667.025296583,636,881.025296583,789,804,654,633,654,0.433153119472,0.00459694837869,0.0497995756945,0.999999945213,4.58359355598e-05,-0.000322877350529,-5.67726024728e-05,1793237757533802496
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.445742433,746,715.445742433,680,667,636,881,788.445742433,804,653.445742433,633,654,0.432420373121,0.00460034284789,0.0498258381513,0.999999956153,4.90986006225e-05,-0.000285967293879,-5.92102964846e-05,1793237757550469120
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.133164957,680,667,636.133164957,881.133164957,788.133164957,803.866835043,653,633,654,0.431670773876,0.00460419673241,0.0498429427775,0.999999962365,4.80344046663e-05,-0.00026310608741,-6.11324706905e-05,1793237757567136000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.711437663,680,667,636.711437663,881.711437663,788.711437663,803.288562337,653,633,654,0.430867030068,0.00460989229449,0.0498254506131,0.999999955232,3.40513839343e-05,-0.00029084258192,-6.15461660719e-05,1793237757583802880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.293015897,746,716,680,667,636.706984103,882,789,803.293015897,653,633,654,0.430059425949,0.00461512692203,0.049804864693,0.999999942707,8.44441935142e-05,-0.000324204050467,-4.84426249958e-05,1793237757600469504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.877886525,746,716,680,667,636.122113475,882,789,803.877886525,653,633,654,0.429247976863,0.00461990244127,0.0497811972781,0.999999914023,0.000198957724229,-0.000363168197251,-2.18754131323e-05,1793237757617135872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667,636,882,789,803.541532837,653,633,654,0.428466948639,0.00461770092928,0.0497937211241,0.99999991859,0.000214591712868,-0.000341153254212,-1.96010380424e-05,1793237757633802496
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.962174734,746.037825266,716,680,667.037825266,636,882,789,803.037825266,653.037825266,633,654,0.427691297479,0.00461380907547,0.0498137836091,0.999999931918,0.000203177872687,-0.00030711643613,-2.36913705648e-05,1793237757650468864
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.38410956,746.61589044,716,680,667.61589044,636,882,789,803.61589044,653.61589044,633,654,0.426877791828,0.00461207065833,0.0498051153882,0.999999928921,0.000178120574243,-0.000331201408066,-2.71283477065e-05,1793237757667136000
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.193222319,746.806777681,716,680,667.806777681,636,882,788.806777681,804,654,633,654,0.426081559258,0.0046106580054,0.0498012599332,0.999999930015,0.000159116898236,-0.000337188070211,-3.09321618127e-05,1793237757683802880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.769102084,746.230897916,716,680,667.230897916,636,882,788.230897916,804,654,633,654,0.425319534149,0.00460989049556,0.0498069356775,0.999999940577,0.000152101810772,-0.000307332847681,-3.54624604278e-05,1793237757700469504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.352218985,716,680,667.352218985,636,882.352218985,788.352218985,804,654,633,654.352218985,0.424563015547,0.00460811997784,0.0498303904417,0.999999954288,0.000149312185756,-0.00026022934905,-3.75590371935e-05,1793237757717136384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.940179699,716,680,667.940179699,636,882.940179699,788.940179699,804,654,633,654.940179699,0.423810182519,0.00460567814254,0.0498657447825,0.999999967807,0.000149350681576,-0.000201581503924,-3.8026712774e-05,1793237757733803264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.479685951,715.479685951,680,668,636.520314049,881.959371902,789,804,654,633,654.479685951,0.423003778801,0.00461394659015,0.0498512232027,0.999999960609,0.000161836898052,-0.000226020697383,-3.88009881003e-05,1793237757750469632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.900874678,746,715.099125322,680,667.900874678,636.900874678,881,789,804,654,633,654,0.422192530386,0.00462203800693,0.0498303827453,0.999999950267,0.00017123775787,-0.000261886054473,-3.94815338265e-05,1793237757767135744
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.324167026,746,715.675832974,680,667.324167026,636.324167026,881,789,804,654,633,654,0.421387174532,0.00462343177428,0.0498063160037,0.999999939315,0.000158980617566,-0.000307460743405,-3.95431788278e-05,1793237757783802624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,667.256606163,636,881.256606163,789,803.743393837,654,633,654,0.420606657812,0.00462316633443,0.0498037984756,0.99999993692,0.000152466985039,-0.00031837035381,-3.94192785704e-05,1793237757800468992
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,667.842597927,636,881.842597927,789,803.157402073,654,633,654,0.41985802524,0.00462077109778,0.0498289420178,0.999999946932,0.000153325852979,-0.000284783065347,-3.9057208183e-05,1793237757817135616
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.423918945,746,716,680,667.576081055,636,881.576081055,789,803.423918945,653.576081055,633,654,0.419088107777,0.00461892540759,0.049827045483,0.99999994308,0.000157878313949,-0.00029569077729,-3.84922087967e-05,1793237757833802496
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.582238388,716,680,667,636,881,789,804,653.582238388,633,654,0.417586776134,0.00461574411631,0.0498100672102,0.999999934052,0.000157405198727,-0.000324931546414,-3.92378014789e-05,1793237757867136000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.840195996,716,680,667.159804004,636.159804004,881.159804004,789,804,654,633,654,0.416876704866,0.0046137186712,0.049813381751,0.999999938402,0.000151364747212,-0.000314123174885,-4.0139063326e-05,1793237757883802624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.26562417,716,680,667.73437583,636.73437583,881.73437583,789,804,654,633,654,0.41620258879,0.00461042825031,0.0498387734386,0.999999952179,0.000146018136432,-0.000269695473789,-3.98162473552e-05,1793237757900468992
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,668,636.683436907,881.683436907,788.683436907,804,654,633,654,0.415510440212,0.00461112953422,0.0498469669096,0.999999956269,0.000146394280075,-0.000253837839565,-3.99545843873e-05,1793237757917135872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,668,636.094702146,881.094702146,788.094702146,804,654,633,654,0.41480278786,0.00461526276909,0.0498403738565,0.999999953211,0.000151690680677,-0.000262543914168,-4.04894073168e-05,1793237757933802496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.513930589,667.513930589,636,881,788,804,654,633,654,0.414092363716,0.00462230348367,0.0498147808713,0.9999999381,0.000161372605958,-0.000309910123199,-4.14141285265e-05,1793237757950469120
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.359925755,679.640074245,667.640074245,636.640074245,881,788.640074245,803.359925755,654,633,654,0.412759416298,0.00462836380392,0.0497955435483,0.99999992676,0.00016811858367,-0.000341167554332,-4.26655382638e-05,1793237757983802624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.215613671,680,668,636.784386329,881,789,803,654,633,654,0.412144249406,0.0046279911627,0.0498096703028,0.999999934624,0.000166175445568,-0.00031829821532,-4.27072035554e-05,1793237758000469248
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.622341963,680,667.622341963,636,881,789,803,654,632.622341963,654,0.410947485112,0.00462405062894,0.0498389120099,0.999999945607,0.000161568098622,-0.000284495174757,-4.17603911713e-05,1793237758033802496
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715.030785576,680,667.030785576,636,881,789,803,654,632.030785576,654,0.410328421649,0.0046178195896,0.049825689123,0.999999939899,0.000157124466422,-0.000306292363999,-4.12083326062e-05,1793237758050469120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715.547797615,679.452202385,667,636.547797615,881.547797615,788.452202385,803.547797615,654,632.547797615,654,0.409760180575,0.00461308072088,0.0498143877764,0.999999935014,0.000148501061955,-0.00032594766112,-4.09587181984e-05,1793237758067135744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715.875395951,679.124604049,667,636.875395951,881.875395951,788.124604049,804,654,632.875395951,654,0.409210461059,0.00460966887613,0.0498091071429,0.999999933478,0.000141459195436,-0.000333710254104,-4.08811763681e-05,1793237758083802624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715.302419986,679.697580014,667,636.302419986,881.302419986,788.697580014,804,654,632.302419986,654,0.408717349115,0.00461073738576,0.0498251116888,0.999999944482,0.00014093398798,-0.000299101582712,-4.13630692945e-05,1793237758100471040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.272087073,680,667,636.272087073,881.272087073,788.727912927,804,654,632,654,0.408230602734,0.00461066186201,0.049840066228,0.999999951832,0.000140750415298,-0.000273540141853,-4.12530620552e-05,1793237758117137664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.848305511,680,667,636.848305511,881.848305511,788.151694489,804,654,632,654,0.407750971632,0.00460930756948,0.049853847098,0.999999955942,0.00014094871262,-0.000258091446066,-4.04814452737e-05,1793237758133802752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.56449574,680,667,636.56449574,881.56449574,788.43550426,803.56449574,654.43550426,632.43550426,654,0.407266543614,0.00461121868959,0.0498493481143,0.999999952067,0.000143893761654,-0.000271120366535,-4.06840802495e-05,1793237758150468864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,881.026076399,789,803,654.973923601,632.973923601,654,0.406781384919,0.00461431475988,0.0498376227798,0.999999944629,0.000147767011577,-0.000295302940769,-4.12657386195e-05,1793237758167135744
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,881.604984587,789,803,654.395015413,632.395015413,654,0.40631707452,0.00461779509662,0.0498111750137,0.999999929897,0.00015051045605,-0.000340215151168,-4.2502396818e-05,1793237758183802368
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.182677291,881.817322709,789,803,654,632,654,0.4058736963,0.0046214795077,0.0497925317172,0.999999918078,0.000153616532555,-0.000371928223311,-4.37539500812e-05,1793237758200469248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.75775897,881.24224103,789,803,654,632,654,0.405475282014,0.00462560228517,0.0497906530045,0.999999916162,0.000157501569792,-0.000375288561681,-4.50374990458e-05,1793237758217135872
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.340158771,715,679.659841229,667,637,881,789,803,654.340158771,632.340158771,654,0.405118876821,0.00462816452055,0.0498007190774,0.999999922745,0.000160892203263,-0.00035572136052,-4.56783244674e-05,1793237758233802240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.927884754,715,679.072115246,667,637,881,789,803,654.927884754,632.927884754,654,0.40479304576,0.00462959099538,0.0498194785532,0.999999934484,0.000163923010405,-0.000319467519157,-4.58513764281e-05,1793237758250469120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.491423176,715,679,667,637,881,789,803,654.491423176,633,654,0.404480978487,0.00462956236869,0.0498450846056,0.99999994575,0.000167088838535,-0.000280203680925,-4.54715715315e-05,1793237758267135744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.087900746,679.087900746,667,637,881,789,803.087900746,654.087900746,632.912099254,654.087900746,0.404173437337,0.00462961288453,0.0498685310425,0.99999995427,0.00017050995077,-0.000245668683169,-4.50913208213e-05,1793237758283802368
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715.665085423,679.665085423,667,637,881,789,803.665085423,654.665085423,632.334914577,654.665085423,0.403880374454,0.00463123676863,0.04987462613,0.999999954874,0.000175246941733,-0.000239799287699,-4.51390025519e-05,1793237758300468992
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.754772422,667,636.754772422,881.245227578,789,803.754772422,654.754772422,632,654.754772422,0.4035963259,0.00463355594325,0.0498734833861,0.999999952959,0.000178651159292,-0.00024509115217,-4.57728767594e-05,1793237758317135360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.17054188,667,636.17054188,881.82945812,789,803.17054188,654.17054188,632,654.17054188,0.403324738785,0.00463683628839,0.0498623350534,0.999999947319,0.000180212948614,-0.000265812359044,-4.7217104293e-05,1793237758333802240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.588725832,679,667,636.411274168,882,789,803,654.411274168,632.411274168,654,0.403062373811,0.00463844091723,0.0498497108517,0.999999940491,0.000181641289783,-0.000289363324299,-4.78977853405e-05,1793237758350469120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.007905167,679,667,636.992094833,882,789,803,654.992094833,632.992094833,654,0.402803810643,0.00463935473715,0.0498364782279,0.999999932765,0.000183014617253,-0.000314080848018,-4.82636966669e-05,1793237758367135744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.571372412,679,667,636.428627588,882,789,803,655,632.428627588,654,0.402585436295,0.00464026415582,0.0498336399891,0.999999930255,0.000182161845263,-0.000322437051747,-4.8396308608e-05,1793237758383802368
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.85038194,679,667,636,881.85038194,789,803,655,632.14961806,654,0.402378664073,0.00464060053419,0.0498312335428,0.999999931125,0.000165944083882,-0.000328425111453,-4.84721763051e-05,1793237758400469248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.275012252,679,667,636,881.275012252,789,803,655,632.724987748,654,0.402203328811,0.00463930644757,0.049829647678,0.999999939305,0.000106091270296,-0.000328316810788,-4.83957332641e-05,1793237758417135872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715.306336383,679,667,636.306336383,881,789,803.306336383,655,632.693663617,654,0.402049046526,0.00463920991706,0.0498316985966,0.999999942614,9.29005844837e-05,-0.000322606673954,-4.54653495478e-05,1793237758433803264
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715.89315951,679,667,636.89315951,881,789,803.89315951,655,632.10684049,654,0.401914040682,0.00464020988889,0.0498370794152,0.999999943109,0.000122434520656,-0.000311767402271,-3.99218498385e-05,1793237758450471168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715.525777672,679.474222328,667,636.525777672,881,789,804,654.525777672,632.474222328,654,0.401792892014,0.00463159920449,0.0498443568672,0.999999943957,0.00015065188749,-0.000297140821226,-3.31409251787e-05,1793237758467137024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.053384397,746,715.053384397,679.946615603,667,636.053384397,881,789.053384397,803.946615603,654.053384397,633,654,0.401676627695,0.00461978571039,0.049851721263,0.999999944733,0.000173498173242,-0.00028235793761,-2.659051176e-05,1793237758483802880
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.626524593,746,715.626524593,679.373475407,667,636.626524593,881,789.626524593,803.373475407,654.626524593,633,654,0.401577886782,0.00459761737504,0.0498558218075,0.999999951288,0.000146904343966,-0.000274261056694,-2.49660992093e-05,1793237758500469504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.799069218,746,715.799069218,679,667,637,881,789.799069218,803,655,633,654,0.401484395077,0.00458572443225,0.0498575520821,0.999999954434,0.000132739952608,-0.000270001860268,-2.47371293866e-05,1793237758517135872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.222295007,746,715.222295007,679,667,637,881,789.222295007,803,655,633,654,0.401400722084,0.00459305173532,0.0498548487384,0.999999952332,0.000141824975132,-0.000272921099327,-2.71183519838e-05,1793237758533802496
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.364258846,655,633,654,0.401329412685,0.00459635322839,0.0498536316275,0.999999951587,0.000145941157576,-0.000273342303415,-2.84843702416e-05,1793237758550469120
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,803.956945522,655,633,654,0.401265856536,0.00459713012349,0.0498533465376,0.999999951732,0.000146941364968,-0.000272196982085,-2.92137506845e-05,1793237758567136000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.536601393,715,679,667,636.463398607,881,789,804,655,632.463398607,654,0.40121326221,0.0045947902024,0.0498529344634,0.999999952124,0.000143802226373,-0.000272450811771,-2.90525469421e-05,1793237758583802880
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.88551878,715.11448122,679,667,636.11448122,881,788.88551878,803.88551878,655,632,654.11448122,0.401165221572,0.0045932993631,0.0498533772217,0.999999952732,0.000141811835214,-0.000271265666349,-2.89785996912e-05,1793237758600469504
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.310676369,715.689323631,679,667,636.689323631,881,788.310676369,803.310676369,655,632,654.689323631,0.401132039632,0.00459620471847,0.0498572975023,0.999999954134,0.000145744775711,-0.000263853264513,-2.95360694557e-05,1793237758617136128
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.736933622,679,667,636.736933622,881,788.263066378,803.263066378,654.736933622,632,654.736933622,0.401104155301,0.00459634990065,0.0498595092286,0.999999955566,0.000145842569351,-0.000258275763609,-2.98466250512e-05,1793237758633802496
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.164484077,679,667,636.164484077,881,788.835515923,803.835515923,654.164484077,632,654.164484077,0.401082501301,0.00459324894006,0.0498597115844,0.999999957077,0.000141429981424,-0.000254856224561,-2.98667936021e-05,1793237758650469120
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.424396783,881.424396783,789,803.575603217,654,632.424396783,654,0.401062955014,0.00459486862412,0.0498595802687,0.99999995707,0.000142088439161,-0.000254447935244,-3.04488053491e-05,1793237758667135744
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.980774036,881.980774036,789,803.019225964,654.019225964,633,654,0.401044527021,0.0045982232457,0.0498593118614,0.999999956482,0.000144637287388,-0.000255229301139,-3.12221836971e-05,1793237758683802368
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.405508412,881.405508412,789,803.594491588,654.594491588,633,654,0.40103386442,0.00459670930754,0.0498589693762,0.999999956744,0.000142727615508,-0.000255304278005,-3.09787456318e-05,1793237758700468992
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.169686443,881,789,804,655,632.830313557,654,0.401024184848,0.00459577802186,0.049858828409,0.999999956846,0.00014200257379,-0.000255326118801,-3.0841059929e-05,1793237758717135872
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.744712215,881,789,804,655,632.255287785,654,0.40101685349,0.00459623855024,0.0498591688191,0.999999956569,0.000144107323332,-0.000255221030544,-3.09559907183e-05,1793237758733802752
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.327459279,789,803.672540721,655,632.327459279,654,0.401013197007,0.00459802461149,0.0498604073966,0.999999956868,0.000146219285613,-0.000252806545204,-3.11965943436e-05,1793237758750469120
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.91637121,789,803.08362879,655,632.91637121,654,0.401012474646,0.00460086901524,0.0498623630962,0.999999957613,0.000148337006644,-0.000248548172602,-3.15375386724e-05,1793237758767135744
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.502400135,789,803.497599865,655,632.502400135,654,0.401011907189,0.00459843511101,0.0498632758539,0.999999958537,0.000145364108622,-0.000246597910209,-3.13753097375e-05,1793237758783802368
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.076992314,746,715,679,667,637,881,789,804,655,632,654,0.4010111646,0.00459578813506,0.0498638726513,0.999999959321,0.000142068571562,-0.000245358027505,-3.12104574014e-05,1793237758800469248
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767.652727395,746,715,679,667,637,881,789,804,655,632,654,0.401009121457,0.00459741998798,0.0498635408889,0.999999959081,0.000142140877459,-0.000246245250988,-3.15680818713e-05,1793237758817135872
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767.77267541,746,715.22732459,679.22732459,667,636.77267541,881.22732459,788.77267541,803.77267541,655,632.22732459,654,0.401007614692,0.00459791969725,0.049863353061,0.999999958879,0.000142941720262,-0.000246602034667,-3.15854001782e-05,1793237758833802496
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767.386575488,746,716,680,667,636.386575488,881.613424512,788,803.386575488,655,632.613424512,654,0.401006453094,0.0045968304331,0.0498637113931,0.999999958753,0.000145090165429,-0.000245930254275,-3.10085893204e-05,1793237758867135744
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.980197551,746,716,680,667,636.980197551,881.019802449,788,803.980197551,655,632.019802449,654,0.40100610147,0.00459768709106,0.0498641975238,0.999999958867,0.000144436964508,-0.000245829685883,-3.11583552835e-05,1793237758883802624
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.440391728,746,716,680,667,637,881,788.559608272,804,655,632,654,0.40100680063,0.00459677635787,0.049864838476,0.999999959568,0.000142069351067,-0.0002443607232,-3.11049152193e-05,1793237758900469504
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.137524641,716,680,667,636.862475359,881.137524641,789,804,655,632.137524641,654,0.401006989537,0.00459603131673,0.0498650425058,0.99999995997,0.000140464482879,-0.000243647478232,-3.10762193119e-05,1793237758917136128
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.712249449,716,680,667,636.287750551,881.712249449,789,804,655,632.712249449,654,0.401005441027,0.0045960069211,0.0498638405444,0.999999959376,0.000141472520703,-0.000245486836802,-3.11484803478e-05,1793237758933802752
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.714065692,716,679.714065692,667.285934308,636.285934308,882,789,804,655,632.714065692,654,0.401005310418,0.00459574428189,0.0498639955468,0.999999959428,0.000141630597598,-0.000245179542943,-3.11695165084e-05,1793237758950469120
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.141423632,716,679.141423632,667.858576368,636.858576368,882,789,804,655,632.141423632,654,0.401006601547,0.00459524275468,0.0498655111837,0.999999960127,0.00014093641438,-0.000242719789908,-3.11391892272e-05,1793237758967136000
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.551832477,679,667.551832477,637,881.551832477,789,804,654.551832477,632,654,0.401006331531,0.00459520683046,0.0498659431536,0.999999960399,0.000140056956031,-0.000242109504836,-3.11297553154e-05,1793237758983802368
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b354be0ce989f8ba9bfdcf0870be5d870c10ebf0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,441 @@
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b998e5c094c8e3076502f1cc62698e3b087cee20
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca323a515d900793b9c8f5f99710fa1b4e42f8b9a6a99dd5ce82627afdf1ced2
+size 27513469
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a5b2bfe182f547c4bdbeabed1ed446c5115c042
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
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+6,0.100000000,BASELINE,767,746,716,680,664.518289866,636.518289866,881,788.518289866,803,654,632.481710134,654.518289866,0.401049953698,0.00448858064178,0.0698705975826,0.999999992314,1.79564357771e-05,-0.000121366895419,1.78670552924e-05,1793237760909106688
+7,0.116666667,BASELINE,767,746.055854841,716,680,664.055854841,636,880.944145159,788,803,654,632.944145159,654,0.4010492912,0.00448793811489,0.0698706079515,0.999999992244,1.66051826211e-05,-0.000122112243418,1.80201440108e-05,1793237760925773568
+8,0.133333333,BASELINE,767,746.649518178,716,680,664.649518178,636,880.350481822,788,803,654,632.350481822,654,0.40105055473,0.00448574316112,0.0698712872667,0.999999992467,1.48557248746e-05,-0.000120476091033,1.81966360289e-05,1793237760942440192
+9,0.150000000,BASELINE,767,746.763086273,716,679.763086273,665,636,880.236913727,788,803.236913727,654,632.236913727,654,0.401050593245,0.00448447313262,0.0698712027991,0.999999992489,1.41526134598e-05,-0.000120361326894,1.82932739588e-05,1793237760959106816
+10,0.166666667,BASELINE,767,746.184724133,716,679.184724133,665,636,880.815275867,788,803.815275867,654,632.815275867,654,0.401048866226,0.00448453613924,0.069870017541,0.999999992225,1.49575334082e-05,-0.00012243924126,1.82748233471e-05,1793237760975773440
+11,0.183333333,BASELINE,767,746.390347565,716,679.390347565,665,636,881,788,803.609652435,654,633,654,0.401048137264,0.00448515762391,0.0698695995502,0.999999992087,1.53850772298e-05,-0.000123523519297,1.82028978763e-05,1793237760992439808
+12,0.200000000,BASELINE,767,746.963875193,716,679.963875193,665,636,881,788,803.036124807,654,633,654,0.401047876665,0.00448604118796,0.0698695416183,0.999999992008,1.56355282203e-05,-0.000124141509566,1.8105878029e-05,1793237761009106432
+13,0.216666667,BASELINE,767,746.447347933,716,680,664.447347933,636.552652067,881,788,803,654,632.447347933,654,0.401048620421,0.00448597912567,0.069869729475,0.999999992097,1.63059051553e-05,-0.000123330386444,1.81772827746e-05,1793237761025773312
+14,0.233333333,BASELINE,767,746,716,679.860098076,664,637,881,788,803,654,632,654,0.401049164464,0.00448598213116,0.0698699805527,0.99999999219,1.69254885425e-05,-0.000122479203195,1.8209181685e-05,1793237761042440192
+15,0.250000000,BASELINE,767,746,716,679.280862389,664,637,881,788,803,654,632,654,0.401048869333,0.00448638908517,0.0698703782786,0.999999992269,1.72969212466e-05,-0.000121803896655,1.80814670423e-05,1793237761059107072
+16,0.266666667,BASELINE,767,746,716,679,664,637,881,788.297021105,803,654,632,654,0.401048412637,0.00448674849892,0.0698702922368,0.99999999224,1.77352318081e-05,-0.000121973270297,1.80862187509e-05,1793237761075773696
+17,0.283333333,BASELINE,767,746,716,679,664,637,881,788.873631729,803,654,632,654,0.401047803859,0.00448706316243,0.0698697508189,0.999999992111,1.82364952743e-05,-0.000122937751539,1.82156626283e-05,1793237761092440576
+18,0.300000000,BASELINE,767,746.458034743,716,679.458034743,664.458034743,637,881,788.541965257,803.458034743,654,632,654,0.40104927364,0.00448746048517,0.0698702768903,0.99999999222,1.71209859966e-05,-0.000122259386492,1.78888720045e-05,1793237761109106944
+19,0.316666667,BASELINE,767,746.955923174,716,680,665,637,881,788.044076826,803.955923174,654,632,654,0.401051027743,0.00448775927317,0.0698710291141,0.999999992368,1.58189942289e-05,-0.000121269043551,1.75164250776e-05,1793237761125773568
+20,0.333333333,BASELINE,767,746.376536421,716,680,665,637,881,788.623463579,803.376536421,654,632,654,0.40104914977,0.00448657960443,0.0698708892093,0.999999992225,1.77632522568e-05,-0.000122089694134,1.81446445586e-05,1793237761142440192
+21,0.350000000,BASELINE,767.202625892,746,716,680,665,636.797374108,881,788.797374108,803.202625892,654,632,654,0.401047834494,0.00448606556239,0.0698704479246,0.999999992093,1.83236410427e-05,-0.000123047723145,1.83775102506e-05,1793237761159106816
+22,0.366666667,BASELINE,767.781371526,746,716,680,665,636.218628474,881,788.218628474,803.781371526,654,632,654,0.401047563709,0.00448678707501,0.0698694472104,0.999999991987,1.63152535339e-05,-0.000124260757674,1.78765093163e-05,1793237761175773184
+23,0.383333333,BASELINE,767.644813808,746,716,680,665,636,881,788,804,654,632,654,0.401047894531,0.00448737544624,0.0698695991383,0.999999992066,1.68566866227e-05,-0.000123570990694,1.77028290252e-05,1793237761192440064
+24,0.400000000,BASELINE,767.073992697,746,716,680,665,636,881,788,804,654,632,654,0.401048590591,0.0044878829869,0.0698704508396,0.999999992255,1.89461255316e-05,-0.000121726025623,1.77278663227e-05,1793237761209106944
+25,0.416666667,BASELINE,767,746.516011997,716,680,665,636.516011997,881,788,804,653.483988003,632,654.516011997,0.401048251451,0.00448740723542,0.0698704302051,0.99999999214,1.95087111663e-05,-0.000122523254215,1.80700556729e-05,1793237761225774080
+26,0.433333333,BASELINE,767,746.893552981,716,680.106447019,665,636.893552981,881,788,804,653,632,654.893552981,0.401047868859,0.00448700856335,0.0698702854166,0.99999999201,1.96690025749e-05,-0.000123517006459,1.83515208715e-05,1793237761242441216
+27,0.450000000,BASELINE,767,746.313905366,716,680.686094634,665,636.313905366,881,788,804,653,632,654.313905366,0.401047978462,0.00448760353431,0.0698701662471,0.999999992011,1.90517926592e-05,-0.000123635109138,1.81530703043e-05,1793237761259107072
+28,0.466666667,BASELINE,767,746,716,680.73597786,665,636,881,788,803.73597786,653.26402214,632.26402214,654,0.401047506597,0.00448783428036,0.0698696466715,0.999999991967,1.76706454815e-05,-0.000124227277564,1.79139112922e-05,1793237761275773184
+29,0.483333333,BASELINE,767,746,716,680.16008225,665,636,881,788,803.16008225,653.83991775,632.83991775,654,0.40104634788,0.00448763478939,0.0698686541203,0.999999991866,1.53871052144e-05,-0.000125379431326,1.76266658551e-05,1793237761292440064
+30,0.500000000,BASELINE,767,746,716,680,664.584518556,636.415481444,881,788.415481444,803.415481444,654,633,654,0.401047639478,0.00448702296034,0.0698698949667,0.999999992097,1.59481054758e-05,-0.000123444252017,1.77019766248e-05,1793237761309106688
+31,0.516666667,BASELINE,767,746,716,680,664.009082657,636.990917343,881,788.990917343,803.990917343,654,633,654,0.401049874412,0.004486252387,0.0698719956395,0.999999992446,1.7604213489e-05,-0.0001203204933,1.79168663908e-05,1793237761325773568
+32,0.533333333,BASELINE,767,746,716,680,664.581670638,637,881,789,803.418329362,654,633,654,0.401049122174,0.00448729058741,0.0698711739775,0.999999992278,1.66230672994e-05,-0.000121886937477,1.76309430926e-05,1793237761342440192
+33,0.550000000,BASELINE,767,746,716,680,665,637,881.168705179,788.831294821,803.168705179,654,632.831294821,654.168705179,0.401048271567,0.00448770586829,0.0698705046588,0.999999992146,1.63831089632e-05,-0.000123011142807,1.7559969779e-05,1793237761359106816
+34,0.566666667,BASELINE,767,746,716,680,665,637,881.74613502,788.25386498,803.74613502,654,632.25386498,654.74613502,0.401047298701,0.00448654171534,0.0698703179671,0.999999992125,1.80413041651e-05,-0.000122881699087,1.80292174249e-05,1793237761375773440
+35,0.583333333,BASELINE,767,746,716,680,665,637,881.677420163,788.322579837,803.677420163,654,632,654.677420163,0.401046660568,0.00448607181002,0.0698701835895,0.999999992066,1.81533210402e-05,-0.00012333908684,1.8078697713e-05,1793237761392440064
+36,0.600000000,BASELINE,767,746,716,680,665,637,881.10174812,788.89825188,803.10174812,654,632,654.10174812,0.401046285062,0.0044861466028,0.0698700902569,0.999999991976,1.70522254406e-05,-0.000124256895394,1.77988337034e-05,1793237761409106432
+37,0.616666667,BASELINE,767,746,716,680,665,637,881,789,803,654,632,654.470700646,0.401045862732,0.00448660605379,0.0698695130685,0.999999991795,1.6656336647e-05,-0.000125772970322,1.77181383882e-05,1793237761425773056
+38,0.633333333,BASELINE,767,746,716,680,664.955687179,637,881,788.955687179,803,654,632,654.955687179,0.401045615582,0.00448706044289,0.0698689816338,0.999999991634,1.63483891781e-05,-0.000127088009334,1.76903997323e-05,1793237761442439680
+39,0.650000000,BASELINE,767,746,716,680,664.358943701,637,881,788.358943701,803,654,632,654.358943701,0.401047677655,0.00448642219264,0.0698703156279,0.999999992001,1.52492905247e-05,-0.000124295557475,1.77897774169e-05,1793237761459106304
+40,0.666666667,BASELINE,767,746,716,679.770778268,664.229221732,637,881,788.229221732,803,654,632,654,0.401048468685,0.00448648015798,0.0698708810668,0.999999992163,1.57129705222e-05,-0.000122925767082,1.77656187239e-05,1793237761475773184
+41,0.683333333,BASELINE,767,746,716,679.195560884,664.804439116,637,881,788.804439116,803,654,632,654,0.401047341158,0.00448758901659,0.0698702864204,0.999999992023,1.85355657393e-05,-0.000123703394016,1.75549897065e-05,1793237761492440320
+42,0.700000000,BASELINE,767,746.379917951,716.379917951,679.379917951,665,637,881,788.620082049,803,654,632,654,0.401047101916,0.00448832289843,0.0698699992713,0.999999991947,1.94607931548e-05,-0.000124175471865,1.75423694749e-05,1793237761509106944
+43,0.716666667,BASELINE,767,746.955531441,716.955531441,679.955531441,665,637,881,788.044468559,803,654,632,654,0.401047320229,0.00448886362988,0.0698698705141,0.999999991907,1.94086873128e-05,-0.000124490161518,1.76317434726e-05,1793237761525773824
+44,0.733333333,BASELINE,767,746.457384522,716.457384522,679.457384522,665,636.457384522,881,788,803,654,632,654,0.401047082336,0.00448715025176,0.0698705705337,0.999999992022,1.74440810942e-05,-0.00012384028732,1.7738426758e-05,1793237761542439936
+45,0.750000000,BASELINE,767,746,716,679.128701795,664.871298205,636.128701795,881.128701795,788,803,654,632.128701795,654,0.401046999671,0.0044860246064,0.0698710767804,0.999999992111,1.61008762751e-05,-0.000123295470989,1.77800308492e-05,1793237761559106560
+46,0.766666667,BASELINE,767,746,716,679.707933658,664.292066342,636.707933658,881.707933658,788,803,654,632.707933658,654,0.401047594094,0.00448761698688,0.0698706618161,0.999999992078,1.74934396585e-05,-0.000123401107404,1.75887475028e-05,1793237761575773184
+47,0.783333333,BASELINE,767,746,716,680,664.286355295,637,881.713644705,788,803,654,633,654,0.401048104877,0.00448806248081,0.0698707738075,0.999999992115,1.78505223117e-05,-0.000123053979592,1.75522253239e-05,1793237761592440064
+48,0.800000000,BASELINE,767,746,716,680,664.863952951,637,881.136047049,788,803,654,633,654,0.401048530592,0.0044873415151,0.0698714217476,0.999999992225,1.71544524345e-05,-0.000122246360496,1.76731055115e-05,1793237761609106688
+49,0.816666667,BASELINE,767,746.447741338,716,680,665,636.552258662,881.447741338,788,803,654,632.552258662,654,0.401048307088,0.00448743081358,0.0698711630569,0.999999992166,1.72626582343e-05,-0.000122700727963,1.77406872627e-05,1793237761625773568
+50,0.833333333,BASELINE,767,746.966958702,716,680,665,636.033041298,882,788,803,654,632,654,0.4010478545,0.00448784019123,0.0698706465843,0.999999992056,1.77226676317e-05,-0.000123521235783,1.77757633538e-05,1793237761642440192
+51,0.850000000,BASELINE,767,746.388196367,716,680,665,636.611803633,882,788,803,654,632,654,0.401046922092,0.00448941276525,0.069870486235,0.999999991964,1.99003196713e-05,-0.000123966941428,1.75451945963e-05,1793237761659107072
+52,0.866666667,BASELINE,767.190428099,746,716,680,665,636.809571901,881.809571901,788,803.190428099,654,632,654,0.401046559836,0.00449001582467,0.0698704096674,0.999999991923,2.10909538883e-05,-0.000124112286913,1.74551014731e-05,1793237761675773952
+53,0.883333333,BASELINE,767.76877168,746,716,680,665,636.23122832,881.23122832,788,803.76877168,654,632,654,0.40104735902,0.00448864391426,0.0698705037695,0.999999991995,2.02709629805e-05,-0.00012364577752,1.76511671492e-05,1793237761692440576
+54,0.900000000,BASELINE,767.654505957,746,716,680,664.654505957,636.345494043,881,788.345494043,803.654505957,654,632,654,0.401046720164,0.00448796193628,0.0698699797923,0.999999991848,2.04770060483e-05,-0.000124770890813,1.7805761257e-05,1793237761709106944
+55,0.916666667,BASELINE,767.07886358,746,716,680,664.07886358,636.92113642,881,788.92113642,803.07886358,654,632,654,0.401045123368,0.0044877395518,0.069869044086,0.999999991552,2.13665341895e-05,-0.000126956251953,1.79327293745e-05,1793237761725773312
+56,0.933333333,BASELINE,767,746.507762241,716,680,664.507762241,637,881,789,803,654,632.507762241,654.507762241,0.401045683998,0.00448811811795,0.0698699919412,0.999999991732,2.10034665616e-05,-0.000125611142675,1.78033049478e-05,1793237761742439936
+57,0.950000000,BASELINE,767,746.905367932,716,680,665,637,881,788.905367932,803,654,632.905367932,654.905367932,0.401046447151,0.00448830824797,0.0698709789667,0.999999991949,2.03575229183e-05,-0.000123998351092,1.76883356311e-05,1793237761759106304
+58,0.966666667,BASELINE,767,746.326177013,716,680,665,637,881,788.326177013,803,654,632.326177013,654.326177013,0.401046493598,0.00448704500446,0.0698706354691,0.999999991981,1.92813255338e-05,-0.000123884723168,1.78557971225e-05,1793237761775773440
+59,0.983333333,BASELINE,767,746.251422226,716,680,665,637,881,788,803.251422226,654.251422226,632,654.251422226,0.401047110047,0.00448697333544,0.0698709320255,0.999999992059,1.93200941019e-05,-0.000123236129558,1.793995907e-05,1793237761792440320
+60,1.000000000,BASELINE,767,746.826969604,716,680,665,637,881,788,803.826969604,654.826969604,632,654.826969604,0.401048461326,0.00448843780431,0.0698720537184,0.999999992194,2.0796239451e-05,-0.000121897876009,1.79167340458e-05,1793237761809107200
+61,1.016666667,BASELINE,767,746.596362357,716.403637643,680,665,637,881,788.403637643,804,654.596362357,632.403637643,654.596362357,0.401048188296,0.00448851724456,0.0698717402845,0.999999992141,2.06589693204e-05,-0.000122387539603,1.76679480699e-05,1793237761825773568
+62,1.033333333,BASELINE,767,746.019212612,716.980787388,680,665,637,881,788.980787388,804,654.019212612,632.980787388,654.019212612,0.401047217024,0.00448800130113,0.0698708099312,0.999999992007,1.98281386389e-05,-0.000123662971776,1.73221999924e-05,1793237761842440448
+63,1.050000000,BASELINE,767,746,716.429810635,680,665,637,881,789,803.429810635,654,632.429810635,654,0.401045480453,0.00448764152524,0.0698697019764,0.999999991819,1.8663557573e-05,-0.000125340525598,1.74078191045e-05,1793237761859106816
+64,1.066666667,BASELINE,767,746,716,680,665,636.842950865,881,789,803,654,632,654,0.401044743023,0.00448740058188,0.0698693173921,0.999999991745,1.82319426766e-05,-0.000125979276888,1.75372276745e-05,1793237761875773440
+65,1.083333333,BASELINE,767,746,716,680,665,636.264053012,881,789,803,654,632,654,0.401046760164,0.00448746438903,0.0698708922765,0.999999991985,1.98000143006e-05,-0.000123790512398,1.77443591514e-05,1793237761892440064
+66,1.100000000,BASELINE,767,746,716,680,665,636.312084247,880.687915753,789,803,654,632,654,0.401047627596,0.00448715384877,0.0698713925079,0.999999992107,1.93583068809e-05,-0.000122840401062,1.79046108383e-05,1793237761909106688
+67,1.116666667,BASELINE,767,746,716,680,665,636.885906231,880.114093769,789,803,654,632,654,0.401047530794,0.00448652935212,0.069870991453,0.999999992133,1.72310448363e-05,-0.000122929119183,1.80255455347e-05,1793237761925773312
+68,1.133333333,BASELINE,767,746,716,680,665,636.528240903,880.471759097,789,803,654,632,654,0.401047600209,0.00448642790325,0.0698712230908,0.999999992152,1.75575360612e-05,-0.000122738084169,1.79837180901e-05,1793237761942440192
+69,1.150000000,BASELINE,767,746,716,680,665,636.059625939,881,789,803,654,632,654,0.401047669371,0.00448656053435,0.0698715773065,0.999999992166,1.85171425389e-05,-0.000122495083888,1.78854452799e-05,1793237761959107072
+70,1.166666667,BASELINE,767,746,716,680,665,636.639021005,881,789,803,654,632,654,0.401047376732,0.00448760211962,0.0698716312892,0.999999992159,1.96872783744e-05,-0.000122404310797,1.76472479367e-05,1793237761975773696
+71,1.183333333,BASELINE,767,746.217513555,716,680.217513555,665,637,881.435027111,789,803.217513555,654,632,654,0.401046796682,0.00448798126799,0.0698712836789,0.999999992106,1.92019552022e-05,-0.000122948668367,1.73950848078e-05,1793237761992440320
+72,1.200000000,BASELINE,767,746.794514597,716,680.794514597,665,637,882.589029193,789,803.794514597,654,632,654,0.401045741623,0.00448726559841,0.0698702723508,0.99999999197,1.59806335518e-05,-0.00012454271464,1.71198402047e-05,1793237762009106688
+73,1.216666667,BASELINE,767,746.630102206,716,680.630102206,665,637,882.260204413,788.630102206,804,654,632.369897794,654,0.401046118941,0.00448736443898,0.0698707704159,0.999999992024,1.61491435075e-05,-0.000124071814718,1.72696345545e-05,1793237762025773312
+74,1.233333333,BASELINE,767,746.055613874,716,680.055613874,665,637,881.111227748,788.055613874,804,654,632.944386126,654,0.401047288508,0.00448791378532,0.0698721033268,0.999999992181,1.81925701515e-05,-0.000122458792575,1.7654518045e-05,1793237762042439936
+75,1.250000000,BASELINE,767,746,716,680,665,637,881,788.533279441,803.466720559,654,632.466720559,654,0.401048110186,0.00448843970044,0.069872022361,0.999999992208,1.92557066218e-05,-0.000122073138872,1.76675006842e-05,1793237762059106560
+76,1.266666667,BASELINE,767,746,716,680,664.878688452,636.878688452,881,789,803,654,632.121311548,654,0.401048369979,0.00448845641573,0.0698716360861,0.999999992175,1.94617562359e-05,-0.000122308077398,1.76511474079e-05,1793237762075773184
+77,1.283333333,BASELINE,767,746,716,680,664.299729808,636.299729808,881,789,803,654,632.700270192,654,0.401046650733,0.00448656165184,0.0698706697251,0.999999991966,1.68308237496e-05,-0.000124387919168,1.76744998939e-05,1793237762092440320
+78,1.300000000,BASELINE,767,746.277181226,716,680.277181226,664.277181226,636.277181226,881,788.722818774,803,654,633,654,0.401046465011,0.00448590221567,0.0698708617573,0.999999991988,1.56619401949e-05,-0.000124370777743,1.76408777931e-05,1793237762109107200
+79,1.316666667,BASELINE,767,746.851894277,716,680.851894277,664.851894277,636.851894277,881,788.148105723,803,654,633,654,0.401047925404,0.00448656880491,0.0698722972319,0.999999992263,1.60624491351e-05,-0.000122102692826,1.75460980393e-05,1793237762125773568
+80,1.333333333,BASELINE,767,746.573109545,716,680.573109545,665,637,881.426890455,788.426890455,803,654,632.573109545,654,0.401047667136,0.00448821382995,0.0698716845726,0.999999992155,1.78456103932e-05,-0.000122749378295,1.74625815621e-05,1793237762142439936
+81,1.350000000,BASELINE,767,746.002045705,716,680,665,637,881.99590859,788.997954295,803,654,632,654.002045705,0.401046817085,0.00449018750065,0.0698703680517,0.999999991909,2.00987101247e-05,-0.000124398584653,1.7383982793e-05,1793237762159106560
+82,1.366666667,BASELINE,767,746.594735647,716,680,665,637,880.810528705,788.405264353,803,654,632,654.594735647,0.401047377656,0.00448897391715,0.0698711278095,0.999999992051,1.94418771232e-05,-0.000123332861219,1.75962536076e-05,1793237762175773184
+83,1.383333333,BASELINE,767,746.817411223,716,680,665,636.817411223,880.182588777,788,803,654,632,654.817411223,0.401047790157,0.00448843726192,0.0698716679918,0.99999999214,1.98224208156e-05,-0.000122524421393,1.77663592635e-05,1793237762192439808
+84,1.400000000,BASELINE,767,746.24001647,716,680,665,636.24001647,880.75998353,788,803,654,632,654.24001647,0.401047882492,0.00448936430718,0.0698717333933,0.999999992114,2.24460514181e-05,-0.00012227229763,1.78452925613e-05,1793237762209106944
+85,1.416666667,BASELINE,767.335559885,746,716,680,665,636,881,788,803,654,632,654,0.401048349947,0.00448964412599,0.0698720004866,0.999999992133,2.21961314992e-05,-0.000122185793405,1.76887659586e-05,1793237762225773568
+86,1.433333333,BASELINE,767.909842566,746,716,680,665,636,881,788,803,654,632,654,0.40104908427,0.00448946349725,0.0698724110669,0.999999992183,1.99019205333e-05,-0.000122217113646,1.73647293226e-05,1793237762242440448
+87,1.450000000,BASELINE,767.504613744,746.495386256,716,680,665,636,881.495386256,788,803,654,632,654.495386256,0.401047654715,0.00448851338118,0.0698719772268,0.999999992034,2.00471010138e-05,-0.000123368999312,1.76390404546e-05,1793237762259107072
+88,1.466666667,BASELINE,767,746.918129683,716,680,665,636,881.918129683,788.081870317,803,654,632,654.918129683,0.401046204666,0.00448784574747,0.0698714972187,0.999999991886,2.09539678313e-05,-0.000124364838631,1.7931807704e-05,1793237762275773696
+89,1.483333333,BASELINE,767,746.338675932,716,680,665,636,881.338675932,788.661324068,803,654,632,654.338675932,0.401047079219,0.0044897658905,0.0698716923604,0.99999999198,2.37291481794e-05,-0.000123143979119,1.76595145924e-05,1793237762292440320
+90,1.500000000,BASELINE,767,746,716,680,665,636,881.239952,788.760048,803.239952,654,632,654.239952,0.401047406033,0.00448973246848,0.0698716626874,0.999999992042,2.38611526856e-05,-0.000122613252432,1.76814659727e-05,1793237762309106688
+91,1.516666667,BASELINE,767,746,716,680,665,636,881.817418293,788.182581707,803.817418293,654,632,654.817418293,0.401046962403,0.0044869511795,0.0698713167921,0.999999992059,2.0275289944e-05,-0.00012305326038,1.81172989925e-05,1793237762325773312
+92,1.533333333,BASELINE,767,746,716,680,665,636,881.605735415,788.394264585,803.605735415,654,632,654.605735415,0.401047708277,0.00448655377315,0.0698715465024,0.999999992175,1.85833009878e-05,-0.000122383712581,1.81063687505e-05,1793237762342440192
+93,1.550000000,BASELINE,767,746,716,680,665,636,881.029175741,788.970824259,803.029175741,654,632,654.029175741,0.40104900414,0.00448725859617,0.0698720423539,0.999999992337,1.77669772043e-05,-0.000121201142421,1.78888697815e-05,1793237762359106816
+94,1.566666667,BASELINE,767,746.558116839,716,680,665,636.558116839,881,788.441883161,803,654,632.558116839,654,0.401047432712,0.00448835375137,0.0698711472427,0.999999992064,2.07508419003e-05,-0.000123016635784,1.75846416473e-05,1793237762375773696
+95,1.583333333,BASELINE,767,747,716,679.8561157,665,636.8561157,880.8561157,788,803,654,632.8561157,654,0.401046511279,0.00448906038911,0.0698706366282,0.999999991884,2.28167358382e-05,-0.000124127671281,1.74156318002e-05,1793237762392440576
+96,1.600000000,BASELINE,767,747,716,679.276696241,665,636.276696241,880.276696241,788,803,654,632.276696241,654,0.401048019977,0.00448852801598,0.0698715142949,0.999999992095,2.14908307148e-05,-0.000122622621198,1.76699179828e-05,1793237762409106944
+97,1.616666667,BASELINE,767.300408673,746.699591327,716,679.300408673,665,636,880.300408673,788,803.300408673,654,632,654,0.401048429172,0.00448824309684,0.0698717850876,0.999999992176,2.04841996672e-05,-0.00012212810654,1.76745076366e-05,1793237762425773568
+98,1.633333333,BASELINE,767.875398002,746.124601998,716,679.875398002,665,636,880.875398002,788,803.875398002,654,632,654,0.401047833393,0.00448818435653,0.069871501183,0.999999992142,1.97693927825e-05,-0.000122557245336,1.74508687216e-05,1793237762442440192
+99,1.650000000,BASELINE,767.540238112,746,716,680.459761888,665,636,881,788,804,654,632,654,0.401048198952,0.00448853273036,0.0698718921838,0.999999992192,2.08098585142e-05,-0.000121970200375,1.74759274985e-05,1793237762459106816
+100,1.666666667,BASELINE,767,746,716,680.90773367,664.953866835,636,881,788,804,653.953866835,632,654,0.401048685052,0.00448891127297,0.0698724060681,0.999999992246,2.2082809467e-05,-0.000121289481917,1.75687220102e-05,1793237762475773440
+101,1.683333333,BASELINE,767,746,716,679.748546353,664.374273176,636,881,788,804,653.374273176,632,654,0.401047489621,0.00448833627316,0.0698721818236,0.999999992099,2.04288085473e-05,-0.00012277644434,1.76491693221e-05,1793237762492440064
+102,1.700000000,BASELINE,767,746,716,679.20417998,664.20417998,636.20417998,881,788,803.79582002,653.20417998,632,654,0.401047045616,0.00448825443775,0.0698721890614,0.999999992049,1.99345360048e-05,-0.000123263014464,1.76565759409e-05,1793237762509106944
+103,1.716666667,BASELINE,767,746,716,679.780554083,664.780554083,636.780554083,881,788,803.219445917,653.780554083,632,654,0.401047971363,0.00448907157835,0.0698726182622,0.999999992181,2.15543009051e-05,-0.000121925996559,1.75308386615e-05,1793237762525773824
+104,1.733333333,BASELINE,767,746,716,680,665,636.646072709,881,788.353927291,803,654,632.353927291,654,0.401047931865,0.00448833342101,0.0698722938796,0.999999992184,2.09318150544e-05,-0.000122029097496,1.73940715489e-05,1793237762542440704
+105,1.750000000,BASELINE,767,746,716,680,665,636.074544452,881,788.925455548,803,654,632.925455548,654,0.401047298916,0.00448663903814,0.0698715061801,0.999999992105,1.8930752619e-05,-0.000123017609687,1.72505230813e-05,1793237762559107072
+106,1.766666667,BASELINE,767,746.517084666,716,680,664.482915334,636,881.517084666,789,803,654,632.482915334,654,0.401048513708,0.00448707269267,0.0698724455578,0.999999992287,1.88260269785e-05,-0.000121559034302,1.72021395389e-05,1793237762575773184
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880,788,803,654,632,654,0.401046070933,0.00448797963833,0.069870673377,0.99999999193,1.95963133702e-05,-0.000124283430108,1.7585551832e-05,1793237762618307072
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.412765356,664.412765356,636.412765356,881.174469288,788,803,654,632.587234644,654,0.401046589936,0.00448751968246,0.0698708463751,0.999999991938,2.07825601275e-05,-0.000123989209265,1.783385101e-05,1793237762634973696
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664.172175344,636.172175344,881.827824656,788,803,654,632.827824656,654,0.401047177399,0.00448739424205,0.0698711764977,0.999999991992,2.12922213548e-05,-0.000123468463156,1.78388026253e-05,1793237762651640320
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664.751689071,636.751689071,881.248310929,788,803,654,632.248310929,654,0.401047926825,0.00448806020981,0.0698718783508,0.999999992155,2.0201193384e-05,-0.000122411795685,1.72680342144e-05,1793237762668306688
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.331157925,716,679.331157925,665,637,881.331157925,788.331157925,803,654,632.331157925,654,0.401048217882,0.00448734248018,0.0698723480023,0.999999992229,1.75730453142e-05,-0.000122219371924,1.72112257055e-05,1793237762684973312
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.910593102,716,679.910593102,665,637,881.910593102,788.910593102,803,654,632.910593102,654,0.401048165289,0.00448558735852,0.0698726435664,0.999999992226,1.37924805147e-05,-0.000122674893019,1.75397456275e-05,1793237762701640192
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.512229746,716,680,665,637,881.512229746,788.512229746,803,654,632.512229746,654,0.401047804193,0.0044863459311,0.0698726082414,0.999999992167,1.53145250445e-05,-0.00012297924158,1.7540841939e-05,1793237762718306816
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.063985393,716,680,665,637,881,788.063985393,803,654,632,654,0.401047538015,0.00448741282167,0.0698725821054,0.999999992092,1.76786761796e-05,-0.000123274094145,1.75255537361e-05,1793237762734973440
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.635834842,716,680,665,637,881,788.635834842,803,654,632,654,0.401048471972,0.00448728665865,0.0698731080836,0.999999992007,1.90477591345e-05,-0.000123712497235,1.78543803159e-05,1793237762751640064
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664.784356312,636.784356312,881.215643688,788.784356312,803,654,632,654,0.401050666102,0.00448713167818,0.0698740989674,0.999999991783,1.9521010026e-05,-0.000125395749608,1.81469244098e-05,1793237762768306688
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,747,716,680,664.190591082,636.190591082,881.809408918,788.190591082,803,654,632,654,0.401055069888,0.00448692616762,0.0698759050425,0.999999991307,1.84234593952e-05,-0.000129261789366,1.8375848756e-05,1793237762784973312
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,747,716,680,664.392467811,636.392467811,881.607532189,788.392467811,803,654,632,654.392467811,0.401071410415,0.00448617713368,0.0698842494192,0.999999992022,1.70275820002e-05,-0.000123772739859,1.86276987005e-05,1793237762801639936
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664.970465586,636.970465586,881.029534414,788.970465586,803,654,632,654.970465586,0.401093393758,0.00448517116178,0.0698956846251,0.999999993219,1.54906775168e-05,-0.00011386129136,1.88903862033e-05,1793237762818306816
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881.547502148,789,803,654,632,654.452497852,0.401132767601,0.00448597204662,0.0699102893582,0.999999994864,1.71984399177e-05,-9.79898894569e-05,1.93458022098e-05,1793237762834973440
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,747,716,679.873252603,665,637,881.873252603,789.126747397,803.126747397,654,632.126747397,654,0.401177161245,0.00448678935221,0.0699248274159,0.999999996326,1.87299350206e-05,-8.13053366878e-05,1.96420961033e-05,1793237762851640064
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,747,716,679.285790688,665,637,881.285790688,789.714209312,803.714209312,654,632.714209312,654,0.401236397417,0.00448731267658,0.0699385027247,0.999999997659,1.8985613758e-05,-6.28316399629e-05,1.93222725024e-05,1793237762868306688
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.297326522,747,716.297326522,679.594653044,665,637,881.297326522,789.702673478,803.702673478,654.297326522,632.702673478,654,0.401297876851,0.00448770373617,0.0699464906655,0.99999999828,1.83004213378e-05,-5.25547915469e-05,1.85050283195e-05,1793237762884973056
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.876327705,747,716.876327705,680.75265541,665,637,881.876327705,789.123672295,803.123672295,654.876327705,632.123672295,654,0.401361481452,0.00448796949363,0.0699490906317,0.99999999846,1.67238870846e-05,-5.0043294104e-05,1.72165487908e-05,1793237762901639424
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746.54616754,716.54616754,680.54616754,665,637,881.54616754,788.54616754,803.45383246,654.54616754,632.45383246,654,0.401437968027,0.00448712386378,0.0699484517011,0.999999998427,1.30495476185e-05,-5.22362612677e-05,1.5705734452e-05,1793237762918306304
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.969208954,746,716,680,665,636.969208954,881.030791046,788,804,654,632.969208954,654,0.401518650479,0.00448613643812,0.069946753976,0.999999998291,9.05265537506e-06,-5.60101868223e-05,1.40935126233e-05,1793237762934972928
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.394717433,746,716,680,665,636.394717433,881.605282567,788,804,654,632.394717433,654,0.401611640282,0.00448797547211,0.0699418941932,0.999999997765,9.42135759576e-06,-6.51374907984e-05,1.17569886104e-05,1793237762951640064
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.183658958,881.816341042,788,804,654,632,654,0.401714723281,0.00448911280526,0.0699392997111,0.999999997359,8.43480655611e-06,-7.15740007304e-05,9.42229684999e-06,1793237762968306688
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.770565012,881.229434988,788,804,654,632,654,0.401839967192,0.00448870946282,0.0699416789916,0.999999997365,4.47262092411e-06,-7.21025216816e-05,7.09162834734e-06,1793237762984973312
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.355236956,716,680,664.644763044,636.644763044,881,788,804,654,632,654,0.401981548771,0.00448959914387,0.0699440363354,0.999999997564,1.4482454413e-06,-6.96727427785e-05,4.04102293733e-06,1793237763001639936
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.938475044,716,680,664.061524956,636.061524956,881,788,804,654,632,654,0.402133616341,0.00449131872395,0.0699463795996,0.999999997864,-9.74217337531e-07,-6.53442433582e-05,5.28341415888e-07,1793237763018306560
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.486235132,716.513764868,680,664.513764868,636.513764868,881,788.513764868,804,654,632,654,0.402307809695,0.00448961699168,0.0699492942636,0.999999997996,-8.18235189359e-06,-6.27194993096e-05,-2.69669514218e-06,1793237763034972928
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.08828928,717,680,665,637,881,789,804,654,632.08828928,654.08828928,0.402487680333,0.00448832748783,0.0699515018498,0.999999997987,-1.48255275339e-05,-6.13906346853e-05,-6.16438483132e-06,1793237763051639552
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.663762552,717,680,665,637,881,789,804,654,632.663762552,654.663762552,0.402684480499,0.0044915390468,0.0699494359217,0.999999997637,-1.52370318735e-05,-6.61037924305e-05,-1.11582268581e-05,1793237763068306432
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,747,716.755391995,680,665,637,881,789,803.755391995,654,632.755391995,654.755391995,0.402900743957,0.00449271991219,0.0699503314353,0.999999997592,-1.90016132169e-05,-6.4813262535e-05,-1.59538419286e-05,1793237763084973312
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,747,716.166996168,680,665,637,881,789,803.166996168,654,632.166996168,654.166996168,0.403144362367,0.00449104671004,0.0699553891497,0.999999997896,-2.74788245936e-05,-5.50847636398e-05,-2.04708557853e-05,1793237763101640704
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881.416533553,788.583466447,803.416533553,654,632.416533553,654.416533553,0.403415293527,0.00449316227737,0.0699647048602,0.999999998541,-2.71183328988e-05,-3.98740116227e-05,-2.43249527632e-05,1793237763118307328
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881.998134874,788.001865126,803.998134874,654,632.998134874,654.998134874,0.403697048431,0.00449677929338,0.0699757079688,0.999999999087,-2.32555542768e-05,-2.24907018516e-05,-2.79163427951e-05,1793237763134973952
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.427478941,716,680,665,636.427478941,881.427478941,788,803.427478941,654,632.427478941,654.427478941,0.403989861302,0.00449866478048,0.0699760548634,0.999999999223,-1.37982534006e-05,-2.34517202178e-05,-2.85148850875e-05,1793237763151640320
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.14994923,788,803,654,632.14994923,654,0.404289683896,0.00450032906812,0.0699759993218,0.999999999253,-4.46442090223e-06,-2.5082577525e-05,-2.90741296702e-05,1793237763168306688
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.736297997,788,803,654,632.736297997,654,0.404609803403,0.00450136580767,0.0699748723388,0.999999999148,4.45769619148e-06,-2.8491118155e-05,-2.95470276364e-05,1793237763184973312
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.681252279,746.318747721,716,680.318747721,665,636.318747721,881.681252279,788,803.318747721,654,632.681252279,654,0.404963156915,0.00450190490275,0.0699778449939,0.999999999233,8.0567874006e-06,-2.39020580579e-05,-2.99668983435e-05,1793237763201639680
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.101989213,746.898010787,716,680.898010787,665,636.898010787,881.101989213,788,803.898010787,654,632.101989213,654,0.405343672908,0.0045020372687,0.0699841683196,0.999999999431,7.30532322925e-06,-1.27764881952e-05,-3.03434294507e-05,1793237763218306304
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.476225377,747,716,680.523774623,665,637,881,788,803.523774623,653.523774623,632,654,0.405740858812,0.00450474649915,0.0699880586056,0.999999999476,7.82078018652e-06,-3.43459264621e-06,-3.12285702337e-05,1793237763234973184
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.946060487,716.053939513,680,665,637,881,788,803,653.053939513,632.053939513,654,0.406141607116,0.00450792199627,0.0699895209404,0.999999999438,9.32287819038e-06,1.79262513692e-06,-3.2155314895e-05,1793237763251640064
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.371016289,716.628983711,680,665,637,881,788,803,653.628983711,632.628983711,654,0.406542357492,0.00451028224489,0.0699725499552,0.999999998895,1.77413289187e-05,-2.90493678648e-05,-3.24339917515e-05,1793237763268307456
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.208957655,716.791042345,680,665,636.791042345,881.208957655,788,803,654,632.791042345,654,0.406960357851,0.0045132414841,0.069958387661,0.999999997807,2.58278955597e-05,-5.12608892913e-05,-3.30440008031e-05,1793237763284974592
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.797896104,716.202103896,680,665,636.202103896,881.797896104,788,803,654,632.202103896,654,0.407409726561,0.00451728996261,0.0699493328554,0.999999997189,3.33109443311e-05,-5.77782557686e-05,-3.42565236841e-05,1793237763301640704
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,747,716.380329946,680,665,636.380329946,881.619670054,788,803.380329946,653.619670054,632,654,0.407915681826,0.00452243910512,0.0699536395532,0.999999997543,4.02148492994e-05,-4.49290765367e-05,-3.57449740056e-05,1793237763318307072
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,747,716.9593654,680,665,636.9593654,881.0406346,788,803.9593654,653.0406346,632,654,0.408451201039,0.00452816329557,0.0699649270434,0.999999997964,4.6816177095e-05,-2.19617369117e-05,-3.73775841088e-05,1793237763334973696
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.4680353,716.4680353,680,665,637,881,788,803.4680353,653.5319647,632,654,0.408992394758,0.00453417626439,0.0699747214412,0.999999997948,5.0822146779e-05,-3.35829030424e-06,-3.88646506457e-05,1793237763351640320
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.103508866,716,680,665,636.896491134,881,788,803.103508866,654,632,654.103508866,0.40953206182,0.00454025880129,0.06998124521,0.999999997652,5.48097623958e-05,9.26796380935e-06,-4.00693570516e-05,1793237763368307200
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.672492386,716,680,665,636.327507614,881,788,803.672492386,654,632,654.672492386,0.410062937502,0.0045465561702,0.0699735678586,0.999999997416,5.95956978112e-05,-3.50385516474e-06,-4.00536995556e-05,1793237763384973824
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.744453175,716,680,665,636,881,788.255546825,804,654,632,654.744453175,0.4106146375,0.00455229043683,0.0699671411479,0.999999996892,6.61573755156e-05,-1.44295730842e-05,-4.03782719514e-05,1793237763401640448
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.142314625,716,680,665,636,881,788.857685375,804,654,632,654.142314625,0.411194581068,0.00455726098291,0.0699624106489,0.99999999607,7.51274484655e-05,-2.28514724232e-05,-4.11642895856e-05,1793237763418306560
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.559627626,746,716,680,665,636.440372374,881,788.559627626,804,654,632,654,0.411836767209,0.004563327443,0.0699772734428,0.999999995726,8.19656593672e-05,3.54725788226e-06,-4.26378272542e-05,1793237763434973184
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.017024395,746,716,680,665.017024395,636.982975605,881,788,804,654,632,654,0.412498549905,0.00456973523063,0.0699983727088,0.999999994294,8.82581035064e-05,4.07937400466e-05,-4.42528124216e-05,1793237763451640064
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.593192849,746,716,680,665.593192849,636.406807151,881,788,804,654,632,654,0.413171257652,0.00457621345633,0.0700251337931,0.999999990992,9.82960736612e-05,8.03667368758e-05,-4.35247781403e-05,1793237763468306432
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.826715764,636,881,788,804,653.826715764,632.173284236,654,0.413832714604,0.00458197532739,0.0700417316539,0.999999987911,0.000107053952581,0.000104130223639,-4.32912570878e-05,1793237763484973056
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.237201497,636,881,788,804,653.237201497,632.762798503,654,0.414467147019,0.00458601650887,0.0700339173741,0.999999988624,0.000112737042495,8.99191467943e-05,-4.42455606976e-05,1793237763501639680
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.346029232,716,680,665,636.346029232,881,788.346029232,804,653.346029232,632.653970768,654,0.415100387334,0.00459147335685,0.0700023100398,0.999999991227,0.000119928727839,3.29570403946e-05,-4.55787544574e-05,1793237763518306048
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.925029424,716,680,665,636.925029424,881,788.925029424,804,653.925029424,632.074970576,654,0.415732825018,0.00459788332988,0.0699546835656,0.999999989285,0.000128136103686,-5.2788033786e-05,-4.71670431302e-05,1793237763534972928
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.501404294,716,680,665,636.501404294,881,789,804,653.501404294,632,654,0.416449823466,0.00459955476144,0.0699422002337,0.999999988365,0.000127041506796,-6.92029412394e-05,-4.83862733395e-05,1793237763551639808
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.071815551,636.071815551,881,788.928184449,804.071815551,653,632,654.071815551,0.417183424909,0.00460038041242,0.0699399171386,0.99999998866,0.000124967240723,-6.79535278709e-05,-4.94588654372e-05,1793237763568306688
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.648280301,636.648280301,881,788.351719699,804.648280301,653,632,654.648280301,0.417945311323,0.00460021554465,0.0699725791384,0.999999990738,0.000125731388787,-1.50415749612e-05,-4.98867736462e-05,1793237763584973312
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788,804.768633048,653,632.231366952,654.768633048,0.418697154105,0.00459775811659,0.0699963377661,0.999999991039,0.000122105634475,2.17547771723e-05,-5.03793295166e-05,1793237763601640192
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788,804.175183218,653,632.824816782,654.175183218,0.419433278996,0.00459171289505,0.0700061628676,0.999999991917,0.00011160980492,3.33306679861e-05,-5.09730574224e-05,1793237763618306560
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.407783236,716,680,665.592216764,636.592216764,881.407783236,788.407783236,804,653,632.592216764,654.407783236,0.420200621673,0.00458786524458,0.0700174791607,0.999999992042,0.000103096412684,5.10520372127e-05,-5.17758149291e-05,1793237763634973184
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.986358887,716,680,665.013641113,636.013641113,881.986358887,788.986358887,804,653,632.013641113,654.986358887,0.420981039294,0.00458493800619,0.070029420011,0.999999991516,9.54133279962e-05,7.13473249178e-05,-5.26661205384e-05,1793237763651639808
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716,680.523267868,665.523267868,636.523267868,882,789,804,653,632,655,0.42173316525,0.00458882462475,0.0700189102949,0.999999992159,0.000100774951987,5.18097368793e-05,-5.3315520571e-05,1793237763668306176
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,747,716.070233665,681,666,637,882,789,804,653,632.070233665,654.929766335,0.422480537211,0.00459275323553,0.0700042353677,0.999999992526,0.000106701842906,2.54809327625e-05,-5.39723891268e-05,1793237763684972800
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,747,716.706332087,681,666,637,882,789,804,653,632.706332087,654.293667913,0.423195110728,0.00459569457423,0.0699603694382,0.999999990787,0.000114645249157,-4.78146683254e-05,-5.47362975831e-05,1793237763701639680
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,717,680.688197427,665.688197427,637,881.688197427,788.688197427,804,653,632.688197427,654,0.423919545153,0.00459810631075,0.0699157587912,0.99999998466,0.000117567762576,-0.000116761031238,-5.67850874654e-05,1793237763718306560
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,717,680.108993445,665.108993445,637,881.108993445,788.108993445,804,653,632.108993445,654,0.42465243624,0.0046000638611,0.0698705094779,0.999999974897,0.000116184365567,-0.000181977490207,-5.99357896597e-05,1793237763734973184
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.532442773,747,716.532442773,680.467557227,665.467557227,636.532442773,881.467557227,788,804,653,632,654,0.425478414957,0.00460106172241,0.0699081182949,0.999999984857,0.000110552714428,-0.000119532704263,-6.14472218172e-05,1793237763751640064
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.043381592,746.956618408,716,680.956618408,666,636.043381592,882,788,804,653,632.043381592,654,0.426324396757,0.00460191372653,0.0699635789664,0.999999992076,0.000105099922266,-3.04569390029e-05,-6.22378722961e-05,1793237763768306432
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.617843188,746.382156812,716,680.382156812,666,636.617843188,882,788,804,653,632.617843188,654,0.427151104365,0.00460370342238,0.0700024586872,0.999999991532,0.000113891906922,2.23757686132e-05,-5.88563888657e-05,1793237763784973056
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.197037283,666,636.802962717,881.802962717,788,804.197037283,653,632.802962717,654,0.427955842402,0.00460480869089,0.0700301019995,0.999999989356,0.00012092416631,5.87140269113e-05,-5.67187723624e-05,1793237763801639936
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.785636121,666,636.214363879,881.214363879,788,804.785636121,653,632.214363879,654,0.428716921644,0.00460455383419,0.0700354158108,0.999999988688,0.000124459420799,6.22737661571e-05,-5.70530251231e-05,1793237763818306560
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.370169995,716,681,666,636,881.370169995,788,804.629830005,653,632,654,0.429482646569,0.00460361002387,0.0700341606736,0.999999988682,0.000122967393519,6.40706550406e-05,-5.83931171445e-05,1793237763834973184
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.952375398,716,681,666,636,881.952375398,788,804.047624602,653,632,654,0.430251032521,0.00460227157713,0.0700291428062,0.999999989046,0.000118595711379,6.48577733269e-05,-6.03093594054e-05,1793237763851639808
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.472698002,747,716,681,666,636.527301998,882,788.527301998,804,653,632,654,0.430953018515,0.00460190694781,0.06999334186,0.999999991177,0.000118466202002,1.22962381347e-06,-6.00828039771e-05,1793237763868306432
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.101371824,747,716,681,666,636.898628176,882,789,804,653,632.101371824,654,0.431651898388,0.00460153412498,0.0699552444755,0.999999989035,0.000118251496599,-6.5972596071e-05,-5.99534242027e-05,1793237763884973312
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.674472214,747,716,681,666,636.325527786,882,789,804,653,632.674472214,654,0.432363851174,0.00460071946319,0.0699192223301,0.999999983838,0.000115881680427,-0.000123102233085,-6.11645769129e-05,1793237763901639680
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,681,666,636,882,788.744083448,804,653,632.744083448,654,0.433109122864,0.00459954189986,0.0699227392818,0.999999985489,0.000111900002937,-0.000112559468014,-6.19002091141e-05,1793237763918306304
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,636,882,788.151667884,804,653,632.151667884,654,0.433898204787,0.00459788716539,0.0699782453202,0.999999992396,0.000105798924427,-1.30357535022e-05,-6.2010589589e-05,1793237763934973184
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.56872734,746.56872734,716,681,666,636.43127266,882,788,804,653,632,654,0.434646519488,0.004597407664,0.0700191392149,0.999999991438,0.000103308517319,5.14738293157e-05,-6.16525102339e-05,1793237763951640576
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.334392883,716,681,666,637,881.334392883,788,804,653,632,654,0.438002462602,0.00459290272102,0.069982833592,0.99999999292,9.99033413506e-05,1.49666671825e-05,-6.28859564723e-05,1793237764034973696
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.914021635,716,681,666,637,881.914021635,788,804,653,632,654,0.438629833068,0.00459268296115,0.0699661871777,0.999999992927,0.000100353716592,-5.90305377501e-07,-6.38357392146e-05,1793237764051639808
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.640743763,746.359256237,716,682,666,636,882,788,804,653,633,654,0.440345004551,0.00459353014333,0.0699136617781,0.999999989605,9.37287621244e-05,-8.9000721815e-05,-6.39047186154e-05,1793237764101640192
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.221696257,716,682.221696257,666,636,882,788,804,653,633,654,0.440946870985,0.00459204804315,0.0699359005266,0.999999992505,9.073022197e-05,-5.18103440637e-05,-6.38181779628e-05,1793237764118306816
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+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.601547359,716,682.601547359,666,636,882.398452641,788.398452641,804,653,633,654,0.442113370002,0.0045896479403,0.0700153248554,0.999999992249,8.46025129828e-05,6.59381994011e-05,-6.32157138823e-05,1793237764151639808
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.253714727,715.746285273,683,659,635,881.253714727,788,804.253714727,653,632.253714727,654,0.449565328325,0.00461217632527,0.0697935255013,0.999999941596,0.000126369097803,-0.000312941817725,-5.39064458316e-05,1793237764951639808
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.833004007,715.166995993,683,659,635,881.833004007,788,804.833004007,653,632.833004007,654,0.449565337954,0.00461265757064,0.0697924978911,0.999999941305,0.000125478975932,-0.000314190628126,-5.4120561826e-05,1793237764968306432
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766.013091229,746.013091229,715,683,659,634.013091229,882,787.013091229,804.013091229,653,633,654,0.44956561926,0.00461357322496,0.0697921069771,0.999999940587,0.000128578457499,-0.000315255325005,-5.39235080758e-05,1793237765001639936
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.561423733,682.438576267,659,634,882,787.561423733,804.561423733,653,633,654,0.449564873796,0.00461405577554,0.0697911668198,0.999999940184,0.000128327920757,-0.000316568743683,-5.42944205065e-05,1793237765018306816
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766.730779326,746,715.269220674,682,659,634,882,788,804.269220674,653,632.269220674,654,0.449564158691,0.00461404334235,0.0697899987092,0.999999939743,0.000127784917871,-0.000318121468781,-5.46292744138e-05,1793237765051641088
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746,715.315291305,682.315291305,659,634,882,788,804.315291305,653,632,654,0.449563476777,0.00461337219908,0.0697895227325,0.99999993947,0.000127011321981,-0.000319309358556,-5.45016896982e-05,1793237765068307456
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,682.529226292,659,634.470773708,882.470773708,788,805,653,632,654,0.449563149383,0.00461232825904,0.0697892909703,0.999999939297,0.000127497951907,-0.000319759148804,-5.38994930736e-05,1793237765101639936
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682,659.046524706,635,882.953475294,788,804.953475294,653,632.046524706,654,0.449564257522,0.00461261078871,0.0697897641998,0.999999939601,0.000129678873476,-0.000317969315332,-5.36333726326e-05,1793237765118306816
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682,659.621966883,635,882.378033117,788,804.378033117,653,632.621966883,654,0.449563369751,0.00461459709785,0.0697893026304,0.999999939028,0.000130004773351,-0.000319506266175,-5.43905746831e-05,1793237765134973184
+259,4.316666667,HOLD_POSE2,766,747,716,683,658,635,882,788,804,653,633,654,0.449565286668,0.0046173782737,0.0697901770476,0.999999938997,0.000130563416908,-0.000319348480837,-5.45445822035e-05,1793237765174259968
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+262,4.366666667,HOLD_POSE2,766.265231808,746,715.734768192,683,659.265231808,634,882,788,804.734768192,653,632,654,0.449564097546,0.00461498816654,0.0697888563872,0.999999938692,0.000128936544582,-0.000321102739847,-5.37007308135e-05,1793237765224260352
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+266,4.433333333,HOLD_POSE2,766.937744955,746.937744955,715.062255045,682,659.937744955,634.062255045,882,788,804.062255045,653,632.062255045,654,0.449565255901,0.00461616961279,0.069788711882,0.999999938663,0.000128562955644,-0.00032121079894,-5.44993296898e-05,1793237765290926848
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+268,4.466666667,HOLD_POSE2,766.218154318,746.218154318,715.781845682,682,659,635,882,787.781845682,804.781845682,653,632.781845682,654,0.449562563052,0.00461748783147,0.0697862088891,0.99999993663,0.000132913420813,-0.00032575003387,-5.44100521553e-05,1793237765324260352
+269,4.483333333,HOLD_POSE2,766.79235809,746.79235809,715.20764191,682,659,635,882,787.20764191,804.20764191,653,632.20764191,654,0.449563361665,0.0046170626686,0.0697874380391,0.999999937416,0.000130620832342,-0.000324226118937,-5.46283387052e-05,1793237765340927232
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+271,4.516666667,HOLD_POSE2,767,747,715,682.964778549,659,635,882,787.964778549,804,653,632.964778549,654,0.449563999919,0.00461897039037,0.0697867450255,0.999999936955,0.000134057459482,-0.000324206655704,-5.48445213176e-05,1793237765374259712
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+275,4.583333333,HOLD_POSE2,766.724888198,746.724888198,716,683,659,634.275111802,882,788,804.275111802,653,632.275111802,654,0.449564286891,0.00462417562003,0.0697873687894,0.999999936299,0.000139350588859,-0.000323870885216,-5.55908269458e-05,1793237765440926208
+276,4.600000000,HOLD_POSE2,766.150007237,746.150007237,716,683,659,634.849992763,882,788,804.849992763,653,632.849992763,654,0.449563274369,0.00462632991355,0.0697868483926,0.99999993565,0.000142265881957,-0.000324497796272,-5.62297617347e-05,1793237765457593344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,716,683,659,634,883,787,804,653,632,654,0.449565094699,0.00462865559176,0.0697878935554,0.999999935975,0.00014190763448,-0.000323446216888,-5.73992981246e-05,1793237765490146560
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.576082042,746.576082042,716,683,659.576082042,634.576082042,882.423917958,787.576082042,804,653,632.576082042,654,0.44956384567,0.00463081728666,0.0697870006038,0.999999934838,0.000145361118639,-0.000325364597145,-5.77157976966e-05,1793237765506812928
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.928955491,746,715.928955491,682.071044509,659,635,882,787.071044509,804,653,632.071044509,654,0.448480790736,0.00463734761941,0.0696657394312,0.99999984624,0.000173319000457,-0.000524869077584,-4.46515354715e-05,1793237765890145536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746.508544028,716,682,659.508544028,635,882,787,804,653,632.508544028,654,0.448313162563,0.00463690769897,0.0696664436253,0.999999844646,0.00017710290977,-0.000526868689247,-4.18543563354e-05,1793237765906812160
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.337605151,746.337605151,716,682,660.662394849,634.337605151,882,787.662394849,804,653,633,654,0.44795083521,0.00463424483759,0.0696736017709,0.999999846945,0.000181700751326,-0.000521417546201,-3.49134854976e-05,1793237765940145408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.237134295,746.237134295,716,682.237134295,661,634.237134295,882,788,804.237134295,653,633,654,0.44774846219,0.00463324704422,0.0696768688532,0.999999847776,0.000184537485542,-0.000519069631303,-3.09924599529e-05,1793237765956812032
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.628608772,746,716,682,663,636,882.628608772,787.371391228,804.371391228,652.371391228,632.371391228,654,0.444339014782,0.00461304066142,0.0697329535702,0.999999889593,0.000189332425975,-0.000429971864755,9.51636707293e-06,1793237766140145664
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.638441463,716,682.638441463,664.638441463,636,882,788,804,653,633,654,0.443018088656,0.004604147356,0.0697675107908,0.999999917851,0.000160745328975,-0.000371836725108,1.39982218992e-05,1793237766190147328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.048489453,716,682.048489453,664.048489453,636,882,788,804,653,633,654,0.442567407773,0.00460085058301,0.0697852651535,0.999999929387,0.00015681096896,-0.000341088335137,1.7178799008e-05,1793237766206812928
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,747,716,681.678087498,665,636,882,788,805,652.678087498,632.321912502,654,0.441048187567,0.00458784539933,0.069851806241,0.99999996809,0.00011000434869,-0.000226549025334,1.98803452744e-05,1793237766256812800
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.413031387,746.413031387,716,682,664.413031387,636,882,788.413031387,805,653,633,654,0.437942919672,0.00457949458148,0.0697455557837,0.999999906084,0.000187945702573,-0.000389940671855,2.13203074085e-05,1793237766340145920
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.320448332,746,716,682,665,636,882,788,804,652,633,654,0.436016154159,0.00457097208808,0.0698034648979,0.999999946873,0.000132585631827,-0.00029674817739,2.48035265749e-05,1793237766390146048
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,665,636,882,788.075243817,804.075243817,653,632.075243817,654,0.433951125673,0.00456026274144,0.0698399728887,0.999999960953,0.000104537924889,-0.000257685610474,2.76291510446e-05,1793237766440145920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,665,636,882,788.649737867,804.649737867,653,632.649737867,654,0.433218382978,0.00455813918492,0.0698271489941,0.999999954616,0.000114075928278,-0.000277400155548,2.83582366473e-05,1793237766456812288
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.770174648,665,636,882,789,804.770174648,653,633,654,0.432483924642,0.00455499322444,0.0698227090525,0.9999999528,0.000117029831435,-0.00028261351208,2.88773091328e-05,1793237766473479168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.181349832,665,636,882,789,804.181349832,653,633,654,0.431746786269,0.0045502502141,0.0698313652909,0.999999958402,0.000109699020165,-0.000265175241353,2.90683300434e-05,1793237766490145792
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.96086781,664.03913219,636,881.96086781,788.03913219,804,653,633,654,0.424819631588,0.00450828386818,0.0698369485376,0.9999999579,6.69458776271e-05,-0.000280081474856,3.5684114971e-05,1793237766640145664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.386222745,664.613777255,636,881.386222745,788.613777255,804,653,633,654,0.424039429819,0.00450210602948,0.0698202909522,0.999999951913,5.72353112508e-05,-0.000302800859078,3.47861094071e-05,1793237766656812544
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.843749668,746.843749668,716,680.843749668,665,636,881.156250332,788,803.156250332,654,633,654,0.417252456206,0.00444562366932,0.0698433870282,0.999999960639,-6.96575053331e-06,-0.000277872514949,3.82269918839e-05,1793237766806812672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.574848484,746.574848484,716,680.574848484,665,636.425151516,881,788,803.425151516,653.574848484,633,654,0.416520448551,0.00444117128166,0.0698220024552,0.999999954258,-1.57429601609e-05,-0.000299784146294,3.69564699353e-05,1793237766823479040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.003275222,746,716,680,665,637,880.996724778,788,804,653,633,654,0.415804027079,0.00443728330629,0.0698043732508,0.99999995169,-2.49345788346e-05,-0.000307834642688,3.51626214381e-05,1793237766840145408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.576132826,746,716,680,665,637,880.423867174,788,804,653,633,654,0.415089531307,0.00443299396093,0.0697939384934,0.999999942954,-2.91020420028e-05,-0.00033457943934,3.60765010363e-05,1793237766856812032
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,715.849739264,680,664.849739264,636.849739264,880.300521472,788,804,653,632.849739264,654,0.414385937419,0.00443104594559,0.0697848519026,0.999999935085,-3.07794881056e-05,-0.000357094580733,3.69489586266e-05,1793237766873478656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.271997288,680,664.271997288,636.271997288,881.456005423,788,804,653,632.271997288,654,0.413713358459,0.0044357588487,0.069779600749,0.999999931411,-2.53730115758e-05,-0.000367576656769,3.7703573787e-05,1793237766890145536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.686802627,746.313197373,715.313197373,680.313197373,664,636,881.686802627,788,804,653,632.626394746,654,0.41308362649,0.00444810692946,0.069797779612,0.999999944138,-9.52905793845e-06,-0.000332055997073,3.70539799272e-05,1793237766906812160
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.094977926,746.905022074,715.905022074,680.905022074,664,636,881.094977926,788,804,653,633.810044149,654,0.412492012195,0.0044672474333,0.0698368023377,0.999999966592,1.56003065328e-05,-0.000255610281227,3.51551703568e-05,1793237766923479296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.485003199,747,716,680.514996801,664.970006397,636,881,788,804,653,633.029993603,654,0.411908674622,0.0044716576935,0.0698692490713,0.999999977807,2.32545596656e-05,-0.000206223303656,3.6291873897e-05,1793237766940145920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.937520517,716,680,665.937520517,636,881,788,803.937520517,653,632.062479483,654,0.411323020816,0.00447206428766,0.0698946647291,0.999999984316,2.57772983496e-05,-0.000171114497927,3.77379304993e-05,1793237766956812800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.362021467,716,680,665.362021467,636,881,788,803.362021467,653,632.637978533,654,0.410705357016,0.00446271774707,0.0698726700252,0.999999977012,1.3594550558e-05,-0.000210771732808,3.69594620046e-05,1793237766973479168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881,788,803.218286892,653,633,654,0.410102613945,0.00445633656946,0.0698484044321,0.999999967567,4.89771902417e-06,-0.000252052719305,3.62040995733e-05,1793237766990145792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881,788,803.806750958,653,633,654,0.409525173936,0.00445498414042,0.0698202878024,0.999999955534,2.11240553475e-06,-0.000296087306527,3.54879211851e-05,1793237767006812672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.611216139,680,665,636.388783861,881.388783861,788,804,653,632.611216139,654,0.408966489932,0.00445580975563,0.0698040414127,0.999999947434,1.24686218127e-06,-0.000322351082813,3.4920931419e-05,1793237767023479552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.032327843,680,665,636.967672157,881.967672157,788,804,653,632.032327843,654,0.408416977038,0.00445770037345,0.0697935992359,0.999999941632,1.32003248574e-06,-0.000339925433593,3.44268906661e-05,1793237767040146176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.544042923,680,665,636.455957077,881.455957077,788,803.455957077,653,632,654,0.407941772086,0.00445916175093,0.0698078928281,0.999999951793,8.52617609618e-07,-0.000308700618491,3.34156615808e-05,1793237767056813056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.12049618,881,788.12049618,803,653,632.12049618,654,0.407473146315,0.00446143054122,0.0698221406814,0.999999960216,1.3315831609e-06,-0.000280184221191,3.26012394652e-05,1793237767073479680
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.69782689,881,788.69782689,803,653,632.69782689,654,0.40701280068,0.0044668567138,0.0698306682401,0.99999996222,5.51976390212e-06,-0.000272879184525,3.26489444054e-05,1793237767090146816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.719395461,881,788.719395461,803.280604539,653,632.719395461,654,0.406563463585,0.00447090370269,0.0698316120055,0.999999960949,1.09429012469e-05,-0.000277292500101,3.30344150504e-05,1793237767106813696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.130636118,881,788.130636118,803.869363882,653,632.130636118,654,0.406126215896,0.0044734360968,0.0698242273865,0.999999955885,1.77222452295e-05,-0.000294574697461,3.37908138425e-05,1793237767123479552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881,788.450390208,804,653.450390208,632.450390208,654,0.405712089251,0.00447236486888,0.0698189048636,0.999999953215,1.3127522993e-05,-0.000303804619598,3.31758392369e-05,1793237767140146176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.029083548,746,716,680,665,636.029083548,881,788.970916452,804,653.970916452,632.970916452,654,0.405308629393,0.00447034803304,0.0698154098419,0.999999951856,5.77450840249e-06,-0.000308574336158,3.21824122552e-05,1793237767156812800
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.605371043,746,716,680,665,636.605371043,881,788.394628957,804,653.394628957,632.394628957,654,0.404981815778,0.00446987369529,0.0698352355843,0.999999962315,7.54820773925e-06,-0.000272627504804,3.14260823585e-05,1793237767173479168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.815123541,746,716,680,664.815123541,636.815123541,880.815123541,788,804,653.184876459,632.184876459,654,0.404661547965,0.00446941034366,0.0698527349115,0.999999970237,9.31167214851e-06,-0.000241807304571,3.11296736502e-05,1793237767190145792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.228627699,746,716,680,664.228627699,636.228627699,880.228627699,788,804,653.771372301,632.771372301,654,0.404355500076,0.00446897085796,0.0698651804102,0.999999974763,1.10529023313e-05,-0.000222124030118,3.18323823821e-05,1793237767206812672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.353467084,716,680.353467084,664.353467084,636,880.353467084,788,803.646532916,654,632.646532916,654,0.4040476811,0.00446696803703,0.0698655356469,0.999999975109,9.40987243867e-06,-0.000220651664718,3.17194692781e-05,1793237767223479296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.932750264,716,680.932750264,664.932750264,636,880.932750264,788,803.067249736,654,632.067249736,654,0.403738730617,0.00446396646322,0.0698581668962,0.999999972864,5.60477324092e-06,-0.000230813524601,3.1085487818e-05,1793237767240145920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.490506411,716,680.490506411,665,636.509493589,881,788,803,654,632,654,0.40344940232,0.004464180458,0.0698469150329,0.999999968419,2.4996290041e-06,-0.000249495330826,3.01180241759e-05,1793237767256812800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.914109319,881,788,803.085890681,653.914109319,632.085890681,654,0.403169715841,0.00446478887868,0.0698364466295,0.999999963786,-4.603472539e-07,-0.00026753786648,2.91916427593e-05,1793237767273479424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.337784246,881,788,803.662215754,653.337784246,632.662215754,654,0.402930368386,0.00446523797817,0.0698333638705,0.999999961621,-3.11634287981e-06,-0.000275540728428,2.87499318144e-05,1793237767290146048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.243901447,716,680.243901447,665,636.243901447,881,788,803.756098553,653.243901447,633,654,0.402706497056,0.00446576054711,0.0698306139928,0.999999960063,-5.19643798833e-06,-0.00028115138896,2.83164603148e-05,1793237767306812416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.833177976,716,680.833177976,665,636.833177976,881,788,803.166822024,653.833177976,633,654,0.402504540606,0.00446638715196,0.0698283354895,0.999999959439,-6.46103269982e-06,-0.000283374587548,2.78946562577e-05,1793237767323478784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.586031463,716,680.586031463,664.586031463,636.586031463,880.586031463,788,803,653.586031463,632.586031463,654,0.402315307619,0.00446861768626,0.0698256046328,0.999999957801,-2.90861392324e-06,-0.000289129627933,2.81708996882e-05,1793237767340145664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.008591919,716,680.008591919,664.008591919,636.008591919,880.008591919,788,803,653.008591919,632.008591919,654,0.402131098974,0.00447148159226,0.0698226951475,0.999999955694,2.54598336557e-06,-0.000296279348474,2.87227933639e-05,1793237767356812544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.565637067,880.565637067,788.565637067,803.565637067,653.565637067,632,654,0.401976678132,0.00447858303159,0.0698206713986,0.999999954506,9.27143610351e-06,-0.000300180627233,2.81723326805e-05,1793237767373479168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.140665483,716,680,664.140665483,636.859334517,880.859334517,788.859334517,804,654,632,654,0.401830190967,0.0044844499294,0.0698192012734,0.999999953756,1.59692513001e-05,-0.000302438630194,2.76307790287e-05,1793237767390146048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.718327982,716,680,664.718327982,636.281672018,880.281672018,788.281672018,804,654,632,654,0.401706953177,0.00448628271234,0.0698194094967,0.999999954454,2.25215730636e-05,-0.000299743992567,2.71686221293e-05,1793237767406812672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.70612424,716,680,665,636,880.29387576,788,804,654,632,654,0.4015943008,0.00448595337549,0.0698197751069,0.999999954955,2.45316487073e-05,-0.000297920366483,2.70477216419e-05,1793237767423479040
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.132588816,716,680,665,636,880.867411184,788,804,654,632,654,0.401491721758,0.00448356651056,0.0698202904905,0.999999955299,2.22192079325e-05,-0.00029692561688,2.72515694013e-05,1793237767440145664
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.541027546,664.541027546,636.458972454,880.541027546,788,803.541027546,653.541027546,632,654,0.401404812633,0.00448286759626,0.0698193389654,0.999999954936,2.01453387767e-05,-0.000298331721453,2.68572798215e-05,1793237767456812288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.053847574,716,679.053847574,664.053847574,637,880.053847574,788,803.053847574,653,632.053847574,654,0.401324276535,0.0044826635637,0.0698180200063,0.999999954427,1.82000762778e-05,-0.000300206946133,2.6265799816e-05,1793237767473479168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.628356278,716,679.628356278,664.628356278,637,880.628356278,788,803.628356278,653,632.628356278,654,0.401259802994,0.00448233701936,0.0698174132062,0.999999954642,1.68047003225e-05,-0.000299637846733,2.55066974648e-05,1793237767490145792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,665,636.791958273,881,788,803.791958273,653.208041727,633,654,0.401201524776,0.00448200809416,0.0698178009815,0.999999955146,1.51155019605e-05,-0.00029809257116,2.49234751526e-05,1793237767506812416
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,665,636.20278919,881,788,803.20278919,653.79721081,633,654,0.401154596244,0.00448167480734,0.0698200107944,0.999999956171,1.28880282191e-05,-0.000294758964742,2.46624608153e-05,1793237767523479296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.619989663,716,680,664.619989663,636.380010337,880.619989663,788,803,654,633,654,0.401117293065,0.0044821436723,0.0698230384302,0.999999957495,1.19767195375e-05,-0.000290297847128,2.43851290659e-05,1793237767540146176
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.040533177,716,680,664.040533177,636.959466823,880.040533177,788,803,654,633,654,0.401085041698,0.00448303354182,0.0698264952953,0.999999958958,1.17561922716e-05,-0.000285244962118,2.40992332282e-05,1793237767556812800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.537241724,716,680,664.537241724,636.462758276,880,788,803.537241724,654,632.462758276,654,0.401062503724,0.00448302661831,0.0698281807469,0.999999960249,1.3082450158e-05,-0.000280618770188,2.4157258358e-05,1793237767573479168
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.885971549,716,680,665,636.114028451,880,788,804,654,632,654,0.401042361248,0.00448262278695,0.0698299406593,0.999999961468,1.36289923458e-05,-0.000276200451138,2.43100940857e-05,1793237767590145792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.312655748,716,680,665,636.687344252,880,788,804,654,632,654,0.401028924872,0.00448089195123,0.0698325371169,0.999999962513,1.05663896963e-05,-0.000272490148258,2.47406238597e-05,1793237767606812416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.268668669,788,804,654,632,654,0.401017223679,0.0044804882972,0.0698346053159,0.999999963206,9.340264256e-06,-0.00026997144434,2.48360304974e-05,1793237767623479040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.859599314,788,804,654,632,654,0.401007603797,0.00448167656729,0.069836039881,0.999999963497,1.03169511819e-05,-0.000268882035876,2.45294645896e-05,1793237767640145664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.440235975,636.559764025,880.559764025,788,803.559764025,654,632.440235975,654,0.401000678379,0.00448070417488,0.0698361927368,0.999999963712,1.0213832052e-05,-0.000268082486783,2.45711488398e-05,1793237767656812288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,880,788,803.017671069,654,633,654,0.400994758475,0.00447913528974,0.0698360075296,0.999999963922,9.843656486e-06,-0.000267297737948,2.47219799541e-05,1793237767673479424
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,880,788,803.595309903,654,633,654,0.400994093329,0.00448000147285,0.0698377667828,0.999999964742,1.16741883037e-05,-0.000264119565719,2.48924611357e-05,1793237767690145792
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.171258311,746,716,680,665.828741689,636,880.171258311,788,803.828741689,654,633,654,0.400993917158,0.00448054807203,0.0698396022568,0.999999965566,1.23796851532e-05,-0.000260947249944,2.49399227635e-05,1793237767706812416
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dffaf3592b7e2ad2de7f2cd5d94e45af0e129970
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ffc064debd737079043ee12c66ad5de04137c7f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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+size 27624967
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb6b7521a670e1238bfaec8e540735a7506c3acd
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,437 @@
+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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+58,0.966666667,BASELINE,767,746,716,679.671385096,665,636.671385096,880.328614904,788.671385096,803.328614904,653.671385096,633,654,0.400990710987,0.0044820430147,0.0698469287604,0.999999968544,1.64313611903e-05,-0.000249223435859,2.30149353012e-05,1793237769214513152
+59,0.983333333,BASELINE,767,746,716,680,665,636.750749405,880.249250595,788.750749405,803,654,632.750749405,654,0.400990366874,0.00448229981885,0.0698467074831,0.999999968468,1.62443174035e-05,-0.000249542029459,2.29892621992e-05,1793237769231180032
+60,1.000000000,BASELINE,767,746,716,680,665,636.173786755,880.826213245,788.173786755,803,654,632.173786755,654,0.400989713804,0.00448231715382,0.0698463338971,0.999999968139,1.51397842888e-05,-0.000250914697016,2.31189836085e-05,1793237769247846912
+61,1.016666667,BASELINE,767,746,716,680,665,636.410147733,881,788,803,654,632,654,0.400989403965,0.00448059924751,0.0698464978715,0.999999968283,1.23121518257e-05,-0.000250497697068,2.3072902148e-05,1793237769264513536
+62,1.033333333,BASELINE,767,746,716,680,665,636.997087359,881,788,803,654,632,654,0.400989242073,0.00447813337514,0.0698468935583,0.999999968621,8.74178706861e-06,-0.000249309270843,2.29510418333e-05,1793237769281180160
+63,1.050000000,BASELINE,767,746.576088104,716,680,665,636.423911896,881,788.576088104,803.576088104,653.423911896,632,654,0.400989155545,0.00448029997278,0.0698464196042,0.999999968421,1.2739672075e-05,-0.000249930061227,2.30499227114e-05,1793237769297846784
+64,1.066666667,BASELINE,767,746.845519437,716,680,665,636.154480563,880.845519437,789,803.845519437,653.154480563,632,654,0.40098922695,0.00448200826397,0.0698461994389,0.99999996826,1.55767741964e-05,-0.000250403883169,2.31434930669e-05,1793237769314513408
+65,1.083333333,BASELINE,767,746.268681847,716,680,665,636.731318153,880.268681847,789,803.268681847,653.731318153,632,654,0.400989729126,0.00448240035951,0.0698466850019,0.999999968253,1.51370475672e-05,-0.000250451217599,2.32195343632e-05,1793237769331180032
+66,1.100000000,BASELINE,767,746,716,680,665.307597416,636.692402584,880.307597416,788.692402584,803,654,632.307597416,654,0.400989781099,0.00448254702194,0.0698466653312,0.99999996828,1.46655198518e-05,-0.000250391452609,2.30137620114e-05,1793237769347846656
+67,1.116666667,BASELINE,767,746,716,680,665.883389841,636.116610159,880.883389841,788.116610159,803,654,632.883389841,654,0.40098944054,0.00448247969055,0.0698462051459,0.999999968336,1.41662647074e-05,-0.000250238307349,2.25622755834e-05,1793237769364513280
+68,1.133333333,BASELINE,767,746,716,680,665.530148346,636.469851654,880.530148346,788,803,654,633,654,0.400989445755,0.00448236567734,0.0698461626816,0.999999968217,1.43156404604e-05,-0.000250691617857,2.27098993582e-05,1793237769381179904
+69,1.150000000,BASELINE,767,746,715.942050616,680,665,636.942050616,880.057949384,788,803,654,633,654,0.400989721915,0.00448220102882,0.0698463945799,0.999999968153,1.45584631784e-05,-0.000250906651865,2.29714806933e-05,1793237769397846528
+70,1.166666667,BASELINE,767,746,715.363596359,680,665,636.363596359,880.636403641,788,803,654,633,654,0.40099164301,0.0044816880528,0.0698481379952,0.999999968985,1.41610981874e-05,-0.00024759813966,2.28900589546e-05,1793237769414513152
+71,1.183333333,BASELINE,767,746,715.213330226,680,664.786669774,636,880.786669774,788,803,654,632.786669774,654,0.400992727766,0.00448111616648,0.0698491805867,0.99999996942,1.41629846454e-05,-0.000245829846853,2.29712729875e-05,1793237769431180032
+72,1.200000000,BASELINE,767,746,715.787671678,680,664.212328322,636,880.212328322,788,803,654,632.212328322,654,0.400992397216,0.00448044458828,0.069849037199,0.999999969195,1.48405102021e-05,-0.000246668012542,2.33277097947e-05,1793237769447846656
+73,1.216666667,BASELINE,767,746,716,680,664.362256272,636,880,787.637743728,803,654,632,654,0.400990667939,0.00448012254392,0.0698480149867,0.999999968784,1.46459350922e-05,-0.000248339413886,2.33576159162e-05,1793237769464513280
+74,1.233333333,BASELINE,767,746,716,680,664.93698344,636,880,787.06301656,803,654,632,654,0.400988118281,0.00448000550852,0.0698464773255,0.999999968259,1.39398546253e-05,-0.000250499525353,2.31960049263e-05,1793237769481179904
+75,1.250000000,BASELINE,767,746,716,680,665,636,880.52840705,787.52840705,803.52840705,654,632,654,0.400990786056,0.00447993198168,0.0698477030126,0.99999996885,1.41783331521e-05,-0.000248108651226,2.32702804767e-05,1793237769497846528
+76,1.266666667,BASELINE,767,746,716,680,665,636.118699426,880.881300574,788,803.881300574,653.881300574,632,653.881300574,0.400993013008,0.00448007777415,0.0698486437829,0.999999969295,1.46938627543e-05,-0.000246270327292,2.3346118391e-05,1793237769514513152
+77,1.283333333,BASELINE,767,746,716,680,665,636.696659465,880.303340535,788,803.303340535,653.303340535,632,653.303340535,0.400991048391,0.00448105140543,0.0698471655119,0.999999968668,1.58312726962e-05,-0.000248738313035,2.33156070226e-05,1793237769531180032
+78,1.300000000,BASELINE,767,746,716,680,664.726722558,636.726722558,880,788,803,653.273277442,632,653.273277442,0.400990638307,0.00448124492646,0.0698468241654,0.999999968476,1.53455240497e-05,-0.000249534734775,2.33487418251e-05,1793237769547846656
+79,1.316666667,BASELINE,767,746,716,680,664.151587039,636.151587039,880,788,803,653.848412961,632,653.848412961,0.400991945335,0.00448057674958,0.0698477386485,0.999999968767,1.30668592147e-05,-0.00024848477236,2.34521792148e-05,1793237769564513280
+80,1.333333333,BASELINE,767,746,716,680,664.433915792,636.433915792,880.433915792,788,803.433915792,654,632.433915792,654,0.40099181032,0.00448036842694,0.0698482830669,0.999999968999,1.30612309522e-05,-0.00024757381574,2.3200472314e-05,1793237769581180160
+81,1.350000000,BASELINE,767,746,716,680.022723798,665,637,880.977276202,788.022723798,803.977276202,654,633,654,0.400991140906,0.00448029479358,0.0698486396236,0.999999969189,1.37190581504e-05,-0.000246803006581,2.28404540383e-05,1793237769597847040
+82,1.366666667,BASELINE,767,746,716,680.601611833,665,637,880.398388167,788.601611833,803.398388167,654,633,654,0.400990023725,0.00447948956658,0.0698476398644,0.999999968867,1.07041903087e-05,-0.000248244677573,2.29404181102e-05,1793237769614513408
+83,1.383333333,BASELINE,767,746,716,680.820395457,664.820395457,637,880.179604543,788.820395457,803,654,632.820395457,654,0.400989800024,0.00447889840544,0.069847353445,0.999999968824,8.7578672918e-06,-0.000248479581944,2.3071398456e-05,1793237769631179776
+84,1.400000000,BASELINE,767,746,716,680.244378739,664.244378739,637,880.755621261,788.244378739,803,654,632.244378739,654,0.40099154836,0.00447877971727,0.0698486414654,0.999999969417,9.16997054271e-06,-0.000246050985049,2.32708360469e-05,1793237769647846656
+85,1.416666667,BASELINE,767.329459013,746,716,680,664.329459013,637,881,788.329459013,803,653.670540987,632.329459013,654,0.400991994203,0.00448011098467,0.0698488280875,0.999999969462,1.15270841854e-05,-0.000245788809517,2.3051746997e-05,1793237769664513280
+86,1.433333333,BASELINE,767.901691087,746,716,680,664.901691087,637,881,788.901691087,803,653.098308913,632.901691087,654,0.400991480262,0.00448251070108,0.069848203107,0.999999969094,1.53174447533e-05,-0.00024712303527,2.25242523687e-05,1793237769681180160
+87,1.450000000,BASELINE,767.508072513,746,716,680,665,637,880.508072513,788.508072513,803,653,632.508072513,654,0.400991207797,0.00448210849552,0.0698477529224,0.999999968975,1.37895667436e-05,-0.000247685428592,2.26192700138e-05,1793237769697847040
+88,1.466666667,BASELINE,767,746,716,680,665,636.916086629,880,788,803.083913371,653,632,654,0.400990998476,0.00448128586523,0.069847385747,0.9999999689,1.17824222418e-05,-0.000248073709119,2.2806276023e-05,1793237769714513664
+89,1.483333333,BASELINE,767,746,716,680,665,636.335843188,880,788,803.664156812,653,632,654,0.400990866357,0.00448141430892,0.0698472950886,0.999999968804,1.34656920001e-05,-0.000248379143209,2.27735869343e-05,1793237769731180544
+90,1.500000000,BASELINE,767,746,716.235756109,680,665,636.235756109,880.235756109,788,803.764243891,653.235756109,632,654,0.400990848266,0.00448146109194,0.0698474278062,0.999999968781,1.53715892213e-05,-0.000248348245866,2.28974447013e-05,1793237769747847168
+91,1.516666667,BASELINE,767,746,716.795476987,680,665,636.795476987,880.795476987,788,803.204523013,653.795476987,632,654,0.400990986865,0.00448139566076,0.0698478674766,0.999999968859,1.75834103168e-05,-0.000247855177929,2.32364216742e-05,1793237769764513536
+92,1.533333333,BASELINE,767,746,716.617155471,679.617155471,665,637,881,788,803,654,632,654.382844529,0.400991310885,0.00448167798049,0.0698483151887,0.999999969035,1.72214533152e-05,-0.000247178070641,2.31559910348e-05,1793237769781180160
+93,1.550000000,BASELINE,767,746,716.013868918,679.013868918,665,637,881,788,803,654,632,654.986131082,0.40099174167,0.00448216053532,0.0698487675313,0.999999969266,1.53775141232e-05,-0.000246394993378,2.28340653661e-05,1793237769797846784
+94,1.566666667,BASELINE,767,746,716,679.565927599,664.434072401,636.434072401,880.434072401,788,803,654,632,654.434072401,0.400990102074,0.00448184034035,0.0698476927705,0.999999968823,1.60596848015e-05,-0.000248141944162,2.28436303316e-05,1793237769814513664
+95,1.583333333,BASELINE,767.145158575,746,716,680,664.145158575,636,880.145158575,788,803.145158575,653.854841425,632.145158575,654,0.400989161643,0.00448164883126,0.0698469629703,0.999999968549,1.64704210003e-05,-0.000249219865975,2.28007562694e-05,1793237769831180544
+96,1.600000000,BASELINE,767.724351346,746,716,680,664.724351346,636,880.724351346,788,803.724351346,653.275648654,632.724351346,654,0.400990457429,0.00448189857995,0.0698473720671,0.999999968837,1.58918226698e-05,-0.000248119342774,2.2577763554e-05,1793237769847847424
+97,1.616666667,BASELINE,767.700277861,746,716,680,665,636.299722139,881,788,803.700277861,653.299722139,632.700277861,654,0.400990742623,0.0044820326889,0.0698473525888,0.999999968851,1.65364780871e-05,-0.000248012715805,2.26696428765e-05,1793237769864513792
+98,1.633333333,BASELINE,767.128377845,746,716,680,665,636.871622155,881,788,803.128377845,653.871622155,632.128377845,654,0.400990110098,0.00448206178533,0.0698469439211,0.999999968614,1.82919710963e-05,-0.000248808646743,2.30474577234e-05,1793237769881180416
+99,1.650000000,BASELINE,767,746,716,680,665,636.541361881,881,788,803,654,632,654,0.400991431949,0.00448114163858,0.0698481266677,0.999999969072,1.57761184689e-05,-0.000247138319709,2.30316707287e-05,1793237769897846784
+100,1.666666667,BASELINE,767,746,716,680,665,636.048984642,881,788,803.048984642,654,632.048984642,654,0.400993021139,0.00448016800902,0.0698495073342,0.999999969615,1.24249432842e-05,-0.00024513425799,2.28945106347e-05,1793237769914513408
+101,1.683333333,BASELINE,767,746,716,680,665,636.628025996,881,788,803.628025996,654,632.628025996,654,0.40099138185,0.0044815887834,0.0698480451831,0.999999969088,1.34131748638e-05,-0.00024724348822,2.26767919914e-05,1793237769931180032
+102,1.700000000,BASELINE,767,746,716,680,665,637,880.794481281,788.205518719,803.794481281,654,632.794481281,654,0.400990869535,0.00448206376822,0.0698475517661,0.999999968914,1.38297758597e-05,-0.000247929267465,2.26071143807e-05,1793237769947846656
+103,1.716666667,BASELINE,767,746,716,680,665,637,880.219770568,788.780229432,803.219770568,654,632.219770568,654,0.400992381705,0.00448083974498,0.0698487985748,0.99999996938,1.32195046682e-05,-0.00024605797183,2.2803376384e-05,1793237769964513280
+104,1.733333333,BASELINE,767,746,716,680,665,636.636645184,880,788.636645184,803.363354816,653.636645184,632,654,0.400992234392,0.00448074699139,0.0698486720596,0.999999969287,1.36765988482e-05,-0.000246406653326,2.28800491436e-05,1793237769981179904
+105,1.750000000,BASELINE,767,746,716,680,665,636.048309577,880,788.048309577,803.951690423,653.048309577,632,654,0.400991059564,0.00448135469335,0.0698476952147,0.999999968845,1.47945806038e-05,-0.000248129892475,2.28826750641e-05,1793237769997846528
+106,1.766666667,BASELINE,767,746,716,680,665,636,880.531855561,788,803.468144439,653,632.531855561,654,0.400989984256,0.0044813883581,0.0698469902627,0.999999968618,1.45439568192e-05,-0.00024907378341,2.26971635621e-05,1793237770014513152
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788,803,654,632,654,0.400992572424,0.00448183280943,0.0698495911898,0.999999969575,1.71378458392e-05,-0.000244973810613,2.33385186579e-05,1793237770056827648
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.575551551,716,680,665.424448449,637,881,788,803.575551551,654,632.575551551,654,0.400991466958,0.00448131294801,0.0698481662457,0.999999969269,1.53741423608e-05,-0.000246362492542,2.30323123057e-05,1793237770073494272
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.849312069,716,680,665,636.849312069,881,788,804,654,632.849312069,654,0.400991266367,0.00448131340359,0.0698476413576,0.999999969198,1.42660162445e-05,-0.000246745403531,2.27571099998e-05,1793237770090160896
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.275341775,716,680,665,636.275341775,881,788,804,654,632.275341775,654,0.400993607574,0.00448277542937,0.0698496447261,0.999999969791,1.49994063823e-05,-0.000244303104504,2.25689979835e-05,1793237770106827520
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716.309301365,680,665,636.309301365,881,788.309301365,804,654,632,654.309301365,0.400994235911,0.00448233992556,0.069850047319,0.999999969888,1.42126836079e-05,-0.000243945854017,2.26239154584e-05,1793237770123494400
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716.903785058,680,665,636.903785058,881,788.903785058,804,654,632,654.903785058,0.400993284944,0.00448015485967,0.0698489739631,0.999999969528,1.20243848877e-05,-0.000245511062045,2.29029112193e-05,1793237770140161024
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.517649511,679.517649511,665,637,881,788.517649511,803.517649511,654,632,654.517649511,0.400992330475,0.00448087327617,0.069848648459,0.999999969398,1.28448963691e-05,-0.000246023392927,2.26040812386e-05,1793237770156827392
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.057230696,716,679,665,636.942769304,880.942769304,788,803,654,632.057230696,654,0.400991416424,0.00448184125891,0.0698484252738,0.999999969292,1.39093523204e-05,-0.000246427086949,2.22787991969e-05,1793237770173494272
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.626639003,716,679,665,636.373360997,880.373360997,788,803,654,632.626639003,654,0.400990870138,0.00448002517178,0.0698478254092,0.999999968998,1.19574094658e-05,-0.000247678035117,2.27153326117e-05,1793237770190160896
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,747,716,679.204578162,665,636.204578162,880,788,803.204578162,654,632.795421838,654,0.400994486403,0.00447969150532,0.069849628909,0.999999969565,1.17067343638e-05,-0.000245373974259,2.2912887806e-05,1793237770206827520
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,747,716,679.798763775,665,636.798763775,880,788,803.798763775,654,632.201236225,654,0.40100603001,0.00448218102473,0.0698560094794,0.999999971717,1.46960269699e-05,-0.000236299601146,2.26553225464e-05,1793237770223494400
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.385480166,746.614519834,716,680,665,636.614519834,880,788,803.614519834,654,632,654,0.401028484358,0.00448225332033,0.069866465043,0.999999975713,1.50249659074e-05,-0.000218699035895,2.27986405514e-05,1793237770240161024
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.96837149,746.03162851,716,680,665,636.03162851,880,788,803.03162851,654,632,654,0.401056526288,0.00448108771342,0.0698790074827,0.999999980282,1.39914913069e-05,-0.000196732057107,2.31472578801e-05,1793237770256827648
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.462148186,746,716,680,664.462148186,636.537851814,879.462148186,788,803,654,632,654,0.401104796466,0.00448086159811,0.0698978149814,0.999999985842,1.39936574661e-05,-0.000166084479495,2.3149032642e-05,1793237770273494528
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664.108669187,637,879.217338375,788,803.108669187,654,632,654,0.401156245506,0.00448060152764,0.0699159215873,0.99999999022,1.37979284653e-05,-0.000137249201545,2.30833031866e-05,1793237770290161152
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.688622359,637,880.377244719,788,803.688622359,654,632,654,0.401216447542,0.00447996042779,0.0699294296081,0.999999992649,1.24862595608e-05,-0.000118433581046,2.28111204426e-05,1793237770306827776
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716.274886442,680,665,636.725113558,881,788,803.725113558,654,632,654,0.401277913462,0.00447966033525,0.0699371444333,0.999999993986,1.024146579e-05,-0.000106961560056,2.19543050134e-05,1793237770323494400
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716.868467151,680,665,636.131532849,881,788,803.131532849,654,632,654,0.401340844683,0.00447975559537,0.0699381428181,0.999999994359,6.91483793316e-06,-0.000104003467098,2.04196857701e-05,1793237770340161024
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716.10157737,680,665,636,880.550788685,788,803,654,632.449211315,654,0.401415373251,0.00448017316237,0.0699372905828,0.999999994105,5.27258555527e-06,-0.00010682986303,1.86910052138e-05,1793237770356827648
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715.026125117,680,665,636.026125117,880,788,803.026125117,653.973874883,633,654,0.401494006607,0.00448061751523,0.0699358051465,0.999999993647,4.0159187599e-06,-0.000111379609804,1.68935083935e-05,1793237770373494528
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715.599350554,680,665,636.599350554,880,788,803.599350554,653.400649446,633,654,0.401589462957,0.00447970137129,0.0699320919836,0.999999992983,7.92595005833e-07,-0.000117534722251,1.48117898297e-05,1793237770390161152
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.822840383,746,716,680,665,636.822840383,880.177159617,788,804,653,633,654,0.401694364499,0.00447982462069,0.0699303982536,0.99999999268,-1.40710498286e-06,-0.000120340992614,1.25066040397e-05,1793237770406827776
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.234390133,746,716,680,665,636.234390133,880.765609867,788,804,653,633,654,0.401821193818,0.00448236090742,0.0699333928036,0.999999993297,-1.23037770064e-06,-0.000115372649599,9.68262098276e-06,1793237770423494656
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.350778922,746,716,680.350778922,665,636.350778922,881,788,803.649221078,653.350778922,633,654,0.401963529199,0.00448378256013,0.069936070168,0.999999993894,-3.63557072879e-06,-0.000110255251194,6.55067395728e-06,1793237770440161280
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.933775863,746,716,680.933775863,665,636.933775863,881,788,803.066224137,653.933775863,633,654,0.402116129712,0.00448446631782,0.0699385375536,0.999999994448,-7.75001245245e-06,-0.000105039176615,3.2148524193e-06,1793237770456827904
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680.491624189,665,637,880.491624189,788,803,653.491624189,632.491624189,654,0.402288563016,0.0044823571937,0.0699415769373,0.999999995069,-1.3917315635e-05,-9.83268879303e-05,1.95139428876e-07,1793237770473494528
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.081890283,716,680.081890283,665,637,880.081890283,788,803,653.081890283,632.081890283,654,0.402467833516,0.00447875375104,0.0699445196131,0.999999995547,-2.20118195393e-05,-9.17305360533e-05,-2.70954588876e-06,1793237770490161408
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.655348528,716,680.655348528,665,637,880.655348528,788,803,653.655348528,632.655348528,654,0.402672889772,0.00446832869335,0.0699464417663,0.9999999954,-4.00956904056e-05,-8.69810861162e-05,-5.16691529478e-06,1793237770506829056
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.763966058,716,680.763966058,665,637,881,788,803.236033942,654,633,654,0.402892585212,0.00446171086471,0.069949302312,0.999999995343,-5.30361922181e-05,-8.01852514157e-05,-8.48230684523e-06,1793237770523495936
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.1723944,716,680.1723944,665,637,881,788,803.8276056,654,633,654,0.403134331626,0.00446082786241,0.0699535763574,0.999999995747,-5.82292407471e-05,-7.03069494876e-05,-1.30901362397e-05,1793237770540161536
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716.410541871,680,665,637,881,788,803.589458129,653.589458129,632.589458129,654,0.403402879146,0.00446408245952,0.0699615394556,0.999999996534,-5.93482598295e-05,-5.55478123471e-05,-1.79880314677e-05,1793237770556828160
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716.989926666,680,665,637,881,788,803.010073334,653.010073334,632.010073334,654,0.403682449108,0.00446903872078,0.0699710197447,0.999999997255,-5.87917589579e-05,-3.87813418615e-05,-2.30052215062e-05,1793237770573494784
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,717,680,665.563326343,636.436673657,880.436673657,788,803.563326343,653.563326343,632,654,0.403974951465,0.00446865007486,0.0699720512923,0.999999997538,-5.41672738336e-05,-3.71697831824e-05,-2.46723118894e-05,1793237770590161408
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.140592102,716.859407898,680,665.859407898,636.140592102,880.140592102,788,804,654,632.140592102,654,0.404276681165,0.0044702850298,0.0699727229863,0.999999998093,-4.24207298037e-05,-3.71884243993e-05,-2.51152873628e-05,1793237770606828288
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.730553238,716.269446762,680,665.269446762,636.730553238,880.730553238,788,804,654,632.730553238,654,0.404607172421,0.00447869021858,0.0699727223069,0.999999998865,-8.14029034448e-06,-4.1560534745e-05,-2.18351344104e-05,1793237770623494656
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.685233999,746.685233999,716,680,665,637,880.685233999,788,804,654,633,654,0.40496042334,0.0044837240933,0.0699755739214,0.999999999036,9.10318292157e-06,-3.69211260091e-05,-2.19702013992e-05,1793237770640161280
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.105853656,746.105853656,716,680,665,637,880.105853656,788,804,654,633,654,0.40533280766,0.00448592380628,0.0699808233741,0.999999999311,1.20241932107e-05,-2.47060038286e-05,-2.4976341065e-05,1793237770656827904
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.470394189,746,716,680,665,637,880.470394189,788,803.529605811,653.529605811,632.529605811,654,0.40572608249,0.00448849304584,0.0699853622074,0.999999999376,1.73558570178e-05,-1.51153759963e-05,-2.68082414187e-05,1793237770673494528
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.045828289,716,680,665,637,880.954171711,788,803.045828289,653,632,654,0.406124048043,0.00449151194762,0.0699880919566,0.99999999934,2.08744452804e-05,-9.10130167439e-06,-2.83149776992e-05,1793237770690161152
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.619954464,716,680,665,637,880.380045536,788,803.619954464,653,632,654,0.406522253585,0.00449876220017,0.0699717982414,0.999999998868,-2.71981908994e-06,-3.75536992408e-05,-2.90992595902e-05,1793237770706828032
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.799675845,746.799675845,716,679.799675845,665,637,880.200324155,788,804,653,632,654,0.406942774102,0.00450553161192,0.0699577139562,0.999999997683,-1.18689021924e-05,-5.97982202005e-05,-3.02710921766e-05,1793237770723494912
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.207080242,746.207080242,716,679.207080242,665,637,880.792919758,788,804,653,632,654,0.40740699141,0.00451135944873,0.0699479561414,0.999999997013,7.26833132184e-06,-6.98865781575e-05,-3.22018201372e-05,1793237770740161792
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.374661921,746,716,679.374661921,665,636.625338079,880.625338079,788,804,653,632,654.374661921,0.407906204593,0.00451794746336,0.0699523906907,0.999999997424,2.53557956322e-05,-5.80728893256e-05,-3.37272557249e-05,1793237770756828160
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.950574122,746,716,679.950574122,665,636.049425878,880.049425878,788,804,653,632,654.950574122,0.408424215854,0.00452494380859,0.0699644486925,0.999999997872,4.28793740202e-05,-3.44944789205e-05,-3.5034987753e-05,1793237770773494784
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.527034565,716,679.472965435,665.527034565,636,880.527034565,788,803.472965435,653,632,654.472965435,0.408966980772,0.0045290080964,0.0699723447498,0.999999997981,4.93029178564e-05,-1.67045211762e-05,-3.64458836743e-05,1793237770790161152
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.894737455,716,679.105262545,665.894737455,636,880.894737455,788,803,653,632,654,0.409508649273,0.00453328417969,0.0699773491608,0.999999997864,5.32293606622e-05,-4.29811423058e-06,-3.76949244129e-05,1793237770806828032
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.308671221,716,679.691328779,665.308671221,636,880.308671221,788,803,653,632,654,0.410034695023,0.00453978495683,0.0699709301757,0.999999997898,5.05096548626e-05,-1.39998254718e-05,-3.81604277227e-05,1793237770823495168
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,880.274026197,788,803,653,632,654,0.410593596458,0.00454640963932,0.0699653889057,0.999999997457,5.51039385999e-05,-2.32403621302e-05,-3.88520100229e-05,1793237770840162304
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,880.852975041,788,803,653,632,654,0.411189058123,0.00455317219829,0.0699608243122,0.999999996396,6.78368637376e-05,-3.19677280056e-05,-3.97951617718e-05,1793237770856829440
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.43268328,716,680,665.43268328,636,880.56731672,788,803.43268328,653,632,654,0.411822574898,0.00455869081027,0.0699737136726,0.99999999605,7.84092081162e-05,-8.88009385326e-06,-4.09158801474e-05,1793237770873496576
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.9874682,716,680,665.9874682,636.0125318,880,788,803.9874682,653,632,654,0.412469610342,0.00456384204586,0.0699927234641,0.999999994913,8.81525683469e-05,2.51609208832e-05,-4.20686497966e-05,1793237770890163456
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.412919668,716,680,665.412919668,636.587080332,880,788,803.412919668,653,632,654,0.413141980845,0.00457150732563,0.0700197691827,0.999999992634,9.37013010045e-05,6.47494910109e-05,-4.19481388607e-05,1793237770906828800
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.165504845,636.834495155,880.165504845,788,803.165504845,653,632,654,0.413805814855,0.00457863634993,0.0700382304939,0.999999989943,0.00010006871434,9.12515521572e-05,-4.21142702112e-05,1793237770923494400
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.753831445,636.246168555,880.753831445,788,803.753831445,653,632,654,0.41444784031,0.00458439538076,0.0700347608795,0.999999989631,0.000108527643473,8.4320990593e-05,-4.30126980658e-05,1793237770940161280
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.662999471,636,881,788,804,653,632,654,0.415092279653,0.00459112516613,0.0700044036399,0.999999991804,0.000116423188744,2.96457541237e-05,-4.42485609467e-05,1793237770956828160
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.083541032,636,881,788,804,653,632,654,0.41573845566,0.0045985533689,0.0699547018686,0.999999989514,0.000123913401595,-5.93797967923e-05,-4.57271940276e-05,1793237770973495040
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881,788,804,653,632,654,0.416443793372,0.00460468683218,0.0699403442119,0.999999987508,0.000128778225054,-7.84895961336e-05,-4.73144925181e-05,1793237770990161664
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.933501284,665,636.066498716,880.933501284,788,804,653,632.066498716,654,0.417164010039,0.00461047470345,0.0699367306275,0.999999986766,0.000133582301085,-7.90737891669e-05,-4.86919829909e-05,1793237771006828288
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679.36014089,665,636.63985911,880.36014089,788,804,653,632.63985911,654,0.417921671704,0.00461529087715,0.0699696277197,0.999999988452,0.000141294362075,-2.82256144903e-05,-4.83307619371e-05,1793237771023494656
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.220987397,665,637,880.220987397,788,803.779012603,653,632.779012603,654,0.418675202831,0.00461942856448,0.0699958153488,0.999999988079,0.000146133268116,1.08394246729e-05,-4.86796338329e-05,1793237771040161280
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.815236228,665,637,880.815236228,788,803.184763772,653,632.184763772,654,0.419421757343,0.00462242024695,0.0700106702834,0.999999987613,0.000146119238783,3.00020244657e-05,-5.02278969148e-05,1793237771056827904
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.619022798,746,716,680,665.380977202,636.619022798,881,788,803.380977202,653,632,654,0.420184983975,0.00461553638194,0.0700215776033,0.9999999882,0.000136887705402,4.74811864402e-05,-5.10594788013e-05,1793237771073494528
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.066144889,746,716,680,665.933855111,636.066144889,881,788,803.933855111,653,632,654,0.420955733187,0.0046041965714,0.0700307037192,0.999999988984,0.000123497142384,6.42007633466e-05,-5.15676868896e-05,1793237771090161152
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.468866983,636,881,788,804,653,632,654,0.421740521619,0.00458425194755,0.0700283377923,0.99999999234,9.74737043299e-05,5.62592179089e-05,-5.15220095506e-05,1793237771106828032
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.131041161,746,716,680,665,636,881,788,804,653,632,654,0.422505542659,0.00456938041767,0.0700143532875,0.999999995154,7.82680434263e-05,2.99880069571e-05,-5.16475881844e-05,1793237771123494400
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.719079709,746,716,680,665,636,881,788,804,653,632,654,0.423194972637,0.00457627902179,0.0699652961497,0.999999993493,8.88259911793e-05,-4.85191282017e-05,-5.26329119036e-05,1793237771140161280
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.302683163,716,680,665,636,881,788,804,653,632,654,0.423915779632,0.00458424392844,0.0699204528269,0.999999986624,9.96678564412e-05,-0.000117736706646,-5.4381599285e-05,1793237771156828160
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.882229817,716,680,665,636,881,788,804,653,632,654,0.424665287065,0.00459318417883,0.0698794638722,0.999999976327,0.000110769419824,-0.000178457147732,-5.68285334084e-05,1793237771173495040
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,747,716,680,665,636,881.459530071,788,804,653,632,654,0.425507713348,0.0045944046235,0.0699138440281,0.999999985565,0.000105226219795,-0.000119992872049,-5.82961631301e-05,1793237771190161408
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.96400921,746.96400921,716,680,665.03599079,636,881.96400921,788,804,653,632,654,0.426369989396,0.00459401735561,0.0699664529225,0.999999992975,9.70490930626e-05,-3.35364624698e-05,-5.92157230941e-05,1793237771206827776
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.391523504,746.391523504,716,680,665.608476496,636,881.391523504,788,804,653,632,654,0.427174904477,0.00459901318264,0.0700042568318,0.999999991932,0.000112887878027,1.70787108899e-05,-5.56885336511e-05,1793237771223494400
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,716,680.187462322,665.812537678,636,881,788,804,653,632,654,0.42796860516,0.00460285573155,0.0700316327772,0.999999989484,0.000123928980852,5.29464486191e-05,-5.35730973686e-05,1793237771240161024
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,716,680.780511696,665.219488304,636,881,788,804,653,632,654,0.428738042909,0.00460420308841,0.0700364471446,0.999999989134,0.000124589986713,5.6907150049e-05,-5.4512081428e-05,1793237771256827648
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766.941734644,746,716,680.058265356,665,636,881.941734644,788,804,653,632,654,0.430297597607,0.00460517008724,0.0700399510479,0.999999988033,0.000123425091261,7.3205576264e-05,-5.77999534501e-05,1793237771290161664
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.517256979,636,882,788,804,653,632,654,0.431012109773,0.00460588403277,0.069996494853,0.999999990654,0.000123922763025,-2.32510834562e-06,-5.76989035694e-05,1793237771306828032
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.094716321,716,680.094716321,665.905283679,636.094716321,881.905283679,788,804,653,632.094716321,654,0.431716802685,0.00460553526548,0.06995032535,0.999999987395,0.000123028650952,-8.21568702874e-05,-5.76517711666e-05,1793237771323494656
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+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.731954067,716,680.731954067,665.268045933,637,881.268045933,788,804,653,632.731954067,654,0.433157097391,0.00459203132263,0.0699251082472,0.999999986298,0.000103726569939,-0.000114435799768,-5.95736156004e-05,1793237771356828160
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766.574860566,746,716,680.425139434,666,637,881.574860566,788,803.574860566,653,632,654,0.434729102375,0.00458298644551,0.0700240402195,0.999999992884,8.83193582033e-05,5.43947461464e-05,-5.89349410077e-05,1793237771390160896
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.002426106,746,716,681,666,637,881.002426106,788,803.004852212,653,632,654,0.435473279131,0.00458575432058,0.0700562757322,0.999999989174,8.79573677208e-05,0.000102356201643,-5.86322233174e-05,1793237771406827776
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,681.151806387,666,637,882,788,804.848193613,653,632,654,0.43684494089,0.00458753425006,0.070021509485,0.999999992023,9.49619915722e-05,5.86810766876e-05,-5.91044934192e-05,1793237771440161280
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681.739907965,666,637,882,788,804.260092035,653,632,654,0.437481304707,0.00458609034799,0.0700001758651,0.999999993481,9.23592716618e-05,2.94931473128e-05,-6.0311672759e-05,1793237771456828416
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.324778329,715.675221671,682,666,637,882,788,804.324778329,653,632.324778329,654,0.438113998334,0.00458729086333,0.0699793345208,0.999999993848,9.22284989382e-05,4.71079773739e-06,-6.14390371388e-05,1793237771473495296
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.907086497,715.092913503,682,666,637,882,788,804.907086497,653,632.907086497,654,0.43874378168,0.00459058824399,0.0699588835231,0.999999993486,9.40578330265e-05,-1.6578188134e-05,-6.25031129527e-05,1793237771490161664
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.516747654,746.516747654,715.483252346,682,666,637,882,788,804.516747654,653,632.516747654,654,0.439322531079,0.00459365326039,0.069930131213,0.999999990881,9.70791070587e-05,-7.00440143903e-05,-6.25037331829e-05,1793237771506828288
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.63473258,746.63473258,716,682,665.36526742,637,882,788,804,653,632.63473258,654,0.440522823567,0.00459780157901,0.0699156372915,0.999999988406,0.000103189073463,-9.34159607066e-05,-6.17612691156e-05,1793237771540161280
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.784567445,716,682,665.215432555,636.784567445,882,788,804,653,632.784567445,654,0.441141544378,0.00459826193965,0.0699405466357,0.999999991751,0.000101265636818,-4.9837976564e-05,-6.13174677368e-05,1793237771556827904
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.196330077,716,682,665.803669923,636.196330077,882,788,804,653,632.196330077,654,0.441748511296,0.00459726654593,0.0699885085437,0.999999993763,9.09990259238e-05,2.17491970797e-05,-6.09880767931e-05,1793237771573495040
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.614512146,746.385487854,715.614512146,682.385487854,666,636,882,788,804,653,632.385487854,654,0.442314932496,0.00459865492384,0.070020399784,0.999999991734,9.05089707262e-05,6.7890314364e-05,-6.10862756464e-05,1793237771590161920
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,715,682,659,634.261427125,882,788,804,653,632.738572875,654,0.450000474278,0.00459340729297,0.0697825272756,0.999999937665,0.00010376617457,-0.0003331946564,-5.37111593827e-05,1793237772190161408
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,715,682,659,634.853831508,882,788,804,653,632.146168492,654,0.450010535408,0.00459446920053,0.0697815288425,0.999999936604,0.000105895352543,-0.000335738798628,-5.34488497026e-05,1793237772206827776
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.564009839,746,715.435990161,682.435990161,659,634.564009839,882,788,804,653,632.435990161,654,0.450017452199,0.00459491657932,0.0697798342709,0.999999935978,0.000106037611292,-0.000337561834525,-5.34053526044e-05,1793237772223494400
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746.014678264,715.985321736,682.985321736,659,634.014678264,882,788,804.014678264,653,632.985321736,654,0.450023235234,0.00459512475588,0.0697779487784,0.999999935495,0.000105511380157,-0.000339152762565,-5.34195255307e-05,1793237772240161024
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746.58900321,715.41099679,682.41099679,659,634.58900321,882,788,804.58900321,653,632.41099679,654,0.450025060586,0.00459388759557,0.0697774780212,0.999999935054,0.000104311928715,-0.000340899897958,-5.28997613416e-05,1793237772256827904
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746.832327467,715,682.167672533,658.832327467,635,882.167672533,788,804.832327467,653,632,654,0.450026681729,0.00459279187287,0.0697769141616,0.999999934507,0.000103861612729,-0.000342709570496,-5.2425448648e-05,1793237772273494528
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.242726049,715,682.757273951,658.242726049,635,882.757273951,788,804.242726049,653,632,654,0.450027789008,0.00459205206193,0.0697761160205,0.9999999337,0.00010529641111,-0.000344676610553,-5.20655095125e-05,1793237772290161152
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.340655055,746.340655055,715.340655055,682.659344945,658.340655055,635,882.659344945,788,804.340655055,653,632,654,0.450028190686,0.00459333567469,0.0697752037,0.999999933129,0.000106419314084,-0.000345991719838,-5.20303692994e-05,1793237772306828032
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766.50503796,746.50503796,715.50503796,682,658.50503796,634.50503796,882,788,804.50503796,653,632.49496204,654,0.450028349036,0.00459697668557,0.0697733361435,0.99999993203,0.000109869817735,-0.000348053096398,-5.2220347972e-05,1793237772340161536
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.069623737,746,715,682,658.069623737,634,882,787.930376263,804.069623737,653,632.930376263,654,0.450028665008,0.00459727563546,0.0697725995523,0.9999999314,0.00011201790816,-0.000349192820877,-5.21267281825e-05,1793237772356828160
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766.774501225,746.225498775,715.225498775,682,659,634,882.225498775,787,805,653,632.225498775,654,0.450029795425,0.00459391726458,0.0697728908707,0.999999931856,0.000107333737728,-0.000349451372512,-5.14830528741e-05,1793237772390161408
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.182230331,746.817769669,715.817769669,682,659,634,882.817769669,787,805,653,632.817769669,654,0.45003109978,0.00459491176376,0.0697730896912,0.99999993212,0.00010631631381,-0.000348924652573,-5.20465130987e-05,1793237772406828032
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746.599614523,716,682,659,634,882.599614523,787.400385477,805,653,633,654,0.450030748048,0.00459493038315,0.0697723646003,0.999999931766,0.000106002041099,-0.000350081873055,-5.17104662659e-05,1793237772423494656
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746.021289666,716,682,659,634,882.021289666,787.978710334,805,653,633,654,0.450029660318,0.00459451530181,0.0697712289045,0.999999931135,0.000106000263026,-0.000351987470656,-5.09746603211e-05,1793237772440161280
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.554902081,746,715.445097919,682.554902081,659,634,882.554902081,787.445097919,805,653,633,654,0.450027617393,0.00459575917525,0.0697692506761,0.999999929718,0.000107373583234,-0.000355501749452,-5.15117834702e-05,1793237772456828416
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,715.133821688,683,659,634,882.866178312,787.133821688,804.866178312,653,633,654,0.450026257099,0.00459618927719,0.069767891055,0.99999992883,0.000107824490494,-0.000357814685677,-5.1798731562e-05,1793237772473495040
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,715.722285802,683,659,634,882.277714198,787.722285802,804.277714198,653,633,654,0.450027339983,0.00459363928312,0.0697687424744,0.999999929877,0.000104963063746,-0.000355837329445,-5.10704560329e-05,1793237772490161920
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766.460932576,746,716,682.460932576,659,634.460932576,882,787,804.539067424,653,632.460932576,654,0.450029167322,0.00459676704003,0.0697701080223,0.999999929871,0.000107556116742,-0.000355040175529,-5.13412392071e-05,1793237772540161280
+257,4.283333333,POSE1_TO_POSE2_PRESS,766.96377012,746,715.96377012,683,658.96377012,634.96377012,882.03622988,787,804,653,632.96377012,654,0.450030051931,0.0045968175302,0.0697703561899,0.999999930092,0.000106618947236,-0.000354738407386,-5.10862419299e-05,1793237772556828160
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+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715,682.808692529,658.191307471,634,882.808692529,787,804,653,632,654,0.450029054854,0.00459510344228,0.0697703249842,0.999999929733,0.000110551471818,-0.000354673573423,-5.01831657006e-05,1793237772590161152
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715,682.216884751,658.783115249,634,882.216884751,787,804,653,632,654,0.450028985098,0.00459524235322,0.0697694599098,0.999999929712,0.000106979454926,-0.000355760460117,-5.06472331201e-05,1793237772606827776
+261,4.350000000,HOLD_POSE2,766,746,716,683,658,634,882,788,804,653,632,653,0.450028428222,0.00459682389029,0.069768652794,0.999999928611,0.00011284549102,-0.000357051082214,-5.05862800418e-05,1793237772641778688
+262,4.366666667,HOLD_POSE2,766,746.576073699,715.423926301,682.423926301,658.576073699,634.576073699,882,788,804.576073699,653,632.576073699,653.576073699,0.450026838707,0.00459639546323,0.0697675796857,0.999999928343,0.000109870468348,-0.000358726647568,-5.05699463486e-05,1793237772658444800
+263,4.383333333,HOLD_POSE2,766,746.844615027,715.155384973,682.155384973,658.844615027,634.844615027,882,788,804.844615027,652.844615027,632.844615027,654,0.450026082394,0.00459607541169,0.0697667523011,0.999999928124,0.000107634736262,-0.000360012466974,-5.05743418026e-05,1793237772675110912
+264,4.400000000,HOLD_POSE2,766,746.256282806,715.743717194,682.743717194,658.256282806,634.256282806,882,788,804.256282806,652.256282806,632.256282806,654,0.450027647623,0.00459605732543,0.069766609573,0.999999928068,0.000107458879813,-0.000360212342403,-5.06364946241e-05,1793237772691777536
+265,4.416666667,HOLD_POSE2,766,746,715.67284675,682.67284675,658.32715325,634,882,788,804.32715325,652.32715325,632.32715325,654,0.450029068453,0.00459649687437,0.069767641148,0.999999928554,0.00010811468726,-0.000358648876325,-5.07458475542e-05,1793237772708444160
+266,4.433333333,HOLD_POSE2,766,746,715.093189695,682.093189695,658.906810305,634,882,788,804.906810305,652.906810305,632.906810305,654,0.450030377832,0.00459728963585,0.0697695790748,0.99999992945,0.000109412390522,-0.000355724425916,-5.08916305237e-05,1793237772725110784
+267,4.450000000,HOLD_POSE2,766.482707557,746,715.482707557,682.482707557,659,634,882,788,805,653,633,654,0.450028882725,0.00459636839152,0.0697677011069,0.999999928892,0.000107648821733,-0.000357830755604,-5.08444905859e-05,1793237772741777152
+268,4.466666667,HOLD_POSE2,766.942088209,746,716,683,659,634,882,788,804.942088209,652.942088209,633,653.942088209,0.450027255064,0.00459529147214,0.0697655277538,0.999999928189,0.000105719770357,-0.000360371428065,-5.0768262653e-05,1793237772758443776
+269,4.483333333,HOLD_POSE2,766.366640643,746,716,683,659,634,882,788,804.366640643,652.366640643,633,653.366640643,0.450029243907,0.00459575761216,0.0697672472235,0.999999928781,0.000107552565888,-0.00035818128349,-5.07623580084e-05,1793237772775110400
+270,4.500000000,HOLD_POSE2,766.213521919,746,715.786478081,683,658.786478081,634,882,787.786478081,804.213521919,652.213521919,632.786478081,653.213521919,0.450029858028,0.00459597468522,0.0697679010221,0.999999928865,0.000108238079049,-0.000357749097103,-5.06953618991e-05,1793237772791777280
+271,4.516666667,HOLD_POSE2,766.801963401,746,715.198036599,683,658.198036599,634,882,787.198036599,804.801963401,652.801963401,632.198036599,653.801963401,0.450028058297,0.00459575442574,0.0697666836264,0.999999928064,0.000106909098114,-0.0003604036803,-5.0521096311e-05,1793237772808444160
+272,4.533333333,HOLD_POSE2,766.615788822,746,715,683,658.384211178,634.384211178,882,787,804.615788822,653,632.384211178,654,0.450028283995,0.00459656479116,0.069766729524,0.999999927995,0.000107080370028,-0.000360523881762,-5.0668274698e-05,1793237772825111040
+273,4.550000000,HOLD_POSE2,766.036682809,746,715,683,658.963317191,634.963317191,882,787,804.036682809,653,632.963317191,654,0.450029537111,0.004597897951,0.0697674162392,0.999999928298,0.000108012659591,-0.00035935849382,-5.09785086344e-05,1793237772841778176
+274,4.566666667,HOLD_POSE2,766,746,715,683,658.460092843,634.460092843,882,787.539907157,804.539907157,653,633,654,0.450028373777,0.00459800346288,0.0697659838729,0.999999927532,0.000109166132865,-0.000361103355438,-5.12196985432e-05,1793237772858444288
+275,4.583333333,HOLD_POSE2,766.11626538,746.11626538,715.11626538,683,658.11626538,634,882,788,805,653,632.88373462,654,0.450027669903,0.0045979991823,0.0697651313328,0.999999927085,0.000109994189379,-0.000362086154109,-5.12275884345e-05,1793237772875110656
+276,4.600000000,HOLD_POSE2,766.692380179,746.692380179,715.692380179,683,658.692380179,634,882,788,805,653,632.307619821,654,0.450029429619,0.0045978890238,0.069767138913,0.999999928201,0.000109476005434,-0.000359276433942,-5.03312048324e-05,1793237772891777280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,658,634,882,787,805,653,633,654,0.450029495573,0.00459501183784,0.0697672729203,0.999999928186,0.000107100035297,-0.00036008780223,-4.99438897669e-05,1793237772928889600
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,716,682.844335734,658,634.155664266,882.155664266,787.155664266,805,653,633,654,0.450029058758,0.00459501144207,0.0697650704022,0.999999927946,0.000103519896153,-0.000361758463841,-5.02265882738e-05,1793237772962224128
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,716,682.270776902,658,634.729223098,882.729223098,787.729223098,805,653,633,654,0.450027818885,0.00459551886601,0.0697647069765,0.99999992755,0.000104770401769,-0.000362497675282,-5.01756858416e-05,1793237772978890240
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.311596046,746.311596046,715.688403954,682.311596046,658.311596046,635,883,788,805,653,633,654,0.45002771021,0.00459586810349,0.0697649995748,0.999999927573,0.000105439348189,-0.000362234171554,-5.02376803374e-05,1793237772995556352
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.372422715,715.372422715,682.627577285,658.627577285,634.627577285,882.627577285,788,804.627577285,653,633,654,0.450020448461,0.00459746364597,0.0697611767364,0.999999925541,0.000109012863802,-0.000366775166793,-5.00975859556e-05,1793237773112222976
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.457609336,716,682.542390664,658,634.542390664,882.542390664,788,804.542390664,653,632.457609336,654,0.449979947692,0.00459775847857,0.0697393541043,0.999999912534,0.000110777669655,-0.00040016089571,-5.03053966443e-05,1793237773145555968
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.695759933,715.304240067,682.304240067,658,634.304240067,882.304240067,787.304240067,804.304240067,653,632,654,0.449892557048,0.00459785205146,0.0697016475852,0.999999885802,0.000110536748934,-0.000462237908691,-5.01386270886e-05,1793237773178889472
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.659989291,659.340010709,634.340010709,882.340010709,787.659989291,804,653,632,654,0.448624832871,0.00459592381073,0.069664901039,0.999999849462,0.000134687749834,-0.000531109809999,-2.9277679481e-05,1793237773378889728
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,682.409623124,664.409623124,636,882,788,804,653,633,654,0.439093782977,0.00459151618863,0.069803846913,0.999999951093,7.25398899066e-05,-0.000303524954112,2.05942711085e-05,1793237773778890240
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.959999689,746,716,682,664.959999689,636,881.040000311,788,803.040000311,653,633,654,0.426110958419,0.00451515173076,0.0698832611036,0.999999976947,7.64974777515e-05,-0.000197436828613,3.56730485363e-05,1793237774078889472
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.386365545,746,716,682,664.386365545,636,881.613634455,788,803.613634455,653,633,654,0.425299509617,0.00450890514259,0.0698539062725,0.999999966555,7.09534959825e-05,-0.00024619657153,3.5257188827e-05,1793237774095556096
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746.19216692,716,681.80783308,664.19216692,636,881.80783308,788,804,653,633,654,0.424492264086,0.00450303098744,0.069828879997,0.999999956082,6.35776794033e-05,-0.000287383503884,3.47057408507e-05,1793237774112222720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.780805527,716,681.219194473,664.780805527,636,881.219194473,788,804,653,633,654,0.42369369044,0.0044979252212,0.0698127842321,0.999999949084,5.24224882e-05,-0.000312946503282,3.38745522266e-05,1793237774128889344
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.363589307,746.636410693,716,681,664.636410693,636,881,788,804,653,632.636410693,654,0.422862618135,0.00449185470774,0.0697760141954,0.999999926608,4.61798702351e-05,-0.000378784200587,3.42675458682e-05,1793237774145555968
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.942899332,746.057100668,716,681,664.057100668,636,881,788,804,653,632.057100668,654,0.422012264139,0.00448521180163,0.0697269779333,0.999999888702,4.28519253521e-05,-0.000468517224825,3.53868573997e-05,1793237774162222336
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,664,636.520268475,881,788,804,653,632,654,0.421270877237,0.00447842613976,0.0697351483287,0.999999900651,2.90227498e-05,-0.000443513628598,3.39185974343e-05,1793237774178888960
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.903100833,746,716,681,664.096899167,637,881,788.096899167,804,653,632,654,0.42054894038,0.0044714736115,0.0697579290073,0.999999921113,1.47069945882e-05,-0.000395585525479,3.26955519036e-05,1793237774195555840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.329061343,746,716,681,664.670938657,637,881,788.670938657,804,653,632,654,0.41986410708,0.00446377628089,0.0698218507409,0.999999955441,3.64936849479e-06,-0.000296551758142,3.4073169436e-05,1793237774212222464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.252440101,746,716,680.747559899,665,637,881,788.747559899,804,653,632.252440101,654,0.41916054119,0.00445702568222,0.0698659912529,0.999999973584,-2.2779754806e-06,-0.000227106266591,3.53459360343e-05,1793237774228889344
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.843964596,746,716,680.156035404,665,637,881,788.156035404,804,653,632.843964596,654,0.418431813231,0.00445154676021,0.0698835610864,0.99999997985,-1.31418436208e-06,-0.0001974045609,3.64778642386e-05,1793237774245555968
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.57438733,680,664.57438733,636.57438733,881,788,804,653,633,654,0.417675356527,0.00444578548997,0.0698646847548,0.999999971925,-6.20129814819e-06,-0.000233998416425,3.68355643834e-05,1793237774262222336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.996298817,746,715.003701183,679.996298817,664,636,880.996298817,788,804,653,632.996298817,654,0.416909332235,0.00443992270854,0.069832843824,0.999999956012,-1.32130731742e-05,-0.00029400647144,3.69066350999e-05,1793237774278888704
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.421434496,746,715.578565504,679.421434496,664,636,880.421434496,788,804,653,632.421434496,654,0.416200045215,0.00443400660283,0.0698155144347,0.999999953575,-2.4589916052e-05,-0.000301630462934,3.55542652141e-05,1793237774295555584
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.153554705,746,716,679.153554705,664.153554705,636.153554705,880.153554705,788,804,653,632.153554705,654,0.415487500935,0.00442878040024,0.0698002355709,0.999999949282,-3.3688720091e-05,-0.000314784634699,3.48009362855e-05,1793237774312222720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.728887052,746,716,679.728887052,664.728887052,636.728887052,880.728887052,788,804,653,632.728887052,654,0.41476600959,0.00442544919338,0.0697905890005,0.999999939827,-3.65303048387e-05,-0.000343128876128,3.56930277073e-05,1793237774328889088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.311925538,664.376148923,636.688074462,881,788,804,653.311925538,633,654,0.414070120072,0.0044251524953,0.0697834726804,0.999999933626,-3.60475030669e-05,-0.000360691976112,3.67435859771e-05,1793237774345555968
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.901831513,663.196336974,636.098168487,881,788,804,653.901831513,633,654,0.413397046322,0.00442756007766,0.0697786112582,0.999999930799,-3.26020889151e-05,-0.000368647184116,3.79353660023e-05,1793237774362222592
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.481866363,716,680.518133637,663.963732726,636.481866363,881,788,804,653.518133637,632.518133637,654,0.412805253023,0.00445357627548,0.069815417739,0.999999954957,-1.00891647489e-06,-0.000297996152555,3.58129880112e-05,1793237774378889216
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.940268431,746.940268431,716,680.059731569,665,636.940268431,880.940268431,788,803.940268431,653,632,654,0.412229097514,0.00448128369483,0.0698584368229,0.999999975318,3.2616773226e-05,-0.000217210630726,3.34482372879e-05,1793237774395556096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.364123773,746.364123773,716,680.635876227,665,636.364123773,880.364123773,788,803.364123773,653,632,654,0.411647852234,0.00448286502462,0.0698832500036,0.999999981761,3.52326639196e-05,-0.000184478396231,3.47081620901e-05,1793237774412222464
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.216366795,746,716,680.783633205,665,636,880,788,803,653,632.216366795,654,0.411050039739,0.00447865923954,0.0698896111062,0.999999982692,3.03212585229e-05,-0.000180109121606,3.54704325105e-05,1793237774428888832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.804320948,746,716,680.195679052,665,636,880,788,803,653,632.804320948,654,0.410423774841,0.00446451468928,0.0698642826901,0.999999974107,1.24825084674e-05,-0.000224450269844,3.53780334057e-05,1793237774445555456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.613299464,636,880,788,803,653.386700536,632.613299464,654,0.409822362818,0.00445978260744,0.0698362885785,0.999999962388,5.09417207154e-06,-0.000272038243152,3.45305050962e-05,1793237774462222336
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.03370059,636,880,788,803,653.96629941,632.03370059,654,0.409233348131,0.00445974575833,0.0698069647322,0.999999947842,2.91882766684e-06,-0.00032124583811,3.33062946402e-05,1793237774478888960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.456644115,746,716,680,664,636,880.543355885,788,803.543355885,653.456644115,632,654,0.408704912462,0.004460255968,0.069798881974,0.999999944979,2.3041516975e-06,-0.000330102947232,3.26890708647e-05,1793237774495555840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.119458665,746,716,680,664.119458665,636,880.880541335,788,803.880541335,653,632.119458665,654,0.408192539151,0.00446109031713,0.0697967486978,0.999999945312,2.16572297621e-06,-0.000329142210298,3.21825929827e-05,1793237774512222720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.692536152,746,716,680,664.692536152,636,880.307463848,788,803.307463848,653,632.692536152,654,0.407726957992,0.00446302727412,0.0698122279222,0.999999954376,3.46988583206e-06,-0.000300359356258,3.1954357541e-05,1793237774528888832
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.274682598,716,680,664.725317402,636.274682598,880.274682598,788,803,653,632.725317402,654,0.407263113812,0.00446858727606,0.0698254590963,0.999999960285,9.95975936101e-06,-0.000279855032325,3.1824743513e-05,1793237774545555456
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.867326877,716,680,664.132673123,636.867326877,880.867326877,788,803,653,632.132673123,654,0.406801280319,0.00447834117102,0.0698360880156,0.999999963079,2.2452405811e-05,-0.000268933608386,3.18092897525e-05,1793237774562222336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.550842525,716,680,664,636.550842525,881,788,803,653,632,654,0.406348680179,0.00448094432697,0.0698282329553,0.999999957655,2.49224035798e-05,-0.000288150863541,3.22061278574e-05,1793237774578888960
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,881,788,803,653,632,654,0.40590199428,0.00448133543574,0.0698156939807,0.999999949694,2.41226109539e-05,-0.000314587091244,3.26389418141e-05,1793237774595555584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,881,788,803,653,632,654,0.405519565494,0.00447877155521,0.0698159544308,0.999999950744,1.58341227673e-05,-0.000311885819776,3.14323175909e-05,1793237774612222464
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.177369931,636,880.822630069,788,803.177369931,653,632,654,0.405156696768,0.00447665567753,0.069822611967,0.999999955165,1.23934000905e-05,-0.000297614870954,3.06847404783e-05,1793237774628889088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.752870247,636,880.247129753,788,803.752870247,653,632,654,0.404837733248,0.00447554540217,0.0698436286132,0.999999966203,1.98341325889e-05,-0.000257374243504,3.09675557574e-05,1793237774645555968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.338156566,880.338156566,788,803.661843434,653.338156566,632,654,0.40451930761,0.00447296185703,0.0698595561623,0.999999972826,2.09278250652e-05,-0.000230119448507,3.0891837237e-05,1793237774662222336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.930807835,880.930807835,788,803.069192165,653.930807835,632,654,0.404201286744,0.00446926953736,0.0698716536883,0.999999976777,1.72447722265e-05,-0.000212637712864,3.05462882746e-05,1793237774678889216
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.488887134,637,880.488887134,788,803.511112866,653.488887134,632,654,0.403891582607,0.00446745682145,0.0698628045041,0.999999973875,9.07837774888e-06,-0.000226429512383,2.99584371129e-05,1793237774695555584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.089147261,637,880,788,803.910852739,653.089147261,632,654,0.403588966343,0.00446594429632,0.0698516248856,0.999999969867,4.10125424506e-07,-0.000243740709181,2.9260997192e-05,1793237774712222208
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.663704251,637,880,788,803.336295749,653.663704251,632,654,0.403318957792,0.00446471349621,0.0698428321228,0.999999966368,-7.7639297076e-06,-0.000257706383664,2.81412369098e-05,1793237774728888832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880,788,803,654,632.244509843,654,0.403065961094,0.00446361370696,0.0698377071646,0.999999963985,-1.45626643104e-05,-0.000266571755709,2.75060268502e-05,1793237774745555712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880,788,803,654,632.834135041,654,0.402836975927,0.00446269883412,0.0698377591587,0.999999963456,-1.94201913751e-05,-0.000268238264733,2.75547391133e-05,1793237774762222336
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.585021694,636.585021694,880,788,803.414978306,654,632.585021694,654,0.402618232663,0.00446169074654,0.0698334861712,0.999999960951,-2.54785715487e-05,-0.000276970253205,2.71280475051e-05,1793237774778888704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.007615799,636.007615799,880,788,803.992384201,654,632.007615799,654,0.402403498212,0.00446064617358,0.0698275203331,0.999999957529,-3.20069802133e-05,-0.000288467756755,2.65152769963e-05,1793237774795555328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.56739869,636.56739869,880,788,803.43260131,654,632,654,0.402224166438,0.00446338959274,0.069823278061,0.999999955458,-2.22414941573e-05,-0.000296377559042,2.73861837706e-05,1793237774812222208
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.858012334,880,788,803,654,632,654,0.402054895381,0.00446943428106,0.0698208575567,0.999999954275,-2.07430784911e-06,-0.000301098158611,2.80160945515e-05,1793237774828889088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.284619195,880,788,803,654,632,654,0.40191475443,0.00448535548477,0.069823902192,0.999999954521,4.90349820085e-05,-0.000296274601502,2.78535271301e-05,1793237774845555968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.701581586,636.298418414,880.298418414,788,803,653.701581586,632,654,0.401783435346,0.00449869823169,0.0698248559247,0.999999953325,7.86513613561e-05,-0.00029395809584,2.74265102183e-05,1793237774862222592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.109038197,636.890961803,880.890961803,788,803,653.109038197,632,654,0.401660811189,0.00450949962078,0.0698237488377,0.9999999526,8.70840616166e-05,-0.000294112571875,2.67388485669e-05,1793237774878889216
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.530762675,881,788,803,653.469237325,632,654,0.401552994489,0.00450430440369,0.0698232008377,0.999999953885,6.92658737306e-05,-0.000294601902902,2.53492330446e-05,1793237774895555840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.044454053,881,788,803,654,632.044454053,654,0.401450157509,0.00449619054541,0.0698225671742,0.999999954972,4.66335192902e-05,-0.000295496606444,2.37447359101e-05,1793237774912222464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.621574515,881,788,803,654,632.621574515,654,0.401366976386,0.0044963307682,0.0698193962776,0.999999953973,3.72516590216e-05,-0.000300343795768,2.14622766093e-05,1793237774928889088
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.802593467,664.197406533,636.802593467,881,788,803,654,632.802593467,654,0.401292579763,0.00449569284366,0.0698176748931,0.999999953687,2.97019731387e-05,-0.000302222088907,2.01268955395e-05,1793237774945555968
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.229215394,664.770784606,636.229215394,881,788,803,654,632.229215394,654,0.401234913705,0.00449357289493,0.0698187141843,0.999999954924,2.5641764166e-05,-0.000298445956616,2.05952769081e-05,1793237774962222592
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.715870568,664.642064716,636,881,788,803,653.642064716,632,654,0.40118534779,0.00449262348892,0.0698207290846,0.999999956447,2.37545511766e-05,-0.000293433303196,2.09540061136e-05,1793237774978889472
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.908517229,664.045741386,636,881,788,803,653.045741386,632,654,0.401141176643,0.00449245367474,0.0698233937492,0.999999958147,2.33145727813e-05,-0.000287597115976,2.12397059954e-05,1793237774995556096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.466691024,664,636.533308976,880.466691024,788,803,653,632,654,0.401106083293,0.00449412508557,0.0698264268997,0.999999958777,2.65072419338e-05,-0.000285098688835,2.15067030016e-05,1793237775012222720
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.110616726,636.889383274,880,788,803.110616726,653.110616726,632,654,0.401074477362,0.00449511745365,0.0698293900532,0.999999959518,2.8516258849e-05,-0.000282268478877,2.17925141205e-05,1793237775028888832
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.708994537,636,880,788,803,653.708994537,632,654,0.400991107472,0.00449597127421,0.0698448577627,0.999999966503,3.21942609602e-05,-0.000255903316447,2.17072994593e-05,1793237775378889728
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,880,788,803.463151901,653.463151901,632,654,0.400990035506,0.00449688016075,0.0698448649761,0.999999966645,3.02489661214e-05,-0.000255633264007,2.11243899514e-05,1793237775412222976
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.215959918,746,716,680,664,636.215959918,880,788,803.784040082,654,632,654,0.4009888284,0.00449768102939,0.0698434732844,0.999999965993,3.37651453644e-05,-0.00025773812316,2.11072140707e-05,1793237775478889216
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+432,7.200000000,POSE2_TO_POSE3_RETREAT,766.944815319,746,715.055184681,680,664.944815319,636.944815319,880.944815319,788,804,654,632.944815319,654.944815319,0.400988436364,0.00449778745305,0.0698450081556,0.999999966282,3.20236928001e-05,-0.000256816781423,2.13497578547e-05,1793237775512222464
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,715.52332884,680,665,637,880.47667116,788,803.47667116,654,632.47667116,654.47667116,0.400988956552,0.00449644919347,0.0698447917736,0.99999996652,3.12432929625e-05,-0.000255985058023,2.13361164305e-05,1793237775528889344
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.899114494,880.100885506,788,803.100885506,653.899114494,632,654,0.400989529858,0.00449525597386,0.0698446101285,0.999999966777,3.08520321949e-05,-0.000255024078098,2.1357254706e-05,1793237775545555968
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.325804802,880.674195198,788,803.674195198,653.325804802,632,654,0.400989983303,0.00449545267704,0.0698451406965,0.999999967116,3.23349963258e-05,-0.000253484281867,2.16260186172e-05,1793237775562222848
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37cb254db815a818c932f45570ab6aab9cfc83f3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,437 @@
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+415,6.916666667,pose2_to_pose3_retreat,0.578255209083,0.0100014439437,1.0600115731,0.548826441286,0.0186751007984,1.05966110683
+416,6.933333333,pose2_to_pose3_retreat,0.578254904621,0.0100014036945,1.06001159199,0.548826137485,0.018675062775,1.05966112532
+417,6.950000000,pose2_to_pose3_retreat,0.578254624838,0.0100013667077,1.06001160934,0.548825858309,0.0186750278338,1.05966114231
+418,6.966666667,pose2_to_pose3_retreat,0.578254445162,0.0100013429549,1.06001162048,0.548825679023,0.0186750053946,1.05966115322
+419,6.983333333,pose2_to_pose3_retreat,0.57825428511,0.0100013217963,1.06001163041,0.548825519318,0.0186749854062,1.05966116294
+420,7.000000000,pose2_to_pose3_retreat,0.578254266123,0.0100013192863,1.06001163159,0.548825500373,0.018674983035,1.0596611641
+421,7.016666667,pose2_to_pose3_retreat,0.578253890668,0.0100012696519,1.06001165488,0.548825125733,0.0186749361456,1.0596611869
+422,7.033333333,pose2_to_pose3_retreat,0.578253521011,0.010001220784,1.06001167781,0.548824756878,0.0186748899802,1.05966120935
+423,7.050000000,pose2_to_pose3_retreat,0.578253410355,0.0100012061555,1.06001168467,0.548824646463,0.0186748761608,1.05966121607
+424,7.066666667,pose2_to_pose3_retreat,0.578253351787,0.0100011984129,1.0600116883,0.548824588021,0.0186748688464,1.05966121963
+425,7.083333333,pose2_to_pose3_retreat,0.578253337876,0.0100011965739,1.06001168916,0.548824574141,0.018674867109,1.05966122047
+426,7.100000000,pose2_to_pose3_retreat,0.578253150397,0.0100012105658,1.0600116632,0.548824386185,0.0186748795253,1.05966119546
+427,7.116666667,pose2_to_pose3_retreat,0.578252914498,0.0100012382302,1.06001162078,0.548824149459,0.0186749044427,1.05966115455
+428,7.133333333,pose2_to_pose3_retreat,0.578252752067,0.0100012572787,1.06001159157,0.548823986459,0.0186749215999,1.05966112639
+429,7.150000000,pose2_to_pose3_retreat,0.578252606266,0.0100012743772,1.06001156534,0.548823840146,0.0186749370005,1.0596611011
+430,7.166666667,pose2_to_pose3_retreat,0.578252461101,0.0100012920843,1.06001154207,0.548823694504,0.018674953121,1.05966107858
+431,7.183333333,pose2_to_pose3_retreat,0.578252427386,0.0100012977433,1.06001154306,0.548823660752,0.0186749586463,1.05966107935
+432,7.200000000,pose2_to_pose3_retreat,0.578252356569,0.0100013096297,1.06001154515,0.548823589858,0.0186749702517,1.05966108096
+433,7.216666667,pose2_to_pose3_retreat,0.578252229279,0.0100013309947,1.0600115489,0.54882346243,0.0186749911119,1.05966108385
+434,7.233333333,pose2_to_pose3_retreat,0.578252090743,0.0100013536744,1.06001154996,0.548823323736,0.0186750132112,1.05966108386
+435,7.250000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99ad19768bac50cc7bd736db5ad2c3a617e003a2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63529c453e861d90273b0a8c88209a48a1439cc603bbb34346410d421b549742
+size 27826493
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b153e5e9fc32d96be03e51681b3d66d6f1260d56
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,680,665,637,880,788,803,654,633,654,0.400990380578,0.00449610479468,0.0698460132215,0.999999967337,3.23537593424e-05,-0.000252641023851,2.12419567857e-05,1793237775714788864
+1,0.016666667,BASELINE,767,746,716,680,665,637,880,788,803.577560246,654,633,654,0.400989594772,0.00449568378262,0.0698456382199,0.999999967251,3.07292680639e-05,-0.00025318902984,2.11758911403e-05,1793237775731454464
+2,0.033333333,BASELINE,767,746,716,680,665,637,880,788,803.846006813,653.846006813,632.846006813,654,0.400989478408,0.00449549050063,0.0698457216155,0.999999967294,2.93975563248e-05,-0.000253183030869,2.10995544141e-05,1793237775748120064
+3,0.050000000,BASELINE,767,746,716,680,665,637,880,788,803.272643736,653.272643736,632.272643736,654,0.400991185138,0.0044959173962,0.0698470533648,0.999999967695,2.88631712059e-05,-0.000251668309435,2.09952464222e-05,1793237775764786688
+4,0.066666667,BASELINE,767,746,716,680,665,636.698760085,880.301239915,788,803.301239915,653.301239915,632,654,0.400992292436,0.00449533187581,0.0698481023963,0.999999968157,2.83659017278e-05,-0.000249877012449,2.10559490661e-05,1793237775781453312
+5,0.083333333,BASELINE,767,746,716,680,665,636.124404495,880.875595505,788,803.875595505,653.875595505,632,654,0.400992856265,0.00449382846023,0.0698488951048,0.999999968674,2.79022827467e-05,-0.000247834961541,2.12662566948e-05,1793237775798119936
+6,0.100000000,BASELINE,767,746,716,680,664.535479414,636.464520586,881,788,803.535479414,654,632,654,0.400990716469,0.0044953786642,0.0698472275231,0.99999996781,3.07523356388e-05,-0.000250979507128,2.10452009212e-05,1793237775814787072
+7,0.116666667,BASELINE,767,746,716,680,664.056134316,637,881,788,803,654,632.056134316,654,0.400988196449,0.00449751602811,0.0698451907048,0.999999966689,3.4074042518e-05,-0.000255009075735,2.07577886525e-05,1793237775831453952
+8,0.133333333,BASELINE,767,746,716,680,664.635267259,637,881,788,803,654,632.635267259,654,0.400989098396,0.00449725784145,0.0698460514042,0.999999966989,3.32541495745e-05,-0.00025392374793,2.09633230514e-05,1793237775848120320
+9,0.150000000,BASELINE,767,746,716,680,665,637,881,788,803.212529402,654,633,654,0.400989510322,0.00449695313444,0.0698463161169,0.999999967114,3.24377180146e-05,-0.000253522290289,2.11102274502e-05,1793237775864786688
+10,0.166666667,BASELINE,767,746,716,680,665,637,881,788,803.786608927,654,633,654,0.400989088638,0.0044965692881,0.0698455669505,0.999999966946,3.16271749645e-05,-0.000254284216926,2.11573918231e-05,1793237775881453312
+11,0.183333333,BASELINE,767,746,716,680,665,637,881,788,804,654,633,654,0.400990219791,0.00449645546315,0.0698462422172,0.999999967314,3.14846766614e-05,-0.000252857729041,2.10807999255e-05,1793237775898119936
+12,0.200000000,BASELINE,767,746,716,680,665,637,881,788,804,654,633,654,0.400992269636,0.0044965013887,0.0698477602095,0.999999967993,3.1737408073e-05,-0.000250136527631,2.09309911327e-05,1793237775914786560
+13,0.216666667,BASELINE,767,746.538651443,716,680.538651443,665,637,880.461348557,788.538651443,804,653.461348557,632.461348557,654,0.400991600113,0.0044959162853,0.0698469909414,0.999999967879,3.0564210468e-05,-0.000250753436007,2.07578540269e-05,1793237775931453440
+14,0.233333333,BASELINE,767,746.882604816,716,680.882604816,665,637,880,788.882604816,803.882604816,653.117395184,632.117395184,654,0.400991022909,0.00449543822915,0.0698465407939,0.999999967784,2.94931121104e-05,-0.000251265856723,2.06701106022e-05,1793237775948120064
+15,0.250000000,BASELINE,767,746.306517398,716,680.306517398,665,637,880,788.306517398,803.306517398,653.693482602,632.693482602,654,0.400991610677,0.00449556506103,0.0698480139919,0.999999968008,2.92426615291e-05,-0.000250382766676,2.09229209035e-05,1793237775964786688
+16,0.266666667,BASELINE,767,746,716,679.727962186,664.727962186,636.727962186,880,788,803.272037814,654,632.727962186,654,0.400991616547,0.00449552950292,0.0698485730175,0.999999968043,2.95998553483e-05,-0.000250198163386,2.09456924554e-05,1793237775981453312
+17,0.283333333,BASELINE,767,746,716,679.146600978,664.146600978,636.146600978,880,788,803.853399022,654,632.146600978,654,0.400990960765,0.0044953092976,0.0698480925741,0.999999967864,3.06479774949e-05,-0.000250807781695,2.07068960671e-05,1793237775998120192
+18,0.300000000,BASELINE,767,746.438891456,716.438891456,679.438891456,664.438891456,636.438891456,880.438891456,788.438891456,804,654,632.438891456,654,0.400990358208,0.00449528499477,0.0698469952516,0.999999967591,3.0157064514e-05,-0.00025194842966,2.07579786407e-05,1793237776014786816
+19,0.316666667,BASELINE,767,746.974819752,716.974819752,680,665,636.974819752,881,788.974819752,804,654,632.974819752,654,0.400989819382,0.00449532506186,0.0698458194255,0.999999967321,2.92493710642e-05,-0.000253113161589,2.08910539357e-05,1793237776031453440
+20,0.333333333,BASELINE,767,746.401519368,716.401519368,680,665,636.401519368,881,788.401519368,804,654,632.401519368,654,0.400990277129,0.00449532837815,0.0698474627048,0.999999967843,3.05659513899e-05,-0.000250904332147,2.06811907831e-05,1793237776048120320
+21,0.350000000,BASELINE,767,746,716,680,665,636.172276248,881,788,804,654,632,654,0.400990529779,0.00449535921496,0.0698483757756,0.999999968092,3.15221519857e-05,-0.000249797513194,2.05937968517e-05,1793237776064786688
+22,0.366666667,BASELINE,767,746,716,680,665,636.747229333,881,788,804,654,632,654,0.400990303039,0.00449545437798,0.0698475820637,0.999999967716,3.16360043004e-05,-0.000251266523216,2.07926613232e-05,1793237776081453312
+23,0.383333333,BASELINE,767,746,716,680.331381648,665,636.668618352,881,788,804,654,632,654,0.400989984204,0.00449603322844,0.0698472780658,0.999999967522,3.33201376268e-05,-0.000251812283846,2.09014133964e-05,1793237776098120192
+24,0.400000000,BASELINE,767,746,716,680.922751352,665,636.077248648,881,788,804,654,632,654,0.400989593114,0.00449699155966,0.0698473582768,0.999999967464,3.62362471817e-05,-0.000251633702117,2.09394671058e-05,1793237776114786816
+25,0.416666667,BASELINE,767,746,716,679.994603932,664.497301966,636.502698034,881,788,803.497301966,653.497301966,632,654,0.400990187578,0.0044971767997,0.0698476854933,0.999999967667,3.49625122883e-05,-0.000251017935847,2.08383682985e-05,1793237776131453440
+26,0.433333333,BASELINE,767,746,716,679.080514927,664,637,881,788,803.080514927,653.080514927,632,654,0.400990522543,0.00449722039407,0.0698478553323,0.99999996779,3.35101337002e-05,-0.000250730499525,2.07638706866e-05,1793237776148120320
+27,0.450000000,BASELINE,767,746,716,679.655791512,664,637,881,788,803.655791512,653.655791512,632,654,0.400988352933,0.00449710737928,0.0698468300309,0.999999967203,3.48284982877e-05,-0.000252864294584,2.09813167161e-05,1793237776164786944
+28,0.466666667,BASELINE,767,746,716,680,664.229273726,637,881,788,804,653.770726274,632,654,0.400987761805,0.00449708293027,0.0698465405404,0.999999967102,3.49460294945e-05,-0.000253235892845,2.11106798172e-05,1793237776181453824
+29,0.483333333,BASELINE,767,746,716,680,664.800082936,637,881,788,804,653.199917064,632,654,0.400989522045,0.00449719041248,0.0698473471436,0.999999967728,3.32747502796e-05,-0.000250982450814,2.11088309855e-05,1793237776198120960
+30,0.500000000,BASELINE,767,746,716,680,665.387934921,637,881,788,803.612065079,653.387934921,632.387934921,654,0.400989840396,0.00449696643026,0.0698477029658,0.999999967927,3.27513309651e-05,-0.000250259355742,2.10486807168e-05,1793237776214787328
+31,0.516666667,BASELINE,767,746,716,680,665.984973227,637,881,788,803.015026773,653.984973227,632.984973227,654,0.400989381546,0.00449656378319,0.0698478158095,0.999999967901,3.2846627311e-05,-0.000250361143243,2.09571050025e-05,1793237776231453440
+32,0.533333333,BASELINE,767,746,716,680,664.882471636,637,881,788.558764182,803.558764182,653.441235818,632.441235818,654,0.40098927094,0.0044962186518,0.0698472056093,0.999999967789,3.23886327221e-05,-0.00025089262826,2.06544167497e-05,1793237776248120576
+33,0.550000000,BASELINE,766.866356019,746,716,680,664,636.866356019,880.866356019,788.866356019,803.866356019,653.133643981,632,654,0.400989380062,0.00449578824148,0.0698468625786,0.999999967737,3.16928228013e-05,-0.000251200174024,2.04751631671e-05,1793237776264787200
+34,0.566666667,BASELINE,766.285828399,746,716,680,664,636.285828399,880.285828399,788.285828399,803.285828399,653.714171601,632,654,0.400990193855,0.00449506770685,0.0698474753422,0.999999967897,3.02495648828e-05,-0.000250721806114,2.07268810991e-05,1793237776281453824
+35,0.583333333,BASELINE,766.298994257,746,716,679.701005743,664.298994257,636.298994257,880,788,803,653.701005743,632.298994257,654,0.400991078333,0.00449498714298,0.069848189596,0.999999968158,3.07242158337e-05,-0.000249621371861,2.07383232559e-05,1793237776298120192
+36,0.600000000,BASELINE,766.887982734,746,716,679.112017266,664.887982734,636.887982734,880,788,803,653.112017266,632.887982734,654,0.400992031367,0.00449552728598,0.0698490022851,0.999999968512,3.3059044431e-05,-0.000247917596051,2.05167222181e-05,1793237776314786816
+37,0.616666667,BASELINE,767,746,716,679.469108626,665.469108626,636.530891374,880.469108626,788,803,653,633,654,0.400991235331,0.00449593562713,0.0698484839844,0.999999968284,3.30194790686e-05,-0.000248829410947,2.06263595604e-05,1793237776331453440
+38,0.633333333,BASELINE,767,746,716,680,666,636.048047041,881,788,803.048047041,653.048047041,633,654,0.400990125905,0.00449633911433,0.0698476924753,0.999999967952,3.24868289197e-05,-0.000250217193748,2.07714712898e-05,1793237776348120064
+39,0.650000000,BASELINE,767,746,716,680,666,636.623245243,881,788,803.623245243,653.623245243,633,654,0.400990084901,0.00449702895835,0.0698473329833,0.999999967986,3.26623325063e-05,-0.000250087536535,2.04522956942e-05,1793237776364786944
+40,0.666666667,BASELINE,767,746.198366975,716,680,665.603266051,637,880.801633025,788.198366975,804,654,632.801633025,654,0.40098992226,0.00449713308405,0.0698472409369,0.999999967967,3.29244078046e-05,-0.000250129372145,2.04226599395e-05,1793237776381453568
+41,0.683333333,BASELINE,767,746.77334349,716,680,664.453313021,637,880.22665651,788.77334349,804,654,632.22665651,654,0.400989528685,0.00449612519442,0.0698476566489,0.99999996785,3.33508437809e-05,-0.000250496795398,2.0942729953e-05,1793237776398120192
+42,0.700000000,BASELINE,767,747,716,680,664.358583171,637,880.358583171,789,803.641416829,654,632,654,0.400990411063,0.00449566484124,0.0698481031651,0.999999968037,3.33231401898e-05,-0.000249741666256,2.10997631059e-05,1793237776414787072
+43,0.716666667,BASELINE,767,747,716,680,664.95050121,637,880.95050121,789,803.04949879,654,632,654,0.40099212372,0.0044955607774,0.0698485697258,0.999999968419,3.29999218887e-05,-0.000248256077237,2.10205632954e-05,1793237776431453440
+44,0.733333333,BASELINE,767,746.468748204,716,680,665,637,880.468748204,788.468748204,803,654,632.531251796,654,0.400990001149,0.00449645197513,0.0698475852692,0.999999967947,3.33897897885e-05,-0.000250095965688,2.10432422849e-05,1793237776448120064
+45,0.750000000,BASELINE,767,746,716,680,665,637,880.110024934,788,803,654,632.889975066,654,0.400988496724,0.00449711525853,0.069846951338,0.999999967617,3.3660986516e-05,-0.000251379294426,2.10328192783e-05,1793237776464786688
+46,0.766666667,BASELINE,767,746,716,680,665,637,880.684750213,788,803,654,632.315249787,654,0.400991081294,0.00449643232469,0.0698483571431,0.999999968225,3.31561224071e-05,-0.000249030215311,2.08433201932e-05,1793237776481453312
+47,0.783333333,BASELINE,767,746,716,680,665,637,881,788,803.265116652,653.734883348,632,654,0.400992104154,0.00449619506803,0.0698488956729,0.999999968464,3.27571389864e-05,-0.000248135703564,2.06925123982e-05,1793237776498120192
+48,0.800000000,BASELINE,767,746,716,680,665,637,881,788,803.852336896,653.147663104,632,654,0.400991229614,0.00449649928695,0.0698483805065,0.999999968258,3.24867952867e-05,-0.000249008418765,2.05887125781e-05,1793237776514786816
+49,0.816666667,BASELINE,766.566060996,746,716,680,665,637,881,788,804,653.433939004,632,654,0.400990194461,0.00449628992064,0.0698478984886,0.999999968004,3.24706868242e-05,-0.000250030757822,2.05327341982e-05,1793237776531453440
+50,0.833333333,BASELINE,766.013568023,746.013568023,716,680,665,637,881,788,804,654,632.013568023,654,0.400989137892,0.00449593529615,0.0698474383109,0.999999967742,3.25223651339e-05,-0.000251075584068,2.04869890667e-05,1793237776548120064
+51,0.850000000,BASELINE,766.589643235,746.589643235,716,680,665,637,881,788,804,654,632.589643235,654,0.400989430341,0.00449671138901,0.0698474219199,0.999999967796,3.18435476026e-05,-0.000250968831522,2.01994714976e-05,1793237776564786944
+52,0.866666667,BASELINE,767,746.834606636,716,680,665,636.834606636,880.834606636,788,804,654,632.834606636,654,0.400990181238,0.00449726258163,0.0698476720083,0.999999968016,3.14976855492e-05,-0.000250154738743,1.99681305977e-05,1793237776581453312
+53,0.883333333,BASELINE,767,746.259661519,716,680,665,636.259661519,880.259661519,788,804,654,632.259661519,654,0.400992067358,0.00449725686982,0.0698485819608,0.999999968641,3.19762973587e-05,-0.000247589109967,1.98758959798e-05,1793237776598119936
+54,0.900000000,BASELINE,767,746,716,679.675859871,665,636.324140129,880.324140129,788,804,654,632,654,0.400992263384,0.00449720597649,0.0698485814766,0.999999968646,3.28340606677e-05,-0.000247444369262,2.00231475249e-05,1793237776614786816
+55,0.916666667,BASELINE,767,746,716,679.084764184,665,636.915235816,880.915235816,788,804,654,632,654,0.400991067481,0.00449711787253,0.0698478311744,0.999999968141,3.40040858161e-05,-0.00024929342541,2.03676352597e-05,1793237776631453440
+56,0.933333333,BASELINE,767,746,716,679.496434513,664.503565487,636.503565487,880.503565487,788,804.496434513,653.503565487,632.496434513,654,0.400990925582,0.00449780884632,0.0698483134426,0.999999968212,3.42839887629e-05,-0.000248965052406,2.04361901488e-05,1793237776648120064
+57,0.950000000,BASELINE,767,746.075348868,716,680,664.075348868,636,880,788,804.849302264,653,632.924651132,654,0.400990972789,0.00449826566269,0.0698488528058,0.999999968362,3.38957450693e-05,-0.000248415330609,2.04229104767e-05,1793237776664787200
+58,0.966666667,BASELINE,767,746.650103916,716,680,664.650103916,636,880,788,803.699792167,653,632.349896084,654,0.400991103881,0.00449630606119,0.0698484029665,0.99999996839,3.00667323061e-05,-0.000248814536861,2.0173404709e-05,1793237776681455104
+59,0.983333333,BASELINE,767,746.770033583,716,680,665,636.229966417,880.229966417,788.229966417,803,653,632,654,0.400991379842,0.00449501661,0.0698485383762,0.999999968555,2.80127199876e-05,-0.000248397411626,2.00905767852e-05,1793237776698121984
+60,1.000000000,BASELINE,767,746.182223444,716,680,665,636.817776556,880.817776556,788.817776556,803,653,632,654,0.40099188123,0.00449476995896,0.0698495844741,0.999999968949,2.87207310991e-05,-0.000246710017945,2.02671111288e-05,1793237776714787584
+61,1.016666667,BASELINE,767,746,715.599993078,680,665,637,881,788.599993078,803.400006922,653.400006922,632,654,0.400992688272,0.00449605519077,0.0698502431827,0.999999969076,3.1240368836e-05,-0.000245882398512,2.03524465843e-05,1793237776731453696
+62,1.033333333,BASELINE,767,746,715.020269648,680,665,637,881,788.020269648,803.979730352,653.979730352,632,654,0.400993632641,0.00449802867229,0.0698507278436,0.999999969074,3.45739404737e-05,-0.000245441061558,2.03968078736e-05,1793237776748120320
+63,1.050000000,BASELINE,767,746,715.555302205,680,665,637,881,788.555302205,803.444697795,654,632.555302205,654,0.400992933697,0.00449762971442,0.0698503975436,0.99999996891,3.37658482165e-05,-0.000246220228684,2.03764856961e-05,1793237776764786944
+64,1.066666667,BASELINE,767,746,716,680,664.86930217,636.86930217,880.86930217,788.86930217,803,653.86930217,632.86930217,654,0.400992401607,0.00449735067796,0.0698500000181,0.99999996877,3.30836543832e-05,-0.00024688399412,2.03429569433e-05,1793237776781453312
+65,1.083333333,BASELINE,767,746,716,680,664.293994384,636.293994384,880.293994384,788.293994384,803,653.293994384,632.293994384,654,0.400992639665,0.00449777199915,0.0698494742495,0.999999968733,3.33402108368e-05,-0.000247004755053,2.02724741986e-05,1793237776798119936
+66,1.100000000,BASELINE,767,746,716,680,664.287487451,636.287487451,880,788,803.287487451,653.287487451,632,654,0.40099248159,0.00449688162583,0.0698493778064,0.999999968778,3.20556980445e-05,-0.000246981591468,2.03848863466e-05,1793237776814786816
+67,1.116666667,BASELINE,767,746,716,680,664.875421611,636.875421611,880,788,803.875421611,653.875421611,632,654,0.400991909523,0.00449462042989,0.0698497300417,0.999999968904,2.91606482234e-05,-0.00024680801558,2.06884378617e-05,1793237776831453696
+68,1.133333333,BASELINE,767,746,716,680,665,637,880,788,804,654,632.456594275,654,0.400990426491,0.004495971152,0.0698489283614,0.999999968459,3.10931587462e-05,-0.000248381611127,2.05493426527e-05,1793237776848120320
+69,1.150000000,BASELINE,767,746,716,680,665,637,880,788,803.964378031,654,632.964378031,654.035621969,0.400988898817,0.00449816413676,0.069847947318,0.99999996792,3.41024170573e-05,-0.000250170063897,2.03135535576e-05,1793237776864787200
+70,1.166666667,BASELINE,767,746,716,680,665,637,880,788,803.390294947,654,632.390294947,654.609705053,0.400990398607,0.00449840954537,0.0698489446559,0.999999968443,3.37680781319e-05,-0.000248105610456,2.0415102802e-05,1793237776881453568
+71,1.183333333,BASELINE,766.815581604,746.184418396,716,680,665,637,880.184418396,788,803,654,632,654.815581604,0.400991474225,0.00449847853345,0.0698495583059,0.999999968725,3.38438667643e-05,-0.000246954263794,2.0454494811e-05,1793237776898120448
+72,1.200000000,BASELINE,766.239529727,746.760470273,716,680,665,637,880.760470273,788,803,654,632,654.239529727,0.400991649066,0.00449817287247,0.0698493571511,0.999999968499,3.47906079408e-05,-0.000247742003046,2.03618888667e-05,1793237776914787072
+73,1.216666667,BASELINE,766.345918578,746.654081422,716,679.654081422,665,637,881,788,803,654,632,654,0.400991796077,0.00449822964061,0.0698491237138,0.999999968505,3.4444377465e-05,-0.000247782323717,2.0210934957e-05,1793237776931453440
+74,1.233333333,BASELINE,766.938055039,746.061944961,716,679.061944961,665,637,881,788,803,654,632,654,0.40099192328,0.00449854437854,0.0698488672982,0.999999968673,3.31778357328e-05,-0.000247290646835,2.00184501453e-05,1793237776948120064
+75,1.250000000,BASELINE,766.480964171,746,716.519035829,679.519035829,665,637,881,788,803.519035829,653.480964171,632,654,0.400990376826,0.0044974073018,0.0698486530133,0.99999996841,3.18632947646e-05,-0.000248508352054,2.02050430423e-05,1793237776964786944
+76,1.266666667,BASELINE,766,746,716.902122487,680,665,636.902122487,881,788,803.902122487,653,632.097877513,654,0.400989248874,0.00449634122509,0.0698486326276,0.999999968217,3.10469809044e-05,-0.000249369700002,2.04109428333e-05,1793237776981453824
+77,1.283333333,BASELINE,766,746,716.327352785,680,665,636.327352785,881,788,803.327352785,653,632.672647215,654,0.40099111274,0.00449644754424,0.0698495330009,0.999999968622,3.26855212733e-05,-0.00024752167288,2.04951186102e-05,1793237776998120704
+78,1.300000000,BASELINE,766.253119076,746,716,680,665,636.253119076,881,788,803,653.253119076,632.746880924,654,0.400991894584,0.00449601129563,0.069849750643,0.999999968793,3.20768981334e-05,-0.000246913140535,2.04790207243e-05,1793237777014787072
+79,1.316666667,BASELINE,766.841135315,746,716,680,665,636.841135315,881,788,803,653.841135315,632.158864685,654,0.400991244824,0.00449485718569,0.0698490649762,0.999999968649,2.84950944374e-05,-0.00024794456092,2.03302526052e-05,1793237777031453696
+80,1.333333333,BASELINE,767,746,716,680,665,637,881,788,803,654,632,654,0.400991780787,0.00449565097144,0.0698494761069,0.99999996881,2.87155876127e-05,-0.000247284357234,2.01344867356e-05,1793237777048120064
+81,1.350000000,BASELINE,767.002166554,746,716,680,665,636.997833446,881,788,803.002166554,654,632,654,0.400992752189,0.0044971576667,0.069850292463,0.999999969084,3.03370973066e-05,-0.000245999227455,1.9923415579e-05,1793237777064786688
+82,1.366666667,BASELINE,767.577759211,746,716,680,665,636.422240789,881,788,803.577759211,654,632,654,0.400992798245,0.0044965023048,0.069850899548,0.999999969312,3.02303128796e-05,-0.000245054143693,2.02661724567e-05,1793237777081453312
+83,1.383333333,BASELINE,767.846886834,746,716,680,665,636.153113166,881,788,803.846886834,653.846886834,632.153113166,654,0.400992538688,0.00449585480765,0.0698508862452,0.999999969325,3.02253908899e-05,-0.000244982032566,2.05148456306e-05,1793237777098119936
+84,1.400000000,BASELINE,767.272189993,746,716,680,665,636.727810007,881,788,803.272189993,653.272189993,632.727810007,654,0.40099143765,0.00449522896523,0.0698491647589,0.999999968743,3.0500938164e-05,-0.00024731357482,2.05044676539e-05,1793237777114786816
+85,1.416666667,BASELINE,767,746,716,680,664.688534059,637,880.688534059,788,803,653.311465941,632.688534059,654,0.400990786302,0.00449540060123,0.0698484426701,0.999999968478,3.11778567555e-05,-0.000248303581707,2.04327388511e-05,1793237777131453440
+86,1.433333333,BASELINE,767,746,716,680,664.096816937,637,880.096816937,788,803,653.903183063,632.096816937,654,0.400990539576,0.00449628979331,0.0698486198204,0.999999968501,3.22159216741e-05,-0.000248086500229,2.03058077327e-05,1793237777148120320
+87,1.450000000,BASELINE,767,746,716,680,664.482890989,636.517109011,880,788,803.482890989,654,632,654,0.400991471185,0.00449689661357,0.069849395486,0.999999968672,3.31084236443e-05,-0.000247286143546,2.02266728278e-05,1793237777164786944
+88,1.466666667,BASELINE,767,746.060026586,716,679.939973414,665,636.060026586,880,788,803.939973414,653.939973414,632,654,0.400992419728,0.00449727996972,0.0698501126274,0.999999968823,3.36944268253e-05,-0.000246600853834,2.01858397584e-05,1793237777181453568
+89,1.483333333,BASELINE,767,746.635248417,716,679.364751583,665,636.635248417,880,788,803.364751583,653.364751583,632,654,0.400991535136,0.00449621949616,0.0698493225347,0.999999968561,3.18942235433e-05,-0.000247882503454,2.03934911635e-05,1793237777198120192
+90,1.500000000,BASELINE,767,746.789875707,716,679.210124293,664.789875707,637,880.210124293,788,803,653,632,654,0.400990598495,0.00449571158329,0.0698487766464,0.999999968382,3.10921389337e-05,-0.000248696021468,2.04944974523e-05,1793237777214786560
+91,1.516666667,BASELINE,767,746.215599443,716,679.784400557,664.215599443,637,880.784400557,788,803,653,632,654,0.400989571655,0.0044961612755,0.0698486539718,0.999999968354,3.20198253907e-05,-0.000248698252635,2.04106843974e-05,1793237777231453184
+92,1.533333333,BASELINE,767,746,716,680,664.371280982,636.628719018,880.628719018,788,803,653.371280982,632,654,0.400989889854,0.00449699023453,0.0698485519621,0.999999968425,3.27497338242e-05,-0.000248324324157,2.02860330398e-05,1793237777248119808
+93,1.550000000,BASELINE,767,746,716,680,664.965737782,636.034262218,880.034262218,788,803,653.965737782,632,654,0.400991016552,0.00449804716968,0.0698484623741,0.999999968557,3.33607586056e-05,-0.000247724287315,2.01368339e-05,1793237777264786432
+94,1.566666667,BASELINE,766.458503547,746,716,680,665,636.541496453,880,788,803.541496453,654,632,654,0.400992622789,0.00449652223567,0.0698500393149,0.999999969191,3.15582966792e-05,-0.00024537497562,2.03053156379e-05,1793237777281453568
+95,1.583333333,BASELINE,766.116274148,746,716,680,664.883725852,637,880,788,803.883725852,654,632.116274148,654,0.400993356295,0.00449540395272,0.0698509368459,0.999999969537,3.01577236213e-05,-0.000244130990405,2.03968945507e-05,1793237777298120192
+96,1.600000000,BASELINE,766.691694193,746,716,680,664.308305807,637,880,788,803.308305807,654,632.691694193,654,0.400990527718,0.00449651502205,0.0698487490175,0.999999968648,3.09270307872e-05,-0.000247674217961,2.0108073265e-05,1793237777314787072
+97,1.616666667,BASELINE,767,746,716,680,664.274845468,637,880,788,803.274845468,654,633,654,0.400989571522,0.00449670095947,0.0698477336355,0.999999968185,3.12671897117e-05,-0.00024950354756,2.0021322863e-05,1793237777331453696
+98,1.633333333,BASELINE,767,746,716,680,664.866920169,637,880,788,803.866920169,654,633,654,0.400990776446,0.00449581910082,0.0698480715024,0.999999968224,3.11120216416e-05,-0.000249354679758,2.01678045985e-05,1793237777348120320
+99,1.650000000,BASELINE,767,746,716,680,665,636.551824491,880,788,804,653.551824491,633,654,0.40099002928,0.00449561356173,0.0698481058483,0.99999996814,3.01172665233e-05,-0.000249813489662,2.01594986549e-05,1793237777364786944
+100,1.666666667,BASELINE,767,746,716,680,665,636,880.026024177,788,804,653.026024177,632.973975823,654,0.400988878541,0.00449566846642,0.0698480986718,0.999999968044,2.90591969499e-05,-0.000250325487067,2.01097245281e-05,1793237777381453824
+101,1.683333333,BASELINE,767,746,716,680,665,636,880.598212205,788,804,653.598212205,632.401787795,654,0.400991136275,0.00449707394144,0.0698490669549,0.999999968477,3.17811269495e-05,-0.000248256087616,2.01315273195e-05,1793237777398120192
+102,1.700000000,BASELINE,767,746,716,680,665,636.176250539,881,788,803.823749461,654,632,654,0.400992833741,0.00449783865734,0.0698498854879,0.999999968872,3.37664343042e-05,-0.000246390970174,2.01996375798e-05,1793237777414786816
+103,1.716666667,BASELINE,767,746,716,680,665,636.768083262,881,788,803.231916738,654,632,654,0.400993210149,0.00449709252332,0.069850350924,0.9999999692,3.40148544064e-05,-0.00024500753078,2.03769364906e-05,1793237777431453696
+104,1.733333333,BASELINE,767,746,716,680.352356609,665,637,880.647643391,788,803,654,632,654,0.400993159218,0.00449666985794,0.0698506262401,0.999999969221,3.34568753111e-05,-0.000244994592602,2.03901686686e-05,1793237777448120320
+105,1.750000000,BASELINE,767,746,716,680.931759027,665,637,880.068240973,788,803,654,632,654,0.400992832925,0.00449645562392,0.0698507790498,0.999999969045,3.23792818682e-05,-0.000245864755526,2.02976822168e-05,1793237777464787200
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,636,881,788,804,653,633,654,0.400991528514,0.00449616528855,0.0698497769784,0.999999968715,3.10787122013e-05,-0.000247405510795,1.98797392782e-05,1793237777496788736
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.59776145,665,636.59776145,881,788,803.40223855,653,632.40223855,654,0.40099136981,0.00449789821759,0.0698496899066,0.999999968678,3.30493422405e-05,-0.000247299724011,1.98737208837e-05,1793237777513455872
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.811016884,665,637,881,788,803,653.188983116,632,654,0.400991127187,0.0044983886121,0.069849610815,0.999999968618,3.42170463524e-05,-0.000247370397743,2.00179673064e-05,1793237777530122752
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.233249052,665,637,881,788,803,653.766750948,632,654,0.400990711923,0.004496322808,0.0698495481404,0.999999968518,3.3732934863e-05,-0.000247804094097,2.04713453869e-05,1793237777546788864
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.352624811,665,637,881,788,803.352624811,654,632.352624811,654,0.400990738753,0.00449644317665,0.069849989387,0.999999968577,3.46071514258e-05,-0.000247443290071,2.04883134418e-05,1793237777563455488
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.943986653,665,637,881,788,803.943986653,654,632.943986653,654,0.400991064892,0.00449804364657,0.0698507718026,0.999999968741,3.64009947611e-05,-0.000246544586651,2.02098194638e-05,1793237777580122368
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.477659056,880.477659056,788,803.477659056,653.477659056,633,654,0.400992112,0.00449717612405,0.0698511743046,0.999999969126,3.22790332965e-05,-0.000245569178721,2.00341384698e-05,1793237777596788992
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.098909376,880.197818752,788,803,653.098909376,633,654,0.400993044687,0.00449631966666,0.0698514364673,0.999999969416,2.8809582259e-05,-0.000244822961601,1.99698896944e-05,1793237777613455360
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.673434702,881.346869403,788,803,653.673434702,633,654,0.400993064429,0.00449675812002,0.069851214937,0.999999969232,3.14541705968e-05,-0.000245217423988,2.03897467124e-05,1793237777630121984
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.745974427,665,637,881.491948855,788,803,654,633,654,0.400993190655,0.00449684224123,0.0698511095141,0.999999969084,3.28389446077e-05,-0.000245618920618,2.06238829161e-05,1793237777646788352
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.157395232,665,637,880.314790464,788,803,654,633,654,0.400993457123,0.00449645970427,0.0698511570056,0.999999968992,3.25645333015e-05,-0.000246029681372,2.06134233532e-05,1793237777663454976
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.425855512,665,637,880,788,803,654,632.574144488,654,0.400999838509,0.00449584301153,0.0698540665775,0.999999970048,3.12638777465e-05,-0.000241869234536,2.06327060995e-05,1793237777680121600
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.007107714,788,803,654,632,654,0.401008734483,0.00449515598082,0.0698581453253,0.999999971543,2.96437445345e-05,-0.000235814783472,2.06643537857e-05,1793237777696788224
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.584067188,788,803,654,632,654,0.401040276115,0.00449568246402,0.0698722000316,0.99999997685,3.24438104254e-05,-0.000211691243033,2.08169108585e-05,1793237777713455104
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.159576013,716,680,665,637,880.840423987,788,803,653.840423987,632.159576013,654,0.401077762131,0.00449586151525,0.0698879810827,0.999999982211,3.33664614095e-05,-0.00018447040804,2.08563430643e-05,1793237777730121984
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.731337923,716,680,665,637,880.268662077,788,803,653.268662077,632.731337923,654,0.401130602536,0.00449514314753,0.0699082212969,0.999999988217,2.94397378827e-05,-0.000149249235646,2.06035730331e-05,1793237777746788608
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,747,716,680,665,636.686620535,880.313379465,788.313379465,803,653.313379465,632.686620535,654,0.401184494355,0.00449533318987,0.0699235156039,0.999999991434,2.78231874679e-05,-0.000126295433808,2.01659187672e-05,1793237777763455232
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,636.095467353,880.904532647,788.904532647,803,653.904532647,632.095467353,654,0.401239318123,0.00449632842998,0.0699344259499,0.999999992887,2.82543316933e-05,-0.000114215202778,1.95643865915e-05,1793237777780121856
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.514444274,716,679.514444274,665,636.485555726,881,788.514444274,803.485555726,654,632,654,0.401303323353,0.00449611297113,0.0699371478583,0.999999993454,2.74355032267e-05,-0.000109543450531,1.84263044108e-05,1793237777796788224
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.064334769,746.064334769,716.064334769,679.128669538,665,637,880.935665231,788,803.935665231,654,632,654,0.401370835833,0.00449600692906,0.06993780081,0.999999993756,2.6494033933e-05,-0.00010721077226,1.70650621089e-05,1793237777813454848
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.640781421,746.640781421,716.640781421,680.281562842,665,637,880.359218579,788,803.359218579,654,632,654,0.401452190408,0.00449862796633,0.0699345382438,0.999999993253,2.64926499418e-05,-0.000112139521205,1.47500196343e-05,1793237777830121728
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.779273285,747,716.779273285,681,665,637,880.220726715,788.220726715,803.220726715,654,632.220726715,654,0.401539155683,0.00449978241357,0.0699322300401,0.999999992855,2.49756185403e-05,-0.000116230200425,1.24820081069e-05,1793237777846788608
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.193542529,747,716.193542529,681,665,637,880.806457471,788.806457471,803.806457471,654,632.806457471,654,0.401635399063,0.00449851163852,0.069931500015,0.999999992655,2.0952241548e-05,-0.000118935007783,1.0291769388e-05,1793237777863456000
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.6118095,716,680.6118095,665,637,881,788.6118095,803.6118095,653.6118095,632.6118095,654,0.401751173397,0.00449885760114,0.0699321761406,0.99999999279,1.85660233744e-05,-0.000118379388761,7.90278710556e-06,1793237777880122880
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.032049272,716,680.032049272,665,637,881,788.032049272,803.032049272,653.032049272,632.032049272,654,0.401876586149,0.00450000141415,0.0699335461931,0.999999993088,1.6987733084e-05,-0.000116214768747,5.41572584771e-06,1793237777896789504
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.452777856,788,803.547222144,653.547222144,632,654,0.402030168833,0.00450142326886,0.069937537138,0.999999993956,1.42470816666e-05,-0.000108997846486,1.94887300569e-06,1793237777913455872
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.124623468,716,680,664.875376532,637,880,788,803.875376532,653.875376532,632,654,0.402192095475,0.00450303760423,0.0699419542184,0.999999994881,1.17765229746e-05,-0.000100477556963,-1.67631676432e-06,1793237777930121984
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.695431931,716,680,664.304568069,637,880,788,803.304568069,653.304568069,632,654,0.402377994166,0.00450528282226,0.0699473479033,0.999999996026,1.05164803989e-05,-8.8349317733e-05,-5.6631302884e-06,1793237777946788352
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664.276233388,637,880,788,803.276233388,653.276233388,632.276233388,654,0.402569889857,0.0045065347123,0.0699493500862,0.999999996482,6.64980052855e-06,-8.3013145853e-05,-1.00108926049e-05,1793237777963455232
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,747,716,680,664.868466385,637,880,788,803.868466385,653.868466385,632.868466385,654,0.402768645859,0.00450665027595,0.0699474725301,0.99999999624,-1.98764875071e-07,-8.54468197626e-05,-1.47715652215e-05,1793237777980122112
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.550006114,716,680,665,636.550006114,880,788,803.550006114,654,632.550006114,654,0.402998159261,0.00450723114505,0.0699496475193,0.999999996573,-5.24864715979e-06,-8.02838115645e-05,-1.95400399718e-05,1793237777996789248
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.028092375,880.028092375,788,803.028092375,654,632,654.028092375,0.403238501601,0.00450812198041,0.0699533041691,0.999999997043,-9.5239891379e-06,-7.23344760648e-05,-2.43148434717e-05,1793237778013456896
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.598993424,880.598993424,788,803.598993424,654,632,654.598993424,0.403518405162,0.00451243513105,0.0699632332969,0.99999999816,-8.75620067841e-06,-5.24553795371e-05,-2.91688923036e-05,1793237778030123264
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679.823543923,665,636.823543923,880.823543923,788,803.823543923,653.823543923,632,654.823543923,0.403804678852,0.0045151389493,0.06997097203,0.999999998668,-9.73516429396e-06,-3.78782249072e-05,-3.3691533051e-05,1793237778046789632
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.23059382,665,636.23059382,880.23059382,788,803.23059382,653.23059382,632,654.23059382,0.40410598809,0.00451404421639,0.0699735407144,0.999999998548,-1.48370339463e-05,-3.58153892506e-05,-3.7431941716e-05,1793237778063455488
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.353989475,664.646010525,636.353989475,880.353989475,788,803,653,632,654,0.404424395889,0.00451649973719,0.0699737182997,0.99999999863,1.17384427831e-05,-3.80650029276e-05,-3.39524213664e-05,1793237778080122112
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.933248414,664.066751586,636.933248414,880.933248414,788,803,653,632,654,0.404753684785,0.0045212145447,0.0699723742535,0.999999997029,5.84725376737e-05,-4.30589441136e-05,-2.58783309897e-05,1793237778096788736
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715.493005337,680,664,636.493005337,880.493005337,788,803.506994663,653,632.506994663,654,0.405115925452,0.00451733614006,0.0699765613461,0.999999997352,5.87969740472e-05,-3.33156886318e-05,-2.70104403993e-05,1793237778113455360
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.918880141,746,715.081119859,679.918880141,664.081119859,636.081119859,880,788,803.918880141,653,632.918880141,654,0.405487800019,0.00451033187051,0.069981519976,0.999999998004,5.17815849705e-05,-2.19671005495e-05,-2.8769458144e-05,1793237778130121984
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.33799662,746,715.66200338,679.33799662,664.66200338,636.66200338,880,788,803.33799662,653,632.33799662,654,0.405892586329,0.00449096507494,0.0699867936319,0.99999999888,3.67867582808e-05,-1.25537117144e-05,-2.70035453886e-05,1793237778146788608
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716,679.246159922,665,637,880,788,803.246159922,653.246159922,632.246159922,654,0.406299073207,0.00448569097776,0.0699832918967,0.999999999195,2.3597329256e-05,-1.80603156253e-05,-2.69681494969e-05,1793237778163455232
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,716,679.8348711,665,637,880,788,803.8348711,653.8348711,632.8348711,654,0.406707926537,0.00450002800073,0.0699675785015,0.999999998504,1.29202566384e-05,-4.43292854862e-05,-2.93409065809e-05,1793237778180121856
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.41651187,746,716,680,665.41651187,637,880,788,803.58348813,653.58348813,633,654,0.40715534375,0.00450691155085,0.0699571841726,0.999999997893,-1.98127556499e-08,-5.72378542573e-05,-3.06324037405e-05,1793237778196788736
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.995396306,746,716,680,665.995396306,637,880,788,803.004603694,653.004603694,633,654,0.407617794659,0.00451088944632,0.0699488634234,0.9999999973,-1.38420862702e-05,-6.49380171804e-05,-3.15023835698e-05,1793237778213455104
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.42934212,746,716,680,665.42934212,636.42934212,880.57065788,788,803,653,632.42934212,654,0.408128919779,0.00451298111514,0.0699590374528,0.999999998321,2.14712475805e-06,-4.75075269866e-05,-3.31022685359e-05,1793237778230121472
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880.850963085,788,803,653,632,654,0.408651347861,0.00451764647943,0.0699688996413,0.999999998767,2.07525490898e-05,-2.8837788878e-05,-3.47089328945e-05,1793237778246788352
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880.263324281,788,803,653,632,654,0.409205891119,0.00452993049086,0.0699774077866,0.999999998241,4.63539418808e-05,-7.11393600117e-06,-3.63183284307e-05,1793237778263455232
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.319632933,746,716,680,665,636.319632933,880,788,803,653,632.319632933,654.319632933,0.409749898364,0.00453652446904,0.0699754434577,0.999999997855,5.33517562965e-05,-7.40281262887e-06,-3.72653033237e-05,1793237778280122112
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.898789033,746,716,680,665,636.898789033,880,788,803,653,632.898789033,654.898789033,0.410285351045,0.00453849847577,0.0699649760956,0.99999999794,4.52445605488e-05,-2.55647303406e-05,-3.76744317494e-05,1793237778296788736
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.476579461,716,680,665,637,880.476579461,788,803,653,632.523420539,654.523420539,0.410860620042,0.00454707613975,0.0699613066798,0.999999997097,5.64447502821e-05,-3.35387914112e-05,-3.86631448423e-05,1793237778313455360
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.946225898,716,679.946225898,665,636.946225898,881,788,803,653,632.053774102,654.053774102,0.411449920773,0.00455656447845,0.0699612049594,0.999999996062,7.11536568567e-05,-3.50740007408e-05,-3.97849188589e-05,1793237778330122240
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.371998208,716,679.371998208,665,636.371998208,881,788,803,653,632.628001792,654.628001792,0.412093422776,0.00456133228374,0.069981700514,0.999999995928,8.02503123134e-05,4.82881092163e-06,-4.10066387514e-05,1793237778346789632
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679.207891353,665,636.207891353,880.792108647,788,803.207891353,653,632.792108647,654.792108647,0.412742062155,0.0045665832828,0.0700046811133,0.999999994331,8.72527503781e-05,4.46250662924e-05,-4.1635760642e-05,1793237778363456512
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.798195808,665,636.798195808,880.201804192,788,803.798195808,653,632.201804192,654.201804192,0.413400151621,0.00457272310941,0.0700322329146,0.999999991519,9.04029057725e-05,8.42253105188e-05,-4.11748071686e-05,1793237778380122112
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.379666107,788,804,653,632,654,0.414069445544,0.00457972103063,0.0700354441156,0.999999990496,9.96042025172e-05,8.55945724235e-05,-4.19700809102e-05,1793237778396788736
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.956547538,788,804,653,632,654,0.414744559534,0.00458716468384,0.0700260117341,0.99999999054,0.000111948728925,6.7104974403e-05,-4.3417894503e-05,1793237778413455616
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680.531704441,665,636.468295559,880.468295559,788,803.468295559,653,632,653.468295559,0.415375422174,0.00459355332084,0.0699794785402,0.999999991635,0.000120404574081,-1.55200039739e-05,-4.4634310647e-05,1793237778430121984
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.893439728,746.106560272,716,680.893439728,665,636,880.106560272,788,803.106560272,653,632,653.106560272,0.416020157566,0.00460019174328,0.069938731111,0.999999987041,0.000127775859119,-8.65141430614e-05,-4.59012082633e-05,1793237778446788352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.319288751,746.680711249,716,680.319288751,665,636,880.680711249,788,803.680711249,653,632,653.680711249,0.416741584355,0.00460830334188,0.0699366333338,0.9999999867,0.00013177803938,-8.35468484536e-05,-4.74723332575e-05,1793237778463454976
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746.735807919,716,680,665,636.264192081,881,788,804,653,632,654,0.417489066988,0.00461483233256,0.0699502722935,0.999999987668,0.000137214262938,-5.92206275659e-05,-4.82559042584e-05,1793237778480121856
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.14063866,716,680,665,636.85936134,881,788,804,653,632,654,0.418269192215,0.0046193786491,0.0699836260784,0.99999998838,0.000144447041771,-8.13615854189e-06,-4.8052835674e-05,1793237778496788480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.43928309,716,680,665,637,881,788,804,653,632,654,0.41902839072,0.00462327080359,0.0700015790262,0.999999987645,0.000148680289055,1.56492069697e-05,-4.85636660947e-05,1793237778513455104
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.014478949,747,716,680,665.014478949,637,880.985521051,788,804,653,632,654,0.419781633778,0.00462691811652,0.0700146429277,0.999999986763,0.000151928010833,3.10133735506e-05,-4.93014972865e-05,1793237778530121472
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.589363455,747,716,680,665.589363455,637,880.410636545,788,804,653,632,654,0.420554989543,0.00462892304018,0.0700229154374,0.999999985917,0.000152953114206,4.73667815052e-05,-5.02758005803e-05,1793237778546788096
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.831101095,746.831101095,716,680,665.831101095,637,880.33779781,788,804,653,632,654,0.421323269066,0.00462372477448,0.0700277838015,0.999999986442,0.000146048373292,5.62311037109e-05,-5.12265039073e-05,1793237778563454976
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.239937848,746.239937848,716,680,665.239937848,637,881.520124303,788,804,653,632,654,0.422078857425,0.00460051780693,0.0700241414572,0.999999990448,0.000119318219752,4.63719532777e-05,-5.21182048752e-05,1793237778580121600
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.343585081,746,716,680.343585081,665.343585081,636.656414919,882,788,804,653.343585081,632,654,0.42281595628,0.00458102011351,0.0699900098258,0.999999994042,9.49208587181e-05,-1.28660032606e-05,-5.23520762866e-05,1793237778596788224
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.921888542,746,716,680.921888542,665.921888542,636.078111458,882,788,804,653.921888542,632,654,0.423540424094,0.0045640563926,0.0699350495948,0.99999999044,7.21171333096e-05,-0.000105836836784,-5.21365544212e-05,1793237778613455104
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680.013376279,665.50668814,636,881.50668814,788,804,653.50668814,632,654,0.424286795739,0.00457326588199,0.0699007507085,0.99999998349,8.38930006214e-05,-0.000151708202925,-5.44680688341e-05,1793237778630121984
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.06463973,665,636,881,788,804,653,632,654,0.425048478482,0.00458532744886,0.0698795699064,0.999999978109,9.84472683847e-05,-0.000175626005676,-5.69625019244e-05,1793237778646788864
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.643759125,665,636,881,788,804,653,632,654,0.42590479977,0.00458755775571,0.0699371177939,0.999999990624,9.21353198297e-05,-8.3352625506e-05,-5.75878458315e-05,1793237778663454976
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.771686935,746.228313065,716,680,665,636,881,788,804,653,632,654,0.426740477765,0.00459052932112,0.0699861137937,0.999999994008,9.31199073569e-05,-9.27919004541e-06,-5.68101067782e-05,1793237778680121600
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.178446523,746.821553477,716,680,665,636,881,788,804,653,632,654,0.427543160402,0.00459468568779,0.0700214407745,0.999999992323,0.000105767014216,3.57041254885e-05,-5.37897313005e-05,1793237778696788224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.403586192,746.596413808,716,680,665.403586192,636.403586192,881.403586192,788,804,653,632,654,0.428351935151,0.00459751412927,0.0700348917391,0.999999990541,0.000114336638389,5.46659448668e-05,-5.34436889665e-05,1793237778713455104
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.980797261,746.019202739,716,680,665.980797261,636.980797261,881.980797261,788,804,653,632,654,0.429163330709,0.00459977129019,0.0700389315258,0.999999989241,0.000121152107617,6.24331786944e-05,-5.42481588582e-05,1793237778730121984
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.554392812,716,680.554392812,665.445607188,636.445607188,881.445607188,788,803.445607188,653,632,654,0.429930629201,0.00460056569562,0.0700347296227,0.999999989571,0.000119452850864,5.95356366438e-05,-5.51801431392e-05,1793237778746788608
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.86869763,746.86869763,716,681,665.13130237,636.13130237,881,788.13130237,803,652.86869763,632,654,0.430675190065,0.00460106856468,0.0700195204773,0.999999990819,0.000117844015196,3.68246465065e-05,-5.58523490333e-05,1793237778763455488
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.279805148,746.279805148,716,681,665.720194852,636.720194852,881,788.720194852,803,652.279805148,632,654,0.431345798571,0.00460073085423,0.0699669394022,0.999999990103,0.000117571465582,-5.3657391419e-05,-5.56039314926e-05,1793237778780122112
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,716,680.694588036,665.694588036,637,881,788.694588036,803.305411964,652,632.305411964,653.694588036,0.432051861508,0.00459910161847,0.0699290106391,0.99999998501,0.000114619148215,-0.000116839730561,-5.64921441139e-05,1793237778796788736
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680.11269813,665.11269813,637,881,788.11269813,803.88730187,652,632.88730187,653.11269813,0.432790019967,0.00459630321352,0.0699043460646,0.999999980267,0.000109240938601,-0.000155308676431,-5.84093054444e-05,1793237778813455360
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.461290188,746,716,680.461290188,665.461290188,637,881.461290188,788,804,652.461290188,632.538709812,653.461290188,0.433606469494,0.00458641535557,0.0699511614057,0.999999991315,9.53404066771e-05,-6.95703431187e-05,-5.86487560303e-05,1793237778830121984
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.03369074,716,681,666,637,881.96630926,788,804.03369074,653,632,654,0.434435532457,0.00457553852236,0.0700126097351,0.999999994236,8.03298932037e-05,4.07540646821e-05,-5.84254923928e-05,1793237778846788608
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.611096176,716,681,666,637,881.388903824,788,804.611096176,653,632,654,0.435164668841,0.00457618266839,0.0700331273984,0.999999992923,8.04418861112e-05,6.63831033898e-05,-5.72382238176e-05,1793237778863455488
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.806745961,747,716,681,666,637,881,788,804.806745961,653,632.193254039,654,0.435876217929,0.00457736982531,0.0700413552208,0.999999992042,8.22911581462e-05,7.71112642632e-05,-5.65490330937e-05,1793237778880122368
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.2147831,747,716,681,666,637,881,788,804.2147831,653,632.7852169,654,0.436551482215,0.00457967728614,0.0700242274685,0.999999992904,8.77246685081e-05,5.70969341972e-05,-5.68874431495e-05,1793237778896789504
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746.63338136,716,681,666,636.63338136,881.73323728,788,804,653,633,654,0.43721940606,0.00458194966555,0.0700063730721,0.999999993449,9.18334776575e-05,3.61714990923e-05,-5.79677350184e-05,1793237778913455872
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746.057993631,716,681,666,636.057993631,882.884012739,788,804,653,633,654,0.43788314989,0.00458420206791,0.069988104893,0.999999993593,9.5187942205e-05,1.47272411286e-05,-5.94704876162e-05,1793237778930122240
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.518583855,746,716,681,666,636.518583855,881.962832291,788,804,653,632.481416145,654,0.438531200531,0.00458432676986,0.069965633785,0.99999999395,9.10909533945e-05,-1.34566415212e-05,-6.01850812463e-05,1793237778946788608
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,637,881.09751234,788,804,653,632.09751234,654,0.439164118033,0.00458467444302,0.0699415065318,0.999999993198,8.80066551693e-05,-4.67291029051e-05,-6.06244770835e-05,1793237778963455232
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,666,637,881.687644044,788,804,653,632.687644044,654,0.43972947123,0.00458735335433,0.0699113925767,0.99999998856,9.42577452198e-05,-0.000101892051566,-6.01199079863e-05,1793237778980121856
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.272654047,715.727345953,681.272654047,665.727345953,636.727345953,882,788,804,653,632.727345953,654,0.440326696853,0.00458997515769,0.0699059816375,0.999999987548,9.50234899676e-05,-0.000110840414943,-5.990011221e-05,1793237778996788224
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.851904712,715.148095288,681.851904712,665.148095288,636.148095288,882,788,804,653,632.148095288,654,0.440959762648,0.00459253274358,0.0699283489829,0.999999991884,8.96210211223e-05,-6.78209580383e-05,-6.00005411584e-05,1793237779013454848
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,715.427664265,682,665.427664265,636,882,788,804.427664265,653,632.427664265,654,0.441592954911,0.0045939292422,0.069974224301,0.99999999435,8.76381754441e-05,9.39928354088e-07,-6.01525794733e-05,1793237779030121728
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.997770226,716,682,665.997770226,636.002229774,882,788,805,652.997770226,633,654,0.442225830894,0.00459492159024,0.0700279834502,0.999999991348,8.68452440403e-05,7.82466280935e-05,-6.03195023994e-05,1793237779046788352
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.421904867,716,682,665.421904867,636.578095133,882,788,805,652.421904867,633,654,0.442766151393,0.00459454147263,0.0700326562914,0.999999991012,8.99952153251e-05,7.94087596062e-05,-5.97552510402e-05,1793237779063455232
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+205,3.416666667,POSE1_TO_POSE2_PRESS,767,747,715.97367278,682.48683639,664,636,882,788,804.48683639,653,632,654,0.44501832068,0.00461061851723,0.0699049507038,0.999999979794,0.000139956881642,-0.000132904853454,-5.62228573473e-05,1793237779146788608
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.937460382,716.937460382,683,664,635.937460382,882,788,804.937460382,653,632.062539618,654,0.445443130757,0.00461303237075,0.0698945160685,0.999999977434,0.000141543794125,-0.000147664737127,-5.73828393788e-05,1793237779163455232
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.362918222,716.362918222,683,664,635.362918222,882,788,804.362918222,653,632.637081778,654,0.445860188234,0.00461437583175,0.0698916064274,0.999999977676,0.00014507513426,-0.000141999627496,-5.86330295667e-05,1793237779180121856
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.781696376,746,716,683,664,635.218303624,882,788,804,653,633,654,0.446252106705,0.00461573926465,0.0698888806324,0.999999976709,0.000150633653238,-0.000142949159487,-5.88032736149e-05,1793237779196788992
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766.065943774,746.934056226,715.934056226,682.065943774,659.065943774,635,882,788.934056226,804.934056226,653,632.065943774,654,0.449776680402,0.00463629954404,0.0698108861301,0.999999946426,0.000145909184442,-0.00028876496974,-4.97289174432e-05,1793237779446788352
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,716,682.737931336,659,634.737931336,882,787.262068664,804,653,632.737931336,654,0.450142388524,0.00464138492412,0.0697900024061,0.999999935396,0.000149686940263,-0.000322409635208,-5.34305193132e-05,1793237779513455104
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,716,682.158765207,659,634.158765207,882,787.841234793,804,653,632.158765207,654,0.450203448716,0.00464164229008,0.0697832651173,0.999999931612,0.000152896687256,-0.000332468717203,-5.35165435404e-05,1793237779530121984
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,682.903453141,658.096546859,634,882,788,805,653,632.096546859,654,0.450442888369,0.00463775679588,0.0697642213284,0.999999920241,0.00015261353909,-0.000365472465914,-5.15419010233e-05,1793237779646788352
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,715.520502604,683,658,634,882.479497396,788,805,653,632.479497396,654,0.450455880162,0.00463812853859,0.0697627711586,0.999999919278,0.000153495797165,-0.000367758151722,-5.13429648408e-05,1793237779663454976
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746.630213898,715.630213898,683,658.630213898,634,882.369786102,788,804.369786102,653,633,654,0.450473941698,0.00463915267987,0.0697607146924,0.999999917937,0.000155022103251,-0.000370765259317,-5.12631770206e-05,1793237779696788480
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.789813557,716,683,658.789813557,634,882,788,804,653,632.789813557,654,0.450479378885,0.00463808717434,0.0697598296435,0.999999917538,0.000154448889311,-0.00037210963791,-5.10386627522e-05,1793237779713455104
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.20128858,716,683,658.20128858,634,882,788,804,653,632.20128858,654,0.450482730968,0.00463487415676,0.0697585570833,0.999999917093,0.000152234880788,-0.000374305906296,-5.03403472913e-05,1793237779730121984
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.618717997,746.381282003,715.618717997,683,658,634,882,788,804.381282003,653,632.381282003,654,0.450482941549,0.00463245743973,0.069756091507,0.999999916124,0.000149893915136,-0.000377874436863,-4.99524991105e-05,1793237779746788352
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.039242573,746.960757427,715.039242573,683,658,634,882,788,804.960757427,653,632.960757427,654,0.450481519153,0.00463045464615,0.0697530057914,0.999999914866,0.000147486956222,-0.00038215628016,-4.97260343144e-05,1793237779763454976
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766.887611054,746,716,682.887611054,658,634.112388946,882,788,804.112388946,653,632,654,0.45048637916,0.0046069905872,0.0697532905223,0.999999918752,0.000120837203326,-0.00038110764196,-5.1493823617e-05,1793237779796788480
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,716,682.405755635,658.594244365,634.594244365,882,788,804.405755635,653,633,654,0.450487246166,0.00458536823643,0.0697506707174,0.999999919881,9.62942228255e-05,-0.000385279812892,-5.02471490426e-05,1793237779896788480
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+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746.654253635,716,683,658,634,882,788,804.654253635,653,632.345746365,654,0.450488443174,0.004586677573,0.069750919018,0.999999919588,9.83324403795e-05,-0.000385600178062,-4.96774884787e-05,1793237779946788608
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+262,4.366666667,HOLD_POSE2,767,747,716,683,658,634,882,787,805,653,633,654,0.450486731245,0.00458796371928,0.0697477742421,0.999999916916,9.89070071601e-05,-0.000392255830412,-5.02004732486e-05,1793237780109641472
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.410758332,747,716,683,658,634,882,787.410758332,805.410758332,652.410758332,632.410758332,654,0.450485802822,0.00458963802665,0.0697440078136,0.999999914725,0.000102809977214,-0.000396949347198,-4.91065158898e-05,1793237780442200832
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.501700187,716,682.501700187,664.501700187,636,882,788.498299813,804,653,633,653.498299813,0.435405466568,0.00457441071451,0.0698293453538,0.999999950431,0.000181490637225,-0.000256189953957,2.38006525166e-05,1793237781358867456
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636,882,788.924349785,804,653,633,654,0.434709331162,0.00457150193023,0.06985131415,0.999999960124,0.000158325725349,-0.000232457044189,2.54645743016e-05,1793237781375533824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636,882,788.333643324,804,653,633,654,0.433976101553,0.00456606736486,0.0698409415233,0.999999958174,0.000134389323985,-0.000254712743682,2.67160558241e-05,1793237781392200448
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746.251630118,716,682,664.251630118,636.251630118,882,788.251630118,804,653,633,654,0.433232312529,0.00456059239716,0.0698355524082,0.999999957747,0.000117188457288,-0.00026461577081,2.74256094612e-05,1793237781408867584
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746.829852102,716,682,664.829852102,636.829852102,882,788.829852102,804,653,633,654,0.432474818291,0.00455506499035,0.0698366314139,0.999999960305,0.000108729668302,-0.000258486211997,2.74317926466e-05,1793237781425534720
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746.594742932,716,682,665,637,882.405257068,788.594742932,804,653,633,654,0.43169936648,0.00455214718963,0.0698265245315,0.99999995569,0.000112211240257,-0.000274266675373,2.84013831744e-05,1793237781442201344
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.020512566,716,682,665,637,882.979487434,788.020512566,804,653,633,654,0.430916427243,0.0045503174733,0.0698117536553,0.999999947521,0.00012067138634,-0.000299182596463,2.97726696201e-05,1793237781458867456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.433444464,746,716,681.433444464,664.433444464,637,881.866888927,788,804,653,633,654,0.430124113003,0.00454637958385,0.0697686095803,0.999999926518,0.000110694336027,-0.000365856306287,2.93403069027e-05,1793237781475534080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,664,636.847426623,881.152573377,788,804,653,633,654,0.429342106794,0.00454121486383,0.06974406592,0.999999912919,9.99731603539e-05,-0.000404120930039,2.9228114959e-05,1793237781492200192
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,664,636.265700634,881.734299366,788,804,653,633,654,0.428590071535,0.00453281903146,0.0697747972695,0.999999931449,8.90800804227e-05,-0.000358126423405,3.02044264108e-05,1793237781508866816
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.311860673,746.311860673,716,681.311860673,664.311860673,636,881.688139327,788,804,653,633,654,0.427839412927,0.00452633041045,0.0698181161183,0.999999953202,8.0908208746e-05,-0.000293356762653,3.15033451729e-05,1793237781525533696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.885920464,746.885920464,716,681.885920464,664.885920464,636,881.114079536,788,804,653,633,654,0.427089911786,0.00452144529162,0.0698720179967,0.999999973996,7.50242128541e-05,-0.000212801756453,3.3073498201e-05,1793237781542200576
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.540051369,746.540051369,716,682,664.540051369,636,881,788.459948631,804.459948631,653,633,654,0.426308572962,0.00451572207768,0.0698751660312,0.999999974148,7.42247790165e-05,-0.000212117837961,3.46481986599e-05,1793237781558867200
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.035021798,746,716,681.964978202,664,636,881,789,804.964978202,653.035021798,633,654,0.425519380185,0.00450977813059,0.069864845483,0.999999969632,7.3918601927e-05,-0.000232317215463,3.60600832244e-05,1793237781575534080
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.62683277,746,716,681.37316723,664,636,881,789,804.37316723,653.62683277,633,654,0.424730857664,0.00450362945956,0.0698405162588,0.999999961165,6.14062404202e-05,-0.000269599301766,3.48655294846e-05,1793237781592200704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.214084622,716,681,664.214084622,636.214084622,881,788.785915378,804.214084622,653.785915378,633,654,0.423928824573,0.00449750951179,0.0698158394898,0.999999950585,5.19008426341e-05,-0.000308145637693,3.43803947717e-05,1793237781608867328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.793555352,716,681,664.793555352,636.793555352,881,788.206444648,804.793555352,653.206444648,633,654,0.423103732368,0.00449143858603,0.0697905695492,0.999999937406,4.75275385805e-05,-0.000348849721306,3.5106051474e-05,1793237781625533952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,664.628533216,636.628533216,881,788,804.628533216,653.371466784,632.628533216,654,0.422267942979,0.00448515721395,0.0697569379369,0.999999916059,4.13515359528e-05,-0.000406114486309,3.5270644693e-05,1793237781642200576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,664.051484783,636.051484783,881,788,804.051484783,653.948515217,632.051484783,654,0.421426233472,0.00447875937448,0.0697186787084,0.99999988715,3.41778621737e-05,-0.000472544460597,3.51247272098e-05,1793237781658866944
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.467515845,746.467515845,716,681,664,636.532484155,881,788,804,653.467515845,632,654,0.420733719489,0.00447135540792,0.0697583768887,0.999999919044,1.41455381217e-05,-0.000400808540691,3.26370890126e-05,1793237781675534080
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.883397431,664.116602569,636.883397431,881,788,804,653,632.116602569,654,0.420052207807,0.00446393153064,0.0698070638911,0.999999949592,-3.61219821976e-06,-0.000315970948843,3.10640720059e-05,1793237781692201216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.301388343,664.698611657,636.301388343,881,788,804,653,632.698611657,654,0.419356275036,0.0044568215789,0.0698611473729,0.999999972281,-7.26341748145e-06,-0.000232862472369,3.40572824051e-05,1793237781708868352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.277851726,746.277851726,716,680,664.722148274,636.277851726,881,788,804,653,633,654,0.418632635771,0.00445117869259,0.069884596039,0.999999979453,-6.65788384655e-06,-0.00019937316236,3.60599906707e-05,1793237781725534976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.854117816,746.854117816,716,680,664.145882184,636.854117816,881,788,804,653,633,654,0.417879239616,0.00444711144352,0.069875142732,0.999999975296,-1.48057274789e-06,-0.000219175131106,3.69988938984e-05,1793237781742201600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,664.429653847,637,881,788.429653847,804,653,633,654,0.417114994811,0.00444027854398,0.0698471205935,0.999999965222,-1.33066873969e-05,-0.000260904728487,3.61678516624e-05,1793237781758867712
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.994951961,716,680,664.994951961,636.994951961,880.994951961,788.994951961,804,653,633,654,0.416347681621,0.00443252067875,0.0698130203292,0.999999950959,-3.08049488889e-05,-0.000309717783697,3.47517092321e-05,1793237781775534080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.407374873,716,680,664.407374873,636.407374873,880.407374873,788.407374873,804,653,633,654,0.415650635528,0.00442620239623,0.0698038384356,0.999999948032,-3.77667268892e-05,-0.000318246106879,3.50477891408e-05,1793237781792200704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.177785804,716,680,664.177785804,636.177785804,880,788,804,653,633,654,0.414947294511,0.00442040552846,0.0697923363629,0.999999942083,-4.45170211261e-05,-0.000335556053055,3.54226533162e-05,1793237781808867072
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.757483923,716,680,664.757483923,636.757483923,880,788,804,653,633,654,0.414229722707,0.00441578739819,0.0697755891648,0.999999928604,-5.07892249291e-05,-0.00037271821807,3.59756215493e-05,1793237781825533696
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.670606615,716,680,664.670606615,636.670606615,880,788,804,653,633,654,0.413576534992,0.00442243066254,0.0697821184929,0.999999932391,-4.33344660991e-05,-0.000363372768431,3.6070436899e-05,1793237781842200576
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.10429913,716,680,664.10429913,636.10429913,880,788,804,653,633,654,0.412969655168,0.00443717361375,0.0698053893157,0.999999947635,-2.60066761493e-05,-0.000320577009715,3.58357286289e-05,1793237781858867456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.513031879,746.486968121,716,680.486968121,664.486968121,636.486968121,880,788,804,653,633,654,0.412384730503,0.00446735591718,0.06984647017,0.999999968794,1.5620609827e-05,-0.000246885945862,3.48567023495e-05,1793237781875534336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.081375107,746.918624893,716,680.918624893,665,636.918624893,880.081375107,788,804,653,633,654,0.411801282991,0.00449437864403,0.0698856410066,0.999999982258,5.3102656379e-05,-0.000177492000524,3.4060631518e-05,1793237781892200960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.660520406,746.339479594,716,680.339479594,665,636.339479594,880.660520406,788,804,653,633,654,0.411196552888,0.00448075380038,0.0698885340879,0.999999983199,3.16727100812e-05,-0.000177047377783,3.54115404202e-05,1793237781908867072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.23869872,664.76130128,636.23869872,880.76130128,788.23869872,804,653,633,654,0.410589084597,0.00447042201251,0.0698769497341,0.999999979204,1.7909265314e-05,-0.00019997608395,3.57975100931e-05,1793237781925533696
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.815507279,664.184492721,636.815507279,880.184492721,788.815507279,804,653,633,654,0.40997773779,0.00446475474412,0.0698448585118,0.99999996651,1.50052002104e-05,-0.000256012434787,3.4816671056e-05,1793237781942200320
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.389226013,716,680.610773987,664.389226013,636.610773987,880,788.610773987,804,653,633,654,0.409397294713,0.00446370130941,0.0698175848689,0.999999953048,1.30703313545e-05,-0.000304252704463,3.41042534866e-05,1793237781958867200
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.961491758,716,680.038508242,664.961491758,636.038508242,880,788.038508242,804,653,633,654,0.408831384552,0.00446481760299,0.0697925767667,0.999999938531,1.15912422091e-05,-0.000348826747492,3.35180652788e-05,1793237781975533824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.446442415,716,680,664.446442415,636.553557585,880,788,804,653,633,654,0.408326154741,0.00446335365619,0.0697957539134,0.999999943625,5.61062764532e-06,-0.000334169400957,3.23924256566e-05,1793237781992200960
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.143628628,716,680,664.143628628,636.856371372,880,788,804,653.143628628,633,654.143628628,0.40783523955,0.00446312645596,0.0698049148818,0.999999950812,3.27191387362e-06,-0.000312023365441,3.17178250578e-05,1793237782008867584
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.723306928,716,680,664.723306928,636.276693072,880,788,804,653.723306928,633,654.723306928,0.407374491893,0.0044672191104,0.0698260690193,0.999999960154,1.29758073092e-05,-0.000280115504988,3.25307134882e-05,1793237782025534208
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.69840661,716,680,664.69840661,636,880,788,804,654,633,654.69840661,0.406918665138,0.00447496287209,0.0698348814433,0.999999962672,2.31508922311e-05,-0.000270279951493,3.26944819309e-05,1793237782042200832
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.12139124,716,680,664.12139124,636,880,788,804,654,633,654.12139124,0.406467332292,0.00448604090815,0.069832423131,0.999999959541,3.37562794179e-05,-0.000280601335476,3.22654591288e-05,1793237782058866944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.461858055,715.538141945,680,664,636.461858055,880,788,804,653.538141945,633,654.461858055,0.406029997477,0.00448760828874,0.069820789448,0.999999953039,3.25410207626e-05,-0.000303037110236,3.21162780057e-05,1793237782075533568
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.953645686,715.046354314,680,664.046354314,636.953645686,880.046354314,788,803.953645686,653.046354314,633,654.953645686,0.405602893944,0.00448625266332,0.0698089398727,0.999999946404,2.82741555709e-05,-0.000324604159716,3.20024152273e-05,1793237782092200448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.373912274,715.626087726,680,664.626087726,636.373912274,880.626087726,788,803.373912274,653.626087726,633,654.373912274,0.405250603852,0.00448041987089,0.069822734842,0.999999954479,2.51320579144e-05,-0.000299036352153,3.14370412512e-05,1793237782108867072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881,788,803,654,633,654,0.404910675865,0.00447672357489,0.0698374112037,0.999999962206,2.43489958328e-05,-0.000272093581808,3.09885680329e-05,1793237782125533696
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881,788,803,654,633,654,0.404593205968,0.00447690862092,0.0698536887766,0.999999969699,2.78515590607e-05,-0.000242652939872,3.07524667626e-05,1793237782142201088
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.358902627,665,636,881,788,803,654,633,654,0.404281604135,0.00447522427432,0.069862611682,0.999999973377,2.3760953437e-05,-0.000227508509072,3.03375781877e-05,1793237782158867712
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.934853279,665,636,881,788,803,654,633,654,0.40397355101,0.0044724094039,0.0698670868198,0.999999975019,1.50783441798e-05,-0.0002210097753,2.98145671493e-05,1793237782175533824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,636,880.477633824,788,803,653.477633824,632.477633824,654,0.403672734702,0.00446844411088,0.0698555331586,0.9999999705,3.89898553626e-06,-0.000241098470581,2.92712578758e-05,1793237782192200704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.89043127,664.89043127,636,880.10956873,787.89043127,803.10956873,653.10956873,632,654,0.403381862152,0.0044652608111,0.0698437629755,0.999999965465,-6.86242732681e-06,-0.000261165723361,2.85563195328e-05,1793237782208867328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.310884859,664.310884859,636,880.689115141,787.310884859,803.689115141,653.689115141,632,654,0.40312968276,0.00446606108744,0.0698398326445,0.999999963991,-1.44652789146e-05,-0.000266596292553,2.71163096192e-05,1793237782225533696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,881,787,804,654,632,654,0.402893063356,0.00446538242727,0.0698373661822,0.99999996285,-2.27511204497e-05,-0.000270361403028,2.6222244836e-05,1793237782242200320
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,881,787,804,654,632,654,0.402674449387,0.00446299239857,0.0698365936525,0.99999996211,-3.18272912451e-05,-0.000272199308364,2.59599268612e-05,1793237782258866944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.588544074,746,716,680,664,636,881,787.411455926,804,654,632,654,0.402470027962,0.00446185962798,0.0698315781649,0.999999959084,-3.54591874238e-05,-0.000282607565674,2.6602240454e-05,1793237782275533824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.009880222,746,716,680,664,636,881,787.990119778,804,654,632,654,0.402271374122,0.00446123778342,0.0698248384192,0.999999954983,-3.68786328858e-05,-0.000296498652248,2.76121792511e-05,1793237782292200704
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.580515015,746,716,680,664.580515015,636.580515015,880.419484985,788,803.419484985,653.419484985,632,654,0.402102067085,0.00446504442435,0.0698210265588,0.999999953141,-2.99781117046e-05,-0.00030332517507,2.85261049573e-05,1793237782308867328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.831597454,636.831597454,880.168402546,788,803,653.168402546,632.168402546,654,0.401943448807,0.00447254718925,0.0698188694844,0.999999952486,-4.33878320137e-06,-0.000306846905797,2.92306102548e-05,1793237782325533952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.25035721,636.25035721,880.74964279,788,803,653.74964279,632.74964279,654,0.401809784258,0.00448892239208,0.0698206444252,0.999999951557,6.68843024508e-05,-0.00030256779928,2.94258112757e-05,1793237782342200576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.326416344,716,680,664.326416344,636,880.673583656,788,803,654,633,654.326416344,0.401686703744,0.00450154105077,0.0698208374375,0.999999948758,0.00010140819907,-0.000302244029201,2.91258519629e-05,1793237782358867200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.899810312,716,680,664.899810312,636,880.100189688,788,803,654,633,654.899810312,0.401571631454,0.00451131738312,0.0698198335095,0.99999994726,0.000108164258355,-0.000304913000535,2.84512377299e-05,1793237782375533824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.514455644,715.514455644,680,664.514455644,636,880,788,803,654,632.514455644,654.514455644,0.401478332235,0.00450711954065,0.0698203108162,0.999999951368,7.58110367539e-05,-0.000301682321017,2.24759161681e-05,1793237782392200448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.072818155,680,664.072818155,636,880,788,803.072818155,653.927181845,632.072818155,654,0.401391215655,0.00450085723616,0.0698207233504,0.999999954613,4.02553399476e-05,-0.00029813634275,1.63570903293e-05,1793237782408867328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.652621907,680,664.652621907,636,880,788,803.652621907,653.347378093,632.652621907,654,0.401315048819,0.00450082090843,0.0698185014113,0.999999953724,4.00543038559e-05,-0.000301091887371,1.70529673258e-05,1793237782425534720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.768808612,664.768808612,636,880,788,803.768808612,653.231191388,632.768808612,654,0.401248530703,0.00450043868744,0.0698178265107,0.999999953603,3.95963422566e-05,-0.000301499456438,1.80005185433e-05,1793237782442202112
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.192083878,664.192083878,636,880,788,803.192083878,653.807916122,632.192083878,654,0.401196433347,0.00449953950232,0.0698194637786,0.999999954631,3.87543856987e-05,-0.000298098879503,1.93242162369e-05,1793237782458868736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.382883186,664,636.382883186,880,788,803.382883186,654,632.382883186,654,0.401153177999,0.00449851069617,0.0698223678491,0.999999956244,3.73476767161e-05,-0.000292785702676,1.9847581924e-05,1793237782475535104
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.956972479,664,636.956972479,880,788,803.956972479,654,632.956972479,654,0.401114338218,0.00449741715925,0.0698259045417,0.999999958119,3.56589388864e-05,-0.000286517402306,1.99712737978e-05,1793237782492200960
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.529391768,716,680,664,637,880.529391768,788,804,653.470608232,632.470608232,654,0.401085625514,0.00450008852632,0.0698282751626,0.999999958764,3.91459142219e-05,-0.000283776272201,2.02478070602e-05,1793237782508867840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.893692313,716,680,664,636.893692313,880.893692313,788,804.106307687,653.106307687,632,654,0.401059276506,0.00450187778774,0.0698301972611,0.999999959336,4.16800730339e-05,-0.000281365718433,2.05812611007e-05,1793237782525534976
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.295337568,716,680,664,636.295337568,880.295337568,788,804.704662432,653.704662432,632,654,0.401040070158,0.00449817232823,0.0698304806543,0.999999960094,3.78631560976e-05,-0.000279162518636,2.1120856807e-05,1793237782542201088
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.290971697,716,680.290971697,664,636.290971697,880.290971697,788.290971697,804.709028303,653.709028303,632,654,0.401025257824,0.00449733930788,0.0698317287993,0.999999961041,3.59191147037e-05,-0.000276004508674,2.12150942536e-05,1793237782558867712
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.865540828,716,680.865540828,664,636.865540828,880.865540828,788.865540828,804.134459172,653.134459172,632,654,0.401014728142,0.00449930592839,0.069833917246,0.999999962172,3.58004830484e-05,-0.000271915886584,2.08752604725e-05,1793237782575534592
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.561864074,716,680.561864074,664.438135926,636.561864074,880.561864074,788.561864074,804,653.438135926,632,654,0.401006904817,0.00450007603889,0.0698358716021,0.999999962656,3.67299429481e-05,-0.00027000204699,2.09389275603e-05,1793237782592201216
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.010501981,880,788,803.989498019,654,632,654,0.400999982478,0.00450044605969,0.069837743902,0.999999962946,3.79411338623e-05,-0.000268742294315,2.11253454321e-05,1793237782608867840
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.603621106,880,788,803.396378894,654,632,654,0.400997174328,0.00449889986947,0.0698390315603,0.999999963468,3.70178980381e-05,-0.000266909089526,2.12827025762e-05,1793237782625534464
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.807546343,637,880,788,803,654,632.192453657,654,0.400995107375,0.00449820946559,0.069839953546,0.999999963939,3.68697967933e-05,-0.00026515349077,2.13484303014e-05,1793237782642201088
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.227350128,637,880,788,803,654,632.772649872,654,0.400994533738,0.00449924324201,0.0698401387994,0.999999964311,3.82833841163e-05,-0.000263554247485,2.12295492867e-05,1793237782658867200
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.348242401,716,680,664.348242401,637,880.348242401,788.348242401,803.348242401,654,633,654,0.400993253808,0.00449863936627,0.0698404778594,0.999999964436,3.71902152239e-05,-0.000263241842039,2.11729552699e-05,1793237782675533824
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.920868603,716,680,664.920868603,637,880.920868603,788.920868603,803.920868603,654,633,654,0.400991518792,0.00449698029842,0.069840916022,0.999999964397,3.44818624578e-05,-0.000263758587745,2.11564947782e-05,1793237782692200448
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.492272058,716,680,664.492272058,636.492272058,881,788.492272058,804,654,633,654,0.400992565478,0.00449904684372,0.0698423766903,0.999999965112,3.76301577295e-05,-0.000260615243012,2.09493164143e-05,1793237782708867328
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.09518446,716,679.90481554,664,636.09518446,880.90481554,788,803.90481554,653.90481554,632.90481554,654,0.400993665574,0.00450098576625,0.0698436262619,0.99999996576,4.09041867117e-05,-0.000257631769383,2.08132667303e-05,1793237782725533952
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746.674077481,716,679.325922519,664,636.674077481,880.325922519,788,803.325922519,653.325922519,632.325922519,654,0.400992770391,0.00449924027424,0.0698429698811,0.999999965577,4.00448091829e-05,-0.000258443198326,2.11940876998e-05,1793237782742200576
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746.746940422,716,679.253059578,664,637,880,788,803,653.253059578,632,654,0.400991595326,0.00449863234857,0.0698426353893,0.999999965363,3.97295717264e-05,-0.000259313819491,2.12365429678e-05,1793237782758867200
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.167843484,716,679.832156516,664,637,880,788,803,653.832156516,632,654,0.400990059666,0.00449949004245,0.0698427156134,0.99999996511,4.01153943319e-05,-0.000260260702952,2.08430540675e-05,1793237782775533824
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.596287314,664,636.596287314,880,788,803,654,632,654,0.400990665844,0.00449979923002,0.0698432121716,0.999999965457,3.99701683817e-05,-0.000258966690555,2.06307498884e-05,1793237782792200448
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.027808766,664,636.027808766,880,788,803,654,632,654,0.400992146164,0.00449988455755,0.0698438786468,0.999999966043,3.96082073982e-05,-0.000256758109024,2.04923920263e-05,1793237782808867072
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,664.56668164,636,880,788,803,654,632.56668164,654,0.400990710751,0.00449970970462,0.0698432047659,0.999999965719,3.8341849292e-05,-0.000258200589165,2.06033312232e-05,1793237782825533952
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.157767043,716,679,664.842232957,636.157767043,880.157767043,788,803,653.842232957,633,654.157767043,0.400989364724,0.00449957394962,0.0698427076248,0.999999965472,3.72748814295e-05,-0.000259307520581,2.06227991878e-05,1793237782842200832
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.736205907,716,679,664.263794093,636.736205907,880.736205907,788,803,653.263794093,633,654.736205907,0.400988656912,0.00449957812798,0.0698428655667,0.999999965568,3.68636026522e-05,-0.00025901901987,2.03641776299e-05,1793237782858867712
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.686442838,716,679.313557162,664,637,881,788,803.313557162,653,632.686442838,654.686442838,0.400989187989,0.00449890067209,0.0698436166258,0.999999965778,3.69252491722e-05,-0.000258189469087,2.04853053018e-05,1793237782875534080
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746.110003448,716,679.889996552,664,637,881,788,803.889996552,653,632.110003448,654.110003448,0.400990757733,0.00449765174293,0.0698448649466,0.999999966082,3.73833901013e-05,-0.000256906309009,2.09248097774e-05,1793237782892200448
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788,803.524940453,653,632,654,0.400991502902,0.00449760635393,0.0698451572066,0.999999966362,3.66426222781e-05,-0.000255927935708,2.08359261121e-05,1793237782908867072
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.061274107,637,880.938725893,788,803.061274107,653.061274107,632,654,0.400991873552,0.00449806015089,0.0698451736892,0.999999966571,3.60441547177e-05,-0.000255209815247,2.06374977137e-05,1793237782925533952
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.640037608,637,880.359962392,788,803.640037608,653.640037608,632,654,0.40099072356,0.00450033264113,0.0698447653488,0.999999966237,3.90354302525e-05,-0.000256082591561,2.056633793e-05,1793237782942200320
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.218194023,788,804,654,632.218194023,654,0.400990334564,0.00450129962404,0.0698446836877,0.999999966174,4.02361918919e-05,-0.000256153859188,2.04329566854e-05,1793237782958866944
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.795351777,788,804,654,632.795351777,654,0.400991197526,0.00450011884097,0.0698451394657,0.999999966567,3.8491275017e-05,-0.000254906518201,2.019721127e-05,1793237782975533568
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766.628549529,746,716,679.628549529,664.628549529,636.628549529,881,788,803.628549529,654,633,654,0.400991375783,0.0044992762351,0.0698452407826,0.99999996665,3.68128859267e-05,-0.000254822844904,2.02705771169e-05,1793237782992200192
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766.053032693,746,716,679.053032693,664.053032693,636.053032693,881,788,803.053032693,654,633,654,0.400991177879,0.00449861941609,0.0698451473666,0.999999966562,3.51710457794e-05,-0.000255378464009,2.05137616119e-05,1793237783008866816
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766.536051334,746,716,679.536051334,664,636.536051334,880.463948666,788,803,654,632.463948666,654,0.400991482311,0.00449942767442,0.0698456654927,0.999999966636,3.69681988208e-05,-0.000254839708406,2.04582400948e-05,1793237783025533696
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.123864501,637,880,788,803.123864501,654,632.123864501,654,0.400991948967,0.00450013049741,0.0698462333937,0.999999966766,3.84623353465e-05,-0.000254108928113,2.04231290173e-05,1793237783042200320
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.701967055,637,880,788,803.701967055,654,632.701967055,654,0.400992823551,0.00449990132547,0.0698467561983,0.999999967058,3.75651601493e-05,-0.000253081306768,2.05740537397e-05,1793237783058866944
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3818028bb7a39826d48dedbe6e57602051b602c4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
+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,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+1,0.016666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+2,0.033333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+3,0.050000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+4,0.066666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+5,0.083333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+6,0.100000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+7,0.116666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+8,0.133333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+9,0.150000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+10,0.166666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+11,0.183333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+12,0.200000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+13,0.216666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+14,0.233333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+15,0.250000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+16,0.266666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+17,0.283333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+18,0.300000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
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+384,6.400000000,pose2_to_pose3_retreat,0.5814340572,0.0100012932537,1.06001173852,0.552005290444,0.0186749534951,1.05966126823
+385,6.416666667,pose2_to_pose3_retreat,0.581137022506,0.0100012669138,1.06001161913,0.551708256228,0.018674928981,1.05966115392
+386,6.433333333,pose2_to_pose3_retreat,0.580852777154,0.0100012025427,1.06001158914,0.551424013227,0.0186748725149,1.05966112237
+387,6.450000000,pose2_to_pose3_retreat,0.580583219344,0.0100013395607,1.06001165926,0.551154453374,0.0186750026532,1.05966119382
+388,6.466666667,pose2_to_pose3_retreat,0.580331048221,0.0100014249625,1.06001159974,0.550902281763,0.0186750860518,1.05966112569
+389,6.483333333,pose2_to_pose3_retreat,0.580097739061,0.0100013248931,1.06001157535,0.550668972514,0.0186749858551,1.05966110553
+390,6.500000000,pose2_to_pose3_retreat,0.579882408498,0.0100011996765,1.06001144417,0.550453643795,0.0186748673517,1.05966098528
+391,6.516666667,pose2_to_pose3_retreat,0.57968332591,0.0100012759113,1.06001158234,0.550254560752,0.0186749420021,1.05966112244
+392,6.533333333,pose2_to_pose3_retreat,0.579499494789,0.0100013620477,1.06001169685,0.550070728295,0.0186750234467,1.05966123315
+393,6.550000000,pose2_to_pose3_retreat,0.579332149949,0.0100012512139,1.06001155157,0.549903384306,0.018674915684,1.05966109248
+394,6.566666667,pose2_to_pose3_retreat,0.579180575811,0.0100011289722,1.06001163367,0.549751812531,0.0186748014452,1.05966117425
+395,6.583333333,pose2_to_pose3_retreat,0.579045605504,0.0100011131347,1.06001169772,0.549616842488,0.0186747860947,1.05966122799
+396,6.600000000,pose2_to_pose3_retreat,0.578925324155,0.0100011989409,1.0600116672,0.549496560755,0.0186748708136,1.05966120292
+397,6.616666667,pose2_to_pose3_retreat,0.578818968106,0.0100012788854,1.06001174188,0.549390203965,0.0186749482067,1.05966127679
+398,6.633333333,pose2_to_pose3_retreat,0.578723793486,0.0100012975111,1.06001176905,0.549295029015,0.0186749658803,1.05966130845
+399,6.650000000,pose2_to_pose3_retreat,0.578639631151,0.0100012756047,1.06001167002,0.549210866335,0.0186749430473,1.05966121588
+400,6.666666667,pose2_to_pose3_retreat,0.578567762792,0.0100012627191,1.06001152767,0.54913899697,0.0186749265403,1.05966106821
+401,6.683333333,pose2_to_pose3_retreat,0.578505713715,0.0100011792359,1.06001154616,0.549076948842,0.0186748460793,1.05966108169
+402,6.700000000,pose2_to_pose3_retreat,0.578452995424,0.010001296141,1.06001168378,0.549024229685,0.0186749596503,1.05966120948
+403,6.716666667,pose2_to_pose3_retreat,0.578409466259,0.0100012133825,1.06001178631,0.548980701112,0.0186748788693,1.05966131117
+404,6.733333333,pose2_to_pose3_retreat,0.578373718018,0.0100011882034,1.06001181002,0.54894495321,0.01867485504,1.05966133977
+405,6.750000000,pose2_to_pose3_retreat,0.578344341345,0.010001271894,1.06001168241,0.548915576232,0.0186749379918,1.05966121952
+406,6.766666667,pose2_to_pose3_retreat,0.578320473551,0.0100013341179,1.06001128226,0.548891708307,0.0186750000732,1.05966082685
+407,6.783333333,pose2_to_pose3_retreat,0.578302185273,0.0100012518925,1.06001157381,0.548873420542,0.018674919334,1.05966111215
+408,6.800000000,pose2_to_pose3_retreat,0.57828776906,0.0100013255859,1.06001151387,0.548859003804,0.0186749914863,1.05966105813
+409,6.816666667,pose2_to_pose3_retreat,0.578277002739,0.0100013531582,1.06001144223,0.548848237527,0.0186750193325,1.05966098973
+410,6.833333333,pose2_to_pose3_retreat,0.578269378968,0.0100011767658,1.06001163819,0.548840615609,0.0186748487769,1.05966117457
+411,6.850000000,pose2_to_pose3_retreat,0.578264193528,0.0100011728657,1.06001173948,0.548835430129,0.0186748446155,1.05966127265
+412,6.866666667,pose2_to_pose3_retreat,0.578260756134,0.0100011950502,1.0600117998,0.54883199243,0.0186748657237,1.05966133178
+413,6.883333333,pose2_to_pose3_retreat,0.57825852552,0.0100012599973,1.06001179798,0.548829761317,0.0186749290192,1.05966133113
+414,6.900000000,pose2_to_pose3_retreat,0.578257146478,0.0100013023853,1.06001179504,0.548828381951,0.0186749703439,1.059661329
+415,6.916666667,pose2_to_pose3_retreat,0.578256395528,0.0100013254674,1.06001179344,0.548827630826,0.0186749928471,1.05966132783
+416,6.933333333,pose2_to_pose3_retreat,0.578256160606,0.0100013326882,1.06001179294,0.548827395849,0.0186749998868,1.05966132747
+417,6.950000000,pose2_to_pose3_retreat,0.578255888303,0.0100013320207,1.06001177391,0.54882712346,0.0186749989586,1.05966130927
+418,6.966666667,pose2_to_pose3_retreat,0.578255641195,0.0100013256973,1.06001174496,0.548826876258,0.0186749923665,1.05966128151
+419,6.983333333,pose2_to_pose3_retreat,0.57825542379,0.0100013201339,1.0600117195,0.548826658771,0.0186749865667,1.05966125708
+420,7.000000000,pose2_to_pose3_retreat,0.57825514075,0.010001312891,1.06001168635,0.548826375625,0.0186749790161,1.05966122528
+421,7.016666667,pose2_to_pose3_retreat,0.578254914363,0.0100013070978,1.06001165983,0.548826149152,0.0186749729768,1.05966119985
+422,7.033333333,pose2_to_pose3_retreat,0.578254607484,0.0100012992448,1.06001162388,0.548825842156,0.0186749647901,1.05966116537
+423,7.050000000,pose2_to_pose3_retreat,0.578254275131,0.01000129074,1.06001158495,0.548825509678,0.0186749559239,1.05966112803
+424,7.066666667,pose2_to_pose3_retreat,0.578254066125,0.0100012853915,1.06001156047,0.548825300594,0.0186749503483,1.05966110455
+425,7.083333333,pose2_to_pose3_retreat,0.57825384593,0.0100012797568,1.06001153468,0.548825080315,0.0186749444741,1.05966107981
+426,7.100000000,pose2_to_pose3_retreat,0.578253639058,0.010001274463,1.06001151045,0.548824873365,0.0186749389554,1.05966105656
+427,7.116666667,pose2_to_pose3_retreat,0.578253535272,0.0100012644969,1.06001151707,0.548824769696,0.0186749293618,1.05966106258
+428,7.133333333,pose2_to_pose3_retreat,0.578253224735,0.0100012240744,1.06001156411,0.548824459735,0.0186748907575,1.05966110622
+429,7.150000000,pose2_to_pose3_retreat,0.57825296893,0.0100011907764,1.06001160287,0.548824204405,0.0186748589572,1.05966114217
+430,7.166666667,pose2_to_pose3_retreat,0.578252827009,0.0100011723027,1.06001162437,0.548824062748,0.0186748413145,1.05966116211
+431,7.183333333,pose2_to_pose3_retreat,0.578252772572,0.0100011652167,1.06001163262,0.548824008413,0.0186748345472,1.05966116976
+432,7.200000000,pose2_to_pose3_retreat,0.578252756838,0.0100011631685,1.060011635,0.548823992707,0.0186748325912,1.05966117197
+433,7.216666667,pose2_to_pose3_retreat,0.578252670729,0.0100011519598,1.06001164804,0.548823906758,0.0186748218866,1.05966118407
+434,7.233333333,pose2_to_pose3_retreat,0.578252576813,0.0100011397347,1.06001166227,0.548823813016,0.0186748102114,1.05966119727
+435,7.250000000,pose2_to_pose3_retreat,0.578252431616,0.0100012116393,1.06001164128,0.548823666342,0.018674877009,1.05966117395
+436,7.266666667,pose2_to_pose3_retreat,0.578252301994,0.0100013138513,1.06001160454,0.54882353467,0.0186749721675,1.05966113482
+437,7.283333333,pose2_to_pose3_retreat,0.578252203988,0.010001373423,1.06001155362,0.548823435528,0.0186750278321,1.05966108259
+438,7.300000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbb449e6e371ee09767d8fac0e88f158f70dc4f9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52accfd88a95a3c066aff2749a3b84e364834b29374c91203f5676556b4346b
+size 27950902
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f03519d5374397d651c0480323341812727c30bb
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+27,0.450000000,BASELINE,767,746,716,680,665,637,880.319811565,788,803.319811565,654,632.680188435,654,0.400991838917,0.0045016387562,0.0698485131726,0.999999967642,4.08982904001e-05,-0.000250298354462,1.98420943188e-05,1793237783632679680
+28,0.466666667,BASELINE,767,746,716,680,665,636.736084739,880,788,803,654,632.736084739,654,0.400990734628,0.00450155529733,0.0698477206869,0.999999967385,4.01725103894e-05,-0.000251451985935,1.9691721915e-05,1793237783649346048
+29,0.483333333,BASELINE,767,746,716,680,665,636.157760925,880,788,803,654,632.157760925,654,0.400988314986,0.00450008142476,0.0698459082644,0.999999966767,3.79837385439e-05,-0.000254224173546,1.98258991224e-05,1793237783666012416
+30,0.500000000,BASELINE,767,746.421474452,716,680,665,636.421474452,880.421474452,788,803.421474452,654,632.421474452,654,0.400990230002,0.00449979379111,0.0698468573942,0.999999967154,3.7903897628e-05,-0.000252695914451,2.00220257519e-05,1793237783682678784
+31,0.516666667,BASELINE,767,746.998960179,716,680,665,637,880.998960179,788.001039821,804,654,632.998960179,654.001039821,0.400993762675,0.00449995236617,0.0698488385649,0.999999967909,3.86179718185e-05,-0.00024956101867,2.02407362195e-05,1793237783699345408
+32,0.533333333,BASELINE,767,746.425961477,716,680,665,637,880.425961477,788.574038523,804,654,632.425961477,654.574038523,0.400992700571,0.00450078671048,0.0698486917672,0.999999967706,4.08810521613e-05,-0.000250023710484,2.00994179632e-05,1793237783716012288
+33,0.550000000,BASELINE,767,746,716,680,664.852613117,637,880.147386883,789,803.852613117,654,632.147386883,654.852613117,0.40099189899,0.00450129257886,0.0698483487436,0.999999967508,4.22577977261e-05,-0.000250597509384,1.9989606896e-05,1793237783732679168
+34,0.566666667,BASELINE,767,746,716,680,664.278251911,637,880.721748089,789,803.278251911,654,632.721748089,654.278251911,0.400991852137,0.00450084686458,0.0698474372604,0.999999967333,4.1066863996e-05,-0.000251493181298,1.99710710091e-05,1793237783749346048
+35,0.583333333,BASELINE,767.307137562,746,716,680,664.307137562,637,881,788.692862438,803.307137562,654,632.692862438,654.307137562,0.400992138973,0.0045011158256,0.0698474485882,0.999999967349,4.15370250179e-05,-0.000251352232609,1.9966088203e-05,1793237783766012928
+36,0.600000000,BASELINE,767.902890293,746,716,680,664.902890293,637,881,788.097109707,803.902890293,654,632.097109707,654.902890293,0.400992739375,0.0045020563623,0.0698483270753,0.999999967542,4.35681058341e-05,-0.000250237178385,1.99738411367e-05,1793237783782679552
+37,0.616666667,BASELINE,767.519827437,746.480172563,716,680,665,637,881,788,803.519827437,654,632.480172563,655,0.400992408599,0.00450197857316,0.0698487952226,0.999999967544,4.32040987726e-05,-0.000250287885243,2.00350007316e-05,1793237783799345920
+38,0.633333333,BASELINE,767,746.946024479,716,680,664.946024479,636.946024479,881.053975521,788,803.053975521,654,633,654.946024479,0.400992003256,0.00450173268532,0.0698491452912,0.999999967531,4.24437311781e-05,-0.000250468002441,2.00757091145e-05,1793237783816012032
+39,0.650000000,BASELINE,767,746.371084425,716,680,664.371084425,636.371084425,881.628915575,788,803.628915575,654,633,654.371084425,0.400992628527,0.00450177845914,0.0698491269891,0.99999996773,4.23597458173e-05,-0.000249705911896,1.98186376683e-05,1793237783832678656
+40,0.666666667,BASELINE,767,746.209470124,716,680,664.209470124,636.209470124,881.581059751,788,803.790529876,654,632.790529876,654,0.400992811285,0.00450141136531,0.0698491200506,0.999999967895,4.09585179205e-05,-0.000249291489354,1.96732424835e-05,1793237783849345536
+41,0.683333333,BASELINE,767,746.800244871,716,680,664.800244871,636.800244871,880.399510257,788,803.199755129,654,632.199755129,654,0.400992188523,0.00450029271635,0.0698491337979,0.999999967987,3.71594747312e-05,-0.000249509937139,1.97311348944e-05,1793237783866012160
+42,0.700000000,BASELINE,767,746.617041581,716,679.617041581,664.617041581,637,880.382958419,788,803,653.617041581,632.382958419,654,0.400991721003,0.00450004031852,0.0698484554286,0.999999967751,3.71841307363e-05,-0.000250439096659,1.99102436459e-05,1793237783882679040
+43,0.716666667,BASELINE,767,746.038446171,716,679.038446171,664.038446171,637,880.961553829,788,803,653.038446171,632.961553829,654,0.40099133279,0.00450023045117,0.0698474234867,0.999999967346,3.91621503688e-05,-0.000251731328238,2.01512766122e-05,1793237783899345920
+44,0.733333333,BASELINE,767,746.537425061,716,679.537425061,664.537425061,637,881,788,803.537425061,653,633,654,0.400991898062,0.00450037239758,0.0698482306064,0.999999967634,4.01618190397e-05,-0.000250424629638,2.01399731475e-05,1793237783916012800
+45,0.750000000,BASELINE,767,746.884530656,716,680,665,637,881,788,804,653,633,654,0.400992516122,0.00450062079857,0.0698490167807,0.999999967912,4.0881032873e-05,-0.000249205317701,2.00609987143e-05,1793237783932679680
+46,0.766666667,BASELINE,767,746.296806,716,680,665,637,881,788,804,653,633,654,0.400993072514,0.00450131861287,0.0698491819303,0.999999967949,4.0738023658e-05,-0.00024909996804,1.97787147768e-05,1793237783949346048
+47,0.783333333,BASELINE,767,746,716,680,665,637,880.713501235,788,803.713501235,653.286498765,633,654,0.400993044233,0.0045013136616,0.0698490959744,0.999999967885,4.07338110267e-05,-0.000249353846911,1.98594515707e-05,1793237783966012416
+48,0.800000000,BASELINE,767,746,716,680,665,637,880.134705736,788,803.134705736,653.865294264,633,654,0.400992419449,0.00450059172276,0.0698487538314,0.999999967715,4.08712038328e-05,-0.000249974224128,2.03105556294e-05,1793237783982678784
+49,0.816666667,BASELINE,767,746,716,680,664.555750113,637,880,788,803.444249887,653.555750113,633,654,0.400992624655,0.0045003311551,0.0698486586118,0.999999967785,3.97903974589e-05,-0.000249875503731,2.02380463541e-05,1793237783999345408
+50,0.833333333,BASELINE,767,746,716,680,664,636.976955134,880,788,804,653,632.976955134,654,0.400993022469,0.00450029143139,0.0698486487298,0.99999996791,3.85348089176e-05,-0.00024959002449,2.00015363533e-05,1793237784016012288
+51,0.850000000,BASELINE,767,746,716,680,664,636.403159345,880,788,804,653,632.403159345,654,0.400992006582,0.00450218505236,0.0698488883167,0.999999967664,4.19331839072e-05,-0.000250054139545,1.96413935622e-05,1793237784032678912
+52,0.866666667,BASELINE,767,746,716,680,664.175466035,636,880,788,803.824533965,653,632.175466035,654,0.400991737138,0.00450332214358,0.0698490688534,0.999999967616,4.39964286681e-05,-0.000249908291886,1.94262352344e-05,1793237784049345792
+53,0.883333333,BASELINE,767,746,716,680,664.765502158,636,880,788,803.234497842,653,632.765502158,654,0.400993231297,0.00450267179696,0.0698491098735,0.999999968057,4.2905187763e-05,-0.000248321297512,1.95536288181e-05,1793237784066012672
+54,0.900000000,BASELINE,767,746.348654034,716,680,665,636.348654034,880,788.348654034,803.348654034,653.348654034,633,654,0.400993571416,0.00450193551112,0.0698490655197,0.999999968268,4.08132398207e-05,-0.000247820533523,1.95763334422e-05,1793237784082679040
+55,0.916666667,BASELINE,767,746.927265333,716,680,665,636.927265333,880,788.927265333,803.927265333,653.927265333,633,654,0.40099315038,0.00450114254347,0.0698489648569,0.999999968324,3.80612684327e-05,-0.00024803620062,1.95299897086e-05,1793237784099345664
+56,0.933333333,BASELINE,767,746.496030536,716,680,665,637,880,789,803.496030536,653.496030536,633,654,0.400993140768,0.00450054889689,0.0698490905542,0.999999968238,3.75840758178e-05,-0.000248456179884,1.95168390428e-05,1793237784116012288
+57,0.950000000,BASELINE,767,746,716,680,665,637,880,788.919902566,803,653.080097434,632.919902566,654,0.400993104592,0.00450017571678,0.0698491859896,0.999999968112,3.77012114481e-05,-0.000248945240702,1.9529241053e-05,1793237784132679424
+58,0.966666667,BASELINE,767,746,716,680,665,637,880,788.345637738,803,653.654362262,632.345637738,654,0.400992539559,0.00450098591264,0.0698488939271,0.999999967858,3.94672396713e-05,-0.000249679268527,1.96698481048e-05,1793237784149345792
+59,0.983333333,BASELINE,767,746,716,680,665,637,880.234699184,788,803.234699184,653.765300816,632.234699184,654,0.400992596845,0.00450072344186,0.0698491537768,0.999999967969,3.98620980576e-05,-0.000249157724848,1.98116881602e-05,1793237784166012160
+60,1.000000000,BASELINE,767,746,716,680,665,637,880.824215967,788,803.824215967,653.175784033,632.824215967,654,0.400993594949,0.00449883931667,0.0698502480059,0.999999968632,3.8184025806e-05,-0.000246738011627,1.99553922883e-05,1793237784182679040
+61,1.016666667,BASELINE,767,746,716,680,665,637,880.592920324,788,804,653.407079676,632.592920324,654,0.400993224753,0.0044990954843,0.069850135102,0.999999968634,3.78540573657e-05,-0.000246797637112,1.97415848523e-05,1793237784199345920
+62,1.033333333,BASELINE,767,746,716,680,665,637,880.012883364,788,804,653.987116636,632.012883364,654,0.400992273203,0.00450026100531,0.0698495093195,0.999999968357,3.80968623356e-05,-0.000247910667552,1.9375880291e-05,1793237784216012544
+63,1.050000000,BASELINE,767,746,716,680,665,637,880.562136274,788,803.437863726,654,632,654,0.400992235932,0.00449993061979,0.0698490414927,0.999999968212,3.84155766197e-05,-0.000248441521308,1.94011167184e-05,1793237784232679168
+64,1.066666667,BASELINE,767,746,716,680.140115748,664.859884252,637,881,788,803,654,632,654,0.40099237821,0.00450010994568,0.0698487825084,0.999999968091,3.92805982559e-05,-0.000248792267568,1.94189292495e-05,1793237784249345536
+65,1.083333333,BASELINE,767,746,716,680.727916337,664.272083663,637,881,788,803,654,632,654,0.40099302781,0.00450202642637,0.0698491793335,0.999999968031,4.18856209835e-05,-0.000248609805128,1.93846473295e-05,1793237784266011904
+66,1.100000000,BASELINE,767,746.311292803,716,680.377414394,664.311292803,637,881,788.311292803,803.311292803,654,632,654,0.400992270172,0.00450167290037,0.0698489937582,0.999999967794,4.17736934733e-05,-0.000249576449077,1.94724025476e-05,1793237784282678528
+67,1.116666667,BASELINE,767,746.890856546,716,679.218286907,664.890856546,637,881,788.890856546,803.890856546,654,632,654,0.400990299785,0.00449936309126,0.0698483062724,0.999999967399,3.93203085575e-05,-0.000251533388501,1.96653289039e-05,1793237784299345152
+68,1.133333333,BASELINE,766.531622219,747,716,679.468377781,665,637,880.531622219,788.531622219,803.531622219,654,632.468377781,654,0.400990673634,0.00449938494875,0.0698480835395,0.999999967451,3.95033805985e-05,-0.000251302366352,1.95958428713e-05,1793237784316012032
+69,1.150000000,BASELINE,766.046095746,746.953904254,716,680,664.953904254,636.953904254,880,788,803,654,632.953904254,654,0.400991615475,0.00449997736833,0.0698480585746,0.999999967617,4.02900440544e-05,-0.000250525862757,1.94769146668e-05,1793237784332678912
+70,1.166666667,BASELINE,766.631661643,746.368338357,716,680,664.368338357,636.368338357,880,788,803,654,632.368338357,654,0.40099283935,0.00450091603942,0.069849086193,0.999999967893,4.09819113535e-05,-0.000249306430269,1.94918813716e-05,1793237784349345792
+71,1.183333333,BASELINE,767,746,716,680,664,636.215208788,880,788.215208788,803.215208788,653.784791212,632,654,0.400993201733,0.0045010980009,0.0698495863056,0.999999968029,4.11482681115e-05,-0.000248723825867,1.96078150484e-05,1793237784366012672
+72,1.200000000,BASELINE,767,746,716,680,664,636.795332961,880,788.795332961,803.795332961,653.204667039,632,654,0.400992103339,0.00449999685981,0.0698491919613,0.999999967929,4.04235513248e-05,-0.000249221048767,1.98949517806e-05,1793237784382679040
+73,1.216666667,BASELINE,767,746,716,680,664.373297648,637,880,789,803.626702352,653.373297648,632,654,0.400992228954,0.00450052876353,0.0698493870771,0.999999968143,4.01875447347e-05,-0.000248411503403,1.9784726837e-05,1793237784399345664
+74,1.233333333,BASELINE,767,746,716,680,664.950085132,637,880,789,803.049914868,653.950085132,632,654,0.400993021794,0.00450195086317,0.069849903516,0.999999968525,4.02179410403e-05,-0.000246889620112,1.94578943967e-05,1793237784416012288
+75,1.250000000,BASELINE,767,746,716,680,665,637,880.526354706,788.473645294,803.526354706,654,632,654,0.400992577769,0.00450143935458,0.0698494824841,0.999999968276,3.83342393924e-05,-0.000248187666703,1.95238664409e-05,1793237784432679168
+76,1.266666667,BASELINE,767,746.104923469,716,680,665,637,880.895076531,788,804,653.895076531,632.104923469,654,0.400992034144,0.00450082060394,0.0698490238503,0.999999967993,3.69737353666e-05,-0.000249522992935,1.96128378432e-05,1793237784449345792
+77,1.283333333,BASELINE,767,746.694335372,716,680,665,637,880.305664628,788,804,653.305664628,632.694335372,654,0.400991571693,0.00450055252867,0.0698488016913,0.999999967853,3.88664529396e-05,-0.000249796862177,1.96361747714e-05,1793237784466012416
+78,1.300000000,BASELINE,767,747,716,680,665,637,880.27884234,788,804,653.27884234,632.72115766,654,0.400991783609,0.00450080468669,0.0698489802996,0.999999967885,4.02806304984e-05,-0.000249458689335,1.9457938092e-05,1793237784482679040
+79,1.316666667,BASELINE,767,747,716,680,665,637,880.858065465,788,804,653.858065465,632.141934535,654,0.400992721983,0.00450161726208,0.0698495906312,0.999999968104,4.11793043506e-05,-0.000248461198801,1.9062557778e-05,1793237784499345920
+80,1.333333333,BASELINE,767,746.565194102,716,680,665,637,880.565194102,788,803.565194102,653.565194102,632.434805898,654,0.400992958242,0.00450037867032,0.0698500703017,0.999999968189,4.00750983339e-05,-0.000248260429399,1.95763384597e-05,1793237784516012544
+81,1.350000000,BASELINE,767,746,716,680,665,637,880,788.01068258,803,653.01068258,632.98931742,654,0.400992957668,0.00449854394311,0.0698504841181,0.999999968222,3.8390196639e-05,-0.000248329314189,2.03576602587e-05,1793237784532678912
+82,1.366666667,BASELINE,767,746,716,680,665,637,880,788.583508859,803,653.583508859,632.416491141,654,0.400992486544,0.00450037330483,0.0698496642443,0.999999967996,4.03571088598e-05,-0.000248979968232,1.96890655633e-05,1793237784549345280
+83,1.383333333,BASELINE,767,746.161164962,716,680,665.161164962,637,880,788.838835038,803.161164962,654,632,654,0.400992410001,0.00450149566177,0.0698493150265,0.999999967947,4.14639035464e-05,-0.00024902826185,1.92630139073e-05,1793237784566011904
+84,1.400000000,BASELINE,767,746.751688288,716,680,665.751688288,637,880,788.248311712,803.751688288,654,632,654,0.400993384661,0.004500734493,0.0698502196796,0.999999968378,4.02792659976e-05,-0.000247471811726,1.94831191956e-05,1793237784582678528
+85,1.416666667,BASELINE,767,746.664157884,716,680,665.664157884,637,880.335842116,788,804,654,632,654,0.400993225031,0.00450031045325,0.0698506525615,0.999999968447,3.95932037715e-05,-0.00024729000444,1.9666580855e-05,1793237784599345408
+86,1.433333333,BASELINE,767,746.084625855,716,680,665.084625855,637,880.915374145,788,804,654,632,654,0.400992242351,0.00450013103727,0.0698507431221,0.999999968254,3.92689121369e-05,-0.000248105649854,1.98234535708e-05,1793237784616012032
+87,1.450000000,BASELINE,767,746,716,679.50839311,665,637,881,788,804,654,632.49160689,654,0.400991986363,0.00450100726177,0.0698506592767,0.999999968265,3.97018295235e-05,-0.000248008636279,1.96299648923e-05,1793237784632678912
+88,1.466666667,BASELINE,767,746,716,679.067274193,665,637,880.932725807,788,804,654,633,654,0.400992025838,0.00450175676514,0.0698505932802,0.999999968325,4.01040465062e-05,-0.000247716129278,1.94489099438e-05,1793237784649345280
+89,1.483333333,BASELINE,767,746,716,679.642931785,665,637,880.357068215,788,804,654,633,654,0.400993359089,0.00450018457373,0.069850887531,0.999999968496,3.92958135854e-05,-0.000247125620584,1.9814545309e-05,1793237784666011904
+90,1.500000000,BASELINE,767,746.224571438,716,680,665,637,879.775428562,788,803.775428562,654,633,654,0.40099357736,0.00449985065572,0.0698506640461,0.999999968388,4.01513325971e-05,-0.00024741129937,1.99733776791e-05,1793237784682678784
+91,1.516666667,BASELINE,767,746.815982797,716,680,665,637,879.184017203,788,803.184017203,654,633,654,0.400991974298,0.00450153947113,0.0698495948343,0.999999967816,4.37246088154e-05,-0.000249128240122,1.97943950408e-05,1793237784699345408
+92,1.533333333,BASELINE,767,746.600574386,716,680,665,637,879.399425614,788,803.399425614,654,633,654,0.400992643196,0.00450146215318,0.0698495911212,0.999999968092,4.32705110309e-05,-0.000248111767616,1.95875718462e-05,1793237784716012032
+93,1.550000000,BASELINE,767,746.020730855,716,680,665,637,879.979269145,788,803.979269145,654,633,654,0.400994338323,0.00450058708459,0.0698500686867,0.999999968748,4.09972752704e-05,-0.000245860630512,1.93681732402e-05,1793237784732678656
+94,1.566666667,BASELINE,767,746,716,680.552226318,665,636.447773682,880.552226318,788,804,654,632.447773682,654,0.40099374428,0.00450090905306,0.0698498157607,0.999999968412,4.03374165961e-05,-0.000247345247675,1.92104271454e-05,1793237784749345280
+95,1.583333333,BASELINE,767,746,716,681,665,636,880.875011375,788,803.875011375,654,632,654,0.400993250131,0.00450102272521,0.069849673207,0.999999968122,4.01150754732e-05,-0.000248553964653,1.91689681889e-05,1793237784766011904
+96,1.600000000,BASELINE,767,746,716,681,665,636,880.30203218,788,803.30203218,654,632,654,0.400993418252,0.00450023072818,0.0698500233355,0.999999968138,4.1246493277e-05,-0.00024827731486,1.95361179965e-05,1793237784782678528
+97,1.616666667,BASELINE,767,746,716,680.718027091,665,636.281972909,880,788,803.281972909,654,632,654,0.400993233218,0.00449989684716,0.0698500557071,0.999999968141,4.10570471896e-05,-0.000248281743818,1.96901382505e-05,1793237784799345152
+98,1.633333333,BASELINE,767,746,716,680.12173117,665,636.87826883,880,788,803.87826883,654,632,654,0.400992654511,0.0045000736408,0.0698497338664,0.999999968131,3.93951974608e-05,-0.000248599499063,1.96065770642e-05,1793237784816011776
+99,1.650000000,BASELINE,767,746,716,680,665,636.542210566,880,788.457789434,803.542210566,654,632.457789434,654,0.400993153008,0.00449995738339,0.0698500344407,0.999999968262,3.88896161466e-05,-0.000248155492435,1.95572380506e-05,1793237784832678400
+100,1.666666667,BASELINE,767,746,716,680,665,636.033048269,880,788.966951731,803.033048269,654,632.966951731,654,0.40099379431,0.0044998015927,0.0698504218334,0.999999968408,3.86976104044e-05,-0.000247598056444,1.95167410361e-05,1793237784849345280
+101,1.683333333,BASELINE,767,746,716,680,665,636.608985471,880,788.391014529,803.608985471,654,632.391014529,654,0.400992242429,0.00450023122605,0.069849612702,0.99999996821,3.87845341105e-05,-0.000248387171759,1.94772892531e-05,1793237784866011904
+102,1.700000000,BASELINE,767,746,716,680,665,637,880.188737092,788,803.811262908,654,632,654,0.400991048126,0.00450017968889,0.0698490018455,0.999999968008,3.83550948906e-05,-0.000249264571529,1.9515609446e-05,1793237784882678528
+103,1.716666667,BASELINE,767,746,716,680,665,637,880.776554135,788,803.223445865,654,632,654,0.400990609912,0.00449911072848,0.0698488102362,0.999999967795,3.68338189188e-05,-0.000250328646514,1.97183765789e-05,1793237784899345152
+104,1.733333333,BASELINE,767,746.359054261,716,680,665,637,880.640945739,788.359054261,803.359054261,654,632.359054261,654,0.400991224388,0.00449856492522,0.069849103836,0.999999967885,3.69507413591e-05,-0.000249946568839,1.97777788217e-05,1793237784916012544
+105,1.750000000,BASELINE,767,746.938293914,716,680,665,637,880.061706086,788.938293914,803.938293914,654,632.938293914,654,0.400992484413,0.00449833994122,0.0698496949841,0.99999996816,3.8072267686e-05,-0.00024867765681,1.97492644157e-05,1793237784932680192
+106,1.766666667,BASELINE,767,746.484516161,716,680,665,637,880,788.484516161,804,654,632.484516161,654,0.400995042009,0.00449915365462,0.0698512209375,0.999999968962,3.79356210918e-05,-0.000245465944725,1.95909374204e-05,1793237784949346560
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,788,804,654,632,654,0.400993946126,0.00449812448408,0.0698498789571,0.999999968594,3.82517110258e-05,-0.000246903496204,1.96858295084e-05,1793237784992488960
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.596328643,665,637,880.403671357,788,803.403671357,653.403671357,632.596328643,654,0.400993214618,0.004498706456,0.0698499375742,0.999999968514,3.95654860494e-05,-0.00024701580707,1.97225473535e-05,1793237785009156096
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.81391461,880,788,803.18608539,653,632.81391461,654,0.400992572784,0.00449928092499,0.0698499828328,0.999999968393,4.0049221126e-05,-0.000247428905671,1.97254939574e-05,1793237785025822720
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.237927733,880,788,803.762072267,653,632.237927733,654,0.400992118844,0.00449983967331,0.0698500001013,0.999999968185,3.87937881543e-05,-0.000248472239609,1.96576802726e-05,1793237785042488832
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.337957229,716,680,665,636.337957229,879.662042771,788,803.662042771,653,632,654,0.40099235162,0.00450005284946,0.0698503312567,0.999999968212,3.91963917872e-05,-0.000248308992509,1.95556143671e-05,1793237785059155712
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.913770427,716,680,665,636.913770427,879.086229573,788,803.086229573,653,632,654,0.400993067711,0.00450002281018,0.0698508833272,0.999999968403,4.0765929861e-05,-0.00024729654764,1.94294415831e-05,1793237785075822848
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.497713714,716,679.497713714,665,637,880.004572571,788.502286286,803.502286286,653.502286286,632,654,0.40099187279,0.00450053807772,0.0698494620445,0.999999968131,4.04111305694e-05,-0.000248452367147,1.93840491529e-05,1793237785092489216
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.908969138,746.091030862,716,679.091030862,664.908969138,637,881,788.908969138,803.908969138,654,632,654.091030862,0.400990763896,0.00450090526022,0.0698481440827,0.999999967867,3.96951863855e-05,-0.000249630011571,1.93597758345e-05,1793237785109155584
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.330969453,746.669030547,716,679.669030547,664.330969453,637,881,788.330969453,803.330969453,654,632,654.669030547,0.400991915748,0.00449996647646,0.0698492381234,0.999999968086,3.88604061351e-05,-0.000248881475351,1.93723679964e-05,1793237785125821952
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.24552546,746.75447454,716,680.24552546,664,636.75447454,881,788,803,654,632,654.75447454,0.400994286795,0.00449949657706,0.0698505071389,0.999999968498,3.82465125437e-05,-0.000247311515417,1.94425743352e-05,1793237785142488576
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.820004242,746.179995758,716,680.820004242,664,636.179995758,881,788,803,654,632,654.179995758,0.40099829131,0.00449965488579,0.0698520105843,0.999999969164,3.79285614471e-05,-0.000244641017694,1.95899717513e-05,1793237785159155200
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.605509245,664.394490755,636.394490755,881,788,803,653.605509245,632,654,0.401011137659,0.00449929165601,0.0698588502773,0.999999971733,3.7192142569e-05,-0.00023401057547,1.97387074456e-05,1793237785175822080
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.031019155,664.968980845,636.968980845,881,788,803,653.031019155,632,654,0.401028018385,0.00449869045722,0.0698681248083,0.999999975,3.62647840178e-05,-0.00021974814744,1.98880537826e-05,1793237785192488704
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.437381436,680,664.437381436,637,880.437381436,787.437381436,803,653,632,654,0.401063538295,0.00449931907323,0.0698832206256,0.999999980359,3.81341983694e-05,-0.000193500764775,1.96252284306e-05,1793237785209155584
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.152679105,715.152679105,680,664,636.847320895,880,787.152679105,803,653,632.152679105,654,0.401105386213,0.00450000298395,0.0698993477133,0.99999998526,4.00839409366e-05,-0.000165818968491,1.94496938269e-05,1793237785225822464
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.729758502,715.729758502,680,664,636.270241498,880,787.729758502,803,653,632.729758502,654,0.401161866858,0.0045006454824,0.069917417847,0.999999989679,4.18132535266e-05,-0.000136051399084,1.95821927245e-05,1793237785242488832
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.695177077,716,680,664.304822923,636.304822923,880,788,803,653.304822923,632.695177077,654,0.401220473248,0.00450120400848,0.06993030084,0.999999992155,4.08555277694e-05,-0.000116878337855,1.89831581345e-05,1793237785259155456
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.121887342,716,680,664.878112658,636.878112658,880,788,803,653.878112658,632.121887342,654,0.401280951844,0.00450168857749,0.0699386153594,0.99999999341,3.75312455899e-05,-0.000107036183828,1.77398397699e-05,1793237785275822080
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.537612032,637,880,788,803,654,632.462387968,654,0.401347520764,0.00450160008619,0.0699396540409,0.999999993681,3.5985823302e-05,-0.0001052420545,1.636870329e-05,1793237785292488704
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664.0474598,637,880,788,803.0474598,654,633,654,0.401417009081,0.00450136134977,0.0699383999569,0.999999993642,3.47270378855e-05,-0.000106249181184,1.48990516326e-05,1793237785309155328
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664.60902742,637,880,788,803.60902742,654,633,654,0.401500307657,0.00450117127516,0.0699335912007,0.999999992922,3.13701119928e-05,-0.000114060566664,1.27361006745e-05,1793237785325821952
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880,788,804,654,633,654,0.401592545956,0.00450191064076,0.0699305443957,0.999999992353,2.93498866666e-05,-0.000119679127773,1.04448844732e-05,1793237785342488832
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880,788,804,654,633,654,0.401705272449,0.00450478011263,0.0699315356599,0.999999992275,3.03931340248e-05,-0.000120272137068,7.85970818921e-06,1793237785359155456
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.363730152,716,680,665,637,880,788,803.636269848,654,633,654,0.401835234926,0.00450534409034,0.069935074615,0.999999993083,2.80299197216e-05,-0.000114113336086,5.17524833953e-06,1793237785375822336
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.938471108,716,680,665,637,880,788,803.061528892,654,633,654,0.401975196525,0.00450457058181,0.0699400915624,0.999999994305,2.36905146186e-05,-0.000104037606874,2.43319086071e-06,1793237785392489216
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.473756563,716,680,665,637,880.526243437,788.526243437,803,654,632.473756563,654,0.402130880352,0.0045046809708,0.0699423815873,0.999999994904,1.7747845656e-05,-9.93761006961e-05,-1.11767415485e-06,1793237785409155328
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664.886401497,637,881,789,803.113598503,654,632.113598503,654,0.402294905863,0.00450514179107,0.0699446866666,0.999999995432,1.22249240489e-05,-9.46696351483e-05,-4.86683326465e-06,1793237785425821952
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.307160637,637,881,789,803.692839363,654,632.692839363,654,0.402485397758,0.00450660466148,0.069948393548,0.999999996122,9.21044548656e-06,-8.71181647539e-05,-9.03133194693e-06,1793237785442489088
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.729351528,664,637,881,788.729351528,803.729351528,654,632.729351528,654,0.402690356453,0.00450926111215,0.0699503770781,0.999999996529,6.9016731773e-06,-8.18891617395e-05,-1.37144744113e-05,1793237785459155968
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.153158807,664,637,881,788.153158807,803.153158807,654,632.153158807,654,0.402911647198,0.00451326503601,0.0699504150584,0.999999996662,5.3895967976e-06,-7.92820714569e-05,-1.89831312003e-05,1793237785475822080
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.430277704,664.430277704,637,881,788,803.430277704,654,632.430277704,654,0.403150849413,0.00451448203417,0.0699537414497,0.999999997115,2.06290964887e-06,-7.21339735254e-05,-2.37120249779e-05,1793237785492488704
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.983860747,880.983860747,788,804,654,632.983860747,654,0.403397782992,0.00451475416703,0.0699584534306,0.999999997612,-1.90391252212e-06,-6.3051542168e-05,-2.82424219589e-05,1793237785509155584
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.404888669,880.404888669,788,804,654,632.404888669,654,0.403688188091,0.00451726298621,0.0699699666337,0.999999998491,-5.28339237481e-06,-4.38464234851e-05,-3.26655375389e-05,1793237785525822464
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.174100536,665,636.174100536,880.174100536,788,803.825899464,654,632,654,0.403983106482,0.00451960774551,0.069976839662,0.999999998734,-7.7147926851e-06,-3.30256502146e-05,-3.71726932168e-05,1793237785542489088
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680.753129492,665,636.753129492,880.753129492,788,803.246870508,654,632,654,0.404288521987,0.00452157092894,0.0699729204262,0.999999998222,-7.9411197464e-06,-4.17054500516e-05,-4.18753113656e-05,1793237785559155200
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680.6708504,665,637,881,788.3291496,803.3291496,654,632,654,0.404624768263,0.00452559055346,0.0699750668091,0.9999999983,2.33863401485e-05,-3.76254982815e-05,-3.79091360543e-05,1793237785575821824
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680.097066503,665,637,881,788.902933497,803.902933497,654,632,654,0.404983928964,0.00453113858965,0.0699817213494,0.999999996277,7.81655632785e-05,-2.40621000599e-05,-2.75000421727e-05,1793237785592488704
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.490338351,716,680,665,637,881,789,803.509661649,654,632.490338351,654,0.405351589326,0.00453352883778,0.0699849457553,0.99999999558,8.74919577487e-05,-1.74298877329e-05,-2.9701746915e-05,1793237785609155328
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.921038507,716.078961493,680,665,637,880.921038507,788.921038507,803.078961493,653.921038507,633,654,0.405725424038,0.00453318119246,0.0699868281885,0.999999995581,8.67976606171e-05,-1.32386735313e-05,-3.35951972975e-05,1793237785625821952
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.342258947,716.657741053,680,665,637,880.342258947,788.342258947,803.657741053,653.342258947,633,654,0.40612738705,0.00451957290567,0.0699846370301,0.999999996067,8.12556544671e-05,-1.55654094731e-05,-3.19436987725e-05,1793237785642488576
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.234633359,716.765366641,680,665,637,880.234633359,788,804,653.234633359,633,654,0.406536813348,0.004506472261,0.0699769927273,0.999999996621,7.11421926049e-05,-2.79838390476e-05,-3.02167678764e-05,1793237785659155456
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.808794666,716.191205334,680,665,637,880.808794666,788,804,653.808794666,633,654,0.406957039427,0.00449410620445,0.0699614574114,0.999999996604,5.44135720006e-05,-5.50055288748e-05,-2.83806820849e-05,1793237785675822080
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881,788,804,654,633,654,0.407418372109,0.00450066411177,0.0699532718159,0.999999997384,1.97686521977e-05,-6.29097935717e-05,-2.97275307059e-05,1793237785692488448
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881,788,804,654,633,654,0.407900228813,0.00451667052731,0.069948755848,0.999999997306,-2.38216601037e-05,-6.12689566491e-05,-3.26635802633e-05,1793237785709155072
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.437563429,716,680,665,637,881,788,804,654,633,654,0.408436591559,0.00451890029688,0.0699640351776,0.99999999882,-4.42182931819e-06,-3.48203059037e-05,-3.35908962256e-05,1793237785725821696
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.858701506,881,788,804,653.858701506,633,654,0.40897561185,0.00452155917897,0.0699763033224,0.999999999193,1.64935997645e-05,-1.20809294687e-05,-3.45960961382e-05,1793237785742488576
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.281671339,881,788,804,653.281671339,633,654,0.409517741071,0.00452682690753,0.0699774384786,0.999999998691,3.62048703577e-05,-3.09503105478e-06,-3.60289163487e-05,1793237785759155968
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680.293567549,665,636.293567549,880.706432451,788,804,653.293567549,633,654,0.410062922895,0.00453467284855,0.069972942134,0.999999997986,5.05239792865e-05,-9.03842710508e-06,-3.73254627015e-05,1793237785775823104
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680.867098237,665,636.867098237,880.132901763,788,804,653.867098237,633,654,0.410611015922,0.00454497752398,0.0699630752618,0.99999999705,5.97008106513e-05,-2.92192680787e-05,-3.84920505214e-05,1793237785792489984
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680.545822907,664.545822907,636.545822907,880,788,804,653.545822907,632.545822907,654,0.411202470114,0.00455001445358,0.0699639564536,0.999999996697,6.36689748874e-05,-3.21443062755e-05,-3.89818326135e-05,1793237785809156864
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.04427819,716,680,664.04427819,636.04427819,880.04427819,788,804,653.04427819,632.04427819,654,0.411811918787,0.00455384483546,0.0699698469251,0.999999996653,6.68194938107e-05,-2.61295469097e-05,-3.93333578149e-05,1793237785825823744
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.621569866,716,680,664.621569866,636.621569866,880.621569866,788,804,653.621569866,632.621569866,654,0.412480545441,0.00456227729597,0.0699970138684,0.999999995748,7.90391281603e-05,2.48481007503e-05,-4.04779371518e-05,1793237785842493952
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.801586068,747,716,680.198413932,665,637,881,788,803.801586068,653.801586068,632.801586068,654,0.413147731797,0.00456988402184,0.070020366256,0.999999993105,8.84762428854e-05,6.5309879204e-05,-4.11986679004e-05,1793237785859161600
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.225593831,747,716,680.774406169,665,637,881,788,803.225593831,653.225593831,632.225593831,654,0.413812177253,0.00457591938838,0.0700364596078,0.999999991188,9.26182701219e-05,8.57601361395e-05,-4.11128221568e-05,1793237785875824640
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,747,716,680.654263786,665,637,881,788,803.345736214,653.345736214,632.345736214,654,0.414456587252,0.00458195775754,0.0700281737853,0.999999991647,0.000102714203495,6.65679172956e-05,-4.15204616383e-05,1793237785892489472
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,747,716,680.085935379,665,637,881,788,803.914064621,653.914064621,632.914064621,654,0.41508809798,0.00458799805962,0.0700041921406,0.999999992066,0.000116643385623,2.18530440101e-05,-4.22458171487e-05,1793237785909155840
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.506821604,747,716,680,665,637,881,788,804.506821604,653.493178396,633,654,0.415753794862,0.00459677455983,0.0699631160779,0.999999990421,0.000123739739382,-4.31124312527e-05,-4.45931093599e-05,1793237785925822464
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.899131486,716,680,665,637,881,788,804.899131486,653,632.899131486,654,0.416441196316,0.0046053120641,0.0699301180043,0.99999998611,0.000129272234867,-9.42109570095e-05,-4.68396929453e-05,1793237785942489088
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.319614213,716,680,665,637,881,788,804.319614213,653,632.319614213,654,0.417202692716,0.00461040244163,0.0699499028426,0.999999988072,0.000133159868894,-6.23883046649e-05,-4.72372956537e-05,1793237785959155968
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881,788,804,653.257783922,632,654.257783922,0.417958054667,0.00461512515909,0.0699721912754,0.999999988881,0.00013882436076,-2.68944441877e-05,-4.73548935973e-05,1793237785975822592
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881,788,804,653.832576137,632,654.832576137,0.418705872918,0.0046193957494,0.0699975584916,0.999999988047,0.000146673933796,1.31140675724e-05,-4.7128157338e-05,1793237785992488960
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.416692357,716,680.416692357,665,636.583307643,881.416692357,788,804.416692357,653.583307643,632,654.583307643,0.419471387622,0.00462394166329,0.0700112136587,0.999999987023,0.000150708569039,3.08369049905e-05,-4.78460827413e-05,1793237786009155584
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,747,716,680.995436787,665.004563213,636.004563213,882,788,804.995436787,653,632,654,0.420244232438,0.00462849236484,0.0700200625989,0.999999986309,0.000153061448168,3.94583970161e-05,-4.89616683434e-05,1793237786025822208
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716,680.417293871,665.582706129,636.582706129,882,788,804.417293871,653,632,654,0.421024256333,0.00461942171586,0.0700298285677,0.9999999872,0.000141102653309,5.53475977525e-05,-5.12606619253e-05,1793237786042488832
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665.839380039,637,881.839380039,788,803.839380039,653,632,654,0.421796921403,0.00460492288237,0.0700310481051,0.999999989532,0.000122495865521,5.63119971365e-05,-5.25358232753e-05,1793237786059155456
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,747,716,680,665.262060562,637,881.262060562,788,803.262060562,653,632,654,0.422550495285,0.00457634160386,0.0700100954676,0.999999994766,8.66420598256e-05,1.85566904677e-05,-5.11548363909e-05,1793237786075822336
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.686350472,746.686350472,716,680,665,637,881,788,803.313649528,653,632,654,0.42327154096,0.00456578960342,0.0699647760244,0.99999999438,7.43211449674e-05,-5.52958915624e-05,-5.1569961715e-05,1793237786092488704
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.111978222,746.111978222,716,680,665,637,881,788,803.888021778,653,632,654,0.423965547364,0.00457022453106,0.0698992015546,0.999999982579,8.15620634216e-05,-0.000159154510249,-5.34781139273e-05,1793237786109155072
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665.47625559,637,881,788,804,653,632,654,0.424765211453,0.00458086272691,0.0698922846701,0.9999999816,9.27694105382e-05,-0.000158314919589,-5.59494508409e-05,1793237786125821440
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.066356654,746,716,680.066356654,666,637,881,788,804,653,632,654,0.425592805887,0.00459150893779,0.0699054868394,0.999999985127,0.000102986962212,-0.0001256073659,-5.79805118054e-05,1793237786142488064
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.64495823,746,716,680.64495823,666,637,881,788,804,653,632,654,0.426438488071,0.00459062029643,0.0699643418812,0.999999992732,9.81486578704e-05,-4.26211853339e-05,-5.55599818391e-05,1793237786159154944
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,637,881,788,804,653,632,654,0.427268759998,0.00459182875582,0.0700084377958,0.999999993415,0.000100145177547,1.62701759583e-05,-5.36366067905e-05,1793237786175821568
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,637,881,788,804,653,632,654,0.428074558578,0.00459636768203,0.0700290943186,0.999999991557,0.000112996280995,3.6895863438e-05,-5.2502778082e-05,1793237786192488192
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.375325847,716,681,665.624674153,636.624674153,881,788,804,653,632.375325847,654,0.428870975322,0.0045983483916,0.0700399596506,0.999999990122,0.00011748947298,5.58830873941e-05,-5.31840126489e-05,1793237786209155072
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.950331959,716,681,665.049668041,636.049668041,881,788,804,653,632.950331959,654,0.42966240071,0.00459896808253,0.0700456158875,0.999999988852,0.000117536101335,7.39986173316e-05,-5.48308943768e-05,1793237786225821696
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,747,716,680.460709254,665.539290746,636.539290746,881.539290746,788,804,653,633,654,0.430426682534,0.00459835220067,0.070026432786,0.999999990867,0.000115200824681,4.39534891171e-05,-5.53350698437e-05,1793237786242488320
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.872645373,716,680.127354627,665.872645373,636.872645373,882,788,804,653,632.872645373,654,0.431171555974,0.00459785126711,0.0699963484871,0.999999991988,0.000113525428832,-5.27611363306e-06,-5.57439215305e-05,1793237786259154944
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.292454086,716,680.707545914,665.292454086,636.292454086,882,788,804,653,632.292454086,654,0.43185654369,0.00459817442518,0.0699358530029,0.999999986134,0.000114997116532,-0.000106529830453,-5.61979778462e-05,1793237786275821568
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681,665.284303131,636,881.715696869,788,804,653,632,654,0.432591322655,0.00459338232677,0.0699144756484,0.999999983016,0.000108784879336,-0.000137510399222,-5.6782679016e-05,1793237786292488192
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,681,665.857569947,636,881.142430053,788,804,653,632,654,0.433376709052,0.00458339111792,0.0699328576874,0.999999989146,9.47627560042e-05,-9.70658331055e-05,-5.75001670252e-05,1793237786309155072
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.443465278,716,680.556534722,666,636.443465278,881.443465278,788.443465278,804.443465278,653,632,654,0.434164280603,0.00457689241847,0.0699810681492,0.999999994856,8.1962753599e-05,-1.56923890856e-05,-5.76587215015e-05,1793237786325821696
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.967154891,746.967154891,715.967154891,680,666.032845109,636.967154891,881.967154891,788.967154891,804.967154891,653,632,654,0.434949662065,0.00457214862629,0.07003592278,0.999999993097,7.08540540726e-05,7.39469936712e-05,-5.75959686029e-05,1793237786342488320
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.389232495,746.389232495,715.389232495,680,666.610767505,636.389232495,881.389232495,788.389232495,804.389232495,653,632,654,0.435686708768,0.0045773673974,0.0700373934546,0.999999992186,8.11083351278e-05,7.62163004565e-05,-5.69269951013e-05,1793237786359155200
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.188164956,746,715.188164956,680.188164956,666.811835044,636,881.188164956,788,804,653,632,654,0.43640539385,0.00458125315622,0.0700315679397,0.999999992154,8.93239882731e-05,6.70583591851e-05,-5.67073374202e-05,1793237786375821568
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.764479647,746,715.764479647,680.764479647,666.235520353,636,881.764479647,788,804,653,632,654,0.437086202419,0.00458238915659,0.0700106917265,0.999999993407,9.33343284184e-05,3.43281049845e-05,-5.7414535575e-05,1793237786392488192
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,681,666,636.347502357,882.347502357,788,804,653,632,654,0.437746137627,0.0045824311785,0.069990656921,0.99999999383,9.36931121698e-05,1.25564859645e-05,-5.83429971949e-05,1793237786409154816
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,636.935160893,882.935160893,788,804,653,632,654,0.438391647377,0.00458171716033,0.0699712036072,0.999999994044,9.15283334681e-05,-1.64170346954e-06,-5.94243722544e-05,1793237786425821696
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716.514232899,681.514232899,666,637,881.971534202,788,804,653,632.514232899,654,0.439009422893,0.00458115153277,0.0699443626538,0.999999993123,8.9198241135e-05,-4.77799339859e-05,-5.92933051194e-05,1793237786442488320
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.907734143,746.092265857,716.907734143,682,666,636.907734143,881.092265857,788,804,653,633,654,0.439626210501,0.00458147225733,0.0699191781164,0.999999990231,8.65920350748e-05,-9.24107280676e-05,-5.91691990784e-05,1793237786459154688
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.329565128,746.670434872,716.329565128,682,666,636.329565128,881.670434872,788,804,653,633,654,0.440255909264,0.00458636389436,0.0699075418515,0.999999988935,8.26396918411e-05,-0.000108242123407,-5.98736253002e-05,1793237786475821568
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.752970304,716,682,666,636,882,788,804.247029696,653,633,653.752970304,0.440894975282,0.00458926480296,0.0699207692108,0.999999991158,8.17901042282e-05,-8.59560943938e-05,-6.00422818855e-05,1793237786492488192
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746.178462371,716,682,666,636,882,788,804.821537629,653,633,653.178462371,0.441546459076,0.00458952667526,0.0699669573687,0.999999994526,8.505372632e-05,-1.31391880414e-05,-5.95006879862e-05,1793237786509154816
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.407558305,746,716,682,666,636.407558305,882,788,804.592441695,653,633,653,0.442158912294,0.00459006124005,0.0700085258573,0.999999993173,8.81025212311e-05,4.88095039491e-05,-5.92386840339e-05,1793237786525821440
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.998766798,746,716,682,666,636.998766798,882,788,804.001233202,653,633,653,0.442753777968,0.00459071868305,0.070048012677,0.999999988505,9.10545128636e-05,0.00010586086701,-5.91026662238e-05,1793237786542488320
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.578344917,716,682,665.421655083,636.421655083,882.578344917,788,804,653,633,653.578344917,0.443257823149,0.00459557027716,0.0700266683577,0.999999991052,9.94686809765e-05,6.71217864588e-05,-5.9136772424e-05,1793237786559154944
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.843305922,716,682,665,636,882.843305922,788,804,653,633,654,0.443749547769,0.00459982962983,0.0699993968272,0.999999992068,0.000109889538852,1.94423097211e-05,-5.83943168143e-05,1793237786575821312
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.268173539,716,682,665,636,882.268173539,788,804,653,633,654,0.444208878433,0.00460248404164,0.0699566367264,0.999999989233,0.000125638605037,-5.15770594528e-05,-5.55771688811e-05,1793237786592487936
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.306367292,716,682,665,636,882.306367292,788,804.306367292,653,632.693632708,654,0.444657584692,0.00460453732781,0.0699249672758,0.999999984347,0.000132823410177,-0.000103102500747,-5.50737992216e-05,1793237786609154560
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.880391282,716,682,665,636,882.880391282,788,804.880391282,653,632.119608718,654,0.445097008951,0.00460606544253,0.0699029871351,0.999999980151,0.000132526078438,-0.000137597137052,-5.65918540414e-05,1793237786625821440
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.533554225,746.533554225,716,682,664.533554225,636,882.533554225,788,805,653,632.466445775,654,0.445526322042,0.0046079092055,0.0698934574727,0.999999978707,0.000134895125967,-0.000144793067741,-5.85172113858e-05,1793237786642488320
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.05484539,746,716,682.05484539,664,636,882.05484539,788,805,653,633,654,0.445949944839,0.00460991397806,0.0698874212518,0.999999977937,0.000138685713314,-0.000145819828314,-6.02361340408e-05,1793237786659154944
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.635371358,746,716,682.635371358,664,636,882.635371358,788,805,653,633,654,0.446344536495,0.00461266565734,0.0698834581618,0.999999974846,0.000149374556791,-0.000156587082548,-5.89488634385e-05,1793237786675821568
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,682.786086933,663.786086933,636,882.786086933,788,804.786086933,653,633,654,0.446724509936,0.00461566558122,0.0698779846503,0.999999970928,0.000160171631681,-0.000170787271213,-5.76248278079e-05,1793237786692488192
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,682.210896493,663.210896493,636,882.210896493,788,804.210896493,653,633,654,0.44707979466,0.00461908476462,0.0698699601913,0.999999965573,0.000171151497305,-0.000190785335214,-5.62386999195e-05,1793237786709155072
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+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.940910628,716,682,662.059089372,635.059089372,882,788,804.940910628,653,633,654,0.447709633441,0.0046227940996,0.0698369967354,0.999999951067,0.000174704779235,-0.00025337160228,-5.60909612266e-05,1793237786742488576
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766.883807623,746,716,682.883807623,661,635,882,788,804.883807623,653,633,654,0.448293851049,0.00462812830586,0.0698272001764,0.999999951998,0.000154161994681,-0.00026202530601,-5.98454319462e-05,1793237786775821568
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+266,4.433333333,HOLD_POSE2,767,746.146245657,715.146245657,683,657.853754343,634,883,787.853754343,805,653,633.146245657,654,0.450959146352,0.00464505383553,0.0697327509679,0.999999898453,0.000164239168904,-0.000416731160204,-4.95384240204e-05,1793237787667639040
+267,4.450000000,HOLD_POSE2,767,746.74306416,715.74306416,683,657.25693584,634,883,787.25693584,805,653,633.74306416,654,0.450957692502,0.00464610713162,0.0697311706988,0.999999897296,0.000165661623698,-0.000418935277149,-4.95689023335e-05,1793237787684305664
+268,4.466666667,HOLD_POSE2,767,747,716,683,657,634,882.67151709,787.32848291,804.67151709,653,633.343034181,654,0.450958001736,0.00464609402938,0.0697312097915,0.999999897289,0.000165153567573,-0.000419125324548,-4.98024905565e-05,1793237787700972288
+269,4.483333333,HOLD_POSE2,767,747,716,683,657,634,882.094716072,787.905283928,804.094716072,653,632.189432144,654,0.450959643781,0.00464527477853,0.0697324730479,0.99999989815,0.000163186133092,-0.000417792827031,-5.01896206126e-05,1793237787717639424
+270,4.500000000,HOLD_POSE2,767,747,716,682.518152933,657,634,882,788,804.481847067,653,632.481847067,654,0.450960061356,0.00464688186161,0.0697327518921,0.999999897926,0.000166428462787,-0.000417068747391,-5.00258623389e-05,1793237787734306304
+271,4.516666667,HOLD_POSE2,767,747,716,682.059650589,657,634,882.059650589,788,805,653,632.940349411,654,0.450960149408,0.00464861679442,0.0697327554085,0.999999897463,0.000170189134961,-0.000416695673105,-4.97405533087e-05,1793237787750972928
+272,4.533333333,HOLD_POSE2,767,747,716,682.648881222,657,634,882.648881222,788,805,653,632.351118778,654,0.450959447772,0.00464725456848,0.0697320316483,0.999999896904,0.000169464366394,-0.000418377583771,-4.93370175767e-05,1793237787767638784
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+274,4.566666667,HOLD_POSE2,766.187065271,746.187065271,715.187065271,683,657,634,883,788,805,653,632.812934729,654,0.450960720844,0.00464764395627,0.0697334442382,0.999999897622,0.000168974325714,-0.000416844372941,-4.94324336604e-05,1793237787800971776
+275,4.583333333,HOLD_POSE2,766.390809803,746,715.390809803,683,657,634.390809803,882.609190197,788,804.609190197,653,633,654,0.450960981027,0.0046482989198,0.0697332667027,0.999999897616,0.000168555611001,-0.000417015637129,-4.95541395435e-05,1793237787817638400
+276,4.600000000,HOLD_POSE2,766.968162553,746,715.968162553,683,657,634.968162553,882.031837447,788,804.031837447,653,633,654,0.450960790489,0.00464885819091,0.0697323776029,0.999999897248,0.00016795680361,-0.000418130572802,-4.96197564845e-05,1793237787834305024
+277,4.616666667,HOLD_POSE2,766.458418302,746,715.458418302,683,657,634.458418302,882,788,804.541581698,653,633,654,0.450960204493,0.00464776884778,0.0697320858109,0.999999897016,0.000168068680758,-0.00041866705774,-4.93880471508e-05,1793237787850972928
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,747,715,683,657,634,882,788,805,653,633,654,0.450960841138,0.00464543279555,0.0697315123226,0.999999897238,0.000167449533274,-0.000418366494462,-4.95317526106e-05,1793237787921308672
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.576971279,747,715.576971279,683,657.576971279,634,882.576971279,788,804.423028721,653,633,654,0.450960472892,0.0046470145903,0.0697309646727,0.999999896586,0.00016818639807,-0.000419642160746,-4.9409666294e-05,1793237787937975808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.846669192,716,683,657.846669192,634,882.846669192,788,804.153330808,653.153330808,633,654,0.450959880941,0.00464799733008,0.0697304168397,0.999999896062,0.000168546832547,-0.000420754435852,-4.93233539827e-05,1793237787954642944
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.689600814,746,716,683,657,634,882.310399186,788,805,653.689600814,632.689600814,654,0.450958437619,0.00464669698279,0.0697301677815,0.999999896057,0.000167246351749,-0.000421285315419,-4.93262403196e-05,1793237787987975424
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.480465573,746.480465573,715.519534427,683,657,634,882.519534427,787.519534427,804.519534427,653,632.480465573,654,0.450959795903,0.00464583897061,0.0697311772155,0.999999896668,0.000166687572105,-0.000420056686744,-4.93121660581e-05,1793237788021309184
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.365112625,746.365112625,715.634887375,682.365112625,657,634,882.634887375,787.634887375,804.634887375,653,632.365112625,654,0.450960088791,0.00464618764761,0.069729885136,0.99999989642,0.000166437327113,-0.000420757351276,-4.92125431533e-05,1793237788054641920
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,716,683,657,634,882.616239019,788,805,653,633,654,0.450946854531,0.00464598501755,0.0697228116126,0.999999892121,0.000166821230248,-0.000430672714107,-4.9492303904e-05,1793237788104642304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,716,683,657,634,882.039763203,788,805,653,633,654,0.450934618359,0.00464659875324,0.0697160712622,0.999999887685,0.00016771577706,-0.00044048733389,-4.97223618279e-05,1793237788121309184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,683,657,634,882.536646979,788,805,653.536646979,633,654.536646979,0.450902823835,0.00464787846075,0.0697006633378,0.999999875894,0.000170027250049,-0.000465630588029,-4.9906635372e-05,1793237788137975552
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.310798173,716,683,657,634,883,788,805,653.310798173,633,654.310798173,0.450809388345,0.00464852645087,0.0696611574625,0.999999844194,0.000169821688755,-0.000529439051015,-4.96774080198e-05,1793237788171309056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,683,657.272597071,634,882.727402929,787.727402929,805,653,633,654,0.45075159026,0.00464848380496,0.0696426075407,0.999999829602,0.000169215459948,-0.000556518881033,-4.94937103894e-05,1793237788187975680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,683,657.864428476,634,882.135571524,787.135571524,805,653,633,654,0.450691420809,0.00464880280025,0.0696283807296,0.999999819863,0.000170002366632,-0.000573521602855,-4.94616740709e-05,1793237788204642048
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747,715.172423653,682.172423653,657.172423653,634,882,788,804.827576347,653,632.172423653,654,0.450384981068,0.00464777936067,0.0696308124486,0.999999819008,0.000176741887038,-0.000573456850264,-4.35113883265e-05,1793237788271308544
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,715.745769866,682.745769866,657.745769866,634,882,788,804.254230134,653,632.745769866,654,0.450282744969,0.00464767770566,0.069634677205,0.999999822019,0.000178266686359,-0.000567838440371,-4.17335930272e-05,1793237788287975424
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.080207424,716,683,658,634.080207424,882,788,804.080207424,653,632.919792576,654,0.449756024785,0.00464272610583,0.0696472083987,0.999999827149,0.000187524384916,-0.000556380814104,-3.12535979746e-05,1793237788354641664
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.048031385,746.048031385,716,683,662.951968615,636,882.951968615,788.951968615,804.048031385,653,632.048031385,653.048031385,0.444437153823,0.00460929044299,0.0697357580615,0.999999901402,0.000144460645748,-0.000419904182446,2.6278587146e-06,1793237788637975296
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.528508886,746,715.471491114,683,663,636,882.471491114,788.471491114,804.528508886,653,632.528508886,653.528508886,0.443942137462,0.00460611663378,0.0697408712296,0.999999906775,0.000139986923338,-0.000408433160785,6.00526058609e-06,1793237788654641920
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,715.104002904,682.895997096,663.104002904,636,882,788,804.895997096,653,633,654,0.44344319393,0.00460246166399,0.0697487923062,0.999999913624,0.000135245881456,-0.00039289248433,9.78582568867e-06,1793237788671308544
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.675880565,682.324119435,663.675880565,636,882,788,804.324119435,653,633,654,0.442937839483,0.00459874119473,0.0697689725029,0.99999992631,0.000126235182622,-0.000362312750569,1.32198220613e-05,1793237788687975168
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636,882,788,804.257510197,653,633,654,0.442415951069,0.00459638391214,0.0697929835781,0.999999940052,0.00011639784204,-0.000325732803327,1.5705112628e-05,1793237788704642048
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636,882,788,804.851897523,653,633,654,0.441872432703,0.00459580996198,0.0698220062455,0.999999954728,0.000105479080075,-0.000281303319069,1.69492982872e-05,1793237788721308672
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.431130056,716,682,664.862260111,636,882.431130056,788,805,653,633,654,0.441317583961,0.00459092257345,0.0698428218188,0.999999967785,8.40123524787e-05,-0.000238926538665,1.68873868054e-05,1793237788737975552
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,665.989290248,636,882.994645124,788,805,653,633,654,0.440758183801,0.00458464747868,0.0698606778103,0.999999978548,5.92192396768e-05,-0.000197808137692,1.64269029667e-05,1793237788754642432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,664.836245929,636,882.418122964,788,805,653,633,654,0.440114370997,0.00458303733888,0.0698533608919,0.999999974585,5.2987962544e-05,-0.000218252904786,1.96851524706e-05,1793237788771308800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,664,636,882,788,804.837294385,653,633,654,0.439453847225,0.00458197072726,0.0698337252626,0.999999966026,4.59659721649e-05,-0.000255635534638,2.20396954723e-05,1793237788787975168
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,664,636,882,788,804.245098277,653,633,654,0.43874921191,0.00458233885534,0.0697815721987,0.999999942048,3.68567533406e-05,-0.000337728672611,2.20087436905e-05,1793237788804641792
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,747,716.338055839,682.338055839,664,636,882,788,804.338055839,653,633,654,0.438052493756,0.00457956202845,0.069750455608,0.999999921881,0.000103828569409,-0.000380838147773,2.04820150369e-05,1793237788821308416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,747,716.914825054,682.914825054,664,636,882,788,804.914825054,653,633,654,0.437361366224,0.00457456443583,0.0697341936293,0.99999989606,0.000224523937825,-0.000396419850974,1.78990644118e-05,1793237788837975040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,747,716.507938984,682.507938984,664.492061016,636,882,788,804.507938984,653,633,654,0.43669610757,0.00457060284727,0.0697628799213,0.999999912506,0.000224394355538,-0.000352471796221,1.99641337737e-05,1793237788854642176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.931238745,716,682,664.931238745,636.068761255,882,788,804.068761255,653,633,654,0.43603188075,0.00456704197825,0.0697986045339,0.999999934057,0.00020339127419,-0.000300006615726,2.26852285453e-05,1793237788871308800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.359053079,716,682,664.359053079,636.640946921,882,788,804.640946921,653,633,654,0.435342393615,0.00456510072806,0.0698288415077,0.999999949008,0.000182834491956,-0.000260699084568,2.4313224005e-05,1793237788887975168
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636.77952695,882,788,804.77952695,653,633,654,0.434634647059,0.00456116840586,0.0698454843822,0.999999957542,0.000159405572886,-0.000242548289857,2.60176837115e-05,1793237788904642048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636.187634641,882,788,804.187634641,653,633,654,0.433896139711,0.00455388182989,0.0698392260033,0.999999957203,0.000131138114213,-0.00026003912153,2.78509589897e-05,1793237788921308672
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746.395719566,716,682,664,636,882,788,804,653,632.604280434,654,0.433137751088,0.00454919191574,0.0698363268071,0.999999958309,0.000111244131809,-0.000264928085173,2.86207736069e-05,1793237788937975040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.975110811,716,682,664,636,882,788,804,653,632.024889189,654,0.432370134694,0.00454570723239,0.0698349867627,0.999999960208,9.52366671627e-05,-0.000263967940366,2.88969870386e-05,1793237788954641664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.449200653,716,682,664.550799347,636,881.449200653,788,804,653,632.550799347,654,0.431586304544,0.00454269310372,0.0698241247719,0.999999955073,0.000102772655626,-0.000280014360132,2.97260540024e-05,1793237788971308288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.124119259,716,682,664.875880741,636,881,788,804,653,633,654,0.430796216796,0.00453929353844,0.0698048457343,0.99999994591,0.000107571368044,-0.000309331055039,3.03761498682e-05,1793237788987975168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746.689607308,716,682,664.310392692,636,881,788,804,653,633,654,0.429986464967,0.00453444825162,0.0697571554634,0.999999921261,9.88784542088e-05,-0.000383122442166,3.03015804141e-05,1793237789004641792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746.728543343,716,682,664,636,881.271456657,788.271456657,804.271456657,653,633,654,0.429205886444,0.00452903467458,0.0697455603006,0.999999914769,8.96139614301e-05,-0.000401859412978,3.06498358279e-05,1793237789021308416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.126786077,716,682,664,636,881.873213923,788.873213923,804.873213923,653,633,654,0.428460805218,0.00452292961877,0.0697778846251,0.999999933812,7.96539889016e-05,-0.000353607758221,3.15125724213e-05,1793237789037975296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.455741527,716,682,664.455741527,636.455741527,881.544258473,788.544258473,804.544258473,653,632.544258473,654,0.427708324006,0.00451718438498,0.0698287502505,0.999999958823,7.04625833036e-05,-0.000276258487533,3.270236055e-05,1793237789054641920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,664.967009551,637,881.032990449,788.032990449,804.032990449,653.032990449,632.032990449,654,0.426951821659,0.00451166038251,0.0698810056179,0.999999978123,6.21239537191e-05,-0.000196823630157,3.39766347607e-05,1793237789071308544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,664.392153281,637,881.607846719,788.607846719,804.607846719,653.607846719,632.607846719,654,0.426161717727,0.0045081925009,0.0698747952891,0.999999975106,6.44224420343e-05,-0.000210708190719,3.52046715454e-05,1793237789087975168
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,664,636.81255605,882,788.81255605,804.81255605,654,633,654,0.425370939595,0.00450356680334,0.0698626067743,0.999999970263,6.26634733663e-05,-0.000232968383821,3.566943138e-05,1793237789104641792
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,664,636.222782719,882,788.222782719,804.222782719,654,633,654,0.424578714215,0.00449645597091,0.0698375866899,0.999999960722,5.21955862109e-05,-0.000273206023022,3.44958950511e-05,1793237789121308416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,664.360655031,636,882,788,804.360655031,653.639344969,633,654.360655031,0.423764625406,0.00449004918262,0.0698114581285,0.999999948674,4.5867428364e-05,-0.000315190149059,3.46915299413e-05,1793237789137975040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,664.940246715,636,882,788,804.940246715,653.059753285,633,654.940246715,0.422937264388,0.00448406978674,0.0697846566646,0.999999934312,4.2052305441e-05,-0.000358234482169,3.57183241168e-05,1793237789154641664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746.48404296,716,682,664.48404296,636,881.48404296,788,804.48404296,653.51595704,633,654.48404296,0.422095609296,0.00447700626746,0.0697488865445,0.999999910163,3.43308584193e-05,-0.000420992852,3.55082790219e-05,1793237789171308288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.909650244,746,716,681.909650244,664,636,881,788,804.090349756,653.909650244,633,654,0.421276484525,0.00446989634588,0.0697251133755,0.999999892235,2.41491075078e-05,-0.000462312158721,3.48347592962e-05,1793237789187975168
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.33988174,746,716,681.33988174,664,636,881,788,804.66011826,653.33988174,633,654,0.420585629792,0.00446320144368,0.069770469347,0.999999928084,3.29495245684e-06,-0.000377846134587,3.24563139515e-05,1793237789204641792
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.241028771,746,716,681,664.241028771,636,881,788,804.758971229,653,633,654,0.419897184352,0.00445550742958,0.0698198905295,0.999999956443,-1.05429004864e-05,-0.000293165908744,3.25034488369e-05,1793237789221308672
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.838412402,746,716,681,664.838412402,636,881,788,804.161587598,653,633,654,0.419212301053,0.00444633625472,0.0698753220181,0.999999977582,-1.40073286496e-05,-0.000208169000307,3.61367422771e-05,1793237789237975296
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,664.578384034,636.421615966,881.421615966,788.421615966,804.421615966,653.421615966,632.578384034,654,0.418475365125,0.00443946114673,0.0698855710051,0.999999979845,-1.49198756822e-05,-0.000196674653957,3.75067636115e-05,1793237789254641664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,664.00043821,636.99956179,881.99956179,788.99956179,804.99956179,653.99956179,632.00043821,654,0.417719128684,0.00443343739049,0.0698790668976,0.999999976602,-1.48862178388e-05,-0.000212434119417,3.80375926856e-05,1793237789271308032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.575586137,716,680.424413863,664.575586137,636.424413863,881.424413863,789,804.424413863,653.424413863,632.575586137,654,0.416944885093,0.00442798282015,0.0698405070842,0.999999962871,-2.94206759942e-05,-0.000268482049463,3.6178591804e-05,1793237789287974912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.845751461,715.845751461,680,665,636.154248539,881,788.845751461,804,653,633,654.154248539,0.416191513415,0.00442248002031,0.0698100646727,0.999999950123,-4.09395750556e-05,-0.000311215829603,3.49573531212e-05,1793237789304642048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.25969988,715.25969988,680,665,636.74030012,881,788.25969988,804,653,633,654.74030012,0.415496608604,0.00441684099657,0.0698024141829,0.999999948286,-4.39857825784e-05,-0.000316592441249,3.55265409045e-05,1793237789321308672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.325151498,715.325151498,680,664.674848502,636.674848502,881,788,804,653,632.674848502,654.674848502,0.414785564848,0.00441431996992,0.0697894224231,0.999999940318,-4.69178214731e-05,-0.000340411132446,3.58108874653e-05,1793237789337975296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.90904776,715.90904776,680,664.09095224,636.09095224,881,788,804,653,632.09095224,654.09095224,0.414061678298,0.00441428014213,0.0697721802587,0.999999926334,-4.97590085296e-05,-0.000378905417357,3.58685667665e-05,1793237789354641920
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.515982361,747,716,680,663.515982361,636,880.515982361,788,804,653,632,654,0.413427922108,0.00443745871445,0.069789373867,0.999999938667,-2.34244692517e-05,-0.000347668366151,3.52674933873e-05,1793237789371308544
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.057447509,746.942552491,716,680,663.114895018,636,880,788.057447509,803.942552491,653.057447509,632.057447509,654,0.412814282535,0.00446412041624,0.0698149347452,0.999999954306,8.01745662842e-06,-0.000300210065842,3.46148013228e-05,1793237789387975168
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.631840094,746.368159906,716,680,664.263680188,636,880,788.631840094,803.368159906,653.631840094,632.631840094,654,0.412232019339,0.00448357555671,0.0698586150044,0.999999973952,3.697779846e-05,-0.000222559409108,3.45913490189e-05,1793237789404641792
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.212253448,880,788.787746552,803.212253448,654,633,654.212253448,0.411645177367,0.00449017165138,0.069886566242,0.99999998314,4.64978747614e-05,-0.000174193163357,3.48662053202e-05,1793237789421308160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.803414822,880,788.196585178,803.803414822,654,633,654.803414822,0.411050161576,0.00447381219533,0.0698864385391,0.999999983276,2.13138211056e-05,-0.000178104502253,3.56735927381e-05,1793237789437974784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880,788,804,654,632.614363123,654.614363123,0.410444052994,0.00446623728894,0.0698663040598,0.999999976058,1.4143864303e-05,-0.000215479996099,3.53992115349e-05,1793237789454641664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880,788,804,654,632.03659475,654.03659475,0.409832417722,0.0044630390078,0.0698362018309,0.999999962952,1.59488647237e-05,-0.000269527956855,3.45858729932e-05,1793237789471308800
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,664,636.11408149,880,788,803.88591851,653,632,654,0.408705621608,0.00446148083718,0.0697914391803,0.999999939846,9.65645648269e-06,-0.000345082022284,3.36753029929e-05,1793237789504642304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,664,636.691582919,880,788,803.308417081,653,632,654,0.408199538509,0.00446289281423,0.0697991388108,0.999999947151,6.57775414644e-06,-0.000323420644245,3.24536243381e-05,1793237789521308416
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.27502245,746,716,680.27502245,664,636.72497755,880.27502245,788,803.27502245,653.27502245,632.27502245,654,0.407718894009,0.00446595192723,0.0698116815335,0.999999954671,7.5875675006e-06,-0.00029931746672,3.17863246782e-05,1793237789537975040
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.865268035,746,716,680.865268035,664,636.134731965,880.865268035,788,803.865268035,653.865268035,632.865268035,654,0.407267406557,0.00447089894188,0.0698297752744,0.999999962302,1.32835247663e-05,-0.000272415567351,3.1754438975e-05,1793237789554641664
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.445215458,716,681,664,636.445215458,881,788.445215458,803.554784542,654,633,654,0.406814034888,0.00447634525754,0.0698310328875,0.999999961147,2.01858603048e-05,-0.000276143316102,3.22897802365e-05,1793237789571308544
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,747,716,680.97790382,664,637,881,788.97790382,803.02209618,653.97790382,632.97790382,654,0.4063608551,0.00448182521835,0.0698269162822,0.999999957202,2.72329746782e-05,-0.000289429276487,3.2949840687e-05,1793237789587975168
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,747,716,680.401542288,664,637,881,788.401542288,803.598457712,653.401542288,632.401542288,654,0.405926468133,0.0044844446207,0.0698129058787,0.999999949369,2.89611314917e-05,-0.000315221339961,3.25298908788e-05,1793237789604641792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,747,716,680.178969943,664.178969943,637,881,788,803.821030057,653.178969943,632.178969943,654,0.4055191478,0.00448558470857,0.0698088649949,0.999999946915,3.12851688305e-05,-0.00032275039445,3.20049965765e-05,1793237789621308416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,747,716,680.769015836,664.769015836,637,881,788,803.230984164,653.769015836,632.769015836,654,0.405173996861,0.00448332695962,0.0698277230966,0.999999957333,3.49778835457e-05,-0.000288331151788,3.12390554076e-05,1793237789637975040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,747,716,680.647955835,664.647955835,637,881,788,803.352044165,654,633,654,0.40484371988,0.00448076837114,0.0698445842027,0.999999965567,3.17398083708e-05,-0.00025868582798,3.06762505447e-05,1793237789654641664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,747,716,680.069441845,664.069441845,637,881,788,803.930558155,654,633,654,0.404523011275,0.00447801625252,0.0698601606446,0.999999972316,2.40431600653e-05,-0.000232111560257,3.02441230826e-05,1793237789671308288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,664,637,881,788,803.492755308,654,633,654,0.404210205857,0.00447317335748,0.0698622555936,0.999999973389,1.4599665765e-05,-0.00022826110989,3.01013762387e-05,1793237789687974656
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.917262754,716,680,664,637,881,788,803.082737246,654,632.917262754,654,0.403901411399,0.00446866192244,0.0698607927158,0.999999973024,5.17591978474e-06,-0.000230288963893,2.98813817073e-05,1793237789704641536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.347332774,716,680,664,637,881,788,803.652667226,654,632.347332774,654,0.403609886989,0.0044677816464,0.0698492085954,0.999999968656,-2.72841883895e-06,-0.000248678294533,2.89740791769e-05,1793237789721308160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.767329934,746,716,680,664,637,880.767329934,788,804,654,632.232670066,654,0.403331183507,0.00446726452915,0.0698405219325,0.999999964946,-1.06728594463e-05,-0.000263083316205,2.796596918e-05,1793237789737974784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.171609798,746,716,680,664,637,880.171609798,788,804,654,632.828390202,654,0.40307248536,0.00446731407199,0.0698363563599,0.999999962672,-1.86798732855e-05,-0.000271271363289,2.68005628743e-05,1793237789754641920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.408957597,746.408957597,716,680.408957597,664,637,880.408957597,788,804,654,632.591042403,654,0.402840562372,0.00446450817147,0.0698337952041,0.99999996097,-2.84029502996e-05,-0.000276678025614,2.65158007444e-05,1793237789771308544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.983393651,746.983393651,716,680.983393651,664,637,880.983393651,788,804,654,632.016606349,654,0.40261947355,0.00446054685932,0.0698318832512,0.999999959424,-3.88204059196e-05,-0.000280959242779,2.65873778814e-05,1793237789787975168
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.437475334,716,680.437475334,664,637,881,788,804,654,632.562524666,654,0.402423395097,0.00446178358595,0.0698273269001,0.999999957145,-3.76926845407e-05,-0.000289013928668,2.75767671132e-05,1793237789804641792
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788.144304009,804,654,632.855695991,654,0.402234324056,0.00446307357164,0.0698229470529,0.999999954795,-3.57515142475e-05,-0.000297174606124,2.86065660611e-05,1793237789821308416
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788.733822794,804,654,632.266177206,654,0.402064575588,0.00446405045202,0.0698193546454,0.999999952427,-3.23610330031e-05,-0.000305315712405,2.96767410916e-05,1793237789837975040
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788.682658653,803.682658653,654,632.317341347,654,0.40191322091,0.00447213065728,0.0698176160763,0.999999951918,-1.50755332603e-05,-0.000308211738197,3.06845042914e-05,1793237789854641664
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788.104079473,803.104079473,654,632.895920527,654,0.401777008123,0.00448605837423,0.0698174036006,0.999999952346,1.36484527464e-05,-0.000306789974179,3.1640889692e-05,1793237789871308544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.470984126,746,716,680.470984126,664,636.529015874,880.529015874,788,803.470984126,654,632.529015874,654,0.401662051332,0.00450170987509,0.0698189320995,0.999999950937,7.20090179777e-05,-0.00030325091178,3.12892754393e-05,1793237789887975168
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.954800829,746.045199171,716,680.954800829,664.045199171,636.045199171,880,788,804,654,632.045199171,654,0.401553291068,0.00451596881234,0.0698207523137,0.999999946338,0.000129444317118,-0.000299411002506,3.03533497457e-05,1793237789904642304
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.381489997,746.618510003,716,680.381489997,664.618510003,636.618510003,880,788,804,654,632.618510003,654,0.401462455473,0.00450953909649,0.0698215190914,0.999999950404,0.000100114444858,-0.00029748231107,2.59424876727e-05,1793237789921308672
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.801097529,716,680,664.801097529,637,880,788,804,654,632.801097529,654,0.401376908957,0.00450417619386,0.0698214505919,0.999999953073,7.2222062744e-05,-0.000296946291228,2.14724250713e-05,1793237789937975040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.206621258,716,680,664.206621258,637,880,788,804,654,632.206621258,654,0.401301881279,0.00450093495135,0.0698197209075,0.99999995399,4.71885380869e-05,-0.000299179993036,1.6884625773e-05,1793237789954641664
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.375566824,746.375566824,716.375566824,680,664.375566824,637,880,788.375566824,804,654,632,654,0.401239254219,0.00450104500819,0.0698188805886,0.999999954026,4.11888408029e-05,-0.000299998984869,1.58934379425e-05,1793237789971308288
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.951208625,746.951208625,716.951208625,680,664.951208625,637,880,788.951208625,804,654,632,654,0.401183233319,0.00450294039626,0.0698185140596,0.999999953812,4.53289977733e-05,-0.000300064321032,1.68182660202e-05,1793237789987975168
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.472534537,747,716.472534537,680,665,637,880,789,803.472534537,654,632,654,0.401143540789,0.00450080374587,0.0698220263192,0.999999955645,4.27450210985e-05,-0.000294209219826,1.79703434541e-05,1793237790004641536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.89353369,716,680,665,637,880.10646631,788.89353369,803.10646631,654,632.10646631,654,0.401107411202,0.00449944838054,0.0698258797655,0.999999957515,4.08799511124e-05,-0.000287989959525,1.90031084305e-05,1793237790021308160
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.302298163,716,680,665,637,880.697701837,788.302298163,803.697701837,654,632.697701837,654,0.401080619365,0.00450335062564,0.0698296511325,0.99999995886,4.51236576879e-05,-0.00028260909315,1.93967864124e-05,1793237790037975040
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.717322468,788.282677532,804,654,633,654,0.401057269796,0.00450358397986,0.0698314330766,0.999999959837,4.55573724596e-05,-0.000279039241703,1.97080850941e-05,1793237790054641664
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,880.138895996,788.861104004,804,654,633,654,0.401037521667,0.004499978789,0.0698311336045,0.999999960454,4.20049165465e-05,-0.000277364148421,1.99331951892e-05,1793237790071308288
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.577966655,880,789,803.577966655,654,633,654,0.401024367401,0.00449930692521,0.0698320058469,0.999999960907,4.25758348094e-05,-0.000275613860733,2.02663851181e-05,1793237790087974912
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.022566615,880,789,803.022566615,654,633,654,0.401013296862,0.0044995620219,0.0698332483626,0.999999961305,4.44497801515e-05,-0.000273839810973,2.06337293256e-05,1793237790104641536
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.569329542,716,680,664.430670458,636.569329542,880,789,803.569329542,654,633,654,0.401004566629,0.00450115650551,0.0698349839705,0.999999961951,4.48575848512e-05,-0.000271425907705,2.03395516614e-05,1793237790121308160
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.836900641,716,680,664,636.836900641,880,788.836900641,804,654,633,654,0.400997455766,0.00450219058663,0.0698360741786,0.99999996232,4.48784969341e-05,-0.000270079158363,2.00777544058e-05,1793237790137975040
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.24226309,716,680,664,636.24226309,880,788.24226309,804,654,633,654,0.40099436728,0.00450159183199,0.0698354014936,0.99999996194,4.40400374484e-05,-0.0002716276504,1.99757598821e-05,1793237790154641664
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.343204281,716,680,664.343204281,636,880.343204281,788,804,654,633,654.343204281,0.40099330765,0.00450066580356,0.0698367617213,0.999999962577,4.25235463621e-05,-0.000269512501426,2.00401027137e-05,1793237790171308288
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.922366983,716,680,664.922366983,636,880.922366983,788,804,654,633,654.922366983,0.40099364289,0.00449951476921,0.0698395196092,0.999999963893,4.05408977629e-05,-0.000264878540717,2.02188051357e-05,1793237790187975168
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,665,636.497512319,881,788,804,654,633,655,0.400992654916,0.00449958930615,0.0698405862377,0.999999964292,4.08441042216e-05,-0.000263314655536,2.03090173421e-05,1793237790204642048
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,664.927939872,637,880.927939872,788,804,653.927939872,632.927939872,655,0.400991604979,0.00449994221187,0.0698412986455,0.999999964543,4.15783786098e-05,-0.000262240548665,2.03559085944e-05,1793237790221308672
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,664.353222619,637,880.353222619,788,804,653.353222619,632.353222619,655,0.400991551562,0.00450091356428,0.0698413663294,0.999999964747,4.28514057493e-05,-0.000261267962303,2.01961615336e-05,1793237790237975040
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746.778307045,716,680,664.221692955,637,880.221692955,788,804,653.221692955,632.221692955,654.778307045,0.40099147805,0.00450141590143,0.0698415244621,0.999999964861,4.3730379677e-05,-0.000260696931504,2.00612030659e-05,1793237790254641920
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.203075114,716,680,664.796924886,637,880.796924886,788,804,653.796924886,632.796924886,654.203075114,0.400991372491,0.00450117028904,0.0698418268358,0.999999964834,4.39809478674e-05,-0.000260766270667,1.99657755267e-05,1793237790271308544
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.6144032,637,881,788.3855968,804,654,632.6144032,654,0.400991609074,0.0045007427208,0.0698427334695,0.999999965138,4.423123284e-05,-0.000259538393826,2.01820503912e-05,1793237790287974912
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.018397516,637,881,788.981602484,804,654,632.018397516,654,0.400992032354,0.0045002158646,0.0698439698301,0.99999996562,4.44813632537e-05,-0.000257602664185,2.05684121372e-05,1793237790304641536
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.447318794,880.447318794,788.447318794,804,654,632.552681206,654,0.40099315834,0.00450108474569,0.0698442094244,0.999999965965,4.44693880431e-05,-0.000256297672153,2.00800266295e-05,1793237790321308416
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.124566749,716,680,664,636.124566749,880,788.124566749,803.875433251,654,632.875433251,654,0.400993429355,0.00450168819507,0.0698440052375,0.999999966023,4.42734255571e-05,-0.000256137413473,1.9697578892e-05,1793237790337975552
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.702275466,716,680,664,636.702275466,880,788.702275466,803.297724534,654,632.297724534,654,0.400990508784,0.00450116435253,0.0698423021806,0.999999965043,4.34385336978e-05,-0.000260068320604,1.98018596256e-05,1793237790354641664
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.711224472,716,680,664,637,880,788.711224472,803,654,632,654,0.400989573599,0.00450084109488,0.0698417102552,0.9999999647,4.29312809922e-05,-0.000261465183074,1.98122640702e-05,1793237790371308288
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746.115376067,716,680,664,637,880,788.115376067,803,654,632,654,0.400990749599,0.00450073113157,0.0698422998647,0.999999965047,4.27724273132e-05,-0.000260167438909,1.97228440448e-05,1793237790387975168
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746.46329087,716,680,664,637,880.46329087,788,803.46329087,654,632.46329087,654,0.400990311442,0.00449994487108,0.0698425131413,0.999999965256,4.18620854255e-05,-0.000259501171989,1.98714773887e-05,1793237790404641792
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746.962058609,716,680,664.037941391,637,881,788,804,654,632.962058609,654,0.40098966883,0.0044991531025,0.0698427251661,0.999999965459,4.0950645278e-05,-0.000258850360166,2.00500160559e-05,1793237790421308416
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.38585697,716,680,664.61414303,637,881,788,804,654,632.38585697,654,0.400991624557,0.00450058709557,0.0698442014625,0.99999996606,4.25836764319e-05,-0.000256267588076,1.98418476558e-05,1793237790437975040
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.805908107,637,880.805908107,788,804,654,632.194091893,654,0.40099251797,0.00450129318732,0.0698450729361,0.999999966418,4.26197219992e-05,-0.000254873675673,1.96864618144e-05,1793237790454641920
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.218362959,637,880.218362959,788,804,654,632.781637041,654,0.400991257914,0.00450052371465,0.0698447183436,0.99999996629,3.94184395668e-05,-0.00025588975895,1.96380740655e-05,1793237790471308544
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.364923981,636.635076019,880,788,804,654,632.635076019,654,0.40099116694,0.00450023607026,0.0698447821184,0.999999966156,3.87862692602e-05,-0.000256521193806,1.95061845302e-05,1793237790487975168
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd2821144b01fcb5424ac889f09ba1a5282777fb
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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+426,7.100000000,pose2_to_pose3_retreat,0.578254240327,0.010001266968,1.06001168567,0.548825474528,0.0186749306449,1.0596612205
+427,7.116666667,pose2_to_pose3_retreat,0.57825380247,0.010001239132,1.06001165884,0.548825036943,0.0186749037781,1.05966119475
+428,7.133333333,pose2_to_pose3_retreat,0.578253282772,0.0100012225097,1.06001158809,0.548824518212,0.0186748906329,1.05966112888
+429,7.150000000,pose2_to_pose3_retreat,0.578253128574,0.0100012175777,1.0600115671,0.548824364301,0.0186748867326,1.05966110934
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+431,7.183333333,pose2_to_pose3_retreat,0.578252651418,0.0100012023161,1.06001150215,0.548823888034,0.0186748746635,1.05966104886
+432,7.200000000,pose2_to_pose3_retreat,0.57825253319,0.0100011985346,1.06001148606,0.548823770025,0.0186748716731,1.05966103388
+433,7.216666667,pose2_to_pose3_retreat,0.578252341898,0.0100012863403,1.06001157894,0.548823576677,0.018674952202,1.05966111933
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d29ca41b8afa36699bd56944dd924d004b31c0e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c2fcb374e187a9d0912257d6487e4f437dd6e9d73d1e73fcdebc978589753e
+size 28079053
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8fca38dd2e4e08c9b6d6c4990a07975e28403f4
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,444 @@
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+9,0.150000000,BASELINE,767,746,716,680,664.27431419,636.27431419,881,788.27431419,803,654,632,654,0.400989540577,0.00450088448453,0.0698451471806,0.999999966114,4.24548786055e-05,-0.000256128048913,1.91863683852e-05,1793237790859289088
+10,0.166666667,BASELINE,767,746,716,680,664.84850813,636.84850813,881,788.84850813,803,654,632,654,0.400990128177,0.00450121166755,0.069845152068,0.999999966188,4.34125997509e-05,-0.000255667367349,1.93191736946e-05,1793237790875955712
+11,0.183333333,BASELINE,767,746,716,680,664.560641303,637,880.560641303,788.560641303,803,654,632,654,0.400989831662,0.00450089651547,0.0698451347349,0.999999966185,4.27513271733e-05,-0.000255791002527,1.93086803255e-05,1793237790892622336
+12,0.200000000,BASELINE,767,746,716,680,664.034888865,637,880,788.034888865,803,654,632,654,0.400989432796,0.0045004092224,0.0698452668081,0.999999966225,4.15559137798e-05,-0.000255835957561,1.92588202358e-05,1793237790909289216
+13,0.216666667,BASELINE,767,746,716,680,664.610428671,637,880,788.610428671,803,654,632,654,0.400992358018,0.00450082172674,0.0698478375447,0.999999967363,4.1074715884e-05,-0.0002514165155,1.93947614859e-05,1793237790925955840
+14,0.233333333,BASELINE,767,746.18598099,716,679.81401901,665,637,880.18598099,788.81401901,803,654,632,654,0.400993911798,0.00450128926401,0.0698492436553,0.999999967934,4.16430563461e-05,-0.000249034433447,1.94953243897e-05,1793237790942622464
+15,0.250000000,BASELINE,767,746.761559633,716,679.238440367,665,637,880.761559633,788.238440367,803,654,632,654,0.400992592649,0.00450187208574,0.0698482100783,0.999999967343,4.44099960476e-05,-0.000250920263526,1.952177587e-05,1793237790959289344
+16,0.266666667,BASELINE,767,747,716,679.346097665,664.653902335,637,880.653902335,788.346097665,803.346097665,654,632,654,0.400991609928,0.00450182732388,0.0698472850625,0.999999967019,4.48855501814e-05,-0.000252139631874,1.92988081739e-05,1793237790975955968
+17,0.283333333,BASELINE,767,747,716,679.93697217,664.06302783,637,880.06302783,788.93697217,803.93697217,654,632,654,0.400990865145,0.00450133870483,0.0698464368266,0.999999966889,4.37405265596e-05,-0.000252887646461,1.8899439292e-05,1793237790992622336
+18,0.300000000,BASELINE,767,746.482215679,716,680,664.517784321,637,880,788.482215679,804,654,632.517784321,654,0.400991431181,0.00450261647156,0.0698470998145,0.999999966997,4.43109936703e-05,-0.000252349747168,1.90311505942e-05,1793237791009289216
+19,0.316666667,BASELINE,767,746,716,680,664.903505042,636.903505042,880,788,804,654,633,654.096494958,0.400991759134,0.00450375596538,0.0698475574305,0.99999996699,4.50676458198e-05,-0.000252230089666,1.91928445854e-05,1793237791025955840
+20,0.333333333,BASELINE,767,746,716,680,664.329250498,636.329250498,880,788,804,654,633,654.670749502,0.400990133359,0.00450316657621,0.0698461047971,0.999999966273,4.57319389846e-05,-0.000254941427251,1.91890159832e-05,1793237791042622464
+21,0.350000000,BASELINE,767,746,716,680,664,636,880.244653771,788,804,654,633,654.755346229,0.40098940352,0.00450292042262,0.0698455477572,0.999999965967,4.598923128e-05,-0.00025609497112,1.91219555138e-05,1793237791059289344
+22,0.366666667,BASELINE,767,746,716,680,664,636,880.818087274,788,804,654,633,654.181912726,0.400989877691,0.00450313552871,0.0698461942672,0.999999966224,4.56995724715e-05,-0.000255155062465,1.89699204448e-05,1793237791075956224
+23,0.383333333,BASELINE,767,746.405856996,716,680,664.405856996,636.405856996,880.594143004,788.405856996,803.594143004,654,633,654,0.400991313045,0.004502807973,0.0698468995364,0.999999966755,4.55719443901e-05,-0.000253082012344,1.90267324377e-05,1793237791092622848
+24,0.400000000,BASELINE,767,746.999720641,716,680,665,637,880.000279359,788.999720641,803,654,633,654,0.400993193322,0.00450222880269,0.0698476314489,0.999999967409,4.55196933134e-05,-0.000250484305039,1.91804756638e-05,1793237791109289728
+25,0.416666667,BASELINE,767,746.422771432,716,680,665,637,880.577228568,788.422771432,803,654,633,654,0.400991621924,0.00450272925728,0.0698470046179,0.999999967104,4.56583780468e-05,-0.000251676178167,1.91161941039e-05,1793237791125956096
+26,0.433333333,BASELINE,767,746,716,680,664.845963883,637,880.845963883,788,803.154036117,654,633,654,0.400990348816,0.00450299119705,0.0698463198855,0.999999966826,4.57411769429e-05,-0.000252765569917,1.91073148845e-05,1793237791142622464
+27,0.450000000,BASELINE,767,746,716,680,664.269544649,637,880.269544649,788,803.730455351,654,633,654,0.400989893652,0.00450259910435,0.069845476381,0.999999966622,4.56707310686e-05,-0.000253573947294,1.92503546537e-05,1793237791159289088
+28,0.466666667,BASELINE,767,746.311695185,716,680,664.311695185,637,880,788,803.688304815,654,633,654,0.400989640148,0.00450264493287,0.0698455469807,0.999999966633,4.51967854483e-05,-0.000253616132677,1.92638220508e-05,1793237791175955968
+29,0.483333333,BASELINE,767,746.897169182,716,680,664.897169182,637,880,788,803.102830818,654,633,654,0.400989563772,0.00450307541139,0.0698464204878,0.999999966831,4.43684240897e-05,-0.000252985329969,1.91634789876e-05,1793237791192622848
+30,0.500000000,BASELINE,767,747,716,680,665,637,880.480224543,788.480224543,803,654,632.519775457,654.480224543,0.400990067545,0.0045018175211,0.0698470832692,0.999999967058,4.25535986002e-05,-0.00025239262984,1.92583433801e-05,1793237791209289216
+31,0.516666667,BASELINE,767,746.938115637,716,680,665,637,881.061884363,788.938115637,803,654,632.061884363,654.938115637,0.40099063155,0.00450048512435,0.0698475749494,0.999999967233,4.10469621432e-05,-0.000251941021808,1.93645264821e-05,1793237791225956096
+32,0.533333333,BASELINE,767,746.363745302,716,680,665,637,881.636254698,788.363745302,803,654,632.636254698,654.363745302,0.400990670737,0.00450151467925,0.0698470214865,0.999999966954,4.38330682275e-05,-0.000252590618222,1.92200188346e-05,1793237791242622720
+33,0.550000000,BASELINE,767,746,716,680,665,637,881.789089405,788,803.210910595,654,632.789089405,654,0.400990949322,0.00450225709238,0.0698469978463,0.9999999669,4.57007744046e-05,-0.000252475259864,1.91917732305e-05,1793237791259289344
+34,0.566666667,BASELINE,767,746,716,680,665,637,881.21394041,788,803.78605959,654,632.21394041,654,0.400991641341,0.00450250361728,0.0698478891993,0.999999967245,4.5982421928e-05,-0.000251038839771,1.93643098774e-05,1793237791275955968
+35,0.583333333,BASELINE,767,746,716,680,665,637,881,788.372171054,804,654,632.372171054,654,0.400991685441,0.00450187524969,0.0698479135448,0.999999967373,4.4166250003e-05,-0.000250849858968,1.94596526197e-05,1793237791292622592
+36,0.600000000,BASELINE,767,746,716,680,665,637,881,788.964775543,804,654,632.964775543,654,0.400991345785,0.00450072869149,0.0698474243699,0.999999967364,4.1107559271e-05,-0.000251399724647,1.9509274151e-05,1793237791309289216
+37,0.616666667,BASELINE,767,746,716,680.543408011,665,637,880.456591989,788.456591989,804,653.456591989,633,654,0.400990575439,0.00450097475523,0.0698473467501,0.999999967175,4.24994798717e-05,-0.000251935817011,1.93010619127e-05,1793237791325955584
+38,0.633333333,BASELINE,767,746,716,680.879574943,665,637,880,788,804,653.120425057,632.879574943,654,0.400990446713,0.00450157007901,0.0698475635124,0.999999967114,4.41462962251e-05,-0.000251905378836,1.91464891491e-05,1793237791342622464
+39,0.650000000,BASELINE,767,746,716,680.30531799,665,637,880,788,804,653.69468201,632.30531799,654,0.400992838556,0.00450314994994,0.0698487916622,0.999999967585,4.56937459486e-05,-0.000249743203385,1.92554671735e-05,1793237791359289344
+40,0.666666667,BASELINE,767,746.267201422,716,680,665,637,880,788.267201422,803.732798578,653.732798578,632,654.267201422,0.400993420625,0.004502653055,0.0698489244745,0.999999967713,4.47058852173e-05,-0.000249402289788,1.93248967749e-05,1793237791375955968
+41,0.683333333,BASELINE,767,746.837748225,716,680,665,637,880,788.837748225,803.162251775,653.162251775,632,654.837748225,0.400991948113,0.00449979847292,0.0698478137844,0.999999967446,4.08397660748e-05,-0.000251128997691,1.93494282872e-05,1793237791392622592
+42,0.700000000,BASELINE,767.429039261,746.570960739,716,679.570960739,665,637,880.429039261,788.570960739,803,653.429039261,632,654.570960739,0.400992350356,0.00450033857718,0.0698483927094,0.999999967622,4.10690692851e-05,-0.000250402527786,1.9169030367e-05,1793237791409289472
+43,0.716666667,BASELINE,767.972580761,746,716,679,665,637,880.972580761,788,803,654,632.027419239,654,0.40099340507,0.00450215617565,0.0698495258998,0.999999967939,4.29155427387e-05,-0.00024884017215,1.89243290334e-05,1793237791425956096
+44,0.733333333,BASELINE,767.397271286,746,716,679,665,637,880.397271286,788,803,654,632.602728714,654,0.400992610754,0.00450254475793,0.0698483178353,0.999999967563,4.45561273817e-05,-0.000250054890696,1.90219825642e-05,1793237791442622464
+45,0.750000000,BASELINE,767,746,716,679.17779338,664.82220662,636.82220662,880.17779338,788,803,654,632.82220662,654,0.400992067857,0.00450298469488,0.0698475369121,0.999999967305,4.58633347162e-05,-0.000250840554074,1.91093423003e-05,1793237791459288832
+46,0.766666667,BASELINE,767,746,716,679.752311709,664.247688291,636.247688291,880.752311709,788,803,654,632.247688291,654,0.40099208597,0.00450353922367,0.0698477091045,0.999999967321,4.64266497046e-05,-0.000250668831309,1.91737326347e-05,1793237791475955456
+47,0.783333333,BASELINE,767,746,716,680,664,636.334656224,880.665343776,788.334656224,803.334656224,654,632.334656224,654,0.400991618966,0.00450359517071,0.0698475925513,0.999999967191,4.65601233662e-05,-0.000251158064436,1.92196656661e-05,1793237791492622592
+48,0.800000000,BASELINE,767,746,716,680,664,636.922931879,880.077068121,788.922931879,803.922931879,654,632.922931879,654,0.400990784314,0.0045032732673,0.0698472571721,0.99999996695,4.63678415668e-05,-0.000252148203386,1.92516108255e-05,1793237791509289472
+49,0.816666667,BASELINE,767,746,716,679.494715332,664,637,880,788.494715332,803.494715332,654,632.494715332,654,0.4009908411,0.00450093770059,0.0698477652759,0.999999967277,4.30243221329e-05,-0.000251414961708,1.96341914587e-05,1793237791525956096
+50,0.833333333,BASELINE,766.914094212,746,716,679.085905788,664,636.914094212,880,788,803,653.914094212,632.085905788,654,0.400991094812,0.0044989320278,0.0698483828579,0.999999967625,4.0048956244e-05,-0.00025049951824,1.99067410148e-05,1793237791542622720
+51,0.850000000,BASELINE,766.33825639,746,716,679.66174361,664,636.33825639,880,788,803,653.33825639,632.66174361,654,0.400991705177,0.00450053910425,0.0698488995923,0.999999967681,4.1882610574e-05,-0.000250026694031,1.92502971418e-05,1793237791559289344
+52,0.866666667,BASELINE,766,746,716,680,664.236604379,636.236604379,880,788,803,653.236604379,632.763395621,654,0.400991442053,0.00450151931954,0.0698485052877,0.999999967472,4.31748970168e-05,-0.000250664377692,1.89738929528e-05,1793237791575955968
+53,0.883333333,BASELINE,766,746,716,680,664.810074034,636.810074034,880,788,803,653.810074034,632.189925966,654,0.400989935301,0.00450160704169,0.0698468138919,0.999999966885,4.36964112985e-05,-0.000252883145982,1.92385699675e-05,1793237791592622336
+54,0.900000000,BASELINE,766.789514127,746.394757064,716,679.605242936,664.605242936,637,880,788,803.394757064,654,632,654,0.400989972389,0.00450065973881,0.0698465757284,0.999999966913,4.21549188202e-05,-0.000253014329273,1.94917679404e-05,1793237791609288960
+55,0.916666667,BASELINE,767.969985593,746.984992796,716,679.015007204,664.015007204,637,880,788,803.984992796,654,632,654,0.400990773968,0.00449919990471,0.069847057187,0.999999967241,3.95918516583e-05,-0.000252111766998,1.97392816299e-05,1793237791625955840
+56,0.933333333,BASELINE,767.437661907,746.437661907,716,679.562338093,664,636.437661907,880,788,803.437661907,654,632,654.562338093,0.40099198244,0.00450103255086,0.0698481583471,0.999999967458,4.44151729783e-05,-0.000250457329332,1.95442896337e-05,1793237791642622208
+57,0.950000000,BASELINE,767,746,716,680,664.139296825,636,880.139296825,788,803,654,632.139296825,654.860703175,0.400992775043,0.00450232105979,0.0698487997644,0.999999967596,4.71381263143e-05,-0.00024942978679,1.92529065328e-05,1793237791659289088
+58,0.966666667,BASELINE,767,746,716,680,664.716097579,636,880.716097579,788,803,654,632.716097579,654.283902421,0.400992228142,0.004501630752,0.0698479464413,0.999999967557,4.26589895689e-05,-0.000250432808108,1.86950372351e-05,1793237791675955968
+59,0.983333333,BASELINE,767,746,716,680,664.701281845,636.298718155,880.701281845,788,803,654,632.701281845,654,0.400992704619,0.00450125281924,0.0698484421464,0.999999967753,4.13747751954e-05,-0.000249857925344,1.87993746559e-05,1793237791692622592
+60,1.000000000,BASELINE,767,746,716,680,664.113020122,636.886979878,880.113020122,788,803,654,632.113020122,654,0.400994173041,0.00450117766739,0.0698502454466,0.999999968185,4.31873563965e-05,-0.00024775360109,1.95455802462e-05,1793237791709289216
+61,1.016666667,BASELINE,767,746.46794529,716,680,664.46794529,637,880,788.46794529,803.46794529,654,632,654,0.40099256865,0.00450176332371,0.069849323804,0.999999967706,4.47294133131e-05,-0.000249405781965,1.95732146573e-05,1793237791725955840
+62,1.033333333,BASELINE,766.952884752,746.952884752,716,680,664.952884752,637,880,788.952884752,804,654,632.047115248,654,0.400990449832,0.00450240967866,0.069847904807,0.999999967068,4.602191635e-05,-0.000251731644546,1.94336206131e-05,1793237791742622208
+63,1.050000000,BASELINE,766.374394134,746.374394134,716,680,664.374394134,637,880,788.374394134,804,654,632.625605866,654,0.400990770906,0.0045019682264,0.0698481852211,0.999999967144,4.52254846831e-05,-0.000251579960175,1.93352975626e-05,1793237791759289088
+64,1.066666667,BASELINE,766.202960479,746,716,680,664,637,880,788,803.797039521,653.797039521,633,654,0.400991155345,0.0045012576408,0.0698485119845,0.999999967283,4.41451051901e-05,-0.000251224392433,1.92611390015e-05,1793237791775955712
+65,1.083333333,BASELINE,766.778231172,746,716,680,664,637,880,788,803.221768828,653.221768828,633,654,0.40099165602,0.00450005335769,0.0698489237707,0.999999967536,4.25438525361e-05,-0.000250494821539,1.92313077275e-05,1793237791792622336
+66,1.100000000,BASELINE,767,746.361443398,716,680,664.361443398,637,880,788.361443398,803,653.361443398,632.638556602,654,0.400991664978,0.00450029098232,0.0698486237963,0.999999967558,4.2267714687e-05,-0.000250463969442,1.91334455442e-05,1793237791809289216
+67,1.116666667,BASELINE,767,746.94963771,716,680,664.94963771,637,880,788.94963771,803,653.94963771,632.05036229,654,0.400991365458,0.00450143318543,0.0698478773001,0.999999967434,4.28228854675e-05,-0.000250871457446,1.89929042841e-05,1793237791825956096
+68,1.133333333,BASELINE,767,747,716,680,664.470405138,637,880.529594862,789,803.529594862,653.470405138,632,654,0.400992089978,0.00450059699242,0.069848408614,0.999999967631,4.24033745795e-05,-0.00025014194151,1.92190607642e-05,1793237791842622720
+69,1.150000000,BASELINE,767,746.892004008,716,680.107995992,664.107995992,637,881,788.892004008,803.892004008,653.107995992,632,654,0.400992405453,0.00449993304325,0.0698487753227,0.999999967723,4.22061932249e-05,-0.000249793260269,1.93654362304e-05,1793237791859289344
+70,1.166666667,BASELINE,767,746.316996354,716,680.683003646,664.683003646,637,881,788.316996354,803.316996354,653.683003646,632,654,0.40099053741,0.00450081504573,0.0698479127999,0.99999996724,4.33651179667e-05,-0.000251551844834,1.90183246341e-05,1793237791875955968
+71,1.183333333,BASELINE,767,746.263552612,716,680.736447388,665,637,880.736447388,788,803.263552612,654,632,654,0.400990015216,0.00450156506815,0.0698475517361,0.999999967066,4.42427193424e-05,-0.000252102409705,1.88403668109e-05,1793237791892622848
+72,1.200000000,BASELINE,767,746.850909791,716,680.149090209,665,637,880.149090209,788,803.850909791,654,632,654,0.400991146551,0.00450215293807,0.0698478067719,0.999999967277,4.47746828987e-05,-0.000251168784268,1.88702337245e-05,1793237791909289216
+73,1.216666667,BASELINE,767,747,716,680,665,637,880,788,803.567397928,653.567397928,632.432602072,654,0.400991025926,0.00450192991855,0.0698478833872,0.999999967321,4.33230325443e-05,-0.0002512491166,1.88619939441e-05,1793237791925955584
+74,1.233333333,BASELINE,767,746.987679858,716,680,665,637,880.012320142,788,803.012320142,653,632.987679858,654,0.400990514364,0.00450142267732,0.0698479167394,0.999999967313,4.12351014542e-05,-0.000251632052346,1.88390704041e-05,1793237791942622208
+75,1.250000000,BASELINE,767,746.410121933,716,680,665,637,880.589878067,788,803.589878067,653,632.410121933,654,0.400991606602,0.00450053131987,0.0698487498679,0.999999967719,4.09138579679e-05,-0.000250073107162,1.87372081919e-05,1793237791959289088
+76,1.266666667,BASELINE,767,746,716,680,665,637,881,788,803.833408083,653.166591917,632,654,0.400992245624,0.00449991393288,0.069849270637,0.999999967973,4.10309671771e-05,-0.000249038848948,1.87147558273e-05,1793237791975955968
+77,1.283333333,BASELINE,767,746,716,680,665,637,881,788,803.258761765,653.741238235,632,654,0.400991774526,0.00449996761603,0.0698490263051,0.999999967858,4.22217884471e-05,-0.000249289772192,1.8886811933e-05,1793237791992622592
+78,1.300000000,BASELINE,767,746.324192539,716,680,665,637,880.675807461,788,803.324192539,654,632,654,0.400991335366,0.00450058561457,0.0698484851118,0.999999967608,4.34344272902e-05,-0.000250068061206,1.90391435808e-05,1793237792009289472
+79,1.316666667,BASELINE,767,746.91395243,716,680,665,637,880.08604757,788,803.91395243,654,632,654,0.400990922366,0.00450166588081,0.0698477007401,0.999999967248,4.46649382784e-05,-0.000251278350067,1.91753176239e-05,1793237792025955840
+80,1.333333333,BASELINE,767,746.505528666,716,680,665,637,880,788,803.505528666,654,632,654,0.400989170525,0.0045008316661,0.0698465499491,0.999999966791,4.30867253382e-05,-0.000253359435844,1.92440928033e-05,1793237792042622208
+81,1.350000000,BASELINE,767,746.073091099,716,680,665,637,880,788,803,654,632.073091099,654,0.400987871399,0.00449989417117,0.0698458040595,0.999999966497,4.13644236474e-05,-0.000254802169868,1.92633380423e-05,1793237792059288832
+82,1.366666667,BASELINE,767,746.649503336,716,680,665,637,880,788,803,654,632.649503336,654,0.400991264724,0.00450049756747,0.0698482774457,0.999999967483,4.19539402189e-05,-0.000250824712086,1.90207940418e-05,1793237792075955712
+83,1.383333333,BASELINE,767,746.770323089,716,680,664.770323089,637,880.229676911,788,803.459353823,654,632.770323089,654,0.400992582052,0.00450099391958,0.0698492101245,0.999999967846,4.22249001416e-05,-0.000249333448593,1.89426132815e-05,1793237792092622592
+84,1.400000000,BASELINE,767,746.184313894,716,680,664.184313894,637,880.815686106,788,804.631372213,654,632.184313894,654,0.400990678575,0.00450132419803,0.0698477524729,0.999999967259,4.20016353884e-05,-0.000251699391049,1.91194338614e-05,1793237792109289216
+85,1.416666667,BASELINE,767,746,716,679.602650056,664.397349944,636.602650056,881,788.397349944,804.205300113,654,632,654,0.400990213026,0.00450076853375,0.0698477257458,0.999999967221,4.26824423521e-05,-0.000251726893673,1.92266517422e-05,1793237792125955840
+86,1.433333333,BASELINE,767,746,716,679.022980078,664.977019922,636.022980078,881,788.977019922,803.045960156,654,632,654,0.400990407256,0.00449980636352,0.069848355584,0.999999967435,4.37780735658e-05,-0.000250681426501,1.9301933112e-05,1793237792142622464
+87,1.450000000,BASELINE,767,746,716,679.555065472,664.444934528,636.555065472,881,788.444934528,803.555065472,654,632,654,0.400990465587,0.00450072102279,0.0698478554642,0.999999967281,4.2873845611e-05,-0.000251465868568,1.90866339701e-05,1793237792159289344
+88,1.466666667,BASELINE,767,746,716,680,664.132424275,637,880.867575725,788.132424275,804,654,632.132424275,654,0.400990604199,0.00450178870445,0.0698475468526,0.999999967166,4.26873380402e-05,-0.000251971952122,1.88462766881e-05,1793237792175955712
+89,1.483333333,BASELINE,767,746,716,680,664.707710635,637,880.292289365,788.707710635,804,654,632.707710635,654,0.40099103005,0.00450310903582,0.0698480346866,0.999999967233,4.51771610945e-05,-0.000251294510039,1.85622331996e-05,1793237792192622336
+90,1.500000000,BASELINE,767,746,716,680,665,637,880.289268704,789,804,654,633,654,0.400990503875,0.00450303231693,0.0698479616196,0.999999967149,4.5879430528e-05,-0.000251483660292,1.87797149987e-05,1793237792209288960
+91,1.516666667,BASELINE,767,746,716,680,665,637,880.877304382,789,804,654,633,654,0.400988994414,0.00450151267492,0.0698473092341,0.999999966914,4.47354510495e-05,-0.00025256785788,1.95151899141e-05,1793237792225955584
+92,1.533333333,BASELINE,767,746,716,680,665,637,881,788.542478182,804,654,632.542478182,654,0.400989089984,0.00450195743335,0.0698471728969,0.99999996689,4.62436560239e-05,-0.000252399365619,1.94053429265e-05,1793237792242622464
+93,1.550000000,BASELINE,767,746.035626364,716,680,665,637,880.964373636,788,804,654,632.035626364,654,0.400989585973,0.00450280082791,0.0698471697416,0.99999996692,4.81669084884e-05,-0.00025194218607,1.90975212788e-05,1793237792259289344
+94,1.566666667,BASELINE,767,746.612947755,716,680,665,637,880.387052245,788,804,654,632.612947755,654,0.400989735621,0.00450183005246,0.0698471227367,0.999999966987,4.5768158831e-05,-0.000252117649805,1.91684581898e-05,1793237792275955968
+95,1.583333333,BASELINE,767,747,716,679.810326787,665,636.810326787,880,788.189673213,804,654,633,654,0.400990040132,0.00450132312707,0.0698475377019,0.999999967169,4.3945687791e-05,-0.000251722326703,1.91573411917e-05,1793237792292622848
+96,1.600000000,BASELINE,767,747,716,679.234813494,665,636.234813494,880,788.765186506,804,654,633,654,0.400990659671,0.004501759782,0.0698488924234,0.999999967591,4.32955030319e-05,-0.000250165888493,1.89793071893e-05,1793237792309289472
+97,1.616666667,BASELINE,767,746.651126784,716,679.348873216,665,636.348873216,880,788.651126784,804,654,632.651126784,654,0.400990960399,0.00450162361373,0.0698491890415,0.999999967677,4.28360209262e-05,-0.000249900724362,1.89691416586e-05,1793237792325956096
+98,1.633333333,BASELINE,767,746.061806916,716,679.938193084,665,636.938193084,880,788.061806916,804,654,632.061806916,654,0.400991041399,0.00450109265036,0.0698487564048,0.999999967533,4.25079728955e-05,-0.000250525518384,1.90746726446e-05,1793237792342622464
+99,1.650000000,BASELINE,767,746.5163104,716,680,664.4836896,637,880,788,804,654,632.5163104,654.5163104,0.400991832821,0.00450124412362,0.0698493945857,0.999999967715,4.34806095278e-05,-0.000249628269922,1.91166791372e-05,1793237792359288832
+100,1.666666667,BASELINE,767,746.907205794,716,680,664,637,880,788,804,654,633,654.907205794,0.400992466589,0.00450146736708,0.0698498805839,0.999999967844,4.45742982868e-05,-0.000248914010488,1.91508058331e-05,1793237792375955712
+101,1.683333333,BASELINE,767,746.332389151,716,680,664,637,880,788,804,654,633,654.332389151,0.400991849032,0.00450164807456,0.0698489243375,0.999999967511,4.55051659163e-05,-0.000250076647639,1.91826633194e-05,1793237792392622592
+102,1.700000000,BASELINE,767,746,716,680.249103082,664.249103082,637,880,788,804,654,632.750896918,654,0.400991512803,0.00450100337751,0.0698485256709,0.999999967439,4.52265310408e-05,-0.000250414065891,1.91989958621e-05,1793237792409289472
+103,1.716666667,BASELINE,767,746,716,680.83974808,664.83974808,637,880,788,804,654,632.16025192,654,0.400991562296,0.0044992269793,0.0698488914948,0.999999967724,4.32895633204e-05,-0.000249620037409,1.9194042359e-05,1793237792425956096
+104,1.733333333,BASELINE,767,746,716,680.577866652,665,637,880.422133348,788,804,654,632,654,0.400991395078,0.00449932904444,0.0698482493452,0.999999967615,4.18186019218e-05,-0.000250314027238,1.90991648378e-05,1793237792442622720
+105,1.750000000,BASELINE,767,746,716,680,665,637,880.998560244,788,803.998560244,654,632,654,0.40099115115,0.00450012870307,0.0698472371897,0.999999967359,4.05258910683e-05,-0.00025155517501,1.89712358193e-05,1793237792459289344
+106,1.766666667,BASELINE,767,746,716,680,665,637,880.420651435,788,803.420651435,654,632,654,0.400992501098,0.00450019530786,0.0698483477498,0.999999967714,4.11304656909e-05,-0.000250038136101,1.90157517782e-05,1793237792475955968
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664,637,882,789,804,654,632,654,0.400991910027,0.00450332159257,0.0698495853881,0.999999967747,4.78345999592e-05,-0.000248703168549,1.91036921807e-05,1793237792517403904
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.404289069,716,680,664.595710931,637,881.404289069,788.404289069,803.404289069,654,632.595710931,654,0.400992612221,0.00450204692525,0.0698497931029,0.999999968077,4.50024216761e-05,-0.000247902326371,1.91260779502e-05,1793237792534070784
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.186140674,716,680,665,637,881,788,803,654,633,654,0.400992802291,0.00450136247922,0.0698498664767,0.999999968178,4.31837537836e-05,-0.000247825050487,1.90463574155e-05,1793237792550737664
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.765416484,716,680,665,637,881,788,803,654,633,654,0.400991910743,0.00450192459948,0.0698496561175,0.999999967809,4.35056521638e-05,-0.000249275969919,1.87509850606e-05,1793237792567404288
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,747,716,680,664.656861608,637,880.656861608,788,803.343138392,654,633,654,0.400991282247,0.00450216743672,0.0698491126599,0.999999967592,4.27689657182e-05,-0.000250290875372,1.8498412031e-05,1793237792584070912
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,747,716,680,664.080197257,637,880.080197257,788,803.919802743,654,633,654,0.400990832775,0.00450219298297,0.0698483425091,0.999999967477,4.13118497066e-05,-0.000251009047451,1.82749664894e-05,1793237792600737280
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.506222029,716,680,664,637,880,788,804,654,632.506222029,654,0.400990886794,0.00450275891884,0.0698484614355,0.999999967482,4.31325025097e-05,-0.000250660866728,1.85555613863e-05,1793237792617403904
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.069484077,716,680,664,637,880,788,803.930515923,654,632,654,0.400991110403,0.00450326302911,0.0698487341225,0.999999967523,4.50785229352e-05,-0.000250134871383,1.88532136784e-05,1793237792634070528
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.661472513,716,680,664,637,880,788,803.338527487,654,632,654,0.40099199769,0.00450264580676,0.0698490830806,0.999999967717,4.3985730947e-05,-0.000249567063352,1.86668692273e-05,1793237792650737152
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.752649475,716,680,664.247350525,637,880.494701049,788,803.247350525,654,632.247350525,654,0.40099340963,0.00450263736238,0.0698498098846,0.999999967914,4.42451096689e-05,-0.000248732363992,1.86236762568e-05,1793237792667404032
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.174932713,716,680,664.825067287,637,881.650134574,788,803.825067287,654,632.825067287,654,0.400995522308,0.00450344201389,0.069851041347,0.999999968113,4.63104743408e-05,-0.000247541199355,1.87716792413e-05,1793237792684070656
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716.400968792,680,665,637,881.198062416,788,803.599031208,654,633,654,0.401003740239,0.00450326697743,0.0698547493659,0.999999969646,4.55420587295e-05,-0.000241425905361,1.86421402579e-05,1793237792700737536
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716.976081964,680,665,637,880.047836072,788,803.023918036,654,633,654,0.401014609738,0.00450266645368,0.0698595329758,0.999999971698,4.35429068357e-05,-0.000233172017248,1.8392062294e-05,1793237792717404160
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.564572637,716.435427363,680,665,637,880.564572637,788.564572637,803.564572637,654,633,654,0.401048716094,0.00450132170561,0.0698760924538,0.999999977724,4.2579162617e-05,-0.000205861190253,1.90038173192e-05,1793237792734070528
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.849020922,716,680,665,637,880.849020922,788.849020922,803.849020922,654,633,654,0.401088636104,0.00450050782631,0.0698933201423,0.999999983295,4.21175813518e-05,-0.000176809483925,1.93764316221e-05,1793237792750737408
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.270166182,716,680,665,637,880.270166182,788.270166182,803.270166182,654,633,654,0.401142174477,0.00450128995401,0.0699109933965,0.999999988361,4.29518024438e-05,-0.000145167657689,1.89653348624e-05,1793237792767403776
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.30761284,716,680,664.69238716,637,880.61522568,788.30761284,803,653.69238716,632.69238716,654.30761284,0.401197567592,0.00450169587095,0.0699246585247,0.999999991074,4.35089087173e-05,-0.000124950046393,1.85872118675e-05,1793237792784070400
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.884450351,716,680,664.115549649,637,881.768900702,788.884450351,803,653.115549649,632.115549649,654.884450351,0.401254583986,0.00450177252586,0.069934815715,0.999999992292,4.3823482352e-05,-0.000114730981058,1.82379477518e-05,1793237792800737280
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.541945212,716,680,664.458054788,637,881.541945212,788.541945212,803.458054788,653,632.458054788,654.541945212,0.40132101729,0.00450249274835,0.06993835105,0.999999993018,4.22764822452e-05,-0.000109087007219,1.66564799972e-05,1793237792817403904
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881,788,804,653.031811907,633,654,0.401390391421,0.00450338851651,0.0699400004227,0.999999993563,4.02935963754e-05,-0.000105032345414,1.47635248189e-05,1793237792834070528
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881,788,804,653.622478661,633,654,0.401469989014,0.00450453613434,0.069937657936,0.999999993248,3.88452270649e-05,-0.000108765009751,1.28208828181e-05,1793237792850737408
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.209534595,716,680,665.209534595,636.790465405,880.790465405,788,803.790465405,654,632.790465405,654,0.401558743539,0.00450512271243,0.0699357661202,0.999999992961,3.67942827669e-05,-0.000112287876617,1.07888858937e-05,1793237792867404032
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.790195015,716,680,665.790195015,636.209804985,880.209804985,788,803.209804985,654,632.209804985,654,0.401663716734,0.00450471558178,0.0699346725289,0.999999992733,3.36760631243e-05,-0.00011543915166,8.5986245239e-06,1793237792884070400
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,747,716,680,665.632313794,636.367686206,880,788,803,654,632.367686206,654,0.401785084814,0.00450526863652,0.069936593732,0.999999993105,3.19790765805e-05,-0.00011283577392,6.01836089683e-06,1793237792900737024
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,747,716,680,665.056615483,636.943384517,880,788,803,654,632.943384517,654,0.401915728026,0.00450636489949,0.0699402205026,0.99999999379,3.10861277559e-05,-0.000106976801321,3.21746004085e-06,1793237792917403648
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,636.471090035,880,788,803,654,632.471090035,654,0.402065085128,0.00450738780287,0.0699427596715,0.999999994454,2.65629770977e-05,-0.00010191511164,-2.65559525951e-07,1793237792934070272
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.886009248,746.886009248,716,680,664.886009248,636,880,788,803,653.886009248,632.113990752,654,0.402222948611,0.00450831696159,0.0699452648476,0.99999999512,2.16672418616e-05,-9.63067028198e-05,-3.89920185582e-06,1793237792950737152
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.30711321,746.30711321,716,680,664.30711321,636,880,788,803,653.30711321,632.69288679,654,0.402407180477,0.00450889642044,0.0699481151834,0.999999995945,1.68667588074e-05,-8.81138724135e-05,-7.8437258699e-06,1793237792967404032
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.27016869,746,716,680,664.27016869,636,880.27016869,788,803.27016869,653,632.72983131,654,0.402604620154,0.00451067798891,0.0699495500628,0.999999996339,1.40765210992e-05,-8.35004201185e-05,-1.23494469503e-05,1793237792984070656
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.845626588,746,716,680,664.845626588,636,880.845626588,788,803.845626588,653,632.154373412,654,0.402816984576,0.00451381793493,0.0699493854836,0.999999996316,1.35578504265e-05,-8.29316469004e-05,-1.74893175497e-05,1793237793000737280
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.423443366,880.576556634,788,803.153113268,653.423443366,632.423443366,654,0.403053394938,0.00451487518897,0.0699532626872,0.999999996955,8.34528459111e-06,-7.43406367127e-05,-2.22059093106e-05,1793237793017403648
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.997841098,880,788,802.004317804,654,632.997841098,654,0.403298738766,0.00451518123446,0.0699586399442,0.99999999767,1.43248482539e-06,-6.27835197671e-05,-2.67686465222e-05,1793237793034070272
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636.409904838,880,788,803.180190324,654,632.409904838,654,0.403576102372,0.00451883152393,0.0699689823213,0.999999998511,1.06580268686e-07,-4.44209372649e-05,-3.16904730621e-05,1793237793050736896
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.175345556,716,680,665,636.175345556,880.175345556,788,803.824654444,653.824654444,632,654,0.403861174384,0.0045221417163,0.0699765282358,0.999999998835,-1.30329459912e-06,-3.14973653466e-05,-3.65435883729e-05,1793237793067403776
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.754411851,716,680,665,636.754411851,880.754411851,788,803.245588149,653.245588149,632,654,0.404163994415,0.00452466885862,0.0699776354919,0.999999998662,-2.90650498551e-06,-3.10967331477e-05,-4.12385002805e-05,1793237793084070400
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.669697692,716,680,664.669697692,637,880.669697692,788.330302308,803,653.330302308,632.330302308,654,0.404487588105,0.00452637277386,0.0699786983022,0.999999998507,2.59683327364e-05,-3.15071370431e-05,-3.6317651906e-05,1793237793100737024
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.096146005,716,680,664.096146005,637,880.096146005,788.903853995,803,653.903853995,632.903853995,654,0.404826480476,0.00452747042816,0.0699797283808,0.999999996189,7.72885668806e-05,-3.2514824052e-05,-2.43153283574e-05,1793237793117403648
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664.478383895,637,880.478383895,788.521616105,803.478383895,653.521616105,632.521616105,654,0.405189592293,0.00453509869465,0.0699809183678,0.999999994663,9.58519463236e-05,-2.81202411619e-05,-2.63899848216e-05,1793237793134070528
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680.054886129,665,636.945113871,880.945113871,788,804,653.054886129,632,654,0.405560076557,0.00454285210133,0.069982255216,0.999999993602,0.00010639942566,-2.24744958797e-05,-3.11470327002e-05,1793237793150737152
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680.648824762,665,636.351175238,880.351175238,788,804,653.648824762,632,654,0.405955063492,0.00453891742219,0.0699847181408,0.999999993987,0.000103011391068,-1.52260616069e-05,-3.44052651996e-05,1793237793167403776
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.763379785,665,636.236620215,880.236620215,788,804,654,632,654,0.406358620913,0.00452958107751,0.0699809361354,0.999999994563,9.61296489214e-05,-2.04598613477e-05,-3.48365944874e-05,1793237793184070656
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680.184470934,665,636.815529066,880.815529066,788,804,654,632,654,0.406774576151,0.00451243082443,0.0699681203765,0.999999995013,8.41940006243e-05,-4.37501359862e-05,-3.11785990412e-05,1793237793200737280
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.609154068,788,804,653.609154068,632,654,0.407230032302,0.00450664545964,0.0699569344186,0.999999997442,2.86236541185e-05,-5.77525317716e-05,-3.10159655901e-05,1793237793217403904
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.035517121,788,804,653.035517121,632,654,0.407703962249,0.00450617523183,0.0699465106872,0.999999996079,-4.73537891292e-05,-6.74111669232e-05,-3.24880446972e-05,1793237793234070272
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.55251834,716,680,665,637,880.55251834,788,803.44748166,653.55251834,632,654,0.408213096789,0.00451659513595,0.0699578129952,0.999999998164,-1.97057257852e-05,-4.64924785342e-05,-3.34943243956e-05,1793237793250736896
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881,788,803.139071375,653.860928625,632,654,0.408733870188,0.00452566247743,0.0699700108822,0.999999999059,1.12901507742e-05,-2.37055161208e-05,-3.4523705785e-05,1793237793267403776
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665,637,881,788,803.717931122,653.282068878,632,654,0.40928410138,0.0045281795871,0.0699805062086,0.999999998873,3.1244131413e-05,-1.39258483183e-06,-3.57233638661e-05,1793237793284070656
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.704336104,716,680,665,637,881,788,803.704336104,653,632.295663896,654,0.409828212128,0.00453506226137,0.0699786040927,0.999999997984,5.1671915546e-05,-2.11249662983e-06,-3.68492042162e-05,1793237793300737536
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.127674332,716,680,665,637,881,788,803.127674332,653,632.872325668,654,0.410366506092,0.00454609395244,0.0699649194946,0.999999996344,7.25500030972e-05,-2.47227349576e-05,-3.79048886036e-05,1793237793317404416
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880.55258227,788,803.44741773,653,632.55258227,654,0.410953764716,0.00455104539947,0.0699615506549,0.999999996136,7.24145566815e-05,-3.15880502662e-05,-3.85442500991e-05,1793237793334070784
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880,788,804,653.022647626,632,654,0.411556624695,0.00455438736417,0.0699620216119,0.999999996476,6.69133361434e-05,-3.22656021488e-05,-3.90978660367e-05,1793237793350737408
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,880,788,804,653.612509751,632,654,0.412201504846,0.00456072222192,0.0699851935804,0.999999996192,7.66808352799e-05,9.89736790832e-06,-4.04689648291e-05,1793237793367403776
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.198961299,716,680,665,637,880,788,803.801038701,653.801038701,632,654,0.412856249215,0.00456774349289,0.0700085792688,0.999999994269,8.56930695105e-05,4.89635674568e-05,-4.14866242258e-05,1793237793384070400
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.778882431,716,680,665,637,880,788,803.221117569,653.221117569,632,654,0.413529880991,0.00457607906866,0.0700323741742,0.999999991406,9.32591648243e-05,8.21002435821e-05,-4.18275378777e-05,1793237793400737024
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.644326098,716,680,665,637,880.355673902,788,803,653,632.355673902,654,0.414189535811,0.00458215359272,0.0700339656718,0.999999990666,0.000101641686235,8.08392373487e-05,-4.24579778715e-05,1793237793417403904
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.069463344,716,680,665,637,880.930536656,788,803,653,632.930536656,654,0.414840577119,0.00458683471278,0.0700218740182,0.999999991252,0.00011052734099,5.83801930156e-05,-4.32668423766e-05,1793237793434070784
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680.517186731,664.482813269,637,881,788,803.517186731,653,632.482813269,653.482813269,0.415484188651,0.00459362224235,0.0699794893758,0.999999991919,0.000118074333395,-1.48735968282e-05,-4.47075387413e-05,1793237793450737664
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.896275632,746,716,680.896275632,664.103724368,636.896275632,881,788,804,653,632,653.103724368,0.416143807911,0.0046007894338,0.0699413650544,0.999999987953,0.00012479803705,-7.99723582865e-05,-4.60802491406e-05,1793237793467404288
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.317670159,746,716,680.317670159,664.682329841,636.317670159,881,788,804,653,632,653.682329841,0.416881390324,0.00460836936471,0.0699418077117,0.999999987768,0.000128594836635,-7.57722137119e-05,-4.67441182762e-05,1793237793484070656
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.260101821,716,680,665.260101821,636.260101821,881,788,804,653,632,654,0.417629199263,0.00461412005507,0.0699564985651,0.999999988631,0.000133868814672,-5.08247719691e-05,-4.72560489516e-05,1793237793500737024
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.83685916,716,680,665.83685916,636.83685916,881,788,804,653,632,654,0.41838945837,0.0046176437758,0.0699885355869,0.999999988936,0.000140941152966,-6.1896681095e-07,-4.75830053303e-05,1793237793517403648
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.412554063,747,716,680,665.587445937,637,881,788,804.412554063,653,632.412554063,654,0.419151953112,0.00462128532188,0.0700054218004,0.999999987687,0.000147831217275,2.22526762692e-05,-4.77234178453e-05,1793237793534070528
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.987829879,747,716,680,665.012170121,637,881,788,804.987829879,653,632.987829879,654,0.4199153296,0.00462497334104,0.0700163321503,0.99999998631,0.000154649387762,3.43430317423e-05,-4.77902527475e-05,1793237793550737152
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.422794014,716,680,665.577205986,636.422794014,881.577205986,788,803.845588027,653,632.422794014,654,0.42069802891,0.00462470872245,0.0700233152164,0.999999986692,0.00014761895747,4.85739775079e-05,-4.96423588109e-05,1793237793567403776
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.835869385,746,716,680,666,636.164130615,881.835869385,788,803.164130615,653,632,654.164130615,0.421478399037,0.00461633718464,0.0700261308242,0.999999988386,0.000133284668128,5.35856844559e-05,-5.09177667854e-05,1793237793584070400
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.255927448,746,716,680,666,636.744072552,881.255927448,788,803.744072552,653,632,654.744072552,0.422251810333,0.00458764385904,0.0700186035536,0.99999999298,0.000101204916149,3.51240077206e-05,-5.06344079808e-05,1793237793600737024
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.321205618,746.321205618,716,680,665.678794382,636.678794382,881,788.321205618,804,653,632.321205618,654.678794382,0.422983132873,0.00457116667301,0.0699822126017,0.999999994977,8.17257788226e-05,-2.78084748464e-05,-5.09288170263e-05,1793237793617403904
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.896120028,746.896120028,716,680,665.103879972,636.103879972,881,788.896120028,804,653,632.896120028,654.103879972,0.423681210979,0.0045643385787,0.0699230232637,0.999999988137,7.21994158798e-05,-0.000125866850415,-5.16795838359e-05,1793237793634070528
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.527202404,747,716,680,665,636.472797596,881,788.527202404,804,653,632.527202404,654,0.424455468588,0.00457462594576,0.0698967534415,0.999999982847,8.55864381462e-05,-0.000154913567202,-5.46088062238e-05,1793237793650737152
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,747,716,680.050954915,665.050954915,637,881,788,804,653,632,654,0.425252591255,0.00458745906481,0.0698848109933,0.999999980443,0.000101676345322,-0.000159553571539,-5.76119593827e-05,1793237793667403776
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,747,716,680.640645779,665.640645779,637,881,788,804,653,632,654,0.426113834666,0.00458730010368,0.0699475911784,0.999999991849,9.29165964839e-05,-6.70594961434e-05,-5.63173018687e-05,1793237793684070400
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.22574521,747,716,680.77425479,665.77425479,637,881,788,804,653,632,654,0.426956377189,0.00458895012341,0.06999615622,0.99999999416,9.33199338565e-05,-3.9257985151e-09,-5.45183964121e-05,1793237793700737024
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.803681514,747,716,680.196318486,665.196318486,637,881,788,804,653,632,654,0.42776974409,0.00459342238217,0.0700225438484,0.999999992443,0.000108018844826,2.73643712029e-05,-5.19328007293e-05,1793237793717403904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.620364974,747,716,680.379635026,665,637,881,788,804,653,632,654,0.428575323481,0.00459706070031,0.070036839754,0.999999990666,0.000115865049033,4.9789390693e-05,-5.25744389903e-05,1793237793734070784
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.045431519,747,716,680.954568481,665,637,881,788,804,653,632,654,0.429376896638,0.00460027000801,0.0700449152243,0.999999988845,0.000120185964197,6.96714020599e-05,-5.48762870137e-05,1793237793750737408
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.542348654,746.457651346,716,681,665.542348654,637,881.542348654,788,804,653.542348654,632,654,0.430157324173,0.00459536956047,0.0700338409111,0.9999999907,0.000113199049806,5.27942517078e-05,-5.47686602365e-05,1793237793767403776
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.129149533,716,681,665.870850467,637,881.870850467,788,804,653.870850467,632.129149533,654,0.430916885808,0.00459130110373,0.070010152678,0.999999992654,0.000107224233566,1.42088141987e-05,-5.47002070753e-05,1793237793784070400
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.708691255,716,681,665.291308745,637,881.291308745,788,804,653.291308745,632.708691255,654,0.431610007456,0.00459256069164,0.0699482050011,0.999999988643,0.000108162483848,-8.90824460201e-05,-5.54893247659e-05,1793237793800737024
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,680.713036803,665,636.713036803,881.286963197,788,804,653,632.713036803,654,0.432343036868,0.00459036168781,0.0699175345046,0.999999983584,0.000104649249991,-0.000136762103781,-5.63604229808e-05,1793237793817403392
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,680.136048226,665,636.136048226,881.863951774,788,804,653,632.136048226,654,0.433116399857,0.00458466718555,0.069918474951,0.999999985466,9.6637031048e-05,-0.000128236722713,-5.73143769311e-05,1793237793834070272
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,747,716,680.437735195,665.437735195,636.437735195,881.562264805,788,804.437735195,653,632,654,0.43391819508,0.00457882965738,0.0699649761418,0.999999993558,8.6418121422e-05,-4.63407428932e-05,-5.71725499326e-05,1793237793850736896
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.989122287,716,681,666,636.989122287,881.010877713,788,804.989122287,653,632.010877713,654,0.434727667251,0.00457310275317,0.070024626038,0.99999999392,7.58085688874e-05,5.65634569924e-05,-5.66848941347e-05,1793237793867403776
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.397398722,716,681,666,636.397398722,881.602601278,788,804.397398722,653,632.602601278,654,0.435478635337,0.00457563936001,0.0700357553792,0.999999992564,8.06957799953e-05,7.24487642089e-05,-5.57842203261e-05,1793237793884070400
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.189888308,716,681,666,636.189888308,882,788,804.189888308,653,633,654,0.436212504339,0.00457900755435,0.0700370636816,0.999999992052,8.57800375177e-05,7.37091065526e-05,-5.57253735651e-05,1793237793900736768
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.76810263,716,681,666,636.76810263,882,788,804.76810263,653,633,654,0.436911405453,0.00458407636494,0.0700182877328,0.999999993173,9.12672604304e-05,4.50610580466e-05,-5.7388082551e-05,1793237793917403648
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,716,681,666,636.65508533,882.34491467,788,804.65508533,653,633,654,0.437596954489,0.00458399303685,0.0699986714586,0.999999993794,9.18977111134e-05,2.38355799597e-05,-5.83057497663e-05,1793237793934070528
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,716,681,666,636.079212305,882.920787695,788,804.079212305,653,633,654,0.438273562794,0.00458045978423,0.0699784924951,0.999999994262,8.92760176366e-05,7.58033188892e-06,-5.87245293812e-05,1793237793950737152
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,747,716,681.495316336,665.504683664,636.495316336,882.504683664,788,804,653,633,654,0.438898741834,0.00457940201911,0.069951272349,0.999999993846,8.63611992943e-05,-3.61580652889e-05,-5.95185564846e-05,1793237793967403520
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.92827599,716,682,665.07172401,637,882,788.07172401,804,653,633,654,0.439517124405,0.00457909375172,0.0699243031604,0.999999991416,8.29771350117e-05,-8.15970033205e-05,-6.02127774041e-05,1793237793984070144
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.336694945,716,682,665.663305055,637,882,788.663305055,804,653,633,654,0.440145697501,0.0045813562323,0.0699072924171,0.999999989499,7.65308160885e-05,-0.000107591387674,-5.97498215252e-05,1793237794000737024
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.248419308,716,682.248419308,666,637,882,788.751580692,804,653,633,654,0.440789571446,0.00458286247943,0.0699146497756,0.99999999081,7.57615514109e-05,-9.54955503415e-05,-5.93334443131e-05,1793237794017403904
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.824991129,716,682.824991129,666,637,882,788.175008871,804,653,633,654,0.441453657186,0.0045833697706,0.0699541964767,0.999999994311,8.24914610867e-05,-3.30839681552e-05,-5.89785956721e-05,1793237794034070784
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,716,682.600106232,666,636.600106232,882,788,804,653,633,654,0.442093744963,0.00458339213491,0.069998739595,0.999999994152,8.41230162227e-05,3.42882138843e-05,-5.86857140984e-05,1793237794050737408
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,747,716,682.025931004,666,636.025931004,882,788,804,653,633,654,0.442723374019,0.00458320315873,0.0700454602523,0.999999989415,8.35326099162e-05,0.000103822326774,-5.84198387687e-05,1793237794067404032
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.435490309,716,682,665.435490309,636.564509691,882,788,804.564509691,653,633,654,0.443237683394,0.00458767180311,0.0700316743948,0.999999991529,9.0296145087e-05,7.33145622967e-05,-5.84200759532e-05,1793237794084070656
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.152497495,716,682.152497495,664.847502505,636.847502505,882,788,804.847502505,653,633,654,0.443739412563,0.00459149826621,0.0700078650962,0.999999993005,9.91220658509e-05,2.86639384487e-05,-5.78146474825e-05,1793237794100737280
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.731474073,716,682.731474073,664.268525927,636.268525927,882,788,804.268525927,653,633,654,0.444221213668,0.00459291269653,0.0699640274826,0.999999991211,0.000112742969514,-4.23059231198e-05,-5.54801959422e-05,1793237794117404160
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.69200203,716,683,664.30799797,636,882,788,804,653,632.69200203,654,0.44468704921,0.00459567896205,0.0699292523915,0.999999986212,0.000122368795993,-9.7779362783e-05,-5.51442872584e-05,1793237794134070528
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.117599626,716,683,664.882400374,636,882,788,804,653,632.117599626,654,0.445139075227,0.0045996145043,0.0699023159788,0.999999980362,0.000128539059246,-0.000139849088178,-5.65370287763e-05,1793237794150737408
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.453464831,716,683,664.546535169,636,882,788,804.453464831,653,632.453464831,654,0.4455884131,0.00460347785616,0.0698912695219,0.999999978345,0.000132739050292,-0.000149205185204,-5.85497652173e-05,1793237794167404032
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.975264039,716,683,663.975264039,636,882,788,804.975264039,653,633,654,0.446035276416,0.00460722844494,0.0698846047757,0.999999977538,0.000136497709259,-0.000150404129819,-6.0591565949e-05,1793237794184070912
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.379379071,716,683,663.379379071,636,882,788,804.379379071,653,633,654,0.446440981787,0.00460880447356,0.0698846589195,0.999999975735,0.000141777899651,-0.000157714186476,-5.96190448982e-05,1793237794200737536
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.210257871,716,682.789742129,662.789742129,635.789742129,882.210257871,788,804.210257871,653,632.789742129,654,0.446833952823,0.00461103966755,0.0698799354433,0.999999972355,0.000148924888048,-0.000172367650431,-5.83119473296e-05,1793237794217403904
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.788946456,716,682.211053544,662.211053544,635.211053544,882.788946456,788,804.788946456,653,632.211053544,654,0.447204609694,0.00461442990385,0.0698668402379,0.999999965736,0.000159343029096,-0.000199888821117,-5.64185780109e-05,1793237794234070272
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.636878352,747,716,682.363121648,662,635,882.636878352,788,805,653,632.363121648,654,0.447544245288,0.00461788045524,0.0698489392874,0.99999995808,0.000164152620782,-0.000231775931267,-5.63329095878e-05,1793237794250736896
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.114850696,716,682.114850696,661,635,882,788,805,653,633,654,0.448497220336,0.00462713275073,0.0698250074264,0.999999951146,0.000156289961237,-0.000263964052745,-6.00358650209e-05,1793237794300737536
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716,682.728117757,660.728117757,635,882,788,804.728117757,653,633,654,0.449077918572,0.00462992172007,0.0698353495538,0.999999959436,0.000120030210582,-0.00025141001458,-5.92725066352e-05,1793237794334070784
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+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,716,682.418449439,659.581550561,635,882.418449439,787.581550561,804.418449439,653,633,654,0.44957354918,0.00463145174481,0.0698334538684,0.999999960454,9.94178417892e-05,-0.000257221667931,-5.51890427114e-05,1793237794367403776
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,716,682.992973888,659.007026112,635,882.992973888,787.007026112,804.992973888,653,633,654,0.449793735702,0.0046330099686,0.0698284801686,0.999999956927,0.000113543069518,-0.000265358559635,-5.32778383338e-05,1793237794384070656
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766.175724285,746,716,683.175724285,659,634.175724285,882.824275715,788,805,653,632.175724285,653.175724285,0.450152606533,0.00463821585193,0.0698087840803,0.999999946387,0.000136232437782,-0.00029315944868,-5.21864739658e-05,1793237794417403904
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+245,4.083333333,POSE1_TO_POSE2_PRESS,766.894876137,746.894876137,715.105123863,683,657,634,883,788,804.894876137,653,633,654,0.451435642925,0.00465180172507,0.0697263896461,0.99999989337,0.000169133198514,-0.00042633091536,-5.38088811082e-05,1793237794817403648
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.318086642,746.318086642,715.681913358,683,657,634,883,788,804.318086642,653,633,654,0.451435181479,0.00465067465213,0.0697246973014,0.999999892491,0.000168090227461,-0.000428851700991,-5.33793075712e-05,1793237794834070272
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746.258755043,716,683,657,634,882.741244957,788,804.258755043,653,633,654,0.451434862599,0.00465035786473,0.0697234908793,0.999999891635,0.000168609142755,-0.000430701310364,-5.28956199537e-05,1793237794850737152
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746.835660976,716,683,657,634,882.164339024,788,804.835660976,653,633,654,0.45143471901,0.00465103735946,0.0697228819204,0.999999890808,0.000171048466969,-0.000431725678874,-5.23453965984e-05,1793237794867404032
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,747,716,683,657,634,882.410894599,787.589105401,805,653,633,654,0.451434352365,0.00465100343553,0.0697220343022,0.999999890434,0.000170190251204,-0.000432934186731,-5.23056518025e-05,1793237794884070656
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,747,716,683,657,634,882.985462052,787.014537948,805,653,633,654,0.451433896869,0.00465068533342,0.0697210916181,0.999999890237,0.000168018516492,-0.000434216043294,-5.24692474652e-05,1793237794900737024
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.57839035,747,715.42160965,682.42160965,657,634,882.42160965,787.57839035,805,653,633,654,0.451434668411,0.0046508985887,0.0697216077344,0.999999890352,0.000168955341198,-0.000433570711753,-5.26059039423e-05,1793237794917403904
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.833006618,746.833006618,715,682.166993382,657,634,882,788,805,653,632.833006618,654,0.451435536552,0.00465058113373,0.0697220065848,0.999999890585,0.000168907649748,-0.000433042462828,-5.26801011791e-05,1793237794934070528
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.256188152,746.256188152,715,682.743811848,657,634,882,788,805,653,632.256188152,654,0.451436563586,0.00464892739015,0.0697220247114,0.999999891086,0.000166245779131,-0.000432924327621,-5.26027309407e-05,1793237794950736896
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716,683,657,634,883,787.483813457,805,653,632.516186543,654,0.451436982375,0.00465221785193,0.0697204732346,0.99999988932,0.000170479456461,-0.000435331842698,-5.27487557873e-05,1793237795000737024
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.927745683,716,683,657,634,882.927745683,788,804.927745683,653,632.072254317,654,0.451437530358,0.00465206360016,0.069721214873,0.999999889655,0.000169972875521,-0.000434777375879,-5.26114788734e-05,1793237795017403904
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+259,4.316666667,POSE1_TO_POSE2_PRESS,766.77266051,746.22733949,716,683,657,634,882.22733949,787.77266051,804.22733949,653,632.77266051,654,0.451435630312,0.00465020777941,0.0697195713344,0.999999888397,0.000169471050301,-0.000437897571668,-5.22664817508e-05,1793237795050737152
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.198145825,746.801854175,716,683,657,634,882.801854175,787.198145825,804.801854175,653,632.198145825,654,0.451434851539,0.00465048724897,0.0697190012413,0.999999887991,0.000169108434782,-0.000438905543643,-5.27476286406e-05,1793237795067403776
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+262,4.366666667,POSE1_TO_POSE2_PRESS,766,747,715.048604585,683,657,634,882.048604585,787,805,653,632.951395415,654,0.451435323423,0.00465332918956,0.0697177248144,0.999999887872,0.000170860139942,-0.000438477732418,-5.2913447668e-05,1793237795100737280
+263,4.383333333,POSE1_TO_POSE2_PRESS,766.541261629,747,715.541261629,683,656.458738371,634,882,787,805,653,632.458738371,654,0.451436677465,0.00465309415136,0.069718650332,0.999999888123,0.000172323827206,-0.000437364911811,-5.26292987231e-05,1793237795117403904
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+266,4.433333333,HOLD_POSE2,766,747,715,684,656,634,882,787,804,653,633,654,0.451435772944,0.00465174784657,0.0697170075248,0.999999886686,0.000171591402221,-0.000440927192749,-5.26027249906e-05,1793237795188216832
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+268,4.466666667,HOLD_POSE2,766,746.841418491,715,683,657,633.841418491,882,787.841418491,804,653,633,654,0.451435237269,0.00465162517386,0.0697170010762,0.999999886998,0.000169957768097,-0.000440894183836,-5.22521451402e-05,1793237795221550336
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+274,4.566666667,HOLD_POSE2,767,746.651906595,716,683,657,634,882.348093405,787,805,653,632.348093405,654,0.451434188631,0.00465182022678,0.0697151844659,0.999999885881,0.00016951413775,-0.000443597546312,-5.22021919888e-05,1793237795321550336
+275,4.583333333,HOLD_POSE2,766.763484243,747,716,683,656.763484243,634,882.236515757,787.236515757,805,653,632.236515757,654,0.45143323821,0.00465183574022,0.0697142114252,0.999999885051,0.000170021255861,-0.0004452846615,-5.20847226338e-05,1793237795338216960
+276,4.600000000,HOLD_POSE2,766.184406319,747,716,683,656.184406319,634,882.815593681,787.815593681,805,653,632.815593681,654,0.451433316394,0.00465246039706,0.0697141787503,0.999999884729,0.000170622809917,-0.000445808502224,-5.1805057015e-05,1793237795354883328
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+278,4.633333333,HOLD_POSE2,766.96933204,747,715.03066796,683,656.96933204,634,882.03066796,787.03066796,805,653,632.03066796,654,0.451432769538,0.0046517437499,0.0697140688691,0.999999884562,0.000169680437067,-0.00044647416495,-5.23931560769e-05,1793237795388216576
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,747,716,682,656,634,882,788,804,653,632,654,0.451433501239,0.00465149899149,0.0697147288312,0.999999884556,0.000171435066689,-0.000445908041135,-5.16217828596e-05,1793237795475028992
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,747,715.848222369,683,657,634,883,788,804.151777631,652.848222369,633,654,0.451433600781,0.00465079408563,0.0697138179708,0.999999884688,0.000168604013114,-0.000446627406644,-5.21645259372e-05,1793237795508363520
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.480529838,715.480529838,682.480529838,657,634,882,788,805.480529838,653,632.480529838,654,0.451436225827,0.00465172398346,0.069715950583,0.999999885818,0.000170138977187,-0.000443559920737,-5.16844321265e-05,1793237795575028992
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,747,716,683,656.366080255,634,882,788,805.366080255,653,633,654,0.451436821534,0.00465191439164,0.0697165771781,0.999999885902,0.000171740210771,-0.000442774955617,-5.14979761774e-05,1793237795608362496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.785698592,716,683,656,634,882.214301408,788,805,653,632.785698592,654,0.451435937883,0.00465271884527,0.0697158129188,0.99999988549,0.00017270100592,-0.000443302450612,-5.17436992448e-05,1793237795625029376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.195175914,716,683,656,634,882.804824086,788,805,653,632.195175914,654,0.451433502578,0.00465505552073,0.0697140956406,0.99999988472,0.000173987142942,-0.000444490017092,-5.21210628614e-05,1793237795641696512
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.349824192,683,657,634,882.650175808,787.349824192,804,653,633,654,0.450629629388,0.00465440713704,0.069618219569,0.999999803808,0.000188822137565,-0.000595813638513,-4.16659960923e-05,1793237795858362112
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.495464793,682.495464793,657,634.504535207,882,788,804.504535207,653,632.495464793,654.504535207,0.450358358814,0.00465200789416,0.0696245594779,0.999999808448,0.00019142099736,-0.000587453701719,-3.68718470827e-05,1793237795891696128
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.252018585,682.252018585,657.252018585,634.252018585,882.747981415,787.252018585,804.252018585,653,632,654,0.449848955329,0.00465052758832,0.0696357588765,0.999999813753,0.000201412397382,-0.000575485600566,-2.7268577671e-05,1793237795941696256
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746.528395209,715,683,659.471604791,635,882,788,804,653,633,653.528395209,0.447339747194,0.00464199727734,0.0696622602624,0.99999982039,0.000248127194344,-0.000545365380963,1.5130119123e-05,1793237796091695872
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.048400223,746,715.048400223,683,660,635,882.048400223,788,804,653,632.951599777,653.048400223,0.446973449399,0.00464240550302,0.0696623755118,0.999999820916,0.000253617088686,-0.000541752276214,1.87464982043e-05,1793237796108362240
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.908377049,746.091622951,716,681,663.908377049,636,881,788,804,653.091622951,632.091622951,654,0.421668684796,0.00447258061767,0.0697189769724,0.999999883359,3.06850948032e-05,-0.000480673157802,3.59646576978e-05,1793237796741695232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.33456312,746.66543688,716,681,663.33456312,636,881,788,804,653.66543688,632.66543688,654,0.420943188986,0.00446634833223,0.0697418070043,0.999999907954,1.51373421921e-05,-0.000427451087305,3.38911584641e-05,1793237796758362112
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.247429486,747,716,681,663.494858973,636.247429486,881,788.247429486,804,653.752570514,632.752570514,654,0.420237751319,0.00446000857012,0.0697828046412,0.999999936737,5.21132995964e-07,-0.000354146709986,3.32554871322e-05,1793237796775028736
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.840858926,747,716,681,664.681717853,636.840858926,881,788.840858926,804,653.159141074,632.159141074,654,0.419560362581,0.00445351851548,0.0698492074555,0.999999967375,-1.27924250513e-05,-0.000252759679374,3.46304427724e-05,1793237796791695360
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.575673027,716,680.575673027,664.575673027,636.575673027,880.575673027,788.575673027,804.424326973,653,632.424326973,654,0.418825493504,0.00444658972762,0.0698757055929,0.999999976879,-1.17364392463e-05,-0.000211636060364,3.62454240927e-05,1793237796808363008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,880.004071369,788,804.991857263,653.004071369,633,654,0.418069547739,0.00443949601872,0.0698872412307,0.999999980605,-5.56039468107e-06,-0.000193186805219,3.79324831217e-05,1793237796825030400
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,880.573616229,788,803.852767542,653.573616229,633,654,0.417311730884,0.00443182583215,0.0698515833485,0.999999966116,-1.95973396453e-05,-0.000256874307244,3.74142756981e-05,1793237796841696512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.851075428,746,716,680,664,636,881,788,803,654,633,654,0.416567771847,0.00442484852539,0.0698207771898,0.999999951931,-3.24084974184e-05,-0.000306187413337,3.65639864269e-05,1793237796858362368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.258601276,746,716,680,664,636,881,788,803,654,633,654,0.415865086072,0.00441993485579,0.0698044211556,0.999999949646,-4.15688348242e-05,-0.000312688547674,3.47246412958e-05,1793237796875028736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746.325700114,716,680.325700114,664,636.325700114,880.674299886,788,803.325700114,653.674299886,633,654,0.415149760231,0.00441586113947,0.0697918774823,0.999999943325,-4.77703858993e-05,-0.000331466476141,3.46157764899e-05,1793237796891695360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746.903671257,716,680.903671257,664,636.903671257,880.096328743,788,803.903671257,653.096328743,633,654,0.414424644069,0.00441243800928,0.0697822866741,0.999999933311,-5.16802084064e-05,-0.000359753395088,3.58472553334e-05,1793237796908362240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,747,716,681,664,636.516962803,880.483037197,788,804,653,633,654,0.413743061088,0.00442648387499,0.069785676053,0.999999935807,-3.54637729399e-05,-0.000354652219692,3.67498172992e-05,1793237796925029120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.062150323,746.937849677,716,680.937849677,664,636,881,788,804,653.062150323,633,654,0.413081078088,0.00444551397241,0.0697955978543,0.999999942915,-1.27115131978e-05,-0.00033558500799,3.72911427545e-05,1793237796941695744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.636877728,746.363122272,716,680.363122272,664,636,881,788,804,653.636877728,633,654,0.412508936368,0.00447683614906,0.0698379844454,0.999999966028,3.07462934901e-05,-0.000256407626742,3.53957565689e-05,1793237796958363136
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.21700921,664.21700921,636,880.78299079,788,804,653.78299079,632.78299079,654,0.411934359523,0.00449294894073,0.0698711333986,0.999999978437,5.11521287031e-05,-0.000198310377965,3.4372940828e-05,1793237796975030016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.806414228,664.806414228,636,880.193585772,788,804,653.193585772,632.193585772,654,0.411355603973,0.00448296186354,0.0698884302203,0.999999983325,3.19999265386e-05,-0.00017638742487,3.48474887305e-05,1793237796991696384
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.61153469,746.38846531,716,681,664.61153469,636.38846531,880,788,804,653,632.38846531,654,0.410748035369,0.00447501970154,0.0698770253036,0.999999979122,2.26721450254e-05,-0.000200053791334,3.49317674051e-05,1793237797008362752
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.033080192,746.966919808,716,681,664.033080192,636.966919808,880,788,804,653,632.966919808,654,0.410126374931,0.00446807765825,0.0698515830475,0.999999968967,1.81492533618e-05,-0.000246016812623,3.48251746277e-05,1793237797025029120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.543211576,746.456788424,716,680.456788424,664,637,880.543211576,788,804,653,632.456788424,654,0.409532971983,0.00446731240871,0.0698239581736,0.99999995658,1.93961559648e-05,-0.000292058724437,3.41252584923e-05,1793237797041695744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,880.878318906,788,804,653.121681094,632.121681094,654,0.408958950179,0.00446647559797,0.0698008406629,0.99999994505,1.91388021116e-05,-0.000329267299928,3.34282995322e-05,1793237797058362368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,880.291013884,788,804,653.708986116,632.708986116,654,0.408452533214,0.00446393128344,0.0697954775828,0.99999994406,1.178607148e-05,-0.000332656003697,3.2880370142e-05,1793237797075029504
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.292209065,716,680,664.292209065,636.707790935,880.292209065,788,804,653.707790935,633,654,0.407966178712,0.0044648882269,0.0698017940228,0.999999948852,9.37335628609e-06,-0.000318082302872,3.21092188579e-05,1793237797091696896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.871422615,716,680,664.871422615,636.128577385,880.871422615,788,804,653.128577385,633,654,0.407499529368,0.00446928406706,0.0698195819577,0.999999958586,1.18126695751e-05,-0.000285866128216,3.1118821529e-05,1793237797108364032
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,664.550141772,636,880.550141772,788,803.550141772,653,632.550141772,654,0.407038327811,0.00447660807938,0.0698270750497,0.999999960117,2.07571467464e-05,-0.000279906400051,3.14276912667e-05,1793237797125030400
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.972149613,716.027850387,680,664,636.027850387,880,788,803,653,632,654.027850387,0.406579086222,0.00448450317888,0.0698308063121,0.999999959067,3.12918959562e-05,-0.000282592905301,3.20718977504e-05,1793237797141696768
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.398497971,716.601502029,680,664,636.601502029,880,788,803,653,632,654.601502029,0.406127792936,0.00448721684489,0.0698183800819,0.999999951413,3.66174368114e-05,-0.00030790750408,3.20228280481e-05,1793237797158362624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.8198169,680.1801831,664,636.8198169,880.1801831,788,803.1801831,653,632,654.639633801,0.405703818196,0.00448827698796,0.0698118042278,0.999999947117,4.022217306e-05,-0.00032116016615,3.16945819943e-05,1793237797175028736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716.229693289,680.770306711,664,636.229693289,880.770306711,788,803.770306711,653,632,653.459386579,0.405341996843,0.00448557514611,0.0698185387593,0.999999951616,3.99118493166e-05,-0.000306970315142,3.07311726605e-05,1793237797191695360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.293035326,664,636.353482337,880.646517663,788,803.646517663,653,632,653.353482337,0.405007529461,0.00448303867586,0.0698337261366,0.999999960426,3.57808087016e-05,-0.000277390637506,3.03806247652e-05,1793237797208362240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.135539516,664,636.932230242,880.067769758,788,803.067769758,653,632,653.932230242,0.404690494054,0.00448060759257,0.0698543003046,0.999999970788,2.92149194613e-05,-0.000238003401515,3.04206382057e-05,1793237797225028864
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.507618374,664,637,880.507618374,788,803,653.507618374,632.507618374,654,0.404371788934,0.00447637870509,0.0698609538136,0.99999997321,1.96119805717e-05,-0.000228633553612,3.03727815626e-05,1793237797241695744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788,803.084468419,653.915531581,633,654,0.404055308356,0.00447231982025,0.0698635006428,0.999999973894,1.00325636271e-05,-0.000226272535651,3.01878716539e-05,1793237797258362624
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,881,788,803.672694846,653.327305154,633,654,0.403753415199,0.00447069681886,0.0698525666562,0.999999970293,2.99564588269e-06,-0.000241968292429,2.92550977212e-05,1793237797275029248
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.742699507,880.742699507,788,804,653.257300493,632.742699507,654,0.403467072141,0.00447016638174,0.0698441352984,0.999999967032,-5.20480340166e-06,-0.000255209524804,2.78702588954e-05,1793237797291696128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.16263588,880.16263588,788,804,653.83736412,632.16263588,654,0.403200235472,0.00447100648026,0.0698388432913,0.999999964343,-1.4864810633e-05,-0.000265371749374,2.59183404455e-05,1793237797308362752
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.585373067,664,636,880,788,803.585373067,653.585373067,632,654,0.402958227933,0.00446776017695,0.069834675163,0.999999961626,-2.52888466008e-05,-0.000274678127246,2.56878138944e-05,1793237797325029120
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.009201506,664,636,880,788,803.009201506,653.009201506,632,654,0.402725894187,0.00446292175259,0.0698309449142,0.999999958781,-3.60105589459e-05,-0.000283651054639,2.61279664772e-05,1793237797341695744
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.565926484,664,636,880,788,803.565926484,653.565926484,632.565926484,654,0.402524904854,0.00446314546385,0.0698290896001,0.999999957875,-3.68797869085e-05,-0.000286653493225,2.68192816033e-05,1793237797358362624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,880.144851379,788,803.855148621,654,632.855148621,654,0.402330138754,0.00446364529794,0.0698268144963,0.999999956739,-3.63934004013e-05,-0.000290563815487,2.77387380322e-05,1793237797375029248
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636,880.735514086,788,803.264485914,654,632.264485914,654,0.402152960411,0.0044647421106,0.0698231537483,0.999999954777,-3.22269403926e-05,-0.000297566565083,2.93478030143e-05,1793237797391695872
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.319501665,880.680498335,788.319501665,803,653.680498335,632.319501665,654,0.401992993473,0.00446715342446,0.0698207161509,0.999999953569,-2.27104549053e-05,-0.000302320459412,3.0803605789e-05,1793237797408362752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.898076667,880.101923333,788.898076667,803,653.101923333,632.898076667,654,0.401846982676,0.004470630624,0.0698192703655,0.999999952855,-8.85581017458e-06,-0.00030525083208,3.2135133478e-05,1793237797425029632
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.525357139,880,789,803.474642861,653.474642861,633,654,0.401723401306,0.00448795937048,0.0698188045337,0.999999951375,5.81430696982e-05,-0.000304662691484,3.23976622091e-05,1793237797441696000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.050484761,716,680,664.050484761,636,880,789,803.949515239,653.949515239,632.949515239,654,0.401606627244,0.00450689860846,0.069818751974,0.999999945159,0.000129546392264,-0.000303068451457,3.23984481514e-05,1793237797458362368
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.623277652,716,680,664.623277652,636,880,789,803.376722348,653.376722348,632.376722348,654,0.401510660493,0.00451185635404,0.0698208071426,0.999999946517,0.000128947881017,-0.000298849182726,3.20562013121e-05,1793237797475028992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.796551857,716,680,664.796551857,636.203448143,880,788.796551857,803,653.203448143,632.203448143,654,0.401419832011,0.00451228466526,0.0698214376932,0.99999994945,0.000109872091035,-0.00029705765925,2.80282434857e-05,1793237797491695872
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.202206365,716,680,664.202206365,636.797793635,880,788.202206365,803,653.797793635,632.797793635,654,0.401338876004,0.00450401029715,0.0698193310383,0.999999953349,5.52947761567e-05,-0.000299930710725,1.69187038824e-05,1793237797508362752
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.3797704,716,680,664,637,880.3797704,788,803,653.6202296,633,654,0.40127096642,0.00450203260146,0.0698172981571,0.999999953428,3.91739338841e-05,-0.000302355175847,1.38098483344e-05,1793237797525029376
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.95536922,716,680,664,637,880.95536922,788,803,653.04463078,633,654,0.401209784219,0.00450330178203,0.0698153033173,0.999999952596,4.28831544103e-05,-0.000304548327866,1.48265419185e-05,1793237797541696256
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.469356792,716,680,664,637,880.469356792,788.530643208,803,653.530643208,632.469356792,654,0.401163912185,0.00450230503428,0.069817308569,0.99999995346,4.33756645906e-05,-0.000301551635573,1.63036749927e-05,1793237797558363136
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.10820406,716,680,664.10820406,636.89179594,880,788.89179594,803,653.89179594,632,654,0.401121919343,0.00450149786612,0.0698198200284,0.999999954601,4.39048747615e-05,-0.0002975912364,1.75840016894e-05,1793237797575030272
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.696022285,716,680,664.696022285,636.303977715,880,788.303977715,803,653.303977715,632,654,0.401091416829,0.00450237523915,0.0698230849146,0.999999956367,4.57952256255e-05,-0.00029129282039,1.78204357121e-05,1793237797591696128
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.719093371,716,680,664.719093371,636.280906629,880.280906629,788.280906629,803.280906629,653.280906629,632.280906629,654,0.401066559592,0.00450297784416,0.0698264716659,0.999999958104,4.7008866765e-05,-0.000285042657893,1.82240122411e-05,1793237797608362496
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.137350981,716,680,664.137350981,636.862649019,880.862649019,788.862649019,803.862649019,653.862649019,632.862649019,654,0.401047748136,0.00450328618764,0.0698299889284,0.999999959818,4.74977887333e-05,-0.000278844171508,1.88065893571e-05,1793237797625028864
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+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.684342235,636.684342235,880,788,804,654,632.315657765,654,0.400992096506,0.00450345703627,0.0698440954359,0.999999966123,4.33237825147e-05,-0.00025599938867,1.84534311712e-05,1793237798108361984
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+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746.84949162,716,680,664.15050838,637,880.84949162,788,804,654,632,654,0.400991804932,0.00450432489117,0.0698453820017,0.999999966191,4.54931289707e-05,-0.000255315896034,1.9033666954e-05,1793237798141695232
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..465c9ea416868df18bfd9582b9943f88d8c3e24c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,444 @@
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+423,7.050000000,pose2_to_pose3_retreat,0.578254348431,0.0100012217179,1.06001143077,0.548825582915,0.0186748865654,1.05966097075
+424,7.066666667,pose2_to_pose3_retreat,0.578254146391,0.0100012171748,1.06001141342,0.548825380773,0.0186748816869,1.05966095372
+425,7.083333333,pose2_to_pose3_retreat,0.578253967611,0.0100012243997,1.06001144087,0.54882520188,0.0186748885295,1.05966098121
+426,7.100000000,pose2_to_pose3_retreat,0.578253836493,0.0100012299024,1.06001146178,0.548825070678,0.0186748937503,1.05966100214
+427,7.116666667,pose2_to_pose3_retreat,0.578253578215,0.0100012407416,1.06001150297,0.548824812236,0.0186749040342,1.05966104337
+428,7.133333333,pose2_to_pose3_retreat,0.578253328128,0.0100012512371,1.06001154285,0.548824561991,0.0186749139919,1.0596610833
+429,7.150000000,pose2_to_pose3_retreat,0.578253188808,0.010001257084,1.06001156507,0.548824422582,0.0186749195393,1.05966110554
+430,7.166666667,pose2_to_pose3_retreat,0.578253167423,0.0100012579814,1.06001156848,0.548824401184,0.0186749203907,1.05966110895
+431,7.183333333,pose2_to_pose3_retreat,0.578253116367,0.0100012601241,1.06001157662,0.548824350095,0.0186749224236,1.0596611171
+432,7.200000000,pose2_to_pose3_retreat,0.578253031869,0.0100012636703,1.06001159009,0.548824265543,0.0186749257881,1.05966113059
+433,7.216666667,pose2_to_pose3_retreat,0.578252945733,0.0100012672851,1.06001160383,0.548824179353,0.0186749292178,1.05966114434
+434,7.233333333,pose2_to_pose3_retreat,0.578252922306,0.0100012682683,1.06001160756,0.548824155911,0.0186749301506,1.05966114808
+435,7.250000000,pose2_to_pose3_retreat,0.5782527116,0.0100012852961,1.06001162933,0.548823944907,0.0186749461606,1.05966116969
+436,7.266666667,pose2_to_pose3_retreat,0.57825260354,0.01000131883,1.06001160462,0.548823836196,0.0186749774617,1.05966114432
+437,7.283333333,pose2_to_pose3_retreat,0.578252340213,0.0100014005469,1.06001154442,0.548823571285,0.0186750537374,1.05966108249
+438,7.300000000,pose2_to_pose3_retreat,0.578252285676,0.0100014029381,1.06001152561,0.548823516727,0.0186750560121,1.05966106262
+439,7.316666667,pose2_to_pose3_retreat,0.578252282127,0.010001400225,1.06001152314,0.548823513237,0.018675053491,1.05966105993
+440,7.333333333,pose2_to_pose3_retreat,0.578252241008,0.0100013687904,1.06001149446,0.548823472803,0.0186750242796,1.05966102879
+441,7.350000000,pose2_to_pose3_retreat,0.57825221753,0.0100013508414,1.06001147808,0.548823449715,0.0186750076001,1.059661011
+442,7.366666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..380048ff8fd299b5588d733878dd5cef366333ca
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1b89cd9cfad6db34a07b610383119411d768bbb64624efc96524e614d54e73
+size 27564950
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..177e527e0fe4dd61c9fe16c482b6aef2b229321e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,436 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,747,716,680,663,636,881,788,804,654,632,654,0.401055972818,0.00450375943567,0.0798820149755,0.999999986142,0.000116164644874,-0.000110261737338,4.54372931549e-05,1793237799495936768
+1,0.016666667,BASELINE,766.424640105,746.424640105,716,680.575359895,663,636.575359895,880.424640105,788.575359895,804,653.424640105,632,654,0.401055003926,0.00450430895179,0.0798819016422,0.999999985814,0.000117917843076,-0.000111378151405,4.54228367601e-05,1793237799512602624
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+18,0.300000000,BASELINE,766.448721098,746.551278902,716.551278902,680,663,636.551278902,881,788,803,654,632.551278902,654,0.401056935714,0.00450560684304,0.0798849694406,0.99999998591,0.00011985539402,-0.000108600320129,4.49611308262e-05,1793237799795935232
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+21,0.350000000,BASELINE,767,747,716.826532836,680,662.826532836,636.826532836,880,788,804,653,633,654.173467164,0.401054636692,0.00450408997647,0.0798841993993,0.999999986224,0.000115588942229,-0.000110224705268,4.51939121727e-05,1793237799845935104
+22,0.366666667,BASELINE,767,747,716.251110447,680,662.251110447,636.251110447,880,788,804,653,633,654.748889553,0.401056249359,0.00450484599688,0.0798850091059,0.99999998618,0.000117380742011,-0.000108777227864,4.50580396756e-05,1793237799862601728
+23,0.383333333,BASELINE,767,747,716.33344721,680,662.33344721,636,880.33344721,788.33344721,803.66655279,653.33344721,633,654.66655279,0.401055932894,0.00450517136637,0.0798846764794,0.999999986061,0.00011782241816,-0.000109397415382,4.50387511486e-05,1793237799879268608
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+25,0.416666667,BASELINE,766.498032418,746.498032418,716.498032418,680,663,636,880.498032418,788.498032418,803.501967582,654,632.498032418,654,0.401054932352,0.00450502152274,0.0798835722602,0.999999986059,0.000116425355842,-0.000110970727464,4.48711049841e-05,1793237799912602368
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+27,0.450000000,BASELINE,766.647085785,746.647085785,716.647085785,680,663,636.647085785,880.647085785,788.647085785,804,654,632.647085785,654.647085785,0.401055831313,0.00450602431523,0.07988445869,0.99999998622,0.000116499485962,-0.000109647997728,4.43380716489e-05,1793237799945935616
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+44,0.733333333,BASELINE,767,747,716,680,662.468823795,636.468823795,880,788,803.531176205,654,632.531176205,654,0.401055499834,0.0045065566682,0.0798850831913,0.999999985932,0.000119305160683,-0.000109109772814,4.46809212419e-05,1793237800229268480
+45,0.750000000,BASELINE,767,747,716,680,662.107202483,636.107202483,880.107202483,788,804,654,633,654.107202483,0.40105633621,0.00450569534667,0.0798854703323,0.999999986163,0.000118004542336,-0.000108384481674,4.47516743449e-05,1793237800245935104
+46,0.766666667,BASELINE,767,747,716,680,662.681076352,636.681076352,880.681076352,788,804,654,633,654.681076352,0.401055309957,0.00450501856704,0.0798856222165,0.999999986128,0.000117498388974,-0.000109264702842,4.4716338003e-05,1793237800262601472
+47,0.783333333,BASELINE,767,747,716,680,662.737723062,637,880.737723062,788,803.737723062,653.737723062,632.737723062,655,0.401054705026,0.00450558963038,0.0798851889667,0.999999985925,0.000118740010897,-0.000109789408565,4.46897692301e-05,1793237800279268352
+48,0.800000000,BASELINE,767,747,716,680,662.147357223,637,880.147357223,788,803.147357223,653.147357223,632.147357223,655,0.401054627136,0.00450772165217,0.0798840237578,0.999999985504,0.000122167969368,-0.000109869391081,4.46741680271e-05,1793237800295935232
+49,0.816666667,BASELINE,767,746.565865503,716,680.434134497,662.434134497,636.565865503,880,788,803.434134497,653.434134497,632,654.565865503,0.401054614274,0.0045077415782,0.079884138336,0.999999985495,0.000121755866036,-0.000110391891786,4.47145727638e-05,1793237800312601856
+50,0.833333333,BASELINE,767,746,716,680.974779409,663,636.012610296,880.012610296,788,804,654,632.012610296,654,0.401054631099,0.00450709162194,0.0798846679463,0.99999998562,0.000120125266362,-0.000111026298478,4.47633603655e-05,1793237800329268480
+51,0.850000000,BASELINE,767,746,716,679.823551633,663,636.588224183,880.588224183,788,804,654,632.588224183,654,0.401055007613,0.00450789984158,0.0798847215703,0.999999985622,0.000121120628985,-0.000110085222095,4.43546883836e-05,1793237800345935616
+52,0.866666667,BASELINE,767.167277874,746,716,679.334555747,663,636.832722126,881,788,804,653.832722126,632.832722126,654,0.401055474841,0.00450796534269,0.079884819048,0.999999985698,0.000121359540896,-0.000109226821205,4.41089611634e-05,1793237800362602240
+53,0.883333333,BASELINE,767.754976817,746,716,680.509953634,663,636.245023183,881,788,804,653.245023183,632.245023183,654,0.40105617006,0.00450616416222,0.0798850267438,0.999999985962,0.000119697257982,-0.000108576209476,4.42727645867e-05,1793237800379268608
+54,0.900000000,BASELINE,767.661653681,746.338346319,716,680.661653681,663,636.338346319,881,788,803.661653681,653,632,654,0.401056433943,0.00450572424785,0.0798855839187,0.999999986017,0.000119719922038,-0.000107954884225,4.44811022826e-05,1793237800395935488
+55,0.916666667,BASELINE,767.081379882,746.918620118,716,680.081379882,663,636.918620118,881,788,803.081379882,653,632,654,0.401056389408,0.00450625767851,0.0798863909813,0.999999985923,0.000120947372364,-0.000107354499688,4.47212832747e-05,1793237800412602112
+56,0.933333333,BASELINE,766.50484968,747,716,680,663,637,880.50484968,788,803,653.49515032,632,654,0.401054466612,0.00450634381065,0.079884649053,0.999999985704,0.000120472875477,-0.000109929339634,4.46559633351e-05,1793237800429268480
+57,0.950000000,BASELINE,766.0709073,746.9290927,716,680.0709073,663,636.9290927,880,788,803,653.9290927,632,654,0.401052851632,0.00450624744413,0.0798829697208,0.999999985562,0.000119495375681,-0.000112301838778,4.45615410819e-05,1793237800445935360
+58,0.966666667,BASELINE,766.645509215,746.354490785,716,680.645509215,663,636.354490785,880,788,803,653.354490785,632,654,0.401055599661,0.00450537298828,0.0798846886571,0.999999986169,0.000116916873132,-0.000109557742437,4.46143842192e-05,1793237800462602240
+59,0.983333333,BASELINE,766.773930493,746,716,681,663,636,880,788.226069507,803.226069507,653.226069507,632.226069507,654,0.401057426731,0.00450502417038,0.0798858936115,0.999999986532,0.0001158920312,-0.000107298000591,4.46243315881e-05,1793237800479269120
+60,1.000000000,BASELINE,766.183774096,746,716,681,663,636,880,788.816225904,803.816225904,653.816225904,632.816225904,654,0.401057770588,0.00450552189683,0.0798862707938,0.99999998652,0.000117369372691,-0.000105818315407,4.45651949611e-05,1793237800495936000
+61,1.016666667,BASELINE,766.398718756,746,716,680.601281244,663,636.398718756,880.398718756,788.601281244,803.601281244,654,632.601281244,654,0.401057334194,0.00450655702549,0.0798864459673,0.999999986172,0.000119879138539,-0.00010621869424,4.47574612531e-05,1793237800512602368
+62,1.033333333,BASELINE,766.977745968,746,716,680.022254032,663,636.977745968,880.977745968,788.022254032,803.022254032,654,632.022254032,654,0.401056544956,0.00450783517795,0.0798865297884,0.999999985663,0.000122855786878,-0.00010746927505,4.50634168876e-05,1793237800529268736
+63,1.050000000,BASELINE,767,746,716,680.553888154,663,637,880.446111846,788,803,653.446111846,632,654.553888154,0.401056429594,0.00450725257036,0.0798857926803,0.999999985755,0.000121675330802,-0.000108084205365,4.47646246839e-05,1793237800545935104
+64,1.066666667,BASELINE,766.870271665,746.129728335,716,680.870271665,663,637,880,788,803,653,632,654.870271665,0.40105632512,0.0045066770173,0.079885276642,0.999999985825,0.000120812344847,-0.000108476503849,4.45770590745e-05,1793237800562601728
+65,1.083333333,BASELINE,766.295072584,746.704927416,716,680.295072584,663,637,880,788,803,653,632,654.295072584,0.401056165546,0.00450638107931,0.0798856324025,0.999999985747,0.00012161007704,-0.000108191556181,4.48544336798e-05,1793237800579268352
+66,1.100000000,BASELINE,766.288588494,747,716,680,663,636.711411506,880.288588494,788,803,653.288588494,632.288588494,654,0.401056637054,0.0045061211271,0.0798863847028,0.999999985781,0.000122073214238,-0.000107252115811,4.50790347695e-05,1793237800595935232
+67,1.116666667,BASELINE,766.881163021,747,716,680,663,636.118836979,880.881163021,788,803,653.881163021,632.881163021,654,0.401057773315,0.00450589908068,0.0798875547002,0.999999985934,0.000122183904189,-0.000105623262526,4.52480466134e-05,1793237800612601856
+68,1.133333333,BASELINE,767,747,716,680,663,636,880.538891922,788.461108078,803,653.538891922,632.538891922,654,0.401056475948,0.0045072487633,0.0798866044721,0.999999985804,0.000121982891941,-0.000107278501018,4.47646009349e-05,1793237800629268480
+69,1.150000000,BASELINE,767,746.962258835,716,680,663,636.037741165,880,788.962258835,803,653,632,654,0.401054639396,0.00450884877188,0.0798851744292,0.999999985608,0.000121653006901,-0.000109694654856,4.41788875879e-05,1793237800645935360
+70,1.166666667,BASELINE,767,746.387672806,716,680,663,636.612327194,880,788.387672806,803,653,632,654,0.401053816915,0.00450840129242,0.0798844846712,0.999999985554,0.000120602196883,-0.000111216113739,4.44665690119e-05,1793237800662601728
+71,1.183333333,BASELINE,767,746,716,680,663,636.808849592,880,788,803,653.191150408,632,654.191150408,0.401053582953,0.00450742231659,0.0798842514717,0.999999985676,0.000119134950189,-0.000111640272753,4.46320226469e-05,1793237800679268096
+72,1.200000000,BASELINE,767,746,716,680,663,636.221238012,880,788,803,653.778761988,632,654.778761988,0.401054569624,0.00450534097487,0.0798849652106,0.99999998616,0.000116803980458,-0.000109788544706,4.45439661635e-05,1793237800695934720
+73,1.216666667,BASELINE,767,746,716,680,663,636,880,788,803,653.638770531,632.361229469,654.638770531,0.401054875269,0.00450528935093,0.0798852118832,0.999999986189,0.000117074010271,-0.000109226368894,4.45539492945e-05,1793237800712601344
+74,1.233333333,BASELINE,767,746,716,680,663,636,880,788,803,653.059409396,632.940590604,654.059409396,0.40105476967,0.00450646339046,0.0798851765134,0.999999985945,0.000118914677209,-0.000109442900913,4.46231345344e-05,1793237800729267968
+75,1.250000000,BASELINE,767,746,716,680,662.480465627,636,880,788,803,653,632.480465627,654,0.401054554942,0.00450655103953,0.0798853868146,0.999999985718,0.000120322413159,-0.000109931902588,4.47373823755e-05,1793237800745934336
+76,1.266666667,BASELINE,766.902447143,746,716,680,662.097552857,636,880.097552857,788,803.097552857,653,632,654,0.401054326518,0.00450683387824,0.0798854151161,0.999999985478,0.000121710872684,-0.000110559743903,4.47928984628e-05,1793237800762601216
+77,1.283333333,BASELINE,766.328712463,746,716,680,662.671287537,636,880.671287537,788,803.671287537,653,632,654,0.401054092109,0.00450867540412,0.0798844180099,0.999999985173,0.000123246697852,-0.000111713334134,4.45365961884e-05,1793237800779268096
+78,1.300000000,BASELINE,766.251697789,746,716.251697789,680.251697789,663,636.251697789,880.748302211,788.251697789,804,653.251697789,632,654,0.401054341218,0.00450874019548,0.0798841485112,0.999999985254,0.000122810180082,-0.000111541789445,4.43704503411e-05,1793237800795934976
+79,1.316666667,BASELINE,766.841063686,746,716.841063686,680.841063686,663,636.841063686,880.158936314,788.841063686,804,653.841063686,632,654,0.401055238995,0.00450642138773,0.0798848551431,0.999999985845,0.000119727642491,-0.00010959249444,4.43252549214e-05,1793237800812601600
+80,1.333333333,BASELINE,767,746.423181333,716.576818667,680.576818667,663,636.576818667,880.423181333,789,804,653.576818667,632.423181333,654,0.401056094237,0.0045050677623,0.07988554874,0.999999986213,0.000117732208439,-0.000108429000437,4.42382327352e-05,1793237800829268224
+81,1.350000000,BASELINE,767,746.997393901,716,680,663,636,880.997393901,789,803.997393901,653.002606099,632.997393901,654,0.4010569257,0.00450408008882,0.0798862337342,0.999999986495,0.00011615858616,-0.00010756195615,4.41372670046e-05,1793237800845934848
+82,1.366666667,BASELINE,767,746.421600482,716,680,663,636,880.421600482,789,803.421600482,653.578399518,632.421600482,654,0.401055981487,0.0045051946163,0.0798860852027,0.999999986086,0.00011907141271,-0.000108078871898,4.43664358294e-05,1793237800862601472
+83,1.383333333,BASELINE,767,746.157126273,716,680,663,636.157126273,880,788.842873727,803.157126273,654,632.157126273,654,0.401055507297,0.00450582639448,0.0798860327835,0.999999985866,0.000120538509237,-0.0001084178761,4.45434511969e-05,1793237800879268096
+84,1.400000000,BASELINE,767,746.743873601,716,680,663,636.743873601,880,788.256126399,803.743873601,654,632.743873601,654,0.401056318261,0.0045051382201,0.0798862431579,0.999999986177,0.000118052632493,-0.000108270427423,4.4577866509e-05,1793237800895934720
+85,1.416666667,BASELINE,766.673547964,746.673547964,716,680,663,637,880,788,803.673547964,653.673547964,632.673547964,654,0.401055893936,0.00450549508756,0.0798855586636,0.999999986042,0.000118232909918,-0.000109336979166,4.45331450426e-05,1793237800912601600
+86,1.433333333,BASELINE,766.094199134,746.094199134,716,680,663,637,880,788,803.094199134,653.094199134,632.094199134,654,0.401054512654,0.00450666153104,0.0798841809298,0.999999985557,0.000120478611397,-0.000111343996222,4.44271176688e-05,1793237800929268224
+87,1.450000000,BASELINE,766,746.480659443,716,680,663.480659443,636.519340557,880,787.519340557,803,653.480659443,632,654,0.401053056714,0.00450703654297,0.0798836028234,0.999999985232,0.000121754788091,-0.00011279745054,4.45904981353e-05,1793237800945934848
+88,1.466666667,BASELINE,766.055102244,746.944897756,716,680,663.889795513,636,880,787.055102244,803.055102244,653.944897756,632,654,0.401051910958,0.00450717104733,0.0798833075418,0.999999985004,0.000122629025901,-0.0001137930642,4.478055043e-05,1793237800962601472
+89,1.483333333,BASELINE,766.633879457,746.366120543,716,680,662.732241086,636,880,787.633879457,803.633879457,653.366120543,632,654,0.401053850864,0.0045064802585,0.0798842246004,0.99999998541,0.0001214724093,-0.000111458981089,4.47269491758e-05,1793237800979268096
+90,1.500000000,BASELINE,767,746,716.216517377,680,662.216517377,636.216517377,880,788,803.783482623,653.216517377,632.216517377,654,0.401055100202,0.00450638827993,0.0798850507258,0.999999985699,0.00012073566812,-0.000109693500257,4.46279979728e-05,1793237800995934976
+91,1.516666667,BASELINE,767,746,716.805802026,680,662.805802026,636.805802026,880,788,803.194197974,653.805802026,632.805802026,654,0.401055160623,0.0045073272435,0.0798857202959,0.999999985795,0.00012072180583,-0.00010890695412,4.44509700096e-05,1793237801012601344
+92,1.533333333,BASELINE,767,746.388524621,716.611475379,680,663,636.611475379,880,788,803,654,632.611475379,654,0.401055585148,0.00450746727246,0.0798859476652,0.999999985787,0.000120866779714,-0.000108839552776,4.44091202207e-05,1793237801029267968
+93,1.550000000,BASELINE,767,746.968021805,716.031978195,680,663,636.031978195,880,788,803,654,632.031978195,654,0.401056188643,0.00450721459901,0.0798859576785,0.999999985727,0.000121089826775,-0.000109125634557,4.44337149113e-05,1793237801045934592
+94,1.566666667,BASELINE,767,746.456425741,716,680,663,636.543574259,880.543574259,788,803.543574259,653.456425741,632,654,0.401054826905,0.00450661340186,0.0798852781691,0.999999985682,0.000119997463477,-0.000110645252739,4.46552072433e-05,1793237801062601216
+95,1.583333333,BASELINE,767,746,716,680,663,637,881,788,804,653.121298802,632,654,0.401054009723,0.00450615874441,0.0798848759288,0.999999985672,0.000119249800932,-0.000111472552027,4.48160278722e-05,1793237801079268096
+96,1.600000000,BASELINE,767,746,716,680,663,637,881,788,804,653.708246296,632,654,0.401055723638,0.00450634477447,0.0798856926828,0.999999985806,0.000120120324071,-0.000109365566637,4.4699792018e-05,1793237801095934720
+97,1.616666667,BASELINE,766.708540104,746.291459896,716,680,663,637,881,788,803.708540104,653.708540104,632,654,0.401055725326,0.0045061948151,0.0798855451639,0.999999985773,0.000120425893576,-0.000109372197538,4.46021784334e-05,1793237801112601600
+98,1.633333333,BASELINE,766.129016922,746.870983078,716,680,663,637,881,788,803.129016922,653.129016922,632,654,0.401054034739,0.00450571278181,0.0798844446093,0.999999985576,0.000120173093238,-0.000111467813245,4.45229701057e-05,1793237801129268224
+99,1.650000000,BASELINE,766.450451069,746.549548931,716,680,663,636.549548931,880.549548931,788,803,653.450451069,632.450451069,654.450451069,0.401053182836,0.00450627679714,0.0798839411042,0.999999985449,0.000120926802303,-0.000111887642833,4.42758171847e-05,1793237801145934592
+100,1.666666667,BASELINE,767,746.029588074,716,680.029588074,663,636,880,788,803,653.970411926,632.970411926,654.970411926,0.401052681945,0.00450708520417,0.0798837030659,0.999999985359,0.00012190191843,-0.000111730879641,4.40139569366e-05,1793237801162601472
+101,1.683333333,BASELINE,767,746.60293301,716,680.60293301,663,636,880,788,803,653.39706699,632.39706699,654.39706699,0.401054217802,0.00450687957617,0.0798852013852,0.999999985589,0.000121648692872,-0.000109797416134,4.43657051611e-05,1793237801179268096
+102,1.700000000,BASELINE,766.818802278,746.818802278,716,680.637604556,663,636,880,788,803.181197722,653.181197722,632.181197722,654,0.401055473419,0.0045066357512,0.0798862923627,0.999999985788,0.000121281191492,-0.000108264519001,4.46406485906e-05,1793237801195934720
+103,1.716666667,BASELINE,766.229455825,746.229455825,716,679.45891165,663,636,880,788,803.770544175,653.770544175,632.770544175,654,0.401056097793,0.00450630588742,0.0798864658007,0.999999985928,0.000120656283313,-0.000107633899794,4.47425888069e-05,1793237801212601344
+104,1.733333333,BASELINE,766,746,716,679.353931755,663,636.353931755,880,788,803.646068245,654,632.646068245,654,0.401055969514,0.00450600126153,0.0798861457202,0.999999986111,0.000118844236447,-0.000107997943707,4.46103609892e-05,1793237801229268224
+105,1.750000000,BASELINE,766,746,716,679.933520188,663,636.933520188,880,788,803.066479812,654,632.066479812,654,0.401055361366,0.00450571272655,0.0798855109865,0.999999986317,0.000116275304135,-0.000108996156074,4.43288343972e-05,1793237801245934848
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,747,716,680,663,636,880,788,803,653,632,654,0.401053456436,0.00450560529608,0.0798851354235,0.999999985665,0.000119690827419,-0.000111094120673,4.47426024064e-05,1793237801276839424
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746.426031722,716,679.426031722,663,636.573968278,880.573968278,788,803.573968278,653.573968278,632,654,0.401053876108,0.00450538494964,0.0798856059234,0.999999985606,0.00012051993376,-0.000110587567287,4.50946431956e-05,1793237801293506048
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.153052064,716,679.153052064,663,636.846947936,880.846947936,788,804,653.846947936,632,654,0.401054134501,0.00450529114198,0.0798857747913,0.999999985552,0.000121027032883,-0.000110433658484,4.52995376217e-05,1793237801310172672
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.746867771,716,679.746867771,663,636.253132229,880.253132229,788,804,653.253132229,632,654,0.401053928436,0.00450556174416,0.0798850750111,0.999999985518,0.000120606806752,-0.000111295305359,4.50806758923e-05,1793237801326839296
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.669265003,716,680,663,636.330734997,880.330734997,788,804,653.330734997,632,654,0.40105379822,0.0045059865384,0.079884596224,0.999999985447,0.000120947025501,-0.000111707016924,4.47106314196e-05,1793237801343506176
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.092789659,716,680,663,636.907210341,880.907210341,788,804,653.907210341,632,654,0.401053724361,0.0045065258993,0.0798842816376,0.99999998535,0.000121852264574,-0.000111784420729,4.42282562426e-05,1793237801360172800
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.516645609,746,716,680,663,637,880.516645609,788,803.516645609,653.516645609,632.483354391,654,0.40105383415,0.00450543777652,0.0798842388521,0.999999985675,0.000118897766646,-0.000112010101427,4.43476726501e-05,1793237801376839424
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.060462626,746,716,680,663,636.939537374,880,788.060462626,803,653,633,654,0.401053998151,0.00450426853963,0.0798843407079,0.999999986007,0.000115802328431,-0.000112204256094,4.45730182036e-05,1793237801393506304
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.646504652,746,716,680,663,636.353495348,880,788.646504652,803,653,633,654,0.40105432715,0.00450510817297,0.0798852466268,0.99999998579,0.000117918182927,-0.000111877102442,4.47156290108e-05,1793237801410172928
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.229881987,716,680,663,636.229881987,880,788.770118013,803,653,632.770118013,654,0.401054688595,0.00450564328404,0.0798857670135,0.999999985571,0.00011931845014,-0.000112310002012,4.48011717008e-05,1793237801426839296
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.809208659,716,680,663,636.809208659,880,788.190791341,803,653,632.190791341,654,0.401055099361,0.00450571548934,0.0798857013506,0.999999985354,0.000119630949579,-0.000113898262079,4.47999648655e-05,1793237801443505920
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.612154625,716,680,663,636.612154625,880,788,803,653.387845375,632,654,0.401060801302,0.00450626944216,0.0798884117109,0.999999985294,0.0001202469354,-0.000113734614871,4.49031963874e-05,1793237801460172544
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.033856662,716,680,663,636.033856662,880,788,803,653.966143338,632,654,0.401069101491,0.00450705995851,0.0798924852454,0.999999985311,0.000121011949108,-0.000112710688693,4.50577126647e-05,1793237801476839424
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.460730225,746.539269775,716,679.460730225,662.460730225,636.539269775,880,788,803,653.460730225,632,654,0.401093932896,0.00450682253838,0.0799026705633,0.999999986282,0.000121974792386,-0.000102583771352,4.51113949441e-05,1793237801493505792
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.115338434,746.884661566,716,679.115338434,662.115338434,636.884661566,880.115338434,788.115338434,803,653.115338434,632.115338434,654.115338434,0.401123854574,0.00450667146896,0.0799138296684,0.999999987389,0.000122217287409,-9.08805339598e-05,4.50160611781e-05,1793237801510172416
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.704824588,746.295175412,716,679.704824588,662.704824588,636.295175412,880.704824588,788.704824588,803,653.704824588,632.704824588,654.704824588,0.401170475911,0.00450713816485,0.0799274295127,0.999999989069,0.00011944791108,-7.50242683278e-05,4.43339109979e-05,1793237801526839040
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.709951785,746,716,680,663,636.290048215,880.709951785,788.709951785,803.290048215,653.709951785,633,654.709951785,0.401224603722,0.00450741667172,0.079939268079,0.99999999031,0.000117985513311,-5.98193929591e-05,4.33680972924e-05,1793237801543505664
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.129003242,746,716,680,663,636.870996758,880.129003242,788.129003242,803.870996758,653.129003242,633,654.129003242,0.401286260058,0.0045075064367,0.0799493401921,0.999999991146,0.000117833933948,-4.52678224822e-05,4.2117786749e-05,1793237801560172544
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.448610317,746,716,680,663,637,880,788,803.551389683,653,632.551389683,654,0.401356261153,0.0045082725486,0.0799534660841,0.999999991643,0.000116681173837,-3.84822486356e-05,4.02242502237e-05,1793237801576839168
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.974791876,746,716.025208124,680,662.974791876,636.974791876,880,788,803.025208124,653.025208124,632.025208124,654.025208124,0.401429219623,0.00450918050068,0.0799557940987,0.99999999205,0.000115206149483,-3.4272143948e-05,3.81202014723e-05,1793237801593505792
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.399586225,746,716.600413775,680,662.399586225,636.399586225,880,788,803.600413775,653.600413775,632.600413775,654.600413775,0.401514733373,0.00450897100322,0.079955927453,0.999999992277,0.000112935035847,-3.78891983209e-05,3.54290261271e-05,1793237801610172416
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.180328338,746.180328338,716.819671662,680,662.180328338,636.180328338,880.180328338,788,804,653.819671662,633,654.819671662,0.401609147568,0.00450968306889,0.0799576746632,0.999999992588,0.000110859512626,-3.8475431123e-05,3.24750310179e-05,1793237801626839296
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.77095699,746.77095699,716.22904301,680,662.77095699,636.77095699,880.77095699,788,804,653.22904301,633,654.22904301,0.4017238129,0.00451249196331,0.0799630938728,0.999999993099,0.000109229015764,-3.21656478006e-05,2.89230435679e-05,1793237801643505920
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.646018668,716,680,663,636.646018668,880.646018668,788,804,653.353981332,632.646018668,654,0.401852410618,0.00451444981087,0.0799678206193,0.99999999364,0.000107137286246,-2.49518852243e-05,2.48715029768e-05,1793237801660172544
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.067811147,716,680,663,636.067811147,880.067811147,788,804,653.932188853,632.067811147,654,0.401989833688,0.00451586857098,0.0799721087321,0.999999994156,0.000104753393018,-1.71655047598e-05,2.05035247356e-05,1793237801676839424
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.507530545,716,680,663,636,880.507530545,788,804,654,632,654,0.402145819753,0.00451685721666,0.0799764045641,0.999999994505,0.000102916082191,-1.22715712332e-05,1.57248969216e-05,1793237801693506048
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.915575107,747,716,680.084424893,663,636.084424893,881,788,803.915575107,653.915575107,632,654,0.402306628604,0.00451804631125,0.0799801149264,0.99999999485,0.00010055159662,-8.64616443149e-06,1.06729928168e-05,1793237801710172672
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.327138175,747,716,680.672861825,663,636.672861825,881,788,803.327138175,653.327138175,632,654,0.402481505767,0.00452077322737,0.0799803239456,0.999999995462,9.46063752485e-05,-1.02996020261e-05,4.31535517113e-06,1793237801726839296
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.257356536,747,716,681,663,636.742643464,881,788,803.257356536,653.257356536,632.257356536,654,0.402668063397,0.00452383785123,0.0799773363533,0.999999995966,8.7843270672e-05,-1.8587464436e-05,-2.31799692751e-06,1793237801743505920
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.83691567,747,716,681,663,636.16308433,881,788,803.83691567,653.83691567,632.83691567,654,0.402869244609,0.00452732527481,0.0799703467003,0.999999996133,8.00562014005e-05,-3.51814259405e-05,-9.29653479997e-06,1793237801760172544
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.585351232,716,681,663,636.414648768,880.585351232,788,803.585351232,653.585351232,632.585351232,654,0.403091532878,0.00452927550052,0.0799658316357,0.999999996318,7.06522881436e-05,-4.58507099251e-05,-1.64469971211e-05,1793237801776839168
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.008333191,716,681,663,636.991666809,880.008333191,788,803.008333191,653.008333191,632.008333191,654,0.4033220863,0.0045306237861,0.0799622855772,0.999999996414,6.06152469742e-05,-5.41999924561e-05,-2.36647819114e-05,1793237801793505792
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.577109083,716,680.422890917,663,637,880,788,803.577109083,653,632,654,0.403591734212,0.00453506716411,0.079966628848,0.999999996485,6.67123313262e-05,-4.382902433e-05,-2.56642722501e-05,1793237801810172672
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.838988013,747,716,679.838988013,663,636.838988013,880,788,804,653,632,654,0.403874354916,0.00453836936213,0.0799713823621,0.999999996582,7.01645122624e-05,-3.45607106868e-05,-2.68097107722e-05,1793237801826839040
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.259407864,747,716,679.259407864,663,636.259407864,880,788,804,653,632,654,0.404189210526,0.00453858703594,0.0799769018181,0.999999997061,6.61263775842e-05,-2.88719834638e-05,-2.59337300857e-05,1793237801843505920
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.319320096,747,716,679.319320096,663,636.319320096,880,788.319320096,803.680679904,653,632,654,0.404522300835,0.00453170278914,0.0799773300136,0.999999997774,5.44885849435e-05,-2.85969591971e-05,-2.5801916591e-05,1793237801860172544
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.897357663,747,716,679.897357663,663,636.897357663,880,788.897357663,803.102642337,653,632,654,0.404870165179,0.00451906446998,0.0799736332014,0.999999998447,3.66934459358e-05,-3.27081898392e-05,-2.62730373431e-05,1793237801876839168
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.527928665,747,716,679.527928665,663,637,880,788.527928665,803,653,632.472071335,654,0.405237423292,0.00452044205968,0.0799701719544,0.999999998148,4.24553636694e-05,-3.42312662183e-05,-2.70310520032e-05,1793237801893506048
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746.952642809,716,679.047357191,663,637,880,788,803.047357191,653,632.952642809,654,0.405610339866,0.00452546720982,0.0799667357036,0.999999997559,5.30190012336e-05,-3.59327840614e-05,-2.79388927715e-05,1793237801910172672
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746.362574982,716,679.637425018,663,637,880,788,803.637425018,653,632.362574982,654,0.406000116146,0.00453761348917,0.0799630030433,0.999999996673,6.03226140594e-05,-4.60831274065e-05,-2.98538681415e-05,1793237801926840832
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746.223278099,716,680,663,636.776721901,880,788,804,653,632,654,0.406410143799,0.00454608734557,0.0799596646328,0.999999995701,6.91692506436e-05,-5.41268261641e-05,-2.97425294969e-05,1793237801943507968
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.802413738,716,680,663,636.197586262,880,788,804,653,632,654,0.406852447789,0.00454870814441,0.0799569545723,0.999999994684,8.04751366887e-05,-5.88129833512e-05,-2.64016795296e-05,1793237801960173824
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,747,716,680,663,636,880.379385249,788,804,653,632,654,0.40731563256,0.00455825907807,0.0799566699691,0.999999993692,9.00667102513e-05,-6.07302322369e-05,-2.85461012034e-05,1793237801976839936
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,747,716,680,663,636,880.955236044,788,804,653,632,654,0.407789630478,0.00457139879829,0.0799576413949,0.999999992686,9.87705227005e-05,-6.12135952859e-05,-3.35310838267e-05,1793237801993506304
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.530570141,746.469429859,716,680,663,636.530570141,880.469429859,788,804,653,632,654,0.408278841752,0.00457815511842,0.0799527953941,0.999999990747,0.000111270261921,-7.0816484023e-05,-3.33267523884e-05,1793237802010172928
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.891233856,746,716,680,662.891233856,637,880,788,803.891233856,653,632,654,0.40877880506,0.00458425906207,0.0799503434701,0.999999989269,0.000120789437036,-7.59133848691e-05,-3.33141621079e-05,1793237802026839552
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.300154038,746,716,680,662.300154038,637,880,788,803.300154038,653,632,654,0.409320760927,0.00458985599145,0.079960682217,0.999999990999,0.000115672780275,-5.76203244618e-05,-3.6091415534e-05,1793237802043506432
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,680.284390015,662.284390015,636.715609985,880,788,803.284390015,653.284390015,632,654,0.409896060117,0.00459503393332,0.079979469383,0.999999991964,0.000118309939261,-2.5018948853e-05,-3.80522747248e-05,1793237802060173056
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,716,680.862191057,662.862191057,636.137808943,880,788,803.862191057,653.862191057,632,654,0.410505760365,0.00459977959786,0.0800069729579,0.99999999067,0.000128946868593,2.23446120307e-05,-3.91708434789e-05,1793237802076839936
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.437255857,746,716,681,663,636.437255857,880.437255857,788.437255857,804,653.562744143,632,654,0.411108366701,0.00459719263916,0.0800121264483,0.999999990633,0.000127714417196,2.89032872814e-05,-3.98573354416e-05,1793237802093506816
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.011513552,716,681,663,637,881,789,804,653,632,654,0.411708537085,0.00459230634547,0.0800097163052,0.999999991405,0.000122778964257,2.18985921268e-05,-4.04351863723e-05,1793237802110173696
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.588222915,716,681,663,637,881,789,804,653,632,654,0.412298199979,0.00458728747446,0.0799796484143,0.999999991799,0.000118559254667,-2.35414843088e-05,-4.23231797573e-05,1793237802126840064
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,747,716,681,663,637,880.831685207,788.831685207,803.831685207,653,632,654,0.412898568221,0.00458521166401,0.0799537864797,0.999999990329,0.000117446758354,-5.96527338267e-05,-4.4615346181e-05,1793237802143506688
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,747,716,681,663,637,880.243148425,788.243148425,803.243148425,653,632,654,0.413525663865,0.00459048362605,0.0799384253191,0.999999988526,0.000124091865772,-7.24732282231e-05,-4.79165885515e-05,1793237802160173056
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.659471189,716,680.659471189,663,636.659471189,880.340528811,788,803.340528811,653,632,654,0.414198390168,0.00459506442871,0.0799447411643,0.999999990465,0.000115494869712,-5.75731419921e-05,-4.91578679855e-05,1793237802176839680
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.079215026,716,680.079215026,663,636.079215026,880.920784974,788,803.920784974,653,632,654,0.414903239767,0.00459915866495,0.0799663173083,0.99999999391,9.61676531513e-05,-2.31581678833e-05,-4.8948963153e-05,1793237802193506304
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.504549071,746.495450929,716,680.495450929,663,636.495450929,880.504549071,788,804,653,632,654,0.415619408527,0.00460154339539,0.0799830737162,0.999999992365,0.000113219703987,1.77069034373e-06,-4.94851570066e-05,1793237802210173440
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.069305512,746.930694488,716,680.930694488,663,636.930694488,880,788,803.930694488,653,632,654,0.416332025472,0.00460341843667,0.0799945358978,0.999999989757,0.00013292248466,1.7371233196e-05,-5.01505974797e-05,1793237802226840832
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.643687759,746.356312241,716,680.356312241,663,636.356312241,880,788,803.356312241,653,632,654,0.417005715722,0.00460354869702,0.079972968666,0.999999989961,0.000130027141618,-2.40802595888e-05,-5.08994518912e-05,1793237802243507456
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.225585284,788,803.225585284,653,632,654,0.417712864182,0.00460370683778,0.0799676092924,0.999999990169,0.000126377297201,-3.12748705767e-05,-5.20878831516e-05,1793237802260174080
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.819762382,788,803.819762382,653,632,654,0.418474681309,0.00460391053336,0.0799887325107,0.999999991009,0.000121494645797,1.75040485705e-05,-5.39945547975e-05,1793237802276840192
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.600608275,746.399391725,716.399391725,680.399391725,663,636,881,788,804,653,631.600608275,654,0.419237507684,0.00460444306375,0.0800039168837,0.999999990063,0.000121101164853,4.66650762136e-05,-5.50511675811e-05,1793237802293506560
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.027313353,746.972686647,716.972686647,680.972686647,663,636,881,788,804,653,631.027313353,654,0.42000077346,0.00460511877541,0.0800165153628,0.99999998866,0.000122662359424,6.72840760694e-05,-5.57376475275e-05,1793237802310172928
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.549305717,747,716.450694283,681,663,636,880.450694283,788,804,653,631,654,0.420750361219,0.00460447839163,0.0799959711334,0.999999989783,0.000127125730078,3.55912199957e-05,-5.48221490325e-05,1793237802326839808
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.870762379,746.870762379,716,681,663,636,880.129237621,788,804,653,631.129237621,654,0.421504020864,0.00460432259776,0.0799818500742,0.999999990012,0.000129724896855,1.33879205364e-05,-5.44765208042e-05,1793237802343506176
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.279583657,746.279583657,716,681,663,636,880.720416343,788,804,653,631.720416343,654,0.422274680622,0.00460613423272,0.0799966139918,0.999999989983,0.000125141796347,3.44576095823e-05,-5.64542629601e-05,1793237802360172800
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636.305408777,881,788,804,653,632.305408777,654,0.423057351496,0.00460821504788,0.0800134857014,0.999999988534,0.000127100084323,5.98181049122e-05,-5.65568652462e-05,1793237802376839680
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636.884850436,881,788,804,653,632.884850436,654,0.423850799492,0.00461053738916,0.0800322486603,0.999999985423,0.000134927737315,8.90285932419e-05,-5.49769683418e-05,1793237802393506560
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636.538277732,881,788,804,653,632.538277732,654,0.424585656435,0.00461207329645,0.0800072805887,0.999999988629,0.000136426995389,3.42016966987e-05,-5.43969085772e-05,1793237802410173184
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746.038630925,716,681,663,636,881,788,804,653,632,654,0.425309228038,0.00461336257739,0.0799720814261,0.999999988519,0.000136245810252,-3.82136516149e-05,-5.42118387476e-05,1793237802426839808
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.625099587,716,681,663,636,881,788,804,653,632,654,0.42607882987,0.00461392035534,0.0799455993832,0.999999987303,0.000134491479918,-6.44864655075e-05,-5.61117014313e-05,1793237802443506176
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.209423994,746.790576006,716,681,663,636.209423994,881,788,804,653,632,654,0.426858864682,0.00461410449928,0.0799327893229,0.999999986628,0.000134395167674,-7.33559118395e-05,-5.74534593838e-05,1793237802460172544
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.789948865,746.210051135,716,681,663,636.789948865,881,788,804,653,632,654,0.427657386942,0.00461362656105,0.0799442061132,0.999999987592,0.000137236875616,-5.13864658201e-05,-5.78062519554e-05,1793237802476839424
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.632083782,746.367916218,716,681.367916218,663.367916218,637,881,788,804,653,632.367916218,654,0.42843144653,0.00461366521265,0.0799538050437,0.999999987591,0.000140251911732,-4.3529296846e-05,-5.70320628331e-05,1793237802493506048
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.055566523,746.944433477,716,681.944433477,663.944433477,637,881,788,804,653,632.944433477,654,0.429191636232,0.00461399676025,0.0799623732839,0.999999987223,0.000143365221264,-4.36735043212e-05,-5.56188979158e-05,1793237802510172672
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.470339869,716,682,664,637,881,788,804,653.529660131,632.470339869,654,0.429985958534,0.00461334788044,0.0799846610976,0.999999988833,0.000138253582229,-7.54076373269e-06,-5.62333698828e-05,1793237802526839808
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,716,681.88556611,664,636.88556611,881,788.11443389,804,653.88556611,632,654,0.430778995897,0.00461334090538,0.0800084561666,0.999999988952,0.000133849101133,3.10072889029e-05,-5.67327419593e-05,1793237802543506944
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,716,681.306404288,664,636.306404288,881,788.693595712,804,653.306404288,632,654,0.43155202966,0.00461636546629,0.0800324294161,0.999999987181,0.000135879282795,6.36500044983e-05,-5.5886365523e-05,1793237802560173568
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.272063012,746.272063012,716,681.272063012,663.727936988,636.272063012,881,788.727936988,804,653,632,654,0.43228595504,0.00461815990237,0.0800303130418,0.999999987674,0.000136604799853,5.38914136272e-05,-5.55522489937e-05,1793237802576840192
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.849750079,746.849750079,716,681.849750079,663.150249921,636.849750079,881,788.150249921,804,653,632,654,0.43297594767,0.00461857246817,0.0799988886887,0.999999989208,0.000135864711669,-3.4990095918e-06,-5.57935835002e-05,1793237802593506560
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.5743293,746.5743293,716,682,663.4256707,637,881,788,803.5743293,653,632,654,0.433656253106,0.00461922430287,0.0799553762689,0.999999987789,0.000132284849465,-5.98998374125e-05,-5.77428010548e-05,1793237802610172928
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.000991197,746,716,682.000991197,664,636.999008803,881.000991197,788,803.000991197,653,632,654,0.434333273733,0.00461995677401,0.0799077482081,0.999999983326,0.00012771345225,-0.000115773727399,-6.02871241607e-05,1793237802626839808
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.588597122,746,716,682.588597122,664,636.411402878,881.588597122,788,803.588597122,653,632,654,0.435081500094,0.00461863568428,0.07993911766,0.999999987984,0.000127098102142,-6.56600769317e-05,-5.97311967998e-05,1793237802643506432
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.825822382,746.174177618,716,682.825822382,663.825822382,636.174177618,882,788,804,653,632.174177618,654,0.435815007003,0.00461721083174,0.079970020176,0.999999990094,0.000125907818372,-2.06855146464e-05,-5.94172710958e-05,1793237802660173312
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.244970787,746.755029213,716,682.244970787,663.244970787,636.755029213,882,788,804,653,632.755029213,654,0.436514146741,0.0046155437111,0.0799998324856,0.999999990534,0.000123375166455,1.22901940274e-05,-5.96683766677e-05,1793237802676840192
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,747,716,682,663.33260106,636.66739894,881.66739894,788,804,653,633,654,0.437192785735,0.00461445698655,0.080015902279,0.999999990427,0.000120893500678,3.14533770639e-05,-5.9516485501e-05,1793237802693507072
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,747,716,682,663.907780826,636.092219174,881.092219174,788,804,653,633,654,0.43785647271,0.00461379356721,0.0800219491269,0.999999990418,0.000118449021259,4.05425536094e-05,-5.90706733767e-05,1793237802710173696
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746.517190449,716,682.482809551,664,636,881.965619102,788,804,653,633,654,0.438488120403,0.00461263632491,0.0800220172545,0.999999990671,0.00011380124418,4.66684412787e-05,-5.9411000333e-05,1793237802726840064
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746.059334876,716,683,664,636.059334876,882.940665124,788,804.059334876,653,632.940665124,654,0.4391111605,0.00461142049051,0.0800196243892,0.999999991023,0.000109183344773,4.96256355372e-05,-5.97590622939e-05,1793237802743506432
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746.649507537,716,683,664,636.649507537,882.350492463,788,804.649507537,653,632.350492463,654,0.43971192536,0.00461052405577,0.0800054277014,0.999999991944,0.00010859661388,2.92963577455e-05,-5.88333726059e-05,1793237802760173312
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.235125855,746.764874145,716,683,664,636.764874145,882,787.764874145,804.764874145,653,632,653.764874145,0.440281772556,0.00461135290729,0.0799807472293,0.999999992488,0.000107287206747,-7.66670719e-06,-5.87768140374e-05,1793237802776839936
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.814084151,746.185915849,716,683,664,636.185915849,882,787.185915849,804.185915849,653,632,653.185915849,0.440806407762,0.00461470470298,0.079940735968,0.999999990319,0.000104921005675,-6.89539163566e-05,-5.99912150715e-05,1793237802793506816
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.609844194,746.390155806,716,683.390155806,664,636,882,787.390155806,804.390155806,653,632,653.390155806,0.441314933439,0.00461552144292,0.0799049425194,0.999999984698,0.000108226304548,-0.000123070788323,-6.11871857496e-05,1793237802810173696
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.03513792,746.96486208,716,683.96486208,664,636,882,787.96486208,804.96486208,653,632,653.96486208,0.441815839075,0.00461513905779,0.0798711441658,0.99999997643,0.000114214321011,-0.000173795971604,-6.2374438594e-05,1793237802826840832
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746.460979471,716,684,663.460979471,636,882,788,804.460979471,653,632.539020529,654,0.442337400183,0.00461601933952,0.0798889297114,0.999999981076,0.000116363003392,-0.000143193619934,-6.16728308287e-05,1793237802843507200
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746.708181826,716,683.291818174,663,636,882,788,804,653,632.291818174,654,0.443372308703,0.00462362134705,0.0799417910067,0.999999988594,0.000124478808879,-6.07107028523e-05,-6.02649461233e-05,1793237802876840448
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746.549704217,716,683,662.549704217,636,882,787,804,653,632.450295783,654,0.444623727078,0.004627092417,0.0799091474421,0.999999982262,0.000130410408373,-0.000121794291226,-6.02957272361e-05,1793237802926839552
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746.612753685,716,683.612753685,662.612753685,635.387246315,882.612753685,787,804,653,633,654,0.445345869778,0.00463174676076,0.0798719611599,0.999999971924,0.000141948672032,-0.000180239544306,-5.93035972496e-05,1793237802960173568
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715.700851577,684,659,634.299148423,882,787,804,653,632.700851577,654,0.449447483453,0.00464762794313,0.07975941214,0.999999928412,0.0001516866616,-0.00034149167806,-5.95951721575e-05,1793237803393506304
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715.137840844,684,659,634.862159156,882.862159156,787,804.862159156,653,633,654,0.449477009151,0.00464950711756,0.079757963089,0.999999927672,0.000153047490045,-0.000343053064755,-5.95633700744e-05,1793237803426839808
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746.438200703,715,684,659,635,882.561799297,787,804.561799297,653,632.561799297,654,0.449484381087,0.00464847644387,0.0797561979546,0.999999926417,0.000153085840027,-0.000346789962687,-5.8889785122e-05,1793237803443506432
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766.600902408,747,715,684,659,634.399097592,882,787,804,653,632,654,0.44949301418,0.00464895860024,0.0797524620716,0.999999923735,0.00015545764417,-0.00035353199219,-5.81209154057e-05,1793237803476839680
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766.652896867,746,715,683.347103133,659,634.652896867,882.347103133,787,804.347103133,653,632,654,0.449502169142,0.00464716446438,0.0797513008446,0.999999924162,0.000152109240238,-0.000353821201867,-5.7867278681e-05,1793237803526839552
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766.961266404,746,715,684,658,634.038733596,882,787.961266404,804.961266404,653,632.038733596,654,0.449500549817,0.00464480645608,0.0797436246239,0.999999919441,0.000151699286721,-0.000367300567414,-5.65250719776e-05,1793237803776839680
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+262,4.366666667,HOLD_POSE2,767,747,715,684,659,635,882,788,805,653,632,654,0.449502989571,0.00464868018248,0.0797436079733,0.999999919257,0.000154312281561,-0.000366607095175,-5.72043532995e-05,1793237803890878720
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746.091014338,716,683,663,636.091014338,882,788,804,653,633,654,0.4341341644,0.00453709536688,0.0798025279544,0.999999942513,0.000113252101785,-0.0003173460047,3.79335559614e-05,1793237805127860736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746.670277585,716,683,663,636.670277585,882,788,804,653,633,654,0.433403991307,0.00452867863316,0.0797957638483,0.999999939944,9.8782650433e-05,-0.000329903594478,3.89676574451e-05,1793237805144527616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746.750097301,716,683.249902699,663,636.750097301,881.750097301,788,804,653,632.750097301,654,0.43264649438,0.00451999443292,0.0797797079676,0.999999929643,8.89787043912e-05,-0.000362147356732,4.0574553973e-05,1793237805161194240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746.169993965,716,683.830006035,663,636.169993965,881.169993965,788,804,653,632.169993965,654,0.431852893911,0.0045109568235,0.0797513747081,0.999999907067,8.53393667206e-05,-0.000420402790537,4.293829428e-05,1793237805177861120
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,716,682.038034491,663,636,881.980982754,788,804,653,632.980982754,654,0.430414349932,0.00449028461007,0.0797813688124,0.999999927915,6.28288508075e-05,-0.000371546513123,4.66355395845e-05,1793237805211194368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746.568115873,716,682.568115873,663.568115873,636,881.431884127,788,804,653,633,654,0.429709724928,0.0044828340569,0.0798355791456,0.999999957306,5.53329495284e-05,-0.000282853314313,4.8161637643e-05,1793237805227860736
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746.846402246,715.846402246,683,663.846402246,636,881,788,804,653,632.846402246,654,0.428984748188,0.00447466519547,0.0798748997712,0.999999973638,4.90401158621e-05,-0.000218724318714,4.97956594623e-05,1793237805244527360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746.266682224,715.266682224,683,663.266682224,636,881,788,804,653,632.266682224,654,0.428203131059,0.0044642084159,0.0798698954183,0.999999971744,4.56038532381e-05,-0.000227497113927,5.17513181525e-05,1793237805261193984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.311243546,683,662.688756454,636,880.688756454,788,804,653,632,653.688756454,0.427399558359,0.00445573421401,0.0798426951592,0.999999961934,3.8573656594e-05,-0.000268126934168,5.24609419563e-05,1793237805277860608
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,716,682.535909361,662.464090639,636.464090639,880.464090639,788,804,653,632.464090639,653.464090639,0.425787818746,0.00444547939271,0.0797776019643,0.999999932075,2.88070423133e-05,-0.00036370728382,5.23146332677e-05,1793237805311193856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,662.958563579,636.958563579,881,788,804,653,632.958563579,654,0.425004516201,0.0044443683212,0.0797660207403,0.999999925542,3.31009853228e-05,-0.000380837304259,5.27619846324e-05,1793237805327860480
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.215768938,716,682,662,636.215768938,880.784231062,788,804,653,632,654,0.423415621437,0.00448264554733,0.07977106016,0.999999924967,8.01727158168e-05,-0.000374915237124,5.54756308748e-05,1793237805361193984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746.794858773,716,682,662,636.794858773,880.205141227,788,804,653,632,654,0.42267554286,0.00450043432001,0.0797869932035,0.999999934503,0.000104275124429,-0.000342250550983,5.46415234609e-05,1793237805377860352
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746.628327313,716,682,662.371672687,636.628327313,880.371672687,788,804,653,632.371672687,654.371672687,0.421957079108,0.00449589150638,0.0798239121276,0.999999955053,9.69464645723e-05,-0.000278405212887,5.46349732816e-05,1793237805394526720
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746.052761963,716,682,662.947238037,636.052761963,880.947238037,788,804,653,632.947238037,654.947238037,0.421250472888,0.00447909800235,0.0798723435109,0.99999997637,7.23753082102e-05,-0.000197454754525,5.50824052389e-05,1793237805411193600
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.519112257,746,716,681.480887743,662.480887743,636,880.480887743,788,804,653,632.480887743,654.480887743,0.420532342222,0.00447200340482,0.0798773952493,0.999999978524,6.71788186525e-05,-0.000188162625427,5.50802824559e-05,1793237805427860224
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.276399522,663,636.276399522,880.276399522,788,804,653,633,654,0.418164860474,0.00446878365168,0.0798032528739,0.999999947919,6.5074773081e-05,-0.000311384251692,5.44663862226e-05,1793237805477860608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.851715525,663,636.851715525,880.851715525,788,804,653,633,654,0.417438638164,0.00447104505945,0.0798040139835,0.999999948919,6.29547676439e-05,-0.000308830908092,5.31242833942e-05,1793237805494527232
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746.426777191,716,681,663,637,880.573222809,788,804,653,633,654,0.416727853328,0.00447680396651,0.0798189364088,0.999999952689,6.94416789167e-05,-0.000294941393801,5.30130259411e-05,1793237805511193856
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746.998198815,716,681,662.998198815,636.998198815,880,788,804,653,633,654,0.416022444247,0.00448374857833,0.0798386463848,0.999999957029,7.88870705172e-05,-0.000277263065466,5.33302615931e-05,1793237805527860224
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,662,636,880,787.819338151,804.180661849,653,632.819338151,654,0.414633850874,0.00447827969514,0.0798033337501,0.999999943814,7.78913208545e-05,-0.000321490735549,5.42992842055e-05,1793237805561193472
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,662,636,880,787.241572283,804.758427717,653,632.241572283,654,0.413972608093,0.00447417587182,0.0798135591438,0.999999951325,7.71483997206e-05,-0.000297503619217,5.37632163737e-05,1793237805577860352
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.333957509,636,880,787.333957509,804.666042491,653,632.333957509,654,0.413330277788,0.00447240743829,0.079825534514,0.99999995772,7.46162798962e-05,-0.000275872081411,5.37307936958e-05,1793237805594526976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.90788053,636,880,787.90788053,804.09211947,653,632.90788053,654,0.412701537101,0.00447231710173,0.0798387673313,0.999999963282,7.07985295517e-05,-0.000255933148415,5.40602657925e-05,1793237805611193600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.515024304,636,880,788,804,653,632.515024304,654,0.412050612294,0.00447275388318,0.0798229282136,0.999999954895,6.69842047782e-05,-0.000287716743189,5.42382143336e-05,1793237805627860224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.064230112,746,716,680.935769888,662.064230112,636.064230112,880,788,804,653,632,654,0.411402621241,0.00447324689846,0.079803404361,0.999999943627,6.3258352088e-05,-0.000325245243238,5.44092490272e-05,1793237805644526848
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.656243571,746,716,680.343756429,662.656243571,636.656243571,880,788,804,653,632,654,0.410813590063,0.00447337384627,0.0797992771308,0.999999942657,6.02540995568e-05,-0.000328719784722,5.47615285117e-05,1793237805661193472
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.75797531,746,716,680.24202469,662.75797531,636.75797531,880,788.24202469,803.75797531,653.24202469,632,654,0.410240413083,0.0044735461145,0.0798057916688,0.999999946147,6.66066885824e-05,-0.000316626398616,5.49212516279e-05,1793237805677860096
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.180824031,746,716,680.819175969,662.180824031,636.180824031,880,788.819175969,803.180824031,653.819175969,632,654,0.409689189132,0.00447378113698,0.0798270416439,0.999999954769,8.59155030016e-05,-0.000282976424153,5.48143458321e-05,1793237805694526720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.393796439,746.393796439,716,681,662.393796439,636,880,788.606203561,803.393796439,653.606203561,632,654,0.409163964274,0.00447420655471,0.0798427436183,0.999999961844,8.3102787874e-05,-0.000257749744342,5.44988221805e-05,1793237805711193600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.967262281,746.967262281,716,681,662.967262281,636,880,788.032737719,803.967262281,653.032737719,632,654,0.408650601441,0.00447471884018,0.0798559143225,0.999999968139,7.01971391153e-05,-0.000236366184986,5.40881167372e-05,1793237805727860224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.456143609,747,716,681,663,636,880.543856391,788,803.456143609,653,632,654,0.408120066618,0.00447462666581,0.0798379421227,0.999999958721,7.36360344261e-05,-0.000272190623353,5.52144476562e-05,1793237805744526848
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,747,716,680.875690811,663,636,880.875690811,788,803.124309189,653.124309189,632,654,0.407597494493,0.004474554206,0.0798173779125,0.999999946929,7.65025441199e-05,-0.000311704998694,5.59345792062e-05,1793237805761193472
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,747,716,680.281364125,663,636,880.281364125,788,803.718635875,653.718635875,632,654,0.407108960441,0.00447469465946,0.0797941423886,0.999999933823,7.34632818345e-05,-0.000352075220508,5.4767001418e-05,1793237805777860096
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.302717135,747,716,680.302717135,663,636.302717135,880,788,803.697282865,653.697282865,632,654,0.406655134608,0.00447627792714,0.0797873897733,0.999999930987,7.17715968177e-05,-0.000360523030665,5.38333434634e-05,1793237805794527488
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.877587369,747,716,680.877587369,663,636.877587369,880,788,803.122412631,653.122412631,632,654,0.406232512683,0.00447915833433,0.0797954558602,0.999999938156,7.12914302814e-05,-0.000340271494351,5.31099875848e-05,1793237805811195136
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,663,636,880,788.603561095,803.603561095,653.396438905,632,654,0.405103010533,0.00448276495201,0.0798306854497,0.99999995652,8.18497629689e-05,-0.000278355174982,5.27128634595e-05,1793237805861193984
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.21951128,716,680,663.78048872,636.78048872,880,788.21951128,804,653.78048872,632,654,0.404405417216,0.00448366789415,0.0798314548393,0.999999954491,8.34373982011e-05,-0.0002848894754,5.37914807723e-05,1793237805894527232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.637644125,746,716,680,663.27528825,636.637644125,880,788,803.637644125,654,632.362355875,654,0.404080250543,0.00448531330186,0.0798313822484,0.999999953166,8.42268757697e-05,-0.00028926995427,5.38133808067e-05,1793237805911193856
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.510343076,746.510343076,716,680,662.510343076,636.510343076,880,788,803.510343076,653.489656924,632.489656924,654,0.403499539361,0.00448561498246,0.0798392650111,0.999999955665,8.09650649645e-05,-0.000281766507953,5.21674822812e-05,1793237805944527360
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.322936616,746.322936616,716,680,663,637,880,788,804,653,632,654,0.403011003898,0.00448308037274,0.0798480016922,0.999999957964,8.46623907793e-05,-0.000272419889052,5.18795662608e-05,1793237805977860352
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.263061743,746,716,680,663,636.736938257,880,788,804,653,632,654,0.402784905193,0.00448280418466,0.0798466925978,0.999999956717,8.58702680192e-05,-0.000276573019017,5.19669688836e-05,1793237805994526976
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.844219038,746,716,680,663,636.155780962,880,788,804,653,632,654,0.402570265189,0.00448330097223,0.0798423760886,0.999999955414,8.3358138603e-05,-0.000282109093683,5.13681350423e-05,1793237806011193600
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.580278581,746.419721419,716.419721419,680,663,636,880,788,803.580278581,653,632.419721419,654,0.402381654501,0.00448432363483,0.0798396759271,0.999999955024,8.11880822212e-05,-0.000284246326476,5.06479039817e-05,1793237806027860480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.00684715,746.99315285,716.99315285,680,663,636,880,788,803.00684715,653,632.99315285,654,0.40220257625,0.00448553888292,0.0798375677032,0.999999954972,7.91432995834e-05,-0.000285138838239,4.98832149504e-05,1793237806044527360
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,716.848682131,680,663,636.151317869,880,788,803.848682131,653,632,654,0.401927226916,0.00449012620013,0.079856571776,0.99999996252,8.77978508021e-05,-0.000254230088162,5.11799969316e-05,1793237806077860608
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.015332127,747,716,680,663,637,880.984667873,788,803.984667873,653,632,654,0.400992564969,0.00450511918941,0.079850659887,0.99999995796,0.0001135690524,-0.000262574351049,4.73018259562e-05,1793237806561193728
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.570252755,747,716,680.570252755,663,636.429747245,880.429747245,788,804,653,632,654,0.400993582925,0.00450424683077,0.0798515372422,0.999999958432,0.000112525927208,-0.000261189344593,4.7484471343e-05,1793237806577860352
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.844615746,716,680.844615746,663,636,880,788,804,653,632,654,0.400993878108,0.00450394792752,0.0798519056651,0.999999958631,0.000112336413198,-0.000260486380182,4.75978059894e-05,1793237806594526976
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.261483255,716,680.261483255,663,636,880,788,804,653,632,654,0.400992195064,0.00450527122728,0.0798508506034,0.999999958079,0.000114505355691,-0.000261675736012,4.7503647877e-05,1793237806611193600
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.317118516,716,680.317118516,663,636.317118516,880.317118516,788,804,653,632.317118516,654,0.400991866139,0.00450545352676,0.0798507604236,0.999999957995,0.000115273709332,-0.000261657236751,4.75119009113e-05,1793237806627860480
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.892037031,716,680.892037031,663,636.892037031,880.892037031,788,804,653,632.892037031,654,0.40099263804,0.0045047082554,0.0798514546402,0.999999958295,0.000114903460776,-0.000260656817338,4.76034086084e-05,1793237806644527104
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,747,716,680.532576816,663,636.532576816,880.532576816,788,804,653,632.532576816,654,0.400993334766,0.0045051540493,0.0798521566234,0.99999995858,0.000114439202545,-0.000259816022589,4.73268301594e-05,1793237806661193472
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,747,716,680.043843589,663,636,880,788,804,653,632,654,0.400993866313,0.00450585453171,0.0798527050478,0.999999958796,0.000114053644478,-0.000259213243571,4.69939484928e-05,1793237806677860352
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,747,716,680.631756138,663,636,880,788,804,653,632,654,0.400992563795,0.00450629822706,0.0798513256281,0.999999958204,0.000114914426144,-0.000261106097123,4.70184622006e-05,1793237806694526976
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746.783097246,716,681,663,636,880,788,803.783097246,653.216902754,632,654,0.400991723177,0.00450674643888,0.0798506559242,0.999999957904,0.000115390380095,-0.000262049285522,4.69891187691e-05,1793237806711193856
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.202587238,716,681,663,636,880,788,803.202587238,653.797412762,632,654,0.400991656871,0.00450720222201,0.0798511759598,0.999999958099,0.00011522122412,-0.00026140049287,4.68694913493e-05,1793237806727860480
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.374447473,716,680.625552527,663,636,880.374447473,788,803.374447473,654,632,654,0.400992205457,0.0045067253699,0.0798516154884,0.999999958537,0.000113977943085,-0.000260303700887,4.66594546949e-05,1793237806744527104
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.949619199,716,680.050380801,663,636,880.949619199,788,803.949619199,654,632,654,0.400993083658,0.00450574857444,0.0798520118607,0.999999959102,0.000112158872484,-0.000258966756883,4.64009537701e-05,1793237806761193728
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746.46491682,716,680.53508318,663,636.53508318,880.46491682,788,803.46491682,653.46491682,632,654,0.400992309201,0.00450577561046,0.0798523269065,0.999999959063,0.00011311351776,-0.000258664535616,4.66126598063e-05,1793237806777860352
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b82b62dbba8e446e0915341034908d74e6df51d0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,436 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.579015051988,0.0100012471855,1.07001167015,0.549586286171,0.0186749107203,1.06966120237
+394,6.566666667,pose2_to_pose3_retreat,0.578903495965,0.0100013919795,1.0700116565,0.549474728768,0.0186750509043,1.0696611905
+395,6.583333333,pose2_to_pose3_retreat,0.578801282469,0.0100012959975,1.0700116558,0.549372517441,0.0186749623084,1.06966119063
+396,6.600000000,pose2_to_pose3_retreat,0.578709532387,0.0100013068968,1.07001162521,0.549280766488,0.0186749705257,1.06966116745
+397,6.616666667,pose2_to_pose3_retreat,0.578628060486,0.0100013507935,1.07001166921,0.549199293215,0.0186750098078,1.06966121274
+398,6.633333333,pose2_to_pose3_retreat,0.578557568824,0.0100013725727,1.07001173211,0.549128801628,0.0186750316609,1.06966127084
+399,6.650000000,pose2_to_pose3_retreat,0.57849620104,0.0100013972274,1.07001165424,0.549067434882,0.0186750599293,1.06966119522
+400,6.666666667,pose2_to_pose3_retreat,0.578443830948,0.0100013859938,1.07001185371,0.549015064485,0.0186750476696,1.06966139473
+401,6.683333333,pose2_to_pose3_retreat,0.578400251229,0.0100012498852,1.07001188075,0.54897148674,0.0186749182291,1.06966142101
+402,6.700000000,pose2_to_pose3_retreat,0.578364565515,0.0100012517201,1.07001178323,0.548935802564,0.0186749254282,1.06966132708
+403,6.716666667,pose2_to_pose3_retreat,0.578335860363,0.0100012796398,1.07001175765,0.548907096619,0.0186749504726,1.06966129686
+404,6.733333333,pose2_to_pose3_retreat,0.578312901798,0.0100013106449,1.07001177323,0.548884135865,0.018674973697,1.06966130378
+405,6.750000000,pose2_to_pose3_retreat,0.578295280703,0.0100013996997,1.07001166592,0.548866513695,0.0186750591845,1.06966119841
+406,6.766666667,pose2_to_pose3_retreat,0.578281326867,0.0100013134502,1.07001166379,0.548852560891,0.0186749764861,1.06966119755
+407,6.783333333,pose2_to_pose3_retreat,0.578271203641,0.0100012695343,1.0700114038,0.548842437592,0.0186749325525,1.06966094322
+408,6.800000000,pose2_to_pose3_retreat,0.5782641976,0.0100013717929,1.07001149527,0.548835430664,0.0186750318493,1.06966103575
+409,6.816666667,pose2_to_pose3_retreat,0.578259716428,0.0100015046858,1.07001179304,0.548830948668,0.0186751618227,1.06966133029
+410,6.833333333,pose2_to_pose3_retreat,0.578257511858,0.0100014411563,1.07001194742,0.548828744784,0.0186751003327,1.06966147758
+411,6.850000000,pose2_to_pose3_retreat,0.578256313062,0.0100014066103,1.07001203137,0.548827546362,0.0186750668958,1.06966155767
+412,6.866666667,pose2_to_pose3_retreat,0.578255809992,0.0100013921133,1.0700120666,0.548827043449,0.0186750528642,1.06966159127
+413,6.883333333,pose2_to_pose3_retreat,0.578255711594,0.0100013890387,1.07001206722,0.548826945102,0.0186750499637,1.06966159192
+414,6.900000000,pose2_to_pose3_retreat,0.578255665334,0.0100013874466,1.07001206366,0.548826898878,0.0186750485044,1.06966158858
+415,6.916666667,pose2_to_pose3_retreat,0.578255330357,0.0100013759178,1.07001203786,0.548826564166,0.0186750379374,1.0696615644
+416,6.933333333,pose2_to_pose3_retreat,0.578254713486,0.010001354687,1.07001199037,0.548825947782,0.018675018478,1.06966151989
+417,6.950000000,pose2_to_pose3_retreat,0.578253929947,0.0100013277201,1.07001193004,0.548825164862,0.0186749937609,1.06966146335
+418,6.966666667,pose2_to_pose3_retreat,0.578253323828,0.0100013136457,1.07001186285,0.548824559099,0.0186749809408,1.06966139741
+419,6.983333333,pose2_to_pose3_retreat,0.578253016642,0.0100013159675,1.07001180021,0.548824251921,0.018674983221,1.06966133307
+420,7.000000000,pose2_to_pose3_retreat,0.578252938874,0.0100013165553,1.07001178435,0.548824174155,0.0186749837983,1.06966131679
+421,7.016666667,pose2_to_pose3_retreat,0.578252641102,0.0100013188059,1.07001172363,0.548823876391,0.0186749860086,1.06966125442
+422,7.033333333,pose2_to_pose3_retreat,0.578252463533,0.010001320148,1.07001168742,0.548823698826,0.0186749873267,1.06966121723
+423,7.050000000,pose2_to_pose3_retreat,0.578252413919,0.0100013186994,1.0700116673,0.5488236492,0.0186749858933,1.06966119851
+424,7.066666667,pose2_to_pose3_retreat,0.578252406988,0.0100013183169,1.0700116635,0.548823642267,0.018674985515,1.06966119507
+425,7.083333333,pose2_to_pose3_retreat,0.57825238345,0.0100013170175,1.0700116506,0.548823618718,0.0186749842301,1.06966118339
+426,7.100000000,pose2_to_pose3_retreat,0.578252382331,0.0100013169557,1.07001164998,0.548823617599,0.0186749841691,1.06966118283
+427,7.116666667,pose2_to_pose3_retreat,0.578252347357,0.0100013150251,1.07001163081,0.548823582609,0.01867498226,1.06966116548
+428,7.133333333,pose2_to_pose3_retreat,0.578252333797,0.0100013142765,1.07001162338,0.548823569043,0.0186749815198,1.06966115875
+429,7.150000000,pose2_to_pose3_retreat,0.578252240731,0.0100013091392,1.07001157236,0.548823475937,0.0186749764399,1.06966111257
+430,7.166666667,pose2_to_pose3_retreat,0.578252133615,0.0100013032262,1.07001151363,0.548823368773,0.018674970593,1.06966105942
+431,7.183333333,pose2_to_pose3_retreat,0.578252100585,0.010001291968,1.07001151686,0.548823335719,0.0186749592621,1.06966106295
+432,7.200000000,pose2_to_pose3_retreat,0.578252117115,0.0100012835665,1.07001154698,0.548823352245,0.0186749507585,1.06966109081
+433,7.216666667,pose2_to_pose3_retreat,0.578252155163,0.0100012642279,1.07001161631,0.548823390286,0.0186749311849,1.06966115495
+434,7.233333333,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409337,0.0186749213828,1.06966118707
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..758bc62b3a7a84c89d6a548f78dec1e3f473d17b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1659cf1ce0066e3a7184a8316dd86ed9360ca2aafc06be0009ea20f0eba81b
+size 27755792
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03703eda55970953a16d0e4fe5446881b8b9596a
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
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+33,0.550000000,BASELINE,767,746.139331818,716,680,663,636.139331818,880,788,803.139331818,653,632.139331818,654,0.400991469905,0.00450811979182,0.0798535419697,0.999999959412,0.000115855727896,-0.00025618959719,4.60371658569e-05,1793237807484706048
+34,0.566666667,BASELINE,767,746.713603135,716,680,663,636.713603135,880,788,803.713603135,653,632.713603135,654,0.400989989537,0.00450771365832,0.0798521175082,0.999999958572,0.000115679538838,-0.000259522334521,4.60672731481e-05,1793237807501372416
+35,0.583333333,BASELINE,767,747,716,680.298242737,663,637,880,788,803.701757263,653.298242737,632.701757263,654,0.400990055782,0.00450763349409,0.0798520921437,0.999999958521,0.000115619887993,-0.000259768109815,4.59423304338e-05,1793237807518039040
+36,0.600000000,BASELINE,767,747,716,680.893197476,663,637,880,788,803.106802524,653.893197476,632.106802524,654,0.400991660701,0.00450787762604,0.079853458695,0.999999959257,0.000115676177205,-0.000256942767345,4.56631335141e-05,1793237807534706176
+37,0.616666667,BASELINE,767,747,716,681,663.472727131,637,880,788,803,654,632,654,0.400992687172,0.00450788762294,0.0798545582805,0.999999959588,0.000116950172393,-0.000255049371687,4.57784507106e-05,1793237807551372800
+38,0.633333333,BASELINE,767,747,716,681,663.951191896,637,880,788,803,653.951191896,632.048808104,654,0.400993551596,0.00450785163739,0.07985552054,0.999999959828,0.000118259040511,-0.00025346834439,4.5971470454e-05,1793237807568039680
+39,0.650000000,BASELINE,767,747,716,681,663.375906971,637,880,788,803,653.375906971,632.624093029,654,0.400994033217,0.00450787221499,0.0798556315516,0.999999960067,0.000117070275969,-0.000253057327349,4.60715852534e-05,1793237807584706048
+40,0.666666667,BASELINE,767,746.796289435,716,680.796289435,663,637,880,788,803,653,633,654,0.400993952287,0.00450805941059,0.0798553380602,0.99999996003,0.000116759418537,-0.000253346026502,4.60778147084e-05,1793237807601372672
+41,0.683333333,BASELINE,767,746.208503233,716,680.208503233,663,637,880,788,803,653,633,654,0.400992810722,0.00450856074753,0.0798542819196,0.999999959471,0.00011810376611,-0.000254953969691,4.590703285e-05,1793237807618039296
+42,0.700000000,BASELINE,766.626196247,746,716,680,663,637,880,788,803.373803753,653.373803753,633,654,0.400993155791,0.00450859884294,0.079854494422,0.999999959525,0.00011796327183,-0.000254791451718,4.59963315835e-05,1793237807634705920
+43,0.716666667,BASELINE,766.046901369,746,716,680,663,637,880,788,803.953098631,653.953098631,633,654,0.400994318108,0.00450838228058,0.0798554043355,0.999999959916,0.000117006515445,-0.000253655658139,4.62286044175e-05,1793237807651372544
+44,0.733333333,BASELINE,766.528878811,746,716,680.528878811,663,637,880,788,803.471121189,654,632.471121189,654,0.400993479067,0.00450769468028,0.0798547160224,0.999999959863,0.000115929020964,-0.000254325484935,4.63907727231e-05,1793237807668039680
+45,0.750000000,BASELINE,766.893493431,746,716,680.893493431,663,636.893493431,879.893493431,788,803.106506569,653.893493431,632.106506569,654,0.400992378677,0.00450695064665,0.0798539049829,0.999999959736,0.000114876345302,-0.00025528549704,4.64800487327e-05,1793237807684706816
+46,0.766666667,BASELINE,766.306126399,746,716,680.306126399,663,636.306126399,879.306126399,788,803.693873601,653.306126399,632.693873601,654,0.40099089435,0.00450613917458,0.0798531755267,0.999999959451,0.000113983744978,-0.000256837488956,4.6268110535e-05,1793237807701372928
+47,0.783333333,BASELINE,766,746,716,680,663,636.277496309,879,788,804,653,632.722503691,654,0.400991170125,0.00450692733196,0.0798536092396,0.999999959513,0.000114458929882,-0.000256417044227,4.60853253941e-05,1793237807718039040
+48,0.800000000,BASELINE,766,746,716,680,663,636.857043447,879,788,804,653,632.142956553,654,0.400993361746,0.00450945666339,0.0798553090454,0.999999959948,0.000116422929651,-0.000253849630152,4.59342729186e-05,1793237807734705664
+49,0.816666667,BASELINE,766.435676874,746.435676874,716,680,663,636.564323126,879.871353749,788,803.564323126,653,632,654.435676874,0.400993900573,0.00450972336751,0.0798555006011,0.999999960008,0.000117198148136,-0.000253273517436,4.58312722355e-05,1793237807751372288
+50,0.833333333,BASELINE,767,747,716,680.013916251,663,636.013916251,880.986083749,788,803.013916251,653,632.013916251,654.986083749,0.400993870714,0.00450922927245,0.0798551842184,0.999999959945,0.000117532254196,-0.000253383179684,4.57464758473e-05,1793237807768038912
+51,0.850000000,BASELINE,767,747,716,680.588336091,663,636.588336091,880.411663909,788,803.588336091,653,632.588336091,654.411663909,0.400992733293,0.00450793254039,0.0798543007626,0.999999959776,0.000115777612714,-0.00025485203855,4.57611748702e-05,1793237807784705536
+52,0.866666667,BASELINE,766.833117376,746.833117376,716,680.833117376,663,637,880,788,804,653,632.833117376,654,0.400991593008,0.0045070121414,0.0798535449554,0.999999959538,0.000114915994345,-0.000256170028521,4.5774686657e-05,1793237807801372416
+53,0.883333333,BASELINE,766.244133098,746.244133098,716,680.244133098,663,637,880,788,804,653,632.244133098,654,0.400990445474,0.004507043614,0.0798531120143,0.999999959136,0.000116313128525,-0.000257106420798,4.57851955288e-05,1793237807818039808
+54,0.900000000,BASELINE,766,746.339423638,716,680,663,636.660576362,880,788,804,653,632,654,0.400991538378,0.00450806017826,0.079854083532,0.999999959444,0.000117156939515,-0.000255531894427,4.57134695324e-05,1793237807834706432
+55,0.916666667,BASELINE,766,746.919137989,716,680,663,636.080862011,880,788,804,653,632,654,0.400994217371,0.00450977412582,0.0798560493188,0.999999960248,0.000117609032224,-0.000252179794614,4.55835263906e-05,1793237807851372800
+56,0.933333333,BASELINE,766.495578156,747,716,680,663,636.495578156,880,788,803.504421844,653.495578156,632,654,0.400992645592,0.00450793178573,0.079854450716,0.999999959919,0.000115384142975,-0.000254491220822,4.56447080692e-05,1793237807868039424
+57,0.950000000,BASELINE,766.92878774,746.92878774,716,680,663,636.92878774,880,788,803.07121226,653.92878774,632.07121226,654,0.400990768423,0.00450598492541,0.0798527269372,0.999999959463,0.000113443419106,-0.000257118203804,4.5759889423e-05,1793237807884705792
+58,0.966666667,BASELINE,766.355096671,746.355096671,716,680,663,636.355096671,880,788,803.644903329,653.355096671,632.644903329,654,0.400991598261,0.00450736810926,0.0798541967208,0.999999959507,0.000116569617014,-0.000255494052897,4.60374950871e-05,1793237807901372416
+59,0.983333333,BASELINE,766.225635511,746.225635511,716,680,663,636.225635511,880,788,804,653.225635511,632.774364489,654,0.400992175551,0.0045083355934,0.0798548735349,0.99999995953,0.000118376885924,-0.000254568406103,4.60735960986e-05,1793237807918039040
+60,1.000000000,BASELINE,766.817805753,746.817805753,716,680,663,636.817805753,880,788,804,653.817805753,632.182194247,654,0.400992342587,0.00450862779226,0.0798542622058,0.999999959532,0.000118041614545,-0.00025477744755,4.57173837178e-05,1793237807934705664
+61,1.016666667,BASELINE,767,747,716,680.399638092,663,637,880,788,803.600361908,653.600361908,632.399638092,654,0.40099293383,0.00450746636855,0.0798546045562,0.999999959848,0.000116247536072,-0.000254366746604,4.56858385004e-05,1793237807951372544
+62,1.033333333,BASELINE,767,747,716,680.97687621,663,637,880,788,803.02312379,653.02312379,632.97687621,654,0.400993713591,0.00450565895182,0.0798553707239,0.999999960299,0.00011380516062,-0.000253680630796,4.5798576087e-05,1793237807968039168
+63,1.050000000,BASELINE,767,746.446630432,716,680.446630432,663,637,880,788,804.106739137,653.553369568,632.446630432,654,0.40099350011,0.00450625126649,0.0798555474295,0.999999960346,0.000114043458172,-0.00025337414748,4.58670491332e-05,1793237807984706048
+64,1.066666667,BASELINE,767,746.131802966,716,680,663,637,880.131802966,788,804.868197034,653.868197034,632.131802966,654,0.400993358956,0.00450661409161,0.0798556323807,0.999999960355,0.000114339605404,-0.000253196757463,4.59109632428e-05,1793237808001372928
+65,1.083333333,BASELINE,767,746.717017113,716,680,663,637,880.717017113,788,804.282982887,653.282982887,632.717017113,654,0.4009936092,0.00450584295693,0.0798554863127,0.99999996029,0.000114449928039,-0.000253408958016,4.58767474529e-05,1793237808018039296
+66,1.100000000,BASELINE,766.698918508,746.698918508,716,680,663,637,880.698918508,788,804,653,633,654,0.400992910412,0.0045061066517,0.0798548430871,0.999999960008,0.000114918096402,-0.000254325084872,4.57926111852e-05,1793237808034705664
+67,1.116666667,BASELINE,766.115930702,746.115930702,716,680,663,637,880.115930702,788,804,653,633,654,0.400991323035,0.00450733927008,0.0798537343667,0.999999959519,0.000115721320127,-0.000255900306591,4.56617337604e-05,1793237808051372288
+68,1.133333333,BASELINE,766.460369952,746,716,680.460369952,663,637,880.460369952,788.460369952,804,653,633,654,0.40099095327,0.00450734791029,0.0798537309535,0.999999959453,0.000116194899111,-0.000255898773359,4.59253722736e-05,1793237808068039168
+69,1.150000000,BASELINE,767,746,716,680.965310896,663,637,880.965310896,788.965310896,804,653,632.965310896,654,0.400990981882,0.004507019913,0.0798540120937,0.999999959514,0.000116465013392,-0.000255475173471,4.62559305628e-05,1793237808084706048
+70,1.166666667,BASELINE,767,746,716,680.395950075,663,637,880.395950075,788.395950075,804,653,632.395950075,654,0.400992492443,0.00450618593903,0.0798544504398,0.999999959935,0.000114860231451,-0.000254578510532,4.61085991591e-05,1793237808101372928
+71,1.183333333,BASELINE,766.818823677,746,716,680,663,637,880,788,804,653,632,654,0.400992997293,0.00450608399262,0.0798545898941,0.999999960079,0.000114094003853,-0.000254392232246,4.59187925468e-05,1793237808118039808
+72,1.200000000,BASELINE,766.22396596,746,716,680,663,637,880,788,804,653,632,654,0.400991205796,0.00450765349066,0.0798540468863,0.999999959594,0.000115242453997,-0.000255827980924,4.56320019108e-05,1793237808134706432
+73,1.216666667,BASELINE,766.362642739,746,716.362642739,680.362642739,663,637,880,788,804,653.362642739,632,654,0.400990822765,0.00450820308641,0.0798537716369,0.999999959434,0.000115835489672,-0.000256217869563,4.54573549878e-05,1793237808151372800
+74,1.233333333,BASELINE,766.944270168,746,716.944270168,680.944270168,663,637,880,788,804,653.944270168,632,654,0.400991290248,0.00450813680599,0.0798536580755,0.999999959471,0.00011609313385,-0.00025597620725,4.53504269514e-05,1793237808168039168
+75,1.250000000,BASELINE,766.478739071,746.521260929,716.478739071,680.478739071,663,637,880.521260929,788,803.478739071,653.478739071,632.521260929,654,0.400991964988,0.00450828317915,0.0798539740183,0.999999959553,0.000116947048675,-0.000255237037103,4.55184204729e-05,1793237808184705792
+76,1.266666667,BASELINE,766.096849517,746.903150483,716,680,663,636.903150483,880.903150483,788,803.096849517,653,632.903150483,654,0.400992429358,0.00450828633533,0.0798542186784,0.999999959623,0.000117383795039,-0.000254733611633,4.56715874326e-05,1793237808201372416
+77,1.283333333,BASELINE,766.667977737,746.332022263,716,680,663,636.332022263,880.332022263,788,803.667977737,653,632.332022263,654,0.400991755979,0.00450747779235,0.0798538913723,0.999999959617,0.000115468206256,-0.000255642823995,4.56094780783e-05,1793237808218039040
+78,1.300000000,BASELINE,767,746,716.247992029,680,663,636.247992029,880,788,804,653.247992029,632,654,0.400991762203,0.00450729360821,0.0798542836839,0.999999959729,0.000115239904172,-0.000255297120292,4.56628710738e-05,1793237808234705664
+79,1.316666667,BASELINE,767,746,716.840345459,680,663,636.840345459,880,788,804,653.840345459,632,654,0.400992712123,0.00450797640798,0.0798556752556,0.999999960004,0.000117354566318,-0.000253208841726,4.58766504841e-05,1793237808251372288
+80,1.333333333,BASELINE,767,746,716.578009646,680,663,636.578009646,880,788,804.421990354,653.578009646,632,654,0.400992502952,0.00450815782588,0.0798553911394,0.999999959889,0.000117539405163,-0.000253566256888,4.59325754914e-05,1793237808268039424
+81,1.350000000,BASELINE,767,746,716.000315871,680,663,636.000315871,880,788,804.999684129,653.000315871,632,654,0.400991866109,0.00450815424703,0.0798544887382,0.999999959631,0.000117012189783,-0.000254826068991,4.59302563642e-05,1793237808284706304
+82,1.366666667,BASELINE,767,746.574144602,716,680,663,636,880.574144602,788,804.425855398,653,632,654,0.400992053752,0.00450867566173,0.0798545667964,0.999999959613,0.000118534530532,-0.000254225010988,4.57478022702e-05,1793237808301372672
+83,1.383333333,BASELINE,766.847200945,746.847200945,716,680.152799055,663,636.152799055,880.847200945,788,804,653,632.152799055,654,0.400992225572,0.00450856376105,0.0798546435707,0.999999959717,0.000118460483766,-0.000253879425729,4.55980898264e-05,1793237808318039040
+84,1.400000000,BASELINE,766.256522516,746.256522516,716,680.743477484,663,636.743477484,880.256522516,788,804,653,632.743477484,654,0.400992350754,0.0045066361326,0.0798547151289,0.99999996016,0.000113808423811,-0.000254268871214,4.55424881665e-05,1793237808334705664
+85,1.416666667,BASELINE,766,746,716,681,663,637,880,788,804,653,633,654,0.400992257631,0.00450603435734,0.0798546527187,0.999999960193,0.000112820656211,-0.000254590629608,4.54837821977e-05,1793237808351372288
+86,1.433333333,BASELINE,766,746,716,681,663,637,880,788,804,653,633,654,0.400991996921,0.00450645040393,0.0798544874645,0.99999995992,0.000114645867299,-0.000254860426425,4.54226931382e-05,1793237808368038912
+87,1.450000000,BASELINE,766,746.482364199,716.482364199,680.517635801,663,637,880,788,803.517635801,653,632.517635801,654,0.400992723952,0.00450726294107,0.079854737573,0.999999959915,0.000115619345581,-0.000254450869668,4.53590643162e-05,1793237808384705536
+88,1.466666667,BASELINE,766,746.942660236,716.942660236,680,663,637,880,788,803,653,632.057339764,654,0.400993518719,0.00450806780286,0.0798550355079,0.999999959969,0.000116277697226,-0.000253945172472,4.5320460436e-05,1793237808401372160
+89,1.483333333,BASELINE,766,746.367368416,716.367368416,680,663,637,880,788,803,653,632.632631584,654,0.400993212948,0.00450811596146,0.0798550453723,0.999999960092,0.000115566096426,-0.000253748789263,4.55123107458e-05,1793237808418038784
+90,1.500000000,BASELINE,766,746,716,680,663,637,880,788,803,653,632.786067111,654,0.400993231357,0.00450814119487,0.0798551615552,0.999999960202,0.000115160420815,-0.000253480113659,4.56332238608e-05,1793237808434705664
+91,1.516666667,BASELINE,766,746,716,680,663,637,880,788,803,653,632.194148042,654,0.400993822541,0.00450812592301,0.0798554655865,0.999999960287,0.000115295267559,-0.000253083708641,4.56288019524e-05,1793237808451372288
+92,1.533333333,BASELINE,766.388004475,746,716.388004475,680,663,637,880.388004475,788,803,653,632,654.388004475,0.400992968356,0.00450855864008,0.0798552314317,0.99999995998,0.000116769204115,-0.000253613079754,4.56640588485e-05,1793237808468039168
+93,1.550000000,BASELINE,766.965390087,746,716.965390087,680,663,637,880.965390087,788,803,653,632,654.965390087,0.400991408701,0.0045092100161,0.0798547345935,0.999999959478,0.000118896737143,-0.000254594312984,4.57186825752e-05,1793237808484705792
+94,1.566666667,BASELINE,767,746.53897806,716.46102194,680,663,637,881,788,803.53897806,653,632,654.46102194,0.400991287407,0.00450843847208,0.0798541623268,0.999999959505,0.000117087492195,-0.000255340712476,4.56247352828e-05,1793237808501372416
+95,1.583333333,BASELINE,767,746.887378057,716,680,663,637,880.887378057,788,804,653.112621943,632,654,0.400991226819,0.00450761989301,0.0798537594637,0.999999959551,0.000115519434894,-0.000255882787412,4.55803488189e-05,1793237808518039040
+96,1.600000000,BASELINE,767,746.312510624,716,680,663,637,880.312510624,788,804,653.687489376,632,654,0.400991038953,0.00450698066354,0.0798540716412,0.99999995955,0.000115971624137,-0.000255647692574,4.57782631523e-05,1793237808534705664
+97,1.616666667,BASELINE,767,746,716,680,663,637,880.271700074,788,804,654,632.271700074,654,0.400991401885,0.00450661778832,0.0798546418692,0.999999959791,0.000115420504186,-0.000254935837898,4.58717048691e-05,1793237808551372544
+98,1.633333333,BASELINE,767,746,716,680,663,637,880.867040119,788,804,654,632.867040119,654,0.40099242091,0.00450658409702,0.0798555194782,0.999999960318,0.000113674276113,-0.000253656082986,4.58407023148e-05,1793237808568039424
+99,1.650000000,BASELINE,767,746,716,680,663,637,880.551301861,788,804,653.551301861,633,654,0.400992900453,0.00450690994467,0.0798560282768,0.999999960439,0.000114413339948,-0.00025284256704,4.58475503335e-05,1793237808584706048
+100,1.666666667,BASELINE,767,746,716,680,663,637,880.026356248,788,803.973643752,653,632.973643752,654,0.400993148661,0.00450727927877,0.0798563479169,0.999999960419,0.000115805179591,-0.000252283153687,4.58790534049e-05,1793237808601372672
+101,1.683333333,BASELINE,767,746,716,680,663,637,880.602646333,788,803.397353667,653,632.397353667,654,0.400991806838,0.00450639875684,0.0798549335344,0.9999999599,0.000115905802961,-0.000254228279468,4.61978923025e-05,1793237808618039296
+102,1.700000000,BASELINE,767,746.182722307,716,680.182722307,663,637,880.817277693,788,803,653.182722307,632,654,0.400990788086,0.00450624546418,0.0798539225273,0.999999959492,0.0001160681809,-0.000255738930468,4.62770296782e-05,1793237808634705664
+103,1.716666667,BASELINE,767,746.771205302,716,680.771205302,663,637,880.228794698,788,803,653.771205302,632,654,0.400990486759,0.00450770708695,0.079853807272,0.999999959338,0.000116367693567,-0.000256284768599,4.58238759293e-05,1793237808651372288
+104,1.733333333,BASELINE,766.645997176,747,716,680.645997176,663,637,880,788,803,653.645997176,632,654,0.400991345855,0.00450813248365,0.0798543859997,0.99999995966,0.000116681215178,-0.000254932043075,4.55614508901e-05,1793237808668039168
+105,1.750000000,BASELINE,766.066816079,747,716,680.066816079,663,637,880,788,803,653.066816079,632,654,0.400992943087,0.00450789874564,0.0798554061644,0.999999960278,0.000117003647795,-0.000252371656935,4.54203467641e-05,1793237808684706048
+106,1.766666667,BASELINE,766.508564095,746.491435905,716,680.508564095,663,636.491435905,879.491435905,788,803.508564095,653,632.508564095,654,0.400992876045,0.00450736600118,0.079855414149,0.999999960252,0.000116516607552,-0.00025269372512,4.54551379563e-05,1793237808701372672
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.400993340185,0.00450895860722,0.079854720932,0.9999999596,0.000118483561014,-0.000254347934388,4.54888788848e-05,1793237808744547584
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.591110991,788,804,653,632,654,0.400992817541,0.00450845534046,0.07985502707,0.999999959719,0.000118208031218,-0.000253938950865,4.58670113317e-05,1793237808761214208
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.822017028,788,803.822017028,653,632,654,0.40099285391,0.00450799416561,0.0798553531848,0.999999959961,0.000117307185885,-0.000253384925043,4.59771273485e-05,1793237808777880576
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.244656878,788,803.244656878,653,632,654,0.400994144653,0.00450762744099,0.0798557241255,0.999999960473,0.000115003190789,-0.000252505437761,4.54858395818e-05,1793237808794546944
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.669140746,746,716,680,663,637,880,788,803,653,632.330859254,654,0.400994012595,0.00450717459298,0.0798555383835,0.999999960522,0.000114147908231,-0.000252708577042,4.54321729645e-05,1793237808811213312
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.094980665,746,716,680,663,637,880,788,803,653,632.905019335,654,0.400992834265,0.00450665841325,0.079854943279,0.999999960233,0.000114357951785,-0.000253707837187,4.57003156832e-05,1793237808827879680
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.479852996,746.479852996,716,680,663,637,880,788,803.479852996,653,632.520147004,654,0.40099289397,0.00450718859831,0.0798550597413,0.999999960105,0.000115719224213,-0.00025361151275,4.56163701549e-05,1793237808844546560
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,747,716,680,663,637,880,788,804,653,632,654,0.400993242267,0.00450792014443,0.0798552796934,0.99999996002,0.000117104788614,-0.000253340089472,4.54451610468e-05,1793237808861213184
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,747,716,680,663,637,880,788,804,653,632,654,0.400994000395,0.0045085943399,0.0798551433274,0.999999960067,0.000116555708738,-0.000253467767476,4.51081513344e-05,1793237808877879808
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.760909238,747,716,680,663,637,880,788,803.760909238,653.239090762,632,654,0.400996563876,0.00450838308837,0.079856190522,0.99999996057,0.000115553544742,-0.000251952315015,4.50275240963e-05,1793237808894546432
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.185934117,747,716,680,663,637,880,788,803.185934117,653.814065883,632,654,0.401001663588,0.00450692792508,0.0798589004305,0.999999961701,0.000113914869916,-0.000248128526491,4.53070733424e-05,1793237808911213056
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.389002508,746.610997492,716,680,663,637,880,788,803,653.610997492,632,654,0.401020271585,0.00450626115485,0.079867885872,0.999999965359,0.000113895895747,-0.000232892545751,4.55022854334e-05,1793237808927879680
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.963920786,746.036079214,716,680,663,637,880,788,803,653.036079214,632,654,0.40104533559,0.00450597118079,0.0798798705761,0.99999996987,0.000114651024098,-0.000212202341406,4.56571903198e-05,1793237808944546048
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.55504827,716,680.55504827,663,637,880,788,803,653,632,654,0.401092277295,0.00450735903908,0.0798968481052,0.999999976158,0.000115338109482,-0.000179941367436,4.4737290383e-05,1793237808961212672
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.856672911,746.856672911,716,680.856672911,663,637,880,788,803.143327089,653,632,654,0.401144541445,0.00450865701566,0.0799134410088,0.999999981443,0.000115355503673,-0.00014799276988,4.36401892466e-05,1793237808977879552
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.280280569,746.280280569,716,680.280280569,663,637,880,788,803.719719431,653,632,654,0.401208461329,0.00450934396677,0.0799278616521,0.999999985563,0.000113363180829,-0.000119328928616,4.22251181328e-05,1793237808994547200
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,788,804,653.295978244,632,654,0.401275311686,0.00450953151608,0.0799381116543,0.999999987832,0.000111758699948,-0.000100935263366,4.07120004456e-05,1793237809011214080
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,788,804,653.872110634,632,654,0.401344935837,0.00450924636344,0.0799444139924,0.999999988872,0.000110521325736,-9.2262694063e-05,3.91060782267e-05,1793237809027880448
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.442040381,746,716,680,663,637,879.557959619,788,804,653.557959619,632.442040381,654,0.401423073574,0.00451131803923,0.0799458715695,0.999999989362,0.000109223400459,-8.96207702649e-05,3.62651412111e-05,1793237809044547072
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.010777202,716,680.010777202,663,637,879.010777202,788,803.989222798,653,632.989222798,654,0.401504110975,0.0045140337795,0.0799460007955,0.999999989699,0.00010793745699,-8.86434640423e-05,3.30658788392e-05,1793237809061213440
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.611063336,716,680.611063336,663,637,879.611063336,788,803.388936664,653,632.388936664,654,0.401610891782,0.00451519778748,0.0799490794337,0.999999990126,0.00010825190256,-8.46029038586e-05,2.95405973492e-05,1793237809077880064
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.797030225,716,680.797030225,663,637,880,788,803,653,632,654,0.401726897034,0.00451686055224,0.0799536974264,0.999999990845,0.000107982146125,-7.72985518347e-05,2.59861795605e-05,1793237809094546688
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.220544618,716,680.220544618,663,637,880,788,803,653,632,654,0.401859877589,0.00451944115577,0.079961148221,0.999999992017,0.00010663730988,-6.39879959943e-05,2.23781439841e-05,1793237809111213056
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.645733573,746,716,680,663,636.645733573,880.354266427,788.354266427,803,653,632,654,0.402004139839,0.00452040529295,0.0799665547732,0.999999993161,0.000102252172755,-5.38727317802e-05,1.78692155136e-05,1793237809127879936
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.071960046,746,716,680,663,636.071960046,880.928039954,788.928039954,803,653,632,654,0.402155392354,0.00452036785132,0.0799706946927,0.999999994266,9.59832339995e-05,-4.57373016216e-05,1.28020842472e-05,1793237809144546816
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746.515106534,716,680.515106534,663,636.515106534,880.484893466,788.484893466,803,653,632.515106534,654,0.402330798984,0.00452433384342,0.0799747592694,0.999999994738,9.49322459856e-05,-3.82973612253e-05,6.79204618884e-06,1793237809161213440
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.102495889,746.897504111,716,680.897504111,663,637,880,788,803.102495889,653,632.897504111,654,0.402511526988,0.00452830646497,0.0799772501221,0.999999995054,9.34042264383e-05,-3.41764986508e-05,6.02992138832e-07,1793237809177880320
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.682508338,746.317491662,716,680.317491662,663,637,880,788,803.682508338,653,632.317491662,654,0.40270090975,0.0045296353436,0.0799724595118,0.999999995256,8.61677420758e-05,-4.50541899215e-05,-5.79013792979e-06,1793237809194546688
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.738963708,746.261036292,716,680.261036292,663,637,880,788.261036292,804,653.261036292,632.261036292,654,0.402903410181,0.00453192631865,0.0799671486133,0.999999995222,7.94203224438e-05,-5.56107148696e-05,-1.24792406926e-05,1793237809211213056
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.162231132,746.837768868,716,680.837768868,663,637,880,788.837768868,804,653.837768868,632.837768868,654,0.403121775057,0.00453538084931,0.0799612084805,0.999999994962,7.32643762522e-05,-6.57788218537e-05,-1.95262913076e-05,1793237809227879424
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.420650354,747,716,680.579349646,663,637,880,788.579349646,804,653.579349646,633,654,0.403367450205,0.00453930185311,0.0799606104799,0.999999994769,7.57621967076e-05,-6.44312170545e-05,-2.38971766703e-05,1793237809244546304
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,747,716,680.005878162,663,637,880,788,804,653,633,654,0.403624396504,0.00454343976957,0.0799621701155,0.999999994569,8.18677422571e-05,-5.85004590619e-05,-2.71582946466e-05,1793237809261212928
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,716,680.585225421,663,637,880,788,804,653,633,654,0.403938144721,0.00455092791881,0.0799702454026,0.999999992688,0.00010950849866,-4.5151757883e-05,-2.43369056289e-05,1793237809277879552
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.835439207,746.835439207,716,681,663,637,880,788,804,653,632.835439207,654,0.404255966335,0.00455721388647,0.0799758364282,0.999999991975,0.000119284118843,-3.5622717553e-05,-2.34980354454e-05,1793237809294546432
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.256133879,746.256133879,716,681,663,637,880,788,804,653,632.256133879,654,0.404584054132,0.00456046998045,0.0799751663385,0.999999995449,8.40340186023e-05,-3.57204161992e-05,-2.76557316365e-05,1793237809311213312
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.320601175,746,716,680.679398825,663,637,880,788,804,653.320601175,632,654,0.404933207059,0.00456455009859,0.0799730948856,0.999999995706,7.96245406921e-05,-3.66272746014e-05,-3.01079366394e-05,1793237809327879936
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.895299185,746,716,680.104700815,663,637,880,788,804,653.895299185,632,654,0.405299055478,0.00456928330869,0.079969912763,0.999999993818,9.96582150096e-05,-3.81754436322e-05,-3.12084317915e-05,1793237809344546560
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680.480896503,663,637,880,788,804,653.519103497,632,654,0.405675305838,0.00456016884125,0.0799672134554,0.999999993624,0.000100368136058,-4.30230644357e-05,-2.87783464931e-05,1793237809361212928
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.932046723,746.067953277,716,681,663,637,880,788,804,653,632,654,0.406061627649,0.00454836780574,0.0799645504984,0.999999994067,9.39028224582e-05,-4.87241032486e-05,-2.59507935188e-05,1793237809377879552
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.352284721,746.647715279,716,681,663,637,880,788,804,653,632,654,0.406506352695,0.00453956640959,0.0799613512356,0.999999995965,6.58175415489e-05,-5.53169248036e-05,-2.6053372168e-05,1793237809394546432
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.224718778,747,716,680.775281222,663,636.775281222,879.775281222,788,804,653,632,654,0.406952710623,0.00454208786057,0.0799591819321,0.999999995978,6.0989775904e-05,-5.99470507906e-05,-2.70144287707e-05,1793237809411213312
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.797450261,747,716,680.202549739,663,636.202549739,879.202549739,788,804,653,632,654,0.407401597301,0.00456214453853,0.0799586076844,0.999999993429,9.21799668576e-05,-6.15376307036e-05,-2.93049747842e-05,1793237809427879936
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.631506776,746.631506776,716,680,663,636,879.736986449,788,803.631506776,653,632,654,0.407862812629,0.00457082366216,0.0799531557778,0.999999991217,0.000106103999915,-7.35058354055e-05,-3.00902045332e-05,1793237809444546560
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.061387727,746.061387727,716,680,663,636,880.877224546,788,803.061387727,653,632,654,0.408330773722,0.00457327740942,0.0799450349972,0.99999998928,0.000110580630781,-9.11522914221e-05,-3.00517809842e-05,1793237809461213184
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.535129183,880.464870817,788,803,653,632,654,0.408860398733,0.00458408766263,0.0799495527267,0.999999989428,0.00011644640764,-8.10249231208e-05,-3.19134219971e-05,1793237809477879552
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746.130218794,716,680,663,637,880,788,803.130218794,653,632,654,0.409413574166,0.00459586136016,0.0799598691403,0.999999989757,0.000124724498369,-6.15120547572e-05,-3.38678896233e-05,1793237809494545920
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746.709404701,716,680,663,637,880,788,803.709404701,653,632,654,0.410022291804,0.00460748017747,0.0799849200879,0.999999989246,0.000140741801606,-2.11949432187e-05,-3.53519026862e-05,1793237809511212800
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746.715482338,716,680.284517662,663,636.715482338,880.284517662,788,803.715482338,653,632,654,0.410623773493,0.00461271767376,0.0800038952644,0.999999988107,0.000149520178776,9.44644963657e-06,-3.66212107121e-05,1793237809527879680
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.144470548,716,680.855529452,663,636.144470548,880.855529452,788,803.144470548,653,632,654,0.41121796904,0.00461152952114,0.0800167524659,0.999999987428,0.000151009345141,3.03449140893e-05,-3.76743224217e-05,1793237809544546304
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636,880.569630115,788,803.430369885,653,632.430369885,654,0.411802970652,0.00460166077628,0.0800003686706,0.999999989759,0.000137580824074,1.97531897624e-06,-3.9365453252e-05,1793237809561212928
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.006720097,746.006720097,716,680.993279903,663,636.006720097,880.006720097,788,804,653,632.993279903,654,0.412385233072,0.00458892572078,0.0799740905099,0.999999991119,0.00011923221479,-4.29169718665e-05,-4.12768397653e-05,1793237809577879296
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.60172014,746.60172014,716,680.39827986,663,636.60172014,880.60172014,788,804,653,632.39827986,654,0.413000310174,0.00458265343292,0.0799486552996,0.99999999003,0.000112488631267,-7.34077981256e-05,-4.35521544752e-05,1793237809594545920
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.810226103,746.810226103,716,680,663,636.810226103,881,788,804,653,632,654,0.413643012183,0.00458081141759,0.0799350582636,0.999999989598,0.000106575758777,-8.59886558341e-05,-4.52927979186e-05,1793237809611212544
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.236235839,746.236235839,716,680,663,636.236235839,881,788,804,653,632,654,0.414341643564,0.00458793893555,0.079945428805,0.999999991766,0.00010234474499,-6.23089767212e-05,-4.59509454535e-05,1793237809627879168
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.338979029,716,680,663,636.338979029,880.661020971,788,804,653,632,654,0.41504964205,0.00459485011552,0.0799669735823,0.999999992616,0.000109654159912,-2.39437495129e-05,-4.65977038283e-05,1793237809644546048
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.915050398,716,680,663,636.915050398,880.084949602,788,804,653,632,654,0.415764192148,0.00460160998177,0.0799963339627,0.999999990763,0.000125035304999,2.46929999982e-05,-4.72364961643e-05,1793237809661212672
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.504947236,746.495052764,716,680.504947236,663,636.495052764,880,788.504947236,804,653,632,654,0.416425807449,0.00460628715303,0.0799847003523,0.999999989425,0.000137277459003,-9.42934525939e-06,-4.70692784535e-05,1793237809677879552
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.094582991,716,681,663,636,880.094582991,788.905417009,804,653,632,654,0.417094563921,0.00461006112889,0.0799696279728,0.999999987135,0.000146379696677,-4.55833441382e-05,-4.71670170543e-05,1793237809694546176
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.670714022,716,681,663,636,880.670714022,788.329285978,804,653,632,654,0.41784629436,0.00461107079279,0.0799731488557,0.99999998848,0.00014226007647,-1.92000085403e-05,-4.93235269135e-05,1793237809711212800
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,747,716,681,663.246190381,636.246190381,881,788,804,653,632.246190381,654,0.418618664883,0.00460896301609,0.0799867512485,0.999999989365,0.000135679189966,1.53727150854e-05,-5.12337975583e-05,1793237809727879168
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,747,716,681,663.820793505,636.820793505,881,788,804,653,632.820793505,654,0.419418568944,0.00460269663994,0.0800138021617,0.999999988838,0.000125815025784,6.08699121764e-05,-5.28155905791e-05,1793237809744546048
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.603902206,747,716,681,663.603902206,636.603902206,881.396097794,788,803.603902206,653,632.603902206,654,0.420169598282,0.0046004649627,0.0800102229279,0.999999989579,0.000122042457089,5.56494423981e-05,-5.33872222697e-05,1793237809761212672
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.028280162,747,716,681,663.028280162,636.028280162,881.971719838,788,803.028280162,653,632.028280162,654,0.420898475977,0.00460006194104,0.0799927611255,0.999999990868,0.000121030795837,2.74420932357e-05,-5.3501016283e-05,1793237809777879296
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,747,716,681,663,636.565487315,880.869025369,788,803.565487315,653,632,653.434512685,0.421647987828,0.00460411785934,0.0799887724556,0.999999990763,0.000123005398887,1.86407741502e-05,-5.47402617529e-05,1793237809794546176
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.154941149,746.845058851,716,681,663,637,880.154941149,788,804,653,632.154941149,653.154941149,0.422413548179,0.00460748512075,0.0799934529316,0.999999990217,0.000126415870865,2.36762557053e-05,-5.5003359735e-05,1793237809811212800
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.730151406,746.269848594,716,681,663,637,880.730151406,788,804,653,632.730151406,653.730151406,0.423219747327,0.00460835953185,0.0800197597569,0.999999987722,0.00013330253983,6.35235796493e-05,-5.24609840301e-05,1793237809827879424
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.694815379,746,716,681,663,637,881,788,804,653,632.694815379,654,0.424001079528,0.00460982419523,0.0800208095317,0.999999987435,0.000137629255522,5.93060947495e-05,-5.16847741562e-05,1793237809844546304
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.119938646,746,716,681,663,637,881,788,804,653,632.119938646,654,0.424760436728,0.00461181046538,0.0799995396115,0.999999988736,0.000139693736217,1.61484694251e-05,-5.24693278177e-05,1793237809861212928
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746.466936149,716,681.466936149,663,636.533063851,881,788,804,653,632,654,0.425497479773,0.00461424415299,0.0799638675564,0.999999987733,0.000140974064273,-4.25572744384e-05,-5.33845897519e-05,1793237809877879296
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.944035503,716,681.944035503,663,636.055964497,881,788,804,653,632,654,0.426236166565,0.00461648088322,0.0799291524689,0.999999983832,0.000141766265091,-9.6322603062e-05,-5.44049737715e-05,1793237809894546176
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.364453479,716,681.364453479,663,636.635546521,881,788,804,653,632,654,0.427045273463,0.00461577120565,0.0799389161312,0.999999986492,0.000139925665266,-6.55123100478e-05,-5.60864943445e-05,1793237809911212800
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,716,681.213809289,663.213809289,637,881,788,804,653,632,654,0.427840467545,0.0046142160865,0.0799478612221,0.999999987772,0.000137856561139,-4.73951371218e-05,-5.66138117421e-05,1793237809927879424
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,716,681.789837175,663.789837175,637,881,788,804,653,632,654,0.428612091776,0.00461122868774,0.0799554195564,0.999999988021,0.000135400343186,-5.07816281364e-05,-5.51857707796e-05,1793237809944546048
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,716,682,663.061613012,637,881,788,804,653,632,654,0.430210067844,0.0046162716829,0.0799844806293,0.999999988041,0.000144139565433,-8.17040966701e-06,-5.54482807292e-05,1793237809977879296
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.528711547,746,716,682,663.528711547,637,881,788,804,653,632,654,0.430993662187,0.00461796675404,0.0800155603242,0.999999987996,0.000140571129833,3.53396177175e-05,-5.47648778835e-05,1793237809994546176
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+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746.977414896,715,682,663.977414896,637,881.977414896,788,804,653,632.022585104,654,0.435324453129,0.00462182374912,0.0799393696586,0.999999986714,0.000134819972681,-7.04344712051e-05,-5.86085777028e-05,1793237810094546176
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746.397812092,715,682,663.397812092,637,881.397812092,788,804,653,632.602187908,654,0.436050186611,0.00461904757955,0.0799793752741,0.999999989145,0.000134469147729,-1.76892479205e-05,-5.75717729929e-05,1793237810111212800
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715.180207228,682,663.180207228,636.819792772,881.180207228,788,804,653,632.819792772,654,0.436758860023,0.00461541073637,0.0800091129426,0.999999989603,0.000130971370355,1.99229003087e-05,-5.6955730739e-05,1793237810127879168
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715.754761524,682,663.754761524,636.245238476,881.754761524,788,804,653,632.245238476,654,0.437430201062,0.00460989048257,0.0800163812935,0.999999990792,0.000120587124736,2.4419384664e-05,-5.72604421082e-05,1793237810144545792
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.329170412,746.329170412,716,682.329170412,664,636,881.670829588,788,804,653,632,654,0.438089995652,0.00460666235358,0.0800177345233,0.999999991468,0.000113546014403,2.89802025064e-05,-5.77156414104e-05,1793237810161212672
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.66255526,747,716,683,664,636,881.33744474,788,804,653,632.66255526,654,0.44053261697,0.00461315946606,0.07996270585,0.999999991569,0.000107993237165,-4.1986105715e-05,-5.86148584274e-05,1793237810227879168
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766.188181567,747,716,683,664,636,881.811818433,788,804,653,633,653.188181567,0.441578214435,0.00461766638953,0.079886801143,0.999999979089,0.000118976659448,-0.000154605180043,-6.1355276698e-05,1793237810261212672
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.387938897,746.612061103,716,683,664,636,882,788,804,653,632.612061103,653,0.442110928714,0.00462274856492,0.0798823786008,0.999999977481,0.000127670538325,-0.00015783033281,-6.1864467766e-05,1793237810277879296
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746.109314251,715,684,660,635,882,787.890685749,804,652.890685749,632.890685749,654,0.447854136047,0.00466777234959,0.0798188328899,0.999999950706,0.000188081990012,-0.000243862869518,-6.11901331955e-05,1793237810527879168
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746.687302224,715,684,660,635,882,787.312697776,804,652.312697776,632.312697776,654,0.448071697604,0.00465770438084,0.0798073785618,0.999999949494,0.000164351734338,-0.000264612048796,-6.30878761117e-05,1793237810544545792
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746.415731569,715.415731569,683.584268431,660,635,882.584268431,787,804,652.584268431,632,653.584268431,0.448649238466,0.00462125471146,0.0797859421245,0.99999994842,9.28201795772e-05,-0.000300896722457,-6.32818519225e-05,1793237810594545920
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746.418000281,715.418000281,683,660,635,882,787,804,652.581999719,632.581999719,653,0.448979824695,0.00463201076231,0.0797861107185,0.999999945561,0.000123981575527,-0.000299743715544,-6.04944435303e-05,1793237810627878912
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766.069401012,746.069401012,715,683.069401012,658.930598988,634,882,787,804,652.930598988,632,654,0.449622512509,0.00464048341184,0.0797675272188,0.999999933985,0.00014477050155,-0.000327527250508,-6.16156080289e-05,1793237810727879168
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.648475033,746.648475033,715,683.648475033,658.351524967,634,882,787,804,652.351524967,632,654,0.449687173693,0.00464116645506,0.0797615020027,0.999999931197,0.000143489349718,-0.000336362698265,-6.22658227098e-05,1793237810744546048
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766.195763521,746.195763521,715,683.195763521,658,634,882,787,804,652.804236479,632,654,0.449795263291,0.00464529211956,0.0797548231852,0.999999927552,0.000148652615329,-0.000344816558697,-6.2450023268e-05,1793237810777879296
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,683.949745396,658,634,882,787,804.949745396,653,632,654,0.449875267189,0.00464516505505,0.0797570820053,0.999999927076,0.000153398741719,-0.000344343581903,-6.11839043909e-05,1793237810811212544
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,684,658.541504899,634,882,787,804.458495101,653,632,653.458495101,0.449902226544,0.00464798011187,0.0797566652897,0.999999926316,0.000155825654806,-0.000345455347195,-6.12121101531e-05,1793237810827879168
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,684,659,634,882,787,804,653,632,653.132004748,0.449926206399,0.00464999843796,0.0797558370794,0.999999925461,0.000157645712496,-0.000347112094284,-6.11497732184e-05,1793237810844545792
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,684,659,634,882,787,804,653,632,653.711714219,0.4499437151,0.00464819191169,0.0797543385571,0.999999924548,0.000157263755482,-0.000350012808296,-6.05321049277e-05,1793237810861212416
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,684,659,634,882,787,804,653,632,654,0.449956544856,0.00464808690556,0.0797524071642,0.999999923032,0.000157985743141,-0.000354059061616,-6.01534702585e-05,1793237810877879040
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,684,659,634,882,787,804,653,632,654,0.449964746048,0.00464966509861,0.0797500475613,0.999999920905,0.000159799788946,-0.000359238520246,-6.00112953947e-05,1793237810894545920
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,684,658.553007702,634,882,787,804.446992298,653,632.446992298,654,0.449970359937,0.00465116946145,0.0797486222138,0.999999919985,0.000160252972434,-0.000361541071882,-6.03033360394e-05,1793237810911213312
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,684,658,634,882,787.034311886,804.965688114,653,632.965688114,654,0.449975140496,0.00465237626501,0.0797475124254,0.999999919487,0.00016007122858,-0.000362938162348,-6.06561319232e-05,1793237810927881216
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,684,658,634,882,787.61395549,804.38604451,653,632.38604451,654,0.449979630448,0.00464922349321,0.0797467404097,0.999999919574,0.000156611758743,-0.000364348195019,-5.98005525275e-05,1793237810944547328
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.771081227,715,684,658,634,882,787.228918773,804,653,632,654,0.449982494675,0.00464911451132,0.0797443397408,0.999999918369,0.000155759971008,-0.000368085091826,-5.92807953167e-05,1793237810977879808
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,747,715,684,658,634,882,787,804,653,632,654,0.449983133468,0.00464985714346,0.0797440481776,0.9999999178,0.000157458916075,-0.000368944616515,-5.90448987323e-05,1793237810994546176
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,747,715,684,658,634,882,787,804,653,632,654,0.449984253119,0.00465010816988,0.0797444927455,0.999999917474,0.000159558063074,-0.000368992483807,-5.86297094951e-05,1793237811011212800
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.503713956,746.496286044,715,684,658,634,881.496286044,787,804,653,632,653.496286044,0.449983763663,0.00464951501731,0.0797433467408,0.999999917241,0.000157036297713,-0.000370686384718,-5.87324224815e-05,1793237811027879424
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746.529961048,715,684.529961048,658.470038952,634,882,787.470038952,803.529961048,653,632,654,0.449987493041,0.00465249165305,0.0797413431911,0.999999915647,0.000158481395229,-0.000374412685441,-5.83566633452e-05,1793237811227879168
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+261,4.350000000,HOLD_POSE2,766,746,715,684,658,634,882,787,805,653,632,654,0.449985408003,0.00464946685689,0.079738289958,0.999999914622,0.000156215050288,-0.000378236059756,-5.73528524803e-05,1793237811329479680
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.35105926,747,716,684,663,636,881.35105926,788.64894074,804,653,633,654,0.436455593722,0.00456042412593,0.0798621842475,0.999999966764,0.00011952638634,-0.000225960325511,3.35868293693e-05,1793237812545646848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.9276697,747,716,684,663,636,881.9276697,788.0723303,804,653,633,654,0.435740290504,0.0045556772478,0.0798542183684,0.999999966688,0.000104818224353,-0.000233270667548,3.49537460005e-05,1793237812562313472
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,747,716,683.48541208,663,636,881.48541208,788,804,653,633,654,0.435021941642,0.00454678558672,0.0798304162044,0.999999956562,0.000109923691406,-0.000271107952547,3.59650231369e-05,1793237812578979584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.898510175,747,716,683.101489825,663,636.101489825,881,788,804.101489825,653,633,654,0.434301532914,0.00453715380002,0.0798078879505,0.999999945651,0.000113085527613,-0.000307490360265,3.68677227999e-05,1793237812595645696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.318654056,747,716,683.681345944,663,636.681345944,881,788,804.681345944,653,633,654,0.433573474405,0.00452683560791,0.0798020705143,0.999999944861,9.36909329574e-05,-0.000316377174704,3.7499083219e-05,1793237812612312320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746.740672152,716,683.740672152,663,636.740672152,881,788,804.740672152,653,632.740672152,654,0.432810950477,0.00451982655764,0.0797844755279,0.999999934063,8.5236695616e-05,-0.00035085475503,3.88474095327e-05,1793237812628978944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746.164976626,716,683.164976626,663,636.164976626,881,788,804.164976626,653,632.164976626,654,0.432006380275,0.00451685450214,0.0797525124879,0.999999908337,9.01291726747e-05,-0.00041655185668,4.10704002245e-05,1793237812645645568
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746.410246862,716,683,663,636,881,788,804,653,632,654,0.431242743506,0.00450507039732,0.0797534571956,0.999999909011,7.82337095899e-05,-0.00041716221535,4.28071335509e-05,1793237812662312448
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746.985280709,716,683,663,636,881,788,804,653,632,654,0.43049554883,0.00448974668965,0.079767620211,0.999999920554,5.95949063531e-05,-0.000391628681999,4.43485480515e-05,1793237812678979072
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,747,716,683,663.576310416,636,881,788,804,653,632.576310416,654,0.429809560139,0.00448282900716,0.0798250429739,0.999999953496,5.38620974068e-05,-0.000296716843523,4.54640374224e-05,1793237812695645952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,747,716,683,663.836037494,636,881,788,803.836037494,653,633,654,0.429100081128,0.00447603301751,0.0798677952939,0.999999971812,5.00849367939e-05,-0.00022729110336,4.69791878186e-05,1793237812712312576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,747,716,683,663.257977087,636,881,788,803.257977087,653,633,654,0.428327215075,0.00446898666681,0.0798706263563,0.999999971777,5.03906351699e-05,-0.000226835122185,4.95319671507e-05,1793237812728979200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746.681813587,716,683,663,635.681813587,881,788.318186413,803.318186413,653,633,654,0.427525949116,0.00446044444549,0.0798478198134,0.999999963746,4.12141141996e-05,-0.00026129834995,5.03277878139e-05,1793237812745645568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746.107178963,716,683,663,635.107178963,881,788.892821037,803.892821037,653,633,654,0.426701793767,0.00445069659997,0.0798043501692,0.99999994601,2.43952234304e-05,-0.000323905357666,4.97075549319e-05,1793237812762312192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715.522953404,682.522953404,662.522953404,635.477046596,881,788.522953404,804,653,633,654,0.425898614558,0.00444208299552,0.0797796443984,0.999999934048,1.88905429887e-05,-0.000359261088396,4.97835947357e-05,1793237812778978816
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715.062738154,682.062738154,662.062738154,636,881,788,804.062738154,653,633,654,0.425099622876,0.00443457432632,0.0797617288948,0.999999924366,1.66872892909e-05,-0.000385297393088,5.03615177186e-05,1793237812795645440
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.642389801,682.642389801,662.642389801,636,881,788,804.642389801,653,633,654,0.424295507589,0.00443402677119,0.0797643130551,0.999999923839,2.03115306192e-05,-0.00038602929777,5.37592371817e-05,1793237812812312064
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.221651316,746.221651316,715.778348684,683,662.778348684,636.221651316,881,788,804.778348684,653,633,654,0.423513266741,0.00444757791827,0.0797693545108,0.999999926251,3.80882487771e-05,-0.000378208053608,5.48331261739e-05,1793237812828978944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.80028459,746.80028459,715.19971541,683,662.19971541,636.80028459,881,788,804.19971541,653,633,654,0.422766255788,0.00448383582126,0.07977835358,0.99999993196,7.86583305017e-05,-0.000356611479851,5.21643554331e-05,1793237812845646080
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,747,715.375787014,682.624212986,662.375787014,637,881,788,804,653,633,654,0.422043068587,0.00450087512108,0.0798137044845,0.999999950365,9.90123488022e-05,-0.000294605419658,5.17038941796e-05,1793237812862312704
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,747,715.949639232,682.050360768,662.949639232,637,881,788,804,653,633,654,0.421332438162,0.00450778491338,0.0798629445901,0.999999970394,0.000108711129727,-0.000211300823414,5.24073614692e-05,1793237812878979584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.461889315,747,715.461889315,681.461889315,663,637,881,788,804,653,633,654,0.420577350963,0.00449220401953,0.0798726142454,0.999999975429,9.08349048401e-05,-0.00019510408059,5.31586295927e-05,1793237812895645696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,747,715.125366123,681.125366123,662.874633877,637,880.874633877,788,804,653,633,654,0.419809289524,0.00447753336328,0.0798679990026,0.999999975244,7.34310131081e-05,-0.000203087099274,5.3624084765e-05,1793237812912312320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,747,715.703157696,681.703157696,662.296842304,637,880.296842304,788,804,653,633,654,0.419009840565,0.00447395582786,0.0798255698496,0.999999958507,6.73050712045e-05,-0.000275032618164,5.30414931375e-05,1793237812928979200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.279963037,747,716,682,662.279963037,637,880.279963037,788,804,653,633,654,0.418244728893,0.00447147690337,0.079802049804,0.999999947606,6.18889271392e-05,-0.000313471694663,5.19033107852e-05,1793237812945645824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.855726322,747,716,682,662.855726322,637,880.855726322,788,804,653,633,654,0.417515896982,0.00447015873727,0.0797985085367,0.999999947015,5.72227340783e-05,-0.000316508901826,5.01781087915e-05,1793237812962312448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.559342815,746.559342815,716,681.559342815,662.559342815,636.559342815,880.559342815,788,804,653,633,654,0.41679901141,0.00447593466441,0.0798150777923,0.999999951661,6.53976916434e-05,-0.000299726753953,5.06469508831e-05,1793237812978979328
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.608263973,746,716,681,662.608263973,636,880,788,804,653,632.391736027,654,0.415371004526,0.00448908941499,0.0798160085177,0.999999948229,8.72676534378e-05,-0.000305274987645,5.22804470578e-05,1793237813012312576
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.814042668,746,716,681.185957332,663,636.185957332,880,788,804,653,632.185957332,654,0.414678701544,0.00449007508238,0.0798044877544,0.999999944047,9.13545839241e-05,-0.000317483604672,5.25856373988e-05,1793237813028979200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.241149305,746,716,681.758850695,663,636.758850695,880,788,804,653,632.758850695,654,0.414033651483,0.0044823899055,0.0798111123973,0.999999950112,8.40867080787e-05,-0.000299905167854,5.25543599655e-05,1793237813045645824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,716,681.667184407,663,636.667184407,880.332815593,788,803.667184407,653,633,654,0.413399991012,0.00447794053346,0.079821873142,0.9999999565,7.69011986369e-05,-0.000279985171054,5.19087977307e-05,1793237813062312448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,716,681.092440632,663,636.092440632,880.907559368,788,803.092440632,653,633,654,0.412774609828,0.00447584331246,0.079835640475,0.999999962899,6.97755628741e-05,-0.000258363063433,5.08167035049e-05,1793237813078979072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.499456602,746,716,680.500543398,663,636.499456602,880.500543398,788,803.499456602,653,632.500543398,654,0.412112269338,0.00447568616238,0.0798227449408,0.999999954914,6.73680784948e-05,-0.000288056681838,5.15454871163e-05,1793237813095645696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.907848314,746,716,680.092151686,662.907848314,637,880,788,804,653.092151686,632.092151686,654,0.411452775694,0.0044765960728,0.0798064636651,0.999999944368,6.57756089018e-05,-0.000322795196855,5.23588436984e-05,1793237813112312320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.328321726,746,716,680.671678274,662.328321726,637,880,788,804,653.671678274,632.671678274,654,0.410845803602,0.00448118286902,0.0797993034951,0.999999941453,6.37109014481e-05,-0.000332197388874,5.17736978203e-05,1793237813128978944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.249011604,637,880,788,803.750988396,653.750988396,633,654,0.410269611265,0.00448368938698,0.0798035133957,0.999999943891,7.09852098752e-05,-0.000323283025516,5.16479159836e-05,1793237813145645312
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.823478328,637,880,788,803.176521672,653.176521672,633,654,0.409733647736,0.00448347700633,0.0798225838403,0.999999952375,9.0465497889e-05,-0.000290429147341,5.21225173256e-05,1793237813162311936
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.602133836,663,636.602133836,880,788,803,653,633,654,0.409216686971,0.00448174038784,0.0798410536704,0.999999961143,8.5803373027e-05,-0.000260090750222,5.19962633569e-05,1793237813178978816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.027780943,663,636.027780943,880,788,803,653,633,654,0.408708155467,0.0044793276431,0.0798592570796,0.999999969538,7.04320821503e-05,-0.000230868175156,5.16034801092e-05,1793237813195645440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.565370841,746,716,680.565370841,662.434629159,636.565370841,880,788,803,653.565370841,633,654,0.408168888632,0.00447854498432,0.0798447595139,0.999999961654,7.2826028472e-05,-0.000261899802738,5.2892431016e-05,1793237813212312064
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.845546442,746,716,680.845546442,662,636.845546442,880,788,803,653.845546442,632.845546442,654,0.407638619027,0.00447826748919,0.0798247039486,0.999999950306,7.58438380035e-05,-0.000301243018639,5.37456543584e-05,1793237813228978688
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.270157169,746,716,680.270157169,662,636.270157169,880,788,803,653.270157169,632.270157169,654,0.407137127157,0.0044791409255,0.0797940308317,0.999999932562,7.810100746e-05,-0.000354891490043,5.3178423515e-05,1793237813245645568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.304698832,746,715.695301168,680.304698832,662.304698832,636,880,788,803.304698832,653,632,654,0.40668383124,0.00448022170636,0.0797849318861,0.999999928545,7.62745446178e-05,-0.000366529693471,5.24202966997e-05,1793237813262312192
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.879082806,746,715.120917194,680.879082806,662.879082806,636,880,788,803.879082806,653,632,654,0.406273192991,0.00448148600525,0.0797949279728,0.99999993803,7.08337096536e-05,-0.000340985129152,5.14932103429e-05,1793237813278978816
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.545830188,746,715.454169812,681,663,636.454169812,880,788,804,653.454169812,632,654,0.405894077494,0.00448497958054,0.0798119355294,0.999999949078,7.6895449639e-05,-0.000305589235097,5.04604471809e-05,1793237813295645696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.969608609,662.969608609,636.969608609,880,788,804,653.969608609,632.030391391,653.969608609,0.405522624286,0.00448891745625,0.0798299367805,0.99999995867,8.57596279547e-05,-0.000269915347389,4.95000630828e-05,1793237813312312064
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.375829622,662.375829622,636.375829622,880,788,804,653.375829622,632.624170378,653.375829622,0.405137392397,0.00449007212365,0.0798317004944,0.999999956123,8.97163096115e-05,-0.000277784179894,5.04037947534e-05,1793237813328978688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.211713922,746,716,680,662.211713922,636,880.211713922,788,804,653,632.788286078,653.211713922,0.404768646086,0.00449093877903,0.0798323318445,0.999999954226,9.11707271336e-05,-0.000283926098758,5.11958888404e-05,1793237813345645568
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.370166938,716,680,663,636.370166938,880.629833062,788,804,653.370166938,632,654,0.404113665039,0.00449098347781,0.07983317693,0.999999953684,8.70119613569e-05,-0.000286936462975,5.22347244007e-05,1793237813378978816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.954648846,716,680,663,636.954648846,880.045351154,788,804,653.954648846,632,654,0.403813856912,0.00449025559667,0.0798373625447,0.999999954293,8.66180942993e-05,-0.000284861920554,5.25811413917e-05,1793237813395645184
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,747,716,679.464349168,662.464349168,637,880,788.535650832,803.464349168,654,632,654,0.403539712052,0.00448885306902,0.0798405453035,0.999999956021,8.4239018922e-05,-0.000279782923144,5.08291222364e-05,1793237813412312064
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.884206759,716,679.231586483,662.115793241,637,880,788.884206759,803.115793241,653.884206759,632,654,0.403272550571,0.00448726069068,0.0798433743029,0.999999957308,8.25269260213e-05,-0.0002759080902,4.94751293493e-05,1793237813428978688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.306326262,716,680.387347476,662.693673738,637,880,788.306326262,803.693673738,653.306326262,632,654,0.403024642206,0.0044851371595,0.0798451282286,0.99999995659,8.41429178454e-05,-0.000277847180599,5.0413927497e-05,1793237813445645568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.729231605,746,716,680.729231605,662.729231605,637,880,788.270768395,803.729231605,653,632,654,0.402792987183,0.00448478429751,0.0798442313583,0.999999955638,8.23267754607e-05,-0.000281794289443,5.03850314097e-05,1793237813462312192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.153023446,746,716,680.153023446,662.153023446,637,880,788.846976554,803.153023446,653,632,654,0.402579666728,0.0044864288356,0.0798403442626,0.999999954376,7.66390206326e-05,-0.00028800653947,4.92645296575e-05,1793237813478979072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.420887937,637,880,789,803,653,632,654,0.402394546569,0.00448457375421,0.0798389514431,0.99999995457,6.90807737261e-05,-0.000289325923144,4.8776621808e-05,1793237813495645440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.993968794,637,880,789,803,653,632,654,0.402219623631,0.00448145321169,0.079838460553,0.999999955247,6.08461577088e-05,-0.000288876048039,4.85174596978e-05,1793237813512312064
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.588652758,746,716,680,663,637,880,788.411347242,803,653.588652758,632.588652758,654,0.402076508456,0.00448427345193,0.0798451961316,0.999999958366,6.66658725785e-05,-0.000276373488924,4.94196715864e-05,1793237813528978944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.822569394,746.177430606,716,680.177430606,662.822569394,637,880,788,803,653.822569394,632.822569394,654,0.401938174531,0.00448813061742,0.07985232724,0.99999996087,7.64506260682e-05,-0.000264393811907,5.01162497355e-05,1793237813545645824
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.247541306,746.752458694,716,680.752458694,662.247541306,637,880,788,803,653.247541306,632.247541306,654,0.401809796639,0.00449416979579,0.0798601724392,0.999999962016,9.47855108089e-05,-0.00025387310768,5.03243506887e-05,1793237813562312448
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746.672118505,716,680.672118505,662,637,880,788,803,653,632,654,0.401691878224,0.00450328516665,0.0798612567815,0.999999960199,0.000117569035982,-0.000251665617569,4.94441888337e-05,1793237813578978816
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746.096397285,716,680.096397285,662,637,880,788,803,653,632,654,0.401581865925,0.00451472577671,0.0798572307144,0.999999955831,0.000143715210327,-0.00025574193528,4.77414287052e-05,1793237813595645440
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.488917849,746,716,680,662.488917849,636.511082151,880,788,803,653.488917849,632,654,0.401485513875,0.00451738239929,0.0798518363901,0.999999953634,0.000143675645681,-0.000264355780475,4.69607754283e-05,1793237813612312064
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.924491659,746.075508341,716,680,662.924491659,636.075508341,879.924491659,788,803.075508341,653.924491659,632,654,0.401393984234,0.00451756691795,0.0798463492862,0.999999952085,0.000137357118677,-0.0002735317428,4.63035867204e-05,1793237813628978944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.342290085,746.657709915,716,680,662.342290085,636.657709915,879.342290085,788,803.657709915,653.342290085,632,654,0.401316379917,0.00451301690868,0.0798420861067,0.999999951959,0.000124242779235,-0.000280356179378,4.52304773762e-05,1793237813645645568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.236439605,746.763560395,716,680,662.236439605,637,879.236439605,788,803.763560395,653.236439605,632,654,0.401248069469,0.00451108561369,0.079839277425,0.9999999516,0.000117513008421,-0.000284591343378,4.46962888255e-05,1793237813662312192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.810215803,746.189784197,716,680,662.810215803,637,879.810215803,788,803.189784197,653.810215803,632,654,0.401193018909,0.00451289052954,0.0798385439262,0.999999951153,0.000119892324134,-0.00028513230196,4.49309973555e-05,1793237813678978816
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.384864015,662.615135985,637,880,788,803,653.615135985,632,653.615135985,0.401147675466,0.00451292786439,0.0798372237947,0.999999950799,0.000118870071342,-0.000286745454831,4.52653197569e-05,1793237813695645440
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.959943194,662.040056806,637,880,788,803,653.040056806,632,653.040056806,0.40110712967,0.00451209159007,0.079835613726,0.999999950482,0.000116166627502,-0.000288888528912,4.56488753036e-05,1793237813712312064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.446273737,746.553726263,716,680.446273737,662.553726263,637,879.446273737,788,803,653,632.553726263,653.553726263,0.401079334206,0.00451048722568,0.079836265297,0.999999950984,0.000115874286632,-0.000287230881558,4.58675682528e-05,1793237813728978688
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,746.856056905,716,680,662.856056905,636.856056905,879.143943095,788,803,653,633,654,0.401054260225,0.00450908583556,0.0798370196452,0.999999951432,0.000115601678493,-0.000285743011169,4.60872591514e-05,1793237813745645312
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746.280724756,716,680,662.280724756,636.280724756,879.719275244,788,803,653,633,654,0.401034481462,0.00450846509125,0.0798375745454,0.999999951543,0.000114847206784,-0.000285616755764,4.63469325492e-05,1793237813762311936
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.294407901,662,636.294407901,880,788,803,653,632.705592099,654.294407901,0.401018262109,0.00450820176623,0.0798377434764,0.99999995161,0.000114346315511,-0.000285562855853,4.64571326017e-05,1793237813778978816
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.869350533,662,636.869350533,880,788,803,653,632.130649467,654.869350533,0.401005434436,0.00450827901802,0.0798375446262,0.999999951637,0.0001140870553,-0.000285577901865,4.64249028635e-05,1793237813795645440
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.546340494,662.453659506,636.546340494,880,788,803.453659506,653,632,654.546340494,0.400997941457,0.00450807537131,0.0798375719307,0.999999951885,0.000112568501579,-0.000285325156533,4.63493867495e-05,1793237813812312064
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746.040357321,716,680,663.040357321,636,880,788,804,653.040357321,632,654,0.400992330984,0.00450785294069,0.0798377779967,0.999999952215,0.000111017590583,-0.000284786903296,4.62738302969e-05,1793237813828978944
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746.622152916,716,680,663.622152916,636,880,788,804,653.622152916,632,654,0.40099093019,0.00450848669222,0.0798394901284,0.999999952813,0.000114000683694,-0.000281474723945,4.63685042631e-05,1793237813845645568
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.515059115,747,716,680.484940885,662.515059115,636.484940885,880.515059115,788,804,653,632,654,0.400988297415,0.00451147747715,0.0798441082104,0.999999954665,0.000117494836071,-0.000273495236983,4.54468907199e-05,1793237813928978944
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.895124062,716,679.895124062,663,636,880.895124062,788,804,653,632,654,0.400987918245,0.00451072243618,0.0798442073054,0.999999954765,0.000116313076247,-0.000273612272421,4.55739883677e-05,1793237813945645312
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.316022697,716,679.316022697,663,636,880.316022697,788,804,653,632,654,0.400987353983,0.00451053333474,0.0798450022261,0.999999955162,0.000114922982376,-0.00027277858643,4.53953831032e-05,1793237813962312192
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.25834482,663,636.25834482,880,788,804,653,632,654,0.40098744226,0.00451063203814,0.0798459859348,0.999999955535,0.000114356046293,-0.000271666919999,4.52835058572e-05,1793237813978978816
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.827025887,663,636.827025887,880,788,804,653,632,654,0.4009883144,0.00451107646655,0.0798471964248,0.999999955879,0.000114777926827,-0.000270221329954,4.52517854991e-05,1793237813995645440
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.587271616,880,788,803.587271616,653,632,654,0.400988343844,0.00451155650971,0.0798472465005,0.999999955883,0.00011653267324,-0.000269471168809,4.51697673268e-05,1793237814012312064
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.005750841,880,788,803.005750841,653.005750841,632,654,0.400988002141,0.00451204090983,0.0798467903279,0.999999955736,0.00011882095791,-0.000269033820153,4.506685405e-05,1793237814028978688
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.586717847,880,788,803.586717847,653.586717847,632,654,0.400987381985,0.0045114039345,0.0798464341641,0.999999955924,0.000116198816397,-0.000269478859645,4.50731070172e-05,1793237814045645568
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.164926415,716,680.164926415,663,636.835073585,879.835073585,788,803.835073585,653.835073585,632,654,0.400987004068,0.00451090545978,0.0798461660628,0.999999955998,0.000114749200152,-0.000269829903912,4.50341300947e-05,1793237814062312192
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.736336404,716,680.736336404,663,636.263663596,879.263663596,788,803.263663596,653.263663596,632,654,0.400987223185,0.00451074833866,0.0798461150035,0.999999955806,0.000116189432019,-0.000269949284146,4.48836779589e-05,1793237814078979840
+426,7.100000000,POSE2_TO_POSE3_RETREAT,766.688134776,746.688134776,716,680.688134776,663,636,879.623730448,788,803,653.311865224,632,654,0.400987177132,0.0045105100725,0.0798459196183,0.999999955673,0.000116540722236,-0.000270319797893,4.47141556277e-05,1793237814095646720
+427,7.116666667,POSE2_TO_POSE3_RETREAT,766.109077152,746.109077152,716,680.109077152,663,636,880.781845696,788,803,653.890922848,632,654,0.400986903894,0.00451020228486,0.0798456005809,0.99999995559,0.00011595905509,-0.000270905471776,4.45282948004e-05,1793237814112312576
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.476832402,746,716,680.476832402,663,636.476832402,880.523167598,788,803,653.523167598,632,654,0.400988056164,0.00451081670908,0.0798471612302,0.999999956168,0.000116239185166,-0.000268633904291,4.45816437615e-05,1793237814128979200
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766.936294804,746.063705196,716,681,663,636.936294804,880.063705196,788,803,653,632,654,0.400989102605,0.0045115536479,0.0798487142392,0.999999956705,0.000116757626435,-0.000266382951699,4.46920465732e-05,1793237814145646080
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.354521426,746.645478574,716,681,663,636.354521426,880.645478574,788,803,653,632,654,0.400986597891,0.00451154631767,0.0798466573758,0.999999955715,0.000117587515703,-0.000269692430176,4.48149402077e-05,1793237814162312704
+431,7.183333333,POSE2_TO_POSE3_RETREAT,766.225177711,746.774822289,716,681,663,636,880.549644578,788,803.225177711,653,632,654,0.400985893998,0.00451114652958,0.0798461694562,0.999999955463,0.000117745883394,-0.000270546598376,4.48748964544e-05,1793237814178979584
+432,7.200000000,POSE2_TO_POSE3_RETREAT,766.801641046,746.198358954,716,681,663,636,879.396717908,788,803.801641046,653,632,654,0.400987999454,0.00451013449259,0.079848129147,0.99999995637,0.000116856652523,-0.000267570391532,4.48366680496e-05,1793237814195645952
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.624360203,663,636.375639797,879.375639797,788,803.624360203,653.375639797,632,654,0.400987264446,0.00450935973786,0.0798474882708,0.999999956498,0.000114930940395,-0.000267947346452,4.47174364205e-05,1793237814212312320
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.051654442,663,636.948345558,879.948345558,788,803.051654442,653.948345558,632,654,0.40098503929,0.00450870946481,0.0798454831003,0.999999956211,0.000112461475555,-0.000270083417761,4.45557093535e-05,1793237814228978944
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.538470687,663,636.461529313,879.461529313,788,803.538470687,654,632,654,0.400987443451,0.00450949467234,0.0798473992723,0.999999956824,0.000114346189009,-0.000266977445136,4.47164767365e-05,1793237814245645824
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746.12729876,716,681,663,636,879.12729876,788,803.87270124,654,632,654,0.400989652522,0.00451011506918,0.0798491863252,0.999999957374,0.000115894649013,-0.000264208862874,4.48684623831e-05,1793237814262312448
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746.705417778,716,681,663,636,879.705417778,788,803.294582222,654,632,654,0.400989545433,0.0045096478308,0.079849139405,0.999999957439,0.000114723623169,-0.000264475504941,4.48761266386e-05,1793237814278979072
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f426d2f85d7e0197ae86e0ea10c2b8802c6822eb
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
+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,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+2,0.033333333,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+3,0.050000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+4,0.066666667,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+5,0.083333333,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+6,0.100000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+7,0.116666667,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
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+9,0.150000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
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+381,6.350000000,pose2_to_pose3_retreat,0.581908397553,0.01000138716,1.07001163894,0.5524796306,0.018675046638,1.06966116568
+382,6.366666667,pose2_to_pose3_retreat,0.581578358189,0.010001311495,1.07001173846,0.552149592147,0.0186749740982,1.06966126612
+383,6.383333333,pose2_to_pose3_retreat,0.581269843222,0.0100011629317,1.07001173386,0.551841079338,0.0186748330801,1.06966126718
+384,6.400000000,pose2_to_pose3_retreat,0.58098093249,0.0100011638387,1.0700115452,0.551552168549,0.0186748337768,1.06966107857
+385,6.416666667,pose2_to_pose3_retreat,0.58071013535,0.010001097304,1.07001164126,0.551281373458,0.0186747742597,1.06966117608
+386,6.433333333,pose2_to_pose3_retreat,0.580455428444,0.0100011513284,1.07001169968,0.551026664614,0.0186748213861,1.06966122671
+387,6.450000000,pose2_to_pose3_retreat,0.580217480635,0.0100012302084,1.07001163419,0.550788715159,0.018674894714,1.06966116196
+388,6.466666667,pose2_to_pose3_retreat,0.579996789424,0.0100013059878,1.0700115884,0.550568023136,0.0186749679613,1.06966112157
+389,6.483333333,pose2_to_pose3_retreat,0.579793963215,0.0100013571516,1.07001167479,0.550365196771,0.0186750186826,1.06966121031
+390,6.500000000,pose2_to_pose3_retreat,0.579611370293,0.0100013230947,1.07001177342,0.550182605637,0.0186749907164,1.06966130948
+391,6.516666667,pose2_to_pose3_retreat,0.579446984597,0.0100012745708,1.07001163329,0.550018220016,0.0186749429497,1.06966118157
+392,6.533333333,pose2_to_pose3_retreat,0.579299023517,0.0100012458401,1.07001168353,0.549870259027,0.0186749143594,1.06966122774
+393,6.550000000,pose2_to_pose3_retreat,0.579164079215,0.01000124519,1.07001170001,0.549735314158,0.018674911445,1.06966123579
+394,6.566666667,pose2_to_pose3_retreat,0.579041713291,0.0100012680662,1.07001153777,0.549612946896,0.0186749296829,1.06966107111
+395,6.583333333,pose2_to_pose3_retreat,0.578928442505,0.0100012416887,1.0700113893,0.549499677362,0.0186749080455,1.06966093482
+396,6.600000000,pose2_to_pose3_retreat,0.578824321051,0.0100013441838,1.07001163518,0.549395554783,0.0186750065113,1.06966117546
+397,6.616666667,pose2_to_pose3_retreat,0.578730000575,0.010001323339,1.07001169297,0.549301233786,0.0186749838558,1.06966123276
+398,6.633333333,pose2_to_pose3_retreat,0.578645319519,0.0100012476387,1.07001169081,0.549216553386,0.0186749102502,1.06966122774
+399,6.650000000,pose2_to_pose3_retreat,0.578571305043,0.0100012472509,1.07001174648,0.549142539577,0.018674911852,1.06966127637
+400,6.666666667,pose2_to_pose3_retreat,0.578507032164,0.0100012962648,1.07001152273,0.549078265527,0.0186749573808,1.06966106467
+401,6.683333333,pose2_to_pose3_retreat,0.578452800869,0.010001139789,1.0700117789,0.549024037852,0.0186748126766,1.06966130801
+402,6.700000000,pose2_to_pose3_retreat,0.578408207398,0.010001283248,1.07001177474,0.548979442289,0.0186749492876,1.06966131011
+403,6.716666667,pose2_to_pose3_retreat,0.578371875895,0.0100012510377,1.07001170781,0.548943111261,0.0186749186881,1.06966124309
+404,6.733333333,pose2_to_pose3_retreat,0.578342293735,0.0100012247029,1.07001166201,0.548913529212,0.0186748927071,1.06966119671
+405,6.750000000,pose2_to_pose3_retreat,0.578318309608,0.0100012812268,1.07001163319,0.548889543482,0.0186749438767,1.06966116992
+406,6.766666667,pose2_to_pose3_retreat,0.578299659876,0.0100012628478,1.07001153767,0.548870892857,0.0186749224297,1.06966107349
+407,6.783333333,pose2_to_pose3_retreat,0.578284961068,0.0100011580678,1.07001162803,0.54885619567,0.0186748231826,1.06966116467
+408,6.800000000,pose2_to_pose3_retreat,0.578273917712,0.0100012735782,1.07001157364,0.548845150884,0.0186749338786,1.06966111122
+409,6.816666667,pose2_to_pose3_retreat,0.578266301473,0.010001314391,1.07001155951,0.548837534452,0.0186749741192,1.06966109913
+410,6.833333333,pose2_to_pose3_retreat,0.578261445969,0.0100012192349,1.07001162797,0.548832680794,0.0186748853392,1.06966117036
+411,6.850000000,pose2_to_pose3_retreat,0.578258804093,0.010001253023,1.0700115826,0.548830039135,0.0186749197563,1.06966112244
+412,6.866666667,pose2_to_pose3_retreat,0.578257335041,0.0100012779369,1.07001155146,0.548828570146,0.0186749448166,1.06966108959
+413,6.883333333,pose2_to_pose3_retreat,0.578256731521,0.0100012881721,1.07001153867,0.548827966653,0.018674955112,1.0696610761
+414,6.900000000,pose2_to_pose3_retreat,0.578256303537,0.0100012955747,1.0700115312,0.548827538672,0.0186749625067,1.06966106812
+415,6.916666667,pose2_to_pose3_retreat,0.578256022063,0.0100013034407,1.07001155946,0.548827256893,0.0186749693182,1.06966109592
+416,6.933333333,pose2_to_pose3_retreat,0.578255733641,0.0100013115009,1.07001158842,0.548826968158,0.0186749762978,1.06966112441
+417,6.950000000,pose2_to_pose3_retreat,0.578255514802,0.0100013176166,1.07001161039,0.548826749082,0.0186749815936,1.06966114603
+418,6.966666667,pose2_to_pose3_retreat,0.578255468374,0.010001318914,1.07001161505,0.548826702604,0.0186749827171,1.06966115062
+419,6.983333333,pose2_to_pose3_retreat,0.578255461571,0.0100013191041,1.07001161574,0.548826695793,0.0186749828818,1.06966115129
+420,7.000000000,pose2_to_pose3_retreat,0.578255449279,0.0100013194477,1.07001161697,0.548826683487,0.0186749831792,1.0696611525
+421,7.016666667,pose2_to_pose3_retreat,0.578255445176,0.0100013195623,1.07001161738,0.54882667938,0.0186749832785,1.06966115291
+422,7.033333333,pose2_to_pose3_retreat,0.57825538097,0.0100013213566,1.07001162383,0.548826615105,0.0186749848323,1.06966115925
+423,7.050000000,pose2_to_pose3_retreat,0.578255221082,0.0100013258248,1.07001163989,0.548826455043,0.0186749887015,1.06966117505
+424,7.066666667,pose2_to_pose3_retreat,0.578255050132,0.0100013306021,1.07001165705,0.548826283907,0.0186749928384,1.06966119193
+425,7.083333333,pose2_to_pose3_retreat,0.578254889213,0.0100013350991,1.07001167321,0.548826122814,0.0186749967325,1.06966120783
+426,7.100000000,pose2_to_pose3_retreat,0.57825479043,0.0100013378597,1.07001168313,0.548826023924,0.018674999123,1.06966121759
+427,7.116666667,pose2_to_pose3_retreat,0.578254482946,0.0100013464526,1.070011714,0.548825716106,0.018675006564,1.06966124796
+428,7.133333333,pose2_to_pose3_retreat,0.578254391326,0.010001349013,1.0700117232,0.548825624387,0.0186750087811,1.06966125701
+429,7.150000000,pose2_to_pose3_retreat,0.578254203317,0.0100013542671,1.07001174208,0.548825436174,0.0186750133308,1.06966127559
+430,7.166666667,pose2_to_pose3_retreat,0.578254042792,0.0100013587531,1.0700117582,0.548825275475,0.0186750172154,1.06966129144
+431,7.183333333,pose2_to_pose3_retreat,0.578253926787,0.0100013619949,1.07001176985,0.548825159344,0.0186750200227,1.0696613029
+432,7.200000000,pose2_to_pose3_retreat,0.578253413489,0.0100013651264,1.07001175268,0.548824646041,0.018675023099,1.06966128481
+433,7.216666667,pose2_to_pose3_retreat,0.578253313436,0.0100013646651,1.07001174277,0.54882454604,0.0186750228055,1.06966127471
+434,7.233333333,pose2_to_pose3_retreat,0.578252868701,0.0100013626147,1.07001169871,0.548824101535,0.0186750215008,1.06966122981
+435,7.250000000,pose2_to_pose3_retreat,0.57825268577,0.0100013617713,1.07001168058,0.548823918698,0.0186750209642,1.06966121134
+436,7.266666667,pose2_to_pose3_retreat,0.578252405365,0.0100013730511,1.07001159023,0.548823638591,0.0186750335235,1.06966112771
+437,7.283333333,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409337,0.0186749213828,1.06966118707
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a78d3d58e6437ded832c5a9c760442d84394ae3d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:972bd81ef3b130210d6e3f281e3b4cffb64f1a03f0fa17f299e822466f834340
+size 27888107
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf5a09c19c5c3dc964c9a28e25b76e0f98e88db3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
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+26,0.433333333,BASELINE,767,746.083521376,716,680,663.916478624,637,879.916478624,788,803.916478624,653,632,654,0.400989017173,0.00451030334773,0.0798500394243,0.999999958454,0.000111641447871,-0.000262127041583,4.37965596667e-05,1793237814835800320
+27,0.450000000,BASELINE,767,746.673265156,716,680,663.326734844,637,879.326734844,788,803.326734844,653,632,654,0.400989714147,0.00451065883917,0.0798507384599,0.999999958243,0.000114665360788,-0.0002616171798,4.38425495719e-05,1793237814852467200
+28,0.466666667,BASELINE,767,746.741684053,716,680.258315947,663,636.741684053,879.258315947,788,803,653.258315947,632.258315947,654,0.400989218105,0.00451095612507,0.0798505612722,0.999999957833,0.000116090736082,-0.00026254097799,4.39117436985e-05,1793237814869134080
+29,0.483333333,BASELINE,767,746.162463378,716,680.837536622,663,636.162463378,879.837536622,788,803,653.837536622,632.837536622,654,0.400987239983,0.00451118110246,0.0798492955565,0.99999995718,0.000115530255161,-0.000265245805487,4.40097643211e-05,1793237814885800704
+30,0.500000000,BASELINE,767,746,716,681,663,636,880,788,803,654,632.587014627,654,0.400987175973,0.00451126641393,0.0798493844872,0.999999957288,0.000115846782197,-0.00026468909839,4.40774499031e-05,1793237814902467840
+31,0.516666667,BASELINE,767,746,716,681,663,636,880,788,803,654,632.013036288,654,0.400987858135,0.00451129727981,0.0798500014961,0.999999957691,0.000116505190873,-0.000262860956063,4.41333100563e-05,1793237814919134720
+32,0.533333333,BASELINE,767,746,716,680.424282698,663,636,880,788,803.575717302,653.424282698,632,654,0.400987787134,0.00451215400759,0.0798496528559,0.999999957644,0.000116265665574,-0.000263218236746,4.37098887144e-05,1793237814935800832
+33,0.550000000,BASELINE,766.837822912,746,716,680,663,636,880,788,803.837822912,653,632,654,0.400987723665,0.00451261194866,0.0798493828552,0.999999957595,0.000116107286218,-0.000263514642573,4.34660256504e-05,1793237814952467200
+34,0.566666667,BASELINE,766.258152133,746,716,680,663,636,880,788,803.258152133,653,632,654,0.400987724642,0.00451199388124,0.0798493730681,0.99999995757,0.000116211522098,-0.000263523590696,4.37130747913e-05,1793237814969134080
+35,0.583333333,BASELINE,766,746,716,680,663,636.320099858,880,788,803,653,632,654,0.400988292584,0.00451178994635,0.0798499603109,0.999999957867,0.000116429854189,-0.000262277522929,4.38240881516e-05,1793237814985800704
+36,0.600000000,BASELINE,766,746,716,680,663,636.897212746,880,788,803,653,632,654,0.400989315751,0.00451191852468,0.0798510269182,0.999999958419,0.000116739795869,-0.000260023783875,4.38258763474e-05,1793237815002467328
+37,0.616666667,BASELINE,766.469449481,746.469449481,716,680,663,636.530550519,880,788,803.469449481,653,632,654,0.400988299547,0.00451074378258,0.0798504256634,0.999999958196,0.000115028617007,-0.000261653181513,4.37401541272e-05,1793237815019133952
+38,0.633333333,BASELINE,767,747,716,680,663,636,880,788,803.957747525,653,632.042252475,654,0.400987035452,0.00450949747312,0.0798495773544,0.999999957826,0.000113218458556,-0.000263864474879,4.3655622283e-05,1793237815035800832
+39,0.650000000,BASELINE,767,747,716,680,663,636,880,788,803.363751422,653,632.636248578,654,0.400988305257,0.00451100468664,0.0798502225781,0.999999957828,0.000115835060463,-0.000262686013253,4.3834267063e-05,1793237815052467456
+40,0.666666667,BASELINE,766.775295578,746.775295578,716,680.224704422,663,636.224704422,880,788,803.224704422,653,632.775295578,654,0.40098880089,0.00451158051876,0.0798504579304,0.99999995794,0.000116575605839,-0.000261934413365,4.38194071122e-05,1793237815069134080
+41,0.683333333,BASELINE,766.195592534,746.195592534,716,680.804407466,663,636.804407466,880,788,803.804407466,653,632.195592534,654,0.400988073448,0.00451068491062,0.0798500457486,0.999999958231,0.000114352268646,-0.00026185718982,4.34988392689e-05,1793237815085800704
+42,0.700000000,BASELINE,766,746.366460895,716,680.633539105,663,637,880,788,804,653,632,654,0.400988051328,0.00451039065844,0.0798500367446,0.99999995826,0.000113931932165,-0.000261920345026,4.3546775805e-05,1793237815102467328
+43,0.716666667,BASELINE,766,746.919526964,716,680.080473036,663,637,880,788,804,653,632,654,0.400988388363,0.00451040262212,0.0798502330423,0.999999958158,0.000114429699883,-0.000262054982355,4.37823580852e-05,1793237815119133952
+44,0.733333333,BASELINE,766.512219608,746.487780392,716,680,663,637,880,788.512219608,803.487780392,653,632,654,0.400988687895,0.00451084774305,0.0798502249109,0.999999957928,0.000116181659511,-0.000262149105142,4.38582987636e-05,1793237815135800576
+45,0.750000000,BASELINE,767,746.11008777,716,680.11008777,663,637,880,788.88991223,803.220175541,653.11008777,632.11008777,654,0.400988958187,0.00451133858157,0.079850337847,0.999999957784,0.000117661624908,-0.000262028932868,4.39089154196e-05,1793237815152467200
+46,0.766666667,BASELINE,767,746.701088172,716,680.701088172,663,637,880,788.298911828,804.402176345,653.701088172,632.701088172,654,0.400989128647,0.00451170692723,0.0798511317267,0.999999958125,0.000117020456226,-0.000261002760952,4.39676561239e-05,1793237815169134080
+47,0.783333333,BASELINE,767,746.713484911,716,681,663,637,880,788.286515089,804.426969822,654,632.713484911,654,0.400989344629,0.00451192246436,0.0798514386923,0.999999958261,0.000116977073945,-0.000260516809009,4.38885841081e-05,1793237815185800704
+48,0.800000000,BASELINE,767,746.133761607,716,681,663,637,880,788.866238393,803.267523215,654,632.133761607,654,0.400989607196,0.0045119816233,0.0798512473694,0.999999958186,0.000117545442559,-0.000260583696705,4.36684800103e-05,1793237815202467584
+49,0.816666667,BASELINE,766.558905322,746,716,680.558905322,663,637,880.441094678,788.558905322,803.441094678,653.558905322,632,654,0.400988460446,0.00451133717192,0.0798503846313,0.999999957797,0.000117562713499,-0.000262038876088,4.38223694937e-05,1793237815219134208
+50,0.833333333,BASELINE,766,746,716,680,663,637,880.985113106,788.014886894,804,653,632,654,0.400986897875,0.00451049162748,0.0798493296028,0.999999957323,0.00011735987735,-0.000263890090079,4.40789746102e-05,1793237815235800576
+51,0.850000000,BASELINE,766,746,716,680,663,637,880.396056184,788.603943816,804,653,632,654,0.400985600972,0.00451002974855,0.0798486253045,0.999999957315,0.000115043043734,-0.000264955694272,4.397072385e-05,1793237815252467456
+52,0.866666667,BASELINE,766.180662179,746.180662179,716,680,663,637,880.180662179,788.819337821,803.819337821,653,632.180662179,654,0.400985302166,0.00450985572829,0.0798485089858,0.999999957366,0.000114251149737,-0.000265114655649,4.39190004075e-05,1793237815269134336
+53,0.883333333,BASELINE,766.732060591,746.732060591,716,680,663,637,880.732060591,788.267939409,803.267939409,653,632.732060591,654,0.40098705155,0.00451027242184,0.0798495992585,0.999999957543,0.0001165885792,-0.000263413098377,4.39832764849e-05,1793237815285800704
+54,0.900000000,BASELINE,766.689369843,746.689369843,716,680.310630157,663,637,880.689369843,788,803,653,632.689369843,654,0.400987894183,0.00451062919991,0.0798503584601,0.99999995778,0.000116888978408,-0.000262403083564,4.38464239043e-05,1793237815302467072
+55,0.916666667,BASELINE,766.085116798,746.085116798,716,680.914883202,663,637,880.085116798,788,803,653,632.085116798,654,0.40098787971,0.0045109293429,0.079850804717,0.999999958076,0.000115263876395,-0.00026204674876,4.35194546303e-05,1793237815319133952
+56,0.933333333,BASELINE,766.49537791,746,716,680.50462209,663,637,880,788,803.49537791,653,632,654,0.40098788722,0.00451189202737,0.0798508811716,0.99999995791,0.000116852448279,-0.000261946298827,4.37074035801e-05,1793237815335800576
+57,0.950000000,BASELINE,767,746,716,680,663,636.926082702,880,788,804,653.073917298,632,654,0.400987968857,0.00451265499315,0.0798509301841,0.999999957721,0.000118572915406,-0.000261848806765,4.39691426919e-05,1793237815352467456
+58,0.966666667,BASELINE,767,746,716,680,663,636.333942125,880,788,804,653.666057875,632,654,0.400988544924,0.00451125617598,0.0798512118884,0.999999957934,0.00011752399729,-0.000261477915136,4.41563208635e-05,1793237815369133824
+59,0.983333333,BASELINE,767,746,716,680,663,636.251008377,880,788,804,654,632.251008377,654,0.40098883311,0.00451058837076,0.0798513534314,0.999999958069,0.000116699707888,-0.000261308733068,4.42751513364e-05,1793237815385800448
+60,1.000000000,BASELINE,767,746,716,680,663,636.826659641,880,788,804,654,632.826659641,654,0.400988748964,0.00451086602317,0.079851313696,0.999999958106,0.000116165942966,-0.000261400432977,4.43055840111e-05,1793237815402467072
+61,1.016666667,BASELINE,766.596347378,746,716,680,663,637,880,788,804,653.596347378,633,654,0.400989023425,0.00451134670136,0.079851638505,0.999999958158,0.000116871452143,-0.000260875333286,4.43858620396e-05,1793237815419133696
+62,1.033333333,BASELINE,766.018776339,746,716,680,663,637,880,788,804,653.018776339,633,654,0.400989452395,0.00451191485556,0.0798521203823,0.999999958213,0.000118110916983,-0.000260084478322,4.44876165156e-05,1793237815435800320
+63,1.050000000,BASELINE,766,746,716,680,663,637,880,788,804,653,633,654,0.400990372909,0.00451237918035,0.0798522877846,0.999999958534,0.000118762941304,-0.000258600632076,4.41921744393e-05,1793237815452467456
+64,1.066666667,BASELINE,766.126090527,746,716,680,663,636.873909473,880,788,803.873909473,653.126090527,632.873909473,654,0.400990690303,0.00451273862041,0.0798520626228,0.999999958595,0.000119264805671,-0.0002581763222,4.39491308067e-05,1793237815469134336
+65,1.083333333,BASELINE,766.721872441,746,716,680,663,636.278127559,880,788,803.278127559,653.721872441,632.278127559,654,0.400988699529,0.00451272035731,0.0798504145087,0.999999957654,0.000119280847182,-0.00026178555989,4.39509889054e-05,1793237815485800960
+66,1.100000000,BASELINE,767,746,716,680,663,636,879.691245489,788,803,653.691245489,632,654,0.400987859402,0.0045121958139,0.0798498647818,0.999999957543,0.000117980865884,-0.000262822756482,4.38047572787e-05,1793237815502467328
+67,1.116666667,BASELINE,767,746,716,680,663,636,879.112155854,788,803,653.112155854,632,654,0.400988026741,0.00451122798838,0.0798502767661,0.99999995816,0.000115528619031,-0.000261607959729,4.35288632418e-05,1793237815519133696
+68,1.133333333,BASELINE,767,746,716,680,663,636.463454552,879.463454552,788,803.463454552,653,632,654,0.400988411011,0.00451094811028,0.0798505616138,0.999999957987,0.000116903716705,-0.000261622385456,4.37462365008e-05,1793237815535800576
+69,1.150000000,BASELINE,766.960857978,746,716,680,662.960857978,636.960857978,880,788.039142022,803.960857978,653,632,654,0.400988838853,0.00451085891077,0.079850849188,0.999999957673,0.00011893721567,-0.000261851558077,4.40703671044e-05,1793237815552467200
+70,1.166666667,BASELINE,766.372360563,746,716,680,662.372360563,636.372360563,880,788.627639437,803.372360563,653,632,654,0.400989146914,0.00451112670414,0.0798516036237,0.999999958094,0.000117308811496,-0.00026095080613,4.42299557025e-05,1793237815569133824
+71,1.183333333,BASELINE,766,746,716,680.212475651,662.212475651,636.212475651,880,789,803.212475651,653,632,654,0.400989202644,0.00451136563384,0.0798517871442,0.999999958288,0.000116487966671,-0.000260573351593,4.42359969649e-05,1793237815585800448
+72,1.200000000,BASELINE,766,746,716,680.791004442,662.791004442,636.791004442,880,789,803.791004442,653,632,654,0.400988823659,0.00451155483724,0.0798509870917,0.999999958096,0.000117058385157,-0.000261097433901,4.39775068409e-05,1793237815602467584
+73,1.216666667,BASELINE,766.366961255,746.366961255,716,680.633038745,663,637,880,789,803.633038745,653,632,654,0.400988943988,0.00451161263976,0.0798508113948,0.999999958294,0.000116157216254,-0.000260783609061,4.37119154041e-05,1793237815619134464
+74,1.233333333,BASELINE,766.94146341,746.94146341,716,680.05853659,663,637,880,789,803.05853659,653,632,654,0.400989346713,0.00451159612638,0.0798509888123,0.999999958711,0.000114423767164,-0.000259995892188,4.344230772e-05,1793237815635800832
+75,1.250000000,BASELINE,767,746.481666179,716,680,663,636.481666179,880,788.481666179,803.518333821,653,632,654,0.400989233567,0.00451143587544,0.0798514856115,0.999999958408,0.000116821723235,-0.000260034390063,4.38055334241e-05,1793237815652467456
+76,1.266666667,BASELINE,766.902049592,746,716,680,663,636,880,788,803.902049592,653.097950408,632.097950408,654,0.400988826572,0.0045112602925,0.079851700658,0.999999958015,0.000118994016686,-0.000260509189148,4.41102524609e-05,1793237815669133824
+77,1.283333333,BASELINE,766.309933916,746,716,680,663,636,880,788,803.309933916,653.690066084,632.690066084,654,0.40098723236,0.00451108962908,0.0798503114441,0.999999957611,0.000117663160025,-0.000262712256185,4.37575907425e-05,1793237815685800448
+78,1.300000000,BASELINE,766.275725242,746,716,680.275725242,663,636.275725242,880,788,803,653.724274758,632.724274758,654,0.400987215042,0.00451116216827,0.0798502639538,0.999999957564,0.00011814461522,-0.000262680394074,4.37432272235e-05,1793237815702467072
+79,1.316666667,BASELINE,766.854292853,746,716,680.854292853,663,636.854292853,880,788,803,653.145707147,632.145707147,654,0.400988929704,0.00451150182867,0.0798516901437,0.999999957903,0.000120616620276,-0.000260193801035,4.41004330032e-05,1793237815719133952
+80,1.333333333,BASELINE,766.571852073,746,716,681,663,637,880,788,803.428147927,653.428147927,632.428147927,654,0.400989054828,0.00451190726988,0.0798517195002,0.99999995808,0.000120236554509,-0.000259726613856,4.38748128685e-05,1793237815735801088
+81,1.350000000,BASELINE,766,746,716,681,663,637,880,788,804,653.999580236,632.999580236,654,0.400988645773,0.00451233468505,0.0798512792771,0.999999958204,0.000118896780082,-0.000259939057007,4.34534513445e-05,1793237815752468736
+82,1.366666667,BASELINE,766,746,716,681,663,637,880,788,804,653.423155281,632.423155281,654,0.400989448338,0.00451253040497,0.0798516828667,0.99999995829,0.000118023687377,-0.000259971520179,4.36445758759e-05,1793237815769134592
+83,1.383333333,BASELINE,766,746,716,681,663,636.841925666,880.158074334,788,803.841925666,653.158074334,632.158074334,654,0.400989876925,0.0045127269792,0.0798520503019,0.99999995841,0.000117261443581,-0.000259848494249,4.36970103836e-05,1793237815785800704
+84,1.400000000,BASELINE,766,746,716,681,663,636.247430954,880.752569046,788,803.247430954,653.752569046,632.752569046,654,0.400989273014,0.00451292591211,0.0798523179205,0.999999958621,0.000116805237394,-0.000259296185395,4.3366541833e-05,1793237815802467072
+85,1.416666667,BASELINE,766.33532041,746.33532041,716,680.66467959,663,636,880.66467959,788,803.33532041,654,633,654,0.400988930412,0.00451264453963,0.0798520469136,0.999999958417,0.000117685673153,-0.00025964569829,4.35832074582e-05,1793237815819133952
+86,1.433333333,BASELINE,766.909699593,746.909699593,716,680.090300407,663,636,880.090300407,788,803.909699593,654,633,654,0.400988774104,0.00451202074476,0.0798513919063,0.999999957915,0.000119519036275,-0.000260638143754,4.41899395038e-05,1793237815835800576
+87,1.450000000,BASELINE,767,746.515386753,716,680.484613247,663,636.484613247,880,788,803.515386753,653.515386753,633,653.515386753,0.40098937201,0.00451101425884,0.0798515986821,0.999999958201,0.000117568942225,-0.000260439174592,4.41298916491e-05,1793237815852467200
+88,1.466666667,BASELINE,767,746.061183295,716.061183295,680.938816705,663,636.938816705,880,788.061183295,803,653.061183295,633,653.061183295,0.400989996009,0.00451013485719,0.0798518759236,0.999999958554,0.000115301625929,-0.000260119700509,4.39862742455e-05,1793237815869133824
+89,1.483333333,BASELINE,767,746.651208766,716.651208766,680.348791234,663,636.348791234,880,788.651208766,803,653.651208766,633,653.651208766,0.400989629477,0.00451097096008,0.07985137272,0.999999958273,0.000116392739806,-0.000260679644357,4.41954187708e-05,1793237815885800448
+90,1.500000000,BASELINE,767,747,716.762889172,680.237110828,663,636.237110828,879.762889172,788.762889172,803.237110828,653.762889172,632.762889172,654,0.400989414994,0.00451184533836,0.0798512146328,0.999999958065,0.000118030769155,-0.000260750425809,4.41456929309e-05,1793237815902467072
+91,1.516666667,BASELINE,767,747,716.182949037,680.817050963,663,636.817050963,879.182949037,788.182949037,803.817050963,653.182949037,632.182949037,654,0.400989420356,0.00451277505745,0.0798515555359,0.999999957959,0.000120459562181,-0.000260113946356,4.37216764976e-05,1793237815919133696
+92,1.533333333,BASELINE,766.60664392,746.60664392,716,680.60664392,663,637,879.39335608,788,804,653,632,654,0.400989139763,0.00451174128611,0.0798515048254,0.999999958157,0.000118356494065,-0.000260333142556,4.36283055701e-05,1793237815935800320
+93,1.550000000,BASELINE,766.032013913,746.032013913,716,680.032013913,663,637,879.967986087,788,804,653,632,654,0.400988727391,0.00450980266134,0.079851273644,0.999999958482,0.000114164966592,-0.000260946667636,4.36873090375e-05,1793237815952467200
+94,1.566666667,BASELINE,766.554125479,746,716,680,663,637,880,788,803.445874521,653,632,654,0.400988116689,0.00450963040083,0.0798506710191,0.999999958235,0.000114335439509,-0.000261767352097,4.39858638617e-05,1793237815969134848
+95,1.583333333,BASELINE,767.139289206,746,716,680,663,637,880,788,803,653,632,654,0.400987644146,0.00451014855285,0.0798503829526,0.999999957974,0.000115518717001,-0.000262220788226,4.41403782649e-05,1793237815985801984
+96,1.600000000,BASELINE,767.719218425,746,716,680,663,637,880,788,803,653,632,654,0.400987645685,0.00451252113783,0.0798511593154,0.999999957765,0.000119091853324,-0.000261473773211,4.37945116426e-05,1793237816002467584
+97,1.616666667,BASELINE,767.702171134,746.297828866,716,680,663,636.702171134,880,788,803.297828866,653.297828866,632.297828866,654,0.400988772921,0.00451303941276,0.0798523460752,0.999999958072,0.00011984445696,-0.000259981833,4.36240527892e-05,1793237816019133696
+98,1.633333333,BASELINE,767.124798537,746.875201463,716,680,663,636.124798537,880,788,803.875201463,653.875201463,632.875201463,654,0.400990956741,0.00451181722247,0.0798539180359,0.999999958865,0.000117949693671,-0.000257790702154,4.36182326047e-05,1793237816035800576
+99,1.650000000,BASELINE,766.548290053,746.548290053,716,680.451709947,663,636,880,788,803.548290053,654,632.548290053,654,0.400989372719,0.00451108610105,0.0798524946578,0.999999958415,0.000117502470309,-0.000259711250943,4.37514332961e-05,1793237816052467456
+100,1.666666667,BASELINE,766.02858114,746,716,680.97141886,663,636,880,788,803,654,632,654,0.400987010703,0.00451060388693,0.0798504287665,0.999999957682,0.000117519876499,-0.000262483971711,4.39011617992e-05,1793237816069134080
+101,1.683333333,BASELINE,766.617229275,746,716,680.382770725,663,636,880,788,803,654,632,654,0.400989763123,0.00451234565971,0.0798519578909,0.999999958257,0.000118820142525,-0.00025973786377,4.36235559882e-05,1793237816085800704
+102,1.700000000,BASELINE,767,746,716,680,663,636.202514498,880,788.202514498,803.202514498,653.797485502,632.202514498,654,0.400991122886,0.00451313832116,0.0798528909848,0.999999958663,0.00011874750704,-0.000258226866434,4.34846897329e-05,1793237816102467584
+103,1.716666667,BASELINE,767,746,716,680,663,636.781547277,880,788.781547277,803.781547277,653.218452723,632.781547277,654,0.400989893399,0.00451216637905,0.0798527159287,0.999999958763,0.000116122350384,-0.000259012207325,4.3603770369e-05,1793237816119133952
+104,1.733333333,BASELINE,766.641549452,746,716,680,663,636.641549452,880.358450548,788.641549452,803.641549452,653,632.641549452,654,0.40098966939,0.00451139113068,0.0798524041375,0.999999958735,0.000115428866439,-0.000259436822908,4.35725473581e-05,1793237816135800576
+105,1.750000000,BASELINE,766.06593626,746,716,680,663,636.06593626,880.93406374,788.06593626,803.06593626,653,632.06593626,654,0.400990054536,0.0045107350466,0.0798520095072,0.999999958632,0.000115905661251,-0.000259642897793,4.34502648316e-05,1793237816152467456
+106,1.766666667,BASELINE,766,746,716,680,663,636,879.981128429,788,803.509435785,653.509435785,632.509435785,654,0.400988717494,0.00451104763854,0.0798512830349,0.999999958356,0.000115061749569,-0.000261074096969,4.34727768911e-05,1793237816169133824
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,747,716,681,663,637,881,789,803,654,633,654,0.400988444117,0.00451043216307,0.0798508373591,0.99999995817,0.000116230505445,-0.000261202477967,4.38569143735e-05,1793237816211541760
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746.421941041,716,680.421941041,663,637,880.421941041,788.421941041,803,653.421941041,632.421941041,654,0.400990944183,0.00451095880822,0.0798532482452,0.999999959131,0.000117354076315,-0.000257006877124,4.37348434504e-05,1793237816228208384
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.155436911,746,715.844563089,680,663,636.844563089,880,788,803,653,632,654,0.40099225282,0.0045113270525,0.0798545584822,0.999999959595,0.000118123627738,-0.000254858730444,4.36419923376e-05,1793237816244875008
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.730974431,746,715.269025569,680,663,636.269025569,880,788,803,653,632,654,0.400990341375,0.00451126718555,0.0798528939863,0.999999958749,0.000117936368171,-0.000258244253916,4.36281138194e-05,1793237816261541376
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.31327376,680,663,636,879.68672624,787.68672624,803.31327376,653,632,654,0.400988958478,0.00451142200991,0.0798517278615,0.999999958292,0.000116862070454,-0.000260501109761,4.35688403391e-05,1793237816278207744
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.901507896,680,663,636,879.098492104,787.098492104,803.901507896,653,632,654,0.400988039488,0.00451176526886,0.0798509991572,0.999999958181,0.000115009219376,-0.000261767333842,4.34697237021e-05,1793237816294874112
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.482236937,716,680,663,636.482236937,879.964473874,787.482236937,804,653.482236937,632,654,0.400988128517,0.00451217232378,0.0798514895863,0.999999958179,0.000116152995944,-0.000261272335145,4.34354957407e-05,1793237816311540480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.938957508,746.938957508,716,680,663,636.938957508,880.938957508,788,804,653.938957508,632,654,0.400988396383,0.00451246566296,0.0798520480053,0.99999995821,0.000117458133274,-0.00026057703874,4.33924313282e-05,1793237816328207104
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.363640964,746.363640964,716,680,663,636.363640964,880.363640964,788,804,653.363640964,632,654,0.400988463017,0.00451169287269,0.0798511136228,0.999999958344,0.000115045454086,-0.000261178345021,4.31649786856e-05,1793237816344873728
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746.211576836,716,680.211576836,663,636,880.211576836,788,803.788423164,653,632.211576836,654,0.400990566375,0.00451128587006,0.0798517225588,0.999999958688,0.000114895389419,-0.000259906467323,4.32534069176e-05,1793237816361540608
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746.786624943,716,680.786624943,663,636,880.786624943,788,803.213375057,653,632.786624943,654,0.400996168652,0.00451150725999,0.0798549827869,0.999999959381,0.000118632307096,-0.000255416616494,4.38844920387e-05,1793237816378207232
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.372494539,747,716,680.627505461,663,636.372494539,880.627505461,788,803,653,632.627505461,654,0.401010075809,0.00451221939477,0.0798617314801,0.999999962109,0.000119575172383,-0.000244096665912,4.3600668275e-05,1793237816394873856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.964748511,747,716,680.035251489,663,636.964748511,880.035251489,788,803,653,632.035251489,654,0.40102888257,0.00451322105276,0.0798705382523,0.999999965857,0.000118869639696,-0.000228747182369,4.27770786439e-05,1793237816411540480
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,747,716,680,663,637,880,788,803,653,632,654,0.401069659305,0.00451319098105,0.0798862646675,0.999999972183,0.000117826818639,-0.000199841898884,4.25863850067e-05,1793237816428207104
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.879562113,716,680.120437887,663,636.879562113,880,788,803.120437887,653,632,654,0.401116346427,0.00451300762874,0.0799027335015,0.999999978065,0.000116583287781,-0.000168803840408,4.22260683522e-05,1793237816444873984
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.303339616,716,680.696660384,663,636.303339616,880,788,803.696660384,653,632,654,0.401180138857,0.0045124913077,0.0799203546484,0.999999983746,0.000114660974246,-0.000132941208374,4.10722485902e-05,1793237816461540608
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636,880,788,803.728347407,653,632,654,0.401246137455,0.00451219018946,0.0799336002807,0.999999986918,0.000112882686744,-0.000108825327966,3.97286856714e-05,1793237816478207488
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636,880,788,803.154722833,653,632,654,0.401314588448,0.00451212829304,0.0799419820422,0.999999988302,0.00011126450038,-9.77672668313e-05,3.8174202304e-05,1793237816494874112
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.565859873,746.434140127,716,680.565859873,663,636.434140127,880,788,803.434140127,653.434140127,632.434140127,654,0.401388790293,0.00451356801391,0.0799454397997,0.999999988915,0.000111254720094,-9.22263793775e-05,3.58684657304e-05,1793237816511540736
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746.972308093,716,680,663,636.972308093,880,788,804,653.972308093,633,654,0.401466158547,0.00451552867474,0.0799471204053,0.999999989277,0.0001116864749,-8.86960908106e-05,3.32567470173e-05,1793237816528207616
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746.397324616,716,680,663,636.397324616,880,788,804,653.397324616,633,654,0.401564126664,0.00451682354662,0.0799496221194,0.999999990015,0.000109103583175,-8.4628455623e-05,3.00816834576e-05,1793237816544874240
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.177987155,746,716,680.177987155,663,636,880,788,804,653,632.822012845,654,0.401671258775,0.00451799712774,0.0799536089591,0.999999990933,0.000106701195807,-7.76847710681e-05,2.67043274223e-05,1793237816561541120
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.754033059,746,716,680.754033059,663,636,880,788,804,653,632.245966941,654,0.401798885659,0.00451889944842,0.0799609172022,0.999999992189,0.000104702497111,-6.43089565394e-05,2.28745555146e-05,1793237816578207488
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680.663220515,663,636.336779485,880,788,804,653,632,654,0.401937688661,0.00452072092028,0.0799666612413,0.999999993118,0.000102470456738,-5.40949180251e-05,1.83513675818e-05,1793237816594874112
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680.075480957,663,636.924519043,880,788,804,653,632,654,0.402084819856,0.00452322732186,0.0799712396734,0.999999993836,0.000100064535485,-4.62369584924e-05,1.33114620983e-05,1793237816611540736
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.402254542705,0.00452614563154,0.0799764121227,0.999999994511,9.76860296146e-05,-3.70965151598e-05,7.74403837964e-06,1793237816628207616
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.086388623,716.086388623,680.086388623,663,637,880,788,804,653,632.086388623,654,0.40242856243,0.00452901437065,0.0799801982302,0.999999995042,9.47418118918e-05,-3.05996793739e-05,2.01871670518e-06,1793237816644874240
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.658653268,716.658653268,680.658653268,663,637,880,788,804,653,632.658653268,654,0.402608026622,0.00453126294724,0.079975694845,0.999999995266,8.85931367188e-05,-4.00341394367e-05,-4.15749937373e-06,1793237816661540864
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.762422985,746.762422985,716.762422985,680.762422985,663,637,880,788,804,653.237577015,633,654,0.402800143984,0.00453410745181,0.0799702657753,0.999999995287,8.22787375264e-05,-5.0436928276e-05,-1.06074802077e-05,1793237816678207232
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.173655676,746.173655676,716.173655676,680.173655676,663,637,880,788,804,653.826344324,633,654,0.403010965463,0.00453783286691,0.0799634683437,0.999999995042,7.57193627059e-05,-6.22711162446e-05,-1.74621442826e-05,1793237816694873856
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.408372803,746.408372803,716,680,663,637,880,788,804,653.591627197,632.591627197,654,0.403253233441,0.00453932647634,0.0799626269803,0.99999999519,7.26797381895e-05,-6.16370166012e-05,-2.31949955057e-05,1793237816711540480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.98758218,746.98758218,716,680,663,637,880,788,804,653.01241782,632.01241782,654,0.40350865658,0.0045398864436,0.0799642772479,0.99999999551,7.11125480479e-05,-5.57869974554e-05,-2.84585531475e-05,1793237816728207104
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.433272783,716,680,663,636.433272783,880,788,804,653,632,654,0.403802197036,0.0045304061923,0.0799691049419,0.999999994242,9.49130688422e-05,-4.61351551954e-05,-1.94507079554e-05,1793237816744873984
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.855321617,746,716.144678383,680,663,636,880,788,803.855321617,653,632,654,0.404102160103,0.00452046369019,0.0799731680475,0.99999999354,0.000105929998148,-3.89738343638e-05,-1.34280595505e-05,1793237816761540864
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.280912468,746,716.719087532,680,663,636,880,788,803.280912468,653,632,654,0.404418719379,0.00450980155819,0.0799747533631,0.999999996084,7.73256719543e-05,-3.94573872184e-05,-1.7200902395e-05,1793237816778207744
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,716.699183267,680.300816733,663.300816733,636,880.300816733,788,803,653,632.300816733,654,0.404761084604,0.00451113192551,0.0799761541495,0.999999997856,5.13263678172e-05,-3.52014976501e-05,-2.03660383939e-05,1793237816794874368
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,716.110447806,680.889552194,663.889552194,636,880.889552194,788,803,653,632.889552194,654,0.405128149343,0.00452394059308,0.0799773783188,0.999999999001,2.78203878543e-05,-2.64093769888e-05,-2.29495244063e-05,1793237816811540736
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.470733065,746,716,680.529266935,663.529266935,636,880.529266935,788,803,653,632.529266935,654,0.405503442187,0.00453126137436,0.0799729334946,0.999999998189,4.45604555305e-05,-3.2847965938e-05,-2.36106250582e-05,1793237816828207360
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.049855497,716,680.049855497,663.049855497,636,880,788,803,653,632,654.049855497,0.405884202906,0.00453770413735,0.0799673153122,0.999999996403,6.91710260051e-05,-4.28156778614e-05,-2.39874321257e-05,1793237816844873984
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.62566672,716,680.62566672,663.62566672,636,880,788,803,653,632,654.62566672,0.406302602892,0.00454825347508,0.0799631291823,0.999999995159,7.87668815452e-05,-5.29099487034e-05,-2.60482743844e-05,1793237816861540608
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,747,716,680.7958037,663.7958037,636.2041963,880,788,803,653,632,654.7958037,0.406725764673,0.00455800518839,0.0799601044062,0.999999993854,8.88138805029e-05,-6.04440185575e-05,-2.74068535585e-05,1793237816878207232
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,747,716,680.21222362,663.21222362,636.78777638,880,788,803,653,632,654.21222362,0.40715777354,0.00456627496548,0.0799592373522,0.999999992655,9.96990747675e-05,-6.32213967087e-05,-2.74606723294e-05,1793237816894873600
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.6321323,746.6321323,716,680.3678677,663,637,880,788,803,653.3678677,632,654,0.407625873716,0.00457350344447,0.0799578801331,0.999999991141,0.000111817922763,-6.64214027615e-05,-2.83329765626e-05,1793237816911540480
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.054034764,746.054034764,716,680.945965236,663,637,880,788,803,653.945965236,632,654,0.408114599417,0.00458013683987,0.0799562427933,0.999999989352,0.0001246417815,-6.98629330279e-05,-2.96730306485e-05,1793237816928207616
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.529523625,746,716,680.470476375,663,637,880,788,803.529523625,653.470476375,632,654,0.408628920308,0.00459243339167,0.0799519713009,0.999999987757,0.000133390049494,-7.56543980177e-05,-3.11355808133e-05,1793237816944874496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.112759068,716,680.112759068,663,637,880.112759068,788,804,653,632,654,0.409153931365,0.00460413674554,0.079952691042,0.999999986857,0.000140954437996,-7.31978513142e-05,-3.25690358097e-05,1793237816961541120
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.692326419,716,680.692326419,663,637,880.692326419,788,804,653,632,654,0.409712272864,0.00461096700348,0.0799751982519,0.99999998823,0.000145357385634,-3.55925039316e-05,-3.38297524063e-05,1793237816978207744
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.732997082,747,716,681,663,637,880.732997082,788,804,653,632,654,0.41029890457,0.00461753607325,0.0799955355994,0.999999987457,0.00015437095136,-1.36715373836e-06,-3.5419263856e-05,1793237816994874368
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.163854974,747,716,681,663,637,880.163854974,788,804,653,632,654,0.410917549407,0.00462380958462,0.0800134175441,0.999999984667,0.000168601870477,2.9033413028e-05,-3.73808381203e-05,1793237817011541248
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.420104566,746.579895434,716,681,663,637,880.420104566,788,804,653,632,654,0.411513887034,0.00462006761812,0.0800048692275,0.999999986198,0.000161092257705,1.08648879514e-05,-3.91702921737e-05,1793237817028207872
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.009865339,637,881,788,804.009865339,653,632,654,0.4121015734,0.00461208227455,0.0799854864325,0.999999988323,0.000144771546317,-2.69151911522e-05,-4.08824039924e-05,1793237817044874240
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.588707112,637,881,788,804.588707112,653,632,654,0.412710451458,0.00459289748092,0.0799575161923,0.999999989019,0.000127208378277,-6.32756653867e-05,-4.2147252001e-05,1793237817061540864
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.834048577,746.165951423,716,680.834048577,663.834048577,636.834048577,881.165951423,788,804.834048577,653.165951423,632,654,0.41333844651,0.00458015166617,0.0799387599452,0.999999989079,0.000113599524582,-8.40130575697e-05,-4.33420192531e-05,1793237817078207488
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.260725691,746.739274309,716,680.260725691,663.260725691,636.260725691,881.739274309,788,804.260725691,653.739274309,632,654,0.414013369222,0.00458321202153,0.079942621872,0.999999990795,0.000109697578051,-6.63994794255e-05,-4.43647548964e-05,1793237817094874112
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.678846985,716.321153015,680.321153015,663.321153015,636.321153015,881.678846985,788,803.678846985,653.678846985,632,654,0.414698090824,0.00458912866877,0.0799571565087,0.999999992061,0.000111505558285,-3.7815942684e-05,-4.48754660422e-05,1793237817111540736
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.089832219,716.910167781,680.910167781,663.910167781,636.910167781,881.089832219,788,803.089832219,653.089832219,632,654,0.415390985281,0.00459742764238,0.0799805928545,0.999999992018,0.000118075975565,-8.27734632069e-08,-4.49591165582e-05,1793237817128207104
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493754308,746,716.506245692,681,663.506245692,637,880.506245692,788,803.493754308,653,632.493754308,654,0.416095890661,0.00460260390179,0.0799811814814,0.999999990111,0.000132590815486,-1.11628861023e-05,-4.55354534565e-05,1793237817144873984
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.075358596,716,681,663,637,880,788,804,653,633,654,0.416804444969,0.00460681614704,0.0799771022983,0.999999987843,0.000146105785857,-2.86086453714e-05,-4.63503187835e-05,1793237817161540352
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.650297579,716,681,663,637,880,788,804,653,633,654,0.417522859876,0.00460836301869,0.0799693360878,0.999999988092,0.000143514436541,-3.0019755194e-05,-4.81586968544e-05,1793237817178206976
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.775361432,716,681,663.224638568,636.775361432,880.224638568,788,804,653,632.775361432,654,0.418269843767,0.00460644707056,0.0799773049129,0.999999989369,0.000136860944861,-7.02943291888e-06,-4.9812804758e-05,1793237817194873856
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.201948802,716,681,663.798051198,636.201948802,880.798051198,788,804,653,632.201948802,654,0.419061184002,0.00459915474525,0.0800097039689,0.999999989562,0.00012390056616,5.38465768006e-05,-5.12273927919e-05,1793237817211540736
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.614918455,746.385081545,716,681,664,636,881,788,804,653,632,654,0.419813412362,0.00459565714145,0.0800162202775,0.999999989522,0.000117610780308,6.64676136343e-05,-5.200940444e-05,1793237817228207360
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.02048478,746.97951522,716,681,664,636,881,788,804,653,632,654,0.420544377245,0.00459422256356,0.0800086652573,0.999999990621,0.000114947507331,5.28545115715e-05,-5.24475117304e-05,1793237817244873984
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746.442638377,716.557361623,681,664,636.557361623,881,788,804,653,632,654,0.421311536223,0.00459653624113,0.0799921942203,0.999999991338,0.000118355341056,2.31085490748e-05,-5.27476730805e-05,1793237817261540864
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.133822514,746.133822514,716.866177486,681,664,637,881,788,804,653.133822514,632.133822514,654,0.422087435005,0.00459969358226,0.0799854140014,0.999999991041,0.000122660639109,9.66309583837e-06,-5.27174099401e-05,1793237817278207488
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.707674239,746.707674239,716.292325761,681,664,637,881,788,804,653.707674239,632.707674239,654,0.422887823936,0.00460518513467,0.0800115450583,0.999999988984,0.000129204450072,5.17095603818e-05,-5.16168487981e-05,1793237817294874112
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,716,681,664,637,881,788,804,654,633,654,0.423672810933,0.00460974795767,0.0800222450257,0.999999987296,0.000135593066138,6.60657715822e-05,-5.15546522213e-05,1793237817311540224
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,716,681,664,637,881,788,804,654,633,654,0.424441805103,0.00461334642343,0.0800169219418,0.999999987227,0.000141820533549,5.16694868398e-05,-5.25706535789e-05,1793237817328206848
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.550731031,746.550731031,716,681,664,636.550731031,881,788,804.449268969,653.550731031,632.550731031,654,0.425169592987,0.00461434584834,0.0799786518197,0.999999988354,0.000141983195208,-1.90678798775e-05,-5.26175527869e-05,1793237817344873728
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.041329272,746.041329272,716,681,663.958670728,636.041329272,881,788,804.958670728,653,632,654,0.425892488409,0.00461439920145,0.0799335729775,0.999999983821,0.000140298066773,-9.95889344005e-05,-5.25027080578e-05,1793237817361540608
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.614719571,746.614719571,716,681,663.385280429,636.614719571,881,788,804.385280429,653,632,654,0.426722713266,0.00461301548587,0.0799370177684,0.999999986062,0.000139892162634,-7.31926643274e-05,-5.43111274281e-05,1793237817378207232
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.811300049,747,716,681.188699951,663.188699951,636.811300049,881,788,804,653,632,654,0.427533835916,0.00461110103253,0.0799414608233,0.999999987358,0.00013806587808,-5.63046424036e-05,-5.52359979421e-05,1793237817394874368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.236110979,747,716,681.763889021,663.763889021,636.236110979,881,788,804,653,632,654,0.4283058342,0.00460809953909,0.0799479484911,0.9999999879,0.000133330416515,-5.88911012404e-05,-5.43512127373e-05,1793237817411540992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.347917281,747,716,682,663.652082719,636.347917281,881,788,804,653.347917281,632,654,0.429076591586,0.00460812744909,0.0799581090497,0.999999988186,0.000135317261371,-4.9222494781e-05,-5.38003125153e-05,1793237817428207360
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.938100517,747,716,682,663.061899483,636.938100517,881,788,804,653.938100517,632,654,0.429846484848,0.00461026482999,0.0799708271595,0.999999988009,0.000141985063916,-3.10202933505e-05,-5.34819071471e-05,1793237817444873984
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.47897187,747,716,682,664.04205626,636.47897187,881,788,804,652.95794374,632,654,0.430661991672,0.00461352905932,0.0800045683319,0.999999988739,0.000139234373724,1.69760206887e-05,-5.3362729783e-05,1793237817461540352
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.101559065,747,716,682,664.898440935,636,881,788,804,652.101559065,632,654,0.431472110992,0.00461694558028,0.0800345186183,0.999999987465,0.000137082422831,5.86479417621e-05,-5.32738505273e-05,1793237817478206976
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,747,716,682,664,636.589736095,881.410263905,788,804,653,632,654,0.434333117524,0.00462523921173,0.0799261510576,0.999999983322,0.000140890132956,-0.000101248796807,-5.70480707474e-05,1793237817544873728
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,747,716,682.001793818,664,636.001793818,881.998206182,788,804,653,632,654,0.435054203098,0.00462352353541,0.0799205857964,0.999999984696,0.000131048042285,-9.99889903322e-05,-5.86227442677e-05,1793237817561540352
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,747,716,682.580990272,664,636.580990272,881.419009728,788,804,653,632,654,0.435803302737,0.00461944753835,0.0799630035846,0.999999989,0.000130865170964,-3.92953267754e-05,-5.77028407569e-05,1793237817578206976
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.158492681,747,716,682.841507319,664.158492681,637,881.158492681,788,804,653,632.158492681,654,0.436540267017,0.00461459632598,0.0799967920846,0.999999990144,0.000128255669913,6.2282849772e-06,-5.67780592328e-05,1793237817594873856
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.686434324,747,716,682.313565676,664.686434324,637,881.686434324,788,804,653,632.686434324,654,0.43792659512,0.00460424473083,0.0800148645009,0.999999991932,0.000111770999611,2.22016116921e-05,-5.61189840639e-05,1793237817628206848
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746.638374809,716,682.638374809,664,636.361625191,882,788,804,653,632.361625191,654,0.440422058737,0.00461213432874,0.079974056526,0.999999991913,0.000110281282441,-2.6200476794e-05,-5.7675787253e-05,1793237817694874368
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+269,4.483333333,HOLD_POSE2,766.515746071,746,715,684,657,634,882,787,804,653,632,653.515746071,0.450479305206,0.00465892097821,0.0797349798766,0.999999910433,0.000159879798918,-0.000387330312108,-5.95703644288e-05,1793237818925317120
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+271,4.516666667,HOLD_POSE2,766,746,715,684,657,634,882,787,804,653,632,653.634577586,0.450481346468,0.00465638644423,0.0797369707733,0.999999911723,0.000155907495977,-0.000385721233756,-5.88746674821e-05,1793237818958650624
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,746.104802402,715.104802402,683.895197598,662.104802402,636,881,788,804.104802402,653,633,654,0.442312636224,0.00458512726957,0.0797591077646,0.999999916243,0.000144736052736,-0.00038175565926,2.87938061462e-05,1793237819891245568
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.276197516,746.723802484,715.723802484,683.276197516,663,636,881.276197516,788,805,653,632.723802484,654,0.441248673783,0.00457179207099,0.0797938663859,0.999999940235,0.000111811997087,-0.000325706309453,3.07180626544e-05,1793237819924579328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.859930129,746.140069871,715.140069871,683.859930129,663,636,881.859930129,788,805,653,632.140069871,654,0.440648547684,0.0045659112229,0.0797869765206,0.999999940628,0.000103190939547,-0.00032739724256,3.01006290576e-05,1793237819941245952
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,716,683,662.243134891,636,881,788,804,653,632,654,0.433203285181,0.00452612157925,0.0797916375122,0.999999939684,9.38773523377e-05,-0.000332339503414,3.70118985799e-05,1793237820124579072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,716,683,662.822968819,636,881,788,804,653,632,654,0.432415866736,0.00452715178464,0.0797700194868,0.999999921514,9.5690213872e-05,-0.00038240380666,3.97817149016e-05,1793237820141245952
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746.40038347,715.59961653,683,662.59961653,636,881,788,804.40038347,653,632.40038347,654,0.431635666775,0.00451681731665,0.0797558070624,0.9999999104,9.13915588767e-05,-0.000411159856082,4.23618217237e-05,1793237820157912576
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746.976734816,715.023265184,683,662.023265184,636,881,788,804.976734816,653,632.976734816,654,0.430858639374,0.00450148809332,0.0797448493889,0.999999902745,8.4406902337e-05,-0.000430550960104,4.48585513805e-05,1793237820174579200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746.446694892,715,683,662,636.553305108,881,788,804.446694892,653,632.446694892,654,0.430140988495,0.00449146931297,0.0798006255858,0.999999940154,6.62970210264e-05,-0.000336502399542,4.54191077173e-05,1793237820191245824
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,662.481310387,636,881,788,804,653,632.481310387,654,0.420897787607,0.004499731101,0.079870561401,0.999999975162,9.74691758187e-05,-0.000193623672129,5.18327348669e-05,1793237820391245824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.09541148,746,716,682,662.09541148,636.09541148,880.90458852,788,804,653,632,654,0.420147821912,0.00448513807948,0.0798837745815,0.999999980656,8.18434708006e-05,-0.000171136500988,5.19867244889e-05,1793237820407912448
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,747,716,680.59526389,663,636.59526389,880,788,803.59526389,653.59526389,632.40473611,654,0.405293376482,0.00449400774375,0.079830014628,0.999999956311,9.37509027673e-05,-0.000275813731354,5.01532867513e-05,1793237820824579072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.174533163,746.825466837,716,680.825466837,662.825466837,637,880,788,804,653.825466837,632,654,0.404927522904,0.00449733682444,0.0798324801289,0.999999956205,9.81869042938e-05,-0.000274640950535,5.02207419341e-05,1793237820841245696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.768673617,746.231326383,716,680.231326383,662.231326383,637,880,788,804,653.231326383,632,654,0.404568605036,0.00449889033955,0.0798320582216,0.999999954909,9.61949254356e-05,-0.000279966151765,5.0474250891e-05,1793237820857912320
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.647615525,746,716,680.352384475,662.352384475,636.647615525,880,788,803.647615525,653,632,654,0.40423685058,0.00449850937112,0.0798346470499,0.999999954503,9.49022747004e-05,-0.000281763827324,5.09625180328e-05,1793237820874579200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.07055441,746,716,680.92944559,662.92944559,636.07055441,880,788,803.07055441,653,632,654,0.403922415195,0.00449689499648,0.0798391554915,0.999999954677,9.40555080372e-05,-0.000281312390091,5.16004645532e-05,1793237820891246080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.495662097,662.495662097,636.504337903,880,787.495662097,803,653,632,653.495662097,0.40364389654,0.00449577904465,0.0798421829484,0.99999995644,9.13541788091e-05,-0.000276211700147,4.98179556806e-05,1793237820907913216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.08107765,637,880,787.08107765,803,653,632,653.08107765,0.403374358847,0.00449427920376,0.0798445788012,0.999999957987,8.85748128699e-05,-0.000271776827416,4.81357428683e-05,1793237820924580352
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.671316581,637,880,787.671316581,803,653,632,653.671316581,0.403129801939,0.0044899325646,0.0798443037488,0.999999957036,8.69276943433e-05,-0.000275590252439,4.92007189247e-05,1793237820941246208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.25684237,746.25684237,716,680,662.74315763,637,880,788.25684237,803,653,632,654,0.402892631003,0.00448766534632,0.0798433241884,0.999999956016,8.30404773714e-05,-0.000280432577679,4.92992636447e-05,1793237820957912832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.836445361,746.836445361,716,680,662.163554639,637,880,788.836445361,803,653,632,654,0.402664741655,0.00448801122979,0.0798414593087,0.999999954865,7.63382437791e-05,-0.000286567868761,4.81833436523e-05,1793237820974579456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.587257507,746.587257507,716,680,662,636.587257507,880,788.587257507,803,653,632,654,0.402471388934,0.00448644587253,0.0798414522549,0.999999955967,6.69208138786e-05,-0.000285174993846,4.75717880397e-05,1793237820991245824
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,879.436598822,788,803,653,632,654,0.402143132074,0.00448468994308,0.0798494515944,0.99999996111,5.89138770172e-05,-0.000268251453683,4.84863011507e-05,1793237821024579584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,879.142943669,788,803,653,632,654,0.401999521035,0.00448584975135,0.0798564800327,0.999999963725,6.23242032261e-05,-0.000257271305105,4.9779146572e-05,1793237821041246208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,879.73462522,788,803,653,632,654,0.401869057742,0.00448869331906,0.0798622829727,0.999999964697,6.77751801274e-05,-0.00025184811309,5.08431959035e-05,1793237821057913088
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,880,788,803.319353127,653,632,654,0.401744701775,0.00449856729348,0.0798629520319,0.999999962018,0.0001009591121,-0.000251502006918,5.01809024402e-05,1793237821074579712
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,880,788,803.89842592,653,632,654,0.401625312688,0.00451415887276,0.0798594458711,0.99999995398,0.000156697368362,-0.000255284930825,4.81146296813e-05,1793237821091246080
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.045707321,746.045707321,716,680.045707321,662,636,880,787.954292679,803,653.045707321,632,654,0.401427901887,0.00452775426875,0.0798487745694,0.999999949563,0.000159846294261,-0.000270906824535,4.39558129615e-05,1793237821124579072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.620482547,746.620482547,716,680.620482547,662,636,880,787.379517453,803,653.620482547,632,654,0.401348272947,0.00452006470137,0.0798434045412,0.999999950855,0.000139764087709,-0.000277310447464,4.30713188788e-05,1793237821141245952
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.202315624,716,680.202315624,662.797684376,636,879.202315624,787.797684376,803.797684376,653.202315624,632,654,0.401214311994,0.00451510889498,0.0798364474402,0.999999949706,0.000124175016744,-0.000288577609258,4.34808692424e-05,1793237821174579200
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.620778645,636.379221355,879.379221355,788,803.620778645,653,632,654,0.401164805165,0.00451527999665,0.0798361277729,0.999999949469,0.000123435485457,-0.000289662592022,4.38335562827e-05,1793237821191246592
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.046384264,636.953615736,879.953615736,788,803.046384264,653,632,654,0.401121083071,0.00451549247291,0.0798369540917,0.999999949797,0.000123210065541,-0.00028860188529,4.39860663636e-05,1793237821207913984
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.47154196,880,788,803,653,632,654,0.401090592561,0.00451470053147,0.0798361511496,0.999999950226,0.000121198922394,-0.000287924911777,4.42511705326e-05,1793237821224580096
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.893943143,746,716,680,662,636,880,788,803.106056857,653,632,654,0.401063023573,0.00451410222913,0.0798354784689,0.999999950572,0.00012004639059,-0.000287155444733,4.45730487436e-05,1793237821241246208
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.303946001,746,716,680,662,636,880,788,803.696053999,653,632,654,0.401043481704,0.00451479012793,0.0798360532635,0.999999950509,0.000123527532445,-0.000285810108122,4.51088550538e-05,1793237821257912576
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.281076591,746,716,680.281076591,662,636.281076591,880,788,803.718923409,653.281076591,632.281076591,654,0.401027524271,0.00451482576152,0.079837291351,0.999999951049,0.000124541670032,-0.00028342437855,4.54144529165e-05,1793237821274579200
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.860813506,746,716,680.860813506,662,636.860813506,880,788,803.139186494,653.860813506,632.860813506,654,0.40101537551,0.00451416832525,0.0798392342263,0.999999952228,0.000122934471666,-0.000279933170414,4.54754408999e-05,1793237821291246080
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.437660178,636.562339822,880,788,803,653.562339822,633,654,0.401005520469,0.00451416176177,0.07983966168,0.999999952256,0.000122271111495,-0.000280128021559,4.54491502355e-05,1793237821307912704
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.986188021,746,716,680.986188021,663,636,880,788,803.013811979,653,632.986188021,654,0.400996552588,0.00451434823152,0.0798396290639,0.999999951942,0.000121913470221,-0.000281413425333,4.53929971837e-05,1793237821324579328
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.401005585,746,716,680.401005585,663,636,880,788,803.598994415,653,632.401005585,654,0.400994306451,0.00451401338419,0.0798403703959,0.999999952452,0.000121867112612,-0.000279637101203,4.5242204074e-05,1793237821341245952
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.18284349,746,716,680,663,636.18284349,880.18284349,788,803.81715651,653.18284349,632,654,0.400991932641,0.00451392410407,0.0798409294587,0.999999952825,0.00012173242293,-0.000278379220617,4.51179717176e-05,1793237821357912576
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.76378942,746,716,680,663,636.76378942,880.76378942,788,803.23621058,653.76378942,632,654,0.40098928085,0.00451436949385,0.0798410916693,0.999999952904,0.00012140540913,-0.000278250139637,4.5051569708e-05,1793237821374579200
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.342548443,715.657451557,680,663,636.657451557,881,788,803.342548443,653.657451557,632,654,0.400988950029,0.00451496833755,0.0798424130717,0.999999953551,0.000121252032536,-0.000276008364711,4.48985182547e-05,1793237821391246080
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.919808987,715.080191013,680,663,636.080191013,881,788,803.919808987,653.080191013,632,654,0.400990209522,0.00451567232691,0.0798445287451,0.999999954576,0.000121217631107,-0.000272318984805,4.46860951344e-05,1793237821407912960
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.507333463,746.507333463,715.492666537,680,662.507333463,636,880.507333463,788,803.507333463,653,632,654,0.400989794478,0.00451517612161,0.079844745377,0.999999954594,0.000121403605076,-0.000272193586196,4.45372867396e-05,1793237821424579584
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.067130204,746,716,680,662.067130204,636,880,788,803,653.067130204,632,654,0.400989096502,0.00451444260999,0.0798446136816,0.999999954474,0.000121594514436,-0.000272567395788,4.44351906185e-05,1793237821441245952
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.753406384,746,716,680.246593616,663,636.246593616,880,788,803,653.753406384,632.246593616,654,0.400987982217,0.00451357800096,0.0798441481809,0.999999954578,0.000122213272556,-0.000271900308973,4.44691861147e-05,1793237821474579712
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.174262218,746,716,680.825737782,663,636.825737782,880,788,803,653.174262218,632.825737782,654,0.4009883157,0.00451552344287,0.0798447561074,0.999999954609,0.000123846705565,-0.000271144048225,4.38716564449e-05,1793237821491246848
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,766.976666894,746,716,681,663,636.023333106,880,788,803,653,632.023333106,654,0.400988664399,0.00451420490664,0.0798461542996,0.999999955477,0.000121235768884,-0.00026912547736,4.38123073951e-05,1793237821524580096
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.435489525,663,636.564510475,880,788,803.564510475,653,632,654,0.400988333227,0.00451408609215,0.0798463433635,0.999999955278,0.000122638568281,-0.000269159699686,4.42416730547e-05,1793237821541246464
+426,7.100000000,POSE2_TO_POSE3_RETREAT,766.849366346,746.150633654,716,680.150633654,663,636.849366346,880.150633654,788,804,653.150633654,632,654,0.400988431196,0.00451420515431,0.0798466596157,0.999999955193,0.000123908340072,-0.000268847081157,4.45093411489e-05,1793237821557913088
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+428,7.133333333,POSE2_TO_POSE3_RETREAT,766,746.692487993,716,680.692487993,663,636.307512007,880.692487993,788,804,653.692487993,632.307512007,654,0.400990357099,0.00451568776665,0.0798479022565,0.999999955756,0.00012459256044,-0.000266490182386,4.41235341452e-05,1793237821591246336
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.458262574,746,716,680,663,636.541737426,880,788,804,653,633,654,0.400989161066,0.00451572711733,0.0798472728705,0.999999955864,0.00012258677816,-0.000267068067558,4.38023125597e-05,1793237821624579840
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.966108261,636,880.033891739,788,804,653,632.966108261,654,0.400987997603,0.00451457245278,0.0798461203756,0.999999955767,0.000120477406901,-0.0002684330192,4.35335426235e-05,1793237821641246976
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.39276329,636,880.60723671,788,804,653,632.39276329,654,0.400988051268,0.0045164223052,0.0798462146434,0.999999955542,0.000122604326387,-0.000268295280894,4.36134770624e-05,1793237821657913600
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.188412503,662.188412503,636.188412503,880.811587497,788,803.811587497,653,632,654,0.400987921883,0.00451726533869,0.0798461944042,0.999999955426,0.000123541554082,-0.000268290690594,4.36576123387e-05,1793237821674580224
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.786620371,662.786620371,636.786620371,880.213379629,788,803.213379629,653,632,654,0.400987394369,0.00451591855114,0.0798459251135,0.999999955553,0.000121891214098,-0.000268575695886,4.36238847999e-05,1793237821691246592
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+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.058102261,662.058102261,637,880.941897739,788,803,653,632,654,0.400988580481,0.00451682229105,0.0798472645763,0.999999955776,0.000123435407067,-0.000267007024877,4.38102564587e-05,1793237821724579328
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dea428b3a903ce04b2efa81ea42698ba26c3c67e
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
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+423,7.050000000,pose2_to_pose3_retreat,0.578254343131,0.010001332393,1.07001166853,0.548825576417,0.0186749929982,1.0696612042
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+426,7.100000000,pose2_to_pose3_retreat,0.578253806865,0.0100013377944,1.0700116589,0.548825040415,0.0186749993061,1.0696611948
+427,7.116666667,pose2_to_pose3_retreat,0.578253599575,0.0100013433586,1.07001165908,0.548824833241,0.0186750052591,1.0696611949
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+432,7.200000000,pose2_to_pose3_retreat,0.578252541978,0.0100013768774,1.07001160428,0.548823775388,0.0186750379491,1.06966114107
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ca99729d2672dd19dfb770bc3c84c19c6565877
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418f55ca6f448953d4b7b34f5aae3348fb6a70feea2ca3e1a57dfcc7139c0fbf
+size 27949311
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcdfa2dbacfc5b3e5953bb2abf5f0994adb4be30
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+16,0.266666667,BASELINE,766,746,716,680,662.642470558,636.642470558,880.357529442,788,803.357529442,653,633,653.642470558,0.400987950773,0.00451301014673,0.0798485098374,0.999999956567,0.000122190860421,-0.000264581889996,4.39425668635e-05,1793237822167230208
+17,0.283333333,BASELINE,766,746,716,680,662.05390813,636.05390813,880.94609187,788,803.94609187,653,633,653.05390813,0.400987496719,0.00451278820352,0.0798483935779,0.99999995632,0.000123694259826,-0.000264827801443,4.38795640805e-05,1793237822183896832
+18,0.300000000,BASELINE,766.524863642,746.524863642,716,680,662.524863642,636,880.475136358,788,803.475136358,653,633,653.524863642,0.400989988971,0.00451368847252,0.0798500949637,0.999999957324,0.000122888486161,-0.000261441664449,4.35811244507e-05,1793237822200563456
+19,0.316666667,BASELINE,767,746.897797845,716,680,663,636,880,788,803.102202155,653,632.897797845,654,0.400991962426,0.00451428771007,0.0798514306094,0.999999958193,0.000121536290083,-0.000258779025949,4.33058103731e-05,1793237822217230080
+20,0.333333333,BASELINE,767,746.322524194,716,680,663,636,880,788,803.677475806,653,632.322524194,654,0.400990159405,0.00451296978992,0.0798502250093,0.999999957914,0.000118732540017,-0.000261160420983,4.32474203888e-05,1793237822233896704
+21,0.350000000,BASELINE,766.7479889,746,716,680,663,636,880,788,804,653,632,654,0.400989188177,0.00451282137306,0.0798496224456,0.999999957601,0.000118646505032,-0.000262404102552,4.31945474829e-05,1793237822250563584
+22,0.366666667,BASELINE,766.174395839,746,716,680,663,636,880,788,804,653,632,654,0.40098927837,0.00451416531578,0.079849789394,0.99999995725,0.000122028445055,-0.000262195990241,4.31487147197e-05,1793237822267229952
+23,0.383333333,BASELINE,766,746,716,680,663,636.41197299,880,788,803.58802701,653,632,654,0.400989360463,0.00451517335091,0.0798495515761,0.999999957108,0.000122810213051,-0.000262393711721,4.30363968488e-05,1793237822283896576
+24,0.400000000,BASELINE,766,746,716,680,663,636.99616056,880,788,803.00383944,653,632,654,0.400989441121,0.00451602321084,0.0798491440637,0.99999995706,0.000122452149433,-0.000262763274592,4.28964017242e-05,1793237822300563200
+25,0.416666667,BASELINE,766,746,716,680,663,636.41684458,880,788,803.58315542,653,632,654,0.400989837123,0.00451516009998,0.0798498059048,0.99999995729,0.000121508949428,-0.000262315395304,4.29614298635e-05,1793237822317229824
+26,0.433333333,BASELINE,766,746,716,680,662.838719422,636.161280578,879.838719422,788,804,653,632,654,0.400989934318,0.00451473220837,0.0798501896952,0.999999957379,0.000121121649373,-0.00026214354542,4.30268848906e-05,1793237822333896448
+27,0.450000000,BASELINE,766,746,716,680,662.263649371,636.736350629,879.263649371,788,804,653,632,654,0.40098926488,0.00451542093674,0.079849860105,0.99999995711,0.000122160593685,-0.000262679890212,4.30934351762e-05,1793237822350563328
+28,0.466666667,BASELINE,766,746,716,680,662.637355831,637,879.318677916,788,803.681322084,653.318677916,632,654,0.400989574903,0.00451498972466,0.079850143566,0.999999957386,0.000121325286797,-0.000262001252918,4.31704808831e-05,1793237822367229952
+29,0.483333333,BASELINE,766,746,716,680,663.814298312,637,879.907149156,788,803.092850844,653.907149156,632,654,0.40099071414,0.00451361036883,0.0798509460375,0.999999958119,0.000118903235243,-0.000260294009459,4.32564120293e-05,1793237822383896320
+30,0.500000000,BASELINE,766,746,716,680,663.511664502,636.511664502,880,788,803,653.511664502,632.488335498,654,0.400990268512,0.00451445543081,0.0798502876886,0.999999957645,0.000120724697599,-0.000261312745414,4.30259773799e-05,1793237822400563200
+31,0.516666667,BASELINE,766,746,716,680.06774196,663,636,880,788,803,653.06774196,632.93225804,654,0.400989770702,0.00451556300953,0.0798496195118,0.999999957077,0.000123075145244,-0.00026242616289,4.27847702242e-05,1793237822417229824
+32,0.533333333,BASELINE,766,746,716,680.644032165,663,636,880,788,803,653.644032165,632.355967835,654,0.400991110119,0.00451551290055,0.0798509320639,0.999999957554,0.000123428649955,-0.000260416530536,4.29076315096e-05,1793237822433896448
+33,0.550000000,BASELINE,766,746.219480814,716,680.780519186,662.780519186,636,880,788,803.219480814,653.780519186,632,654,0.400990899976,0.00451546890787,0.0798510137515,0.999999957617,0.000123353633533,-0.000260187710301,4.30310166325e-05,1793237822450563072
+34,0.566666667,BASELINE,766,746.793569731,716,680.206430269,662.206430269,636,880,788,803.793569731,653.206430269,632,654,0.40098818626,0.00451543479711,0.0798491067706,0.999999957014,0.00012258626924,-0.000262836091226,4.31552480907e-05,1793237822467229696
+35,0.583333333,BASELINE,766.37902356,746.62097644,716,680.37902356,662.758047121,636,880.37902356,788,804,653.37902356,632,654,0.400987315507,0.00451415756563,0.0798484068486,0.999999956901,0.000120782326217,-0.000264102835234,4.31087519369e-05,1793237822483896320
+36,0.600000000,BASELINE,766.970858532,746.029141468,716,680.970858532,663.941717064,636,880.970858532,788,804,653.970858532,632,654,0.400987479528,0.0045121823557,0.0798483846572,0.999999957063,0.000118396372385,-0.000264593827975,4.29663968881e-05,1793237822500563200
+37,0.616666667,BASELINE,766.44986944,746,716,680.44986944,662.899738881,636,880.44986944,788,803.44986944,654,632,654,0.400988749962,0.00451300813101,0.0798495661416,0.999999957434,0.00011959360071,-0.000262633180075,4.30426772414e-05,1793237822517230080
+38,0.633333333,BASELINE,766,746.127781393,716,680,662.127781393,636.127781393,880,788,803.127781393,654,632,654,0.400989738041,0.00451384574503,0.0798504593051,0.999999957693,0.00012073765788,-0.000261109897671,4.31115865739e-05,1793237822533896448
+39,0.650000000,BASELINE,766,746.702041135,716,680,662.702041135,636.702041135,880,788,803.702041135,654,632,654,0.400989539337,0.00451421787039,0.0798501272408,0.999999957538,0.000121047533869,-0.000261558442935,4.31151776715e-05,1793237822550563072
+40,0.666666667,BASELINE,766.275887743,746.724112257,716,680,663,636.724112257,880,788,803.724112257,653.724112257,632,654,0.400990022391,0.00451442816315,0.0798503959685,0.999999957722,0.000121009770195,-0.000260879160805,4.30774197396e-05,1793237822567229440
+41,0.683333333,BASELINE,766.849288797,746.150711203,716,680,663,636.150711203,880,788,803.150711203,653.150711203,632,654,0.400991240642,0.004514463938,0.0798513125818,0.999999958268,0.000120597116966,-0.000258983646061,4.29950716177e-05,1793237822583896320
+42,0.700000000,BASELINE,767,746,716,680,662.563311202,636,880,788,803,653,632,654,0.400992199494,0.00451455112939,0.0798519607931,0.99999995839,0.000122225873533,-0.000257739914554,4.30184195983e-05,1793237822600562944
+43,0.716666667,BASELINE,766.971508356,746.028491644,716,680,662.028491644,636,880,788,803,653,632,654,0.400992893086,0.00451462729807,0.079852371497,0.99999995833,0.000124284088114,-0.000256979982389,4.30556212782e-05,1793237822617229824
+44,0.733333333,BASELINE,766.391105425,746.608894575,716,680,662.608894575,636,880,788,803,653,632,654,0.400990239977,0.00451413482355,0.0798500352386,0.99999995774,0.000120561765804,-0.000261089998983,4.26311633436e-05,1793237822633896448
+45,0.750000000,BASELINE,766,746.813069162,716,680.186930838,663,636,880,788,803,653,632.186930838,654,0.400988986826,0.00451384297976,0.0798490035081,0.999999957513,0.000118412353942,-0.000262961563756,4.24658254517e-05,1793237822650563072
+46,0.766666667,BASELINE,766,746.239922719,716,680.760077281,663,636,880,788,803,653,632.760077281,654,0.400990626113,0.00451396565684,0.0798506670479,0.999999958087,0.000119512714332,-0.000260208289043,4.2835852488e-05,1793237822667229952
+47,0.783333333,BASELINE,766.342234531,746,716,680.657765469,663,636,880,788,803,653,632.657765469,654,0.400991131701,0.00451366769242,0.079851366139,0.999999958412,0.000119486113271,-0.000258948655469,4.29514102221e-05,1793237822683896576
+48,0.800000000,BASELINE,766.930879665,746,716,680.069120335,663,636,880,788,803,653,632.069120335,654,0.400990821019,0.00451306686399,0.0798513708223,0.999999958562,0.000118648094347,-0.000258764450834,4.28837488016e-05,1793237822700563200
+49,0.816666667,BASELINE,767,746,716,680.511420032,663,636.511420032,880,788,803,653,632,654,0.400989608311,0.00451493376328,0.0798502842731,0.999999957763,0.000121460739176,-0.000260551201997,4.28313783928e-05,1793237822717229824
+50,0.833333333,BASELINE,766.909769778,746,716,681,663,637,879.909769778,788,803,653,632,653.909769778,0.400988583386,0.00451676482095,0.0798493914146,0.999999957023,0.000124087723121,-0.000262152291103,4.28093970071e-05,1793237822733896448
+51,0.850000000,BASELINE,766.334463844,746,716,681,663,637,879.334463844,788,803,653,632,653.334463844,0.40098921316,0.00451663815674,0.079850320335,0.99999995735,0.000123105467053,-0.000261345542309,4.29398494572e-05,1793237822750563072
+52,0.866666667,BASELINE,766,746,716,680.759750892,663,636.759750892,879.480498215,788,803.240249108,653,632,653,0.400989338102,0.00451596840306,0.0798507429874,0.999999957471,0.000122286105494,-0.000261253561818,4.30199059357e-05,1793237822767229696
+53,0.883333333,BASELINE,766,746,716,680.185861467,663,636.185861467,880.628277067,788,803.814138533,653,632,653,0.400988761972,0.00451454444665,0.0798504625717,0.999999957307,0.000121692959927,-0.000262154199105,4.30299761815e-05,1793237822783896576
+54,0.900000000,BASELINE,766.401494432,746,716,680.401494432,662.598505568,636,880.197011136,788,803.598505568,653,632,653,0.400989362291,0.00451449145838,0.0798509410354,0.99999995757,0.000121523603387,-0.000261245092489,4.29366604075e-05,1793237822800563712
+55,0.916666667,BASELINE,766.995300618,746,716,680.995300618,662.004699382,636,879.009398764,788,803.004699382,653,632,653,0.400990526119,0.00451509514998,0.0798517829945,0.999999958034,0.000121557237502,-0.000259469136903,4.27938237799e-05,1793237822817230336
+56,0.933333333,BASELINE,766.427205601,746,716,680.427205601,662.572794399,636,879.572794399,788,803,653,632,653.572794399,0.400989319413,0.00451478576294,0.0798506051139,0.999999957723,0.00012025997095,-0.00026126254966,4.28249020962e-05,1793237822833896704
+57,0.950000000,BASELINE,766.150256702,746,716,680,663,636,880,788,803,653,632,654,0.400988781673,0.00451433291288,0.0798499773754,0.999999957637,0.000119259122526,-0.000262035188893,4.2897959074e-05,1793237822850563328
+58,0.966666667,BASELINE,766.727999558,746,716,680,663,636,880,788,803,653,632,654,0.400990200964,0.00451349262758,0.0798509606535,0.999999958222,0.000119131800542,-0.000259822679776,4.30864999273e-05,1793237822867229952
+59,0.983333333,BASELINE,766.689577627,746,716,680,663,636,880.310422373,788,803,653,632,654,0.400990420124,0.00451372979896,0.0798510443765,0.999999958217,0.000119782064722,-0.000259536384669,4.31102105504e-05,1793237822883896576
+60,1.000000000,BASELINE,766.10299127,746,716,680,663,636,880.89700873,788,803,653,632,654,0.400989571599,0.00451492551819,0.0798503278199,0.999999957689,0.0001211241002,-0.000260963725242,4.29872817231e-05,1793237822900563200
+61,1.016666667,BASELINE,766,746,716,680,663,636.477661442,880.522338558,788,803,653,632,653.522338558,0.400989826387,0.00451511969855,0.0798506137628,0.999999957829,0.000121091508817,-0.000260454313392,4.29161603421e-05,1793237822917229824
+62,1.033333333,BASELINE,766.056432284,746,716,680,663,636.943567716,880,788,803.056432284,653,632,653.056432284,0.400990237522,0.00451514073829,0.0798510248085,0.999999958058,0.00012082051497,-0.000259708755347,4.28603881802e-05,1793237822933896704
+63,1.050000000,BASELINE,766.629543567,746,716,680,663,636.370456433,880,788,803.629543567,653,632,653.629543567,0.400989928788,0.00451552944647,0.0798506264924,0.999999957806,0.000121047152366,-0.000260577573067,4.28441301596e-05,1793237822950563328
+64,1.066666667,BASELINE,766.79588589,746.20411411,716,680,663,636,880,788,804,653,632,654,0.400989944692,0.00451519539338,0.0798505751079,0.999999957857,0.000120351853075,-0.000260703039825,4.28295765364e-05,1793237822967229952
+65,1.083333333,BASELINE,766.218647833,746.781352167,716,680,663,636,880,788,804,653,632,654,0.400990554042,0.00451354012079,0.0798511579201,0.999999958462,0.000117971238351,-0.000259469648755,4.28181385803e-05,1793237822983896576
+66,1.100000000,BASELINE,766,746.634096532,716,679.634096532,662.634096532,636,880,788,803.634096532,653,632,654,0.40099089929,0.00451260265647,0.0798514250655,0.999999958696,0.000117582337816,-0.000258734951045,4.28899093153e-05,1793237823000563200
+67,1.116666667,BASELINE,766,746.045086054,716,679.045086054,662.045086054,636,880,788,803.045086054,653,632,654,0.400991083506,0.00451210287067,0.0798514997353,0.999999958704,0.000118407870781,-0.000258304328075,4.30124159523e-05,1793237823017229824
+68,1.133333333,BASELINE,766.538519091,746,716,679.538519091,662.538519091,636.538519091,880,788,803,653,632,654,0.40099011259,0.00451466926134,0.0798510571892,0.99999995808,0.000121118659458,-0.000259503906421,4.27545714346e-05,1793237823033896448
+69,1.150000000,BASELINE,766.880600103,746,716,680.119399897,663,636.880600103,880,788,803,653.119399897,632,654,0.400989231156,0.00451657214391,0.0798506566015,0.999999957556,0.000122962118417,-0.00026068671423,4.25619399288e-05,1793237823050563328
+70,1.166666667,BASELINE,766.308352709,746,716,680.691647291,663,636.308352709,880,788,803,653.691647291,632,654,0.400989052248,0.00451499460393,0.0798505777507,0.999999957638,0.000120923376554,-0.000261293417282,4.27362155245e-05,1793237823067229952
+71,1.183333333,BASELINE,766,746,716,680.734778182,663,636,880,788,803,653.734778182,632,654,0.400989196732,0.00451443639655,0.0798504943271,0.999999957716,0.000120397231894,-0.000261220101523,4.28479593784e-05,1793237823083896832
+72,1.200000000,BASELINE,766,746,716,680.159652864,663,636,880,788,803,653.159652864,632,654,0.400989719088,0.00451506924759,0.0798504055603,0.999999957791,0.000121638510059,-0.000260352204873,4.28866368469e-05,1793237823100563712
+73,1.216666667,BASELINE,766,746,716,680,663,636,880,788,803,653,632.427140555,654,0.400989286297,0.00451579909033,0.0798503588306,0.999999957541,0.000122592127068,-0.000260851687487,4.29684825883e-05,1793237823117230592
+74,1.233333333,BASELINE,766.017988421,746,716,680,663,636.017988421,880,788,803.017988421,653,632.982011579,653.982011579,0.400988517954,0.00451651082883,0.0798503212633,0.999999957188,0.000123354918876,-0.000261829540689,4.30538000657e-05,1793237823133897728
+75,1.250000000,BASELINE,766.595486589,746,716,680,663,636.595486589,880,788,803.595486589,653,632.404513411,653.404513411,0.40098872874,0.00451550018878,0.0798500662476,0.999999957541,0.000121620501055,-0.000261343341694,4.27311449029e-05,1793237823150563840
+76,1.266666667,BASELINE,766.827475212,746,716,680.172524788,663,636.827475212,880,788,803.827475212,653,632,653.172524788,0.400989294962,0.00451478027912,0.0798502718942,0.999999957897,0.000120664471846,-0.000260450333912,4.25700588734e-05,1793237823167229952
+77,1.283333333,BASELINE,766.251512653,746,716,680.748487347,663,636.251512653,880,788,803.251512653,653,632,653.748487347,0.400990692347,0.00451474022326,0.0798515547691,0.999999958261,0.000121528652877,-0.000258606030803,4.27867915629e-05,1793237823183896576
+78,1.300000000,BASELINE,766,746,716,680.668368443,663,636,880,788,803,653,632,654,0.400991180785,0.00451550579571,0.0798523996524,0.999999958399,0.000122558730255,-0.000257569401555,4.28845496509e-05,1793237823200562944
+79,1.316666667,BASELINE,766,746,716,680.079657063,663,636,880,788,803,653,632,654,0.400990964611,0.00451689588889,0.0798529050059,0.999999958362,0.00012371740996,-0.00025715887883,4.28900789622e-05,1793237823217229824
+80,1.333333333,BASELINE,766.500939012,746.500939012,716,680,663,636.500939012,880,788,803.500939012,653.500939012,632,654,0.400991505332,0.00451646106199,0.0798528076392,0.999999958354,0.000123617456288,-0.000257226609986,4.2960160709e-05,1793237823233896448
+81,1.350000000,BASELINE,766.920077151,746.920077151,716,680.079922849,663,636.920077151,880,788,804,653.920077151,632,654,0.400991812445,0.00451583870307,0.0798524638059,0.999999958296,0.000123353485525,-0.00025758024812,4.29474773096e-05,1793237823250563328
+82,1.366666667,BASELINE,766.343222196,746.343222196,716,680.656777804,663,636.343222196,880,788,804,653.343222196,632,654,0.400989930651,0.00451582587501,0.0798511739416,0.999999957898,0.000123294289774,-0.000259246242475,4.23573836873e-05,1793237823267229952
+83,1.383333333,BASELINE,766,746,716,681,663,636.234869426,880.469738852,788,804,653,632,654,0.400989546588,0.00451562867169,0.0798507710335,0.999999957973,0.000122070027176,-0.000259586569471,4.20451694128e-05,1793237823283896576
+84,1.400000000,BASELINE,766,746,716,681,663,636.814777881,881.629555762,788,804,653,632,654,0.400991362792,0.00451516060867,0.0798516711236,0.999999958739,0.000119134202785,-0.000257979401949,4.21411785555e-05,1793237823300563200
+85,1.416666667,BASELINE,766.398380482,746.398380482,716,680.601619518,663,637,881.601619518,788,804,653,632.398380482,654,0.4009918997,0.0045152897372,0.079851771935,0.999999958623,0.000119537439459,-0.000258223682871,4.22431645055e-05,1793237823317230080
+86,1.433333333,BASELINE,766.983716672,746.983716672,716,680.016283328,663,637,881.016283328,788,804,653,632.983716672,654,0.400991836249,0.00451569912138,0.0798514976534,0.999999958093,0.000121507662019,-0.000259336828881,4.23479553016e-05,1793237823333896704
+87,1.450000000,BASELINE,767,746.436612152,716,680,663,637,880.436612152,788,804,653,632.436612152,654,0.400991589506,0.00451599727864,0.0798516128457,0.999999958259,0.000121509439476,-0.000258690705758,4.23769455244e-05,1793237823350563328
+88,1.466666667,BASELINE,767,746,716,680,663,636.858641558,880,788,804,653,632,654,0.400991212984,0.00451589176247,0.079851619227,0.99999995836,0.000121083882609,-0.000258478418426,4.25139187009e-05,1793237823367229952
+89,1.483333333,BASELINE,767,746,716,680,663,636.285371719,880,788,804,653,632,654,0.400990455953,0.00451456257339,0.0798512590915,0.999999958199,0.000119524736241,-0.000259745501744,4.29874539596e-05,1793237823383896576
+90,1.500000000,BASELINE,767,746,716,680,663,636.296119667,880,788,803.703880333,653,632.296119667,654,0.400990663471,0.00451425136957,0.0798513794283,0.999999958122,0.000119677952301,-0.000259937302706,4.31900295548e-05,1793237823400563712
+91,1.516666667,BASELINE,767,746,716,680,663,636.88576042,880,788,803.11423958,653,632.88576042,654,0.400991827074,0.00451494921781,0.0798519760209,0.999999958129,0.00012152850414,-0.000259063257318,4.312402325e-05,1793237823417230592
+92,1.533333333,BASELINE,767,746,716,680,663,637,880,788,803.467581149,653,632.532418851,654,0.400991442356,0.0045147731662,0.0798515015326,0.999999958195,0.000120670374107,-0.000259249851474,4.28811875381e-05,1793237823433896704
+93,1.550000000,BASELINE,766.952829787,746,716,680,662.952829787,636.952829787,880,788,803.905659573,653,632,654,0.400990743543,0.004514571137,0.0798508762698,0.999999958243,0.000119615061693,-0.000259592700666,4.26404927437e-05,1793237823450563072
+94,1.566666667,BASELINE,766.377190431,746,716,680,662.377190431,636.377190431,880,788,802.754380863,653,632,654,0.40099069417,0.00451643078712,0.0798514453833,0.999999957939,0.000123642954635,-0.000258830685871,4.28998448779e-05,1793237823467229696
+95,1.583333333,BASELINE,766.197759045,746,716,680,662.197759045,636,880,788,802.197759045,653,632.197759045,654,0.400990749801,0.00451755207734,0.0798518755493,0.999999957736,0.00012593780941,-0.000258497493435,4.29633249174e-05,1793237823483896320
+96,1.600000000,BASELINE,766.771397375,746,716,680,662.771397375,636,880,788,802.771397375,653,632.771397375,654,0.400991005014,0.00451726997223,0.0798520416189,0.99999995775,0.000124938690925,-0.000258979360643,4.26545122328e-05,1793237823500563200
+97,1.616666667,BASELINE,767,746,716,680,663,636.356360434,880,788,803.356360434,653,633,654,0.40099058034,0.00451590992983,0.0798514478209,0.999999957946,0.000122038760803,-0.000259629140446,4.25109811921e-05,1793237823517229824
+98,1.633333333,BASELINE,767,746,716,680,663,636.948826631,880,788,803.948826631,653,633,654,0.400989705208,0.00451383570263,0.0798503505744,0.999999958249,0.000117879452477,-0.00026039017031,4.24769571324e-05,1793237823533896704
+99,1.650000000,BASELINE,767,746,716,680,663,637,880,788,804,653,633,654,0.400989633003,0.0045145936472,0.0798507999294,0.999999958061,0.000120601355239,-0.000259847325463,4.25669252618e-05,1793237823550563328
+100,1.666666667,BASELINE,767,746,716,680,662.89539211,636.89539211,880,788,804.10460789,653,632.89539211,654,0.400989850373,0.00451536756891,0.0798513950927,0.99999995797,0.00012284872632,-0.000259134639657,4.2639365791e-05,1793237823567229952
+101,1.683333333,BASELINE,767,746,716,680,662.318705551,636.318705551,880,788,804.681294449,653,632.318705551,654,0.400991031991,0.00451500527482,0.0798519884232,0.999999958555,0.000120018811128,-0.000258211774053,4.25798070226e-05,1793237823583896576
+102,1.700000000,BASELINE,766.743727507,746.256272493,715.743727507,680.256272493,662,636.256272493,880,788,804.487455013,653,632,654,0.400990739649,0.00451480076269,0.0798515999061,0.999999958583,0.000118815906481,-0.000258658763972,4.25825806809e-05,1793237823600563200
+103,1.716666667,BASELINE,766.170860176,746.829139824,715.170860176,680.829139824,662,636.829139824,880,788,803.341720351,653,632,654,0.4009886264,0.00451479117182,0.0798499984305,0.999999957927,0.000119622984203,-0.000260798051022,4.26623588019e-05,1793237823617229824
+104,1.733333333,BASELINE,766.415873435,746.584126565,715.415873435,681,662.415873435,636.584126565,880.415873435,788,803.415873435,653.415873435,632.415873435,654,0.400987326745,0.00451545881902,0.0798489917602,0.999999957339,0.000120177563031,-0.000262815425078,4.25184356987e-05,1793237823633896448
+105,1.750000000,BASELINE,767,746,716,681,663,636.008296507,880.991703493,788,803.991703493,654,632.991703493,654,0.400986403155,0.00451638762875,0.0798482604913,0.999999956791,0.000120614203969,-0.000264729211347,4.22857437067e-05,1793237823650563072
+106,1.766666667,BASELINE,767,746,716,681,663,636.586701018,880.413298982,788,803.413298982,654,632.413298982,654,0.400987559769,0.00451548337104,0.0798490821266,0.999999957252,0.000120320976811,-0.000263085347472,4.24865246285e-05,1793237823667229952
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,637,881,788,804,653,632,654,0.400988357949,0.00451493319146,0.0798502789721,0.99999995782,0.000119915721241,-0.00026106846653,4.27132651909e-05,1793237823709173504
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.610992864,716,680.389007136,662.389007136,637,880.389007136,788,803.389007136,653.610992864,632,654,0.40098867609,0.0045152500567,0.0798500299851,0.999999957759,0.000120936907382,-0.000260867445874,4.2480339117e-05,1793237823725840128
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.789272991,716,680,662.210727009,636.789272991,880,788,803,653.789272991,632.210727009,654,0.400989021161,0.0045152494284,0.0798500550281,0.999999957834,0.000121270502231,-0.00026044779102,4.23404794896e-05,1793237823742506752
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.209268495,716,680,662.790731505,636.209268495,880,788,803,653.209268495,632.790731505,654,0.400989413428,0.00451469242526,0.0798505602806,0.999999958147,0.000120399163971,-0.00025964500211,4.23637092337e-05,1793237823759173376
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.632608701,746,716,680,663,636.367391299,880,788,803,653,633,654,0.400989633016,0.00451445866524,0.0798507734677,0.999999958336,0.000119681038315,-0.000259257633586,4.23005636304e-05,1793237823775840000
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.057836919,746,716,680,663,636.942163081,880,788,803,653,633,654,0.400989755134,0.00451440736553,0.0798508217933,0.999999958456,0.000119049396262,-0.000259104756459,4.21886619409e-05,1793237823792506880
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,788.528861441,803,653,632.471138559,654,0.400990183883,0.00451416527012,0.079851291376,0.999999958498,0.000119914884387,-0.000258512407944,4.23748343142e-05,1793237823809173248
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,803,653,632,654,0.400990402216,0.00451398982212,0.0798516810122,0.999999958465,0.000120584997041,-0.00025829857856,4.254680954e-05,1793237823825839872
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,803,653,632,654,0.400989634192,0.00451416903313,0.0798515584619,0.99999995817,0.000119792529139,-0.00025980853722,4.25271481333e-05,1793237823842506240
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.273928851,746,716,680,663,636.726071149,880,788.726071149,803.273928851,653.273928851,632,654,0.400989951743,0.00451343095887,0.079851716511,0.999999958246,0.000118568143251,-0.000260077631346,4.25386763913e-05,1793237823859172864
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.852933689,746,716,680,663,636.147066311,880,788.147066311,803.852933689,653.852933689,632,654,0.400991478304,0.00451167129922,0.0798521870652,0.999999958733,0.00011686272811,-0.000258964768082,4.25849407423e-05,1793237823875839488
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880,788,804,653.57269027,632.42730973,654,0.401000677061,0.00451265460593,0.079856223474,0.999999960542,0.00011760688102,-0.00025155657638,4.24695663825e-05,1793237823892506368
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.00010997,880,788,804,653.00010997,632.99989003,654,0.401012492191,0.00451457150616,0.0798614756075,0.99999996272,0.000119184672838,-0.000242002128878,4.22991896497e-05,1793237823909173504
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.573764529,880,788,804,653.573764529,632.426235471,654,0.401045921656,0.00451476169491,0.0798751932417,0.999999968355,0.000118731206753,-0.00021772273735,4.22975243329e-05,1793237823925839872
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.847546058,746,716,680,663,637,880,788,804,653.847546058,632,654,0.401085194322,0.00451503809006,0.0798900812049,0.999999973922,0.000118636892109,-0.000190561184116,4.20357774126e-05,1793237823942506496
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.254299142,746,716,680,663,637,880,788,804,653.254299142,632,654,0.401141361553,0.00451556373544,0.0799083529655,0.999999979986,0.000119580998817,-0.000155066376571,4.10220516481e-05,1793237823959173120
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,716,680.330412187,663,636.669587813,880,788,804,653,632,654,0.401204008656,0.00451651958961,0.0799243905943,0.999999984178,0.000119242717194,-0.000125909576076,3.96475466034e-05,1793237823975839744
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,716,680.908719566,663,636.091280434,880,788,804,653,632,654,0.401271517346,0.00451779821239,0.0799387520414,0.999999987171,0.000117942310307,-0.000101507933697,3.80023632074e-05,1793237823992506880
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.483259484,746,716,680.516740516,663,636,879.516740516,788,803.516740516,653,632.483259484,654,0.401344035033,0.00451938078172,0.0799433123037,0.999999987655,0.000119618705166,-9.5350955903e-05,3.59056426439e-05,1793237824009173504
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.058736458,879.058736458,788,803,653,632.941263542,654,0.40141892627,0.00452078434832,0.0799459320983,0.999999987822,0.000121077737936,-9.25423999809e-05,3.36453659637e-05,1793237824025839872
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.64908547,879.64908547,788,803,653,632.35091453,654,0.401506803105,0.00452005219925,0.0799476152012,0.999999988889,0.000115519808266,-8.90906731745e-05,3.06707330388e-05,1793237824042506496
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680.234915268,663,636.765084732,880,788.234915268,803,653,632,654,0.401605866339,0.00451963833171,0.0799511721252,0.999999989986,0.000111178638741,-8.30856442833e-05,2.76577624452e-05,1793237824059173376
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680.814121666,663,636.185878334,880,788.814121666,803,653,632,654,0.401721324318,0.00451969093671,0.0799574753157,0.999999991109,0.000108620749816,-7.33385036122e-05,2.45886045378e-05,1793237824075840000
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.609798828,746,716,681,663,636,880,789,803,653,632.390201172,654,0.401852367973,0.00451922869125,0.079963955912,0.999999992582,0.000102558279074,-6.23642018053e-05,2.06902723292e-05,1793237824092506624
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.035196972,746,716,681,663,636,880,789,803,653,632.964803028,654,0.401990777093,0.00451852313855,0.0799705203471,0.999999994077,9.48396180799e-05,-5.08099691622e-05,1.64000899006e-05,1793237824109173504
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.552161798,746.552161798,716,680.447838202,663,636,879.447838202,788.447838202,803,653,632.447838202,654,0.40215081993,0.00450608280269,0.079975086073,0.999999996146,7.5909180189e-05,-4.18198480117e-05,1.4010997309e-05,1793237824125840128
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.861680751,746.861680751,716,680,663,636,879.138319249,788,803,653,632,654,0.402316919021,0.00449416478922,0.079978343065,0.999999997684,5.72408691472e-05,-3.50658307407e-05,1.12030486455e-05,1793237824142506752
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.282012371,746.282012371,716,680,663,636,879.717987629,788,803,653,632,654,0.402497838213,0.00448635663344,0.0799778402891,0.999999998497,4.17432899553e-05,-3.49129132139e-05,6.66279782583e-06,1793237824159173376
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.295776866,746.295776866,716,680,663,636,879.704223134,788,803.295776866,653.295776866,632,654,0.402685565109,0.00448866872314,0.0799738270808,0.999999998465,3.58884110279e-05,-4.22024782236e-05,3.29292552269e-07,1793237824175840000
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.871785685,746.871785685,716,680,663,636,879.128214315,788,803.871785685,653.871785685,632,654,0.40287974191,0.00450056917701,0.079966487935,0.999999997605,3.91694494868e-05,-5.65433770805e-05,-7.70322023942e-06,1793237824192506624
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.551376442,716,680,663,636,879.897247116,788,804,653.551376442,632,654,0.403108381708,0.00450085897239,0.0799648718971,0.999999997723,3.17952548851e-05,-5.79103488907e-05,-1.37533880233e-05,1793237824209172992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.973779059,788,803.973779059,653,632,654,0.403348561261,0.00449833091633,0.0799649836927,0.999999998011,2.35510544041e-05,-5.53911134039e-05,-1.88271187389e-05,1793237824225839616
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.38497897,788,803.38497897,653,632,654,0.403624617857,0.00450667124916,0.0799670086649,0.999999996748,6.20975760307e-05,-4.91931328847e-05,-1.5128962727e-05,1793237824242506496
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,879.799361108,788,803,653,632,654,0.403911957026,0.00451481744267,0.0799699284428,0.999999994526,9.39893790723e-05,-4.39526839183e-05,-1.34687282891e-05,1793237824259173120
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,879.21975393,788,803,653,632,654,0.404220606774,0.00452259694338,0.0799745383366,0.999999992637,0.000113311694082,-4.05208287427e-05,-1.56577362911e-05,1793237824275839744
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.644716417,746,716,680,663,636.355283583,879.355283583,788,803,653,632,654,0.404548482522,0.0045266224611,0.0799764299776,0.999999995963,7.97537942262e-05,-3.68239607614e-05,-1.89182072325e-05,1793237824292506624
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.072469436,746,716,680,663,636.927530564,879.927530564,788,803,653,632,654,0.404888099169,0.00452835550971,0.0799766616456,0.999999999099,1.39031819255e-05,-3.29652551825e-05,-2.28329957528e-05,1793237824309173504
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,680.515589537,663,636.484410463,880,788,803.515589537,653,632,654,0.405259427001,0.00453918517624,0.0799719906182,0.999999998621,3.0022649234e-05,-3.60654017411e-05,-2.35668377857e-05,1793237824325839872
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746.103959353,716,680.896040647,663.103959353,636,880,788,803.896040647,653,632,654,0.405639345456,0.00455019174433,0.0799664956652,0.999999997226,5.66906826591e-05,-4.18063005048e-05,-2.4225824008e-05,1793237824342506496
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746.683267017,716,680.316732983,663.683267017,636,880,788,803.316732983,653,632,654,0.406037519035,0.0045559759507,0.0799604839411,0.999999995149,7.72436625863e-05,-5.50080348884e-05,-2.66515670038e-05,1793237824359173120
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.73834805,716,680,663.73834805,636.26165195,880,788,803,653,632,654,0.406453753465,0.00456224719229,0.0799566172057,0.999999993072,9.52663897745e-05,-6.34176020468e-05,-2.75495949281e-05,1793237824375839744
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.161076204,716,680,663.161076204,636.838923796,880,788,803,653,632,654,0.406891773927,0.00456910592392,0.0799553378817,0.999999991389,0.000110236976813,-6.60465758462e-05,-2.66048033822e-05,1793237824392506368
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.585495681,879.585495681,788,803.414504319,653,632,654,0.407347817982,0.00457747878224,0.0799569029933,0.99999999039,0.000119302080644,-6.47052787077e-05,-2.82749900695e-05,1793237824409172992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.010569749,879.010569749,788,803.989430251,653,632,654,0.407810837524,0.00458643763826,0.0799595689596,0.999999989661,0.000126081641838,-6.18274057848e-05,-3.09572266198e-05,1793237824425839872
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746.579434226,716,680.579434226,663,636,879.579434226,788,803.420565774,653,632,653.420565774,0.408303829426,0.00459596314912,0.079950684136,0.999999986657,0.000139613324802,-7.86029262292e-05,-3.18645755009e-05,1793237824442506496
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746.833432872,716,680.833432872,663,636,880,788,803,653,632,653.166567128,0.408814504662,0.00460554929357,0.079946916212,0.999999984608,0.000149294408294,-8.60811541471e-05,-3.29523578105e-05,1793237824459173120
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746.254114315,716,680.254114315,663,636,880,788,803,653,632,653.745885685,0.409367607903,0.00461525938753,0.0799563639786,0.999999985861,0.000149120383289,-6.96086834347e-05,-3.45696243402e-05,1793237824475839488
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.323362523,880,788,803,653,632,654,0.409953353493,0.00462301450525,0.0799780280056,0.99999998641,0.000157616454941,-3.21782502932e-05,-3.60895609959e-05,1793237824492506368
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.899400303,880,788,803,653,632,654,0.410564605852,0.00462924200689,0.0800092378111,0.999999984117,0.000172887333912,2.16287224363e-05,-3.75334442444e-05,1793237824509173248
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,716,680.473152394,663,636.526847606,880,788,803.473152394,653,632,654,0.411149349027,0.00463306561724,0.0800119500851,0.999999983193,0.000177685669625,2.41632739131e-05,-3.81720394854e-05,1793237824525840128
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.047705871,746,716,681,663,636.047705871,879.952294129,788,804,653,632,654,0.411730151978,0.00463452558984,0.0800065536184,0.999999983288,0.000178204236098,1.29082193263e-05,-3.87500599622e-05,1793237824542507264
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.636844,746,716,681,663,636.636844,879.363156,788,804,653,632,654,0.412329896924,0.00461493257638,0.0799775635636,0.999999986615,0.000155299431638,-3.17218101627e-05,-4.05744596674e-05,1793237824559173376
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680.777257559,663,637,879.222742441,788,804,653,632,654,0.412947830042,0.00459600328185,0.0799530231259,0.999999988218,0.00013236821265,-6.50211316124e-05,-4.25944196304e-05,1793237824575839744
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680.19656537,663,637,879.80343463,788,804,653,632,654,0.413594991733,0.00457814059274,0.0799356332772,0.999999989798,0.000109394547006,-8.01118681362e-05,-4.49286472513e-05,1793237824592506368
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.619644424,746,716,680.380355576,663,637,880.380355576,788,804,653,632,654,0.414277186169,0.00457745072976,0.0799443981327,0.999999992115,0.000100102761245,-6.1173578217e-05,-4.48077297908e-05,1793237824609172992
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.044653314,746,716,680.955346686,663,637,880.955346686,788,804,653,632,654,0.414977307539,0.0045855485449,0.0799665468725,0.999999993965,9.78122668744e-05,-2.48219563763e-05,-4.34304655247e-05,1793237824625839616
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.526755993,637,881,788,803.473244007,653,632,654,0.415669149202,0.00459363751127,0.0799817855199,0.999999991742,0.000120710526051,-3.97869337624e-06,-4.39236927911e-05,1793237824642506496
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663.898048405,637,880.898048405,788,803,653,632,654,0.416361781577,0.00460111968829,0.07999018258,0.999999989061,0.000140863540177,5.19825170253e-06,-4.48193290646e-05,1793237824659173120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.303085065,637,880.303085065,788,803,653,632,654,0.417061608574,0.00460567118804,0.0799683089838,0.999999988811,0.000137485411088,-3.57257558293e-05,-4.68993239099e-05,1793237824675839744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.283210441,716,680.716789559,663,636.716789559,880,788,803.283210441,653,632.283210441,654,0.417801148585,0.00460673273723,0.0799692590634,0.999999989415,0.000133578166341,-3.07200686946e-05,-4.88225261232e-05,1793237824692506624
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.860505376,716,680.139494624,663,636.139494624,880,788,803.860505376,653,632.860505376,654,0.418581926505,0.00460417033742,0.0799939091466,0.999999990143,0.000129121489675,2.19788094657e-05,-5.05829157626e-05,1793237824709173248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.433254217,747,716,680.433254217,663.433254217,636,880,788,804,653,632.566745783,654,0.419343616759,0.00459615854272,0.0800061785023,0.999999990803,0.000116790426418,4.605958356e-05,-5.13058783216e-05,1793237824725839872
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.99525635,746.99525635,716,681,664,636.00474365,880.00474365,788,804,653,632,654,0.420099010245,0.00458651411546,0.0800142526848,0.99999999161,0.000102154576584,6.05977702983e-05,-5.16895090894e-05,1793237824742506496
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.400232345,746.400232345,716,681,664,636.599767655,880.599767655,788,804,653,632,654,0.420827663476,0.00458977201336,0.0799911744399,0.999999992074,0.00011292827753,2.2361406285e-05,-5.09805444917e-05,1793237824759173120
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.81037885,636.81037885,880.81037885,788,804,653,632,654,0.421584332127,0.00459477674997,0.0799801339065,0.999999991243,0.000122114903577,3.40482834424e-06,-5.08953666395e-05,1793237824775839744
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.231149076,636.231149076,880.231149076,788,804,653,632,654,0.422398563135,0.00460337066103,0.0799938268826,0.999999990157,0.000128040616271,2.40618240506e-05,-5.20918639991e-05,1793237824792506624
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663.345744463,636.345744463,880.345744463,788,804,653,632,654,0.423205992626,0.00460749192005,0.0800131433428,0.999999988216,0.000134586421689,5.2636035084e-05,-5.1800119955e-05,1793237824809173248
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.921086563,636.921086563,880.921086563,788,804,653,632,654,0.424008905418,0.0046086430362,0.080036194175,0.999999984968,0.000141544010153,8.64678100636e-05,-5.05200831857e-05,1793237824825840384
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.495680511,746.495680511,716,681.495680511,663.504319489,637,881,788,803.504319489,653,632,654,0.424741758626,0.00460983325878,0.0800032654228,0.999999988332,0.000143205456684,1.91172464995e-05,-4.96331838744e-05,1793237824842507264
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.927586079,747,716,681.927586079,663.072413921,637,881.072413921,787.927586079,803.072413921,653,632,654,0.425470420067,0.00461085662327,0.0799639462739,0.99999998694,0.000143472587497,-5.57677747547e-05,-4.92408438212e-05,1793237824859174144
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.334618318,747,716,681.334618318,663.665381682,637,881.665381682,787.334618318,803.665381682,653,632,654,0.426249006358,0.00461063582563,0.079942657895,0.999999986489,0.000139768540556,-6.91923491597e-05,-5.19544451722e-05,1793237824875840512
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,747,716,681.25136148,664,637,881.74863852,787.25136148,804,653,632,654,0.427047056052,0.00460880284139,0.0799354051234,0.999999986858,0.000136377553761,-6.94353862124e-05,-5.35062848616e-05,1793237824892506880
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,747,716,681.828290438,664,637,881.171709562,787.828290438,804,653,632,654,0.42787031517,0.00460488172682,0.0799463314957,0.999999988286,0.000133392047045,-5.2605483543e-05,-5.35533923244e-05,1793237824909173248
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746.595943809,716,681.595943809,663.595943809,636.595943809,881,787.595943809,804,653,632,654,0.428659097607,0.00460544125422,0.0799540913381,0.999999988353,0.000134728732632,-4.83527632027e-05,-5.29638464336e-05,1793237824925839872
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.020670991,716,681.020670991,663.020670991,636.020670991,881,787.020670991,804,653,632,654,0.429433270687,0.00460789942967,0.0799605093801,0.999999987913,0.000137896924023,-4.94295568763e-05,-5.21045221281e-05,1793237824942506496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715.431316934,681.568683066,663.568683066,636,881,787.568683066,804,653,632,654,0.430230044916,0.00461071655617,0.0799884019984,0.999999989289,0.000136145212825,-3.08626162456e-06,-5.36286011276e-05,1793237824959173376
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.155739885,746.155739885,715.155739885,681.844260115,664,636.155739885,881,788,804,653,632,654,0.431026543847,0.00461349514678,0.0800154307156,0.999999988557,0.000135605956099,3.93360109252e-05,-5.43072628152e-05,1793237824975840000
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.735120133,746.735120133,715.735120133,681.264879867,664,636.735120133,881,788,804,653,632,654,0.431820002436,0.00461613252012,0.0800379322464,0.999999986786,0.000138863601993,6.62846696587e-05,-5.24445948182e-05,1793237824992506624
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.687940809,747,715.687940809,681,664,637,881,788,804,653,632,654,0.432567110551,0.00461867511223,0.0800227879843,0.999999987678,0.000143594110297,3.64491718345e-05,-5.19314486299e-05,1793237825009173248
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.113057811,747,715.113057811,681,664,637,881,788,804,653,632,654,0.433275181133,0.00462113787715,0.0799759375225,0.999999986585,0.00014956509823,-4.12113195495e-05,-5.25549022703e-05,1793237825025840128
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746.538277745,715.461722255,681.461722255,663.538277745,637,881,788,804,653,632,653.538277745,0.433992418336,0.00462097127114,0.0799402352785,0.999999984819,0.000142748087271,-8.33010482017e-05,-5.51943730898e-05,1793237825042506752
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.037411836,746,716,682.037411836,663.037411836,636.962588164,881,788,804,652.962588164,632,653.037411836,0.434713477496,0.00461991698819,0.0799117422565,0.99999998329,0.000133209083236,-0.000110918186748,-5.80729294344e-05,1793237825059173120
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.626893966,746,716,682.626893966,663.626893966,636.373106034,881,788,804,652.373106034,632,653.626893966,0.435457820369,0.00461526225371,0.0799493596635,0.999999988524,0.000129699509254,-5.34690475868e-05,-5.71966944839e-05,1793237825075839744
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,682.786727915,664,636,881.213272085,788,804.213272085,652.213272085,632,654,0.436194660418,0.00461019459715,0.0799819720755,0.999999990378,0.000126607674752,-8.99928486766e-06,-5.59696950987e-05,1793237825092506368
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,682.205702074,664,636,881.794297926,788,804.794297926,652.794297926,632,654,0.436918563161,0.00460441492145,0.0800059541768,0.999999990732,0.000124236165465,1.30896187011e-05,-5.41378583925e-05,1793237825109172992
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.370179818,716,682.370179818,664,636.370179818,881.629820182,788,804.629820182,653,632,654,0.437628086302,0.00460213063763,0.0800158805423,0.999999991349,0.000116624723906,2.67921696459e-05,-5.46210436816e-05,1793237825125839872
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.943242453,716,682.943242453,664,636.943242453,881.056757547,788,804.056757547,653,632,654,0.438329728434,0.00460176205813,0.0800181034413,0.999999992134,0.00010614145597,3.58984480459e-05,-5.63730129553e-05,1793237825142506496
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.469605122,716,683,664,636.469605122,881.530394878,788,804,653,632,654,0.438981929199,0.00460555621818,0.0800187690343,0.999999991115,0.000113435360523,4.11885115289e-05,-5.66152769639e-05,1793237825159172864
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.88269057,746.11730943,716,683,664,636,881.88269057,788,804,653,632,654,0.439620163548,0.00460922963762,0.0800145567724,0.999999990543,0.000119218930339,3.85768654425e-05,-5.66747825383e-05,1793237825175840000
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.302821393,746.697178607,716,683,664,636,881.302821393,788,804,653,632,654,0.440224758276,0.00461062257384,0.0799917858029,0.999999992175,0.00011134139018,6.46238289142e-06,-5.66680595967e-05,1793237825192506624
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.724247575,716,683,664,636,881,787.724247575,804,653,632,653.724247575,0.440797271012,0.00461054216237,0.0799528850382,0.999999991163,0.000107583688154,-5.27041688696e-05,-5.76327109818e-05,1793237825209173248
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,715,683.348976448,662,636,882,787.651023552,804.348976448,653,632.348976448,654,0.446215067641,0.0046493406297,0.0798584178156,0.99999996603,0.000150660721703,-0.000204536979904,-5.83684428246e-05,1793237825392506880
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+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746.098515675,715,683,657,634,882,787,805,653,632,653.098515675,0.4509750267,0.004662724261,0.0797383439139,0.999999911316,0.000161543362047,-0.00038401028813,-6.17086760919e-05,1793237826209174016
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746.678371734,715,683,657,634,882,787,805,653,632,653.678371734,0.450975153154,0.00466417504685,0.0797379148723,0.999999910627,0.0001632216214,-0.000385113140513,-6.15862687242e-05,1793237826225840128
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,747,715,683.2561898,657,634,882,787,804.7438102,653,632,654,0.450974992916,0.00466413095052,0.0797375253025,0.999999910271,0.000163401484184,-0.000385988487732,-6.14123475118e-05,1793237826242506496
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,747,715,683.831469582,657,634,882,787,804.168530418,653,632,654,0.450974475598,0.00466222494604,0.0797371848957,0.999999910331,0.000161715061601,-0.000386580472454,-6.11742646666e-05,1793237826259173376
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746.594206816,715,683.594206816,657,634,882,787,804,653,632,654,0.450973598662,0.00466196679719,0.0797367140617,0.999999910058,0.000160846993763,-0.000387675855833,-6.09927289179e-05,1793237826275840000
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746.020279427,715,683.020279427,657,634,882,787,804,653,632,654,0.450972572725,0.00466239141225,0.0797361891871,0.999999909646,0.000160317998809,-0.000388979814716,-6.08346226087e-05,1793237826292506368
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,746.571292211,715.571292211,683.571292211,657,634,882,787,804.571292211,653,632,654,0.450972646161,0.00466398127715,0.0797359097318,0.999999908949,0.000163519902467,-0.000389374746161,-6.12490386072e-05,1793237826309173248
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+265,4.416666667,HOLD_POSE2,766,746.332602974,715,684,656.332602974,634,882.667397026,787.667397026,804,652.667397026,632.667397026,654,0.450972388054,0.00466258599927,0.0797348126348,0.999999908671,0.000160244358523,-0.000391481220587,-6.10063344201e-05,1793237826370866944
+266,4.433333333,HOLD_POSE2,766,746.287665912,715.287665912,684,656.287665912,634,882.712334088,787.712334088,804.287665912,653,632.712334088,653.712334088,0.450972833557,0.00466265289724,0.0797347195088,0.999999908723,0.000160030398422,-0.000391432937371,-6.10251655409e-05,1793237826387533568
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+268,4.466666667,HOLD_POSE2,766,747,715.103403658,684,657,634,882.448298171,787,804.551701829,653,632,653.448298171,0.450973625189,0.00466080659035,0.0797348401655,0.999999909413,0.000156468460847,-0.000391073694009,-6.12656881832e-05,1793237826420866816
+269,4.483333333,HOLD_POSE2,766,746.960935109,714.039064891,684,657,633.960935109,882.960935109,787,804,653,632,654,0.450972796008,0.00466187375205,0.0797338590042,0.999999908693,0.000158344540598,-0.000392175965974,-6.11477790272e-05,1793237826437533184
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+271,4.516666667,HOLD_POSE2,766,746,715,684,657,633.19624785,882,786.80375215,804,653,632,653.80375215,0.450972446468,0.0046603848848,0.0797332935321,0.999999908041,0.000159604053265,-0.00039333600524,-6.10763898704e-05,1793237826470866432
+272,4.533333333,HOLD_POSE2,766,746,715,684,657,633.76985207,882,786.23014793,804,653,632,653.23014793,0.450973064774,0.00465982233174,0.0797339402102,0.999999908801,0.000156537934943,-0.000392672436904,-6.08523415446e-05,1793237826487532800
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+274,4.566666667,HOLD_POSE2,766,746.946893047,715,684,657,634,882,786.946893047,804,653,632,653,0.450973125393,0.00466177359112,0.0797336603059,0.999999908256,0.000158115752576,-0.000393407337197,-6.09796676148e-05,1793237826520866304
+275,4.583333333,HOLD_POSE2,766,746.47231182,715,684,656.47231182,634,882,787,804.52768818,653,632,653.52768818,0.45097325956,0.00466181943767,0.0797334180215,0.999999908254,0.00015904811834,-0.000393029747859,-6.1018602417e-05,1793237826537532928
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746.301620515,715,684,656.698379485,634,882,787.301620515,804,653,632,653.698379485,0.450974014576,0.00466318480992,0.0797325069372,0.999999907501,0.000159133154886,-0.000394936430557,-6.08266119693e-05,1793237826703887104
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746.057869894,715,684,656.942130106,634,882,787,804,652.057869894,632,654,0.45097302984,0.00466286737387,0.0797324574256,0.9999999068,0.000161964449384,-0.000395555400718,-6.08523417476e-05,1793237826753886976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746.635852922,715,684,656.364147078,634,882,787,804,652.635852922,632,654,0.450971894406,0.004662012511,0.0797316071762,0.999999906314,0.000161590256836,-0.000396942871584,-6.08052668005e-05,1793237826770553600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746.787349166,715,684,656,633.787349166,882,787,804,653,632,654,0.450970033833,0.0046617471083,0.0797304467875,0.999999905577,0.000161483858058,-0.000398840758576,-6.07932786426e-05,1793237826787220736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746.21256948,715,684,656,633.21256948,882,787,804,653,632,654,0.450966938403,0.00466248551334,0.0797287582543,0.99999990441,0.000161833492567,-0.000401607846839,-6.08410407311e-05,1793237826803887360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.373133793,715,684,656.373133793,633.373133793,882,787,804,653,632.373133793,654,0.450959842768,0.0046618921324,0.07972469712,0.999999902411,0.000160521040607,-0.000407120022066,-6.05278040325e-05,1793237826820553472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.965247822,715,684,656.965247822,633.965247822,882,787,804,653,632.965247822,654,0.450950399542,0.00466051716912,0.079719243582,0.999999899882,0.000158233163518,-0.00041424320089,-6.00027087447e-05,1793237826837220096
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746.740093015,715,683.740093015,656.740093015,634,882,787,804,652.259906985,632.259906985,654,0.450769013029,0.00466172403565,0.0796368235943,0.999999834537,0.000162645423925,-0.000548584060553,-5.93932578766e-05,1793237826903887104
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,684,657,634,882.92287197,787,804,653.92287197,632,654,0.450055716684,0.00465389568972,0.0796145920671,0.999999812582,0.000173726897625,-0.000585569089726,-4.19940656942e-05,1793237827037220352
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746.392335805,715,683.607664195,659.607664195,635,882,787.607664195,804.607664195,652.392335805,632.392335805,654,0.446251208178,0.00461642822622,0.079685489818,0.999999866444,0.000145987101958,-0.000495485348136,1.7152731275e-05,1793237827287220224
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.800269459,660,635,881.800269459,787.800269459,805,652.199730541,632,654,0.445843663838,0.00461025929561,0.0796946278898,0.999999873049,0.000138412780375,-0.000484095067704,1.9906943522e-05,1793237827303887104
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.589873801,746.410126199,716,684,662.410126199,636,882,788,804.589873801,653,632.410126199,654,0.44019463825,0.00455369212021,0.0797667613496,0.999999927668,0.000111081200585,-0.000362250844261,3.31642938381e-05,1793237827487220736
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746.323744209,716,683,663,636,881.323744209,788,804.676255791,653,632.323744209,653.323744209,0.438287606235,0.00453189772696,0.0797801824471,0.999999937518,7.55713073736e-05,-0.000343235796523,3.79831538223e-05,1793237827537220608
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.064903785,746,716,680.064903785,662.064903785,637,880,788,803.064903785,653,633,654,0.409959584846,0.00448979592919,0.0798102031985,0.999999947178,9.0203793766e-05,-0.000308296565368,4.96082959632e-05,1793237828187219968
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.302904995,747,716,680.302904995,662.697095005,636.302904995,880.302904995,788,803,653,632,654,0.408409392825,0.00449160331898,0.0798509201795,0.999999963492,8.76873696378e-05,-0.000250285650599,5.18057727746e-05,1793237828237220608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.278131293,747,716,680.278131293,663,636.278131293,880.278131293,787.721868707,803.278131293,653,632,654,0.407885007,0.00448878755531,0.0798341020291,0.999999954641,8.47669974431e-05,-0.000284324680564,5.18927263458e-05,1793237828253887232
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.551255911,746.551255911,716,681,663,636.551255911,880.551255911,787.448744089,804,653,632,654,0.406888164042,0.00448636941098,0.0797902082688,0.999999931816,8.16239620397e-05,-0.000356629904052,5.02026762086e-05,1793237828287220224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746.027890938,716,681,663,636.027890938,880,788,803.972109062,653,632,654,0.40645140506,0.00448643890731,0.0797904670768,0.999999934895,7.76786254128e-05,-0.000348798239139,5.01647142515e-05,1793237828303886848
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.755544341,747,716,681,662.244455659,637,880,788,803.755544341,653,632,654,0.405308931787,0.00449958527042,0.0798290066186,0.999999954993,9.94419953647e-05,-0.000278749465482,4.92308901108e-05,1793237828353886720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.660293303,746.660293303,716,680.660293303,662,637,879.660293303,788,803.660293303,653,632,654,0.404942191962,0.00450189552531,0.0798317573564,0.999999955099,0.000101801713112,-0.000277503694229,4.92880623044e-05,1793237828370553344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.069490877,746.069490877,716,680.069490877,662,637,879.069490877,788,803.069490877,653,632,654,0.404583833019,0.00450358869169,0.0798337056439,0.999999954949,9.92165479502e-05,-0.000279025733962,4.9022337475e-05,1793237828387219968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.511483829,746,716,680.511483829,662,636.488516171,880.022967659,788,803.511483829,653,632,654,0.404262938216,0.00450380668404,0.0798351261651,0.999999953408,0.000102284978766,-0.00028323773993,4.99720059869e-05,1793237828403886848
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.336127242,746,716,680.336127242,662.663872758,636,880.336127242,788,803.336127242,653,632,654,0.403658473323,0.00450178674049,0.07983761748,0.999999953865,9.61397768256e-05,-0.000284174115858,4.767381778e-05,1793237828437220096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.756359091,636,880.487281818,788,803,653,632.243640909,654,0.403385966607,0.00449808644008,0.0798398517742,0.999999955339,8.9987392718e-05,-0.000281133405287,4.6780260764e-05,1793237828453886720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.167958113,636,881.664083775,788,803,653,632.832041887,654,0.403141437692,0.00449164200367,0.0798435927218,0.999999956609,8.65818932376e-05,-0.000277354961642,4.85780051294e-05,1793237828470553344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746.414321319,716,680,662,636,881.171357361,788,803.414321319,653,632.585678681,654,0.402903942158,0.00448962734054,0.0798436111782,0.999999956012,8.01598587908e-05,-0.000281400217789,4.86228179589e-05,1793237828487219968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746.994155308,716,680,662,636,880.011689383,788,803.994155308,653,632.005844692,654,0.402669256318,0.00448938227899,0.0798421425774,0.999999954582,7.25327820241e-05,-0.000288570877831,4.79673713908e-05,1793237828503886592
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.569350196,746.430649804,716,680,662.569350196,636,880,788,803.430649804,653,632.569350196,654,0.402481635981,0.00448806394452,0.0798411880839,0.999999955667,6.35426438763e-05,-0.000287078029197,4.70597911931e-05,1793237828520553472
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636,880,788,803,653.144726698,632.855273302,654,0.402303445382,0.00448668349918,0.0798424536876,0.999999957401,5.58450182685e-05,-0.000282672928423,4.66306538164e-05,1793237828537220096
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636,880,788,803,653.720785145,632.279214855,654,0.402151930131,0.00448515051487,0.0798503202875,0.999999961101,5.20408594566e-05,-0.000269851301547,4.76350804961e-05,1793237828553886720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.695271195,746,716,680,662.695271195,636,880,788,803.304728805,653.695271195,632,654,0.40200889707,0.00448505232953,0.0798560115782,0.999999963374,5.27715352128e-05,-0.000260929393746,4.88169064194e-05,1793237828570553344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.103910534,746,716,680,662.103910534,636,880,788,803.896089466,653.103910534,632,654,0.401873842449,0.00448630373451,0.0798596567457,0.999999964388,5.77677345929e-05,-0.000255675610684,5.01655964872e-05,1793237828587219968
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.476187695,746,716,680.476187695,662.476187695,636,880,788,803.523812305,653,632,654,0.401749027764,0.00449543799635,0.0798589301709,0.999999962506,8.28797112188e-05,-0.000256152826624,5.00398615216e-05,1793237828603886336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.946339836,746,716,680.946339836,662.946339836,636.053660164,880,788,803.053660164,653,632,654,0.401628209772,0.00450687095415,0.0798567417859,0.999999958857,0.000113630166571,-0.000258725938888,4.93457013502e-05,1793237828620553216
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.371053522,746,716,680.371053522,662.371053522,636.628946478,880,788,803.628946478,653,632,654,0.401525023782,0.00452431431082,0.0798494024891,0.999999950134,0.000157507439619,-0.000269797178893,4.61812646434e-05,1793237828637219840
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.207868235,746,716,680.207868235,662,636.792131765,880,788,804,653.207868235,632,654,0.401430774563,0.0045333830263,0.0798441681133,0.999999944834,0.000177617694584,-0.000277326635529,4.32866945311e-05,1793237828653886464
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.793394887,746,716,680.793394887,662,636.206605113,880,788,804,653.793394887,632,654,0.401352761819,0.00452723655536,0.0798427579927,0.999999948463,0.000154547639244,-0.000278421322143,4.08824227869e-05,1793237828670553344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.624856979,662,636,879.624856979,788,803.624856979,653.624856979,632,654,0.40128436496,0.00452387291569,0.0798408096934,0.999999949512,0.000143169597322,-0.000280808520061,4.03174819927e-05,1793237828687220224
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.045169083,662,636,879.045169083,788,803.045169083,653.045169083,632,654,0.401221211118,0.0045220266012,0.0798385679547,0.999999949325,0.000138166568647,-0.000283900453385,4.07554273841e-05,1793237828703886848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.466484378,746,716,680.533515622,662,636,879.533515622,788,803,653,632,654,0.401170403369,0.0045225831687,0.079836390887,0.999999948255,0.000137907753,-0.000287648239234,4.15981595633e-05,1793237828720553728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.888408758,662,636,880,788,803.111591242,653,632,653.888408758,0.401124412083,0.00452275495809,0.0798347424186,0.999999947574,0.000137182713555,-0.000290239816531,4.23516020196e-05,1793237828737220096
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.312514826,662,636,880,788,803.687485174,653,632,653.312514826,0.401094119995,0.00452048092945,0.0798352705796,0.999999948857,0.000132849768559,-0.000287790105931,4.25912092797e-05,1793237828753886720
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.268814395,636,880,788,804,653,632,653.268814395,0.401067248829,0.00451965657649,0.0798355077205,0.999999949507,0.000131165550699,-0.000286241263374,4.29735609048e-05,1793237828770553344
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.856592984,636,880,788,804,653,632,653.856592984,0.401044436787,0.00452055234922,0.0798353995488,0.999999949428,0.000132624203816,-0.000285761353761,4.3525287201e-05,1793237828787219968
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746.437954821,716,680,663,636,880,788,804,653,632.437954821,654,0.401028155938,0.00451953522305,0.0798372619139,0.999999950247,0.000130038287387,-0.000284056295575,4.3677589878e-05,1793237828803886592
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746.982860744,716,680,662.982860744,636,880,788,803.982860744,653,633,654,0.401014112393,0.00451799326562,0.0798396627892,0.999999951289,0.000126362214122,-0.000282037405279,4.3707499609e-05,1793237828820553472
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746.40714917,716,680,662.40714917,636,880,788,803.40714917,653,633,654,0.401004291377,0.00451946580328,0.0798388887672,0.999999950671,0.000129696337433,-0.000282676122052,4.39495237735e-05,1793237828837220096
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,746.079332695,716,680.920667305,663,637,880.079332695,788.079332695,804,653.079332695,632,654,0.40098937974,0.00451613451297,0.0798424040294,0.999999952989,0.000126278085138,-0.000275911876616,4.41373353043e-05,1793237828903886848
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.500458152,746,716,681,663,636.499541848,880,788,804,653,632.500458152,654,0.400988910068,0.00451657427804,0.0798426431603,0.999999953268,0.000125830101346,-0.000275154657928,4.38229994693e-05,1793237828920553472
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.079623203,716,680.920376797,662.920376797,636,880,788,803.920376797,653.079623203,632.920376797,654,0.400988711189,0.00451737905595,0.0798427054948,0.999999953462,0.000125844230117,-0.000274499351124,4.34679041883e-05,1793237828937220352
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746.654342299,716,680.345657701,662.345657701,636,880,788,803.345657701,653.654342299,632.345657701,654,0.40098874271,0.00451760800773,0.0798433445103,0.999999953689,0.000127088771688,-0.000273090263588,4.35094744368e-05,1793237828953886976
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,662,636,880.822066452,788,803,654,632.822066452,654,0.40098706247,0.00451614736269,0.0798433205487,0.999999953937,0.000124525518473,-0.000273371391515,4.34386376735e-05,1793237828987219968
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.595669401,716,680.404330599,662.404330599,636,880.595669401,788,803,653.595669401,632.595669401,654,0.400987140052,0.00451604348275,0.0798436617729,0.999999954106,0.000125312787472,-0.0002723749182,4.35613293549e-05,1793237829003886592
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.015805953,716,680.984194047,662.984194047,636,880.015805953,788,803,653.015805953,632.015805953,654,0.400987778769,0.00451639065253,0.0798442778718,0.999999954307,0.000127469851096,-0.000270595509785,4.37670350004e-05,1793237829020553216
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636,880,788,803,653,632,654,0.400986018597,0.00451653954227,0.0798436784708,0.999999953998,0.000125539404967,-0.000272681441333,4.34550720711e-05,1793237829037220096
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.275677808,663,636,880,788,803.724322192,653,632,654,0.400985998299,0.00451624463547,0.0798445790456,0.999999954428,0.000125147850826,-0.000271303367874,4.33235786377e-05,1793237829070553344
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.692182026,636,880,788.307817974,804,653.307817974,632,654,0.400987148406,0.0045159026561,0.0798454835938,0.999999954852,0.000124935203371,-0.000269828484091,4.33467513541e-05,1793237829087219968
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35f1a37536419839e502bdc86d9ec5852b6a1165
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8932b0bc181ebaf5bac7a58491770fef6ec97c8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e2915b6d5f6c7ae7b3c944bf02c88900a250ce367876def04eaa90fb2547d3
+size 27951805
diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1faa56aa5824063ea49768b3ba3c56f6fb182b55
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,442 @@
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+6,0.100000000,BASELINE,766.482858914,746,716,680,663,636.517141086,880,788,803,653,632,653.517141086,0.400987283194,0.00451494670636,0.0798479918014,0.999999956227,0.000122757071404,-0.000265738892343,4.31309698169e-05,1793237829552015872
+7,0.116666667,BASELINE,766.940929096,746,716,680,663,636,880,788,803.059070904,653,632,653.059070904,0.400987641323,0.00451431214184,0.0798486759904,0.999999956852,0.000120737048104,-0.000264263230977,4.34074689206e-05,1793237829568682496
+8,0.133333333,BASELINE,766.365915644,746,716,680,663,636,880,788,803.634084356,653,632,653.634084356,0.400987251683,0.00451341201717,0.0798481490413,0.999999956534,0.000121619179411,-0.000265095396491,4.31817171388e-05,1793237829585348608
+9,0.150000000,BASELINE,766,746,716,680,663,636.214790434,880,788,803.785209566,653,632,654,0.400987674992,0.00451310610391,0.0798481538604,0.999999956462,0.000122323944552,-0.000265061434633,4.30758751827e-05,1793237829602015232
+10,0.166666667,BASELINE,766,746,716,680,663,636.805458396,880,788,803.194541604,653,632,654,0.40098952094,0.00451384004486,0.07984908926,0.999999956819,0.000122718323541,-0.000263511772903,4.31798722455e-05,1793237829618681856
+11,0.183333333,BASELINE,766,746.388165991,716,680,663,637,880,788,803.388165991,653,632,654,0.400989017123,0.0045149732228,0.0798488330382,0.999999956566,0.000124439699822,-0.000263668818883,4.3152547455e-05,1793237829635348736
+12,0.200000000,BASELINE,766,746.966964223,716,680,663,637,880,788,803.966964223,653,632,654,0.400987359313,0.00451630247012,0.079847991599,0.999999956009,0.000126812777917,-0.000264664046129,4.30607291845e-05,1793237829652015360
+13,0.216666667,BASELINE,766.542798405,746.457201595,716,680,663,636.457201595,880,788,803.457201595,653.542798405,632,654,0.400985954335,0.00451569286021,0.0798473038695,0.999999955903,0.000124321429355,-0.000266245381402,4.302206299e-05,1793237829668682496
+14,0.233333333,BASELINE,767,746,716,680,663,636.12097056,880,788,803.12097056,654,632.12097056,654,0.4009850898,0.0045148717184,0.0798468840672,0.999999955879,0.000122137272723,-0.000267345033142,4.30170683555e-05,1793237829685349120
+15,0.250000000,BASELINE,767,746,716,680,663,636.708859426,880,788,803.708859426,654,632.708859426,654,0.400986252179,0.00451368710153,0.0798474624895,0.999999956097,0.000122275316126,-0.000266448561972,4.31296198203e-05,1793237829702015232
+16,0.266666667,BASELINE,767,746,716,680,663,636.707368374,880,788,803.707368374,653.707368374,632.707368374,654,0.400987638028,0.00451364397865,0.0798484618474,0.999999956449,0.000122779174692,-0.000264894922382,4.31104147834e-05,1793237829718681600
+17,0.283333333,BASELINE,767,746,716,680,663,636.127635084,880,788,803.127635084,653.127635084,632.127635084,654,0.400989243125,0.00451472077861,0.0798498741863,0.999999956929,0.000123641935478,-0.000262696533161,4.29619430858e-05,1793237829735348224
+18,0.300000000,BASELINE,766.552238999,746,716,680,663,636.447761001,880,788.447761001,803.447761001,653.447761001,632,653.552238999,0.400988327669,0.00451495606758,0.0798491134347,0.999999956576,0.000123956845352,-0.000263903744872,4.28694746256e-05,1793237829752015360
+19,0.316666667,BASELINE,766,746,715.978044135,680,663,637,880,788.978044135,803.978044135,653.978044135,632.021955865,653.021955865,0.400986785058,0.00451491297127,0.0798478002708,0.999999956026,0.000124032563369,-0.000265954725404,4.28061276106e-05,1793237829768681984
+20,0.333333333,BASELINE,766,746,715.40326373,680,663,637,880,788.40326373,803.40326373,653.40326373,632.59673627,653.59673627,0.400987368541,0.00451384226643,0.0798480252494,0.999999956509,0.000121980056583,-0.00026504238242,4.30779311211e-05,1793237829785348608
+21,0.350000000,BASELINE,766.177003533,746,715.177003533,680,663,637,880,788,803,653.177003533,632.822996467,654,0.400988108174,0.00451309596387,0.0798482973558,0.999999956959,0.00012047546959,-0.000264001747311,4.32461467887e-05,1793237829802015232
+22,0.366666667,BASELINE,766.770171209,746,715.770171209,680,663,637,880,788,803,653.770171209,632.229828791,654,0.400989214945,0.00451311238408,0.0798486802672,0.999999957342,0.000120259131591,-0.000262659476644,4.31708105218e-05,1793237829818681856
+23,0.383333333,BASELINE,767,746.352538678,716,680,663,637,880,788,803.352538678,654,632,654.352538678,0.40098860094,0.00451346703368,0.0798484174103,0.999999957156,0.000120368740585,-0.000263330412199,4.30960088493e-05,1793237829835348480
+24,0.400000000,BASELINE,767,746.928074568,716,680,663,637,880,788,803.928074568,654,632,654.928074568,0.400986898465,0.0045140356292,0.0798477460748,0.999999956607,0.000120684526285,-0.000265274794771,4.30215453254e-05,1793237829852015360
+25,0.416666667,BASELINE,766.495798573,747,716,680,662.495798573,637,880,788,804,653.495798573,632.504201427,654.495798573,0.40098707457,0.00451330727063,0.0798478670518,0.999999956708,0.000121172241354,-0.000264679524043,4.29585787174e-05,1793237829868681728
+26,0.433333333,BASELINE,766,746.919365614,716,680,662.080634386,636.919365614,880,788,803.919365614,653,632.919365614,654,0.400987465228,0.00451245678279,0.0798480806996,0.999999956856,0.00012155166159,-0.000263947189624,4.29452973056e-05,1793237829885348352
+27,0.450000000,BASELINE,766,746.341565494,716,680,662.658434506,636.341565494,880,788,803.341565494,653,632.341565494,654,0.400987524516,0.00451199535602,0.0798481680315,0.999999956723,0.000121111973381,-0.000264606131128,4.32282348851e-05,1793237829902014976
+28,0.466666667,BASELINE,766,746,716,680,663,636,880,788,803,653,632,654,0.400987694088,0.00451218686776,0.079848569891,0.999999956749,0.000121157741168,-0.000264464509334,4.33663097961e-05,1793237829918681600
+29,0.483333333,BASELINE,766,746,716,680,663,636,880,788,803,653,632,654,0.40098802312,0.00451332244619,0.0798494265175,0.999999957004,0.000121905417095,-0.000263165373993,4.32949315508e-05,1793237829935348224
+30,0.500000000,BASELINE,766,746.416800498,716,680,663,636,880,788,803.416800498,653,632,654,0.400987971535,0.00451383742695,0.0798491613157,0.999999956908,0.000123271662484,-0.000262903472989,4.32426407198e-05,1793237829952014848
+31,0.516666667,BASELINE,766,746.996294115,716,680,663,636,880,788,803.996294115,653,632,654,0.400987771381,0.00451411016474,0.0798484582216,0.999999956673,0.000124879359091,-0.000263046444109,4.31978004356e-05,1793237829968681472
+32,0.533333333,BASELINE,766.568465689,747,716,680,662.431534311,636.568465689,880,788,803.431534311,653,632,654,0.400987932734,0.00451411273863,0.0798491235971,0.999999956816,0.000124121173906,-0.000262879262713,4.30858514605e-05,1793237829985348352
+33,0.550000000,BASELINE,766.85577941,746.85577941,716,680,662,637,880,788,803.14422059,653,632,654,0.400988277256,0.0045136080217,0.0798496764026,0.999999957041,0.000122737002709,-0.000262670130854,4.30946047584e-05,1793237830002014976
+34,0.566666667,BASELINE,766.268881128,746.268881128,716,680,662,637,880,788,803.731118872,653,632,654,0.400989176867,0.00451155153894,0.0798498566453,0.999999957507,0.000119478139125,-0.000262338361481,4.34751732758e-05,1793237830018681600
+35,0.583333333,BASELINE,766,746,716,680,662.315026035,636.684973965,880,788,803.684973965,653.315026035,632,654,0.400988732199,0.00450690540662,0.0798492981459,0.999999957809,0.00011441958667,-0.000263250595372,4.45957689055e-05,1793237830035348480
+36,0.600000000,BASELINE,766,746,716,680,662.896404292,636.103595708,880,788,803.103595708,653.896404292,632,654,0.400987150953,0.00450006974418,0.0798481150454,0.999999957942,0.000107839409995,-0.000265214624938,4.63420521201e-05,1793237830052015616
+37,0.616666667,BASELINE,766,746,715.527341273,680.472658727,663,636,880,788,803,653.527341273,632,654,0.400986951123,0.00448570860646,0.0798478030622,0.999999959489,9.03949240948e-05,-0.000265554770334,4.82868974387e-05,1793237830068682240
+38,0.633333333,BASELINE,766,746,715.047916026,680.952083974,662.952083974,636,880,788,803,653,632.047916026,654,0.40098702771,0.0044715892779,0.0798477625747,0.999999960861,7.28804070787e-05,-0.000265454719608,5.00075779331e-05,1793237830085348608
+39,0.650000000,BASELINE,766,746,715.62442961,680.37557039,662.37557039,636,880,788,803,653,632.62442961,654,0.400986849355,0.0044781382315,0.0798486334721,0.999999960614,8.05804187934e-05,-0.000264382820083,4.87803753249e-05,1793237830102015232
+40,0.666666667,BASELINE,766.204935622,746,716,680,662.204935622,636,880,788,803.204935622,653,632.795064378,654,0.400986712751,0.00448135372588,0.0798490574848,0.999999960561,8.38654988552e-05,-0.000263665716865,4.82207123865e-05,1793237830118681856
+41,0.683333333,BASELINE,766.792903596,746,716,680,662.792903596,636,880,788,803.792903596,653,632.207096404,654,0.400986654182,0.00447833885976,0.0798486462533,0.999999960946,7.88989058881e-05,-0.000263611741316,4.8908706164e-05,1793237830135348480
+42,0.700000000,BASELINE,766.624614641,746,716,680,663,636,880,788,804,653,632,654,0.400987273688,0.00447807683052,0.0798486558684,0.999999961056,7.86656680245e-05,-0.000263262867338,4.89143240419e-05,1793237830152015360
+43,0.716666667,BASELINE,766.045115986,746,716,680,663,636,880,788,804,653,632,654,0.400988261891,0.00447931163814,0.0798488943161,0.999999961021,8.10061607146e-05,-0.000262753644301,4.85489045356e-05,1793237830168681984
+44,0.733333333,BASELINE,766,746,716,680,662.471208469,636,880,787.471208469,803.471208469,653,632,654,0.40098747028,0.00448173682702,0.0798487434904,0.999999960513,8.59331373232e-05,-0.000263098786656,4.86652510574e-05,1793237830185348352
+45,0.750000000,BASELINE,766,746.105110065,716,680.105110065,662,636,880,787.105110065,803,653,632,654,0.40098680009,0.00448312391573,0.0798486450777,0.999999960149,8.88255852213e-05,-0.000263493164657,4.88262527137e-05,1793237830202014976
+46,0.766666667,BASELINE,766,746.694717673,716,680.694717673,662,636,880,787.694717673,803,653,632,654,0.400987382203,0.00447926270732,0.0798489397484,0.999999960701,8.13334633633e-05,-0.000263782008175,4.90056062214e-05,1793237830218681600
+47,0.783333333,BASELINE,766.279290584,746.720709416,716,680.720709416,662.279290584,636,880,788,803,653.279290584,632,654,0.400987708548,0.00447888495687,0.0798489861823,0.999999960756,8.02221440479e-05,-0.000263941952164,4.88538267857e-05,1793237830235348480
+48,0.800000000,BASELINE,766.858457773,746.141542227,716,680.141542227,662.858457773,636,880,788,803,653.858457773,632,654,0.400987760273,0.0044822474235,0.0798487660823,0.999999960298,8.59619441855e-05,-0.000263963495706,4.83465071974e-05,1793237830252015104
+49,0.816666667,BASELINE,767,746.436767182,716,680,663,636,880,788,803.436767182,654,632.436767182,654,0.40098761803,0.00447995947069,0.0798485815086,0.999999960665,8.24072532348e-05,-0.000263670690411,4.85460331825e-05,1793237830268681728
+50,0.833333333,BASELINE,766.985339708,746.985339708,716,680.014660292,663,636.014660292,880,788,803.985339708,653.985339708,632.985339708,654,0.400987399597,0.00447600567691,0.0798483967687,0.999999961235,7.61078422705e-05,-0.000263326027983,4.89622384726e-05,1793237830285348608
+51,0.850000000,BASELINE,766.412730208,746.412730208,716,680.587269792,663,636.587269792,880,788,803.412730208,653.412730208,632.412730208,654,0.400986669112,0.00447820553762,0.0798477683931,0.999999960543,7.97577692634e-05,-0.000264877196077,4.89241145268e-05,1793237830302016000
+52,0.866666667,BASELINE,766.165100917,746,716,681,663,637,880,788,803,653,632,654,0.400986535564,0.00447942765394,0.079847492847,0.999999960206,8.23501782769e-05,-0.000265352553,4.89284530519e-05,1793237830318683136
+53,0.883333333,BASELINE,766.756411692,746,716,681,663,637,880,788,803,653,632,654,0.400987943017,0.00447812571211,0.0798481281337,0.99999996082,8.22125926185e-05,-0.000263050691303,4.90424089227e-05,1793237830335348992
+54,0.900000000,BASELINE,767,746,716,680.659348993,663,637,880,788,803,653,632,654,0.400987808304,0.00447804904927,0.0798482613787,0.99999996077,8.21792983278e-05,-0.000263260795701,4.898386128e-05,1793237830352015360
+55,0.916666667,BASELINE,767,746,716,680.080063437,663,637,880,788,803,653,632,654,0.400986593264,0.00447883072505,0.0798480429308,0.999999960255,8.22190627536e-05,-0.000265230595252,4.88044706083e-05,1793237830368682240
+56,0.933333333,BASELINE,766.504484568,746,716,680.495515432,662.504484568,636.504484568,880,788,803,653.495515432,632.495515432,654,0.400987279936,0.0044799575088,0.0798486802221,0.999999960469,8.23355765235e-05,-0.000264413771673,4.86735804781e-05,1793237830385348864
+57,0.950000000,BASELINE,766,746.072065783,716,680.927934217,662.072065783,636,880.072065783,788,803,654,632.927934217,654,0.400988086401,0.00448079396878,0.0798492906696,0.999999960763,8.23090115751e-05,-0.000263326653966,4.85720285834e-05,1793237830402015488
+58,0.966666667,BASELINE,766,746.659821488,716,680.340178512,662.659821488,636,880.659821488,788,803,654,632.340178512,654,0.400987567625,0.00447915686852,0.0798487269588,0.999999960806,8.11705212635e-05,-0.000263503358178,4.8624755515e-05,1793237830418682112
+59,0.983333333,BASELINE,766,746.755902622,716,680.244097378,662.755902622,636.244097378,880.755902622,788,803,653.755902622,632.244097378,654,0.400987451831,0.00447881242198,0.0798487757821,0.999999960884,8.10457091686e-05,-0.000263256748659,4.85806626419e-05,1793237830435348736
+60,1.000000000,BASELINE,766,746.176408017,716,680.823591983,662.176408017,636.823591983,880.176408017,788,803,653.176408017,632.823591983,654,0.400987889746,0.00448024412074,0.0798496662456,0.999999961006,8.23137216316e-05,-0.000262428493215,4.84035364181e-05,1793237830452015616
+61,1.016666667,BASELINE,766.402131813,746,716,680.597868187,662.402131813,636.597868187,880,788,803.402131813,653,632.597868187,654,0.400988026403,0.00448066360167,0.0798492558028,0.999999960945,8.17597956788e-05,-0.000262848609296,4.83273370275e-05,1793237830468682240
+62,1.033333333,BASELINE,766.980253759,746,716,680.019746241,662.980253759,636.019746241,880,788,803.980253759,653,632.019746241,654,0.400988031215,0.00448064009256,0.0798482760274,0.999999960802,8.04085112414e-05,-0.000263815066357,4.82953075592e-05,1793237830485348608
+63,1.050000000,BASELINE,767,746,716,680,663,636,880.555611152,788,804,653,632,654,0.400989100435,0.00447951301986,0.0798495181433,0.999999961266,8.13081423665e-05,-0.0002617225448,4.85618665332e-05,1793237830502015232
+64,1.066666667,BASELINE,767,746,716,680.133852371,663,636,880.866147629,788,804,653,632.133852371,654,0.40098988603,0.00447889727117,0.0798504821431,0.999999961568,8.25371900715e-05,-0.000260145621689,4.87381609903e-05,1793237830518681856
+65,1.083333333,BASELINE,767,746,716,680.722217933,663,636,880.277782067,788,804,653,632.722217933,654,0.400989580728,0.00448015030821,0.079850234954,0.999999961262,8.46145199925e-05,-0.000260686809149,4.85720953533e-05,1793237830535348736
+66,1.100000000,BASELINE,767,746,716,681,662.693945402,636,879.693945402,788,803.693945402,653.306054598,632.693945402,654,0.400989713932,0.0044802476689,0.0798505721723,0.999999961347,8.44308115281e-05,-0.000260412478447,4.86085831286e-05,1793237830552015360
+67,1.116666667,BASELINE,767,746,716,681,662.114159359,636,879.114159359,788,803.114159359,653.885840641,632.114159359,654,0.400990239333,0.00447931140689,0.0798514320774,0.999999961781,8.22248581967e-05,-0.000259408758364,4.88262321786e-05,1793237830568682240
+68,1.133333333,BASELINE,766.537847425,746,716,680.537847425,662.462152575,636.462152575,879.462152575,788,803.462152575,653.537847425,632,654,0.400988630203,0.00447979260525,0.0798498290223,0.999999961305,8.17038991367e-05,-0.000261486821006,4.83709205403e-05,1793237830585348864
+69,1.150000000,BASELINE,766,746.037551013,716,680,663,636.962448987,880,788,804,653,632,654,0.400986715765,0.00448062637633,0.079847846519,0.999999960659,8.17848565047e-05,-0.000264022858294,4.78129997699e-05,1793237830602015488
+70,1.166666667,BASELINE,766,746.612066035,716,680,663,636.387933965,880,788,804,653,632,654,0.400987918966,0.00448153234357,0.0798490729105,0.999999960864,8.45655812328e-05,-0.000262303377532,4.81471315134e-05,1793237830618682112
+71,1.183333333,BASELINE,766.192463368,746.807536632,716,680,663,636.192463368,880,788,803.807536632,653,632,654,0.400988484255,0.0044817863354,0.0798499427608,0.99999996102,8.5925978131e-05,-0.000261202004762,4.84814231009e-05,1793237830635348480
+72,1.200000000,BASELINE,766.78509114,746.21490886,716,680,663,636.78509114,880,788,803.21490886,653,632,654,0.400987723215,0.00448068475854,0.079850071301,0.999999961091,8.43332699927e-05,-0.000261385784377,4.88160470946e-05,1793237830652015104
+73,1.216666667,BASELINE,767,746,716,680,662.630684348,637,880,788,803,653,632,654,0.400987653389,0.00448050602142,0.0798499420528,0.999999960979,8.39811040649e-05,-0.00026192819328,4.88116248995e-05,1793237830668681728
+74,1.233333333,BASELINE,767,746,716,680,662.051241032,637,880,788,803,653,632,654,0.400987976839,0.00448085234784,0.0798496661321,0.999999960763,8.43347632762e-05,-0.000262674649669,4.86142972846e-05,1793237830685348608
+75,1.250000000,BASELINE,766.472069656,746,716,680,662,637,880,788,803,653,632,654.527930344,0.400988919665,0.00448005899258,0.0798506016898,0.999999961337,8.30584698809e-05,-0.000260869026577,4.87331804808e-05,1793237830702015488
+76,1.266666667,BASELINE,766.106483252,746,716,680,662.106483252,636.893516748,880,788,803.106483252,653.106483252,632,654.893516748,0.40098966294,0.00447929337874,0.0798513237199,0.999999961765,8.2131452409e-05,-0.000259498395427,4.88386680054e-05,1793237830718682624
+77,1.283333333,BASELINE,766.682425768,746,716,680,662.682425768,636.317574232,880,788,803.682425768,653.682425768,632,654.317574232,0.400989261536,0.00447913750642,0.0798505862147,0.999999961234,8.34414318775e-05,-0.000261137051816,4.87498554115e-05,1793237830735349248
+78,1.300000000,BASELINE,767,746,716,680,663,636,880,788,804,653.738383351,632,654,0.400988776846,0.0044785947438,0.0798501153587,0.999999961065,8.31888434048e-05,-0.000261877207355,4.8689713745e-05,1793237830752015872
+79,1.316666667,BASELINE,767,746,716,680,663,636,880,788,804,653.155199773,632,654,0.400988189786,0.00447757643376,0.0798499722555,0.99999996134,8.10156195292e-05,-0.000261512967624,4.86648130458e-05,1793237830768682240
+80,1.333333333,BASELINE,767,746,716,680.42453327,663,636,880,788,804,653,632,654,0.400988495781,0.00447848099023,0.0798502284213,0.999999961463,8.14396171276e-05,-0.000260926208241,4.85780291203e-05,1793237830785348864
+81,1.350000000,BASELINE,766.997007477,746,716,680.997007477,662.997007477,636,879.997007477,788,803.997007477,653,632,654,0.400989123535,0.00448007111035,0.079850624756,0.999999961528,8.28049306787e-05,-0.000260263427822,4.84708644143e-05,1793237830802015232
+82,1.366666667,BASELINE,766.422856104,746,716,680.422856104,662.422856104,636,879.422856104,788,803.422856104,653,632,654,0.400989352388,0.00447942326295,0.0798501396726,0.999999961349,8.40720229909e-05,-0.000260492225739,4.87568646356e-05,1793237830818681856
+83,1.383333333,BASELINE,766.155309883,746,716,680,662.155309883,636.155309883,879.155309883,788,803,653.155309883,632,654,0.400989152585,0.00447930387258,0.0798496069777,0.999999961126,8.49050005987e-05,-0.000261069145012,4.88089893489e-05,1793237830835348480
+84,1.400000000,BASELINE,766.744696476,746,716,680,662.744696476,636.744696476,879.744696476,788,803,653.744696476,632,654,0.400987754724,0.00448066147044,0.0798489412125,0.999999960781,8.45246681805e-05,-0.000262619031231,4.8207453785e-05,1793237830852015360
+85,1.416666667,BASELINE,766.671484538,746.328515462,716,680,663,637,880,788,803,653.671484538,632.328515462,654,0.400987900632,0.0044806455972,0.0798491890639,0.999999960903,8.38934786778e-05,-0.000262369280002,4.81553849578e-05,1793237830868682240
+86,1.433333333,BASELINE,766.091920305,746.908079695,716,680,663,637,880,788,803,653.091920305,632.908079695,654,0.400989226275,0.00447958012875,0.0798501350933,0.999999961379,8.30705863103e-05,-0.000260744260781,4.85232140551e-05,1793237830885349376
+87,1.450000000,BASELINE,766.484100715,746.515899285,716,680,662.515899285,637,880,788,803,653,632.515899285,654,0.400988601524,0.004479045515,0.0798498828306,0.999999961207,8.35055706699e-05,-0.000261222563921,4.8733985499e-05,1793237830902015744
+88,1.466666667,BASELINE,767,746,716,680,662.060689052,636.939310948,880,788,803.060689052,653,632,654,0.400987797876,0.00447866008821,0.0798495253979,0.999999960977,8.4047712325e-05,-0.000261901608002,4.88844205425e-05,1793237830918682112
+89,1.483333333,BASELINE,767,746,716,680,662.647995694,636.352004306,880,788,803.647995694,653,632,654,0.400988632065,0.00447870090348,0.0798502153742,0.999999961298,8.34622293175e-05,-0.000260882217982,4.87681913552e-05,1793237830935348480
+90,1.500000000,BASELINE,767,746.232191908,716,680.232191908,663,636.232191908,880,788,803.767808092,653,632,654,0.400988944188,0.00447878336673,0.0798505322476,0.999999961477,8.29775097453e-05,-0.000260361945749,4.87006827986e-05,1793237830952015104
+91,1.516666667,BASELINE,767,746.811734975,716,680.811734975,663,636.811734975,880,788,803.188265025,653,632,654,0.400988475321,0.00447892813392,0.079850290972,0.999999961446,8.26435288809e-05,-0.000260588336755,4.87060586507e-05,1793237830968681728
+92,1.533333333,BASELINE,767,746.610331855,716,680.610331855,663,636.610331855,880,788,803.389668145,653.389668145,632.389668145,654,0.400988239512,0.00448035643726,0.0798501858756,0.999999961276,8.3928806247e-05,-0.000260855980541,4.85582596909e-05,1793237830985348608
+93,1.550000000,BASELINE,767,746.033173241,716,680.033173241,663,636.033173241,880,788,803.966826759,653.966826759,632.966826759,654,0.400988115841,0.00448240231944,0.0798501463024,0.999999961036,8.59931964961e-05,-0.000261143473295,4.83367600261e-05,1793237831002015232
+94,1.566666667,BASELINE,767,746.542128022,716,680,663,636,880,788,803.457871978,653.457871978,633,654,0.400987666367,0.00448001539692,0.079849350301,0.999999961076,8.25041517425e-05,-0.000262059572762,4.86320757348e-05,1793237831018681856
+95,1.583333333,BASELINE,766.879667192,747,716,680,663,636,880,788,803,653.120332808,633,654,0.400987691652,0.00447826241252,0.0798490014949,0.999999961187,8.02789525997e-05,-0.000262289229941,4.88509904394e-05,1793237831035348736
+96,1.600000000,BASELINE,766.289688033,747,716,680,663,636,880,788,803,653.710311967,633,654,0.400989647414,0.00448003865477,0.0798505780793,0.999999961543,8.43081593286e-05,-0.000259690162961,4.86487150522e-05,1793237831052015104
+97,1.616666667,BASELINE,766.294680761,747,716,680.294680761,663,636.294680761,880.589361521,788,803,653.705319239,632.705319239,654,0.400990194399,0.00447979513114,0.0798508494816,0.999999961665,8.4092659511e-05,-0.000259317070799,4.8503627372e-05,1793237831068681984
+98,1.633333333,BASELINE,766.873637252,747,716,680.873637252,663,636.873637252,881.747274504,788,803,653.126362748,632.126362748,654,0.400989382348,0.00447760315843,0.079849861787,0.999999961561,7.9782331361e-05,-0.000261091355558,4.84137081418e-05,1793237831085348608
+99,1.650000000,BASELINE,767,746.550386431,716,681,663,637,881.100772863,788.449613569,803,653.449613569,632.449613569,654,0.400987787448,0.00447785182627,0.079849390124,0.999999961323,7.95951725485e-05,-0.000262041946765,4.85120865925e-05,1793237831102015232
+100,1.666666667,BASELINE,767,746,716,680.974683294,663,637,880.025316706,788.974683294,803,653.974683294,633,654,0.400986188397,0.00447879058662,0.0798491449488,0.99999996108,8.06709669055e-05,-0.000262609181646,4.86614633725e-05,1793237831118682112
+101,1.683333333,BASELINE,767,746,716,680.386555706,663,637,880.613444294,788.386555706,803,653.386555706,633,654,0.400989356058,0.00447992216317,0.0798507318884,0.999999961524,8.42316609689e-05,-0.000259766573221,4.87758535672e-05,1793237831135348992
+102,1.700000000,BASELINE,767,746,716,680,663,637,881,788,803,653.198507485,632.801492515,654,0.400990907106,0.00448005139699,0.07985141276,0.999999961681,8.62689196365e-05,-0.000258477094443,4.88345632883e-05,1793237831152015616
+103,1.716666667,BASELINE,767,746,716,680,663,637,881,788,803,653.777693997,632.222306003,654,0.400989357961,0.00447825843185,0.0798503560592,0.999999961321,8.53846764576e-05,-0.000260166062286,4.878649421e-05,1793237831168682240
+104,1.733333333,BASELINE,767,746.355675729,716,680,662.644324271,637,881,787.644324271,803.355675729,653.644324271,632,654,0.40098850929,0.00447792005069,0.0798498211895,0.999999961253,8.37749287472e-05,-0.000260956589176,4.87545667695e-05,1793237831185348608
+105,1.750000000,BASELINE,767,746.932907043,716,680,662.067092957,637,881,787.067092957,803.932907043,653.067092957,632,654,0.400988096955,0.00447848775087,0.0798496113758,0.999999961365,8.17132536238e-05,-0.000261187464289,4.87326941851e-05,1793237831202015232
+106,1.766666667,BASELINE,766.491920429,746.491920429,716,680.508079571,662.508079571,636.491920429,880.491920429,787.508079571,804,653,632,654,0.400987552751,0.0044801938422,0.0798490964218,0.99999996085,8.45201728714e-05,-0.000262292742395,4.85632869304e-05,1793237831218681856
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,747,716,680,662,637,880,788,803,653,632,654,0.400990454651,0.0044808296268,0.0798512899372,0.999999961874,8.3341122019e-05,-0.000258788663398,4.83284685359e-05,1793237831261361664
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,747,716,680,662.582330237,637,880,788,803,653,632,654,0.400989428708,0.00447800264719,0.079850785025,0.999999961763,8.19979051288e-05,-0.00025957144225,4.87130383639e-05,1793237831278028288
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.163022263,746.836977737,716,680,663,637,880,788,803.163022263,653.163022263,632,654,0.400988594197,0.00447652008544,0.0798502954133,0.99999996159,8.14524472247e-05,-0.000260387289065,4.88218733489e-05,1793237831294694656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.739559001,746.260440999,716,680,663,637,880,788,803.739559001,653.739559001,632,654,0.400988245263,0.00447844770915,0.0798498446118,0.999999961263,8.29305463271e-05,-0.000261287014662,4.82312925999e-05,1793237831311361024
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.685684844,880,788,803.685684844,653.685684844,632,654,0.400987818977,0.0044790776653,0.079849148805,0.999999961005,8.2993936664e-05,-0.000262289629528,4.80204601031e-05,1793237831328027392
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.112395798,880,788,803.112395798,653.112395798,632,654,0.400987328958,0.00447863843327,0.0798482511309,0.999999960805,8.18917050106e-05,-0.000263377017963,4.81225138628e-05,1793237831344693504
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.538377495,746,716,680,663,636,880.461622505,788,803,653,632,654,0.400988319029,0.00447926884522,0.0798494556793,0.999999961039,8.25267178169e-05,-0.000262251031086,4.83250234382e-05,1793237831361360384
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746.037126211,716,680,662.962873789,636,880.962873789,788,803,653,632,654,0.400989473412,0.00448003226676,0.0798509937782,0.999999961328,8.34577208764e-05,-0.000260809979213,4.85382601128e-05,1793237831378026752
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746.632283512,716,680,662.367716488,636,880.367716488,788,803,653,632,654,0.400987672305,0.00447887418052,0.0798498397633,0.999999960903,8.2469864457e-05,-0.000262746315544,4.85445161657e-05,1793237831394693632
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,747,716,680,662.219604508,636,880,788,803.219604508,653,632,654,0.400990459108,0.00447811351099,0.0798513294583,0.999999961631,8.17463752305e-05,-0.000260174462649,4.86202263511e-05,1793237831411360512
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,747,716,680,662.794256052,636,880,788,803.794256052,653,632,654,0.401000663445,0.00447799536765,0.0798570933892,0.999999964163,8.1450303496e-05,-0.000250313964919,4.88082269595e-05,1793237831428027136
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.377750943,746.622249057,716,680,663,636.377750943,880.377750943,788,803.622249057,653.377750943,632,654,0.401020682921,0.00447916745017,0.0798657959058,0.999999967731,8.29151575799e-05,-0.000235163939105,4.8593537046e-05,1793237831444694016
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.966177924,746.033822076,716,680,663,636.966177924,880.966177924,788,803.033822076,653.966177924,632,654,0.401046176414,0.00448105910645,0.0798761373059,0.999999971639,8.53621001609e-05,-0.000217063881775,4.81542620117e-05,1793237831461360896
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.454261559,746.545738441,716,680,663,636.454261559,880.454261559,788,803.545738441,653.454261559,632,654,0.401093608404,0.00447972229359,0.079893037212,0.99999997835,8.36966970485e-05,-0.000184470410526,4.75977336796e-05,1793237831478027520
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.12458021,746.87541979,716,680,663,636,880,788,804,653.12458021,632,654,0.40114584473,0.00447861211046,0.0799100747447,0.999999984078,8.14107108893e-05,-0.000151726369845,4.6844948479e-05,1793237831494693632
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.70277389,746.29722611,716,680,663,636,880,788,804,653.70277389,632,654,0.401210702838,0.00447904400249,0.0799261570741,0.999999988545,7.77782492117e-05,-0.000121652358928,4.54036015914e-05,1793237831511360256
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.721487662,746,716,680,663,636.278512338,879.721487662,788,803.721487662,654,632.278512338,654,0.40127743841,0.00448072645041,0.0799368352595,0.999999990671,7.74725605825e-05,-0.000103682872144,4.36599945825e-05,1793237831528026880
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.148346554,746,716,680,663,636.851653446,879.148346554,788,803.148346554,654,632.851653446,654,0.401346160082,0.00448373181901,0.0799417965829,0.999999991027,8.06861527481e-05,-9.85183533173e-05,4.15966369479e-05,1793237831544693248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.56169672,879.43830328,788,803,654,632.56169672,654,0.401424045264,0.00448469024445,0.0799438765688,0.999999991496,8.00766031692e-05,-9.5271330759e-05,3.89868964203e-05,1793237831561359872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.029071268,746.029071268,716,680.029071268,663,636.029071268,880,788,803,653.970928732,632,654,0.401506359956,0.00448499119278,0.0799450990241,0.999999992011,7.81677278579e-05,-9.2510261656e-05,3.61813930824e-05,1793237831578026752
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.608492969,746.608492969,716,680.608492969,663,636.608492969,880,788,803,653.391507031,632,654,0.401611949191,0.00448637794103,0.0799491363166,0.999999992765,7.69363957766e-05,-8.62720508017e-05,3.32820809004e-05,1793237831594693632
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.813133559,716,680.813133559,663,637,880,788,803.186866441,653.186866441,632.186866441,654,0.401727146779,0.00448810750478,0.079954963989,0.999999993742,7.54323737868e-05,-7.69725881677e-05,3.00167401066e-05,1793237831611360512
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.236944071,716,680.236944071,663,637,880,788,803.763055929,653.763055929,632.763055929,654,0.401862362678,0.00449055130025,0.0799645217911,0.999999995093,7.33602217558e-05,-6.1295224166e-05,2.59888048803e-05,1793237831628027136
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.662029737,746,716,680.337970263,663,636.662029737,880,788,804,653.662029737,632.662029737,654,0.402007539088,0.0044923686052,0.0799704638673,0.999999996049,6.98639049859e-05,-5.07101739486e-05,2.12155775558e-05,1793237831644693504
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.08800597,746,716,680.91199403,663,636.08800597,880,788,804,653.08800597,632.08800597,654,0.402159672377,0.00449374834149,0.0799738805602,0.999999996782,6.53728878399e-05,-4.36818211932e-05,1.59218045822e-05,1793237831661360128
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,716,680.498523085,663,636.501476915,880,788,804,653,632,654,0.402328122766,0.0044964470956,0.0799762319737,0.99999999716,6.33464142135e-05,-3.94816532919e-05,1.04130653903e-05,1793237831678026752
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.091330512,746,716,680,663,637,880,788,803.908669488,653,632.091330512,654,0.402501982475,0.00449930941843,0.0799771527157,0.999999997424,6.06610911649e-05,-3.8065322522e-05,4.7196390606e-06,1793237831694693376
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.668271532,746,716,680,663,637,880,788,803.331728468,653,632.668271532,654,0.402688894014,0.00450177150952,0.0799714921233,0.999999997454,5.20997795747e-05,-4.87278889869e-05,-1.74881577656e-06,1793237831711360256
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.755631546,746.244368454,716,680.244368454,663,636.755631546,880,788,803,653,632.755631546,654,0.402889603382,0.00450500015296,0.0799663686246,0.999999997225,4.62231809465e-05,-5.78271210614e-05,-8.2901785524e-06,1793237831728027136
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.180676572,746.819323428,716,680.819323428,663,636.180676572,880,788,803,653,632.180676572,654,0.403108978716,0.00450926580358,0.0799619717174,0.999999996821,4.39785161056e-05,-6.4811442547e-05,-1.49301722546e-05,1793237831744693760
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.402719496,746.597280504,716,681,663,636,880,788,803.402719496,653.402719496,632,654,0.403359205524,0.00451311651803,0.0799625049761,0.999999996769,4.82339438959e-05,-6.11202174662e-05,-1.99883107253e-05,1793237831761360384
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.989983646,746.010016354,716,681,663,636,880,788,803.989983646,653.989983646,632,654,0.403623569893,0.00451677708947,0.0799652974644,0.999999996786,5.54680141086e-05,-5.25369641692e-05,-2.4321569956e-05,1793237831778027008
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.427280026,746,716,680.427280026,663,636,880,788,803.427280026,654,632.572719974,654,0.403927679767,0.00452422634319,0.0799707198473,0.999999994081,9.83420806008e-05,-4.28468548216e-05,-1.82133589762e-05,1793237831794693632
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746.153130811,716,680.153130811,663,636,880,788,803,653.846869189,632.846869189,654,0.404236445683,0.00453116878423,0.0799743904866,0.999999990704,0.000130488759635,-3.6578769574e-05,-1.50575331348e-05,1793237831811360000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746.727362636,716,680.727362636,663,636,880,788,803,653.272637364,632.272637364,654,0.404556118872,0.0045365367343,0.0799731184394,0.999999990361,0.000131435101343,-3.97738732387e-05,-2.05188327734e-05,1793237831828026624
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,747,716,681,663,636.301936057,880,788,803,653.301936057,632,654,0.404900676356,0.00454186353333,0.0799712806971,0.999999994095,9.78331318633e-05,-4.07790303583e-05,-2.40007114362e-05,1793237831844693504
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,747,716,681,663,636.876818343,880,788,803,653.876818343,632,654,0.405267728951,0.00454715313298,0.0799689315736,0.999999998333,3.29999428929e-05,-3.98045048182e-05,-2.5693220101e-05,1793237831861360384
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.463398975,746.536601025,716,681,663,636.536601025,880,788,803.463398975,653.536601025,632,654,0.405650049293,0.00455670728791,0.0799645458648,0.999999997392,4.89358531813e-05,-4.60157210713e-05,-2.65138489214e-05,1793237831878027520
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.947697877,746.052302123,716,680.947697877,663,636,880.052302123,788,804,653,632.052302123,654,0.406040112569,0.00456702734448,0.0799595244448,0.999999994488,8.54214930176e-05,-5.46889423457e-05,-2.71288216641e-05,1793237831894694912
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.367551349,746.632448651,716,680.367551349,663,636,880.632448651,788,804,653,632.632448651,654,0.406466299398,0.00457334009214,0.0799536924022,0.999999991539,0.000107005780413,-6.84325717359e-05,-2.80678676154e-05,1793237831911361024
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.789377788,716,680.210622212,663,636.210622212,880.789377788,788,804,653,633,654,0.406902524363,0.0045808549732,0.0799518325341,0.999999989273,0.000123052964358,-7.37877095662e-05,-2.94424158238e-05,1793237831928027136
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.214615282,716,680.785384718,663,636.785384718,880.214615282,788,804,653,633,654,0.407356104023,0.00459044819694,0.079956840075,0.999999989024,0.000129527165849,-6.4640160687e-05,-3.15698946569e-05,1793237831944693504
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663,637,880.3685204,788,804,653.3685204,633,654,0.407828057273,0.00459950076041,0.0799558127101,0.999999987359,0.000139813128399,-6.84715863544e-05,-3.23539929985e-05,1793237831961359872
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663,637,880.95664572,788,804,653.95664572,633,654,0.40831095951,0.00460823113878,0.0799511890855,0.999999984666,0.000152370556479,-8.00373105213e-05,-3.23375576519e-05,1793237831978026496
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746.536392542,716,681,663,637,881,788,804,653.463607458,633,654,0.408835544553,0.00461556937982,0.0799497277162,0.999999984129,0.000155644371045,-7.98614087403e-05,-3.37491966695e-05,1793237831994693632
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,747,716,681,663,637,880.884806631,788,804,653.115193369,632.884806631,654,0.409376469885,0.00462309874345,0.0799539424649,0.999999984108,0.000159903624621,-7.05050683555e-05,-3.52815853727e-05,1793237832011360512
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,747,716,681,663,637,880.307126953,788,804,653.692873047,632.307126953,654,0.40996968098,0.00463184024425,0.0799799357015,0.999999984293,0.000171085527001,-2.80420774445e-05,-3.68424786258e-05,1793237832028027392
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.268899285,747,716,681,663,636.731100715,880.268899285,788,804,653.731100715,632,654,0.410566515367,0.00463978293204,0.0800012530301,0.999999982439,0.000183349112775,6.95746618961e-06,-3.81750636283e-05,1793237832044694016
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.843048641,747,716,681,663,636.156951359,880.843048641,788,804,653.156951359,632,654,0.411167462934,0.00464681882148,0.0800172623479,0.999999979296,0.000196840609451,3.34846319791e-05,-3.92484770773e-05,1793237832061360384
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.570750557,746.570750557,716,680.570750557,663,636.429249443,881,788,804,653.429249443,632,654,0.411758609473,0.00464324209389,0.0800021820917,0.999999981143,0.000189673324845,5.42652858637e-06,-4.13435775342e-05,1793237832078027008
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746.019550233,715.980449767,680,663,636.980449767,881,788,804,653.980449767,632,654,0.412347216719,0.0046349362244,0.0799754006986,0.999999982966,0.000174188790222,-4.25571398796e-05,-4.37720913992e-05,1793237832094693632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746.597462289,715.402537711,680,663,636.402537711,881,788,804,653.402537711,632,654,0.412968609131,0.00460559169261,0.0799484727598,0.999999986082,0.000143129027735,-7.31303248647e-05,-4.47454940549e-05,1793237832111360512
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,747,715.174591278,680.174591278,663,636,881,788,804,653,632,654,0.413609969786,0.00458337076389,0.0799337023362,0.999999988651,0.000115066994028,-8.62181580932e-05,-4.49948587355e-05,1793237832128027136
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,747,715.749922857,680.749922857,663,636,881,788,804,653,632,654,0.414297163621,0.00457750068132,0.0799468371242,0.999999992892,9.38856655939e-05,-5.91717677986e-05,-4.35823352313e-05,1793237832144693504
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.325369235,746.674630765,716,680.674630765,663,636.325369235,880.674630765,788,804,652.674630765,632,654,0.414996247705,0.00458146850563,0.0799660906643,0.999999993923,9.83217356842e-05,-2.47697814848e-05,-4.32887961103e-05,1793237832161360128
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.900903853,746.099096147,716,680.099096147,663,636.900903853,880.099096147,788,804,652.099096147,632,654,0.415704473768,0.00459300036353,0.0799900487049,0.999999991424,0.000122454156565,1.52876722052e-05,-4.38556061945e-05,1793237832178026752
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.511848559,746.488151441,716,680.488151441,663,636.511848559,880.488151441,788,804,652.488151441,632,654,0.416391788827,0.00460014667786,0.0799816468791,0.999999989707,0.000135978268103,-1.1587504313e-05,-4.42908030894e-05,1793237832194693376
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,747,716.076936399,681,663,636,881,788,804,653,632,654,0.417080427227,0.00460571215863,0.0799686766955,0.999999987517,0.000144895876061,-4.41680503028e-05,-4.49459883524e-05,1793237832211359744
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,747,716.659810171,681,663,636,881,788,804,653,632,654,0.417806369215,0.00460688044029,0.0799699258195,0.9999999891,0.000138030682455,-2.27185356454e-05,-4.72278449297e-05,1793237832228026368
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.761774377,716.761774377,681,663.238225623,636.238225623,880.761774377,788,804,653,632,654,0.41856807708,0.00460431954047,0.0799822263642,0.99999999027,0.000130234213447,8.79039421925e-06,-4.92209829971e-05,1793237832244693504
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.189608432,716.189608432,681,663.810391568,636.810391568,880.189608432,788,804,653,632,654,0.419379921003,0.00459653114244,0.0800100185886,0.999999989893,0.0001211322985,5.44004314132e-05,-5.08094010195e-05,1793237832261361152
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746.383909356,716,681,663.616090644,636.616090644,880,788,803.616090644,653,631.616090644,653.616090644,0.420136639787,0.00459055013692,0.0800073539523,0.999999990913,0.000113871271609,5.05958255315e-05,-5.14444215525e-05,1793237832278027776
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746.95809713,716,681,663.04190287,636.04190287,880,788,803.04190287,653,631.04190287,653.04190287,0.420866036647,0.0045854649365,0.0799895938675,0.999999992639,0.000107522651437,2.22996542205e-05,-5.16069060595e-05,1793237832294693632
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746.450497121,716,681,663,636,880.549502879,788,803.549502879,653,631.549502879,653.549502879,0.4216484837,0.00459440435919,0.0799858738362,0.999999991887,0.000114790014019,1.41698505093e-05,-5.33626912227e-05,1793237832311360256
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.138737165,636.138737165,881,788,804,653,632,653.861262835,0.422441024367,0.00460272359888,0.0799900968495,0.999999990816,0.000122852055477,1.86359553733e-05,-5.41041667095e-05,1793237832328027392
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.716803026,636.716803026,881,788,804,653,632,653.283196974,0.423252303074,0.00460558282055,0.0800159725372,0.999999988553,0.000130036285073,5.79614149072e-05,-5.12365166323e-05,1793237832344693760
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.293035151,716,681,663.706964849,636.706964849,881.293035151,788,804,653,632,653.293035151,0.424030433362,0.00460803182094,0.0800169896762,0.999999988008,0.000136727952796,5.28474831337e-05,-4.9971598341e-05,1793237832361360384
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.867506093,716,681,663.132493907,636.132493907,881.867506093,788,804,653,632,653.867506093,0.424776727313,0.00461008683789,0.0799941322537,0.999999988508,0.000142946555476,5.05322499568e-06,-5.02459702162e-05,1793237832378027008
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746.54666391,716,681,663.45333609,636,881.54666391,788,804,653,632,654,0.425524219611,0.00461001284312,0.0799616286397,0.999999987706,0.000140135379587,-4.84215014757e-05,-5.10421477996e-05,1793237832394693376
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.041882889,746.041882889,716,681,664,636,881,788,804,653,632,654,0.426279291137,0.00460920765647,0.0799296721791,0.999999984813,0.00013496855019,-9.72200027542e-05,-5.20248977547e-05,1793237832411360000
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.621589698,746.621589698,716,681,664,636,881,788,804,653,632,654,0.427127074844,0.00460720867854,0.0799418744447,0.9999999875,0.000134312222001,-6.41036711256e-05,-5.33947799413e-05,1793237832428026624
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.801009711,747,716,681,663.801009711,636.198990289,881,788,804,653,632,654,0.427948506507,0.00460527723059,0.0799508116842,0.999999988464,0.000134599135047,-4.56766145746e-05,-5.35628706691e-05,1793237832444693504
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.227944401,747,716,681,663.227944401,636.772055599,881,788,804,653,632,654,0.428720400012,0.00460347272958,0.0799536111149,0.999999987832,0.000136659215058,-5.48634169718e-05,-5.14717551643e-05,1793237832461360384
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746.644569563,715.644569563,681.355430437,663,636.644569563,881,788,804,653,632,654,0.429503060449,0.00460518747799,0.079965089772,0.999999988317,0.000138084845958,-4.0532372128e-05,-5.15270870545e-05,1793237832478027008
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.054385553,715.054385553,681.945614447,663,636.054385553,881,788,804,653,632,654,0.43029283215,0.00460922660926,0.0799823008567,0.999999988865,0.000139091437696,-1.06683332635e-05,-5.3000097829e-05,1793237832494693632
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715.525991468,682,663.525991468,636,881,788,804,653,632,654,0.431107665818,0.00461194519132,0.0800131299392,0.99999998875,0.000136674426635,3.2334873983e-05,-5.26671587714e-05,1793237832511360256
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.104854622,746.104854622,716,682,664,636.104854622,881.104854622,788,804,653,632,654,0.431912002506,0.00461453632064,0.0800356428931,0.999999987577,0.000135796209748,6.07353439455e-05,-5.21204253827e-05,1793237832528026880
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+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746.076944589,715,684,656.923055411,633,882,787,804.076944589,653,632,654,0.451436639468,0.0046617988521,0.0797301163946,0.999999903981,0.000155948810699,-0.000404400973504,-6.46366955715e-05,1793237833528027136
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,683.496412073,657,633.503587927,882,787,804,652.496412073,632,654,0.451436226153,0.00466184788648,0.0797279418015,0.999999902495,0.000158223495622,-0.000407220952675,-6.43964015241e-05,1793237833544693760
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746.082539784,715,683.165079568,656.917460216,634,882,787,804,652.082539784,632.082539784,654,0.451435743958,0.00466195929095,0.0797259018184,0.999999901087,0.000160337204989,-0.000409878230866,-6.41708912318e-05,1793237833561360128
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746.658690312,715,684.317380624,656.341309688,634,882,787,804,652.658690312,632.658690312,654,0.451436948448,0.00466228492287,0.0797264311734,0.999999901249,0.000160619599223,-0.00040938444911,-6.4092120646e-05,1793237833578026752
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746.765348869,715,684.765348869,656,633.765348869,882,787,804,653,632.765348869,654,0.451438096185,0.00466243801212,0.0797269856677,0.999999901449,0.000160589261835,-0.000408917604222,-6.40222276448e-05,1793237833594693376
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,684,656,633,882.98664619,787,804.98664619,653,632,654,0.451438932998,0.00466219980461,0.0797270527021,0.999999901192,0.000160181290182,-0.000409821990658,-6.32831486919e-05,1793237833644693760
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746.456453139,715,683.456453139,656.543546861,634,882,787,804,653,632.543546861,654,0.451437589289,0.00466193821701,0.0797234712236,0.999999899418,0.000158426691712,-0.000414726998479,-6.37742116194e-05,1793237833744693504
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+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746.798696464,715,684,656,634,882.201303536,787,804.798696464,653,632.798696464,654,0.451437483056,0.00465961857852,0.0797237676533,0.999999898912,0.000158063194853,-0.000416291667968,-6.23908152171e-05,1793237833794694144
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746.223750639,715,684,656,634,882.776249361,787,804.223750639,653,632.223750639,654,0.451438233926,0.00466070369043,0.0797240734531,0.99999989908,0.000159068785587,-0.000415552718106,-6.20705296745e-05,1793237833811360768
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+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746,715,684,656,633.074312347,882.074312347,787,804,653,632,654,0.45143588731,0.00466141467291,0.0797216329262,0.999999897652,0.000157419695536,-0.000419570698388,-6.22504506795e-05,1793237833844693760
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+265,4.416666667,HOLD_POSE2,766.549334971,746.450665029,715,684,656,633.450665029,882,787,804.450665029,653,632,654,0.451438578164,0.00466042230847,0.0797216227885,0.999999898162,0.000156717345842,-0.000418587328536,-6.24589301956e-05,1793237833920531456
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+267,4.450000000,HOLD_POSE2,766.270428748,746,715,684,656,633.729571252,882.729571252,787,804.729571252,653,632,653.270428748,0.451437010317,0.00465807866762,0.0797209055786,0.99999989755,0.000155635995204,-0.000420498396808,-6.21102687037e-05,1793237833953864448
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+269,4.483333333,HOLD_POSE2,766,746.904835016,715,684,656,633.095164984,882.095164984,787,804.095164984,653,632,653.904835016,0.451438417337,0.00466002179974,0.0797218085537,0.999999897263,0.000159911185605,-0.000419566977355,-6.21708259463e-05,1793237833987196928
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+271,4.516666667,HOLD_POSE2,766.942952628,746.942952628,715,683.057047372,656,633.057047372,882,787,805,652.942952628,632.942952628,654,0.45143756972,0.00466068183409,0.0797216436203,0.999999897254,0.000159547489646,-0.000419709773771,-6.22855667455e-05,1793237834020529920
+272,4.533333333,HOLD_POSE2,766.353751282,746.353751282,715,683.646248718,656,633.646248718,882,787,805,652.353751282,632.353751282,654,0.451437876214,0.00466003552699,0.0797214274043,0.999999897811,0.000155363736225,-0.000419914569973,-6.2548363529e-05,1793237834037196800
+273,4.550000000,HOLD_POSE2,766,746,715,684,656.231635544,634,882,787,805,652.231635544,632,654,0.451437911045,0.00465946419891,0.0797210718795,0.999999897865,0.000153879666225,-0.000420341761275,-6.24743457536e-05,1793237834053863424
+274,4.566666667,HOLD_POSE2,766,746,715,684,656.811291203,634,882,787,805,652.811291203,632,654,0.451437537714,0.00465900552287,0.0797205070507,0.999999897182,0.000156451727707,-0.000421103089403,-6.18942819514e-05,1793237834070530304
+275,4.583333333,HOLD_POSE2,766,746,715,684,656.612702079,634,882,787,804.612702079,653,632,654,0.451437331111,0.00465806471385,0.0797199286386,0.999999896798,0.000156332970118,-0.000422091127994,-6.16727798945e-05,1793237834087196928
+276,4.600000000,HOLD_POSE2,766,746,715,684,656.038456642,634,882,787,804.038456642,653,632,654,0.451437204987,0.00465689118069,0.0797193436698,0.999999896558,0.000154915362661,-0.000423188599096,-6.16243544387e-05,1793237834103863552
+277,4.616666667,HOLD_POSE2,766,746,715,683.464517658,656.535482342,634,882,787,804,653,632,654,0.451436898505,0.00465820263918,0.0797187834572,0.999999896583,0.000155256930539,-0.000422959650979,-6.19204421826e-05,1793237834120530432
+278,4.633333333,HOLD_POSE2,766,746.113321399,715,683.113321399,656.886678601,634,882,787,804,653,632,653.886678601,0.451436786368,0.00465892501151,0.0797186005113,0.99999989681,0.000154745406279,-0.000422570582436,-6.2195448104e-05,1793237834137196800
+279,4.650000000,HOLD_POSE2,766,746.707814034,715,683.707814034,656.292185966,634,882,787,804,653,632,653.292185966,0.451437554404,0.00465638874071,0.0797200119241,0.999999897797,0.000150075452849,-0.000421905876839,-6.22759434572e-05,1793237834153863424
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746.425280409,715,684,656,634,882,787,804.425280409,653,632,654,0.451438469535,0.00465957398888,0.0797196345222,0.999999896997,0.000154689681232,-0.000422085336314,-6.26168590091e-05,1793237834207613952
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.938644253,746.938644253,715,684,656,634,882.061355747,787,804,653,632,654,0.451438818417,0.00465920536471,0.0797194068687,0.999999896725,0.000156939461333,-0.0004220042567,-6.19137513149e-05,1793237834307613952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.36742139,746.36742139,715,684,656,634,882.63257861,787,804,653,632,654,0.451438721749,0.00465962394949,0.0797200296881,0.99999989702,0.000156530191581,-0.000421451150379,-6.19457834356e-05,1793237834324280320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746.211111484,715,683.788888516,656,634,882.788888516,787,804.211111484,653,632,654,0.451437783023,0.00465963678741,0.0797197270495,0.999999896877,0.000156028326111,-0.00042199855383,-6.17871853095e-05,1793237834340946944
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.614917974,715,683.385082026,656,633.614917974,882,787,804.614917974,653,632,654,0.451423992727,0.00465823434069,0.0797111230741,0.99999989181,0.000155104000846,-0.000434228645297,-6.13848507863e-05,1793237834374280448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.037383125,715,683.962616875,656,633.037383125,882,787,804.037383125,653,632,654,0.451408222959,0.0046575679797,0.07970216036,0.999999885938,0.000155055019498,-0.000447509249448,-6.17857587391e-05,1793237834390947072
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746.844228551,716,682,662.155771449,637,880.844228551,788,804.155771449,653,632.844228551,654,0.419423679304,0.00447774303883,0.0798545773793,0.999999970677,7.0928788863e-05,-0.000225709161269,5.16721409553e-05,1793237835507613696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746.57361558,716,682,662.42638442,636.57361558,881.42638442,788,804,653,632.57361558,654,0.418641139323,0.00447444225176,0.0798198043513,0.999999957169,6.04547710202e-05,-0.000281976113083,4.99764551039e-05,1793237835524280576
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746.005809331,716,682,663,636,881.994190669,788,804,653,632.005809331,654,0.417858286848,0.00447381817129,0.0797836934131,0.999999940359,5.01796055752e-05,-0.000338342506751,4.78460087759e-05,1793237835540947456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746.579183119,716,682,663,636,881.420816881,788,804,653,632.579183119,654,0.417151347992,0.00447890460137,0.0798107779895,0.999999950426,6.57212083504e-05,-0.000303942508085,4.94671593703e-05,1793237835557614080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746.842994966,716,682,662.842994966,636.157005034,881,788,804,653,633,654,0.416438537205,0.00448539043211,0.0798287317358,0.999999955559,8.0211528504e-05,-0.000282606871662,5.0813062278e-05,1793237835574280704
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746.252903093,716,682,662.252903093,636.747096907,881,788,804,653,633,654,0.415709528967,0.00449573640784,0.0798214987648,0.999999950269,9.18019665626e-05,-0.000297308311043,5.13997152045e-05,1793237835590947072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746.330784368,716,681.669215632,662,636.669215632,881.330784368,788,804,653.330784368,633,654,0.415008185487,0.00449684551399,0.0798128612398,0.999999946408,9.22349125261e-05,-0.000309978962908,5.08824041058e-05,1793237835607613696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746.909668267,716,681.090331733,662,636.090331733,881.909668267,788,804,653.909668267,633,654,0.414327591562,0.00449102665311,0.079803170252,0.999999943659,8.42993591417e-05,-0.000321126454174,4.95370823975e-05,1793237835624280320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.485893249,746.514106751,716,681,662,636,881.514106751,788,804,653.514106751,633,654,0.413690923791,0.0044852074134,0.0798164383539,0.999999952468,7.60671011723e-05,-0.000294714155433,4.92010520227e-05,1793237835640946944
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636,880.938421882,788,803.938421882,653,633,654,0.413060183216,0.00448006919985,0.0798314128775,0.99999996091,6.89543151409e-05,-0.000266486411805,4.9101233514e-05,1793237835657613568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636,880.363141499,788,803.363141499,653,633,654,0.412411134563,0.00448061288533,0.0798252093372,0.999999956719,7.16381399291e-05,-0.000281048257376,4.94151688083e-05,1793237835674280960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.783102363,746,716,681,662,636,880.216897637,788,803.216897637,653,633,654,0.41177010624,0.00448227883095,0.0798176072561,0.99999995215,7.17154259257e-05,-0.000296800780607,4.96689356357e-05,1793237835690948096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.194917205,746,716,681,662,636,880.805082795,788,803.805082795,653,633,654,0.411142807265,0.00448586587253,0.0798076111394,0.999999947008,6.73308127598e-05,-0.000314591516163,4.98197054578e-05,1793237835707614720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.38823677,746.38823677,716,681,662,636.38823677,880.61176323,788,804,653,632.61176323,654,0.410549248292,0.00448881189121,0.0798062547007,0.999999945362,7.68095317144e-05,-0.000317612007709,4.99856516872e-05,1793237835724281088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.96889717,746.96889717,716,681,662,636.96889717,880.03110283,788,804,653,632.03110283,654,0.409972411979,0.00449144019701,0.0798091803857,0.999999945321,9.31593992184e-05,-0.000313311854823,5.01591198784e-05,1793237835740947712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,662,636.456423917,880,788,804,653,632,654,0.409460306046,0.00448996676805,0.0798333472283,0.999999957686,9.17043484018e-05,-0.000271358001001,5.08229552293e-05,1793237835757613824
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.881991329,746.881991329,716,681,662,636,880,788,803.881991329,653,632,654,0.408948635842,0.00448856509594,0.0798532448583,0.999999966378,8.83360686684e-05,-0.000238308869446,5.14840775266e-05,1793237835774280192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.307201672,746.307201672,716,681,662,636,880,788,803.307201672,653,632,654,0.408424471665,0.0044883397382,0.0798519642024,0.999999964582,8.14626800384e-05,-0.000247976355498,5.20272746119e-05,1793237835790947072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,662.275668307,636,880.275668307,788,803.275668307,653,632,654,0.407896512953,0.00448803275333,0.0798353685614,0.999999955829,7.98491189975e-05,-0.000281589295153,5.16974875601e-05,1793237835807614208
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746.449551074,716,680.550448926,663,636.449551074,880.550448926,788,804,653,632,654,0.406901954113,0.00448662680339,0.0797925370358,0.99999993318,8.01706394937e-05,-0.000353134230339,5.00929423303e-05,1793237835840948224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.028067971,746.971932029,716,680,662.971932029,636.971932029,880,788,803.971932029,653.028067971,632,654,0.406462714939,0.00448566240933,0.079792013585,0.999999935544,7.43124993089e-05,-0.000347675906124,5.01044195973e-05,1793237835857613824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.602155806,746.397844194,716,680,662.397844194,636.397844194,880,788,803.397844194,653.602155806,632,654,0.40607925746,0.00448887272713,0.0798069556152,0.999999945431,8.19973398181e-05,-0.000316136561691,4.97178915756e-05,1793237835874280192
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.771773273,636,880,788,803,653.228226727,632.771773273,654,0.405313881434,0.00449841873191,0.0798291003315,0.999999955076,0.00010130427325,-0.000277776977606,4.92545350089e-05,1793237835907613440
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.355503419,663,636,880.355503419,788,803.355503419,653,632.644496581,654,0.404950862702,0.00450135446898,0.0798346062808,0.999999956319,0.000103570236649,-0.000272445262343,4.90858394675e-05,1793237835924280064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.934972919,663,636,880.934972919,788,803.934972919,653,632.065027081,654,0.404599978481,0.0045026107361,0.0798378980351,0.999999956839,0.000100524496811,-0.000271709208636,4.89050968484e-05,1793237835940946432
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.509308104,716,680.490691896,662.490691896,636,880.490691896,788,803.490691896,653.509308104,632,654,0.404271687692,0.004502915895,0.0798389699029,0.999999955226,0.000103416686017,-0.000276446740765,4.93041129495e-05,1793237835957613824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.914838674,747,716,680,662.085161326,636.085161326,880,788,803,653.914838674,632.085161326,654,0.403952450856,0.00450278372223,0.0798394122962,0.999999953613,0.000105609766684,-0.00028136061378,4.9558018013e-05,1793237835974280960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.326172957,747,716,680,662.673827043,636.673827043,880,788,803,653.326172957,632.673827043,654,0.403669859132,0.00450077668885,0.0798377920209,0.999999953791,9.92318147169e-05,-0.000283226449198,4.85206976389e-05,1793237835990947584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.258556778,746.741443222,716,680,663,637,880,788,803.258556778,653.258556778,632.741443222,654,0.403399636387,0.00449708642673,0.0798394497763,0.99999995502,9.15801025425e-05,-0.00028150359106,4.82641533141e-05,1793237836007613952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.838395634,746.161604366,716,680,663,637,880,788,803.838395634,653.838395634,632.161604366,654,0.403144783324,0.00449130458845,0.0798451808053,0.999999957509,8.23456191428e-05,-0.00027532143016,4.89777996337e-05,1793237836024280576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.416428605,716,680.416428605,663,636.583571395,880,788,803.583571395,653.583571395,632,654,0.40291053485,0.0044889237213,0.0798474079722,0.999999957839,7.5582631543e-05,-0.000276143563642,4.8517373069e-05,1793237836040947200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.993763776,716,680.993763776,663,636.006236224,880,788,803.006236224,653.006236224,632,654,0.402684247924,0.00448785697769,0.079848281259,0.999999957324,6.97746215386e-05,-0.000279672132256,4.76032888078e-05,1793237836057613568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.430661568,747,716,680.430661568,662.430661568,636.569338432,880,788,803.569338432,653.569338432,632,654,0.402495380252,0.00448532712294,0.0798461874637,0.9999999579,5.89574141629e-05,-0.000280166169071,4.72314701701e-05,1793237836074280192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746.851911291,716,680.148088709,662.148088709,637,880,788,803.851911291,653.851911291,632,654,0.402314830138,0.00448325003171,0.0798450683576,0.999999958556,5.02160189517e-05,-0.000279543434173,4.71329073518e-05,1793237836090947072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746.263665224,716,680.736334776,662.736334776,637,880,788,803.263665224,653.263665224,632,654,0.402157787478,0.00448256615636,0.0798469425766,0.999999959708,4.78070471595e-05,-0.000275699858407,4.78289306708e-05,1793237836107613696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.679820036,662.679820036,636.679820036,880,788,803.320179964,653,632,654,0.402012332148,0.00448260180311,0.0798521067141,0.999999961992,4.79025247062e-05,-0.000267036687375,4.91179174727e-05,1793237836124280064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.099549732,662.099549732,636.099549732,880,788,803.900450268,653,632,654,0.401876289484,0.00448322193591,0.0798599433364,0.999999965079,5.00324299793e-05,-0.000254458435887,5.08885836866e-05,1793237836140946944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.476499222,746.476499222,716,680,662.952998444,636,880,788,804,653,632,654,0.401754582239,0.00449097729421,0.0798602729919,0.99999996476,6.17660212553e-05,-0.000253065214934,5.12069014414e-05,1793237836157613824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,663.896833841,636.05158308,880,788,804.05158308,653,632.05158308,654,0.401637072271,0.00450090176294,0.0798584728638,0.999999963002,7.99891151936e-05,-0.000254963317016,5.08976617007e-05,1793237836174280448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,662.748507558,636.625746221,880,788,804.625746221,653,632.625746221,654,0.401532009346,0.00451783188284,0.0798508453951,0.999999952967,0.000143808396285,-0.000266739777933,4.72776748894e-05,1793237836190947072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.793569533,716,680.206430467,662.206430467,636.793569533,880,788,804.793569533,653,632.793569533,654,0.401436723429,0.00452809386996,0.079845679117,0.999999945523,0.000178229306825,-0.000274371975198,4.36913966347e-05,1793237836207613952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.20067705,716,680.79932295,662.79932295,636.20067705,880,788,804.20067705,653,632.20067705,654,0.401359741223,0.00452587233036,0.0798451204763,0.999999949167,0.000157613021032,-0.0002742456264,4.01682252572e-05,1793237836224280576
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.618366076,746,716,680.618366076,662.618366076,636,880,788,804,653,632,654,0.401289243377,0.00452270747839,0.0798426982235,0.999999949896,0.000146085856832,-0.000277988467917,3.98549500418e-05,1793237836240947200
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.04146915,746,716,680.04146915,662.04146915,636,880,788,804,653,632,654,0.401222063256,0.00451905998069,0.0798393224536,0.999999949216,0.000139209142471,-0.000283710980743,4.11840183551e-05,1793237836257613568
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.533714067,746.533714067,716,680,662.533714067,636.533714067,880,788,804,653,632,654,0.401172624598,0.00452041114873,0.0798371059228,0.999999948309,0.000139540265723,-0.000286692368656,4.14389606145e-05,1793237836274280704
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.888992947,716,680,663,637,880.111007053,788,804,653,632,654,0.401128240625,0.00452121381063,0.0798356958865,0.999999947898,0.000139387664088,-0.000288146883198,4.17869929918e-05,1793237836290947840
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.302086295,716,680,663,637,880.697913705,788,804,653,632,654,0.401099635809,0.00451800521351,0.0798373584699,0.999999949681,0.000134767997038,-0.000283965680922,4.2890764693e-05,1793237836307614208
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.281270307,663,636.718729693,880.718729693,788,804,653.281270307,632.281270307,654,0.401073489617,0.00451587783952,0.0798389409438,0.999999950872,0.000131582880084,-0.000281147047397,4.35743193057e-05,1793237836324280576
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.860861723,663,636.139138277,880.139138277,788,804,653.860861723,632.860861723,654,0.40104995109,0.00451489723274,0.079840438452,0.999999951464,0.000129919276089,-0.000279773581984,4.38121831143e-05,1793237836340946944
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.563136295,746.436863705,716,680.563136295,662.563136295,636.436863705,880,788,803.563136295,653.563136295,633,654,0.401032174093,0.00451450079139,0.0798406674068,0.99999995155,0.000130196105541,-0.000279274571052,4.4209999311e-05,1793237836357613568
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,747,716,680,662.011739138,636.988260862,880.011739138,788,803,653,633,654,0.401016410451,0.00451425705019,0.0798405392558,0.999999951503,0.000130998069758,-0.000278996753861,4.46527841538e-05,1793237836374280448
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,747,716,680,662.586968825,636.413031175,880.586968825,788,803,653,633,654,0.40100992534,0.00451248512143,0.0798425052895,0.999999952747,0.000127583419256,-0.000276076734269,4.48286847637e-05,1793237836390947072
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diff --git a/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ee62baea5945d2f4908c664e783a05bcff8288c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_17.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,442 @@
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+427,7.116666667,pose2_to_pose3_retreat,0.578253425109,0.0100013739234,1.07001167715,0.548824659093,0.0186750367438,1.06966120894
+428,7.133333333,pose2_to_pose3_retreat,0.578253058694,0.0100014070217,1.0700116677,0.548824292347,0.0186750688173,1.06966120202
+429,7.150000000,pose2_to_pose3_retreat,0.578252739631,0.0100013735596,1.07001163019,0.548823973342,0.018675035385,1.06966116033
+430,7.166666667,pose2_to_pose3_retreat,0.578252526794,0.0100013487967,1.07001160402,0.548823760558,0.0186750106781,1.06966113112
+431,7.183333333,pose2_to_pose3_retreat,0.578252490152,0.0100013445335,1.07001159951,0.548823723925,0.0186750064245,1.06966112609
+432,7.200000000,pose2_to_pose3_retreat,0.578252467503,0.0100013418984,1.07001159672,0.548823701282,0.0186750037953,1.06966112299
+433,7.216666667,pose2_to_pose3_retreat,0.578252391231,0.0100013330244,1.07001158735,0.548823625029,0.0186749949414,1.06966111252
+434,7.233333333,pose2_to_pose3_retreat,0.578252351009,0.0100013278458,1.07001160396,0.548823584777,0.0186749897012,1.06966113011
+435,7.250000000,pose2_to_pose3_retreat,0.578252259145,0.0100013158468,1.07001164931,0.548823492831,0.0186749775367,1.06966117823
+436,7.266666667,pose2_to_pose3_retreat,0.578252254606,0.0100013152539,1.07001165155,0.548823488288,0.0186749769357,1.06966118061
+437,7.283333333,pose2_to_pose3_retreat,0.5782522516,0.0100013148613,1.07001165304,0.548823485279,0.0186749765376,1.06966118219
+438,7.300000000,pose2_to_pose3_retreat,0.578252192531,0.0100012853291,1.07001166473,0.548823426814,0.0186749492029,1.06966119764
+439,7.316666667,pose2_to_pose3_retreat,0.578252184911,0.0100012725203,1.07001165903,0.548823419542,0.0186749376279,1.06966119324
+440,7.333333333,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..218580a8f97854fa36e87667c1c1417dabb88f60
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade8dc5885191676e2fd90923344882984234af3446fe41933c7871f5e587281
+size 24631589
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40c4c01c26a9f964f2999ad0898f0f8ec9025a07
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
+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,765,742,711,671,663,632,876,782,798,649,626,649,0.40084847407,-0.00544294865785,0.0598910817757,0.999999958662,-1.09456109569e-05,-0.000285105590342,-3.56440694557e-05,1793190334261636864
+1,0.016666667,BASELINE,764.410373474,742,711,670.410373474,663,632,876,782,798.589626526,649,626.589626526,649,0.400812458311,-0.00544044151959,0.0598729858338,0.999999946964,-8.2281318299e-06,-0.000323536397481,-3.64447764872e-05,1793190334278303488
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+22,0.366666667,BASELINE,764,742,711.772897704,670.227102296,663.772897704,632,875.227102296,782,798.772897704,649,627,649,0.400764413505,-0.00544381071063,0.0598505880213,0.999999929984,-1.46097877012e-05,-0.000372135620276,-3.65104583119e-05,1793190334628303872
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+28,0.466666667,BASELINE,764.257791158,742,711,670,662.742208842,632,876.742208842,782,798.742208842,649,626.742208842,649,0.400763909659,-0.00544084965814,0.0598491810045,0.999999929472,-9.53654065997e-06,-0.000373626259807,-3.70048013837e-05,1793190334728303616
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+39,0.650000000,BASELINE,765,742,711,670.634931586,663,632,876.634931586,782,798.365068414,649,627,649,0.400762538911,-0.0054403688265,0.0598487987749,0.999999928532,-8.45724658818e-06,-0.00037613508696,-3.72502961054e-05,1793190334911638016
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+47,0.783333333,BASELINE,764.716283664,742,711.283716336,670.283716336,663,632,876,782,798.283716336,649,627,649,0.400761852889,-0.00544178582071,0.0598488129913,0.999999928518,-1.03606828049e-05,-0.00037614385857,-3.7048756539e-05,1793190335044970240
+48,0.800000000,BASELINE,764.140976896,742,711.859023104,670.859023104,663,632,876,782,798.859023104,649,627,649,0.400762420497,-0.00544256766793,0.059848927758,0.999999928844,-1.20147404071e-05,-0.000375268452769,-3.66189972414e-05,1793190335061636864
+49,0.816666667,BASELINE,764.434035981,742,711.565964019,670.565964019,663,632,876,782,799,649,627,649,0.400763067194,-0.00544224276315,0.0598487696221,0.999999929013,-1.26722431437e-05,-0.00037478412073,-3.67501148338e-05,1793190335078303488
+50,0.833333333,BASELINE,765,742,711.0092471,670.0092471,663,632,876,782,798.9907529,649,627,649,0.400763729209,-0.00544159288176,0.0598485401201,0.999999929134,-1.30012551212e-05,-0.000374420244668,-3.70520475679e-05,1793190335094970368
+51,0.850000000,BASELINE,765,742,711.603021616,670.603021616,663,632,876,782,798.396978384,649,627,649,0.400763736847,-0.00544310853337,0.0598493987398,0.999999929438,-1.30126819857e-05,-0.000373646713293,-3.66436686753e-05,1793190335111636992
+52,0.866666667,BASELINE,765,742,711.809414247,670.618828494,663,632,876,782,798,649,626.809414247,649,0.400763296156,-0.00544379639709,0.0598496894712,0.999999929356,-1.25411474102e-05,-0.000373899470539,-3.64603885618e-05,1793190335128303872
+53,0.883333333,BASELINE,765,742,711.234377762,669.468755524,663,632,876,782,798,649,626.234377762,649,0.400761951095,-0.00544281444195,0.059848834655,0.999999928492,-1.10953801e-05,-0.000376222463437,-3.67311790892e-05,1793190335144970496
+54,0.900000000,BASELINE,765,742,711,669.3413027,663,632,876,782,798.3413027,649,626.3413027,649,0.400760853903,-0.00544208673336,0.0598481226368,0.999999928119,-1.09000117006e-05,-0.000377197265806,-3.69473766906e-05,1793190335161636864
+55,0.916666667,BASELINE,765,742,711,669.917426202,663,632,876,782,798.917426202,649,626.917426202,649,0.400759927249,-0.00544153394983,0.0598475088655,0.999999928087,-1.15649344624e-05,-0.000377244495042,-3.71260136204e-05,1793190335178303488
+56,0.933333333,BASELINE,765,742,711,670,663,632,876,782,798.495425612,649,627,649,0.400761180361,-0.00544237946688,0.0598485492818,0.999999928448,-1.16147373076e-05,-0.000376311535935,-3.68484199058e-05,1793190335194970112
+57,0.950000000,BASELINE,765,742,711,670.09219869,663,632,876,782,798.09219869,649,626.90780131,649.09219869,0.400762443219,-0.00544317895386,0.0598495042293,0.999999928774,-1.14792109155e-05,-0.000375473420209,-3.65956126322e-05,1793190335211636736
+58,0.966666667,BASELINE,765,742,711,670.672577382,663,632,876,782,798.672577382,649,626.327422618,649.672577382,0.400761826703,-0.00544249601442,0.0598485412468,0.99999992857,-1.09073024982e-05,-0.00037600580084,-3.68782043332e-05,1793190335228303360
+59,0.983333333,BASELINE,764.749239878,742,711.250760122,670.749239878,663,632,876,782,798.749239878,649,626.250760122,649.749239878,0.400760981535,-0.00544209050243,0.0598478941194,0.99999992834,-1.10992188424e-05,-0.000376595888524,-3.70316353611e-05,1793190335244969984
+60,1.000000000,BASELINE,764.173899466,742,711.826100534,670.173899466,663,632,876,782,798.173899466,649,626.826100534,649.173899466,0.400759840402,-0.00544204408846,0.05984765583,0.999999928077,-1.22798188713e-05,-0.000377260671456,-3.70178827138e-05,1793190335261636608
+61,1.016666667,BASELINE,764,741.591974013,711.591974013,670,663.408025987,632,876,782.408025987,798.408025987,649,627,649,0.400759710765,-0.0054416516891,0.0598471339081,0.999999927837,-1.244442032e-05,-0.000377883869359,-3.70805568251e-05,1793190335278303488
+62,1.033333333,BASELINE,764,741.007196033,711.007196033,670,663.992803967,632,876,782.992803967,798.992803967,649,627,649,0.400760019298,-0.00544110941302,0.0598464891198,0.999999927608,-1.21689032242e-05,-0.000378489053085,-3.71763380979e-05,1793190335294970112
+63,1.050000000,BASELINE,764,741.573619657,711,670,663.426380343,632,876,783,799,649,627,649,0.400760281858,-0.00544224228639,0.0598473772349,0.999999927698,-1.23663990435e-05,-0.000378267926074,-3.69510896188e-05,1793190335311636736
+64,1.066666667,BASELINE,764.153964673,742,711.153964673,670.153964673,663,632,876,782.846035327,799,649,626.846035327,649,0.40076018708,-0.00544262541161,0.0598477384416,0.999999927625,-1.2032693976e-05,-0.000378479898336,-3.68417966046e-05,1793190335328303360
+65,1.083333333,BASELINE,764.733146098,742,711.733146098,670.733146098,663,632,876,782.266853902,799,649,626.266853902,649,0.400759106992,-0.00544088025656,0.0598465916971,0.999999927093,-1.02156524529e-05,-0.000379916428385,-3.70637934648e-05,1793190335344969984
+66,1.100000000,BASELINE,765,742,711.690461578,671,663,632,876.309538422,782.309538422,798.690461578,649,626,649,0.400758691745,-0.00544036551109,0.0598462798487,0.999999926899,-9.31537625457e-06,-0.000380438581598,-3.71784273311e-05,1793190335361636864
+67,1.116666667,BASELINE,765,742,711.116452302,671,663,632,876.883547698,782.883547698,798.116452302,649,626,649,0.400758844539,-0.00544090203254,0.0598466813389,0.999999926998,-9.1983880741e-06,-0.000380179487549,-3.72013298188e-05,1793190335378303488
+68,1.133333333,BASELINE,764.530698603,742,711.469301397,670.530698603,663,632,877,782.530698603,798,649,626,649,0.400760851751,-0.00544117167984,0.0598478763067,0.999999928042,-9.27434648832e-06,-0.000377438285811,-3.70218655568e-05,1793190335394970112
+69,1.150000000,BASELINE,764,742,711.94286836,670.05713164,663,632,876.885736721,782,798.05713164,649,626.05713164,649,0.400762942834,-0.00544133259113,0.0598490992448,0.999999929144,-9.32980828826e-06,-0.000374525176916,-3.68306520267e-05,1793190335411636736
+70,1.166666667,BASELINE,764,742,711.363381654,670.636618346,663,632,875.726763308,782,798.636618346,649,626.636618346,649,0.400761485566,-0.00544112033779,0.0598487315101,0.999999928658,-8.7488870678e-06,-0.000375816128366,-3.70029176989e-05,1793190335428303360
+71,1.183333333,BASELINE,764.215062245,742,711,671,663,632,875.215062245,782,798.784937755,649,627,649,0.400760632598,-0.00544102243519,0.0598484279156,0.999999928267,-9.31126058593e-06,-0.000376831354896,-3.71075907271e-05,1793190335444970240
+72,1.200000000,BASELINE,764.791752749,742,711,671,663,632,875.791752749,782,798.208247251,649,627,649,0.400760795762,-0.00544111681391,0.0598482321732,0.999999928033,-1.17960899405e-05,-0.000377382948771,-3.70986064075e-05,1793190335461636864
+73,1.216666667,BASELINE,765,742,711,670.633099097,663,632.366900903,876,782.366900903,798.366900903,649,626.633099097,649,0.40076152135,-0.00544135073128,0.0598484779421,0.999999928361,-1.19293581922e-05,-0.000376512461276,-3.70790298453e-05,1793190335478303488
+74,1.233333333,BASELINE,765,742,711,670.058822729,663,632.941177271,876,782.941177271,798.941177271,649,626.058822729,649,0.400762564825,-0.00544166351707,0.059848973257,0.999999929004,-1.07335042442e-05,-0.000374838201433,-3.70534664595e-05,1793190335494970112
+75,1.250000000,BASELINE,765,742,711,670.530030709,663,632.469969291,876,783,798.469969291,649,626.530030709,649,0.400762048998,-0.00544191447708,0.0598485878247,0.999999928547,-1.13245012837e-05,-0.000376035930349,-3.70802462649e-05,1793190335511636992
+76,1.266666667,BASELINE,765,742,711,671,663,632,876,782.881765791,798,649,626.881765791,649,0.400761362466,-0.00544183771756,0.0598482591312,0.999999928085,-1.13559006591e-05,-0.000377258038143,-3.71031512909e-05,1793190335528303360
+77,1.283333333,BASELINE,765,742,711,671,663,632,876,782.302581569,798,649,626.302581569,649,0.400760704163,-0.00544051081123,0.0598485434881,0.9999999281,-8.4106654575e-06,-0.00037729743073,-3.70876623401e-05,1793190335544970240
+78,1.300000000,BASELINE,765,742,711.27506255,670.72493745,663,632,875.72493745,782,798,649.27506255,626,649,0.400760116444,-0.0054402852526,0.0598483873845,0.99999992802,-8.01163462001e-06,-0.000377525978391,-3.70023524108e-05,1793190335561637120
+79,1.316666667,BASELINE,765,742,711.851021879,670.148978121,663,632,875.148978121,782,798,649.851021879,626,649,0.400759605942,-0.00544126448176,0.0598477494516,0.99999992784,-1.03979511333e-05,-0.000377961446813,-3.6840663828e-05,1793190335578303744
+80,1.333333333,BASELINE,765,742,711.565124754,670.434875246,663,632,875.869750492,782,798.434875246,649.565124754,626.434875246,649,0.400759767205,-0.00544130045277,0.059847939252,0.99999992785,-1.05031817392e-05,-0.000377904677,-3.71204830544e-05,1793190335594970368
+81,1.350000000,BASELINE,765,742,711.021212317,671,663,632,876.978787683,782,798.978787683,649,627,649,0.400760167399,-0.0054410113922,0.0598484251765,0.999999927937,-9.83310594094e-06,-0.00037765263132,-3.75237952297e-05,1793190335611636736
+82,1.366666667,BASELINE,765,742,711.600429666,671,663,632,876.399570334,782,798.399570334,649,627,649,0.400760687153,-0.00544082968215,0.0598491036461,0.999999928282,-9.70460970116e-06,-0.000376781641675,-3.71233710245e-05,1793190335628303360
+83,1.383333333,BASELINE,765,742,711.82061442,671,663,632,876.17938558,782,798.17938558,649,627,649,0.40076085335,-0.00544127079449,0.0598492495479,0.999999928372,-9.85113610079e-06,-0.000376567247214,-3.6823946508e-05,1793190335644969984
+84,1.400000000,BASELINE,765,742,711.242239877,671,663,632,876.757760123,782,798.757760123,649,627,649,0.400760233167,-0.0054430971868,0.0598482109141,0.999999927897,-1.06093671529e-05,-0.000377813249978,-3.67491651729e-05,1793190335661636608
+85,1.416666667,BASELINE,765,742,711,671,663,632,877,782,799,649,627,649,0.400760127379,-0.00544407667566,0.0598478639273,0.999999927718,-1.17569128161e-05,-0.000378263047035,-3.66471601931e-05,1793190335678303488
+86,1.433333333,BASELINE,765,742,711,671,663,632,877,782,799,649,627,649,0.400760392296,-0.00544444583235,0.059848015385,0.999999927751,-1.31850230973e-05,-0.000378139047966,-3.65255361425e-05,1793190335694970112
+87,1.450000000,BASELINE,765,742,711.492943581,671,662.507056419,632,876.507056419,782,798.507056419,649,627,649,0.400759779056,-0.00544172758581,0.059847735863,0.999999927575,-1.21442797425e-05,-0.000378602918916,-3.69024814557e-05,1793190335711636736
+88,1.466666667,BASELINE,765,742,711.919611827,670.919611827,662.080388173,632,876,782,798,649,627,649,0.400759092271,-0.00543896825378,0.0598473691698,0.999999927363,-1.07894716996e-05,-0.000379165070846,-3.72911173448e-05,1793190335728303104
+89,1.483333333,BASELINE,765,742,711.339414946,670.339414946,662.660585054,632,876,782,798,649,627,649,0.400759007837,-0.00543967883882,0.0598469805292,0.999999927196,-1.04609861319e-05,-0.000379628935394,-3.71508482866e-05,1793190335744969984
+90,1.500000000,BASELINE,765,742,711,670.239150552,663,632.239150552,876,782,798,649,626.760849448,649,0.400759465907,-0.0054401401104,0.0598472398207,0.999999927382,-9.63773128281e-06,-0.000379177604397,-3.69751278862e-05,1793190335761636864
+91,1.516666667,BASELINE,765,742,711,670.815416343,663,632.815416343,876,782,798,649,626.184583657,649,0.400760688708,-0.00544024994067,0.0598484124605,0.999999928063,-8.11703184733e-06,-0.000377436180728,-3.67494340081e-05,1793190335778303488
+92,1.533333333,BASELINE,765,742,711,671,663,632.601921816,876,782,798,649,626.398078184,649,0.400760756543,-0.00544166347902,0.0598486466643,0.999999928164,-9.25789483186e-06,-0.000377160477334,-3.65597105901e-05,1793190335794970112
+93,1.550000000,BASELINE,765,742,711,671,663,632.016245729,876,782,798,649,626.983754271,649,0.400760280089,-0.00544369140147,0.0598484386218,0.999999927988,-1.16530427734e-05,-0.000377575507571,-3.63869385531e-05,1793190335811636736
+94,1.566666667,BASELINE,764.437011346,742,711,671,663,632,876,782,798.562988654,649.562988654,627,649,0.400761443588,-0.00544244073916,0.0598481190306,0.99999992823,-1.13392368144e-05,-0.000376901976609,-3.68212228329e-05,1793190335828303104
+95,1.583333333,BASELINE,764,742,711,671,663,632,876,782,798.858179322,649.858179322,626.858179322,649,0.400761518515,-0.00544125164728,0.0598477089643,0.999999928191,-1.07030587853e-05,-0.000376990633366,-3.71575240278e-05,1793190335844969984
+96,1.600000000,BASELINE,764,742,711,671,663,632,876,782,798.280019659,649.280019659,626.280019659,649,0.400758100291,-0.00544053977436,0.0598470303255,0.999999927249,-9.31282520259e-06,-0.000379519860321,-3.71390753894e-05,1793190335861636608
+97,1.616666667,BASELINE,764,742,711,670.703528211,663,632,876,782,798.296471789,649,626,649,0.400757755657,-0.00544093913724,0.059847174328,0.99999992718,-9.85704293832e-06,-0.000379694008943,-3.70717701969e-05,1793190335878303744
+98,1.633333333,BASELINE,764,742,711,670.128603622,663,632,876,782,798.871396378,649,626,649,0.400760297807,-0.00544238219718,0.0598480909734,0.99999992793,-1.2218139825e-05,-0.000377656216236,-3.69585778595e-05,1793190335894971136
+99,1.650000000,BASELINE,764,742,711,670,663,632.456577193,876,782,799,649,626.456577193,649,0.400759972602,-0.00544166882054,0.0598475224177,0.99999992769,-1.06771441238e-05,-0.000378332953212,-3.701054638e-05,1793190335911638016
+100,1.666666667,BASELINE,764.044272418,742,711,670.044272418,663,632.955727582,876.044272418,782,799,649,627,649,0.400758936467,-0.00544055615058,0.0598466684454,0.999999927222,-8.45130009881e-06,-0.000379617027621,-3.710001116e-05,1793190335928304384
+101,1.683333333,BASELINE,764.626610047,742,711,670.626610047,663,632.373389953,876.626610047,782,799,649,627,649,0.400759301328,-0.00544214235784,0.0598475467294,0.99999992751,-1.15670045692e-05,-0.000378776287401,-3.70668051432e-05,1793190335944971008
+102,1.700000000,BASELINE,765,742,711,670.794093368,663,632,876.794093368,782,799,649.205906632,627,649,0.400759045352,-0.00544308605627,0.0598475830656,0.999999927402,-1.33543735249e-05,-0.00037900356568,-3.70630948165e-05,1793190335961637376
+103,1.716666667,BASELINE,765,742,711,670.220231196,663,632,876.220231196,782,799,649.779768804,627,649,0.400757679937,-0.00544288159003,0.0598461148394,0.999999926596,-1.27680040838e-05,-0.000381139395116,-3.71120933473e-05,1793190335978304000
+104,1.733333333,BASELINE,765,742,711,670.355086291,663,632,876,782.355086291,798.644913709,650,627,649,0.40075766922,-0.00544185135119,0.0598459340194,0.999999926696,-1.13435889424e-05,-0.000380907586582,-3.72652832594e-05,1793190335994970880
+105,1.750000000,BASELINE,765,742,711,670.931310163,663,632,876,782.931310163,798.068689837,650,627,649,0.400758502169,-0.00544030684479,0.0598465549588,0.999999927357,-9.39726286379e-06,-0.000379201281079,-3.74833605868e-05,1793190336011637504
+106,1.766666667,BASELINE,765,741.4811656,711.5188344,670.4811656,663,632,876,783,798,649.4811656,626.4811656,649,0.400758866061,-0.00544158892657,0.0598470502915,0.999999927315,-1.15308283306e-05,-0.00037928243797,-3.71631028086e-05,1793190336028304128
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,663,632,876,782,798,650,626,649,0.400759632382,-0.00544193937205,0.0598466469218,0.999999927239,-8.77204241109e-06,-0.000379567459361,-3.70754303163e-05,1793190336070774784
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.576218891,742,711.423781109,671,663,632,876,782.576218891,798,649.423781109,626.576218891,649,0.40075887658,-0.00544236076815,0.0598470400982,0.999999927052,-1.32238682638e-05,-0.000379908275782,-3.72851283599e-05,1793190336087441664
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,742,711,670.844644128,663,632,876,782.844644128,798,649,627,649,0.400758357006,-0.00544229110433,0.0598473090107,0.999999926944,-1.53310851665e-05,-0.000380101021863,-3.74077302649e-05,1793190336104108288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,742,711,670.257394648,663,632,876,782.257394648,798,649,627,649,0.400758494151,-0.00544085628046,0.0598472324659,0.99999992709,-1.09202255463e-05,-0.000379882128403,-3.72882025517e-05,1793190336120774912
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.675194532,742,711,670,663,632,876,782,798,649,627,649,0.400758738714,-0.00544037285313,0.059846991872,0.999999927111,-1.06205167791e-05,-0.000379821970993,-3.7426441034e-05,1793190336137441792
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,711.216203983,670,662.216203983,632.783796017,875.216203983,782,798,649,626.216203983,649,0.400790263357,-0.00544090533801,0.059845089747,0.999999925109,-1.03688417829e-05,-0.000385060174591,-3.74489391989e-05,1793190336220774656
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764.400135166,742,711.400135166,670,663.400135166,632,876.400135166,782.400135166,798,649,627,648.400135166,0.401777213044,-0.0054681202819,0.0598564832488,0.999999941496,-3.02360005465e-05,-0.000337085396992,-4.96790492217e-05,1793190336404108288
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.17836212,670.17836212,663,632,876.17836212,782,798.17836212,649,626.82163788,648.17836212,0.401956776713,-0.00547081316391,0.0598553795255,0.999999942105,-3.11827685644e-05,-0.000334826697242,-5.20382194762e-05,1793190336420775168
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+130,2.166666667,POSE1_TO_POSE2_PRESS,764.354386891,742,711.645613109,670.645613109,662.645613109,632,876.645613109,782,798.645613109,649,626,648.645613109,0.402397331495,-0.00547480770188,0.0598508597683,0.999999942537,-3.74394300089e-05,-0.000331778230566,-5.87115753182e-05,1793190336454108416
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,670.989783935,662.010216065,632,876,782,798,649.989783935,626,649,0.404974646316,-0.00546353837238,0.0597985148196,0.999999905309,-0.000131702704834,-0.000404362542988,-9.23395162514e-05,1793190336587441408
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,742,711.266965376,670,662.733034624,632,875.733034624,782,798.533930752,649.733034624,627,649,0.402953629642,-0.00536541052702,0.0598077859964,0.999999926961,0.000240338252921,-0.000296310526742,2.27123556862e-05,1793190339997996288
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.684780214,742,711,670,662.684780214,632,876.315219786,782,798.315219786,649.684780214,627,649,0.402710395497,-0.00537441251718,0.0598280442184,0.999999938434,0.000230442759969,-0.000263512351482,2.4262527012e-05,1793190340014662912
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.094491691,742,711,670,662.094491691,632,876.905508309,782,798.905508309,649.094491691,627,649,0.402478472421,-0.00538767684015,0.0598475636881,0.999999949186,0.000215489731244,-0.000233477178754,2.60832876406e-05,1793190340031329536
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,741.513460229,711.486539771,670,662,632,876.513460229,782,799,649,627,649,0.40225541787,-0.00539009666992,0.0598462865969,0.999999947764,0.000214549757859,-0.00024033481005,2.6053123972e-05,1793190340047996160
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,741,711.934574955,670,662,632,876,782,799,649,626.934574955,649,0.402038849466,-0.00538960235267,0.0598411228758,0.999999943866,0.000216943115113,-0.000254063510575,2.56130971204e-05,1793190340064662784
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,741.216500244,711,670,662.216500244,632,876,782,799,649,626.216500244,649,0.401698932617,-0.00537891263829,0.0598343767039,0.999999936604,0.000226385740542,-0.000273774605799,2.42563526141e-05,1793190340097996288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,741.790455891,711,670,662.790455891,632,876,782,799,649,626.790455891,649,0.401568509059,-0.00538114329601,0.0598361260463,0.999999938661,0.000218878913123,-0.000272343672337,2.44694171533e-05,1793190340114662912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,741.625024925,711,670,662.625024925,632,875.625024925,782,799,649,627,649,0.401455054776,-0.00538052269592,0.0598389125269,0.999999940287,0.000216038956131,-0.000268626634358,2.43597778477e-05,1793190340131329536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,741.034431434,711,670,662.034431434,632,875.034431434,782,799,649,627,649,0.401351358163,-0.00537826256388,0.0598422953837,0.999999941667,0.000215882545336,-0.000263595038919,2.40645771853e-05,1793190340147996416
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.544115781,741.544115781,711.544115781,670.544115781,662,632,875.544115781,782,799,649,627,649,0.40127143823,-0.00537751037677,0.0598444009807,0.999999942118,0.000216912396874,-0.000260975021268,2.46141741717e-05,1793190340164662784
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.301673883,742,711.301673883,670.301673883,662,632,876,782,799.698326117,649,626.301673883,649,0.401137339234,-0.00537618820659,0.0598410328475,0.999999940115,0.000218863690465,-0.000267005752139,2.40123518195e-05,1793190340197996288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,782,799.72591135,649,626,649,0.401086851314,-0.005376802096,0.0598375318287,0.9999999391,0.000217290530745,-0.000272090178753,2.34929445476e-05,1793190340214662912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,782,799.151124185,649,626,649,0.401046385494,-0.00537881635139,0.0598346897084,0.999999939083,0.000213012351735,-0.000275523206294,2.3379136667e-05,1793190340231329536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,782,798.562786433,649,626,649,0.40101724528,-0.0053785528498,0.0598345779537,0.999999938746,0.000212812552585,-0.000276907094262,2.32488907724e-05,1793190340247996160
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.97045573,711.02954427,670,662.02954427,632,876,782,798,649,626,649,0.400992880323,-0.00537751459012,0.0598354118572,0.999999938335,0.000214041788732,-0.000277458264052,2.31071661672e-05,1793190340264662784
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.182339047,741.182339047,711.817660953,670,662.817660953,632,876,782,798,649,626,649,0.400973274416,-0.0053773084045,0.0598362614886,0.999999939006,0.000214608969032,-0.000274625447841,2.2624764522e-05,1793190340297996288
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.12852254,741.12852254,711,670,662,632,876,782,799.74295492,649,626,649,0.400962070497,-0.00537926072611,0.059838815728,0.99999994102,0.000209755149396,-0.000271047063089,2.22640575176e-05,1793190340347996160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,741.474001967,711,670.474001967,662,632,875.525998033,782,799.051996065,649,626,649,0.400960777702,-0.00537865438111,0.0598389577149,0.999999940632,0.000212077843553,-0.000270690550433,2.2023507096e-05,1793190340364663040
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,662,632,875,782,798.085160688,649,626.085160688,649,0.400960241918,-0.00537825024253,0.0598390983915,0.999999940271,0.000214458949455,-0.000270166636597,2.17929694166e-05,1793190340381329664
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.765736792,662.234263208,632,875.234263208,782,799,649,627,649,0.40096155293,-0.00538114507989,0.0598407997046,0.999999941993,0.000210077311728,-0.000267211434833,2.19130472169e-05,1793190340414663168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.189473586,662.810526414,632,875.810526414,782,799,649,627,649,0.400959893142,-0.00537979479333,0.0598407466602,0.999999941561,0.000211935279196,-0.000267395073507,2.14694968083e-05,1793190340431330048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.397250278,741.602749722,711,670.397250278,662.602749722,632,876,782.397250278,799,649,626.602749722,648.602749722,0.400959739909,-0.00537924476663,0.0598410703419,0.999999941708,0.00021167962031,-0.00026705973744,2.13189169394e-05,1793190340447996928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.989098406,741.010901594,711,670.989098406,662.010901594,632,876,782.989098406,799,649,626.010901594,648.010901594,0.40096032468,-0.00537908675693,0.0598415785676,0.999999942138,0.000210388575956,-0.00026647017532,2.1311852243e-05,1793190340464663296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.432294667,741.567705333,711,669.864589335,662,632,875.432294667,783,799,649,626.567705333,648.567705333,0.400959898333,-0.00537849717641,0.0598420158074,0.999999941873,0.000211716075773,-0.000266416260626,2.12846099893e-05,1793190340481329920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.14450755,742,711,669.14450755,662.14450755,632,875.14450755,782.85549245,798.85549245,649,627,649,0.400959917191,-0.0053783408237,0.0598425221571,0.999999941933,0.000212196175754,-0.000265805733298,2.13286899406e-05,1793190340497996544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.716703784,742,711,669.716703784,662.716703784,632,875.716703784,782.283296216,798.283296216,649,627,649,0.400961309846,-0.00537949063315,0.0598432369892,0.999999942991,0.000210022857673,-0.000263518090433,2.15849777618e-05,1793190340514663424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.708320019,742,711,670,662.708320019,632,876,782,798,649,626.708320019,649,0.400961070702,-0.00538040592113,0.0598433490246,0.999999943357,0.000208987875529,-0.000262945116845,2.16902950741e-05,1793190340531330048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.130617714,742,711,670,662.130617714,632,876,782,798,649,626.130617714,649,0.400959231411,-0.00538109123675,0.0598428699559,0.999999943049,0.000209069148994,-0.000264053553168,2.16475702526e-05,1793190340547996672
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,741.540695931,711,670,662.459304069,632.459304069,876,782,798,649,626.459304069,649,0.400958626633,-0.00538183832578,0.0598424512758,0.999999943318,0.000207128809015,-0.00026456158024,2.16586739573e-05,1793190340564663296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.051258648,741.051258648,711,670,662.948741352,632.948741352,875.948741352,782,798,649,626.948741352,649,0.400958522788,-0.00538246614222,0.0598421456252,0.999999943687,0.000205087273223,-0.000264754608889,2.16733708751e-05,1793190340581329920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.627470965,741.627470965,711,670,662.372529035,632.372529035,875.372529035,782,798,649,626.372529035,649,0.400959855423,-0.00538168762829,0.0598428168555,0.999999943403,0.000208058093766,-0.000263518097379,2.15638102185e-05,1793190340597996544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.79670619,742,711,670,662.20329381,632,875,782,798.20329381,649,626,649,0.400959854479,-0.00538155280679,0.0598430032351,0.999999943226,0.00020913137625,-0.00026334890966,2.14327054045e-05,1793190340614663424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.221595712,742,711,670,662.778404288,632,875,782,798.778404288,649,626,649,0.400957414469,-0.00538259527436,0.0598423028414,0.999999943257,0.000206734133409,-0.000265131816761,2.12621971503e-05,1793190340631330048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.36261634,742,711,669.63738366,663,632,875.36261634,782,799,649,626.36261634,649,0.400957467801,-0.0053816655627,0.0598425242508,0.999999943205,0.000207293454492,-0.000264905593518,2.10962184738e-05,1793190340647996672
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.466605899,742,711.533394101,669.533394101,663,632,876.533394101,782,799,649,626.466605899,649,0.400958914079,-0.00537991564102,0.0598429354334,0.999999943125,0.000209033928019,-0.000263871592569,2.06691325171e-05,1793190340681330432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,741.887413099,712,670,663,632,876.774826197,782,798.887413099,649,626.112586901,649,0.400958771153,-0.0053803352534,0.0598426564626,0.999999943201,0.00020830102458,-0.000264178254859,2.04818345311e-05,1793190340697996800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,741.311819845,712,670,663,632,875.62363969,782,798.311819845,649,626.688180155,649,0.400959382224,-0.00537984050001,0.0598432533002,0.999999943431,0.000208428234138,-0.000263191679566,2.06460248368e-05,1793190340714663424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,741.268491167,712,670,662.731508833,632,875.536982334,782,798.268491167,649.268491167,627,649,0.400959270748,-0.005379526125,0.0598432253856,0.999999943227,0.000209313970494,-0.000263249614147,2.08133951783e-05,1793190340731329792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,741.854379357,712,670,662.145620643,632,876.708758713,782,798.854379357,649.854379357,627,649,0.400958305113,-0.00537942498435,0.0598424589197,0.999999942508,0.000211096399854,-0.000264542316681,2.09845248225e-05,1793190340747996416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,670,662.437419131,632,876.562580869,781.562580869,798.562580869,649.562580869,626.562580869,649,0.400957515664,-0.00538037967497,0.0598420215369,0.99999994306,0.000207700426911,-0.000265160400309,2.07298471961e-05,1793190340764663040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.980730047,670,663,632,875.980730047,781.019269953,798.019269953,649.019269953,626,649,0.400956824625,-0.00538165881309,0.059841700425,0.999999943975,0.00020278703366,-0.000265542014979,2.03577446468e-05,1793190340781329664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.405993095,670,663,632,875.405993095,781.594006905,798.594006905,649.594006905,626,649,0.400957290539,-0.00538222383328,0.0598415933435,0.999999943824,0.000203505036393,-0.000265539228632,2.06605315411e-05,1793190340797996544
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..056a746aeea2d406fc2a8d9f98535c87767e1375
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
+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,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+1,0.016666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+3,0.050000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+5,0.083333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+6,0.100000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+7,0.116666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+8,0.133333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+10,0.166666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+12,0.200000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+377,6.283333333,pose2_to_pose3_retreat,0.575724205974,0.00021979098938,1.05002845378,0.546294616606,0.00889150087541,1.04969945364
+378,6.300000000,pose2_to_pose3_retreat,0.575724130544,0.000219791138885,1.0500284467,0.546294541163,0.00889150098838,1.04969944671
+379,6.316666667,pose2_to_pose3_retreat,0.575724004033,0.000219791389633,1.05002843483,0.546294414631,0.00889150117786,1.04969943509
+380,6.333333333,pose2_to_pose3_retreat,0.57572385844,0.000219791678202,1.05002842117,0.546294269014,0.00889150139591,1.04969942171
+381,6.350000000,pose2_to_pose3_retreat,0.575723593985,0.000219792202358,1.05002839636,0.546294004515,0.00889150179198,1.04969939741
+382,6.366666667,pose2_to_pose3_retreat,0.575723351679,0.000219792682614,1.05002837363,0.54629376217,0.00889150215488,1.04969937514
+383,6.383333333,pose2_to_pose3_retreat,0.575723246994,0.000219792890102,1.05002836381,0.546293657468,0.00889150231167,1.04969936552
+384,6.400000000,pose2_to_pose3_retreat,0.57572307024,0.000219788928023,1.0500283451,0.546293480628,0.00889149805727,1.04969934671
+385,6.416666667,pose2_to_pose3_retreat,0.57572290285,0.000219752935054,1.05002831152,0.546293312741,0.00889146024202,1.04969930965
+386,6.433333333,pose2_to_pose3_retreat,0.575722722977,0.000219714258008,1.05002827543,0.546293132333,0.00889141960679,1.04969926982
+387,6.450000000,pose2_to_pose3_retreat,0.575722626865,0.000219553507357,1.0500283416,0.546293038434,0.00889126642006,1.04969933734
+388,6.466666667,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986152,1.04969936286
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c2cb310640b2503e2afcaad91de0349dbb3e4e7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c856d28dfcd2f3ef205533fcb9f40cbafd5ca9a6784a4367903dfaa4ed70d45b
+size 24821725
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3beb6a8c9d5c186839a16ade4006ac9357065fc9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,393 @@
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+50,0.833333333,BASELINE,764,741.987019038,711.012980962,670.012980962,663,632.012980962,876,782,798,649,626.987019038,649,0.40095537637,-0.00538263436578,0.0598430273793,0.999999943121,0.000209004044066,-0.000263910099183,2.06683468176e-05,1793190341787033856
+51,0.850000000,BASELINE,764,741.392770186,711.607229814,670.607229814,663,632.607229814,876,782,798,649,626.392770186,649,0.400956734433,-0.00538271723518,0.0598438079918,0.999999943984,0.000206602517866,-0.00026255504137,2.02870409539e-05,1793190341803700736
+52,0.866666667,BASELINE,764.194599249,741.194599249,711.805400751,671,663,633,876.194599249,782,798,649,626.194599249,649,0.40095771074,-0.00538298731533,0.0598443902261,0.999999944579,0.000205080622531,-0.000261487836912,2.01953993658e-05,1793190341820367360
+53,0.883333333,BASELINE,764.768557648,741.768557648,711.231442352,671,663,633,876.768557648,782,798,649,626.768557648,649,0.400957942835,-0.00538362235121,0.0598445857348,0.999999944662,0.000205273513091,-0.000260981784781,2.06684403184e-05,1793190341837033984
+54,0.900000000,BASELINE,765,742,711,671,663,633,877,782,798.339822649,649,626.660177351,649,0.400957531996,-0.00538421283318,0.0598443757019,0.999999944751,0.000204384920344,-0.000261324221096,2.08439888096e-05,1793190341853700608
+55,0.916666667,BASELINE,765,742,711,671,663,633,877,782,798.909267663,649,626.090732337,649,0.400956686718,-0.00538477320951,0.0598438916397,0.999999944841,0.000202765555945,-0.000262239991564,2.08185179475e-05,1793190341870367232
+56,0.933333333,BASELINE,764.496670759,742,711,670.496670759,663,632.496670759,876.496670759,782,799,649,626,649,0.400956261196,-0.00538367819601,0.0598438623962,0.999999944111,0.000206039369607,-0.000262472507005,2.08228181802e-05,1793190341887034112
+57,0.950000000,BASELINE,764.09846026,741.90153974,711.09846026,670,663,632,876,782,799,649.09846026,626.09846026,649,0.400956153277,-0.00538282723819,0.0598439077961,0.99999994355,0.000208712258424,-0.000262500608309,2.07937443119e-05,1793190341903700480
+58,0.966666667,BASELINE,764.676089545,741.323910455,711.676089545,670,663,632,876,782,799,649.676089545,626.676089545,649,0.400957203837,-0.00538469092426,0.0598438969372,0.999999944626,0.000203947248677,-0.000262164131033,2.05747906712e-05,1793190341920367360
+59,0.983333333,BASELINE,764.74802661,741.25197339,711.74802661,670,663,632.25197339,875.74802661,782,798.74802661,649.74802661,627,649,0.400957932435,-0.00538555643165,0.059844235905,0.999999945102,0.000202430293715,-0.000261528424548,2.05081576878e-05,1793190341937033984
+60,1.000000000,BASELINE,764.174371005,741.825628995,711.174371005,670,663,632.825628995,875.174371005,782,798.174371005,649.174371005,627,649,0.400958250001,-0.00538514761294,0.0598450214794,0.999999944829,0.00020505997225,-0.000260510706591,2.06359850767e-05,1793190341953700608
+61,1.016666667,BASELINE,764,742,711.398575372,670,663,632.601424628,875.398575372,782,798,649,627,649,0.400957935914,-0.00538471424636,0.0598447162099,0.999999944505,0.000206021704328,-0.000260996491054,2.06201934384e-05,1793190341970367232
+62,1.033333333,BASELINE,764,742,711.971211987,670,663,632.028788013,875.971211987,782,798,649,627,649,0.400957345979,-0.00538427015955,0.0598439345595,0.99999994416,0.000206255029891,-0.000262138867831,2.05416821458e-05,1793190341987033600
+63,1.050000000,BASELINE,764,742,711.431916635,670,663,632,876,782,798.568083365,649.568083365,626.431916635,649,0.400957409769,-0.00538431308687,0.059844546762,0.999999944399,0.000206001776484,-0.000261414369186,2.06722676604e-05,1793190342003700480
+64,1.066666667,BASELINE,764.160191872,742,711,670,663,632.160191872,876,782.160191872,799,649.839808128,626.160191872,649.160191872,0.400957310888,-0.00538424582569,0.05984480693,0.999999944495,0.00020586664703,-0.000261148497556,2.0753354741e-05,1793190342020367360
+65,1.083333333,BASELINE,764.736592452,742,711,670,663,632.736592452,876,782.736592452,799,649.263407548,626.736592452,649.736592452,0.40095669945,-0.00538382529385,0.0598439607463,0.999999944138,0.000206105346179,-0.000262330980952,2.06770780026e-05,1793190342037033984
+66,1.100000000,BASELINE,765,742,711,670,663,632.688728508,876,782.688728508,798.688728508,649,627,649.688728508,0.400955739588,-0.00538337173324,0.0598432739804,0.99999994371,0.000206828285757,-0.000263402742337,2.05294794674e-05,1793190342053700352
+67,1.116666667,BASELINE,765,742,711,670,663,632.115498305,876,782.115498305,798.115498305,649,627,649.115498305,0.400954486498,-0.00538289037641,0.0598427213769,0.999999943221,0.000207958750594,-0.000264381322641,2.03218582021e-05,1793190342070367232
+68,1.133333333,BASELINE,764.541776423,742,711,670,663,632,876,782,798,649,626.541776423,649,0.400956213798,-0.00538343925738,0.0598439570022,0.999999943882,0.00020726249257,-0.000262408206963,2.0509295451e-05,1793190342087034112
+69,1.150000000,BASELINE,764.033290833,742,711,670,662.966709167,632,876,782,798,649,626.033290833,649,0.400958524444,-0.00538415098708,0.0598455174955,0.999999944768,0.00020613827236,-0.00025988629571,2.07563380976e-05,1793190342103700736
+70,1.166666667,BASELINE,764.628989904,742,711,670,662.371010096,632,876,782,798,649,626.628989904,649,0.400957985325,-0.00538322218519,0.0598449434355,0.999999944688,0.00020557104293,-0.000260675540439,2.03262994382e-05,1793190342120367360
+71,1.183333333,BASELINE,764.782989957,742,711,669.782989957,662.217010043,632,875.782989957,782.217010043,798.217010043,649,626.782989957,649,0.400958296927,-0.00538301633141,0.0598450077581,0.999999944823,0.000205325264072,-0.00026035684887,2.02262056784e-05,1793190342137033984
+72,1.200000000,BASELINE,764.207649308,742,711,669.207649308,662.792350692,632,875.207649308,782.792350692,798.792350692,649,626.207649308,649,0.400960013255,-0.00538400422146,0.0598461261886,0.999999945313,0.000205610269678,-0.000258208714503,2.06709223791e-05,1793190342153700608
+73,1.216666667,BASELINE,764.367026564,742,711,669.367026564,662.632973436,632,875.367026564,782.632973436,799,649,626,649,0.400959492195,-0.00538488352774,0.059846003367,0.999999945272,0.00020523844801,-0.000258644722682,2.08879169284e-05,1793190342170367232
+74,1.233333333,BASELINE,764.941326975,742,711,669.941326975,662.058673025,632,875.941326975,782.058673025,799,649,626,649,0.400957707598,-0.00538570151259,0.059845179563,0.99999994493,0.000204495691004,-0.000260540094486,2.09763080982e-05,1793190342187033856
+75,1.250000000,BASELINE,764.47027932,742,711,670,662.52972068,632,876,782,799,649,626,649,0.400958030956,-0.00538406357303,0.0598453470692,0.99999994476,0.00020552262552,-0.00026039929876,2.07876377134e-05,1793190342203700736
+76,1.266666667,BASELINE,764.117680212,741.882319788,711,670,662.882319788,632,876,782,799,649,626,649,0.400958301023,-0.00538282441956,0.059845552742,0.999999944691,0.000206164210639,-0.000260167984337,2.06401300973e-05,1793190342220367104
+77,1.283333333,BASELINE,764.697634621,741.302365379,711,670,662.302365379,632,876,782,799,649,626,649,0.400957419518,-0.00538424956302,0.0598454652354,0.999999944946,0.000204501021033,-0.000260491240657,2.07781630538e-05,1793190342237033728
+78,1.300000000,BASELINE,765,741.275464087,711,670,662.275464087,632,875.724535913,782.275464087,799,649,626.275464087,649,0.400957064901,-0.00538394227595,0.0598451837605,0.999999944681,0.000205444633183,-0.000260778666153,2.05926684506e-05,1793190342253700608
+79,1.316666667,BASELINE,765,741.850978911,711,670,662.850978911,632,875.149021089,782.850978911,799,649,626.850978911,649,0.400957284199,-0.00538174792952,0.0598446910046,0.999999943843,0.000209227718249,-0.000261027062711,2.00547697066e-05,1793190342270367232
+80,1.333333333,BASELINE,765,742,711,670,663,632,875.434534552,782.565465448,799,649,626.565465448,649,0.400957295663,-0.00538187485779,0.0598447540494,0.999999943941,0.000208641842474,-0.00026112060077,2.00510712346e-05,1793190342287033856
+81,1.350000000,BASELINE,764.979333748,742,711,670.020666252,663,632,876.020666252,782,799,649,626,649.020666252,0.400957290609,-0.00538277299641,0.0598450371054,0.999999944369,0.000206622485457,-0.000261075927639,2.0235444293e-05,1793190342303700736
+82,1.366666667,BASELINE,764.399520395,742,711,670.600479605,663,632,876.600479605,782,799,649,626,649.600479605,0.400958803399,-0.00538259252306,0.0598460184547,0.999999944864,0.000207121414619,-0.000258755783616,2.04581478472e-05,1793190342320367360
+83,1.383333333,BASELINE,764,742,711,671,663,632,876.820733232,782,799,649,626,649.820733232,0.400959471773,-0.00538293602973,0.0598463907747,0.999999945234,0.000206474456175,-0.000257840347118,2.04515472951e-05,1793190342337033984
+84,1.400000000,BASELINE,764,742,711,671,663,632,876.244219947,782,799,649,626,649.244219947,0.400958268963,-0.00538444065085,0.0598454135156,0.999999945328,0.000203288266123,-0.00026003767435,1.99368199385e-05,1793190342353700608
+85,1.416666667,BASELINE,764,741.667469607,711,670.667469607,663,632,876,782,799,649.332530393,626,649,0.400957994285,-0.00538512778609,0.0598452636414,0.999999945289,0.000202648888835,-0.000260681755497,2.00255287033e-05,1793190342370367232
+86,1.433333333,BASELINE,764,741.090545078,711,670.090545078,663,632,876,782,799,649.909454922,626,649,0.400958401741,-0.00538521410773,0.0598457218561,0.999999945157,0.000203881298861,-0.000260184273985,2.05577345541e-05,1793190342387033856
+87,1.450000000,BASELINE,764,741.495585594,711,670,662.504414406,632,876,782.495585594,799,649.504414406,626,649,0.400958295948,-0.00538536232776,0.0598455860487,0.999999945499,0.000202780485135,-0.000259727095229,2.05903181525e-05,1793190342403700480
+88,1.466666667,BASELINE,764.082263454,742,711,670,662,632,875.917736546,782.917736546,799,649.082263454,626.082263454,649,0.400958025995,-0.00538533034598,0.0598453681586,0.999999945754,0.000201882456593,-0.000259451234572,2.05136744456e-05,1793190342420367104
+89,1.483333333,BASELINE,764.661887872,742,711,670,662,632,875.338112128,782.338112128,799,649.661887872,626.661887872,649,0.400957341208,-0.00538413920449,0.0598453225857,0.999999944955,0.000204836554758,-0.000260226252922,2.0338983948e-05,1793190342437033984
+90,1.500000000,BASELINE,764.760109082,742,711,670.239890918,662.239890918,632,875.239890918,782.239890918,799,649.760109082,627,649,0.400956486058,-0.00538326740322,0.0598449820045,0.999999944325,0.000206711299182,-0.00026116862159,2.02632507311e-05,1793190342453700864
+91,1.516666667,BASELINE,764.184375969,742,711,670.815624031,662.815624031,632,875.815624031,782.815624031,799,649.184375969,627,649,0.400955392401,-0.00538284267156,0.0598442284178,0.999999943941,0.000207074971028,-0.000262345277089,2.03260556218e-05,1793190342470367232
+92,1.533333333,BASELINE,764,742,711,670.601805289,663,632,876,782.601805289,798.601805289,649,626.601805289,649,0.40095641628,-0.00538295681369,0.059844831128,0.999999944436,0.00020616238206,-0.00026117441342,2.03377383683e-05,1793190342487033856
+93,1.550000000,BASELINE,764,742,711,670.016013246,663,632,876,782.016013246,798.016013246,649,626.016013246,649,0.400958437772,-0.00538332482977,0.0598460728162,0.999999945339,0.000204648521638,-0.000258897587568,2.03253364761e-05,1793190342503700480
+94,1.566666667,BASELINE,764,742,711.566626588,670,662.433373412,632.566626588,876,782,798.566626588,649,626,649,0.400959203915,-0.00538294139689,0.059846760933,0.999999945139,0.000206484962982,-0.000258198286876,2.04676471809e-05,1793190342520367104
+95,1.583333333,BASELINE,764,742,712,670,662.147204664,632.852795336,876,782.147204664,798.852795336,649.147204664,626.147204664,649,0.400959398596,-0.00538325568088,0.0598469370254,0.99999994503,0.000206987262856,-0.000258207615999,2.05991810944e-05,1793190342537033984
+96,1.600000000,BASELINE,764,742,712,670,662.722050663,632.277949337,876,782.722050663,798.277949337,649.722050663,626.722050663,649,0.400958035626,-0.00538565824048,0.0598456708425,0.999999945274,0.000203340238973,-0.000260146773813,2.0686776044e-05,1793190342553700608
+97,1.616666667,BASELINE,764.296689055,742,711.703310945,670,663,632,876,782.703310945,798.296689055,649.703310945,627,649,0.400957342664,-0.00538644130839,0.0598450412512,0.999999945216,0.000202391352972,-0.000261107283124,2.07160508475e-05,1793190342570367232
+98,1.633333333,BASELINE,764.871133054,742,711.128866946,670,663,632,876,782.128866946,798.871133054,649.128866946,627,649,0.400957276953,-0.00538570823724,0.0598450076254,0.999999944884,0.000203968415228,-0.000261151599241,2.06907273767e-05,1793190342587034112
+99,1.650000000,BASELINE,764.54022792,742,711,670,663,632,876,782,799,649,626.54022792,649,0.400957325045,-0.00538383513765,0.0598447963114,0.999999944525,0.000206240126894,-0.000260756129161,2.05313876591e-05,1793190342603700736
+100,1.666666667,BASELINE,764.051155709,742,711.051155709,670,663,632,876,782,799,649,626.051155709,649,0.400957248617,-0.00538181660992,0.0598444637308,0.999999944122,0.000208538594496,-0.000260488986771,2.03367165638e-05,1793190342620367360
+101,1.683333333,BASELINE,764.628541186,742,711.628541186,670,663,632,876,782,799,649,626.628541186,649,0.40095555269,-0.00538169377471,0.0598434123403,0.999999943401,0.000209045651871,-0.000262850331945,2.01773081054e-05,1793190342637033984
+102,1.700000000,BASELINE,764.794917935,742,712,670,663,632,876,782,798.794917935,649,626.794917935,649,0.400954982202,-0.00538240355147,0.0598430796451,0.999999943257,0.000208495826492,-0.000263836409622,2.0149725271e-05,1793190342653700608
+103,1.716666667,BASELINE,764.21990064,742,712,670,663,632,876,782,798.21990064,649,626.21990064,649,0.400956441828,-0.00538461522703,0.0598440433615,0.999999944155,0.000206039553678,-0.000262341724531,2.03599347867e-05,1793190342670367232
+104,1.733333333,BASELINE,764,742,711.64563536,670,663,632,875.64563536,782,798.35436464,649,626.35436464,649,0.400957858594,-0.00538472746047,0.0598449568692,0.999999944717,0.000205800595571,-0.000260373800127,2.04414696902e-05,1793190342687033856
+105,1.750000000,BASELINE,764,742,711.071835699,670,663,632,875.071835699,782,798.928164301,649,626.928164301,649,0.400959248821,-0.00538353964587,0.0598458392861,0.999999945069,0.000206934676307,-0.000258112829187,2.04433247786e-05,1793190342703700480
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,663,632,876,782,799,649,627,649,0.400955647895,-0.00538684800628,0.0598450034754,0.999999945416,0.000201238415269,-0.000261198066219,2.1137691251e-05,1793190342733796352
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.575614385,742,711.424385615,671,663,632,876,782,798.424385615,649,627,649,0.400956602005,-0.00538724109355,0.0598450315555,0.999999945542,0.00020232661753,-0.000259898226016,2.08101108065e-05,1793190342750463232
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,742,711,670.848463099,663,632,876,782,798.303073801,649,627,649,0.400957389406,-0.00538688813556,0.0598450852156,0.999999945519,0.000203485431345,-0.000259103810979,2.05184156225e-05,1793190342767130112
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,742,711,670.27167576,663,632,876,782,799.45664848,649,627,649,0.400957708979,-0.00538444158808,0.0598452106594,0.999999945084,0.000204842399085,-0.000259727745055,2.03274233795e-05,1793190342783796736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,742,711,670,663.310848592,632,876,782,799.689151408,649,627,649,0.400957893188,-0.00538369441425,0.0598448953388,0.999999944804,0.00020523238287,-0.000260504416277,2.02287488157e-05,1793190342800463104
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,742,711,670,663.898481228,632,876,782,799.101518772,649,627,649,0.400957956868,-0.00538446038724,0.059844187555,0.999999944663,0.000204761350196,-0.000261417086805,2.02122752486e-05,1793190342817129728
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.520177121,742,711,670,663.520177121,632.479822879,875.520177121,782.479822879,798.520177121,649,627,649,0.40095860224,-0.00538349830769,0.059844787643,0.999999944691,0.000206044944751,-0.00026029517765,2.02415871715e-05,1793190342833796352
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.059421477,670,663,632.940578523,875.059421477,783,798,649.059421477,627,649,0.400959674275,-0.00538245638537,0.0598458462786,0.999999944864,0.000207460378187,-0.000258493395378,2.03239781905e-05,1793190342850462976
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.635289309,670,663,632.364710691,875.635289309,783,798,649.635289309,627,649,0.400963398743,-0.00538385704313,0.0598485164016,0.999999946014,0.000206836907807,-0.000254475549043,2.07845891569e-05,1793190342867129600
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.789603223,711.789603223,670,662.789603223,632.210396777,876.210396777,782.789603223,798.210396777,649.789603223,626.789603223,649,0.400970897933,-0.00538513535473,0.0598521840716,0.999999947732,0.000205661783261,-0.000248580830692,2.11590468962e-05,1793190342883796736
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.215809113,711.215809113,670,662.215809113,632.784190887,876.784190887,782.215809113,798.784190887,649.215809113,626.215809113,649,0.400984916822,-0.0053862023499,0.0598575747046,0.999999950392,0.00020353384165,-0.000239444379235,2.13847007253e-05,1793190342900464384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.369465602,711,670,662,632.630534398,876.630534398,782,798.630534398,649,626,649,0.401014301675,-0.00538800820333,0.0598687137508,0.999999955218,0.000202698211567,-0.000219065403567,2.20886145773e-05,1793190342917131008
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.961661388,711,670,662,632.038338612,876.038338612,782,798.038338612,649,626,649,0.401052949811,-0.00539025947325,0.059883318195,0.999999960787,0.000202641643636,-0.000191908936721,2.30808447052e-05,1793190342933797120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.539465346,742,711,670,662.539465346,632,876,782,798.539465346,649,626.539465346,649,0.401112216441,-0.00539096576138,0.0598987677031,0.999999965034,0.000203113311103,-0.000167686962758,2.36341602032e-05,1793190342950463744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.883877738,742,711,670,663,632,876,782,798.883877738,649,627,649,0.401175609246,-0.00539169753966,0.0599126799113,0.999999968356,0.000203267279465,-0.000146259880255,2.40504741221e-05,1793190342967130368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.307818037,742,711,670,663,632,876,782,798.307818037,649,627,649,0.401249692039,-0.0053929538691,0.05992027149,0.99999997018,0.000202018077737,-0.00013509825272,2.40444896957e-05,1793190342983796992
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.27410632,742,711,670,662.72589368,632,876,782.27410632,798,649,626.72589368,649,0.401331329044,-0.00539592474968,0.0599258129441,0.999999972057,0.000198717497495,-0.000125827056595,2.37657603023e-05,1793190343000463360
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.862760566,742,711,670,662.137239434,632,876,782.862760566,798,649,626.137239434,649,0.401421634805,-0.00540086314597,0.0599290017981,0.999999974047,0.000193062878729,-0.000118725206547,2.31740451894e-05,1793190343017129728
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.555707427,742,711,670,662.444292573,632,876,782.555707427,798,649,626,649,0.401536722156,-0.00540501051306,0.0599326852695,0.99999997569,0.000189981132601,-0.000109711428739,2.21542706729e-05,1793190343033796352
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.023514273,670,663,632,876,782,798.023514273,649,626,649,0.401660268476,-0.00540882870803,0.05993632012,0.999999977102,0.000187787647789,-0.000100461384599,2.09529841519e-05,1793190343050462976
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.599330475,670,663,632,876,782,798.599330475,649,626,649,0.401805537733,-0.00541056392572,0.0599352809946,0.999999977208,0.000188085172936,-9.93146594645e-05,1.85450487902e-05,1793190343067129600
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,741.824822125,711.824822125,670,663,632,876,782,798.824822125,649,626.175177875,649,0.401960234138,-0.00541385263974,0.0599341672816,0.999999977769,0.000186066907709,-9.78630189385e-05,1.62435014503e-05,1793190343083796224
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,741.248903436,711.248903436,670,663,632,876,782,798.248903436,649,626.751096564,649,0.40213649628,-0.00542069516639,0.0599328829404,0.999999979343,0.000178750988732,-9.57138473184e-05,1.41853300518e-05,1793190343100462848
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,741.335046498,711,670,662.664953502,632.335046498,876,782.335046498,798,649.335046498,627,649,0.40233195055,-0.00542717173846,0.0599323453831,0.999999980893,0.000172160662705,-9.18543611129e-05,1.17251840549e-05,1793190343117129472
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741.925109375,711,670,662.074890625,632.925109375,876,782.925109375,798,649.925109375,627,649,0.402542012685,-0.00543336976959,0.0599323762308,0.999999982404,0.00016612261174,-8.66930904981e-05,8.95907999052e-06,1793190343133796096
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662.504350026,632.495649974,875.495649974,782.495649974,798.504350026,649.495649974,627,649,0.402793064749,-0.00544201062722,0.0599328880018,0.999999984595,0.000154835633009,-8.24599051089e-05,6.05607857622e-06,1793190343150462720
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.081700089,742,711.081700089,670,662.918299911,632,875.081700089,782,798.918299911,649,626.918299911,649,0.40305590868,-0.00545096337944,0.0599335932253,0.9999999867,0.000142926763041,-7.84985280641e-05,3.05188969347e-06,1793190343167129600
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.657132511,742,711.657132511,670,662.342867489,632,875.657132511,782,798.342867489,649,626.342867489,649,0.403354003832,-0.00545965495145,0.0599350450335,0.999999988465,0.000131870864171,-7.5364422243e-05,-4.43534494119e-07,1793190343183796224
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.762125027,742,711.762125027,670,662.237874973,632,876,782,798.237874973,649,626.237874973,649,0.403654791639,-0.00546831334362,0.0599297779841,0.999999989065,0.000122059443671,-8.33846518524e-05,-4.2080874421e-06,1793190343200462848
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.173554077,742,711.173554077,670,662.826445923,632,876,782,798.826445923,649,626.826445923,649,0.403959549177,-0.0054769228187,0.0599146054103,0.999999987642,0.000114082742065,-0.000107849573188,-8.36941320808e-06,1793190343217129472
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,649,627,649,0.404296702015,-0.00548816432176,0.0599015500926,0.999999986492,9.94131233079e-05,-0.000130266943076,-1.28236428176e-05,1793190343233796096
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,649,627,649,0.404647402093,-0.00550050650071,0.0598893801811,0.999999984965,8.19446234127e-05,-0.000151828055843,-1.7400360473e-05,1793190343250462720
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.562720657,670,662.437279343,632,876,782,799,649,626.437279343,649,0.405057152776,-0.00551981856119,0.0598851364858,0.999999985115,5.73997992811e-05,-0.000161468518952,-2.00632676976e-05,1793190343267129600
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.137596029,742,712,670,662,632,876,782,799,649,626,649,0.405489627,-0.00553770377543,0.059887518509,0.999999986863,1.5246216736e-05,-0.000159781326568,-2.26102977584e-05,1793190343283796480
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.71138362,742,712,670,662,632,876,782,799,649,626,649,0.405989979232,-0.00555057503246,0.0599103465884,0.999999988741,-8.22304613464e-05,-0.000123023754322,-2.49247310337e-05,1793190343300463104
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.705839677,741.705839677,712,670.294160323,662.294160323,632.294160323,876,782,799,649,626,649,0.406512079779,-0.00555319380085,0.0599381411724,0.999999989439,-0.000121446965301,-7.5202131908e-05,-2.67816767565e-05,1793190343317129472
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.113965193,741.113965193,712,670.886034807,662.886034807,632.886034807,876,782,799,649,626,649,0.407056191451,-0.00554543621876,0.0599709622657,0.999999994301,-0.000101699448734,-1.61827874674e-05,-2.81756082953e-05,1793190343333796096
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764.047779947,742,711,670.047779947,663,632,876.047779947,782,798.952220053,649,626.952220053,649,0.40814192057,-0.00551111895644,0.0599868649976,0.999999999019,-2.950770033e-05,-1.71556085374e-06,-3.29941592228e-05,1793190343367129600
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.801796091,742,711,670.801796091,663,632,876.801796091,782,798,649,626,649,0.409277741571,-0.00552398203428,0.0599541608961,0.999999996515,1.87499788386e-05,-7.92517289239e-05,-1.83781835118e-05,1793190343400464384
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.225673779,742,711,670.225673779,663,632,876.225673779,782,798,649,626,649,0.409918784793,-0.00553440816576,0.0599505121444,0.999999996199,-1.01003757709e-05,-8.34065924787e-05,-2.33305061995e-05,1793190343417130496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.359002671,742,711,670.359002671,663,632,876,782,798.359002671,649,626,649,0.410582624557,-0.00553988483682,0.0599561363906,0.999999997123,-2.80727557838e-05,-6.54280817817e-05,-2.6161608851e-05,1793190343433797376
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764.472774377,742,711,670.472774377,663,632,876,782,799,649,626,649,0.411939264339,-0.00553904898293,0.0599617227866,0.999999997957,-3.16482530471e-05,-4.76855499435e-05,-2.84826113494e-05,1793190343467130624
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.103802807,670,663,632,876.103802807,782,798.896197193,649.103802807,626,649,0.412614713923,-0.00553491382332,0.0599486842873,0.999999996384,-2.28931788552e-05,-7.63349283774e-05,-2.96939546148e-05,1793190343483797248
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.678942553,670,663,632,876.678942553,782,798.321057447,649.678942553,626,649,0.413278208478,-0.00552850934905,0.0599112588969,0.999999988193,-1.5801965584e-05,-0.000149297387957,-3.27799899399e-05,1793190343500463360
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.850471452,742,712,670,663,632,876.149528548,782,798,650,626,648.149528548,0.414786349241,-0.005534094526,0.059910106996,0.999999988542,-2.90536845464e-05,-0.000144511299675,-3.44587044664e-05,1793190343533796608
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.568893967,741.568893967,712,670,663.431106033,632,876,782,798,649.568893967,626,648.431106033,0.415618566339,-0.00554161927279,0.0599528821465,0.999999996379,-3.64564921613e-05,-6.95950493071e-05,-3.27039850239e-05,1793190343550463232
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,741.008559611,712,670.008559611,663.991440389,632,876,782,798.008559611,649,626,649,0.416464428575,-0.0055494067061,0.0600047160981,0.999999998477,-4.21591467184e-05,1.85447069236e-05,-3.03952844709e-05,1793190343567130112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,741.583225302,712,670.583225302,663.416774698,632,876,782,798.583225302,649,626,649,0.417245305925,-0.00554826361099,0.0600025091238,0.999999998821,-3.72437582001e-05,7.75828590218e-06,-3.01702383749e-05,1793190343583796736
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,741.838142969,711.838142969,671,663,632,876.161857031,782,799.161857031,649,626,649,0.41803457792,-0.0055468516556,0.0599943077499,0.99999999881,-3.64627729419e-05,-9.52012953433e-06,-3.09883393422e-05,1793190343600463360
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,741.249042379,711.249042379,671,663,632,876.750957621,782,799.750957621,649,626,649,0.418846008672,-0.00554473000713,0.0599702833463,0.999999997352,-4.65951054023e-05,-4.39350429702e-05,-3.45599682832e-05,1793190343617129984
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,741.3343847,711,671,663.3343847,632,877,782,799.6656153,649,626,649,0.419650710319,-0.00554372815761,0.0599452134673,0.99999999491,-4.79066516329e-05,-8.03682459219e-05,-3.77554354055e-05,1793190343633796864
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+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.507858024,632,877,782,799,649,626,649,0.421228760511,-0.00554309795679,0.0598865995681,0.999999981266,-3.88913793717e-05,-0.00018486015652,-4.22142711075e-05,1793190343667130112
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.649489134,661.324744567,630.675255433,877.675255433,781.675255433,798.675255433,649,626,648.675255433,0.445128693814,-0.00558519436007,0.059815043884,0.999999950797,-0.000120335072202,-0.000286314336169,-4.41470973639e-05,1793190344850463232
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.68109423,742,711,670,662.31890577,632,876.31890577,782,799,649,626.31890577,649,0.403095802418,-0.005356881843,0.0597957842275,0.999999919194,0.000248262795953,-0.000315209997939,2.49187210413e-05,1793190346706716672
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.090676603,742,711,670,662.909323397,632,876.909323397,782,799,649,626.909323397,649,0.402844142347,-0.00535658337531,0.0598173922106,0.999999928791,0.000250950485199,-0.000280504517991,2.75564783449e-05,1793190346723383040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.489801333,742,711,670,662.510198667,632,876.020397335,782,798.510198667,649,626.510198667,649,0.40261137157,-0.00536587874183,0.0598347267235,0.999999939264,0.000237503043486,-0.000253370312064,2.94587530031e-05,1793190346740049408
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.357909653,741.357909653,711,670,662,632,876.284180695,781.357909653,798,649,626.642090347,649,0.402164638292,-0.00538857899983,0.0598463262398,0.999999950956,0.000195601060595,-0.000242973793259,2.81326431997e-05,1793190346773382400
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.216177105,741,711,670.216177105,662,632,876.783822895,781.216177105,798.216177105,649,627,649,0.401965107698,-0.00539431979679,0.0598436369334,0.999999950121,0.000189011606485,-0.000251903658744,2.40404494301e-05,1793190346790049024
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,781.124595055,798,649,626.124595055,649,0.401322119787,-0.00538382937363,0.0598435225441,0.999999942209,0.000218890698444,-0.000259380973021,1.97690134708e-05,1793190346873383168
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.561853179,711,670,662,632,876,782,799,649,627,649,0.401076693976,-0.00537943517502,0.0598373829818,0.99999993967,0.000217322175506,-0.000270204212178,2.04917719183e-05,1793190346940049408
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.605306059,741,711,670,662.605306059,632,875.394693941,782,799,649,627,649,0.401014537667,-0.00537717798538,0.0598355854883,0.999999938765,0.000216794955341,-0.000273987970149,2.00148429326e-05,1793190346973382656
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.851498007,670.148501993,663.851498007,632,876,782,799,649.851498007,626,649.851498007,0.400963433776,-0.00538087504702,0.0598409077746,0.999999942069,0.000212575600189,-0.000265100914365,1.98734196814e-05,1793190347190049280
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.277941266,670.722058734,663.277941266,632,876,782,799,649.277941266,626,649.277941266,0.400963137298,-0.00537985420712,0.0598406098461,0.999999941727,0.000214018216687,-0.000265235230616,1.98080311892e-05,1793190347206715904
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.390686643,663,632,876,782,798.695343321,649,626.304656679,649,0.400962090971,-0.00537947981374,0.0598399935182,0.999999941337,0.000214604844427,-0.000266233487602,1.97453071084e-05,1793190347223382528
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,669.475688585,662.524311415,632,876,782,798,649,626.524311415,649,0.400960105917,-0.00538021715761,0.0598391770184,0.999999940855,0.000215162648054,-0.000267603729128,1.95809513156e-05,1793190347256716544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,782,798.053208822,649,626.053208822,649,0.400960352104,-0.00538057502705,0.0598395455984,0.999999940924,0.000216076449169,-0.000266615668788,1.94706982759e-05,1793190347273383424
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,876,782,798.630510016,649,626.630510016,649,0.400962124425,-0.00537892357265,0.0598404271849,0.999999941323,0.000216250964699,-0.000264979417917,1.93928253381e-05,1793190347290049792
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.211303266,662.211303266,632,876,782,799,649,626.788696734,649,0.400962734655,-0.00537842278695,0.0598408447479,0.999999941671,0.000215554435478,-0.000264234537085,1.93612989142e-05,1793190347306716416
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.798305384,662.798305384,632,876,782,799,649,626.201694616,649,0.400961278677,-0.00537996789927,0.0598404372736,0.999999941929,0.000213309181901,-0.000265074519212,1.94121769573e-05,1793190347323382784
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.380233926,742,711,670.619766074,663,632,876,782,799,649,626.380233926,649,0.400960496491,-0.0053804054792,0.0598402598238,0.999999941896,0.000212399739168,-0.000265925193913,1.94494512308e-05,1793190347340049152
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.959506615,742,711,670.040493385,663,632,876,782,799,649,626.959506615,649,0.400960067011,-0.00538026330577,0.0598402027835,0.999999941712,0.000212189545366,-0.000266781465765,1.94796044193e-05,1793190347356715520
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.46401421,742,711.53598579,670,663,632,876,782,798.46401421,648.46401421,626.46401421,649,0.400960434737,-0.00538017818418,0.0598406313038,0.999999941847,0.000212609637356,-0.000265931012211,1.9600889872e-05,1793190347373382400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.11206246,742,711.88793754,670,662.88793754,632,875.88793754,782,798.11206246,648.11206246,626,649,0.400960867797,-0.0053801233219,0.0598411577544,0.999999942054,0.000212915881951,-0.000264895547314,1.97121421215e-05,1793190347390049536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.687343056,742,711.312656944,670,662.312656944,632,875.312656944,782,798.687343056,648.687343056,626,649,0.400961323254,-0.00538017581433,0.0598419381578,0.999999942466,0.000212555719582,-0.000263625552623,1.97536093665e-05,1793190347406716416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.730503782,742,711.269496218,670,662,632,875.269496218,782,799,649,626.269496218,649,0.400962984949,-0.00537979467933,0.0598434229856,0.999999943006,0.000212969739398,-0.000261232628259,1.97099273192e-05,1793190347423383296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.140168661,742,711.859831339,670,662,632,875.859831339,782,799,649,626.859831339,649,0.400966082689,-0.00537889730502,0.0598457464402,0.999999943691,0.000214305433553,-0.000257502840722,1.956487389e-05,1793190347440049920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,670,662.441460729,632,876,782.441460729,799,649,626.558539271,649,0.400964574565,-0.00537888386584,0.0598444839221,0.99999994318,0.000214361634812,-0.000259442252626,1.94701738262e-05,1793190347456716288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.97976649,670,663,632,876,782.97976649,799,649.02023351,626,649,0.400961717907,-0.00537918961303,0.0598421743212,0.999999942327,0.000213987672557,-0.000263017340686,1.94022158788e-05,1793190347473382656
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.404991363,670,663,632,876,782.404991363,799,649.595008637,626,649,0.400961207186,-0.005380700035,0.0598417690733,0.999999942582,0.000212743072133,-0.000263041938968,1.9637477571e-05,1793190347490049280
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.169478267,742,711,670.169478267,663,632,875.830521733,782.169478267,799,649.830521733,626,649,0.40096131465,-0.0053817698473,0.0598418222402,0.999999942859,0.000212112185447,-0.000262486538373,1.9788108012e-05,1793190347506715904
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.743219148,742,711,670.743219148,663,632,875.256780852,782.743219148,799,649.256780852,626,649,0.40096289669,-0.00538178865739,0.0598429688805,0.99999994319,0.000212945212319,-0.000260547645562,1.97368644661e-05,1793190347523382528
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbc5a36c6c1d147d1f7a08e121a2d9de95877d52
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,393 @@
+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,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+3,0.050000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+5,0.083333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+6,0.100000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+8,0.133333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+375,6.250000000,pose2_to_pose3_retreat,0.575726054827,0.0002195804706,1.05002835884,0.546296468142,0.00889129939983,1.0496993571
+376,6.266666667,pose2_to_pose3_retreat,0.575725951663,0.000219583429934,1.05002835782,0.546296364949,0.00889130226807,1.04969935626
+377,6.283333333,pose2_to_pose3_retreat,0.575725801159,0.000219587747212,1.05002835633,0.546296214403,0.00889130645245,1.04969935505
+378,6.300000000,pose2_to_pose3_retreat,0.575725738561,0.000219589542873,1.05002835571,0.546296151787,0.00889130819284,1.04969935454
+379,6.316666667,pose2_to_pose3_retreat,0.575725692869,0.000219590853587,1.05002835526,0.546296106082,0.00889130946321,1.04969935417
+380,6.333333333,pose2_to_pose3_retreat,0.575725422059,0.000219598621919,1.05002835258,0.546295835196,0.00889131699241,1.04969935198
+381,6.350000000,pose2_to_pose3_retreat,0.575725122854,0.000219607204789,1.05002834962,0.546295535907,0.00889132531108,1.04969934956
+382,6.366666667,pose2_to_pose3_retreat,0.575725115709,0.000219607409731,1.05002834955,0.546295528761,0.00889132550971,1.04969934951
+383,6.383333333,pose2_to_pose3_retreat,0.575724743565,0.000219633648906,1.05002834201,0.546295156149,0.00889135023037,1.04969934383
+384,6.400000000,pose2_to_pose3_retreat,0.575723872325,0.000219712824688,1.05002831998,0.546294283397,0.00889142449432,1.04969932749
+385,6.416666667,pose2_to_pose3_retreat,0.575723283551,0.000219759856743,1.05002830785,0.546293693693,0.00889146849553,1.04969931857
+386,6.433333333,pose2_to_pose3_retreat,0.575723212657,0.000219734964927,1.05002831942,0.546293623122,0.00889144460045,1.04969932755
+387,6.450000000,pose2_to_pose3_retreat,0.575723202978,0.000219731566375,1.05002832101,0.546293613487,0.00889144133799,1.04969932878
+388,6.466666667,pose2_to_pose3_retreat,0.575723063686,0.000219682658849,1.05002834375,0.546293474829,0.00889139438885,1.04969934642
+389,6.483333333,pose2_to_pose3_retreat,0.57572279651,0.000219582654211,1.05002838306,0.546293208946,0.00889129843589,1.04969937687
+390,6.500000000,pose2_to_pose3_retreat,0.575722647235,0.000219491186438,1.05002838023,0.546293060834,0.0088912109285,1.04969937445
+391,6.516666667,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986154,1.04969936286
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..243131dd5c138fe51b0746b91ab182de2ab7dde8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17946e0b54d1d7ebb0c8548f2c33d3f7b40c652c437b9293f89240c376930557
+size 25150341
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa66aa03b1da2b4a29d1bd41c571ff89472eeb2b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
+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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+47,0.783333333,BASELINE,764,742,711.297871248,670,663,632,875.297871248,782,799,649,627,649,0.400959520145,-0.00538096059822,0.0598425300547,0.999999942849,0.000213242400071,-0.000261660003632,1.90489085981e-05,1793190348429405696
+48,0.800000000,BASELINE,764,742,711.872327023,670,663,632,875.872327023,782,799,649,627,649,0.400959246711,-0.00538229358361,0.0598427126612,0.99999994287,0.000213253204857,-0.00026153942599,1.95222500876e-05,1793190348446072832
+49,0.816666667,BASELINE,764,742,711.54046703,670,663,632,875.54046703,782,799,649,626.54046703,649,0.400959947952,-0.00538146318518,0.0598434204213,0.9999999429,0.000214116370436,-0.000260727195541,1.93585851593e-05,1793190348462739456
+50,0.833333333,BASELINE,764,742,711.049417298,670,663,632,875.098834596,782,798.950582702,649,626,649,0.400960821388,-0.00538017665911,0.0598442172087,0.999999942958,0.000214967474947,-0.000259827965831,1.90239759504e-05,1793190348479405824
+51,0.850000000,BASELINE,764,742,711.628948918,670,663,632,876.257897836,782,798.371051082,649,626,649,0.400960554219,-0.00538062884001,0.0598443591909,0.999999943292,0.000213076335026,-0.000260115689472,1.88083015719e-05,1793190348496072448
+52,0.866666667,BASELINE,764,742,711.79341914,670,663,632.20658086,876.79341914,782,798,649,626,649,0.400960505544,-0.00538116877783,0.05984448055,0.999999943542,0.000211850710244,-0.000260160310262,1.87476355648e-05,1793190348512738816
+53,0.883333333,BASELINE,764,742,711.219168256,670,663,632.780831744,876.219168256,782,798,649,626,649,0.40096084574,-0.00538186490428,0.0598445652041,0.999999943648,0.000211809561071,-0.000259772259629,1.89628515253e-05,1793190348529405440
+54,0.900000000,BASELINE,764,742,711,670.36344255,662.63655745,632.63655745,876,782,798.36344255,649,626.36344255,649,0.400960010917,-0.00538234976249,0.0598438177822,0.999999943367,0.000211872238866,-0.000260790248414,1.91052514121e-05,1793190348546072320
+55,0.916666667,BASELINE,764,742,711,670.951213344,662.048786656,632.048786656,876,782,798.951213344,649,626.951213344,649,0.400958450834,-0.00538270421923,0.0598425567767,0.999999942844,0.000211999001952,-0.000262676089238,1.92027069054e-05,1793190348562738944
+56,0.933333333,BASELINE,764,742,711,671,662.530886526,632,876,782.530886526,798.469113474,649,627,649,0.400959169169,-0.00538236952232,0.0598426091625,0.999999943168,0.000211281648078,-0.000262024123628,1.91780741301e-05,1793190348579405824
+57,0.950000000,BASELINE,764,742,711,670.890965202,663,632,875.890965202,782.890965202,798.109034798,649,627,649,0.400960235907,-0.00538171307134,0.0598431051848,0.999999943481,0.000211288748671,-0.000260823641458,1.9140322808e-05,1793190348596072704
+58,0.966666667,BASELINE,764,742,711,670.316199807,663,632,875.316199807,782.316199807,798.683800193,649,627,649,0.400961909903,-0.00537994872897,0.0598449883581,0.999999943417,0.000214716640362,-0.00025826141932,1.90937399096e-05,1793190348612739328
+59,0.983333333,BASELINE,764.259623518,742,711,670,663,632,875.259623518,782,799,649,626.740376482,649,0.400962564342,-0.00538008008707,0.0598454095638,0.999999943528,0.000214955156585,-0.000257633417841,1.903936296e-05,1793190348629406208
+60,1.000000000,BASELINE,764.836740662,742,711,670,663,632,875.836740662,782,799,649,626.163259338,649,0.400961971964,-0.00538252969724,0.0598440429294,0.999999943861,0.00021129338568,-0.000259370774666,1.89754546582e-05,1793190348646073088
+61,1.016666667,BASELINE,764.576755782,742,711.423244218,670,663,632,876,782.423244218,799,649,626.423244218,649,0.40096113088,-0.00538228029931,0.0598435657485,0.999999943679,0.000211067271693,-0.000260265829726,1.88236406548e-05,1793190348662739456
+62,1.033333333,BASELINE,764,741.986795976,711.986795976,670,662.986795976,632,876,782.986795976,799,649,626.986795976,649,0.400960216497,-0.00538102635814,0.0598434551161,0.999999943311,0.000212155655999,-0.00026080520162,1.86523139665e-05,1793190348679405568
+63,1.050000000,BASELINE,764,741.40740526,711.40740526,670,662.40740526,632,876,782.40740526,799,649,626.40740526,649,0.400960365945,-0.00538235232772,0.0598440166432,0.999999943563,0.000211494306946,-0.000260340735274,1.91312386944e-05,1793190348696072192
+64,1.066666667,BASELINE,764.170827215,741.170827215,711,670,662,632,876,782,799,649,626.170827215,649,0.400960697664,-0.00538300095147,0.0598445122932,0.999999943812,0.000211041788945,-0.00025972693044,1.94559185901e-05,1793190348712738816
+65,1.083333333,BASELINE,764.746315971,741.746315971,711,670,662,632,876,782,799,649,626.746315971,649,0.400961461151,-0.0053820450544,0.059844851891,0.999999944055,0.000211083957356,-0.000258759367348,1.94152178491e-05,1793190348729405440
+66,1.100000000,BASELINE,764.672003901,742,711,670.327996099,662.327996099,632,875.672003901,782,799,649,627,649,0.400962004445,-0.00538166664893,0.0598451582572,0.999999944176,0.000211329564478,-0.000258092842447,1.94075873458e-05,1793190348746072576
+67,1.116666667,BASELINE,764.08544304,742,711,670.91455696,662.91455696,632,875.08544304,782,799,649,627,649,0.400962374158,-0.0053817434897,0.0598454384263,0.9999999442,0.000211735545706,-0.000257663630988,1.94260266612e-05,1793190348762739712
+68,1.133333333,BASELINE,764,742,711,670.504878895,662.504878895,632,875.495121105,782,798.504878895,649,627,649,0.400962258842,-0.00538074413994,0.0598449120841,0.999999943489,0.000214344338535,-0.000258296768236,1.90217893279e-05,1793190348779406080
+69,1.150000000,BASELINE,764,742,711,670,662,632,876,782,798.074355156,649,626.925644844,649,0.400962185582,-0.0053798547045,0.0598444231825,0.999999942914,0.000216435889976,-0.000258809782905,1.85976559829e-05,1793190348796072448
+70,1.166666667,BASELINE,764,742,711,670,662,632,876,782,798.651508733,649,626.348491267,649,0.400962955928,-0.00538094934348,0.0598451173469,0.999999944154,0.000212490006734,-0.000257285653138,1.85263190184e-05,1793190348812739072
+71,1.183333333,BASELINE,764,742,711,670,662.22790919,632,876,782,799,649,626,649.22790919,0.400962409684,-0.00538130025507,0.0598447775884,0.999999944332,0.00021106135113,-0.000257769193402,1.85706561578e-05,1793190348829405696
+72,1.200000000,BASELINE,764,742,711,670,662.803161948,632,876,782,799,649,626,649.803161948,0.4009598569,-0.00538051769377,0.0598428620865,0.999999942897,0.000213469059883,-0.000261312510322,1.87912856775e-05,1793190348846072320
+73,1.216666667,BASELINE,764,742,711,670,662.613180608,632,876,782,799,649,626,649.613180608,0.400959565921,-0.00538012984424,0.059843145645,0.999999942882,0.000213258340261,-0.000261534407835,1.88780534321e-05,1793190348862738944
+74,1.233333333,BASELINE,764,742,711,670,662.025151375,632,876,782,799,649,626,649.025151375,0.400960451453,-0.00537994730993,0.0598445730775,0.999999943609,0.00021168560617,-0.000260028619609,1.88951909924e-05,1793190348879405824
+75,1.250000000,BASELINE,764,742,711,670,662.555633724,632,876,782.555633724,799,649,626,649,0.400961782151,-0.00538044312411,0.0598449958689,0.999999943682,0.000212816047084,-0.000258805985954,1.91014213158e-05,1793190348896072960
+76,1.266666667,BASELINE,764,741.865073649,711.134926351,670.134926351,663,632,875.865073649,782.865073649,798.865073649,649,626.134926351,649,0.400962976378,-0.00538115610981,0.0598454184877,0.9999999439,0.000213267085738,-0.000257576643219,1.92981298184e-05,1793190348912739584
+77,1.283333333,BASELINE,764,741.289597252,711.710402748,670.710402748,663,632,875.289597252,782.289597252,798.289597252,649,626.710402748,649,0.400963660063,-0.00538247921652,0.0598459871166,0.999999944688,0.000211105413006,-0.00025628408326,1.94361604244e-05,1793190348929406208
+78,1.300000000,BASELINE,764.291084762,741.291084762,711.708915238,670.708915238,663,632,875.291084762,782.291084762,798.291084762,649,627,649,0.400963347724,-0.00538317202899,0.0598456747994,0.999999944782,0.000210301535262,-0.000256565727803,1.95854792628e-05,1793190348946072576
+79,1.316666667,BASELINE,764.87704006,741.87704006,711.12295994,670.12295994,663,632,875.87704006,782.87704006,798.87704006,649,627,649,0.400962026407,-0.0053832263497,0.0598444700786,0.999999944175,0.000210873111778,-0.000258442050635,1.97462331373e-05,1793190348962739456
+80,1.333333333,BASELINE,765,742,711,669.541782825,663,632,876,782.541782825,799,649,627,649,0.400961779671,-0.00538143100642,0.0598447201635,0.999999943999,0.000211423213849,-0.000258718091759,1.91726772492e-05,1793190348979406080
+81,1.350000000,BASELINE,764.962023858,742,711,669.037976142,663,632,876,782,799,649,627,649,0.400961814481,-0.00537943230794,0.0598453042962,0.999999943974,0.000211774461461,-0.000258579449445,1.84659372183e-05,1793190348996072192
+82,1.366666667,BASELINE,764.384385464,742,711,669.615614536,663,632,876,782,799,649,627,649,0.400961794794,-0.00538152439318,0.0598451450452,0.999999944472,0.00020938091915,-0.000258587335119,1.86378382016e-05,1793190349012739072
+83,1.383333333,BASELINE,764.192348335,742,711,670.192348335,663,632,876,782,798.807651665,649.192348335,626.807651665,649,0.400961905704,-0.00538292884229,0.0598450533801,0.999999944659,0.000208494659309,-0.00025856935533,1.88265011364e-05,1793190349029405696
+84,1.400000000,BASELINE,764.767282975,742,711,670.767282975,663,632,876,782,798.232717025,649.767282975,626.232717025,649,0.400962276373,-0.00538296556398,0.0598450961454,0.99999994423,0.0002106064267,-0.000258499928401,1.90485040998e-05,1793190349046072320
+85,1.416666667,BASELINE,764.649487768,742,711,670.649487768,663,632.350512232,875.649487768,782,798,649.298975536,626.350512232,648.649487768,0.400960872859,-0.00538153666639,0.0598441113876,0.999999943526,0.000212496543776,-0.000259687794739,1.88711558142e-05,1793190349062738944
+86,1.433333333,BASELINE,764.060617987,742,711,670.060617987,663,632.939382013,875.060617987,782,798,648.121235974,626.939382013,648.060617987,0.400958262854,-0.00537911110909,0.0598424278872,0.99999994263,0.000214235932671,-0.000261730653614,1.84222381477e-05,1793190349079405568
+87,1.450000000,BASELINE,764.519642825,742,711.519642825,670.519642825,663,632.480357175,875,782.519642825,798.519642825,648.519642825,626.480357175,648.519642825,0.40095926355,-0.00537947176973,0.059843522008,0.999999942683,0.000214923658237,-0.000260949176223,1.86381874444e-05,1793190349096072448
+88,1.466666667,BASELINE,764.901770162,742,711.901770162,671,662.901770162,632.098229838,875.098229838,782.901770162,799,649,626.098229838,649,0.400960475492,-0.00538025704834,0.0598447086821,0.999999942934,0.000214953160847,-0.000259941672732,1.89113824146e-05,1793190349112738816
+89,1.483333333,BASELINE,764.326514063,742,711.326514063,671,662.326514063,632.673485937,875.673485937,782.326514063,799,649,626.673485937,649,0.400960701187,-0.00538155171435,0.0598447969532,0.99999994362,0.000212372236174,-0.000259410430645,1.90920702283e-05,1793190349129405696
+90,1.500000000,BASELINE,764,742,711,670.751761217,662.248238783,632.751761217,876,782,799,649,626.751761217,649,0.400960856702,-0.0053816330328,0.0598446074141,0.99999994371,0.00021203034606,-0.000259349563156,1.89831037046e-05,1793190349146072320
+91,1.516666667,BASELINE,764,742,711,670.177669017,662.822330983,632.177669017,876,782,799,649,626.177669017,649,0.400960920094,-0.00538012163688,0.0598440532042,0.999999943021,0.000214627549928,-0.000259906138191,1.84939191578e-05,1793190349162738944
+92,1.533333333,BASELINE,764,741.591261422,711,670,663,632,876,782,798.591261422,649,626,649,0.400960119765,-0.00538122368635,0.059843687013,0.999999943214,0.000212717199407,-0.000260712110552,1.879113022e-05,1793190349179405824
+93,1.550000000,BASELINE,764.000651945,741.000651945,711,670,663,632,876,782,798.00130389,649.000651945,626,649,0.400958936095,-0.00538349255334,0.0598434068816,0.99999994379,0.000208791995991,-0.000261625869998,1.94394546812e-05,1793190349196072704
+94,1.566666667,BASELINE,764.580313208,741.580313208,711,670,663,632,876,782,799.160626417,649.580313208,626,649,0.400961093108,-0.00538178517252,0.0598447197275,0.999999944313,0.000209612963195,-0.000258997842904,1.89033829225e-05,1793190349212739328
+95,1.583333333,BASELINE,765,742,711,670,663,632,876,782,799.841495118,649.841495118,626.158504882,649,0.400962676448,-0.00538081782465,0.0598456059087,0.99999994464,0.000210316731864,-0.000257184189922,1.85112555065e-05,1793190349229405952
+96,1.600000000,BASELINE,765,742,711,670,663,632,876,782,799.267158733,649.267158733,626.732841267,649,0.400962754783,-0.00538179192457,0.0598453727517,0.999999944474,0.000210713034831,-0.000257507015765,1.84967604602e-05,1793190349246072576
+97,1.616666667,BASELINE,764.691556815,742,711,670,662.691556815,632.308443185,876,782,799,649,626.691556815,649.308443185,0.400962804498,-0.0053817661452,0.0598454269599,0.999999944353,0.000211669154941,-0.000257184562704,1.86343278766e-05,1793190349262738944
+98,1.633333333,BASELINE,764.114854272,742,711,670,662.114854272,632.885145728,876,782,799,649,626.114854272,649.885145728,0.400962829321,-0.00538087075029,0.0598457310956,0.999999944268,0.000213112159466,-0.000256300897337,1.89041471332e-05,1793190349279405824
+99,1.650000000,BASELINE,764,741.527015604,711.472984396,670,662.472984396,632.527015604,876,782,799,649,626,649.527015604,0.400961585744,-0.00538163752204,0.0598447400245,0.999999943959,0.000212436028334,-0.000258074638572,1.87393156471e-05,1793190349296072448
+100,1.666666667,BASELINE,764,741.062303452,712,670,663,632,875.937696548,782.062303452,798.937696548,649,626,649,0.400960181305,-0.00538273903163,0.0598436598817,0.999999943624,0.000211399729508,-0.000260225621069,1.85423744507e-05,1793190349312739072
+101,1.683333333,BASELINE,764,741.640940187,712,670,663,632,875.359059813,782.640940187,798.359059813,649,626,649,0.400960057846,-0.00538318901612,0.0598445109128,0.999999943595,0.000211745995305,-0.000260026189064,1.89751175287e-05,1793190349329405952
+102,1.700000000,BASELINE,764,742,711.782689727,670,663,632,875.217310273,782.782689727,798.434620547,649,626.217310273,649,0.400960522081,-0.00538307212461,0.0598451570592,0.999999943665,0.000212184109095,-0.000259381003561,1.92305495063e-05,1793190349346072576
+103,1.716666667,BASELINE,764,742,711.2100262,670,663,632,875.7899738,782.2100262,799.579947601,649,626.7899738,649,0.400961947334,-0.00538202825786,0.059845468171,0.999999943896,0.00021277241586,-0.000258006906586,1.91960362155e-05,1793190349362739456
+104,1.733333333,BASELINE,764,742,711.373367485,670,663,632,876,782,799.626632515,649,627,649,0.400962396705,-0.00538212709328,0.0598456315732,0.999999943993,0.000212952607462,-0.000257487295754,1.91118895175e-05,1793190349379405824
+105,1.750000000,BASELINE,764,742,711.962975739,670,663,632,876,782,799.037024261,649,627,649,0.400962280881,-0.00538288773983,0.0598457094275,0.999999944014,0.000212896433769,-0.000257462571861,1.8998996965e-05,1793190349396072192
+106,1.766666667,BASELINE,764,742,711.455039022,670,663,632,875.455039022,782,799,649,626.455039022,649,0.400961648076,-0.00538200704573,0.0598450392373,0.999999943985,0.000212462826786,-0.000257950033314,1.87511856682e-05,1793190349412739072
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,741,711,670,663,632,875,782,799,649,627,649,0.40096279941,-0.00538171984125,0.0598457138869,0.99999994435,0.000212918543858,-0.000256150928118,1.87665704816e-05,1793190349455072000
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.57709874,741.57709874,711,670,663,632,875.57709874,782,799,649,627,649,0.400961621821,-0.00538144294042,0.0598449230841,0.999999944024,0.000212338854914,-0.000257906677988,1.86562791476e-05,1793190349471739648
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.158760474,742,711,670,663,632,875.841239526,782,799,649,627,649,0.40096078943,-0.00538127525455,0.0598444539118,0.999999943709,0.000212323118408,-0.000259144603319,1.85651668017e-05,1793190349488407040
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.752936788,742,711,670,663,632,875.247063212,782,799,649,627,649,0.400960903779,-0.00538140710115,0.0598448668418,0.999999943431,0.000213854075473,-0.000258962345532,1.85266546479e-05,1793190349505072896
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.661613624,741.661613624,711,670.338386376,663,632,875.676772751,782,799.338386376,649,627,649,0.400960405654,-0.00538130345188,0.0598445929852,0.999999943148,0.00021442581905,-0.000259591042232,1.84080148616e-05,1793190349521739264
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.082375456,741.082375456,711,670.917624544,663,632,876.835249088,782,799.917624544,649,627,649,0.40095947159,-0.00538103218475,0.0598438302976,0.999999942861,0.000214314827341,-0.000260796948474,1.82323429826e-05,1793190349538405376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.494190555,711,670.505809445,662.505809445,632,876.011618891,782,799.505809445,649,626.505809445,649,0.400959982331,-0.00538079867567,0.0598444657133,0.99999994309,0.000214221239266,-0.000259977718233,1.84682422873e-05,1793190349555072256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.928515421,711,670,662,632,875.071484579,782,798.928515421,649,626,648.928515421,0.40096114127,-0.00538064148255,0.0598454773788,0.999999943456,0.000214150121476,-0.000258604201914,1.87584806276e-05,1793190349571739136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.342797401,711,670,662,632,875.657202599,782,798.342797401,649,626,648.342797401,0.400965239966,-0.00538098824619,0.0598475282121,0.999999944195,0.000214219890277,-0.000255658616752,1.89487574961e-05,1793190349588405504
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.241178968,711,670,662,632,876,782,798,649,626,648.241178968,0.400974247105,-0.00538187203147,0.059851617359,0.999999946208,0.000213091425048,-0.000248620177211,1.90975446347e-05,1793190349605072384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.822697556,711,670,662,632,876,782,798,649,626,648.822697556,0.400990180792,-0.00538351363465,0.0598585828713,0.999999949906,0.000210272072233,-0.000235806107798,1.91877835366e-05,1793190349621739264
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.600351571,711,670,662,632,876,782,798,649,626.399648429,649,0.401022375721,-0.00538369749617,0.0598709939342,0.999999955075,0.000210224732482,-0.000212751751666,1.98068186503e-05,1793190349638406144
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.025404199,711,670,662,632,876,782,798,649,626.974595801,649,0.401061703366,-0.0053832419444,0.0598857935952,0.999999960292,0.00021139328845,-0.000185205667788,2.06578011684e-05,1793190349655073024
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741,711.549222183,670,662,632,875.450777817,782,798,649,626.450777817,649,0.401120563235,-0.00538634286143,0.0598998339371,0.999999964229,0.000210473635831,-0.0001635829355,2.19965652831e-05,1793190349671739392
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,741.127830268,712,670,662.127830268,632,875.127830268,782,798.127830268,649,626,649,0.401183955606,-0.00538955890029,0.059912527973,0.999999967436,0.000209141253419,-0.000144428664105,2.29754970701e-05,1793190349688405504
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,741.720986672,712,670,662.720986672,632,875.720986672,782,798.720986672,649,626,649,0.401260560302,-0.00539259552955,0.0599204489833,0.999999969512,0.000206657856825,-0.000133263277351,2.25624892174e-05,1793190349705071872
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.694221029,670,663,632,875.694221029,782,798.694221029,649,626,649,0.401345937288,-0.00539512986248,0.0599250627137,0.999999970897,0.000204808522171,-0.000125643140131,2.17341525698e-05,1793190349721738240
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.116857533,670,663,632,875.116857533,782,798.116857533,649,626,649,0.401439105578,-0.00539721806933,0.0599267390081,0.999999971737,0.000203522344164,-0.000121171797327,2.0536932265e-05,1793190349738404864
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662.541305417,632,875,782,798,649,626,649,0.401556864159,-0.00540034777679,0.0599320844038,0.999999973626,0.000200378579765,-0.000110485962486,1.97180183153e-05,1793190349755072000
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.033641951,742,711,670,662.033641951,632,875.033641951,782,798.033641951,649,626,649,0.401681874288,-0.00540377694105,0.0599378521827,0.999999975552,0.00019684245809,-9.89474938966e-05,1.89119620305e-05,1793190349771739392
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.606264834,742,711,670,662.606264834,632,875.606264834,782,798.606264834,649,626,649,0.401823090414,-0.00540776951444,0.0599354702835,0.999999976028,0.000194572355147,-9.90138971325e-05,1.67738960461e-05,1793190349788405760
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.814041074,742,711,670.185958926,663,632,876,782,798.814041074,649,626.185958926,649,0.401977425993,-0.0054123797072,0.0599342900134,0.999999976816,0.000191519781578,-9.73233291268e-05,1.46829208827e-05,1793190349805072640
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.218783195,742,711,670.781216805,663,632,876,782,798.218783195,649,626.781216805,649,0.402160637708,-0.0054183492908,0.0599357545511,0.999999978272,0.000186744976343,-9.17656357132e-05,1.26955937476e-05,1793190349821739264
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741.635802029,711,670.635802029,662.635802029,632,876,782,798,649,627,649,0.402366977063,-0.00542382444021,0.0599363837777,0.99999997984,0.000181259877661,-8.58193393229e-05,9.94510330149e-06,1793190349838405888
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741.059955253,711,670.059955253,662.059955253,632,876,782,798,649,627,649,0.402586756755,-0.00542901225634,0.0599365275743,0.999999981429,0.000175362000933,-7.9647210953e-05,6.75111046449e-06,1793190349855072256
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741.514617269,711,670,662.514617269,632,876,782,798,649,627,649,0.402835601519,-0.00543618951515,0.0599373893393,0.999999983092,0.000167623661579,-7.55129711922e-05,3.93177698242e-06,1793190349871738624
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782.091631784,798,649,627,649,0.403093970626,-0.00544393531627,0.0599376241872,0.999999984759,0.000158635739982,-7.29029667901e-05,9.60597047973e-07,1793190349888405248
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782.682765544,798,649,627,649,0.403385845519,-0.00545352000012,0.0599339867465,0.999999986638,0.000144002077857,-7.7310810656e-05,-3.07568131197e-06,1793190349905072128
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782.731702041,798.268297959,649,627,649,0.403689969524,-0.0054617725002,0.0599260469256,0.999999987228,0.000132628451257,-8.88635579343e-05,-7.48380216537e-06,1793190349921739008
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782.152657227,798.847342773,649,627,649,0.404008280622,-0.00546848204382,0.0599131240216,0.999999986201,0.000125030649209,-0.000108691642847,-1.23225965164e-05,1793190349938405888
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741.576886837,711,670,663,632,876,782,799,649,626.576886837,649,0.404351539861,-0.00547759983725,0.0599017311856,0.999999985059,0.000112837396604,-0.000129833009443,-1.71356252265e-05,1793190349955072512
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741.002288785,711,670,663,632,876,782,799,649,626.002288785,649,0.40470373114,-0.00548757984305,0.0598908861518,0.999999983391,9.89988600944e-05,-0.000151444562603,-2.19394290927e-05,1793190349971738880
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.572291022,711,670,662.427708978,632,876,782,799,649,626,649,0.405111826302,-0.00549752419153,0.0598855262778,0.999999982562,8.94453713851e-05,-0.000161748713114,-2.67174728319e-05,1793190349988405504
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662.151472555,632,876,782,798.848527445,649.151472555,626,648.848527445,0.405543156878,-0.00550749993117,0.0598868588038,0.999999983514,7.84934825543e-05,-0.00016077516649,-3.10268639461e-05,1793190350005072128
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662.744055088,632,876,782,798.255944912,649.744055088,626,648.255944912,0.406041501195,-0.00551756749997,0.0599076166854,0.999999989336,6.34193471825e-05,-0.000127091022564,-3.39717700194e-05,1793190350021738496
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798,649.671968042,626,648.328031958,0.406568178446,-0.00552435427035,0.0599341127931,0.999999996049,-5.69486424225e-06,-8.1971509387e-05,-3.39181756778e-05,1793190350038404864
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798,649.09453398,626,648.90546602,0.407116397228,-0.00552864665667,0.0599649716659,0.999999992389,-0.000115895649539,-2.81577010903e-05,-3.15848268211e-05,1793190350055071488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798.477752715,649,626,649,0.407657943185,-0.00552941999965,0.059976706848,0.999999991724,-0.000122839224594,-1.70914819761e-05,-3.42022690088e-05,1793190350071738368
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798.949178016,649,626,649,0.408198884299,-0.00553032825887,0.0599824831788,0.999999993034,-0.000110400321279,-1.80079652686e-05,-3.76654123912e-05,1793190350088404992
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798.357040153,649,626,649,0.408747297088,-0.00554001114687,0.0599646655836,0.999999991854,-0.000106817522162,-5.74211873267e-05,-3.98133389868e-05,1793190350105071616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.769729682,798.230270318,649,626,649,0.409336236912,-0.00554509904043,0.0599534337819,0.99999999329,-7.53089315994e-05,-8.09767171675e-05,-3.45137329967e-05,1793190350121738240
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.18975055,798.81024945,649,626,649,0.409986724634,-0.00554320856962,0.059952203748,0.999999996603,-1.38977143136e-06,-8.04493545662e-05,-1.79036470219e-05,1793190350138404864
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.385022914,799,649,626,649,0.410656806902,-0.0055400634092,0.0599565396718,0.999999997777,5.13950557222e-06,-6.43831141295e-05,-1.6581383862e-05,1793190350155071744
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.957265082,799,649,626,649,0.411336417094,-0.00553630814994,0.0599635820696,0.999999998689,-2.10998759335e-05,-4.07610193359e-05,-2.26928989231e-05,1793190350171738368
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,649,626,649,0.412019140331,-0.0055354971532,0.0599547907075,0.999999997774,-1.74881885394e-05,-5.90413576801e-05,-2.56817692379e-05,1793190350188405248
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.113457748,670.113457748,663,632,876,782,798.886542252,649,626,648.886542252,0.412697123382,-0.00553554317142,0.0599398402641,0.999999995437,-1.39601659483e-05,-9.01945284326e-05,-2.81981635036e-05,1793190350205071616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.706096625,670.706096625,663,632,876,782,798.293903375,649,626,648.293903375,0.413354025275,-0.00553820515213,0.0599042744604,0.999999986307,-2.09605441821e-05,-0.000161432351867,-2.97834721733e-05,1793190350221738240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.708260753,671,663,632,876,782,798.291739247,649.291739247,626,648,0.41408958467,-0.00554091884001,0.0598954478262,0.999999983156,-2.92369376556e-05,-0.000178536206337,-3.09530174279e-05,1793190350238404864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.129501151,671,663,632,876,782,798.870498849,649.870498849,626,648,0.414902529358,-0.005543683399,0.0599129278501,0.999999988609,-3.87687076636e-05,-0.000142381719747,-3.17135245257e-05,1793190350255071488
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.446638847,632,876.446638847,782.446638847,798.553361153,649.553361153,626,648.446638847,0.415740548702,-0.00554578226799,0.0599566121379,0.999999996706,-3.76505212143e-05,-6.52698171559e-05,-3.01689350101e-05,1793190350271738368
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.022468776,742,711,670.977531224,663.977531224,632,876.977531224,782.977531224,798,649.022468776,626,649,0.416582975103,-0.00554760301985,0.0600057848576,0.999999998848,-3.3586809908e-05,1.97922517066e-05,-2.80181628535e-05,1793190350288404992
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.6094817,742,711,670.3905183,663.3905183,632,876.3905183,782.3905183,798,649.6094817,626,649,0.417354527014,-0.00554725722339,0.060003070859,0.999999999062,-3.26482864047e-05,7.96897779235e-06,-2.73315629434e-05,1793190350305071872
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.80609901,742,711,670.19390099,663,632,876.19390099,782,798.19390099,649.80609901,626.19390099,648.80609901,0.418139470411,-0.00554682867032,0.059992760587,0.999999998925,-3.47211062901e-05,-1.23907034229e-05,-2.8120426745e-05,1793190350321738496
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.226834408,742,711,670.773165592,663,632,876.773165592,782,798.773165592,649.226834408,626.773165592,648.226834408,0.418951028332,-0.00554623564476,0.059967353294,0.999999997342,-4.27787443623e-05,-4.97158504292e-05,-3.18416635547e-05,1793190350338405120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,741.649048114,711,671,663.350951886,632,877,782,799,649,626.649048114,648.350951886,0.419771500261,-0.00554737575416,0.0599404928914,0.999999994423,-4.5874944832e-05,-8.83047069952e-05,-3.53723428514e-05,1793190350355071744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,741.072213323,711,671,663.927786677,632,877,782,799,649,626.072213323,648.927786677,0.420597709475,-0.00554963135997,0.059912697226,0.999999990046,-4.57778185326e-05,-0.000127706922509,-3.87803735904e-05,1793190350371738368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,741.503828443,711,671,663.496171557,632,877.503828443,782,799,649,626,649,0.421380518719,-0.00554899920679,0.0598801880888,0.999999979301,-4.19175103072e-05,-0.000195098338724,-3.97307122935e-05,1793190350388404992
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.081357404,671,663,632,877.918642596,782,799,649,626,649,0.422170999411,-0.0055478419562,0.0598555742459,0.999999967642,-3.91246760417e-05,-0.000248106949716,-4.03393231669e-05,1793190350405071616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.668844045,671,663,632,877.331155955,782,799,649,626,649,0.423047841476,-0.00554598889483,0.059884273718,0.999999980654,-4.63228668054e-05,-0.000186721637297,-4.10100059893e-05,1793190350421737984
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+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671.834381651,663.834381651,632,877,782,799,649,626,649,0.424874560876,-0.00555076661455,0.0599908328447,0.999999998347,-4.31878072377e-05,-1.33765180156e-05,-3.55163907205e-05,1793190350455071232
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672.656916891,663.656916891,631.656916891,877,782,799,649.343083109,626,648.656916891,0.441944424285,-0.00560240071293,0.0598922068702,0.999999977013,-0.00011710145864,-0.000171794666903,-5.24281789859e-05,1793190350871738368
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diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..205d397abef5155608e9380c60c11758bbb00ac9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+365,6.083333333,pose2_to_pose3_retreat,0.575740238907,0.000219631495003,1.05002840833,0.546310650891,0.00889134613573,1.04969941267
+366,6.100000000,pose2_to_pose3_retreat,0.575734546941,0.000219620217932,1.05002846956,0.546304959221,0.008891335763,1.04969947123
+367,6.116666667,pose2_to_pose3_retreat,0.575731103384,0.000219620854053,1.05002847315,0.546301515621,0.00889133621588,1.04969947375
+368,6.133333333,pose2_to_pose3_retreat,0.57572936637,0.000219621174928,1.05002847496,0.546299778584,0.00889133644432,1.04969947502
+369,6.150000000,pose2_to_pose3_retreat,0.575728209255,0.000219628600633,1.05002847312,0.546298621376,0.00889134356294,1.04969947339
+370,6.166666667,pose2_to_pose3_retreat,0.575727321373,0.000219634876777,1.05002847147,0.546297733417,0.00889134958376,1.04969947194
+371,6.183333333,pose2_to_pose3_retreat,0.575726782344,0.00021963868699,1.05002847046,0.546297194341,0.00889135323897,1.04969947106
+372,6.200000000,pose2_to_pose3_retreat,0.57572637811,0.000219641544388,1.05002846971,0.546296790072,0.00889135598013,1.0496994704
+373,6.216666667,pose2_to_pose3_retreat,0.575725793584,0.000219645676209,1.05002846862,0.546296205495,0.00889135994386,1.04969946945
+374,6.233333333,pose2_to_pose3_retreat,0.575725392045,0.000219648209787,1.0500284653,0.546295803904,0.00889136230282,1.04969946621
+375,6.250000000,pose2_to_pose3_retreat,0.575725375036,0.000219648078626,1.05002846316,0.546295786879,0.00889136211796,1.04969946405
+376,6.266666667,pose2_to_pose3_retreat,0.575725239243,0.000219647031523,1.05002844602,0.54629565096,0.00889136064222,1.04969944684
+377,6.283333333,pose2_to_pose3_retreat,0.575725039098,0.000219645488201,1.05002842076,0.54629545063,0.00889135846713,1.04969942146
+378,6.300000000,pose2_to_pose3_retreat,0.575724852487,0.000219644049245,1.05002839721,0.546295263848,0.00889135643913,1.0496993978
+379,6.316666667,pose2_to_pose3_retreat,0.575724663038,0.000219642588398,1.05002837331,0.546295074224,0.00889135438028,1.04969937378
+380,6.333333333,pose2_to_pose3_retreat,0.575724429526,0.000219640787781,1.05002834384,0.546294840496,0.00889135184257,1.04969934418
+381,6.350000000,pose2_to_pose3_retreat,0.575724284796,0.000219639671769,1.05002832558,0.546294695633,0.00889135026972,1.04969932583
+382,6.366666667,pose2_to_pose3_retreat,0.575724218652,0.000219639161725,1.05002831723,0.546294629427,0.00889134955088,1.04969931744
+383,6.383333333,pose2_to_pose3_retreat,0.57572403281,0.000219637728701,1.05002829378,0.546294443414,0.00889134753124,1.04969929388
+384,6.400000000,pose2_to_pose3_retreat,0.575723745238,0.000219635511225,1.05002825749,0.546294155576,0.00889134440603,1.04969925742
+385,6.416666667,pose2_to_pose3_retreat,0.575723520019,0.000219642070026,1.05002825442,0.546293930126,0.00889135014376,1.04969925337
+386,6.433333333,pose2_to_pose3_retreat,0.575723335911,0.00021966041549,1.0500282916,0.546293745794,0.00889136764559,1.04969928842
+387,6.450000000,pose2_to_pose3_retreat,0.575723228293,0.000219671139146,1.05002831334,0.546293638044,0.00889137787612,1.04969930891
+388,6.466666667,pose2_to_pose3_retreat,0.575723142649,0.000219679673083,1.05002833063,0.546293552296,0.00889138601761,1.04969932521
+389,6.483333333,pose2_to_pose3_retreat,0.575723079307,0.00021968598484,1.05002834343,0.546293488876,0.00889139203912,1.04969933727
+390,6.500000000,pose2_to_pose3_retreat,0.57572290654,0.00021970320023,1.05002837832,0.546293315899,0.00889140846285,1.04969937016
+391,6.516666667,pose2_to_pose3_retreat,0.575722726959,0.00021956981275,1.05002838098,0.546293138896,0.00889128387433,1.04969937412
+392,6.533333333,pose2_to_pose3_retreat,0.575722721715,0.000219565272852,1.05002838091,0.546293133739,0.00889127963239,1.04969937411
+393,6.550000000,pose2_to_pose3_retreat,0.575722686691,0.000219534955497,1.05002838047,0.546293099297,0.00889125130476,1.04969937402
+394,6.566666667,pose2_to_pose3_retreat,0.575722663886,0.000219515215293,1.05002838019,0.546293076872,0.00889123286011,1.04969937397
+395,6.583333333,pose2_to_pose3_retreat,0.575722609593,0.000219475647274,1.0500283767,0.546293023156,0.00889119529099,1.04969937149
+396,6.600000000,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986159,1.04969936286
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc70bc5768ff3840cd7a0d74029268df50d57ef0
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931722548eeaed5e40320396bcd7feee41d8f23bc903d204ab7ddd8fb6061e8c
+size 25215871
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..698aae35455db55e5cebc859604681da3cd402b9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+40,0.666666667,BASELINE,764.791006755,742,712,670.791006755,662.208993245,632,876,782.791006755,798.791006755,649,626.791006755,649,0.400963290885,-0.00538734935059,0.0598446292365,0.999999944782,0.00020823799575,-0.000258383724591,1.76132254257e-05,1793190355089912064
+41,0.683333333,BASELINE,764.21506609,742,712,670.21506609,662.78493391,632,876,782.21506609,798.21506609,649,626.21506609,649,0.400962554434,-0.00538822161695,0.0598436943198,0.999999944557,0.000208195202946,-0.000259276950244,1.77739651627e-05,1793190355106578432
+42,0.700000000,BASELINE,764.367447176,741.632552824,711.632552824,670,663,632,876,782,798.734894352,649,626.367447176,649,0.400962237375,-0.00538791749869,0.0598434109539,0.999999944307,0.000208781286596,-0.000259773130221,1.77377011214e-05,1793190355123244800
+43,0.716666667,BASELINE,764.953877415,741.046122585,711.046122585,670,663,632,876,782,799.90775483,649,626.953877415,649,0.400962170256,-0.00538691230464,0.0598435158848,0.999999944041,0.000209742154168,-0.000260032687641,1.75840311079e-05,1793190355139911168
+44,0.733333333,BASELINE,764.466347697,741.533652303,711.533652303,670,663,632,876,782,798.932695395,649,626.466347697,649,0.40096509766,-0.00538793555796,0.0598454023477,0.99999994542,0.000207975536192,-0.000256110956305,1.77020272139e-05,1793190355156577792
+45,0.750000000,BASELINE,764,742,711.887245368,670.112754632,663,632,876,782,798,649,626.112754632,649,0.400967351635,-0.00538860281911,0.0598468039489,0.999999946437,0.000206702179953,-0.000253148084031,1.77862032315e-05,1793190355173244672
+46,0.766666667,BASELINE,764,742,711.308574725,670.691425275,663,632,876,782,798,649,626.691425275,649,0.400965766658,-0.0053870835767,0.059845573636,0.999999945452,0.000208429115876,-0.000255622213925,1.76348049144e-05,1793190355189911296
+47,0.783333333,BASELINE,764,741.732377661,711,670.732377661,663,632,876,782,798.267622339,649,626.732377661,649,0.400964479054,-0.00538632717554,0.0598446779957,0.999999944863,0.000209463762866,-0.000257082061985,1.75635033332e-05,1793190355206578176
+48,0.800000000,BASELINE,764,741.159006497,711,670.159006497,663,632,876,782,798.840993503,649,626.159006497,649,0.400963531189,-0.00538644229267,0.0598441647064,0.999999944734,0.000209707495055,-0.000257383130121,1.75837093517e-05,1793190355223244800
+49,0.816666667,BASELINE,764.415113684,741.415113684,711,670,663,632,876,782,798.584886316,649,626,649,0.400962549953,-0.0053872618503,0.0598436772446,0.99999994434,0.000209824372429,-0.000258801551426,1.7783050227e-05,1793190355239911424
+50,0.833333333,BASELINE,764.989521255,741.989521255,711,670,663,632,876,782,798.010478745,649,626,649,0.400961555912,-0.00538835172679,0.0598431996937,0.999999943841,0.000209892571082,-0.000260648740867,1.80511315177e-05,1793190355256578048
+51,0.850000000,BASELINE,764.413227302,742,711,670,662.413227302,632,875.413227302,782,798,649,626.586772698,649,0.400962960184,-0.0053872069809,0.0598440344415,0.999999944024,0.000211082726105,-0.000259010592543,1.76021162965e-05,1793190355273244416
+52,0.866666667,BASELINE,764,742,711,670,662.177294486,632,875.177294486,782,798.177294486,649,627,649,0.400964053634,-0.00538631318418,0.0598448088061,0.999999944199,0.000211884604123,-0.000257693057487,1.73494362271e-05,1793190355289911296
+53,0.883333333,BASELINE,764,742,711,670,662.751788561,632,875.751788561,782,798.751788561,649,627,649,0.400964350893,-0.00538607462414,0.059845393262,0.999999944337,0.000211769904107,-0.000257238896639,1.75664654908e-05,1793190355306577920
+54,0.900000000,BASELINE,764,741.673873777,711,670.326126223,662.673873777,632,875.673873777,782,799.326126223,649,627,649,0.400964439826,-0.00538610925396,0.0598456250935,0.999999944328,0.000212007529025,-0.000257064996532,1.77197971877e-05,1793190355323244544
+55,0.916666667,BASELINE,764,741.099655128,711,670.900344872,662.099655128,632,875.099655128,782,799.900344872,649,627,649,0.400964370279,-0.00538635170621,0.0598455886747,0.999999944209,0.000212513176392,-0.000257104297844,1.78246725326e-05,1793190355339911168
+56,0.933333333,BASELINE,764,741.49054733,711,670.50945267,662.49054733,632,875,782,799.50945267,649,626.50945267,649,0.400964715891,-0.0053867459726,0.0598457335048,0.999999944716,0.000211044308153,-0.000256347243493,1.77507452462e-05,1793190355356577792
+57,0.950000000,BASELINE,764,742,711,670,662.918399342,632,875,782,798.918399342,649.081600658,626,649,0.400964683556,-0.00538721483251,0.0598457544476,0.999999945191,0.000209329032472,-0.00025590369466,1.76539211075e-05,1793190355373244160
+58,0.966666667,BASELINE,764,742,711,670,662.342523437,632,875,782,798.342523437,649.657476563,626,649,0.400961833825,-0.00538794241897,0.0598447944299,0.999999944702,0.000208632752776,-0.000258372075212,1.76458386395e-05,1793190355389910784
+59,0.983333333,BASELINE,764,742,711,670,662,632,875.233619241,782,798,649.766380759,626,649,0.400961010817,-0.005388052446,0.0598446184263,0.999999944497,0.00020906292545,-0.000258821350452,1.76280304046e-05,1793190355406577408
+60,1.000000000,BASELINE,764,742,711,670,662,632,875.810153586,782,798,649.189846414,626,649,0.40096316271,-0.00538725599619,0.0598455932279,0.999999944707,0.000211146547149,-0.000256306907388,1.75959463221e-05,1793190355423244288
+61,1.016666667,BASELINE,764,741.605316262,711,670,662.394683738,632,876.394683738,781.605316262,798,649,626,649,0.400964013608,-0.00538749609929,0.0598457191416,0.999999945071,0.000209890712942,-0.000255917856879,1.76193504468e-05,1793190355439910912
+62,1.033333333,BASELINE,764,741.016860563,711,670,662.983139437,632,876.983139437,781.016860563,798,649,626,649,0.400964225776,-0.00538824510328,0.0598454282895,0.999999945506,0.000206995355979,-0.000256572278655,1.76699967871e-05,1793190355456577792
+63,1.050000000,BASELINE,764,741,711,670,662.438507433,632,876.438507433,781.561492567,798,649,626,649,0.400964728009,-0.00538756357957,0.0598457055101,0.999999945251,0.000208951682173,-0.000255977442814,1.76578740002e-05,1793190355473244416
+64,1.066666667,BASELINE,764,741.138881945,711,669.861118055,662.138881945,632,876,782,798.138881945,649,626,649,0.400965255706,-0.00538722379941,0.0598459269583,0.999999945004,0.000210631566696,-0.000255565902944,1.76923384677e-05,1793190355489911296
+65,1.083333333,BASELINE,764,741.714179266,711,669.285820734,662.714179266,632,876,782,798.714179266,649,626,649,0.400965836537,-0.00538809049348,0.0598459204947,0.999999944853,0.000210993067626,-0.000255846137807,1.78790144295e-05,1793190355506578944
+66,1.100000000,BASELINE,764.289443991,742,711.289443991,669.289443991,663,632,875.710556009,781.710556009,799,649.289443991,626,648.710556009,0.400964775589,-0.00538879456389,0.0598456156583,0.999999944948,0.000209527214831,-0.000256678715608,1.78388589372e-05,1793190355523245824
+67,1.116666667,BASELINE,764.864676498,742,711.864676498,669.864676498,663,632,875.135323502,781.135323502,799,649.864676498,626,648.135323502,0.400962093598,-0.00538933806441,0.0598450162176,0.999999945278,0.000206257086495,-0.000258056660624,1.75747367026e-05,1793190355539911680
+68,1.133333333,BASELINE,764.546930545,741.546930545,711.546930545,670,662.546930545,632,875,781.453069455,798.546930545,649.546930545,626.453069455,648.453069455,0.400963193035,-0.00538931434773,0.0598454569655,0.999999945602,0.000206669495219,-0.000256459810405,1.76611352423e-05,1793190355556578048
+69,1.150000000,BASELINE,764,741,711.044452716,670,662.044452716,632,875.044452716,782,798,649,626.955547284,649,0.40096521217,-0.0053889988348,0.0598461335666,0.999999945815,0.00020831802241,-0.000254275134506,1.78374123781e-05,1793190355573244672
+70,1.166666667,BASELINE,764,741,711.623119923,670,662.623119923,632,875.623119923,782,798,649,626.376880077,649,0.400964304616,-0.00538727353188,0.0598457991687,0.999999944763,0.000211208053461,-0.000256023481475,1.77980028805e-05,1793190355589911296
+71,1.183333333,BASELINE,764,741.199633498,711.800366502,670,662.800366502,632,875.800366502,782,798.199633498,649,626.199633498,649,0.400963566345,-0.00538631871378,0.0598453132039,0.999999944059,0.000212738676539,-0.000257509277525,1.77088466122e-05,1793190355606577920
+72,1.200000000,BASELINE,764,741.772124808,711.227875192,670,662.227875192,632,875.227875192,782,798.772124808,649,626.772124808,649,0.400963144247,-0.00538680293889,0.0598445441559,0.999999944019,0.000211730317994,-0.000258504704464,1.75267777137e-05,1793190355623244800
+73,1.216666667,BASELINE,764,742,711,670,662.346296743,632,875.346296743,781.653703257,799,649,626.653703257,649,0.40096336341,-0.00538687616057,0.0598444986727,0.999999944215,0.000211360293678,-0.000258054784602,1.74375947697e-05,1793190355639911936
+74,1.233333333,BASELINE,764,742,711,670,662.921579945,632,875.921579945,781.078420055,799,649,626.078420055,649,0.400964006604,-0.00538667760888,0.059844931642,0.999999944566,0.000211412363764,-0.000256649138546,1.74098320677e-05,1793190355656579072
+75,1.250000000,BASELINE,764,742,711.513701425,670,663,632,876,781.513701425,799,649,626,649,0.400963380522,-0.0053874319216,0.0598450003588,0.99999994481,0.000210136794694,-0.000256755793715,1.72743757132e-05,1793190355673245952
+76,1.266666667,BASELINE,764,742,711.894775211,670,663,632,876,782,799,649,626,649,0.400962970114,-0.0053881405491,0.0598451697664,0.999999945016,0.000209166847914,-0.000256747441522,1.72595579209e-05,1793190355689912576
+77,1.283333333,BASELINE,764,742,711.317846607,670,663,632,876,782,799,649,626,649,0.400964424573,-0.0053879702027,0.0598460482703,0.999999945132,0.000210506288601,-0.000255153541343,1.78617370507e-05,1793190355706578432
+78,1.300000000,BASELINE,764,742,711,670,663,632,875.741880741,782,799,649,626,649,0.400964881516,-0.00538786130033,0.0598459558782,0.999999945185,0.000210602568898,-0.000254855216048,1.80444016235e-05,1793190355723244544
+79,1.316666667,BASELINE,764,742,711,670,663,632,875.167096019,782,799,649,626,649,0.40096411469,-0.00538782777863,0.0598446723729,0.999999945161,0.000209173717032,-0.000256146326,1.7712397966e-05,1793190355739911168
+80,1.333333333,BASELINE,764,742,711,670,663,632,875,782,798.581597086,649,626.418402914,649,0.400964616545,-0.00538789372972,0.0598452887474,0.999999945504,0.000208556150481,-0.000255317018593,1.76153445547e-05,1793190355756577792
+81,1.350000000,BASELINE,764,742,711,670,662.991861786,632,875,782,798.008138214,649,626.991861786,649,0.400965604969,-0.00538799348197,0.0598466556725,0.999999945979,0.000208294107993,-0.000253663299125,1.76175262924e-05,1793190355773244416
+82,1.366666667,BASELINE,764,742,711,670,662.412998643,632,875,782,798.587001357,649,626.412998643,649,0.400964249909,-0.00538760450969,0.0598460493463,0.999999945317,0.000209645681003,-0.000255141971476,1.78257485971e-05,1793190355789911296
+83,1.383333333,BASELINE,764,741.835615182,711,670,662,632,875,782,798.835615182,649,626,649,0.400963611809,-0.00538752125926,0.0598457692348,0.999999944992,0.000210175037354,-0.000255969678536,1.7949686567e-05,1793190355806577920
+84,1.400000000,BASELINE,764,741.261915976,711,670,662,632,875,782,798.261915976,649,626,649,0.40096475892,-0.00538819924909,0.0598463013907,0.999999945514,0.000208657093564,-0.000255176497422,1.78637585402e-05,1793190355823244544
+85,1.416666667,BASELINE,764,741,711,670,662.310931399,632,875,782,798.621862798,649,626,649,0.400965503153,-0.00538826979279,0.0598468041194,0.999999945701,0.000209015585409,-0.000254150914684,1.78053024662e-05,1793190355839911424
+86,1.433333333,BASELINE,764,741,711,670,662.883063153,632,875,782,799.766126307,649,626,649,0.400965908943,-0.00538783004656,0.0598472821275,0.999999945605,0.00021095039178,-0.000252930101191,1.77699244261e-05,1793190355856578048
+87,1.450000000,BASELINE,764,741.474428767,711,670,662.525571233,632,875,782,799.525571233,649,626,648.525571233,0.40096549976,-0.00538661164612,0.0598466370107,0.999999945366,0.00021128795074,-0.000253601844734,1.76617278967e-05,1793190355873244416
+88,1.466666667,BASELINE,764,742,711,670,662.068424898,632,875,782,798.931575102,649,626,648.136849796,0.40096478483,-0.00538542665451,0.0598457377008,0.999999945076,0.000211223022269,-0.000254801534311,1.75580770276e-05,1793190355889911296
+89,1.483333333,BASELINE,764,742,711,670,662.645253485,632,875,782,798.354746515,649,626,649.29050697,0.400963353742,-0.00538597614813,0.0598450934726,0.999999944691,0.000211216315053,-0.000256311500826,1.76271929741e-05,1793190355906577920
+90,1.500000000,BASELINE,764,742,711,670.221231517,662.778768483,632,875.221231517,782,798.221231517,649,626,649.778768483,0.400962313639,-0.0053867127434,0.0598446231812,0.999999944461,0.000211112201016,-0.000257285263638,1.77226932177e-05,1793190355923244800
+91,1.516666667,BASELINE,764,742,711,670.795850846,662.204149154,632,875.795850846,782,798.795850846,649,626,649.204149154,0.400961898085,-0.00538774820851,0.0598444307308,0.999999944483,0.00021085249259,-0.00025740251248,1.78603388466e-05,1793190355939911936
+92,1.533333333,BASELINE,764,742,711,670.619626839,662.380373161,632,875.619626839,782,799.380373161,649,626,649,0.400961154505,-0.00538746322257,0.0598441714501,0.999999944257,0.000211193217607,-0.000258006673898,1.78000951974e-05,1793190355956578560
+93,1.550000000,BASELINE,764,742,711,670.029647387,662.970352613,632,875.029647387,782,799.970352613,649,626,649,0.400960230167,-0.00538645059639,0.0598438753424,0.999999943892,0.00021186481407,-0.000258879150626,1.76308038103e-05,1793190355973244928
+94,1.566666667,BASELINE,764,742,711,670,662.449975473,632,875.550024527,782,798.899950947,649,626.550024527,649,0.400962287883,-0.00538584196295,0.0598450165131,0.999999944315,0.00021200803662,-0.000257153696574,1.71496676009e-05,1793190355989911296
+95,1.583333333,BASELINE,764,742,711,670,662,632,875.871471556,782,798.128528444,649,626.871471556,649,0.400964004287,-0.00538580150642,0.0598459223101,0.999999944695,0.000212015055911,-0.000255678805123,1.69596722375e-05,1793190356006578176
+96,1.600000000,BASELINE,764,742,711,670,662,632,875.295136757,782,798.704863243,649,626.295136757,649,0.400963981801,-0.00538766616257,0.059845743086,0.99999994479,0.000211644932251,-0.000255555815321,1.78415285874e-05,1793190356023244800
+97,1.616666667,BASELINE,764.285509327,742,711,670,662,632.285509327,875.285509327,782,799,649,626,648.714490673,0.40096370061,-0.00538863463476,0.0598459714903,0.999999944923,0.000211437410332,-0.000255178869986,1.82183014348e-05,1793190356039911424
+98,1.633333333,BASELINE,764.870680367,742,711,670,662,632.870680367,875.870680367,782,799,649,626,648.129319633,0.40096314789,-0.00538866250001,0.0598466277289,0.999999945098,0.000211400550169,-0.000254535380825,1.80649542888e-05,1793190356056578048
+99,1.650000000,BASELINE,764.548799167,742,711,670,662,632.548799167,876,782,799,649,626,648.451200833,0.400962907263,-0.00538769575521,0.0598459294441,0.999999944914,0.000211181098879,-0.000255465198284,1.76929297069e-05,1793190356073244928
+100,1.666666667,BASELINE,764,741.969721316,711,670,662.030278684,632,876,782,798.969721316,649,626,649,0.400962864456,-0.00538652764126,0.0598449700112,0.999999944659,0.000210961212688,-0.000256667770819,1.7291976266e-05,1793190356089911808
+101,1.683333333,BASELINE,764,741.392869131,711,670,662.607130869,632,876,782,798.392869131,649,626,649,0.400964794367,-0.00538681790052,0.0598462329623,0.999999945,0.000211668520649,-0.000254737097004,1.74886573911e-05,1793190356106578432
+102,1.700000000,BASELINE,764,741,711,670,663,632,876.183552308,781.816447692,798,649,626,649,0.400966017332,-0.00538685317917,0.0598470299505,0.999999945392,0.000211395591408,-0.000253417160323,1.75629874258e-05,1793190356123245056
+103,1.716666667,BASELINE,764,741,711,670,663,632,876.759053877,781.240946123,798,649,626,649,0.400965730712,-0.0053863439838,0.0598468319428,0.999999945896,0.000209029508086,-0.000253401364219,1.73760544749e-05,1793190356139911936
+104,1.733333333,BASELINE,764,741.341866427,711,670,663,632,876.316267147,781.341866427,798.683732853,649,626,649,0.400966123845,-0.00538677985073,0.0598467686955,0.999999946109,0.000208300134151,-0.00025315681135,1.74621105561e-05,1793190356156578560
+105,1.750000000,BASELINE,764,741.929944391,711,670,663,632,875.140111219,781.929944391,799.859888781,649,626,649,0.400967006533,-0.00538789634965,0.0598468025024,0.999999946114,0.000208749514897,-0.000252747508303,1.77447727894e-05,1793190356173244928
+106,1.766666667,BASELINE,764,742,711,670,663,632,875.513344998,782,799.486655002,649,626,649,0.400966205931,-0.00538849460021,0.0598468164752,0.999999946131,0.000207907191393,-0.000253380076366,1.7641017034e-05,1793190356189911552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875,782,798,649,627,649,0.400964136488,-0.0053871861075,0.0598458589955,0.999999945011,0.000211009114729,-0.000255240035371,1.7482450532e-05,1793190356232824064
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.572409359,670,663,632,875.572409359,782,798.572409359,649,626.427590641,649,0.400964951883,-0.00538755186773,0.0598464751043,0.999999945442,0.000210100129211,-0.000254285309125,1.76815613298e-05,1793190356249490688
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.849539519,670,663,632,876,782.150460481,798.849539519,649,626,649,0.400965283698,-0.00538716772178,0.0598466825908,0.999999945447,0.000210466040568,-0.000253955206435,1.77933523296e-05,1793190356266157312
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.254830426,670,663,632,876,782.745169574,798.254830426,649,626,649,0.400964187701,-0.00538456940797,0.0598456835817,0.999999944186,0.000214596203688,-0.000255469362851,1.76473235255e-05,1793190356282823424
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.329888468,741.670111532,711,670,662.670111532,632,876.329888468,782.670111532,798.329888468,649,626,649,0.400963820765,-0.00538557948791,0.0598453102896,0.999999944252,0.000213541708251,-0.000256091441929,1.76714853511e-05,1793190356299489792
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.907116989,741.092883011,711,670,662.092883011,632,876.907116989,782.092883011,798.907116989,649,626,649,0.400964000456,-0.00538929502875,0.0598454061404,0.999999945305,0.000208599917778,-0.000256044669231,1.78232507951e-05,1793190356316156416
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.516941453,741.483058547,711,670,662,632,876.516941453,782,798.516941453,649,626.483058547,649,0.400964240044,-0.00538810810368,0.0598458124156,0.999999945475,0.000208485369054,-0.000255500478555,1.74070995064e-05,1793190356332823040
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875.941684333,782,798,649,626.941684333,649,0.400965139919,-0.0053863365025,0.0598465120768,0.999999945595,0.000209176887602,-0.000254493011741,1.69993520851e-05,1793190356349489920
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875.370277753,782,798,649,626.370277753,649,0.400971748269,-0.00538769251181,0.0598492693207,0.999999946731,0.000208815632891,-0.000250248694718,1.7623787151e-05,1793190356366157056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662.210103234,632,875.210103234,782,798.210103234,649,626,649,0.400983540085,-0.00538901243901,0.059854238732,0.999999948908,0.000208449152207,-0.000241657600113,1.82704874276e-05,1793190356382823680
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662.807006017,632,875.807006017,782,798.807006017,649,626,649,0.401004874649,-0.00539026593899,0.0598632807382,0.999999952846,0.00020807305053,-0.000225064098818,1.89581778323e-05,1793190356399490304
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.389430354,670,662.610569646,632,875.610569646,782,798.610569646,649,626,649,0.401044105471,-0.00539044764443,0.0598777931219,0.999999958142,0.000209056407372,-0.000199064515211,1.95986174673e-05,1793190356416156928
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.964936712,670,662.035063288,632,875.035063288,782,798.035063288,649,626,649,0.401091887411,-0.00539011722955,0.0598949193397,0.999999963393,0.000210689334893,-0.000168570554585,2.02164799822e-05,1793190356432823296
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741.459112529,711.459112529,670,662,632,875.540887471,782,798,649,626,649,0.401152980348,-0.0053920644596,0.059906188659,0.999999965785,0.000208937047882,-0.000156021898989,2.08084302645e-05,1793190356449490176
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,741.119646266,711,670.119646266,662,632,876,782,798,649,626.119646266,649,0.401218241241,-0.00539454692319,0.0599158903202,0.999999968027,0.000206448191033,-0.000144483361662,2.12106069388e-05,1793190356466156800
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,741.709323339,711,670.709323339,662,632,876,782,798,649,626.709323339,649,0.401296483319,-0.00539855153613,0.0599209262195,0.999999970638,0.00020192852802,-0.000132339237171,2.08738618775e-05,1793190356482823168
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670.707152075,662.58569585,632,875.707152075,782,798.292847925,649,626.707152075,649,0.401386277414,-0.00540233112305,0.0599242761928,0.999999972216,0.000199024645311,-0.000124712632874,2.01179578652e-05,1793190356499489792
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.129608735,663.740782529,632,875.129608735,782,798.870391265,649,626.129608735,649,0.40148730193,-0.00540589194814,0.0599259871738,0.999999972901,0.000197691561953,-0.000121477787561,1.89545637708e-05,1793190356516156416
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663.553119757,632,875.446880243,782,798.553119757,649,626.446880243,649,0.401614344578,-0.00540862056562,0.0599301972851,0.999999974143,0.000197112742717,-0.00011197455032,1.7977584309e-05,1793190356532823040
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662.977068975,632,876,782,798,649,626.977068975,648.977068975,0.401749684462,-0.00541124605921,0.059934990842,0.99999997546,0.000196509457046,-0.000100873527059,1.70164261086e-05,1793190356549489920
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662.404210421,632,876,782,798,649,626.404210421,648.404210421,0.401903465328,-0.00541717320803,0.0599364348259,0.999999977311,0.000190085526105,-9.49515449704e-05,1.51411448076e-05,1793190356566156800
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875.825094179,782,798.174905821,649,626.174905821,648.174905821,0.402067030525,-0.00542241152695,0.0599375240103,0.999999978869,0.000184674095851,-8.93802757927e-05,1.29615439419e-05,1793190356582823424
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875.230979797,782,798.769020203,649,626.769020203,648.769020203,0.402254046466,-0.00542599887998,0.0599377628229,0.999999979861,0.000181689395136,-8.46495847345e-05,1.00525601505e-05,1793190356599490048
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741.646977307,711,670,662,632,875,782,798.646977307,649,626.646977307,649,0.402466935447,-0.00543149998114,0.0599372555029,0.999999981492,0.000174461496429,-8.08015623171e-05,7.13308364794e-06,1793190356616156416
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741.069406653,711,670,662,632,875,782,798.069406653,649,626.069406653,649,0.402696281571,-0.00543821836485,0.0599362735888,0.999999983451,0.000164534616661,-7.75149805116e-05,4.20693273603e-06,1793190356632823040
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741,711,670.504845039,662.504845039,632,875,781.495154961,798,649,626,649,0.402960770973,-0.00544649739792,0.0599360687875,0.999999985192,0.00015502896304,-7.47008473823e-05,9.43246256969e-07,1793190356649489920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,741,711,670.919169097,662.919169097,632,875.080830903,781.080830903,798.080830903,649,626,649,0.403233199476,-0.00545479988311,0.0599353744967,0.999999986764,0.000145335021259,-7.30938703334e-05,-2.49350610227e-06,1793190356666156544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,741,711,670.329410103,662.329410103,632,875.670589897,781.670589897,798.670589897,649,626,649,0.403525392648,-0.00546190794188,0.0599309299966,0.999999987891,0.000134093338282,-7.8681111492e-05,-6.72965278464e-06,1793190356682823424
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.255771578,711,670,662.255771578,632,876.255771578,781.744228422,798.744228422,649,626,649,0.403831565444,-0.00546929709258,0.0599231586934,0.999999988186,0.000123284050601,-9.11319664447e-05,-1.10939567432e-05,1793190356699490304
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.835161715,711,670,662.835161715,632,876.835161715,781.164838285,798.164838285,649,626,649,0.404155426138,-0.00547704189834,0.0599111781065,0.999999987189,0.000113021857752,-0.000112267104216,-1.56204132275e-05,1793190356716156416
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741.58762079,711,670,662.58762079,632,876.17524158,781.41237921,798,649,626,648.58762079,0.404508466517,-0.00548511191763,0.0598982073254,0.999999985312,0.000103320841319,-0.000135138865917,-2.0916125668e-05,1793190356732823296
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741.011267216,711,670,662.011267216,632,875.022534433,781.988732784,798,649,626,648.011267216,0.404873109608,-0.00549331125142,0.0598848428137,0.999999982652,9.38429656886e-05,-0.000158701160904,-2.65177172708e-05,1793190356749490176
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.572545177,711,670.572545177,662.572545177,632,875.572545177,782,798.572545177,649,626,648.572545177,0.405298908697,-0.0055010277914,0.0598840078831,0.999999982317,8.51917287547e-05,-0.000164742219756,-3.11319859204e-05,1793190356766156800
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,741.843498016,711,670.843498016,663,632,876,782,799,649,626,649,0.405751393218,-0.00551008358281,0.0598919844103,0.999999984851,7.29975849791e-05,-0.000154060401492,-3.51274524192e-05,1793190356782823168
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,741.259553071,711,670.259553071,663,632,876,782,799,649,626,649,0.406273431306,-0.0055228234689,0.0599233447245,0.999999993126,5.10819310125e-05,-9.86587211811e-05,-3.74865943347e-05,1793190356799490048
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,741.320110371,711,670,663.320110371,632,876,782,798.679889629,649,626.320110371,649,0.406810322327,-0.00552855844333,0.0599525985046,0.999999997815,-2.02023935487e-05,-5.03871951347e-05,-3.77196235145e-05,1793190356816157184
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,741.896348148,711,670,663.896348148,632,876,782,798.103651852,649,626.896348148,649,0.407359097566,-0.00552868863396,0.0599801668034,0.999999990733,-0.000130987688617,-7.82065719947e-06,-3.62515026591e-05,1793190356832824832
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663.528372567,632,876,782,798,649,626.528372567,649,0.40789957162,-0.00552564384907,0.0599819973357,0.999999989752,-0.000137025563041,-1.42898685818e-05,-3.89280072691e-05,1793190356849491200
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.952440667,798.047559333,649,626,649,0.408440718242,-0.00552376098513,0.0599769665668,0.999999991047,-0.000122405570683,-3.33181682138e-05,-4.25732603966e-05,1793190356866157568
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,781.366745253,798.633254747,649,626,649,0.409010076601,-0.00554290470591,0.0599581737584,0.999999987276,-0.000133994514375,-7.27601932197e-05,-4.68941539842e-05,1793190356882825472
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662.78229685,632.21770315,876,781.21770315,799,649,626,649,0.409612023662,-0.00555348672559,0.0599470784482,0.999999989892,-0.000100585074538,-9.20736446931e-05,-4.02585167378e-05,1793190356899492352
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662.199937245,632.800062755,876,781.800062755,799,649,626,649,0.410268557312,-0.00554972775017,0.0599488765788,0.999999996833,8.19741943684e-06,-7.76713924388e-05,-1.52705046848e-05,1793190356916157696
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764.953942518,742,711,670,664.861827554,632.046057482,876,782,799,649,626,649,0.411632246877,-0.00553328517846,0.0599635805825,0.99999999871,-3.29135706585e-06,-4.72001215133e-05,-1.84963801875e-05,1793190356949490688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.472406179,742,711,670.527593821,663.944812357,632,876,782,799.527593821,649,626,649,0.412308351389,-0.0055328607864,0.0599465339551,0.999999996518,-3.10404389943e-06,-7.98649321273e-05,-2.39784067112e-05,1793190356966157568
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.896166369,662.896166369,632,876.103833631,782,799.896166369,649,626,648.896166369,0.412986346427,-0.00553371136626,0.0599253217005,0.999999992241,-4.85044315876e-06,-0.000121112061738,-2.87338526059e-05,1793190356982823936
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.306946303,662.306946303,632,876.693053697,782,799.306946303,649,626,648.306946303,0.413677643552,-0.00553697738107,0.0598950203531,0.99999998241,-2.76929333974e-05,-0.000182940844723,-3.07607596213e-05,1793190356999490048
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+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.433800604,632,876.433800604,782,799.132398792,649,626,649,0.41610308557,-0.00554965018446,0.0599721872056,0.999999998198,-3.59259936322e-05,-3.86517843485e-05,-2.86397931803e-05,1793190357049489920
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+159,2.650000000,POSE1_TO_POSE2_PRESS,764.162758359,742,711.162758359,670.162758359,663,632,876.162758359,782,798.837241641,649,626.162758359,649,0.418536508158,-0.00554392038721,0.0599811991246,0.999999998404,-3.76518363328e-05,-2.98600277701e-05,-2.96977175569e-05,1793190357099489792
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+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671.066242085,663.066242085,632,877.066242085,782,799,649,626,648.066242085,0.422581570382,-0.00554337870781,0.0598542256223,0.999999967849,-4.03463775999e-05,-0.000246967664279,-4.1006578067e-05,1793190357182822912
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671.655209519,663.655209519,632,877.655209519,782,799,649,626,648.655209519,0.423538123222,-0.00554270205322,0.0599118679897,0.999999988471,-3.71167874253e-05,-0.00014187418907,-3.93965372488e-05,1793190357199489792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.241770051,742,711.241770051,671.758229949,664.241770051,632,878,782,799,649,626.241770051,649,0.424474674872,-0.00554523954957,0.0599644855581,0.999999997299,-3.73716971139e-05,-5.12709838575e-05,-3.70999641166e-05,1793190357216156416
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diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99dea4e6f35cac2aa753cc7a1571ed1acd21ffda
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575724097102,0.000219751528781,1.05002823581,0.546294506488,0.00889145734588,1.04969923979
+385,6.416666667,pose2_to_pose3_retreat,0.575723973471,0.000219755347068,1.05002822512,0.54629438278,0.00889146093909,1.04969923004
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+390,6.500000000,pose2_to_pose3_retreat,0.575722982491,0.00021966148902,1.0500284344,0.546293394561,0.00889137635565,1.04969943681
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diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b32798d918364c9f7c7748fe634c67bf1b035b07
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0e7637ffc9b04a436341082ca59ab4c319cca9e72c2f2b53e3b1a735bf141e
+size 25395528
diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8bcddb350e6d304b0b0f417dc4e92e0a52e26f2
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+27,0.450000000,BASELINE,764,741.658435184,711.658435184,670,662,632,875.341564816,782,798.658435184,649.658435184,626,649,0.400965303475,-0.00539380364493,0.0598437764002,0.99999994703,0.000197768745541,-0.00025799959897,1.62265555892e-05,1793190361679987456
+28,0.466666667,BASELINE,764,742,712,670,662.23285437,632,875,782,799,649.76714563,626,649,0.4009651642,-0.00539356276767,0.0598435367605,0.999999946948,0.000198027710443,-0.000258125052754,1.61178574159e-05,1793190361696654080
+29,0.483333333,BASELINE,764,742,712,670,662.807237196,632,875,782,799,649.192762804,626,649,0.40096578804,-0.00539289467618,0.0598447574362,0.999999946726,0.000200403440094,-0.000257136500105,1.6344876738e-05,1793190361713320192
+30,0.500000000,BASELINE,764,741.604104376,712,670,662.604104376,632,875,782,799,649,626,649,0.400964933862,-0.0053925143514,0.0598443132169,0.999999946208,0.000201748760597,-0.00025809241821,1.63992958575e-05,1793190361729986560
+31,0.516666667,BASELINE,764,741.008235116,712,670,662.008235116,632,875,782,799,649,626,649,0.400963333111,-0.0053922793825,0.0598430280306,0.99999994554,0.00020257360378,-0.000260030521709,1.63665316621e-05,1793190361746653184
+32,0.533333333,BASELINE,764,741.568189155,711.431810845,670,662,632,875.568189155,782,799,649,626.568189155,649,0.400964830704,-0.00539290582393,0.0598440538786,0.999999946402,0.000200451659001,-0.000258360982395,1.62684882349e-05,1793190361763319808
+33,0.550000000,BASELINE,764,742,711,670,662.14358738,632,875.85641262,782,799.14358738,649,626.85641262,649,0.400966091983,-0.00539316271041,0.0598449803668,0.999999947092,0.000199002356851,-0.000256815025725,1.61466791477e-05,1793190361779986688
+34,0.566666667,BASELINE,764,742,711,670,662.716731203,632,875.283268797,782,799.716731203,649,626.283268797,649,0.400966516407,-0.00539227792098,0.0598455127207,0.999999947221,0.000199688877082,-0.000255790027765,1.59565094496e-05,1793190361796653568
+35,0.583333333,BASELINE,764,741.70011038,711,670,663,632,875.29988962,782,799.70011038,649,626.29988962,649,0.400966535196,-0.00539189706513,0.0598454884769,0.99999994716,0.000200207992533,-0.000255619970292,1.59518774332e-05,1793190361813320192
+36,0.600000000,BASELINE,764,741.10716553,711,670,663,632,875.89283447,782,799.10716553,649,626.89283447,649,0.400966157593,-0.00539200865829,0.0598449203201,0.999999946916,0.000200563518386,-0.00025628536936,1.61285547316e-05,1793190361829986560
+37,0.616666667,BASELINE,764,741,711,670,662.525675609,632,876,782.474324391,799,649,627,649,0.400966341827,-0.00539222434713,0.0598449303016,0.999999946907,0.000200161408268,-0.000256629571407,1.62357061689e-05,1793190361846653440
+38,0.633333333,BASELINE,764,741.050676672,711,670,662.050676672,632,876,782.949323328,799,649,627,649.050676672,0.40096641799,-0.00539249040853,0.0598449734502,0.999999946892,0.000199719655775,-0.000257022488521,1.6335084085e-05,1793190361863320064
+39,0.650000000,BASELINE,764,741.601275709,711,670,662.601275709,632,876,782.398724291,799,649,627,649.601275709,0.400964205325,-0.00539302685308,0.0598440856116,0.999999946321,0.000200535645296,-0.000258594984963,1.65090830142e-05,1793190361879986688
+40,0.666666667,BASELINE,764,741.83032903,711.16967097,670,662.83032903,632,876,782,799,649,626.83032903,649.83032903,0.400963123905,-0.00539322668442,0.0598435416982,0.999999945969,0.000201410746218,-0.000259269625881,1.6580150893e-05,1793190361896653312
+41,0.683333333,BASELINE,764,741.215212502,711.784787498,670,662.215212502,632,876,782,799,649,626.215212502,649.215212502,0.400965012395,-0.00539254278844,0.0598439007086,0.999999946199,0.000202441035162,-0.000257587082351,1.63809888022e-05,1793190361913319936
+42,0.700000000,BASELINE,764,741.37625488,712,670,662.37625488,632,875.62374512,782,798.62374512,649,626.37625488,649,0.400966524821,-0.00539291813999,0.0598448977962,0.99999994688,0.000200772775817,-0.000256248778754,1.63485781234e-05,1793190361929986816
+43,0.716666667,BASELINE,764,741.954995208,712,670,662.954995208,632,875.045004792,782,798.045004792,649,626.954995208,649,0.400967834866,-0.00539386353656,0.0598462382716,0.999999947795,0.000197652264809,-0.000255095731485,1.64059064452e-05,1793190361946653952
+44,0.733333333,BASELINE,764,742,712,670.531621325,663,632,875.531621325,782,798,649,626.468378675,649,0.400967004739,-0.00539232031143,0.0598456572541,0.999999947185,0.000199961845659,-0.000255707474109,1.6083565758e-05,1793190361963320320
+45,0.750000000,BASELINE,764,742,711.891960519,670.891960519,663.108039481,632,875.891960519,782,798,649,626,649,0.400965945017,-0.00539107122899,0.0598449463601,0.999999946553,0.000202070803644,-0.000256532698546,1.58715554663e-05,1793190361979986688
+46,0.766666667,BASELINE,764,742,711.315671195,670.315671195,663.684328805,632,875.315671195,782,798,649,626,649,0.400964672334,-0.00539200644617,0.0598443747833,0.999999946413,0.000201325822616,-0.000257638224053,1.62764740632e-05,1793190361996653056
+47,0.783333333,BASELINE,764,742,711.266332358,670,663.733667642,632,875,782,798,649,626.266332358,649,0.40096411532,-0.00539267289582,0.0598439846921,0.999999946378,0.000200699751442,-0.000258254677093,1.63679016142e-05,1793190362013319680
+48,0.800000000,BASELINE,764,742,711.855257295,670,663.144742705,632,875,782,798,649,626.855257295,649,0.400964425153,-0.00539301380343,0.0598438144236,0.999999946473,0.000200217708618,-0.000258278745824,1.6079616119e-05,1793190362029986304
+49,0.816666667,BASELINE,764,742,711.563005152,670.436994848,663,632,875,782,798.436994848,649,626.563005152,649,0.400964307063,-0.0053934350819,0.0598439099877,0.999999946519,0.000200450418934,-0.000257913587599,1.62071586229e-05,1793190362046653184
+50,0.833333333,BASELINE,764.016244942,741.983755058,711,670.983755058,663,632,875.016244942,782,799,649.016244942,626,649,0.400964083088,-0.00539386935869,0.0598441067398,0.999999946556,0.000200884899601,-0.000257416080884,1.64610732833e-05,1793190362063319808
+51,0.850000000,BASELINE,764.590503299,741.409496701,711,670.409496701,663,632,875.590503299,782,799,649.590503299,626,649,0.400965011843,-0.00539385050508,0.0598448037295,0.999999946861,0.000200249671544,-0.000256729177909,1.64013407494e-05,1793190362079986688
+52,0.866666667,BASELINE,764.831274338,741.168725662,711,670.168725662,663,632,876.168725662,782,799,650,626.168725662,649.168725662,0.400965796288,-0.0053935251104,0.0598453499209,0.999999947107,0.000200066354546,-0.000255914284271,1.6327606036e-05,1793190362096653568
+53,0.883333333,BASELINE,764.243199916,741.756800084,711,670.756800084,663,632,876.756800084,782,799,650,626.756800084,649.756800084,0.400966222067,-0.00539243784217,0.0598455213198,0.99999994721,0.00020100621197,-0.000254781284192,1.62190704755e-05,1793190362113320192
+54,0.900000000,BASELINE,764,742,711,670.660190619,663,632,876.660190619,782,798.660190619,649.660190619,626.660190619,649.660190619,0.400966364942,-0.00539217936086,0.059845446435,0.999999947064,0.000201589208026,-0.000254891059762,1.62842958437e-05,1793190362129986816
+55,0.916666667,BASELINE,764,742,711,670.080753191,663,632,876.080753191,782,798.080753191,649.080753191,626.080753191,649.080753191,0.400966308316,-0.00539250532664,0.0598451978749,0.999999946742,0.000201920551209,-0.000255877220547,1.64720545964e-05,1793190362146653440
+56,0.933333333,BASELINE,764,742,711,670,662.503636719,632,876,782,798,649,626,649,0.400967034612,-0.00539295969568,0.0598459513947,0.999999947119,0.000200862884702,-0.000255248001079,1.62852309122e-05,1793190362163320064
+57,0.950000000,BASELINE,764.072729005,742,711,670.072729005,662,632.072729005,876,782,798,649,626,649,0.400967674199,-0.0053932886279,0.0598466322799,0.999999947463,0.000200070065281,-0.000254532205215,1.60846818899e-05,1793190362179986688
+58,0.966666667,BASELINE,764.646511579,742,711,670.646511579,662,632.646511579,876,782,798,649,626,649,0.400966842995,-0.0053926101379,0.0598456948367,0.999999946817,0.000202651450016,-0.000255022083821,1.62074608537e-05,1793190362196653568
+59,0.983333333,BASELINE,764.773052221,742,711.226947779,671,662,632.773052221,876,782,798.226947779,649,626,649,0.40096666784,-0.00539254087471,0.0598451281889,0.999999946624,0.000203275544637,-0.000255266048669,1.64124546347e-05,1793190362213320192
+60,1.000000000,BASELINE,764.181939385,742,711.818060615,671,662,632.181939385,876,782,798.818060615,649,626,649,0.400967545396,-0.00539344918927,0.0598451565269,0.999999947166,0.000200758931831,-0.00025511541534,1.67493720153e-05,1793190362229986816
+61,1.016666667,BASELINE,764.400886085,742,711.599113915,670.599113915,662.400886085,632,876,782,799,649,626.400886085,649,0.400967290645,-0.00539420748987,0.0598453579094,0.999999947618,0.000199011690825,-0.000254715727568,1.66789080289e-05,1793190362246652928
+62,1.033333333,BASELINE,764.980026534,742,711.019973466,670.019973466,662.980026534,632,876,782,799,649,626.980026534,649,0.400966532411,-0.00539489908658,0.0598456362362,0.999999948031,0.000197606551844,-0.00025420529752,1.64273015249e-05,1793190362263319552
+63,1.050000000,BASELINE,763.890750368,741.445375184,711,670,663,632.554624816,876,782,798.445375184,649,626.445375184,649,0.400967032884,-0.00539498329202,0.0598470239523,0.999999948014,0.000198737022069,-0.000253382546179,1.65397987134e-05,1793190362279986176
+64,1.066666667,BASELINE,763.12959738,741.12959738,711.12959738,670,663,632.87040262,876,782,798.12959738,649,626,649,0.400967430852,-0.00539468593348,0.0598478800567,0.999999947903,0.000199884639251,-0.000252914449736,1.65712802822e-05,1793190362296652800
+65,1.083333333,BASELINE,763.706421415,741.706421415,711.706421415,670,663,632.293578585,876,782,798.706421415,649,626,649,0.400967319931,-0.00539314670928,0.059846764876,0.999999947527,0.000200778874227,-0.000253708727941,1.62783040196e-05,1793190362313319680
+66,1.100000000,BASELINE,764,741.710144749,711.710144749,670,662.710144749,632,876,782,799,649.289855251,626.289855251,649,0.400967055711,-0.00539275356556,0.059845694484,0.999999947463,0.00020028557806,-0.000254362963824,1.61050653027e-05,1793190362329986304
+67,1.116666667,BASELINE,764,741.119860016,711.119860016,670,662.119860016,632,876,782,799,649.880139984,626.880139984,649,0.400966632597,-0.00539354831266,0.0598446705146,0.999999947719,0.000198354132069,-0.000254872048441,1.6055932304e-05,1793190362346652928
+68,1.133333333,BASELINE,764,741.461414014,711.461414014,670,662.461414014,632,876,782,799,649.538585986,626.538585986,649,0.400965937994,-0.00539310071714,0.0598449175054,0.999999947612,0.000198754281113,-0.000254986035044,1.597465947e-05,1793190362363319552
+69,1.150000000,BASELINE,764.039967029,742,711.960032971,670.039967029,663,632,875.960032971,782,799,649,626,649,0.400965172715,-0.00539239320884,0.059845409759,0.999999947386,0.000199724980374,-0.000255115591391,1.59151295135e-05,1793190362379986432
+70,1.166666667,BASELINE,764.61285031,742,711.38714969,670.61285031,663,632,875.38714969,782,799,649,626,649,0.400964387409,-0.00539244073358,0.0598448544152,0.99999994682,0.000200382073747,-0.000256795042429,1.62547074583e-05,1793190362396653312
+71,1.183333333,BASELINE,764.809124795,742,711.190875205,670.809124795,663,632,875.190875205,782,798.809124795,649,626,649,0.400964140671,-0.00539284497999,0.0598445117754,0.999999946626,0.000200393253972,-0.000257526967471,1.64547991575e-05,1793190362413319936
+72,1.200000000,BASELINE,764.22038243,742,711.77961757,670.22038243,663,632,875.77961757,782,798.22038243,649,626,649,0.400965016543,-0.00539399278994,0.0598446125033,0.999999947213,0.000199058069664,-0.000256283835467,1.6364140759e-05,1793190362429986816
+73,1.216666667,BASELINE,764,742,712,670.362802087,663,632,876,782,798.362802087,649,626.362802087,649,0.400965313462,-0.00539426726487,0.0598448306952,0.999999947372,0.000198358749465,-0.000256216297577,1.62283121772e-05,1793190362446653440
+74,1.233333333,BASELINE,764,742,712,670.942661419,663,632,876,782,798.942661419,649,626.942661419,649,0.400965264007,-0.00539401924082,0.0598451191635,0.999999947275,0.000198039854148,-0.000256852094249,1.60654591822e-05,1793190362463319552
+75,1.250000000,BASELINE,764,741.480331329,711.480331329,671,663,632,876,782,799,649,627,649,0.400965241685,-0.00539336825357,0.0598451123901,0.999999947277,0.000198907621749,-0.000256169684612,1.60942475795e-05,1793190362479986176
+76,1.266666667,BASELINE,764,741.097478561,711.097478561,671,663,632,876,782,799,649,626.902521439,649,0.40096544116,-0.00539269965332,0.0598452298914,0.999999947323,0.000199834752566,-0.000255265470072,1.61420341903e-05,1793190362496653056
+77,1.283333333,BASELINE,764,741.680849309,711.680849309,671,663,632,876,782,799,649,626.319150691,649,0.400966731356,-0.0053921636735,0.059846128346,0.999999947535,0.000200408700577,-0.00025397668264,1.61796947295e-05,1793190362513319936
+78,1.300000000,BASELINE,764,742,711.736625292,670.736625292,663,632,876,782,799,649,626.263374708,649,0.400967721326,-0.00539198572177,0.0598469057829,0.999999947778,0.000200670319463,-0.000252812271077,1.61686918305e-05,1793190362529986816
+79,1.316666667,BASELINE,764,742,711.155121028,670.155121028,663,632,876,782,799,649,626.844878972,649,0.400968348653,-0.0053922402312,0.0598475370429,0.999999948058,0.000200554676851,-0.000251798092864,1.60989085011e-05,1793190362546653184
+80,1.333333333,BASELINE,764,742,711.424832647,670,663,632,876,782,799,649,626.575167353,649,0.40096629207,-0.00539198886169,0.0598464483787,0.999999947444,0.000201344762563,-0.000253607396872,1.60130429194e-05,1793190362563319808
+81,1.350000000,BASELINE,764,742,711.995836628,670,663,632,876,782,799.004163372,649,626,649,0.400963290862,-0.00539156149963,0.0598447476226,0.999999946506,0.000202444902896,-0.000256419080314,1.59210634722e-05,1793190362579986176
+82,1.366666667,BASELINE,764,742,711.424527125,670,663,632,876,782,799.575472875,649,626,649,0.400964621465,-0.00539223067248,0.0598449033099,0.999999946966,0.000200894775293,-0.000255849413553,1.57932535362e-05,1793190362596652800
+83,1.383333333,BASELINE,764.151863088,742,711.151863088,670.151863088,663,632,876,782,799.848136912,649,626,649,0.400965571717,-0.00539263114766,0.0598449633965,0.999999947202,0.00020017789053,-0.00025549427777,1.57558022633e-05,1793190362613319680
+84,1.400000000,BASELINE,764.742947979,742,711.742947979,670.742947979,663,632,876,782,799.257052021,649,626,649,0.400965421909,-0.00539225448957,0.0598447469847,0.99999994679,0.000201870928906,-0.000255759613127,1.59796882978e-05,1793190362629986304
+85,1.416666667,BASELINE,764.671085491,742,712,670.671085491,662.671085491,632,876,782.328914509,798.671085491,649,626,649,0.40096561847,-0.00539194592806,0.0598453459591,0.999999946861,0.000202460795808,-0.000255008131465,1.6081627051e-05,1793190362646652928
+86,1.433333333,BASELINE,764.089057786,742,712,670.089057786,662.089057786,632,876,782.910942214,798.089057786,649,626,649,0.400966081576,-0.00539168976966,0.0598465724064,0.999999947303,0.000202201726943,-0.000253474167412,1.60897223596e-05,1793190362663319808
+87,1.450000000,BASELINE,764,742,711.513766218,670,662.486233782,632,876,782.513766218,798,649,626.486233782,649,0.400965745113,-0.00539181151675,0.0598462532786,0.999999947249,0.000201768033196,-0.000254032159168,1.61034275183e-05,1793190362679986944
+88,1.466666667,BASELINE,764,742,711,670,662.939564228,632,875.939564228,782,798,649,626.939564228,649,0.400965255034,-0.0053919170419,0.0598456802457,0.999999947085,0.000201486581517,-0.00025490009994,1.60974264244e-05,1793190362696653824
+89,1.483333333,BASELINE,764,742,711,670,662.364277392,632,875.364277392,782,798,649,626.364277392,649,0.400964686838,-0.00539130277547,0.0598453228444,0.999999946755,0.000202770824731,-0.000255188966943,1.59149146121e-05,1793190362713320192
+90,1.500000000,BASELINE,764,742,711,670.217454082,662.217454082,632,875,782,798,649,626.217454082,649,0.400964206564,-0.00539069113877,0.0598449900055,0.999999946395,0.000203984203084,-0.000255642053933,1.57530467908e-05,1793190362729986304
+91,1.516666667,BASELINE,764,742,711,670.810311232,662.810311232,632,875,782,798,649,626.810311232,649,0.400963878075,-0.00539008404199,0.0598446995704,0.999999945985,0.000205075243357,-0.000256378642984,1.56268178579e-05,1793190362746652928
+92,1.533333333,BASELINE,764,742,711,670.606250316,663,632,875.393749684,782,798,649,626.606250316,649,0.40096453875,-0.00539014344215,0.0598449390041,0.999999946331,0.000203797423099,-0.000256043700556,1.57150855487e-05,1793190362763319808
+93,1.550000000,BASELINE,764,742,711,670.027243265,663,632,875.972756735,782,798,649,626.027243265,649,0.400965664823,-0.00539051642592,0.0598454277386,0.999999947027,0.000201405065245,-0.00025520460769,1.59042728767e-05,1793190362779986688
+94,1.566666667,BASELINE,764,742,711,670.544968947,662.455031053,632,876,782,798.544968947,649,626.544968947,649.544968947,0.40096601933,-0.00539023924916,0.0598455297883,0.999999946865,0.000203044634613,-0.000254524886036,1.61022705492e-05,1793190362796653568
+95,1.583333333,BASELINE,764,742,711,670.882814482,662,632,875.882814482,782,798.882814482,649,627,649.882814482,0.400966244271,-0.00539019081573,0.0598457358934,0.999999946798,0.000204098900522,-0.000253935666034,1.62434856368e-05,1793190362813320192
+96,1.600000000,BASELINE,764,742,711,670.309274262,662,632,875.309274262,782,798.309274262,649,627,649.309274262,0.400966113006,-0.0053911581887,0.0598464215725,0.999999947274,0.000202098564236,-0.000253668241821,1.61618787232e-05,1793190362829986816
+97,1.616666667,BASELINE,764,742,711.275260815,670,662,632,875.275260815,782,798.275260815,649,626.724739185,649,0.40096553827,-0.00539189916418,0.0598462535177,0.999999947221,0.000201274300446,-0.000254535354441,1.60684915579e-05,1793190362846653440
+98,1.633333333,BASELINE,764,742,711.872663297,670,662,632,875.872663297,782,798.872663297,649,626.127336703,649,0.400964444533,-0.00539237518338,0.0598450863258,0.99999994655,0.000201826411228,-0.00025673023175,1.59613178004e-05,1793190362863320064
+99,1.650000000,BASELINE,764,742,711.547854373,670,662,632,875.547854373,782,799,649,626,649,0.400965083598,-0.00539386973702,0.0598457548504,0.999999947232,0.000200161899655,-0.000255354089515,1.62867318938e-05,1793190362879986688
+100,1.666666667,BASELINE,764,742,711.026750147,670,662,632,875.026750147,782,799,649,626.026750147,649.026750147,0.400966064033,-0.00539546701853,0.0598468096801,0.999999948174,0.00019814330857,-0.000253207064593,1.66790529003e-05,1793190362896653312
+101,1.683333333,BASELINE,764,742,711.60087607,670,662,632,875.60087607,782,799,649,626.60087607,649.60087607,0.400964424648,-0.00539352051336,0.0598455936931,0.999999947104,0.000201166359153,-0.00025508042005,1.60425721374e-05,1793190362913319936
+102,1.700000000,BASELINE,764.179466719,742,711.820533281,670,662.179466719,632,875.820533281,782,799,649,627,649.820533281,0.400963823856,-0.00539225852517,0.0598451498714,0.999999946533,0.000203155557174,-0.000255763728742,1.5702982215e-05,1793190362929986304
+103,1.716666667,BASELINE,764.768239907,742,711.231760093,670,662.768239907,632,875.231760093,782,799,649,627,649.231760093,0.400965591766,-0.0053925577026,0.0598464671131,0.99999994712,0.000202786866133,-0.000253732919264,1.60405058979e-05,1793190362946653184
+104,1.733333333,BASELINE,764.647766682,742,711,670,662.647766682,632,875.352233318,782,799,649.352233318,627,649,0.400966588364,-0.00539268411956,0.0598470062558,0.999999947655,0.000201431903392,-0.000252692386196,1.62054681003e-05,1793190362963320064
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+106,1.766666667,BASELINE,764,742,711,670,662.509025662,632,876,782,799,650,626.490974338,649,0.400966159215,-0.00539195485379,0.059845933349,0.999999947846,0.000199501725902,-0.000253486714598,1.58323597171e-05,1793190362996653056
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,875,782,799,649,627,649,0.400965691939,-0.00539423554136,0.0598461559781,0.999999948103,0.000197542877602,-0.000253978220215,1.62877343378e-05,1793190363039916544
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.590014874,742,711,671,663,632,876.180029748,782,798.409985126,649,626.409985126,649,0.4009658053,-0.00539484813653,0.0598460910435,0.999999947759,0.000199550344312,-0.000253739259109,1.66928226124e-05,1793190363056583936
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.822981082,742,711,670.822981082,662.822981082,632,876.822981082,782,798,649,626,649,0.400966119179,-0.00539498430663,0.0598464181213,0.999999947654,0.000200683799171,-0.000253243040461,1.69131165773e-05,1793190363073251328
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.242833545,742,711,670.242833545,662.242833545,632,876.242833545,782,798,649,626,649,0.400966889702,-0.0053940355048,0.0598476379363,0.999999948102,0.000199826850262,-0.000252160964168,1.67125749511e-05,1793190363089918208
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,876,782,798.333109174,649,626,649,0.400966742465,-0.00539334867235,0.0598470554879,0.999999947884,0.000200175518823,-0.000252770524666,1.6392527669e-05,1793190363106584576
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,876,782,798.906024796,649,626,649,0.400965934531,-0.00539285043263,0.0598451755838,0.999999947183,0.000201392115623,-0.000254597900404,1.59864478637e-05,1793190363123250688
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.493071213,662,632,876,782,799,649,626.493071213,649,0.400966221163,-0.00539276193122,0.0598457901881,0.999999947574,0.00020000046951,-0.00025414978307,1.6096388417e-05,1793190363139917056
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670.918255057,662.163489886,632,876,782.081744943,799,649,627,649,0.400967444208,-0.00539297480657,0.0598471290425,0.999999948245,0.000198372241756,-0.000252765908039,1.6342763187e-05,1793190363156583168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.336585934,663.326828132,632,876,782.663414066,799,649,627,649,0.400973080569,-0.00539453912037,0.0598499037957,0.999999949323,0.000198427008122,-0.000248389810869,1.68043074979e-05,1793190363173249792
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663.757949957,632,875.757949957,782.757949957,799,649,627,649,0.400983311567,-0.00539527003908,0.0598543376139,0.999999951082,0.000198603903594,-0.000241037861602,1.71468863708e-05,1793190363189916672
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663.18347961,632,875.18347961,782.18347961,799,649,627,649,0.400999852625,-0.0053948564115,0.0598610499148,0.999999953702,0.000198948525497,-0.000229599015402,1.73260835884e-05,1793190363206583296
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.390987604,782,799,649.390987604,627,649,0.401032655345,-0.00539606713685,0.0598739255243,0.999999958684,0.000198688105321,-0.000206943654562,1.81721592743e-05,1793190363223250176
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.965453397,782,799,649.965453397,627,649,0.401073089153,-0.00539804011993,0.0598896933815,0.999999964158,0.000198143757827,-0.000179024734921,1.93311800628e-05,1793190363239917056
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670.557146757,662.442853243,632,876,782,799,649.442853243,626.442853243,649,0.401134312619,-0.00539830980248,0.0599034045196,0.99999996737,0.000198077371997,-0.00016010950663,1.97407611752e-05,1793190363256583680
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.853969985,662.146030015,632,876,782,799,649,626.146030015,649,0.401200097276,-0.00539932041493,0.0599150892334,0.999999970084,0.000197169263959,-0.000143390859171,1.99000942114e-05,1793190363273250560
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670.276641835,662.723358165,632,876,782,799,649,626.723358165,649,0.401275424581,-0.00540284124312,0.0599211776027,0.999999972413,0.00019368481382,-0.000131458283552,1.94619501122e-05,1793190363289917184
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.299181889,742,711,670,662.700818111,632,876,782,799,649.299181889,626.700818111,649,0.401360804204,-0.00540603765214,0.0599250858215,0.999999973719,0.000191884310731,-0.000124021037399,1.89909664957e-05,1793190363306583552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.873621453,742,711,670,662.126378547,632,876,782,799,649.873621453,626.126378547,649,0.401455432304,-0.00540893558411,0.0599269882262,0.999999974181,0.000191633097337,-0.000120719650405,1.8489769417e-05,1793190363323249920
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.53986225,742,711,670,662.46013775,632,875.53986225,782.46013775,799,649.53986225,626.46013775,649.46013775,0.401571161718,-0.00541316732396,0.0599304708542,0.999999975423,0.000189888962085,-0.000113063332971,1.76702272501e-05,1793190363339916544
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.0491695,670,663,632,875.0491695,782.9508305,799,649,626.9508305,649.9508305,0.401695484967,-0.00541768869829,0.0599341172506,0.99999997684,0.000187452207699,-0.000104426334174,1.66409207375e-05,1793190363356583424
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.62859398,670,663,632,875.62859398,782.37140602,799,649,626.37140602,649.37140602,0.401848300928,-0.00542127643111,0.0599347231018,0.999999978472,0.000182087204465,-9.84601052047e-05,1.4317797937e-05,1793190363373250304
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.793280507,670,662.793280507,632,876,782,799,649,626,649,0.402010994886,-0.00542490092935,0.0599353488858,0.999999979867,0.000177409093189,-9.30166092946e-05,1.18564570406e-05,1793190363389916928
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.217474297,670,662.217474297,632,876,782,799,649,626,649,0.40219132547,-0.00542859106994,0.0599360102586,0.999999980911,0.000173957391751,-8.85064262543e-05,9.14833529617e-06,1793190363406583808
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+133,2.216666667,POSE1_TO_POSE2_PRESS,764,741.110471665,711,670,662.889528335,632.889528335,876,782,798.110471665,649.110471665,626.889528335,649,0.403123168186,-0.00545429730939,0.0599354878176,0.999999986999,0.000142295897438,-7.581238797e-05,-2.70104511023e-06,1793190363473250048
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+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662.769765651,632,876.769765651,782,799,649,626,649,0.409387434184,-0.00554284575408,0.0599482263428,0.999999987846,-0.000124168863998,-8.53606732661e-05,-4.00548519008e-05,1793190363706584832
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662.194650072,632,876.194650072,782,799,649,626,649,0.410036661155,-0.00555504948709,0.0599494506353,0.999999996568,-5.95231530954e-06,-8.19797649223e-05,-1.04184513888e-05,1793190363723251200
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.38874104,670.38874104,662.38874104,632,876,782,799,649,626,649,0.410698361206,-0.00554978249327,0.0599524518526,0.999999997281,2.2351761466e-05,-6.99917909567e-05,-6.2846262252e-06,1793190363739917312
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.976365984,670.976365984,662.976365984,632,876,782,799,649,626,649,0.411366442593,-0.00553557729606,0.0599563621627,0.999999998437,4.65569213813e-06,-5.36003544298e-05,-1.5198181035e-05,1793190363756583680
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.444391785,670.444391785,663,632,876.555608215,782,799,648.444391785,626,649,0.412051138342,-0.00553189217689,0.0599469932838,0.999999997251,-9.45508014797e-07,-7.06024717489e-05,-2.26141520255e-05,1793190363773250560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876.865477759,782,798.865477759,648.134522241,626,648.865477759,0.41273378451,-0.00553099924956,0.0599309987577,0.999999994351,-5.9869881417e-06,-0.000102231501592,-2.84677436411e-05,1793190363789916928
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876.286487625,782,798.286487625,648.713512375,626,648.286487625,0.413407358267,-0.00553787529007,0.0598949513628,0.999999983745,-1.08537325142e-05,-0.000177565006222,-2.93665072006e-05,1793190363806583552
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670.289574305,662.710425695,632,876.289574305,782,798.289574305,649,626,648.289574305,0.414155704174,-0.005542763446,0.0598881824254,0.999999981062,-2.20516446179e-05,-0.000190965658607,-3.03609482817e-05,1793190363823250176
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670.862768312,662.137231688,632,876.862768312,782,798.862768312,649,626,648.862768312,0.41497728475,-0.00554570459563,0.0599100898797,0.999999988401,-3.94505353542e-05,-0.000143707011851,-3.14490996117e-05,1793190363839917056
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.896790303,632,877,782,799,649,626,649,0.415809436818,-0.00554806765902,0.0599537388101,0.999999996725,-3.51374826019e-05,-6.6739552724e-05,-2.93331627631e-05,1793190363856583936
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.962727177,632,877,782,799,649,626,649,0.416642416237,-0.00555005263426,0.0600005225491,0.999999999252,-2.51026293053e-05,1.2844034457e-05,-2.64724252186e-05,1793190363873250560
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.383485853,632,877,782,799,649,626,649,0.417439040166,-0.00554918592922,0.0599933760919,0.99999999912,-3.12464704643e-05,-5.51148692861e-06,-2.74471766432e-05,1793190363889917184
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,877,782,799,649,626,648.805022501,0.41824408621,-0.00554791220226,0.0599802350355,0.999999998462,-3.66051983378e-05,-2.95520854542e-05,-2.93716219421e-05,1793190363906583808
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,877,782,799,649,626,648.228083233,0.419065631162,-0.00554584111766,0.0599553505334,0.999999996538,-4.04258854873e-05,-6.47297737402e-05,-3.31565216108e-05,1793190363923250176
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,741.654455517,711,671,663,632,877,782,798.654455517,649,626,648.345544483,0.419893082069,-0.00554553702272,0.0599305727185,0.999999993599,-3.99429012415e-05,-9.94906088692e-05,-3.61588286196e-05,1793190363939916544
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,741.082992927,711,671,663,632,877,782,798.082992927,649,626,648.917007073,0.420724394277,-0.00554638819145,0.0599058646568,0.999999989606,-3.66461624732e-05,-0.000133978902621,-3.86494738386e-05,1793190363956583168
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,741.507125239,711,671,663,632,877,782,798.507125239,649,626,649,0.421511817991,-0.00554457697079,0.0598717319642,0.999999977857,-3.61616898694e-05,-0.000203387159143,-4.01405001493e-05,1793190363973250048
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671.097980955,663,632,877,782,799,649,626,649,0.422316499827,-0.00554318526384,0.0598483077721,0.999999966338,-3.71942537143e-05,-0.000253466758112,-4.11804372104e-05,1793190363989917184
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671.676898549,663,632,877,782,799,649,626,649,0.423242494009,-0.00554607307742,0.0598853057985,0.999999982108,-4.3327805492e-05,-0.000179550036647,-4.08398670353e-05,1793190364006583808
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.253870922,742,711,671.746129078,663.253870922,632,877,782,799,649,626,648.746129078,0.424171194103,-0.0055482003628,0.0599332160789,0.999999993585,-4.45814933319e-05,-9.66351166802e-05,-3.8781435158e-05,1793190364023250432
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.828386519,742,711,671.171613481,663.828386519,632,877,782,799,649,626,648.171613481,0.425103311952,-0.00554936708439,0.059994908786,0.999999998613,-3.96718042451e-05,-2.35526006551e-06,-3.45533053026e-05,1793190364039917056
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.587614843,742,711,671.412385157,664,632,876.587614843,782,799,649,626,648,0.425990488328,-0.00555325953166,0.0600071628882,0.999999998357,-4.13064026298e-05,2.03256462955e-05,-3.41654310159e-05,1793190364056583424
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.999583006,664,632,876.000416994,782,799,649,626,648.000416994,0.426858506447,-0.00555831121617,0.0599983447717,0.999999998249,-4.5735077551e-05,1.24873125172e-05,-3.541495378e-05,1793190364073250304
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.419892952,664,632,876.580107048,782,799,649,626,648.580107048,0.427704739629,-0.00556090794355,0.0599698373278,0.999999997141,-5.93057030277e-05,-2.61114214598e-05,-3.89783770157e-05,1793190364089916928
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,877.158776879,782,799,649,626,649,0.428538152603,-0.00556173043943,0.0599443848069,0.999999995122,-6.54182112818e-05,-6.11901603628e-05,-4.16183882048e-05,1793190364106583552
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,877.734765871,782,799,649,626,649,0.429337878338,-0.00555789085287,0.0599269595957,0.99999999399,-5.19333009488e-05,-8.70195365445e-05,-4.18319837258e-05,1793190364123250176
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.31009597,663.68990403,632,877.68990403,782,799.31009597,649,626,648.68990403,0.430146938322,-0.00555519406526,0.0599110172246,0.999999991836,-4.00713031977e-05,-0.000113546253925,-4.27637342051e-05,1793190364139917056
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.884863664,663.115136336,632,877.115136336,782,799.884863664,649,626,648.115136336,0.430963965189,-0.00555347267449,0.0598963404814,0.999999988687,-2.95944872147e-05,-0.000140668161499,-4.43084410719e-05,1793190364156583936
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.472769611,663.472769611,632,877,782,799.054460779,649,626,648,0.431850939918,-0.00556088829041,0.0599351595482,0.999999994935,-5.96146439266e-05,-6.90364638148e-05,-4.25532192693e-05,1793190364173250048
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.062644241,711,672.937355759,664,632,877,782.062644241,798,649,626,648.062644241,0.432742679021,-0.00556949607767,0.0599818211179,0.999999994692,-9.34798618984e-05,1.58633016678e-05,-4.03252815247e-05,1793190364189916416
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.641618848,711,672.358381152,664,632,877,782.641618848,798,649,626,648.641618848,0.433529268003,-0.00556906520588,0.0599826717906,0.999999996295,-7.54244497797e-05,6.22895956543e-06,-4.10143411153e-05,1793190364206583296
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.780727303,711,672,663.780727303,632,877,782.780727303,798.219272697,649,626,649,0.434292110993,-0.00556862941988,0.0599675931695,0.999999996729,-6.4500801009e-05,-2.41530535604e-05,-4.24075449397e-05,1793190364223249920
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.205219097,711,672,663.205219097,632,877,782.205219097,798.794780903,649,626,649,0.435016375814,-0.0055681856501,0.0599266354484,0.999999992973,-6.51635774156e-05,-8.8242215804e-05,-4.4944717833e-05,1793190364239916544
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711.377244165,672,663.377244165,632,877,782,799,649,626,648.622755835,0.435740756302,-0.00556914785777,0.0599029728135,0.99999998806,-7.04131465114e-05,-0.000129477576539,-4.64481354056e-05,1793190364256583168
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711.963561977,672,663.963561977,632,877,782,799,649,626,648.036438023,0.436465200851,-0.00557088927655,0.0598888953438,0.99999998333,-7.82047760653e-05,-0.000158047058068,-4.73786321561e-05,1793190364273250048
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711.456731745,672,664.543268255,632,877,782,799,649,626,648,0.437165498886,-0.00557564627687,0.0598944061325,0.999999983232,-8.62633612958e-05,-0.000154821055828,-4.61080320528e-05,1793190364289917184
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.755594319,632,877,782,799,649,626,648,0.437855841516,-0.00557904019547,0.0598984704575,0.999999982874,-9.17002850066e-05,-0.000154403739015,-4.47497584261e-05,1793190364306584064
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.600211886,632,877,782,799,649,626,648,0.438515041191,-0.00557660865529,0.0598923052129,0.999999980393,-8.72995163596e-05,-0.000172308508448,-4.36083516192e-05,1793190364323250176
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663.276898056,632,877,782,799,649,626,648.276898056,0.439184756101,-0.00557493391105,0.0599058696381,0.999999984336,-8.06723398011e-05,-0.000151641311105,-4.27147156162e-05,1793190364339916544
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663.853159045,632,877,782,799,649,626,648.853159045,0.439865839309,-0.00557407736215,0.0599407644114,0.999999992563,-7.16381258134e-05,-8.92727824956e-05,-4.20889521462e-05,1793190364356583424
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.437986625,711.437986625,672,664,632,877,782,799,649,626,649,0.44050204173,-0.00558034869504,0.0599686472116,0.999999995051,-7.68741159026e-05,-4.75057186029e-05,-4.16138501129e-05,1793190364373250048
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.025377744,742.974622256,712,672,663.974622256,632,877,782,799,649,626.025377744,648.974622256,0.44111750728,-0.00558889826596,0.05999122275,0.999999995211,-8.70543166939e-05,-1.69651675851e-05,-4.13664776104e-05,1793190364389916928
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.604781471,742.395218529,712,672,663.395218529,632,877,782,799,649,626.604781471,648.395218529,0.441615305941,-0.00559397330235,0.0599502803263,0.999999991104,-9.86423637824e-05,-7.77183945291e-05,-4.49659901726e-05,1793190364406583808
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.240305765,742,712,672.759694235,663,632,877,782,799,649,626.240305765,648,0.442553903941,-0.00559275276518,0.0598651441097,0.999999972137,-0.000108420348064,-0.000203494505283,-5.06045085455e-05,1793190364439917568
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711.664523155,672.664523155,663,631.664523155,877,782,799,649,626.335476845,648.335476845,0.443004357064,-0.00559060286469,0.0598415486739,0.999999965403,-0.000104666183482,-0.000235793784187,-5.13801035843e-05,1793190364456583936
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711.08921662,672.08921662,663,631.08921662,877,782,799,649,626.91078338,648.91078338,0.44345188265,-0.00558945593611,0.0598321181786,0.999999963856,-9.72118395291e-05,-0.00024543547175,-5.09834040713e-05,1793190364473250048
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.498265525,672.498265525,663,631,877,782,799,649,627,649,0.443900057451,-0.00559222930317,0.0598450139772,0.99999996933,-9.49722819178e-05,-0.00022301291525,-5.0844835933e-05,1793190364489916672
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.086453618,742,711.913546382,673,663.086453618,631,877.086453618,782,799,649.086453618,626.913546382,649,0.444337044951,-0.00559590601497,0.0598599595947,0.999999974596,-9.33948489863e-05,-0.000198826453785,-5.05282969295e-05,1793190364506583296
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diff --git a/Obstacle_avoidance/ball_15A_20/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a72fa6f233e2f84e2aa78dd74e7808b3a1fcb6dd
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575725868296,0.000219626990036,1.05002843851,0.54629628024,0.00889134129996,1.04969943755
+384,6.400000000,pose2_to_pose3_retreat,0.575725767708,0.000219625146336,1.05002843316,0.546296179647,0.00889133944451,1.0496994323
+385,6.416666667,pose2_to_pose3_retreat,0.575725455464,0.000219619423147,1.05002841654,0.546295867388,0.00889133368486,1.04969941603
+386,6.433333333,pose2_to_pose3_retreat,0.575725436617,0.000219619077704,1.05002841554,0.54629584854,0.00889133333721,1.04969941505
+387,6.450000000,pose2_to_pose3_retreat,0.575725276704,0.00021961614663,1.05002840703,0.54629568862,0.00889133038746,1.04969940672
+388,6.466666667,pose2_to_pose3_retreat,0.575725162756,0.000219614058061,1.05002840096,0.546295574667,0.00889132828558,1.04969940078
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+390,6.500000000,pose2_to_pose3_retreat,0.575724684371,0.000219605289652,1.0500283755,0.546295096259,0.0088913194613,1.04969937585
+391,6.516666667,pose2_to_pose3_retreat,0.575724595789,0.000219603666018,1.05002837079,0.546295007673,0.00889131782732,1.04969937123
+392,6.533333333,pose2_to_pose3_retreat,0.575724416879,0.000219600386739,1.05002836127,0.546294828755,0.00889131452715,1.04969936191
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+395,6.583333333,pose2_to_pose3_retreat,0.575723695642,0.000219648979263,1.05002839092,0.546294106383,0.00889135932363,1.04969939305
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ea3970db32966e44e7220f75443fddbf3c8afe6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40420cca55192e95f65faf525c3d960db3868e38978df17677e708e6a4fc32ca
+size 24718378
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce043a72eb0b384b8d182b93a9c69cc2f08629f1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+12,0.200000000,BASELINE,764.962850346,742,711,670,664.037149654,632,875,782,799.925700692,649,627,649,0.400924746663,-0.00545443760959,0.0499164840408,0.99999997268,8.692358766e-07,-0.000231226629197,-3.42528108308e-05,1793190369471960576
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+14,0.233333333,BASELINE,764,742,711,670,664.883773153,632,875,782,798.883773153,649.883773153,627,649,0.400926572492,-0.00545368832682,0.049916933041,0.999999973081,5.92057013038e-06,-0.000229478427501,-3.380818362e-05,1793190369505294080
+15,0.250000000,BASELINE,764,742,711,670,664.308679747,632,875,782,798.308679747,649.308679747,627,649,0.40092570515,-0.00545303830455,0.0499171630209,0.999999972953,7.28843982243e-06,-0.00023000342723,-3.37620333653e-05,1793190369521960448
+16,0.266666667,BASELINE,764,742,711,670,664,632,875,782.274093505,798.274093505,649.274093505,626.725906495,649.274093505,0.400925289566,-0.00545274115911,0.0499173084524,0.999999972909,7.28555741175e-06,-0.00023017711865,-3.38622723601e-05,1793190369538627328
+17,0.283333333,BASELINE,764,742,711,670,664,632,875,782.865764959,798.865764959,649.865764959,626.134235041,649.865764959,0.40092539741,-0.0054528528738,0.0499173559221,0.999999972964,5.69445543999e-06,-0.000229943767292,-3.41321250005e-05,1793190369555294464
+18,0.300000000,BASELINE,764,741.553807423,711,670,664.446192577,632,875.446192577,783,799,650,626.446192577,649.553807423,0.400925929362,-0.00545296557732,0.0499173268732,0.999999973112,5.18478353774e-06,-0.000229281274498,-3.4347702593e-05,1793190369571960832
+19,0.316666667,BASELINE,764,741,711,670,664.976795976,632,875.976795976,782.976795976,799.023204024,649.976795976,626.976795976,649,0.400926548739,-0.00545305024941,0.0499172621759,0.999999973276,5.0032095347e-06,-0.000228539944536,-3.45366926631e-05,1793190369588627712
+20,0.333333333,BASELINE,764,741,711,670,664.402554669,632,875.402554669,782.402554669,799.597445331,649.402554669,626.402554669,649,0.400926288714,-0.00545246235509,0.0499168841566,0.999999973191,5.07695603582e-06,-0.0002289169949,-3.44725233991e-05,1793190369605294080
+21,0.350000000,BASELINE,764,741.176623981,711,670,664,632,875,782,799.823376019,649,626,649,0.400926143381,-0.00545270514375,0.04991670706,0.999999973162,3.91861897796e-06,-0.000229083157283,-3.43689508475e-05,1793190369621960704
+22,0.366666667,BASELINE,764,741.767379163,711,670,664,632,875,782,799.232620837,649,626,649,0.400926266968,-0.00545489563936,0.0499170010677,0.999999973252,-1.28591062274e-07,-0.000228754849423,-3.41729892032e-05,1793190369638627328
+23,0.383333333,BASELINE,764,741.648633942,711,670,664.351366058,632,875,782,799,649,626,649,0.400926149253,-0.0054546775025,0.049916864143,0.999999973189,-8.11639271822e-08,-0.000229035712551,-3.4117114621e-05,1793190369655293952
+24,0.400000000,BASELINE,764,741.069043232,711,670,664.930956768,632,875,782,799,649,626,649,0.400925874803,-0.00545289487407,0.0499164473124,0.99999997303,2.62587413744e-06,-0.000229712253698,-3.41522315096e-05,1793190369671960576
+25,0.416666667,BASELINE,764,741.50560183,711,670,664.49439817,632,875.50560183,782,799,649.50560183,626,649,0.400926291013,-0.00545338133651,0.0499168901671,0.999999973194,2.32550194879e-06,-0.000228982642641,-3.42442829826e-05,1793190369688627712
+26,0.433333333,BASELINE,764,742,711,670,664,632,876,782,799,650,626,649,0.400926555863,-0.00545417797048,0.049917233148,0.999999973322,1.55610607947e-06,-0.000228418737378,-3.43208765638e-05,1793190369705294336
+27,0.450000000,BASELINE,764,742,711,670,664,632,876,782,799,650,626,649,0.400925300082,-0.00545499519344,0.0499162333551,0.999999972948,3.99528911659e-07,-0.00023006573071,-3.42535993289e-05,1793190369721960960
+28,0.466666667,BASELINE,764,741.761463871,711,670.238536129,664.238536129,632,875.761463871,782,799,649.761463871,626,649,0.400924615949,-0.0054549631001,0.0499156432715,0.999999972748,8.52865119473e-07,-0.000230949710574,-3.41527165145e-05,1793190369738627584
+29,0.483333333,BASELINE,764,741.170749009,711,670.829250991,664.829250991,632,875.170749009,782,799,649.170749009,626,649,0.400924775804,-0.00545367706191,0.0499156580899,0.999999972802,3.68310444762e-06,-0.000230707164487,-3.40022178639e-05,1793190369755294208
+30,0.500000000,BASELINE,764,741.411248932,711,670.588751068,664.588751068,632,875,782,799,649.411248932,626.411248932,649,0.400925358564,-0.00545321444484,0.049916145368,0.999999972954,4.06081519045e-06,-0.000230048126994,-3.39660944844e-05,1793190369771960576
+31,0.516666667,BASELINE,764,741.989702747,711,670.010297253,664.010297253,632,875,782,799,649.989702747,626.989702747,649,0.400926113266,-0.00545308661294,0.0499168247379,0.999999973146,3.44138101151e-06,-0.000229219753149,-3.39764736097e-05,1793190369788627200
+32,0.533333333,BASELINE,764,742,711,670,664,632,875,782,799,649.438596211,627,649,0.400925655981,-0.00545455517289,0.0499162783779,0.999999973062,1.55284665341e-06,-0.000229618980188,-3.38853114182e-05,1793190369805293824
+33,0.550000000,BASELINE,764.133866611,742,711,670,664,632,875,782,799,649,626.866133389,649,0.400925406604,-0.00545553757945,0.0499158323772,0.999999972987,5.78407549693e-07,-0.000229964754727,-3.37982589982e-05,1793190369821960704
+34,0.566666667,BASELINE,764.709245435,742,711,670,664,632,875,782,799,649,626.290754565,649,0.400925915389,-0.00545482115345,0.0499157906455,0.999999972963,2.69465365492e-06,-0.000230060854245,-3.37308309324e-05,1793190369838627584
+35,0.583333333,BASELINE,764.705448267,742,711,670.294551733,664,632,875,782,799,649,626,649,0.400926039607,-0.00545456796779,0.0499158397247,0.999999972974,3.72984437015e-06,-0.000230008687999,-3.36877809995e-05,1793190369855294208
+36,0.600000000,BASELINE,764.110000605,742,711,670.889999395,664,632,875,782,799,649,626,649,0.400925770976,-0.00545478799989,0.049915981571,0.999999973021,3.66069566072e-06,-0.000229805062582,-3.36696342598e-05,1793190369871961088
+37,0.616666667,BASELINE,764,742,711,671,664,632,875,782,799,649.470054002,626,649,0.400925507669,-0.00545403127517,0.0499162216401,0.999999973024,3.46590974494e-06,-0.000229745855922,-3.40199865882e-05,1793190369888627456
+38,0.633333333,BASELINE,764,741.953345802,711,671,664,632,875,782,799,650,626.046654198,649,0.400925340855,-0.00545312843182,0.0499164640928,0.999999973037,3.37853784145e-06,-0.000229633746106,-3.43888499779e-05,1793190369905293824
+39,0.650000000,BASELINE,764,741.376363238,711,671,664,632,875,782,799,650,626.623636762,649,0.400926257185,-0.00545308052792,0.0499164806398,0.999999973293,4.83577684592e-06,-0.000228548284921,-3.40189635325e-05,1793190369921960448
+40,0.666666667,BASELINE,764,741,711,670.795776204,664,632,875,782,799,650,626.795776204,649,0.400927293688,-0.00545339725443,0.0499169004154,0.999999973545,5.18651088946e-06,-0.000227473078384,-3.37446132173e-05,1793190369938627328
+41,0.683333333,BASELINE,764,741,711,670.208427195,664,632,875,782,799,650,626.208427195,649,0.400928555635,-0.00545439803006,0.0499180766507,0.999999973796,3.46143410599e-06,-0.000226417109702,-3.36494893462e-05,1793190369955294208
+42,0.700000000,BASELINE,764,741.373593173,711.373593173,670,664.373593173,632.373593173,875.373593173,782,799.373593173,649.626406827,626,649,0.400927976509,-0.00545463819747,0.0499176702515,0.999999973593,4.52965364335e-06,-0.000227280273347,-3.37116078726e-05,1793190369971960832
+43,0.716666667,BASELINE,764,741.952682486,711.952682486,670,664.952682486,632.952682486,875.952682486,782,799.952682486,649.047317514,626,649,0.400926384694,-0.00545445998984,0.0499163933189,0.999999973135,7.13433495422e-06,-0.000229199062,-3.38602180933e-05,1793190369988627456
+44,0.733333333,BASELINE,764.528402678,742,711.471597322,670,664.471597322,632.471597322,875.471597322,782,799.471597322,649.528402678,626.528402678,649,0.400926768402,-0.0054534532801,0.0499164775971,0.999999973197,5.47143977448e-06,-0.000228951612526,-3.40174987511e-05,1793190370005294336
+45,0.750000000,BASELINE,764.896224622,741.896224622,711,670,664,632,875,782.103775378,799,649.896224622,627,649,0.400927098794,-0.00545258323871,0.0499165978287,0.999999973254,4.17221895451e-06,-0.000228718137989,-3.41091839046e-05,1793190370021961216
+46,0.766666667,BASELINE,764.321068779,741.321068779,711,670,664,632,875,782.678931221,799,649.321068779,627,649,0.400926388542,-0.00545266885161,0.049916331199,0.999999973088,6.24978758261e-06,-0.000229423690365,-3.38994091534e-05,1793190370038627328
+47,0.783333333,BASELINE,764,741.260773051,711,670,664,632,875,782.739226949,799,649,626.739226949,649,0.400926771353,-0.0054532796255,0.0499165148873,0.999999973178,6.6930357436e-06,-0.00022906041026,-3.36300108806e-05,1793190370055293952
+48,0.800000000,BASELINE,764,741.851063491,711,670,664,632,875,782.148936509,799,649,626.148936509,649,0.400928535376,-0.00545455400203,0.049917267605,0.99999997359,5.07112825625e-06,-0.000227346534833,-3.32852712545e-05,1793190370071960576
+49,0.816666667,BASELINE,764,742,711,670.432041997,664,632.432041997,875,782,799,649.432041997,626.432041997,649,0.400927882011,-0.00545469177527,0.0499169892696,0.999999973491,3.86360548039e-06,-0.000227778999376,-3.34559510599e-05,1793190370088627200
+50,0.833333333,BASELINE,764,741.990121296,711,670.990121296,664.009878704,632.990121296,875.009878704,782,799,650,627,649,0.400926456506,-0.00545443508847,0.049916381667,0.999999973226,2.83995981143e-06,-0.000228904973477,-3.37977512509e-05,1793190370105293824
+51,0.850000000,BASELINE,764,741.412250998,711,670.412250998,664.587749002,632.412250998,875.587749002,782,799,650,627,649,0.400927538766,-0.00545355116738,0.0499168472691,0.999999973362,4.34854329976e-06,-0.000228261163312,-3.39779988773e-05,1793190370121960704
+52,0.866666667,BASELINE,764.167827811,741.167827811,711,670,664.832172189,632,875.832172189,782.167827811,799,650,626.832172189,649,0.400928168835,-0.00545313373165,0.0499170199766,0.999999973458,5.16337524408e-06,-0.000227805768033,-3.4099674956e-05,1793190370138627584
+53,0.883333333,BASELINE,764.753403898,741.753403898,711,670,664.246596102,632,875.246596102,782.753403898,799,650,626.246596102,649,0.400927673332,-0.00545387744711,0.0499164636258,0.99999997346,4.25135676996e-06,-0.000227819365342,-3.40755577686e-05,1793190370155294208
+54,0.900000000,BASELINE,764.664707491,742,711,670,664.335292509,632,875,782.664707491,799,649.664707491,626,649,0.400927095293,-0.00545406023961,0.0499163589638,0.999999973483,3.86512939536e-06,-0.00022772287787,-3.40802868958e-05,1793190370171960576
+55,0.916666667,BASELINE,764.085501415,742,711,670,664.914498585,632,875,782.085501415,799,649.085501415,626,649,0.400926457213,-0.00545383498026,0.0499165828897,0.999999973522,3.86139668465e-06,-0.000227546307572,-3.41060007085e-05,1793190370188627200
+56,0.933333333,BASELINE,764.492350685,742,711,670.492350685,664.507649315,632,875,782,799,649.492350685,626.492350685,649,0.400926197467,-0.00545426175879,0.04991601165,0.999999973185,4.15723829839e-06,-0.000229078254058,-3.37090003856e-05,1793190370205294080
+57,0.950000000,BASELINE,764.930271404,742,711,671,664,632,875,782,799,650,626.930271404,649,0.400926178777,-0.00545485018604,0.0499154715048,0.999999972873,4.20066019698e-06,-0.00023048775388,-3.33526033697e-05,1793190370221960704
+58,0.966666667,BASELINE,764.354632924,742,711,671,664,632,875,782,799,650,626.354632924,649,0.400927433657,-0.00545579214509,0.0499161561019,0.999999973237,2.03625200248e-06,-0.000228862071299,-3.38219478629e-05,1793190370238627584
+59,0.983333333,BASELINE,764,742,711,670.77437878,664,632,875,782,798.77437878,650,626.22562122,649,0.400928534161,-0.00545567930457,0.049916946442,0.999999973618,1.89440767229e-06,-0.000227144029508,-3.41329222023e-05,1793190370255293952
+60,1.000000000,BASELINE,764,742,711,670.186718095,664,632,875,782,798.186718095,650,626.813281905,649,0.400929386949,-0.00545387389702,0.049917906461,0.999999974028,4.99803759591e-06,-0.00022527778474,-3.41897704938e-05,1793190370271960576
+61,1.016666667,BASELINE,764,741.603579348,711,670,664,632,875,782,798,649.603579348,626.603579348,649,0.400928949488,-0.00545367643714,0.0499173824386,0.999999973846,5.22810365894e-06,-0.000226100127498,-3.40447338302e-05,1793190370288627968
+62,1.033333333,BASELINE,764,741.022546493,711,670,664,632,875,782,798,649.022546493,626.022546493,649,0.400927911163,-0.00545422779497,0.0499161673013,0.999999973388,4.11995732112e-06,-0.000228174539518,-3.38056797946e-05,1793190370305295616
+63,1.050000000,BASELINE,764,741,711.55140584,670.55140584,664,632.55140584,875,782,798.55140584,649,626,649,0.400926708808,-0.00545288189409,0.0499156081908,0.999999973091,4.41952938579e-06,-0.000229382485237,-3.43681330778e-05,1793190370321961216
+64,1.066666667,BASELINE,764,741.12531766,711.87468234,671,664,632.87468234,875.12531766,782,799,649,626.12531766,649,0.400926057925,-0.00545198904946,0.0499154231017,0.999999972926,4.84230982581e-06,-0.000230042704744,-3.47227418912e-05,1793190370338627328
+65,1.083333333,BASELINE,764,741.700109384,711.299890616,671,664,632.299890616,875.700109384,782,799,649,626.700109384,649,0.400927408745,-0.00545299588852,0.0499164845164,0.99999997321,5.50316595242e-06,-0.000228863868277,-3.42158238917e-05,1793190370355293952
+66,1.100000000,BASELINE,764,742,711,671,664,632,876,782,799.284609233,649.284609233,627,649,0.400928395028,-0.00545355197496,0.0499171336174,0.999999973508,6.10317433338e-06,-0.000227595451798,-3.38800548826e-05,1793190370371960576
+67,1.116666667,BASELINE,764,742,711,671,664,632,876,782,799.879699673,649.879699673,627,649,0.400928983635,-0.00545361633371,0.0499173329237,0.999999973819,6.63680365293e-06,-0.000226229312246,-3.37309929377e-05,1793190370388627200
+68,1.133333333,BASELINE,764,742,711,670.541649353,664,632,876,782,799.541649353,650,627,649,0.400927673862,-0.00545320551026,0.0499164275829,0.99999997342,5.43667288933e-06,-0.000227975212765,-3.40122123231e-05,1793190370405294080
+69,1.150000000,BASELINE,764,742,711,670,664,632,876,782.032969448,798.967030552,649.967030552,626.967030552,649,0.400926024713,-0.00545268821126,0.0499153544337,0.999999972881,3.90925792951e-06,-0.00023030631408,-3.43786068857e-05,1793190370421960704
+70,1.166666667,BASELINE,764,742,711,670,664,632,876,782.609784575,798.390215425,649.390215425,626.390215425,649,0.400926711773,-0.00545240059776,0.0499161301363,0.999999973116,4.22947754513e-06,-0.000229283643461,-3.43516225598e-05,1793190370438627328
+71,1.183333333,BASELINE,764,742,711,670,664,632,875.810126759,782.810126759,798.189873241,649,626,649,0.400927463119,-0.0054522480965,0.0499166171066,0.999999973305,4.56700980544e-06,-0.000228459421972,-3.42751765688e-05,1793190370455293952
+72,1.200000000,BASELINE,764,742,711,670,664,632,875.223192389,782.223192389,798.776807611,649,626,649,0.400928348899,-0.00545237814061,0.0499165002826,0.999999973403,4.94074616415e-06,-0.000228050195239,-3.40952968059e-05,1793190370471960576
+73,1.216666667,BASELINE,764,741.641067735,711,670,664,632,875,782,799,649.358932265,626,649,0.400929390441,-0.00545193464098,0.049917041542,0.999999973733,6.48350807197e-06,-0.00022655287885,-3.4144355088e-05,1793190370488627200
+74,1.233333333,BASELINE,764,741.061894361,711,670,664,632,875,782,799,649.938105639,626,649,0.400930527557,-0.00545113921448,0.049917986602,0.999999974197,8.7435849196e-06,-0.000224387909849,-3.43338899384e-05,1793190370505293824
+75,1.250000000,BASELINE,764.513751743,741.513751743,711,670,664,632,875.513751743,782.513751743,799,649.486248257,626,649,0.400928717788,-0.00545224980967,0.0499169853753,0.999999973784,6.60406165102e-06,-0.000226322675304,-3.41664517872e-05,1793190370521960448
+76,1.266666667,BASELINE,764.911219423,742,711.088780577,670.088780577,664,632,875.911219423,782.911219423,799,649.088780577,626.088780577,649,0.400926751095,-0.00545319552707,0.0499158583233,0.999999973315,4.64966718177e-06,-0.00022845495953,-3.40204608182e-05,1793190370538627072
+77,1.283333333,BASELINE,764.337257465,742,711.662742535,670.662742535,664,632,875.337257465,782.337257465,799,649.662742535,626.662742535,649,0.400925853796,-0.00545199384492,0.0499153163221,0.999999973175,6.58389782268e-06,-0.000228985850991,-3.42251028373e-05,1793190370555293952
+78,1.300000000,BASELINE,763.755143742,742,711.755143742,670.755143742,664,632,875,782,799,650,627,649.244856258,0.400926086137,-0.00545185137393,0.0499155796357,0.999999973261,7.03290197539e-06,-0.000228596437559,-3.42274496809e-05,1793190370571960832
+79,1.316666667,BASELINE,763.161415401,742,711.161415401,670.161415401,664,632,875,782,799,650,627,649.838584599,0.400927927994,-0.00545321807094,0.0499169903649,0.999999973669,5.36574989124e-06,-0.000226895770344,-3.39415656093e-05,1793190370588627456
+80,1.333333333,BASELINE,763.418864974,742,711,670.418864974,664,632,875,782,799,650,626.581135026,649.581135026,0.400927563513,-0.00545343063171,0.0499168870692,0.999999973534,5.45522755378e-06,-0.000227508449392,-3.37944745472e-05,1793190370605294080
+81,1.350000000,BASELINE,763.994124244,742,711,670.994124244,664,632,875,782,799,650,626.005875756,649.005875756,0.400926375237,-0.00545321226535,0.0499162184725,0.999999973196,6.20058917219e-06,-0.000228984877202,-3.3699205496e-05,1793190370621960704
+82,1.366666667,BASELINE,764,742,711,670.428721566,664,632,875,782,799,649.428721566,626.571278434,649,0.400925227668,-0.00545382587905,0.0499147533788,0.999999972723,3.49160900662e-06,-0.000231093036414,-3.37351115012e-05,1793190370638627328
+83,1.383333333,BASELINE,764.147884758,742,711,670.147884758,664,632,875,782,799,649.147884758,627,649.147884758,0.400924844064,-0.00545416249721,0.0499140001874,0.99999997254,2.41574027924e-06,-0.000231902180798,-3.36968465875e-05,1793190370655293952
+84,1.400000000,BASELINE,764.72285254,742,711,670.72285254,664,632,875,782,799,649.72285254,627,649.72285254,0.40092666554,-0.0054536743729,0.0499153266678,0.999999973215,6.15915351271e-06,-0.000228941015549,-3.34404708603e-05,1793190370671960832
+85,1.416666667,BASELINE,765,742,711,670.691654349,664,632,875,782,799,649.691654349,626.691654349,649.691654349,0.400927930171,-0.00545399109363,0.0499159998514,0.99999997356,5.80481301919e-06,-0.000227440879032,-3.34202486683e-05,1793190370688627456
+86,1.433333333,BASELINE,765,742,711,670.09636655,664,632,875,782,799,649.09636655,626.09636655,649.09636655,0.400928676609,-0.00545505679192,0.0499160650859,0.999999973601,1.63716001468e-06,-0.000227300355589,-3.36197876673e-05,1793190370705294080
+87,1.450000000,BASELINE,764.516913792,742,711,670,664.483086208,632,875.483086208,782,799,649,626.483086208,649,0.400927209684,-0.00545476141234,0.0499155984268,0.999999973244,2.96593912535e-06,-0.000228847215683,-3.36400233768e-05,1793190370721960704
+88,1.466666667,BASELINE,764,742,711,670,664.940749163,632,876,782,799,649.059250837,627,649,0.400925603862,-0.0054542848339,0.0499151792871,0.999999972874,4.85373626595e-06,-0.000230428574096,-3.36341141042e-05,1793190370738627584
+89,1.483333333,BASELINE,764,742,711,670,664.366579786,632,876,782,799,649.633420214,627,649,0.400926506229,-0.00545451820789,0.0499160659312,0.999999973099,2.37354905943e-06,-0.000229477355581,-3.37019646021e-05,1793190370755294208
+90,1.500000000,BASELINE,764,742,711,670,664,632,876,782,798.786220768,650,626.786220768,649,0.400926995054,-0.00545458128331,0.0499164047,0.999999973293,1.00145074142e-06,-0.000228635171441,-3.37618125499e-05,1793190370771960832
+91,1.516666667,BASELINE,764,742,711,670,664,632,876,782,798.194931607,650,626.194931607,649,0.400926753609,-0.0054543436307,0.0499157759828,0.999999973439,1.58611225527e-06,-0.00022798552977,-3.38075288928e-05,1793190370788627712
+92,1.533333333,BASELINE,764,742,711,670,664,632,875.612530794,782,798,649.612530794,626.387469206,649,0.400926496639,-0.00545335954922,0.0499157120395,0.999999973346,2.76538140324e-06,-0.000228364364077,-3.39236060778e-05,1793190370805294336
+93,1.550000000,BASELINE,764,742,711,670,664,632,875.034501286,782,798,649.034501286,626.965498714,649,0.400926232035,-0.00545200836834,0.0499159258562,0.999999973133,4.23708315969e-06,-0.000229249010631,-3.40742872637e-05,1793190370821960704
+94,1.566666667,BASELINE,764,742,711,670,664.541075259,632,875,782,798.541075259,649.541075259,627,649,0.400927210049,-0.00545363326617,0.0499158048337,0.999999973277,2.51728678004e-06,-0.00022867490577,-3.38782224461e-05,1793190370838627328
+95,1.583333333,BASELINE,764,742,711,670,664.880898699,632,875,782,798.880898699,649.880898699,626.880898699,649,0.400927806459,-0.00545487417027,0.0499155870336,0.999999973337,1.21252113146e-06,-0.000228445203981,-3.37197016116e-05,1793190370855293952
+96,1.600000000,BASELINE,764,742,711,670,664.292609547,632,875,782,798.292609547,649.292609547,626.292609547,649,0.400926588843,-0.00545385817254,0.0499150717172,0.999999972991,2.34079218224e-06,-0.000229937018707,-3.37957886849e-05,1793190370871960576
+97,1.616666667,BASELINE,764,742,711,670.291085273,664,632,875,781.708914727,798.291085273,649,626.291085273,649,0.400926193635,-0.00545401871151,0.0499149057552,0.999999972925,2.3956190028e-06,-0.000230215349965,-3.38289543886e-05,1793190370888627456
+98,1.633333333,BASELINE,764,742,711,670.870233429,664,632,875,781.129766571,798.870233429,649,626.870233429,649,0.400926612294,-0.00545534357105,0.0499150855203,0.99999997314,1.38814728364e-06,-0.000229292797475,-3.38196443782e-05,1793190370905294080
+99,1.650000000,BASELINE,764,742,711,670.5519491,664,632,875,781.4480509,798.5519491,649,626.5519491,649.4480509,0.400927497172,-0.00545481482946,0.0499156753834,0.999999973403,1.8623357963e-06,-0.000228121655394,-3.39369741675e-05,1793190370921960704
+100,1.666666667,BASELINE,764.025286593,742,711,670.025286593,664.025286593,632,875.025286593,782.025286593,798.025286593,649.025286593,626.025286593,650,0.400928441534,-0.00545382845918,0.0499163395858,0.999999973658,2.74135357701e-06,-0.000226972244157,-3.40735404491e-05,1793190370938627072
+101,1.683333333,BASELINE,764.5982445,742,711,670.5982445,664.5982445,632,875.5982445,782.5982445,798.5982445,649.5982445,626.5982445,650,0.400927758404,-0.00545452344592,0.0499160490019,0.999999973465,3.12167656805e-06,-0.000227848240034,-3.38347009961e-05,1793190370955293696
+102,1.700000000,BASELINE,764.823330216,742,711,671,664.823330216,632,875.823330216,782.823330216,799,649.823330216,626.823330216,649.823330216,0.400927636687,-0.00545469868843,0.0499159149932,0.999999973421,3.1307636023e-06,-0.00022804814475,-3.38092696472e-05,1793190370971960320
+103,1.716666667,BASELINE,764.232074889,742,711,671,664.232074889,632,875.232074889,782.232074889,799,649.232074889,626.232074889,649.232074889,0.400928832424,-0.00545365426306,0.0499161484144,0.999999973722,2.26868259448e-06,-0.000226661487037,-3.42846365586e-05,1793190370988627200
+104,1.733333333,BASELINE,764,741.649055448,711,670.649055448,664,632,875.350944552,782,799,649.350944552,626,649,0.400928543276,-0.00545382985233,0.0499162891684,0.999999973699,2.10420196829e-06,-0.000226775922994,-3.42007822463e-05,1793190371005294080
+105,1.750000000,BASELINE,764,741.071357349,711,670.071357349,664,632,875.928642651,782,799,649.928642651,626,649,0.400927294709,-0.0054547937217,0.049916370048,0.999999973467,2.39045730713e-06,-0.000227860250819,-3.37556019663e-05,1793190371021961216
+106,1.766666667,BASELINE,764.506547811,741.506547811,711,670.506547811,664,632,875.493452189,782,799,650,626.506547811,649,0.40092714497,-0.00545454916789,0.0499160506695,0.999999973422,2.87513529151e-06,-0.00022805656231,-3.37432776454e-05,1793190371038627840
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,711,670,665,632,875,782,799,649,627,649,0.400926015012,-0.00545346921936,0.0499143551786,0.999999973018,5.44814871156e-06,-0.000229681682902,-3.43655535969e-05,1793190371081286912
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.441756958,742,711.558243042,670,665,632,875,782.558243042,799,649,627,649,0.400927837421,-0.0054537817506,0.0499156628205,0.999999973552,4.4419154605e-06,-0.000227447711247,-3.38126154924e-05,1793190371097953792
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.874624966,670,664.874624966,632,875,783,798.874624966,649.125375034,627,649,0.400929371906,-0.00545386357356,0.0499169381038,0.99999997401,4.07046420968e-06,-0.000225489943714,-3.34290028742e-05,1793190371114620672
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.273782718,670,664.273782718,632,875,783,798.273782718,649.726217282,627,649,0.400929814477,-0.00545307046785,0.0499180906722,0.999999974196,6.10633429356e-06,-0.000224579640905,-3.36875332351e-05,1793190371131287296
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.311635855,742,711,670,664.311635855,632,875.311635855,782.688364145,798.311635855,650,626.688364145,649,0.40092967805,-0.00545359401438,0.0499180813173,0.999999974148,6.08156550343e-06,-0.000224799446411,-3.365394175e-05,1793190371147953920
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.884143177,742,711,670,664.884143177,632,875.884143177,782.115856823,798.884143177,650,626.115856823,649,0.400929056942,-0.00545521973518,0.0499170993121,0.999999973903,4.33182855521e-06,-0.000225965269609,-3.33758140267e-05,1793190371164621056
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.528945777,742,711,670.471054223,664.528945777,632,875.528945777,782,799,650,626,649,0.40093090866,-0.00545417921605,0.0499167646641,0.999999974072,5.06356180366e-06,-0.000225135493441,-3.38183712217e-05,1793190371181287680
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670.939560322,664,632,875,782,799,650,626,649,0.400934902182,-0.005452675541,0.0499170135188,0.999999974574,6.23531009183e-06,-0.000222784722249,-3.43537481344e-05,1793190371197954048
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.360303652,664,632,875,782,799,650,626,649,0.400951895584,-0.00545300280802,0.0499208613354,0.999999976988,5.77987612726e-06,-0.000211723793055,-3.41163438213e-05,1793190371214620416
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,650,626.217342028,649,0.400973983045,-0.00545360962299,0.0499253074502,0.999999979814,4.92500388074e-06,-0.000197963512987,-3.40377417907e-05,1793190371231286784
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,650,626.792336649,649,0.40100445316,-0.00545467645502,0.0499307381092,0.999999983252,3.41282605725e-06,-0.00017976124988,-3.42204608359e-05,1793190371247953408
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.367637602,742,711,670.367637602,664,632,875,782,799,649.632362398,627,649,0.40104363418,-0.00545600971098,0.0499354259555,0.999999986692,1.99887409406e-06,-0.000159442129426,-3.44979566998e-05,1793190371264620032
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.943111788,742,711,670.943111788,664,632,875,782,799,649.056888212,627,649,0.401087739739,-0.00545749358449,0.0499396938679,0.999999989881,6.40452018935e-07,-0.000137926284152,-3.48290327559e-05,1793190371281286912
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,742,711,670.467093084,664.532906916,632.532906916,875,782,799,649.532906916,626.467093084,649.532906916,0.401144891858,-0.00545923427099,0.0499433848227,0.999999992215,-1.10316671118e-06,-0.000119633497244,-3.54581442342e-05,1793190371297953792
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.878601007,741.878601007,711,670.121398993,664.878601007,632.878601007,875.121398993,782,799.121398993,650,626.121398993,649.878601007,0.401205783536,-0.00546141527061,0.0499462240279,0.999999993744,-2.73334710955e-06,-0.00010598762541,-3.56438528036e-05,1793190371314620416
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.300911137,741.300911137,711,670.699088863,664.300911137,632.300911137,875.699088863,782,799.699088863,650,626.699088863,649.300911137,0.401275351479,-0.0054651453463,0.0499460997316,0.99999999353,-3.77833610373e-06,-0.000108478754787,-3.40401009427e-05,1793190371331287040
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.276193185,711,670.723806815,664,632,875.723806815,782,799.723806815,650,626.723806815,649.276193185,0.401358479306,-0.00546847180676,0.0499463508616,0.999999993478,-5.03976097118e-06,-0.000109232310949,-3.29772278602e-05,1793190371347953664
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.852660872,711,670.147339128,664,632,875.147339128,782,799.147339128,650,626.147339128,649.852660872,0.401456349303,-0.00547135946054,0.0499470101514,0.999999993608,-6.53649271821e-06,-0.000108096794536,-3.25023929362e-05,1793190371364620032
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632.436848401,875.436848401,782,799.873696801,649.563151599,626,649.563151599,0.401569722387,-0.00547631909293,0.0499469875389,0.999999993522,-9.28995693464e-06,-0.000109005705672,-3.14343044223e-05,1793190371381286656
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023385496,742,711,670,664,632.976614504,876,782,800.976614504,649.023385496,626.023385496,649,0.401689981859,-0.00548200762299,0.0499468494515,0.999999993378,-1.24452707981e-05,-0.000110365657003,-3.01483715337e-05,1793190371397953536
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.602766449,742,711,670,664,632.397233551,876,782,800.397233551,649.602766449,626.602766449,649,0.401847413496,-0.00548811208547,0.0499495323606,0.99999999389,-1.48958143024e-05,-0.000105760316864,-2.85259296537e-05,1793190371414620160
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.818550567,742,711,670.181449433,664,632,875.818550567,782,799.818550567,650,626.818550567,649,0.402012408356,-0.00549472585306,0.0499502460256,0.999999993972,-1.80287107666e-05,-0.00010490317811,-2.69507156801e-05,1793190371431286784
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.241389815,742,711,670.758610185,664,632,875.241389815,782,799.241389815,650,626.241389815,649,0.402193897339,-0.0055024503304,0.0499466650935,0.999999993122,-2.26497062987e-05,-0.000112220249673,-2.54784982022e-05,1793190371447953664
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741.665731103,711,671,664.334268897,632,875,782,799,650,626.334268897,649,0.402402237574,-0.00550975454547,0.0499449463743,0.999999992912,-2.5829436497e-05,-0.000113715955994,-2.40144654742e-05,1793190371464620288
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741.091152166,711,671,664.908847834,632,875,782,799,650,626.908847834,649,0.402629881523,-0.00551675662959,0.0499445664227,0.999999993191,-2.79730237194e-05,-0.000111026611689,-2.25563167126e-05,1793190371481286912
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.496170757,741,711.496170757,671,664.503829243,632,875.496170757,782.496170757,799,650,626.503829243,649,0.402891557931,-0.00552696776176,0.0499491543941,0.999999994227,-3.30716203153e-05,-0.000100244325712,-2.00654271888e-05,1793190371497953792
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.915621845,741.084378155,711.915621845,671,664,632,876,782.915621845,799,649.915621845,626.084378155,649,0.40316740058,-0.00553813170554,0.0499555382311,0.999999995375,-3.89455896624e-05,-8.62246706451e-05,-1.72720181112e-05,1793190371514620416
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.336320766,741.663679234,711.336320766,671,664,632,876,782.336320766,799,649.336320766,626.663679234,649,0.40348869698,-0.00555133528759,0.0499669614006,0.999999996909,-4.60993810352e-05,-6.2166673488e-05,-1.38463508588e-05,1793190371531287040
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.241141855,742,711,671,664,632,876,782,799,649.241141855,626.758858145,649.241141855,0.403825652919,-0.00556261164251,0.0499763484415,0.999999997764,-4.99367809176e-05,-4.32822921554e-05,-1.02019813844e-05,1793190371547953408
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.816059741,742,711,671,664,632,876,782,799,649.816059741,626.183940259,649.816059741,0.404184283958,-0.00557122042892,0.0499829171781,0.999999998273,-4.91838035314e-05,-3.15589626398e-05,-6.25489586609e-06,1793190371564620032
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.608030057,742,711,671,664.391969943,632,875.608030057,782,799,649.608030057,626,649.608030057,0.404576554809,-0.00557703171756,0.0499866543563,0.999999998747,-4.49504326541e-05,-2.18906619616e-05,-2.31405678257e-06,1793190371581286912
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.031653024,742,711,671,664.968346976,632,875.031653024,782,799,649.031653024,626,649.031653024,0.404984651914,-0.00558152688864,0.0499890593929,0.999999999148,-3.90796677857e-05,-1.31891752559e-05,1.62384347735e-06,1793190371597953536
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.55768828,742,711,670.44231172,665,632,875,782,799,649.55768828,626,649,0.405391198374,-0.00557121213553,0.0499764245685,0.999999999216,-1.61822954904e-05,-3.59503656911e-05,3.78501396089e-06,1793190371614619904
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742,711,670,664.855065952,632,875,782,799,650,626.144934048,649,0.40580603871,-0.00556157888014,0.0499609584974,0.999999997906,6.25319618845e-06,-6.41467511153e-05,5.80868626853e-06,1793190371631286528
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,711,670,664.276346905,632,875,782,799,650,626.723653095,649,0.406245972076,-0.0055565610394,0.0499396342505,0.999999994355,2.43450612608e-05,-0.000103138668815,7.72983267423e-06,1793190371647953152
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.69918883,742,711,670.30081117,664,632,875.30081117,782,799,649.69918883,626.69918883,649,0.406719724041,-0.00555712082909,0.0499234190317,0.999999990617,3.59590934308e-05,-0.000131751921968,1.06694813748e-05,1793190371664619776
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.123457309,742,711,670.876542691,664,632,875.876542691,782,799,649.123457309,626.123457309,649,0.407224383886,-0.00556277818194,0.0499118731045,0.999999987644,4.16528419071e-05,-0.000150879806856,1.45399701013e-05,1793190371681286144
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,876,782,799,649,626,649,0.407797124471,-0.00556551331583,0.0499244543201,0.99999999127,4.96282640628e-05,-0.000121039080171,1.86165685494e-05,1793190371697953024
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.953454741,664,632,876,782,799,649.046545259,626,649,0.408392703801,-0.00556774549534,0.0499446086884,0.999999995199,5.58137384074e-05,-7.73574498849e-05,2.24292121023e-05,1793190371714619648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670.371312261,664,632,876,782,799,649.628687739,626,649,0.409037242978,-0.00557336906941,0.0499761224048,0.999999998761,3.42353546235e-05,-2.82221537347e-05,2.2557119456e-05,1793190371731286528
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.208183455,742,711,670,664.208183455,632,876,782.208183455,799,650,626.208183455,649.208183455,0.409672654655,-0.00557640161454,0.0499957916862,0.999999999491,2.18150098631e-05,8.77712250485e-07,2.32454293845e-05,1793190371747953152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.783017683,742,711,670,664.783017683,632,876,782.783017683,799,650,626.783017683,649.783017683,0.410291991025,-0.00557487086317,0.0499946006563,0.99999999935,2.5523719999e-05,-5.30863876605e-06,2.492071522e-05,1793190371764619776
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.642438653,742,711,670.357561347,665,632,876,782.642438653,798.642438653,650,626.642438653,649.642438653,0.410905352962,-0.00557252868598,0.0499717517293,0.9999999977,2.94211448773e-05,-5.54675737307e-05,2.56276971443e-05,1793190371781286400
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.068071193,742,711,670.931928807,665,632,876,782.068071193,798.068071193,650,626.068071193,649.068071193,0.411515092299,-0.00556969450353,0.0499357706097,0.999999990359,3.3432996028e-05,-0.000132289135789,2.57475510843e-05,1793190371797953024
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.519364564,671,665,632,876.519364564,782,798.519364564,650,626,649,0.412227677419,-0.0055706840849,0.0499308966624,0.999999991669,2.88064686153e-05,-0.000123348348745,2.48281308965e-05,1793190371814620160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.893037329,670.893037329,665,632,876.893037329,782,799,650,626.106962671,649,0.412963290589,-0.00557201854069,0.0499347960091,0.999999994393,2.38750917322e-05,-0.000100233893464,2.44192958736e-05,1793190371831286528
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.31249978,670.31249978,665,632,876.31249978,782,799,650,626.68750022,649,0.413739638567,-0.00557260374253,0.0499590217111,0.99999999724,2.27361823047e-05,-6.54177167017e-05,2.68897159614e-05,1793190371847952896
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,782.26487226,799,650,626.73512774,649,0.414488834075,-0.00556978149674,0.0499612152996,0.999999997303,2.43040590491e-05,-6.38195240152e-05,2.701673614e-05,1793190371864619520
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,782.838553772,799,650,626.161446228,649,0.415206373166,-0.00556298657623,0.0499377220922,0.999999994185,2.90277233258e-05,-0.000100949507845,2.4411633713e-05,1793190371881286144
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.41303908,742,711,670.41303908,665.41303908,632,876,782.58696092,799,650,626,649,0.415961774224,-0.00555411344931,0.0499209717572,0.999999991456,3.2277890699e-05,-0.000124947763773,2.08304814645e-05,1793190371897953536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.98783915,742,711,670.98783915,665.98783915,632,876,782.01216085,799,650,626,649,0.416732003351,-0.00554442642227,0.0499068621755,0.999999988907,3.49509832987e-05,-0.000143803159574,1.68670730879e-05,1793190371914621440
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742,711,671,665.420841553,632,876.579158447,782,799,650,626,649,0.417572798058,-0.00554578920157,0.0499360455056,0.999999995059,2.66101419381e-05,-9.4033163227e-05,1.81855126346e-05,1793190371931287552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,742,711.167088929,671,665,632,876.832911071,782.167088929,799,649.832911071,626,649,0.418403446961,-0.00554785478264,0.0499586079492,0.99999999789,1.99027270607e-05,-5.85190426361e-05,1.99741260185e-05,1793190371947953408
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,742,711.745791665,671,665,632,876.254208335,782.745791665,799,649.254208335,626,649,0.419205344979,-0.00555106333135,0.049962555107,0.999999997677,1.78055968197e-05,-6.17773787933e-05,2.26397548979e-05,1793190371964620032
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742,711.678805619,671,664.678805619,632,876.321194381,782.678805619,799,649,626,649,0.420007590769,-0.00555208766062,0.0499547756572,0.999999997111,1.6865006653e-05,-7.03831345448e-05,2.3241520616e-05,1793190371981286912
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,742,711.10598816,671,664.10598816,632,876.89401184,782.10598816,799,649,626,649,0.420810108968,-0.00555140087631,0.0499378096047,0.999999996152,1.68304479179e-05,-8.31780486619e-05,2.22264596585e-05,1793190371997953536
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,742,711,671,664.480875393,632,877,782,799,649.480875393,626,649,0.421686004087,-0.00555387564175,0.0499573626952,0.999999998791,1.31480180797e-05,-4.1052189653e-05,2.36736259866e-05,1793190372014620416
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,742,711,671,665.069619495,632,877,782,799,650,626.069619495,649,0.422569147452,-0.00555678455963,0.0499806753203,0.999999999632,8.47026419882e-06,4.49467583388e-06,2.53915177497e-05,1793190372031287040
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,742,711,671,665.648786664,632,877,782,799,650,626.648786664,649,0.42338340991,-0.00555761749937,0.0499708201611,0.999999999553,2.56937484348e-06,-1.61819868026e-05,2.49993698055e-05,1793190372047953664
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.772443044,742.227556956,711,671,665.772443044,632,876.772443044,782,799,649.772443044,627,649,0.424200120587,-0.0055591111392,0.0499615062116,0.99999999911,-2.34771916731e-06,-3.38133837916e-05,2.51400871944e-05,1793190372064620544
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.194284143,742.805715857,711,671,665.194284143,632,876.194284143,782,799,649.194284143,627,649,0.425020603411,-0.00556162273412,0.0499530261143,0.99999999855,-5.74905921957e-06,-4.67528770088e-05,2.61018017283e-05,1793190372081286656
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.620731412,711,671.379268588,665,632,876.379268588,782.379268588,799,649.379268588,626.620731412,649,0.425845565148,-0.00556347301196,0.0499655314405,0.999999999006,-7.31220207094e-06,-3.35750377095e-05,2.841667777e-05,1793190372097953024
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.049509959,711,671.950490041,665,632,876.950490041,782.950490041,799,649.950490041,626.049509959,649,0.426672793672,-0.00556498858829,0.0499886577686,0.999999999449,-7.94500872031e-06,-7.17886908313e-06,3.14164067331e-05,1793190372114619648
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.459114953,665,632,876.459114953,782.459114953,799,649.459114953,626.540885047,649,0.427451683078,-0.00556293127251,0.0499719028544,0.99999999817,-7.42021613054e-06,-5.13161091586e-05,3.11731754529e-05,1793190372131286272
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670.869532582,665,632,876.260934837,782,799.130467418,649,626.869532582,648.869532582,0.428228801745,-0.00556040284403,0.049952189382,0.999999995053,-6.05334970949e-06,-9.44917758187e-05,3.04576430084e-05,1793190372147952896
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670.289029725,665,632,877.42194055,782,799.710970275,649,626.289029725,648.289029725,0.429015635982,-0.00555741892675,0.0499353255923,0.999999993382,-2.16076191115e-06,-0.000111261764419,2.91745205947e-05,1793190372164619776
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665.288819944,632,877.422360112,782.288819944,800,649.288819944,626,648.288819944,0.429810288108,-0.00555826076701,0.0499378068769,0.999999994803,1.89896024307e-07,-9.77050503624e-05,2.91078929992e-05,1793190372181286400
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665.864038633,632,876.271922734,782.864038633,800,649.864038633,626,648.864038633,0.430612692539,-0.00556289629338,0.0499594710657,0.99999999808,1.0115499771e-06,-5.40758635146e-05,3.02475622972e-05,1793190372197953024
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.447265323,665.552734677,632,876.447265323,782.552734677,799.552734677,649.552734677,626,649,0.431331757301,-0.00556415377174,0.0499500357467,0.999999996669,1.94779213071e-05,-7.33913075385e-05,2.99337881018e-05,1793190372214619904
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671.032688395,665,632,877,782,799,649,626,649,0.432027361221,-0.00556424694007,0.0499315863341,0.999999992616,4.20599245743e-05,-0.000110223074583,2.91628333341e-05,1793190372231286528
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671.61337813,665,632,877,782,799,649,626,649,0.432762107685,-0.00556234987449,0.0499233967421,0.999999992207,4.20793772285e-05,-0.000114085103015,2.82694554603e-05,1793190372247953152
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.192787832,742,711,671.807212168,665.192787832,632,877,782,799,649.192787832,626,649,0.433488528336,-0.00556199440361,0.0499263098647,0.999999993522,4.03554322347e-05,-0.000102603597539,2.82735314871e-05,1793190372264619776
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.769647559,742,711,671.230352441,665.769647559,632,877,782,799,649.769647559,626,649,0.434198362437,-0.00556471009715,0.0499513418124,0.999999997097,3.51582906204e-05,-6.05547063029e-05,3.00655148684e-05,1793190372281286400
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.654528027,742,711,671,666,632,877,781.654528027,799,650,626.345471973,649,0.434868925448,-0.00556674497186,0.0499672995806,0.999999998075,3.27423432502e-05,-4.17621083091e-05,3.21419750805e-05,1793190372297953280
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.079391908,742,711,671,666,632,877,781.079391908,799,650,626.920608092,649,0.435513381634,-0.00556832724912,0.0499772249804,0.999999998152,3.21752889016e-05,-3.84299182353e-05,3.44075507789e-05,1793190372314619904
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711.509204531,671.509204531,666,632,877,781.509204531,799,650,627,649,0.436081747354,-0.00556299568367,0.049954327042,0.999999994832,3.70652239971e-05,-8.84407116364e-05,3.37647855243e-05,1793190372331286272
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.097831446,742,711.902168554,672,665.902168554,632,877,782,799.097831446,650,627,649,0.436647296723,-0.00555776777592,0.0499322976341,0.999999989833,4.10975599726e-05,-0.000132560856059,3.27384155225e-05,1793190372347953152
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.676023667,742,711.323976333,672,665.323976333,632,877,782,799.676023667,650,627,649,0.437258850166,-0.0055584854335,0.0499403429284,0.999999993215,3.66279890439e-05,-0.000105811950822,3.2115444382e-05,1793190372364619776
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,742,711.252647667,672,665.252647667,632,877.252647667,782.252647667,799.747352333,650,626.747352333,649.252647667,0.437852419316,-0.00556080511975,0.049956051075,0.999999996541,3.19809385704e-05,-6.95654780694e-05,3.25028798437e-05,1793190372381286656
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,742,711.827273058,672,665.827273058,632,877.827273058,782.827273058,799.172726942,650,626.172726942,649.827273058,0.438423068985,-0.00556516645373,0.0499815248673,0.999999998823,2.71077059907e-05,-2.12151742571e-05,3.41779916445e-05,1793190372397953280
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,742,711.587908748,672.412091252,666,632,877.587908748,782.587908748,799.412091252,649.587908748,626.412091252,649.587908748,0.438908117882,-0.00556606892828,0.0499768612772,0.999999998618,2.48766037094e-05,-3.13827572867e-05,3.40653252069e-05,1793190372414619648
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,742.001268401,711.001268401,672.997463199,666,632,877,782.001268401,799.998731599,649,627,649,0.43935631214,-0.00556547900422,0.0499592171427,0.999999996941,2.37866377958e-05,-6.67169429979e-05,3.31812048847e-05,1793190372431286528
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,742.580542057,711.580542057,671.838915886,666,632,877,782.580542057,799.419457943,649,627,649,0.439774711498,-0.00556221945839,0.0499287352493,0.99999999318,2.52522677712e-05,-0.000109763369116,3.08813292837e-05,1793190372447953152
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.840836059,742.840836059,712,671.159163941,666,632,877,782.840836059,799,649.159163941,626.840836059,649,0.440190649911,-0.00556000494554,0.049906482747,0.999999989119,2.60438517014e-05,-0.00014221203965,2.93261559282e-05,1793190372464620032
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.263924716,742.263924716,712,671.736075284,666,632,877,782.263924716,799,649.736075284,626.263924716,649,0.44060012933,-0.00556053326311,0.0499058293941,0.999999988462,2.50663105615e-05,-0.000146845469512,2.97255545016e-05,1793190372481287680
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672,666,632,877,782.311376452,799,650,626.311376452,649,0.440992475055,-0.00556107570645,0.0499150014279,0.999999990577,2.36732703256e-05,-0.000131800358385,3.0224008453e-05,1793190372497954304
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,666,632,877,782.88531981,799,650,626.88531981,649,0.441370372839,-0.00556163006126,0.0499324586785,0.999999994269,2.19298622344e-05,-0.000100161398504,3.08059903958e-05,1793190372514620416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.52756235,672,666,631.52756235,877,783,799,650,627,649,0.441703632001,-0.00556269394803,0.0499424913675,0.999999995853,1.99098198105e-05,-8.30984379536e-05,3.1509028312e-05,1793190372531286784
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,631.061677839,877,783,799,649.938322161,626.938322161,649,0.442021160177,-0.00556372889168,0.0499495595384,0.999999996805,1.78198244252e-05,-7.10218757546e-05,3.20824522089e-05,1793190372547953408
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,631.641118335,877,783,799,649.358881665,626.358881665,649,0.4423002031,-0.0055634527985,0.0499473048859,0.999999996919,1.57224747208e-05,-7.0250380177e-05,3.13140593988e-05,1793190372564619776
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.218822775,742,711,672,666,631.781177225,877,782.781177225,799,649,626.218822775,649,0.442556782325,-0.00556304577743,0.0499418122038,0.999999996363,1.52377339218e-05,-7.80501718387e-05,3.08344486805e-05,1793190372581286656
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.793702344,742,711,672,666,631.206297656,877,782.206297656,799,649,626.793702344,649,0.442776809784,-0.00556242571748,0.0499310507719,0.999999994394,1.73769448473e-05,-9.97967067134e-05,3.08247289028e-05,1793190372597953536
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,742,711.368856832,672,665.631143168,631,877,782,799,649,627,649,0.442971698585,-0.00556302274849,0.0499197305511,0.999999992508,1.64085294092e-05,-0.0001175004727,3.01555498108e-05,1793190372614620160
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,742,711.944165249,672,665.055834751,631,877,782,799,649,627,649,0.443152517136,-0.00556430099321,0.0499080975714,0.999999990646,1.37007553465e-05,-0.000132941476498,2.91172670211e-05,1793190372631286528
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711.122608387,672,665,631.877391613,876.877391613,782,799,649,626.877391613,649,0.443454117098,-0.00556131071189,0.0498948372964,0.999999987692,1.24419556034e-05,-0.000153985225433,2.73854801304e-05,1793190372664619776
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711.700193372,672,665,631.299806628,876.299806628,782,799,649,626.299806628,649,0.44357852821,-0.00556193229477,0.0498896650583,0.999999985941,1.38786554597e-05,-0.000164810688375,2.76024726928e-05,1793190372681286400
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.277409837,742,712,672,665,631,876.277409837,782,799,649,626.277409837,649,0.443695098692,-0.00556212051231,0.0498875395642,0.999999985157,1.35344640277e-05,-0.000169497476677,2.78038963484e-05,1793190372697953024
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.854228522,742,712,672,665,631,876.854228522,782,799,649,626.854228522,649,0.443803206762,-0.00556184099795,0.0498887024258,0.999999985507,1.12681538998e-05,-0.000167558783691,2.79885164491e-05,1793190372714619648
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.561572151,742,711.561572151,672,665,631,877,782.438427849,799,649,626.561572151,648.561572151,0.443889518804,-0.00556127995773,0.0498895386303,0.999999985747,1.03735428228e-05,-0.000166214977915,2.77616554551e-05,1793190372731286528
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782.975195866,799,649.024804134,626,648.024804134,0.443967725929,-0.0055606485619,0.0498902409449,0.999999985946,9.99763372892e-06,-0.000165093851166,2.74097983345e-05,1793190372747953152
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782.395950491,799,649.604049509,626,648.604049509,0.444029527532,-0.00556057264918,0.0498904197344,0.999999986044,1.08471261981e-05,-0.00016445331227,2.73744225449e-05,1793190372764619776
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649.817601174,626,649,0.44408390636,-0.00556054060922,0.049890213126,0.999999985967,1.07137174188e-05,-0.000164947722261,2.72751537604e-05,1793190372781286912
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649.241187582,626,649,0.444122250631,-0.00556060334244,0.0498891739874,0.999999985505,8.45706238197e-06,-0.000167893829146,2.70378644458e-05,1793190372797954560
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876.665285373,782,798.665285373,649.334714627,626,649,0.444151071974,-0.00556020540033,0.049885569854,0.999999984503,8.6878257262e-06,-0.000173755294267,2.69808167886e-05,1793190372814620928
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876.089751033,782,798.089751033,649.910248967,626,649,0.444173041786,-0.00555947601259,0.049880120264,0.999999983067,1.07082309094e-05,-0.000181714294944,2.70534489603e-05,1793190372831286784
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,711.497322222,672,665,631,876,782.497322222,798.497322222,649.502677778,626.497322222,649,0.444190479342,-0.00555834624699,0.0498784318948,0.999999982722,1.17465676575e-05,-0.000183638954353,2.6358328254e-05,1793190372847953408
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711.915245599,671.915245599,665,631,876.084754401,782.915245599,799,649,626.915245599,649,0.444206028287,-0.00555737595061,0.0498775794466,0.999999982619,1.24002733262e-05,-0.000184252434732,2.56615938556e-05,1793190372864620032
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,711.338113087,671.338113087,665,631,876.661886913,782.338113087,799,649,626.338113087,649,0.444215470014,-0.00555776182303,0.0498775462241,0.99999998272,1.18735605132e-05,-0.000183725501521,2.57795367698e-05,1793190372881286400
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711.228822142,671.228822142,665,631,877.228822142,782,799,649.228822142,626,649,0.444222087279,-0.00555816892203,0.0498772933089,0.999999982625,1.06959324354e-05,-0.000184301499132,2.58539862412e-05,1793190372897953536
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711.781332423,671.781332423,665,631,877.781332423,782,799,649.781332423,626,649,0.444224709106,-0.0055586060478,0.04987672962,0.999999982249,8.59753007542e-06,-0.000186437685061,2.58669105774e-05,1793190372914620672
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.371569891,742,712,672.371569891,665,631,877.628430109,782,799,650,626,649,0.444227341517,-0.00555740445139,0.0498765390131,0.999999982127,8.82670415847e-06,-0.000187130957283,2.54930509478e-05,1793190372931287296
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.986518711,742,712,672.986518711,665,631,877.013481289,782,799,650,626,649,0.444229980861,-0.00555512948905,0.0498765927755,0.999999982173,1.05804449701e-05,-0.000186879118417,2.48658471428e-05,1793190372947953920
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.433115846,742,711.433115846,671.866231691,665,631,877,782.566884154,799,649.433115846,626.566884154,649,0.444231075144,-0.00555250564034,0.0498757557106,0.999999982084,1.4577437705e-05,-0.000187113020128,2.46796843019e-05,1793190372964620288
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.142415706,742,711,671.142415706,665,631,877,782.857584294,799,649,626.857584294,649,0.444231909654,-0.00555097392497,0.0498750770185,0.999999981964,1.75218925115e-05,-0.000187497386793,2.47093852926e-05,1793190372981286656
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.70594571,742,711,671.70594571,665,631,877,782.29405429,799,649,626.29405429,649,0.444232078427,-0.00555269470285,0.0498749256663,0.999999981803,1.72053825309e-05,-0.000188294475531,2.53481513407e-05,1793190372997953280
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+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876.539129128,782,799,649,626.539129128,649,0.444235392992,-0.00555510580651,0.0498762878475,0.999999982127,1.31991123073e-05,-0.000186913438582,2.51862380367e-05,1793190373047953152
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.048213243,742,711,672,665.048213243,631,876.048213243,782,799,649,626,648.951786757,0.444236747911,-0.00555542978143,0.049876478668,0.999999982444,1.08797182345e-05,-0.000185418110628,2.47842524665e-05,1793190373064620288
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.626078131,742,711,672,665.626078131,631,876.626078131,782,799,649,626,648.373921869,0.444235588747,-0.00555404933591,0.0498751169945,0.999999981943,1.27148854412e-05,-0.000187996892017,2.467161204e-05,1793190373081286656
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.796444122,742,711,672,665.796444122,631,877,782,799,649.203555878,626.203555878,648,0.444234050682,-0.00555268555849,0.0498737994954,0.999999981479,1.43833731699e-05,-0.000190367174778,2.44130892553e-05,1793190373097953280
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.219676219,742,711,672,665.219676219,631,877,782,799,649.780323781,626.780323781,648,0.444231817915,-0.0055513523415,0.0498725629886,0.99999998109,1.57462602523e-05,-0.000192355183013,2.3887096676e-05,1793190373114619904
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649.071765707,626.071765707,648,0.444232997635,-0.00555172709277,0.0498732558537,0.999999981316,1.29182260526e-05,-0.000191423087687,2.364150524e-05,1793190373147953408
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.481056231,665,631,877,782,799,649,626,648.518943769,0.444233481416,-0.00555247325621,0.0498724879118,0.999999981216,1.31647341099e-05,-0.000191892639396,2.39046525855e-05,1793190373164620032
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.109248433,665,631,876.890751567,782,798.890751567,649,626,649,0.444233890887,-0.00555285042073,0.0498718738515,0.999999981136,1.37764156233e-05,-0.000192248234467,2.40681431786e-05,1793190373181286656
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.687126365,665,631,876.312873635,782,798.312873635,649,626,649,0.444234454268,-0.00555152130325,0.0498728324574,0.999999981339,1.45343262812e-05,-0.000191186378701,2.36254691367e-05,1793190373197953536
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876.262329347,782,798.262329347,649,626,649,0.444235192408,-0.0055512238393,0.0498737279603,0.999999981538,1.5502269645e-05,-0.000190048659365,2.3759872437e-05,1793190373214620416
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876.834374261,782,798.834374261,649,626,649,0.444236136876,-0.00555214438287,0.0498745489615,0.999999981732,1.67181853592e-05,-0.0001888213726,2.45755941767e-05,1793190373231287552
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649,626,649,0.444235187263,-0.00555316533923,0.0498734222366,0.999999981428,1.62205269587e-05,-0.000190434643129,2.48217990738e-05,1793190373247953920
+238,3.966666667,HOLD_POSE2,764,742,711,671,665,631,877,782,799,649,626,649,0.444230263747,-0.00555016519138,0.049870429459,0.999999979989,1.66462129338e-05,-0.000197939106409,2.37638018292e-05,1793190373293065216
+239,3.983333333,HOLD_POSE2,764,742,711,671.576768736,665,631,877,782,799,649,626,648.423231264,0.444232848417,-0.0055509121294,0.0498713955311,0.999999980651,1.61240255943e-05,-0.000194627084347,2.36380547798e-05,1793190373309732096
+240,4.000000000,HOLD_POSE2,764,742,711.152737681,671.847262319,665,631,877,782,799,649,626.152737681,648,0.444234659532,-0.00555159858274,0.0498721173669,0.999999981091,1.52646348745e-05,-0.000192424601728,2.3630183754e-05,1793190373326398976
+241,4.016666667,HOLD_POSE2,764,742,711.726502101,671.273497899,665,631,877,782,799,649,626.726502101,648,0.444234338314,-0.00555211830807,0.0498721659573,0.999999980944,1.34757311686e-05,-0.00019328060251,2.39472420676e-05,1793190373343065344
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+244,4.066666667,HOLD_POSE2,764,742,711,671.519122728,665.519122728,631,876.480877272,782,799,649,626,649,0.444233697314,-0.00555200981253,0.0498719621269,0.999999980844,1.44092554359e-05,-0.00019375699736,2.37345145345e-05,1793190373393064960
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+246,4.100000000,HOLD_POSE2,764,742,711,671.635874726,665,631,877,782,799,649,626,649,0.444234528152,-0.0055521427895,0.0498718796115,0.9999999809,1.3414658698e-05,-0.000193528073933,2.38147684079e-05,1793190373426398208
+247,4.116666667,HOLD_POSE2,764,742.216511226,711.216511226,672,665,631,877,782,799,649,626.216511226,648.783488774,0.444233800418,-0.00555257814131,0.0498708942727,0.999999980702,1.29955148928e-05,-0.000194581159497,2.37781970716e-05,1793190373443064832
+248,4.133333333,HOLD_POSE2,764,742.803069775,711.803069775,672,665,631,877,782,799,649,626.803069775,648.196930225,0.444232544231,-0.00555358206492,0.0498701358671,0.999999980443,1.28205763505e-05,-0.000195909473665,2.38580694096e-05,1793190373459731712
+249,4.150000000,HOLD_POSE2,764.384491729,742.615508271,711.615508271,672,665.384491729,631,877,782,799,649.384491729,627,648,0.444232460997,-0.00555323107535,0.0498702828228,0.999999980473,1.2423139351e-05,-0.000195781987967,2.38678826334e-05,1793190373476398336
+250,4.166666667,HOLD_POSE2,764.96331754,742.03668246,711.03668246,672,665.96331754,631,877,782,799,649.96331754,627,648,0.444232970609,-0.00555219527058,0.049870887376,0.999999980648,1.19132446926e-05,-0.00019491869584,2.38422858085e-05,1793190373493064960
+251,4.183333333,HOLD_POSE2,765,742,711.542307302,671.457692698,666,631,877,782,798.457692698,649.457692698,626.457692698,648.542307302,0.444234601366,-0.00555196557189,0.0498722546065,0.999999980925,1.23679419581e-05,-0.000193466126531,2.38294209385e-05,1793190373509731840
+252,4.200000000,HOLD_POSE2,764.87937897,742,711.87937897,671.12062103,665.87937897,631,877,782,798.12062103,649.12062103,626,649,0.444235403409,-0.00555197828171,0.0498729206478,0.99999998101,1.25310661671e-05,-0.000193020744679,2.38088880018e-05,1793190373526398464
+253,4.216666667,HOLD_POSE2,764.303657591,742,711.303657591,671.696342409,665.303657591,631,877,782,798.696342409,649.696342409,626,649,0.444232792515,-0.00555269980486,0.049870746418,0.999999980342,1.13478445097e-05,-0.000196525892031,2.37561733238e-05,1793190373543065088
+254,4.233333333,HOLD_POSE2,764,742,711,671.722655971,665,631,876.722655971,782,799,650,626,649,0.444232874335,-0.00555314105865,0.0498704334921,0.999999980341,1.12125129473e-05,-0.000196538513027,2.37623796196e-05,1793190373559731712
+255,4.250000000,HOLD_POSE2,764,742,711,671.135760968,665,631,876.135760968,782,799,650,626,649,0.444235961565,-0.00555326949638,0.0498721980165,0.999999981083,1.22467591827e-05,-0.000192653033186,2.38343491691e-05,1793190373576398336
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,631,877,782,799,649,627,649,0.444235569916,-0.00554816458748,0.049872163933,0.999999980953,1.86426738858e-05,-0.000192833041043,2.37015519657e-05,1793190373608929024
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.574294905,672,665,631,876.425705095,782,799,649.574294905,626.425705095,649,0.444234980361,-0.00555058943111,0.0498720025889,0.999999980869,1.67156845991e-05,-0.000193416864012,2.39436067118e-05,1793190373625595392
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.851349573,665,631,876.148650427,782.148650427,799,649.851349573,626,649,0.444234477993,-0.00555218317098,0.0498716509469,0.999999980771,1.49454425626e-05,-0.000194061558171,2.39580540672e-05,1793190373642262016
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.276820252,665,631,876.723179748,782.723179748,799,649.276820252,626,649,0.444234225412,-0.00555139582477,0.0498707541068,0.999999980646,1.36242761208e-05,-0.000194880646557,2.33204133184e-05,1793190373658928640
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.691923777,671.308076223,665,631,876.691923777,782.691923777,799,649,626,649,0.444233745109,-0.00555186278672,0.0498701394982,0.999999980445,1.19949869985e-05,-0.000196025040829,2.32555716372e-05,1793190373675595520
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,630.518220452,876.481779548,782,799,649.481779548,626,649,0.444229737545,-0.00555129831805,0.0498685159619,0.999999979792,1.28865581711e-05,-0.000199244619491,2.347391899e-05,1793190373708928768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.057652825,672,665,630.057652825,877,782,799,649.942347175,626,649,0.444224798067,-0.00554872835833,0.049866469058,0.999999979173,1.62824557104e-05,-0.00020212509207,2.31007918015e-05,1793190373725595392
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.790078395,672,665,630.790078395,877,782,799,649,626,649,0.444186425359,-0.00554935941435,0.0498483569426,0.999999972637,1.62580153496e-05,-0.000232317441729,2.21422098642e-05,1793190373758928640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.201057883,672,665,630.201057883,877,782,799,649,626,649,0.444147325806,-0.00554737971203,0.0498315406286,0.999999965708,1.44173320372e-05,-0.000260686212019,2.04809682094e-05,1793190373775595264
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,630.963062659,877,782,799,649,626,649,0.444026087802,-0.00554288746943,0.0497940788915,0.999999948686,1.75752197337e-05,-0.000319422810015,1.69727429276e-05,1793190373808928768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.460702819,665,631,877,782,799,649,626,649,0.443947125008,-0.00553913415259,0.0497849931798,0.99999994442,1.96736456387e-05,-0.00033243102479,1.61803784949e-05,1793190373825595392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.115340369,665,631,877,782,799,649,626,649,0.443864025722,-0.00553540058703,0.0497781901064,0.999999941102,2.19963489582e-05,-0.000342159753242,1.54778495721e-05,1793190373842262016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.691812098,665,631,877,782,799,649,626,649,0.443768168306,-0.00553214047406,0.0497777862216,0.999999940651,2.52657629922e-05,-0.000343276633281,1.48680647051e-05,1793190373858928640
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.443108735,711.443108735,672,665.443108735,631,877,782,799,649,626.556891265,648,0.443403163632,-0.00551576976483,0.0497837436809,0.999999944604,3.72775102861e-05,-0.000330514752784,1.27296955163e-05,1793190373908928768
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.597538703,742.402461297,711.402461297,672,665.402461297,631,877,782,799,649,626,648.597538703,0.44304693294,-0.00550084046728,0.0497820350638,0.999999943856,4.85174022406e-05,-0.000331408170892,1.01416000311e-05,1793190373942262016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.828406704,742,711,672,665,631,877,782,799,649,626,648.828406704,0.442840960178,-0.00549188671618,0.0497822683727,0.999999943711,5.42337401584e-05,-0.000331007215567,8.45507029712e-06,1793190373958928896
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.925136258,665.925136258,631.925136258,876.074863742,782,799,649,626,648,0.442111740703,-0.00546226186559,0.0498019953916,0.999999952949,7.49697419882e-05,-0.000297421730521,4.62071226128e-06,1793190374008929536
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.496932989,666,632,876,782,799,649,626,648.503067011,0.441806610369,-0.00544964191178,0.0498114638359,0.999999956765,8.51317760883e-05,-0.000281449891315,3.0331612945e-06,1793190374025595648
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.436952048,742,711,671,665.436952048,632,876.436952048,782,798.563047952,649,626,649,0.438776971142,-0.00541597397063,0.0497689616185,0.999999935841,6.80556291533e-05,-0.000351079973986,-2.07041894624e-05,1793190374142263296
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15c2ee3c8300d2b52c9a8d004619a20a9ba8d3ed
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7f23f09dc1bfe9ed4658c5c43c1157cd8d00fb9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc12e748221d3c1012327bfa0cdeb299ac735001a80a82f905beb566752c2f07
+size 24800287
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81f48ef4684be3bfc29473b68c766c43885dda29
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,391 @@
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+16,0.266666667,BASELINE,764,742,711,669.279876528,664,632,875,782,799,649.720123472,626.720123472,649,0.400973182107,-0.00543201489686,0.0498530079197,0.999999964551,1.51618412835e-05,-0.000261528016721,-4.76512410322e-05,1793190376230880512
+17,0.283333333,BASELINE,764,742,711,669.866244032,664,632,875,782,799,649.133755968,626.133755968,649,0.400972202071,-0.0054318068408,0.0498532728189,0.999999964349,1.64232249026e-05,-0.000262216771155,-4.77000313831e-05,1793190376247547136
+18,0.300000000,BASELINE,764,742,711,670.445705836,664.445705836,632,874.554294164,782,799,649.445705836,626.445705836,649,0.400972553331,-0.00543230456804,0.0498533212129,0.999999964525,1.62673375297e-05,-0.000261544834509,-4.7752498566e-05,1793190376264213504
+19,0.316666667,BASELINE,763.976824969,742,711,670.976824969,664.976824969,632,874.046350063,782,799.023175031,649.976824969,626.976824969,649,0.400973304528,-0.00543303801279,0.0498533349274,0.999999964813,1.56153402536e-05,-0.000260475156913,-4.7783677662e-05,1793190376280880384
+20,0.333333333,BASELINE,763.39820113,742,711,670.39820113,664.39820113,632,875.20359774,782,799.60179887,649.39820113,626.39820113,649,0.400974211816,-0.00543442203519,0.0498540509426,0.999999965124,1.31111941993e-05,-0.000259510243475,-4.72785907699e-05,1793190376297547264
+21,0.350000000,BASELINE,763.179297421,742,711,670,664.179297421,632,875.820702579,782,799.820702579,649.179297421,626,649,0.400974381329,-0.00543492197147,0.0498541419878,0.999999965149,1.23292119361e-05,-0.000259517257331,-4.69211767422e-05,1793190376314214144
+22,0.366666667,BASELINE,763.754312336,742,711,670,664.754312336,632,875.245687664,782,799.245687664,649.754312336,626,649,0.400972922539,-0.00543347068961,0.0498528536961,0.999999964547,1.53481231529e-05,-0.000261669358684,-4.68896834524e-05,1793190376330880512
+23,0.383333333,BASELINE,764,742,711,670.337411947,664.662588053,632.337411947,875,782,799,649.662588053,626,649,0.40097306127,-0.00543290135765,0.0498529134345,0.999999964587,1.60645723693e-05,-0.000261429653251,-4.7139011307e-05,1793190376347546880
+24,0.400000000,BASELINE,764,742,711,670.926543037,664.073456963,632.926543037,875,782,799,649.073456963,626,649,0.400974391797,-0.00543298998585,0.0498539788425,0.999999965108,1.50633181629e-05,-0.000259405590491,-4.75978399144e-05,1793190376364213504
+25,0.416666667,BASELINE,764,741.490484615,711,670.490484615,664,631.980969229,875,782,799,649,626.509515385,649,0.400974269763,-0.00543306998454,0.0498538511785,0.99999996504,1.48295134068e-05,-0.000259707394769,-4.74480213639e-05,1793190376380880128
+26,0.433333333,BASELINE,764,741.089898158,711,670,664,631.089898158,875,782,799,649,627,649,0.400973901512,-0.00543304897514,0.0498535540126,0.999999964888,1.48094480241e-05,-0.000260326540056,-4.72825511374e-05,1793190376397546752
+27,0.450000000,BASELINE,764,741.661113596,711,670,664,631.661113596,875,782,799,649,627,649,0.400973322834,-0.00543249374711,0.0498532592526,0.999999964727,1.5348436379e-05,-0.000260870862661,-4.7497479969e-05,1793190376414213632
+28,0.466666667,BASELINE,763.766365627,741.766365627,711,670,664,632,875.233634373,782,799,649.233634373,626.766365627,649,0.4009728737,-0.00543287845629,0.0498532172904,0.999999964669,1.5141989821e-05,-0.000261099958971,-4.75418866506e-05,1793190376430880256
+29,0.483333333,BASELINE,763.191940852,741.191940852,711,670,664,632,875.808059148,782,799,649.808059148,626.191940852,649,0.400972613524,-0.00543463420338,0.0498535440712,0.999999964757,1.38482157991e-05,-0.000260869250921,-4.73375614607e-05,1793190376447546880
+30,0.500000000,BASELINE,763.397332661,741,711,670,664,632,875.602667339,782,799,649.602667339,626,649,0.400972576435,-0.00543430766426,0.0498537017782,0.999999964832,1.36875943124e-05,-0.000260623828475,-4.71507069518e-05,1793190376464213504
+31,0.516666667,BASELINE,763.994057657,741,711,670,664,632,875.005942343,782,799,649.005942343,626,649,0.400972651296,-0.00543293617721,0.0498537746394,0.999999964901,1.40956196263e-05,-0.000260371021952,-4.6972619712e-05,1793190376480880384
+32,0.533333333,BASELINE,764,741.567147953,711,670,664,632,875,782,799,649.567147953,626.567147953,649,0.40097137054,-0.00543236444603,0.0498532894884,0.999999964537,1.37308698691e-05,-0.000261719191581,-4.73436943665e-05,1793190376497547008
+33,0.550000000,BASELINE,764,742,711,670.14096594,664,632,875,782,799,650,626.85903406,649,0.400970410675,-0.00543210862011,0.0498526578891,0.999999964188,1.36715717887e-05,-0.000263006696561,-4.75888175991e-05,1793190376514213632
+34,0.566666667,BASELINE,764,742,711,670.71776869,664,632,875,782,799,650,626.28223131,649,0.400970485093,-0.00543280463519,0.0498515908562,0.999999963906,1.45806977805e-05,-0.000264056851064,-4.74274475404e-05,1793190376530880256
+35,0.583333333,BASELINE,764,742,711,670.697763877,664,632.302236123,875,782,799,649.697763877,626,649,0.40097080251,-0.00543301283166,0.049851676159,0.999999963976,1.53420168666e-05,-0.000263751260114,-4.74207199758e-05,1793190376547547136
+36,0.600000000,BASELINE,764,742,711,670.105952779,664,632.894047221,875,782,799,649.105952779,626,649,0.400971352746,-0.00543275364509,0.0498528655242,0.999999964381,1.59617210178e-05,-0.000262146718146,-4.75621566687e-05,1793190376564213760
+37,0.616666667,BASELINE,763.524803844,742,711,670,664,632.524803844,875,782,799,649,626,649,0.400972033247,-0.00543284737314,0.0498532057218,0.999999964481,1.57203372736e-05,-0.000261805267045,-4.74313954829e-05,1793190376580880384
+38,0.633333333,BASELINE,763.053706295,742,711,670,664,632,875,782,799,649.053706295,626.053706295,649,0.400972664313,-0.00543296889302,0.0498533545707,0.999999964522,1.5200936569e-05,-0.000261704548912,-4.72754526315e-05,1793190376597547008
+39,0.650000000,BASELINE,763.629169572,742,711,670,664,632,875,782,799,649.629169572,626.629169572,649,0.400972539142,-0.00543261273145,0.049853443499,0.999999964649,1.3804886575e-05,-0.000261266588268,-4.74515438252e-05,1793190376614213888
+40,0.666666667,BASELINE,764,742,711,670,664.208513384,632.208513384,875,782,799,650,626.791486616,649,0.400972264476,-0.00543260214215,0.0498533670108,0.999999964716,1.28301666518e-05,-0.000261037419654,-4.75617081444e-05,1793190376630880768
+41,0.683333333,BASELINE,764,742,711,670,664.794889367,632.794889367,875,782,799,650,626.205110633,649,0.400971718899,-0.00543321779005,0.0498529907595,0.999999964681,1.26189703422e-05,-0.000261186618616,-4.75524014654e-05,1793190376647547136
+42,0.700000000,BASELINE,764,742,711,670,665,632.623668038,874.623668038,782,799,650,626,649.376331962,0.400972041271,-0.00543284093572,0.0498530822122,0.99999996478,1.48399759875e-05,-0.000260691571519,-4.75377778849e-05,1793190376664213504
+43,0.716666667,BASELINE,764,742,711,670,665,632.044879494,874.044879494,782,799,650,626,649.955120506,0.400972830577,-0.00543193014156,0.0498534252773,0.999999964941,1.83694415772e-05,-0.000259849937173,-4.75202939527e-05,1793190376680880384
+44,0.733333333,BASELINE,764,742,711,670,665,632,874.533978516,782,799,650,626.533978516,649.466021484,0.400972946059,-0.00543243320576,0.0498537675777,0.999999964936,1.9055003558e-05,-0.000259883578742,-4.71823666724e-05,1793190376697547008
+45,0.750000000,BASELINE,764,741.888299034,711,670,665,632,875.111700966,782.111700966,799,650,626.888299034,649,0.400973080392,-0.00543297376563,0.0498540802415,0.999999964942,1.88103530665e-05,-0.000259923207382,-4.69281537386e-05,1793190376714213632
+46,0.766666667,BASELINE,764,741.315290546,711,670,665,632,875.684709454,782.684709454,799,650,626.315290546,649,0.400973526493,-0.0054331783589,0.0498542707766,0.999999965048,1.57113249768e-05,-0.000259683711655,-4.71309092314e-05,1793190376730880512
+47,0.783333333,BASELINE,764,741.265125874,711,670.265125874,664.734874126,632.265125874,875.734874126,782.734874126,799,649.734874126,626.265125874,649,0.400974177304,-0.0054332719867,0.0498546828562,0.999999965204,1.42122972421e-05,-0.000259136353062,-4.73050638284e-05,1793190376747547136
+48,0.800000000,BASELINE,764,741.854605189,711,670.854605189,664.145394811,632.854605189,875.145394811,782.145394811,799,649.145394811,626.854605189,649,0.400975078557,-0.00543322986002,0.0498553659721,0.99999996543,1.46707001582e-05,-0.000258212356811,-4.74442282846e-05,1793190376764213760
+49,0.816666667,BASELINE,764,742,711,670.563990016,664,632.563990016,875,782,799.436009984,649.436009984,627,649,0.400974435323,-0.00543327068163,0.049854749433,0.999999965227,1.42774237083e-05,-0.000259007329437,-4.75210244877e-05,1793190376780880384
+50,0.833333333,BASELINE,764,742,711,670,664.014753893,632.014753893,875,782.014753893,799.985246107,649.985246107,626.985246107,649,0.400973308345,-0.00543332609954,0.0498537377227,0.999999964889,1.36969114928e-05,-0.000260329808801,-4.75712228162e-05,1793190376797547008
+51,0.850000000,BASELINE,764,742,711,670,664.5928401,632.5928401,875,782.5928401,799.4071599,649.4071599,626.4071599,649,0.40097301855,-0.00543290190408,0.049853884465,0.99999996486,1.66141318562e-05,-0.000260304863925,-4.73855220896e-05,1793190376814213632
+52,0.866666667,BASELINE,764,741.829925953,711,670,664.829925953,633,875.170074047,782.829925953,799.170074047,649,626.170074047,649,0.400972513308,-0.00543282565612,0.0498539510353,0.999999964813,1.74976152575e-05,-0.000260456941048,-4.7213275179e-05,1793190376830880512
+53,0.883333333,BASELINE,764,741.254722187,711,670,664.254722187,633,875.745277813,782.254722187,799.745277813,649,626.745277813,649,0.400971494854,-0.00543357824643,0.0498538266296,0.999999964732,1.35365775548e-05,-0.000261030698458,-4.70730763242e-05,1793190376847547136
+54,0.900000000,BASELINE,764,741.327126649,711,670,664.327126649,632.672873351,875.672873351,782,799.672873351,649,627,649,0.40097127682,-0.00543350387554,0.0498538449515,0.999999964668,1.24400804944e-05,-0.000261310864927,-4.71718570023e-05,1793190376864213760
+55,0.916666667,BASELINE,764,741.914257031,711,670,664.914257031,632.085742969,875.085742969,782,799.085742969,649,627,649,0.400971694969,-0.00543277222708,0.0498539767149,0.999999964627,1.36203509296e-05,-0.000261357682174,-4.74605811565e-05,1793190376880880640
+56,0.933333333,BASELINE,764,742,711,670,665,632,875,782,799,649.49634108,627,649,0.400971274921,-0.00543301740593,0.0498540634941,0.999999964635,1.44590851745e-05,-0.000261338954844,-4.71577274055e-05,1793190376897547520
+57,0.950000000,BASELINE,764,741.923180958,711,670,665,632,875,782,799,650,626.923180958,649,0.400971017285,-0.00543324271069,0.0498541093601,0.999999964685,1.53456166964e-05,-0.000261150590831,-4.6847467255e-05,1793190376914214144
+58,0.966666667,BASELINE,764,741.347528699,711,670,665,632,875,782,799,650,626.347528699,649,0.400972745085,-0.00543225421127,0.0498539395057,0.999999964963,1.69217947646e-05,-0.000259933457757,-4.71460496706e-05,1793190376930880256
+59,0.983333333,BASELINE,764,741.232746334,711,670,664.767253666,632,875,782,799,650,626.232746334,649,0.400973449394,-0.00543177572982,0.049853960221,0.99999996508,1.8012006094e-05,-0.000259384423942,-4.72860244331e-05,1793190376947546880
+60,1.000000000,BASELINE,764,741.820063898,711,670,664.179936102,632,875,782,799,650,626.820063898,649,0.400972594493,-0.00543207422158,0.0498542712548,0.999999964956,1.83618845235e-05,-0.000259853188038,-4.71843726189e-05,1793190376964213504
+61,1.016666667,BASELINE,764,742,711,670,664,632,875,782,799,649.598213834,626.598213834,649,0.400971773919,-0.00543227150671,0.0498536657922,0.999999964694,1.87691354678e-05,-0.000260817462613,-4.72732011267e-05,1793190376980880384
+62,1.033333333,BASELINE,764,742,711,670,664,632,875,782,799,649.018962982,626.018962982,649,0.400970968506,-0.00543242408993,0.049852655523,0.999999964368,1.92017272219e-05,-0.000262000598879,-4.74461627769e-05,1793190376997547264
+63,1.050000000,BASELINE,764,742,711,670.557639557,664.557639557,632.557639557,875,782,799,649.557639557,626,649,0.400971094193,-0.00543282678027,0.0498526831982,0.999999964421,1.71912186695e-05,-0.000261970760921,-4.72586594106e-05,1793190377014213888
+64,1.066666667,BASELINE,764,742,711,670.866284717,665,632.866284717,875,782.133715283,799,650,626,649,0.400971182713,-0.00543350797926,0.0498527894229,0.99999996448,1.53294938556e-05,-0.00026191756101,-4.69526717771e-05,1793190377030880512
+65,1.083333333,BASELINE,764,742,711,670.291650603,665,632.291650603,875,782.708349397,799,650,626,649,0.400971044766,-0.00543507963272,0.0498530388233,0.999999964525,1.42310309221e-05,-0.000261922697013,-4.62962174801e-05,1793190377047547136
+66,1.100000000,BASELINE,764,742,711.29085424,670,664.70914576,632,875,782.70914576,799,649.70914576,626.29085424,649.29085424,0.400971186877,-0.00543451197748,0.0498531001595,0.999999964593,1.5340568127e-05,-0.000261587647264,-4.63815089617e-05,1793190377064213760
+67,1.116666667,BASELINE,764,742,711.881470835,670,664.118529165,632,875,782.118529165,799,649.118529165,626.881470835,649.881470835,0.400971617621,-0.00543173949194,0.0498529676715,0.999999964674,1.87257308967e-05,-0.000260901992749,-4.72312640254e-05,1793190377080880384
+68,1.133333333,BASELINE,764,742,711.537143701,670,664,632,875,782,799,649,627,649.537143701,0.400973989512,-0.0054321291201,0.049854443795,0.999999965422,1.82621550786e-05,-0.00025807688138,-4.70944700487e-05,1793190377097546752
+69,1.150000000,BASELINE,764,742,711,670.041763677,664.041763677,632,875,782,799,649,627,649,0.400976479164,-0.0054331953095,0.0498560940435,0.999999966207,1.6877101028e-05,-0.000255175965546,-4.67525901597e-05,1793190377114213632
+70,1.166666667,BASELINE,764,742,711,670.618615638,664.618615638,632,875,782,799,649,627,649,0.400974233253,-0.00543275778088,0.0498548005832,0.999999965438,1.60665806515e-05,-0.000258186115235,-4.69566614422e-05,1793190377130880256
+71,1.183333333,BASELINE,764,742,711,670.80757707,664.80757707,632,875.19242293,782,799,649.19242293,626.80757707,649,0.400972357667,-0.00543225507444,0.0498535804887,0.999999964809,1.63514833758e-05,-0.000260547401386,-4.72188073811e-05,1793190377147547136
+72,1.200000000,BASELINE,764,742,711,670.239710245,664.239710245,632,875.760289755,782,799,649.760289755,626.239710245,649,0.400971204638,-0.00543162519692,0.0498525035408,0.999999964463,1.87737087493e-05,-0.000261642665089,-4.75942650869e-05,1793190377164213760
+73,1.216666667,BASELINE,764,742,711,670,664,632,875.654952228,782,799,649.654952228,626,649,0.400970947862,-0.00543226242862,0.0498525245918,0.999999964432,1.87221603071e-05,-0.0002618146127,-4.73239891786e-05,1793190377180880384
+74,1.233333333,BASELINE,764,742,711,670,664,632,875.057855651,782,799,649.057855651,626,649,0.400971345777,-0.0054338252521,0.0498533477038,0.999999964631,1.68635815428e-05,-0.000261312100833,-4.65820209213e-05,1793190377197547008
+75,1.250000000,BASELINE,764,742,711,670.522235357,664,632,875,782.522235357,799,649.522235357,626.522235357,649,0.400972405036,-0.00543421056239,0.0498543727678,0.999999964948,1.46554460915e-05,-0.000260246820688,-4.648154226e-05,1793190377214213632
+76,1.266666667,BASELINE,764,741.899910375,711,671,664,632,875,783,799,650,626.899910375,649,0.400973454004,-0.00543439801361,0.0498551826213,0.999999965253,1.29955880144e-05,-0.000259161713311,-4.64815619256e-05,1793190377230880512
+77,1.283333333,BASELINE,764,741.324015621,711,671,664,632,875,783,799,650,626.324015621,649,0.400974116748,-0.00543424546132,0.0498548664059,0.999999965461,1.41204132592e-05,-0.000258269384974,-4.66321451851e-05,1793190377247546880
+78,1.300000000,BASELINE,764,741.256526097,711,670.743473903,664,632,875,782.743473903,799,649.743473903,626,649,0.400974077276,-0.00543337920479,0.0498543662817,0.999999965464,1.53175524192e-05,-0.000258130305166,-4.69644615702e-05,1793190377264213504
+79,1.316666667,BASELINE,764,741.843045592,711,670.156954408,664,632,875,782.156954408,799,649.156954408,626,649,0.400973134477,-0.00543159484407,0.0498536295782,0.999999965202,1.66077156132e-05,-0.000258960199125,-4.75305581806e-05,1793190377280880128
+80,1.333333333,BASELINE,764,742,711,670,664,632,875,782,798.573488246,649.426511754,626.426511754,649,0.400971953006,-0.00543210379696,0.0498534868622,0.999999964905,1.66766875295e-05,-0.000260163334552,-4.71952490415e-05,1793190377297546752
+81,1.350000000,BASELINE,764,741.991264403,711,670,664,632,875,782,798.008735597,650,627,649,0.400970719727,-0.00543342846003,0.0498535689169,0.999999964602,1.6312510351e-05,-0.000261465538026,-4.65452133706e-05,1793190377314213632
+82,1.366666667,BASELINE,764,741.417242158,711,670,664,632,875,782,798.582757842,650,627,649,0.400971777037,-0.00543331522357,0.0498541518161,0.99999996487,1.67927800769e-05,-0.000260353581748,-4.68418294759e-05,1793190377330880512
+83,1.383333333,BASELINE,764.157062739,741.157062739,711,670.157062739,664.157062739,632,875,782,799,650,626.842937261,649,0.400972559961,-0.0054333432449,0.0498545026223,0.999999965019,1.69056246437e-05,-0.000259738325529,-4.70378680756e-05,1793190377347547136
+84,1.400000000,BASELINE,764.732119992,741.732119992,711,670.732119992,664.732119992,632,875,782,799,650,626.267880008,649,0.400972612653,-0.00543374719867,0.0498542357543,0.999999964853,1.60406326786e-05,-0.000260444947831,-4.6966237618e-05,1793190377364213760
+85,1.416666667,BASELINE,764.685259924,742,711,670.685259924,665,632,874.685259924,782.314740076,799.314740076,650,626,649,0.400972858722,-0.00543436216691,0.0498544719222,0.999999965032,1.50894724777e-05,-0.000259841087387,-4.68142339335e-05,1793190377380880384
+86,1.433333333,BASELINE,764.096044559,742,711,670.096044559,665,632,874.096044559,782.903955441,799.903955441,650,626,649,0.400973273431,-0.00543516115446,0.0498551467724,0.999999965509,1.40631676198e-05,-0.000258094394586,-4.65921391966e-05,1793190377397547008
+87,1.450000000,BASELINE,764,742,711,669.51527203,664.51527203,632,874.48472797,782.51527203,800,650,626.48472797,649,0.400973020641,-0.00543379714473,0.0498544072314,0.999999965227,1.514368196e-05,-0.000259047985149,-4.70228505325e-05,1793190377414213632
+88,1.466666667,BASELINE,763.93647263,742,711,669.06352737,664.06352737,632,875,782,800,650,627,649,0.400972919866,-0.00543224202598,0.0498536480262,0.999999964929,1.64775416523e-05,-0.00026002818969,-4.74987666365e-05,1793190377430880256
+89,1.483333333,BASELINE,763.360327156,742,711,669.639672844,664.639672844,632,875,782,800,650,627,649,0.400975094693,-0.00543254390512,0.0498549528296,0.999999965725,1.65448865673e-05,-0.000256979711502,-4.73135804619e-05,1793190377447547136
+90,1.500000000,BASELINE,763.213818886,742,711,670,665,632,875,782.213818886,800,650,627,649,0.400975487281,-0.00543280357783,0.0498552048606,0.999999965934,1.65818169863e-05,-0.000256183313276,-4.71850437374e-05,1793190377464214016
+91,1.516666667,BASELINE,763.784626645,742,711,670,665,632,875,782.784626645,800,650,627,649,0.400972904271,-0.00543299278327,0.0498536991981,0.999999965173,1.65679678024e-05,-0.000259146955008,-4.71510881226e-05,1793190377480881408
+92,1.533333333,BASELINE,764,742,710.629679722,670,665,632,875,782.629679722,799.629679722,649.629679722,626.629679722,649,0.400972047117,-0.00543262124479,0.049853155832,0.999999964789,1.58524125411e-05,-0.000260641093719,-4.72918925824e-05,1793190377497547776
+93,1.550000000,BASELINE,764,742,710.034966025,670,665,632,875,782.034966025,799.034966025,649.034966025,626.034966025,649,0.400972235736,-0.00543190992682,0.0498531955636,0.999999964637,1.47116625621e-05,-0.000261244795907,-4.75385918897e-05,1793190377514214144
+94,1.566666667,BASELINE,764,742,710.544507454,670,664.455492546,632.544507454,875.544507454,782,799,649.544507454,626.544507454,649,0.400973226624,-0.00543318305894,0.0498542243895,0.99999996494,1.51609807794e-05,-0.000260131001024,-4.71420519955e-05,1793190377530880512
+95,1.583333333,BASELINE,764,742,711,670,664.122343442,632.877656558,875.877656558,782,799,650,626.877656558,649,0.400973968376,-0.00543424395041,0.0498552015899,0.999999965289,1.55960743842e-05,-0.000258826824599,-4.6767517932e-05,1793190377547546880
+96,1.600000000,BASELINE,764,742,711,670,664.697641751,632.302358249,875.302358249,782,799,650,626.302358249,649,0.400973602206,-0.00543406010581,0.0498557589035,0.999999965712,1.56107614379e-05,-0.000257215007667,-4.66232214027e-05,1793190377564213504
+97,1.616666667,BASELINE,764,742,711,670.278867745,664.721132255,632,875,782,799,650,626,649,0.400973619484,-0.00543403707395,0.0498559386193,0.999999965909,1.55335165734e-05,-0.00025644962262,-4.66274834599e-05,1793190377580880384
+98,1.633333333,BASELINE,764,742,711,670.86666029,664.13333971,632,875,782,799,650,626,649,0.400974061539,-0.00543419218763,0.0498557000391,0.99999996586,1.53544311402e-05,-0.000256621900078,-4.67963161238e-05,1793190377597547264
+99,1.650000000,BASELINE,764,742,711,670.552238769,664.447761231,632,875,782,798.552238769,649.552238769,626,649,0.400973146737,-0.00543320351851,0.0498545085556,0.999999965403,1.67831035459e-05,-0.00025828594848,-4.69205162938e-05,1793190377614214144
+100,1.666666667,BASELINE,764,742,711,670,664.973190963,632.026809037,875,782.026809037,798,649,626.026809037,649,0.400972056045,-0.0054319757012,0.049853221307,0.999999964895,1.8525758116e-05,-0.000260107486125,-4.70238147322e-05,1793190377630881024
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+104,1.733333333,BASELINE,764,742,711,670.658960679,665,632,875.341039321,782,798.658960679,649,626,649,0.400973063779,-0.00543367332915,0.0498541575931,0.999999965347,1.70527021348e-05,-0.000258514732622,-4.67497139562e-05,1793190377697547264
+105,1.750000000,BASELINE,764,742,711,670.070837684,665,632,875.929162316,782,798.070837684,649,626,649,0.400974213053,-0.00543321469994,0.0498552745496,0.999999965668,1.77412601509e-05,-0.000257208468025,-4.68277572764e-05,1793190377714213888
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,741,711,670,665,632,875,782,799,649,627,649,0.400973761491,-0.00543367019528,0.0498557354818,0.999999965482,1.76674808477e-05,-0.000257924107028,-4.68957529102e-05,1793190377744935168
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741.574482149,711,670.574482149,665,632,875,782,799,649,626.425517851,649,0.400974332562,-0.00543480308645,0.0498553359963,0.999999965643,1.53747870089e-05,-0.000257476023479,-4.67254999786e-05,1793190377761601536
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.850795418,711,670.850795418,665,632,875,782,799,649.149204582,626,649,0.400974437838,-0.00543526466522,0.0498548768867,0.999999965684,1.39768731434e-05,-0.000257413613391,-4.66260570537e-05,1793190377778267648
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.309762532,711,670,664.690237468,632.309762532,875,782,799,649.690237468,626,649,0.400972408439,-0.00543412117892,0.0498536603162,0.99999996518,1.46046201335e-05,-0.000259325368085,-4.66576658218e-05,1793190377811600384
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.903851784,711,670,664.096148216,632.903851784,875,782,799,649.096148216,626,649,0.40097199087,-0.005436057076,0.0498531119832,0.999999965032,1.25246483859e-05,-0.000260044763249,-4.64266952572e-05,1793190377828267008
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.481677674,742,711,670,664,632.518322326,875,782,799,649,626.481677674,649,0.400972902414,-0.00543566345565,0.049853704559,0.999999965278,1.31257719273e-05,-0.000259050920992,-4.65308047602e-05,1793190377844933888
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.943615333,742,711,670,664.056384667,632,875,782,799,649,626.943615333,649,0.400974312399,-0.00543488564371,0.0498545246749,0.999999965613,1.418363378e-05,-0.000257667727702,-4.66872180132e-05,1793190377861600512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.368711329,742,711,670,664.631288671,632,875,782,799,649,626.368711329,649,0.400977946021,-0.005434711267,0.0498554113738,0.999999966097,1.46809140922e-05,-0.000255746200527,-4.6729623603e-05,1793190377878267136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.212314539,665,632,875,782,799,649.212314539,626,649.212314539,0.400986351742,-0.00543462708427,0.0498587411856,0.999999967656,1.46341036159e-05,-0.000249617659181,-4.65365358904e-05,1793190377894933760
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670.804287387,665,632,875,782,799,649.804287387,626,649.804287387,0.401003290871,-0.00543470418534,0.0498664397425,0.999999971013,1.36143564664e-05,-0.000235966185766,-4.59223418709e-05,1793190377911600384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.613552935,711,670.613552935,665,632,875,782,799.386447065,650,626,649.613552935,0.401036943092,-0.00543569467444,0.0498793241011,0.999999976782,1.315214893e-05,-0.000210278389162,-4.52294504062e-05,1793190377928267008
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.036239923,711,670.036239923,665,632,875,782,799.963760077,650,626,649.036239923,0.4010788499,-0.00543713628526,0.0498947697243,0.999999982969,1.2965309735e-05,-0.00017864585917,-4.44976902357e-05,1793190377944933632
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.53855884,711,670,665,632,875.53855884,782,799.46144116,650,626.53855884,649,0.40114211277,-0.00543882460692,0.0499107731631,0.99999998879,1.3509015537e-05,-0.000142677412138,-4.33741039239e-05,1793190377961600512
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670.116180896,665,632,875.883819104,782,799,650,626.883819104,649,0.401208369727,-0.00544087132768,0.0499250337345,0.999999992707,1.372516383e-05,-0.00011236246243,-4.20988237685e-05,1793190377978267392
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.705999435,665,632,875.294000565,782,799,650,626.294000565,649,0.401281001493,-0.00544431177934,0.0499320368062,0.999999993463,1.24064746552e-05,-0.000106279183878,-4.03121175581e-05,1793190377994934016
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,875.290406539,782,799,649.709593461,626.290406539,649,0.401360027335,-0.00544764284536,0.0499348575622,0.999999993695,1.0570505286e-05,-0.000104715449556,-3.91538339977e-05,1793190378011600384
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,875.869435421,782,799,649.130564579,626.869435421,649,0.401445407964,-0.00545086519755,0.0499335216973,0.999999993427,8.22043386198e-06,-0.000107643492705,-3.86201122993e-05,1793190378028267008
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.553796242,665,632,875.553796242,782,798.553796242,649.446203758,626.553796242,649,0.401550673595,-0.00545560806172,0.04993350178,0.999999993262,7.13524570865e-06,-0.000109719117259,-3.72530282868e-05,1793190378044933888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,741.977757028,711,670,664.977757028,632,875,782,798.022242972,650,626,649,0.401663184221,-0.00546076410019,0.0499339375398,0.999999993145,6.36310726951e-06,-0.000111344375349,-3.56705634056e-05,1793190378061600768
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,741.403479591,711,670,664.403479591,632,875,782,798.596520409,650,626,649,0.401811823842,-0.005465187922,0.0499361740198,0.99999999356,4.22087789087e-06,-0.000107951462047,-3.47641948613e-05,1793190378078267136
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.175687552,741.175687552,711,670,664,632,875,781.824312448,799,649.824312448,626,649,0.401967101618,-0.00547023976234,0.0499365974397,0.999999993565,1.51861530454e-06,-0.000108344835659,-3.35948399773e-05,1793190378094934016
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+133,2.216666667,POSE1_TO_POSE2_PRESS,763.690778788,742,711,670,664.654610606,632,875,782,799.654610606,649.345389394,626,649,0.403365364214,-0.00552052260491,0.0499504720098,0.999999996012,-2.30800398315e-05,-8.35461612676e-05,-2.15412139944e-05,1793190378194934016
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.236115303,742,711,670,665,632,875,782,799.527769393,649.236115303,626,649,0.403689467418,-0.00553054141906,0.0499585838658,0.999999997189,-2.64763562484e-05,-6.77039956182e-05,-1.83497344641e-05,1793190378211600640
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.82677988,742,711,670,665,632,875,782,798.34644024,649.82677988,626,649,0.404044317381,-0.005539112134,0.0499691451726,0.99999999845,-2.59664530106e-05,-4.69433201834e-05,-1.49153832899e-05,1793190378228267264
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664.593459168,632,875,782,798.406540832,650,626.406540832,649,0.404421718294,-0.00554718425347,0.0499755194099,0.999999999085,-2.47511190604e-05,-3.30646406797e-05,-1.11010570019e-05,1793190378244933888
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664.018222731,632,875,782,798.981777269,650,626.981777269,649,0.404808476798,-0.00555504947872,0.049980156207,0.999999999462,-2.3243064067e-05,-2.20416710941e-05,-7.12905873533e-06,1793190378261600768
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664.557393758,632,875,782,798.442606242,650,626.442606242,649,0.40521701429,-0.00554263176462,0.0499719523054,0.999999999321,4.01583634567e-06,-3.64337498674e-05,-3.88386241333e-06,1793190378278267392
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.13651647,742,711,670.13651647,665,632,875,782,798.13651647,650,626,649,0.405631260412,-0.00552959837063,0.0499599656459,0.99999999777,3.14021478593e-05,-5.89263449933e-05,-1.44989809719e-06,1793190378294934016
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.727263947,742,711,670.727263947,665,632,875,782,798.727263947,650,626,649,0.406062130055,-0.00551672428195,0.0499367903702,0.999999992831,5.64093386146e-05,-0.000105605273448,-1.63603089492e-06,1793190378311600896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.687848546,742,711,670.687848546,665,632,875.312151454,782,799.312151454,649.687848546,626.312151454,649,0.406525026191,-0.00551247460147,0.0499181241114,0.999999987763,7.25737544242e-05,-0.000138588458644,9.23922009121e-09,1793190378328267264
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.107986657,742,711,670.107986657,665,632,875.892013343,782,799.892013343,649.107986657,626.892013343,649,0.407015389253,-0.00551562147028,0.0499033249181,0.99999998393,8.11543445231e-05,-0.000159825769674,3.22517528847e-06,1793190378344933632
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.53139897,782,800,649.46860103,627,649,0.407572639476,-0.00552005864261,0.0499119867119,0.99999998646,8.81408620821e-05,-0.000138734269412,7.95910016241e-06,1793190378361601536
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670.044039889,665,632,875.044039889,782,799.955960111,650,626.955960111,649,0.408148683714,-0.00552481622152,0.0499272307759,0.999999989733,9.497559613e-05,-0.000106488781475,1.32122231866e-05,1793190378378269440
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.614701554,665,632,875.614701554,782,799.385298446,650,626.385298446,649,0.408766427407,-0.00552987425729,0.0499569835604,0.999999992737,0.000104357513822,-5.66985215128e-05,2.05198597203e-05,1793190378394935040
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,650,626,648.806840586,0.409392427964,-0.00553282095448,0.0499791297599,0.999999992952,0.000113558299786,-2.21481354048e-05,2.66285326418e-05,1793190378411600896
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,650,626,648.21217749,0.410035591309,-0.00553137899537,0.0499854648108,0.999999991868,0.000122382582883,-1.92755534269e-05,3.02450237909e-05,1793190378428267520
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,875.627902848,782,799.372097152,650,626,648.372097152,0.410659494434,-0.00553207606842,0.0499713898901,0.999999995002,8.07837978022e-05,-5.49885907824e-05,2.11189808374e-05,1793190378444934656
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,875.049391046,782,799.950608954,650,626,648.950608954,0.411272713253,-0.0055339597337,0.0499459928798,0.999999993641,1.12136610801e-05,-0.000112106352583,4.92423069111e-06,1793190378461601792
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.524752459,742,711,671,665,632,875.524752459,782,799.475247541,650,626,649,0.411954481662,-0.00553974207371,0.0499289567489,0.999999991641,1.23565224403e-05,-0.000128532219851,6.73852863156e-06,1793190378478268160
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.898871023,742,711,671,665,632,876,782,799,650,626,648.898871023,0.412655993694,-0.00554523422504,0.049920673819,0.999999991268,1.99283968548e-05,-0.00013020867925,1.06471479388e-05,1793190378494934528
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.309751823,742,711,671,665,632,876,782,799,650,626,648.309751823,0.413421899957,-0.0055475700043,0.0499508627977,0.999999996384,2.66716100031e-05,-7.90419019085e-05,1.65499095217e-05,1793190378511601152
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.725120124,665.274879876,632,876,782,798.725120124,650,626,648.274879876,0.414183658808,-0.0055471107322,0.0499607382681,0.999999997417,3.20638249407e-05,-6.12356013132e-05,1.96968457992e-05,1793190378528267776
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670.145463921,665.854536079,632,876,782,798.145463921,650,626,648.854536079,0.414940819264,-0.00554355241398,0.0499480908986,0.999999995924,3.59581054702e-05,-8.04181193076e-05,1.97882288114e-05,1793190378544934144
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670.43214556,665.56785444,632,875.56785444,782,798.43214556,650,626,649,0.415694861278,-0.00554128627238,0.0499274635008,0.999999992869,3.02299371767e-05,-0.000114178915751,1.76228132387e-05,1793190378561600512
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.00903008,742,711,671,665,632,875.00903008,782,799,650,626,649,0.416448971017,-0.00553955024128,0.0499048937844,0.999999988178,2.1286354528e-05,-0.000151567338472,1.4770473631e-05,1793190378578267136
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.583458274,742,711,671,665,632,875.583458274,782,799,650,626,649,0.41727273857,-0.00554390035214,0.049928104269,0.999999993704,1.2863470947e-05,-0.000110288247683,1.62479776335e-05,1793190378594933760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.837984064,742,711,671,665,632,876.162015936,782,799,649.837984064,626,648.837984064,0.418093618567,-0.0055481679461,0.0499496220051,0.999999997157,5.18450870712e-06,-7.3005606755e-05,1.81422081935e-05,1793190378611600640
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.248531928,742,711,671,665,632,876.751468072,782,799,649.248531928,626,648.248531928,0.418906880459,-0.00555221784081,0.0499666738709,0.999999998706,-5.3181326746e-07,-4.62665447165e-05,2.11358615313e-05,1793190378628267520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.664269415,782,799,649,626.335730585,648,0.419723178178,-0.00555150166134,0.0499591391625,0.999999998119,1.06604952931e-07,-5.72458235442e-05,2.203554572e-05,1793190378644934400
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.083790179,782,799,649,626.916209821,648,0.420541688988,-0.00554731099863,0.0499336807637,0.999999995175,5.37764899124e-06,-9.57218924932e-05,2.14087196712e-05,1793190378661601536
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.491843292,782,799,649,626.508156708,648.491843292,0.42141997029,-0.00554960790117,0.0499525609505,0.99999999836,5.04019273431e-07,-5.26611782479e-05,2.24990579887e-05,1793190378678267648
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.933101342,782,799,649,626.066898658,649,0.422301584002,-0.00555325811211,0.0499757362993,0.99999999969,-6.51610995955e-06,-3.04614931752e-06,2.38313104222e-05,1793190378694934016
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.356221569,782,799,649,626.643778431,649,0.423131735231,-0.00555888175655,0.0499746344873,0.999999999516,-1.68532291846e-05,-8.3237010485e-06,2.47994246389e-05,1793190378711600640
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.225030178,782,798.774969822,649.225030178,626.774969822,649,0.423951070787,-0.00556225030938,0.0499663046564,0.999999999111,-2.45259148866e-05,-2.35825870654e-05,2.4904284878e-05,1793190378728267520
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.81333995,782,798.18666005,649.81333995,626.18666005,649,0.424752946089,-0.00556197833465,0.049946306205,0.999999997822,-2.78972487533e-05,-5.49549352569e-05,2.36155430371e-05,1793190378744934144
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671.396505407,665.396505407,632,876.603494593,782,798.396505407,650,626,649,0.425613889171,-0.00556256517338,0.0499581618456,0.999999998372,-2.91059755133e-05,-4.16703259332e-05,2.59368630049e-05,1793190378761600768
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.977280093,665.977280093,632,876.022719907,782,798.977280093,650,626,649,0.426502282971,-0.00556355113139,0.0499848211459,0.999999999093,-2.93096664366e-05,-7.63213787384e-06,2.99358990981e-05,1793190378778267392
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.549862832,742,711,670.900274336,665.450137168,632,876.549862832,782,799,649.450137168,626.549862832,649,0.42728260778,-0.00556115583048,0.0499745688341,0.999999998105,-2.94817493931e-05,-4.46026216883e-05,3.05219446094e-05,1793190378794934528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.876827435,742,711.123172565,670.24634513,665,632,876.876827435,782,799,649.123172565,626.876827435,649,0.428061531094,-0.00555886622329,0.0499598127729,0.999999995672,-2.9717538978e-05,-8.27205143693e-05,3.04943436175e-05,1793190378811601408
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.29960841,742,711.70039159,671.40078318,665,632,876.29960841,782,799,649.70039159,626.29960841,649,0.428851506826,-0.00555747368248,0.0499339943163,0.999999992587,-3.01929117161e-05,-0.000114411241406,2.87168939833e-05,1793190378828267776
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711.714464449,671.714464449,665.285535551,632,876.285535551,782.285535551,798.714464449,649.714464449,626,649,0.429658226909,-0.00555844306383,0.049929885699,0.999999993115,-3.50636813047e-05,-0.000108459190725,2.78754277471e-05,1793190378844934144
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711.120767621,671.120767621,665.879232379,632,876.879232379,782.879232379,798.120767621,649.120767621,626,649,0.430483018108,-0.00556196152523,0.049949207202,0.999999996694,-4.4678137224e-05,-6.18815610721e-05,2.80441119624e-05,1793190378861600512
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458192409,742.458192409,711,671.458192409,666,632,877,782.541807591,798.458192409,649,626,649,0.431249633916,-0.00556171735912,0.0499412415654,0.999999995123,-4.7920287638e-05,-8.1714982353e-05,2.79324438403e-05,1793190378878267136
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.966861021,742.966861021,711,671.966861021,666,632,877,782,798.966861021,649.033138979,626.033138979,649,0.432000014535,-0.00556053105669,0.0499267527161,0.999999991589,-4.95792422255e-05,-0.000116594734143,2.77346588768e-05,1793190378894933760
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.39597609,742.39597609,711,671.39597609,666,632,877,782,798.39597609,649.60402391,626.60402391,649,0.432728009589,-0.00555964806384,0.0499194825504,0.999999991025,-5.19528607363e-05,-0.000120441060636,2.73011641486e-05,1793190378911600640
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.182426164,671,666,632,877,782,798.182426164,649.817573836,627,649,0.433458021979,-0.00556028378645,0.0499227734446,0.999999992152,-5.56434304518e-05,-0.00010880259054,2.76174637484e-05,1793190378928267264
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.777847001,671,666,632,877,782,798.777847001,649.222152999,627,649,0.434192601561,-0.00556435772951,0.049949973526,0.999999995691,-6.23154469765e-05,-6.21080831173e-05,2.96312229388e-05,1793190378944934144
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.637821336,671,666,632,876.637821336,782.362178664,799,649.362178664,626.637821336,649,0.434895636444,-0.00556629491107,0.0499668519923,0.999999996441,-6.77414670132e-05,-3.99632361728e-05,3.05364938189e-05,1793190378961601024
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711.060089508,671,666,632,876.060089508,782.939910492,799,649.939910492,626.060089508,649,0.435579897234,-0.00556696038385,0.0499775874756,0.999999996378,-7.24259231866e-05,-3.24292940658e-05,3.07820400395e-05,1793190378978267648
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.515454778,666,632,876.515454778,783,799,649.484545222,626,649,0.436197805508,-0.00556390793379,0.0499519903429,0.99999999307,-7.13729210073e-05,-8.8426644148e-05,3.07649446615e-05,1793190378994934528
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.907256544,632,877,782.907256544,799,649,626,649,0.43680940866,-0.00556128598157,0.0499285092872,0.999999987742,-6.9899690378e-05,-0.000136653327265,3.09305669147e-05,1793190379011600896
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.319297552,632,877,782.319297552,799,649,626,649,0.437428472767,-0.00556326724636,0.0499388477188,0.99999999164,-6.97389059105e-05,-0.000104008280709,3.22346297378e-05,1793190379028267520
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.26448264,672,665.26448264,632,876.73551736,782.26448264,798.73551736,649,626.26448264,649,0.438039107463,-0.00556491360264,0.0499547719589,0.99999999477,-6.88427448422e-05,-6.77365927762e-05,3.36394107168e-05,1793190379044934400
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.843296391,672,665.843296391,632,876.156703609,782.843296391,798.156703609,649,626.843296391,649,0.438639723969,-0.00556616192823,0.0499773347941,0.999999996764,-6.7072606776e-05,-2.71547331403e-05,3.5163892644e-05,1793190379061601024
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.420438298,742,711.579561702,672,666.420438298,632,876.420438298,783,798.420438298,649,626.579561702,648.579561702,0.439161149308,-0.00556438052946,0.049966740403,0.999999996308,-6.31160537978e-05,-4.61533182249e-05,3.5652727656e-05,1793190379078268416
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.9969596,742,711.0030404,672,666.9969596,632,876.9969596,783,798.9969596,649,626.0030404,648.0030404,0.439653175865,-0.0055614743796,0.0499438367653,0.99999999385,-5.83478185842e-05,-8.72704719963e-05,3.57570904489e-05,1793190379094935552
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.431695309,742,711,671.431695309,665.863390617,632,877,783,799.568304691,649,626,648.568304691,0.440108131208,-0.00555767976526,0.0499177541856,0.999999989709,-5.43467301789e-05,-0.000128059515819,3.5055696243e-05,1793190379111601664
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.145128201,671.145128201,665.290256402,632,877,782.854871799,799.854871799,649.145128201,626.145128201,649,0.440561808247,-0.00555523201167,0.0499007309365,0.999999986287,-5.14135331888e-05,-0.000153529176479,3.48079768822e-05,1793190379128267776
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711.738975306,671.738975306,666.477950612,632,877,782.261024694,799.261024694,649.738975306,626.738975306,649,0.441012140709,-0.00555696315205,0.0499117701488,0.999999989348,-5.176955185e-05,-0.000131638539813,3.59761734775e-05,1793190379144934400
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711.675167458,671.675167458,666.675167458,632,877,782.324832542,799.324832542,649.675167458,627,649,0.441443474337,-0.00555839434252,0.049926834953,0.999999991021,-7.77833837932e-05,-0.000105044927939,2.95670016331e-05,1793190379161601024
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711.09557652,671.09557652,666.09557652,632,877,782.90442348,799.90442348,649.09557652,627,649,0.441859907607,-0.00555959028936,0.0499450569319,0.999999989379,-0.000123920024975,-7.47628861412e-05,1.72150807741e-05,1793190379178267648
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,666.480797965,631.519202035,877.480797965,782.519202035,799.519202035,649,626.519202035,649,0.442232448005,-0.00556705450294,0.0499538599631,0.999999989883,-0.000129507575026,-5.59733710653e-05,1.81513910874e-05,1793190379194934272
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671.056337971,666.943662029,631.056337971,877.943662029,782,799,649,626,649,0.442588466591,-0.00557502888146,0.0499584391201,0.99999999214,-0.000115357976991,-4.41857602717e-05,2.14412060999e-05,1793190379211600896
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671.630047411,666.369952589,631.630047411,877.369952589,782,799,649,626,649,0.442872354999,-0.00557632139509,0.049941309294,0.999999996854,6.51299954306e-06,-7.58585307402e-05,2.22471748504e-05,1793190379228267264
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.21137591,711,671.78862409,665.78862409,631.78862409,877.21137591,782,799,649,626,649,0.443140696134,-0.00557688597107,0.0499243538822,0.999999990658,8.49712133939e-05,-0.000104575406052,2.29645920998e-05,1793190379244933632
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.806537943,711,671.193462057,665.193462057,631.193462057,877.806537943,782,799,649,626,649,0.443380808726,-0.00557612886188,0.0499077151488,0.999999987962,8.46067337724e-05,-0.000127925388413,2.35212306405e-05,1793190379261600512
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.611974506,711,671.388025494,665,631,878,782,799,649,626,649,0.443597352949,-0.00556925916971,0.049893241849,0.999999983922,9.19138279781e-05,-0.000152140092396,2.37054574e-05,1793190379278267136
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.037072649,711,671.962927351,665,631,878,782,799,649,626,649,0.443802546466,-0.00555944560574,0.0498798114389,0.999999978799,0.000102915617032,-0.000176771255641,2.37103275311e-05,1793190379294933760
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.53736718,742,711.53736718,672,665,631,877.46263282,782,799,649.53736718,626.53736718,649,0.443993164853,-0.00555081126532,0.0498766244299,0.999999976771,0.000112255500513,-0.00018254758601,2.31091384259e-05,1793190379311600896
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.293485967,742.706514033,711.293485967,672,665,631,877,782,799,649.293485967,626.293485967,649,0.444351896986,-0.00555419895981,0.0498847197754,0.999999979222,0.000108039438854,-0.0001710933056,2.47113930295e-05,1793190379344934400
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.291110388,672.291110388,665,631,876.708889612,782,799,649,626,649,0.444502076061,-0.00556159111062,0.0498876689188,0.999999980882,0.00010014554812,-0.000165925198159,2.59986849488e-05,1793190379361601024
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.868978087,672.868978087,665,631,876.131021913,782,799,649,626,649,0.444630310346,-0.00556779107775,0.0498852001169,0.999999981089,9.40791418301e-05,-0.0001680844193,2.6805806372e-05,1793190379378267904
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.554659588,711.554659588,672.554659588,665,631,876.890680825,782,799,649.445340412,626,649,0.444732942214,-0.00556847100611,0.049880413633,0.999999980176,9.36289188272e-05,-0.000173705190089,2.66150902979e-05,1793190379394934528
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.021212479,742,711,672,665,631,877.978787521,782,799,649.978787521,626,648.978787521,0.444827263597,-0.00556750204471,0.0498750433476,0.99999997892,9.48347334034e-05,-0.000180228072978,2.6141959151e-05,1793190379411600896
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.595810101,742,711,672,665,631,877.404189899,782,799,649.404189899,626,648.404189899,0.444900624279,-0.00556574180924,0.049872171686,0.999999978136,9.62828529565e-05,-0.000183806532412,2.59340331548e-05,1793190379428267264
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,742,711.175613005,672,665.175613005,630.824386995,877,782,799,649.175613005,626,648,0.444968335798,-0.0055636379826,0.0498691603894,0.999999977284,9.81539610791e-05,-0.000187476515976,2.54881215089e-05,1793190379444933888
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,742,711.767762229,672,665.767762229,630.232237771,877,782,799,649.767762229,626,648,0.445022648063,-0.00556071919285,0.0498658178937,0.999999976287,0.000101028354942,-0.000191363584975,2.44777320926e-05,1793190379461600512
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.648731241,742,711.648731241,672,665.648731241,630.351268759,877,782,799,649.648731241,626,648.351268759,0.445068373537,-0.00555945685068,0.0498637145305,0.999999975886,0.000101257880697,-0.000193386565455,2.39993782236e-05,1793190379478267136
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.07080147,742,711.07080147,672,665.07080147,630.92919853,877,782,799,649.07080147,626,648.92919853,0.445108558271,-0.00555926335388,0.0498624107342,0.999999975879,9.9780769113e-05,-0.000194206717492,2.38643275301e-05,1793190379494933760
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.503545356,711.503545356,671.496454644,665,630.496454644,877,782,799,649,626,649,0.445134075214,-0.0055605897642,0.0498612031051,0.99999997563,9.89940870588e-05,-0.000195845760046,2.41675429054e-05,1793190379511600896
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.92049954,712,671.07950046,665,630.07950046,877,782,799,649.07950046,626.07950046,649,0.445156471253,-0.0055618377596,0.0498601485694,0.999999975412,9.82241286118e-05,-0.000197312415274,2.44199126635e-05,1793190379528267776
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.331018536,712,671.668981464,665,630.668981464,877,782,799,649.668981464,626.668981464,649,0.445171983588,-0.00556122152776,0.0498599899724,0.999999975621,9.69431080836e-05,-0.000196939850193,2.3953611538e-05,1793190379544934400
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.253923603,742,712,672,665,631,877.253923603,782,799,649.746076397,626.746076397,649,0.445182914878,-0.00556064474225,0.049859043496,0.999999975477,9.52807349666e-05,-0.000198548374198,2.33764730664e-05,1793190379561601024
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.833052682,742,712,672,665,631,877.833052682,782,799,649.166947318,626.166947318,649,0.445187979126,-0.00556011847654,0.0498570879654,0.999999974864,9.31299553764e-05,-0.000202694122071,2.26573828244e-05,1793190379578267392
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,742,711.590186829,672,665,631,877.590186829,782,799,649,626,649,0.445192041836,-0.00555995792493,0.0498565706433,0.999999974522,9.34087736221e-05,-0.000204244838866,2.27068956829e-05,1793190379594934016
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,742,711.014385711,672,665,631,877.014385711,782,799,649,626,649,0.445195698891,-0.0055599454997,0.0498566358436,0.999999974292,9.46716597469e-05,-0.000204744481775,2.3067718345e-05,1793190379611600640
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649,626,649,0.445201462929,-0.00555798260884,0.0498569952678,0.999999974165,9.74664354248e-05,-0.00020406362605,2.29783652026e-05,1793190379644933888
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649,626,649,0.445200177963,-0.00555716851337,0.0498551410379,0.99999997368,9.65379278375e-05,-0.000206923329699,2.24446051137e-05,1793190379661600512
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877.314637401,782,799,649,626,649,0.445200266507,-0.00555581050354,0.0498542748394,0.999999973368,9.71344968664e-05,-0.000208171706732,2.22119059271e-05,1793190379678267136
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877.894136298,782,799,649,626,649,0.445201511273,-0.00555399462698,0.0498542403648,0.999999973206,9.90148739837e-05,-0.000208063670715,2.22326394913e-05,1793190379694934016
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877.06020773,782,799,649,626,649,0.445202187859,-0.00555477476062,0.0498545798968,0.999999973396,9.83380151161e-05,-0.000207467947013,2.22303907728e-05,1793190379711600640
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,876,782,799,649,626,649,0.445202131274,-0.00555659456498,0.0498541734756,0.999999973563,9.57958423377e-05,-0.000207848485922,2.22932437661e-05,1793190379744933632
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671.798758546,665,631,876.201241454,782,799,649,626.201241454,649,0.445201812068,-0.00555642249924,0.049853496121,0.999999973387,9.55073355897e-05,-0.000208826379612,2.22497576252e-05,1793190379761600256
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.208244502,665,631,876.791755498,782,799,649,626.791755498,649,0.445201886278,-0.00555490286242,0.0498529379227,0.99999997302,9.71569663964e-05,-0.000209846983518,2.19971465621e-05,1793190379778267136
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711.526937988,672,665,630.526937988,877,782,799.526937988,649.526937988,626,648.526937988,0.445203893126,-0.00555606537032,0.0498537895442,0.999999973445,9.44758881013e-05,-0.000209082585607,2.16551580986e-05,1793190379828267264
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711.302935221,672,665,631,876.302935221,782,799.302935221,649.302935221,626,649,0.445204885045,-0.00555540310131,0.049853588179,0.999999973503,9.53189265223e-05,-0.000208427621367,2.16132668969e-05,1793190379861600512
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,630.717144086,876.282855914,782,799,649,626,649,0.445205172327,-0.00555556340719,0.0498537218164,0.999999973574,9.47110611154e-05,-0.000208348743237,2.17360364067e-05,1793190379878267136
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,630.138254804,876.861745196,782,799,649,626,649,0.445205932168,-0.00555668011332,0.0498544020247,0.999999973852,9.34449664218e-05,-0.000207562279002,2.19542321712e-05,1793190379894934016
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.437177978,742,711.437177978,672,665.437177978,630,876.562822022,782,799.437177978,649.437177978,626,649,0.445205772456,-0.00555537915145,0.0498544112494,0.999999973613,9.50372195831e-05,-0.000208033392425,2.15559503197e-05,1793190379911600384
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.988496763,742,712,672,665.988496763,630.011503237,876.011503237,782,799.988496763,649.988496763,626,649,0.445205335087,-0.00555339897003,0.0498542034596,0.999999973218,9.74292097185e-05,-0.00020888125493,2.09845455718e-05,1793190379928267264
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.415292978,742,712,672,665.415292978,630.584707022,876.584707022,782,799.415292978,649.415292978,626,649,0.445205428245,-0.00555529368231,0.0498536790265,0.99999997344,9.50794993781e-05,-0.00020885837362,2.1404626937e-05,1793190379944933888
+239,3.983333333,HOLD_POSE2,764,742,712,672,665,631,878,782,799,649,626,649,0.445202122462,-0.00555480856556,0.0498511856679,0.999999972309,9.63876693535e-05,-0.000213667069785,2.09108561125e-05,1793190379985033728
+240,4.000000000,HOLD_POSE2,764,742,711.424751213,672,665,630.424751213,877.424751213,782,799,649,626,649,0.445203569784,-0.00555431240213,0.0498518846675,0.999999972757,9.49517731631e-05,-0.000212194691618,2.10652809452e-05,1793190380001700352
+241,4.016666667,HOLD_POSE2,764,742,711,671.849352952,665,630,877,781.849352952,799,649,626,649,0.445204714983,-0.00555419683165,0.0498524423679,0.999999973099,9.35095100803e-05,-0.000211211884913,2.11649829545e-05,1793190380018366976
+242,4.033333333,HOLD_POSE2,764,742,711,671.273532697,665,630,877,781.273532697,799,649,626,649,0.445205007497,-0.00555515541368,0.0498526012783,0.999999973151,9.2049277302e-05,-0.000211610802047,2.11102400324e-05,1793190380035033600
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+248,4.133333333,HOLD_POSE2,764,742,711,672,664.790069551,630.790069551,876.790069551,782,799,649,626,649,0.445205498917,-0.00555657507174,0.0498518064469,0.99999997283,9.46756497956e-05,-0.000211889522925,2.19027226162e-05,1793190380135033344
+249,4.150000000,HOLD_POSE2,764,742,711,672,664.21471472,630.21471472,876.21471472,782,799,649,626,649,0.445208039377,-0.00555485552083,0.049854091443,0.999999973342,9.71110316545e-05,-0.000208348734806,2.18078834201e-05,1793190380151699968
+250,4.166666667,HOLD_POSE2,764,742,711.370438233,672,664.370438233,630,876.740876465,782,799,649,626,648.629561767,0.445206914165,-0.00555447148591,0.0498532287824,0.999999973078,9.67331405315e-05,-0.000209826200767,2.14533206623e-05,1793190380168366592
+251,4.183333333,HOLD_POSE2,764,742,711.961424762,672,664.961424762,630,877.922849523,782,799,649,626,648.038575238,0.445203606517,-0.00555488257874,0.0498504920975,0.999999972338,9.4680307617e-05,-0.000214291390898,2.09441259377e-05,1793190380185033216
+252,4.200000000,HOLD_POSE2,763.460463706,742,711.460463706,672,665,630,877.460463706,782,799,649,626,648,0.445204146672,-0.00555547466066,0.0498512284367,0.9999999727,9.36171979318e-05,-0.000213030850974,2.12955572925e-05,1793190380201700096
+253,4.216666667,HOLD_POSE2,763.232540814,742,711.116270407,672,664.883729593,630.116270407,877.116270407,782,799,649.116270407,626,648.116270407,0.445204984447,-0.00555608830514,0.0498521789985,0.999999973103,9.27228987206e-05,-0.000211491566634,2.16307245245e-05,1793190380218366720
+254,4.233333333,HOLD_POSE2,764.382236104,742,711.691118052,672,664.308881948,630.691118052,877.691118052,782,799,649.691118052,626,648.691118052,0.445205936303,-0.00555673714641,0.0498530179398,0.999999973373,9.22218117866e-05,-0.000210429856059,2.1664714928e-05,1793190380235033344
+255,4.250000000,HOLD_POSE2,765,742,711.729015757,672,664.270984243,631,877.729015757,782,799,649.729015757,626,649,0.44520573068,-0.00555612774939,0.0498526224755,0.999999973264,9.24424151653e-05,-0.000210865022393,2.14810503062e-05,1793190380251699968
+256,4.266666667,HOLD_POSE2,765,742,711.143321264,672,664.856678736,631,877.143321264,782,799,649.143321264,626,649,0.445204180809,-0.00555405708476,0.0498507934218,0.999999972715,9.35011608105e-05,-0.000213038601704,2.10446098495e-05,1793190380268366592
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,665,631,876,782,798,649,626,649,0.445203084758,-0.00555208121783,0.0498495366711,0.999999971714,9.94612769721e-05,-0.000215045417298,2.08613605029e-05,1793190380301036032
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764.576097056,742,711.423902944,672,664.423902944,630.423902944,876.576097056,782,798.576097056,649.576097056,626,649,0.445204436384,-0.00555456048818,0.0498508202549,0.999999972526,9.54427812135e-05,-0.000213083305108,2.08493626262e-05,1793190380317702656
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.848701076,742,711,672,664,630,877,782,799,649.848701076,626,649,0.445205211055,-0.0055562303951,0.0498515890394,0.999999972983,9.28000263937e-05,-0.00021209292683,2.09243614967e-05,1793190380334369024
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764.275992427,742,711,672,664,630,877,782,799,649.275992427,626,649,0.445204378746,-0.00555564599958,0.0498509239643,0.9999999725,9.39890931011e-05,-0.000213809098241,2.12416705842e-05,1793190380351035904
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.900132938,630,877,782,799.900132938,649,626,649,0.445206111321,-0.00555330452931,0.0498522706941,0.999999972914,9.5933851603e-05,-0.000211002610019,2.11525818671e-05,1793190380384368896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,630,877,782,799.519077876,649,626,649,0.445204503916,-0.0055544520305,0.0498515672001,0.999999972829,9.57386664413e-05,-0.000211487840296,2.11677768924e-05,1793190380401035520
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,630,877,782,799,649.634224472,626.634224472,649,0.445182191651,-0.0055537712464,0.0498407456993,0.999999968921,9.52489068037e-05,-0.000229531892901,2.00360886914e-05,1793190380434369024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,630.214107834,876.785892166,782,799,649.785892166,626.785892166,649,0.445154833342,-0.00555164711773,0.0498291356778,0.999999963878,9.59022284008e-05,-0.000250372779919,1.89940056996e-05,1793190380451035904
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,631,877.15274677,782,799,649,626,649,0.445050886364,-0.00554772312604,0.0497928794992,0.99999994546,9.79179812945e-05,-0.000314965126478,1.69837184842e-05,1793190380484370176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,631,878.890785147,782,799,649,626,649,0.444980706436,-0.00554664887755,0.0497709883944,0.999999933378,9.69750969585e-05,-0.000351547017625,1.59629477782e-05,1793190380501036288
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.116306452,672,665,631,877,782,799,649,626,649,0.444825710032,-0.00554006210384,0.0497586403986,0.999999927469,0.000101567693188,-0.000366826896164,1.36000247579e-05,1793190380534369280
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.923665004,631,877,782,799,649,626.076334996,649,0.443007025305,-0.0054616632499,0.0497639911024,0.999999920738,0.000159860719396,-0.000364646227566,1.59091707138e-06,1793190380701036032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.49656961,631.50343039,877,782,799,649,626,649,0.44270295693,-0.0054511026975,0.0497720098484,0.999999924828,0.000165129215679,-0.000350823485584,1.14988648305e-08,1793190380717703168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.081953668,671.918046332,665,631.918046332,877,782,799,649,626,649,0.442389454698,-0.00544056458907,0.0497819634932,0.999999929849,0.000170147760465,-0.000333690669421,-1.5655887281e-06,1793190380734370048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.655203291,671.344796709,665,631.344796709,877,782,799,649,626,649,0.442044917096,-0.00542893583444,0.0497958367537,0.999999936972,0.000177396802503,-0.000307527779486,-3.63186990941e-06,1793190380751036672
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.194999722,671.805000278,665.805000278,631.805000278,876.194999722,782,799,649,626,649,0.441265088811,-0.00541094199564,0.0498204469299,0.999999946787,0.000186227470198,-0.000267726140288,-8.20021773923e-06,1793190380784370432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.391563257,741.608436743,711,671.608436743,666,631.608436743,876.391563257,782.391563257,799,649,626,649,0.440805383594,-0.005409486647,0.0498223419002,0.999999948681,0.000179621719802,-0.00026503011659,-1.15147834515e-05,1793190380801037568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.983739054,741.016260946,711,671.016260946,666,631.016260946,876.983739054,782.983739054,799,649,626,649,0.440319920361,-0.00541131521255,0.0498192489176,0.999999949384,0.000167993852041,-0.000269768930541,-1.53092455823e-05,1793190380817704704
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.133383459,742,711,671.866616541,665,631.866616541,876.866616541,782,799,649,626.133383459,649,0.439231442555,-0.00542598372208,0.049787264543,0.999999938088,0.000131938223566,-0.000325430399872,-2.25919814319e-05,1793190380851036416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.712414809,742,711,671.287585191,665,631.287585191,876.287585191,782,799,649,626.712414809,649,0.438650297814,-0.00542584715426,0.0497709703348,0.999999930857,0.000120733540283,-0.000350695124425,-2.68701153474e-05,1793190380867703040
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.621926754,665.378073246,632,876.378073246,782,799.378073246,649,626.621926754,649,0.435472790455,-0.00540669019614,0.0498313067929,0.999999955797,9.02598145433e-05,-0.000280212723136,-4.17067847381e-05,1793190380951036160
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..283fdca525b8065cc0a2acf59c9a3c7e818b49bc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,391 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..547d6db43cb061a6cec11fef18ac190256655e59
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad21c7bbf82aece302bf93bd9e82331d4139b069b2f1c72e9ae19acf806d31b
+size 24974615
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cf16fcb49728714b903bf1cdb6a56aecdfe8951
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/franka_data.csv
@@ -0,0 +1,394 @@
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+15,0.250000000,BASELINE,763.304010094,742,711,669.695989906,664.695989906,632,875.695989906,782,799,649.695989906,626.304010094,649,0.400975402308,-0.00541815193464,0.0498532416431,0.999999964964,-2.80014212368e-05,-0.000258650973334,-4.88532242799e-05,1793190382906297088
+16,0.266666667,BASELINE,763.273937789,742,711,670,665,632.273937789,875.726062211,782,799,649.726062211,626.273937789,649,0.400976124975,-0.00541799011843,0.0498538643035,0.999999965367,-2.69726333602e-05,-0.00025721097221,-4.88038387621e-05,1793190382922963712
+17,0.283333333,BASELINE,763.848900241,742,711,670,665,632.848900241,875.151099759,782,799,649.151099759,626.848900241,649,0.400976275481,-0.00541653039211,0.0498545312772,0.999999965652,-2.38203519481e-05,-0.000256361777348,-4.90641595404e-05,1793190382939630336
+18,0.300000000,BASELINE,763.563031177,742,711,670.436968823,664.563031177,632.563031177,874.563031177,782,799,649.436968823,627,649.436968823,0.400974925388,-0.00541774055417,0.0498541132009,0.999999965227,-2.59353701399e-05,-0.000257824475943,-4.8992095066e-05,1793190382956296960
+19,0.316666667,BASELINE,763.028966391,742,711,670.971033609,664,632,874.028966391,782,799,650,626.971033609,650,0.400973160386,-0.00541971618944,0.0498533908336,0.999999964578,-2.96471058893e-05,-0.000259965923509,-4.88121835236e-05,1793190382972963584
+20,0.333333333,BASELINE,763.606881078,742,711,670.393118922,664,632,874.606881078,782,799,650,626.393118922,650,0.400973670058,-0.00541816128892,0.049854232143,0.999999964783,-2.80338522173e-05,-0.000259351841134,-4.88339613129e-05,1793190382989630208
+21,0.350000000,BASELINE,764,742,711,670,664,632.183423411,875,782,799,650,626,649.816576589,0.400974134306,-0.0054174680508,0.0498548096533,0.999999964913,-2.71070721297e-05,-0.000258951783701,-4.88205436732e-05,1793190383006297088
+22,0.366666667,BASELINE,764,742,711,670,664,632.757046242,875,782,799,650,626,649.242953758,0.400974501921,-0.00541860784043,0.0498548259797,0.999999964888,-2.76406379754e-05,-0.00025900702487,-4.87322542581e-05,1793190383022963968
+23,0.383333333,BASELINE,764.329823114,742,711,670,664,632.670176886,875,782,798.670176886,649.670176886,626.329823114,649,0.400974480656,-0.00541903148985,0.0498544769545,0.999999964953,-2.8317760716e-05,-0.000258680242745,-4.87525691048e-05,1793190383039630592
+24,0.400000000,BASELINE,764.901978492,742,711,670,664,632.098021508,875,782,798.098021508,649.098021508,626.901978492,649,0.400974173668,-0.00541892896683,0.049853859493,0.999999965083,-2.91003596466e-05,-0.000258072775114,-4.8852679188e-05,1793190383056297216
+25,0.416666667,BASELINE,764.50497676,742,711,670,664.49502324,632,875,782,798.49502324,649.49502324,626.50497676,649,0.400973904284,-0.00541710131161,0.0498531610075,0.999999964951,-2.54720398007e-05,-0.000258908771906,-4.91423563859e-05,1793190383072963840
+26,0.433333333,BASELINE,764,742,711,670,664.910719397,632,875,782,799,650,626,649,0.400973600364,-0.00541546647293,0.0498526143474,0.999999964745,-2.1987957753e-05,-0.000259987343926,-4.93312334662e-05,1793190383089630720
+27,0.450000000,BASELINE,764,742,711,670,664.333438999,632,875,782,799,650,626,649,0.400973065186,-0.0054168349708,0.0498529891088,0.999999964519,-2.42766545491e-05,-0.000260760679286,-4.87549331937e-05,1793190383106297344
+28,0.466666667,BASELINE,764,742,711,670,664,632,875.241692645,782,799,649.758307355,626,649,0.400973372751,-0.00541816112737,0.0498534686754,0.999999964537,-2.64336550609e-05,-0.000260526346795,-4.85153230502e-05,1793190383122963968
+29,0.483333333,BASELINE,764,742,711,670,664,632,875.813885958,782,799,649.186114042,626,649,0.400974832718,-0.00541942938455,0.0498540915571,0.999999964891,-2.84105684086e-05,-0.000258914086946,-4.87361171548e-05,1793190383139630592
+30,0.500000000,BASELINE,764,742,711,670,664.399511276,632,876,782,799,649,626.399511276,649,0.400974948186,-0.00541903379387,0.0498539226814,0.999999965007,-2.74364236694e-05,-0.000258539620834,-4.88995447932e-05,1793190383156297216
+31,0.516666667,BASELINE,764,742,711,670,664.991611632,632,876,782,799,649,626.991611632,649,0.400974415523,-0.00541783612584,0.0498533721298,0.999999965005,-2.50396868278e-05,-0.000258761847704,-4.90353182495e-05,1793190383172963840
+32,0.533333333,BASELINE,764,742,711,670,664.429798865,632,875.429798865,782,799.570201135,649.570201135,627,649,0.400974434262,-0.00541630296283,0.0498536735523,0.999999965043,-2.22464646574e-05,-0.000258915953002,-4.87990611505e-05,1793190383189630464
+33,0.550000000,BASELINE,764,742,711,670,664,632,875,782,799.704728035,649.852364018,626.852364018,649,0.400974291863,-0.00541538901729,0.049853925318,0.999999965044,-2.09161099801e-05,-0.000259057095043,-4.86256481802e-05,1793190383206297088
+34,0.566666667,BASELINE,764,742,711,670,664,632,875,782,798.555414803,649.277707401,626.277707401,649,0.400973660471,-0.00541628003469,0.049853998044,0.99999996495,-2.38334172818e-05,-0.000259163573802,-4.86494686209e-05,1793190383222963712
+35,0.583333333,BASELINE,764,742,711,670,664.304171425,632,875.304171425,782,798.304171425,649,626.304171425,649,0.400973549837,-0.0054170564749,0.0498539736388,0.999999964968,-2.53965549395e-05,-0.000258937717478,-4.86888798709e-05,1793190383239630336
+36,0.600000000,BASELINE,764,742,711,670,664.892804543,632,875.892804543,782,798.892804543,649,626.892804543,649,0.400973926219,-0.00541772576238,0.0498538583963,0.999999965096,-2.56932709195e-05,-0.000258401060768,-4.87428716783e-05,1793190383256296960
+37,0.616666667,BASELINE,764,742,711,670,664.526354027,632,875.526354027,782,799,649,626.526354027,649,0.400973720981,-0.00541684509696,0.0498534137094,0.999999965008,-2.46415019744e-05,-0.000258813677826,-4.89136188819e-05,1793190383272963840
+38,0.633333333,BASELINE,764,742,711,670,664,632,875.052616563,782,799.052616563,649,626.052616563,649,0.400973446319,-0.00541576952917,0.0498529851082,0.999999964893,-2.34931402838e-05,-0.000259328754331,-4.90926167331e-05,1793190383289630208
+39,0.650000000,BASELINE,764,742,711,670,664,632,875.630230894,782,799.630230894,649,626.630230894,649,0.400973771103,-0.00541619268121,0.0498534489105,0.99999996502,-2.43768257695e-05,-0.000258757218602,-4.90945510296e-05,1793190383306297088
+40,0.666666667,BASELINE,764,742,711,670.206195933,664.206195933,632,875.793804067,782,799.793804067,649.206195933,626.793804067,649,0.400973779571,-0.00541715976702,0.0498534427576,0.999999964995,-2.54510745e-05,-0.000258761265385,-4.90309567818e-05,1793190383322963968
+41,0.683333333,BASELINE,764,742,711,670.779226747,664.779226747,632,875.220773253,782,799.220773253,649.779226747,626.220773253,649,0.400973225297,-0.00541909454345,0.0498526005263,0.999999964701,-2.68643465742e-05,-0.00025978930788,-4.88507833393e-05,1793190383339630336
+42,0.700000000,BASELINE,764,742,711,670.637044576,664.637044576,632,875,782,799,650,626,649,0.400973353503,-0.00541948941871,0.0498531166298,0.999999964748,-2.71447309509e-05,-0.000259618808986,-4.86361488269e-05,1793190383356296960
+43,0.716666667,BASELINE,764,742,711,670.046611163,664.046611163,632,875,782,799,650,626,649,0.400973909445,-0.00541891917919,0.0498544840533,0.99999996501,-2.6715091405e-05,-0.000258697138515,-4.83999162565e-05,1793190383372963328
+44,0.733333333,BASELINE,763.46622173,742,711,669.46622173,664,632.53377827,875,782,799,649.46622173,626,649,0.400973329732,-0.00541786700835,0.0498533201948,0.999999964773,-2.63776547667e-05,-0.000259543204198,-4.89370815707e-05,1793190383389630208
+45,0.750000000,BASELINE,763,742,711,669.22479841,664.112399205,632.887600795,875,782,799,649.112399205,626,649,0.400972750157,-0.00541732165072,0.0498521996367,0.999999964519,-2.64439279139e-05,-0.000260432385662,-4.93644861824e-05,1793190383406296832
+46,0.766666667,BASELINE,763,742,711,670.374570793,664.687285396,632.312714604,875,782,799,649.687285396,626,649,0.400972571658,-0.00541903163159,0.0498521499549,0.999999964372,-2.81388212876e-05,-0.000260875546047,-4.90675055585e-05,1793190383422963456
+47,0.783333333,BASELINE,763.26268219,742,711,670.73731781,664.73731781,632,875.26268219,782,799,649.73731781,626.26268219,649,0.400973239781,-0.00541993065071,0.0498527850447,0.999999964609,-2.83568975479e-05,-0.000260001284627,-4.87538322975e-05,1793190383439630080
+48,0.800000000,BASELINE,763.838688097,742,711,670.161311903,664.161311903,632,875.838688097,782,799,649.161311903,626.838688097,649,0.400974917743,-0.005419862366,0.0498542369206,0.999999965301,-2.68134468053e-05,-0.000257555620578,-4.84202482482e-05,1793190383456296704
+49,0.816666667,BASELINE,764,742,711,670,664.424944405,632,875.575055595,782,799,649,627,649,0.400975708904,-0.00541910659574,0.0498547849553,0.999999965538,-2.62974915912e-05,-0.000256689460496,-4.84042942636e-05,1793190383472963584
+50,0.833333333,BASELINE,764,742,711.014880945,670.014880945,665,632,875,782,799,649,626.985119055,649.014880945,0.400976160297,-0.00541808837055,0.0498549747561,0.999999965603,-2.61480475928e-05,-0.000256430038812,-4.85161765619e-05,1793190383489630208
+51,0.850000000,BASELINE,764,742,711.593192272,670.593192272,665,632,875,782,799,649,626.406807728,649.593192272,0.400976808199,-0.00541725832788,0.0498549128256,0.999999965766,-2.47425334964e-05,-0.000255880091099,-4.87901600623e-05,1793190383506297088
+52,0.866666667,BASELINE,764,742,711.829011298,670.829011298,665,632,875,782,799,649,626,649.829011298,0.400977254134,-0.00541655262471,0.0498550593345,0.99999996592,-2.38016125371e-05,-0.000255334547067,-4.89745596249e-05,1793190383522963712
+53,0.883333333,BASELINE,764,742,711.25243624,670.25243624,665,632,875,782,799,649,626,649.25243624,0.400977221,-0.0054161418557,0.0498557002629,0.999999966054,-2.39627097176e-05,-0.000254799448631,-4.89464654668e-05,1793190383539630080
+54,0.900000000,BASELINE,764,742,711,670.32963353,665,632,875,782.32963353,799,649.32963353,626,649,0.40097627937,-0.00541678933574,0.0498550860086,0.999999965778,-2.40013122305e-05,-0.000255896795248,-4.8830498955e-05,1793190383556296960
+55,0.916666667,BASELINE,764,742,711,670.915982503,665,632,875,782.915982503,799,649.915982503,626,649,0.400974630213,-0.00541826097002,0.0498534942302,0.99999996518,-2.39445170594e-05,-0.000258265474498,-4.86460982951e-05,1793190383572963840
+56,0.933333333,BASELINE,764,742,711,670.007683919,664.50384196,632,875,782.50384196,799.49615804,649.50384196,626,649,0.400974807222,-0.00541833308926,0.0498541875215,0.999999965478,-2.38065535122e-05,-0.000257162886334,-4.84242750182e-05,1793190383589630464
+57,0.950000000,BASELINE,764,742,711,669.074986294,664,632,875,782,799.925013706,649.074986294,626,649,0.400975111278,-0.00541828890633,0.049854998292,0.999999965803,-2.39340789768e-05,-0.000255910095947,-4.82755168299e-05,1793190383606296832
+58,0.966666667,BASELINE,764,742,711,669.651708309,664,632,875,782,799.348291691,649.651708309,626,649,0.400974221725,-0.00541903275213,0.049854037876,0.999999965317,-2.59288363494e-05,-0.000257537025814,-4.8657519612e-05,1793190383622963712
+59,0.983333333,BASELINE,764,742,711,670,664,632,875,782,799.228200856,649.771799144,626.228200856,649,0.400973697263,-0.00541927779117,0.0498534582427,0.999999965029,-2.65191269823e-05,-0.000258570127787,-4.87780018776e-05,1793190383639630592
+60,1.000000000,BASELINE,764,742,711,670,664,632,875,782,799.804343616,649.195656384,626.804343616,649,0.400973729462,-0.00541876229077,0.0498534591956,0.99999996505,-2.49680024876e-05,-0.00025869781005,-4.84997392164e-05,1793190383656297216
+61,1.016666667,BASELINE,764,742,711,670,664,632,875,782,799.61123483,649.38876517,627,649,0.400973824382,-0.0054176821567,0.0498534986975,0.999999965089,-2.44683043165e-05,-0.00025857570239,-4.86008089414e-05,1793190383672963840
+62,1.033333333,BASELINE,764,742,711,670,664,632,875,782,799.022556132,649.977443868,627,649,0.400973951554,-0.00541631167282,0.0498535580223,0.999999965138,-2.45092779902e-05,-0.000258325146015,-4.88969416189e-05,1793190383689630464
+63,1.050000000,BASELINE,764,742,711,670,664,632,875,782,799,649.443022712,626.443022712,649,0.400972708893,-0.00541810310724,0.0498532893891,0.999999964844,-2.5424770442e-05,-0.000259427766975,-4.86111994029e-05,1793190383706297088
+64,1.066666667,BASELINE,764,742,711,670,664.134271231,632,875,782,799,649,626,649,0.400972200588,-0.00541967750896,0.0498532823278,0.999999964725,-2.62351251066e-05,-0.00025985471695,-4.83547073171e-05,1793190383722963712
+65,1.083333333,BASELINE,764,742,711,670,664.705463535,632,875,782,799,649,626,649,0.400974259491,-0.0054201357379,0.0498541689458,0.999999965223,-2.65899776234e-05,-0.000257907580856,-4.82688360808e-05,1793190383739630848
+66,1.100000000,BASELINE,764,742,711,669.721322828,664.721322828,632,875,782,798.721322828,649,626,649.278677172,0.400974698848,-0.00541962400064,0.0498540920274,0.999999965295,-2.59076943406e-05,-0.000257690652406,-4.8316880351e-05,1793190383756297728
+67,1.116666667,BASELINE,764,742,711,669.145957252,664.145957252,632,875,782,798.145957252,649,626,649.854042748,0.400973413987,-0.00541807960708,0.0498529892979,0.99999996491,-2.41212439335e-05,-0.00025931575707,-4.85074952494e-05,1793190383772964096
+68,1.133333333,BASELINE,764,742,711,669.888846213,664.444423106,632,875,782,798.444423106,649.444423106,626,649.555576894,0.400973613003,-0.00541783867903,0.0498536058071,0.999999965069,-2.44692927686e-05,-0.000258668264266,-4.85123884664e-05,1793190383789630464
+69,1.150000000,BASELINE,764.03868868,741.96131132,711,670.96131132,664.96131132,632,875,782.03868868,799,650,626,649,0.400974193809,-0.00541804309781,0.0498546540525,0.999999965364,-2.54020890131e-05,-0.000257444844665,-4.84611333739e-05,1793190383806297088
+70,1.166666667,BASELINE,764.615991914,741.384008086,711,670.384008086,664.384008086,632,875,782.615991914,799,650,626,649,0.400973068006,-0.00541827946353,0.0498535772989,0.999999964997,-2.43750390093e-05,-0.000258957557957,-4.85070394232e-05,1793190383822963712
+71,1.183333333,BASELINE,764.807628448,741.192371552,711,670,664.192371552,632,875.192371552,782.807628448,799,649.807628448,626.192371552,649,0.400972618967,-0.00541854823324,0.0498528959394,0.999999964779,-2.40432918374e-05,-0.000259832844473,-4.84863294959e-05,1793190383839630080
+72,1.200000000,BASELINE,764.23308356,741.76691644,711,670,664.76691644,632,875.76691644,782.23308356,799,649.23308356,626.76691644,649,0.400973514417,-0.00541888137813,0.0498530000862,0.999999964862,-2.50928620453e-05,-0.000259441792676,-4.83332775033e-05,1793190383856296960
+73,1.216666667,BASELINE,764,742,711,670.350439442,665,632,875.649560558,782,799,649.350439442,626.649560558,649,0.400973561792,-0.00541799743059,0.0498534371956,0.999999965059,-2.44043773425e-05,-0.000258743226163,-4.8351175249e-05,1793190383872963328
+74,1.233333333,BASELINE,764,742,711,670.940090924,665,632,875.059909076,782,799,649.940090924,626.059909076,649,0.400973030265,-0.00541628268852,0.0498541015872,0.999999965331,-2.2529485995e-05,-0.000257834748307,-4.84857643078e-05,1793190383889630208
+75,1.250000000,BASELINE,764,742,711,671,664.479449905,632,875,782,798.479449905,650,626.520550095,649,0.40097281071,-0.00541657929422,0.0498538008852,0.999999965195,-2.35875409219e-05,-0.000258287017625,-4.83880328125e-05,1793190383906297088
+76,1.266666667,BASELINE,764,742,711,670.900782298,664,632,875,782,798,649.900782298,627,649,0.400972774203,-0.00541695237165,0.0498534654681,0.99999996504,-2.44237550094e-05,-0.000258824164617,-4.82979353194e-05,1793190383922963712
+77,1.283333333,BASELINE,764,742,711,670.32572125,664,632,875,782,798,649.32572125,627,649,0.400973446378,-0.00541660129138,0.0498534870051,0.999999965026,-2.26052630732e-05,-0.000259030340396,-4.83704558867e-05,1793190383939630336
+78,1.300000000,BASELINE,764,742,711.247410415,670,664,632,875,782,798.247410415,649.247410415,627,649,0.400974116689,-0.00541721029759,0.0498538792067,0.999999965199,-2.22780289819e-05,-0.00025839721919,-4.8335347542e-05,1793190383956296704
+79,1.316666667,BASELINE,764,742,711.818021615,670,664,632,875,782,798.818021615,649.818021615,627,649,0.400974784565,-0.005419073498,0.0498547556203,0.999999965616,-2.38988767486e-05,-0.000256667695275,-4.81596398198e-05,1793190383972963328
+80,1.333333333,BASELINE,764,742,711.591821001,670,664.408178999,632,875.408178999,782,799,649.591821001,626.591821001,649,0.400975069849,-0.00541929920845,0.0498550669619,0.999999965748,-2.53337469968e-05,-0.000255972747087,-4.83707678702e-05,1793190383989629952
+81,1.350000000,BASELINE,764,742,711,670.007196617,665,632,875.992803383,782,799,649.007196617,626,649,0.400975156379,-0.00541876213124,0.0498551013343,0.999999965743,-2.66421011766e-05,-0.000255788337026,-4.87570069294e-05,1793190384006296832
+82,1.366666667,BASELINE,764,742,711,670.583109395,665,632,875.416890605,782,799,649.583109395,626,649,0.400973693669,-0.00541853890827,0.0498541579607,0.999999965311,-2.48343460488e-05,-0.000257666114067,-4.86670431989e-05,1793190384022963456
+83,1.383333333,BASELINE,764,742,711,671,664.841500032,632,875,782,799,650,626.158499968,649,0.400972714753,-0.00541837778771,0.0498537655004,0.999999965076,-2.35275340055e-05,-0.00025872439125,-4.85405814768e-05,1793190384039630080
+84,1.400000000,BASELINE,764,742,711,671,664.26747834,632,875,782,799,650,626.73252166,649,0.400973004148,-0.0054183794741,0.0498548173077,0.999999965368,-2.35339882895e-05,-0.000257634277297,-4.83184370147e-05,1793190384056296960
+85,1.416666667,BASELINE,764,742,711,670.684140656,664,632,875.315859344,782,798.684140656,649.684140656,626.684140656,649,0.400973714191,-0.00541829939681,0.0498552161027,0.999999965629,-2.28623609072e-05,-0.00025668446739,-4.82993836631e-05,1793190384072963584
+86,1.433333333,BASELINE,764,742,711,670.092674218,664,632,875.907325782,782,798.092674218,649.092674218,626.092674218,649,0.400974791276,-0.00541814797557,0.0498550451035,0.999999965861,-2.15990647294e-05,-0.000255857081633,-4.84575400602e-05,1793190384089630208
+87,1.450000000,BASELINE,764,741.512183963,711,670,664,632.487816037,875.512183963,782,798.487816037,649,626,649,0.400974510791,-0.00541847209671,0.0498548298073,0.999999965654,-2.22057141223e-05,-0.00025660946694,-4.84752877832e-05,1793190384106296576
+88,1.466666667,BASELINE,764,741.065842915,711,670,664.065842915,632.934157085,875.065842915,782,799,649,626.065842915,649,0.400974061421,-0.00541885885173,0.0498546400189,0.999999965398,-2.33980973296e-05,-0.000257504782095,-4.84485959355e-05,1793190384122963456
+89,1.483333333,BASELINE,764,741.640592419,711,670,664.640592419,632.359407581,875.640592419,782,799,649,626.640592419,649,0.400974256245,-0.00541904680973,0.0498547109951,0.9999999654,-2.64323493637e-05,-0.000257236193045,-4.82800594068e-05,1793190384139630336
+90,1.500000000,BASELINE,764,742,711,670,664.784935716,632,875.784935716,782,799,649.215064284,626.784935716,649.215064284,0.40097421368,-0.00541932161474,0.0498545685386,0.999999965336,-2.80344673367e-05,-0.000257339149013,-4.81585731158e-05,1793190384156296960
+91,1.516666667,BASELINE,764,742,711,670,664.21092729,632,875.21092729,782,799,649.78907271,626.21092729,649.78907271,0.400973774914,-0.00541974136816,0.0498540698614,0.999999965173,-2.72463409207e-05,-0.000258062216846,-4.81156140944e-05,1793190384172963584
+92,1.533333333,BASELINE,764,742,711,670,664.375013313,632,875.375013313,782,799,650,626,650,0.400973334651,-0.0054193360463,0.0498535903992,0.999999964996,-2.59257479029e-05,-0.000258856121681,-4.82675810409e-05,1793190384189630464
+93,1.550000000,BASELINE,764,742,711,670,664.967885816,632,875.967885816,782,799,650,626,650,0.400972893519,-0.00541845140756,0.0498531220996,0.999999964807,-2.42958251441e-05,-0.000259691178433,-4.85327877327e-05,1793190384206297344
+94,1.566666667,BASELINE,764,742,711,670,664.452997379,632,875.452997379,782,799,649.452997379,626,650,0.400973132816,-0.00541831348497,0.0498534589766,0.999999964913,-2.45942932675e-05,-0.000259273635573,-4.84308791007e-05,1793190384222963968
+95,1.583333333,BASELINE,764,742,711,670,664,632,875,782,799,649.12421453,626,649.87578547,0.400972965698,-0.00541819350551,0.0498535941666,0.999999964932,-2.49229029927e-05,-0.000259185611471,-4.83564654939e-05,1793190384239630336
+96,1.600000000,BASELINE,764,742,711,670,664,632,875,782,799,649.697388904,626,649.302611096,0.400971188795,-0.00541798381421,0.0498528337151,0.999999964572,-2.49612923946e-05,-0.000260547876469,-4.84574200225e-05,1793190384256296960
+97,1.616666667,BASELINE,764,742,711.278413359,670,664,632.278413359,875,782,799.278413359,650,626,649,0.400971067349,-0.00541790523174,0.0498529986529,0.999999964623,-2.47825892193e-05,-0.00026035389666,-4.85288472234e-05,1793190384272963584
+98,1.633333333,BASELINE,764,742,711.868217689,670,664,632.868217689,875,782,799.868217689,650,626,649,0.400972797447,-0.00541797328773,0.049854198591,0.999999965134,-2.43610791994e-05,-0.00025841933728,-4.85672496261e-05,1793190384289630208
+99,1.650000000,BASELINE,764,742,711.550391623,670,664,632.550391623,875.449608377,782,799.100783246,649.550391623,626,649,0.400973530291,-0.00541915965049,0.0498545249913,0.999999965271,-2.54377595918e-05,-0.000257810529809,-4.84189806832e-05,1793190384306296832
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+101,1.683333333,BASELINE,764,742,711,670.602603559,664,632,876,782,798.602603559,649.602603559,626,649,0.40097327242,-0.00541920644402,0.0498536754391,0.999999965226,-2.59580844171e-05,-0.00025789037459,-4.86590360701e-05,1793190384339630592
+102,1.700000000,BASELINE,764,742,711,671,664.177571792,632,875.822428208,782,799,649.822428208,626,649,0.400972942926,-0.00541814400886,0.0498533046872,0.999999965149,-2.4860644483e-05,-0.000258268196456,-4.88064635028e-05,1793190384356297472
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+106,1.766666667,BASELINE,764,742,711,670,664,632,875,782,798.504164447,649.504164447,626,650,0.400971608582,-0.00541829056879,0.0498527705516,0.999999964751,-2.46426910028e-05,-0.00025988349825,-4.84938321092e-05,1793190384422963456
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,782,799,650,627,649,0.400975418264,-0.00541881251249,0.0498555523213,0.999999965728,-2.64390396005e-05,-0.00025602269683,-4.79244043322e-05,1793190384466016256
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.572071951,632,875.572071951,782,799,649.427928049,627,649,0.4009737442,-0.00541948777142,0.0498543166016,0.999999965315,-2.46530293605e-05,-0.000257813253636,-4.79061726673e-05,1793190384482682880
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.850418074,711,670.850418074,665,632,875.850418074,782,799,649,627,649,0.40097263767,-0.00541961188934,0.0498535449838,0.999999965025,-2.35212856526e-05,-0.000259020801737,-4.8000884381e-05,1793190384499349504
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.256763794,711,670.256763794,665,632,875.256763794,782,799,649,627,649,0.400973216012,-0.00541809980377,0.0498541511714,0.999999965121,-2.43318997075e-05,-0.000258497539237,-4.84308975102e-05,1793190384516015872
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.328276239,711,669.671723761,664.671723761,632.328276239,875,782,799,649,627,649,0.400973372121,-0.00541844849397,0.0498541809225,0.99999996512,-2.49211113556e-05,-0.000258433000886,-4.84936015084e-05,1793190384532682240
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.906750819,711,669.093249181,664.093249181,632.906750819,875,782,799,649,627,649,0.400973206423,-0.00542021538928,0.0498537713379,0.999999965046,-2.5341579353e-05,-0.000258718082818,-4.82763579106e-05,1793190384549348608
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,669.481858444,664.481858444,632.518141556,875,782,799.481858444,649,627,649,0.400974942318,-0.00541990082043,0.0498547984258,0.999999965572,-2.42640000947e-05,-0.000256807460204,-4.81381142463e-05,1793190384566015232
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.05767907,742,711,670,665,632,875,782,799.94232093,649,626.94232093,649,0.400978026018,-0.00541922113492,0.0498564850798,0.999999966403,-2.29056807414e-05,-0.00025370569838,-4.798827652e-05,1793190384582682112
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.538868506,742,711,670,665,632,875,782,799,649,626,649,0.40100921707,-0.00541920035779,0.0498692718706,0.999999972517,-2.11425989319e-05,-0.00022871546412,-4.69976343149e-05,1793190384616015616
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.381181342,742,711,670,665,632,875,782,799,649,626,649,0.401038781736,-0.00542059041869,0.0498804051717,0.999999977292,-2.19137022181e-05,-0.00020690411695,-4.61036614025e-05,1793190384632682496
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.38546836,741.61453164,711,670.38546836,664.61453164,632,875,782,798.61453164,649,626,649,0.401088805544,-0.00542172553826,0.0498966910069,0.999999983797,-2.23614582194e-05,-0.000172843036833,-4.5073426692e-05,1793190384649349120
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.960160524,741.039839476,711,670.960160524,664.039839476,632,875,782,798.039839476,649,626,649,0.40114887261,-0.00542273550897,0.0499155061872,0.999999989963,-2.26504852727e-05,-0.000132768643688,-4.39763018551e-05,1793190384666015744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741.534251732,711,670.465748268,664.534251732,632,875,782,798.534251732,649,626,649,0.401217272238,-0.00542496638414,0.0499273264447,0.999999992336,-2.28131658263e-05,-0.000113899016478,-4.28429594806e-05,1793190384682682368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.112535212,665,632,875.112535212,782,799,649.112535212,626,649,0.401288409326,-0.00542778950936,0.0499366625782,0.999999993884,-2.39873878149e-05,-9.9557668358e-05,-4.17752895171e-05,1793190384699348736
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670.709040723,665,632,875.709040723,782,799,649.709040723,626,649,0.401368649945,-0.00543276856981,0.0499375562081,0.999999993931,-2.95523309331e-05,-9.78979749305e-05,-4.10016526801e-05,1793190384716015616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670.706155728,664.706155728,632,876,782,799,650,626.293844272,649,0.401457976845,-0.00543723647801,0.0499365011346,0.999999993615,-3.25100273194e-05,-0.000100571670125,-3.99745968103e-05,1793190384732682240
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.132495516,664.132495516,632,876,782,799,650,626.867504484,649,0.401555956235,-0.00544121763643,0.0499335903902,0.999999992943,-3.2984948441e-05,-0.000107371875003,-3.87062203573e-05,1793190384749348864
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664.442972146,632,876,782,798.557027854,650,626.557027854,649,0.401679556397,-0.00544689515633,0.0499336938529,0.999999992603,-3.76190460122e-05,-0.000109516767814,-3.72189243715e-05,1793190384766015488
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670.019484336,665,632,876,782,798.019484336,650,626.019484336,649,0.401811744884,-0.00545312636017,0.0499346505668,0.999999992334,-4.33725943201e-05,-0.000110358175679,-3.56616969228e-05,1793190384782682368
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,669.496240768,665,632,875,782,799,650,627,649,0.403079172997,-0.00549846486107,0.0499429292161,0.999999992882,-6.16471222891e-05,-9.91510267092e-05,-2.45831766394e-05,1793190384882682112
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.07978424,742.07978424,711,669.159568479,664.92021576,632,875,782.07978424,799,650,626.92021576,649.07978424,0.403366867757,-0.00551020256858,0.0499469636422,0.999999993397,-6.821071027e-05,-8.98830437579e-05,-2.17855872411e-05,1793190384899348736
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.672211238,742.672211238,711,670.344422476,664.327788762,632,875,782.672211238,799,650,626.327788762,649.672211238,0.403697807792,-0.00552107817551,0.0499589050591,0.999999995218,-7.10102336227e-05,-6.47632425277e-05,-1.80911265705e-05,1793190384916015360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742.741382067,711,670.741382067,664.258617933,632,875.258617933,783,799.258617933,650,626,649.741382067,0.404051202279,-0.00553078930852,0.0499694211577,0.999999996368,-7.13928652173e-05,-4.43461577118e-05,-1.41657882447e-05,1793190384932681984
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742.162432332,711,670.162432332,664.837567668,632,875.837567668,783,799.837567668,650,626,649.162432332,0.404432409494,-0.00553905808914,0.0499781718142,0.999999997142,-6.87818632546e-05,-2.97539976982e-05,-9.95447827521e-06,1793190384949348608
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.586359735,742,711,670,665,632,876,782.586359735,799.586359735,650,626,649,0.404834103247,-0.00553736881654,0.049981910488,0.999999998265,-5.4045739179e-05,-2.26822436242e-05,-5.8517339702e-06,1793190384966015232
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.011409169,742,711,670,665,632,876,782.011409169,799.011409169,650,626,649,0.405243786276,-0.00553179612935,0.0499836946023,0.999999999229,-3.45810931431e-05,-1.8543277254e-05,-1.79132790346e-06,1793190384982681856
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.437429261,782,799,650,626,649,0.405649272405,-0.00551701264922,0.0499611145457,0.999999998013,-5.58661123216e-06,-6.27885826574e-05,-1.16487620954e-06,1793190384999348992
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.14116366,782,799,650,626.14116366,649,0.406065866899,-0.00550627980399,0.0499390288914,0.999999994426,1.84975262468e-05,-0.000103951109061,-1.5381910725e-07,1793190385016015616
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.734598974,782,799,650,626.734598974,649,0.406518323424,-0.00550912216651,0.0499201076093,0.999999990928,2.62313511108e-05,-0.000132098363949,2.31220856835e-06,1793190385032682240
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670.3185041,665,632.3185041,876,782,799,650,627,649,0.407023249548,-0.00551534261601,0.0499104756051,0.999999989051,3.18285608669e-05,-0.000144396525521,5.85968830357e-06,1793190385049348864
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670.894698748,665,632.894698748,876,782,799,650,627,649,0.407570627041,-0.00552429615806,0.0499083592294,0.99999998896,3.56971107865e-05,-0.000143871742146,1.02821334129e-05,1793190385066015488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670.530633335,665,632.530633335,876,782,799,649.530633335,626.530633335,649,0.408167762249,-0.00552830426531,0.0499298434948,0.999999993606,4.62716541323e-05,-0.000101968956245,1.57819747742e-05,1793190385082681856
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.044484815,742,711.044484815,670,665,632,876.044484815,782,799,649.044484815,626,649,0.40877704286,-0.00553093130519,0.0499562571475,0.999999996688,5.86617614594e-05,-5.21353944295e-05,2.15753645096e-05,1793190385099348480
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.629217531,742,711.629217531,670,665,632,876.629217531,782,799,649.629217531,626,649,0.409398694083,-0.00553021655089,0.049978442191,0.999999996635,7.48891763838e-05,-1.83590626103e-05,2.80078157179e-05,1793190385116015104
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.785604445,742,711.785604445,670.214395555,665,632,876.785604445,782,799,650,626,649,0.410023753468,-0.00552864431649,0.0499885633135,0.999999995289,9.08246248578e-05,-6.79371522633e-06,3.35673687278e-05,1793190385132681728
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.199654723,742,711.199654723,670.800345277,665,632,876.199654723,782,799,650,626,649,0.410654719265,-0.00552558604242,0.0499777772844,0.999999993079,0.000106254085514,-3.37206970181e-05,3.76141616507e-05,1793190385149348608
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.378333131,742,711,671,665,632,876,782,799,650,626,649,0.411295463649,-0.00552677361685,0.049950137712,0.999999994883,3.95888541606e-05,-9.06495008655e-05,2.11772604968e-05,1793190385166015488
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952205913,742,711,671,665,632,876,782,799,650,626,649,0.411941262028,-0.00553015563766,0.0499137874674,0.999999984269,-6.950662357e-05,-0.000163084599519,-5.84653950604e-06,1793190385182682112
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.471336164,742,711,671,665,632,876,782,799,650,626,649,0.412693088614,-0.00554386891146,0.049928887739,0.999999989753,-7.64711440604e-05,-0.000121018571508,-1.08046091437e-06,1793190385199348736
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.892633295,665,632,876.107366705,782,799,650,626.107366705,649,0.413450910755,-0.00555492466106,0.0499475864311,0.999999994709,-7.00229997133e-05,-7.5087647621e-05,6.35701524823e-06,1793190385216015616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.304938026,665,632,876.695061974,782,799,650,626.695061974,649,0.414192461412,-0.00554989239354,0.0499614720967,0.999999997196,-4.50800556787e-05,-5.84036660605e-05,1.28250203592e-05,1793190385232682240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.279937027,742,711,670.279937027,665,632,876.720062973,782,799.279937027,650,627,649,0.414934966127,-0.00554363519331,0.0499535962253,0.999999996654,-2.6608590928e-05,-7.57159845559e-05,1.58586169155e-05,1793190385249348608
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.861770704,742,711,670.861770704,665,632,876.138229296,782,799.861770704,650,627,649,0.415678499832,-0.00553605697005,0.0499222517378,0.99999999136,-1.51162566841e-05,-0.000129691436356,1.51883939566e-05,1793190385266015232
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.561794913,742,711,671,664.561794913,632,876.438205087,782,799.561794913,650,626.561794913,649,0.416481382611,-0.00553753618016,0.0499178021056,0.999999990936,-2.236541092e-05,-0.000131966839018,1.45712051087e-05,1793190385282682112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.01295741,742,711.01295741,670.98704259,664.02591482,632,876.98704259,782,799,650,626,649,0.417303284091,-0.00554188445858,0.0499223567514,0.999999992406,-3.53062916489e-05,-0.000117231551283,1.40635888251e-05,1793190385299348736
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.587728018,742,711.587728018,670.412271982,665.175456036,632,876.412271982,782,799,650,626,649,0.418147961356,-0.0055482587907,0.0499539544806,0.999999996958,-4.18209200644e-05,-6.34431788502e-05,1.75903389672e-05,1793190385316015616
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.833145332,742,712,670.333709336,665.666290664,632,876,782,799,650,626,649,0.418970997175,-0.00555183090873,0.0499711647568,0.99999999811,-4.42902435776e-05,-3.74248639055e-05,2.04368061771e-05,1793190385332682496
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.242967091,742,712,671.514065819,664.485934181,632,876,782,799,650,626,649,0.419739126872,-0.0055482935862,0.0499518729177,0.999999995751,-3.64963063797e-05,-8.18613987937e-05,2.15573413158e-05,1793190385349348864
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.340387302,742,711.659612698,671.659612698,664.680774604,632,876,782,799.340387302,649.659612698,626.340387302,649,0.420571858366,-0.00554639609304,0.0499464307648,0.999999995883,-3.1469724237e-05,-8.22747368542e-05,2.17687783311e-05,1793190385366015232
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.918966563,742,711.081033437,671.081033437,665.837933125,632,876,782,799.918966563,649.081033437,626.918966563,649,0.421449796064,-0.00554564609927,0.0499506801724,0.999999998024,-2.83796474548e-05,-5.18820723835e-05,2.13440580193e-05,1793190385382682112
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.506736343,742,711,671,666,632,876.493263657,782.493263657,799.506736343,649,627,649,0.422333645733,-0.00555024582205,0.0499650493367,0.999999998932,-3.15712598037e-05,-2.48722461378e-05,2.28086495489e-05,1793190385399348736
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.06866399,742,711,671,665.93133601,632,876.93133601,782.93133601,799,649,626.93133601,649,0.42320975653,-0.00555516311796,0.0499770989515,0.999999999057,-3.56063475563e-05,-5.34174141474e-06,2.42767942497e-05,1793190385416015360
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.657710648,742,711,671,665.342289352,632,876.342289352,782.342289352,799,649,626.342289352,649,0.424019919182,-0.00555588397782,0.0499590784883,0.999999998258,-3.82803020372e-05,-3.83191861001e-05,2.34398660839e-05,1793190385432681984
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742,711,671,665,632,876,782,799,649.243775845,626,649,0.424853039866,-0.00555734973678,0.0499524173677,0.999999997608,-4.06899234531e-05,-5.07292226942e-05,2.35416442687e-05,1793190385449348608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742,711,671,665,632,876,782,799,649.825705389,626,649,0.425718006904,-0.00555984878273,0.0499615133584,0.999999998177,-4.2732875639e-05,-3.46091807833e-05,2.49455490145e-05,1793190385466015232
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.598149025,742,711,671,665.401850975,632,876,782,799,650,626.401850975,649,0.426565174781,-0.00556186622222,0.0499743797351,0.999999998165,-4.57919470162e-05,-2.82260135004e-05,2.78584519616e-05,1793190385482681856
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.024476552,742,711,671,665.975523448,632,876,782,799,650,626.975523448,649,0.427404732125,-0.00556367773859,0.0499888582349,0.999999997954,-4.92854856075e-05,-2.60060929975e-05,3.1416564986e-05,1793190385499348480
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.549686165,742,711.549686165,671,665.450313835,632,876.549686165,782.549686165,799,650,626.450313835,649,0.428198402318,-0.00555920520285,0.049951243536,0.99999999494,-4.5800431845e-05,-8.47606227239e-05,2.89453521141e-05,1793190385516015360
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.871767557,742,712,671,665.128232443,632,877,782.871767557,799,650,626.128232443,649,0.429002415622,-0.00555606479898,0.0499233037511,0.999999990846,-4.42737103003e-05,-0.000125004726393,2.68807589233e-05,1793190385532682240
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.277364939,742,712,671,665.722635061,632,877,782.277364939,799,650,626.722635061,649,0.429851464395,-0.00555878530879,0.0499389758504,0.999999994449,-5.09968918007e-05,-8.80777981751e-05,2.72712455325e-05,1793190385549348864
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.307625495,742,712,671.307625495,666,632,877,782.307625495,799,649.692374505,626.692374505,649,0.430662331125,-0.00556158093874,0.0499455566057,0.999999994976,-6.00683509352e-05,-7.53595934285e-05,2.75743904557e-05,1793190385566015232
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.884381518,742,712,671.884381518,666,632,877,782.884381518,799,649.115618482,626.115618482,649,0.431439793709,-0.00556444228847,0.0499441836689,0.999999993566,-7.11942337426e-05,-8.38207356935e-05,2.78011232666e-05,1793190385582681856
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.540466752,742,711.540466752,671.540466752,665.540466752,632,877,783,799,649.459533248,626.459533248,649,0.432198121115,-0.00556204984215,0.0499304511097,0.99999999183,-7.00439724829e-05,-0.000103471382119,2.69621972918e-05,1793190385599348480
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711.034261256,671,665,632,877,782.965738744,799.034261256,649.965738744,627,649,0.432953461781,-0.00555874739403,0.0499158338835,0.999999989942,-6.67308108181e-05,-0.000122428802856,2.59482385056e-05,1793190385616014848
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.608649837,671,665,632,877,782.391350163,799.608649837,649.391350163,627,649,0.433737350588,-0.00556186528719,0.0499361233447,0.999999992904,-7.78430622045e-05,-8.62291965362e-05,2.63870847173e-05,1793190385632681472
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.810458238,671,665.189541762,632,877,782.189541762,800,649,626.810458238,649,0.434498613632,-0.00556437127197,0.0499544588552,0.999999994272,-8.63330312544e-05,-5.71063754257e-05,2.72224723755e-05,1793190385649348352
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.215661555,671,665.784338445,632,877,782.784338445,800,649,626.215661555,649,0.435211501197,-0.00556556895001,0.0499686166721,0.999999994673,-8.92163604733e-05,-4.31142609166e-05,2.89056964124e-05,1793190385666014976
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.36673124,665.63326876,631.63326876,877,783,799.63326876,649,626.36673124,649,0.435870042085,-0.0055638748927,0.0499590080316,0.999999993036,-8.77726299788e-05,-7.29946076316e-05,2.99133238249e-05,1793190385682682112
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.94206836,665.05793164,631.05793164,877,783,799.05793164,649,626.94206836,649,0.436497669184,-0.0055605359441,0.0499358804364,0.999999987847,-8.38675595777e-05,-0.00012783070556,3.05366548492e-05,1793190385699349248
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.484192024,665,631.515807976,877,782.484192024,799,649,627,649,0.43715948306,-0.00555810689244,0.0499364934322,0.999999989933,-7.86550194083e-05,-0.000113983565243,3.09112931169e-05,1793190385716015616
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.09182092,742,711,671.09182092,665.09182092,632,876.90817908,782,799,649,626.90817908,649,0.43782286214,-0.00555669597496,0.0499433930088,0.999999992789,-7.4751601223e-05,-8.85211508997e-05,3.16043039715e-05,1793190385732682240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.681119619,742,711,671.681119619,665.681119619,632,876.318880381,782,799,649,626.318880381,649,0.438473982956,-0.00556024925829,0.049969951214,0.999999995443,-7.87340300107e-05,-4.17928281055e-05,3.41730919087e-05,1793190385749348864
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.733381727,742.266618273,711,672,666,632,876.266618273,782,799,649,626.266618273,649,0.439073650789,-0.0055625289715,0.0499748457456,0.999999995633,-7.97716084814e-05,-3.27966619406e-05,3.59941547755e-05,1793190385766015232
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.15236417,742.84763583,711,672,666,632,876.84763583,782,799,649,626.84763583,649,0.439612644636,-0.00556330687616,0.0499541942262,0.999999993995,-7.7336585931e-05,-6.82946852851e-05,3.69334916312e-05,1793190385782681856
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.575325356,711,672,665.575325356,632,876.575325356,782.424674644,799,649,626.575325356,649,0.440115963718,-0.00556103303933,0.0499320450715,0.999999991192,-7.23128325313e-05,-0.00010501520249,3.68715908009e-05,1793190385799348736
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.000297528,742,711.000297528,672,665.000297528,632,876.000297528,782.999702472,799.000297528,649,626,649,0.440606602191,-0.00555767614518,0.0499093797201,0.999999987031,-6.63714374044e-05,-0.000142141390786,3.6454869298e-05,1793190385816015616
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.572577107,742,711.572577107,672,665.572577107,632,876.572577107,782.427422893,799.572577107,649,626,649,0.44109702907,-0.00555754828927,0.0499177375576,0.999999989484,-6.52729177297e-05,-0.000123775499142,3.80908449089e-05,1793190385832682240
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.849220626,742,711.849220626,672,665.849220626,632,877,782,799.849220626,649,626,649,0.441582480146,-0.00555771340568,0.0499287799332,0.999999991967,-6.45776436369e-05,-0.000101601530135,3.96638982668e-05,1793190385849348864
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711.387730606,672,665,630,876.612269394,782,799.224538787,649,626,648.612269394,0.445872390134,-0.00556688258367,0.0498531566951,0.999999975142,0.000107887861737,-0.000194027335579,2.07177221194e-05,1793190386149348608
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7f85f4017f0303ec94342fab4f564e1ec1062bc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,394 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a87ebf2e4dc8bc7135ad116e5008973df0027b16
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efdb4b5520acb5a6aaf40c89d40c49128cc95ba00712278fcb6532c0bc221b14
+size 25243115
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1032605c551a6ccb2f3376e906011cbe27f0bca8
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,398 @@
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+12,0.200000000,BASELINE,764,742,711,670.965875697,664,632,875.965875697,782,799.034124303,649,626,649,0.400972646935,-0.00542551156626,0.0498539702894,0.999999953991,0.000152079627013,-0.000258953362608,-4.28172420824e-05,1793190389606067200
+13,0.216666667,BASELINE,763.458998964,742,711,670.458998964,664,632,875.458998964,782,799,649.541001036,626,649,0.400973260167,-0.00542375593333,0.0498539782826,0.999999953735,0.000153822747195,-0.000258858047071,-4.31334192953e-05,1793190389622734336
+14,0.233333333,BASELINE,763.118915774,742,711,669.881084226,664.118915774,632,875,782,799.118915774,649.881084226,626.118915774,649,0.400973873858,-0.00542228095654,0.0498539887158,0.999999953544,0.000155281610571,-0.000258679737856,-4.34102004826e-05,1793190389639401216
+15,0.250000000,BASELINE,763.708297427,742,711,669.291702573,664.708297427,632,875,782,799.708297427,649.291702573,626.708297427,649,0.400974051444,-0.00542236143681,0.0498540621176,0.999999953728,0.000154758863291,-0.000258264525409,-4.35169894379e-05,1793190389656067584
+16,0.266666667,BASELINE,764,741.707380055,711,669.292619945,664.707380055,632,875,782,799.707380055,649.292619945,627,649,0.400973745788,-0.00542221652286,0.0498539285676,0.999999953687,0.000154959117591,-0.000258286720266,-4.36189183249e-05,1793190389672734208
+17,0.283333333,BASELINE,764,741.128015134,711,669.871984866,664.128015134,632,875,782,799.128015134,649.871984866,627,649,0.400972966593,-0.00542185073996,0.0498535922209,0.999999953424,0.000155867857702,-0.000258737540569,-4.37160847135e-05,1793190389689400832
+18,0.300000000,BASELINE,764,741.44769717,711,670,664,632,875,782,799,649.55230283,627,649,0.400972427088,-0.0054217414482,0.0498533576866,0.999999953104,0.000157096867653,-0.000259295021256,-4.33381443258e-05,1793190389706067200
+19,0.316666667,BASELINE,764,742,711.022865661,670,664,632,875,782,798.977134339,649.022865661,626.977134339,649,0.400971977794,-0.00542176831567,0.0498531636948,0.999999952794,0.000158285740604,-0.000259849659262,-4.28490397501e-05,1793190389722733824
+20,0.333333333,BASELINE,764,742,711.610183873,670,664,632,875,782,798.389816127,649.610183873,626.389816127,649,0.400972077208,-0.00542336053001,0.0498532576755,0.999999953179,0.000156241435506,-0.000259587340406,-4.29422455043e-05,1793190389739400704
+21,0.350000000,BASELINE,763.805468334,742,711.805468334,670,664,632,875,782,798.194531666,649.805468334,626.194531666,649,0.400972053529,-0.00542373861519,0.0498533715335,0.999999953379,0.000155196189067,-0.00025942131667,-4.30952422262e-05,1793190389756067328
+22,0.366666667,BASELINE,763.226983419,742,711.226983419,670,664,632,875,782,798.773016581,649.226983419,626.773016581,649,0.400971786894,-0.00542172033539,0.0498535246241,0.999999953217,0.000156122816287,-0.000259445353663,-4.33662502455e-05,1793190389772734208
+23,0.383333333,BASELINE,763.351561986,742,711,670,664,632,875.351561986,782,799,649,626.648438014,649,0.40097200995,-0.00542211163898,0.0498533663439,0.999999953277,0.000155563193406,-0.000259562880839,-4.32897157256e-05,1793190389789401088
+24,0.400000000,BASELINE,763.930146508,742,711,670,664,632,875.930146508,782,799,649,626.069853492,649,0.400972549226,-0.00542405894034,0.0498530069947,0.999999953479,0.000154043818757,-0.000259740779671,-4.29887542682e-05,1793190389806067456
+25,0.416666667,BASELINE,764,742,711,670,664,632,875.49307003,782,798.49307003,649.50692997,626,649.50692997,0.400972638184,-0.0054239801123,0.0498535038717,0.999999953344,0.000155884876,-0.000259142009753,-4.31034518505e-05,1793190389822734080
+26,0.433333333,BASELINE,764,742,711,670,664.169711164,632,875,782,798.084855582,650,626.084855582,649.915144418,0.400972979052,-0.00542386924098,0.0498541712749,0.999999953294,0.000157611125861,-0.000258274120249,-4.31790806193e-05,1793190389839400704
+27,0.450000000,BASELINE,764,742,711,670,665.341979043,632,875,782,798.670989522,650,626.670989522,649.329010478,0.400975173328,-0.0054252125606,0.0498551515264,0.999999954049,0.000155933363068,-0.000256446416389,-4.26867535021e-05,1793190389856067328
+28,0.466666667,BASELINE,764,742,711,670.254184689,665.491630621,632,875.254184689,782,799,650,626.745815311,649,0.400976062456,-0.00542539480532,0.0498558006024,0.999999954506,0.000154776494005,-0.000255384543116,-4.25502918446e-05,1793190389872733952
+29,0.483333333,BASELINE,764,742,711,670.833619423,664.332761153,632,875.833619423,782,799,650,626.166380577,649,0.400975281542,-0.00542409135992,0.0498560259124,0.999999954589,0.000154286151067,-0.000255302612662,-4.28691891016e-05,1793190389889400320
+30,0.500000000,BASELINE,764,742,711,670.587940727,664,632,876,782,799,650,626,649,0.400974266744,-0.00542404299191,0.0498555199645,0.999999954406,0.000153871405748,-0.0002562385033,-4.30424214311e-05,1793190389906067200
+31,0.516666667,BASELINE,764,742,711,670.009901636,664,632,876,782,799,650,626,649,0.400973157736,-0.00542450017625,0.0498547194616,0.999999954115,0.000153487111592,-0.000257584378058,-4.31569790919e-05,1793190389922734080
+32,0.533333333,BASELINE,764,742,711,670,664,632.562228632,876,782,799,649.437771368,626,649,0.400972649977,-0.0054230170326,0.0498542709795,0.999999953719,0.000155746721932,-0.000257730428994,-4.33648273068e-05,1793190389939400704
+33,0.550000000,BASELINE,764,741.861277464,711,670,664,632.861277464,875.861277464,782,798.861277464,649.138722536,626,649,0.400972694498,-0.00542201550336,0.0498541733522,0.999999953564,0.000157333920675,-0.000257341072575,-4.35190126399e-05,1793190389956067584
+34,0.566666667,BASELINE,764,741.270219279,711,670,664,632.270219279,875.270219279,782,798.270219279,649.729780721,626,649,0.400974505687,-0.0054226946514,0.0498551997603,0.999999954213,0.000156578322025,-0.000255274085861,-4.34929166053e-05,1793190389972734208
+35,0.583333333,BASELINE,764,741.314896556,711,670,664,632.314896556,875.314896556,782,798.314896556,650,626,649,0.400973614366,-0.00542250886947,0.0498546564249,0.999999953809,0.000156915395257,-0.000256653654607,-4.34557773331e-05,1793190389989400832
+36,0.600000000,BASELINE,764,741.895007645,711,670,664,632.895007645,875.895007645,782,798.895007645,650,626,649,0.400970446918,-0.00542159461983,0.0498527910086,0.999999952505,0.000158172746689,-0.000260936006835,-4.34093371395e-05,1793190390006067200
+37,0.616666667,BASELINE,764,741.529870329,711,670,664,632.529870329,875.529870329,782,799,650,626.470129671,649,0.400971107248,-0.00542284456507,0.0498532798935,0.99999995273,0.000158128316159,-0.000260172971974,-4.29525043774e-05,1793190390022734080
+38,0.633333333,BASELINE,764,741.044350911,711,670,664.044350911,632,875,782,798.955649089,650,626.955649089,649,0.400972610791,-0.00542442788881,0.0498542502717,0.999999953302,0.000157645327865,-0.000258339311328,-4.24781043145e-05,1793190390039400448
+39,0.650000000,BASELINE,764,741.62099341,711,670,664.62099341,632,875,782,798.37900659,650,626.37900659,649,0.400974082496,-0.00542427253313,0.0498547554214,0.999999953979,0.000155351405399,-0.000257037454665,-4.28812981697e-05,1793190390056067328
+40,0.666666667,BASELINE,764,742,711,670,664.796927777,632,875,782,798.203072223,650,626.203072223,649,0.400974610723,-0.0054239532934,0.0498549380127,0.999999954288,0.000154043169821,-0.000256581738559,-4.31294910547e-05,1793190390072734208
+41,0.683333333,BASELINE,764,742,711,670,664.204423773,632,875,782,798.795576227,650,626.795576227,649,0.40097332964,-0.00542331977309,0.0498545020335,0.9999999539,0.000154625186991,-0.000257748667018,-4.30804384198e-05,1793190390089400832
+42,0.700000000,BASELINE,764,742,711,670,664.377901858,632,875,782,799,649.622098142,626.622098142,649,0.400973605602,-0.00542305649401,0.0498544441935,0.999999953824,0.000155441774579,-0.000257567928007,-4.29944889639e-05,1793190390106067712
+43,0.716666667,BASELINE,764,742,711,670,664.954865947,632,875,782,799,649.045134053,626.045134053,649,0.400974701746,-0.0054229882419,0.0498545855408,0.999999953911,0.000156381923622,-0.000256677296466,-4.28891038723e-05,1793190390122734336
+44,0.733333333,BASELINE,764,742,711,670.528816551,664.471183449,632,875,782,799,649,626,649,0.400975193812,-0.00542383138567,0.0498554034577,0.999999954532,0.000155049208481,-0.000255097057835,-4.26741692144e-05,1793190390139400704
+45,0.750000000,BASELINE,764,742,711,670.894459801,664.105540199,632,875,782,799,649.105540199,626.105540199,649,0.400975285148,-0.00542449374812,0.0498559473915,0.999999954906,0.000154170236765,-0.000254196671838,-4.24788288386e-05,1793190390156067072
+46,0.766666667,BASELINE,764,742,711,670.303814823,664.696185177,632,875,782,799,649.696185177,626.696185177,649,0.400973770208,-0.00542396965377,0.0498549680763,0.999999953946,0.00015626344051,-0.000256690158849,-4.24162842984e-05,1793190390172733952
+47,0.783333333,BASELINE,764,742,711,670,664.718741742,632,875,782,799,650,627,649,0.40097313552,-0.00542376970973,0.0498543087623,0.999999953556,0.000156601927194,-0.0002579728137,-4.25944920929e-05,1793190390189400576
+48,0.800000000,BASELINE,764,742,711,670,664.139570427,632,875,782,799,650,627,649,0.40097343321,-0.00542391311062,0.0498539883984,0.999999953774,0.000155081790927,-0.000257972936874,-4.30277084433e-05,1793190390206067200
+49,0.816666667,BASELINE,764,742,711,670,664,632,875,782,799,649.564546795,627,649,0.400974194012,-0.00542438714151,0.0498545212046,0.999999954045,0.000154642220024,-0.000257204355135,-4.29079252277e-05,1793190390222734080
+50,0.833333333,BASELINE,764,742,711,670,664,632,875,782,799,649.009206518,626.990793482,649,0.400975068776,-0.00542495533752,0.0498553043299,0.999999954327,0.000154533960033,-0.000256221672506,-4.26171669687e-05,1793190390239401216
+51,0.850000000,BASELINE,764,742,711,670,664,632,875,782,799,649.585830603,626.414169397,649,0.400973905266,-0.00542485743083,0.0498548204916,0.999999954234,0.000153700808557,-0.000257085357683,-4.26098370568e-05,1793190390256067840
+52,0.866666667,BASELINE,764,742,711,670,664.166490275,632,875,782,798.833509725,650,626.166490275,649,0.400973096373,-0.00542453360475,0.0498544922659,0.999999954074,0.000153826343171,-0.000257636741224,-4.2575086189e-05,1793190390272734464
+53,0.883333333,BASELINE,764,742,711,670,664.757438421,632,875,782,798.242561579,650,626.757438421,649,0.400973191557,-0.00542363380951,0.0498545607661,0.999999953743,0.000156395995724,-0.000257391928726,-4.24704270903e-05,1793190390289400832
+54,0.900000000,BASELINE,763.659553501,742,711,670,665,632,875,782,798.340446499,649.659553501,626.659553501,649,0.400973196385,-0.0054234574771,0.0498547817767,0.999999953622,0.000157020111732,-0.0002574594566,-4.2597100798e-05,1793190390306067456
+55,0.916666667,BASELINE,763.082073662,742,711,670,665,632,875,782,798.917926338,649.082073662,626.082073662,649,0.400973138303,-0.00542378485033,0.0498551089715,0.999999953651,0.000156289662299,-0.000257744449142,-4.28848382545e-05,1793190390322734080
+56,0.933333333,BASELINE,763.49105952,742,711,670.49105952,665,632,875,782,799,649,626,649,0.4009725456,-0.00542445786508,0.0498543566351,0.999999953718,0.000155364389539,-0.000258056839899,-4.28184446287e-05,1793190390339400704
+57,0.950000000,BASELINE,764,742,711,670.934444723,664.934444723,632,875,782,799,649,626,649,0.400972028055,-0.0054250740072,0.049853568485,0.999999953802,0.000154395750487,-0.000258325227489,-4.27255421379e-05,1793190390356067584
+58,0.966666667,BASELINE,764,742,711,670.343249777,664.343249777,632,875,782,799,649,626,649,0.400972823324,-0.0054247749852,0.0498539272007,0.999999953989,0.000153338189239,-0.000258204390511,-4.28905058139e-05,1793190390372734464
+59,0.983333333,BASELINE,764,742,711,670,664,632.243011604,875,782,799,649,626,649,0.400973453555,-0.0054245359714,0.0498544581648,0.999999954128,0.000153464241353,-0.000257580023043,-4.29586694873e-05,1793190390389401088
+60,1.000000000,BASELINE,764,742,711,670,664,632.822443149,875,782,799,649,626,649,0.400973855312,-0.00542438003161,0.0498552275859,0.999999954198,0.00015522886173,-0.000256258578977,-4.28928253805e-05,1793190390406067968
+61,1.016666667,BASELINE,764,742,711,670.400390399,664,632.599609601,875,782,799,649,626,649,0.400974339939,-0.00542384612214,0.0498556174806,0.999999954283,0.000156092728391,-0.000255397816818,-4.29168404411e-05,1793190390422734592
+62,1.033333333,BASELINE,764,742,711,670.97768182,664,632.02231818,875,782,799,649,626,649,0.40097486118,-0.00542314521762,0.0498558396924,0.999999954375,0.000156558622733,-0.000254740593835,-4.29805572036e-05,1793190390439401216
+63,1.050000000,BASELINE,764,742,711,671,664.552601663,632,875,782.552601663,799,649,626,649,0.400974013753,-0.00542405288376,0.0498554787075,0.999999954451,0.000154110549799,-0.000255942816736,-4.29176802689e-05,1793190390456067328
+64,1.066666667,BASELINE,764,742,711,670.869500175,665,632,875,782.869500175,799,649.130499825,626,649,0.400973349648,-0.00542490029346,0.0498551202993,0.999999954576,0.00015206328455,-0.000256679568917,-4.29034768933e-05,1793190390472733696
+65,1.083333333,BASELINE,764,742,711,670.280810187,665,632,875,782.280810187,799,649.719189813,626,649,0.400973522446,-0.00542530901649,0.0498548532833,0.9999999549,0.000151834712114,-0.000255519488094,-4.30780428875e-05,1793190390489400576
+66,1.100000000,BASELINE,764,742,711,670,665,632,875,782,799,650,626,649,0.40097362563,-0.005424684601,0.0498550588266,0.999999954796,0.000153280468538,-0.000255032959135,-4.32537957681e-05,1793190390506067456
+67,1.116666667,BASELINE,764,742,711,670,665,632,875,782,799,650,626,649,0.40097366532,-0.0054231178834,0.0498556953805,0.999999954296,0.000156253342192,-0.00025516076155,-4.34306311709e-05,1793190390522734592
+68,1.133333333,BASELINE,764,742,711,670,664.540754008,632,875,782,798.540754008,650,626,649,0.400972024604,-0.00542320490531,0.0498544172523,0.999999953776,0.000155366891341,-0.000257724256399,-4.34329098177e-05,1793190390539400960
+69,1.150000000,BASELINE,764,742,711,670,664,632,875,782,798.069026379,649.96548681,626,649,0.40097024398,-0.00542368495484,0.0498528675289,0.999999953316,0.000153626255592,-0.000260545858025,-4.33857819905e-05,1793190390556067584
+70,1.166666667,BASELINE,764,742,711,670,664,632,875,782,799.216546766,649.391726617,626,649,0.400972915863,-0.0054237726667,0.049854638311,0.999999954015,0.000153785894701,-0.000257777936771,-4.32563006687e-05,1793190390572734208
+71,1.183333333,BASELINE,764,742,711,669.812271916,664.187728084,632,875,782,799.812271916,649,626,649,0.40097380731,-0.00542334747425,0.049855333115,0.999999954186,0.000154529161443,-0.000256663679886,-4.32711230625e-05,1793190390589400576
+72,1.200000000,BASELINE,764,742,711,669.220562825,664.779437175,632,875,782,799.220562825,649,626,649,0.40097086735,-0.00542181853859,0.0498537124707,0.999999953231,0.000156528364324,-0.000259108021614,-4.35964794724e-05,1793190390606067200
+73,1.216666667,BASELINE,764,742,711,669.72798566,664.63600717,632,875,782,799,649,626,649,0.400970957353,-0.00542206603955,0.049853624426,0.999999952935,0.000158241407456,-0.000259227215938,-4.34877220386e-05,1793190390622733824
+74,1.233333333,BASELINE,764,742,711,670.88859469,664.055702655,632,875,782,799,649,626,649,0.400972847985,-0.00542336923171,0.0498544471664,0.999999953032,0.000159784393005,-0.000257964634127,-4.31209817645e-05,1793190390639400448
+75,1.250000000,BASELINE,764,741.482105414,711,670.482105414,664.517894586,632,875,782,799.517894586,649.517894586,626,649,0.40097413196,-0.00542290091302,0.0498551461619,0.999999953865,0.000157929186068,-0.000255840632521,-4.32875371313e-05,1793190390656067584
+76,1.266666667,BASELINE,764,741.093109797,711,670,664.906890203,632,875,782,799.906890203,650,626.093109797,649,0.400975016919,-0.00542231083515,0.049855687235,0.999999954554,0.000156108700629,-0.000254226356175,-4.34938499371e-05,1793190390672734720
+77,1.283333333,BASELINE,764,741.680699797,711,670,664.319300203,632,875,782,799.319300203,650,626.680699797,649,0.400974124912,-0.0054220730774,0.0498554594053,0.999999954102,0.000156388841179,-0.000255804840632,-4.36105797436e-05,1793190390689401344
+78,1.300000000,BASELINE,764,742,711,670,664,632,874.733908391,782,799,649.733908391,626.733908391,649,0.400973879079,-0.00542234251399,0.0498554915364,0.999999953933,0.000156938367273,-0.000256151429519,-4.34892621423e-05,1793190390706067712
+79,1.316666667,BASELINE,764,742,711,670,664,632,874.151132753,782,799,649.151132753,626.151132753,649,0.40097440228,-0.0054232155786,0.0498558330549,0.999999954099,0.000157808497592,-0.000255031900469,-4.30846367944e-05,1793190390722734080
+80,1.333333333,BASELINE,764,742,711,670.425916734,664,632,874.425916734,782,798.574083266,649,626,649,0.400974703134,-0.0054233258441,0.049855909268,0.999999954113,0.000157678843837,-0.000255064393447,-4.30580622782e-05,1793190390739400704
+81,1.350000000,BASELINE,764,742,711,670.99901803,664,632,875,782,798.00098197,649,626.00098197,649.00098197,0.400974924364,-0.00542317212217,0.0498558914488,0.999999954072,0.000157199018031,-0.000255500554471,-4.31625020173e-05,1793190390756067072
+82,1.366666667,BASELINE,764,742,711,670.411637956,664,632,875,782,798.588362044,649,626.588362044,649.588362044,0.400974085726,-0.00542486620923,0.0498551929092,0.99999995403,0.000156651211992,-0.000256119560289,-4.24583094868e-05,1793190390772733952
+83,1.383333333,BASELINE,764,742,711,670,664,632,875.173206269,782,799,649.173206269,626.826793731,649.826793731,0.400973331625,-0.00542615515232,0.0498545803325,0.999999954129,0.000155328248716,-0.000256596747,-4.2116181432e-05,1793190390789400832
+84,1.400000000,BASELINE,764,742,711,670,664,632,875.752110932,782,799,649.752110932,626.247889068,649.247889068,0.400972775529,-0.00542649513323,0.0498541691053,0.999999954553,0.000152189646382,-0.000256741753112,-4.26221113198e-05,1793190390806067712
+85,1.416666667,BASELINE,764,742,710.670014477,670,664.329985523,632,875.670014477,782,799,650,626,649,0.400973434098,-0.00542502474828,0.0498546584903,0.999999954853,0.000151578483138,-0.00025585360142,-4.31012025484e-05,1793190390822734592
+86,1.433333333,BASELINE,764,742,710.092911316,670,664.907088684,632,875.092911316,782,799,650,626,649,0.400975002297,-0.00542219862706,0.0498558223207,0.999999955061,0.000152860053959,-0.000254191744518,-4.35601949678e-05,1793190390839401472
+87,1.450000000,BASELINE,764,741.517148374,710.482851626,670,664.517148374,632,875,782,798.517148374,649.517148374,626,649,0.400974796147,-0.00542149634553,0.0498555491858,0.999999954634,0.000154506155819,-0.000254859551901,-4.36533909544e-05,1793190390856067840
+88,1.466666667,BASELINE,764,741.059667587,711,670.059667587,664,632,875,782,798.059667587,649,626.059667587,649,0.400974389467,-0.00542134292917,0.0498550925888,0.999999954175,0.000155926963488,-0.000255787865381,-4.36936820547e-05,1793190390872734208
+89,1.483333333,BASELINE,764,741.648094158,711,670.648094158,664,632,875,782,798.648094158,649,626.648094158,649,0.400975222971,-0.00542244187867,0.0498554537201,0.999999954537,0.000154731395206,-0.000255063180246,-4.38871714461e-05,1793190390889400576
+90,1.500000000,BASELINE,764,742,711,670.767231449,664,632,875,782,799,649.232768551,626.767231449,649,0.400975535958,-0.00542300319836,0.049855618612,0.999999954469,0.000155432901708,-0.000254921176726,-4.37861003696e-05,1793190390906067200
+91,1.516666667,BASELINE,764,742,711,670.188139762,664,632,875,782,799,649.811860238,626.188139762,649,0.400975074498,-0.00542276460905,0.0498554915303,0.999999953754,0.000158956958376,-0.000255646112225,-4.32467694485e-05,1793190390922733824
+92,1.533333333,BASELINE,764,742,711,670,664.778863552,632,875,782.389431776,799,650,626,649,0.400973847228,-0.00542217774609,0.0498545682033,0.99999995348,0.000158558464267,-0.000256931937606,-4.34144036843e-05,1793190390939400704
+93,1.550000000,BASELINE,764,742,711,670,665.932543635,632,875,782.966271817,799,650,626,649,0.400972251425,-0.00542142328158,0.0498532616949,0.999999953417,0.0001562723011,-0.000258487682987,-4.39222543661e-05,1793190390956067840
+94,1.566666667,BASELINE,764,742,711,670.542023237,664.915953527,632,875,782.457976763,799,649.457976763,626,649,0.400973106339,-0.00542250912984,0.0498539906437,0.99999995366,0.000157422262748,-0.000256936921635,-4.33875719487e-05,1793190390972734464
+95,1.583333333,BASELINE,764,742,711,670.879722931,664,632,875,782,799,649.120277069,626,649,0.400973771033,-0.00542340147556,0.0498547029445,0.999999953902,0.000158088421916,-0.00025565966509,-4.29186372015e-05,1793190390989400832
+96,1.600000000,BASELINE,764,742,711,670.291469452,664,632,875,782,799,649.708530548,626,649,0.400973103452,-0.0054230962696,0.0498548586506,0.999999954084,0.000156041933947,-0.000256197180707,-4.29574183722e-05,1793190391006067456
+97,1.616666667,BASELINE,764,742,711,670,664,632,875,782,799,649.7073768,626,649,0.400973215569,-0.0054227169935,0.049855160372,0.999999954228,0.000155551571147,-0.000255889522178,-4.32197480497e-05,1793190391022734080
+98,1.633333333,BASELINE,764,742,711,670,664,632,875,782,799,649.127370502,626,649,0.400974093422,-0.00542226497367,0.0498556054939,0.999999954336,0.000156589467583,-0.000254751824288,-4.37016230736e-05,1793190391039400704
+99,1.650000000,BASELINE,764,742,711,670,664.448404584,632,875.448404584,782,799,649,626,649,0.400975306972,-0.00542244739834,0.0498563485414,0.999999954585,0.000156634332838,-0.000253785575338,-4.34685033367e-05,1793190391056067584
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+102,1.700000000,BASELINE,764,742,711,670,664,632,875,782,799,649,626,649,0.400976199004,-0.0054224679807,0.0498565360667,0.999999954262,0.000159812908218,-0.000253242670364,-4.24693883747e-05,1793190391106067712
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+104,1.733333333,BASELINE,764,742,711,670,664,632,875.354118238,782,799,649.354118238,626.354118238,649,0.400973911196,-0.00542149146544,0.0498550891936,0.999999953605,0.000160093688313,-0.000255528100599,-4.31836771451e-05,1793190391139400960
+105,1.750000000,BASELINE,764,742,711,670,664,632,875.928146711,782,799,649.928146711,626.928146711,649,0.400974157533,-0.0054211617437,0.0498551941631,0.999999953984,0.000158105413354,-0.000255251964521,-4.33751722105e-05,1793190391156067840
+106,1.766666667,BASELINE,764,742,711,670,664.505091257,632,875.494908743,782,799,649.494908743,627,649,0.400974459749,-0.00542255965501,0.0498556037583,0.999999954363,0.00015663943345,-0.000254719572765,-4.30926140414e-05,1793190391172734464
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875,781,799,649,627,649,0.400973112085,-0.00542420861201,0.0498549647073,0.999999954498,0.000154306795068,-0.00025549210552,-4.37864436408e-05,1793190391215512320
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664.415912949,632,875,781.584087051,799,649,626.415912949,649,0.400973843902,-0.00542381119915,0.0498553598641,0.999999954474,0.000155333850419,-0.000255045122776,-4.33069821404e-05,1793190391232178688
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.834743049,742,711,670.165256951,664,632,875,782,799,649.165256951,626,649,0.400974231514,-0.0054231224196,0.0498555771184,0.999999954332,0.000156629946897,-0.000254854527476,-4.30325511265e-05,1793190391248845312
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.260787461,742,711,670.739212539,664,632,875,782,799,649.739212539,626,649,0.400973767867,-0.00542171305808,0.0498553544002,0.9999999539,0.000158591411924,-0.000255298006457,-4.32651829807e-05,1793190391265511936
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.312115898,742,711,670.687884102,664,632,875,782,799,649.687884102,626.312115898,649,0.400973939757,-0.00542185489823,0.0498555800316,0.999999954159,0.000157432849501,-0.000254988471155,-4.33378946e-05,1793190391282178304
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670.778243775,665,632,875,782,799,649,626.778243775,649,0.401009561345,-0.00542556396297,0.049870154966,0.999999961315,0.000154419984848,-0.000227473708975,-4.22014569121e-05,1793190391365511424
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,670.202653762,665,632,875,782,799,649,626.202653762,649,0.401036718082,-0.00542598450919,0.0498803927089,0.999999965747,0.000154977149019,-0.000206845535668,-4.12565513228e-05,1793190391382178048
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.618898351,741.618898351,711,670,664.618898351,632,875,782,799,649.381101649,626.381101649,649.381101649,0.401081218672,-0.00542750008437,0.049894613282,0.999999971658,0.00015482123512,-0.000176325283755,-4.02942988511e-05,1793190391398844416
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+120,2.000000000,POSE1_TO_POSE2_PRESS,763.549155759,741.549155759,711,670,664,632,875,782,799,649.450844241,626.450844241,649.450844241,0.401206020101,-0.0054315624583,0.0499252983874,0.999999980932,0.000154372120403,-0.000113384968178,-3.80673238983e-05,1793190391432177920
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664.128229751,632,875,782,799,649.128229751,626.128229751,649,0.401278107655,-0.00543353422591,0.0499360429892,0.999999983044,0.000154036489278,-9.39072296871e-05,-3.69667866466e-05,1793190391448844544
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664.719087766,632,875,782,799,649.719087766,626.719087766,649,0.401435268743,-0.00543979932228,0.0499335264699,0.999999982845,0.000148811206859,-0.000104457349412,-3.54078962351e-05,1793190391482177536
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664.147595778,632,875,782,799,649.147595778,626.147595778,649,0.401530786038,-0.00544618460885,0.0499324642756,0.999999983035,0.0001442156436,-0.000109504370278,-3.37801731068e-05,1793190391498844160
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+133,2.216666667,POSE1_TO_POSE2_PRESS,764.090793604,742,711,670.090793604,664.909206396,632,876,782.090793604,799,650,626.909206396,649,0.403288420924,-0.00550705161364,0.0499491922178,0.999999988898,0.000122624628845,-8.27192132044e-05,-1.80301434014e-05,1793190391648844288
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.668347406,742,711,670.668347406,664.331652594,632,876,782.668347406,799,650,626.331652594,649,0.403614464078,-0.00551768719627,0.0499584964519,0.99999999109,0.000116888734176,-6.2688617858e-05,-1.50996311771e-05,1793190391665510912
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.510331842,742,711,670.755165921,664.244834079,632,875.755165921,782.755165921,799,649.755165921,626,649,0.403959208425,-0.00552761038424,0.0499673518026,0.999999992446,0.00011330278545,-4.6189713296e-05,-1.17264699205e-05,1793190391682177536
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.360237087,742,711,670.180118543,664.819881457,632,875.180118543,782.180118543,799,649.180118543,626,649,0.40432917548,-0.00553657274869,0.0499756017335,0.999999993035,0.000112616518171,-3.44540817578e-05,-7.75629801326e-06,1793190391698844416
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.404588089,742,711,670,664.595411911,632,875.404588089,782,799,649.404588089,626.404588089,649,0.404718477165,-0.0055392465906,0.0499804299753,0.99999999245,0.000120218171447,-2.52375987578e-05,-3.35449752021e-06,1793190391715511040
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.993700084,742,711,670,664.006299916,632,875.993700084,782,799,649.993700084,626.993700084,649,0.405116596948,-0.00553905237271,0.0499836976581,0.999999991193,0.000131599766628,-1.71700454186e-05,1.24415935792e-06,1793190391732177664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664.572923417,632,875.427076583,782,799,650,626.427076583,649,0.405529091329,-0.00552207620771,0.0499687224688,0.999999985562,0.000163691396145,-4.55848348305e-05,2.01288251183e-06,1793190391748844288
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.151180183,782,799,650,626,649,0.405950385471,-0.00550893108536,0.0499509465777,0.999999978801,0.000190515580169,-7.80579011785e-05,2.98269698823e-06,1793190391765510912
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.727022044,782,799,650,626,649,0.406395961404,-0.00550705683889,0.049925857503,0.999999972305,0.000201914792343,-0.000120822831584,4.63366316725e-06,1793190391782177536
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670.301067471,664.698932529,632,876,782,799,649.698932529,626,649,0.406883423137,-0.00551165808399,0.0499108162437,0.999999968221,0.000206313897631,-0.000144686686317,7.61754844756e-06,1793190391798843904
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670.873493796,664.126506204,632,876,782,799,649.126506204,626,649,0.407408637529,-0.00552209583445,0.0499048313029,0.999999967562,0.000204403651362,-0.000151514583277,1.18028237609e-05,1793190391815510784
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.461586654,671,664.461586654,632,876,782,799,649,626,649,0.407992616224,-0.00552665585929,0.0499247236094,0.9999999712,0.000212580419761,-0.000110116536146,1.68367722284e-05,1793190391832177664
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.947169563,670.947169563,665,632,876,782,799,649.052830437,626,649,0.408596385151,-0.00552922088144,0.0499516724241,0.999999973069,0.000223922111919,-5.67830024837e-05,2.22648355252e-05,1793190391848845056
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.368794056,670.368794056,665,632,876,782,799,649.631205944,626,649,0.409231181323,-0.00552852791597,0.0499757882362,0.999999970968,0.000238280656151,-2.08189341171e-05,2.92183813591e-05,1793190391865511936
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,781.791658518,798.791658518,650,626,649,0.40986079676,-0.00552653853669,0.0499889823711,0.999999967281,0.000253390458706,-3.7828003131e-06,3.48731640202e-05,1793190391882178560
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,781.216704952,798.216704952,650,626,649,0.410481295777,-0.00552226789803,0.0499829579661,0.999999962666,0.000269822226956,-2.00535717499e-05,3.82425527946e-05,1793190391898844672
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.366416759,742,711,670.366416759,665,632,875.633583241,781.366416759,798.366416759,649.633583241,626,649,0.411099434682,-0.00552389799455,0.0499568001548,0.99999997623,0.000201843386888,-7.93558272185e-05,2.24081488203e-05,1793190391915511040
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.954479368,742,711,670.954479368,665,632,875.045520632,781.954479368,798.954479368,649.045520632,626,649,0.411716145931,-0.00552909745162,0.0499184636269,0.999999982998,8.28044842233e-05,-0.000164687866922,-5.04264843651e-06,1793190391932177408
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.463063938,742,711,670.463063938,664.463063938,632,875.536936062,782,798.463063938,649,626,649,0.412469505416,-0.00553788925928,0.0499282871788,0.999999989018,8.03774386623e-05,-0.000124502962563,-1.69711901323e-06,1793190391948844032
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.1176615,664.1176615,632,876,782,798.1176615,649,626,649,0.413235401923,-0.00554584245636,0.049943999159,0.999999992995,8.92409149311e-05,-7.76175896445e-05,4.71616813588e-06,1793190391965511168
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.693477041,664.693477041,632,876,782,798.693477041,649,626,649,0.414005472004,-0.00554935661411,0.0499669056779,0.999999993469,0.000103970426259,-4.56483984505e-05,1.30135570434e-05,1793190391982178304
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,649.26860462,626,649,0.414754525099,-0.00554729726472,0.0499631139996,0.999999991647,0.000115242147654,-5.59996975735e-05,1.69825050172e-05,1793190391998844928
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,649.8429492,626,649,0.41547965565,-0.00553889385573,0.0499289330263,0.999999985801,0.000122578031719,-0.000114522408899,1.602459404e-05,1793190392015511296
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,670.570508649,664.570508649,632,876,782,799,649.570508649,626,649,0.416263861161,-0.00553815006556,0.0499197080944,0.999999985077,0.000116387150282,-0.00012679938303,1.48851802882e-05,1793190392032177664
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664.020175957,632,876,782,798.979824043,649.020175957,626,649,0.417071971015,-0.00554043968414,0.0499209176068,0.999999987172,0.00010520640439,-0.000119985075665,1.3824604391e-05,1793190392048844032
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664.598464228,632,876,782,798.401535772,649.598464228,626,649,0.417926310245,-0.00554689715581,0.0499509539872,0.999999992959,9.68197408733e-05,-6.65199002474e-05,1.68344544025e-05,1793190392065510656
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,670.175797124,665,632,876,782.175797124,798.175797124,649.824202876,626,648.824202876,0.418763810777,-0.00555124274932,0.0499699386709,0.999999995006,9.10104028238e-05,-3.63762961983e-05,1.95453286226e-05,1793190392082177280
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,670.750959621,665,632,876,782.750959621,798.750959621,649.249040379,626,648.249040379,0.419563058114,-0.00555079070418,0.0499638167705,0.999999993869,9.10560793438e-05,-5.92132440182e-05,2.15770074648e-05,1793190392098844160
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,670.66714584,664.66714584,632,876,782.66714584,799,649,626,648.33285416,0.420397381413,-0.00554925890016,0.0499578929005,0.999999993625,9.04992948809e-05,-6.38839301419e-05,2.18881206407e-05,1793190392115511040
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,670.080110462,664.080110462,632,876,782.080110462,799,649,626,648.919889538,0.421258490131,-0.00554690254758,0.049952120255,0.999999994283,8.94824462848e-05,-5.46821056389e-05,2.08853385466e-05,1793190392132177664
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665.00043765,632,876,782,799,649,626,649,0.422142849589,-0.00555083312572,0.0499678772688,0.999999996176,8.20807141303e-05,-2.06533730695e-05,2.198350534e-05,1793190392148844288
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,670,666,632,876.079326142,782,799,649.079326142,626,649,0.423022414617,-0.00555484584282,0.049981492335,0.999999996938,7.45002954383e-05,6.048548163e-06,2.31553499234e-05,1793190392165511168
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,670,666,632,876.657413432,782,799,649.657413432,626,649,0.423848731907,-0.00555312816184,0.0499602475739,0.999999996419,7.21405645846e-05,-3.79852923967e-05,2.2702888993e-05,1793190392182177792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.233902337,670.233902337,665.766097663,632,876.766097663,782,799,650,626,649,0.42469716976,-0.00555465668804,0.049953707894,0.99999999607,6.75683157772e-05,-5.24478238076e-05,2.33285420964e-05,1793190392198844416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711.808066131,670.808066131,665.191933869,632,876.191933869,782,799,650,626,649,0.425577786869,-0.00556090752333,0.049968559927,0.999999997602,5.97774816029e-05,-2.38925069423e-05,2.55225448416e-05,1793190392215510784
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.391880029,742,712,671,665.391880029,632,876,782,799.391880029,650,626,649,0.42644563239,-0.00556256364468,0.0499826489159,0.999999997963,5.59643230166e-05,-1.29070277902e-05,2.7845851822e-05,1793190392232177664
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.98053962,742,712,671,665.98053962,632,876,782,799.98053962,650,626,649,0.427307064702,-0.00556191256517,0.0499963547471,0.999999998019,5.41485243031e-05,-1.07441100501e-05,3.02340878115e-05,1793190392248844032
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,742,711.438581716,671,665.438581716,632,876,782,799.438581716,650,626,649,0.428097577871,-0.00555696997654,0.0499597550568,0.999999995298,5.6819092919e-05,-7.31520381329e-05,2.8720815658e-05,1793190392265510656
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.859259423,742,711,671,665,632,876,782,799,650,626,649,0.428904829938,-0.00555355392491,0.0499327451689,0.999999991393,5.65928178531e-05,-0.000115176058926,2.73233037466e-05,1793190392282177536
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.283921668,742,711,671,665,632,876,782,799,650,626,649,0.4297712577,-0.00555530478365,0.0499406588562,0.999999994719,4.69476489324e-05,-8.74390143128e-05,2.66951474361e-05,1793190392298844416
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665.297884995,632,876.297884995,782,799,650,626,649,0.43059889695,-0.00555872613781,0.0499458722413,0.999999996189,3.66515938474e-05,-7.46131655984e-05,2.66835581554e-05,1793190392315511296
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665.885994169,632,876.885994169,782,799,650,626,649,0.431388745174,-0.00556377502653,0.0499484547686,0.999999996385,2.57213922605e-05,-7.63150378474e-05,2.72726794789e-05,1793190392332177664
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.466640396,742,711,671.466640396,665.533359604,632,876.533359604,782,798.533359604,649.533359604,626,648.533359604,0.432181234703,-0.00556258574866,0.0499326547031,0.999999994252,2.61320679204e-05,-0.000100461591719,2.68336810976e-05,1793190392348844032
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.954741344,742,711,671.954741344,665,632,876,782,798.045258656,649.045258656,626,648.045258656,0.432974066361,-0.00556006897329,0.0499158166326,0.999999991493,2.85699463421e-05,-0.000124539757909,2.62391888064e-05,1793190392365510912
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.378859808,742,711,671.378859808,665,632,876,782,798.621140192,649.621140192,626,648.621140192,0.433763461942,-0.00555957545949,0.049938634467,0.99999999581,2.28020929932e-05,-8.45382406776e-05,2.67202093902e-05,1793190392382177536
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.197115452,742,711,671.197115452,665,632,876.197115452,782,799.197115452,650,626.197115452,649,0.434536219537,-0.00556085256948,0.0499581470472,0.999999998027,1.53445930528e-05,-5.44010280316e-05,2.74165958609e-05,1793190392398844160
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.773271039,742,711,671.773271039,665,632,876.773271039,782,799.773271039,650,626.773271039,649,0.435276983509,-0.00556553447324,0.0499713038436,0.999999998648,4.63801215191e-06,-4.32322218172e-05,2.85271170113e-05,1793190392415510784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,742,711,671.64284384,665,632,877,782,799.64284384,650,627,649,0.435961386469,-0.00556578254925,0.0499614370461,0.999999996854,2.62489769248e-06,-7.35193189596e-05,2.96676203553e-05,1793190392432177920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,742,711,671.053943368,665,632,877,782,799.053943368,650,627,649,0.436609218983,-0.00556315369194,0.049936631161,0.999999990963,6.25262565599e-06,-0.000130705490001,3.08275778011e-05,1793190392448845568
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,742,711,671.526390215,665,632,877.526390215,782,799,649.473609785,626.473609785,649,0.437324933644,-0.00556159452279,0.0499423864729,0.99999999397,9.47041784477e-06,-0.000104888040923,3.11226405035e-05,1793190392465511680
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.894645157,742,711,672,665.210709686,632,877.894645157,782,799,649,626.105354843,649,0.438036402187,-0.00556074868206,0.049953098777,0.999999996875,1.21240879766e-05,-7.13473196834e-05,3.18327304558e-05,1793190392482177792
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.317940319,742,711,672,666.364119361,632,877.317940319,782,799,649,626.682059681,649,0.438698249757,-0.00556261164597,0.0499722010326,0.999999998489,1.24388535488e-05,-4.06992096181e-05,3.47898082917e-05,1793190392498844416
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.258027109,742,711,672,666.741972891,632,877,782,799,649,626.741972891,649,0.439315202818,-0.00556247687561,0.0499717342583,0.999999998449,1.4251377443e-05,-3.99210824687e-05,3.6138454351e-05,1793190392515510784
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.833088449,742,711,672,666.166911551,632,877,782,799,649,626.166911551,649,0.439876994587,-0.00555988751749,0.0499472232944,0.999999996333,1.79041756242e-05,-7.5843780019e-05,3.55108429821e-05,1793190392532177664
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.582217794,742,711.417782206,671.582217794,666,632,877,782.417782206,799,649,626,649,0.440409237119,-0.00555756472712,0.0499272726146,0.999999993228,2.27311120157e-05,-0.000108358727651,3.58521118723e-05,1793190392548844800
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.006295687,742,712,671.006295687,666,631.993704313,877,783,799,649,626.006295687,649,0.440929678306,-0.00555538490264,0.0499095812,0.999999989311,2.79781404331e-05,-0.000138768539081,3.65977766902e-05,1793190392565512448
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.583966434,742,712,671.583966434,666,631.416033566,877,783,799,649,626.583966434,649,0.441475774267,-0.00555628663096,0.0499276799271,0.999999993418,2.77735588756e-05,-0.000104600467481,3.80854130286e-05,1793190392582179328
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,742,711.838768827,671.838768827,666,631.161231173,876.838768827,782.838768827,799,649,627,648.838768827,0.442005170669,-0.00555769605667,0.0499442722708,0.999999996327,2.41862745181e-05,-7.25369604001e-05,3.87340724004e-05,1793190392598846208
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.679975972,742.320024028,711.320024028,671.320024028,666,632,876.320024028,782,799,649.320024028,627,648.320024028,0.44292632459,-0.00556560247555,0.0499586649969,0.999999998363,-2.30644761958e-05,-4.31578988229e-05,2.96577535097e-05,1793190392632178944
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+248,4.133333333,HOLD_POSE2,764,742,711.518809414,672,664,629.481190586,877,781,799,649,626,648.518809414,0.447101955052,-0.00556711042056,0.0497874108799,0.999999955148,-6.87301866281e-05,-0.00029121273273,1.32385727894e-05,1793190393584301056
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+250,4.166666667,HOLD_POSE2,764,742,711.63769897,672,664,629.36230103,877,781.63769897,799,649,626,648,0.44710057276,-0.00556496151812,0.0497860637942,0.999999954384,-6.56394269467e-05,-0.000294538111637,1.31036092295e-05,1793190393617634560
+251,4.183333333,HOLD_POSE2,764.214669199,742,712,672,664.214669199,629,877,781.785330801,799,649.214669199,626,648.214669199,0.447100887499,-0.00556512896231,0.0497857032554,0.99999995428,-6.65749442891e-05,-0.000294680084661,1.3070902e-05,1793190393634300928
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+253,4.216666667,HOLD_POSE2,765,742,712,672,664.62586864,629.37413136,877,781,799,650,626,648.62586864,0.447099019394,-0.00556867851201,0.0497840942065,0.999999953277,-7.18939107252e-05,-0.000296827802805,1.30512762263e-05,1793190393667634432
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+256,4.266666667,HOLD_POSE2,764,742.880257869,712,671.880257869,664,629,877,782.119742131,799,649,626,649,0.447100310731,-0.0055681223314,0.0497849520311,0.999999953791,-6.89045779482e-05,-0.000295790748154,1.33243200635e-05,1793190393717634560
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.842460195,742,711.842460195,672,664,629.157539805,877,781,799,649.842460195,626,648.842460195,0.447098313609,-0.00556629075976,0.0497823669214,0.999999952858,-6.92117298365e-05,-0.00029890258059,1.23149129763e-05,1793190393833682432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.2677519,742,711.2677519,672,664,629.7322481,877,781,799,649.2677519,626,648.2677519,0.447098588177,-0.0055677858731,0.0497824724601,0.999999952706,-7.19397045102e-05,-0.000298752369067,1.26735878519e-05,1793190393850348288
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6c1aa810e490f45b3f2901a3ca8f42023536ce6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,398 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e55f8aea411d51331d66f1446611ba6710e47036
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25370147
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f01c98d4e75137bb026e3f8042d9d0082e165845
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/franka_data.csv
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,670,664,632,875,782,798,649,626,649,0.400973426527,-0.00543153002609,0.0498519593567,0.999999952765,0.000158894512286,-0.000260144549769,-3.93407185564e-05,1793190396213222912
+1,0.016666667,BASELINE,764,742,711,670,664,632,875,782,798.573008626,649,626,649,0.400974328171,-0.00543262058979,0.0498523506495,0.999999953473,0.00015617188816,-0.000259087582481,-3.92232076017e-05,1793190396229889536
+2,0.033333333,BASELINE,764,742,711,670,664,632,875.151808818,782,799,649,626,649,0.400974728728,-0.00543321271901,0.049852536244,0.999999953936,0.000154041283164,-0.000258573427218,-3.92413661566e-05,1793190396246555904
+3,0.050000000,BASELINE,764,742,711,670,664,632,875.747545152,782,799,649,626,649,0.400973663982,-0.00543234729956,0.0498521203246,0.999999953703,0.000153641891732,-0.000259646591849,-3.96562567663e-05,1793190396263222784
+4,0.066666667,BASELINE,764,742,711,670,664,632,875.667662197,782,799,649,626.332337803,649,0.40097364385,-0.00543167445318,0.0498523041668,0.999999953461,0.000155169215531,-0.000259664349943,-3.96735738107e-05,1793190396279889408
+5,0.083333333,BASELINE,764,742,711,670,664,632,875.090917745,782,799,649,626.909082255,649,0.400974391944,-0.00543114322824,0.0498529290835,0.999999953208,0.000158113477203,-0.000258905944767,-3.93985087363e-05,1793190396296556032
+6,0.100000000,BASELINE,764,742,711,670,664.483748726,632,875,782,799.483748726,649.483748726,626.516251274,649,0.400974590676,-0.00543252838241,0.0498534552798,0.999999953689,0.000156399217739,-0.000258084769962,-3.94150217188e-05,1793190396313222912
+7,0.116666667,BASELINE,764,741.94038017,711,670,665,632,875,782,799.94038017,649.94038017,626,649,0.400974562334,-0.00543414591162,0.0498537508463,0.999999954207,0.000153965783509,-0.000257535987745,-3.9453252808e-05,1793190396329889280
+8,0.133333333,BASELINE,764,741.350331847,711,670,665,632,875,782,799.350331847,649.350331847,626,649,0.400973428421,-0.00543464015464,0.0498521588989,0.99999995387,0.000152890205312,-0.000259515149442,-3.91992412384e-05,1793190396346555904
+9,0.150000000,BASELINE,764,741.235292724,711,670.235292724,665,632,875,782,799,649,626.235292724,649,0.400972608654,-0.00543476442013,0.0498513524417,0.999999953548,0.000152960960931,-0.000260747874447,-3.89480911765e-05,1793190396363222784
+10,0.166666667,BASELINE,764,741.814452185,711,670.814452185,665,632,875,782,799,649,626.814452185,649,0.400972247992,-0.00543434798478,0.0498516939332,0.999999953252,0.000154707017365,-0.000260889725127,-3.87011230655e-05,1793190396379889408
+11,0.183333333,BASELINE,763.608909403,742,711,670.608909403,664.608909403,632,875,782,798.608909403,649,626.608909403,649,0.400973116798,-0.00543309225675,0.0498522350689,0.999999953301,0.000155929139702,-0.000259925030528,-3.90216252421e-05,1793190396396556288
+12,0.200000000,BASELINE,763.033459358,742,711,670.033459358,664.033459358,632,875,782,798.033459358,649,626.033459358,649,0.400974565173,-0.00543144088753,0.0498528703166,0.999999953511,0.000156904280543,-0.000258438712362,-3.9609631933e-05,1793190396413222912
+13,0.216666667,BASELINE,763.541798981,742,711,670,664.541798981,632.541798981,875.541798981,782,798.541798981,649.541798981,626,649,0.400974656349,-0.00543200255618,0.0498530203727,0.999999954005,0.000154327973533,-0.000258063004723,-3.97127488217e-05,1793190396429889536
+14,0.233333333,BASELINE,764,742,711,670,664.879791878,632.879791878,875.879791878,782,799,650,626.120208122,649,0.40097441999,-0.00543249336553,0.0498529860548,0.999999954265,0.000152622366713,-0.000258058109693,-3.97742655328e-05,1793190396446556160
+15,0.250000000,BASELINE,764,742,711,670,664.289001704,632.289001704,875.289001704,782,799,650,626.710998296,649,0.400973229416,-0.00543217194972,0.0498523472198,0.999999953566,0.000155183600622,-0.000259236440852,-3.97901134584e-05,1793190396463222784
+16,0.266666667,BASELINE,764,742,711.295606633,670,664,632,875.295606633,782,799,650,627,649,0.400972858075,-0.00543131626615,0.0498522490333,0.999999953236,0.000156570116439,-0.000259645088084,-3.99692805231e-05,1793190396479889664
+17,0.283333333,BASELINE,764,742,711.874295023,670,664,632,875.874295023,782,799,650,627,649,0.400973271254,-0.0054299489518,0.049852668588,0.999999953267,0.000156831686914,-0.000259316662891,-4.0304846881e-05,1793190396496556288
+18,0.300000000,BASELINE,764,742,711.550387604,670,664.449612396,632,875.550387604,782,799,650,627,649,0.400973054177,-0.00543133019302,0.0498526537657,0.999999953558,0.000154784073846,-0.000259478406195,-3.99625935648e-05,1793190396513222912
+19,0.316666667,BASELINE,764,742,711,670,665,632,875,782.023793598,799,649.976206402,626.976206402,649,0.400972756476,-0.00543342866405,0.0498525570036,0.999999953934,0.000152160471819,-0.000259661412748,-3.94472114425e-05,1793190396529889792
+20,0.333333333,BASELINE,764,742,711,670,665,632,875,782.593371318,799,649.406628682,626.406628682,649,0.400974621289,-0.00543448328414,0.0498533456977,0.999999954746,0.000151023729861,-0.0002572120054,-3.9275198319e-05,1793190396546556416
+21,0.350000000,BASELINE,764,742,711,670,664.82867846,632,875.17132154,782.82867846,799,649,626.17132154,649,0.400975762597,-0.0054348354846,0.0498540074728,0.999999955177,0.000150638974294,-0.000255766721821,-3.92068282481e-05,1793190396563222784
+22,0.366666667,BASELINE,764,742,711,670,664.229835295,632,875.770164705,782.229835295,799,649,626.770164705,649,0.40097509845,-0.00543343484296,0.0498543525297,0.999999954672,0.000152130751427,-0.000256827163372,-3.93970926171e-05,1793190396579889408
+23,0.383333333,BASELINE,764,742,711,670,664.356486393,632,875.643513607,782,799.712972787,649.356486393,626.643513607,649,0.400974054219,-0.00543336286791,0.0498540643828,0.999999954443,0.00015172606669,-0.000257951574904,-3.94293614594e-05,1793190396596556032
+24,0.400000000,BASELINE,764,742,711,670,664.93500918,632,875.06499082,782,800.870018359,649.93500918,626.06499082,649,0.400972773254,-0.0054341184484,0.0498533818468,0.999999954384,0.000150140176978,-0.000259115830036,-3.93632233192e-05,1793190396613222656
+25,0.416666667,BASELINE,764,742,711,670.509440966,664.490559034,632,875,782,799.981118068,650,626,649,0.400973603639,-0.00543452696069,0.0498534230396,0.999999954491,0.000150808285105,-0.000258303448357,-3.94237184692e-05,1793190396629889280
+26,0.433333333,BASELINE,764,742,711.085540993,670.914459007,664,632,875,782,799,649.914459007,626.085540993,649,0.40097432493,-0.005434774372,0.049853409724,0.999999954496,0.000151823164209,-0.000257683589129,-3.94479567311e-05,1793190396646556160
+27,0.450000000,BASELINE,764,742,711.674506158,670.325493842,664,632,875,782,799,649.325493842,626.674506158,649,0.400972831623,-0.00543433217437,0.0498525365777,0.999999953784,0.000153200057904,-0.000259668973659,-3.91644992145e-05,1793190396663222528
+28,0.466666667,BASELINE,764,742,711.740890055,670,664,632,875,782,799,649.259109945,627,649,0.400972723313,-0.00543353416673,0.0498525633337,0.999999953544,0.000154487794267,-0.000259837438957,-3.91258623687e-05,1793190396679889408
+29,0.483333333,BASELINE,764,742,711.161674372,670,664,632,875,782,799,649.838325628,627,649,0.400974326034,-0.00543229658964,0.0498537018338,0.999999953888,0.000155665385129,-0.000257761272918,-3.93896782359e-05,1793190396696556288
+30,0.500000000,BASELINE,764,742,711,670,664,632,875,782,799,649.583755203,626.583755203,649,0.400975736171,-0.00543265974263,0.0498548498239,0.999999954534,0.000154181655387,-0.000256150084584,-3.93293764616e-05,1793190396713222912
+31,0.516666667,BASELINE,764,742,711,670,664,632,875,782,799,649.006338065,626.006338065,649,0.400977071738,-0.00543364270739,0.0498560014886,0.999999955292,0.00015166744722,-0.000254718938296,-3.91435744964e-05,1793190396729889536
+32,0.533333333,BASELINE,764,742,711,670.567588128,664,632,875,782,798.432411872,649,626.567588128,649,0.400975222745,-0.00543312860075,0.0498546673004,0.999999954701,0.000153424389304,-0.000255937296431,-3.94247521865e-05,1793190396746557440
+33,0.550000000,BASELINE,764,742,711,670.854664978,664,632,875,782,798,649,627,649,0.400973750316,-0.00543274516826,0.0498534311756,0.999999954192,0.000154457208504,-0.000257266741349,-3.96567998248e-05,1793190396763224576
+34,0.566666667,BASELINE,764,742,711,670.265122024,664,632,875,782,798,649,627,649,0.400973536855,-0.00543281191673,0.0498525791003,0.999999953986,0.000153131904143,-0.000258845840787,-3.97228435993e-05,1793190396779890944
+35,0.583333333,BASELINE,764.31887335,742,711,670,664.31887335,632,875,782,798.31887335,649.31887335,626.68112665,649,0.400973337421,-0.00543353823023,0.0498524950051,0.999999954073,0.000151663222604,-0.000259386702113,-3.963190965e-05,1793190396796557568
+36,0.600000000,BASELINE,764.898335214,742,711,670,664.898335214,632,875,782,798.898335214,649.898335214,626.101664786,649,0.40097314945,-0.00543480355107,0.0498530385158,0.999999954401,0.000150077370746,-0.000259079098452,-3.94126909451e-05,1793190396813223936
+37,0.616666667,BASELINE,764.525485911,742,711,670.474514089,664.525485911,632,875.474514089,782,799,649.525485911,626.474514089,649,0.400973268628,-0.00543423119381,0.0498528164376,0.999999953949,0.000152593932686,-0.00025935531204,-3.94015147247e-05,1793190396829890048
+38,0.633333333,BASELINE,764,742,711,671,664.050982908,632,875.949017092,782,799,649.050982908,626.949017092,649.050982908,0.400973601619,-0.00543321098956,0.0498525761909,0.999999953443,0.000155732940515,-0.000259432752028,-3.94558428787e-05,1793190396846556672
+39,0.650000000,BASELINE,764,742,711,671,664.63784207,632,875.36215793,782,799,649.63784207,626.36215793,649.63784207,0.400975495046,-0.00543159345848,0.0498538572085,0.999999954208,0.000156239409654,-0.000256115201377,-3.97333960539e-05,1793190396863223552
+40,0.666666667,BASELINE,764,741.77808349,711,670.77808349,664.77808349,632,875,782,799,650,626.22191651,649.77808349,0.400975997407,-0.00543150424088,0.0498543165464,0.999999954641,0.000155474123003,-0.000254880496579,-3.97826350878e-05,1793190396879890176
+41,0.683333333,BASELINE,764,741.198497309,711,670.198497309,664.198497309,632,875,782,799,650,626.801502691,649.198497309,0.400974257744,-0.0054338782533,0.0498534515578,0.999999954544,0.000152659108359,-0.000257002778772,-3.94638931747e-05,1793190396896556288
+42,0.700000000,BASELINE,764,741.380086855,711.380086855,670,664,632,875.380086855,782,799,650,626.619913145,649,0.400974248144,-0.00543500546459,0.0498535657523,0.999999954655,0.000151366007927,-0.000257359303849,-3.92987450946e-05,1793190396913222912
+43,0.716666667,BASELINE,764,741.958149082,711.958149082,670,664,632,875.958149082,782,799,650,626.041850918,649,0.400975139679,-0.00543548325605,0.0498541899728,0.999999954879,0.000150865625163,-0.000256796101127,-3.92135992553e-05,1793190396929889536
+44,0.733333333,BASELINE,764,742,711.467509846,670,664,632.532490154,876,782,799,650,626.532490154,649,0.400974849178,-0.0054347962465,0.0498539300599,0.999999954589,0.000152353321152,-0.000257023743835,-3.93545515274e-05,1793190396946556416
+45,0.750000000,BASELINE,764,742,711.109423288,670,664,632.890576712,875.890576712,782,799,649.890576712,626.890576712,649,0.400974418161,-0.00543397773142,0.0498535271495,0.999999954236,0.000153771069752,-0.000257526596695,-3.95356225018e-05,1793190396963223296
+46,0.766666667,BASELINE,764,742,711.699004887,670,664,632.300995113,875.300995113,782,799,649.300995113,626.300995113,649,0.400973775381,-0.00543298108845,0.0498527995588,0.999999953787,0.000154200992515,-0.000258966240014,-3.98153019716e-05,1793190396979890176
+47,0.783333333,BASELINE,764,742,711.715262308,670,664,632,875,782,798.715262308,649,626,649,0.40097301093,-0.00543252771979,0.04985234773,0.999999953611,0.000153973306481,-0.000259750395152,-3.99914886348e-05,1793190396996556800
+48,0.800000000,BASELINE,764,742,711.133543715,670,664,632,875,782,798.133543715,649,626,649,0.400972119575,-0.00543264098512,0.0498521835203,0.999999953723,0.000153059735702,-0.000259850877469,-4.00597325208e-05,1793190397013223168
+49,0.816666667,BASELINE,764,742,711,670,664,632,875,782,798.442101744,649.442101744,626,649,0.400973770144,-0.00543222701602,0.0498533998193,0.999999953844,0.000155455732828,-0.000258021160577,-3.96401653723e-05,1793190397029889536
+50,0.833333333,BASELINE,764,742,711,670,664.015928314,632,875.015928314,782.015928314,798.984071686,650,626,649.015928314,0.400976090351,-0.00543170063578,0.049854967685,0.999999953957,0.000158653778838,-0.000255706030468,-3.90970436785e-05,1793190397046556416
+51,0.850000000,BASELINE,764,742,711,670,664.589431806,632,875.589431806,782.589431806,798.410568194,650,626,649.589431806,0.400975337599,-0.00543273864508,0.0498544427009,0.999999954247,0.000155406981068,-0.000256532015915,-3.93170237211e-05,1793190397063223040
+52,0.866666667,BASELINE,764,742,711,670,664.831919232,632,875.831919232,782.831919232,798.168080768,650,626,649.831919232,0.400975041513,-0.00543332317795,0.0498542750924,0.999999954486,0.00015353087973,-0.000256711909118,-3.94406668922e-05,1793190397079889408
+53,0.883333333,BASELINE,764,742,711,670,664.240304631,632,875.240304631,782.240304631,798.759695369,650,626,649.240304631,0.400975896148,-0.00543276503025,0.0498550080078,0.999999954618,0.000155108691388,-0.000255263763995,-3.93215581582e-05,1793190397096556288
+54,0.900000000,BASELINE,764.343222541,742,711,670,664,632,874.656777459,782,799,649.656777459,626,649,0.400975232408,-0.00543220967023,0.0498542021594,0.99999995421,0.000155829206893,-0.000256381242498,-3.95636728664e-05,1793190397113223168
+55,0.916666667,BASELINE,764.921217691,742,711,670,664,632,874.078782309,782,799,649.078782309,626,649,0.400973530063,-0.00543165621706,0.049852343759,0.999999953429,0.000155963310808,-0.000259253670335,-4.00528732439e-05,1793190397129890048
+56,0.933333333,BASELINE,764.50334994,742,711,670,664,632,874.993300119,782,799,649.49665006,626.49665006,649,0.400973579457,-0.005431369578,0.0498524019679,0.999999953285,0.00015698572586,-0.000259221209481,-3.98745140172e-05,1793190397146556672
+57,0.950000000,BASELINE,763.926563463,742,711,670,664,632,875.926563463,782,799,650,627,649,0.400974055197,-0.0054314417721,0.0498530004917,0.999999953396,0.000157660053034,-0.000258433418166,-3.95513966548e-05,1793190397163223296
+58,0.966666667,BASELINE,763.337428083,742,711,670,664,632,875.337428083,782,799,650,627,649,0.400975583579,-0.00543373813761,0.0498552692805,0.999999954588,0.00015490552998,-0.00025556067669,-3.89515381448e-05,1793190397179890176
+59,0.983333333,BASELINE,763.247523835,741.752476165,711.247523835,670.247523835,664,632,875.247523835,782,799,650,627,649,0.400975715516,-0.00543507609256,0.0498557519772,0.999999955019,0.000153401815534,-0.000254819196474,-3.8680401464e-05,1793190397196556544
+60,1.000000000,BASELINE,763.826867665,741.173132335,711.826867665,670.826867665,664,632,875.826867665,782,799,650,627,649,0.40097397544,-0.00543512924311,0.0498538403147,0.999999954445,0.000153574881874,-0.000256934794649,-3.88499352942e-05,1793190397213222912
+61,1.016666667,BASELINE,764,741.40316574,711.59683426,671,664,632,875.59683426,782,799,649.59683426,626.59683426,649.40316574,0.400973091076,-0.00543505474845,0.0498530620257,0.99999995432,0.000152849381977,-0.000257832102368,-3.89829589062e-05,1793190397229889536
+62,1.033333333,BASELINE,764,741.978165643,711.021834357,671,664,632,875.021834357,782,799,649.021834357,626.021834357,649.978165643,0.400972571428,-0.00543492584985,0.0498527667944,0.999999954387,0.000151740902165,-0.000258210159691,-3.91004214072e-05,1793190397246556416
+63,1.050000000,BASELINE,764,742,711,670.44751426,664.55248574,632,875.55248574,782,799,649.55248574,626,649.44751426,0.400972240921,-0.00543252390078,0.0498527069809,0.999999953711,0.000154378304341,-0.000259185549939,-3.96057119374e-05,1793190397263223040
+64,1.066666667,BASELINE,764,742,711.130735092,670,664.869264908,632,875.869264908,782,799,650,626.130735092,649,0.400972245313,-0.00543085724523,0.0498527728533,0.999999953371,0.000155759947141,-0.000259600105088,-4.00522390207e-05,1793190397279889664
+65,1.083333333,BASELINE,764,742,711.722948918,670,664.277051082,632,875.277051082,782,799,650,626.722948918,649,0.400973405503,-0.00543210278937,0.049853249581,0.99999995434,0.000152187000309,-0.000257951755114,-4.02373022657e-05,1793190397296556288
+66,1.100000000,BASELINE,763.691688192,742,711.691688192,669.691688192,664,632,875,782,799,650,626.691688192,649,0.400975337595,-0.00543323712989,0.0498543940204,0.999999955123,0.000150647491338,-0.000255856053793,-3.99576086106e-05,1793190397313223168
+67,1.116666667,BASELINE,763.112347806,742,711.112347806,669.112347806,664,632,875,782,799,650,626.112347806,649,0.400977948246,-0.00543427371425,0.0498561254272,0.999999955747,0.000150895522827,-0.000253367098081,-3.92693597151e-05,1793190397329889792
+68,1.133333333,BASELINE,763.463568484,742,711,669.927136969,664.463568484,632,875,782,799.463568484,650,626,649,0.400977106278,-0.00543352490443,0.0498558357001,0.999999955321,0.000152543365296,-0.000254064725362,-3.92462943882e-05,1793190397346556416
+69,1.150000000,BASELINE,764,741.960527845,711.039472155,670.960527845,664.960527845,632,875,782,799.960527845,649.960527845,626,649,0.400975592627,-0.00543240796446,0.0498551360835,0.999999954687,0.000154434823249,-0.000255390962267,-3.93915447865e-05,1793190397363223040
+70,1.166666667,BASELINE,764,741.373369994,711.626630006,670.373369994,664.373369994,632,875,782,799.373369994,649.373369994,626,649,0.400976284295,-0.0054321428979,0.049855495833,0.999999954734,0.000155033838701,-0.000254802277633,-3.96517884721e-05,1793190397379889920
+71,1.183333333,BASELINE,764,741.210993162,712,670.210993162,664,632,875,782,799,649,626,649,0.400976242312,-0.0054321568834,0.0498554011327,0.999999954613,0.000155349798995,-0.000255074986437,-3.97219400597e-05,1793190397396556800
+72,1.200000000,BASELINE,764,741.790475617,712,670.790475617,664,632,875,782,799,649,626,649,0.400974919044,-0.0054326582197,0.049854512758,0.999999954196,0.000155171417323,-0.000256852076872,-3.94601050891e-05,1793190397413223168
+73,1.216666667,BASELINE,764,742,711.631597053,670.631597053,664,632,875,782,799,649,626,649,0.400974386529,-0.00543289429379,0.0498541647172,0.999999954238,0.00015439754282,-0.000257157090857,-3.94320559713e-05,1793190397429889792
+74,1.233333333,BASELINE,764,742,711.054550498,670.054550498,664,632,875,782,799,649,626,649,0.400974301853,-0.00543298013759,0.0498541226925,0.999999954541,0.000153286413228,-0.000256628399834,-3.95364105985e-05,1793190397446556672
+75,1.250000000,BASELINE,764,742,711,670,664,632,875,782,799,649.520001435,626.520001435,649,0.400973779284,-0.00543324038514,0.0498536047668,0.999999954131,0.000154253640105,-0.000257663973225,-3.94068023736e-05,1793190397463223040
+76,1.266666667,BASELINE,764,742,711,670,664,632,875,782,799,650,626.903086788,649.096913212,0.400973429147,-0.0054333194616,0.0498532370541,0.999999953805,0.000155184480265,-0.000258389047713,-3.92878000351e-05,1793190397479889408
+77,1.283333333,BASELINE,764,742,711,670,664,632,875,782,799,650,626.312836416,649.687163584,0.400974189507,-0.00543238359588,0.0498538869271,0.999999954292,0.000154825515157,-0.000256702170687,-3.93471306201e-05,1793190397496556032
+78,1.300000000,BASELINE,763.727938112,742,711,670,664,632,875,782.272061888,799,649.727938112,626.272061888,649.727938112,0.400975145216,-0.00543169657279,0.0498547578131,0.999999954606,0.000155217229678,-0.000255219770155,-3.9479009578e-05,1793190397513222912
+79,1.316666667,BASELINE,763.14907531,742,711,670,664,632,875,782.85092469,799,649.14907531,626.85092469,649.14907531,0.400976321218,-0.0054312901666,0.0498558779328,0.999999954723,0.000156455476601,-0.00025396795542,-3.96927004583e-05,1793190397529889536
+80,1.333333333,BASELINE,763.426583512,742,711,670,664.426583512,632,875,782.573416488,799,649,626.573416488,649,0.400975868282,-0.00543216902799,0.0498553826884,0.999999954775,0.00015470194539,-0.000254828834121,-3.97353580012e-05,1793190397546556416
+81,1.350000000,BASELINE,763.99886802,742,711,670,664.99886802,632,875,782,798.99886802,649,626,649,0.40097485289,-0.00543349057877,0.049854330758,0.999999954797,0.000151920191218,-0.000256416774527,-3.97182191693e-05,1793190397563223296
+82,1.366666667,BASELINE,763.423850388,742,711,670,664.423850388,632,875,782,798.423850388,649,626,649,0.400975132382,-0.0054332322441,0.0498551122539,0.999999954834,0.000153954702875,-0.000255092934519,-3.9461757732e-05,1793190397579889920
+83,1.383333333,BASELINE,763.15573552,741.84426448,711,670,664,632,875,782,798.15573552,649.15573552,626,649,0.400975863054,-0.00543317960794,0.0498558276594,0.999999955017,0.000155092401022,-0.000253713655116,-3.92609611105e-05,1793190397596556544
+84,1.400000000,BASELINE,763.748130322,741.251869678,711,670,664,632,875,782,798.748130322,649.748130322,626,649,0.400977858765,-0.00543370371977,0.0498563577576,0.99999995562,0.000153715567652,-0.000252178931578,-3.92162403125e-05,1793190397613223424
+85,1.416666667,BASELINE,764,741.333401228,711,670,664,632,875,782.333401228,798.666598772,649.666598772,626,649,0.400976908927,-0.00543390803624,0.049855804245,0.999999955428,0.000153294008589,-0.000253191567536,-3.92256732362e-05,1793190397629889792
+86,1.433333333,BASELINE,764,741.913402904,711,670,664,632,875,782.913402904,798.086597096,649.086597096,626,649,0.40097378041,-0.00543387581583,0.0498544492387,0.999999954645,0.000153579018905,-0.000256088359786,-3.92751609998e-05,1793190397646556416
+87,1.450000000,BASELINE,764,742,711,670.488821501,664,632,875,782.511178499,798,649.488821501,626,649,0.400973507346,-0.00543367186782,0.0498540638986,0.9999999546,0.00015320609216,-0.000256463225913,-3.94247137553e-05,1793190397663223040
+88,1.466666667,BASELINE,763.935247927,741.935247927,711,670.935247927,664,632,875,782,798,649.935247927,626,649,0.400973691014,-0.00543349259284,0.049853899535,0.999999954677,0.000152779260259,-0.00025639740742,-3.95546375002e-05,1793190397679889664
+89,1.483333333,BASELINE,763.348709932,741.348709932,711,670.348709932,664,632,875,782,798,649.348709932,626,649,0.400973516671,-0.00543375501111,0.0498541444559,0.999999954686,0.000152848563762,-0.00025634719674,-3.93848654882e-05,1793190397696556800
+90,1.500000000,BASELINE,763.236245112,741.236245112,711,670,664,632,875,782,798,649,626,649,0.400974028238,-0.00543377867784,0.049854421263,0.999999954785,0.000153171598245,-0.000255784885193,-3.92638244274e-05,1793190397713223424
+91,1.516666667,BASELINE,763.818879139,741.818879139,711,670,664,632,875,782,798,649,626,649,0.400975545504,-0.00543345228065,0.0498547448226,0.999999955016,0.000153866659887,-0.000254471717632,-3.92142340083e-05,1793190397729890048
+92,1.533333333,BASELINE,763.604499936,742,711,670,664,632,874.604499936,782,798.395500064,649,626.395500064,649,0.400974913051,-0.00543397816721,0.0498543745244,0.999999954897,0.000153398118093,-0.000255215873207,-3.92304313209e-05,1793190397746556672
+93,1.550000000,BASELINE,763.030591445,742,711,670,664,632,874.030591445,782,798.969408555,649,626.969408555,649,0.400973310869,-0.00543488851537,0.0498536912298,0.999999954619,0.000152404679707,-0.000256888078539,-3.92763052001e-05,1793190397763223296
+94,1.566666667,BASELINE,763.543930677,741.456069323,711,670,664,632,874.543930677,782,799,649.543930677,626.456069323,649,0.40097290445,-0.00543469603232,0.0498532527528,0.999999954462,0.000152798320191,-0.000257242435675,-3.94256818433e-05,1793190397779889920
+95,1.583333333,BASELINE,764,741,711,670.122381519,664.122381519,632,875,782,799,650,626,649,0.40097280747,-0.00543420145929,0.0498530500858,0.999999954338,0.000153434707871,-0.000257318892615,-3.95994031504e-05,1793190397796556288
+96,1.600000000,BASELINE,764,741,711,670.715821566,664.715821566,632,875,782,799,650,626,649,0.400973642405,-0.0054327831214,0.0498537020169,0.999999954315,0.000154704841197,-0.000256611292871,-3.98443980486e-05,1793190397813222912
+97,1.616666667,BASELINE,764,741,711,670.69918172,664.69918172,632,875,782,799,650,626,649,0.400973969987,-0.00543217423884,0.0498539867928,0.999999954148,0.000155683717846,-0.000256664211586,-3.98758854959e-05,1793190397829889536
+98,1.633333333,BASELINE,764,741,711,670.121943563,664.121943563,632,875,782,799,650,626,649,0.400973831367,-0.00543230915939,0.0498539341921,0.99999995385,0.000156394960634,-0.000257415965598,-3.97111823803e-05,1793190397846556416
+99,1.650000000,BASELINE,764,741.452734408,711,670,664,632,875,781.547265592,799,649.547265592,626.452734408,649,0.400973975955,-0.00543243724791,0.0498539970754,0.99999995406,0.000155839134304,-0.000256928583386,-3.97637128478e-05,1793190397863223040
+100,1.666666667,BASELINE,764.027247632,742,711,670.027247632,664,632,875,781.027247632,799,649,627,649,0.40097417575,-0.00543258727388,0.0498540967751,0.999999954402,0.000154913583893,-0.000256142886078,-3.98624538279e-05,1793190397879890176
+101,1.683333333,BASELINE,764.61242839,742,711,670.61242839,664,632,875,781.61242839,799,649,627,649,0.400973952799,-0.00543322396818,0.0498543169964,0.999999954671,0.000153366383178,-0.000256044544773,-3.97160490954e-05,1793190397896556544
+102,1.700000000,BASELINE,764.802765684,742,711,671,664.197234316,632,875,782,799,649,626.802765684,649,0.400974508546,-0.00543385713187,0.0498548612441,0.999999955052,0.000152274401624,-0.000255233274161,-3.95593048329e-05,1793190397913222912
+103,1.716666667,BASELINE,764.218694988,742,711,671,664.781305012,632,875,782,799,649,626.218694988,649,0.400976591554,-0.00543448337089,0.0498560410059,0.999999955651,0.000152075243245,-0.000253023732716,-3.93822816301e-05,1793190397929889536
+104,1.733333333,BASELINE,764,742,711,670.640263502,664.640263502,632,875.359736498,782,799,649,626,649,0.400976173416,-0.00543471683563,0.0498555854779,0.999999955636,0.000151093886237,-0.000253674560847,-3.93545503006e-05,1793190397946556416
+105,1.750000000,BASELINE,764,742,711,670.065207301,664.065207301,632,875.934792699,782,799,649,626,649,0.400974258221,-0.00543471520602,0.0498541511498,0.999999955249,0.000149644345472,-0.000256037458389,-3.94161773653e-05,1793190397963223040
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,741,711,670,664,632,875,782,798,649,626,649,0.400973626446,-0.00543294129866,0.0498549915627,0.999999954756,0.000153469840499,-0.000255687450251,-3.94909108985e-05,1793190397994099712
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.413047648,741.586952352,711,670.586952352,664,632,876.173904705,782,798.586952352,649,626.586952352,649,0.400973551838,-0.00543285710002,0.0498546170046,0.999999954475,0.000154582717376,-0.000256083778457,-3.9701828599e-05,1793190398010767360
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.172355746,742,711,671,664.172355746,632,876.655288508,782,799,649,627,649,0.400973475027,-0.00543323789055,0.0498542423086,0.999999954308,0.000155072290686,-0.000256441615355,-3.9683292095e-05,1793190398027434496
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.754080268,742,711,671,664.754080268,632,875.491839464,782,799,649,627,649,0.400973392986,-0.00543472309478,0.0498538672847,0.999999954415,0.000154081431894,-0.000256708030148,-3.91197701091e-05,1793190398044100608
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.667944229,632,875.332055771,782,799,649,626.667944229,649,0.400974049274,-0.00543469491835,0.0498541925308,0.999999954586,0.000154208701337,-0.000255981068089,-3.90074186859e-05,1793190398060766720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.092714279,632,875.907285721,782,799,649,626.092714279,649,0.400975246263,-0.00543355844879,0.0498550306051,0.999999954802,0.000155154808937,-0.000254526627005,-3.92254727329e-05,1793190398077432832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670.51661527,664,632,875.51661527,782,798.51661527,649.48338473,626,649,0.400976106873,-0.00543243980593,0.0498556512692,0.999999954906,0.000156259375571,-0.000253410653294,-3.94288812358e-05,1793190398094099456
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.939052275,711,670.060947725,664.060947725,632,875,782,798.060947725,649.939052275,626,649,0.400976865044,-0.00543152993583,0.0498561550667,0.999999954998,0.000157048479964,-0.000252531352026,-3.96050351984e-05,1793190398110765824
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+118,1.966666667,POSE1_TO_POSE2_PRESS,763.035230062,742,711,670,664,632,875.964769938,782,799,649,626.035230062,649,0.401064704458,-0.00543600064319,0.0498897862579,0.999999970765,0.00015042510431,-0.000185650424722,-3.70839060142e-05,1793190398194099456
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,781.138148015,798.138148015,649.138148015,626.138148015,649,0.401189064167,-0.00544306140284,0.0499196900165,0.999999981484,0.000147497508347,-0.000118510645523,-3.51058122296e-05,1793190398227432704
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,781.719804383,798.719804383,649.719804383,626.719804383,649,0.401258992253,-0.00544702466312,0.0499280601698,0.99999998286,0.000144735427962,-0.000110617033847,-3.31108443662e-05,1793190398244099072
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.297901812,782,799,649.702098188,626.702098188,649,0.40133344099,-0.00544901430371,0.049932367555,0.999999983282,0.00014529689649,-0.000106336460523,-3.19000035519e-05,1793190398260765696
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.872691316,782,799,649.127308684,626.127308684,649,0.401412091485,-0.00544916954435,0.049932898761,0.999999982858,0.000148947469542,-0.000105414060762,-3.14179772506e-05,1793190398277432576
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.447686756,664.447686756,632,875.552313244,782,799,649.447686756,626.447686756,649,0.401511136602,-0.00545225834218,0.0499324828297,0.999999982679,0.000148235717593,-0.000108358640388,-3.04365507793e-05,1793190398294099456
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.97656073,742,711,670.97656073,664.97656073,632,875.02343927,782,799,650,627,649,0.401617363158,-0.00545625541636,0.0499319721869,0.999999982597,0.000146240003672,-0.000112076663849,-2.92890430871e-05,1793190398310766592
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.383843653,742,711,670.383843653,664.383843653,632,875.616156347,782,799,650,627,649,0.401757085677,-0.00546204190596,0.0499357057548,0.99999998355,0.000143202927511,-0.00010785964233,-2.75586036726e-05,1793190398327432960
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.203224488,742,711,670,664,632,876,782,799,649.796775512,627,649,0.401906623529,-0.00546773439433,0.0499385748144,0.999999984326,0.000140167311221,-0.000105016035666,-2.59405745556e-05,1793190398344099584
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.779911601,742,711,670,664,632,876,782,799,649.220088399,627,649,0.402074198855,-0.00547325413741,0.0499398551799,0.999999984816,0.000137134378055,-0.000104696333553,-2.45291203651e-05,1793190398360765952
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,876,782,799,649,626.644617058,649,0.402257495911,-0.00548067903251,0.0499386526739,0.999999985001,0.000132615049202,-0.000109020889689,-2.29245502739e-05,1793190398377432320
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,876,782,799,649,626.06989602,649,0.402450496246,-0.00548927976516,0.0499359177696,0.999999984936,0.000127178334428,-0.000116211826356,-2.1200791223e-05,1793190398394098944
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664.518629896,632,875.481370104,782,799,649,626.518629896,649,0.402687942834,-0.00549645536633,0.0499368699296,0.999999985371,0.000126688477663,-0.000113261055844,-1.94740230526e-05,1793190398410765568
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875,782,799,649,626.893255644,649,0.402940634338,-0.00550388784505,0.0499396960972,0.999999986264,0.000125789117524,-0.000106487475151,-1.76193649537e-05,1793190398427432448
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875,782,799,649,626.31539282,649,0.403233449537,-0.00551332492727,0.0499485401534,0.999999988713,0.000120059488612,-8.90392156304e-05,-1.52021001988e-05,1793190398444099584
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,670.260709626,664.739290374,632.260709626,875,782,798.739290374,649.260709626,626,649,0.403542654524,-0.00552222978673,0.0499561814573,0.999999990383,0.000116991290356,-7.34362257567e-05,-1.24166461862e-05,1793190398460766464
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,670.834696708,664.165303292,632.834696708,875,782,798.165303292,649.834696708,626,649,0.403871554012,-0.00553049510886,0.0499623774932,0.999999991296,0.000117121157046,-6.00505750104e-05,-9.18876372723e-06,1793190398477432832
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670.59484687,664.40515313,632.59484687,875,782,798.40515313,650,626,649,0.404227868081,-0.00553743957851,0.0499703706286,0.999999991715,0.000119757816952,-4.68883885555e-05,-5.41965590483e-06,1793190398494099456
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,670.025818534,664.974181466,632.025818534,875,782,798.974181466,650,626,649,0.404595270714,-0.00554384979323,0.0499790906496,0.999999991812,0.000123408417566,-3.38165886329e-05,-1.43163483564e-06,1793190398510766336
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,875.573351724,782,798.426648276,649.426648276,626,649,0.405020343382,-0.00553615981044,0.0499792171291,0.999999989106,0.000144808485022,-2.85083900829e-05,2.19320613641e-06,1793190398527432704
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.167534338,742,711.167534338,670,665,632,875.832465662,782,798.167534338,649.167534338,626,649,0.405442402925,-0.00552604086834,0.0499721396888,0.999999985197,0.00016753493613,-3.89362930625e-05,4.74554720222e-06,1793190398544099328
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.745970225,742,711.745970225,670,665,632,875.254029775,782,798.745970225,649.745970225,626,649,0.405850349519,-0.00551160826502,0.0499483953958,0.999999977874,0.000191445417974,-8.70541749938e-05,4.70976768342e-06,1793190398560765952
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.677924801,742,711.677924801,670,664.677924801,632,875.322075199,782,799,650,626,649,0.406292517464,-0.0055072218719,0.049927420495,0.999999971149,0.000206958026153,-0.000121800761681,5.96634903891e-06,1793190398577432832
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.103645015,742,711.103645015,670,664.103645015,632,875.896354985,782,799,650,626,649,0.406761482864,-0.00551070227455,0.0499086141954,0.999999965992,0.000215894588159,-0.000146076811252,8.2349280395e-06,1793190398594099456
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670.468783551,664.468783551,632.468783551,875.531216449,782,798.531216449,649.531216449,626,649,0.407278035421,-0.00551730225331,0.0499069037705,0.99999996467,0.000219412650831,-0.000149566234606,1.21835217651e-05,1793190398610766848
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670.957451957,665,632.957451957,875.042548043,782,798.042548043,649.042548043,626.042548043,649,0.407813024004,-0.00552419637876,0.0499111690848,0.999999964805,0.000222240583421,-0.000143954651483,1.66461363975e-05,1793190398627433984
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.360987626,665,632.360987626,875.639012374,782,798.639012374,649.639012374,626.639012374,649,0.408451591638,-0.00552597604008,0.0499442161897,0.999999969756,0.000231618867076,-7.94560617546e-05,2.29839750902e-05,1793190398644100864
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670.22682125,665.22682125,632,876,782,799,650,626.77317875,649,0.409085512554,-0.00552599740322,0.049970285604,0.999999969104,0.000244572996701,-3.36344549996e-05,2.90700517023e-05,1793190398660767232
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670.801361212,665.801361212,632,876,782,799,650,626.198638788,649,0.409712309977,-0.00552332328169,0.0499856581633,0.999999964673,0.000263008926105,-1.64448102554e-05,3.477017485e-05,1793190398677433088
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670.623272175,665.623272175,632,876,782,799,649.623272175,626,649,0.410330837105,-0.00552296142445,0.0499794299152,0.999999961135,0.000273588911772,-3.6761352914e-05,3.90923987884e-05,1793190398694099456
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,670.04746875,665.04746875,632,876,782,799,649.04746875,626,649,0.410944993913,-0.00552382144519,0.0499617870765,0.999999956927,0.00028001755275,-7.68974217136e-05,4.26864944086e-05,1793190398710766080
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,670.538920054,664.461079946,632,876,781.461079946,799,649.538920054,626,649,0.411577376027,-0.00553155517253,0.049934289438,0.999999977644,0.000166197932158,-0.000129569459619,1.73730744674e-05,1793190398727433216
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.125036461,742,711,671,664.125036461,632,876.125036461,781.125036461,799,649.874963539,626,649,0.412247444906,-0.00553974489644,0.0499168587752,0.999999984793,7.10092406479e-05,-0.000159254912876,-3.08909616208e-06,1793190398744100352
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.706684892,742,711,671,664.706684892,632,876.706684892,781.706684892,799,649.293315108,626,649,0.413049159553,-0.00554734456151,0.0499394243916,0.999999991434,8.33113186682e-05,-0.00010088416722,3.64930440259e-06,1793190398760766976
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.714810768,742,711.285189232,671,665.285189232,632,876.714810768,782,799,649.285189232,626,649,0.413825752517,-0.00554845708477,0.0499535490515,0.999999992553,9.95468264657e-05,-6.99456949517e-05,9.60612509906e-06,1793190398777433600
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.139504774,742,711.860495226,671,665.860495226,632,876.139504774,782,799,649.860495226,626,649,0.414576789841,-0.0055429703816,0.049959086914,0.999999990478,0.000119783727958,-6.69134670009e-05,1.47678625331e-05,1793190398794099712
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,670.565058137,665.565058137,632,876.434941863,782,799,649.565058137,626,648.565058137,0.4153204909,-0.0055373043685,0.0499365972227,0.999999986433,0.000127025565541,-0.000103807216845,1.4939972945e-05,1793190398810766336
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.990586367,670.009413633,665,632,876.990586367,782,799,649,626,648.009413633,0.416062959918,-0.00553173388564,0.0499058108883,0.999999979881,0.000129804782114,-0.000152331174484,1.35317204167e-05,1793190398827432448
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711.39749774,670.60250226,665,632,876.39749774,782,799,649,626,648.60250226,0.416874650768,-0.00553564548242,0.049916894297,0.999999985049,0.000113812085246,-0.000129518355263,1.31695610822e-05,1793190398844099328
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,649,626,649,0.417707172517,-0.00554100316382,0.0499340814207,0.99999998999,0.000101357859964,-9.76721608974e-05,1.43486420206e-05,1793190398860765952
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,799,649,626,649,0.418582028678,-0.00554929971051,0.0499636730724,0.999999994082,9.60948414894e-05,-4.74675159756e-05,1.86599725458e-05,1793190398877432832
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,670.657486667,665,632,876,782,799,649,626,649,0.419408934586,-0.005550350189,0.0499617186006,0.999999993665,9.51515564316e-05,-5.65666264767e-05,2.03908394916e-05,1793190398894099456
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,670.08195177,665,632,876,782,799,649,626,649,0.420203218537,-0.00554647096087,0.0499383024026,0.999999989455,9.71471090262e-05,-0.000106011770522,2.03661434787e-05,1793190398910766336
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.48802806,742,711,670.48802806,665,632,876.48802806,782,799,649,626,649,0.421082130175,-0.00554744151908,0.0499507079822,0.999999993132,9.14510604783e-05,-7.03384887785e-05,2.06337536513e-05,1793190398927432704
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.939788785,742,711.060211215,670.939788785,665.060211215,632,876.939788785,782,799,649,626,649,0.421973027055,-0.00554943798232,0.0499681755919,0.999999995948,8.42532745732e-05,-2.36958600804e-05,2.10734000405e-05,1793190398944099328
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.339573543,742,711.660426457,670.339573543,665.660426457,632,876.339573543,782,799,649,626,649,0.42284539568,-0.00555341355586,0.0499777005406,0.999999996914,7.50405687482e-05,-5.42275469363e-06,2.26206857674e-05,1793190398960765952
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.749790557,670.250209443,665.749790557,632,876.250209443,782,799,649,626,649,0.42371552734,-0.00555542261665,0.0499749935536,0.999999997325,6.87660333092e-05,-9.18302910555e-06,2.31683051519e-05,1793190398977432576
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.173599017,670.826400983,665.173599017,632,876.826400983,782,799,649,626,649,0.424582744721,-0.00555486963258,0.0499563503507,0.999999996682,6.63194534055e-05,-4.16492014658e-05,2.2413522533e-05,1793190398994099200
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,782,799,649.400414229,626,649,0.425460056582,-0.00555698300581,0.049962427773,0.999999997135,6.2276534193e-05,-3.56614991787e-05,2.40925455859e-05,1793190399010765824
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,782,799,649.973488155,626,649,0.426341721158,-0.00556024611953,0.0499791647967,0.999999997899,5.75452692996e-05,-1.30923804111e-05,2.6821032254e-05,1793190399027432704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665.564661782,632,876.435338218,782,799,650,626,649,0.427159159283,-0.00556069864536,0.0499780087185,0.999999997265,5.3970305366e-05,-4.15706676022e-05,2.87777238768e-05,1793190399044099584
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.152973607,665.847026393,632,876.152973607,782,799,649.847026393,626,649,0.427976239329,-0.00555985380786,0.0499673932859,0.999999995294,5.17727554947e-05,-7.65366612038e-05,2.95698247114e-05,1793190399060766464
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671.730896629,665.269103371,632,876.730896629,782,799,649.269103371,626,649,0.428800978981,-0.0055557837106,0.0499329115171,0.999999990691,5.32457518812e-05,-0.000122646506213,2.72307755669e-05,1793190399077432832
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.692277273,665.307722727,632,876.692277273,782,799,649,626,648.692277273,0.429670130237,-0.00555610854069,0.0499279772479,0.999999991548,4.75849674594e-05,-0.000118192329029,2.58844237115e-05,1793190399094099456
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.116407059,665.883592941,632,876.116407059,782,799,649,626,648.116407059,0.43057798142,-0.00556026308072,0.0499487904702,0.999999996612,3.57078549625e-05,-6.96770050551e-05,2.54031016167e-05,1793190399110766080
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.468784778,742,711,671,666,632,876,782.468784778,799,649,626,648.468784778,0.431379874986,-0.0055623155576,0.0499409449076,0.999999995497,2.919197352e-05,-8.64181077853e-05,2.61766787743e-05,1793190399127432960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,742,711,671,666,632,876.055571843,782.944428157,799,649,626,649,0.432157108966,-0.00556337708936,0.0499267969971,0.999999992492,2.46726802827e-05,-0.000116933813527,2.70981264112e-05,1793190399144099840
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,742,711,671,666,632,876.635131637,782.364868363,799,649,626,649,0.432954947191,-0.00556011656557,0.0499216866651,0.999999991935,2.61718974715e-05,-0.000121440429302,2.641603775e-05,1793190399160766464
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.786565279,742,711.213434721,671.213434721,666,632,876.786565279,782,799,649,626,649,0.433757332026,-0.00555919648369,0.049928068445,0.999999993449,2.27879784894e-05,-0.000109078542302,2.6171999064e-05,1793190399177432832
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+237,3.950000000,POSE1_TO_POSE2_PRESS,764.034561285,742,712,672,664,629,877,781.034561285,799.034561285,649.965438715,625.034561285,649,0.44806066024,-0.00554016270989,0.0497717317563,0.999999949656,-4.90783257203e-05,-0.000313250294945,1.23589864348e-05,1793190400177432320
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.613778835,742,712,672,664,629,877,781.613778835,799.613778835,649.386221165,625.613778835,649,0.448059947265,-0.00554002456982,0.049771686224,0.999999949513,-4.8583083145e-05,-0.00031377661462,1.25539909728e-05,1793190400194098944
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.807669803,742,712,672,664,629,877,782,799.807669803,649,626,649,0.44805930853,-0.00553977164394,0.0497711439659,0.999999949266,-4.74920111654e-05,-0.000314731040411,1.25441068401e-05,1793190400210765568
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.230451637,742,712,672,664,629,877,782,799.230451637,649,626,649,0.448058818365,-0.00553928901061,0.0497696076688,0.999999948805,-4.52085753937e-05,-0.00031654218496,1.21242029205e-05,1793190400227432192
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672.344372519,664,629,876.655627481,781.655627481,798.655627481,649,626,649,0.448058859299,-0.00553903932699,0.0497693976614,0.999999948589,-4.56987023114e-05,-0.000317150900241,1.21966353935e-05,1793190400244099072
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672.91760566,664,629,876.08239434,781.08239434,798.08239434,649,626,649,0.448059253186,-0.00553894445546,0.04977006907,0.999999948535,-4.80320637365e-05,-0.000316960513625,1.25962612749e-05,1793190400260765440
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+244,4.066666667,HOLD_POSE2,764,742,711,672,664,629,877,782,800,650,626,649,0.448058427794,-0.00554046406147,0.0497691485653,0.999999947948,-4.88829475182e-05,-0.00031870566261,1.18708941506e-05,1793190400320182784
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+247,4.116666667,HOLD_POSE2,764.741672825,742.741672825,711.258327175,672.741672825,664,629,877,782,799,649.258327175,626,648,0.448059702843,-0.00553970551193,0.04976945007,0.999999948084,-4.91928943639e-05,-0.00031822600304,1.19931101768e-05,1793190400370184448
+248,4.133333333,HOLD_POSE2,764.674374937,742.674374937,711.325625063,672.674374937,664,629,876.674374937,781.674374937,799,649,626,648.325625063,0.448059553006,-0.00553931885691,0.0497690761885,0.999999947985,-5.00601920828e-05,-0.000318411406755,1.1790013013e-05,1793190400386850816
+249,4.150000000,HOLD_POSE2,764.094989574,742.094989574,711.905010426,672.094989574,664,629,876.094989574,781.094989574,799,649,626,648.905010426,0.448059013456,-0.00553601936132,0.0497677506165,0.999999947916,-4.66978916857e-05,-0.000319158578197,1.12291107627e-05,1793190400403516928
+250,4.166666667,HOLD_POSE2,764,742,711.516846235,672,664,629,876.483153765,781,799,649,626,649,0.44806127664,-0.00553606629277,0.0497695679052,0.999999948799,-4.40476524314e-05,-0.000316751800826,1.14373390285e-05,1793190400420183296
+251,4.183333333,HOLD_POSE2,764,742.060096376,711.060096376,672,664.060096376,629,877,781,799.060096376,649.060096376,626,649,0.448063533851,-0.00553669424815,0.0497715928956,0.999999949676,-4.19515684621e-05,-0.000314243690631,1.18150011593e-05,1793190400436849408
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+253,4.216666667,HOLD_POSE2,764,743,711.792823988,672.207176012,664.792823988,629,877,781,800.207176012,649.792823988,626,649,0.448059923964,-0.00553742676348,0.0497694813162,0.999999948596,-4.59491185277e-05,-0.000317073986154,1.26522261754e-05,1793190400470183168
+254,4.233333333,HOLD_POSE2,764,743,711.196947846,672.803052154,664.196947846,629,877,781,800.803052154,649.196947846,626,649,0.448061165959,-0.00553957500206,0.0497702233216,0.999999948603,-5.07315961206e-05,-0.000316328304356,1.25168292125e-05,1793190400486850048
+255,4.250000000,HOLD_POSE2,764.378517017,742.621482983,711.378517017,672.621482983,664,629,877,781,800.621482983,649,625.621482983,649,0.448060914408,-0.00553969799953,0.0497699686212,0.999999948335,-4.97779565004e-05,-0.000317326893899,1.25123888564e-05,1793190400503516672
+256,4.266666667,HOLD_POSE2,764.94390504,742.05609496,711.94390504,672.05609496,664,629,877,781,800.05609496,649,625.05609496,649,0.448059925505,-0.0055388211509,0.0497692218547,0.999999947923,-4.5992439374e-05,-0.000319186617017,1.257260078e-05,1793190400520183040
+257,4.283333333,HOLD_POSE2,764.471064505,742,712,672,664,628.471064505,876.471064505,781,799.471064505,649,625.528935495,648.471064505,0.448060923477,-0.00553932652436,0.0497698968969,0.99999994818,-4.76429485733e-05,-0.000318152750665,1.21999766942e-05,1793190400536849664
+258,4.300000000,HOLD_POSE2,764,742,711.883434174,672.116565826,664,628,876.116565826,781,799.116565826,649.116565826,626,648.116565826,0.448061877605,-0.00554003609615,0.0497704542305,0.999999948424,-4.97153153482e-05,-0.00031707663742,1.19357701503e-05,1793190400553516288
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,629,876,781,799,649,625,648,0.448061282493,-0.00553842383001,0.0497690844419,0.999999947932,-4.79783281009e-05,-0.000318897510519,1.17354090454e-05,1793190400636144640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.576118922,672,664,629,876.576118922,781,799,649,625.576118922,648.576118922,0.448061834348,-0.00553847971584,0.049769602137,0.999999948189,-4.80086427961e-05,-0.000318081056245,1.18649783863e-05,1793190400652811264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.844465287,672,664.155534713,628.844465287,876.844465287,781,799,649.155534713,625.844465287,649,0.44806224367,-0.00553847926622,0.0497701666738,0.999999948456,-4.73749971671e-05,-0.000317332014982,1.20414851422e-05,1793190400669477888
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.327461785,711,672.327461785,664.672538215,628,876.65492357,781,799,649.672538215,625.327461785,649,0.448062117418,-0.00553806766708,0.0497703305279,0.99999994872,-4.46875275583e-05,-0.000316882699168,1.21598647067e-05,1793190400702811392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.906745272,711,672.906745272,664.093254728,628,877.813490544,781,799,649.093254728,625.906745272,649,0.448061862447,-0.00553773879083,0.0497688565635,0.999999948457,-4.62335821717e-05,-0.00031751255041,1.15896085191e-05,1793190400719478016
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.944031979,664,629,877.055968021,781.944031979,799,649.055968021,626,649,0.448055698481,-0.00553839152088,0.049766847267,0.999999946792,-4.71544364072e-05,-0.000322580262446,1.16235296931e-05,1793190400752812544
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.368343746,664,629,877.631656254,781.368343746,799,649.631656254,626,649,0.448040425083,-0.00553722210686,0.0497596046144,0.999999942789,-4.79386061017e-05,-0.000334668084457,1.10241289829e-05,1793190400769479424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.209998411,664,629,877.790001589,781,799,649.790001589,626,649,0.448015891949,-0.00553590973808,0.0497487773437,0.999999936289,-4.79340923177e-05,-0.000353580081942,1.03086109094e-05,1793190400786146048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.793055151,664,629,877.206944849,781,799,649.206944849,626,649,0.447974909063,-0.00553434341291,0.0497315820652,0.999999924909,-4.65284966782e-05,-0.000384615100691,9.38681252648e-06,1793190400802812672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.377980377,711,672,664,628.622019623,877,781,799,649,626,649,0.44791582493,-0.00553243398996,0.0497127245947,0.999999910744,-4.58455007283e-05,-0.000419926186317,8.54395301019e-06,1793190400819479040
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.963933739,711,672,664,628.036066261,877,781,799,649,626,649,0.447846781095,-0.00553033578704,0.0496929525488,0.999999894238,-4.55600946014e-05,-0.000457590059039,7.74452727453e-06,1793190400836145408
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.886899566,672,664.113100434,629,876.113100434,781,799.113100434,649,626,649,0.447698937152,-0.00552550856584,0.0496774856139,0.99999988838,-4.17182364329e-05,-0.000470610204373,5.13814994278e-06,1793190400869478144
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,741.942634163,711,671,664.057365837,632,875,782,799.057365837,649,627,649,0.403025129507,-0.00541067786869,0.0498538813057,0.999999956048,8.88531129456e-05,-0.000277359518985,-5.5509438172e-05,1793190402102811392
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,741.463541998,711,670.768229001,664.768229001,632,875.231770999,782,799.768229001,649.231770999,627,649,0.402453435834,-0.0054078970823,0.0498242576743,0.99999993721,9.21052025617e-05,-0.000337142273292,-5.85766673888e-05,1793190402136145408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.622383052,711,670.188808474,664.188808474,632,875.811191526,782,799.188808474,649.811191526,627,649,0.402213021495,-0.00540742071895,0.049813199587,0.999999929618,9.38063545659e-05,-0.000358379863497,-5.94007446853e-05,1793190402152811776
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.539143405,711,670,664.460856595,632.539143405,876.078286809,782,799,650,626.539143405,649,0.401706111084,-0.00540174635112,0.0498220207149,0.999999938766,0.000100984232032,-0.000329436531488,-6.11665928687e-05,1793190402202811904
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,741.800176742,711,670,664,632.199823258,875,782,799,649.800176742,627,649,0.400970322605,-0.00542048188145,0.0498478951081,0.999999948373,0.000172333668888,-0.000268064425518,-4.11918722969e-05,1793190402669477888
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.951795454,664,632,875,782,799,650,626.048204546,649,0.400969507917,-0.00542248247653,0.0498474850019,0.999999949297,0.000168230803803,-0.000267231574389,-4.11332910603e-05,1793190402702811392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.470857097,664,632,875,782,799,649.470857097,626.529142903,649,0.400970382827,-0.00542267000642,0.049848425121,0.999999949566,0.000168390429759,-0.000266129792892,-4.10871050833e-05,1793190402719478272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799,649.108046664,626.891953336,649,0.400971179241,-0.00542277401479,0.0498492239987,0.999999949749,0.000168707200117,-0.00026524395771,-4.10451628112e-05,1793190402736144896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799,649.692660295,626.307339705,649,0.400970935994,-0.00542302734974,0.0498488379895,0.999999949682,0.00016837398897,-0.000265715206229,-4.10188142461e-05,1793190402752811520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799,649.723385004,626,649,0.400970589705,-0.00542198888088,0.0498482590484,0.99999994922,0.000170084933855,-0.000266340228486,-4.11544174387e-05,1793190402769477888
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799.436969161,649,626,649,0.400969891493,-0.00541935136333,0.0498479659515,0.999999948482,0.000173972839439,-0.000266522350699,-4.16523413039e-05,1793190402802811392
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.012157038,782,800,649,626,649.012157038,0.400969694881,-0.00541990474334,0.0498488398529,0.999999948981,0.000172590827853,-0.000265525717961,-4.17875516871e-05,1793190402819478016
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.586703629,782,800,649,626,649.586703629,0.400968139075,-0.00542008586861,0.0498481100664,0.999999948776,0.000170883603209,-0.000267415118879,-4.16571068811e-05,1793190402836144640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664.166302321,632,875.833697679,782,799.833697679,649.166302321,626.166302321,649.833697679,0.400967482101,-0.00542041465938,0.0498477888876,0.999999948695,0.000169976808082,-0.000268315514639,-4.15261039209e-05,1793190402852811776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664.758849888,632,875.241150112,782,799.241150112,649.758849888,626.758849888,649.241150112,0.400969128899,-0.0054211219278,0.0498485150009,0.999999948943,0.00017112157358,-0.000266681016341,-4.13936703775e-05,1793190402869478400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,665,632,875,782,799,649.658158955,627,649,0.400969169493,-0.00542182594706,0.0498488032767,0.99999994915,0.000170454574131,-0.000266339578593,-4.13455206266e-05,1793190402886144768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,665,632,875,782,799,649.081726005,627,649,0.400968107813,-0.00542252773651,0.0498487910818,0.999999949327,0.00016854423246,-0.000266885516902,-4.13552114936e-05,1793190402902811392
diff --git a/Obstacle_avoidance/ball_15A_20/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b86371925bb0cac4de868c0a6c72b756a8d75417
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,400 @@
+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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+2,0.033333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+4,0.066666667,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+6,0.100000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+381,6.350000000,pose2_to_pose3_retreat,0.575725089157,0.000219676615325,1.04002841188,0.54629550217,0.00889139444917,1.03969940823
+382,6.366666667,pose2_to_pose3_retreat,0.575724984614,0.000219672428145,1.0400284168,0.546295397599,0.00889139017582,1.03969941339
+383,6.383333333,pose2_to_pose3_retreat,0.575724884678,0.000219668425467,1.04002842151,0.546295297636,0.00889138609076,1.03969941832
+384,6.400000000,pose2_to_pose3_retreat,0.575724666255,0.000219659677144,1.04002843178,0.546295079154,0.00889137716239,1.0396994291
+385,6.416666667,pose2_to_pose3_retreat,0.575724320887,0.000219645844382,1.04002844804,0.546294733694,0.00889136304494,1.03969944614
+386,6.433333333,pose2_to_pose3_retreat,0.575723951689,0.000219631057138,1.04002846541,0.546294364396,0.00889134795336,1.03969946435
+387,6.450000000,pose2_to_pose3_retreat,0.57572386271,0.000219627493338,1.0400284696,0.546294275393,0.00889134431621,1.03969946874
+388,6.466666667,pose2_to_pose3_retreat,0.575723827859,0.000219626097492,1.04002847124,0.546294240533,0.00889134289164,1.03969947046
+389,6.483333333,pose2_to_pose3_retreat,0.575723737735,0.000219622487816,1.04002847548,0.546294150385,0.00889133920767,1.03969947491
+390,6.500000000,pose2_to_pose3_retreat,0.575723666462,0.000219619633157,1.04002847883,0.546294079092,0.00889133629426,1.03969947842
+391,6.516666667,pose2_to_pose3_retreat,0.575723485688,0.000219644105109,1.04002845228,0.546293897878,0.00889135931194,1.03969945298
+392,6.533333333,pose2_to_pose3_retreat,0.5757231493,0.000219694274113,1.04002839776,0.546293560612,0.00889140658418,1.03969940061
+393,6.550000000,pose2_to_pose3_retreat,0.57572278357,0.000219737710714,1.04002835434,0.546293194267,0.00889144806606,1.03969936069
+394,6.566666667,pose2_to_pose3_retreat,0.575722684254,0.000219723469725,1.04002837972,0.546293095578,0.00889143609448,1.03969938975
+395,6.583333333,pose2_to_pose3_retreat,0.575722612569,0.000219713190845,1.04002839804,0.546293024346,0.00889142745361,1.03969941072
+396,6.600000000,pose2_to_pose3_retreat,0.575722556747,0.000219695550328,1.04002852264,0.546292969535,0.00889141308987,1.0396995314
+397,6.616666667,pose2_to_pose3_retreat,0.575722558502,0.000219695341801,1.04002852746,0.546292971309,0.00889141293681,1.03969953587
+398,6.633333333,pose2_to_pose3_retreat,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109535,1.03969958964
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66d2bdd3e5f231335f8682423dd4bfbcaeafb5af
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe120ed5398e1afe7b7c27cf3f86a71189944f1c1d50c8d9247b3f1886adb8d
+size 24817831
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7144addaa9a6730fef1edd017d4283f13a9d3418
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
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+46,0.766666667,BASELINE,763.300931418,742,711,670,660.300931418,631.300931418,876.300931418,782,799,649,626,649,0.400998712121,-0.00550715394768,0.0698439992457,0.999999982269,5.5934074327e-05,-0.000178521432761,2.15437595021e-05,1793190405337803776
+47,0.783333333,BASELINE,763.283382707,742,711,670,660,631.283382707,876,782,798.716617293,649,626,649,0.400998918044,-0.00550595173859,0.0698440894357,0.999999982156,5.7712590367e-05,-0.000178583965319,2.15681397759e-05,1793190405354470400
+48,0.800000000,BASELINE,763.860119849,742,711,670,660,631.860119849,876,782,798.139880151,649,626,649,0.400998798005,-0.00550368968226,0.0698443623116,0.9999999819,6.08571844728e-05,-0.000178961734441,2.16545521206e-05,1793190405371137024
+49,0.816666667,BASELINE,764,742,711,670,660,632,876,782,798,649,626,649,0.400998214965,-0.00550349290843,0.0698437179677,0.999999981791,6.02367731042e-05,-0.000179822736595,2.12975704111e-05,1793190405387803392
+50,0.833333333,BASELINE,764,742,711,670,660,631.989970594,876,782,798.010029406,649,626,649,0.400997525684,-0.00550396115409,0.0698428139879,0.999999981731,5.84640249393e-05,-0.000180794338003,2.08145463077e-05,1793190405404470016
+51,0.850000000,BASELINE,764,742,711,670,660,631.39982778,876,782,798.60017222,649,626,649,0.400999266232,-0.00550464473914,0.0698438797821,0.999999981929,5.97687370607e-05,-0.000179213388177,2.12529838249e-05,1793190405421136896
+52,0.866666667,BASELINE,764,742,711,670,660,631,875.813097999,782.186902001,798.813097999,648.813097999,626,649,0.401000244418,-0.00550517653921,0.0698446261362,0.99999998206,6.04935697476e-05,-0.000178208015479,2.14990512481e-05,1793190405437803264
+53,0.883333333,BASELINE,764,742,711,670,660,631,875.233538603,782.766461397,798.233538603,648.233538603,626,649,0.400999620977,-0.00550538945821,0.0698447013869,0.999999982057,6.00001492257e-05,-0.000178411857401,2.1340973481e-05,1793190405454470144
+54,0.900000000,BASELINE,764,742,711,670,660,631.344207511,875.344207511,782.655792489,798,648.344207511,626,649,0.400998599557,-0.00550533348242,0.0698445290543,0.999999981896,6.08399911855e-05,-0.000179022742141,2.13797394035e-05,1793190405471136768
+55,0.916666667,BASELINE,764,742,711,670,660,631.920729771,875.920729771,782.079270229,798,648.920729771,626,649,0.40099730953,-0.00550509602242,0.0698441896211,0.999999981626,6.25796872551e-05,-0.000179908350827,2.15513603412e-05,1793190405487803648
+56,0.933333333,BASELINE,764,741.505276796,711.494723204,670,660,631.505276796,876,782.494723204,798,649,626,649.494723204,0.400998724256,-0.00550600005007,0.0698449820904,0.999999981918,6.07666193392e-05,-0.000178892615747,2.1636881348e-05,1793190405504470272
+57,0.950000000,BASELINE,763.929518082,741.070481918,711.929518082,670,660,631.070481918,876.070481918,782.929518082,798,649,626,649.929518082,0.401000134308,-0.00550689589596,0.0698456602316,0.999999982207,5.87379697787e-05,-0.0001779449286,2.17100047513e-05,1793190405521136896
+58,0.966666667,BASELINE,763.337721105,741.662278895,711.337721105,670,660,631.662278895,876.662278895,782.337721105,798,649,626,649.337721105,0.400998320579,-0.00550638528039,0.0698441581085,0.99999998185,5.9303902175e-05,-0.000179742457057,2.17929517329e-05,1793190405537803520
+59,0.983333333,BASELINE,763.247955787,742,711.247955787,669.752044213,660,632,876.752044213,782,798.247955787,649,626,649,0.400997528684,-0.00550597388377,0.0698434546933,0.999999981737,5.90747181019e-05,-0.000180457878148,2.1716921196e-05,1793190405554470144
+60,1.000000000,BASELINE,763.825497861,742,711.825497861,669.174502139,660,632,876.174502139,782,798.825497861,649,626,649,0.400998095025,-0.00550569437028,0.0698438129316,0.999999981948,5.77886542192e-05,-0.000179734947303,2.14295755385e-05,1793190405571136768
+61,1.016666667,BASELINE,764,742,712,669.400306901,660,632,876,782,799,649,626,649.400306901,0.400998648517,-0.00550557420171,0.0698439965137,0.999999982031,5.75717187991e-05,-0.000179375874064,2.11553888724e-05,1793190405587803136
+62,1.033333333,BASELINE,764,742,712,669.9739326,660,632,876,782,799,649,626,649.9739326,0.400999196445,-0.0055055230239,0.0698441044757,0.999999982059,5.78176784478e-05,-0.000179174338403,2.08868996038e-05,1793190405604470016
+63,1.050000000,BASELINE,764,742,711.436881127,670,660,632,876,782,798.436881127,649,626,649.436881127,0.400998477912,-0.0055051443529,0.0698433795291,0.99999998187,5.83613331342e-05,-0.000180052045867,2.08465029503e-05,1793190405621137152
+64,1.066666667,BASELINE,764,742,711,670,660,632,875.849600533,782.150399467,798,649,626,649,0.400997731171,-0.0055047826119,0.0698428532995,0.999999981678,5.902125099e-05,-0.00018090182242,2.08502556682e-05,1793190405637803776
+65,1.083333333,BASELINE,764,742,711,670,660,632,875.269874502,782.730125498,798,649,626,649,0.400997076014,-0.00550451370413,0.0698430075122,0.999999981507,5.99725949948e-05,-0.000181525202501,2.09490390552e-05,1793190405654470144
+66,1.100000000,BASELINE,763.69267825,742,711,670,660,632,875.30732175,782.69267825,798.30732175,649,626,649,0.400997757327,-0.00550511254678,0.0698437858989,0.999999981616,5.99070217138e-05,-0.000180912703013,2.11995130665e-05,1793190405671137024
+67,1.116666667,BASELINE,763.117685414,742,711,670,660,632,875.882314586,782.117685414,798.882314586,649,626,649,0.400999602679,-0.00550646718267,0.0698451079288,0.999999981969,5.89557338096e-05,-0.000179223777159,2.1582106566e-05,1793190405687803392
+68,1.133333333,BASELINE,763.457114154,742,711.457114154,670,660,632,876,782,798.542885846,649,626,649,0.40099900315,-0.00550585955574,0.069844867347,0.999999981983,5.87959737309e-05,-0.000179218762053,2.1376359923e-05,1793190405704470016
+69,1.150000000,BASELINE,763.967190078,742,711.967190078,670,660,632,876,782,798,649,626,649,0.400997917047,-0.00550481322351,0.0698442989701,0.999999981929,5.88091871554e-05,-0.000179559879853,2.10278584085e-05,1793190405721136640
+70,1.166666667,BASELINE,763.37537858,742,711.37537858,670,660,632,876,782,798,649,626,649,0.400999260544,-0.00550489600129,0.0698449970625,0.999999982168,5.82989789841e-05,-0.000178415119959,2.08267503543e-05,1793190405737803264
+71,1.183333333,BASELINE,763.211397636,742,711.211397636,670.211397636,660.211397636,632,876,782,798,649,626,649,0.400999943495,-0.00550530507523,0.0698455102297,0.999999982344,5.76031027084e-05,-0.000177654542691,2.07948702362e-05,1793190405754470144
+72,1.200000000,BASELINE,763.789440816,742,711.789440816,670.789440816,660.789440816,632,876,782,798,649,626,649,0.400999480807,-0.00550628007335,0.0698457026648,0.999999982414,5.65852057965e-05,-0.000177560287015,2.10564970046e-05,1793190405771136768
+73,1.216666667,BASELINE,764,741.633966609,711.633966609,670.633966609,660.633966609,632,876.366033391,782,798,649,626,649,0.400998456339,-0.00550584567721,0.0698447044852,0.999999982048,5.86226959831e-05,-0.000178928104595,2.12471754897e-05,1793190405787803392
+74,1.233333333,BASELINE,764,741.058205229,711.058205229,670.058205229,660.058205229,632,876.941794771,782,798,649,626,649,0.400997109986,-0.00550460373332,0.0698430241129,0.999999981419,6.24108467051e-05,-0.000181133653627,2.13972023647e-05,1793190405804470016
+75,1.250000000,BASELINE,764,741.518466699,711.518466699,669.481533301,660,632,876.481533301,782,798,649,626.518466699,649,0.400998129344,-0.00550468171673,0.0698437079397,0.999999981747,5.99442299418e-05,-0.000180165583892,2.12797165057e-05,1793190405821136896
+76,1.266666667,BASELINE,763.902637444,742,712,669.097362556,660,632,876,782.097362556,798,649,627,649,0.400999220142,-0.00550510217418,0.0698445635144,0.999999982097,5.7474122471e-05,-0.000179031901222,2.12020126241e-05,1793190405837803520
+77,1.283333333,BASELINE,763.313015271,742,712,669.686984729,660,632,876,782.686984729,798,649,627,649,0.400999326988,-0.00550650365066,0.0698449431538,0.999999982059,5.85428263328e-05,-0.000178865408169,2.14775519002e-05,1793190405854470144
+78,1.300000000,BASELINE,763.271726336,742,711.728273664,670,660,632,875.728273664,782.728273664,798.271726336,649,626.728273664,649,0.400999051643,-0.00550682079707,0.0698448475344,0.999999981949,5.86447735361e-05,-0.00017943762122,2.15398883673e-05,1793190405871136768
+79,1.316666667,BASELINE,763.850944932,742,711.149055068,670,660,632,875.149055068,782.149055068,798.850944932,649,626.149055068,649,0.400998343801,-0.00550591088856,0.0698442141002,0.999999981757,5.76527148543e-05,-0.00018084577243,2.13609592292e-05,1793190405887803392
+80,1.333333333,BASELINE,764,742,711.426044113,670,660,632,875.852088225,782,799,649,626,649,0.400998679697,-0.00550594341311,0.0698447204066,0.99999998197,5.73269253636e-05,-0.000179793843416,2.11769584124e-05,1793190405904470272
+81,1.350000000,BASELINE,764,742,711.999715929,670,660,632,876.999431858,782,799,649,626,649,0.400999377257,-0.0055063024982,0.0698456216421,0.99999998232,5.72320034147e-05,-0.000177889476976,2.09912002038e-05,1793190405921136896
+82,1.366666667,BASELINE,764,742,712,670,660.588814534,632,876.411185466,782,799,649,626.588814534,649,0.400998541828,-0.00550576629336,0.0698443862014,0.99999998195,5.82622692537e-05,-0.000179644844519,2.08194164698e-05,1793190405937803520
+83,1.383333333,BASELINE,764,742,712,670,660.825036749,631.825036749,875.825036749,782,798.825036749,649,627,649,0.400998208131,-0.00550533417695,0.0698438851235,0.99999998179,5.88454944584e-05,-0.000180355089016,2.07099572856e-05,1793190405954470144
+84,1.400000000,BASELINE,764,742,712,670,660.245722944,631.245722944,875.245722944,782,798.245722944,649,627,649,0.400999035724,-0.0055051436401,0.0698450836487,0.999999982123,5.83942938927e-05,-0.00017864580166,2.07445178351e-05,1793190405971136768
+85,1.416666667,BASELINE,763.668537688,742,712,670,660.331462312,631.331462312,875,782,798,649,626.668537688,649,0.40099963665,-0.00550591890823,0.0698454234403,0.99999998226,5.75664538979e-05,-0.000178111330164,2.10366326826e-05,1793190405987803392
+86,1.433333333,BASELINE,763.092920356,742,712,670,660.907079644,631.907079644,875,782,798,649,626.092920356,649,0.401000070615,-0.00550740558795,0.0698451306888,0.999999982254,5.6461181462e-05,-0.000178442227714,2.15184619317e-05,1793190406004470016
+87,1.450000000,BASELINE,763.482579293,742,712,670,660.517420707,632,875.482579293,782,798,649,626,649,0.400999591228,-0.00550605093257,0.0698452530256,0.999999982165,5.82925472534e-05,-0.000178371361692,2.13243414417e-05,1793190406021136896
+88,1.466666667,BASELINE,764,742,711.940500014,670,660,632,876,782,798,649,626,649,0.400998925114,-0.00550445032959,0.0698453654758,0.999999982056,6.03449012855e-05,-0.000178338054447,2.10396533231e-05,1793190406037803520
+89,1.483333333,BASELINE,764,742,711.350712485,670,660,632,876,782,798,649,626,649,0.400998161813,-0.00550553250452,0.0698446776631,0.999999981938,5.93285221935e-05,-0.000179328775057,2.11074893732e-05,1793190406054470400
+90,1.500000000,BASELINE,763.765364117,741.765364117,711,670,660,632,876,782,798.234635883,649,626,649,0.400997761021,-0.00550615464479,0.0698441777787,0.999999981841,5.87967808963e-05,-0.000180038893189,2.1140170847e-05,1793190406071137280
+91,1.516666667,BASELINE,763.186527852,741.186527852,711,670,660,632,876,782,798.813472148,649,626,649,0.400997892015,-0.00550610193463,0.0698439535769,0.999999981777,5.89759817329e-05,-0.000180337379906,2.11212821182e-05,1793190406087803904
+92,1.533333333,BASELINE,763.389668338,741.389668338,711,670,660,632,875.610331662,782,798.610331662,649,626,649,0.400998250545,-0.00550590234389,0.0698439723682,0.999999981802,5.88303221031e-05,-0.000180270082081,2.09296181722e-05,1793190406104470528
+93,1.550000000,BASELINE,763.964609324,741.964609324,711,670,660,632,875.035390676,782,798.035390676,649,626,649,0.40099871726,-0.00550563291695,0.0698441066936,0.999999981869,5.85302035486e-05,-0.000180028867483,2.06558061029e-05,1793190406121137152
+94,1.566666667,BASELINE,764,742,711.550117174,670,660,632,875.550117174,782,798,649,626.550117174,649,0.400998881242,-0.00550512510233,0.0698445598071,0.999999981815,5.91988126706e-05,-0.000180087290375,2.08125046565e-05,1793190406137803776
+95,1.583333333,BASELINE,763.864965254,742,711.864965254,670,660.135034746,631.864965254,876,782,798,649,626.864965254,649,0.400999225557,-0.00550514433195,0.0698450295431,0.99999998188,5.90613413742e-05,-0.000179753491081,2.09699548677e-05,1793190406154470144
+96,1.600000000,BASELINE,763.284283025,742,711.284283025,670,660.715716975,631.284283025,876,782,798,649,626.284283025,649,0.401000230552,-0.00550695453988,0.0698454851292,0.999999982355,5.60539060177e-05,-0.00017806039997,2.1036692047e-05,1793190406171137280
+97,1.616666667,BASELINE,763.295155845,742,711,670,660.704844155,631.295155845,876,781.704844155,798.295155845,649,626,649,0.401000169744,-0.00550775140159,0.0698453192741,0.999999982413,5.48392725028e-05,-0.000178115859473,2.10232335264e-05,1793190406187804160
+98,1.633333333,BASELINE,763.873402149,742,711,670,660.126597851,631.873402149,876,781.126597851,798.873402149,649,626,649,0.400999086701,-0.00550757634056,0.0698445573812,0.999999982077,5.5344154817e-05,-0.000179848392404,2.09328575434e-05,1793190406204470784
+99,1.650000000,BASELINE,764,742,711.448724045,670,660,632,876,781.448724045,798.551275955,649,626,649,0.401000210929,-0.00550699943204,0.0698456825702,0.999999982433,5.51774673571e-05,-0.000177906403407,2.09328385154e-05,1793190406221137408
+100,1.666666667,BASELINE,763.976202362,741.976202362,712,670,660,632,876,782,798,649,626,649,0.401001860044,-0.0055063145164,0.0698472229158,0.999999982941,5.4921083384e-05,-0.00017510802196,2.09625333114e-05,1793190406237804032
+101,1.683333333,BASELINE,763.387566015,741.387566015,712,670,660,632,876,782,798,649,626,649,0.401001282438,-0.0055057395279,0.0698460623113,0.999999982589,5.70036880281e-05,-0.00017642963226,2.10963446657e-05,1793190406254470656
+102,1.700000000,BASELINE,763,741.198221246,712,670,660,632,876,782,798,649,626,649,0.401000778292,-0.00550518834334,0.0698451994018,0.9999999823,5.88208549782e-05,-0.000177467206049,2.11078529924e-05,1793190406271137024
+103,1.716666667,BASELINE,763,741.778516784,712,670,660,632,876,782,798,649,626,649,0.401000415743,-0.00550468304125,0.0698449103038,0.99999998214,6.01263867272e-05,-0.000177957295241,2.08836204649e-05,1793190406287803648
+104,1.733333333,BASELINE,763.354863408,742,712,670,660,632,876,782,798,649,626.354863408,649,0.40099886916,-0.00550522946047,0.0698441296812,0.999999981803,5.99488815749e-05,-0.00017990356978,2.08497632486e-05,1793190406304470016
+105,1.750000000,BASELINE,763.928772551,742,712,670,660,632,876,782,798,649,626.928772551,649,0.400996591713,-0.00550642507327,0.0698430456562,0.99999998135,5.88559457096e-05,-0.000182748700607,2.0933418549e-05,1793190406321136384
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,741,711,670,660,632,876,782,798,649,626,649,0.401001404364,-0.00550444274616,0.0698460447498,0.999999982412,6.03092117221e-05,-0.000176368919176,2.07930859081e-05,1793190406351576832
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.579629714,741.579629714,711.579629714,670.579629714,660,632,875.420370286,782,798,649,626.579629714,649,0.400998930281,-0.00550510297425,0.0698441016742,0.999999982049,5.96488534251e-05,-0.000178647889213,2.06972352136e-05,1793190406368244224
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.841296082,670.841296082,660.158703918,632,875.158703918,782.158703918,798.158703918,649,626.841296082,649,0.400997914765,-0.0055055708842,0.0698433544082,0.999999981915,5.93717453978e-05,-0.000179488391686,2.06956110201e-05,1793190406384911104
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.263688037,670.263688037,660.736311963,632,875.736311963,782.736311963,798.736311963,649,626.263688037,649,0.401000749182,-0.00550553116431,0.0698457635199,0.999999982393,6.01062387131e-05,-0.000176532012992,2.09427007038e-05,1793190406401576960
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.313066586,670.313066586,660.686933414,631.686933414,876,782.686933414,799,649,626,649,0.401000781699,-0.00550526609961,0.0698460836395,0.999999982377,6.041623468e-05,-0.000176517707927,2.09145537093e-05,1793190406418243584
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.889104312,670.889104312,660.110895688,631.110895688,876,782.110895688,799,649,626,649,0.400998460664,-0.00550481174874,0.0698446490376,0.999999981948,6.03696593276e-05,-0.000178974699857,2.0655212103e-05,1793190406434909952
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,670.540591435,660.459408565,631.459408565,876,782,799,649,626,649,0.400998291768,-0.00550509287978,0.069844140657,0.999999981736,5.96393481952e-05,-0.000180359872094,2.10109182424e-05,1793190406451576320
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,670.029951375,661,632,875.970048625,782,798.970048625,649,626,649,0.400998726409,-0.00550561149276,0.0698439204747,0.999999981584,5.86906207272e-05,-0.00018145670694,2.14852280837e-05,1793190406468242944
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,670.631112971,661,632,875.368887029,782,798.368887029,649,626,649,0.401000885878,-0.00550731507605,0.0698449852285,0.999999981615,5.66852472776e-05,-0.000181927963959,2.14249444197e-05,1793190406484910080
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,670.778283263,660.778283263,632,875,782.221716737,798,649,626,649.221716737,0.40100752408,-0.00550810378489,0.0698481260953,0.999999981827,5.60435086858e-05,-0.000180937539381,2.1583587054e-05,1793190406501576960
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,670.204446974,660.204446974,632,875,782.795553026,798,649,626,649.795553026,0.401021275187,-0.00550743953524,0.0698545641419,0.999999982324,5.75674276871e-05,-0.000177625744377,2.20899176076e-05,1793190406518243328
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.630602949,670,660,632,875.369397051,782.630602949,798,649,626,649.630602949,0.401051663004,-0.00550822675831,0.0698674029694,0.999999984587,5.64761980256e-05,-0.000164674264916,2.27717406828e-05,1793190406534909952
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.056754589,670,660,632,875.943245411,782.056754589,798,649,626,649.056754589,0.401091258793,-0.00550981733233,0.0698837844571,0.999999987553,5.39375542046e-05,-0.00014638747962,2.35506941787e-05,1793190406551576576
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670.536281216,660,632,876,782,798,649,626,649,0.401144745827,-0.00551104540663,0.0698953279882,0.999999989503,5.38203871137e-05,-0.000132479340578,2.33813044869e-05,1793190406568243456
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.872853492,742,711,670.872853492,660,632,876,782,798,649,626,649,0.401203005781,-0.00551198310822,0.0699045092376,0.999999990905,5.41469087418e-05,-0.000121388187247,2.28796385933e-05,1793190406584910080
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.297077319,742,711,670.297077319,660,632,876,782,798,649,626,649,0.401272727065,-0.00551203663121,0.0699072289059,0.999999991223,5.51011941431e-05,-0.00011854089034,2.15728198213e-05,1793190406601576448
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.278580354,742,711,670,660,632,876,782.278580354,798,649,626,649,0.401352859321,-0.00551344934123,0.069908018449,0.999999991178,5.34341054335e-05,-0.000120029496573,1.9533845903e-05,1793190406618243328
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.854111678,742,711,670,660,632,876,782.854111678,798,649,626,649,0.401444089082,-0.0055163108681,0.0699067505871,0.999999990706,4.89727794835e-05,-0.000126139931544,1.67144359072e-05,1793190406634910208
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.560083683,742,711.439916317,670,660.439916317,632,876.439916317,782.560083683,798.439916317,649,626,649,0.401551368323,-0.00551923647954,0.0699054070625,0.999999990145,4.65538430193e-05,-0.000131727177188,1.38287784998e-05,1793190406651576832
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.028719326,742,712,670.028719326,660.971280674,632,877,782,799,649,626,649,0.401665938414,-0.0055220672033,0.0699041952111,0.999999989579,4.48040499891e-05,-0.000136806476534,1.08491981111e-05,1793190406668243456
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.608126746,742,712,670.608126746,660.391873254,632,877,782,799,649,626,649,0.401815811996,-0.00552266122211,0.069906000806,0.999999989885,4.25870738691e-05,-0.000135552454182,6.49999337664e-06,1793190406684909824
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.813725453,742,711.813725453,671,660.186274547,632,876.813725453,782,798.813725453,649,626,649,0.401978332892,-0.00552428950059,0.0699086052202,0.999999990446,3.93068560624e-05,-0.000132509405707,2.16016051976e-06,1793190406701576448
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.238209835,742,711.238209835,671,660.761790165,632,876.238209835,782,798.238209835,649,626,649,0.402167281721,-0.00552807897784,0.0699128788546,0.999999991523,3.38048785494e-05,-0.000125727991311,-2.16008822683e-06,1793190406718243072
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.337062143,742,711.337062143,670.662937857,660.662937857,632,876,782.337062143,798,649,626,649,0.402375656501,-0.00552961693162,0.0699147255249,0.999999991928,2.82918643693e-05,-0.000123628977279,-7.66553075205e-06,1793190406734909696
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.912162119,742,711.912162119,670.087837881,660.087837881,632,876,782.912162119,798,649,626,649,0.402597750171,-0.00552956482956,0.0699148582408,0.999999991851,2.27710553827e-05,-0.000124836736838,-1.40079735503e-05,1793190406751576320
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.499881018,742,711.499881018,670,660,632,876.500118982,782.499881018,798,649,626,649,0.402851831955,-0.00553227371511,0.069918283451,0.999999992439,6.50010221804e-06,-0.000121259533859,-1.93780232667e-05,1793190406768243200
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.08876117,742,711.08876117,670,660,632,877,782,798,649,626,649,0.403119712497,-0.00553544627669,0.0699230679654,0.999999993047,-1.15607276454e-05,-0.000114882713676,-2.39669317737e-05,1793190406784909824
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.668376532,742,711.668376532,670,660,632,877,782,798,649,626,649,0.403432012298,-0.00553843058335,0.0699320872433,0.999999994486,-2.88029344746e-05,-9.77939510572e-05,-2.52054603764e-05,1793190406801576704
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.754276435,742,711.754276435,670.245723565,660,632,876.754276435,782,798,649,626,649.245723565,0.403758033142,-0.00554163316592,0.0699391545996,0.999999995386,-3.38505857345e-05,-8.62515033245e-05,-2.53459805039e-05,1793190406818243328
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.179962725,742,711.179962725,670.820037275,660,632,876.179962725,782,798,649,626,649.820037275,0.404102402227,-0.00554512763447,0.0699436117775,0.999999996084,-2.25912497841e-05,-8.21257829057e-05,-2.40182052364e-05,1793190406834909440
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,670.596523533,660,632,876,782,798,649,626,649.596523533,0.404477755857,-0.00555434647692,0.0699496516394,0.999999996441,-3.17783344492e-05,-7.46655450925e-05,-2.31046426163e-05,1793190406851576320
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711,670.008919928,660,632,876,782,798,649,626,649.008919928,0.404867249326,-0.00556617764654,0.0699564137616,0.999999996328,-5.0296176457e-05,-6.56835949746e-05,-2.23801066353e-05,1793190406868242944
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.570515122,742,711.570515122,670,660,632,876,782,798,649,626,649,0.405297044165,-0.00557174063772,0.0699598917876,0.999999996007,-6.41275483567e-05,-5.77473621609e-05,-2.32109544003e-05,1793190406884909568
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.850936403,741.850936403,711.850936403,670,660.149063597,632,876,782,798,649,626,649.149063597,0.40573273781,-0.00557234984834,0.0699606576004,0.999999995816,-6.93151488979e-05,-5.45777061847e-05,-2.41836400518e-05,1793190406901576192
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.274568539,741.274568539,711.274568539,670,660.725431461,632,876,782,798,649,626,649.725431461,0.406183560078,-0.00555903556489,0.0699537937203,0.999999996314,-4.99316724546e-05,-6.50256685505e-05,-2.54941903199e-05,1793190406918243072
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,741.301117919,711,670,661,632,876,781.698882081,798.301117919,648.698882081,626,649.698882081,0.406654274544,-0.0055501331294,0.0699392170099,0.999999995157,-3.81126175189e-05,-8.63891689735e-05,-2.77612214763e-05,1793190406934909952
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,741.876184518,711,670,661,632,876,781.123815482,798.876184518,648.123815482,626,649.123815482,0.407143086429,-0.00554524446852,0.0699176233811,0.999999992048,-3.3175459938e-05,-0.000117683322464,-3.08984323906e-05,1793190406951576576
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.46343497,742,711.46343497,670,661,632,876,781.46343497,798.53656503,648.46343497,626,649.46343497,0.407700033831,-0.00554656920083,0.0699158392884,0.999999992247,-3.58815959695e-05,-0.000114503132093,-3.32918301294e-05,1793190406968243200
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.947060721,742,712,670.052939279,660.947060721,632,876,782,798,649,626,649.947060721,0.408280714714,-0.00554988536224,0.0699208609268,0.999999993572,-4.10338567185e-05,-9.96422945789e-05,-3.52585780127e-05,1793190406984909824
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.36837286,742,712,670.63162714,660.36837286,632,876,782,798,649,626,649.36837286,0.408911431928,-0.00555604761557,0.0699394916171,0.999999996187,-4.96514753946e-05,-6.27195206545e-05,-3.50150436274e-05,1793190407001576192
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.790788096,671,660,632,876,782,798,649,626,649,0.409534558833,-0.00556082472508,0.0699498523731,0.999999997021,-5.54172344478e-05,-4.04555620328e-05,-3.53589709474e-05,1793190407018242816
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,711.215135474,671,660,632,876,782,798,649,626,649,0.410144391056,-0.00556317571467,0.0699457280983,0.999999996785,-5.61878782622e-05,-4.38669458159e-05,-3.67318545654e-05,1793190407034909440
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.367672036,742,711.367672036,670.632327964,660,632,876,782,798,649,626,649,0.41078692439,-0.00556397613447,0.0699416401935,0.999999996112,-5.94968100398e-05,-5.25724266805e-05,-3.83781290504e-05,1793190407051576320
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.954749143,742,711.954749143,670.045250857,660,632,876,782,798,649,626,649,0.411448971805,-0.00556385126525,0.0699375739923,0.999999995048,-6.4320442912e-05,-6.44371135218e-05,-4.01875470889e-05,1793190407068243200
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,670.535011576,660.535011576,632,876.535011576,782,798.535011576,649,626,649,0.412177666732,-0.00556463945725,0.0699574131928,0.999999996786,-6.36617238285e-05,-2.77353477516e-05,-4.00694100042e-05,1793190407084909824
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.885958079,632,877,782,798.885958079,649,626,648.885958079,0.412915724234,-0.00556516794043,0.0699793893658,0.999999997157,-6.32804283433e-05,1.05194419055e-05,-3.9638088611e-05,1793190407101576448
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.309615367,632,877,782,798.309615367,649,626,648.309615367,0.413669171638,-0.00556433450135,0.0700019350989,0.999999996339,-6.58798151807e-05,3.86275104817e-05,-3.85897673034e-05,1793190407118243072
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.266935399,632,877,782,798,649,626.266935399,648.266935399,0.414398074081,-0.00556296341617,0.0699995499391,0.999999996742,-6.53660245921e-05,2.63997601134e-05,-3.93179819053e-05,1793190407134909952
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.843727748,632,877,782,798,649,626.843727748,648.843727748,0.415098484985,-0.00556096823461,0.0699682251566,0.999999996705,-6.12384772233e-05,-3.26495544518e-05,-4.21083881345e-05,1793190407151576576
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.570764617,742,712,671,661,632,877.429235383,782,798,649,627,648.570764617,0.415834140928,-0.00555809358945,0.0699246216213,0.999999991286,-7.02850813702e-05,-0.000101624183158,-4.64739458586e-05,1793190407168242944
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660.982318146,632,877.982318146,782,798,649,626.982318146,648.017681854,0.416585597014,-0.00555520516157,0.0698787646159,0.999999980607,-8.38347103661e-05,-0.000170677260744,-5.12632513552e-05,1793190407184909568
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660.403390015,632,877.403390015,782,798,649,626.403390015,648.596609985,0.417422835664,-0.00556225306307,0.069906214794,0.999999987267,-8.49192657839e-05,-0.000125145333265,-5.09230183161e-05,1793190407201576192
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.174037733,742,712,671,660.348075466,632,876.825962267,782,798.174037733,649.174037733,626,649,0.418258326255,-0.00556771971161,0.0699344834831,0.999999991749,-8.6185037563e-05,-8.10168749358e-05,-5.01106671582e-05,1793190407218242816
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.74801754,742,712,671,661.496035079,632,876.25198246,782,798.74801754,649.74801754,626,649,0.419089799719,-0.00556955260985,0.0699646331245,0.999999994173,-8.78672482282e-05,-4.01136189645e-05,-4.82133796092e-05,1793190407234909696
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.669636408,742,712,671,661.669636408,632,876.330363592,782,798.669636408,649.669636408,626,649,0.419919730955,-0.00557008565735,0.0699863769313,0.9999999951,-8.67751387934e-05,-8.07127674244e-06,-4.69589824116e-05,1793190407251576576
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.080743287,742,712,671,661.080743287,632,876.919256713,782,798.080743287,649.080743287,626,649,0.420748455264,-0.00556960149279,0.0700015426618,0.9999999953,-8.35119557459e-05,1.70368616492e-05,-4.62076859771e-05,1793190407268243200
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.499519636,742,712,671,661,632,877,782,798.499519636,649,626,649,0.421596912424,-0.00557029292963,0.0700029438713,0.999999994886,-8.84138965037e-05,1.4807828516e-05,-4.68105013343e-05,1793190407284909824
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.921737327,742,712,671,661,632,877,782.078262673,798.921737327,649,626,649,0.422434927433,-0.00557000900833,0.0699938221568,0.999999994585,-9.21889011016e-05,-4.29272188412e-06,-4.80884828359e-05,1793190407301576448
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.343942876,742,712,671,661,632,877,782.656057124,798.343942876,649,626,649,0.423186279294,-0.00556230731722,0.069931495116,0.999999990052,-8.04898818773e-05,-0.000103354772023,-5.2302547965e-05,1793190407318243328
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.232691501,742,712,671,661,632,877,782.534616999,798,649,626,648.767308499,0.423957051308,-0.00555780801017,0.0698788354119,0.99999997934,-7.64630455405e-05,-0.000179578107619,-5.67921548177e-05,1793190407334909952
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.807619754,742,712,671,661,632,877,781.384760492,798,649,626,648.192380246,0.424756386101,-0.00555801868716,0.069840394172,0.999999969904,-8.3720260134e-05,-0.000222210857435,-6.16870226127e-05,1793190407351576576
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+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.43976673,671.56023327,662.120466541,632,877,782,799,649,626,648.56023327,0.427331650255,-0.00557011967711,0.0699721253574,0.999999993125,-9.88285657722e-05,-3.29893688031e-05,-5.37998190102e-05,1793190407401576448
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+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742,711.29166012,672,661,632,877,782,799.29166012,649,626,649,0.429770494532,-0.00557472834449,0.0700071730407,0.999999993117,-0.000102197565018,2.28914368053e-05,-5.28973274018e-05,1793190407451576320
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.618902225,742,712,672,660.618902225,631,877.618902225,782,799.381097775,649,626,649,0.442805262266,-0.00560625832879,0.069848924729,0.999999964864,-0.000145567739227,-0.000213379503696,-5.95894766118e-05,1793190407884909824
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.922533597,660.922533597,632,876.922533597,782,798.922533597,649,626.922533597,649,0.402638600465,-0.00538592685758,0.0698138985096,0.999999924926,0.000231985965298,-0.000308657794482,3.25855692624e-05,1793190410312940032
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.112954906,670.887045094,660,632,876.112954906,782,798.887045094,649,626.887045094,649,0.401049664702,-0.005381877341,0.0698016870078,0.999999924821,0.000215088909216,-0.000321820209322,2.29488515199e-05,1793190410512940032
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.909561919,660,632,876,782,798.090438081,649,626,649,0.400951742239,-0.0053866200894,0.0698196949392,0.999999935139,0.000211091038722,-0.000290927173535,2.28745194194e-05,1793190410829606656
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,632,876,782.606215593,798.606215593,649,626,649,0.400954109571,-0.00538822221472,0.0698228274228,0.999999936493,0.000211233695556,-0.000286113891676,2.30978365574e-05,1793190410929606656
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,632,876,782.028267785,798.028267785,649,626,649,0.400954981873,-0.00538749694718,0.0698238005821,0.999999936112,0.000214288849914,-0.000285179608619,2.29991514182e-05,1793190410946273280
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,632,876.121728594,782,799,649,626,649,0.400954097965,-0.00538653194304,0.0698224276963,0.999999936043,0.000212584477216,-0.000286731206877,2.25310145692e-05,1793190410979606784
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.876920627,670.123079373,660,632,876.123079373,782,799,649,626,649,0.400953839411,-0.00538510639983,0.0698233271215,0.999999935832,0.000214579727357,-0.000285986955179,2.2422381392e-05,1793190411029607168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.54822501,670.45177499,660,632,876,782,798.54822501,649,626,649,0.400954503564,-0.00538563985242,0.0698239363743,0.99999993613,0.000214278786359,-0.000285150286064,2.26863279987e-05,1793190411046273792
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.614465657,670.385534343,660,632,876,782,798.614465657,649,626.614465657,649,0.400952764594,-0.00538633332144,0.0698220731871,0.999999935244,0.000214630543886,-0.000287960981666,2.29029503913e-05,1793190411079606784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,670,660,632,876.199656919,782,799,649,626.800343081,649,0.400951224607,-0.00538611216108,0.0698206916909,0.999999934729,0.000214596828551,-0.000289786237519,2.26859384401e-05,1793190411096273408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,670,660,632,876.77853167,782,799,649,626.22146833,649,0.400951475418,-0.00538607000909,0.0698214300301,0.999999935634,0.000212750171218,-0.000288055371539,2.22323282308e-05,1793190411112940032
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72c8dc5aa5432d6ee9db44c0e20c8fe2923c33b1
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575724620791,0.0002197892247,1.06002846693,0.546295031788,0.00889150057478,1.05969947263
+377,6.283333333,pose2_to_pose3_retreat,0.575724416483,0.000219784026256,1.06002848366,0.54629482743,0.00889149517218,1.0596994885
+378,6.300000000,pose2_to_pose3_retreat,0.575724362778,0.00021978265977,1.06002848806,0.546294773711,0.00889149375203,1.05969949267
+379,6.316666667,pose2_to_pose3_retreat,0.575724331822,0.000219781872106,1.06002849059,0.546294742747,0.00889149293343,1.05969949508
+380,6.333333333,pose2_to_pose3_retreat,0.575724258499,0.000219780006474,1.0600284966,0.546294669406,0.00889149099453,1.05969950077
+381,6.350000000,pose2_to_pose3_retreat,0.575724246037,0.000219779689384,1.06002849762,0.546294656941,0.00889149066499,1.05969950174
+382,6.366666667,pose2_to_pose3_retreat,0.57572408078,0.00021977548455,1.06002851115,0.546294491643,0.00889148629502,1.05969951458
+383,6.383333333,pose2_to_pose3_retreat,0.575724078691,0.000219775431408,1.06002851132,0.546294489554,0.00889148623979,1.05969951474
+384,6.400000000,pose2_to_pose3_retreat,0.575723912421,0.0002197712008,1.06002852494,0.546294323243,0.00889148184304,1.05969952765
+385,6.416666667,pose2_to_pose3_retreat,0.575723717631,0.000219766244514,1.06002854089,0.546294128404,0.0088914766921,1.05969954278
+386,6.433333333,pose2_to_pose3_retreat,0.575723312784,0.000219755943489,1.06002857404,0.546293723456,0.00889146598653,1.05969957423
+387,6.450000000,pose2_to_pose3_retreat,0.575723091478,0.000219751182612,1.0600285928,0.546293502106,0.00889146093705,1.05969958933
+388,6.466666667,pose2_to_pose3_retreat,0.575722814859,0.000219745308299,1.06002861631,0.546293225435,0.00889145469606,1.05969960801
+389,6.483333333,pose2_to_pose3_retreat,0.575722673154,0.000219785844296,1.06002857553,0.546293083337,0.0088914942849,1.05969957739
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a44f6ec5bddc07a3b800f31af21489fff48b3c3
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b423341c6437b79175ffc3ac616870f297eff3e6aeb885e1de4555ca37c4d039
+size 25009223
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2820a4c353df310892b2e2fe9559b3785307e54c
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
+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,764,741.424808925,711.424808925,671,660,632,876,782,798.424808925,649,626,649,0.400953919429,-0.00538786687856,0.0698238830534,0.999999937485,0.000209561775684,-0.000283962797175,2.19046379601e-05,1793190411250870016
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+22,0.366666667,BASELINE,764.766894509,742,712,671,660.766894509,632,876.233105491,782.766894509,798.233105491,649,626.233105491,649.766894509,0.400951507213,-0.0053884688086,0.0698238835078,0.999999937259,0.000210318181208,-0.000284174556576,2.21948479531e-05,1793190411600869888
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+27,0.450000000,BASELINE,764,742,712,671,660,632,876,782,798,649,626,649,0.400953709306,-0.00538729695325,0.0698248300474,0.999999937219,0.000212137820663,-0.000282967934117,2.2128576802e-05,1793190411684202752
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+30,0.500000000,BASELINE,763.409473943,742,711.590526057,671,660,632,876.409473943,782,798.590526057,649,626,649,0.400951389531,-0.00538563621316,0.0698228358947,0.999999936456,0.000212200289954,-0.000285657967641,2.14042131833e-05,1793190411734203136
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+50,0.833333333,BASELINE,764,742,712,671,660,632,876,782,798,649,627,649,0.400953083874,-0.00538728244293,0.0698252672081,0.99999993815,0.000208979689268,-0.000282073464937,2.15160235708e-05,1793190412067536640
+51,0.850000000,BASELINE,764,742,712,671,660,632,876,782,798,649,627,649,0.40095310013,-0.00538842960559,0.0698251059039,0.999999938342,0.000208056325005,-0.000282074126783,2.15062806066e-05,1793190412084203008
+52,0.866666667,BASELINE,764,742,711.835359068,671,660,632,876,782,798.164640932,649,626.835359068,649,0.400952905427,-0.00538927980314,0.0698248484841,0.999999938465,0.000207155249091,-0.00028230088355,2.15280362947e-05,1793190412100869632
+53,0.883333333,BASELINE,764,742,711.243603142,671,660,632,876,782,798.756396858,649,626.243603142,649,0.400952163448,-0.00538935960744,0.069824341719,0.999999938407,0.000206311994141,-0.000283114180548,2.16315064543e-05,1793190412117536256
+54,0.900000000,BASELINE,764,741.659191807,711,670.659191807,660,632,876,782,799,649,626,649,0.400951866607,-0.00538923648308,0.0698241032588,0.999999938249,0.000206244976369,-0.000283723839003,2.16025450495e-05,1793190412134203136
+55,0.916666667,BASELINE,764,741.07991952,711,670.07991952,660,632,876,782,799,649,626,649,0.400951881231,-0.00538897136918,0.0698240525321,0.99999993802,0.000206721093157,-0.000284191011174,2.14809210414e-05,1793190412150869760
+56,0.933333333,BASELINE,763.505535554,741.494464446,711.494464446,670.494464446,660,632,876,782,799,649,626.494464446,649.494464446,0.400952967559,-0.0053891727063,0.069824610535,0.999999938207,0.000207685807703,-0.000282828541565,2.14546342424e-05,1793190412167536640
+57,0.950000000,BASELINE,763,742,712,670.930139258,660.069860742,632,876.069860742,782,799,649,627,649.930139258,0.400954019054,-0.00538935066303,0.0698251634315,0.999999938385,0.000208613838651,-0.00028151519082,2.14561058566e-05,1793190412184203520
+58,0.966666667,BASELINE,763,742,712,670.341413883,660.658586117,632,876.658586117,782,799,649,627,649.341413883,0.400953537926,-0.00538880050769,0.0698249548155,0.999999938021,0.000208688627165,-0.000282741518234,2.15504169702e-05,1793190412200870144
+59,0.983333333,BASELINE,763.243304401,742,712,670.243304401,660.756695599,632,876.756695599,782,799,649,626.756695599,649,0.400953439383,-0.00538814230289,0.0698249111703,0.999999937883,0.00020899169684,-0.000283007002372,2.15466328412e-05,1793190412217536512
+60,1.000000000,BASELINE,763.822490973,742,712,670.822490973,660.177509027,632,876.177509027,782,799,649,626.177509027,649,0.400953869,-0.00538733493553,0.0698250952676,0.999999938056,0.000209609909088,-0.00028194604078,2.14074280634e-05,1793190412234202880
+61,1.016666667,BASELINE,764,742,712,671,660,632,876,782.401630132,798.598369868,649,626,649,0.400952954597,-0.00538778168013,0.0698246878239,0.999999937943,0.000209287715975,-0.000282585975551,2.13954169447e-05,1793190412250869504
+62,1.033333333,BASELINE,764,742,712,671,660,632,876,782.980748304,798.019251696,649,626,649,0.400951446247,-0.00538878264086,0.069824018967,0.999999937702,0.0002085499397,-0.000283977569032,2.14396151458e-05,1793190412267536128
+63,1.050000000,BASELINE,764,742,712,671,660,632,876.555210304,782.444789696,798.555210304,649,626,649,0.400952722451,-0.00538767123597,0.069824952908,0.999999937134,0.00021249836826,-0.000283013746772,2.18907651842e-05,1793190412284203008
+64,1.066666667,BASELINE,764,742,711.867430446,671,660,632,876.867430446,782,799,649,626,649,0.400953815541,-0.00538662750698,0.0698256475683,0.999999936778,0.00021530219469,-0.000282133229743,2.21264971889e-05,1793190412300869632
+65,1.083333333,BASELINE,764,742,711.279571205,671,660,632,876.279571205,782,799,649,626,649,0.40095395092,-0.00538606565861,0.0698253311746,0.99999993724,0.000213621647837,-0.000281816972685,2.1574350505e-05,1793190412317536512
+66,1.100000000,BASELINE,764,742,711,670.696957333,660,632,875.696957333,782,799,649,626.303042667,649,0.400953942389,-0.00538617523011,0.0698253594872,0.999999937761,0.000211733911638,-0.000281405040135,2.14072146818e-05,1793190412334203136
+67,1.116666667,BASELINE,764,742,711,670.119100259,660,632,875.119100259,782,799,649,626.880899741,649,0.400953803353,-0.0053868936791,0.0698257003968,0.999999938334,0.000209658285757,-0.000280906344233,2.1589226197e-05,1793190412350870016
+68,1.133333333,BASELINE,764.458029358,742,711.458029358,670,660,632,875.458029358,782,798.541970642,649,626.541970642,649,0.400953807733,-0.0053871925284,0.0698254438586,0.999999938264,0.000209866351782,-0.000281003721591,2.15484309272e-05,1793190412367536384
+69,1.150000000,BASELINE,765,742,711.965124959,670.034875041,660,632,876,782,798,649,626,649,0.400953769731,-0.00538733546094,0.0698250044158,0.999999938013,0.000210631692479,-0.000281331790033,2.14496956661e-05,1793190412384203008
+70,1.166666667,BASELINE,765,742,711.389753404,670.610246596,660,632,876,782,798,649,626,649,0.400952497848,-0.00538675025751,0.0698241341589,0.999999937546,0.000210845198939,-0.000282836804545,2.13494733922e-05,1793190412400869632
+71,1.183333333,BASELINE,764.809258555,742,711.190741445,671,660,632,876.190741445,782,798.190741445,649,626,649,0.400952404789,-0.0053858709967,0.0698241418875,0.999999937471,0.000211300085674,-0.000282770129096,2.12262961187e-05,1793190412417536512
+72,1.200000000,BASELINE,764.218005913,742,711.781994087,671,660,632,876.781994087,782,798.781994087,649,626,649,0.400954786975,-0.00538437428595,0.0698259931743,0.999999938218,0.000212261813018,-0.000279403282699,2.10549188438e-05,1793190412434203136
+73,1.216666667,BASELINE,764,742,712,671,660,632,876.63480317,782,799,649.36519683,626,649.36519683,0.400953996865,-0.00538555163044,0.0698256266413,0.999999938318,0.000210188153886,-0.000280610881486,2.10403400492e-05,1793190412450869760
+74,1.233333333,BASELINE,764,742,712,671,660,632,876.056302246,782,799,649.943697754,626,649.943697754,0.400951353883,-0.00538829083668,0.0698239647246,0.999999938021,0.000206341586745,-0.000284490321527,2.11173440907e-05,1793190412467536384
+75,1.250000000,BASELINE,764,742,712,671,660,632.517041878,876.517041878,782,799,649.482958122,626.517041878,649.482958122,0.400952114192,-0.00538751553013,0.0698243037114,0.999999937666,0.000208622916792,-0.000284074047634,2.11049779358e-05,1793190412484203008
+76,1.266666667,BASELINE,764,742,712,670.907333369,660.092666631,632.907333369,876.907333369,782.092666631,799,649,627,649,0.400953039677,-0.00538630264121,0.0698247542509,0.999999937324,0.000211412130606,-0.000283220582363,2.10461342181e-05,1793190412500869888
+77,1.283333333,BASELINE,764,742,712,670.316457942,660.683542058,632.316457942,876.316457942,782.683542058,799,649,627,649,0.400952880434,-0.00538477439786,0.0698246446808,0.999999937113,0.000213379773464,-0.000282506700768,2.07892154591e-05,1793190412517536512
+78,1.300000000,BASELINE,764,742,711.731403211,670,660.731403211,632,876,782.731403211,798.731403211,649,626.731403211,649,0.400952069178,-0.00538466062021,0.0698241098734,0.999999937081,0.000212927731058,-0.000282959187423,2.0809225069e-05,1793190412534203136
+79,1.316666667,BASELINE,764,742,711.153060939,670,660.153060939,632,876,782.153060939,798.153060939,649,626.153060939,649,0.40095050602,-0.00538617800275,0.0698230846829,0.999999937249,0.000209685310484,-0.000284756728537,2.11485881464e-05,1793190412550869504
+80,1.333333333,BASELINE,764,741.575642121,711,670.424357879,660,632,876,782,798.424357879,649,626,649,0.400951144293,-0.00538640277543,0.0698233167171,0.999999937126,0.000210813212727,-0.000284344668384,2.1295058289e-05,1793190412567536128
+81,1.350000000,BASELINE,763.998562798,741.001437202,711.001437202,670.998562798,660,632,876.001437202,782,799,649,626,649,0.400952569873,-0.00538616688651,0.0698239994864,0.999999936895,0.000213506254915,-0.00028314046881,2.13733009195e-05,1793190412584203264
+82,1.366666667,BASELINE,763.424347947,741.575652053,711.575652053,670.424347947,660,632,876.575652053,782,799,649,626,649,0.400952003227,-0.00538774647534,0.0698239862135,0.999999936959,0.000213105879341,-0.000283174738902,2.19280503454e-05,1793190412600869888
+83,1.383333333,BASELINE,763.154041312,742,712,670.154041312,660.154041312,632,877,782,798.845958688,649,626,649,0.400951827808,-0.00538887889306,0.0698242505991,0.999999937306,0.000211941420312,-0.000282800879713,2.21894898808e-05,1793190412617537792
+84,1.400000000,BASELINE,763.744250542,742,712,670.744250542,660.744250542,632,877,782,798.255749458,649,626,649,0.400952760148,-0.00538874514634,0.0698253011745,0.99999993845,0.000208613459183,-0.000281271402629,2.16204227012e-05,1793190412634210048
+85,1.416666667,BASELINE,764,742,711.671434667,670.671434667,660.671434667,632,877,782,798,649,626,649,0.400952361037,-0.00538841838063,0.0698249051181,0.99999993842,0.000207386335711,-0.000282295187597,2.1454619806e-05,1793190412650875904
+86,1.433333333,BASELINE,764,742,711.091627178,670.091627178,660.091627178,632,877,782,798,649,626,649,0.400950943812,-0.00538794402022,0.0698234028741,0.999999937494,0.000207765647842,-0.000285271360813,2.15971787175e-05,1793190412667537152
+87,1.450000000,BASELINE,764,742,711.483683521,670.483683521,660,632,876.516316479,782,798,649,626,649,0.400952739,-0.00538698028854,0.069824815199,0.999999937884,0.000209674103424,-0.000282502282585,2.14655359702e-05,1793190412684203008
+88,1.466666667,BASELINE,763.940551066,742,712,671,660,632,876,782,798.059448934,649,626,649,0.400954875189,-0.00538604345195,0.0698265405055,0.999999938399,0.000211801333183,-0.000279086386915,2.12934155227e-05,1793190412700869632
+89,1.483333333,BASELINE,763.353254254,742,712,671,660,632,876,782,798.646745746,649,626,649,0.40095468561,-0.00538616096093,0.0698261876119,0.999999937961,0.00021332272415,-0.00027950192787,2.12188537195e-05,1793190412717536256
+90,1.500000000,BASELINE,763.23075024,742,712,671,660,632,876.23075024,782,799,649,626,649,0.400954226468,-0.00538680347719,0.0698258160491,0.999999937806,0.000212941424583,-0.000280348130219,2.11909749148e-05,1793190412734202880
+91,1.516666667,BASELINE,763.809785393,742,712,671,660,632,876.809785393,782,799,649,626,649,0.400953360456,-0.00538823841779,0.0698254163079,0.999999938072,0.000209688282118,-0.00028184435511,2.1233557513e-05,1793190412750869760
+92,1.533333333,BASELINE,764,741.612119305,711.612119305,670.612119305,660,632,876.612119305,782,799,649,626,649,0.400953369718,-0.00538902240078,0.0698255151603,0.999999938346,0.000209021843246,-0.000281349968285,2.14604934927e-05,1793190412767536384
+93,1.550000000,BASELINE,764,741.034483734,711.034483734,670.034483734,660,632,876.034483734,782,799,649,626,649,0.400953807171,-0.00538948792931,0.0698258579295,0.999999938626,0.000209620843752,-0.000279881755664,2.17776168802e-05,1793190412784203264
+94,1.566666667,BASELINE,764,741.537609365,711.537609365,670,660,632,876,782,799,649,626,649,0.400953491614,-0.00538828739075,0.0698259270006,0.999999938468,0.000209935749162,-0.00028023324645,2.14390524452e-05,1793190412800869888
+95,1.583333333,BASELINE,764,742,712,670.113293847,660,632,876,782,798.886706153,649,626,649,0.400953092926,-0.00538695452429,0.0698257283573,0.999999938163,0.000210552919344,-0.000280887981729,2.10527634483e-05,1793190412817536512
+96,1.600000000,BASELINE,764,742,712,670.705652667,660,632,876,782,798.294347333,649,626,649,0.400952544871,-0.00538550938059,0.0698244711566,0.999999937347,0.000212524489831,-0.000282336472383,2.06406967807e-05,1793190412834203136
+97,1.616666667,BASELINE,764,742,712,670.70899097,660,632,876,782,798,649,626,649,0.400952213906,-0.00538580611898,0.0698241124082,0.999999937239,0.000212690153503,-0.000282593621181,2.06483469518e-05,1793190412850869760
+98,1.633333333,BASELINE,764,742,712,670.130551002,660,632,876,782,798,649,626,649,0.400952097362,-0.00538782332229,0.0698246410654,0.999999937832,0.000211072114707,-0.000281674076139,2.10705533734e-05,1793190412867536384
+99,1.650000000,BASELINE,764,742,712,670.446026944,660,632,876,782.446026944,798.446026944,649,626,649,0.400953332086,-0.00538790729147,0.0698254849339,0.999999938208,0.000210970248087,-0.000280392829777,2.13471767134e-05,1793190412884203008
+100,1.666666667,BASELINE,764,742,712,671,660,632,876,782.97796691,798.97796691,649,626,649,0.400954911016,-0.00538741243656,0.0698263786427,0.999999938499,0.00021131427459,-0.000279074032602,2.15645406861e-05,1793190412900869632
+101,1.683333333,BASELINE,764,742,712,671,660,632,876,782.402690121,798.402690121,649,626,649,0.400955242929,-0.00538653281083,0.0698262167965,0.999999938302,0.000211757689163,-0.000279459633114,2.13594419105e-05,1793190412917536512
+102,1.700000000,BASELINE,764,742,712,671,660,632,876,782,798.177235234,649,626,649,0.40095488734,-0.00538607119517,0.0698257756024,0.999999938098,0.000211655329433,-0.000280273851706,2.12527535319e-05,1793190412934203392
+103,1.716666667,BASELINE,764,742,712,671,660,632,876,782,798.768006833,649,626,649,0.400952927629,-0.00538658490695,0.0698246826159,0.999999937876,0.000210279534798,-0.000282088148836,2.13756824936e-05,1793190412950870016
+104,1.733333333,BASELINE,764,742,712,670.647869578,660,632,876,782,799,649,626.352130422,649.352130422,0.400952784077,-0.00538727112287,0.0698245936656,0.999999937957,0.000209782589999,-0.000282161666599,2.1514157511e-05,1793190412967536640
+105,1.750000000,BASELINE,764,742,712,670.068044667,660,632,876,782,799,649,626.931955333,649.931955333,0.40095381489,-0.00538806888342,0.0698251539448,0.999999938235,0.000209853926736,-0.000281109562201,2.16626849274e-05,1793190412984203008
+106,1.766666667,BASELINE,764,741.494039976,712,670.505960024,660.505960024,632,876.505960024,782,798.494039976,649,626.494039976,650,0.400953517084,-0.00538733403128,0.0698250132039,0.999999937932,0.000210744233256,-0.000281562301218,2.10943670997e-05,1793190413000869632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782,799,649,626,649,0.400954129691,-0.00538814955523,0.0698263243795,0.99999993819,0.000211444401872,-0.00028009290731,2.14101740666e-05,1793190413043544832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577280158,742,712,670.577280158,660,632,877,782,799,649.577280158,626.577280158,649,0.40095427426,-0.00538752320471,0.0698256289227,0.999999937842,0.000212661395384,-0.000280418085782,2.13511447446e-05,1793190413060214528
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.844697866,742,712,671,660,632,876.844697866,782,798.844697866,649.844697866,626.844697866,649,0.400954284375,-0.00538697765504,0.069825242671,0.999999937555,0.000213654010893,-0.000280693750147,2.13002509176e-05,1793190413076882432
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.264646901,742,712,671,660,632,876.264646901,782,798.264646901,649.264646901,626.264646901,649,0.400953926758,-0.00538665309425,0.0698257020906,0.999999937435,0.000214032956458,-0.000280833994307,2.12716075255e-05,1793190413093545984
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,670.688656616,660,632,876,782,798,649,626,649,0.400953969737,-0.00538725760952,0.0698258503694,0.999999938068,0.000211310277488,-0.000280639791569,2.12900403411e-05,1793190413110211072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,670.11607357,660,632,876,782,798,649,626,649,0.400954348846,-0.00538864168693,0.0698257375784,0.999999939311,0.000205985110727,-0.000280164963633,2.13479735078e-05,1793190413126877696
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,670.470959201,660,632,876,782.470959201,798.470959201,649.470959201,626,649.470959201,0.400955410017,-0.005388638709,0.069826715559,0.999999939247,0.000207264927813,-0.000279442043559,2.14465582036e-05,1793190413143544576
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876,782.939389661,799,649.939389661,626,649.939389661,0.400957342486,-0.00538828849712,0.0698281845832,0.999999939047,0.000209960476276,-0.000278131520065,2.15732944962e-05,1793190413160211200
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876,782.358795178,799,649.358795178,626,649.358795178,0.400965262111,-0.00538798498339,0.0698314869735,0.999999940549,0.000210393938444,-0.000272321046517,2.18528715453e-05,1793190413176877824
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.780493555,670.780493555,660,632,876,782,798.780493555,649,626.219506445,649,0.400981138102,-0.00538787314622,0.0698388185996,0.999999943638,0.000211168026467,-0.000260080096182,2.2138983696e-05,1793190413193544704
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.205901049,670.205901049,660,632,876,782,798.205901049,649,626.794098951,649,0.40100988476,-0.00538807137597,0.0698526681453,0.999999948984,0.000212493130062,-0.000237436842797,2.24356673628e-05,1793190413210211584
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.376356805,670.376356805,660,632,876,782.376356805,798.376356805,649,626.623643195,649.376356805,0.401052196019,-0.00539024230377,0.0698681593179,0.999999955543,0.000210711371868,-0.000209735841035,2.29452120341e-05,1793190413226878208
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.962895537,670.962895537,660,632,876,782.962895537,798.962895537,649,626.037104463,649.962895537,0.40110208263,-0.0053935149135,0.0698845672823,0.999999962199,0.000207194541558,-0.000179210263949,2.35736320411e-05,1793190413243544320
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.545985287,876,782.454014713,799,649,626,650,0.401164150391,-0.00539432215197,0.0698958592171,0.999999964422,0.000205953380963,-0.000167923784947,2.3273765556e-05,1793190413260210944
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.872890769,670.872890769,660,632.872890769,876,782,799,649,626,649.872890769,0.401229724589,-0.00539505247716,0.0699045283344,0.999999966024,0.000205058536961,-0.000159358961006,2.25390318627e-05,1793190413276877312
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.297873037,670.297873037,660,632.297873037,876,782,799,649,626,649.297873037,0.401304756064,-0.00539609845983,0.0699051726127,0.999999966672,0.000204842504182,-0.000155806391261,2.04928141565e-05,1793190413293544192
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.276781699,670,660,632,876,782.276781699,798.723218301,649,626,649,0.401387045006,-0.00539796707894,0.0699034507441,0.999999966743,0.000202808971217,-0.000158303402758,1.79474764635e-05,1793190413310210816
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.851046254,670,660,632,876,782.851046254,798.148953746,649,626,649,0.401477134213,-0.00540071986137,0.0698991857588,0.999999966129,0.000198822002927,-0.000167302458204,1.48656885398e-05,1793190413326877440
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,670.438414692,660,632,876,782.561585308,798,649,626,649.438414692,0.401595781347,-0.00540293778574,0.0698979229156,0.999999966034,0.000196882292106,-0.000170400423088,1.14984809823e-05,1793190413343544320
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,670.970357637,660,632,876,782,798,649,626,649.970357637,0.40172598973,-0.00540507868349,0.0698978617127,0.99999996625,0.000195266179976,-0.000171194357191,7.99255916583e-06,1793190413360211200
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,670.392628413,660,632,876,782,798,649,626,649.392628413,0.401885035127,-0.00540925890002,0.0699005780813,0.99999996858,0.00018637613437,-0.000167600035543,3.77008161343e-06,1793190413376878080
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876.18383303,782,798.18383303,649,626,649,0.402056720194,-0.00541344867269,0.0699042513939,0.999999971126,0.000177697982068,-0.000161773866894,-7.37986049237e-07,1793190413393544704
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876.757605233,782,798.757605233,649,626,649,0.402255215996,-0.00541765871489,0.0699099545368,0.99999997419,0.000169469290401,-0.000151213595303,-5.85183534258e-06,1793190413410211072
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660.332160234,632,876.667839766,782,798.667839766,649,626,649,0.402471862147,-0.00542168648952,0.069913304899,0.999999976539,0.000161234400103,-0.000144207992321,-1.13698148141e-05,1793190413426877696
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660.907287893,632,876.092712107,782,798.092712107,649,626,649,0.402701784874,-0.00542558094011,0.0699149342578,0.999999978376,0.000152994974801,-0.00013980254501,-1.71834065693e-05,1793190413443544576
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,670.49785895,660.50214105,632,876.49785895,782,798,649,626,649.49785895,0.402974175485,-0.00542954895437,0.0699181466209,0.999999980438,0.000144930013799,-0.000132598505657,-2.31656891533e-05,1793190413460210944
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,670.911674529,660,632,877,782,798.088325471,649,626.088325471,649.911674529,0.40326124857,-0.00543461130322,0.069922732754,0.999999984007,0.000126496540596,-0.000123145789581,-2.86240166093e-05,1793190413476877568
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,670.338088101,660,632,877,782,798.661911899,649,626.661911899,649.338088101,0.403584147453,-0.00544560826539,0.0699331949688,0.999999992784,5.09141524339e-05,-0.000104293728489,-3.10256188344e-05,1793190413493544448
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782,799,649,626.763619954,649,0.403919850605,-0.00545985841938,0.0699411003185,0.999999995228,1.96068110361e-05,-9.14193770348e-05,-2.83315303728e-05,1793190413510211072
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782,799,649,626.187886021,649,0.404273935907,-0.005478778947,0.0699453349595,0.999999994692,5.18619851752e-05,-8.71267965506e-05,-1.83219241297e-05,1793190413526877696
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.602841719,670.397158281,660.397158281,632,876.602841719,782,799,649,626,649,0.40465362181,-0.00549673541859,0.0699488263322,0.999999995703,4.25527191021e-05,-8.05799665461e-05,-1.7046586212e-05,1793190413543544320
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.013287191,670.986712809,660.986712809,632,876.013287191,782,799,649,626,649,0.405045709457,-0.00551422486989,0.0699519576418,0.999999997054,1.31083002643e-05,-7.29411056563e-05,-2.00024091042e-05,1793190413560210944
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.567600758,671,661,632,876,782,799,649,626,649,0.405491085306,-0.00550895802154,0.0699541828102,0.999999997169,1.38528669008e-05,-7.06051817393e-05,-2.20304229694e-05,1793190413576877568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.853113026,632,876,782,798.853113026,649,626,649,0.405940498418,-0.00550680324903,0.0699530228262,0.999999996888,1.27705492699e-05,-7.41232573e-05,-2.38050185773e-05,1793190413593544192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.277914765,632,876,782,798.277914765,649,626,649,0.40639810105,-0.00551525303951,0.0699420529172,0.999999995229,4.33146553193e-06,-9.43546174942e-05,-2.49030451824e-05,1793190413610210816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.296545096,782,798,649,626.296545096,649,0.406879119197,-0.00552149439178,0.0699266455505,0.999999992794,-3.89486214242e-06,-0.000116876476755,-2.71440579309e-05,1793190413626877696
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.870314731,782,798,649,626.870314731,649,0.407382027341,-0.00552567119135,0.0699070898349,0.999999989448,-1.19222962499e-05,-0.000141539606428,-3.04535889192e-05,1793190413643544320
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.460209372,632,876.539790628,782.460209372,798.460209372,649,626.539790628,649,0.407950228742,-0.0055289326804,0.0699117438226,0.999999991274,-1.73115790007e-05,-0.00012679170543,-3.27999348255e-05,1793190413660210944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.052862823,712,671,661,632,876,782.947137177,799,649,626,649,0.408542454613,-0.00553264626275,0.0699238068448,0.999999994143,-2.3012997123e-05,-9.98688643619e-05,-3.4787302918e-05,1793190413676877824
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.626311833,712,671,661,632,876,782.373688167,799,649,626,649,0.40918349657,-0.00554344430616,0.0699392094078,0.999999996373,-3.93752358194e-05,-6.63893162872e-05,-3.60094894019e-05,1793190413693544192
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.799099847,712,671,661,632,876.200900153,782,799,649,626,649,0.409816268379,-0.00555224051864,0.0699460474216,0.999999996751,-5.07095482469e-05,-5.04759650501e-05,-3.71264180988e-05,1793190413710210816
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.222380282,712,671,661,632,876.777619718,782,799,649,626,649,0.410433569371,-0.0055572919502,0.0699368639242,0.999999995618,-5.2638230838e-05,-6.74233064959e-05,-3.80464434108e-05,1793190413726877440
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,670.647482038,660.647482038,632,877,782.352517962,799,649,626.352517962,649,0.411085327917,-0.00556064602842,0.0699336404387,0.999999994563,-5.95788543608e-05,-7.59245039544e-05,-3.94859890422e-05,1793190413743544064
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,670.073726862,660.073726862,632,877,782.926273138,799,649,626.926273138,649,0.411758711702,-0.0055629348622,0.0699341574053,0.999999993592,-6.96649284611e-05,-7.91249740833e-05,-4.12515810857e-05,1793190413760210688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782.480661969,798.480661969,649,626.480661969,649,0.412492146706,-0.00554911383081,0.0699596423123,0.999999997323,-5.03016322512e-05,-3.62033902294e-05,-3.88872895027e-05,1793190413776877568
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,670.111195038,660.111195038,632,877,782,798,649,626,649,0.413240239219,-0.00553530692617,0.0699864161898,0.999999998848,-3.0058587489e-05,8.39304690755e-06,-3.64697502442e-05,1793190413793544448
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,670.68614003,660.68614003,632,877,782,798,649,626,649,0.414012534484,-0.00553146547252,0.0700032121634,0.999999998545,-2.425593698e-05,3.16125193058e-05,-3.63697499114e-05,1793190413810211072
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,782,798,649,626.261953326,649,0.414747319266,-0.00553358997363,0.0699877164835,0.999999998882,-2.77969961076e-05,6.10049510598e-07,-3.82443363572e-05,1793190413826877696
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,782,798,649,626.838810517,649,0.415437011397,-0.00554288637102,0.0699334018047,0.999999993624,-4.25704762512e-05,-9.55746369204e-05,-4.24926469843e-05,1793190413843544064
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.574240025,632,876.574240025,782,798.425759975,649,626.574240025,649,0.416178737747,-0.00554472311085,0.0698993031416,0.999999986166,-5.70619426698e-05,-0.000148975513527,-4.70880435113e-05,1793190413860210688
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876,782,799,649,626,648.983734626,0.416943260515,-0.00554387377081,0.0698749007531,0.999999979422,-7.0951139067e-05,-0.00018291669073,-5.1599285471e-05,1793190413876877312
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876,782,799,649,626,648.405584108,0.417798235703,-0.00555016345337,0.0699146418226,0.999999989589,-6.78128735435e-05,-0.000117755554418,-4.8553878341e-05,1793190413893543936
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.341630554,632,876.170815277,782,799,649,626,648.170815277,0.418653051893,-0.00555416790578,0.069949246415,0.999999994658,-6.69160675338e-05,-6.37874615424e-05,-4.62406498526e-05,1793190413910211072
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.486197857,632,876.743098928,782,799,649,626,648.743098928,0.419507494335,-0.00555280136495,0.0699717787062,0.999999995765,-7.12873806825e-05,-3.61264640629e-05,-4.5648266667e-05,1793190413926877696
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671.325892727,661.674107273,631.674107273,877.325892727,782,799,649,626,649,0.420356722113,-0.00555133503392,0.0699917436437,0.999999996597,-6.89289614377e-05,-7.14105886402e-06,-4.47529023471e-05,1793190413943544576
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671.917247744,661.082752256,631.082752256,877.917247744,782,799,649,626,649,0.421201702143,-0.00554978741689,0.070009617292,0.99999999692,-6.10887069302e-05,2.29231671674e-05,-4.361073884e-05,1793190413960211200
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671.501768874,661,631.498231126,877.501768874,782.498231126,799,649,626,649,0.422022607498,-0.005549016785,0.0699978132318,0.999999997148,-6.04156592073e-05,1.27587589788e-06,-4.53036535856e-05,1793190413976877568
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,671.077272576,661,632,877,783,799,649,626,649,0.422830219757,-0.0055481872494,0.0699726523959,0.999999996075,-6.18714034802e-05,-4.15240707971e-05,-4.79355833436e-05,1793190413993544192
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,671.654667149,661,632,877,783,799,649,626,649,0.42357714833,-0.00554615826935,0.069892296421,0.999999982235,-6.95575975629e-05,-0.000166772639305,-5.36594881081e-05,1793190414010210816
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671.770515382,661,632,877,782.770515382,799.229484618,649,626,648.770515382,0.424376597115,-0.0055478682228,0.0698473265276,0.999999968885,-7.74729890837e-05,-0.0002299892223,-5.77336758867e-05,1793190414026877440
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671.199532838,661,632,877,782.199532838,799.800467162,649,626,648.199532838,0.425254201766,-0.00555514211331,0.0698550149382,0.999999974384,-8.5729453601e-05,-0.000200895524878,-5.93529082335e-05,1793190414043544064
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.385921849,661.771843699,632,877,782,799.614078151,649,626.385921849,648.385921849,0.426127956149,-0.00555757953798,0.0698986468188,0.999999985412,-8.84114021852e-05,-0.00013464801715,-5.6821003823e-05,1793190414060210944
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.979150549,662.958301099,632,877,782,799.020849451,649,626.979150549,648.979150549,0.426999642217,-0.00555741894268,0.0699615865655,0.999999993591,-8.80988695506e-05,-4.84424815643e-05,-5.20592198322e-05,1793190414076877568
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662.440935189,632,877,782,799,649,626.440935189,649,0.427841350677,-0.0055612027182,0.0699869814645,0.999999994695,-8.78663404026e-05,-1.84683306755e-05,-5.04809805416e-05,1793190414093544448
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.137947617,712,671.862052383,661.862052383,632,877.275895234,782,799,649,626.137947617,649,0.428678197345,-0.005565213442,0.0700067625428,0.99999999465,-9.04836025276e-05,7.04861798664e-06,-4.96378710304e-05,1793190414110211328
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+232,3.866666667,POSE1_TO_POSE2_PRESS,763.466285042,742,711.533714958,672.466285042,659,630,877.466285042,781,799.466285042,649,626,649,0.445054734373,-0.00559607742189,0.0697440411821,0.999999917525,-0.000136465870064,-0.000378322836563,-5.65636937731e-05,1793190415126877952
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742,711.888143738,672.111856262,659,630,877.111856262,780.888143738,799,649,626,648.888143738,0.44505558343,-0.00559648847787,0.0697443925142,0.999999917482,-0.000138582067695,-0.000377691772558,-5.6396543161e-05,1793190415143544576
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742,711.313477393,672.686522607,659,630,877.686522607,780.313477393,799,649,626,648.313477393,0.445053763872,-0.00559537111123,0.0697435467661,0.999999916958,-0.000136594208949,-0.00037977520665,-5.65429359782e-05,1793190415160211200
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659,630,878,780.259457438,799,649,626,648.259457438,0.445053820643,-0.00559541165485,0.069743486714,0.999999916853,-0.0001360478557,-0.000380239815918,-5.65934228569e-05,1793190415176877824
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659,630,878,780.830314192,799,649,626,648.830314192,0.445056129371,-0.0055968419155,0.0697443696498,0.999999917256,-0.000137231588749,-0.000378761521275,-5.65288040025e-05,1793190415193544448
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742,711.420811292,673,659,630,878,781,799,649,626,648.579188708,0.445055191746,-0.00559681550646,0.0697435576119,0.999999916577,-0.000137706147902,-0.000380382863087,-5.64988128534e-05,1793190415210211072
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742,712,673,659,630,878,781,799,649,626.018814408,648.018814408,0.445052984161,-0.00559616774904,0.0697420938576,0.999999915499,-0.000137799838431,-0.000383174138237,-5.64823593181e-05,1793190415226877952
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742,712,673,659,630,878,781,799,649,626.593156355,648.593156355,0.445053822881,-0.00559536610876,0.069742555754,0.999999916342,-0.000135504675023,-0.000381798034986,-5.64331581275e-05,1793190415243544576
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.167738464,742,712,673,659,630,878,781,799,649,626.832261536,649,0.445054548629,-0.00559511856202,0.0697429720803,0.999999916968,-0.00013416526597,-0.000380639729522,-5.63678774595e-05,1793190415260211200
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.742903879,742,712,673,659,630,878,781,799,649,626.257096121,649,0.445054999977,-0.00559621687625,0.0697432777194,0.999999917081,-0.000135147328657,-0.00038001044227,-5.62635406818e-05,1793190415276877824
+242,4.033333333,HOLD_POSE2,763,742,712,673,659,630,878,781,799,649,626,648,0.445055562048,-0.00559382503391,0.0697425455253,0.999999917284,-0.000131766537856,-0.000380563657016,-5.69334591168e-05,1793190415312447232
+243,4.050000000,HOLD_POSE2,763.574931089,742.574931089,712,673,659,630,878,781,799,649,626,648,0.445054076735,-0.0055957867215,0.0697422414194,0.999999916302,-0.000135020970771,-0.000382106459421,-5.62186650256e-05,1793190415329113600
+244,4.066666667,HOLD_POSE2,763.849711938,743,711.849711938,673,659,630,877.849711938,781,799,649,626,648.150288062,0.445053200211,-0.00559667364058,0.0697418734004,0.999999915706,-0.000136689601298,-0.000383126873541,-5.58397078038e-05,1793190415345780224
+245,4.083333333,HOLD_POSE2,763.273146859,743,711.273146859,673,659,630,877.273146859,781,799,649,626,648.726853141,0.445054050452,-0.00559451208703,0.0697413240979,0.999999916233,-0.000133860263107,-0.000382665586038,-5.64133180239e-05,1793190415362446848
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+247,4.116666667,HOLD_POSE2,763.9004381,742.0995619,711.9004381,673,658.0995619,630,878.8008762,781,799,649,625.0995619,649,0.445057060938,-0.00559401345087,0.0697447665618,0.999999917235,-0.00013556851379,-0.000379392353825,-5.66740298185e-05,1793190415395780352
+248,4.133333333,HOLD_POSE2,763.518255286,742,711.518255286,673,658.481744714,630,878.518255286,781.481744714,799,649,625.481744714,649,0.445056415949,-0.0055938307076,0.0697435936267,0.999999916726,-0.000135376440183,-0.000380830311814,-5.6479172475e-05,1793190415412446976
+249,4.150000000,HOLD_POSE2,763.060971229,742,711,672.939028771,659,630,878,781.939028771,799,649,626,649,0.445055518308,-0.00559365676228,0.0697419926308,0.999999916136,-0.000134819445551,-0.000382604630301,-5.62595771697e-05,1793190415429113344
+250,4.166666667,HOLD_POSE2,763.637476344,742,711,672.362523656,659,630,878,781.362523656,799,649,626,649,0.445056524517,-0.00559446182879,0.0697429501855,0.999999916618,-0.000134935497382,-0.000381318913925,-5.61528950172e-05,1793190415445780224
+251,4.183333333,HOLD_POSE2,763.787018935,742,711,672.212981065,659,630,877.787018935,781,799,649,626,649,0.44505690352,-0.00559492999847,0.0697428784231,0.999999916719,-0.000134625684222,-0.000381194250608,-5.59315486314e-05,1793190415462446848
+252,4.200000000,HOLD_POSE2,763.21320912,742,711,672.78679088,659,630,877.21320912,781,799,649,626,649,0.445056219923,-0.00559482740341,0.0697410628097,0.999999916177,-0.000133594378123,-0.000383036622963,-5.55159401427e-05,1793190415479113216
+253,4.216666667,HOLD_POSE2,763,742.371324489,711,673,659,630,877,781,799,649,626.371324489,648.628675511,0.445055406416,-0.0055942870864,0.0697408193306,0.99999991588,-0.000133798521475,-0.000383687186321,-5.58699425972e-05,1793190415495780096
+254,4.233333333,HOLD_POSE2,763,742.962198716,711,673,659,630,877,781,799,649,626.962198716,648.037801284,0.445054516098,-0.00559348796141,0.0697415053932,0.99999991573,-0.000134733137967,-0.000383633079519,-5.66789860492e-05,1793190415512446720
+255,4.250000000,HOLD_POSE2,763,742.458732351,711,673,659,630,877.541267649,781.541267649,799,649,626.458732351,648.541267649,0.445054610345,-0.00559374616993,0.0697404122316,0.999999915139,-0.000134526208425,-0.000385309288413,-5.62252441923e-05,1793190415529113600
+256,4.266666667,HOLD_POSE2,763,742.118842672,711,673,659,630,878,781.881157328,799,649,626.118842672,649,0.445054806346,-0.00559376660654,0.069739689973,0.999999914847,-0.000134067961096,-0.000386276661867,-5.58847342358e-05,1793190415545780224
+257,4.283333333,HOLD_POSE2,763,742.69378112,711,673,659,630,878,781.30621888,799,649,626.69378112,649,0.445055134603,-0.00559259717488,0.0697408578703,0.999999915823,-0.000132944637461,-0.000384069787309,-5.63100226385e-05,1793190415562447104
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,630,878,781,799,649,626,649,0.445055419116,-0.00559418085737,0.06974156566,0.999999916139,-0.000134412377218,-0.000382756702482,-5.61546275656e-05,1793190415600295936
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.407571759,742.592428241,711,672,659,630,878,781,799,649,626,649,0.445055910631,-0.00559406217741,0.0697416927554,0.999999916169,-0.00013483738094,-0.000382569457658,-5.58662280025e-05,1793190415616962816
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.759472816,742.240527184,711,672,659,630,878,781,799.759472816,649,626,649,0.445056245474,-0.00559315810329,0.0697423957118,0.999999916302,-0.000133385552979,-0.000382718028776,-5.59642196603e-05,1793190415650295808
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.336001033,659,630,877.663998967,780.663998967,799.327997934,649,626,649,0.445056207245,-0.00559326363608,0.069742390197,0.999999916285,-0.000133492749929,-0.000382716739942,-5.60215022224e-05,1793190415666962432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.910876839,659,630,877.089123161,780.089123161,798.178246322,649,626,649,0.445056143629,-0.0055938898338,0.0697420472377,0.999999916195,-0.000134621274533,-0.00038256422911,-5.59589015393e-05,1793190415683629056
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,630,877.497000281,780.497000281,798.497000281,649,626,649,0.445055794481,-0.0055934975836,0.0697412748361,0.999999915966,-0.000134780224944,-0.000383061482841,-5.62656196343e-05,1793190415700295680
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.916166,742,711.083834,673,659.083834,630,878,781,799,649,626,649,0.445054183477,-0.00559308984698,0.0697399519027,0.999999915307,-0.000134820850915,-0.000384713876539,-5.66082223351e-05,1793190415716962304
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.337323457,742,711.662676543,673,659.662676543,630,878,781,799,649,626,649,0.445045431018,-0.00559369400209,0.0697358435206,0.999999912226,-0.000135213201215,-0.000392483020406,-5.67626095765e-05,1793190415733628928
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.240654087,742.240654087,712,673,659.759345913,630,877.759345913,781,799,649,626,648.759345913,0.445028704296,-0.00559355914026,0.0697274952265,0.999999906903,-0.000134689219093,-0.000405959292455,-5.70114252915e-05,1793190415750295552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.817423462,742.817423462,712,673,659.182576538,630,877.182576538,781,799,649,626,648.182576538,0.445000840128,-0.00559239211265,0.0697132251582,0.999999898186,-0.000132885419301,-0.000427406560864,-5.73921267653e-05,1793190415766962176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.606540576,742.606540576,711.606540576,673,659,630,877,781,799,649,626,648,0.444951168988,-0.00558855064162,0.0696941739971,0.999999883211,-0.000130379091853,-0.00046174426069,-5.80702248527e-05,1793190415783628800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.030844254,742.030844254,711.030844254,673,659,630,877,781,799,649,626,648,0.444891397604,-0.00558347046011,0.0696729083968,0.999999864104,-0.000127547377393,-0.00050205236711,-5.88860668032e-05,1793190415800295424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742.557450997,711,672.442549003,659,630,877.557450997,781,799,649,626,648.557450997,0.444817197989,-0.00558268134491,0.0696564517849,0.999999851427,-0.000127128314246,-0.000526851825153,-5.84132441324e-05,1793190415816962048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.142694108,659.142694108,630,878,781,799,649,626,648.857305892,0.444740304065,-0.00558222229892,0.0696441281217,0.999999841511,-0.000126569284952,-0.000545580263462,-5.74509786203e-05,1793190415833628672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.716559737,659.716559737,630,878,781,799,649,626,648.283440263,0.444657736907,-0.00558202659116,0.0696434701664,0.99999984015,-0.000125174627379,-0.000548617072723,-5.52302230492e-05,1793190415850295552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.294922892,742.705077108,711,672.705077108,659.705077108,630,877.705077108,781,799,649,626.294922892,648,0.444563486227,-0.00557967057082,0.069645779049,0.999999841793,-0.000122627096859,-0.000546400573081,-5.31270043416e-05,1793190415866962432
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.549699925,742.450300075,711,672.450300075,659,630,877,781,799,648.549699925,626.099399849,648.450300075,0.444332334966,-0.00557225459994,0.0696585855159,0.999999852326,-0.00011492056016,-0.000529055274787,-4.73577551327e-05,1793190415900295936
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.61567828,742.38432172,711,673,659.61567828,630,877.61567828,781,799,648.61567828,625,648.38432172,0.444016875088,-0.00556625595325,0.0696675179244,0.999999858554,-0.00010731447031,-0.000519484090001,-3.8873595508e-05,1793190415933628928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.795353064,742,711,672.795353064,659.795353064,630,877.795353064,781,799,649,625.204646936,648.204646936,0.443823607269,-0.00556140663061,0.0696697869872,0.999999860904,-0.000100340419901,-0.000516659602013,-3.44473840004e-05,1793190415950295808
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.35801862,742.35801862,711.35801862,672.35801862,659.35801862,630,877.35801862,781,799,649,626,649,0.443375291453,-0.00554712609124,0.0696804627932,0.999999871859,-7.47747589478e-05,-0.000500125186785,-2.3797431456e-05,1793190415983629056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.930213735,742.930213735,711.930213735,672.930213735,659.930213735,630,877.930213735,781,799,649,626,649,0.443125149011,-0.00554070010775,0.0696872532384,0.999999875748,-6.31868272539e-05,-0.000494177819053,-1.72930451876e-05,1793190416000295424
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.915515201,671,660,632,876,782,799,649,626.084484799,649,0.402360794739,-0.00538889773659,0.0698030978447,0.999999922104,0.000220819870487,-0.000325651626674,3.1342094874e-05,1793190417066962432
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.333721448,671,660,632,876,782,799,649,626.666278552,649,0.402143472919,-0.00538818108963,0.069797824311,0.999999920504,0.000213608935344,-0.000335306583818,3.05246396492e-05,1793190417083629056
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.245504975,671,660.245504975,632,876.245504975,782,798.754495025,649,626.754495025,649,0.401947152083,-0.005387269016,0.069795939111,0.999999920431,0.000208749167618,-0.000338598426978,3.02065380549e-05,1793190417100295424
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.821277627,671,660.821277627,632,876.821277627,782,798.178722373,649,626.178722373,649,0.401779083019,-0.00538609404302,0.0697986120964,0.999999922543,0.000207052328683,-0.000333330235607,3.05601962959e-05,1793190417116962048
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.054200955,742,711.054200955,670,660,632,876,782,798.054200955,649,626.945799045,649,0.401020393636,-0.00538681171222,0.0698049627704,0.999999927371,0.000211322074027,-0.000316430954786,2.17199372361e-05,1793190417266962176
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,741.112831458,711,670.112831458,660,632,876.887168542,782.887168542,798,649,626.887168542,649,0.400955663849,-0.00539091160114,0.0698176230054,0.999999934595,0.000206809795881,-0.000295804326475,2.3227450284e-05,1793190417383629056
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.193048695,712,671,660,632,876,782,799,649,627,650,0.400952004423,-0.00538939860604,0.0698184328124,0.999999934741,0.000210718115621,-0.000292586050481,2.25494704601e-05,1793190417483629056
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.917527369,660,632,876.082472631,782.917527369,798.082472631,649,626.917527369,649,0.400949562327,-0.00539450798065,0.0698185209344,0.999999935276,0.00020657459431,-0.000293683521491,2.29211663082e-05,1793190417550297344
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,670,660,632,876.344365755,782,799,649,627,649.344365755,0.40095170633,-0.00538990454815,0.0698206935527,0.999999935174,0.000212204884335,-0.000290014801683,2.26406862451e-05,1793190417600296192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.23253772,742,712,670,660,632,876,782.23253772,799.23253772,649,626.76746228,649,0.400952646594,-0.00538966321361,0.0698211802174,0.999999935433,0.000212372694751,-0.000289006270238,2.25242538432e-05,1793190417616962560
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.60889715,742,712,670,660,632.39110285,876,783,799.60889715,649,626.39110285,649,0.400954221119,-0.00539073156284,0.0698221468219,0.999999936189,0.000210991159453,-0.000287406594496,2.2396909083e-05,1793190417650295808
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.020542997,742,712,670,660,632.979457003,876,783,799.020542997,649,626.979457003,649,0.400954161284,-0.0053915840759,0.0698224108821,0.999999936395,0.000209896899275,-0.000287485294196,2.24874269972e-05,1793190417666962432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.11486627,660,632.442566865,876,782.442566865,799,649,627,649,0.400953066102,-0.00539307703541,0.0698214422338,0.999999936683,0.000207162674709,-0.000288471600592,2.23798661946e-05,1793190417683629056
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.865829785,660,632,876,782.134170215,799.134170215,649,626.865829785,649,0.400951950727,-0.00539410701797,0.0698206591638,0.999999936789,0.000205450766701,-0.000289333069311,2.23170847793e-05,1793190417700295936
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.291923171,660,632,876,782.708076829,799.708076829,649,626.291923171,649,0.400950891932,-0.00539354367417,0.0698206304877,0.999999936309,0.000207283912522,-0.000289677768152,2.24245530143e-05,1793190417716962816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.284801092,742,712,671,660,632,876,782.715198908,799.715198908,649,626.284801092,649,0.400950890456,-0.0053926438294,0.0698209536306,0.999999936068,0.000208637624863,-0.000289536347751,2.24149363364e-05,1793190417733629440
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.548697923,742,712,670.548697923,660.451302077,632,876,782,799,649,626.548697923,649,0.400951032404,-0.00539140442709,0.0698209679394,0.999999935978,0.000208565921988,-0.000289914970309,2.22191371725e-05,1793190417766962432
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.960360103,670.039639897,660.960360103,632,876.039639897,782.039639897,799,649,626.039639897,649,0.400949740829,-0.00539176859069,0.0698201101662,0.999999935894,0.000207324379537,-0.000291096070624,2.21898381505e-05,1793190417783628800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.38188085,670.61811915,660.38188085,632,876.61811915,782.61811915,799,649,626.61811915,649,0.400952304506,-0.00539174741786,0.069822386376,0.999999936529,0.000209248202368,-0.000287501145736,2.23721597305e-05,1793190417800295424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.195884193,671,660,632,877,783,799,649,627,649.195884193,0.400953672793,-0.00539174269762,0.0698236886641,0.999999937001,0.000210063447508,-0.000285251941701,2.24288497521e-05,1793190417816962048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.772261889,671,660,632,877,783,799,649,627,649.772261889,0.400952719106,-0.00539176993559,0.0698230991665,0.999999937181,0.000208725345687,-0.000285616721359,2.22415078631e-05,1793190417833628672
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13959592abbce2ad44337d00739a52a60e1fc370
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
+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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+2,0.033333333,pose1_baseline,0.575722673154,0.000219785844296,1.06002857553,0.546293083337,0.00889149428486,1.05969957739
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+6,0.100000000,pose1_baseline,0.575722673154,0.000219785844296,1.06002857553,0.546293083337,0.00889149428486,1.05969957739
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+379,6.316666667,pose2_to_pose3_retreat,0.575726094718,0.000219748924374,1.06002864383,0.54629650606,0.00889146150377,1.05969965089
+380,6.333333333,pose2_to_pose3_retreat,0.575725568006,0.000219754779953,1.06002865971,0.54629597934,0.00889146735827,1.0596996674
+381,6.350000000,pose2_to_pose3_retreat,0.575725371273,0.00021974159928,1.06002862577,0.546295782662,0.00889145434879,1.0596996331
+382,6.366666667,pose2_to_pose3_retreat,0.575725270595,0.000219734854035,1.0600286084,0.546295682011,0.00889144769115,1.05969961555
+383,6.383333333,pose2_to_pose3_retreat,0.575724841813,0.000219706126594,1.06002853443,0.546295253349,0.00889141933681,1.05969954081
+384,6.400000000,pose2_to_pose3_retreat,0.575724359931,0.00021967384149,1.06002845129,0.546294771601,0.00889138747102,1.05969945681
+385,6.416666667,pose2_to_pose3_retreat,0.575724044858,0.000219652732263,1.06002839694,0.546294456615,0.00889136663596,1.05969940189
+386,6.433333333,pose2_to_pose3_retreat,0.575723750621,0.000219633019025,1.06002834618,0.54629416246,0.00889134717876,1.0596993506
+387,6.450000000,pose2_to_pose3_retreat,0.575723467548,0.000219664274787,1.06002832074,0.546293878962,0.00889137705828,1.05969932696
+388,6.466666667,pose2_to_pose3_retreat,0.575723296728,0.000219698797553,1.06002831269,0.546293707728,0.00889141024455,1.0596993207
+389,6.483333333,pose2_to_pose3_retreat,0.575722960265,0.000219766796801,1.06002829683,0.54629337045,0.00889147561133,1.05969930837
+390,6.500000000,pose2_to_pose3_retreat,0.575722871318,0.000219784773019,1.06002829263,0.546293281287,0.00889149289163,1.05969930511
+391,6.516666667,pose2_to_pose3_retreat,0.575722745569,0.000219791590057,1.06002835056,0.546293155431,0.00889149930118,1.05969936192
+392,6.533333333,pose2_to_pose3_retreat,0.575722673154,0.000219785844296,1.06002857553,0.546293083337,0.00889149428485,1.05969957739
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1a038fab68c0b08091dea3b69cb55cb21dc840f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f276fabba69e6f371f235b7ec1b895b8a7121ce9d74e9c48005e21e74ad0a3c
+size 25269004
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..083e40d6ddbf87cd05129665e975ff375389515d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+48,0.800000000,BASELINE,765,742,711.860255758,671,660.860255758,632,877,782,798.860255758,649,626.139744242,649,0.400951417479,-0.00539283580329,0.0698241355706,0.999999937485,0.000208573525619,-0.000284673447016,2.20883760866e-05,1793190418755215104
+49,0.816666667,BASELINE,765,742,711.554319922,671,660.554319922,632,877,782,799,649.445680078,626.445680078,649,0.400951146615,-0.00539321338651,0.0698234612996,0.999999937701,0.000206588440079,-0.000285381319374,2.18328642739e-05,1793190418771881984
+50,0.833333333,BASELINE,764.966084195,742,711.033915805,671,660,632,877,782,798.966084195,649.966084195,626.966084195,649,0.400951165838,-0.00539361527002,0.0698226045673,0.999999938096,0.000203989509165,-0.00028588944946,2.15479628937e-05,1793190418788548352
+51,0.850000000,BASELINE,764.387433101,742,711.612566899,671,660,632,877,782,798.387433101,649.387433101,626.387433101,649,0.400951693058,-0.00539261441343,0.0698234320089,0.999999937836,0.000206571338677,-0.000284924085693,2.17641637194e-05,1793190418805214976
+52,0.866666667,BASELINE,764,742,712,671,660,632,876.809335928,782,798,649,626,649,0.400951981807,-0.00539172641036,0.0698238488764,0.999999937456,0.000209124053551,-0.000284395516349,2.17984051413e-05,1793190418821881600
+53,0.883333333,BASELINE,764,742,712,671,660,632,876.232361109,782,798,649,626,649,0.400951787383,-0.0053910670636,0.069823433866,0.999999936837,0.000211617778145,-0.00028475195062,2.14639726162e-05,1793190418838548224
+54,0.900000000,BASELINE,764,742,712,671,660,632,876,782,798.688021929,649,626.344010964,649,0.400952250968,-0.00539136031663,0.0698238854689,0.999999937263,0.000210098136507,-0.00028438896607,2.13691839364e-05,1793190418855214592
+55,0.916666667,BASELINE,764,742,712,671,660,632,876,782,799.839953206,649,626.919976603,649,0.400953158227,-0.00539229587471,0.0698249213991,0.999999938381,0.000205872420968,-0.000283540902319,2.14359788117e-05,1793190418871881216
+56,0.933333333,BASELINE,764,742,711.492827096,671,660,632,876,782,799.492827096,649,626.492827096,649,0.40095386627,-0.00539196000056,0.0698254673536,0.999999938347,0.000207042043013,-0.000282800218316,2.15099835028e-05,1793190418888548608
+57,0.950000000,BASELINE,764.094560611,742,711.094560611,671.094560611,660,632,876,782.094560611,799.094560611,649,626,649,0.40095430117,-0.00539147530812,0.069825724896,0.999999938068,0.000209017597658,-0.000282331733696,2.15470119682e-05,1793190418905215744
+58,0.966666667,BASELINE,764.673643586,742,711.673643586,671.673643586,660,632,876,782.673643586,799.673643586,649,626,649,0.400953501207,-0.00539127927417,0.069824909735,0.99999993749,0.000210661945467,-0.000283169201787,2.138861573e-05,1793190418921882112
+59,0.983333333,BASELINE,765,742,712,671.748496382,660,632,876,782.748496382,799.496992765,649,626.251503618,649.251503618,0.400953305644,-0.0053920450608,0.0698245749761,0.999999937577,0.000210013977152,-0.000283340414073,2.14196449653e-05,1793190418938548480
+60,1.000000000,BASELINE,765,742,712,671.172215508,660,632,876,782.172215508,798.344431016,649,626.827784492,649.827784492,0.40095389057,-0.00539405288701,0.0698248605807,0.999999938517,0.000206405844319,-0.000282651262179,2.1695287303e-05,1793190418955214848
+61,1.016666667,BASELINE,764.597394622,742,712,670.597394622,660.402605378,632.402605378,876.402605378,782,798,649,626.597394622,649.597394622,0.400952304872,-0.00539427753581,0.0698239768939,0.999999938137,0.000205784373004,-0.000284429388371,2.18760431835e-05,1793190418971881472
+62,1.033333333,BASELINE,764.023196028,742,712,670.023196028,660.976803972,632.976803972,876.976803972,782,798,649,626.023196028,649.023196028,0.400949794038,-0.00539374218186,0.0698225948471,0.999999937191,0.000206435837846,-0.000287259085706,2.20163577783e-05,1793190418988548096
+63,1.050000000,BASELINE,764,742,712,670.566750539,660.433249461,632.433249461,876.433249461,782,798.566750539,649,626.566750539,649.566750539,0.400951250953,-0.00539278392356,0.0698237494535,0.999999937494,0.000207828093381,-0.000285207448949,2.18436281357e-05,1793190419005214720
+64,1.066666667,BASELINE,764,742,712,670.845732411,660,632,876.154267589,782,799,649,626.845732411,649.845732411,0.400952211433,-0.00539171794211,0.069824433293,0.999999937676,0.000208911448604,-0.000283788643524,2.16137328705e-05,1793190419021881600
+65,1.083333333,BASELINE,764,742,712,670.266729699,660,632,876.733270301,782,799,649,626.266729699,649.266729699,0.400951345228,-0.00539040439031,0.0698235269879,0.9999999374,0.000209058466607,-0.000284677945134,2.12627306518e-05,1793190419038548736
+66,1.100000000,BASELINE,764,742,712,670.310062741,660.310062741,632,876.689937259,782,799,649,626.310062741,649,0.400951444119,-0.00539106002658,0.0698233733861,0.999999937474,0.000208357884984,-0.000284929364554,2.13344646224e-05,1793190419055215360
+67,1.116666667,BASELINE,764,742,712,670.884967235,660.884967235,632,876.115032765,782,799,649,626.884967235,649,0.400952367351,-0.00539339765547,0.0698238627098,0.999999937844,0.000206933321578,-0.000284635933431,2.17672809963e-05,1793190419071881984
+68,1.133333333,BASELINE,764.470445187,742,712,671,660.529554813,632,876,782,799,649.470445187,626.529554813,649,0.400951791089,-0.00539256770489,0.069823822825,0.999999937669,0.000207229563309,-0.000285049481298,2.15684850807e-05,1793190419088548352
+69,1.150000000,BASELINE,764.942445316,742,711.942445316,671,660,632,876,782,798.942445316,649.942445316,626.057554684,649.057554684,0.40095115801,-0.00539130922377,0.0698238678796,0.999999937515,0.000207694888099,-0.000285270925414,2.1294910831e-05,1793190419105214720
+70,1.166666667,BASELINE,764.36449825,742,711.36449825,671,660,632,876,782,798.36449825,649.36449825,626.63550175,649.63550175,0.400953402611,-0.00539334021378,0.0698258778428,0.999999938781,0.000205797065385,-0.000282156449225,2.17737311606e-05,1793190419121881600
+71,1.183333333,BASELINE,764.2138421,742,711.2138421,671,660,632,876.2138421,782.2138421,798.2138421,649,626.7861579,649.7861579,0.400954193559,-0.00539424170544,0.0698265019144,0.999999939297,0.000205142705492,-0.000280785114975,2.19387767498e-05,1793190419138547968
+72,1.200000000,BASELINE,764.792854139,742,711.792854139,671,660,632,876.792854139,782.792854139,798.792854139,649,626.207145861,649.207145861,0.400952502161,-0.00539321439648,0.0698247593522,0.999999938551,0.000206611758985,-0.000282390476748,2.15680013474e-05,1793190419155214848
+73,1.216666667,BASELINE,764.631833652,742,712,671,660,632,877,782.631833652,798.631833652,649,626.368166348,649,0.400952554876,-0.00539350660532,0.0698243643993,0.999999938487,0.00020588854111,-0.000283144483572,2.15835250199e-05,1793190419171881728
+74,1.233333333,BASELINE,764.058582446,742,712,671,660,632,877,782.058582446,798.058582446,649,626.941417554,649,0.400953579139,-0.00539453384371,0.0698247201242,0.999999938801,0.000203944131519,-0.000283424248129,2.18142342991e-05,1793190419188548864
+75,1.250000000,BASELINE,764,742,712,670.470169703,660,632,877,782,798,649,626.470169703,649,0.400953046957,-0.00539375453617,0.0698246834528,0.999999938482,0.00020567903726,-0.00028328945593,2.18681647674e-05,1793190419205215232
+76,1.266666667,BASELINE,764,742,712,670.117761261,660,632,876.882238739,782.117761261,798.117761261,649,626,649,0.400952081328,-0.00539297235395,0.0698242887444,0.999999937992,0.000207410111857,-0.000283764099277,2.1793596837e-05,1793190419221881856
+77,1.283333333,BASELINE,764,742,712,670.697040601,660,632,876.302959399,782.697040601,798.697040601,649,626,649,0.400950111296,-0.00539298479409,0.0698226658993,0.999999937118,0.000207484852833,-0.000286812112165,2.12942908108e-05,1793190419238548224
+78,1.300000000,BASELINE,764,742,711.725784587,670.725784587,660,632,876,782.725784587,799,649,626,649,0.400950528319,-0.00539334801811,0.069822786189,0.999999937192,0.000207362042997,-0.000286650671784,2.11911300839e-05,1793190419255214848
+79,1.316666667,BASELINE,764,742,711.150917233,670.150917233,660,632,876,782.150917233,799,649,626,649,0.400953562526,-0.00539409584434,0.0698248176654,0.999999938303,0.000207022636886,-0.000282970361332,2.15223062193e-05,1793190419271881472
+80,1.333333333,BASELINE,764,742,711.423415257,670.423415257,660.423415257,632,876.423415257,782.423415257,799,649,626.423415257,649,0.400952360553,-0.00539375627699,0.0698246452158,0.99999993792,0.000207652351982,-0.000283852827483,2.16395160774e-05,1793190419288548096
+81,1.350000000,BASELINE,764,742,711.997557393,670.997557393,660.997557393,632,876.997557393,782.997557393,799,649,626.997557393,649,0.400949650589,-0.00539302962058,0.0698236882151,0.999999937001,0.000208627053711,-0.000286359545337,2.16805584914e-05,1793190419305214976
+82,1.366666667,BASELINE,764,742,712,671,660.409846852,632,877,783,799,649,626.409846852,649,0.400948004975,-0.00539259890894,0.0698218430877,0.999999936306,0.000208773192399,-0.000288704034399,2.12431694918e-05,1793190419321881600
+83,1.383333333,BASELINE,764,742,712,671,660,632,876.821848122,782.821848122,799,649,626.178151878,649.178151878,0.400947857569,-0.00539227776713,0.0698211534271,0.999999936018,0.000209247652595,-0.000289371634693,2.10389755435e-05,1793190419338548480
+84,1.400000000,BASELINE,764,742,712,671,660,632,876.244331224,782.244331224,799,649,626.755668776,649.755668776,0.400951058519,-0.00539219941462,0.0698230624947,0.999999936645,0.000210466050549,-0.000286281689279,2.13621197326e-05,1793190419355215360
+85,1.416666667,BASELINE,764,742,712,671,660,632,876.331991609,782.331991609,799,649,627,649.668008391,0.400952211426,-0.00539192432375,0.0698238059945,0.999999936979,0.000210440408516,-0.00028512918943,2.14180987572e-05,1793190419371881984
+86,1.433333333,BASELINE,764,742,712,671,660,632,876.907438778,782.907438778,799,649,627,649.092561222,0.400951862464,-0.00539150496101,0.0698236947619,0.999999937102,0.000209502488981,-0.000285397454274,2.12781606282e-05,1793190419388548352
+87,1.450000000,BASELINE,764,742,712,671,660.493521171,632,877,783,798.506478829,649,627,649,0.400951849381,-0.00539252285971,0.0698239152851,0.999999937671,0.000207381192628,-0.000284944408676,2.13817992075e-05,1793190419405214720
+88,1.466666667,BASELINE,764.080781933,742,712,671,660.919218067,632,877,783,798.080781933,649,627,649,0.400951836753,-0.0053935995499,0.0698241120155,0.999999938185,0.000205468190172,-0.000284517401739,2.15226213672e-05,1793190419421881344
+89,1.483333333,BASELINE,764.66270616,742,712,671,660.33729384,632,877,783,798.66270616,649,627,649,0.400951427543,-0.00539333186298,0.0698237666406,0.999999937852,0.000206254564055,-0.000285109665201,2.16044714972e-05,1793190419438547968
+90,1.500000000,BASELINE,764.758849033,742,712,671,660,632,877,782.758849033,798.758849033,649,627,649,0.400951376194,-0.00539290876688,0.0698237236794,0.999999937705,0.000206860617264,-0.000285185514301,2.16414926998e-05,1793190419455214848
+91,1.516666667,BASELINE,764.18520166,742,712,671,660,632,877,782.18520166,798.18520166,649,627,649,0.40095181826,-0.00539227139425,0.0698240976828,0.999999937813,0.00020721804617,-0.000284549336691,2.16167042446e-05,1793190419471881728
+92,1.533333333,BASELINE,764.390462711,742,712,671,660,632,876.609537289,782.390462711,798,649,627,649,0.400951742735,-0.00539183918249,0.0698243884722,0.999999937768,0.000208050805325,-0.000284107084086,2.14743700554e-05,1793190419488548608
+93,1.550000000,BASELINE,764.96708879,742,712,671,660,632,876.03291121,782.96708879,798,649,627,649,0.400951420434,-0.00539150478652,0.0698246395872,0.999999937651,0.000209110190713,-0.000283757290271,2.12759928433e-05,1793190419505215488
+94,1.566666667,BASELINE,764.443135596,742,712,671,660,632,876.556864404,783,798.556864404,649,626.443135596,649,0.400952326527,-0.00539187070183,0.0698250131566,0.99999993787,0.000208574334675,-0.00028337518784,2.13468031292e-05,1793190419521881856
+95,1.583333333,BASELINE,764,742,712,671,660,632,876.855912908,782.855912908,799.144087092,649,626,649,0.400953557339,-0.00539259325251,0.0698256789901,0.999999938278,0.000207878281463,-0.000282434037968,2.14943875004e-05,1793190419538548224
+96,1.600000000,BASELINE,764,742,712,671,660,632,876.278755494,782.278755494,799.721244506,649,626,649,0.400955540652,-0.00539426030377,0.0698272009791,0.99999993919,0.000206990960446,-0.000279818484566,2.18237517647e-05,1793190419555214592
+97,1.616666667,BASELINE,764,742,712,670.702423811,660,632,876,782.297576189,799.404847622,649,626,649,0.400955209984,-0.00539387322519,0.0698268837449,0.999999938885,0.000207910301065,-0.000280230469845,2.1762312094e-05,1793190419571881216
+98,1.633333333,BASELINE,764,742,712,670.126863529,660,632,876,782.873136471,798.253727058,649,626,649,0.400952717685,-0.00539156725836,0.06982484838,0.999999937436,0.000210517354715,-0.000283470664072,2.13357985787e-05,1793190419588547840
+99,1.650000000,BASELINE,764,742,712,670.459387965,660,632,876,783,798,649,626,649,0.400951684005,-0.00539178913016,0.0698239142797,0.999999937244,0.0002096292967,-0.000284823662266,2.10626725657e-05,1793190419605214976
+100,1.666666667,BASELINE,764.047806331,742,712,670.952193669,660,632,876.047806331,783,798.047806331,649,626.047806331,649,0.400951205577,-0.00539273434867,0.0698234323946,0.999999937464,0.000207796900259,-0.00028540336233,2.09049862553e-05,1793190419621881600
+101,1.683333333,BASELINE,764.626715766,742,712,670.373284234,660,632,876.626715766,783,798.626715766,649,626.626715766,649,0.400952314093,-0.0053937754552,0.0698245152334,0.999999938322,0.000206451784216,-0.000283319938845,2.15479735489e-05,1793190419638548224
+102,1.700000000,BASELINE,764.79590156,742,712,670.20409844,660,632,877,782.79590156,799,649,627,649,0.400952654777,-0.00539353149023,0.0698250434291,0.999999938544,0.000206568706785,-0.000282427512617,2.18205930764e-05,1793190419655215104
+103,1.716666667,BASELINE,764.221290571,742,712,670.778709429,660,632,877,782.221290571,799,649,627,649,0.400951601566,-0.00539095465521,0.0698245647465,0.999999937617,0.000209339758811,-0.000283697177753,2.14208609735e-05,1793190419671881728
+104,1.733333333,BASELINE,764.352547699,742,712,671,660,632,877,782.352547699,799,649.352547699,626.647452301,649.352547699,0.40095115524,-0.00539117854082,0.0698245192229,0.999999937544,0.000209546416411,-0.00028379326088,2.15115381368e-05,1793190419688548352
+105,1.750000000,BASELINE,764.925902058,742,712,671,660,632,877,782.925902058,799,649.925902058,626.074097942,649.925902058,0.400951089017,-0.00539315656547,0.069824744994,0.999999938009,0.000208146950148,-0.000283154309628,2.19093669811e-05,1793190419705214720
+106,1.766666667,BASELINE,764.483477639,742,712,671,660,632,876.483477639,782.483477639,798.483477639,649.483477639,626,649.483477639,0.400951961744,-0.00539243124172,0.0698246631742,0.999999938069,0.000208469114937,-0.000282720126344,2.17229897203e-05,1793190419721881344
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,783,800,649,627,649,0.400953927737,-0.00539305163121,0.0698256438546,0.999999938727,0.00020818987538,-0.000280602810024,2.15875464286e-05,1793190419764506112
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,670.579898528,660.579898528,632,877,783,799.420101472,649,627,649,0.400953418102,-0.00539355672383,0.0698254031345,0.999999938632,0.00020673678981,-0.000282012512887,2.15685684072e-05,1793190419781173248
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,670.842122466,660.842122466,632,877,783,799,649,627,649,0.400952821201,-0.00539381582414,0.0698252028858,0.999999938534,0.000205700031909,-0.00028312294855,2.14657046612e-05,1793190419797839872
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,670.269189695,660.269189695,632,877,783,799,649,627,649,0.400951994878,-0.00539342821829,0.0698251090356,0.999999938437,0.000205757786469,-0.000283446620154,2.11423078919e-05,1793190419814505984
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782.68528108,799,649,627,649,0.400951434224,-0.00539314307537,0.0698249540844,0.999999938254,0.000206524290243,-0.000283534458127,2.11668784234e-05,1793190419831172352
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,877,782.091645253,799,649,627,649,0.400951109016,-0.00539294873935,0.0698247449831,0.999999937992,0.000207918916843,-0.000283413290578,2.14998319708e-05,1793190419847838976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,670.489847745,660,632,877,782,799,649.489847745,626.510152255,649,0.400952368869,-0.00539265407647,0.0698245570539,0.999999938069,0.000207635408204,-0.000283356497033,2.14019307798e-05,1793190419864505600
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.93215946,782.06784054,799,649.93215946,626.06784054,649,0.400954402345,-0.00539246555803,0.0698247903079,0.999999938362,0.000207070162367,-0.000282744938137,2.12764432481e-05,1793190419881172224
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.363638212,782.636361788,799,649.363638212,626.636361788,649,0.400960009691,-0.00539319559005,0.0698281034761,0.99999993978,0.00020668668762,-0.000277952332241,2.15278809393e-05,1793190419897839104
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.214236431,660,632,876,783,799,649,626.785763569,649.214236431,0.400971383855,-0.00539359476755,0.0698337358797,0.999999942162,0.00020690095423,-0.000269062700952,2.17492279306e-05,1793190419914505728
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.808711953,660,632,876,783,799,649,626.191288047,649.808711953,0.400992993297,-0.0053934067254,0.0698434845948,0.999999946112,0.000208176126461,-0.000252901434722,2.19171681935e-05,1793190419931172608
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.393166927,712,671.606833073,660,632,876,783,799,649,626.393166927,649.606833073,0.401032274461,-0.00539497882273,0.0698599442662,0.999999953061,0.000207695079697,-0.000224095999023,2.28318115111e-05,1793190419947839232
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.972867808,712,671.027132192,660,632,876,783,799,649,626.972867808,649.027132192,0.40107993979,-0.00539738599989,0.0698795878819,0.999999960497,0.000206380813038,-0.000189291667133,2.41007203116e-05,1793190419964505856
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.548280631,742.451719369,712,671,660,632,876.548280631,782.451719369,799,649,627,649,0.401139391719,-0.00539756949903,0.069890602268,0.999999962965,0.000206205382806,-0.000176050780169,2.35645467812e-05,1793190419981172480
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.876743819,742,712,671,660,632,877.123256181,782.123256181,799,649,627,649,0.401202518742,-0.00539802657342,0.0699000420762,0.999999965093,0.0002056404188,-0.000164345565419,2.27185890305e-05,1793190419997838848
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.30259749,742,712,671,660,632,877.69740251,782.69740251,799,649,627,649,0.40127697271,-0.00539988385089,0.0699052718419,0.999999967166,0.000203445919518,-0.00015438479438,2.10636259215e-05,1793190420014505728
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877.438021531,782.719010766,799,649,627,649.280989234,0.401355912258,-0.00540172838724,0.0699062060041,0.999999967684,0.000201867720958,-0.000153359015839,1.90416317794e-05,1793190420031172352
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.249808552,782.124904276,799,649,627,649.875095724,0.401439850259,-0.00540355872555,0.0699023534076,0.999999966497,0.000200976290448,-0.000162289848273,1.66106407523e-05,1793190420047838720
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.544847052,671,660,632,876,782.455152948,799,649,627,649.544847052,0.401548530666,-0.00540538686664,0.0698995319899,0.999999966132,0.00019802173764,-0.000168384426108,1.30527691159e-05,1793190420064505600
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.031382941,670.968617059,660,632,876,782.968617059,799,649,627,649.031382941,0.401665900857,-0.0054072779181,0.069897228615,0.999999966062,0.000194356603826,-0.000173252948967,9.17892745781e-06,1793190420081172480
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.606102696,670.393897304,660,632,876,782.393897304,799,649,627,649.606102696,0.401819684327,-0.00541026827183,0.069899141626,0.99999996789,0.000187897715776,-0.000169966505943,5.02828190675e-06,1793190420097839104
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.185883529,742,712,670,660,632,876.185883529,782.185883529,799,649,626.814116471,649.814116471,0.401984551081,-0.00541405251004,0.0699024495834,0.999999970308,0.000180631530272,-0.00016357398817,8.41676703897e-07,1793190420114505728
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.776689159,742,712,670,660,632,876.776689159,782.776689159,799,649,626.223310841,649.223310841,0.402173561249,-0.00541956611771,0.0699087962422,0.999999973957,0.000171606757405,-0.000150415307518,-3.423261189e-06,1793190420131172352
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.640365616,742,712,670.359634384,660,632.359634384,876.640365616,782.640365616,798.640365616,649,626.359634384,649,0.402381173202,-0.00542373844257,0.0699119891791,0.99999997649,0.000162245436406,-0.000143584368909,-8.94590849614e-06,1793190420147838976
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.062196767,742,712,670.937803233,660,632.937803233,876.062196767,782.062196767,798.062196767,649,626.937803233,649,0.402600088685,-0.00542709572764,0.0699132657343,0.999999978344,0.000152679608602,-0.000140598527783,-1.52328125421e-05,1793190420164505856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,670.48463104,660,632.48463104,876.51536896,782.51536896,799.03073792,649,627,649.51536896,0.402858815126,-0.00543176571641,0.0699163720911,0.999999980137,0.000145762375221,-0.00013430294163,-2.10466358276e-05,1793190420181172480
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,670.093791114,660,632.093791114,876.906208886,783,799.812417772,649,626.906208886,649.906208886,0.4031306558,-0.00543698582232,0.0699211132657,0.99999998242,0.000137292077811,-0.000124882761743,-2.67398076456e-05,1793190420197839104
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,670.677062451,660,632.677062451,876.322937549,783,798.645875097,649,626.322937549,649.322937549,0.403445892763,-0.00544425108683,0.0699332351678,0.999999987274,0.000119050382081,-0.000101237982816,-3.21009336082e-05,1793190420214505984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.259275607,742,712,670.740724393,660,632.740724393,876.259275607,782.740724393,798.259275607,649,626.259275607,649,0.403775297953,-0.00545102799914,0.0699423843367,0.999999990966,0.00010059930088,-8.43512752196e-05,-2.88636498097e-05,1793190420231172864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.84017608,742,712,670.15982392,660,632.15982392,876.84017608,782.15982392,798.84017608,649,626.84017608,649,0.404122278453,-0.00545719912241,0.0699478459042,0.999999993659,8.18884834251e-05,-7.58477864998e-05,-1.49602547855e-05,1793190420247839232
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,712,670.419870351,660.419870351,632,877,782,799,649,627,649.419870351,0.404493136774,-0.0054741975105,0.0699502173372,0.999999995236,6.14560204399e-05,-7.44499103536e-05,-1.44151239198e-05,1793190420264505856
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,712,670.999106783,660.999106783,632,877,782,799,649,627,649.999106783,0.404873058159,-0.00549530549741,0.069951415878,0.999999996137,4.03700897185e-05,-7.57490422214e-05,-1.89402589891e-05,1793190420281172224
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742.571644845,712,671,660.428355155,632,876.428355155,782,799,649,627,649.428355155,0.405294742277,-0.00550506898455,0.0699516453844,0.999999996755,2.22751379276e-05,-7.44842731554e-05,-2.11066604426e-05,1793190420297839104
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742.851731808,712,671,660.148268192,632,876.148268192,782,799,649,627,649,0.405725799313,-0.00551223768278,0.0699507652042,0.999999996882,7.50829068841e-06,-7.5158735581e-05,-2.30582432806e-05,1793190420314505472
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742.26293992,712,671,660.73706008,632,876.73706008,782,799,649,627,649,0.406184512769,-0.00551174898764,0.0699465924501,0.99999999637,2.61594465871e-06,-8.16066672522e-05,-2.43823958643e-05,1793190420331172352
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.679717777,742,712,670.679717777,660.679717777,632,877,782,799,648.679717777,626.679717777,649.320282223,0.40665820766,-0.00551588507797,0.0699324321545,0.999999994362,-2.46665684834e-06,-0.000102742998696,-2.67005558493e-05,1793190420347838976
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,670.476868695,660.476868695,632,877,782,799,648.476868695,626.476868695,649.523131305,0.407695414078,-0.00552934563295,0.0699083869789,0.999999990571,-1.55163526998e-05,-0.000132616542714,-3.20956467561e-05,1793190420381172480
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.945817458,671,661,632,877,782,799,649,626.945817458,649.054182542,0.408266756221,-0.00553460588069,0.0699123512564,0.999999992015,-2.40808532842e-05,-0.000119274001764,-3.41213208495e-05,1793190420397839104
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.37196643,671,661,632,877,782,799,649,626.37196643,649.62803357,0.408896068818,-0.00554129197778,0.0699304987063,0.999999995488,-3.46218702631e-05,-8.10416843058e-05,-3.54713384415e-05,1793190420414505984
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+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.79777659,671,661,632,877,782.79777659,799,649,626,650,0.410143434664,-0.0055596891004,0.0699371667694,0.999999995648,-5.97334837735e-05,-6.11886322819e-05,-3.73195791589e-05,1793190420447838976
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,670.620001623,661,632,877,782.620001623,799,649,626.379998377,649.620001623,0.410787436202,-0.00556567740725,0.0699333921531,0.999999994352,-6.80506569179e-05,-7.18923223353e-05,-3.86887164241e-05,1793190420464505856
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,670.041915757,661,632,877,782.041915757,799,649,626.958084243,649.041915757,0.411443436693,-0.00556936424804,0.0699296146225,0.99999999275,-7.36546824055e-05,-8.62750054496e-05,-4.03962903319e-05,1793190420481172736
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.53582987,712,670.53582987,661,632,877,782,799,649.53582987,627,649,0.412172493674,-0.00557065673346,0.0699495597257,0.999999995451,-7.32662040755e-05,-4.65457243779e-05,-3.95377912046e-05,1793190420497839360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,671,661,632,877,782,799,649.887154329,626.887154329,649,0.412911682064,-0.00556755690646,0.0699715036437,0.999999996953,-6.77935463649e-05,-5.8053613264e-06,-3.82560222659e-05,1793190420514505984
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.729760919,712,671,661,632,877,782,799,649,626.270239081,649,0.414409052292,-0.00553577956644,0.069991438676,0.999999998853,-3.00833464718e-05,9.35388211926e-06,-3.60804719348e-05,1793190420547838976
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.13558649,712,671,661,632,877,782,799,649,626.86441351,649,0.415128615458,-0.00553484307536,0.0699587140005,0.999999997502,-2.986583736e-05,-5.10185336297e-05,-3.87441312468e-05,1793190420564505600
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.55426381,632,877,782,798.55426381,649,626.55426381,649,0.415872439202,-0.00554006857188,0.0699163681279,0.999999990944,-4.96423037148e-05,-0.000117371103855,-4.32630197888e-05,1793190420581172224
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.023080525,632,877,782,798.023080525,649,626.023080525,649,0.416626812681,-0.00554704964049,0.0698741361019,0.999999979728,-7.4224516559e-05,-0.000180884359078,-4.81133595986e-05,1793190420597838848
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.596170013,632,877,782,798.596170013,649,626.596170013,649,0.417461657204,-0.00555245111781,0.0699024040639,0.999999987174,-7.24582044815e-05,-0.000134603080205,-4.77909957834e-05,1793190420614505728
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.174353554,712,671.174353554,661,632,877,782.174353554,799,649,627,649,0.41830419284,-0.00555788044891,0.069932187852,0.999999992235,-7.38466267925e-05,-8.87632220984e-05,-4.6881105123e-05,1793190420631172352
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.764690772,712,671.764690772,661,632,877,782.764690772,799,649,627,649,0.419165078364,-0.00556337623497,0.0699655881916,0.999999994615,-8.27618129478e-05,-4.39765366026e-05,-4.45694561645e-05,1793190420647838976
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diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11962d27289826c4b560052f14d570d3d8609719
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+363,6.050000000,pose2_to_pose3_retreat,0.575755915906,0.000219615145127,1.06002831091,0.546326328349,0.00889133144469,1.05969931829
+364,6.066666667,pose2_to_pose3_retreat,0.575744988287,0.000219650936811,1.06002834226,0.546315401196,0.00889136897431,1.05969935386
+365,6.083333333,pose2_to_pose3_retreat,0.575737662887,0.000219764555418,1.06002842768,0.546308075189,0.0088914804396,1.05969943656
+366,6.100000000,pose2_to_pose3_retreat,0.575732695488,0.000219724209588,1.06002835725,0.546303106304,0.00889143491724,1.05969936228
+367,6.116666667,pose2_to_pose3_retreat,0.575729494691,0.000219694405402,1.06002836091,0.546299905554,0.00889140520517,1.05969936403
+368,6.133333333,pose2_to_pose3_retreat,0.575728024066,0.000219677656137,1.06002840195,0.546298435757,0.00889139124939,1.05969940464
+369,6.150000000,pose2_to_pose3_retreat,0.575727249287,0.000219668832017,1.06002842357,0.546297661414,0.00889138389699,1.05969942604
+370,6.166666667,pose2_to_pose3_retreat,0.575726926738,0.000219665158443,1.06002843257,0.546297339047,0.0088913808361,1.05969943495
+371,6.183333333,pose2_to_pose3_retreat,0.575726705374,0.000219662637281,1.06002843874,0.546297117808,0.00889137873543,1.05969944106
+372,6.200000000,pose2_to_pose3_retreat,0.575726458156,0.000219659821657,1.06002844564,0.546296870729,0.0088913763894,1.05969944789
+373,6.216666667,pose2_to_pose3_retreat,0.57572605878,0.000219656480249,1.06002846379,0.546296471464,0.00889137339541,1.0596994653
+374,6.233333333,pose2_to_pose3_retreat,0.57572573924,0.000219655293747,1.06002848694,0.546296151872,0.00889137198036,1.05969948707
+375,6.250000000,pose2_to_pose3_retreat,0.575725550826,0.000219654594135,1.06002850059,0.546295963427,0.00889137114599,1.05969949991
+376,6.266666667,pose2_to_pose3_retreat,0.57572545677,0.00021965424489,1.0600285074,0.546295869356,0.00889137072947,1.05969950632
+377,6.283333333,pose2_to_pose3_retreat,0.575725447638,0.00021965421098,1.06002850806,0.546295860222,0.00889137068903,1.05969950694
+378,6.300000000,pose2_to_pose3_retreat,0.575725372282,0.000219653931173,1.06002851352,0.546295784854,0.00889137035533,1.05969951207
+379,6.316666667,pose2_to_pose3_retreat,0.575725275803,0.000219653572931,1.06002852051,0.54629568836,0.00889136992808,1.05969951865
+380,6.333333333,pose2_to_pose3_retreat,0.575725249075,0.000219653473686,1.06002852245,0.546295661627,0.00889136980972,1.05969952047
+381,6.350000000,pose2_to_pose3_retreat,0.575725093462,0.000219652895869,1.06002853372,0.546295505989,0.0088913691206,1.05969953107
+382,6.366666667,pose2_to_pose3_retreat,0.575724726716,0.000219651534084,1.06002856029,0.546295139184,0.00889136749651,1.05969955606
+383,6.383333333,pose2_to_pose3_retreat,0.575724540556,0.000219650842841,1.06002857377,0.546294952993,0.00889136667212,1.05969956875
+384,6.400000000,pose2_to_pose3_retreat,0.575724513452,0.000219650742199,1.06002857574,0.546294925885,0.00889136655209,1.05969957059
+385,6.416666667,pose2_to_pose3_retreat,0.575724491637,0.000219650661197,1.06002857732,0.546294904066,0.00889136645549,1.05969957208
+386,6.433333333,pose2_to_pose3_retreat,0.575724410913,0.000219650361457,1.06002858316,0.546294823329,0.00889136609801,1.05969957758
+387,6.450000000,pose2_to_pose3_retreat,0.575724080211,0.000219649133507,1.06002860712,0.546294492573,0.00889136463353,1.05969960011
+388,6.466666667,pose2_to_pose3_retreat,0.575724072234,0.000219649103885,1.0600286077,0.546294484595,0.00889136459821,1.05969960066
+389,6.483333333,pose2_to_pose3_retreat,0.575723756851,0.000219662150005,1.06002861154,0.54629416896,0.00889137683888,1.05969960578
+390,6.500000000,pose2_to_pose3_retreat,0.575723523722,0.000219685598128,1.06002859593,0.546293935451,0.00889139912858,1.05969959368
+391,6.516666667,pose2_to_pose3_retreat,0.575723080995,0.000219730127673,1.06002856629,0.546293492001,0.0088914414582,1.0596995707
+392,6.533333333,pose2_to_pose3_retreat,0.575723041084,0.000219734141935,1.06002856362,0.546293452025,0.00889144527415,1.05969956863
+393,6.550000000,pose2_to_pose3_retreat,0.575723002809,0.000219737991641,1.06002856106,0.546293413687,0.00889144893366,1.05969956664
+394,6.566666667,pose2_to_pose3_retreat,0.575722810036,0.000219755368434,1.06002850583,0.546293220099,0.00889146360805,1.05969951316
+395,6.583333333,pose2_to_pose3_retreat,0.575722705691,0.000219764249678,1.06002846489,0.546293115181,0.00889147057177,1.05969947287
+396,6.600000000,pose2_to_pose3_retreat,0.575722673154,0.000219785844296,1.06002857553,0.546293083337,0.00889149428485,1.05969957739
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74be6ea66786a25f5795cadda4689b558538d576
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa59e031985242a9146ba7276e61821ab69f01d95e4e190098133e8e1612f7d8
+size 25390255
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21555cd1bd2009c132cb5b6e33938306aacbbee7
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+21,0.350000000,BASELINE,764.196900934,742,712,671,660,632,877,782.803099066,799,649,626.196900934,649,0.400950650119,-0.00539334270866,0.0698224160744,0.999999936185,0.000210017016017,-0.000288229075643,2.11319655581e-05,1793190425083249664
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+28,0.466666667,BASELINE,764,742,712,671,660,632,877,782,798.742757801,649,626.257242199,649,0.400950799817,-0.00539579235233,0.0698223895934,0.999999937024,0.000206247059599,-0.000288051874682,2.09910829833e-05,1793190425199916288
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+30,0.500000000,BASELINE,764,742,712,671,660.413714888,632,877,782,798,649,626.586285112,649,0.400949635052,-0.00539469218367,0.0698216762506,0.999999936655,0.000207001418212,-0.000288816322802,2.0625398408e-05,1793190425233250048
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+39,0.650000000,BASELINE,764,742,712,671,660,632,876,782,798,649,626.363132989,649,0.400951471523,-0.00539375155403,0.0698221110035,0.999999936864,0.000208201044993,-0.000287221866556,2.06851082468e-05,1793190425383250176
+40,0.666666667,BASELINE,764,742,711.776491925,671,660.223508075,632,876.223508075,782.223508075,798,649,626,649,0.400952357417,-0.00539448103666,0.0698228290664,0.999999937538,0.000207044736783,-0.000285687384347,2.09677330255e-05,1793190425399916544
+41,0.683333333,BASELINE,764,742,711.19692213,671,660.80307787,632,876.80307787,782.80307787,798,649,626,649,0.400950103619,-0.0053950497041,0.0698214678266,0.999999936914,0.000206069773963,-0.000288604816155,2.03826259317e-05,1793190425416583424
+42,0.700000000,BASELINE,764,742,711.38006615,670.61993385,661,632,877,782.61993385,798,649,626.38006615,649,0.400950089814,-0.00539474381634,0.0698216107491,0.9999999368,0.000206487395603,-0.000288696335974,2.04223507146e-05,1793190425433250048
+43,0.716666667,BASELINE,764,742,711.955725884,670.044274116,661,632,877,782.044274116,798,649,626.955725884,649,0.400951228778,-0.00539398785588,0.0698225277591,0.99999993695,0.000207621683534,-0.000287333555556,2.07836329783e-05,1793190425449916416
+44,0.733333333,BASELINE,764,742,712,670.540966549,660.459033451,632,877,782,798.540966549,649,627,649,0.400952050668,-0.00539439375917,0.0698233788859,0.999999936971,0.000208624744453,-0.000286521419234,2.09543412973e-05,1793190425466583040
+45,0.750000000,BASELINE,764,742,711.874974706,671,660,632,877,782,799,649,626.874974706,649,0.400952306958,-0.00539510302149,0.069823824585,0.999999937002,0.00020871626084,-0.000286338610104,2.10634917192e-05,1793190425483249920
+46,0.766666667,BASELINE,764,742,711.298073047,671,660,632,877,782,799,649,626.298073047,649,0.400950614488,-0.0053965588297,0.0698228247944,0.999999937105,0.000205552717336,-0.000288264547113,2.10075432216e-05,1793190425499917056
+47,0.783333333,BASELINE,764,742,711.28141196,671,659.71858804,632,876.71858804,782,799,649,626,649,0.400949633344,-0.00539690921423,0.0698222656084,0.999999937142,0.000204387347756,-0.000288974438405,2.08906961294e-05,1793190425516583680
+48,0.800000000,BASELINE,764,742,711.863658687,671,659.136341313,632,876.136341313,782,799,649,626,649,0.400949412619,-0.00539607787988,0.0698221774371,0.999999937117,0.000205358063925,-0.000288384353813,2.07087472683e-05,1793190425533250304
+49,0.816666667,BASELINE,764,742,712,670.560978186,659.439021814,632,876.439021814,782,798.560978186,649,626.439021814,649,0.400950196882,-0.00539516283851,0.0698228078787,0.999999936906,0.000207298652478,-0.000287707340279,2.09465046788e-05,1793190425549916672
+50,0.833333333,BASELINE,764,742,712,670,660,632,876.9874037,782,798.0125963,649,627,649,0.400951256077,-0.00539425144868,0.0698236165168,0.999999936642,0.000209450661855,-0.000287041229959,2.12950523044e-05,1793190425566583296
+51,0.850000000,BASELINE,764,742,712,670,660,632,876.399387254,782,798.600612746,649,627,649,0.400950837153,-0.00539467606364,0.0698225280537,0.999999936713,0.000207713790278,-0.000288087397648,2.08423272333e-05,1793190425583249920
+52,0.866666667,BASELINE,764,742,712,670,660.186575627,632,876.186575627,782,798.813424373,649,626.813424373,649,0.40095036429,-0.0053951299512,0.0698217929261,0.999999936707,0.000206582647862,-0.00028894354688,2.05120981452e-05,1793190425599916544
+53,0.883333333,BASELINE,764,742,712,670,660.768190431,632,876.768190431,782,798.231809569,649,626.231809569,649,0.40094977722,-0.00539564581802,0.0698218059204,0.999999936546,0.000206734024348,-0.000289397367321,2.04412315368e-05,1793190425616583168
+54,0.900000000,BASELINE,764,742,711.655405167,670,660.655405167,632,876.655405167,782,798.344594833,649,626.344594833,649.344594833,0.400950423613,-0.00539532193257,0.0698220393868,0.999999936777,0.000207002125857,-0.000288395454253,2.05991257741e-05,1793190425633249792
+55,0.916666667,BASELINE,764,742,711.082453626,670,660.082453626,632,876.082453626,782,798.917546374,649,626.917546374,649.917546374,0.400951887398,-0.0053944415586,0.0698224189561,0.999999937264,0.000207347578902,-0.000286428853135,2.09086156519e-05,1793190425649916416
+56,0.933333333,BASELINE,764.490242252,742,711,670,660,632,876,782,799,649,626.509757748,649.509757748,0.40095292687,-0.00539490681187,0.0698239077387,0.999999937914,0.000206381410636,-0.000284861893539,2.07723900728e-05,1793190425666583552
+57,0.950000000,BASELINE,764.93477944,742,711.06522056,670,660,632,876.06522056,782,799,649,626.06522056,649,0.400953669556,-0.00539559576983,0.0698252671328,0.999999938467,0.000205354550253,-0.000283675333109,2.06062902231e-05,1793190425683250176
+58,0.966666667,BASELINE,764.340954319,742,711.659045681,670,660,632,876.659045681,782,799,649,626.659045681,649,0.400952584944,-0.00539626448323,0.0698240666045,0.999999938023,0.000205622800351,-0.000285027372062,2.0805326025e-05,1793190425699916800
+59,0.983333333,BASELINE,764,741.753086313,712,670.246913687,660,632,876.753086313,782,799,649,626.753086313,649,0.400951733082,-0.00539625645597,0.0698234590723,0.9999999376,0.000206353549778,-0.000285976415583,2.087158598e-05,1793190425716583168
+60,1.000000000,BASELINE,764,741.173250408,712,670.826749592,660,632,876.173250408,782,799,649,626.173250408,649,0.400951195048,-0.00539533595611,0.0698236510969,0.999999937206,0.000207707902998,-0.000286382086689,2.07588197212e-05,1793190425733249792
+61,1.016666667,BASELINE,764,741.402864979,712,671,660,632,876,782,799,649,626.402864979,649,0.400950911569,-0.00539433399346,0.0698233398292,0.999999936801,0.000209151533995,-0.000286758159323,2.05966498794e-05,1793190425749916416
+62,1.033333333,BASELINE,764,741.977394978,712,671,660,632,876,782,799,649,626.977394978,649,0.40095073656,-0.00539329731872,0.0698228141032,0.999999936389,0.000210633207113,-0.000287121619712,2.04134286562e-05,1793190425766583040
+63,1.050000000,BASELINE,764.563290902,742,711.436709098,671,660,632,876,782,798.436709098,649,627,649,0.400952566359,-0.00539396053874,0.069824243452,0.999999937353,0.000209176981571,-0.000284801541422,2.06631009629e-05,1793190425783249664
+64,1.066666667,BASELINE,764.851341793,742,711,671,660,632,876,782,798,649,627,649,0.400953616314,-0.00539498815676,0.0698252121432,0.999999938138,0.000207295288531,-0.000283402720616,2.08917017091e-05,1793190425799916544
+65,1.083333333,BASELINE,764.268875542,742,711,671,660,632,876,782,798,649,627,649,0.400952150947,-0.00539687597733,0.0698246028957,0.999999938248,0.000204523146462,-0.000285013005633,2.10070737108e-05,1793190425816583168
+66,1.100000000,BASELINE,764,742,711.309311059,671,660,632,876.309311059,782,798.309311059,649,626.690688941,649,0.400950740349,-0.00539690687154,0.0698239420914,0.999999937822,0.000204592103787,-0.000286454526465,2.10226320159e-05,1793190425833250048
+67,1.116666667,BASELINE,764,742,711.88382822,671,660,632,876.88382822,782,798.88382822,649,626.11617178,649,0.400949376712,-0.0053953456202,0.0698232370818,0.999999936935,0.000207097045588,-0.000287751347274,2.09526091479e-05,1793190425849916416
+68,1.133333333,BASELINE,764,742,711.540411525,670.540411525,660.459588475,632,877,782.459588475,798.540411525,649,626.459588475,649,0.400950199173,-0.00539502971527,0.0698232324443,0.999999937011,0.000206970464873,-0.000287591736823,2.07797963213e-05,1793190425866582784
+69,1.150000000,BASELINE,764,742,711,670,660.963523397,632,877,782.963523397,798.036476603,649,626.963523397,649,0.400951516514,-0.00539507248565,0.0698234468989,0.99999993735,0.000206189553907,-0.000286988216081,2.05997402471e-05,1793190425883249408
+70,1.166666667,BASELINE,764,742,711,670,660.37431962,632,877,782.37431962,798.62568038,649,626.37431962,649,0.400951936707,-0.00539576730135,0.0698242913588,0.999999937966,0.000205600372583,-0.000285251793355,2.07047078043e-05,1793190425899916288
+71,1.183333333,BASELINE,764,742,711.211629775,670,660,632,876.788370225,782,799,649,626,649,0.400952322509,-0.00539636788612,0.0698247171807,0.999999938322,0.000205370092777,-0.000284149202426,2.09395535879e-05,1793190425916582912
+72,1.200000000,BASELINE,764,742,711.791910261,670,660,632,876.208089739,782,799,649,626,649,0.400952648402,-0.00539680432444,0.0698244137521,0.999999938231,0.000205765005148,-0.000284150721179,2.14006421314e-05,1793190425933249792
+73,1.216666667,BASELINE,764,742,712,670,660,632,876.368214769,782,799,649,626,649,0.400952364097,-0.00539604409167,0.0698241233626,0.999999938039,0.000206220022976,-0.000284506383963,2.1268007475e-05,1793190425949916672
+74,1.233333333,BASELINE,764,742,712,670,660,632,876.942296296,782,799,649,626,649,0.400951738634,-0.00539461480697,0.0698238402633,0.99999993779,0.000206708645393,-0.000285060046638,2.08034255684e-05,1793190425966583296
+75,1.250000000,BASELINE,764.529231966,742,712,670,660.529231966,632,876.470768034,782.529231966,798.470768034,649,626.529231966,649,0.400951694027,-0.00539467911875,0.0698239424008,0.999999937904,0.000206066917799,-0.00028511945774,2.08636853322e-05,1793190425983249920
+76,1.266666667,BASELINE,765,741.884279202,712,670.115720798,660.884279202,632,876,782.884279202,798,649,627,649,0.400952206376,-0.00539509116293,0.0698241714613,0.999999938109,0.00020558673332,-0.000284740392992,2.09523860497e-05,1793190425999916288
+77,1.283333333,BASELINE,765,741.305329026,712,670.694670974,660.305329026,632,876,782.305329026,798,649,627,649,0.400954688384,-0.00539622705757,0.0698247362686,0.999999938514,0.000206258835644,-0.000282827202973,2.09201621521e-05,1793190426016582912
+78,1.300000000,BASELINE,764.727696022,741.272303978,711.727696022,670.727696022,660,632,876.272303978,782,798,649,626.727696022,649,0.400954838349,-0.00539641520621,0.0698245507283,0.999999938481,0.000206430258171,-0.00028282973473,2.07682907066e-05,1793190426033249536
+79,1.316666667,BASELINE,764.151532866,741.848467134,711.151532866,670.151532866,660,632,876.848467134,782,798,649,626.151532866,649,0.400952386027,-0.00539554578182,0.0698235278884,0.999999937959,0.000206042980953,-0.000284969986554,2.04829066873e-05,1793190426049916160
+80,1.333333333,BASELINE,764,742,711.423226265,670.423226265,660,632,877,782.423226265,798.423226265,649,626,649.423226265,0.400951561152,-0.00539528687932,0.0698235383698,0.999999937618,0.000206701828716,-0.000285674023433,2.06916139594e-05,1793190426066583040
+81,1.350000000,BASELINE,764,742,711.997484405,670.997484405,660,632,877,782.997484405,798.997484405,649,626,649.997484405,0.400951317043,-0.00539524584664,0.0698239176006,0.999999937342,0.000207733995,-0.00028586553503,2.10766418676e-05,1793190426083249920
+82,1.366666667,BASELINE,764,742,712,671,660.587925273,632,877.587925273,782.412074727,798.412074727,649,626,649.412074727,0.400951682271,-0.00539325300085,0.0698240640511,0.999999937404,0.000208437920395,-0.000285165891016,2.06475563481e-05,1793190426099916800
+83,1.383333333,BASELINE,764,742,712,670.824322146,660.824322146,632,877.648644292,782,798.175677854,649,626.175677854,649,0.400951958313,-0.00539230618558,0.0698240339084,0.999999937453,0.000208652034471,-0.000284855150894,2.03785785379e-05,1793190426116583168
+84,1.400000000,BASELINE,764,742,712,670.242942084,660.242942084,632,876.485884168,782,798.757057916,649,626.757057916,649,0.400952022203,-0.00539379485587,0.0698235983144,0.999999937471,0.000207738336579,-0.000285451581975,2.04876179817e-05,1793190426133249792
+85,1.416666667,BASELINE,764,742,712,670.333771314,660,632,876.333771314,782,798.666228686,649,627,649,0.400950987868,-0.00539417556227,0.069822757044,0.999999937061,0.000207836341112,-0.000286811309139,2.05030776937e-05,1793190426149916416
+86,1.433333333,BASELINE,764,742,712,670.907134791,660,632,876.907134791,782,798.092865209,649,627,649,0.400949165192,-0.0053937609352,0.0698216245655,0.999999936342,0.000208660579383,-0.000288718955608,2.04513627517e-05,1793190426166583296
+87,1.450000000,BASELINE,764,742,711.516921417,670.516921417,660,632,876.516921417,782,798.966157166,649,626.516921417,649,0.400950868427,-0.00539470658561,0.069823098036,0.999999937341,0.000207261095743,-0.000286248257936,2.05813189178e-05,1793190426183249664
+88,1.466666667,BASELINE,764,742,711,670,660,632.061037855,876,782.061037855,799.938962145,649,626.061037855,648.938962145,0.400952994541,-0.0053959187419,0.0698248671814,0.999999938518,0.000205566020447,-0.000283329068898,2.07617234897e-05,1793190426199916288
+89,1.483333333,BASELINE,764,742,711,670,660,632.652169944,876,782.652169944,799.347830056,649,626.652169944,648.347830056,0.400952875077,-0.00539716222399,0.0698248301468,0.999999938469,0.000205036289152,-0.000283863819618,2.10753258084e-05,1793190426216583168
+90,1.500000000,BASELINE,764,741.762763718,711,670.237236282,660.237236282,632.762763718,876,783,798.762763718,649,626.762763718,648.237236282,0.400952664293,-0.00539728107952,0.0698248661141,0.999999938353,0.000205308916842,-0.000284062309136,2.12267951307e-05,1793190426233250048
+91,1.516666667,BASELINE,764,741.186369164,711,670.813630836,660.813630836,632.186369164,876,783,798.186369164,649,626.186369164,648.813630836,0.400952322954,-0.00539579214377,0.0698250064466,0.999999938142,0.000206728614853,-0.000283780072106,2.11464754833e-05,1793190426249916672
+92,1.533333333,BASELINE,764.389299101,741.389299101,711.389299101,671,660.610700899,632,876,783,798,649,626,649,0.400951430245,-0.00539375907535,0.0698240950709,0.999999937296,0.000209297785822,-0.000284903585712,2.0780542069e-05,1793190426266583040
+93,1.550000000,BASELINE,764.964620366,741.964620366,711.964620366,671,660.035379634,632,876,783,798,649,626,649,0.40095027407,-0.00539146599916,0.0698226811482,0.999999936136,0.000212416219548,-0.000286698821306,2.02781313446e-05,1793190426283249664
+94,1.566666667,BASELINE,764.445802318,742,712,670.445802318,660,632,876,782.445802318,798,649,626,649.554197682,0.400950064324,-0.00539332583534,0.0698224969823,0.999999936504,0.000210036031163,-0.00028715512235,2.04604933998e-05,1793190426299916288
+95,1.583333333,BASELINE,764,742,711.858150884,670,660,632,876.141849116,782,798.141849116,649,626,649.858150884,0.400949944911,-0.00539520889043,0.0698224099388,0.999999936997,0.000207457954098,-0.000287301088735,2.06387499597e-05,1793190426316582912
+96,1.600000000,BASELINE,764,742,711.279310075,670,660,632,876.720689925,782,798.720689925,649,626,649.279310075,0.40094991274,-0.00539632516378,0.069822373858,0.99999993758,0.000205380203725,-0.000286761292592,2.06661297372e-05,1793190426333249536
+97,1.616666667,BASELINE,764.298707753,742,711.298707753,670.298707753,660,632,876.701292247,782.298707753,798.701292247,649,626,649,0.400950374092,-0.00539670267678,0.0698227728477,0.999999937912,0.000204652241843,-0.000286131373073,2.05636554968e-05,1793190426349916416
+98,1.633333333,BASELINE,764.875958126,742,711.875958126,670.875958126,660,632,876.124041874,782.875958126,798.124041874,649,626,649,0.40095129565,-0.00539639130152,0.0698235775371,0.999999938012,0.000205182947184,-0.000285417414252,2.0340093409e-05,1793190426366583296
+99,1.650000000,BASELINE,764.540894356,742,711.540894356,671,660,632,876,783,798,649,626,649,0.400950367225,-0.00539537271261,0.0698235792854,0.999999937772,0.000205700508063,-0.000285895942202,2.01537550358e-05,1793190426383249664
+100,1.666666667,BASELINE,764,742,711,670.956633936,660,632,876,782.956633936,798.043366064,649,626.043366064,649,0.400949121593,-0.00539428792686,0.0698233584116,0.99999993744,0.000206292292763,-0.000286641148703,2.0021908952e-05,1793190426399916544
+101,1.683333333,BASELINE,764,742,711,670.378552496,660,632,876,782.378552496,798.621447504,649,626.621447504,649,0.400950207965,-0.00539477359258,0.069823102282,0.999999937108,0.000207843636856,-0.000286650217377,2.04363464881e-05,1793190426416583168
+102,1.700000000,BASELINE,764,742,711.200024583,670.200024583,660,632,876,782,798.799975417,649,627,649,0.400950567922,-0.00539509178602,0.0698226542739,0.999999937022,0.000208041156876,-0.000286800405018,2.04990976293e-05,1793190426433249792
+103,1.716666667,BASELINE,764,742,711.779541937,670.779541937,660,632,876,782,798.220458063,649,627,649,0.400949549703,-0.00539509224583,0.0698218422282,0.999999937405,0.00020567016019,-0.000287218327891,1.98946185148e-05,1793190426449916416
+104,1.733333333,BASELINE,764,742,711.643576558,670.643576558,660,632,876,782,798.356423442,649,626.643576558,649,0.400951192699,-0.00539408923492,0.0698228784254,0.999999937581,0.000207096486196,-0.000285568142861,1.99877381941e-05,1793190426466583040
+105,1.750000000,BASELINE,764,742,711.068313376,670.068313376,660,632,876,782,798.931686624,649,626.068313376,649,0.40095446965,-0.00539247010496,0.0698250494215,0.999999937615,0.000210854322783,-0.000282648164293,2.05091751488e-05,1793190426483249664
+106,1.766666667,BASELINE,764,742,711.517732733,670.517732733,660,632,876,782,799,649,626.517732733,649.517732733,0.400952155929,-0.00539419596963,0.0698244141593,0.999999937242,0.00021016943504,-0.000284459557444,2.06561857596e-05,1793190426499916544
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,877,782,799,649,626,649,0.400949288865,-0.00539748088269,0.0698228525284,0.999999937491,0.000205039703801,-0.000287314771911,2.06726752195e-05,1793190426542398976
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.423124939,741.423124939,712,670,660.576875061,632,876.423124939,782,798.423124939,649,626.576875061,649,0.400951385916,-0.00539620728794,0.0698239835709,0.999999938173,0.00020570596129,-0.000284442617574,2.07707311727e-05,1793190426559065600
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.153431693,711.846568307,670.153431693,660.846568307,632,876,782.153431693,798.153431693,649,627,649,0.400953024658,-0.00539506823958,0.0698249132258,0.999999938549,0.00020670319648,-0.000282390612078,2.07660782293e-05,1793190426575732224
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.729112127,711.270887873,670.729112127,660.270887873,632,876,782.729112127,798.729112127,649,627,649,0.40095340212,-0.00539429946669,0.0698252886563,0.999999938101,0.000208611292647,-0.000282595680791,2.04787672642e-05,1793190426592398592
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.31160405,670.68839595,660.31160405,632,876.31160405,783,799,649,627,649.31160405,0.400952342889,-0.00539455569494,0.0698244618111,0.999999937503,0.000208620283328,-0.000284696657156,2.04605355641e-05,1793190426609065216
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.900149726,670.099850274,660.900149726,632,876.900149726,783,799,649,627,649.900149726,0.400950006782,-0.0053957229046,0.0698225664296,0.999999936763,0.000206941422391,-0.000288482642895,2.06814511239e-05,1793190426625731840
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,670.482541424,660.517458576,632,877,783,799,649,627,649.517458576,0.400951181546,-0.00539607850081,0.0698230642552,0.999999937282,0.000206548970201,-0.000286952926895,2.07703026157e-05,1793190426642398720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062900349,742,712,671,660,632,876.937099651,782.937099651,799.062900349,649.062900349,627,649,0.400953640863,-0.00539627299522,0.0698243348206,0.999999938139,0.000206383175309,-0.000284066670823,2.0856959612e-05,1793190426659065600
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.636958109,742,712,671,660,632,876.363041891,782.363041891,799.636958109,649.636958109,627,649,0.400960709604,-0.00539650590435,0.0698279113474,0.999999939659,0.00020592335021,-0.000278982729765,2.11450622435e-05,1793190426675732480
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.788792336,742,712,671,660,632,876,782,799.788792336,649.788792336,627,649.211207664,0.400974207606,-0.00539669975373,0.0698342037437,0.999999942353,0.000206105059867,-0.000268989031642,2.1425987309e-05,1793190426692398848
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.214212864,742,712,671,660,632,876,782,799.214212864,649.214212864,627,649.785787136,0.400998766815,-0.00539682640281,0.0698451686519,0.999999946872,0.00020739049673,-0.000250548352173,2.16945637116e-05,1793190426709065472
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.373075972,782,798.626924028,649,627,649.626924028,0.401041223039,-0.00539843473979,0.0698617960288,0.999999954091,0.000206088163397,-0.000221021863985,2.22561417967e-05,1793190426725732096
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.967919698,782,798.032080302,649,627,649.032080302,0.401094317797,-0.00540092383733,0.0698817893512,0.999999961986,0.000203247580346,-0.000184905630501,2.29918890369e-05,1793190426742398720
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877,782.544070855,798.544070855,649.544070855,627,649,0.401152603448,-0.00540180532521,0.0698927921321,0.999999963893,0.000204211167291,-0.000173185043196,2.27707327851e-05,1793190426759065344
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.881069927,670.881069927,660,632,877,783,799,649.881069927,627,649.118930073,0.401213929286,-0.00540259829195,0.0699014781567,0.999999965288,0.000204818085842,-0.000164260885572,2.21640586395e-05,1793190426775731712
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.307076703,670.307076703,660,632,877,783,799,649.307076703,627,649.692923297,0.401285755602,-0.00540340319917,0.0699032605638,0.999999966228,0.000203230521488,-0.000160715585062,2.02909924119e-05,1793190426792398592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.274798807,670.274798807,660,632,877,782.725201193,799,649,627,650,0.401367736524,-0.00540494632928,0.069902808674,0.999999966835,0.000200494106305,-0.000160672162527,1.77970109542e-05,1793190426809065216
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.865742532,670.865742532,660,632,877,782.134257468,799,649,627,650,0.401461399907,-0.00540733875494,0.0698997863157,0.999999967044,0.000196435984778,-0.000164657509259,1.45886917354e-05,1793190426825731840
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,670.556624495,660,632,876.556624495,782.443375505,798.556624495,649,626.556624495,649.556624495,0.401574737275,-0.00541039440324,0.0698995140663,0.999999967445,0.00019277418303,-0.000166772930796,1.1615026276e-05,1793190426842398720
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,670.017288317,660,632,876.017288317,783,798.017288317,649,626,649,0.401694987944,-0.00541360255855,0.0699001094157,0.999999967931,0.000189155952445,-0.000168175865487,8.66122653803e-06,1793190426859065344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,670.597484169,660,632,876.597484169,783,798.597484169,649,626,649,0.401852015416,-0.00541542794449,0.0699026296021,0.999999969723,0.000183162805111,-0.000164279245194,4.10813615377e-06,1793190426875731968
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,670.82393904,660.17606096,632.17606096,877,783,799,649,626.17606096,649,0.402018851697,-0.00541776120492,0.0699054716928,0.999999971656,0.000177000893592,-0.000159242443939,-5.38293982192e-07,1793190426892398592
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,670.249030143,660.750969857,632.750969857,877,783,799,649,626.750969857,649,0.402207908801,-0.00542124500234,0.0699090430245,0.999999973963,0.00017045666505,-0.000151622680897,-5.39617507548e-06,1793190426909065216
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.663858459,670,661,632.663858459,876.663858459,782.663858459,799,649,627,649,0.402418847065,-0.00542563771758,0.0699111281391,0.999999976068,0.000162404606221,-0.000146194056164,-1.07922145154e-05,1793190426925732096
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.070844092,670,661,632.070844092,876.070844092,782.070844092,799,649,627,649,0.402646506507,-0.00543072501049,0.0699120775159,0.999999977983,0.000153200292123,-0.000142439855884,-1.65995046075e-05,1793190426942398720
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.508374204,670,660.491625796,632,876,782,798.491625796,649,627,649.508374204,0.402911436791,-0.005436157926,0.0699165663082,0.999999980348,0.000145090978433,-0.000133256344594,-2.22730203882e-05,1793190426959065600
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,670.080061659,660.080061659,632,876.080061659,782,798.080061659,649,626.919938341,649.919938341,0.40318795746,-0.00544172206861,0.0699226558382,0.999999983396,0.000133159436813,-0.000121231653981,-2.7933500289e-05,1793190426975732480
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,670.619293282,660.619293282,632,876.619293282,782,798.619293282,649,626.380706718,649.380706718,0.403501950679,-0.00544776989561,0.0699351718775,0.99999998987,9.84546045642e-05,-9.71368108556e-05,-3.36233100185e-05,1793190426992399104
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.814297876,671,660.814297876,632,876.814297876,782.185702124,799,649.185702124,626,649,0.403825183507,-0.00545576744179,0.0699445901608,0.999999993704,7.1677538055e-05,-8.02480480113e-05,-3.18664065836e-05,1793190427009065728
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.182621412,671,660.182621412,632,876.182621412,782.817378588,799,649.817378588,626,649,0.40417060577,-0.00546844735044,0.0699465690041,0.999999994628,6.39394596999e-05,-8.06651035122e-05,-1.22257926298e-05,1793190427025732864
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.411771632,671,660,632.411771632,876.411771632,782.588228368,799,649.588228368,626.411771632,649.411771632,0.404554268541,-0.00548680112616,0.0699488260118,0.999999995805,4.7184261766e-05,-7.77417011224e-05,-1.09700301302e-05,1793190427042399488
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.991002266,671,660,632.991002266,876.991002266,782.008997734,799,649.008997734,626.991002266,649.991002266,0.404953482927,-0.0055074623459,0.0699511961431,0.999999996796,2.67619880667e-05,-7.34598035999e-05,-1.71910067566e-05,1793190427059065856
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.432888692,877,782,799,649,626.432888692,649.432888692,0.405377225895,-0.0055102099445,0.0699524840295,0.999999997044,1.81607522066e-05,-7.18045632161e-05,-2.06425407911e-05,1793190427075732224
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.8574395,671,660.1425605,632,877,782,798.8574395,649,626,649,0.405809503242,-0.00551185993115,0.0699520765339,0.999999996981,1.15391747313e-05,-7.3182720187e-05,-2.34300348987e-05,1793190427092398592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.283836588,671,660.716163412,632,877,782,798.283836588,649,626,649,0.406266414613,-0.00551104584858,0.0699465945559,0.999999996155,1.03392734301e-05,-8.3607267313e-05,-2.43418813839e-05,1793190427109065216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.298575042,671,661,632,877,782,798.298575042,649,626.298575042,649,0.406736680467,-0.00551496886609,0.0699327970327,0.99999999432,2.87321810317e-06,-0.000103200422945,-2.64769198689e-05,1793190427125732096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.889615202,671,661,632,877,782,798.889615202,649,626.889615202,649,0.407220027576,-0.0055235320454,0.0699108541299,0.999999990816,-1.07307632298e-05,-0.000131774565375,-2.9810119514e-05,1793190427142398720
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.531400457,632,876.531400457,782,799,649,627,649,0.407787750763,-0.00553046202064,0.0699104693059,0.999999991114,-2.1271208893e-05,-0.000127682541784,-3.18738176837e-05,1793190427159065600
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.044990147,632,876.089980294,782,799,649,627,649,0.408378280091,-0.00553703915188,0.069915997695,0.999999992454,-3.09185837329e-05,-0.000114043184323,-3.36218628927e-05,1793190427175732224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.623455567,632,877.246911134,782,799,649,627,649,0.409009466898,-0.005543879872,0.0699329366272,0.999999995751,-3.83187698431e-05,-7.61503615788e-05,-3.5084071425e-05,1793190427192398848
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877.795280233,782,799,649,626.795280233,649.204719767,0.409628841889,-0.00555073825268,0.069941148724,0.999999996715,-4.61240851696e-05,-5.5779987632e-05,-3.64874353958e-05,1793190427209065472
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877.208796871,782,799,649,626.208796871,649.791203129,0.410226190042,-0.00555762956654,0.0699330869247,0.999999995473,-5.46848893971e-05,-6.80856646039e-05,-3.77810653914e-05,1793190427225732352
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,782,799,649,626.37279713,649.62720287,0.410869315721,-0.00556403776081,0.069928950888,0.99999999391,-6.55757310822e-05,-7.93371194584e-05,-3.98196954832e-05,1793190427242398976
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,782,799,649,626.951688121,649.048311879,0.411537748621,-0.0055701788713,0.0699269851353,0.999999992033,-7.77546897245e-05,-9.00057670848e-05,-4.22701847746e-05,1793190427259065856
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,876.470619843,782,799.529380157,649,626.470619843,649,0.412296576812,-0.00557548149507,0.0699532356175,0.999999994961,-8.13606514332e-05,-4.1859602874e-05,-4.13163594432e-05,1793190427275732480
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,876.106853023,782,799.893146977,649,626.106853023,649,0.413060992828,-0.00557535924732,0.0699801854054,0.999999996103,-7.86471584741e-05,5.75015648859e-06,-3.96986426447e-05,1793190427292399104
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+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.851832395,712,671,661,632,877,782.851832395,799,649,627,649,0.415224201893,-0.00552993226737,0.0699511512922,0.999999996949,-2.39836125093e-05,-6.34737811177e-05,-3.86944618165e-05,1793190427342398720
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.565548479,712,671.434451521,661,632,877,782.565548479,799,649,626.565548479,649,0.415977298319,-0.0055367707098,0.0699119027173,0.999999990294,-4.31697710254e-05,-0.000125455046182,-4.25311767058e-05,1793190427359065344
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671.984513866,661.015486134,632,877,782.015486134,798.984513866,649,626,649,0.416755010704,-0.00554783556577,0.0698748101567,0.99999997992,-7.10250096541e-05,-0.000181500574274,-4.66244867975e-05,1793190427375731968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671.411612803,661.588387197,632,877,782.588387197,798.411612803,649,626,649,0.417617962549,-0.00555404893337,0.0699067417483,0.999999987843,-7.08389989225e-05,-0.000131060422718,-4.60422601341e-05,1793190427392398848
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.833748306,632,877,782.833748306,798.166251694,649,626,649,0.418474082577,-0.0055596280339,0.0699376722964,0.999999992715,-7.34953102163e-05,-8.4420229629e-05,-4.51874506643e-05,1793190427409065472
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.243217001,632,877,782.243217001,798.756782999,649,626,649,0.419312767539,-0.00556358846437,0.0699660481476,0.999999994443,-8.34053180395e-05,-4.74776550343e-05,-4.36370014536e-05,1793190427425732608
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877.680622573,782,799,649,626.340311286,649,0.420169489812,-0.00556226393047,0.0699878855693,0.999999995853,-7.93531006344e-05,-1.35771888409e-05,-4.25784346625e-05,1793190427442399232
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,878.837870962,782,799,649,626.918935481,649,0.421038843203,-0.00555723844589,0.0700051442639,0.999999996812,-6.55234271776e-05,1.8192950617e-05,-4.18643229441e-05,1793190427459065600
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+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,782,799,649,627,649,0.422725108902,-0.0055426112948,0.0699826930885,0.999999997226,-5.44151592959e-05,-2.38634232727e-05,-4.49217275902e-05,1793190427492398592
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+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671.226207382,661,632,877,782,798.773792618,649,626.773792618,649,0.424311451926,-0.0055520440007,0.0698515866553,0.9999999704,-7.76325617457e-05,-0.00022384741356,-5.53629401737e-05,1793190427525731840
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662,632,877.445001173,782,799.445001173,649,626,649,0.427858364053,-0.00555982155076,0.0699921280241,0.999999995106,-8.56466334357e-05,-9.87182109025e-06,-4.85313747461e-05,1793190427592398592
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+174,2.900000000,POSE1_TO_POSE2_PRESS,764.115812252,742,712,671.884187748,661,632,878,782,799,649,627,649,0.431147918883,-0.00557105454326,0.0699521859476,0.999999991419,-9.53326110258e-05,-7.37792502959e-05,-5.1283210476e-05,1793190427659065088
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+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661.611967417,632,877.611967417,782.611967417,799,649,626,648.388032583,0.433448277259,-0.00556674230477,0.0699011353762,0.999999982477,-9.37643530252e-05,-0.000152826825205,-5.38372773802e-05,1793190427709065472
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.216633192,712,672.783366808,662.783366808,632,878,783,799,649,626,648.783366808,0.435071593519,-0.00557543448001,0.0699994317378,0.999999994078,-9.76022653437e-05,6.19595383798e-06,-4.77377375138e-05,1793190427742398976
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672.633458137,662.266916273,632.366541863,878,782.633458137,799,649,626.366541863,649,0.435810694192,-0.00558099254829,0.0700107273429,0.999999993286,-0.000102799036851,2.48940562578e-05,-4.73435914432e-05,1793190427759065344
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672.054329581,661.108659162,632.945670419,878,782.054329581,799,649,626.945670419,649,0.436520142753,-0.00558615097731,0.0700007715727,0.999999992911,-0.000107823187497,1.36068400417e-05,-4.8654984868e-05,1793190427775731968
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.479029316,878,782,799,649,626.479029316,649,0.437177709935,-0.00558891463003,0.069976603386,0.999999991903,-0.000115660571141,-1.37228247472e-05,-5.12588496728e-05,1793190427792398592
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.097878396,712,672.097878396,661.195756791,632,878.097878396,782.097878396,799,649,626,649,0.437825299758,-0.00559105315489,0.0699507982064,0.999999990229,-0.000121660564503,-4.3087609407e-05,-5.37129019108e-05,1793190427809065216
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.671789974,712,672,660.328210026,631,878,782.328210026,799,649,626.671789974,649,0.4426739986,-0.00561164811442,0.0699073543964,0.999999982867,-0.000129962525772,-0.000120724954491,-5.29194931215e-05,1793190427959064832
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diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b52ca001744cce373378347dda1bb5a656bd6
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+380,6.333333333,pose2_to_pose3_retreat,0.575725101098,0.000219740417243,1.06002817579,0.546295510337,0.0088914460173,1.05969918725
+381,6.350000000,pose2_to_pose3_retreat,0.575724649777,0.000219772386463,1.06002817498,0.546295058751,0.00889147709511,1.05969918656
+382,6.366666667,pose2_to_pose3_retreat,0.575724339731,0.000219794348484,1.06002817443,0.546294748524,0.00889149844476,1.05969918609
+383,6.383333333,pose2_to_pose3_retreat,0.575724046605,0.000219812200696,1.06002820114,0.546294455258,0.00889151580263,1.05969921225
+384,6.400000000,pose2_to_pose3_retreat,0.575723749297,0.000219825906257,1.0600282694,0.546294157857,0.00889152913473,1.059699279
+385,6.416666667,pose2_to_pose3_retreat,0.575723696785,0.000219828326998,1.06002828146,0.546294105329,0.00889153148951,1.05969929079
+386,6.433333333,pose2_to_pose3_retreat,0.575723590338,0.000219833234109,1.0600283059,0.546293998848,0.00889153626291,1.0596993147
+387,6.450000000,pose2_to_pose3_retreat,0.575723508199,0.000219837020602,1.06002832476,0.546293916684,0.00889153994622,1.05969933314
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+390,6.500000000,pose2_to_pose3_retreat,0.575723349574,0.000219844333026,1.06002836118,0.54629375801,0.00889154705939,1.05969936876
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diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c5e4bfa4733400eec71ec79d2ff1214a1c1ecdc
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efeef604c8471bddebfa6070cf976972974d3225b44f1ae9c64cb50e58c327ee
+size 25589134
diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d571cde5131fcb1748ca87abf29d9088df1251f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
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+23,0.383333333,BASELINE,764,742,712,670.619068095,660,632,876.619068095,782.380931905,799,649,626.619068095,649,0.40095269398,-0.00539468769963,0.0698228961898,0.999999937198,0.000207449367634,-0.000286681161424,1.95491082288e-05,1793190431924348416
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+25,0.416666667,BASELINE,764,742,711.456133728,670,660,632,876,782.456133728,799,649,626.543866272,649,0.400951314489,-0.00539518822232,0.069821960854,0.999999936653,0.000208713755484,-0.000287653752598,1.97021091494e-05,1793190431957681664
+26,0.433333333,BASELINE,764.130135886,741.869864114,711,670.130135886,660,632,876,782,798.869864114,649,626.869864114,649,0.400951441395,-0.00539373008598,0.069821867731,0.999999936234,0.000210478818441,-0.000287841584296,1.94262827733e-05,1793190431974348288
+27,0.450000000,BASELINE,764.709360501,741.290639499,711,670.709360501,660,632,876,782,798.290639499,649,626.290639499,649,0.400952142958,-0.00539285140169,0.0698224894459,0.999999936269,0.000211003095423,-0.000287322593785,1.96517006554e-05,1793190431991014912
+28,0.466666667,BASELINE,764.713980836,741.286019164,711.286019164,670.713980836,660.286019164,632,876.286019164,782.286019164,798.286019164,649,626,649,0.40095208688,-0.0053930300226,0.0698223381149,0.999999936278,0.000210391852355,-0.000287733011836,1.97286126662e-05,1793190432007681792
+29,0.483333333,BASELINE,764.139906428,741.860093572,711.860093572,670.139906428,660.860093572,632,876.860093572,782.860093572,798.860093572,649,626,649,0.400951267766,-0.00539427347539,0.0698214082348,0.999999936259,0.000208637005793,-0.00028907945465,1.96559616253e-05,1793190432024348416
+30,0.500000000,BASELINE,764,742,712,670.44290561,660.55709439,632,876.55709439,783,798.55709439,649,626.44290561,649,0.400951529433,-0.0053949146039,0.0698218294706,0.999999936436,0.00020824882797,-0.000288744476071,1.96904938565e-05,1793190432041015296
+31,0.516666667,BASELINE,764,742,712,671,660,632,876,782.971502673,798.028497327,649,626.971502673,649,0.400952112479,-0.00539529139088,0.0698226452381,0.999999936676,0.000208254085902,-0.000287904706595,1.97455684046e-05,1793190432057681920
+32,0.533333333,BASELINE,764,742,712,671,660,632,876,782.386612438,798.613387562,649,626.386612438,649,0.4009521705,-0.00539429662157,0.0698226633882,0.999999936903,0.000207342478242,-0.000287787941898,1.9527370742e-05,1793190432074348288
+33,0.550000000,BASELINE,764,742,711.804419306,670.804419306,660,632,876,782,799,649,626.195580694,649,0.400952024105,-0.00539393874472,0.069822502415,0.999999936997,0.000206926155252,-0.000287771300324,1.93941319735e-05,1793190432091014912
+34,0.566666667,BASELINE,764,742,711.227485196,670.227485196,660,632,876,782,799,649,626.772514804,649,0.400951479128,-0.00539482271404,0.0698219921777,0.999999936831,0.000207475564194,-0.000287949884038,1.94265505039e-05,1793190432107681792
+35,0.583333333,BASELINE,764,742,711,670,660,632,876,782.346960672,798.653039328,649,627,649,0.400951966388,-0.00539500773004,0.0698224733711,0.999999937058,0.000207741082848,-0.000286955699442,1.96135292704e-05,1793190432124348416
+36,0.600000000,BASELINE,764,742,711,670,660,632,876,782.919786793,798.080213207,649,627,649,0.400953125616,-0.0053947377395,0.0698235999688,0.999999937538,0.000207821793845,-0.000285198062797,1.99011241044e-05,1793190432141015040
+37,0.616666667,BASELINE,764,742,711,670.507429996,660,632,876,782.492570004,798.507429996,649,626.492570004,649,0.400953383129,-0.00539499805724,0.0698241933775,0.999999938075,0.000206526993744,-0.000284256407143,1.98678977088e-05,1793190432157681664
+38,0.633333333,BASELINE,764,742.095820619,711.095820619,670.904179381,660,632,876,782,798.904179381,649,626,649.095820619,0.400953448007,-0.00539569708619,0.0698245460175,0.999999938593,0.000204820248381,-0.000283672709643,1.97887826066e-05,1793190432174348288
+39,0.650000000,BASELINE,764,742.675797262,711.675797262,670.324202738,660,632,876,782,798.324202738,649,626,649.675797262,0.400953281431,-0.00539817649639,0.0698241207968,0.999999938978,0.000202163750965,-0.000284226332779,1.97417588738e-05,1793190432191014912
+40,0.666666667,BASELINE,763.745867098,742.745867098,712,670.254132902,660.254132902,632,876,782.254132902,798.254132902,649,626,649.745867098,0.400952881694,-0.00539817423617,0.0698236735563,0.99999993863,0.000202926826219,-0.000284914187114,1.96327296275e-05,1793190432207681792
+41,0.683333333,BASELINE,763.169611523,742.169611523,712,670.830388477,660.830388477,632,876,782.830388477,798.830388477,649,626,649.169611523,0.400952186418,-0.00539502636854,0.0698231984049,0.999999937341,0.000208024334034,-0.000285772184327,1.94451061459e-05,1793190432224348672
+42,0.700000000,BASELINE,763.405560213,742,712,671,660.594439787,632,876,783,798.594439787,649,626,649,0.400951437341,-0.00539318018664,0.0698226224931,0.999999936455,0.000210319138178,-0.000287192500997,1.93916126042e-05,1793190432241014784
+43,0.716666667,BASELINE,763.980279863,742,712,671,660.019720137,632,876,783,798.019720137,649,626,649,0.400950665825,-0.00539187693882,0.069822004554,0.999999935741,0.000211444932602,-0.000288847361471,1.93940647557e-05,1793190432257681408
+44,0.733333333,BASELINE,764,742,711.430246697,670.430246697,659.430246697,632,876,782.430246697,798.569753303,649,626,649,0.400953089032,-0.00539478455057,0.0698236718232,0.999999937161,0.000209104146764,-0.000285589588978,1.98074395297e-05,1793190432274348032
+45,0.750000000,BASELINE,763.843628721,742,711.156371279,670.156371279,659.156371279,632,876.156371279,782,799,649,626,649.156371279,0.400954668297,-0.00539664040113,0.0698248247147,0.999999938166,0.000207108294803,-0.000283498566835,2.00702123654e-05,1793190432291014912
+46,0.766666667,BASELINE,763.266113143,742,711.733886857,670.733886857,659.733886857,632,876.733886857,782,799,649,626,649.733886857,0.400953668909,-0.00539526065314,0.0698243735828,0.999999937889,0.000206373166511,-0.000285019992465,1.98880555905e-05,1793190432307681792
+47,0.783333333,BASELINE,763.311394717,742,711.688605283,670.688605283,660,632,876.688605283,782,799,649,626,649.688605283,0.400953379039,-0.00539455991779,0.0698240003204,0.999999937692,0.000206776023892,-0.000285433817619,1.96898224403e-05,1793190432324348672
+48,0.800000000,BASELINE,763.888896046,742,711.111103954,670.111103954,660,632,876.111103954,782,799,649,626,649.111103954,0.400953695498,-0.00539443944182,0.0698236936025,0.999999937562,0.000208151362407,-0.000284901127809,1.94778509834e-05,1793190432341015296
+49,0.816666667,BASELINE,764,742,711,670,660,632,876.473666791,782.473666791,798.526333209,649,626.473666791,649,0.400951461778,-0.00539397610015,0.0698227176241,0.999999936757,0.000208866275763,-0.000287200249247,1.94354982244e-05,1793190432357681920
+50,0.833333333,BASELINE,764,742,711.059304003,670.059304003,660,632,877,783,798.059304003,649,626.940695997,649,0.400948966726,-0.00539358403098,0.0698216778266,0.999999935928,0.00020920712219,-0.000289826120532,1.94380890904e-05,1793190432374348544
+51,0.850000000,BASELINE,764,742,711.637372866,670.637372866,660,632,877,783,798.637372866,649,626.362627134,649,0.400949499778,-0.0053945298915,0.0698214743857,0.999999936372,0.000207652005323,-0.00028940927329,1.94803720229e-05,1793190432391014912
+52,0.866666667,BASELINE,764,742,712,670.785802655,660,632,876.785802655,783,799,649,626.214197345,649,0.400951149001,-0.00539493164059,0.0698221480187,0.999999936942,0.000206947203363,-0.000287934735481,1.95485452933e-05,1793190432407681536
+53,0.883333333,BASELINE,764,742,712,670.211072733,660,632,876.211072733,783,799,649,626.788927267,649,0.400954676941,-0.00539441755241,0.0698242979247,0.999999937721,0.00020767363411,-0.000284679914629,1.96602966467e-05,1793190432424348416
+54,0.900000000,BASELINE,764,742,711.634350051,670,660,632,876.365649949,783,799,649,626.634350051,649.365649949,0.40095456386,-0.00539446472881,0.0698242511956,0.999999937992,0.00020707474026,-0.000284166992156,1.96067121741e-05,1793190432441015040
+55,0.916666667,BASELINE,764,742,711.056470756,670,660,632,876.943529244,783,799,649,626.056470756,649.943529244,0.400952337469,-0.00539483767258,0.0698229295026,0.999999937971,0.000205706605828,-0.000285245513465,1.94571640194e-05,1793190432457681664
+56,0.933333333,BASELINE,764,742,711,670,660,632,876.468431212,782.468431212,799,649,626,649.468431212,0.400953197202,-0.00539552890377,0.0698239042376,0.999999937991,0.000207148232619,-0.000284110669301,1.97155177137e-05,1793190432474348544
+57,0.950000000,BASELINE,764,742,711.118822514,670.118822514,660.118822514,632,876.118822514,782.118822514,799,649,626,649.118822514,0.400953939354,-0.00539616737488,0.0698247885318,0.999999938027,0.000208131741239,-0.000283251418259,1.9889023443e-05,1793190432491015168
+58,0.966666667,BASELINE,764,742,711.698756293,670.698756293,660.698756293,632,876.698756293,782.698756293,799,649,626,649.698756293,0.40095292814,-0.00539646732715,0.069824356681,0.999999938119,0.000206156519002,-0.000284391916907,1.95618235142e-05,1793190432507681792
+59,0.983333333,BASELINE,764,742,712,671,660.723486249,632,876.723486249,782.723486249,799,649,626.276513751,649.723486249,0.400951680552,-0.00539605980087,0.0698236499731,0.999999937699,0.000206283585431,-0.000285785692017,1.93985199313e-05,1793190432524348160
+60,1.000000000,BASELINE,764,742,712,671,660.148081163,632,876.148081163,782.148081163,799,649,626.851918837,649.148081163,0.400950177462,-0.00539488754159,0.0698226461645,0.999999936723,0.000208683073376,-0.000287453240777,1.94123763854e-05,1793190432541015040
+61,1.016666667,BASELINE,764.435404346,742,712,671,660,632,876.435404346,782.435404346,799,649,627,649,0.400951333097,-0.00539497135094,0.0698237691477,0.999999937059,0.000209183014355,-0.000285896186793,1.96924945932e-05,1793190432557681920
+62,1.033333333,BASELINE,764.978557436,742,712,670.978557436,660,632,876.978557436,783,799,649,627,649,0.400953315322,-0.00539551344254,0.0698255190939,0.999999937824,0.000208944451121,-0.000283360603946,2.0048281636e-05,1793190432574348544
+63,1.050000000,BASELINE,764.398958482,742,712,670.398958482,660,632,876.398958482,783,799,649,627,649,0.400952831365,-0.00539665462239,0.0698244047392,0.999999938002,0.000206616916597,-0.000284440554916,1.99719864168e-05,1793190432591015168
+64,1.066666667,BASELINE,764,742,711.819723954,670.180276046,660,632,876.180276046,782.819723954,799,649,626.819723954,649,0.400952609118,-0.00539714255344,0.0698237860566,0.99999993812,0.000205467276557,-0.000284865153936,1.98538940519e-05,1793190432607682048
+65,1.083333333,BASELINE,764,742,711.241294324,670.758705676,660,632,876.758705676,782.241294324,799,649,626.241294324,649,0.400952964878,-0.00539618773395,0.0698242621042,0.999999938116,0.00020691910768,-0.000283842357462,1.96434894647e-05,1793190432624348672
+66,1.100000000,BASELINE,764.334901928,742,711,671,660,632,877,782,799,649,626.334901928,649.334901928,0.400952536046,-0.0053951254496,0.0698236819314,0.999999937638,0.000208228863034,-0.00028456687529,1.96546964741e-05,1793190432641015296
+67,1.116666667,BASELINE,764.909499683,742,711,671,660,632,877,782,799,649,626.909499683,649.909499683,0.400951545667,-0.0053939862506,0.0698223458012,0.999999936818,0.000209436931932,-0.000286541980015,1.98245152256e-05,1793190432657681664
+68,1.133333333,BASELINE,765,742,711.495129099,670.504870901,660,632,876.504870901,782.495129099,799,649,626.504870901,650,0.400953184503,-0.00539396652515,0.0698237752456,0.999999937507,0.000208946721571,-0.00028449878104,1.96812948499e-05,1793190432674348288
+69,1.150000000,BASELINE,764.917995511,742,711.917995511,670.082004489,660,632,876.082004489,783,799,649,626.082004489,649.917995511,0.400954878609,-0.00539407149263,0.069825377366,0.999999938296,0.000208253231719,-0.00028223867993,1.94793258331e-05,1793190432691014912
+70,1.166666667,BASELINE,764.336096828,742,711.336096828,670.663903172,660,632,876.663903172,783,799,649,626.663903172,649.336096828,0.400953913352,-0.0053936608126,0.0698248804198,0.999999938018,0.000208255946116,-0.000283235673515,1.92759726697e-05,1793190432707681536
+71,1.183333333,BASELINE,764,742,711.242910709,670.757089291,660,632,876.757089291,783,799,649,626.757089291,649,0.400952822305,-0.00539330570595,0.0698242099354,0.999999937444,0.000209451025059,-0.000284382424192,1.92179154494e-05,1793190432724348416
+72,1.200000000,BASELINE,764,742,711.817965125,670.182034875,660,632,876.182034875,783,799,649,626.182034875,649,0.400951559257,-0.00539302658746,0.0698233021638,0.99999993646,0.000212276482428,-0.000285733945211,1.93585284576e-05,1793190432741015296
+73,1.216666667,BASELINE,764,742,712,670.39221147,660,632,876.39221147,783,799,649,626.39221147,649,0.400951822011,-0.00539320061918,0.0698231432951,0.99999993665,0.000211240394479,-0.000285832187442,1.94536020255e-05,1793190432757682176
+74,1.233333333,BASELINE,764,742,712,670.966083507,660,632,876.966083507,783,799,649,626.966083507,649,0.400952791471,-0.00539358453648,0.0698233312958,0.999999937378,0.000208415754618,-0.000285349948518,1.95275830846e-05,1793190432774348800
+75,1.250000000,BASELINE,764.55661095,742,712,670.44338905,660,632,876.44338905,782.44338905,799,649,627,649,0.400952095157,-0.00539431211727,0.0698229784383,0.999999937124,0.000208524242069,-0.000286151648169,1.96480751923e-05,1793190432791015424
+76,1.266666667,BASELINE,764.854942702,742,712,670.145057298,660,632,876.145057298,782,798.854942702,649,627,649,0.400951481453,-0.0053948359447,0.0698227480635,0.99999993691,0.000208894207078,-0.000286627910496,1.97110087496e-05,1793190432807682048
+77,1.283333333,BASELINE,764.275853646,742,712,670.724146354,660,632,876.724146354,782,798.275853646,649,627,649,0.400951428005,-0.00539468552309,0.0698229858269,0.999999936998,0.000209495277766,-0.000285889106604,1.95929774527e-05,1793190432824348416
+78,1.300000000,BASELINE,764,742,711.699308749,671,660,632,876.699308749,782.300691251,798.300691251,649,626.699308749,649,0.400951461134,-0.00539489796008,0.0698231298159,0.999999937356,0.00020774318657,-0.00028592843804,1.93606767055e-05,1793190432841015040
+79,1.316666667,BASELINE,764,742,711.125078309,671,660,632,876.125078309,782.874921691,798.874921691,649,626.125078309,649,0.400951573022,-0.00539544049001,0.0698231884982,0.99999993795,0.000203850421162,-0.00028667564015,1.90244249092e-05,1793190432857681920
+80,1.333333333,BASELINE,764,742,711,671,660,632,876,782.539277161,798.539277161,649,626.460722839,649,0.400951356772,-0.00539482424673,0.069823067191,0.99999993751,0.000205977595807,-0.000286680299856,1.91748287063e-05,1793190432874348544
+81,1.350000000,BASELINE,764,742,711,670.951064181,660,632,876,782.048935819,798,649,626.951064181,649,0.400951186666,-0.00539400025881,0.0698230223695,0.999999936911,0.000209322019985,-0.000286327107504,1.9451679839e-05,1793190432891014912
+82,1.366666667,BASELINE,764,742,711,670.371636221,660,632,876,782.628363779,798,649,626.371636221,649,0.400952507381,-0.00539442235669,0.0698243500558,0.999999937816,0.000207688860826,-0.000284336214765,1.96301546691e-05,1793190432907681792
+83,1.383333333,BASELINE,764,742,711.206959248,670.206959248,660,631.793040752,876,782.793040752,798,649,626,649,0.40095314701,-0.00539502643965,0.0698248653915,0.999999938313,0.000206313330764,-0.000283579870046,1.97885692257e-05,1793190432924348672
+84,1.400000000,BASELINE,764,742,711.784065901,670.784065901,660,631.215934099,876,782.215934099,798,649,626,649,0.400952568512,-0.00539595600371,0.0698239278353,0.999999938086,0.000205398571052,-0.000285031518838,1.99111059365e-05,1793190432941015552
+85,1.416666667,BASELINE,764.358599723,742,712,671,660,631.358599723,876,782.358599723,798.358599723,649,626,649.358599723,0.400952350084,-0.00539524165973,0.0698235776577,0.999999937611,0.000207218994622,-0.000285390196441,1.97654997478e-05,1793190432957682176
+86,1.433333333,BASELINE,764.931595293,742,712,671,660,631.931595293,876,782.931595293,798.931595293,649,626,649.931595293,0.400952346931,-0.00539354447317,0.069823578656,0.999999936979,0.000210674700982,-0.000285095419785,1.94595790825e-05,1793190432974349056
+87,1.450000000,BASELINE,764.479368507,742,712,670.479368507,660,632,876,782.479368507,799.520631493,649,626,649.479368507,0.400952316371,-0.00539404440382,0.069823586804,0.999999937379,0.000208725689957,-0.000285120652746,1.95440243595e-05,1793190432991015680
+88,1.466666667,BASELINE,764,742,712,670.109501207,660,632,876,782,799.890498793,649,626.109501207,649,0.400952166072,-0.00539467165225,0.0698235330136,0.9999999377,0.000206960840305,-0.000285276172906,1.96026423417e-05,1793190433007682048
+89,1.483333333,BASELINE,764,742,712,670.688336994,660,632,876,782,799.311663006,649,626.688336994,649,0.400951518481,-0.00539456797364,0.069823209594,0.999999937104,0.000209125714747,-0.000285804178574,1.93237411765e-05,1793190433024348672
+90,1.500000000,BASELINE,763.73495042,742,711.73495042,671,660,632,876,782,799,649,626.73495042,649,0.400951477451,-0.00539422034774,0.0698231724736,0.999999936992,0.000209653098827,-0.000285826450907,1.90970665873e-05,1793190433041015296
+91,1.516666667,BASELINE,763.160714638,742,711.160714638,671,660,632,876,782,799,649,626.160714638,649,0.400952143987,-0.00539358815195,0.0698234693277,0.999999937446,0.000208270313997,-0.000285258774071,1.89313154747e-05,1793190433057681920
+92,1.533333333,BASELINE,763.421187752,742,711.421187752,671,660,632,876,782,799,649,626,649,0.400953206078,-0.00539428730547,0.0698239824442,0.999999937823,0.000207684027589,-0.000284347172929,1.91636360228e-05,1793190433074348544
+93,1.550000000,BASELINE,764,742,712,671,660.006039306,632,876,782.006039306,799,649,626.006039306,649,0.400954409278,-0.00539549932929,0.0698245744869,0.999999938171,0.000207387298897,-0.000283312623017,1.95453715303e-05,1793190433091015424
+94,1.566666667,BASELINE,764,742,712,671,660.587981773,632,876,782.587981773,799,649,626.587981773,649,0.400954408873,-0.00539627674762,0.0698246779161,0.999999938632,0.00020518332101,-0.000283300056859,1.9422153299e-05,1793190433107681792
+95,1.583333333,BASELINE,764,742,711.830865743,671,661,632,876,782.830865743,799,649,627,649,0.400954061076,-0.00539622914071,0.0698245841894,0.999999938604,0.000204910955671,-0.00028360168749,1.93376953213e-05,1793190433124348416
+96,1.600000000,BASELINE,764,742,711.251628626,671,661,632,876,782.251628626,799,649,627,649,0.40095287095,-0.00539418108053,0.0698240124155,0.999999937388,0.00020932220537,-0.000284665156684,1.93472199981e-05,1793190433141015040
+97,1.616666667,BASELINE,764,742,711,671,661,632,876.325328391,782,799,649,627,649,0.400952419375,-0.00539409790612,0.0698239452091,0.999999937164,0.000209908959258,-0.000285013816053,1.9434437409e-05,1793190433157681664
+98,1.633333333,BASELINE,764,742,711,671,661,632,876.900534082,782,799,649,627,649,0.400952535065,-0.00539552391568,0.0698242655494,0.999999937709,0.000207558205078,-0.000284813446277,1.95813288325e-05,1793190433174348288
+99,1.650000000,BASELINE,764,741.51466537,711,671,660.51466537,632,876.51466537,782,799,649,627,649,0.400951942248,-0.00539732871258,0.0698239979755,0.999999938026,0.000205283251121,-0.000285320113655,1.99787261797e-05,1793190433191014912
+100,1.666666667,BASELINE,764,741.071489867,711.071489867,671,660,632,876.071489867,782.071489867,798.928510133,649,626.928510133,649,0.400951343867,-0.00539864825065,0.0698236576069,0.99999993818,0.000203747807441,-0.000285856002252,2.03117209442e-05,1793190433207681792
+101,1.683333333,BASELINE,764,741.652998174,711.652998174,671,660,632,876.652998174,782.652998174,798.347001826,649,626.347001826,649,0.40095176258,-0.0053959408951,0.0698236748307,0.999999937533,0.000207375068691,-0.000285545757328,1.98116095834e-05,1793190433224348416
+102,1.700000000,BASELINE,764,742,712,670.768257758,660,632,876.768257758,782.768257758,798,649,626,649,0.400951838713,-0.00539461507153,0.0698238546154,0.999999937229,0.000209245518949,-0.000285271557147,1.94537665752e-05,1793190433241015296
+103,1.716666667,BASELINE,764,742,712,670.193604014,660,632,876.193604014,782.193604014,798,649,626,649,0.400951407925,-0.00539533351598,0.069824274943,0.999999937447,0.000208516396676,-0.000285050692793,1.93064396308e-05,1793190433257681664
+104,1.733333333,BASELINE,764,742,712,670.381068772,660,632,876,782,798.381068772,649,626,649,0.400951412155,-0.00539628336401,0.069823870659,0.999999937596,0.000207119418746,-0.000285536469993,1.94460866179e-05,1793190433274348288
+105,1.750000000,BASELINE,764,742,712,670.955751286,660,632,876,782,798.955751286,649,626,649,0.400951637409,-0.00539735078382,0.0698230474056,0.999999937707,0.000205383116085,-0.000286381278206,1.97315395478e-05,1793190433291014912
+106,1.766666667,BASELINE,764,742,711.452582967,670.452582967,660,632,876,782,798.452582967,649,626,649,0.40095369044,-0.00539611502915,0.0698246863527,0.999999938693,0.000204428533608,-0.00028364536535,1.91952481594e-05,1793190433307681536
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,799,649,627,649,0.400952786183,-0.0053936489499,0.0698238264985,0.999999937739,0.000208530153082,-0.000284045261638,1.88601314643e-05,1793190433349371648
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876.574288118,782,799,649,626.425711882,649,0.400952691937,-0.00539439875151,0.0698239075476,0.999999937469,0.000208983775072,-0.000284648300327,1.90768114925e-05,1793190433366038272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.152812683,671,660,632,876.847187317,782,798.847187317,649,626,649,0.400952452627,-0.00539518557035,0.0698238843627,0.999999937295,0.000209140023938,-0.000285128081748,1.93225584944e-05,1793190433382704896
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.743475976,671,660,632,876.256524024,782,798.256524024,649,626,649,0.400951797668,-0.00539607845401,0.0698235625189,0.999999937397,0.000208444216648,-0.000285254697138,1.9651590467e-05,1793190433399371520
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.672270915,671,660,632,876.327729085,782,798,649,626.327729085,649,0.400951953594,-0.00539555050692,0.0698237252842,0.999999937588,0.000208003513786,-0.000284915588556,1.95455208469e-05,1793190433416037888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.092939041,671,660,632,876.907060959,782,798,649,626.907060959,649,0.400952732048,-0.00539393176561,0.0698242600916,0.999999937845,0.000207758658658,-0.000284218936326,1.91054168509e-05,1793190433432704512
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.517392767,711.482607233,671,660,632,876.517392767,782,798,649,626.517392767,649,0.40095374809,-0.00539367940001,0.069824997639,0.999999937869,0.00020914920906,-0.000283109253017,1.91571354503e-05,1793190433449371392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.058672099,712,670.941327901,660,632,876.058672099,782,798.058672099,649,626,649,0.400955087125,-0.00539385036369,0.0698258990071,0.99999993798,0.000210431822075,-0.000281755171948,1.93218801086e-05,1793190433466038272
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.645925702,712,670.354074298,660,632,876.645925702,782,798.645925702,649,626,649,0.400958927043,-0.0053954830029,0.0698279272435,0.999999939295,0.000207926769762,-0.000278910299752,1.96582432775e-05,1793190433482704896
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.770157345,670,660,632,876.770157345,782,799,649,626,649,0.400967327623,-0.00539681672145,0.069831912906,0.99999994141,0.000206002416638,-0.000272653929333,2.00904693055e-05,1793190433499371520
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.191307028,670,660,632,876.191307028,782,799,649,626,649,0.400982653401,-0.00539769653977,0.0698388708483,0.999999944665,0.000204959834193,-0.000261217323933,2.06682595453e-05,1793190433516038400
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670,660,632,876,782,798.612756155,649,626,649,0.40101513047,-0.00539782845253,0.0698521921608,0.99999995037,0.000205135124627,-0.000238206922302,2.08959192847e-05,1793190433532705024
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670,660,632,876,782,798.034353049,649,626,649,0.401056074113,-0.00539759116886,0.0698686546916,0.999999956639,0.000205911606261,-0.00020948322445,2.09507404526e-05,1793190433549371392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.54120521,670.54120521,660,632,876.54120521,782,798,649,626,649,0.401117350997,-0.00539918966905,0.0698841511416,0.999999961419,0.000205795500422,-0.000185374779794,2.11205289056e-05,1793190433566038272
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.880890318,670.880890318,660,632,877,782,798,649,626,649,0.401180014913,-0.00540093339756,0.0698971070491,0.999999964961,0.000205209292865,-0.000165909906911,2.10214577686e-05,1793190433582704640
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.293045659,670.293045659,660,632,877,782,798,649,626,649,0.401243084679,-0.00540279247514,0.069900305168,0.999999965822,0.000202994881835,-0.000163572139975,1.98357695306e-05,1793190433599371264
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.29135018,670.29135018,660.29135018,632,877,782,798,649,626.29135018,649,0.401316488304,-0.00540474634259,0.0699012971726,0.999999966404,0.00020029474658,-0.00016355301904,1.79848283076e-05,1793190433616037888
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.872317677,670.872317677,660.872317677,632,877,782,798,649,626.872317677,649,0.401400164321,-0.00540679443602,0.0699000961841,0.999999966703,0.000197111776174,-0.000165838753632,1.54725908956e-05,1793190433632704768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.551791624,632,877,782,798,649.448208376,626.551791624,649,0.401502600348,-0.00540796161329,0.0698981577228,0.999999966103,0.000196477604979,-0.000170406649739,1.23713887695e-05,1793190433649371392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.977313203,671,660.022686797,632,876.977313203,782,798.022686797,649.977313203,626,649,0.401612107167,-0.00540904715134,0.0698963008554,0.99999996539,0.000196207433008,-0.000175043006062,9.08397329034e-06,1793190433666038016
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.402402119,671,660.597597881,632,876.402402119,782,798.597597881,649.402402119,626,649,0.401765097961,-0.00541418548069,0.0699014865527,0.999999968713,0.00018732164043,-0.000165698161559,5.3021248954e-06,1793190433682704896
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.177676419,671,660.822323581,632,876,782.177676419,799,649,626.177676419,649,0.401924538162,-0.00541897172305,0.0699061407614,0.99999997162,0.000179063391496,-0.000157146062933,1.35885625806e-06,1793190433699371264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.769808708,671,660.230191292,632,876,782.769808708,799,649,626.769808708,649,0.402099022512,-0.00542293667099,0.0699095551955,0.999999973841,0.000172268979911,-0.000150443159739,-2.96094784205e-06,1793190433716038144
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876,783,798.646925606,649,626.646925606,649,0.402295902719,-0.00542694724929,0.0699127543803,0.999999976164,0.000163942886241,-0.000143986440206,-7.8944449626e-06,1793190433732704768
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,670.487913481,660,632,876,782.487913481,798,649,626,649,0.402753608422,-0.00543531642829,0.0699181156798,0.9999999803,0.00014710494653,-0.000131899696838,-1.9065883037e-05,1793190433766038272
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,670.09156668,660,632,876.09156668,782,798.09156668,649,626,649,0.403013431639,-0.0054417306811,0.0699211541251,0.999999982439,0.000137662361634,-0.000124772694162,-2.45588578366e-05,1793190433782705152
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,670.658495577,660,632,876.658495577,782,798.658495577,649,626,649,0.403316901397,-0.00545876214513,0.0699285714904,0.999999986673,0.000117083341933,-0.000110323586977,-2.78398931571e-05,1793190433799371776
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.763153314,712,670.763153314,660.236846686,632,876.763153314,782,799,649,626,649,0.403630845049,-0.00547707450437,0.0699351484651,0.999999993167,5.42318037242e-05,-9.87714644765e-05,-3.11451071056e-05,1793190433816038144
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.167498285,712,670.167498285,660.832501715,632,876.167498285,782,799,649,626,649,0.403960655996,-0.00549732734106,0.0699404522988,0.99999999257,-7.26600324213e-05,-9.16080976483e-05,-3.44869496911e-05,1793190433832704768
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764.472685676,742,712,671,660,632,877,782,798,649,626,649,0.407443288617,-0.00551916342786,0.0699121614411,0.999999990646,-5.56430997494e-06,-0.000133059444131,-3.11863129894e-05,1793190433966038016
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.363852632,742,712,671,660,632,877,782,798,649,626,649,0.408613054895,-0.00553829019668,0.0699239742128,0.999999994114,-2.90529968749e-05,-9.87588026427e-05,-3.42599261131e-05,1793190433999371264
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.779458764,782,798.220541236,649,626,649,0.409236587255,-0.00554405989289,0.0699365535155,0.999999996365,-3.2063518648e-05,-7.07666876554e-05,-3.5138576386e-05,1793190434016038144
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.201178935,782,798.798821065,649,626,649,0.409856096087,-0.00554857044454,0.0699387183649,0.999999996592,-4.39293645259e-05,-5.92687893832e-05,-3.70731685354e-05,1793190434032704768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.622891599,671,660.377108401,632,876.377108401,782,799,649,626,649,0.410489828085,-0.00555660818349,0.0699335578068,0.999999995271,-5.60971617754e-05,-6.9104957868e-05,-3.91758939457e-05,1793190434049371392
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.044600278,671,660.955399722,632,876.955399722,782,799,649,626,649,0.411131147957,-0.00556652763546,0.0699244892293,0.999999992724,-6.84260461467e-05,-9.03226017315e-05,-4.13683164062e-05,1793190434066038272
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.529563449,670.470436551,660.470436551,632,877,782,798.470436551,649,626.529563449,649,0.411840753916,-0.00557234262521,0.069940075983,0.999999994219,-7.78049151979e-05,-6.1208019812e-05,-4.19842037277e-05,1793190434082705408
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,670.106249071,660.212498142,632,877,782,798,649,626.893750929,649,0.412567031243,-0.00557528570288,0.0699602168725,0.999999995329,-8.3478272303e-05,-2.53767428636e-05,-4.15778245869e-05,1793190434099372544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,670.695979935,661.391959869,632,877,782,798,649,626.304020065,649,0.413343202914,-0.00556672110929,0.0699917052437,0.999999996377,-7.34116850936e-05,2.18782524278e-05,-3.71191898181e-05,1793190434116039168
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.28075749,712,671,661.71924251,632,877,782,798.28075749,649,626,649,0.414096062705,-0.00555219903969,0.0700005260993,0.999999997461,-5.37053415924e-05,3.06265066791e-05,-3.5440039671e-05,1793190434132705792
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.860264386,712,671,661.139735614,632,877,782,798.860264386,649,626,649,0.414824116809,-0.00553133771726,0.06998522683,0.999999999043,-2.37414915243e-05,-1.59962001265e-06,-3.67184926436e-05,1793190434149371904
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.562260518,742.562260518,712,671,661,632,877,782,799,649,626,649,0.4155499345,-0.00553138046669,0.0699366591558,0.999999995184,-3.18883550229e-05,-8.34568445915e-05,-4.06225722918e-05,1793190434166038272
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711.985514143,671,661,632,877,782,798.985514143,649,626.014485857,649,0.41627776053,-0.00553819242242,0.0698794584644,0.999999981802,-5.19693289264e-05,-0.000177893280551,-4.52733383756e-05,1793190434182704896
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,711.411974476,671,661,632,877,782,798.411974476,649,626.588025524,649,0.417110520942,-0.0055499064394,0.0698970467351,0.999999985658,-6.52803407828e-05,-0.000149184210961,-4.65435205546e-05,1793190434199371776
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.166439594,741.833560406,711,671.166439594,661.166439594,632,877,782,798.166439594,649,626.833560406,649,0.417953105528,-0.00555885154325,0.0699195485751,0.999999989625,-7.54158239093e-05,-0.000113491652005,-4.67171122232e-05,1793190434216038656
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.757282846,741.242717154,711,671.757282846,661.757282846,632,877,782,798.757282846,649,626.242717154,649,0.418820740688,-0.00556073620578,0.0699545795051,0.999999994229,-7.74540381513e-05,-5.99919230581e-05,-4.40945120435e-05,1793190434232705024
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,741.341544397,711.341544397,671.658455603,661.658455603,632,877,782,798.658455603,649,626,649,0.419695709857,-0.00556149315535,0.0699824992285,0.999999995962,-7.69438010507e-05,-1.86605546519e-05,-4.25093723995e-05,1793190434249371648
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,741.921217091,711.921217091,671.078782909,661.078782909,632,877,782,798.078782909,649,626,649,0.420575792336,-0.00556146385164,0.0700054609435,0.999999996245,-7.46567571877e-05,1.41869042348e-05,-4.16475611407e-05,1793190434266038272
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.503900876,632,877,782,798.496099124,649,626,649,0.421437238442,-0.00555509017797,0.0700110488249,0.99999999632,-7.09777133748e-05,2.2938030979e-05,-4.23910008178e-05,1793190434282705152
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.071814372,712,671.071814372,660.071814372,632,877,782,799,649,626,649,0.422284212694,-0.00554796676688,0.0700061766393,0.999999996748,-6.60486570644e-05,1.51001836239e-05,-4.37553531183e-05,1793190434299372032
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.658914433,712,671.658914433,660.658914433,632,877,782,799,649,626,649,0.423048379778,-0.0055426238434,0.0699458584108,0.99999999384,-5.37214190249e-05,-8.45733397481e-05,-4.77632747683e-05,1793190434316038656
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.756197667,711.756197667,671.756197667,661,632,877.243802333,782,799,649,626,649,0.423849632277,-0.0055421469416,0.0698875951463,0.999999982329,-5.52063379518e-05,-0.000171884119541,-5.24358289847e-05,1793190434332705280
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.174376725,711.174376725,671.174376725,661,632,877.825623275,782,799,649,626,649,0.424702301787,-0.00554841651213,0.0698321809686,0.999999966145,-7.58410562204e-05,-0.00024205464583,-5.80298608424e-05,1793190434349371904
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.402295993,671.402295993,661,632,877.597704007,782,799,649,626,649,0.4256072464,-0.00555340351437,0.0698605719537,0.999999975926,-8.32981705942e-05,-0.000194851650674,-5.69471292256e-05,1793190434366038272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.976765356,671.976765356,661,632,877.023234644,782,799,649,626,649,0.426534563497,-0.0055578416067,0.0699248296113,0.999999990228,-8.51155738641e-05,-9.74155008917e-05,-5.30068967452e-05,1793190434382704896
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662.105772193,632,877.552886096,782,799,649,626,649,0.427432687046,-0.00555976444894,0.0699697667605,0.99999999435,-8.25731397806e-05,-4.49626045894e-05,-4.9595419223e-05,1793190434399371520
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712.13182635,671.86817365,662.7363473,632,877.86817365,782,799,649,626,649,0.428323536385,-0.0055617922439,0.0700077957865,0.999999995493,-8.2391762297e-05,3.07345402265e-06,-4.70808864474e-05,1793190434416038144
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712.720292105,671.279707895,661.559415789,632,877.279707895,782,799,649,626,649,0.429193450635,-0.00556455083088,0.0700247163521,0.999999993827,-9.10255211454e-05,4.23776445471e-05,-4.7596121251e-05,1793190434432704768
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712.694968461,671.305031539,661,632,877.305031539,782,799,649,626,649,0.430039923685,-0.00556685092964,0.0700161457542,0.999999994052,-9.20603251852e-05,3.2781589771e-05,-4.84320456765e-05,1793190434449371392
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,712.113604785,671.886395215,661,632,877.886395215,782,799,649,626,649,0.430865160991,-0.00556873567766,0.0699844823705,0.999999994833,-8.62111341747e-05,-2.11138513549e-05,-4.95584870216e-05,1793190434466038272
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.461360674,712,672,661,632,877.538639326,782,799,649,626,649,0.431600229607,-0.00556487514317,0.0699199307214,0.999999986124,-8.66312500777e-05,-0.000132286304752,-5.24122507456e-05,1793190434482705152
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.965166958,743,711.965166958,672,661,632,877,782,799,649,626.034833042,649,0.432321500777,-0.00555991278745,0.0698535386022,0.999999964309,-8.82749149093e-05,-0.000245996168915,-5.54616340008e-05,1793190434499371776
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.390752721,743,711.390752721,672,661,632,877,782,799,649,626.609247279,649,0.433168272982,-0.00555949748448,0.0698823684562,0.999999978008,-8.52856950858e-05,-0.000183525040202,-5.50427643977e-05,1793190434516038400
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.189218365,743,711,672.189218365,661.37843673,632,877.189218365,782,799,649,626.810781635,649,0.43400607333,-0.00556236786183,0.0699212513969,0.999999988611,-8.59982421253e-05,-0.000112011257219,-5.32574074623e-05,1793190434532705024
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.781012148,743,711,672.781012148,662.562024295,632,877.781012148,782,799,649,626.218987852,649,0.434824785576,-0.00557222875569,0.0699815229942,0.999999994121,-9.45865588467e-05,-2.12585781898e-05,-4.85647523463e-05,1793190434549371648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.63526708,711.36473292,673,662.63526708,632,877.63526708,782.36473292,799,649,626,649,0.435615304924,-0.00558005231262,0.0700071925261,0.999999993676,-0.000100339628064,1.94495593423e-05,-4.69221671864e-05,1793190434566038272
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.056288465,711.943711535,673,662.056288465,632,877.056288465,782.943711535,799,649,626,649,0.436389263593,-0.00558667912842,0.0700125366514,0.999999992966,-0.000104427260429,3.07613112283e-05,-4.70712067506e-05,1793190434582704896
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.481256178,742,711.481256178,672.481256178,661.481256178,632,877.518743822,783,799,649,626.518743822,649,0.437088671828,-0.00558873425136,0.0699926073118,0.99999999263,-0.000110268391737,9.18916850621e-06,-4.99728699745e-05,1793190434599371520
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.576084899,711,672.576084899,660.576084899,631.576084899,877.576084899,782,799,649,626.576084899,649,0.441382314696,-0.00559237766672,0.0698866281542,0.999999980955,-0.000123463427062,-0.000140676861521,-5.52853459168e-05,1793190434716038400
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.671301286,712,673,660,631,878,782,799,649,626,648.671301286,0.442899844062,-0.00561568754452,0.0699042395196,0.99999998037,-0.000140371034031,-0.000129188320938,-5.35351682466e-05,1793190434766038016
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+262,4.366666667,HOLD_POSE2,763.289081609,743,712,672,657.710918391,628.289081609,877.710918391,780,798.289081609,649,625,648.289081609,0.447926829191,-0.00556209681936,0.0696957920143,0.999999880005,-9.78331210482e-05,-0.000476156206178,-6.07777641933e-05,1793190435954472704
+263,4.383333333,HOLD_POSE2,763,742.705819854,711.705819854,672.294180146,657.705819854,628.294180146,877.705819854,780,798.294180146,649,625.294180146,648.294180146,0.447927038787,-0.00556326048118,0.0696954936733,0.999999879901,-9.93179359345e-05,-0.000476086007431,-6.06233283246e-05,1793190435971139328
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,629,878,780,800,649,626,649,0.447926282906,-0.00556669586481,0.0696944595555,0.999999879282,-0.000100090799755,-0.000477409652301,-5.9139389544e-05,1793190436020456704
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.424388617,743,711,673.575611383,658,629,877.424388617,780,799.424388617,649,626,649,0.447925912976,-0.00556695838093,0.0696945357756,0.99999987908,-0.000101281243355,-0.000477566496366,-5.92642086628e-05,1793190436037123328
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,629,877.744857894,780,799,649,625.255142106,649,0.447926611192,-0.00556564953275,0.0696945487436,0.99999987945,-9.87002792969e-05,-0.000477325511015,-5.93193768462e-05,1793190436070456320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.672996063,711,673.672996063,657.672996063,629,877.672996063,780,799,649,625.327003937,649,0.447926399646,-0.00556462850276,0.0696944657128,0.999999879446,-9.79420807666e-05,-0.000477464392627,-5.95301378693e-05,1793190436087122944
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.479899192,742.479899192,711.479899192,673,657.479899192,629,877.479899192,780,799.479899192,649,626,649,0.44792361213,-0.0055648601119,0.0696932769206,0.999999878225,-0.00010054905648,-0.000479407983411,-6.00635177618e-05,1793190436120456448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.943739018,743,711.943739018,673,658,629,878,780,799.943739018,649,626,649,0.447920129131,-0.00556599629081,0.0696912085043,0.999999876643,-0.000102058732725,-0.0004823641753,-6.01910499445e-05,1793190436137123328
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.210244709,743,711.210244709,673,658,629,877.789755291,780,799.210244709,649,626,649,0.447876773337,-0.00556242403649,0.0696688828673,0.999999859326,-9.71315542932e-05,-0.000517873378666,-6.09976642025e-05,1793190436170456576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.805911526,743,711.805911526,673,658,629,877.194088474,780,799.805911526,649,626,649,0.447833572827,-0.0055639157876,0.0696499330339,0.999999841608,-0.000100487112953,-0.000550421203945,-6.1014674216e-05,1793190436187123456
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.649572556,743,712,673,659,630,877.350427444,780.350427444,799.350427444,649,626,648.649572556,0.444863758058,-0.00548692738452,0.0696435630106,0.999999844193,3.04772659897e-05,-0.00055738474203,2.59561527848e-06,1793190436470456576
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diff --git a/Obstacle_avoidance/ball_15A_20/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d010e9019dbc881cabdb0ef6022faf6c00f5b81d
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a84fbe72a38e1eb375fc28ec09b5e5e012ea56f9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac80acd2fc1d33ae2ca5296d56e7d5383a5d88bdb49625d5990b0c29a2637e9f
+size 24678550
diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52820ba561c648570a92af874009ae85ef7ec2df
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
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+6,0.100000000,BASELINE,764,742,712,671,660,632,875.481514953,782.518485047,797.963029906,648.518485047,626.481514953,649,0.401011262892,-0.00551351319342,0.0798582990537,0.999999983409,7.68389891721e-05,-0.000161553213801,3.43202307078e-05,1793190439739358464
+7,0.116666667,BASELINE,764,742,712,671,660,632,876,782,798.940864071,648.059135929,627,649,0.401011531382,-0.00551207560672,0.0798578633387,0.999999983344,7.72558238178e-05,-0.000161867018007,3.37983740892e-05,1793190439756025088
+8,0.133333333,BASELINE,764,742,712,671,660,632,876,782,798.3485532,648.6514468,627,649,0.40100974884,-0.00551424817769,0.0798569186967,0.999999983171,7.58074513535e-05,-0.000163601096699,3.38532050548e-05,1793190439772691968
+9,0.150000000,BASELINE,764,742,712,671,660,632,876,782,798.474770465,649,626.762614768,649,0.401009270688,-0.00551436908276,0.0798566236929,0.999999983128,7.54464281258e-05,-0.000164056740588,3.37356270738e-05,1793190439789358592
+10,0.166666667,BASELINE,764,742,712,671,660,632,876,782,799.628423117,649,626.185788442,649,0.401010657706,-0.00551155627642,0.0798572576175,0.999999983273,7.66402237868e-05,-0.000162684329134,3.33715186672e-05,1793190439806025216
+11,0.183333333,BASELINE,764,742,712,671,660.389144554,632,876.389144554,782,799.221710892,649,626.389144554,649,0.401011242798,-0.00551275218114,0.0798577290721,0.999999983538,7.47952249117e-05,-0.000161908237107,3.34056779802e-05,1793190439822691584
+12,0.200000000,BASELINE,764,742,712,671,660.963178048,632,876.963178048,782,798.073643904,649,626.963178048,649,0.401011446881,-0.00551585268977,0.0798581233347,0.99999998385,7.15064451696e-05,-0.000161415466069,3.36290607663e-05,1793190439839358464
+13,0.216666667,BASELINE,764,742,712,671,660.4471121,632,876.4471121,782.5528879,798,649,627,649.5528879,0.401009662408,-0.00551453357845,0.0798568185747,0.999999983342,7.31431409884e-05,-0.000163779928321,3.38060337762e-05,1793190439856025088
+14,0.233333333,BASELINE,764,742,711.859287338,671,660,632,876,782.859287338,798.140712662,649,626.859287338,649.859287338,0.401008722915,-0.00551354890976,0.0798561945415,0.999999983028,7.46123714895e-05,-0.000165008898383,3.38930889262e-05,1793190439872691968
+15,0.250000000,BASELINE,764,742,711.280672766,671,660,632,876,782.280672766,798.719327234,649,626.280672766,649.280672766,0.4010108372,-0.00551454777187,0.079858051363,0.999999983519,7.45098070484e-05,-0.000162094716346,3.37102166454e-05,1793190439889358592
+16,0.266666667,BASELINE,764,742,711,671,660,632,876.29588074,782.29588074,798.70411926,649,626,649,0.401011055988,-0.00551450707271,0.0798582998496,0.999999983581,7.48420837611e-05,-0.000161587578159,3.35592094192e-05,1793190439906024960
+17,0.283333333,BASELINE,764,742,711,671,660,632,876.870492605,782.870492605,798.129507395,649,626,649,0.401009489145,-0.00551348706648,0.0798570332223,0.999999983243,7.55839977029e-05,-0.000163347968758,3.34382203206e-05,1793190439922691584
+18,0.300000000,BASELINE,764,742,711,671,660.445207222,632,877,782.554792778,798.445207222,649,626,649,0.401010042165,-0.0055139045296,0.0798576855066,0.999999983225,7.62605759765e-05,-0.000163059820906,3.38411587867e-05,1793190439939358208
+19,0.316666667,BASELINE,764,742,711,671,660.979451057,632,877,782,798.979451057,649,626,649.020548943,0.401011135426,-0.00551467269452,0.0798588026227,0.999999983291,7.69071081431e-05,-0.000162244364279,3.43604512175e-05,1793190439956025344
+20,0.333333333,BASELINE,764,742,711,671,660.387502717,632,877,782,798.387502717,649,626,649.612497283,0.401010100005,-0.00551356269076,0.079857319976,0.999999983103,7.72467632895e-05,-0.000163340150101,3.38762603647e-05,1793190439972691968
+21,0.350000000,BASELINE,764.200350861,742,711.200350861,670.799649139,660,632,877,782,798.200350861,649,626.200350861,649.799649139,0.401009583319,-0.00551299063051,0.0798566373326,0.999999983093,7.66873213874e-05,-0.00016374672121,3.34549486964e-05,1793190439989358592
+22,0.366666667,BASELINE,764.780443233,742,711.780443233,670.219556767,660,632,877,782,798.780443233,649,626.780443233,649.219556767,0.401010049835,-0.00551343817908,0.0798574710016,0.999999983421,7.44237466535e-05,-0.000162846966704,3.31528171874e-05,1793190440006024960
+23,0.383333333,BASELINE,764.643937577,742,711.643937577,670,660,632,876.643937577,782,798.643937577,649,626.643937577,649,0.401009227666,-0.00551417055473,0.079856945067,0.999999983279,7.33738086296e-05,-0.000164189279377,3.31705656234e-05,1793190440022691584
+24,0.400000000,BASELINE,764.071042383,742,711.071042383,670,660,632,876.071042383,782,798.071042383,649,626.071042383,649,0.401007620722,-0.00551507638271,0.0798555911693,0.999999982846,7.3062943637e-05,-0.000166896952671,3.33831126124e-05,1793190440039358208
+25,0.416666667,BASELINE,764,742,711.516045172,670.516045172,660,632,876,782,798.516045172,649,626,649,0.401009741497,-0.0055155831294,0.079857778953,0.999999983367,7.31541577115e-05,-0.000163613141785,3.38454280051e-05,1793190440056024832
+26,0.433333333,BASELINE,764,742,712,671,660,632,876.103315029,782.103315029,799,649,626,649,0.401011707872,-0.0055157150889,0.0798596937652,0.999999983811,7.37462378604e-05,-0.000160526048581,3.42250950589e-05,1793190440072691456
+27,0.450000000,BASELINE,764,742,712,671,660,632,876.682176686,782.682176686,799,649,626,649,0.401010534639,-0.00551438198341,0.0798580444189,0.999999983341,7.63817557308e-05,-0.000162248380126,3.40615967144e-05,1793190440089358080
+28,0.466666667,BASELINE,764,742,712,671,660,632,876.740170412,782.740170412,799,649,626,649,0.401009670025,-0.00551356728418,0.0798574313065,0.999999983125,7.70208664343e-05,-0.000163318787095,3.38403176877e-05,1793190440106024960
+29,0.483333333,BASELINE,764,742,712,671,660,632,876.163989245,782.163989245,799,649,626,649,0.401009181165,-0.00551338376272,0.0798580798451,0.999999983226,7.52292816675e-05,-0.000163595453068,3.35486886764e-05,1793190440122691840
+30,0.500000000,BASELINE,764,742,711.591162981,671,660,632,876,782,798.591162981,649,626,649.408837019,0.401009848609,-0.00551321335119,0.0798582272118,0.999999983376,7.47389150449e-05,-0.000162928404626,3.34051810249e-05,1793190440139358720
+31,0.516666667,BASELINE,764,742,711.019671469,671,660,632,876,782,798.019671469,649,626,649.980328531,0.401010976083,-0.00551304815542,0.0798581751888,0.999999983546,7.476623392e-05,-0.000161885902433,3.3320602987e-05,1793190440156025344
+32,0.533333333,BASELINE,764,742,711.576586755,671,660,632,876,782,798.576586755,649,626,649.423413245,0.401009091117,-0.00551396079364,0.0798566592031,0.999999983114,7.4767233941e-05,-0.000164503952718,3.34608914566e-05,1793190440172691968
+33,0.550000000,BASELINE,764,742,712,671,660,632,876,782,799,649,626.167596947,649,0.401008187578,-0.00551449795119,0.0798560707377,0.999999982882,7.49399064519e-05,-0.000165821979099,3.35212186704e-05,1793190440189358592
+34,0.566666667,BASELINE,764,742,712,671,660,632,876,782,799,649,626.743664632,649,0.401009937722,-0.00551402633403,0.0798578700371,0.999999983199,7.55332693579e-05,-0.000163653520658,3.33671255904e-05,1793190440206024960
+35,0.583333333,BASELINE,764,742,712,671,660,632,876.31788849,782,799,649,627,649,0.401010700068,-0.00551310913848,0.079858757403,0.999999983188,7.7650993859e-05,-0.000162707718768,3.34837543846e-05,1793190440222691840
+36,0.600000000,BASELINE,764,742,712,671,660,632,876.890634179,782,799,649,627,649,0.401010670476,-0.0055118347143,0.0798589136547,0.999999982906,8.0990827866e-05,-0.000162742143463,3.38174259944e-05,1793190440239358464
+37,0.616666667,BASELINE,764,742,711.521570945,671,660,632,876.521570945,782,798.521570945,649,627,649,0.401009695671,-0.00551274678309,0.0798578484055,0.999999982861,7.88538458126e-05,-0.000164102092263,3.36283925984e-05,1793190440256025344
+38,0.633333333,BASELINE,763.931757603,742,711.068242397,671,660,632,876.068242397,782,798.068242397,649,627,649,0.401008556517,-0.00551383516766,0.0798566324238,0.999999982829,7.6047605228e-05,-0.000165667814913,3.3360506268e-05,1793190440272691968
+39,0.650000000,BASELINE,763.35340612,742,711.64659388,671,660,632,876.64659388,782,798.64659388,649,627,649,0.401007856429,-0.005512384047,0.0798564447212,0.999999982557,7.79010028044e-05,-0.000166433170559,3.34253650654e-05,1793190440289358592
+40,0.666666667,BASELINE,763.223977127,742,711.776022873,671,660,632,877,782,799,649,626.776022873,649,0.401007211812,-0.00551245941315,0.0798562171886,0.999999982446,7.79664180335e-05,-0.000167057151147,3.34895603188e-05,1793190440306025216
+41,0.683333333,BASELINE,763.799839169,742,711.200160831,671,660,632,877,782,799,649,626.200160831,649,0.401006654345,-0.00551493300497,0.0798559270797,0.999999982587,7.52227783959e-05,-0.000167459020837,3.35527130908e-05,1793190440322691840
+42,0.700000000,BASELINE,764,742,711.374714745,671.374714745,660,632,877,782,798.625285255,649,626,649,0.40100725572,-0.005514781088,0.0798566061069,0.99999998285,7.41227643587e-05,-0.000166388814877,3.34741010103e-05,1793190440339358464
+43,0.716666667,BASELINE,764,742,711.949064747,671.949064747,660,632,877,782,798.050935253,649,626,649,0.401008474487,-0.00551323038926,0.0798578014567,0.999999983179,7.38984181678e-05,-0.000164534337119,3.3319961441e-05,1793190440356025344
+44,0.733333333,BASELINE,764,742,712,670.923401061,660,632,876.46170053,782,798.53829947,649,626,649.53829947,0.401008656211,-0.00551305123352,0.0798578959335,0.999999983148,7.65274036426e-05,-0.000163471032158,3.35310571375e-05,1793190440372691968
+45,0.750000000,BASELINE,764,742,712,670.126527381,660,632,876,782,798.873472619,649,626,649.873472619,0.40100868233,-0.00551306049301,0.0798578704743,0.999999983089,7.82772457052e-05,-0.000162969681919,3.36890739787e-05,1793190440389358592
+46,0.766666667,BASELINE,764,742,712,670.705966299,660,632,876,782,798.294033701,649,626,649.294033701,0.401008512695,-0.00551326643381,0.0798577991745,0.999999983077,7.58862211038e-05,-0.000164204283076,3.35298666823e-05,1793190440406025216
+47,0.783333333,BASELINE,764,742,712,671,660,632,876,782.283403918,798.566807836,649,626,649,0.401008375373,-0.00551317287898,0.0798579009748,0.999999983016,7.57082961999e-05,-0.000164659985071,3.35255877527e-05,1793190440422691584
+48,0.800000000,BASELINE,764,742,712,671,660,632,876,782.858779803,799.717559606,649,626,649,0.401008271341,-0.00551277077398,0.0798581811086,0.999999982906,7.78103785497e-05,-0.000164313239876,3.36809210641e-05,1793190440439358464
+49,0.816666667,BASELINE,764.432904212,742,712,671,659.567095788,632,876,782.567095788,799.134191575,649,626,649,0.401008091053,-0.00551314742224,0.0798581843763,0.999999983026,7.6313484865e-05,-0.000164338593595,3.34157348247e-05,1793190440456025344
+50,0.833333333,BASELINE,764.993157742,742,712,671,659.006842258,632,876,782,798.006842258,648.993157742,626,649.006842258,0.401007887293,-0.0055137536219,0.0798580943021,0.99999998321,7.37087017419e-05,-0.000164487902523,3.3021260392e-05,1793190440472691712
+51,0.850000000,BASELINE,764.400314067,742,712,671,659.599685933,632,876,782,798.599685933,648.400314067,626,649.599685933,0.401007797555,-0.00551232509031,0.0798577229456,0.999999982928,7.64797380496e-05,-0.000164887342007,3.32688177404e-05,1793190440489358336
+52,0.866666667,BASELINE,764,742,712,671,660.187567157,632,876,782.187567157,798.812432843,648.187567157,626.187567157,650,0.401007670038,-0.00551141063556,0.079857443151,0.999999982703,7.84321736221e-05,-0.000165302631655,3.3438962535e-05,1793190440506025216
+53,0.883333333,BASELINE,764,742,712,671,660.765130251,632,876,782.765130251,798.234869749,648.765130251,626.765130251,650,0.401007463967,-0.00551156506673,0.0798573537349,0.999999982608,7.86825468668e-05,-0.00016575087748,3.34481485315e-05,1793190440522691840
+54,0.900000000,BASELINE,764,742,712,671,660.660764541,632,876.339235459,782.660764541,798.339235459,649,626.660764541,650,0.401007477368,-0.00551188614867,0.0798573551894,0.999999982696,7.76683263785e-05,-0.000165693873768,3.34928523102e-05,1793190440539358464
+55,0.916666667,BASELINE,764,742,712,671,660.089029266,632,876.910970734,782.089029266,798.910970734,649,626.089029266,650,0.401007641186,-0.00551232144707,0.0798574189233,0.999999982904,7.57873986962e-05,-0.000165290590128,3.35618987023e-05,1793190440556025088
+56,0.933333333,BASELINE,764,742,711.499562809,671,660,632,875.999125618,782,799,649,626.500437191,649.499562809,0.401006945709,-0.00551233409412,0.0798568592904,0.999999982664,7.65150604446e-05,-0.000166451815727,3.33464829154e-05,1793190440572691712
+57,0.950000000,BASELINE,764,742,711,671,660.091050864,632,875.182101729,782,799,649,627,649,0.401006197696,-0.00551243288997,0.079856317567,0.999999982423,7.72390073974e-05,-0.00016760191629,3.31381811649e-05,1793190440589358592
+58,0.966666667,BASELINE,764,742,711,671,660.670281156,632,876.340562313,782,799,649,627,649,0.401006017743,-0.00551341153559,0.0798564883059,0.999999982639,7.53634434274e-05,-0.000167145249532,3.32493224076e-05,1793190440606025216
+59,0.983333333,BASELINE,764,742,711.247571663,671,660.752428337,632,876.752428337,782,798.752428337,649,626.752428337,649,0.401006242689,-0.00551356754805,0.0798566316554,0.999999982772,7.46159984357e-05,-0.000166677508443,3.32769270098e-05,1793190440622691584
+60,1.000000000,BASELINE,764,742,711.822298904,671,660.177701096,632,876.177701096,782,798.177701096,649,626.177701096,649,0.401007002693,-0.00551263648539,0.0798567388107,0.999999982799,7.53593151451e-05,-0.000166195133024,3.31941414573e-05,1793190440639358208
+61,1.016666667,BASELINE,764,742,711.602295917,671,660,631.602295917,876,782,798,649,626,649,0.401007537689,-0.0055131172624,0.0798573291873,0.999999982908,7.54209687192e-05,-0.00016546860737,3.33923763677e-05,1793190440656025088
+62,1.033333333,BASELINE,764,742,711.02658734,671,660,631.02658734,876,782,798,649,626,649,0.401007971977,-0.00551422995101,0.0798581358442,0.999999983054,7.51775232918e-05,-0.000164632804922,3.37163904924e-05,1793190440672691968
+63,1.050000000,BASELINE,764,742,711.54916308,670.45083692,660,631.54916308,876.54916308,782,798.54916308,649,626,649,0.401006542477,-0.00551390666098,0.0798571468158,0.999999982681,7.67299065355e-05,-0.000166202873293,3.35675670341e-05,1793190440689358592
+64,1.066666667,BASELINE,764,742,712,670.129009761,660.129009761,632,877,782,799,649,626,649,0.401005802616,-0.00551333952367,0.0798565279985,0.999999982478,7.76050072243e-05,-0.000167061333327,3.33314374573e-05,1793190440706025216
+65,1.083333333,BASELINE,764,742,712,670.723633055,660.723633055,632,877,782,799,649,626,649,0.401007877451,-0.00551214324171,0.0798575591135,0.999999982992,7.57218885916e-05,-0.00016493108466,3.28628353338e-05,1793190440722692096
+66,1.100000000,BASELINE,764,742,711.69176364,671,660.69176364,632,877,782,799,649,626.30823636,649,0.40100793839,-0.00551226565828,0.0798573339367,0.999999982977,7.56476932753e-05,-0.00016506556206,3.27997108866e-05,1793190440739358464
+67,1.116666667,BASELINE,764,742,711.115861509,671,660.115861509,632,877,782,799,649,626.884138491,649,0.401006250505,-0.0055135332041,0.0798560178231,0.999999982505,7.71443278439e-05,-0.000167166678582,3.30886944865e-05,1793190440756025088
+68,1.133333333,BASELINE,764,742,711,671,660,632,876.543208837,782.456791163,799,649,627,649,0.401007514554,-0.00551371594438,0.0798567373241,0.99999998273,7.67183127983e-05,-0.000165964116309,3.33159292953e-05,1793190440772691712
+69,1.150000000,BASELINE,764,742,711.029851242,670.970148758,660,632,876.029851242,782.970148758,798.970148758,649,626.970148758,649,0.401009356626,-0.00551358392841,0.07985787345,0.999999983097,7.58803345981e-05,-0.000164092089699,3.35077924205e-05,1793190440789358336
+70,1.166666667,BASELINE,764,742,711.626171479,670.373828521,660,632,876.626171479,782.373828521,798.373828521,649,626.373828521,649,0.401008059519,-0.00551266349441,0.079857186969,0.999999982862,7.64135411042e-05,-0.000165305042893,3.33235390249e-05,1793190440806025216
+71,1.183333333,BASELINE,764,742,711.785288886,670.214711114,660,632,876.785288886,782,798.214711114,649,626,649,0.401006980115,-0.00551184378101,0.0798567571731,0.99999998259,7.73295898734e-05,-0.000166539889389,3.32267625026e-05,1793190440822691840
+72,1.200000000,BASELINE,764,742,711.209822052,670.790177948,660,632,876.209822052,782,798.790177948,649,626,649,0.401006266491,-0.00551119329733,0.0798567586569,0.999999982254,7.8888886922e-05,-0.000167811521012,3.32769638217e-05,1793190440839358464
+73,1.216666667,BASELINE,764,742,711.366051279,671,660,632,876,782.366051279,798.633948721,649,626,649,0.401007286293,-0.00551195382511,0.0798573492725,0.999999982402,7.94584790822e-05,-0.000166631354304,3.34126705762e-05,1793190440856025344
+74,1.233333333,BASELINE,764,742,711.942157839,671,660,632,876,782.942157839,798.057842161,649,626,649,0.401009300805,-0.00551352404935,0.0798582779563,0.999999982823,7.94601377718e-05,-0.000164044244783,3.35974438636e-05,1793190440872692224
+75,1.250000000,BASELINE,764,742,712,671,660,632,876.530767296,782.469232704,798.530767296,649,626,649,0.401009355212,-0.00551370125724,0.0798582989286,0.999999983056,7.67696803082e-05,-0.000163917455456,3.35568071572e-05,1793190440889358592
+76,1.266666667,BASELINE,764,742,711.881397427,671,660,632,876.881397427,782,799,649,626.118602573,649.118602573,0.401008851737,-0.0055135088202,0.079858110983,0.999999983166,7.46286168718e-05,-0.000164251643071,3.34736650179e-05,1793190440906025472
+77,1.283333333,BASELINE,764,742,711.301991639,671,660,632,876.301991639,782,799,649,626.698008361,649.698008361,0.401007030693,-0.00551248425919,0.0798575049416,0.999999982909,7.57894679967e-05,-0.000165309994472,3.33231211841e-05,1793190440922691840
+78,1.300000000,BASELINE,764.273961641,742,711.273961641,671,660,632,876,782,799,649,627,650,0.401005947673,-0.00551193409181,0.0798571450634,0.999999982682,7.63992286486e-05,-0.000166432118689,3.31457253715e-05,1793190440939358464
+79,1.316666667,BASELINE,764.8461565,742,711.8461565,671,660,632,876,782,799,649,627,650,0.401005668061,-0.00551190034697,0.0798570531572,0.999999982489,7.64090749979e-05,-0.000167623665592,3.29390986442e-05,1793190440956025088
+80,1.333333333,BASELINE,764.569081234,742,711.569081234,671,660.430918766,632,876.430918766,782,798.569081234,649,627,649.569081234,0.401005374752,-0.00551229934113,0.0798567413337,0.999999982396,7.72923281707e-05,-0.000167766169434,3.29778106912e-05,1793190440972691712
+81,1.350000000,BASELINE,764,742,711.019908517,671,660.980091483,632,876.980091483,782,798.019908517,649,626.980091483,649,0.401005139637,-0.00551281168802,0.0798563774617,0.999999982347,7.84413096057e-05,-0.000167503099034,3.31091069437e-05,1793190440989358592
+82,1.366666667,BASELINE,764,742,711.597852497,671,660.402147503,632,876.402147503,782,798.597852497,649,626.402147503,649,0.401006676893,-0.00551204077476,0.0798568215067,0.999999982509,7.80358513272e-05,-0.000166684987056,3.33066637745e-05,1793190441006025216
+83,1.383333333,BASELINE,764,742,711.823459634,671,660,631.823459634,876.176540366,782,798.823459634,649,626,649,0.401007726569,-0.00551146625078,0.0798572510114,0.999999982645,7.78292828226e-05,-0.000165939101483,3.34118866883e-05,1793190441022691840
+84,1.400000000,BASELINE,764,742,711.243069947,671,660,631.243069947,876.756930053,782,798.243069947,649,626,649,0.401007660868,-0.00551134098186,0.0798576472538,0.999999982726,7.80776895047e-05,-0.000165358439062,3.33058888848e-05,1793190441039358720
+85,1.416666667,BASELINE,764,742,711.334039489,671,660,631.334039489,876.665960511,782,798,649.334039489,626.334039489,649.334039489,0.401007778561,-0.00551135372566,0.0798577636214,0.999999982711,7.89728530438e-05,-0.00016502355549,3.32947778271e-05,1793190441056025344
+86,1.433333333,BASELINE,764,742,711.908785167,671,660,631.908785167,876.091214833,782,798,649.908785167,626.908785167,649.908785167,0.401008028406,-0.00551146592034,0.0798576783133,0.999999982627,8.0334064397e-05,-0.000164865778231,3.33520414075e-05,1793190441072691712
+87,1.450000000,BASELINE,764,742,712,671.493666018,660,632,876.493666018,782,798.493666018,649.506333982,626.506333982,649.506333982,0.401007373082,-0.00551148382086,0.0798570847013,0.999999982402,8.07474572513e-05,-0.000165995762991,3.34744872572e-05,1793190441089358336
+88,1.466666667,BASELINE,764,742,712,671.920604987,660,632,876.920604987,782,799,649,626,649,0.401006687981,-0.00551138162222,0.0798565500078,0.999999982221,8.06382891911e-05,-0.000167129858676,3.3517152966e-05,1793190441106025216
+89,1.483333333,BASELINE,764,742,712,671.341570493,660,632,876.341570493,782,799,649,626,649,0.401006890067,-0.00551063557062,0.0798569895252,0.999999982481,7.83658021077e-05,-0.000166761060872,3.29803745598e-05,1793190441122692096
+90,1.500000000,BASELINE,764.236250835,742,712,671,660,632,876,782,799,649,626.236250835,649,0.401007079321,-0.00551025419748,0.0798572529577,0.999999982613,7.76102592985e-05,-0.000166365453627,3.27677452557e-05,1793190441139358976
+91,1.516666667,BASELINE,764.812327082,742,712,671,660,632,876,782,799,649,626.812327082,649,0.401007250115,-0.00551039738128,0.0798572631081,0.999999982565,7.90367035366e-05,-0.000165931283462,3.30213751022e-05,1793190441156025600
+92,1.533333333,BASELINE,764.611231175,742,712,671,660,632,876,782.388768825,798.611231175,649,626.611231175,649.388768825,0.401007697398,-0.00551159055949,0.0798578009759,0.999999982684,7.93819014565e-05,-0.000165004848056,3.32328843315e-05,1793190441172691968
+93,1.550000000,BASELINE,764.034612776,742,712,671,660,632,876,782.965387224,798.034612776,649,626.034612776,649.965387224,0.401008278277,-0.00551329108548,0.0798585938321,0.999999982883,7.92046510805e-05,-0.000163840554507,3.34240412828e-05,1793190441189358592
+94,1.566666667,BASELINE,764,741.447965932,712,671,660,632,875.447965932,782.447965932,798,649,626,650,0.4010075523,-0.00551262291753,0.079857841187,0.999999982771,7.85405135504e-05,-0.000164869611852,3.32718226987e-05,1793190441206025216
+95,1.583333333,BASELINE,764,741.138077229,712,671,660,632,875.276154458,782,798,649,626,649.861922771,0.401007166315,-0.00551185657112,0.0798573041349,0.999999982682,7.82095650867e-05,-0.000165590613498,3.3153996349e-05,1793190441222692096
+96,1.600000000,BASELINE,764,741.720120315,712,671,660,632,876.440240631,782,798,649,626,649.279879685,0.401008141864,-0.00551126091951,0.0798577776316,0.999999982733,7.90499083983e-05,-0.00016487074148,3.3217259392e-05,1793190441239359488
+97,1.616666667,BASELINE,764,742,711.70178118,671,660.29821882,631.70178118,876.70178118,782,798,649,626.29821882,649,0.401008853979,-0.00551176945642,0.0798580486245,0.999999982802,7.91339537703e-05,-0.000164379154421,3.33522679177e-05,1793190441256026112
+98,1.633333333,BASELINE,764,742,711.127336389,671,660.872663611,631.127336389,876.127336389,782,798,649,626.872663611,649,0.401009322088,-0.0055133007509,0.0798581320477,0.99999998289,7.85174761256e-05,-0.00016409901695,3.35537308823e-05,1793190441272692224
+99,1.650000000,BASELINE,764,742,711.445039125,671,660.554960875,631.445039125,876,782,798,649.445039125,626.554960875,649.445039125,0.401007272973,-0.00551323994805,0.0798570871249,0.999999982518,7.77658014911e-05,-0.000166691297003,3.3615373505e-05,1793190441289358592
+100,1.666666667,BASELINE,764,742,711.982438102,671,660.017561898,632,876.017561898,782,798.017561898,649.982438102,626,649.982438102,0.401004618779,-0.00551274150398,0.0798557891633,0.999999982027,7.70320438241e-05,-0.000169943251139,3.36415472607e-05,1793190441306025472
+101,1.683333333,BASELINE,764,742,711.385619613,671,660.614380387,632,876.614380387,782,798.614380387,649.385619613,626,649.385619613,0.401005653029,-0.00551276379943,0.0798567444489,0.999999982267,7.81592613029e-05,-0.000167970920499,3.38112641822e-05,1793190441322692096
+102,1.700000000,BASELINE,764,742,711.204358027,671,660.795641973,632,876.795641973,782,798.795641973,649,626,649.204358027,0.401006155962,-0.00551279844564,0.0798570836952,0.99999998247,7.78758641233e-05,-0.000166914430957,3.36998847764e-05,1793190441339358976
+103,1.716666667,BASELINE,764,742,711.78184517,671,660.21815483,632,876.21815483,782,798.21815483,649,626,649.78184517,0.401005688785,-0.00551285564259,0.0798562981403,0.999999982606,7.50168821678e-05,-0.000167530139112,3.30752628575e-05,1793190441356026368
+104,1.733333333,BASELINE,764,742,711.643198617,671,660,632,876,782.356801383,798.356801383,649,626,649.643198617,0.401006511812,-0.00551342411398,0.0798567796293,0.999999982827,7.42056187693e-05,-0.000166570825397,3.30846123432e-05,1793190441372692736
+105,1.750000000,BASELINE,764,742,711.069778904,671,660,632,876,782.930221096,798.930221096,649,626,649.069778904,0.401008118138,-0.00551430298611,0.0798580303556,0.999999983099,7.46375491889e-05,-0.00016465529738,3.34788532877e-05,1793190441389358848
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,670,660,632,876,782,799,649,626,649,0.401008362435,-0.00551108105431,0.0798581609079,0.999999983032,7.67270561032e-05,-0.000164225694488,3.28459621101e-05,1793190441419628288
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.578792765,670.578792765,660,632,876,782,799,649,626.578792765,649,0.401006219963,-0.00551208543093,0.0798576018705,0.999999982812,7.61110173121e-05,-0.00016579494846,3.30933260967e-05,1793190441436295168
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.843124834,742,712,671,660,632,876,782,798.843124834,649,626.843124834,649,0.401005168067,-0.00551300914482,0.0798573965451,0.999999982697,7.57258590781e-05,-0.000166622634815,3.32978844933e-05,1793190441452962048
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.266941022,742,712,671,660,632,876,782,798.266941022,649,626.266941022,649,0.401007031153,-0.0055137172571,0.0798581366501,0.999999982868,7.59578169546e-05,-0.000165468199553,3.33880286983e-05,1793190441469628672
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.312541159,742,711.687458841,671,660,631.687458841,876.312541159,782,798.312541159,649,626,649,0.401007469547,-0.00551345664223,0.0798579817283,0.999999982857,7.63308736662e-05,-0.000165416722235,3.31174674574e-05,1793190441486295296
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.894870487,742,711.105129513,671,660,631.105129513,876.894870487,782,798.894870487,649,626,649,0.401006678135,-0.00551235981388,0.0798570542118,0.999999982689,7.68257280701e-05,-0.0001663173276,3.25355422235e-05,1793190441502961664
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,631.476646723,877,782,798.523353277,649,626,649,0.401006476102,-0.00551297485515,0.0798570945541,0.999999982528,7.76053471671e-05,-0.000166840711432,3.29456566479e-05,1793190441519628032
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.058138474,671,660,632,877,782.058138474,798.058138474,649,626,649,0.401006796969,-0.00551393241605,0.0798575376302,0.999999982452,7.81016114625e-05,-0.000166950117452,3.35229090791e-05,1793190441536294656
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.638170327,671,660,632,877,782.638170327,798.638170327,649,626,649,0.401010646209,-0.00551457925788,0.0798596818827,0.999999983122,7.54911203325e-05,-0.000164089356843,3.36386381757e-05,1793190441552961280
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.215981311,632,877,782.784018689,799,649,626.215981311,649.215981311,0.401017643351,-0.00551435038138,0.0798631796212,0.999999983663,7.48917559107e-05,-0.000161023513524,3.37180188186e-05,1793190441569628160
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.790109523,632,877,782.209890477,799,649,626.790109523,649.790109523,0.40102986044,-0.00551266936151,0.079868921752,0.999999983996,7.76273043684e-05,-0.000157617595987,3.37371253182e-05,1793190441586294784
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.62716992,632.37283008,876.62716992,782,799,649,627,649.62716992,0.40105517386,-0.0055124926009,0.0798780345323,0.999999985229,7.90494308181e-05,-0.000148841119404,3.37672728343e-05,1793190441602961152
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.039498005,632.960501995,876.039498005,782,799,649,627,649.039498005,0.401088033989,-0.00551318266348,0.0798890896365,0.999999986871,7.97147033662e-05,-0.000136969879422,3.38037826898e-05,1793190441619628032
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.541115868,742,712,671,660.541115868,632.458884132,876,782,799,649,627,649,0.401142246778,-0.00551527540495,0.0799006240436,0.999999988843,7.82589444607e-05,-0.000122712580688,3.36209296938e-05,1793190441636294656
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.879249537,742,711.879249537,671,660.879249537,632,876,782,799,649,627,649,0.401201041251,-0.00551724449919,0.0799108229239,0.999999990499,7.63342332863e-05,-0.000109961712909,3.29072781712e-05,1793190441652961024
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.30139669,742,711.30139669,671,660.30139669,632,876,782,799,649,627,649,0.401271355604,-0.00551836293057,0.0799158354188,0.9999999915,7.32128306312e-05,-0.000103564276816,3.02441156905e-05,1793190441669627648
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.275176046,671,660,632,876.275176046,782.275176046,799.275176046,649,626.724823954,649,0.401352194558,-0.00551919658273,0.0799197938891,0.99999999227,7.07204330098e-05,-9.85987203481e-05,2.71491930492e-05,1793190441686294528
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.850353152,671,660,632,876.850353152,782.850353152,799.850353152,649,626.149646848,649,0.401444507585,-0.00551971976426,0.0799226032456,0.999999992816,6.8913786314e-05,-9.51942209428e-05,2.35835591558e-05,1793190441702961152
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.564761266,671,660,632,876.564761266,782.564761266,799.129522532,649,626.435238734,649,0.40155428687,-0.00552108736666,0.0799247881016,0.999999993356,6.46712779509e-05,-9.35193059415e-05,1.89516183787e-05,1793190441719627776
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.02322973,671,660,632,876.02322973,782,798.02322973,649,626.97677027,649.02322973,0.401671896473,-0.00552275151235,0.0799269871408,0.999999993888,5.96571375025e-05,-9.20344981042e-05,1.39256266553e-05,1793190441736294656
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.603812422,671,660,632,876.603812422,782,798.603812422,649,626.396187578,649.603812422,0.401830004885,-0.00552440569124,0.0799347958182,0.999999995116,5.66821901038e-05,-8.05172604355e-05,8.4422945307e-06,1793190441752961280
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.817497803,671,659.817497803,632,877,782,799,649,626.182502197,649.817497803,0.401997177057,-0.00552831118856,0.0799426856299,0.999999996416,4.91637572702e-05,-6.88663587385e-05,2.8649428361e-06,1793190441769627648
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.242875185,671,659.242875185,632,877,782,799,649,626.757124815,649.242875185,0.402183823413,-0.00553705382154,0.0799507497641,0.999999997867,3.18832866026e-05,-5.69282707792e-05,-2.91441664174e-06,1793190441786294272
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.668850849,742,711,671.331149151,659.331149151,632,876.668850849,782,798.668850849,649,627,649,0.402381099459,-0.005546471022,0.0799519567004,0.999999998309,1.14230034322e-05,-5.61778850777e-05,-9.72731541702e-06,1793190441802961152
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.095264461,742,711,671.904735539,659.904735539,632,876.095264461,782,798.095264461,649,627,649,0.402586157614,-0.00555638208022,0.079948143422,0.999999997762,-1.13652505428e-05,-6.36181144222e-05,-1.72968780995e-05,1793190441819627776
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.496513262,742,711.496513262,671.503486738,660,632,876,782,798.496513262,649,626.503486738,649,0.402814201336,-0.0055564951633,0.0799425339973,0.999999995246,-5.42390978685e-05,-7.78645051768e-05,-2.24207366026e-05,1793190441836294400
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,631.911464241,876,782.088535759,798.911464241,649,626,649,0.403055757607,-0.00555467612777,0.0799370937303,0.999999991451,-8.96436632695e-05,-9.14846398587e-05,-2.63047499918e-05,1793190441852960768
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,631.337947072,876,782.662052928,798.337947072,649,626,649,0.403346256242,-0.00555296272724,0.0799345396337,0.999999993283,-6.22200044979e-05,-9.4248884748e-05,-2.60653542809e-05,1793190441869627648
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,631.234960454,876,782.765039546,798.234960454,648.765039546,626,649,0.4036574298,-0.00555261481557,0.0799347776204,0.999999994189,-4.70242015943e-05,-9.31874175441e-05,-2.69509619719e-05,1793190441886294528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,631.806993357,876,782.193006643,798.806993357,648.193006643,626,649,0.403998263427,-0.00555422582374,0.0799390211086,0.999999994595,-4.93703878415e-05,-8.66376132721e-05,-2.94504908787e-05,1793190441902961152
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.39514374,782,799,648.39514374,626.39514374,649,0.404361727496,-0.00555296818764,0.0799391608305,0.999999994416,-5.41394502213e-05,-8.51615891212e-05,-3.13673115824e-05,1793190441919627776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.991501403,782,799,648.991501403,626.991501403,649,0.404736715362,-0.00555024978897,0.0799372108445,0.999999993926,-6.01422823163e-05,-8.62692204118e-05,-3.29874072689e-05,1793190441936294400
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,670.430927267,660,632,877,782,799,649,626.430927267,649,0.405166590724,-0.00554997645301,0.0799371412977,0.999999994494,-5.55527784505e-05,-8.18708422448e-05,-3.49818942338e-05,1793190441952961280
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,670.146025118,660,632,876.853974882,782.146025118,799,649,626,649,0.40560587794,-0.00555031685013,0.0799346429668,0.999999994411,-5.39444724151e-05,-8.30251943772e-05,-3.7068952614e-05,1793190441969627904
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,670.721954772,660,632,876.278045228,782.721954772,799,649,626,649,0.406070537896,-0.00555236003922,0.079924914151,0.999999992252,-6.15637755007e-05,-0.000100761380734,-3.9412610343e-05,1793190441986294528
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,876.59166276,782.70416862,799,648.70416862,626,649,0.40655145089,-0.00555230752394,0.0799175654322,0.999999990566,-6.45700892518e-05,-0.000113783648795,-4.1866375921e-05,1793190442002960896
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877.735583485,782.132208258,799,648.132208258,626,649,0.407047534522,-0.00555029887863,0.0799124382947,0.99999998952,-6.32706400967e-05,-0.000122405948051,-4.44229164346e-05,1793190442019627520
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.542290417,671,660.457709583,631.542290417,877.542290417,782,798.542290417,648,626,649,0.407561569963,-0.00554778677245,0.0799066670851,0.999999987947,-6.18884869307e-05,-0.000134748785748,-4.60280222219e-05,1793190442036294144
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.948812544,631.051187456,876.948812544,782,798,648.051187456,626,649,0.408086455286,-0.0055454430353,0.0799007895656,0.99999998606,-6.12116591233e-05,-0.000147943052509,-4.73823426273e-05,1793190442052961024
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.374138908,631.625861092,876.374138908,782,798,648.625861092,626,649,0.408667105919,-0.00554636913438,0.0798958051075,0.999999983936,-6.8002367591e-05,-0.00015840549644,-4.90972269311e-05,1793190442069627648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.200402362,671,660,632,876.200402362,782,798,649,626,649,0.409285057999,-0.0055480829931,0.0799043461112,0.999999985328,-7.32978059129e-05,-0.000146401574843,-5.03736211547e-05,1793190442086294528
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.774696639,671,660,632,876.774696639,782,798,649,626,649,0.40997260358,-0.00555126657977,0.0799381216524,0.999999991559,-7.58035090284e-05,-9.24820164942e-05,-5.0831921559e-05,1793190442102961408
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.640008434,671,660.359991566,632,877,782.359991566,798,649,626,649,0.410658948995,-0.00555289896937,0.0799691200727,0.999999994614,-7.9354325273e-05,-4.2902283642e-05,-5.13343477999e-05,1793190442119628288
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.047611673,671,660.952388327,632,877,782.952388327,798,649,626,649,0.411344519575,-0.00555352992912,0.0799983256238,0.999999995155,-8.35798508543e-05,3.875720391e-06,-5.18652609818e-05,1793190442136294656
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.532433202,671,661,632,877,782.467566798,798.532433202,649,626,649,0.411997147338,-0.00555241362682,0.0799661629506,0.999999993415,-8.87512856459e-05,-4.74271331883e-05,-5.51701523266e-05,1793190442152961280
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877.110509695,782.110509695,799,649,626,649,0.412658100039,-0.00555084353242,0.0799304762993,0.999999988737,-9.31098217558e-05,-0.000101951588593,-5.88363490581e-05,1793190442169628160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877.684855165,782.684855165,799,649,626,649,0.413366078389,-0.00554800969306,0.0799025097191,0.999999984644,-9.37094484775e-05,-0.000134019921419,-6.3001482581e-05,1793190442186294528
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.735534224,671,661,632,877.735534224,782.735534224,798.735534224,649,626,649,0.414104292423,-0.00554526150699,0.0798951929819,0.999999983999,-9.36757620848e-05,-0.000137747398622,-6.5203649137e-05,1793190442202961152
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.149522,671,661,632,877.149522,782.149522,798.149522,649,626,649,0.414879268123,-0.00554261746072,0.0799129830196,0.999999987847,-9.2872072265e-05,-0.000107017107958,-6.50191745409e-05,1793190442219627776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.431611244,671.431611244,661,632,877.431611244,782,798,649,626,649,0.415656973253,-0.00553519239737,0.0799290132452,0.999999991192,-7.67114082936e-05,-8.87214320086e-05,-6.21344418725e-05,1793190442236294656
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.988913206,742,712,671.988913206,660.988913206,632,877.988913206,782,798,648.988913206,626,649,0.416435501013,-0.0055262063701,0.0799437569579,0.999999993894,-5.57383319619e-05,-7.54025119805e-05,-5.84757002984e-05,1793190442252961280
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.408736466,742,712,671.408736466,660.408736466,632,877.408736466,782,798,648.408736466,626,649,0.41720826426,-0.00552116240841,0.079923407119,0.999999991483,-5.77714459722e-05,-9.88984468164e-05,-6.25667430072e-05,1793190442269627904
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.169404533,742,711.830595467,671.169404533,660.169404533,632,877,782,798.169404533,648,626,649,0.418010717721,-0.00552019273079,0.0799204537446,0.999999991523,-6.26433588748e-05,-9.41281137293e-05,-6.45772553237e-05,1793190442286294784
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.74269202,742,711.25730798,671.74269202,660.74269202,632,877,782,798.74269202,648,626,649,0.418883956556,-0.00552893668899,0.0799589758581,0.999999995101,-7.42833459241e-05,-2.19672339761e-05,-6.16275058681e-05,1793190442302961152
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.316557951,672,661,632,877,782.316557951,799,648,626.316557951,649,0.419727969176,-0.00554294013009,0.0799695604265,0.999999994077,-9.10140724599e-05,-4.15692440884e-07,-5.96922962477e-05,1793190442319628032
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.890894891,672,661,632,877,782.890894891,799,648,626.890894891,649,0.420548182306,-0.00556122646486,0.0799573949339,0.999999991823,-0.000111890281846,-2.00762736942e-05,-5.85832454594e-05,1793190442336294656
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877,782.515779096,798.515779096,648.484220904,626.515779096,649,0.421368411418,-0.00556775251553,0.0799523933478,0.99999999092,-0.000117963050166,-3.0634140542e-05,-5.7494456622e-05,1793190442352961536
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671.921107498,661,632,877,782,798,648.921107498,626,649,0.422191950702,-0.00557044250564,0.0799522305388,0.999999990709,-0.000119328329401,-3.38167336038e-05,-5.6556705992e-05,1793190442369628672
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,671.345983451,661,632,877,782,798,648.345983451,626,649,0.423036286907,-0.00556635149323,0.0799719359508,0.999999992018,-0.000112920336608,-4.03656662059e-06,-5.6539093161e-05,1793190442386295040
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,671.227625814,661,632,877.227625814,782,798.455251627,648.227625814,626,649,0.423858352299,-0.00556578112921,0.0799787097627,0.999999992168,-0.000111771511419,-1.62261745353e-06,-5.62940930288e-05,1793190442402961664
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671.798947967,661,632,877.798947967,782,799.597895935,648.798947967,626,649,0.424646790715,-0.00557052665535,0.0799659579205,0.999999990598,-0.000118563597718,-4.05294118875e-05,-5.57057566905e-05,1793190442419628032
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.383487458,711.616512542,672,661,632,878,782,799.616512542,649,626.383487458,649,0.425440726655,-0.00557303894607,0.0799330497563,0.999999985954,-0.000127422331102,-9.19173958185e-05,-5.83640368442e-05,1793190442436294656
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.97520376,711.02479624,672,661,632,878,782,799.02479624,649,626.97520376,649,0.426237647634,-0.00557433861787,0.0798891969647,0.999999977327,-0.000137403227043,-0.000150082505417,-6.27851886394e-05,1793190442452961536
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.441946713,742.441946713,711.558053287,672,661,632,877.441946713,782.558053287,799,649,627,649,0.427078450595,-0.00557701779932,0.0798938619748,0.999999980722,-0.000132839099936,-0.000130338769001,-6.26186104243e-05,1793190442469628416
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.138335438,742,712,672,661,632,877,782.861664562,799,649,627,649,0.427903449233,-0.00557880046953,0.0799004301957,0.999999983191,-0.000128930374419,-0.000114577097082,-6.21788706401e-05,1793190442486295296
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.711762436,742,712,672,661,632,877,782.288237564,799,649,627,649,0.428672703523,-0.00557757366565,0.0799063099789,0.999999982328,-0.000129083914466,-0.000122057395868,-6.15111010833e-05,1793190442502962176
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877,782,799,649,627,649,0.429459793245,-0.00557747146839,0.0799236940502,0.999999984774,-0.000127947565399,-0.000102111376573,-6.04497533101e-05,1793190442519628800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877,782,799,649,627,649,0.430264908976,-0.00557850589757,0.0799527053669,0.999999988902,-0.000125507540694,-5.44459068164e-05,-5.89906207064e-05,1793190442536295424
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711.55527527,672,661,632,877.44472473,782,799,649,626.55527527,649,0.431066036522,-0.00558101479009,0.0799839066332,0.999999990639,-0.000124773298603,-6.27935309744e-06,-5.58027267956e-05,1793190442552962048
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711.04138568,672,661,632,877.95861432,782,799.04138568,648.95861432,626.04138568,649,0.431856675828,-0.00558373546652,0.0800115727616,0.999999990251,-0.000124734196299,3.47168531053e-05,-5.22863849152e-05,1793190442569628160
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711.616830817,672,661,632,877.383169183,782,799.616830817,648.383169183,626.616830817,649,0.432529742246,-0.00558261830508,0.0799838605661,0.999999990508,-0.00012606385395,-1.90494137283e-05,-5.22356488456e-05,1793190442586294784
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.808185228,742,711.808185228,672,661,632,877,782,800,648.191814772,626.808185228,649,0.433189774381,-0.00558081128777,0.0799451915891,0.999999987271,-0.0001268334125,-8.0408716402e-05,-5.3901045128e-05,1793190442602961664
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.234120217,742,711.234120217,672,661,632,877,782,800,648.765879783,626.234120217,649,0.433823831797,-0.00557762951914,0.0798846878325,0.999999977952,-0.00012648680077,-0.000156899500155,-5.89863657496e-05,1793190442619628288
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.350704794,742,711,672.350704794,661,632,877,782,799.649295206,649,626,649,0.434503118309,-0.00557793497257,0.0798762059713,0.999999977406,-0.000125387383566,-0.000160579206107,-6.06629809216e-05,1793190442636294912
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.94294019,742,711,672.94294019,661,632,877,782,799.05705981,649,626,649,0.435213554088,-0.00558064207812,0.0799035516242,0.99999998403,-0.000123769508948,-0.000114113874989,-5.99920183802e-05,1793190442652961280
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711.518763023,673,661,632,877.518763023,782,799,649,626,649,0.435861202705,-0.00558571517523,0.0799392672944,0.999999987591,-0.00013138325317,-6.57919841228e-05,-5.68138523719e-05,1793190442669628160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.093443428,712,673,661,632,877.906556572,782.093443428,799.093443428,649,626.093443428,649,0.436491603239,-0.00559046523143,0.0799697397611,0.999999988692,-0.00013782025998,-2.68150701699e-05,-5.38840555753e-05,1793190442686294784
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.671272741,712,673,661,632,877.328727259,782.671272741,799.671272741,649,626.671272741,649,0.437067295731,-0.00559223308406,0.079968406882,0.999999989014,-0.00013305520783,-3.73061240264e-05,-5.3627430163e-05,1793190442702961664
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+244,4.066666667,HOLD_POSE2,763,742.112106384,711,673,659,630,877.112106384,780,799.112106384,648.887893616,626,649,0.444055094241,-0.0055634857359,0.0797683223176,0.999999929437,-0.000104279583723,-0.000356532921977,-5.59958530146e-05,1793190443743141888
+245,4.083333333,HOLD_POSE2,763,742.472733131,711,673,658.527266869,630,877.472733131,780.472733131,799,649,625.527266869,649,0.444053584535,-0.00556313314071,0.079766800705,0.999999928514,-0.000103932706134,-0.000359186914433,-5.61754219678e-05,1793190443759808000
+246,4.100000000,HOLD_POSE2,763,742.941120438,711,672.941120438,658,630,878,780.941120438,798.941120438,648.941120438,625,649,0.444052072234,-0.00556290649366,0.0797652435556,0.999999927564,-0.000103516272909,-0.000361922717474,-5.62835895953e-05,1793190443776473856
+247,4.116666667,HOLD_POSE2,763,742.359738282,711,672.359738282,658,630,878,780.359738282,798.359738282,648.359738282,625,649,0.444054090753,-0.00556415919505,0.0797671008664,0.999999928578,-0.000103728181111,-0.000359132298911,-5.57552589778e-05,1793190443793140736
+248,4.133333333,HOLD_POSE2,763,742,711,672,658.220306974,630,877.779693026,780,798.220306974,648,625,649,0.44405589503,-0.0055638489925,0.0797683894804,0.99999992956,-0.00010217324788,-0.000356875617356,-5.55060804899e-05,1793190443809807360
+249,4.150000000,HOLD_POSE2,763,742,711,672,658.798182321,630,877.201817679,780,798.798182321,648,625,649,0.444057351582,-0.0055610021247,0.0797687550732,0.999999930486,-9.775064954e-05,-0.000355485215835,-5.57099788261e-05,1793190443826473984
+250,4.166666667,HOLD_POSE2,763,742,711,672.372866842,658.627133158,630,877,780.372866842,798.627133158,648.372866842,625.372866842,649,0.444057500921,-0.00556200978533,0.0797688321219,0.999999930231,-9.9989870334e-05,-0.000355584513349,-5.56699483159e-05,1793190443843140864
+251,4.183333333,HOLD_POSE2,763,742,711,672.945839005,658.054160995,630,877,780.945839005,798.054160995,648.945839005,625.945839005,649,0.444056948723,-0.00556508604384,0.0797687543185,0.999999929322,-0.000105804269065,-0.000356483283008,-5.54990092662e-05,1793190443859808000
+252,4.200000000,HOLD_POSE2,763.533589277,742,711,673,658.533589277,630,877.533589277,781,798.533589277,648.466410723,626,648.466410723,0.444057345942,-0.00556379139373,0.0797683935508,0.999999929419,-0.00010407343954,-0.000356689954937,-5.57024850508e-05,1793190443876474112
+253,4.216666667,HOLD_POSE2,763.878999414,742.121000586,711,673.121000586,659,630,878,781,798.878999414,648.121000586,626,648,0.444057817726,-0.0055625835019,0.0797681273717,0.999999929577,-0.000102206784218,-0.000356752041787,-5.59194742214e-05,1793190443893140480
+254,4.233333333,HOLD_POSE2,763.298730161,742.701269839,711,673.701269839,659,630,878,781,798.298730161,648.701269839,626,648,0.444058196331,-0.00556343683075,0.0797683323335,0.999999929584,-0.000102814298947,-0.000356539578701,-5.60393971732e-05,1793190443909806848
+255,4.250000000,HOLD_POSE2,763,743,711,673.720979574,659,630,878,781,798.279020426,649,626,648,0.444058191644,-0.00556514439335,0.0797685036833,0.999999929503,-0.000103947199856,-0.000356466602058,-5.58651311311e-05,1793190443926473472
+256,4.266666667,HOLD_POSE2,763,743,711,673.145901482,659,630,878,781,798.854098518,649,626,648,0.444057780261,-0.00556775834994,0.0797686393686,0.999999929326,-0.000105637567466,-0.000356541629039,-5.53787126401e-05,1793190443943140096
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,630,878,781,799,649,626,649,0.444059077299,-0.00556456342622,0.0797699529193,0.999999929862,-0.000104636891098,-0.000355318059973,-5.54718876838e-05,1793190443976326656
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,630,878,780.409094748,799,648.409094748,626,649,0.444056108121,-0.00556461210013,0.0797671840003,0.999999928472,-0.000104208881936,-0.000359294781981,-5.57189724369e-05,1793190443992993024
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,630,878,780.178220538,798.821779462,648,626,648.821779462,0.444054709067,-0.0055644991546,0.079765878611,0.999999927891,-0.000103587116071,-0.000361066324795,-5.58445689158e-05,1793190444009659392
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,630,878,780.757458098,798.242541902,648,626,648.242541902,0.444056842976,-0.00556402254648,0.0797678663339,0.999999929155,-0.000102529374924,-0.000357875957728,-5.56968026421e-05,1793190444026325760
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.908242644,742.908242644,711,672.908242644,659,630,877.091757356,781,798.908242644,648,626,648.908242644,0.444055448733,-0.00556583827416,0.0797659286935,0.999999927761,-0.000106782659021,-0.000360503272936,-5.57986582007e-05,1793190444059659008
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.007961767,743,711,673,658.503980883,630,877,781,799,648.496019117,626,648.503980883,0.444053017049,-0.00556508499746,0.0797648698341,0.999999927239,-0.000104930811394,-0.00036249857053,-5.57351314505e-05,1793190444076325888
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,762.658115677,742.341884323,711,673,658,630,877.658115677,780.341884323,799,648.341884323,626,648,0.444037419364,-0.00556268100897,0.0797571529013,0.999999923041,-0.000102294437101,-0.000374510610975,-5.65370415942e-05,1793190444109659392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,630,877.76638835,780,798.76638835,648.23361165,626,648.23361165,0.444014682259,-0.00556214593484,0.0797468146704,0.999999916512,-0.000102568706659,-0.000391427540924,-5.69156920288e-05,1793190444126326016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,630,877.188895365,780,798.188895365,648.811104635,626,648.811104635,0.443975634743,-0.00556266186209,0.079730151883,0.999999904867,-0.000103596960724,-0.000419901851311,-5.67174464759e-05,1793190444142992640
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.397023803,630,877,780,798,648.602976197,626,649,0.443923914782,-0.00556234465131,0.0797138168414,0.999999891618,-0.000102446650417,-0.000450685130336,-5.613616347e-05,1793190444159659008
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.987038949,630,877,780,798,648.012961051,626,649,0.443866034803,-0.00556162245624,0.079697641114,0.999999876996,-0.000100237350583,-0.000482590790069,-5.53686877676e-05,1793190444176325632
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.144240186,673,659,630,877,781,799,649,626,648.144240186,0.443722169026,-0.00555251870056,0.0796838859235,0.999999874126,-9.51434408049e-05,-0.000489732883332,-5.34609785632e-05,1793190444209658880
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.715715826,673,659,630,877,781,799,649,626,648.715715826,0.443633328615,-0.00555419875477,0.0796851286531,0.999999874872,-9.34068600654e-05,-0.000488953463419,-4.95575275918e-05,1793190444226325760
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.130278978,672.130278978,659,630,877.869721022,781,799.869721022,649,626,649,0.443417994994,-0.00554939700434,0.0796922729135,0.99999988009,-8.5868723228e-05,-0.000480334197665,-4.15347876909e-05,1793190444259659264
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,630,877.543005712,781,799.543005712,648.543005712,625.543005712,649,0.443285118798,-0.00554773796284,0.0796975910161,0.99999988459,-8.22572901526e-05,-0.000471952019314,-3.62641128118e-05,1793190444276325888
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.045860053,659,630,877.045860053,781,799,648.045860053,625.045860053,649,0.443143411462,-0.00554644436323,0.0797031428945,0.99999988937,-7.84072500071e-05,-0.000462791284718,-3.05942525856e-05,1793190444292992512
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.624741036,659,630,877.624741036,781,799,648.624741036,625.624741036,649,0.442963121349,-0.00554233300313,0.0797081213412,0.99999989409,-6.89802298631e-05,-0.000454383981164,-2.44152327214e-05,1793190444309659136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.798409384,659,630.201590616,877.798409384,781,799,649,626,648.798409384,0.442764530395,-0.00553865422199,0.079711497767,0.999999897132,-5.98864702952e-05,-0.000449270861174,-1.75002883583e-05,1793190444326325504
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.225303579,659,630.774696421,877.225303579,781,799,649,626,648.225303579,0.442532212489,-0.00553577264929,0.0797119217973,0.999999897283,-5.14068840516e-05,-0.000450228655876,-9.22909539833e-06,1793190444342992128
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,631,877,781,799,649,626,648.922876096,0.442003630479,-0.00552511962718,0.079708781311,0.999999895183,-2.94420509992e-05,-0.000456872903859,5.77122988682e-06,1793190444376325888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.515763904,742,711,672.515763904,659,631,877.515763904,781,800.031527809,649,626,649,0.441695763236,-0.00552090517357,0.0797071534405,0.999999893563,-1.50316633563e-05,-0.000460968687064,1.24959860784e-05,1793190444392992512
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.740368106,672.259631894,659,631,877.740368106,781,799,649,626,649,0.440613545487,-0.00550334851329,0.0796926633108,0.999999887846,2.75226262001e-05,-0.000472734874257,8.52106128161e-06,1793190444442992640
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.419268712,631,877,781,798.580731288,648.580731288,626,649,0.439743710562,-0.00549172535147,0.0796771514088,0.999999878005,3.37370328229e-05,-0.000492601533921,1.3973863745e-05,1793190444476325632
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.010344583,711.010344583,673,660,631,877,781.010344583,798.010344583,648,626,648.989655417,0.439300231191,-0.005483307551,0.0796760595231,0.999999878847,4.90190247579e-05,-0.000489625419156,1.30250693303e-05,1793190444492992512
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diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29951942c6666da422e3eeed16618d0e75f19738
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d30aa6a195238312d67b126153e8447e1b21d028
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6178972b6cbbf0f5529a59cc748de471b6b6d3ee9ad27676988bd46c027ef661
+size 24865135
diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..963e475486205c713e9e1c7d019af9a53b6d8569
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+6,0.100000000,BASELINE,764,742,711,671.517106017,660,631.482893983,876,782,798.482893983,649,626,649,0.400952949407,-0.00549477113229,0.0798323902749,0.999999953374,9.63343340505e-05,-0.000287530839213,3.60217495185e-05,1793190446402402560
+7,0.116666667,BASELINE,764,742,711,671,659.936985349,632,876,782,799,649,626,649,0.400952895969,-0.00549538938932,0.0798326326132,0.999999953473,9.63441468071e-05,-0.000287159012353,3.62278944291e-05,1793190446419069184
+8,0.133333333,BASELINE,764,742,711,671,659.351156793,632,876,782,799,649,626,649,0.400953499554,-0.00549596280765,0.0798325771033,0.999999953994,9.21194184072e-05,-0.000286731014401,3.62242690432e-05,1793190446435736576
+9,0.150000000,BASELINE,764,742,711.232114888,671,659.232114888,632,876,782,798.535770224,649,626,649,0.400953753481,-0.00549669423689,0.0798328093006,0.999999954238,9.0443018385e-05,-0.00028640433208,3.62811808214e-05,1793190446452403456
+10,0.166666667,BASELINE,764,742,711.811560475,671,659.811560475,632,876,782,797.376879051,649,626,649,0.400953484192,-0.00549766210949,0.0798334720157,0.999999954087,9.25798712413e-05,-0.000286229255889,3.64286788427e-05,1793190446469070080
+11,0.183333333,BASELINE,764,742,711.611075628,671,660,632,876.388924372,782,797.388924372,649,626,649.388924372,0.4009534574,-0.00549623840273,0.0798336769453,0.999999954067,9.5288816487e-05,-0.000285433188004,3.6243962864e-05,1793190446485736448
+12,0.200000000,BASELINE,764,742,711.034714919,671,660,632,876.965285081,782,797.965285081,649,626,649.965285081,0.400953547476,-0.00549366210982,0.079833661252,0.999999954103,9.82734733712e-05,-0.000284337842359,3.58991412839e-05,1793190446502402816
+13,0.216666667,BASELINE,764.540860621,742.540860621,711,671,660,632,876.459139379,782,798.540860621,649,626.540860621,649.459139379,0.400954135664,-0.0054939349822,0.079833791036,0.999999954159,9.71399627373e-05,-0.000284513574169,3.60215905123e-05,1793190446519069440
+14,0.233333333,BASELINE,764.880612357,742.880612357,711.119387643,671.119387643,660,632,876,782,799,649,626.880612357,649,0.400954717902,-0.00549432327965,0.0798337930576,0.99999995424,9.58205947363e-05,-0.000284665333316,3.61134621997e-05,1793190446535736064
+15,0.250000000,BASELINE,764.290243109,742.290243109,711.709756891,671.709756891,660,632,876,782,799,649,626.290243109,649,0.400955150733,-0.00549444654438,0.0798332542773,0.999999954417,9.48092595877e-05,-0.000284401142007,3.59665615752e-05,1793190446552402432
+16,0.266666667,BASELINE,764,742,711.70570144,671.70570144,660,632,876,782,799,649,626.29429856,649,0.400955112251,-0.00549518175847,0.0798330286985,0.999999954523,9.38698276617e-05,-0.000284331399522,3.60213984754e-05,1793190446569069312
+17,0.283333333,BASELINE,764,742,711.126795484,671.126795484,660,632,876,782,799,649,626.873204516,649,0.400954617976,-0.00549650877061,0.0798331060079,0.999999954562,9.29999312673e-05,-0.000284449702735,3.62713297526e-05,1793190446585735936
+18,0.300000000,BASELINE,764,742,711,671,660,632,876.45040173,782.45040173,798.54959827,649,627,649,0.400954276554,-0.00549726647649,0.0798332512102,0.999999954608,9.25134289552e-05,-0.000284442236775,3.62970524498e-05,1793190446602402816
+19,0.316666667,BASELINE,764,742,711,671,660,632,876.973259509,783,798,649,627,649,0.400954063739,-0.0054977728883,0.0798334462475,0.999999954666,9.22546801739e-05,-0.000284327441564,3.62594576215e-05,1793190446619069440
+20,0.333333333,BASELINE,764,742,711,671,660,632,876.404605951,783,798,649,627,649,0.400955588463,-0.0054964223452,0.0798342653483,0.999999954911,9.44324631725e-05,-0.000282752365765,3.62129928696e-05,1793190446635736064
+21,0.350000000,BASELINE,764.172910383,742,711,671,660,632,876.172910383,782.827089617,798.172910383,649,627,649,0.400956644984,-0.00549533414484,0.0798347995724,0.999999955074,9.58626591233e-05,-0.000281694201267,3.61935440671e-05,1793190446652402688
+22,0.366666667,BASELINE,764.772285722,742,711,671,660,632,876.772285722,782.227714278,798.772285722,649,627,649,0.400956546731,-0.00549489298494,0.0798346311784,0.999999955051,9.54490113106e-05,-0.000281910943403,3.62407272199e-05,1793190446669069824
+23,0.383333333,BASELINE,764.643316913,742,711.356683087,671,660,632,877,782,799,649,626.643316913,649,0.400955213013,-0.00549500389885,0.0798341264391,0.999999954841,9.43681677964e-05,-0.000283046011057,3.60310218666e-05,1793190446685736448
+24,0.400000000,BASELINE,764.068096398,742,711.931903602,671,660,632,877,782,799,649,626.068096398,649,0.400953122334,-0.00549545306479,0.0798334156232,0.999999954511,9.28785377349e-05,-0.000284743730859,3.56639225854e-05,1793190446702402560
+25,0.416666667,BASELINE,764,742,711.493835876,671,660,632,877,782.506164124,799,649,626.506164124,649.506164124,0.400953834812,-0.00549424072006,0.0798335835304,0.999999954384,9.54603157771e-05,-0.000284308609915,3.58759924845e-05,1793190446719069952
+26,0.433333333,BASELINE,764,742,711.082701496,671,660,632,877,782.917298504,799,649,626.917298504,649.917298504,0.400954617024,-0.00549315956202,0.0798337436787,0.999999954254,9.81088689316e-05,-0.000283835037265,3.61103257679e-05,1793190446735737088
+27,0.450000000,BASELINE,764,742,711.674035049,671,660,632,877,782.325964951,799,649,626.325964951,649.325964951,0.400953513125,-0.00549425738544,0.0798331304172,0.999999953989,9.78057396682e-05,-0.000284886380748,3.60032779616e-05,1793190446752403456
+28,0.466666667,BASELINE,764,742,711.740283528,671,660,632,876.740283528,782,798.740283528,649,626,649,0.400953510069,-0.00549457405541,0.0798332983317,0.999999954049,9.76792759544e-05,-0.000284728975613,3.59303772731e-05,1793190446769070080
+29,0.483333333,BASELINE,764,742,711.161544922,671,660,632,876.161544922,782,798.161544922,649,626,649,0.40095485923,-0.00549393119728,0.079834425802,0.999999954507,9.77698189825e-05,-0.000283086806813,3.58994211247e-05,1793190446785736960
+30,0.500000000,BASELINE,764,742,711.415128158,671,659.584871842,632,876.830256316,782,798,649,626,649,0.400954480439,-0.00549489059516,0.0798342707351,0.999999954616,9.63234747479e-05,-0.00028318504421,3.59935129048e-05,1793190446802403328
+31,0.516666667,BASELINE,764,742,711.991001416,671,659.008998584,632,877.982002832,782,798,649,626,649,0.400953432555,-0.00549647041545,0.0798336190467,0.999999954587,9.42820200795e-05,-0.000283957198272,3.61360254957e-05,1793190446819069184
+32,0.533333333,BASELINE,764.564760045,742,711.435239955,671,659,632,877.435239955,782,798,649,626,649,0.400953605517,-0.00549643316753,0.0798331337387,0.999999954502,9.28104561472e-05,-0.000284768910558,3.59084225938e-05,1793190446835736064
+33,0.550000000,BASELINE,765,742,711,671,659.142914479,632,877,782,798.142914479,649,626,649,0.400953547138,-0.00549632107606,0.0798328161617,0.999999954375,9.20152243772e-05,-0.000285487916848,3.5761038986e-05,1793190446852402688
+34,0.566666667,BASELINE,765,742,711,671,659.734989721,632,877,782,798.734989721,649,626,649,0.400952700778,-0.00549605443692,0.07983301744,0.999999954129,9.33171810468e-05,-0.000285913587102,3.58842387759e-05,1793190446869069568
+35,0.583333333,BASELINE,764.681231834,742,711,671,660,632,877,782,799,649,626,649,0.400953034763,-0.00549546159943,0.0798335096151,0.999999954309,9.40936591434e-05,-0.000285034166264,3.58335816932e-05,1793190446885736192
+36,0.600000000,BASELINE,764.104175954,742,711,671,660,632,877,782,799,649,626,649,0.400954325144,-0.00549460445374,0.0798342374946,0.999999954833,9.44443587943e-05,-0.000283097271637,3.56420539253e-05,1793190446902402560
+37,0.616666667,BASELINE,764,742,711.471909662,671,660,632,876.528090338,782,798.528090338,649,626,649.471909662,0.40095488053,-0.00549480792159,0.0798343050289,0.999999954931,9.40845531735e-05,-0.000282852775966,3.57770018679e-05,1793190446919069696
+38,0.633333333,BASELINE,764,742,712,671,660,632,876.048768016,782,798.048768016,649,626,649.951231984,0.400955175896,-0.00549514054868,0.0798342283284,0.999999954907,9.37617423181e-05,-0.000283020330408,3.5976613131e-05,1793190446935736576
+39,0.650000000,BASELINE,764,742,712,671,660,632,876.636529648,782,798.636529648,649,626,649.363470352,0.400954387038,-0.00549431827644,0.0798341653321,0.99999995456,9.55777500451e-05,-0.000283621272589,3.6095989725e-05,1793190446952402688
+40,0.666666667,BASELINE,763.778347855,742,712,671,660,632,876.556695709,782,799,649,626,649,0.400953638443,-0.00549424231354,0.0798338658888,0.999999954317,9.62468559285e-05,-0.00028424548025,3.61571987265e-05,1793190446969069312
+41,0.683333333,BASELINE,763.197502185,742,712,671,660,632,875.395004369,782,799,649,626,649,0.400952955096,-0.00549537576591,0.0798331832765,0.999999954243,9.50573750659e-05,-0.000284907390244,3.61241455043e-05,1793190446985736192
+42,0.700000000,BASELINE,763.379749479,742,711.620250521,671,660,632,875.759498959,782,799.379749479,649,626,649,0.400953284641,-0.00549614563173,0.0798327543785,0.999999954212,9.45918906619e-05,-0.000285183057328,3.60449438384e-05,1793190447002402560
+43,0.716666667,BASELINE,763.95514946,742,711.04485054,671,660,632,876.910298919,782,799.95514946,649,626,649,0.400954136036,-0.00549672817431,0.0798324561967,0.999999954202,9.4499416075e-05,-0.000285259728416,3.59419660616e-05,1793190447019069184
+44,0.733333333,BASELINE,764,741.471457389,711,671,660,632,877,782,799.471457389,649,626,649,0.400954101296,-0.00549534992272,0.079833048474,0.999999954325,9.53919354286e-05,-0.000284523315698,3.60232804843e-05,1793190447035736064
+45,0.750000000,BASELINE,764,741.105486145,711,671,660,632,876.894513855,782.105486145,798.894513855,649,626,649,0.400954126296,-0.0054944099779,0.0798335890837,0.999999954442,9.60993752322e-05,-0.000283858757426,3.61304022035e-05,1793190447052402944
+46,0.766666667,BASELINE,764,741.699663497,711,671,660,632,876.300336503,782.699663497,798.300336503,649,626,649,0.400954775095,-0.00549626851494,0.0798335415959,0.999999954491,9.55636293968e-05,-0.00028384551493,3.62849075328e-05,1793190447069069568
+47,0.783333333,BASELINE,764,742,711.285075613,671,660,632,876.285075613,782.714924387,798.285075613,649,626,649,0.40095501558,-0.00549702432716,0.0798338351589,0.999999954587,9.47494034899e-05,-0.000283764370835,3.64093467737e-05,1793190447085736192
+48,0.800000000,BASELINE,764,742,711.861528799,671,660,632,876.861528799,782.138471201,798.861528799,649,626,649,0.400954838726,-0.00549665303768,0.0798344773119,0.99999995473,9.36505412898e-05,-0.000283613824086,3.65030552956e-05,1793190447102402816
+49,0.816666667,BASELINE,764,742,712,671,660,632,876.56328107,782.43671893,798.56328107,649,626.43671893,649,0.400954457493,-0.00549582908788,0.0798343136475,0.999999954542,9.53441395085e-05,-0.000283722728868,3.64161078569e-05,1793190447119069184
+50,0.833333333,BASELINE,764,742,712,671,660,632,876,782.988189589,798,649,626.988189589,649,0.400954022207,-0.00549488175236,0.0798339083546,0.999999954251,9.78667986639e-05,-0.000283907399038,3.62755377331e-05,1793190447135736064
+51,0.850000000,BASELINE,764,742,712,671,660,632,876,782.398381508,798,649,626.398381508,649,0.400954103858,-0.00549489980492,0.0798341459601,0.999999954296,9.77567166433e-05,-0.000283785604384,3.63059142022e-05,1793190447152402688
+52,0.866666667,BASELINE,764,742,711.812081044,671,660,632,876.187918956,782.187918956,798,649,626.187918956,649,0.400954164309,-0.00549497403994,0.0798343118019,0.999999954372,9.710423859e-05,-0.000283739237431,3.63138950134e-05,1793190447169069568
+53,0.883333333,BASELINE,764,742,711.233080384,671,660,632,876.766919616,782.766919616,798,649,626.766919616,649,0.400954180641,-0.00549516519738,0.0798343282945,0.999999954513,9.53229698743e-05,-0.000283849844502,3.62752677942e-05,1793190447185736448
+54,0.900000000,BASELINE,764,742,711,671,659.656446461,632,876.656446461,782.656446461,798,649,627,649,0.400954732375,-0.00549567430028,0.0798347820446,0.999999954864,9.39861992466e-05,-0.000283061753418,3.62449122294e-05,1793190447202403328
+55,0.916666667,BASELINE,764,742,711,671,659.081407263,632,876.081407263,782.081407263,798,649,627,649,0.400955644862,-0.00549639763416,0.079835530418,0.999999955356,9.29489305763e-05,-0.000281668121386,3.62201300895e-05,1793190447219069952
+56,0.933333333,BASELINE,764,742,711,671,659.491750481,632,876,782,798.491750481,649,626.508249519,649,0.40095378554,-0.00549654292551,0.0798341926852,0.999999954534,9.33324308046e-05,-0.000284451053438,3.61881613018e-05,1793190447235736576
+57,0.950000000,BASELINE,764,742,711,671,660,632,876.066949422,782,799,649,626,649,0.400951772027,-0.00549646844861,0.0798327349903,0.999999953622,9.40796147933e-05,-0.000287396691154,3.61566480668e-05,1793190447252403200
+58,0.966666667,BASELINE,764,742,711,671,660,632,876.660649211,782,799,649,626,649,0.400952141863,-0.00549541488879,0.0798330402366,0.999999953798,9.58447280933e-05,-0.000286203252922,3.613804399e-05,1793190447269069568
+59,0.983333333,BASELINE,764,742,711,671,660,632,877,782,798.751733335,649,626,649,0.40095334125,-0.00549548390534,0.079833853193,0.99999995444,9.51983290856e-05,-0.000284165777152,3.61519619337e-05,1793190447285735936
+60,1.000000000,BASELINE,764,742,711,671,660,632,877,782,798.172230812,649,626,649,0.400955647418,-0.00549705065624,0.0798353435332,0.999999955692,9.13345054166e-05,-0.000281002191514,3.62092705546e-05,1793190447302402560
+61,1.016666667,BASELINE,764,742,711,671,660,632,877,782,798.40301733,649,626,649,0.400954773354,-0.00549713999151,0.0798346635247,0.999999955307,9.14370856135e-05,-0.000282325767318,3.62827739919e-05,1793190447319069440
+62,1.033333333,BASELINE,764,742,711,671,660,632,877,782,798.976466307,649,626,649,0.400952554403,-0.00549660454368,0.0798330656993,0.999999954226,9.32170151007e-05,-0.000285546915086,3.63631260375e-05,1793190447335736320
+63,1.050000000,BASELINE,764,742,711.563936254,671,660,632,876.436063746,782,799,649,626,649,0.400952237947,-0.00549681906721,0.0798328803988,0.999999954189,9.30176021552e-05,-0.000285750602657,3.62916418558e-05,1793190447352402944
+64,1.066666667,BASELINE,764,742,711.850246027,671,660,632,876.149753973,782,799,649,626.149753973,649,0.400952221653,-0.00549647138672,0.0798329361985,0.999999954214,9.33003013459e-05,-0.000285596766001,3.60848934109e-05,1793190447369069568
+65,1.083333333,BASELINE,764,742,711.270889444,671,660,632,876.729110556,782,799,649,626.729110556,649,0.400952832878,-0.00549441882686,0.079833510236,0.999999954285,9.52090451578e-05,-0.000284787737077,3.55087498477e-05,1793190447385735936
+66,1.100000000,BASELINE,764,742,711.30859883,671,659.69140117,631.69140117,877,782,798.69140117,649,627,649,0.400953502362,-0.00549417796321,0.079833962335,0.999999954495,9.55819047876e-05,-0.000283946380284,3.53480412647e-05,1793190447402402304
+67,1.116666667,BASELINE,764,742,711.888202723,671,659.111797277,631.111797277,877,782,798.111797277,649,627,649,0.400954223009,-0.00549552809353,0.0798343073501,0.999999954827,9.46059828349e-05,-0.000283076633876,3.55521590545e-05,1793190447419068928
+68,1.133333333,BASELINE,764,742,711.536772602,671,659.463227398,631.463227398,877.463227398,782.463227398,798,649,627,649,0.400953876049,-0.00549585409806,0.0798341402451,0.999999954851,9.33223897972e-05,-0.000283409172948,3.56227122886e-05,1793190447435735808
+69,1.150000000,BASELINE,764,742,711,671,660,632,877.923502417,782.961751209,798.038248791,649,627,649,0.400953402198,-0.00549592738864,0.0798339202937,0.999999954824,9.21215410174e-05,-0.000283892684396,3.56554365315e-05,1793190447452402688
+70,1.166666667,BASELINE,764,742,711,671,660,632,876.741938235,782.370969118,798.629030882,649,627,649,0.400954780974,-0.0054958855967,0.0798347049164,0.999999955148,9.31781640755e-05,-0.000282406485402,3.5602793589e-05,1793190447469069312
+71,1.183333333,BASELINE,764,742,711,671,660,632,876,782,799,649,627,649,0.400955911722,-0.00549536129822,0.0798356476931,0.999999955395,9.48264911283e-05,-0.000280974871493,3.56583727709e-05,1793190447485735936
+72,1.200000000,BASELINE,764,742,711,671,660,632,876,782,799,649,627,649,0.400956623883,-0.00549402269351,0.0798368573803,0.999999955507,9.74734125725e-05,-0.000279635378321,3.58965939225e-05,1793190447502402816
+73,1.216666667,BASELINE,764,742,711.363162203,671,660,632,876.363162203,782,799,649.363162203,626.636837797,649,0.400955870373,-0.0054938246084,0.0798362046247,0.999999955108,9.80675236362e-05,-0.000280858900504,3.58338862989e-05,1793190447519069440
+74,1.233333333,BASELINE,764,742,711.940970281,671,660,632,876.940970281,782,799,649.940970281,626.059029719,649,0.400954250581,-0.0054943006239,0.0798344510782,0.999999954405,9.74483274356e-05,-0.000283597284913,3.5593315657e-05,1793190447535736064
+75,1.250000000,BASELINE,764.528568719,741.471431281,711.471431281,671,660,632,877,782,799,649.471431281,626,649,0.400953506066,-0.0054947351401,0.0798339815372,0.999999954091,9.83345523273e-05,-0.000284343549013,3.60009638968e-05,1793190447552402688
+76,1.266666667,BASELINE,764.884441534,741.115558466,711,671,660,632,876.884441534,782,799,649,626,649,0.400953131996,-0.00549503156913,0.0798337328534,0.999999953973,9.87979103192e-05,-0.00028455938416,3.63290804495e-05,1793190447569069568
+77,1.283333333,BASELINE,764.304376473,741.695623527,711,671,660,632,876.304376473,782,799,649,626,649,0.400953846654,-0.00549479191473,0.0798337846607,0.999999954457,9.68729316311e-05,-0.000283554231132,3.60410224714e-05,1793190447585736192
+78,1.300000000,BASELINE,764,741.726086006,711,671,659.726086006,632,876,782,798.726086006,649,626.273913994,649,0.400954127286,-0.00549529494815,0.0798340510816,0.999999954768,9.53792307818e-05,-0.000282967157646,3.59975976232e-05,1793190447602402560
+79,1.316666667,BASELINE,764,741.149754834,711,671,659.149754834,632,876,782,798.149754834,649,626.850245166,649,0.400953928727,-0.00549661795267,0.0798345544486,0.999999954892,9.43616861882e-05,-0.00028284166866,3.62242621737e-05,1793190447619069184
+80,1.333333333,BASELINE,764,741,711,671,659.42488479,632,876,782.42488479,798.42488479,649,626.57511521,649,0.400953231286,-0.00549716743343,0.0798339470982,0.999999954771,9.20353145876e-05,-0.00028406491157,3.59831277539e-05,1793190447635735808
+81,1.350000000,BASELINE,764,741,711,671,659.998930622,632,876,782.998930622,798.998930622,649,626.001069378,649,0.400952358705,-0.00549744535925,0.0798329498168,0.999999954555,8.92494630528e-05,-0.000285761643419,3.55777667585e-05,1793190447652402432
+82,1.366666667,BASELINE,764,741.587946987,711.587946987,671,660,632,876,782.412053013,799,649,626.587946987,649.587946987,0.400954126668,-0.00549508098983,0.0798334921587,0.999999954385,9.52927266066e-05,-0.000284369053913,3.58311196134e-05,1793190447669069312
+83,1.383333333,BASELINE,764,742,711.825689968,671,660,632,876,782.174310032,799,649,626.825689968,649.825689968,0.400955475425,-0.00549384138861,0.0798341417815,0.999999954388,9.88748136275e-05,-0.000283098634661,3.60851725766e-05,1793190447685735936
+84,1.400000000,BASELINE,764,742,711.245569045,671,660,632,876,782.754430955,799,649,626.245569045,649.245569045,0.400955836756,-0.00549523183877,0.079835034475,0.999999954868,9.66886779076e-05,-0.000282126062803,3.63379933618e-05,1793190447702402560
+85,1.416666667,BASELINE,764,742,711,671,660,632,876.332426474,782.667573526,798.667573526,649,626.332426474,649,0.40095611584,-0.00549670085005,0.0798358790226,0.99999995531,9.46514728667e-05,-0.000281248186319,3.63489716209e-05,1793190447719069440
+86,1.433333333,BASELINE,764,742,711,671,660,632,876.908861861,782.091138139,798.091138139,649,626.908861861,649,0.400956334554,-0.00549822752697,0.0798366882298,0.999999955723,9.27235866066e-05,-0.00028043981854,3.6182431716e-05,1793190447735736064
+87,1.450000000,BASELINE,764,742,711.481796818,671,660,632,876.518203182,782,798.963593636,649,626.518203182,649,0.400956540108,-0.00549830159175,0.0798364450199,0.999999956005,9.17854179016e-05,-0.000279751494202,3.61170126165e-05,1793190447752402944
+88,1.466666667,BASELINE,764,742.055967201,712,671,660,632,876.055967201,782.055967201,799.944032799,649.055967201,626.055967201,649,0.400956649943,-0.0054979430122,0.0798359829161,0.999999956167,9.1361328714e-05,-0.000279320555814,3.60530414425e-05,1793190447769070080
+89,1.483333333,BASELINE,764,742.648276619,712,671,660,632,876.648276619,782.648276619,799.351723381,649.648276619,626.648276619,649,0.40095586618,-0.00549605260577,0.0798353171557,0.999999955413,9.4082544703e-05,-0.000281140143726,3.58209585885e-05,1793190447785736192
+90,1.500000000,BASELINE,764,742.76489958,711.76489958,671,660,632,876.76489958,783,799,649.76489958,627,649,0.400954744364,-0.00549502160233,0.0798346228847,0.99999995478,9.5652088748e-05,-0.000282872057687,3.57050640868e-05,1793190447802402560
+91,1.516666667,BASELINE,764,742.186095499,711.186095499,671,660,632,876.186095499,783,799,649.186095499,627,649,0.400953128333,-0.00549524699813,0.0798338869332,0.999999954334,9.55379526002e-05,-0.000284475797078,3.57590304771e-05,1793190447819069440
+92,1.533333333,BASELINE,764,742,711,671,660,632,876,782.608473781,798.608473781,649,626.608473781,649,0.400954035032,-0.00549601283008,0.0798345545918,0.999999954822,9.42233180217e-05,-0.000283183072677,3.58404231818e-05,1793190447835736064
+93,1.550000000,BASELINE,764,742,711,671,660,632,876,782.031412306,798.031412306,649,626.031412306,649,0.400956137195,-0.00549703476229,0.0798358873889,0.999999955746,9.23397948843e-05,-0.000280517780954,3.59348125895e-05,1793190447852402432
+94,1.566666667,BASELINE,764,742,711,671,660,631.444073237,876,782.555926763,798.555926763,649,626.555926763,649,0.400955705216,-0.00549517291854,0.0798356548745,0.999999955327,9.47447372761e-05,-0.000281227819779,3.5791854649e-05,1793190447869069312
+95,1.583333333,BASELINE,764,742,711,671,660,631.141673215,876.141673215,783,798.858326785,649,626.858326785,649,0.400955258478,-0.0054939602398,0.0798353280691,0.999999954963,9.62750134323e-05,-0.000282016060765,3.56721797425e-05,1793190447885735936
+96,1.600000000,BASELINE,764,742,711,671,660,631.720677148,876.720677148,783,798.279322852,649,626.279322852,649,0.400955216516,-0.00549526393843,0.0798349883661,0.999999955026,9.43431876885e-05,-0.000282445878632,3.56665558167e-05,1793190447902402816
+97,1.616666667,BASELINE,763.701740737,742,711,671,660,631.701740737,877,782.701740737,798.298259263,649,626,649,0.400954660301,-0.00549561117476,0.0798344130833,0.999999954777,9.48155347867e-05,-0.000283165992014,3.56685314027e-05,1793190447919069952
+98,1.633333333,BASELINE,763.125483887,742,711,671,660,631.125483887,877,782.125483887,798.874516113,649,626,649,0.400953624766,-0.00549506692416,0.0798336182243,0.999999954235,9.75287319336e-05,-0.000284156680212,3.56775902422e-05,1793190447935736576
+99,1.650000000,BASELINE,763.449151598,742,711,671,659.550848402,631.449151598,877,782,798.550848402,649,626.449151598,649,0.40095353087,-0.00549649106538,0.0798340032949,0.999999954629,9.43835058112e-05,-0.000283821053376,3.57560779105e-05,1793190447952403200
+100,1.666666667,BASELINE,764,742,711,671,659.024000602,632,877,782,798,649,626.975999398,649,0.400953736558,-0.00549826794619,0.0798347147788,0.999999955233,9.00077462037e-05,-0.00028310331838,3.58534155168e-05,1793190447969069568
+101,1.683333333,BASELINE,764,742,711,671,659.614544189,632,877,782,798,649,626.385455811,649,0.400954826405,-0.00549543679293,0.0798353778839,0.999999955049,9.50813220714e-05,-0.000282081184558,3.5939486177e-05,1793190447985735936
+102,1.700000000,BASELINE,764,742,711,671,660,632,876.799012946,782,798.200987054,649,626,649,0.400955511972,-0.00549355440532,0.0798358330147,0.999999955007,9.77613678857e-05,-0.000281322622808,3.58764547264e-05,1793190448002402560
+103,1.716666667,BASELINE,764,742,711,671,660,632,876.220277319,782,798.779722681,649,626,649,0.400955437705,-0.00549345519191,0.0798358972645,0.999999955269,9.59428519603e-05,-0.000281059436245,3.55331907444e-05,1793190448019069184
+104,1.733333333,BASELINE,764,742,711,671,660,632,876,782,798.64412536,649,626,649,0.400955526915,-0.0054945920761,0.0798358379651,0.999999955399,9.4889098111e-05,-0.00028095612783,3.55229438089e-05,1793190448035736064
+105,1.750000000,BASELINE,764,742,711,671,660,632,876,782,798.069561041,649,626,649,0.400955716585,-0.00549648855862,0.0798357027431,0.999999955449,9.43053005068e-05,-0.00028095106663,3.57173402243e-05,1793190448052402688
+106,1.766666667,BASELINE,764,742,711,671,660,632,876,782,798.505059777,649,626,649,0.400953372919,-0.00549675106619,0.0798345454744,0.999999954844,9.36532951061e-05,-0.000283296582304,3.58357638458e-05,1793190448069069312
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,671,660,632,877,782,798,649,626,649,0.400957104715,-0.00549491298879,0.0798370047327,0.999999955832,9.71961076871e-05,-0.000278553323781,3.60245642927e-05,1793190448111545856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.577527284,711,671,659.422472716,632,876.422472716,782,798.577527284,649,626.577527284,649,0.400954870278,-0.00549550235238,0.0798354977076,0.999999955088,9.68675823128e-05,-0.000281344059165,3.58535412386e-05,1793190448128212480
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632,876,782,799,649,626.846006163,649.153993837,0.400953562622,-0.00549555814137,0.0798346217154,0.999999954632,9.69894825752e-05,-0.000282938204198,3.56973360223e-05,1793190448144879360
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632,876,782,799,649,626.272429624,649.727570376,0.400954780145,-0.00549416011473,0.0798354650804,0.999999954975,9.8338644897e-05,-0.000281272033603,3.55815045166e-05,1793190448161545728
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659.309549385,631.690450615,876,782,798.690450615,649,626,649.690450615,0.40095531072,-0.00549503134335,0.0798357062116,0.999999955273,9.65379314453e-05,-0.000280823515582,3.56738879359e-05,1793190448178212352
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659.899129571,631.100870429,876,782,798.100870429,649,626,649.100870429,0.400955219854,-0.00549795543147,0.0798354025377,0.999999955517,9.18877138214e-05,-0.000281476535062,3.59546309424e-05,1793190448194878976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.482118939,671,660,631.482118939,876,782,797.517881061,649,626.482118939,649.482118939,0.40095565805,-0.00549593904416,0.0798358953979,0.999999955453,9.38814837511e-05,-0.000281076040565,3.57381275869e-05,1793190448211545600
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.936916812,711.936916812,671,660,632,876,782,797.063083188,649,626.936916812,649.936916812,0.400956705147,-0.00549337403181,0.0798366815077,0.999999955439,9.67707656753e-05,-0.000280176295832,3.54733676912e-05,1793190448228212480
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.361353012,711.361353012,671,660,632,876,782,797.638646988,649,626.361353012,649.361353012,0.400961811779,-0.00549463615375,0.0798385143291,0.999999956415,9.57945645288e-05,-0.000276987212746,3.5650351036e-05,1793190448244879104
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.210041874,711,671,660,631.789958126,876,782,798.210041874,649,626,649,0.400972024212,-0.00549602997513,0.0798427822047,0.999999958525,9.46021294179e-05,-0.000269664559222,3.57980737314e-05,1793190448261545984
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.774404144,711,671,660,631.225595856,876,782,798.774404144,649,626,649,0.400990849642,-0.00549764596063,0.0798511577821,0.99999996242,9.3044928537e-05,-0.000255368971059,3.58964365088e-05,1793190448278213120
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.637435318,711,670.637435318,660,631.362564682,876.362564682,782,799,649,626,649,0.401026872467,-0.00549741108689,0.0798645564757,0.999999968476,9.38979241482e-05,-0.000230067473734,3.6047926786e-05,1793190448294879232
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.03342666,711,670.03342666,660,631.96657334,876.96657334,782,799,649,626,649,0.401074347617,-0.00549594366411,0.0798813002317,0.999999975211,9.63559501727e-05,-0.000197436770946,3.62347964289e-05,1793190448311545344
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741,711,670.54501798,660,631.45498202,877,782,798.45498202,649,626,648.45498202,0.401138296739,-0.00549803464259,0.0798938915768,0.999999980441,9.51197752733e-05,-0.00016981974558,3.51021467746e-05,1793190448328212480
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,741.12104552,711,671,660,631.12104552,876.87895448,782,798,649,626,648.12104552,0.401205300355,-0.00549990127125,0.0799052185278,0.999999984255,9.3191589238e-05,-0.000147223246463,3.36136854213e-05,1793190448344879360
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,741.693643197,711,671,660,631.693643197,876.306356803,782,798,649,626,648.693643197,0.401280098321,-0.00550015331999,0.0799127362198,0.999999985394,8.94892386736e-05,-0.000142259777753,3.10862620963e-05,1793190448361546496
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,798,649,626,649,0.401365601665,-0.00550109355318,0.0799176438644,0.999999986451,8.71732160812e-05,-0.000136819101026,2.7918054226e-05,1793190448378213120
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,798,649,626,649,0.401463423417,-0.00550282566315,0.0799195481919,0.999999987417,8.64524069161e-05,-0.000130829313173,2.40125116278e-05,1793190448394879232
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,798,649,626,649,0.401583934902,-0.00550470402367,0.0799236581663,0.999999988777,8.25465455282e-05,-0.000123511562456,1.94032587937e-05,1793190448411545856
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.971715395,742,711,671,660,632,876,782,798.028284605,649,626,649,0.401712373761,-0.00550657336871,0.0799283958883,0.999999990179,7.76865165509e-05,-0.000115736225426,1.45336283711e-05,1793190448428212480
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.396425878,742,711,671,660,632,876,782,798.603574122,649,626,649,0.401867245863,-0.00550745055501,0.0799329402527,0.999999991683,7.21837588537e-05,-0.000106537202056,8.56348924989e-06,1793190448444879104
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.178676079,742,711,671,660,632,876,782,798.821323921,649,626,649,0.402032451378,-0.00550830282745,0.0799375518764,0.999999993023,6.63246095626e-05,-9.7727006068e-05,2.09431972418e-06,1793190448461545728
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.753362259,742,711,671,660,632,876,782,798.246637741,649,626,649,0.402220559414,-0.00550909988174,0.0799423125702,0.999999994174,5.96755697675e-05,-8.97785918813e-05,-5.48087887917e-06,1793190448478212352
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.662199956,741.662199956,711,671,660,632,876,782,798.337800044,648.662199956,626,649,0.402424494391,-0.00551097848146,0.0799444420626,0.999999994745,5.18347443023e-05,-8.74350310002e-05,-1.33753939441e-05,1793190448494878976
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.070430526,741.070430526,711,671,660,632,876,782,798.929569474,648.070430526,626,649,0.402640328612,-0.00551367022335,0.0799445933304,0.999999994852,4.3097893762e-05,-8.93053856829e-05,-2.1509982613e-05,1793190448511545856
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.508766726,741.508766726,711,671,660,632,876,782,798.491233274,648,626.508766726,649,0.402881035025,-0.0055157136614,0.079939488491,0.99999999493,-8.23673195443e-06,-9.80623799645e-05,-2.13417360128e-05,1793190448528212480
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,798.085724528,648.085724528,626.914275472,649,0.403132339032,-0.00551713865873,0.0799342809605,0.999999992753,-5.31770861246e-05,-0.000106025993128,-2.0602313028e-05,1793190448544879360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876,782,798.659601835,648.659601835,626.340398165,649,0.403424856456,-0.00551554072138,0.0799325321432,0.999999993891,-2.8935551361e-05,-0.000104173914545,-2.29976712675e-05,1793190448561545728
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.767497398,711,671,660,632,876.232502602,782,798.767497398,649,626,649,0.403739752402,-0.00551560868282,0.0799339380589,0.999999994576,-1.19758098324e-05,-0.000100276779323,-2.54838002491e-05,1793190448578212352
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.196020401,711,671,660,632,876.803979599,782,798.196020401,649,626,649,0.404087274831,-0.0055181054216,0.07993994338,0.999999995228,-5.6324733226e-06,-9.33980783548e-05,-2.81022672222e-05,1793190448594879232
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.606895489,741.393104511,711,671,660,632,877,782,798,648.606895489,626,649,0.404466700455,-0.00551859013577,0.0799408871724,0.999999995506,-7.93848657336e-06,-8.96649166851e-05,-2.9735467979e-05,1793190448611545856
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.008556876,741.991443124,711,671,660,632,877,782,798,648.008556876,626,649,0.404862782258,-0.00551802440132,0.0799391884148,0.99999999558,-1.47601986987e-05,-8.75739951714e-05,-3.08542756101e-05,1793190448628212480
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632,876.432687571,782.567312429,798.567312429,648,626,649,0.4052950294,-0.00551756165154,0.0799378829721,0.999999995762,-1.22034239909e-05,-8.47895127869e-05,-3.37387241221e-05,1793190448644879104
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.143052006,742,711,670.856947994,660,632,876,782.856947994,799,648,626,649,0.405733942051,-0.00551744466187,0.0799343110489,0.999999995436,-1.04398322205e-05,-8.78349336598e-05,-3.61227378029e-05,1793190448661545984
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.719385948,742,711,670.280614052,660,632,876,782.280614052,799,648,626,649,0.406191454143,-0.00551837039951,0.0799238570305,0.999999993359,-1.149079595e-05,-0.000108568689231,-3.69134233696e-05,1793190448678212608
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.69752543,742,711,670.30247457,660,632,876.30247457,782,799,648.30247457,626,649.30247457,0.406674577512,-0.00551989139132,0.0799159161371,0.9999999915,-1.64472529079e-05,-0.000123274618062,-3.91428642718e-05,1793190448694878976
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.1080271,742,711,670.8919729,660,632,876.8919729,782,799,648.8919729,626,649.8919729,0.407182003955,-0.00552197723104,0.0799103599937,0.999999990025,-2.51097053457e-05,-0.000132260632133,-4.27375670412e-05,1793190448711545344
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.471643311,742,711,671,660,632.471643311,877,782,799,649,626,649.528356689,0.407707856038,-0.00552131553087,0.0799025008313,0.999999987554,-2.66143550461e-05,-0.000148909093741,-4.48196099593e-05,1793190448728212480
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.048994964,671,660,632.951005036,877,782.048994964,799,648.951005036,626,649,0.40824386127,-0.00552042363801,0.0798951359941,0.999999984884,-2.72951232207e-05,-0.000165296438438,-4.65130044905e-05,1793190448744879616
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.625123943,671,660,632.374876057,877,782.625123943,799,648.374876057,626,649,0.408844625067,-0.00552368759454,0.0798986489879,0.999999985341,-3.63905224388e-05,-0.000160377531592,-4.76764709885e-05,1793190448761545984
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.794801379,742,711.794801379,671.205198621,660.205198621,632,877,782.794801379,798.794801379,648.205198621,626,649,0.409469063488,-0.0055269849179,0.07991349724,0.999999988529,-4.40442327957e-05,-0.000136520331876,-4.86233164133e-05,1793190448778212864
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.207377037,742,711.207377037,671.792622963,660.792622963,632,877,782.207377037,798.207377037,648.792622963,626,649,0.410137600851,-0.00553034439378,0.0799494598018,0.999999994596,-4.90124928681e-05,-7.73865663937e-05,-4.91666592138e-05,1793190448794879232
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711,671.625132064,660.625132064,632,877,782,798,649,626,649,0.410827241878,-0.00553228801131,0.0799718787081,0.99999999652,-5.15118679128e-05,-4.26772412719e-05,-4.98586541002e-05,1793190448811545856
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,711,671.04571329,660.04571329,632,877,782,798,649,626,649,0.411528398331,-0.00553345904994,0.0799869073676,0.999999997105,-5.26640683997e-05,-2.12953843617e-05,-5.06317626702e-05,1793190448828212736
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.528095071,742,711,671,660,632,877,782,798.528095071,649,626,649,0.412188687748,-0.00553291561551,0.0799551336295,0.999999994311,-5.96850211526e-05,-6.92762035435e-05,-5.49229533047e-05,1793190448844879360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.102340581,671,660,632,877,782,799,648.897659419,626,649,0.412856773081,-0.00553222468473,0.0799211381045,0.999999988925,-6.69319648799e-05,-0.000118888603384,-5.94623737374e-05,1793190448861545472
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.680855817,671,660,632,877,782,799,648.319144183,626,649,0.41357741806,-0.00553153074284,0.0798954570465,0.999999984292,-7.28915434528e-05,-0.000148449484389,-6.37547122888e-05,1793190448878212096
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671.264422046,660,632,877,782,798.735577954,648,626,649,0.4143204991,-0.00553336079566,0.0798919108846,0.99999998398,-7.97743248363e-05,-0.000146091943967,-6.58233299996e-05,1793190448894878976
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671.85420337,660,632,877,782,798.14579663,648,626,649,0.415091186788,-0.00553829650887,0.0799156007001,0.999999988568,-8.77930659677e-05,-0.000104460244457,-6.51557611016e-05,1793190448911545600
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,741.56431728,711.56431728,672,660,632,877,782,798,648.43568272,626,649,0.415876975183,-0.00553684062101,0.0799264281446,0.999999990138,-7.89102643615e-05,-9.75433920394e-05,-6.31033377191e-05,1793190448928212480
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.985636061,741.014363939,711.014363939,671.985636061,660.014363939,632,877,782,798.014363939,649,626,648.985636061,0.416668143665,-0.00553290183691,0.0799328231542,0.999999990934,-6.43206214858e-05,-0.00010157328567,-6.06503216689e-05,1793190448944879360
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.409764573,741.590235427,711.590235427,671.409764573,660.590235427,632,877,782,798.590235427,649,626,648.409764573,0.417475782701,-0.00551395157463,0.0799310612629,0.999999993368,-4.36062068927e-05,-8.7895197047e-05,-6.03148360546e-05,1793190448961546240
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.165213669,742,712,671.165213669,660.834786331,632,877,782,798.834786331,648.834786331,626,648.165213669,0.418299531148,-0.00550351417571,0.0799386083965,0.9999999958,-3.19730715237e-05,-6.23207779332e-05,-5.91077884615e-05,1793190448978213120
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.737988356,742,712,671.737988356,660.262011644,632,877,782,798.262011644,648.262011644,626,648.737988356,0.419163019406,-0.00551407692448,0.0799691197057,0.999999997505,-4.27422932576e-05,-7.39963182188e-06,-5.57507087704e-05,1793190448994879232
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.676231608,742,712,671.676231608,660,632,877,782,798.323768392,648,626,649,0.419990644607,-0.00552577800877,0.07997254253,0.999999996781,-5.85789165485e-05,-4.88480652531e-07,-5.48333971311e-05,1793190449011545600
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.079486485,742,712,671.079486485,660,632,877,782,798.920513515,648,626,649,0.420788032779,-0.00553843884993,0.0799531264152,0.999999994758,-7.86879845043e-05,-3.40556858044e-05,-5.59731114102e-05,1793190449028212224
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,877,782,799,648,626,649,0.421638119647,-0.00553627907977,0.0799499609513,0.999999994548,-7.86017370212e-05,-3.93742857457e-05,-5.63539865386e-05,1793190449044878848
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.075857884,742,711.924142116,671.075857884,660.075857884,632,877,782,799,648.075857884,626,649,0.422496587394,-0.00553374112577,0.0799532141627,0.999999994813,-7.73879601655e-05,-3.48696496468e-05,-5.63015493366e-05,1793190449061545472
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.650161357,742,711.349838643,671.650161357,660.650161357,632,877,782,799,648.650161357,626,649,0.423356912557,-0.00554368293369,0.0799822344193,0.999999994542,-8.91571250503e-05,5.6580384532e-06,-5.41681291147e-05,1793190449078212352
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.772086898,742,711,672,661,632,877.227913102,782,799,649,626,649,0.42417575986,-0.00555159188525,0.0799877786748,0.999999993805,-9.77754573758e-05,2.2297668211e-06,-5.3146902526e-05,1793190449094878976
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.188960779,742,711,672,661,632,877.811039221,782,799,649,626,649,0.42492996215,-0.0055563325385,0.0799567345107,0.999999990971,-0.000101483074362,-6.97058771671e-05,-5.38590803084e-05,1793190449111545600
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,711.39601356,672,661,632,877.60398644,782,798.60398644,649,626,649,0.425743816486,-0.00555733215575,0.0799240022134,0.999999986414,-0.000106445194275,-0.000111860370204,-5.76892312192e-05,1793190449128211968
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742,711.981873891,672,661,632,877.018126109,782,798.018126109,649,626,649,0.426586267647,-0.00555653834017,0.079890460636,0.999999981978,-0.000112008716017,-0.000139737935435,-6.30141216822e-05,1793190449144878592
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.557705755,742,712,672.557705755,661,632,877,782,798.557705755,649,626,649,0.427431935529,-0.0055644758842,0.0798967352272,0.99999998271,-0.000115012974826,-0.000132836451296,-6.08737445241e-05,1793190449161545472
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.867191167,742,712,673,661,632,877,782,799,648.867191167,626.132808833,649,0.428266579227,-0.0055705610474,0.0799049006126,0.999999983525,-0.000117418679601,-0.000125286717699,-5.88717805867e-05,1793190449178212096
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.293444736,742,712,673,661,632,877,782,799,648.293444736,626.706555264,649,0.429064280593,-0.00556957060234,0.0799151230579,0.999999984223,-0.000118108413787,-0.000119271348167,-5.8120686815e-05,1793190449194879744
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742,711.710615773,673,661,632,877,782,799,648.289384227,626.710615773,649,0.429871068376,-0.00557108226382,0.0799370082712,0.99999998746,-0.000117973643238,-8.90106642961e-05,-5.69193068359e-05,1793190449211546880
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742,711.118278448,673,661,632,877,782,799,648.881721552,626.118278448,649,0.430687368577,-0.00557521335261,0.0799711031048,0.999999991076,-0.000116975707626,-3.33678331187e-05,-5.5246527197e-05,1793190449228213248
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742,711,673,661,632,877.462664666,782.462664666,799,649,626,649,0.431480782228,-0.0055791407599,0.0799947904516,0.999999991589,-0.000118471826018,4.83836632983e-07,-5.27817258776e-05,1793190449244880128
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,711.040606519,673,661,632,878,782.959393481,799,648.959393481,626,649,0.432260988968,-0.00558230654617,0.080010444454,0.999999991322,-0.000119964659268,2.04866987436e-05,-5.0451577924e-05,1793190449261546752
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.616460059,673,661,632,878,782.383539941,799,648.383539941,626,649,0.432942378882,-0.00557610302685,0.0799544361471,0.999999989736,-0.000113211849337,-7.03900204008e-05,-5.25011071201e-05,1793190449278212864
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.189805053,742,711.810194947,673.189805053,661,632,878,782,799,648.189805053,626,649,0.433624207674,-0.00556703500425,0.0799066555384,0.999999983063,-0.000104353785877,-0.0001411836319,-5.52489694869e-05,1793190449294879232
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.758147239,742,711.241852761,673.758147239,661,632,878,782,799,648.758147239,626,649,0.434306911863,-0.0055522541671,0.0798752838045,0.99999997929,-9.12971166727e-05,-0.000171924575762,-5.93895515533e-05,1793190449311545856
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.655919328,742,711.344080672,673.311838656,661,632,877.655919328,782,799,649,626.344080672,649,0.435009355924,-0.00554848918364,0.0798870316074,0.999999983917,-8.70979688433e-05,-0.000144858475055,-5.99669407436e-05,1793190449328212480
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.056954906,742,711.943045094,672.113909812,661,632,877.056954906,782,799,649,626.943045094,649,0.435726422599,-0.0055528843865,0.0799307209599,0.999999991512,-8.94601847102e-05,-7.49707971616e-05,-5.79048323206e-05,1793190449344879104
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.52162258,742,712,672.52162258,661,632,877,782,798.47837742,649,626.47837742,649,0.43638454224,-0.00556019050851,0.079958729134,0.999999992204,-0.000101715959942,-4.61385005178e-05,-5.58358771812e-05,1793190449361545728
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,877.097533661,782.097533661,798.097533661,649,626,649,0.437028485574,-0.00556725389372,0.0799797239234,0.999999991865,-0.000112324561581,-2.71126427892e-05,-5.40119542172e-05,1793190449378212352
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,877.670887769,782.670887769,798.670887769,649,626,649,0.437633488042,-0.0055716408264,0.0799745425414,0.999999991936,-0.000109825546813,-3.48811017458e-05,-5.33869370238e-05,1793190449394879488
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.747986103,742.252013897,711.747986103,673,661,631.747986103,878,782.747986103,799,649,626,649,0.43820364919,-0.00557582126765,0.0799647954497,0.999999991268,-0.000110557937576,-4.93034691107e-05,-5.30184552379e-05,1793190449411546112
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.156387343,742.843612657,711.156387343,673,661,631.156387343,878,782.156387343,799,649,626,649,0.438726862146,-0.0055797234645,0.0799488961346,0.999999989267,-0.000115644597936,-7.26918754411e-05,-5.29956510147e-05,1793190449428212480
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+243,4.050000000,HOLD_POSE2,763,742,711,673,658.575017137,629.424982863,877,780.424982863,799,648.424982863,626,649,0.445006298393,-0.00560666431452,0.0797407151618,0.999999909841,-0.000139539723187,-0.000398185249569,-4.79056966398e-05,1793190450397164288
+244,4.066666667,HOLD_POSE2,763,742.149390868,711,673,659,629.149390868,877.149390868,780,799,648.149390868,626,649,0.445004993383,-0.00560453235521,0.0797390120731,0.999999908635,-0.000138961637469,-0.000401314563178,-4.86523025584e-05,1793190450413830656
+245,4.083333333,HOLD_POSE2,763,742.721942241,711,673,659,629.721942241,877.721942241,780,799,648.721942241,626,649,0.445005890076,-0.00560472397504,0.0797394590111,0.999999909264,-0.000138275483359,-0.000400021878173,-4.83166088614e-05,1793190450430497536
+246,4.100000000,HOLD_POSE2,763.307494244,743,711,673,659,630,878,780,799,648.692505756,626,649,0.445007093574,-0.00560577548307,0.0797404054498,0.999999909786,-0.000139466543299,-0.000398338956236,-4.79900061649e-05,1793190450447164416
+247,4.116666667,HOLD_POSE2,763.905321269,743,711,673,659,630,878,780,799,648.094678731,626,649,0.445008586754,-0.00560763888833,0.0797418235118,0.999999910199,-0.000142430048741,-0.000396287576829,-4.76719871136e-05,1793190450463830784
+248,4.133333333,HOLD_POSE2,764,743,711,673,659,630,878,780.486073935,799,648.486073935,626,649,0.445008176392,-0.00560813263938,0.0797417088813,0.999999909853,-0.00014372637455,-0.000396684313196,-4.77412109117e-05,1793190450480497152
+249,4.150000000,HOLD_POSE2,763.936947631,743,711,673,658.936947631,630,878,780.936947631,799,649,626,649,0.445007484213,-0.00560817439369,0.0797412888204,0.999999909454,-0.000144150651669,-0.000397520090729,-4.78572671694e-05,1793190450497163776
+250,4.166666667,HOLD_POSE2,763.364503881,743,711,673,658.364503881,630,878,780.364503881,799,649,626,649,0.445007409077,-0.00560664670531,0.0797407312606,0.999999909776,-0.000140064248651,-0.000398181145286,-4.77629818576e-05,1793190450513830656
+251,4.183333333,HOLD_POSE2,763,743,711,673,658,629.785248999,878,780,799,649,626,649,0.445007753672,-0.00560544184004,0.0797405305897,0.999999910198,-0.000137197349088,-0.000398123510244,-4.77327003144e-05,1793190450530497280
+252,4.200000000,HOLD_POSE2,763,743,711,673,658,629.194054745,878,780,799,649,626,649,0.445008834027,-0.0056048028609,0.0797409555198,0.999999910818,-0.000136468152901,-0.000396806063317,-4.78146128424e-05,1793190450547164160
+253,4.216666667,HOLD_POSE2,763.389048435,743,711,673.389048435,658.389048435,629.389048435,878,780.389048435,799,648.610951565,625.610951565,649,0.44500883741,-0.00560459587951,0.0797406476875,0.999999910674,-0.00013659141975,-0.000397129070493,-4.77905926139e-05,1793190450563830528
+254,4.233333333,HOLD_POSE2,763.968198116,743,711,673.968198116,658.968198116,629.968198116,878,780.968198116,799,648.031801884,625.031801884,649,0.44500831455,-0.00560459998568,0.0797399818045,0.999999910156,-0.000137131226664,-0.000398253654786,-4.77148103311e-05,1793190450580497152
+255,4.250000000,HOLD_POSE2,763.455406677,742.455406677,711,673.455406677,659,629.455406677,878,780.455406677,799.544593323,648.544593323,625.544593323,648.455406677,0.445008545408,-0.00559254634323,0.0797400991958,0.999999911405,-0.000124662923451,-0.000398843486589,-5.07247197394e-05,1793190450597164032
+256,4.266666667,HOLD_POSE2,763,742,711,672.879749795,658.879749795,629.120250205,878,780,799.879749795,649,626,648.120250205,0.445009248916,-0.00557721160311,0.0797405475475,0.999999913123,-0.000108831043377,-0.00039873721612,-5.40273461495e-05,1793190450613830656
+257,4.283333333,HOLD_POSE2,763,742,711,672.306272332,658.306272332,629.693727668,878,780,799.306272332,649,626,648.693727668,0.445011568802,-0.00555215078497,0.0797420717735,0.999999916416,-8.31703356393e-05,-0.000396124416095,-5.77575057198e-05,1793190450630497536
+258,4.300000000,HOLD_POSE2,763.275682564,742,711,672,658,629.724317436,878,780,799,649,625.724317436,648.724317436,0.445011965029,-0.00554299152839,0.0797423926091,0.999999917331,-7.41558772391e-05,-0.000395395404404,-5.91748843865e-05,1793190450647164160
+259,4.316666667,HOLD_POSE2,763.867354312,742,711,672,658,629.132645688,878,780,799,649,625.132645688,648.132645688,0.445010156342,-0.00555205874881,0.0797413341106,0.999999916039,-8.42214619714e-05,-0.000396825603775,-5.79413380267e-05,1793190450663830784
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,629,877,780,799,648,626,649,0.445010362861,-0.00555242408897,0.0797411780431,0.999999916185,-7.97758170109e-05,-0.000397502224241,-5.70697857513e-05,1793190450696560384
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,629.572650127,877,780,799,648.572650127,626,648.427349873,0.44501153425,-0.00554734016066,0.079741957183,0.999999916937,-7.79246188291e-05,-0.000395777495379,-5.84216519675e-05,1793190450713227008
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.849551436,711,673,658.150448564,630,877,780,799,649,626,648.150448564,0.445012133544,-0.0055451507206,0.0797423049396,0.999999917281,-7.79263607527e-05,-0.000394812239779,-5.90716821818e-05,1793190450729893376
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.25661091,711,673,658.74338909,630,877,780,799,649,626,648.74338909,0.44501105022,-0.00555147440673,0.0797413839329,0.999999916422,-8.33778791168e-05,-0.000396080709402,-5.76575069675e-05,1793190450746559488
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.670854031,630,877,780.329145969,799,648.670854031,626,649,0.445009662885,-0.00555215451161,0.079740386948,0.999999915751,-8.35866452488e-05,-0.000397739512116,-5.75783335014e-05,1793190450763226112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.090578125,630,877,780.909421875,799,648.090578125,626,649,0.445008043596,-0.0055485287083,0.0797393319935,0.999999915226,-7.97953255068e-05,-0.000399696128896,-5.85177322294e-05,1793190450779892736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.487001535,630,877.487001535,781,799.487001535,648.487001535,626,649,0.445006690838,-0.00554906878539,0.079738320789,0.999999914718,-8.0627873916e-05,-0.000400797778612,-5.85180931864e-05,1793190450796560128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.063929775,711,673,659,630,878,780.936070225,799.936070225,648.936070225,626,649,0.445003724824,-0.00555035130215,0.0797365228996,0.99999991369,-8.21637552497e-05,-0.000403071131036,-5.83294472124e-05,1793190450813227776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.639635607,711,673,659,630,878,780.360364393,799.360364393,648.360364393,626,649,0.444987449587,-0.0055514087711,0.079728362593,0.999999908391,-8.24833781749e-05,-0.000415990261399,-5.80181958316e-05,1793190450829893888
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.780066864,711,673,659,630,877.780066864,780,799,648.219933136,626,649,0.444961736134,-0.00554984287093,0.0797169636184,0.999999900277,-8.0866890382e-05,-0.000435343172338,-5.81708703069e-05,1793190450846560000
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.192085393,711,673,659,630,877.192085393,780,799,648.807914607,626,649,0.444920228245,-0.00554388687895,0.0797001448772,0.999999887037,-7.60104072265e-05,-0.000465462727852,-5.90999041052e-05,1793190450863226624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742.391189224,711,673,658.608810776,630,877.391189224,780.391189224,799,649,625.608810776,649,0.44486237543,-0.00554453709426,0.0796820830297,0.999999872434,-7.78514600624e-05,-0.000495619233458,-5.85858259893e-05,1793190450879893248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.972180167,711,673,658.027819833,630,877.972180167,780.972180167,799,649,625.027819833,649,0.444796592191,-0.00554839258524,0.0796634180359,0.999999856685,-8.29421005349e-05,-0.000525793669377,-5.73715621702e-05,1793190450896559872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.453738511,711,673,658,629.453738511,877.453738511,781,798.453738511,649,625.546261489,648.453738511,0.444724950223,-0.00554415555311,0.079657901591,0.999999854364,-7.68628956155e-05,-0.000531259227814,-5.59289902772e-05,1793190450913226496
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.119533174,780.880466826,798.119533174,648.880466826,626,648,0.444649258514,-0.00554045896814,0.0796550337485,0.999999853768,-7.15481951887e-05,-0.000533309587058,-5.4084905163e-05,1793190450929892864
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.691057531,780.308942469,798.691057531,648.308942469,626,648,0.444559367625,-0.00554034491222,0.0796596806457,0.999999857232,-7.12484589594e-05,-0.000527144871674,-5.07659931736e-05,1793190450946559488
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.725256645,658,629.274743355,877.725256645,780.274743355,799.274743355,648.274743355,626,648.274743355,0.444454529157,-0.00553949235102,0.0796643970656,0.999999860587,-6.95228133936e-05,-0.000521363574887,-4.66068128023e-05,1793190450963226368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.127262204,658,629.872737796,877.127262204,780.872737796,799.872737796,648.872737796,626,648.872737796,0.444332104022,-0.0055377708966,0.0796691952826,0.999999863809,-6.61195049092e-05,-0.000516033392125,-4.14590093812e-05,1793190450979893248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.452229988,658.452229988,630,877,781,799.547770012,649,626,649,0.444186598245,-0.00553429204639,0.0796733793529,0.999999866959,-6.07010588819e-05,-0.000510949932183,-3.64427999245e-05,1793190450996560384
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,630,877.026724408,781,799,648.973275592,626,649,0.444032844505,-0.00553044694503,0.0796771187934,0.999999869786,-5.46956024627e-05,-0.000506411780255,-3.13723358542e-05,1793190451013227008
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,630,877.601307153,781,799,648.398692847,626,649,0.443837923573,-0.00552883350217,0.0796751469439,0.999999867646,-4.78246412773e-05,-0.000511685206519,-2.44603087563e-05,1793190451029893888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.181238245,711,673,659,630,877.818761755,780.818761755,799,648.181238245,626,649,0.443631140227,-0.00552612670915,0.0796742561025,0.999999866512,-3.9510864726e-05,-0.000514892485495,-1.73640777889e-05,1793190451046560768
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.773292454,711,673,659,630,877.226707546,780.226707546,799,648.773292454,626,649,0.443397468164,-0.00552094160002,0.0796758156017,0.999999867763,-2.79266337898e-05,-0.000513416390902,-9.85030956853e-06,1793190451063226880
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.6432336,711,673,659,630,877,780,799,648.6432336,625.6432336,648.6432336,0.443148584515,-0.00551637279484,0.0796829651514,0.99999987395,-1.73461235199e-05,-0.000501792920551,-1.79274066936e-06,1793190451079893248
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.065083885,711,673,659,630,877,780,799,648.065083885,625.065083885,648.065083885,0.44289026164,-0.00551218642264,0.0796935834806,0.999999882884,-7.38844826258e-06,-0.000483872725519,6.60227216523e-06,1793190451096559872
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.511642218,711,673,659,630.511642218,877.511642218,780.511642218,799,648.511642218,625.511642218,648.511642218,0.442587037041,-0.00550836954196,0.0797034828782,0.999999890353,1.73393897528e-05,-0.000467781172339,1.31800493164e-05,1793190451113226496
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,630.910353794,877.910353794,780.910353794,799,649,626,649,0.442271399386,-0.00550430454332,0.0797125063889,0.999999896445,3.96012622313e-05,-0.000453011253853,1.79673517287e-05,1793190451129893120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,630.324272969,877.324272969,780.324272969,799,649,626,649,0.441918564031,-0.00549860597974,0.0797171845273,0.999999900494,3.78316836038e-05,-0.000444275585706,1.4116089891e-05,1793190451146560000
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711.258623684,672.741376316,659,630.258623684,877.258623684,780.258623684,799,648.741376316,626,649,0.441529964012,-0.005493556924,0.0797166619849,0.999999901001,4.07617924729e-05,-0.000442899873285,1.32623153365e-05,1793190451163226624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711.837576414,672.162423586,659,630.837576414,877.837576414,780.837576414,799,648.162423586,626,649,0.441097066212,-0.00548931234337,0.0797096979243,0.999999897106,4.95128935402e-05,-0.000450640138586,1.61212027135e-05,1793190451179893760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711.585080938,672,659.414919062,631,877.585080938,781,799,648.414919062,626,648.585080938,0.440626425969,-0.00548437888945,0.0796935916515,0.999999886406,5.24184619869e-05,-0.00047345097333,1.68379556853e-05,1793190451196560384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711.008366148,672,659.991633852,631,877.008366148,781,799,648.991633852,626,648.008366148,0.440141068248,-0.00547917681274,0.0796739204163,0.999999872382,5.30445923681e-05,-0.000502138504922,1.67193933892e-05,1793190451213226752
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.550370441,660,631,877,781.550370441,799,648.449629559,626,648.550370441,0.439654206188,-0.00547473604896,0.0796717134034,0.999999873052,6.05320681588e-05,-0.000499946798921,1.69012388155e-05,1793190451229893120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.881731145,711,672.881731145,660,631.118268855,877,781.881731145,799,648,626,648.881731145,0.439163167363,-0.00547036445987,0.0796794092125,0.999999880624,6.72457835365e-05,-0.000483652170178,1.76507460995e-05,1793190451246559488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.274892007,711,672.274892007,660,631.725107993,877,781.274892007,799,648,626,648.274892007,0.438654965864,-0.00546623233887,0.079726951736,0.99999991286,7.0345850757e-05,-0.000410975904447,2.07270048246e-05,1793190451263226368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,631.682659499,877.317340501,781.317340501,799,648.317340501,626,648,0.438106813939,-0.00546181288354,0.0797726998952,0.999999937185,7.5536446271e-05,-0.00034541731039,2.47234501606e-05,1793190451279893248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,631.102522967,877.897477033,781.897477033,799,648.897477033,626,648,0.437525578209,-0.00545715548044,0.0798169621104,0.999999955338,8.24582505313e-05,-0.000285752995228,2.94819208141e-05,1793190451296559872
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.475069108,672.475069108,660.475069108,631,878,782,798.524930892,648.524930892,626,648.475069108,0.436894658156,-0.0054528013742,0.0798347172636,0.999999961455,9.16137395622e-05,-0.00026010779572,3.2273480885e-05,1793190451313226496
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.436646192,671,659,632,877,782.563353808,799,649,626.436646192,649,0.400956403142,-0.00544973973541,0.0798330201551,0.999999948514,0.000143801641493,-0.000285485016864,2.81250831164e-05,1793190452863226368
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.402657456,671,659.597342544,632,876.402657456,782,799,649,627,649,0.400956343372,-0.00544988617819,0.0798333740536,0.999999948695,0.000142857119483,-0.000285310598068,2.8267833186e-05,1793190452896559360
diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..644f1af774c857d97e03928f0ea00cd27a6061b9
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
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diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b030e038b0ece2011f3eb2a1e254bb0b7e5da797
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25120418
diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d6d915a365003c563de9879ddb9792f5b84778f
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/franka_data.csv
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+3,0.050000000,BASELINE,764,742,711,671.275432927,660,632,877,782,798.275432927,649,626.724567073,649,0.400957456606,-0.0054515316491,0.0798345680494,0.999999949371,0.000141500656201,-0.000283612843968,2.82548531855e-05,1793190453101377792
+4,0.066666667,BASELINE,764,742,711.309245632,671,660,632,876.690754368,782,798.309245632,648.690754368,626.690754368,649,0.400957513701,-0.00545173510664,0.0798346564225,0.99999994952,0.000140156518191,-0.000283768626488,2.81241189146e-05,1793190453118044160
+5,0.083333333,BASELINE,764,742,711.900714799,671,660,632,876.099285201,782,798.900714799,648.099285201,626.099285201,649,0.400956917445,-0.00545137358307,0.0798340221395,0.999999949724,0.000137706966078,-0.000284287824399,2.77348883201e-05,1793190453134710528
+6,0.100000000,BASELINE,764,742,712,671.479787224,660,632,876,782.479787224,799,648.479787224,626.479787224,649,0.400956536123,-0.005451409893,0.0798337860431,0.99999994954,0.000138005510879,-0.000284783129348,2.77884642229e-05,1793190453151377408
+7,0.116666667,BASELINE,764,742,712,671.943885804,660,632,876.056114196,783,798.943885804,649,627,649,0.400956139371,-0.00545142984779,0.0798335972287,0.999999949252,0.00013902706458,-0.000285283647372,2.79255095655e-05,1793190453168044288
+8,0.133333333,BASELINE,764,742,712,671.369817802,660,632,876.630182198,783,798.369817802,649,627,649,0.400955199983,-0.00545055808013,0.0798331034284,0.999999948719,0.000141605339903,-0.000285876772205,2.80085097909e-05,1793190453184710912
+9,0.150000000,BASELINE,764,742,712,671,659.790102355,632,877,782.790102355,798.209897645,649,626.790102355,649,0.400954749072,-0.00544984265023,0.0798331467495,0.999999948489,0.000143120376817,-0.000285917243143,2.80952943552e-05,1793190453201377536
+10,0.166666667,BASELINE,764,742,712,671,659.200161641,632,877,782.200161641,798.799838359,649,626.200161641,649,0.400955182605,-0.00544941028734,0.0798341625887,0.999999948819,0.000142710301875,-0.000284957072575,2.81889308779e-05,1793190453218044416
+11,0.183333333,BASELINE,764,742,712,671,659,632,877,782,799,649,626.382664106,649,0.400955890435,-0.00544985822694,0.0798344570161,0.999999949289,0.000141624781294,-0.00028387327599,2.79506227761e-05,1793190453234711040
+12,0.200000000,BASELINE,764,742,712,671,659,632,877,782,799,649,626.961836186,649,0.400956739124,-0.00545075822474,0.0798343809798,0.999999949827,0.000140192401768,-0.000282725994139,2.75418524813e-05,1793190453251377664
+13,0.216666667,BASELINE,764,742,712,671,659.5391086,632,877,782,799,649,626.4608914,649.5391086,0.400956649454,-0.00545153388044,0.0798340430695,0.9999999495,0.000140581708274,-0.000283645128568,2.79731175005e-05,1793190453268044288
+14,0.233333333,BASELINE,764,742,712,671,660,632,877,782,798.884185535,649,626.115814465,649.884185535,0.400956432093,-0.00545214231067,0.0798337826245,0.999999949209,0.000140737757993,-0.000284565581124,2.82499143586e-05,1793190453284710912
+15,0.250000000,BASELINE,764,742,712,671,660,632,877,782,798.309194425,649,626.690805575,649.309194425,0.400955970905,-0.00545212250843,0.0798339025525,0.999999949305,0.000139459507339,-0.000284913320181,2.76793391287e-05,1793190453301377280
+16,0.266666667,BASELINE,764,742,711.727544568,671,660,632,877,782.272455432,798.272455432,649,626.727544568,649,0.400955565881,-0.00545201920914,0.0798337071422,0.999999949365,0.000138906727172,-0.000284979511722,2.75900216939e-05,1793190453318043904
+17,0.283333333,BASELINE,764,742,711.138148798,671,660,632,877,782.861851202,798.861851202,649,626.138148798,649,0.40095522619,-0.00545181877992,0.079833144907,0.999999949386,0.00013919786809,-0.000284718186318,2.80605390072e-05,1793190453334710784
+18,0.300000000,BASELINE,764,742,711,671,660,631.557172242,877,782.557172242,798.557172242,649,626,649,0.400956186998,-0.00545307971187,0.0798337855662,0.99999994978,0.000138580073822,-0.000283618292709,2.82259544129e-05,1793190453351377664
+19,0.316666667,BASELINE,764,742,711,671,660,631.021106904,876.978893096,782,798.021106904,649,626,649,0.40095748836,-0.00545463477107,0.079834758177,0.999999950258,0.000137800514524,-0.000282303604833,2.82818061445e-05,1793190453368044288
+20,0.333333333,BASELINE,764,742,711,671,660,631.596239729,876.403760271,782,798.596239729,649,626,649,0.40095727804,-0.00545216679253,0.079834777617,0.999999950012,0.000140079031845,-0.000282089585139,2.79135588708e-05,1793190453384710912
+21,0.350000000,BASELINE,764.170322177,742,711,671,660,632,876.170322177,782,799,649,626.170322177,649,0.400956684933,-0.0054505212032,0.0798346098239,0.999999949709,0.000141745457857,-0.000282347257825,2.77408950727e-05,1793190453401377536
+22,0.366666667,BASELINE,764.741929821,742,711,671,660,632,876.741929821,782,799,649,626.741929821,649,0.400955189965,-0.00545081319418,0.0798340009026,0.999999949282,0.000141969773366,-0.000283716255557,2.80290333625e-05,1793190453418044160
+23,0.383333333,BASELINE,764.672252454,742,711,671,659.672252454,632,877,782,798.672252454,649,627,649,0.400954956298,-0.00545176842055,0.0798338928924,0.999999949302,0.000140658928468,-0.000284281155166,2.82019808566e-05,1793190453434710784
+24,0.400000000,BASELINE,764.074738459,742,711,671,659.074738459,632,877,782,798.074738459,649,627,649,0.400955760799,-0.00545326955083,0.079834197178,0.999999949686,0.000138084505027,-0.000284184208027,2.82801157362e-05,1793190453451377408
+25,0.416666667,BASELINE,764,742,711.504325497,670.495674503,659.504325497,632,876.495674503,782,798,649,627,649,0.4009568339,-0.00545262704444,0.0798344172714,0.999999949927,0.000139061361465,-0.000282882852327,2.80068432545e-05,1793190453468044032
+26,0.433333333,BASELINE,764,742,712,670.160494884,660,632,876.080247442,782,798.080247442,649,626.919752558,649,0.400957728057,-0.00545190096034,0.0798346789521,0.999999950101,0.000140288660207,-0.000281681511297,2.77898690912e-05,1793190453484710656
+27,0.450000000,BASELINE,764,742,712,671.30614815,660,632,876.653074075,782,798.653074075,649,626.346925925,649,0.400957288098,-0.00545254301112,0.0798352697894,0.999999950006,0.000139936798958,-0.000282151018407,2.82268470393e-05,1793190453501377280
+28,0.466666667,BASELINE,764.234084162,742,711.765915838,671.765915838,659.765915838,632,876.765915838,782,798.765915838,649,626.234084162,649,0.400957696822,-0.0054523654009,0.0798359946019,0.999999950113,0.000140214197432,-0.000281611754696,2.84272912127e-05,1793190453518044416
+29,0.483333333,BASELINE,764.827661911,742,711.172338089,671.172338089,659.172338089,632,876.172338089,782,798.172338089,649,626.827661911,649,0.400959408907,-0.00545092900034,0.0798369251664,0.999999950529,0.00014145797842,-0.00027952327618,2.82644797907e-05,1793190453534711296
+30,0.500000000,BASELINE,764.590619447,742,711,671,659,632,876,782.409380553,798.409380553,649,626.590619447,649,0.400958144884,-0.00545020480187,0.0798359115403,0.99999995001,0.000142407653329,-0.000280906626212,2.81440756433e-05,1793190453551377664
+31,0.516666667,BASELINE,764.013752632,742,711,671,659,632,876,782.986247368,798.986247368,649,626.013752632,649,0.400955663272,-0.0054497719804,0.0798341025046,0.999999949103,0.000143237003173,-0.00028371037494,2.80410212148e-05,1793190453568044032
+32,0.533333333,BASELINE,764.561985576,742,711.561985576,671,659.561985576,632,876.561985576,782.438014424,798.438014424,649,626.561985576,649,0.400955447081,-0.00545204934091,0.0798337547024,0.999999949349,0.000140888978064,-0.000283987885809,2.83487774502e-05,1793190453584710912
+33,0.550000000,BASELINE,764.86239561,742,712,671,660,632,877,782,798.13760439,649,626.86239561,649,0.400955399031,-0.00545403150146,0.0798335767365,0.999999949639,0.000138689830232,-0.000284029393501,2.85554869576e-05,1793190453601377280
+34,0.566666667,BASELINE,764.287069022,742,712,671,660,632,877,782,798.712930978,649,626.287069022,649,0.400955709845,-0.00545486407538,0.0798338255024,0.999999949992,0.000137211109206,-0.000283516429657,2.84088496448e-05,1793190453618043904
+35,0.583333333,BASELINE,764,742,711.702616786,671,659.702616786,632,876.702616786,782,798.702616786,648.702616786,626,649.297383214,0.400956487553,-0.00545387741981,0.0798342647753,0.999999950092,0.0001382160319,-0.000282700511301,2.81414334336e-05,1793190453634710784
+36,0.600000000,BASELINE,764,742,711.109076459,671,659.109076459,632,876.109076459,782,798.109076459,648.109076459,626,649.890923541,0.400957730229,-0.00545107903548,0.0798348937699,0.999999949932,0.000141694358164,-0.000281582887437,2.77537362733e-05,1793190453651377408
+37,0.616666667,BASELINE,764,742,711.46858348,671,659.937166959,631.53141652,876.46858348,782,798.46858348,648.46858348,626.46858348,649.53141652,0.400956972667,-0.00545201319676,0.0798349105764,0.999999950091,0.000139757254283,-0.000281987156034,2.77460786587e-05,1793190453668044288
+38,0.633333333,BASELINE,764,742,711.957169107,671,660.957169107,631.042830893,876.957169107,782,798.957169107,649,627,649,0.400955785724,-0.005453701484,0.0798347419468,0.999999950268,0.000136829397209,-0.000282784073318,2.7822319206e-05,1793190453684710912
+39,0.650000000,BASELINE,764,742,711.380892038,671,660.380892038,631.619107962,876.380892038,782,798.380892038,649,627,649,0.400954859965,-0.00545431552688,0.0798339804392,0.999999949876,0.000136747741879,-0.000284203682007,2.78777942637e-05,1793190453701377280
+40,0.666666667,BASELINE,764,742,711,671,660,632,876.199489181,782,798,649,627,649,0.400954520633,-0.00545404327549,0.0798337290038,0.999999949511,0.000137824942359,-0.000284960176402,2.79243281221e-05,1793190453718043904
+41,0.683333333,BASELINE,764,742,711,671,660,632,876.787871173,782,798,649,627,649,0.400955324506,-0.00545204324382,0.0798344719252,0.999999949198,0.000141161266332,-0.00028442396711,2.79534316177e-05,1793190453734710528
+42,0.700000000,BASELINE,764,742,711.370410522,671,659.629589478,632,877,782.370410522,797.629589478,649,626.629589478,649,0.400957000926,-0.0054517169127,0.0798356753729,0.99999994976,0.000141745708877,-0.000282132599641,2.81003117638e-05,1793190453751377408
+43,0.716666667,BASELINE,764,742,711.949655812,671,659.050344188,632,877,782.949655812,797.050344188,649,626.050344188,649,0.400959169281,-0.00545233420189,0.0798371384619,0.999999950811,0.000140778660509,-0.000278851686734,2.83135935309e-05,1793190453768044288
+44,0.733333333,BASELINE,764,742,712,671,660.052450972,632,876.473774514,782.473774514,797.526225486,649,626,649,0.400957806191,-0.00545277115666,0.07983603171,0.999999950316,0.000140117144998,-0.000280964651331,2.81928770232e-05,1793190453784710912
+45,0.750000000,BASELINE,764,742,711.898278693,671,660.898278693,632,876.101721307,782,798.101721307,649,626,649,0.400956480485,-0.00545339234783,0.0798349743604,0.999999949886,0.000139066099445,-0.000283015953996,2.81055830759e-05,1793190453801377536
+46,0.766666667,BASELINE,764,742,711.326567914,671,660.326567914,632,876.673432086,782,798.673432086,649,626,649,0.400956880619,-0.00545494408844,0.079835275473,0.999999950462,0.000136080911407,-0.00028241015067,2.83196046083e-05,1793190453818044160
+47,0.783333333,BASELINE,764,742,711,671,660.254522961,632,877,782,799,649,626,649.254522961,0.400957556831,-0.00545467657028,0.079835651797,0.999999950697,0.000136512629949,-0.000281355395812,2.84464240658e-05,1793190453834710784
+48,0.800000000,BASELINE,764,742,711,671,660.848109647,632,877,782,799,649,626,649.848109647,0.400958600824,-0.00545198551989,0.0798361283142,0.999999950468,0.000141496193077,-0.000279702568387,2.84570769794e-05,1793190453851377408
+49,0.816666667,BASELINE,764.429181158,742,711.429181158,671,660.570818842,632,877,782,798.570818842,649,626.429181158,649.570818842,0.400957161922,-0.00545215743971,0.0798354201044,0.999999950076,0.000141613490175,-0.000281061356199,2.82344869422e-05,1793190453868044032
+50,0.833333333,BASELINE,764.994043865,742,711.994043865,671,660,632,876.994043865,782,798.005956135,649,627,649,0.400954906767,-0.00545331349187,0.0798343293869,0.999999949641,0.00014004598765,-0.000283414995161,2.79351120123e-05,1793190453884710656
+51,0.850000000,BASELINE,764.416576692,742,711.416576692,671,660,632,876.416576692,782,798.583423308,649,627,649,0.400956255874,-0.00545443263907,0.079835627499,0.99999995045,0.000137385561891,-0.00028185549222,2.79641449824e-05,1793190453901377280
+52,0.866666667,BASELINE,764,742,711.162297213,671,660,632,876.324594425,782,798.837702787,649,627,649,0.400957246241,-0.00545509509844,0.0798364664343,0.999999951029,0.000135642132745,-0.000280644579195,2.79628736245e-05,1793190453918043904
+53,0.883333333,BASELINE,764,742,711.744813381,671,660,632,877.489626761,782,798.255186619,649,627,649,0.400957307765,-0.0054545751044,0.0798361164716,0.999999951032,0.000136272985815,-0.000280336233159,2.78831384841e-05,1793190453934710784
+54,0.900000000,BASELINE,764,742,712,671,659.671873458,632,877.671873458,782.328126542,798.328126542,649,627,649,0.4009579896,-0.00545483624532,0.0798364544806,0.999999951296,0.000135820711105,-0.000279601619602,2.79932272226e-05,1793190453951377664
+55,0.916666667,BASELINE,764,742,712,671,659.087938988,632,877.087938988,782.912061012,798.912061012,649,627,649,0.400959155031,-0.00545570636021,0.0798373288332,0.999999951762,0.000134524028375,-0.000278534687282,2.82513029369e-05,1793190453968044288
+56,0.933333333,BASELINE,764,742,712,671,659.491479698,632,876.508520302,783,799,649,626.508520302,649,0.400958124791,-0.00545524095842,0.079836439949,0.999999951068,0.000136265457006,-0.000280179102881,2.82083151385e-05,1793190453984710912
+57,0.950000000,BASELINE,764,742,711.930617068,671,660,632,876,782.930617068,799,649,626.069382932,649.069382932,0.400956853968,-0.00545492782278,0.0798354318692,0.999999950363,0.00013774309734,-0.000281968787815,2.81775977218e-05,1793190454001377536
+58,0.966666667,BASELINE,764,742,711.357899701,671,660,632,876,782.357899701,799,649,626.642100299,649.642100299,0.400956661907,-0.005457437032,0.0798358269647,0.999999951121,0.000133399487784,-0.000281324990085,2.86231223267e-05,1793190454018044160
+59,0.983333333,BASELINE,764,742,711.221548368,671.221548368,660,632,876.221548368,782,798.778451632,648.778451632,626.778451632,649.778451632,0.400956227425,-0.00546285402427,0.0798354762937,0.999999951906,0.00012662661038,-0.000281565768879,2.95582359691e-05,1793190454034710528
+60,1.000000000,BASELINE,764,742,711.8122103,671.8122103,660,632,876.8122103,782,798.1877897,648.1877897,626.1877897,649.1877897,0.400955389056,-0.00547311556705,0.0798338831288,0.99999995268,0.000115806418698,-0.000283280307881,3.1309035922e-05,1793190454051377152
+61,1.016666667,BASELINE,764,742,711.604905479,671.604905479,659.604905479,632,877,782,798.395094521,648.395094521,626,649,0.400955076415,-0.00548597414877,0.0798338122038,0.999999954194,0.000100763391419,-0.000283474590298,3.31912759414e-05,1793190454068044032
+62,1.033333333,BASELINE,764,742,711.025646695,671.025646695,659.025646695,632,877,782,798.974353305,648.974353305,626,649,0.400955008831,-0.00550004328009,0.0798344508362,0.999999955842,8.37519866698e-05,-0.000282960239767,3.51347836255e-05,1793190454084710912
+63,1.050000000,BASELINE,764,742,711,671,659.549438988,632,876.450561012,782,799,649,626,649,0.400955531438,-0.00549173546245,0.0798352048096,0.999999955214,9.3748057645e-05,-0.000282173009088,3.40934706572e-05,1793190454101377536
+64,1.066666667,BASELINE,764,742,711,671,660,632,876,782.124659109,798.875340891,649,626,649,0.400955774302,-0.00548568418955,0.0798356466668,0.999999954593,0.000101610822701,-0.000281739444689,3.33402169666e-05,1793190454118044416
+65,1.083333333,BASELINE,764,742,711,671,660,632,876,782.701066966,798.298933034,649,626,649,0.40095490433,-0.00549156698872,0.0798349380911,0.999999954752,9.7208744933e-05,-0.000282633333121,3.41319449916e-05,1793190454134711040
+66,1.100000000,BASELINE,764,742,711.285789675,671,660,632,876.285789675,782.714210325,798,649,626.285789675,649,0.400954810694,-0.00549285596459,0.0798350454225,0.999999954993,9.52959749294e-05,-0.000282417564826,3.42424143436e-05,1793190454151377408
+67,1.116666667,BASELINE,764,742,711.879470218,671,660,632,876.879470218,782.120529782,798,649,626.879470218,649,0.400955553429,-0.00548919585906,0.0798360317581,0.999999955338,9.60650205442e-05,-0.000281006325804,3.36189406669e-05,1793190454168044032
+68,1.133333333,BASELINE,764,742,711.541117517,671,660,632,876.541117517,782,798.458882483,649,626.541117517,649,0.400956749612,-0.00548780889462,0.0798366450776,0.999999955419,9.81844649626e-05,-0.000279999479016,3.35111038598e-05,1793190454184710912
+69,1.150000000,BASELINE,764,741.965472293,711,671,659.965472293,632,876,782,798.965472293,649,626.034527707,649,0.400957884872,-0.0054873006872,0.0798370467487,0.999999955423,0.000100165344769,-0.000279273413324,3.35657747703e-05,1793190454201377536
+70,1.166666667,BASELINE,764,741.391894136,711,671,659.391894136,632,876,782,798.391894136,649,626.608105864,649,0.400956265626,-0.00549147143324,0.0798356276286,0.999999955371,9.46123879723e-05,-0.000281322663547,3.41068423262e-05,1793190454218044160
+71,1.183333333,BASELINE,764,741.187622054,711,671,659.187622054,632,876.187622054,782,798,649,626.812377946,649,0.400955297074,-0.00549246813948,0.0798347898667,0.999999955191,9.27788204495e-05,-0.000282558897699,3.42074514755e-05,1793190454234710784
+72,1.200000000,BASELINE,764,741.779946748,711,671,659.779946748,632,876.779946748,782,798,649,626.220053252,649,0.400955732076,-0.00548661841101,0.0798352061003,0.999999954773,9.89680116365e-05,-0.000282041448478,3.33579875529e-05,1793190454251377664
+73,1.216666667,BASELINE,764,742,711,671,660.363346043,632,877,782.363346043,798,649,626,648.636653957,0.400955757548,-0.00548606578909,0.0798353189781,0.999999954688,9.99373296202e-05,-0.000282001013643,3.33382396331e-05,1793190454268044032
+74,1.233333333,BASELINE,764,742,711,671,660.941469412,632,877,782.941469412,798,649,626,648.058530588,0.400955540942,-0.00548864433794,0.0798352525395,0.999999954814,9.78211301797e-05,-0.000282242546617,3.38089448423e-05,1793190454284710912
+75,1.250000000,BASELINE,764,742,711,671,660.483761216,632,876.483761216,782.483761216,798.516238784,649,626,648.516238784,0.400955939384,-0.00548889410005,0.0798358347006,0.999999955076,9.7221036525e-05,-0.000281511557534,3.38811989908e-05,1793190454301377536
+76,1.266666667,BASELINE,764,742,711.090466712,671,660,632,876.090466712,782.090466712,798.909533288,649.090466712,626.090466712,649.090466712,0.400956036294,-0.00548895327348,0.0798361168966,0.999999955231,9.66485874467e-05,-0.000281158910074,3.38507656311e-05,1793190454318043904
+77,1.283333333,BASELINE,764,742,711.663821234,671,660,632,876.663821234,782.663821234,798.336178766,649.663821234,626.663821234,649.663821234,0.400954153884,-0.00548939538832,0.0798344079656,0.999999954736,9.53120929048e-05,-0.000283410510604,3.35117939322e-05,1793190454334710784
+78,1.300000000,BASELINE,764,742,711.753484939,671.246515061,659.753484939,632,876.753484939,782.753484939,798.246515061,649.753484939,627,649.753484939,0.400953905242,-0.00548898625205,0.0798338624518,0.99999995451,9.59261123966e-05,-0.000284021580439,3.33192108185e-05,1793190454351377408
+79,1.316666667,BASELINE,764,742,711.157553402,671.842446598,659.157553402,632,876.157553402,782.157553402,798.842446598,649.157553402,627,649.157553402,0.400955972343,-0.00548737053156,0.079834965994,0.999999954665,9.93048382965e-05,-0.000282307321753,3.33341224939e-05,1793190454368044032
+80,1.333333333,BASELINE,764.423823459,742,711,671.576176541,659.423823459,632,876,782,799,649,626.576176541,649,0.400955974486,-0.00548723123794,0.0798350455003,0.999999954598,0.000100051870983,-0.000282279151508,3.33619706974e-05,1793190454384711168
+81,1.350000000,BASELINE,764.999969407,742,711,671.000030593,659.999969407,632,876,782,799,649,626.000030593,649,0.400955234482,-0.00548762257318,0.0798347569674,0.999999954453,9.98530713131e-05,-0.00028285696265,3.33944683009e-05,1793190454401378304
+82,1.366666667,BASELINE,764.426413926,742,711.573586074,671,660,632,876,782,799,649,626,649,0.400955485067,-0.00548868082376,0.0798350358622,0.999999954759,9.83224940482e-05,-0.000282274619015,3.36972216944e-05,1793190454418044672
+83,1.383333333,BASELINE,764,742,711.849384064,671,660,632,876.150615936,782,798.849384064,649,626,649,0.400955383381,-0.00548884140516,0.0798350947841,0.999999954874,9.76929666953e-05,-0.000282072355628,3.38197099944e-05,1793190454434711040
+84,1.400000000,BASELINE,764,742,711.262466395,671,660,632,876.737533605,782,798.262466395,649,626,649,0.400954261089,-0.0054864015311,0.0798345164052,0.999999954438,9.96737902125e-05,-0.000282971280694,3.34199678744e-05,1793190454451377664
+85,1.416666667,BASELINE,764,742,711.322049816,671,660,632,877,782.322049816,798,649,626.322049816,649,0.400954181096,-0.00548661414985,0.0798345164505,0.999999954399,0.000100282870758,-0.000282892898879,3.34092726137e-05,1793190454468044288
+86,1.433333333,BASELINE,764,742,711.904623322,671,660,632,877,782.904623322,798,649,626.904623322,649,0.400954944274,-0.00548897251508,0.0798349844147,0.999999954685,9.97822733562e-05,-0.000282023920083,3.37132986348e-05,1793190454484710912
+87,1.450000000,BASELINE,764,742,711.518462097,671,660,632,876.518462097,783,798,648.518462097,626.518462097,649,0.400955136773,-0.00549064050881,0.0798349449988,0.999999954858,9.71185170017e-05,-0.000282321011753,3.38793490423e-05,1793190454501377280
+88,1.466666667,BASELINE,764,742,711.057186866,671,660,632,876.057186866,782.942813134,798.057186866,648.057186866,626,649,0.400955207451,-0.00549193617883,0.0798348046057,0.99999995497,9.44987474315e-05,-0.000282796536205,3.40094734453e-05,1793190454518044160
+89,1.483333333,BASELINE,764,742,711.631409239,671,660,632,876.631409239,782.368590761,798.631409239,648.631409239,626,649,0.400955186814,-0.0054910875366,0.0798346493003,0.999999954808,9.61053595764e-05,-0.000282821409434,3.405899556e-05,1793190454534710784
+90,1.500000000,BASELINE,764,742,711.788869233,671,660,632,877,782.211130767,798.788869233,649,626,649,0.400955091296,-0.00549014373105,0.079834676516,0.999999954747,9.68561959872e-05,-0.000282800483828,3.38936157896e-05,1793190454551377664
+91,1.516666667,BASELINE,764,742,711.199290638,671,660,632,877,782.800709362,798.199290638,649,626,649,0.400954861556,-0.00548902934719,0.0798350308973,0.99999995487,9.60730707305e-05,-0.000282697464692,3.33430285306e-05,1793190454568044800
+92,1.533333333,BASELINE,764,742,711,670.615773443,659.615773443,632,876.615773443,783,798,649,626,649,0.400954839189,-0.00548896395314,0.0798351725201,0.999999954908,9.62469943387e-05,-0.000282522053533,3.3189511792e-05,1793190454584710912
+93,1.550000000,BASELINE,764,742,711,670.035351295,659.035351295,632,876.035351295,783,798,649,626,649,0.400954922713,-0.00548943419916,0.0798352055031,0.999999954902,9.69096107154e-05,-0.000282309677205,3.32387490397e-05,1793190454601377280
+94,1.566666667,BASELINE,764,742,711,670.539509076,659.539509076,632,876,782.460490924,798.539509076,649,626,649,0.400956405259,-0.00549114875914,0.0798356465705,0.999999955375,9.53693615723e-05,-0.000281114687415,3.35905093969e-05,1793190454618043904
+95,1.583333333,BASELINE,764,741.885705208,711,670.885705208,660,632,876.114294792,782,798.885705208,649,626,649,0.400957201572,-0.00549222131664,0.0798358547019,0.999999955613,9.45253055262e-05,-0.000280518679467,3.38756744363e-05,1793190454634710784
+96,1.600000000,BASELINE,764,741.309763891,711,670.309763891,660,632,876.690236109,782,798.309763891,649,626,649,0.400954859639,-0.00549037481037,0.0798350150837,0.999999954786,9.7070296296e-05,-0.0002825994162,3.38126063061e-05,1793190454651377152
+97,1.616666667,BASELINE,764,741.272852049,711,670.272852049,660,632,877,782,798,649,626.272852049,649,0.400954402613,-0.00548987967552,0.0798352247447,0.999999954776,9.77926124605e-05,-0.000282370009445,3.3929973376e-05,1793190454668044032
+98,1.633333333,BASELINE,764,741.863235544,711,670.863235544,660,632,877,782,798,649,626.863235544,649,0.400956139149,-0.00549095719865,0.0798366555038,0.999999955721,9.63937917339e-05,-0.000279452174136,3.42573218313e-05,1793190454684710912
+99,1.650000000,BASELINE,764,742,711,670.113403453,660,632,876.556701726,782,798,649,626.556701726,649,0.400955100506,-0.00549039171518,0.0798358004069,0.999999955193,9.73381323326e-05,-0.000281017441236,3.41742332629e-05,1793190454701377536
+100,1.666666667,BASELINE,764,742,711,669.040493879,659.979753061,632,876,782,798,648.979753061,626,649,0.400953317976,-0.0054893602928,0.0798343253091,0.99999995426,9.88874172685e-05,-0.000283806895575,3.39759388215e-05,1793190454718044160
+101,1.683333333,BASELINE,764,742,711,670.194260266,659.402869867,632,876,782,798,648.402869867,626,649,0.400954087239,-0.00548913773625,0.0798347520287,0.999999954584,9.76459501979e-05,-0.000283092408421,3.40124116459e-05,1793190454734710528
+102,1.700000000,BASELINE,764,742,711,670.822669757,659.177330243,632,876,782,798,648.177330243,626,649,0.400954901016,-0.00548887896816,0.0798352561106,0.999999954921,9.7214830895e-05,-0.000282044938172,3.4040765788e-05,1793190454751377152
+103,1.716666667,BASELINE,764,742,711,670.234790512,659.765209488,632,876,782,798,648.765209488,626,649,0.400955817849,-0.00548853636436,0.0798359392991,0.99999995529,9.86598015991e-05,-0.000280226556791,3.40503238253e-05,1793190454768044032
+104,1.733333333,BASELINE,764,742,711,670.348936147,659.651063853,631.651063853,876,782.348936147,798,649,626,649,0.400955051453,-0.00548894899307,0.0798353348117,0.999999954945,9.86833105281e-05,-0.00028145041036,3.40093451297e-05,1793190454784710400
+105,1.750000000,BASELINE,764,742,711,670.929901552,659.070098448,631.070098448,876,782.929901552,798,649,626,649,0.400953165773,-0.00548986382264,0.0798338740688,0.999999954119,9.77616016136e-05,-0.000284697234216,3.39347614305e-05,1793190454801377280
+106,1.766666667,BASELINE,764,742,711.503523813,671,659.503523813,631.503523813,876.503523813,782.496476187,798,649,626.503523813,649,0.400953433068,-0.00548995262126,0.0798341983183,0.999999954449,9.64371369337e-05,-0.000284021406661,3.36790754214e-05,1793190454818044416
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,671,659,631,877,782,798,648,627,649,0.400957505459,-0.00548986643029,0.0798369727331,0.999999955756,9.67292023647e-05,-0.000279247338561,3.39498717194e-05,1793190454860845824
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.582361023,711,671,659.582361023,631.582361023,876.417638977,782,798,648.582361023,627,649,0.400955723809,-0.00548956656188,0.0798354692146,0.999999955185,9.66464277414e-05,-0.000281317350616,3.3911973319e-05,1793190454877512704
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876.162619267,782,798.162619267,649,626.837380733,649,0.400954800421,-0.00548972093101,0.0798347409164,0.999999954923,9.61031102459e-05,-0.000282430431106,3.3930282054e-05,1793190454894179328
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876.737546212,782,798.737546212,649,626.262453788,649,0.400956053085,-0.00549102698169,0.0798359781249,0.99999995545,9.43921244427e-05,-0.000281117291344,3.40910993153e-05,1793190454910845696
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670.687601449,660,632,876.687601449,782,798.687601449,649,626,649,0.40095608539,-0.00549118168253,0.0798358761299,0.999999955417,9.42118946049e-05,-0.000281319524322,3.39061273918e-05,1793190454927512320
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670.112811806,660,632,876.112811806,782,798.112811806,649,626,649,0.400955092686,-0.00549036933673,0.0798346493053,0.999999954912,9.53173837925e-05,-0.000282794555556,3.34307187671e-05,1793190454944178688
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.476010488,659.523989512,632,876,782,798.476010488,649,626,649,0.400956243131,-0.00548997189558,0.0798353983778,0.999999955048,9.58540461103e-05,-0.000282108153411,3.3623765062e-05,1793190454960845568
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.933669962,711,671,659,632,876,782,798.933669962,649,626,649,0.400958730939,-0.00548976142431,0.0798369661842,0.999999955543,9.62547015147e-05,-0.000280169529846,3.3959961798e-05,1793190454977512192
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.358161473,711,671,659,632,876,782,798.358161473,649,626,649,0.400967467537,-0.00549020846319,0.0798411150661,0.999999957569,9.66775932106e-05,-0.000272669984661,3.41420030223e-05,1793190454994179072
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.218017586,711,671,659.218017586,632,876.218017586,782,798,649,626,649,0.400982411028,-0.0054909193307,0.0798476108838,0.999999960735,9.61358754722e-05,-0.000260972052228,3.43674629889e-05,1793190455010845696
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.795301603,711,671,659.795301603,632,876.795301603,782,798,649,626,649,0.40100758272,-0.00549206495561,0.0798579741656,0.999999965613,9.40045987956e-05,-0.000242355689574,3.4664471732e-05,1793190455027512064
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,877,782.379914864,798,648.620085136,626,649,0.401049410862,-0.00549191946665,0.0798721506824,0.999999971978,9.40024228731e-05,-0.000214511209253,3.45401526976e-05,1793190455044178688
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,877,782.968554864,798,648.031445136,626,649,0.401100390057,-0.00549106464015,0.0798884221905,0.999999978398,9.51699741228e-05,-0.000181596801412,3.41843562851e-05,1793190455060845312
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632,876.451939011,782.451939011,798,648.548060989,626,649,0.401165735906,-0.005491583626,0.0798993819096,0.999999981994,9.49743629045e-05,-0.000161010974588,3.26767043822e-05,1793190455077511936
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,741.873986879,711,671,660,632,876,782,798,649,626.126013121,649,0.401235526517,-0.00549246739237,0.0799091296513,0.999999984753,9.42276651873e-05,-0.000143737745033,3.09050477708e-05,1793190455094178560
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,741.29972876,711,671,660,632,876,782,798,649,626.70027124,649,0.401318243698,-0.00549437294365,0.0799156325534,0.999999986166,9.17943302927e-05,-0.000135772939408,2.84255217416e-05,1793190455110845184
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.275936274,711.275936274,671,660,632,876.275936274,782,798.275936274,649,626.724063726,649,0.401409666465,-0.00549594807367,0.0799201106629,0.999999987219,8.95736632914e-05,-0.000130036323403,2.50929182512e-05,1793190455127512064
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.853137327,711.853137327,671,660,632,876.853137327,782,798.853137327,649,626.146862673,649,0.40151059391,-0.00549716245257,0.0799223781213,0.999999987917,8.75851853627e-05,-0.00012673242558,2.0828932492e-05,1793190455144178944
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.559831231,671,660,632,876.119662462,782,799,649,626,649,0.401632816613,-0.00549888924447,0.0799264023094,0.999999989207,8.23925083683e-05,-0.000120615739058,1.579404718e-05,1793190455160845312
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.029941413,671,660,632,875.029941413,782,798.970058587,649,626.029941413,649.029941413,0.401764255823,-0.00550075728146,0.0799311140624,0.999999990641,7.6160221561e-05,-0.000113171860655,1.04401121328e-05,1793190455177511680
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.608471133,671,660,632,875.608471133,782,798.391528867,649,626.608471133,649.608471133,0.401931405129,-0.00550200919601,0.0799374389124,0.999999992577,7.09154064719e-05,-9.89989418071e-05,4.06082019943e-06,1793190455194178816
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.814013127,671,660,632,876.185986873,782,798,649,626.814013127,649.814013127,0.402109388845,-0.00550331780608,0.0799431529752,0.99999999411,6.5118861286e-05,-8.6786370224e-05,-2.71926686633e-06,1793190455210845696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.238620457,671,660,632,876.761379543,782,798,649,626.238620457,649.238620457,0.40231005684,-0.00550474512094,0.0799475882156,0.99999999516,5.81671444109e-05,-7.86782330684e-05,-1.03385088447e-05,1793190455227512064
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670.664151569,660,632,877,782,798.335848431,649,626,649,0.402518112161,-0.00550681013853,0.079946991226,0.999999995225,5.0984316696e-05,-8.14277465193e-05,-1.79172477746e-05,1793190455244178688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670.090337171,660,632,877,782,798.909662829,649,626,649,0.402731401806,-0.00550932700161,0.0799428286418,0.999999994503,4.36377342917e-05,-9.18704656379e-05,-2.5467288981e-05,1793190455260845312
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.499217905,670.499217905,660,632,877,782,798.500782095,649,626,649,0.402975063858,-0.0055102532489,0.0799382738839,0.999999995041,4.26854427772e-06,-9.74804391168e-05,-1.99117753375e-05,1793190455277512192
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.910590334,671,660,632,877,782,798.089409666,649,626.089409666,649.089409666,0.40323317452,-0.00551033807011,0.0799341625015,0.999999994242,-3.13801769639e-05,-0.00010162009547,-1.42892871156e-05,1793190455294178816
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.332981188,671,660,632,877,782,798.667018812,649,626.667018812,649.667018812,0.403539191136,-0.005507451305,0.0799328721724,0.999999994397,-1.40433942303e-05,-0.000102662020992,-2.16719385516e-05,1793190455310845184
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.756750882,711,671,660,632,877,782,798.756750882,649,626.756750882,649.756750882,0.403870139721,-0.00550831538471,0.0799343206415,0.999999994694,-2.09150395537e-06,-9.94776118979e-05,-2.66885627919e-05,1793190455327511808
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.18239745,711,671,660,632,877,782,798.18239745,649,626.18239745,649.18239745,0.40423502503,-0.0055142850161,0.0799394970909,0.999999995492,2.5306110399e-06,-9.05404270532e-05,-2.84846124966e-05,1793190455344178432
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.402107244,741.402107244,711.402107244,671.402107244,660,632,876.597892756,782.402107244,798.402107244,649,626,649,0.404621696897,-0.00551421272745,0.0799430630671,0.999999996184,1.28367866312e-06,-8.20368918823e-05,-2.99961732198e-05,1793190455360845056
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.99133583,741.99133583,711.99133583,671.99133583,660,632,876.00866417,782.99133583,798.99133583,649,626,649,0.405018507167,-0.00551132882009,0.0799458796065,0.999999996786,-2.69442577727e-06,-7.37351566272e-05,-3.13753464236e-05,1793190455377511680
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.429459443,742,712,671.429459443,660,632,876.570540557,782.429459443,798.429459443,649,626,649,0.405445448471,-0.00551301379952,0.0799375140964,0.999999995794,-4.72898210095e-06,-8.4960770116e-05,-3.42163745335e-05,1793190455394178560
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.851274787,671,660,632,877,782,798.148725213,649,626,649,0.405885081141,-0.00551462807563,0.0799292548783,0.999999994567,-7.43676792885e-06,-9.71766044113e-05,-3.69751820144e-05,1793190455410845184
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.275589204,671,660,632,877,782,798.724410796,649,626,649,0.406359857208,-0.00551584363165,0.0799217798771,0.999999992944,-1.21605281688e-05,-0.000111398553265,-3.94353198036e-05,1793190455427511808
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.699161976,742,711,671,660,632,877,782,799,648.699161976,626.300838024,649,0.40686033119,-0.00551660117262,0.0799169774128,0.999999991643,-1.84988037728e-05,-0.000120934457072,-4.17837236899e-05,1793190455444178688
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.122053605,742,711,671,660,632,877,782,799,648.122053605,626.877946395,649,0.407384404543,-0.00551693810207,0.0799146292342,0.999999990725,-2.631974729e-05,-0.000126166999277,-4.4029518612e-05,1793190455460845312
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.463848982,742,711,671,660,632,877,782,799,648.463848982,627,649,0.407907051817,-0.00551636034709,0.0799045404704,0.999999987753,-2.39966838925e-05,-0.000147764241687,-4.56545121319e-05,1793190455477511936
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.051552541,711.051552541,671,660,632,877,782.051552541,798.948447459,648.948447459,626.948447459,649,0.408437745471,-0.00551593036501,0.0798942260578,0.999999984178,-2.03104308908e-05,-0.000170329815416,-4.70993809594e-05,1793190455494178304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.633517523,711.633517523,671,660,632,877,782.633517523,798.366482477,648.366482477,626.366482477,649,0.409055162306,-0.00551954497338,0.0799029511242,0.999999985926,-3.05923123043e-05,-0.000157697861616,-4.84041698373e-05,1793190455510845184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.78788922,711.78788922,671.21211078,660.21211078,632,877,782.78788922,798,648.21211078,626,649,0.409701915432,-0.00552343503743,0.0799229492858,0.999999990243,-3.99325138778e-05,-0.000124329958167,-4.96225656238e-05,1793190455527512064
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.215030469,711.215030469,671.784969531,660.784969531,632,877,782.215030469,798,648.784969531,626,649,0.410398562292,-0.00552779358323,0.0799621201934,0.999999996028,-4.76711502404e-05,-5.56953337036e-05,-5.06940279097e-05,1793190455544178944
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.366402009,671.633597991,660.633597991,632,877.366402009,782,798.366402009,648.633597991,626,649,0.41107880471,-0.00553065625737,0.0799778042395,0.999999996835,-5.18070572029e-05,-3.16592502139e-05,-5.14156203212e-05,1793190455560845824
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.952986693,671.047013307,660.047013307,632,877.952986693,782,798.952986693,648.047013307,626,649,0.411749189149,-0.00553262001427,0.0799793742785,0.999999996613,-5.37779687688e-05,-3.44238576179e-05,-5.19269648072e-05,1793190455577512448
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.463908406,671,660,632,878,782,799,648.536091594,626,649,0.412425851754,-0.0055318719096,0.0799426744364,0.999999992702,-6.06493125158e-05,-8.79218184669e-05,-5.64529871378e-05,1793190455594178816
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671.117452227,660,632,877.882547773,782,798.882547773,649,626,649,0.413114716363,-0.00553166917023,0.0799083044704,0.999999986674,-6.76499123895e-05,-0.000135469337072,-6.10218292978e-05,1793190455610845184
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,671.693189814,660,632,877.306810186,782,798.306810186,649,626,649,0.41384905722,-0.00553451634946,0.0798960362213,0.999999985066,-7.34888308931e-05,-0.000142550829037,-6.43928600431e-05,1793190455627511808
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671.731790179,660.268209821,632,877,782,798.268209821,649,626,649,0.414609518015,-0.00553825208884,0.0799023093511,0.999999986379,-8.21706634775e-05,-0.00012709452973,-6.58566594589e-05,1793190455644178688
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,671.157588761,660.842411239,632,877,782,798.842411239,649,626,649,0.415399778267,-0.0055430015571,0.0799297357172,0.999999989759,-9.40958821085e-05,-8.59256204331e-05,-6.51445629199e-05,1793190455660845312
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.426750327,671,660.573249673,632,877,782,799,649,626,649,0.416171121022,-0.00554369335756,0.0799326572372,0.999999989699,-9.00136350253e-05,-9.16235215304e-05,-6.40683371302e-05,1793190455677511936
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.985262729,742,712,671.014737271,660,632,877.014737271,782,799.014737271,649,626,649,0.416937351009,-0.00554281379918,0.0799266841574,0.999999988352,-8.02261740472e-05,-0.00011359121514,-6.2904676827e-05,1793190455694178560
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.404451071,742,712,671.595548929,660,632,877.595548929,782,799.595548929,649,626,649,0.417782056736,-0.00554053234685,0.0799351019118,0.999999991291,-8.3874998318e-05,-7.95501048965e-05,-6.36731586934e-05,1793190455710845440
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660.174785087,631.825214913,877.825214913,782,799.825214913,649,626.174785087,649,0.418630518722,-0.00553334550851,0.0799483696849,0.999999994172,-7.65624163646e-05,-4.32508388154e-05,-6.26313338651e-05,1793190455727512064
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660.750408085,631.249591915,877.249591915,782,799.249591915,649,626.750408085,649,0.419487594958,-0.0055149090567,0.0799727600961,0.999999997376,-4.41118361386e-05,-1.77290379133e-06,-5.74378987871e-05,1793190455744178688
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.325328901,742,712,671.674671099,660.674671099,631.325328901,877,782,798.674671099,649,626.674671099,649,0.42031902125,-0.0055149032742,0.0799707789867,0.99999999765,-4.07067491292e-05,-4.06089680587e-06,-5.50127151043e-05,1793190455760845056
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.899712138,742,712,671.100287862,660.100287862,631.899712138,877,782,798.100287862,649,626.100287862,649,0.421130811283,-0.00552900702318,0.079948609256,0.999999995937,-5.95373333888e-05,-3.98537358527e-05,-5.47067562799e-05,1793190455777511680
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.512779823,742,712,671.487220177,660.487220177,632,877,782,798.487220177,649,626,649,0.4219908467,-0.00553779368714,0.0799565532862,0.999999995233,-7.53222769333e-05,-2.82032139525e-05,-5.53687416006e-05,1793190455794178560
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.07626398,742,712,672,660.92373602,632,877.07626398,782,798.92373602,648.92373602,626,649,0.42286097967,-0.00554420428108,0.0799717326119,0.999999994611,-8.7392288286e-05,-6.15020179556e-06,-5.57036942714e-05,1793190455810844928
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.657099584,742,712,672,660.342900416,632,877.657099584,782,798.342900416,648.342900416,626,649,0.423730397387,-0.00554233599269,0.0799926360318,0.999999995321,-7.91463593004e-05,1.83279328706e-05,-5.25202807706e-05,1793190455827511808
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.765487627,742,712,672,660.234512373,632,877.765487627,782.234512373,798.234512373,648.234512373,626,649,0.42455731612,-0.00554370511936,0.0799850014753,0.99999999547,-7.95933350392e-05,-6.34739757768e-06,-5.18204726558e-05,1793190455844178688
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.193007545,742,712,672,660.806992455,632,877.193007545,782.806992455,798.806992455,648.806992455,626,649,0.425322987534,-0.00554973984925,0.079936239393,0.999999989032,-9.25680962576e-05,-0.000101860283117,-5.469991382e-05,1793190455860845312
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,712,672,661,632,877.381772646,782.618227354,799,649,626,648.618227354,0.426154634227,-0.00555348060063,0.0799099053717,0.999999984899,-0.000100102059577,-0.000129509903038,-5.83822576014e-05,1793190455877511680
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742,712,672,661,632,877.957722685,782.042277315,799,649,626,648.042277315,0.427019837255,-0.00555605458714,0.079894978725,0.999999985029,-0.000104868721077,-0.000122642869625,-6.24729741126e-05,1793190455894178304
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,712,672.548586983,661,632,877.451413017,782,799,648.451413017,626,648.548586983,0.427851782165,-0.00555500505622,0.0799004084906,0.999999985036,-9.98142224349e-05,-0.000127547037045,-6.07975814956e-05,1793190455910844928
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.13836116,742,711.86163884,672.723277681,661,632,877.13836116,782,799,648.13836116,626,649,0.428674982247,-0.00555493985552,0.0799097836267,0.999999985594,-9.67111127536e-05,-0.000126385761616,-5.90342571406e-05,1793190455927511808
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.720843696,742,711.279156304,671.558312609,661,632,877.720843696,782,799,648.720843696,626,649,0.429478569548,-0.00555895563147,0.0799266465699,0.999999987772,-0.00010236907748,-0.000102761967273,-5.84549155203e-05,1793190455944178432
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.296835469,742,711,671.296835469,661,632,878,782,799.296835469,649,626.296835469,649,0.430314928734,-0.00556281599936,0.0799546512894,0.999999990739,-0.000107982167774,-6.02664008899e-05,-5.68234422595e-05,1793190455960845056
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.866853651,742,711,671.866853651,661,632,878,782,799.866853651,649,626.866853651,649,0.431181448397,-0.00556653334238,0.0799929099734,0.999999992083,-0.000113553958801,-4.02823980637e-07,-5.42236743143e-05,1793190455977512192
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.548803579,742,711.451196421,672,661,632,878,782,799.097607158,649,626.548803579,649,0.431974544665,-0.00556809079191,0.0800016688432,0.999999992541,-0.000110050642864,7.75808196199e-06,-5.24063469128e-05,1793190455994178816
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.960667772,742,711.960667772,672,661,632,878,782,798,649,626,649,0.432739223208,-0.00556852882113,0.0799967151836,0.999999993266,-0.000103949815566,-6.10699092392e-06,-5.12342449259e-05,1793190456010845440
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.380408781,742,711.380408781,672,661,632,878,782,798,649,626,649,0.433420829803,-0.00556262483177,0.0799268236125,0.999999987798,-0.000100163969915,-0.000106180512,-5.56562085169e-05,1793190456027512064
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.198145422,742,711,672.198145422,661,632,877.801854578,782,798.198145422,648.801854578,626,648.801854578,0.434122372418,-0.00555930155637,0.0798817326553,0.99999997937,-9.80206316448e-05,-0.000167830565908,-5.90286342301e-05,1793190456044178688
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.773454712,742,711,672.773454712,661,632,877.226545288,782,798.773454712,648.226545288,626,648.226545288,0.434861862769,-0.00556089059158,0.0798838489112,0.999999981053,-9.90037578429e-05,-0.000156342721271,-6.04032977109e-05,1793190456060845312
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742,711,672.018880038,658,629.981119962,877,780,799,648.018880038,625.981119962,649,0.445974056245,-0.00560463103538,0.07971985761,0.999999892759,-0.000170644670687,-0.000427777563248,-4.8665897722e-05,1793190457044178688
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742,711,672.596842977,658,629.403157023,877,780,799,648.596842977,625.403157023,649,0.445975194255,-0.00560315701726,0.079720485628,0.999999893429,-0.000169077694576,-0.000426785532533,-4.90835354609e-05,1793190457060845056
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742,711,673,658,628.825881665,877,780,799,649,625.174118335,648.825881665,0.445976070303,-0.00560234906991,0.0797209202755,0.999999893939,-0.000167503545173,-0.000426201461229,-4.91519350525e-05,1793190457077511680
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742,711,673,658,628.250192119,877,780,799,649,625.749807881,648.250192119,0.445976342182,-0.00560307728967,0.0797209089501,0.999999894088,-0.00016591285202,-0.000426558271688,-4.84148824777e-05,1793190457094178560
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.332812034,742,711,672.667187966,658,628.332812034,877,780,799,648.667187966,625.667187966,648.332812034,0.445975981475,-0.00560389779631,0.0797205701731,0.999999893697,-0.000166069746399,-0.000427457922167,-4.80287619524e-05,1793190457110845440
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.921438499,742,711,672.078561501,658,628.921438499,877,780,799,648.078561501,625.078561501,648.921438499,0.445975134534,-0.00560478923882,0.0797199797018,0.999999892888,-0.000167569915929,-0.000428774824103,-4.79123837584e-05,1793190457127512064
+244,4.066666667,HOLD_POSE2,763,742,711,673,658,629,878,779,799,649,626,648,0.445971217841,-0.0056040900111,0.079716381402,0.999999890584,-0.00016756493407,-0.000434066237717,-4.83744376198e-05,1793190457158680320
+245,4.083333333,HOLD_POSE2,763,742.580549176,711,672.419450824,658,629,878,779.580549176,798.419450824,649,626,648.580549176,0.445974453335,-0.00560393258427,0.0797180584349,0.999999891875,-0.000167596882582,-0.000431095579464,-4.81366406927e-05,1793190457175346944
+246,4.100000000,HOLD_POSE2,763,743,711,672.16206611,658,629,878,780,798,649,626,649,0.445976061859,-0.00560340941069,0.0797190709392,0.999999892645,-0.000167360355717,-0.000429409213293,-4.80460305562e-05,1793190457192013568
+247,4.116666667,HOLD_POSE2,763,743,711,672.746102912,658,629,878,780,798,649,626,649,0.445973434252,-0.00560193394414,0.0797183532143,0.999999892074,-0.000166424800915,-0.000431066751156,-4.83386498563e-05,1793190457208680192
+248,4.133333333,HOLD_POSE2,763,743,711,673,658,629,878,780,798,649,626,649,0.445973031033,-0.00560198465304,0.0797182004194,0.999999891986,-0.000166267595162,-0.000431327025339,-4.83650001712e-05,1793190457225346816
+249,4.150000000,HOLD_POSE2,763,743,711,673,658,629,878,780,798,649,626,649,0.445974338502,-0.00560320908161,0.0797184820891,0.999999892272,-0.000166708986124,-0.000430512720651,-4.81865738016e-05,1793190457242013440
+250,4.166666667,HOLD_POSE2,763.487838047,742.512161953,711,673,658,629,878,780,798.487838047,649,626,649,0.445975361067,-0.00560210439256,0.0797191568452,0.999999892721,-0.000167210817024,-0.000429245316984,-4.84473448022e-05,1793190457258680064
+251,4.183333333,HOLD_POSE2,763.93386489,742,711,673,658,629,878,780,798.93386489,649,626,649,0.445976065008,-0.00560088003385,0.0797196350841,0.999999893038,-0.000167439226276,-0.000428388812179,-4.87005842498e-05,1793190457275346688
+252,4.200000000,HOLD_POSE2,763.360270147,742,711,673,658,629,878,780,798.360270147,649,626,649,0.445974732229,-0.00560207377358,0.0797180423572,0.999999892118,-0.000165483073929,-0.000431334204319,-4.82669075118e-05,1793190457292013312
+253,4.216666667,HOLD_POSE2,763,742,711,672.780917746,658,629,877.780917746,780,798.219082254,648.780917746,626,649,0.445973879763,-0.00560351844711,0.0797171494948,0.999999891302,-0.000165548983837,-0.000433233529558,-4.79404713415e-05,1793190457308680192
+254,4.233333333,HOLD_POSE2,763,742,711,672.191841669,658,629,877.191841669,780,798.808158331,648.191841669,626,649,0.445973838467,-0.00560538690636,0.0797174385882,0.999999890669,-0.000169029823854,-0.000433366219905,-4.77951468606e-05,1793190457325347072
+255,4.250000000,HOLD_POSE2,763,742,711,672.390892069,658,629.390892069,877.390892069,780,799,648,625.609107931,649,0.445974844856,-0.00560502894961,0.0797180736832,0.999999891059,-0.000169266202526,-0.000432386313519,-4.76758887505e-05,1793190457342013696
+256,4.266666667,HOLD_POSE2,763,742,711,672.970562868,658,629.970562868,877.970562868,780,799,648,625.029437132,649,0.445976357219,-0.00560359576018,0.0797188758773,0.999999891943,-0.000167935690434,-0.000430869085933,-4.7569219208e-05,1793190457358680320
+257,4.283333333,HOLD_POSE2,763,742,711,673,658,629.453318532,878,780,799,648.546681468,625.546681468,649,0.445975751929,-0.00560164525146,0.0797176995876,0.999999891916,-0.000164402768539,-0.000432269984363,-4.77790997819e-05,1793190457375346944
+258,4.300000000,HOLD_POSE2,763,742.124885724,711,672.875114276,658,629,878,780,799.124885724,649,626,648.875114276,0.445975300362,-0.00560053916075,0.0797169342324,0.999999891919,-0.000162234082623,-0.000433070450887,-4.78820852971e-05,1793190457392013568
+259,4.316666667,HOLD_POSE2,763,742.711503937,711,672.288496063,658,629,878,780,799.711503937,649,626,648.288496063,0.445975836017,-0.00560265741121,0.0797180795446,0.999999892256,-0.000165544939819,-0.000431073772128,-4.75272406275e-05,1793190457408680192
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,658,629,877,780,799,649,626,648,0.44597564836,-0.00560327563169,0.0797189131231,0.999999891993,-0.000166905659946,-0.000431196170139,-4.71802110972e-05,1793190457445661952
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742.579336097,711.420663903,672.579336097,658,629,877,780,799.579336097,649,625.420663903,648.579336097,0.445975071672,-0.00560210970718,0.0797175403488,0.99999989165,-0.000165603266261,-0.000432453131884,-4.7547038386e-05,1793190457462328576
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.842658778,711,673,657.842658778,629,877.157341222,780,799.842658778,648.842658778,625.157341222,649,0.445974934199,-0.00560121974511,0.079716878328,0.999999891515,-0.000164902742297,-0.000432999343953,-4.78413976245e-05,1793190457478995200
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.268182134,711,673,657.268182134,629,877.731817866,780,799.268182134,648.268182134,625.731817866,649,0.445975961148,-0.00560106140104,0.0797181006224,0.999999891941,-0.000165797865888,-0.000431661251204,-4.79436331607e-05,1793190457495662080
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.686399003,657.313600997,629,878.313600997,780,799,648.313600997,626,649,0.445975967881,-0.00560132569843,0.0797181382094,0.999999891796,-0.000166324681021,-0.000431784112838,-4.80302176524e-05,1793190457512328704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.098218572,657.901781428,629,878.901781428,780,799,648.901781428,626,649,0.445975081343,-0.00560196004777,0.079717138503,0.999999891152,-0.000166529016488,-0.000433186141495,-4.81030985628e-05,1793190457528995328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.482289727,711,672,658,629,878.517710273,780,798.517710273,649,626,649,0.445973997451,-0.0056017318895,0.0797161369784,0.999999890486,-0.000166777376549,-0.000434624065176,-4.81229312391e-05,1793190457545661696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.938754318,711,672.061245682,658,629,877.938754318,780,798.061245682,648.938754318,625.938754318,649,0.445972568421,-0.00560133793326,0.0797151491794,0.999999889854,-0.000166787350377,-0.000436076971111,-4.8076236336e-05,1793190457562328576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.359919817,711,672.640080183,658,629,877.359919817,780,798.640080183,648.359919817,625.359919817,649,0.445968556953,-0.00560100399405,0.0797142804554,0.99999988956,-0.00016470813374,-0.000437595682524,-4.75571845351e-05,1793190457578994944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.21507145,780,798.78492855,648.21507145,625.21507145,648.78492855,0.445955088251,-0.00560024312084,0.0797080679623,0.99999988543,-0.000163224811079,-0.00044748096172,-4.75327201087e-05,1793190457595661824
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.78374396,780,798.21625604,648.78374396,625.78374396,648.21625604,0.445926070818,-0.00559878032132,0.0796930697266,0.999999874616,-0.000162721203636,-0.000471121795967,-4.83214116228e-05,1793190457612328704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.631922355,780,798.368077645,648.631922355,626,648.368077645,0.445879832628,-0.00559775736625,0.0796751863335,0.999999859096,-0.00016307368775,-0.000502841431631,-4.8629264762e-05,1793190457628995584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,629,877.037978325,780,798.962021675,648.037978325,626,648.962021675,0.445823027127,-0.00559700431626,0.079655532497,0.999999839837,-0.000163951501885,-0.000539518527722,-4.86420572953e-05,1793190457645662208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.457411861,658.542588139,629,877,780,799,648.542588139,626,649,0.445755216748,-0.00559406289425,0.0796429100279,0.999999831622,-0.000160703206211,-0.000555510771683,-4.83466700274e-05,1793190457662328576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.121805355,711,672,658.878194645,629,877.121805355,780,799,649,626,649,0.445683615099,-0.00559132085935,0.0796335920649,0.999999825974,-0.000157188369522,-0.000566653580432,-4.73990014044e-05,1793190457678995200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.699393442,711,672,658.300606558,629,877.699393442,780,799,649,626,649,0.445600639867,-0.00558988428064,0.079634841916,0.999999827634,-0.00015373084212,-0.000564937593479,-4.40893390879e-05,1793190457695661568
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.724480586,711,672.275519414,658,629,878,780,799.275519414,649,626,648.724480586,0.445506015342,-0.00558834986015,0.0796384906827,0.999999830726,-0.00015131399687,-0.000560357105946,-4.06374573831e-05,1793190457712328448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.149941476,711,672.850058524,658,629,878,780,799.850058524,649,626,648.149941476,0.44539874791,-0.00558670925261,0.0796447429793,0.999999835339,-0.000150026598405,-0.000552667791854,-3.70312259601e-05,1793190457728995072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,762.564690191,742.435309809,711,672.564690191,658,629,877.564690191,780,799.564690191,648.564690191,626,648.435309809,0.445267849658,-0.00556589331553,0.0796461200851,0.99999983992,-0.000128879448433,-0.00054973229318,-3.66790092441e-05,1793190457745661696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,762.023883802,742.976116198,711,672.023883802,658.023883802,629,877.023883802,780,799.023883802,648.023883802,626,649,0.445126949297,-0.00553870529823,0.0796458088624,0.999999843753,-0.000101015160479,-0.000548542243341,-3.73054983677e-05,1793190457762328832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,762.601783881,742.398216119,711,672.601783881,658.601783881,629,877.601783881,780,799.601783881,648.601783881,626,649,0.444947608532,-0.00552078312137,0.0796462697488,0.999999845576,-8.00190850358e-05,-0.00054889932361,-3.39791090992e-05,1793190457778995456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.820662778,629,878,780,799.641325557,648.820662778,626,648.820662778,0.444755641898,-0.005511173874,0.0796470582304,0.999999846438,-6.55708459557e-05,-0.000549555400359,-2.851449734e-05,1793190457795662080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.243877954,629,878,780,798.487755908,648.243877954,626,648.243877954,0.444535693804,-0.0055199877643,0.0796485727295,0.999999845947,-6.56339411801e-05,-0.000550874114239,-1.83111519764e-05,1793190457812328704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,762.661309115,742,711,673,658,629.338690885,877.661309115,780.338690885,798.338690885,648.338690885,626,648,0.444301798438,-0.00551647354787,0.0796531363306,0.999999848449,-5.35379315785e-05,-0.000547852514436,-9.67047469931e-06,1793190457828995328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,762.074503014,742,711,673,658,629.925496986,877.074503014,780.925496986,798.925496986,648.925496986,626,648,0.444057685679,-0.00550392811537,0.0796599336165,0.999999852775,-3.25345109029e-05,-0.000541651325392,-2.17456212782e-06,1793190457845661952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,762.505830294,742,711,673,658,630,877,780.494169706,799.505830294,649,625.494169706,648.505830294,0.443779234122,-0.00549900146504,0.0796694326265,0.999999860623,1.80744305139e-05,-0.000527629452182,5.85348134564e-06,1793190457862328576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.084845495,630,877.084845495,780.084845495,799.915154505,648.915154505,625.084845495,648.915154505,0.443488122116,-0.0054956331483,0.0796784208197,0.999999865816,6.43927442103e-05,-0.000513861624892,1.29219026725e-05,1793190457878995200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.661676113,630,877.661676113,780.661676113,799.338323887,648.338323887,625.661676113,648.338323887,0.443152554213,-0.00549487624319,0.0796821686937,0.999999868936,6.08658018509e-05,-0.000508161910767,1.39771284604e-05,1793190457895661824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.237523656,742.237523656,711,672.762476344,659,630,878,781,799,648.237523656,625.762476344,648.237523656,0.442798955885,-0.00549158231701,0.0796898851861,0.999999876382,5.72943611611e-05,-0.000493682794593,1.51741966881e-05,1793190457912328704
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.603042188,742.603042188,711,672,659,630,878,781,799,649,625.793915624,649,0.442012324198,-0.00548064107803,0.0797140180234,0.999999897879,5.17646859604e-05,-0.000448602851955,1.78431818812e-05,1793190457945662208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.012938426,742.012938426,711,672,659,630,878,781,799,649,626.974123148,649,0.441591105883,-0.0054779764341,0.0797235596374,0.999999904037,5.07159280753e-05,-0.000434730455052,1.90518275916e-05,1793190457962328576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.567372134,711,672,659,630,877.432627866,781,798.432627866,648.432627866,625.865255732,649,0.441102120369,-0.00547416084282,0.0797148489708,0.999999900586,6.32436651883e-05,-0.000440994594922,1.87755105275e-05,1793190457978996224
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.203297516,632,877,782,798.796702484,649,626.203297516,649,0.400956918227,-0.00549109762115,0.0798322438257,0.999999953137,9.86800300724e-05,-0.000287843662794,3.3685692317e-05,1793190459478994944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632,876.621808726,782,798.621808726,649,626,649,0.400957181861,-0.00549028971338,0.0798326134107,0.999999953184,9.97445340509e-05,-0.000287323011602,3.36047611791e-05,1793190459495661824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632,876.043127394,782,798.043127394,649,626,649,0.40095794152,-0.00549020445308,0.0798333691289,0.999999953549,9.93265205961e-05,-0.000286189914126,3.36244976369e-05,1793190459512328704
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.532697184,742,711,671,659.532697184,632,876,782,798,649,626,649,0.400957423568,-0.00549153805545,0.0798330400223,0.999999953679,9.62543372168e-05,-0.000286779984772,3.36730225783e-05,1793190459528995584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.891334434,741.891334434,711,671,659.891334434,632,876.108665566,782,798,649,626,649,0.400956883247,-0.00549224206484,0.0798327047446,0.999999953703,9.4119161316e-05,-0.000287407207661,3.3645985501e-05,1793190459545662464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.313752952,741.313752952,711,671,659.313752952,632,876.686247048,782,798,649,626,649,0.400956690361,-0.00548973618834,0.0798327198128,0.999999953391,9.6949700839e-05,-0.000287595952017,3.32828776536e-05,1793190459562328832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,741.268969012,711.268969012,671,659,632,877,782.268969012,798,648.731030988,626,649,0.400956198972,-0.00548942391216,0.0798323658491,0.999999953208,9.83036704789e-05,-0.000287764440139,3.33360509234e-05,1793190459578995456
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.560493924,670.560493924,659,632,877,782.560493924,798.439506076,648.439506076,626.439506076,649,0.400955804359,-0.00549055144289,0.0798323581739,0.999999953243,0.000100825632819,-0.000286695490927,3.39650663178e-05,1793190459612328448
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.018778226,659.018778226,632,877,782,798.981221774,649,626.981221774,649,0.400956630483,-0.00548843880972,0.0798335939396,0.999999953323,0.00010445917581,-0.00028511963613,3.38839725043e-05,1793190459628995072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.59335748,659.59335748,632,877,782,798.40664252,649,626.40664252,649,0.400956304427,-0.00549104710041,0.0798332975579,0.999999953878,9.77535059951e-05,-0.000285608438325,3.34162143971e-05,1793190459645661696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.831980747,742,711,671,660,632,877,782,798.168019253,649,626.168019253,649,0.400956191031,-0.00549285872076,0.0798330295745,0.999999954193,9.35777314057e-05,-0.000285921063704,3.32551002012e-05,1793190459662328576
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.32707391,741.67292609,711.32707391,671.32707391,659.67292609,632,877,782,799,649,627,649,0.400956350362,-0.00549149085984,0.079832593257,0.999999953785,9.74244046614e-05,-0.000286001017657,3.38041171109e-05,1793190459695662080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.918818148,741.081181852,711.918818148,671.918818148,659.081181852,632,877,782,799,649,627,649,0.400955587223,-0.00548932362243,0.0798323255079,0.999999953493,9.9277607802e-05,-0.000286444090535,3.32750717292e-05,1793190459712328448
diff --git a/Obstacle_avoidance/ball_15A_20/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebff624e61fb26a80991c8c91be09ffcf4b1c47b
--- /dev/null
+++ b/Obstacle_avoidance/ball_15A_20/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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--- /dev/null
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